CN108423220B - Multi-shaft linkage winding machine for lapping irregular pipe body - Google Patents
Multi-shaft linkage winding machine for lapping irregular pipe body Download PDFInfo
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- CN108423220B CN108423220B CN201810426158.3A CN201810426158A CN108423220B CN 108423220 B CN108423220 B CN 108423220B CN 201810426158 A CN201810426158 A CN 201810426158A CN 108423220 B CN108423220 B CN 108423220B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
- B65B11/04—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated
- B65B11/045—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material the articles being rotated by rotating platforms supporting the articles
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Abstract
The invention belongs to the technical field of winding machines, and provides a multi-axis linkage winding machine for irregular pipe body wrapping, which comprises a base, wherein the base is connected with a clamping support through a moving device, the clamping support does translational motion in three dimensions relative to the base through the moving device, a clamping part is arranged on the clamping support through rotation of a rotating device, a winding frame is arranged on the base through rotation of a rotating device II, a rotating shaft of the winding frame is vertical to a rotating shaft of the clamping support, a winding disc is arranged on the winding frame in a rotating mode, and a supporting device for supporting a winding belt roll is arranged on the winding disc.
Description
Technical Field
The invention belongs to the technical field of winding machines, and relates to a multi-shaft linkage winding machine for irregular pipe body wrapping.
Background
The winding machine is also called a winding packaging machine and a wrapping machine. The winding machine is designed and manufactured to meet the packing requirements of goods containerized storage, transportation and mechanical loading and unloading operation, and is widely used in the containerization cost of products such as foreign trade outlets, food and beverage, making tank, paper making, dye, plastic chemical industry, glass ceramic, electromechanical castings and the like.
The working principle of the winding machine is that an object to be wound is placed in the center of a turntable, a turntable motor is started to rotate, the turntable is naturally driven to rotate, and the object is wound by a film winding machine on the periphery. Meanwhile, the feeding motor is started to drive the whole assembly of the winding and binding machine to move along the extension direction of the object to wind the object in the extension direction, so that the winding and packaging of the whole appearance of the object are realized. Therefore, the packaging requirements of goods storage, transportation and mechanical loading and unloading operation are met, the goods can be prevented from being damaged in the carrying process, the dustproof, moistureproof and cleaning effects are achieved, the production cost is reduced, and the production efficiency is improved.
The winding machine in the prior art is divided into two types according to the packaged objects, one type is used for packaging annular objects, the other type is used for packaging tubular objects, but the objects packaged by the two types of winding machines are regular objects, and for irregular objects such as zigzag silica gel water pipes, no winding machine in the prior art can wind the irregular objects, and due to the fact that automation cannot be achieved, manual modes are mostly adopted, and development and progress of the industry are limited.
Disclosure of Invention
The invention provides a multi-shaft linkage winding machine for lapping irregular pipe bodies, which solves the technical problem that no winding machine in the prior art can wind irregular tubular articles.
The technical scheme of the invention is realized as follows:
the utility model provides a multiaxis linkage coiler for irregular body is around package, includes the base, the base is connected with the centre gripping support through mobile device, the centre gripping support passes through mobile device for translational motion is in three-dimensional to the base, it is provided with the clamping part to rotate through one rotary device on the centre gripping support, it is provided with the winding frame to rotate through rotary device two on the base, the pivot of winding frame with the pivot of centre gripping support is perpendicular, it is provided with the winding dish to rotate on the winding frame, be provided with the strutting arrangement who is used for supporting the winding book volume on the winding dish.
As a further technical scheme: the moving device comprises an axis a linear driving device, an axis b linear driving device and an axis c moving device which are sequentially connected, wherein the axis a linear driving device is connected with the base, and the axis c moving device is connected with the clamping support.
As a further technical scheme: the driving direction of the a-axis linear driving device is parallel to the rotating shaft of the clamping part.
As a further technical scheme: the rotating shaft of the winding frame is vertically arranged, the rotating shaft of the clamping part is horizontally arranged, the driving directions of the axis a linear driving device, the axis b linear driving device and the axis c linear driving device are mutually perpendicular, and the axis c linear driving device drives the clamping frame to move along the vertical direction.
As a further technical scheme: the winding disc is provided with a supporting device through a brake,
and a tension sensor for testing the tension of the winding belt is also arranged on the winding disc.
As a further technical scheme:
the winding disc is further provided with a clamping wheel and a one-way wheel, the clamping wheel and the one-way wheel are tightly pressed, and the one-way wheel rotates in a one-way mode.
As a further technical scheme: the supporting device comprises an installation sleeve which is rotatably arranged on the winding frame, an installation notch is arranged at the end part of the installation sleeve, the installation notch is arranged along a bus of the installation sleeve, a clamping notch is arranged at one side of the bottom of the installation notch,
a mounting hole is axially formed in the middle of the belt disc, a clamping pin is arranged on the inner side of the mounting hole,
when the tape reel is installed, the clamping pin slides in the installation notch and is clamped in the clamping notch.
As a further technical scheme: the first rotating device comprises a rotating output shaft connected with the clamping part, a die shank mounting sleeve is connected onto the rotating output shaft through threads, an electromagnet is further arranged at the end part of the output shaft, a diameter reduction used for fixing the electromagnet is arranged in an inner hole of the die shank mounting sleeve,
the side of the rotary output shaft is provided with a through hole along the radial direction, strip-shaped holes are formed in the two sides of the die shank installation sleeve along the bus direction, a fixing pin is arranged in the through hole, and two ends of the fixing pin penetrate through the two strip-shaped holes respectively.
As a further technical scheme: at least two distance sensors are arranged on the supporting frame.
The working principle and the beneficial effects of the invention are as follows:
1. when the winding device starts to work, the clamping part can penetrate through the winding disc, the clamping part is perpendicular to the winding disc at the moment, one end of the irregular pipe body is placed on the clamping part and clamped, the winding disc moves to the irregular pipe body after working, the irregular pipe body is wound by rotating on the winding frame, the clamping part can rotate on the clamping support while winding, the angle of the clamping part relative to the clamping support can be controlled through the first rotating device 4, and the extending direction or the tangential direction of the pipe section at the wound part of the irregular pipe body can be guaranteed to be perpendicular to the rotating shaft of the winding frame on the base all the time; the angle of the winding frame relative to the base can be adjusted through the second rotating device 9, and the plane where the winding frame and the winding disc are located can be guaranteed to be always perpendicular to the extending direction or the tangential direction of the pipe section where the irregular pipe body is wound; the moving device can adjust the distance between the clamping support and the base and the position relation between the clamping support and the base, so that the pipe section of the wound part of the irregular pipe body can be always wound on one plane, the plane is described as a working plane for convenience of description, and a rotating shaft of the working plane, which penetrates through the winding disc, penetrates through the rotating shaft of the clamping part; when the nonstandard body is constantly wound, through the linkage of the first rotating device, the second rotating device and the moving device, the wound section of the irregular body is always positioned at the center of the winding disc, the winding disc is ensured to wind the irregular body, meanwhile, the extension line of the wound section is perpendicular to the plane where the winding disc is positioned, and the winding disc is ensured to apply constant tension to the irregular body by winding disc coils on the winding weekly inner supporting device.
The invention realizes the automatic lapping of the irregular pipe body, greatly improves the packaging efficiency of the irregular pipe body, meets the requirement that no lapping machine or coiler can realize the lapping of the irregular pipe body in the industry, can realize the constant-tension lapping of the irregular pipe body, is more regular in lapping, and can be matched with the curvature of the irregular pipe body in the lapping process.
2. The moving device comprises linear driving devices in three directions which are sequentially connected, so that the adjustment of the distance and the relative position of the base and the clamping support is realized, wherein the axis a, the axis b and the axis c are not collinear with each other.
3. In the invention, when the a-axis linear driving device directly connected with the base is parallel to the rotating shaft of the clamping part, when the straight pipe is wound by the winding machine, the winding disc can be driven to perform feed motion as far as possible only by driving the a-axis linear driving device, so that the invention can play a good application effect when winding some straight pipes, and the practicability of the invention is improved.
4. According to the invention, the rotating shaft of the winding frame is vertically arranged, so that the stress of the winding frame is more even, the rotating shaft of the clamping part is horizontally arranged, the working plane is parallel to the horizontal plane, the multi-shaft linkage control is facilitated, the shaft a, the shaft b and the shaft c are mutually vertical, the operating standard is met, the linkage control of the shaft a, the shaft b and the shaft c is also facilitated, the requirement of a moving device is met, and the translation of the clamping part relative to the base can be easily realized.
5. According to the invention, the supporting device can sense the tension applied to the winding belt through the tension sensor, so that the resistance applied to the rotation of the supporting device on the winding frame can be adjusted through controlling the brake, the tension applied to the winding belt can be adjusted, the constant-tension winding is realized, the winding quality of the irregular pipe body is further improved, and the winding quality of the irregular pipe body is improved.
6. According to the invention, the winding belt on the winding disc winds around the one-way wheel to perform winding work, the winding belt is tightly pressed on the one-way wheel by the clamping wheel, the winding belt is cut short after the winding machine winds an irregular pipe fitting, the winding belt is tightly pressed on the one-way wheel by the clamping wheel, the one-way wheel only can rotate in the supply direction of the winding belt, the one-way wheel can lock the winding belt to prevent the winding belt from returning, and further the winding belt can be kept on the winding disc.
7. Through the bayonet lock, the setting of installation breach and chucking breach, the installation and the dismantlement of the tep reel of being convenient for, need not the mounting tool when changing the tep reel, only need aim at the mounting sleeve with the mounting hole of tep reel, and aim at the bayonet lock installation breach, it can realize the installation to pack into, because the chucking breach is opposite with the direction of rotation of coiler during operation of direction and coiler that the installation breach bottom set up, at the winder during operation, the bayonet lock can be owing to the moment of torsion that the winding tep reel received, automatic chucking is in the chucking breach, realize that the chucking prevents droing of tep reel.
8. According to the invention, the die handle mounting sleeve can clamp the die, the die handle of the die is only required to be inserted into the die handle mounting sleeve when the die is mounted, the electromagnet can adsorb the end part of the die handle to fix the die handle, when the die handle is required to be dismounted, the die handle can be pulled out only by power-off unlocking of the electromagnet, the die for clamping the irregular tube body is convenient to replace, the electromagnet is fixed on the output shaft through the diameter reduction in the inner hole of the die handle mounting sleeve, when the die handle is mounted, the first thread in the inner hole of the die handle mounting sleeve is only required to be aligned with and rotate along the second thread of the rotary output shaft, when the die handle is screwed, the strip-shaped hole is opposite to the through hole on the rotary output shaft, at the moment, the pin shaft can sequentially pass through the strip-shaped hole and the through hole on one side and penetrate out of the strip.
9. According to the invention, the two distance sensors can position the part of the irregular pipe body penetrating through the winding disc, so that the state of the irregular pipe body and the curvature change of the next section of the wound section of the irregular pipe body can be known, the moving device, the first rotating device 4 and the second rotating device 9 are linked, the position and the angle of the irregular pipe body are adjusted, the angle of the winding frame is adjusted, the automation degree of the winding machine is improved, and the arrangement is scientific and reasonable.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of an axial linear driving device according to the present invention;
FIG. 4 is a schematic structural view of a b-axis and c-axis linear driving device according to the present invention;
FIG. 5 is a schematic view of the structure of the winding frame and the winding disc of the present invention;
FIG. 6 is a schematic view of the structure of the clamping bracket and the clamping portion of the present invention;
FIG. 7 is a schematic view of a tape reel configuration of the present invention;
FIG. 8 is a schematic view of the structure of the mounting sleeve of the present invention;
FIG. 9 is a schematic view of a c-axis frame structure according to the present invention;
FIG. 10 is a schematic view illustrating a winding manner of the winding tape on the winding reel according to the present invention;
FIGS. 11-13 are schematic views illustrating the winding of irregular pipe members according to the present invention;
in the figure: 1-base, 2-mobile device, 21-a axis linear driving device, 211-a axis slide rail, 212-a axis belt wheel, 213-a axis synchronous belt, 214-a axis servo motor, 22-b axis linear driving device, 221-b axis slide rail, 222-b axis slide carriage, 223-b axis driving device, 2231-b axis driving wheel, 2232-b axis driven wheel, 2233-b axis synchronous belt, 2234-b axis servo motor, 2235-b axis tension wheel, 23-c axis linear driving device, 231-c axis slide rail, 232-c axis slide carriage, 233-c axis driving device, 2331-c axis driving wheel, 2332-c axis driven wheel, 2333-c axis synchronous belt, 2334-c axis servo motor, 234-c axis frame, 235-front frame, 236-a rear frame, 237-a connecting beam, 238-a balancing weight, 3-a clamping bracket, 4-a first rotating device, 41-a first servo motor, 42-a double-shaft planetary reducer, 43-a rotating output shaft, 431-a positioning through hole, 5-a clamping part, 51-a die shank mounting sleeve, 511-an inner hole, 512-a first thread, 513-a second thread, 514-a strip hole, 515-a fixing pin, 516-a reducing diameter, 52-an electromagnet, 6-a winding frame, 61-a distance sensor, 62-a transmission shaft, 63-an adjusting servo motor, 64-a grooved pulley, 7-a winding disc, 71-a winding sliding rail, 72-a winding transmission wheel, 73-a winding servo motor, 74-a tension sensor and 741-a tension testing wheel, 75-brake, 76-reversing wheel, 77-clamping wheel, 78-one-way wheel, 79-pressing frame, 8-supporting device, 81-mounting sleeve, 82-mounting notch, 83-clamping notch, 84-belt disc, 85-mounting hole, 86-bayonet, 9-second rotating device, 10-frame and 101-strip-shaped through hole.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figure 1 of the drawings, in which,
example 1:
the utility model provides a multiaxis linkage coiler for irregular body is around package, which comprises a base 1, base 1 has connected centre gripping support 3 through mobile device 2, centre gripping support 3 is translational motion in three-dimentional for base 1 through mobile device 2, it is provided with clamping part 5 to rotate through rotary device 4 on the centre gripping support 3, it is provided with winding frame 6 to rotate through rotary device two 9 on the base 1, the pivot of winding frame 6 is perpendicular with the pivot of centre gripping support 3, it is provided with winding dish 7 to rotate on the winding frame 6, be provided with the strutting arrangement 8 that is used for supporting the winding roll coil of strip on the winding dish 7.
When the pipe winding machine is just started to work, the clamping part 5 can penetrate through the winding disc 7, the clamping part 5 is perpendicular to the winding disc 7 at the moment, one end of an irregular pipe body is placed on the clamping part 5 and clamped, the winding disc 7 moves to the irregular pipe body after the work is started and rotates on the winding frame 6 to wind the irregular pipe body, the clamping part 5 can rotate on the clamping support 3 while winding, the angle of the clamping part 5 relative to the clamping support 3 can be controlled through the first rotating device 4, and the extending direction or the tangential direction of a pipe section where the irregular pipe body is wound can be guaranteed to be always perpendicular to the rotating shaft of the winding frame 6 on the base 1; the angle of the winding frame 6 relative to the base 1 can be adjusted through the second rotating device 9, and the plane where the winding frame 6 and the winding disc 7 are located can be ensured to be always vertical to the extending direction or the tangential direction of the pipe section where the irregular pipe body is wound; the moving device 2 can adjust the distance between the clamping support 3 and the base 1 and the position relation between the clamping support and the base, so as to ensure that the pipe section of the wound part of the irregular pipe body can be wound on a plane all the time, the plane is described as a working plane for convenience of description, and a rotating shaft of the working plane, which penetrates through the winding disc 7, also penetrates through the rotating shaft of the clamping part 5; when the nonstandard pipe body is continuously wound, through the linkage of the first rotating device 4, the second rotating device 9 and the moving device 2, the wound section of the irregular pipe body is always positioned at the center of the winding disc 7, the winding disc 7 is ensured to wind the irregular pipe body, meanwhile, the extension line of the wound section is perpendicular to the plane where the winding disc 7 is positioned, and the winding tape coil on the weekly inner supporting device 8 for winding the irregular pipe body by the winding disc 7 is ensured to apply constant tension to the irregular pipe body.
The invention realizes the automatic lapping of the irregular pipe body, greatly improves the packaging efficiency of the irregular pipe body, meets the requirement that no lapping machine or coiler can realize the lapping of the irregular pipe body in the industry, can realize the constant-tension lapping of the irregular pipe body, is more regular in lapping, and can be matched with the curvature of the irregular pipe body in the lapping process.
Further, the first rotating device 4 is that a first servo motor 41 is arranged on the clamping bracket 3, the output shaft of the first servo motor 41 is connected with the clamping part 5,
the clamping part 5 is directly driven by the servo motor I41, so that the rotation precision of the irregular pipe body clamped by the clamping part 5 is higher, and the winding quality of the irregular pipe body is improved.
Furthermore, a servo motor I41 is connected with the clamping part 5 through a double-shaft planetary reducer 42 which is arranged on the clamping bracket 3,
the speed reducer can improve the torque of the first servo motor 41, enlarge the speed regulation range of the first servo motor 41 and further better control the rotation of the clamping part 5.
Example 2:
the moving device 2 comprises an a-axis linear driving device 21, a b-axis linear driving device 22 and a c-axis moving device 2 which are connected in sequence, wherein the a-axis linear driving device 21 is connected with the base 1, and the c-axis moving device 2 is connected with the clamping bracket 3.
In this embodiment, the moving device 2 includes linear driving devices in three directions, which are connected in sequence, so as to adjust the distance and relative position between the base 1 and the clamping support 3, wherein the a axis, the b axis and the c axis are not collinear with each other, in this embodiment, the base 1 can be used as an original point, a three-dimensional coordinate system is established along the a axis, the b axis and the c axis, by controlling the linear driving devices in three directions, the position of the clamping support 3 in the coordinate system can be adjusted, the three-axis linear driving device satisfies the function of the moving device 2, and is more convenient to control, the structure is simplified, and the precision and the working efficiency of the winding machine are improved.
Example 3:
the driving direction of the a-axis linear driving device 21 is parallel to the rotation axis of the clamping portion 5.
In this embodiment, when the a-axis linear driving device 21 directly connected to the base 1 is parallel to the rotation axis of the clamping portion 5, when the straight pipe is wound by the winding machine, the winding disc 7 can be driven to move as much as possible by driving the a-axis linear driving device 21, so that the present invention can also have a good application effect when winding some straight pipes, and the practicability of the present invention is improved.
Example 4:
the rotating shaft of the winding frame 6 is vertically arranged, the rotating shaft of the clamping part 5 is horizontally arranged, the driving directions of the a-axis linear driving device 21, the b-axis linear driving device 22 and the c-axis linear driving device 23 are perpendicular to each other, and the c-axis linear driving device 23 drives the clamping bracket 3 to move along the vertical direction.
In this embodiment, the rotation axis of the winding frame 6 is vertically arranged, so that the stress on the winding frame 6 is more even, the rotation axis of the clamping portion 5 is horizontally arranged, the working plane is parallel to the horizontal plane, multi-axis linkage control is facilitated, the axis a, the axis b and the axis c are mutually perpendicular, the industrial standard is met, the linkage control of the axis a, the axis b and the axis c is also facilitated, the requirement of the moving device 2 is met, and the translation of the clamping portion 5 relative to the base 1 can be easily realized.
Example 5:
the rotating shaft of the winding frame 6 is vertically arranged, the rotating shaft of the clamping part 5 is horizontally arranged, the driving directions of the a-axis linear driving device 21, the b-axis linear driving device 22 and the c-axis linear driving device 23 are perpendicular to each other, and the c-axis linear driving device 23 drives the clamping bracket 3 to move along the vertical direction.
Further, four distance sensors 61 are provided on the winding frame 6, and are respectively provided on the upper and lower sides and the left and right sides of the winding frame 6.
In this embodiment, the rotation axis of the winding frame 6 is vertically arranged, so that the stress on the winding frame 6 is more even, the rotation axis of the clamping portion 5 is horizontally arranged, the working plane is parallel to the horizontal plane, multi-axis linkage control is facilitated, the axis a, the axis b and the axis c are mutually perpendicular, the industrial standard is met, the linkage control of the axis a, the axis b and the axis c is also facilitated, the requirement of the moving device 2 is met, and the translation of the clamping portion 5 relative to the base 1 can be easily realized.
The four distance sensors 61 can sense the variation trend that the irregular pipe body penetrates through one section of the winding disc 7, so that the multi-axis linkage precision of the winding machine is higher, when the irregular pipe body penetrates through one section of the winding disc 7 and is not located on a horizontal working plane, the distances sensed by the upper and lower sensors are inconsistent, the irregular pipe body can be made to be horizontal by rotating the first rotating device 4, and meanwhile, the b-axis linear driving device 22 and the c-axis linear driving device 23 are driven to compensate, so that the wound pipe body can be located on a horizontal working plane all the time; the sensors on the left side and the right side can sense the bending angle and the angle change trend of the irregular pipe body, and then the angle of the winding frame 6 can be adjusted by rotating the second rotating device 9, so that the winding frame 6 is perpendicular to the irregular pipe body.
Example 6:
the device also comprises a frame 10, and an a-axis linear driving device 21, a b-axis linear driving device 22 and a c-axis linear driving device 23 are arranged on the frame 10.
The a-axis linear driving device 21 comprises an a-axis sliding rail 211 arranged on the frame 10, the a-axis sliding rail 211 is horizontally arranged, the a-axis sliding rail 211 is provided with a base 1 in a sliding manner, the a-axis linear driving device 21 further comprises at least two a-axis belt pulleys 212 rotatably arranged on the frame 10, an a-axis synchronous belt 213 is wound on the a-axis belt pulleys 212, two ends of the a-axis synchronous belt 213 are respectively connected with the base 1, one a-axis belt pulley 212 is connected with an a-axis servo motor 214,
the b-axis linear driving device 22 comprises a b-axis slide rail 221 arranged on the frame 10, the b-axis slide rail 221 is horizontally arranged and is perpendicular to the a-axis slide rail 211, a b-axis slide base 222 is arranged on the b-axis slide rail 221 in a sliding manner, a c-axis slide rail 231 is arranged on the b-axis slide base 222, the c-axis slide rail 231 is vertically arranged, a c-axis slide base 232 is arranged on the c-axis slide rail 231 in a sliding manner, a clamping bracket 3 is arranged on the c-axis slide base 232,
the frame 10 is further provided with a b-axis driving device 223 for driving the b-axis sliding base 222 to slide on the b-axis sliding rail 221 and a c-axis driving device 233 for driving the c-axis sliding base 232 to slide on the c-axis sliding rail 231,
wherein the two b-axis sliding rails 221 are respectively arranged at the upper side and the lower side of the frame 10, and the b-axis sliding seat 222 is slidably arranged on the two b-axis sliding rails 221 arranged in parallel, so as to provide a better supporting and stress structure for the b-axis sliding block, and make the b-axis sliding seat 222 slide more stably.
Further, the c-axis slide rail 231 is disposed on the c-axis frame 234, the c-axis frame 234 is disposed on the b-axis slide carriage 222, the c-axis frame 234 includes a front frame 235 and a rear frame 236 connected to each other, upper and lower sides of the front frame 235 and the rear frame 236 are connected to each other by a connection beam 237, wherein a rear side of the front frame 235 is connected to the b-axis slide carriage 222, the rear frame 236 is located behind the b-axis slide carriage 222 and the b-axis slide rail 221, and upper and lower sides of the rack 10 are respectively provided with a bar-shaped through hole 101 through which the connection beam 237 passes and slides
Because the c axle sets up along vertical direction, behind the irregular body of centre gripping support 3 centre gripping, the quality increases, can receive great bending moment, stretch out c axle frame 234 and divide into preceding frame 235 and after-frame 236 and be located b axle slide 222 and b axle slide rail 221 respectively around, the quality of preceding frame part can be balanced to the after-poppet, make the before-poppet not exert too big moment of flexure to b axle slide 222, make b axle slide 222 can be better slide on b axle slide rail 221, the life of b axle slide 222 and b axle slide rail 221 has been prolonged.
Further, a weight 238 is disposed on the rear frame 236,
can set up the quality of balancing front truck part of balancing weight 238 on back frame 236, improve the application scope of coiler, balancing weight 238 can make the heavier irregular body of coiler centre gripping, and the reinforcing coiler is to the winding effect of heavy irregular body.
Further, the b-axis driving device 223 includes a b-axis driving wheel 2231 and a b-axis driven wheel 2232 disposed on the frame 10, the four b-axis driven wheels 2232 are arranged along four corners of a rectangle, the height of the two b-axis driven wheels 2232 on the upper side is flush with the middle of the rear frame 236, the two b-axis driven wheels 2232 on the lower side are located below the rear frame 236, a b-axis synchronous belt 2233 is wound around the b-axis driven wheels 2232 and the b-axis driving wheel 2231, two ends of the b-axis synchronous belt 2233 are respectively fixedly connected with the rear frame 236, the b-axis driving wheel 2231 is connected with a b-axis servo motor 2234, and the b-axis servo motor 2234 is disposed on the.
In this embodiment, since the c-axis frame 234 is disposed on the b-axis sliding base 222, and the c-axis frame 234 moves to cause large-area interference, the b-axis synchronous belt 2233 is spread by four driven wheels to eliminate the interference, so that the b-axis servo motor 2234 drives the b-axis rear sliding base and the c-axis frame 234 to slide together.
Further, a b-axis tension wheel 2235 for tensioning the b-axis synchronous belt 2233 is further provided on the frame 10.
The expander 2235 is used for enhancing the tensioning effect of the b-axis synchronous belt 2233 and the b-axis driving wheel 2231 and preventing the slipping phenomenon
Further, the c-axis driving device 233 includes a c-axis driving pulley 2331 and a c-axis driven pulley 2332 which are disposed on the c-axis frame 234, a c-axis synchronous belt 2333 is wound around the c-axis driving pulley 2331 and the c-axis driven pulley 2332, both ends of the c-axis synchronous belt 2333 are connected to the c-axis slider, the c-axis driving pulley 2331 is connected to a c-axis servomotor 2334, the c-axis servomotor is disposed on the c-axis frame 234, and the c-axis synchronous belt 2333 is disposed in a vertical manner.
In this embodiment, the hold-in range is the toothed belt, and the band pulley that is used for supporting the toothed belt is the tooth profile band pulley, prevents that the hold-in range from skidding, improves the transmission precision of hold-in range.
Further, the second rotating device 9 comprises a pressure bearing arranged on the base 1, and is in contact with a lower ring of the pressure bearing, the lower portion of the winding frame 6 is arranged on an upper ring of the pressure bearing, the lower portion of the winding frame 6 is further provided with a transmission shaft 62, the transmission shaft 62 is connected with an adjusting belt wheel 61, an adjusting servo motor 63 is further arranged on the base 1, and the adjusting servo motor 63 drives the adjusting belt wheel 61 to rotate through belt transmission.
The pressure bearing is suitable for the environment with large load and low rotating speed, can provide stable support for the winding frame 6, does not influence the rotation of the winding frame 6, improves the rotation precision of the winding frame 6, and is well suitable for the invention.
Further, a winding slide rail 71 is arranged on the side surface of the winding disc 7, the section of the winding slide rail 71 is triangular, one side of the winding slide rail 71 is in contact with the winding disc 7, a grooved wheel 64 used for supporting the winding slide rail 71 is arranged on the winding frame 6, a winding driving wheel 72 is further arranged on the winding disc 7, a winding servo motor 73 is arranged on the winding frame 6, the winding servo motor 73 drives the winding driving wheel 72 to rotate, and the winding slide rail 71, the winding driving wheel 72 and the winding disc 7 are coaxially arranged.
The winding servo motor 73 rotates to drive the winding disc 7 to rotate, and the winding disc 7 rotates and is fixed on the winding frame 6 through the grooved pulley 64, so that the winding servo motor has the characteristics of high precision and high reliability.
Example 7:
the winding disc 7 is provided with support means 8 by means of a brake 75,
a tension sensor 74 for testing the tension of the wrapping tape is also provided on the wrapping disc 7.
In this embodiment, strutting arrangement 8 can sense the tension that the winding area received through tension sensor 74, and then can be through control brake 75, adjust for strutting arrangement 8 rotation exerted resistance on winding frame 6, and then realize adjusting the tension that the winding area received, realize the winding of permanent tension, further improved the winding quality of irregular pipe body, improve the winding quality of irregular pipe body.
Further, the brake 75 is a magnetic particle brake.
Further, the method is simple. The output shaft of the tension sensor 74 is connected with a tension test wheel 741, the winding disc 7 is further provided with a reversing wheel 76, and the winding belt sequentially bypasses the reversing wheel 76 and the tension test wheel 741.
In this embodiment, the tension sensor 74 tests the tension of the wrapping tape by the tension test wheel 741, and the wrap angle of the wrapping tape on the tension test wheel 741 can be increased by the direction changing wheel 76, so that the test of the tension sensor 74 is more accurate.
Further, the brake 75 is arranged on the winding disc 7, the output shaft of the brake 75 is provided with the supporting device 8, the supporting device comprises a mounting sleeve 81 which is coaxially arranged and circumferentially fixed, a mounting notch 82 is arranged at the position, away from the original end of the brake 75, of the mounting sleeve 81, the mounting notch 82 is arranged along a bus of the mounting sleeve 81, and a clamping notch 83 is arranged at the bottom of the mounting notch 82 along the circumferential direction of the mounting sleeve 81.
The winding belt is wound on the reel 84, the center of the reel 84 is provided with a mounting hole 85 along the circumferential direction, when the reel 84 is mounted, the mounting hole 85 is sleeved outside the mounting sleeve 81, and the mounting hole 85 is provided with a bayonet 86 which slides into the mounting notch 82 and is clamped into the clamping notch 83.
The clamping notch 83 is disposed at the bottom of the mounting notch 82 in a direction opposite to the direction of rotation of the reel 84 during operation of the winding machine.
Through bayonet lock 86, installation notch 82 and the setting of clamping gap 83, be convenient for the installation and the dismantlement of tep reel 84, need not the mounting tool when changing tep reel 84, only need aim at installation cover 81 with the mounting hole 85 of tep reel 84, and aim at installation notch 82 with bayonet lock 86, it can realize the installation to pack into, because it is opposite with the rotation direction of coiler during operation tep reel 84 to press from both sides the direction that clamping gap 83 set up in installation notch 82 bottom, at the coiler during operation, bayonet lock 86 can be owing to the moment of torsion that winding tep reel 84 receives, automatic chucking is in clamping gap 83, realize the chucking and prevent the droing of tep reel 84.
Example 8:
the winding disc 7 is also provided with a clamping wheel 77 and a one-way wheel 78, the clamping wheel 77 is tightly pressed with the one-way wheel 78, and the one-way wheel 78 rotates in a single direction.
In this embodiment, the winding tape on the winding disc 7 winds around the one-way wheel 78, the clamping wheel 77 presses the winding tape against the one-way wheel 78, when the winding machine finishes winding an irregular pipe, the winding tape is cut short, since the pinch roller 77 presses the wrapping tape against the one-way roller 78 and the one-way roller 78 can only rotate in the feeding direction of the wrapping tape, the one-way roller 78 can lock the wrapping tape to prevent the wrapping tape from being retracted, thereby allowing the wrapping tape to be maintained in a state on the wrapping tray 7, wherein, the mechanisms which can realize free rotation in one direction and can be locked in the other direction in the prior art, such as a one-way bearing or a ratchet wheel, can realize that the one-way wheel 78 is arranged on the winding disk 7 in a one-way rotation way, and the skilled person can clearly understand how the clamping wheel 77 presses against the one-way wheel 78, and this is not described in any greater detail here.
Further, the clamping wheel 77 is rotatably disposed on the winding disc 7, one end of the pressing frame 79 is further rotatably disposed on the winding disc 7, the other end of the pressing frame 79 is provided with the one-way wheel 78 in a one-way rotating manner, and the pressing frame 79 enables the one-way wheel 78 and the clamping wheel 77 to be pressed tightly through the tension spring.
In the embodiment, a preferred embodiment is described, and the tension spring is used to make the pressing frame 79 drive the one-way wheel 78 and the clamping wheel 77, so as to facilitate the installation and guidance of the wrapping tape, and at the same time, provide better pressing effect for the wrapping tape, and other pressing methods are within the scope of the invention.
Example 9:
the winding belt on the belt reel 84 sequentially passes through the reversing wheel 76 and the tension test wheel 741 and then is clamped and wound on the irregular pipe body by the clamping wheel 77 and the one-way wheel 78, and the wrap angle of the winding belt on the tension test wheel 741 is larger than 180 degrees.
Example 10:
the supporting device 8, the supporting device 8 comprises a tape reel mounting sleeve 81 which is rotatably arranged on the winding frame 6, the end part of the tape reel mounting sleeve 81 is provided with a mounting notch 82, the mounting notch 82 is arranged along the generatrix of the tape reel mounting sleeve 81, one side of the bottom of the mounting notch 82 is provided with a clamping notch 83,
a mounting hole 85 is axially formed in the middle of the belt reel 84, a clamping pin 86 is arranged on the inner side of the mounting hole 85,
when the tape reel 84 is mounted, the detent 86 slides in the mounting notch 82 and snaps into the clamping notch 83.
Through bayonet lock 86, installation breach 82 and the setting of clamping gap 83, be convenient for the installation and the dismantlement of tep reel 84, need not mounting tool when changing tep reel 84, only need aim at tep reel installation cover 81 with mounting hole 85 of tep reel 84, and aim at installation breach 82 with bayonet lock 86, it can realize the installation to pack into, because the direction that clamping gap 83 set up in installation breach 82 bottom is opposite with the direction of rotation of tep reel 84 when the coiler works, at the coiler during operation, bayonet lock 86 can be owing to the moment of torsion that winding tep reel 84 received, automatic chucking is in clamping gap 83, realize that the chucking prevents droing of tep reel 84.
Example 11:
the first rotating device 4 comprises a rotating output shaft 43 connected with the clamping part 5, a die shank mounting sleeve 51 is connected on the rotating output shaft 43 through threads, an electromagnet 52 is further arranged at the end part of the rotating output shaft 43, an inner hole 511 of the die shank mounting sleeve 51 is provided with a diameter reduction 516 for fixing the electromagnet 52,
the side surface of the rotary output shaft 43 is provided with a positioning through hole 431 along the radial direction, two sides of the die shank installation sleeve 51 are provided with strip-shaped holes 514 along the bus direction, a fixing pin 515 is arranged in the positioning through hole 431, and two ends of the fixing pin 515 respectively penetrate through the two strip-shaped holes 514.
In this embodiment, the die shank installation sleeve 51 can clamp the die, the die shank of the die is inserted into the die shank installation sleeve 51 only when the die is installed, the electromagnet 52 can adsorb the end part of the die shank to fix the die shank, when the die shank needs to be disassembled, the die shank can be drawn out only by powering off and unlocking the electromagnet 52, the die for clamping the irregular pipe body is convenient to replace, the electromagnet 52 is fixed on the output shaft through the diameter reduction in the inner hole 511 of the die shank installation sleeve 51, when the die shank is installed, the screw thread one 512 in the inner hole 511 of the die shank installation sleeve 51 is only required to be aligned with and rotate along the screw thread two 513 of the rotary output shaft 43, when the screw is screwed, the bar hole 514 is opposite to the positioning through hole 431 on the rotary output shaft 43, at this time, the pin shaft can sequentially pass through the bar hole 514 and the positioning through hole 431 on one side and pass through the bar hole, the disassembly convenient to install and maintain is scientific and reasonable in arrangement.
Example 12:
at least two distance sensors 61 are provided on the winding frame 6.
Two distance sensor 61 can pass the part position of winding dish 7 to irregular body and fix a position in this embodiment, and then can learn the state of irregular body, and one section curvature change by the winding section under the irregular body, and then make mobile device 2, rotary device 4 and rotary device two 9 link, adjust the position of irregular body, angle to adjust the angle of winding frame 6, improve the degree of automation of coiler, set up scientific and reasonable.
Further, if the moving device 2 comprises linear driving devices in three directions which are connected in sequence, so as to adjust the distance and the relative position between the base 1 and the clamping support 3, wherein the axes a, b and c are not collinear with each other and are perpendicular to each other, in this embodiment, a three-dimensional coordinate system can be established along the axes a, b and c with the base 1 as the origin, the position of the clamping support 3 in the coordinate system can be adjusted by controlling the linear driving devices in the three directions,
the two sensors are respectively arranged along a vertical shaft and a horizontal shaft which pass through a winding center in the winding frame 6, when the section of the irregular pipe body which passes through the winding disc 7 is not positioned on a horizontal working plane, the distance sensed by the sensors arranged along the vertical shaft is inconsistent with an initial value, at the moment, the section of the irregular pipe body can be made to be horizontal by rotating the first rotating device 4, and meanwhile, the linear driving device 22 of the axis b and the linear driving device 23 of the axis c are driven to compensate, so that the wound section of the pipe body can be always positioned on the horizontal working plane; the sensor that sets up along the horizontal axis can respond to the bending angle of irregular body and this section of pipe that arouses apart from the distance change of sensor, and then the accessible rotates the angle of two 9 adjustment winding framves of rotary device, makes winding frame 6 perpendicular with this section of irregular body.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a multiaxis linkage coiler that is used for irregular body to wrap which characterized in that: the winding device comprises a base (1), wherein the base (1) is connected with a clamping support (3) through a moving device (2), the clamping support (3) performs translational motion in three dimensions along the base (1) through the moving device (2), a clamping part (5) is rotatably arranged on the clamping support (3) through a first rotating device (4), a winding frame (6) is rotatably arranged on the base (1) through a second rotating device (9), a rotating shaft of the winding frame (6) is vertical to the rotating shaft of the clamping support (3), a winding disc (7) is rotatably arranged on the winding frame (6), and a supporting device (8) for supporting a winding tape roll is arranged on the winding disc (7);
the first rotating device (4) comprises a rotating output shaft (43) connected with the clamping part (5), the rotating output shaft (43) is connected with a die shank installing sleeve (51) through threads, an electromagnet (52) is further arranged at the end part of the output shaft, a diameter reduction (516) used for fixing the electromagnet (52) is arranged in an inner hole (511) of the die shank installing sleeve (51),
rotatory output shaft (43) side is along radially being provided with the through-hole, die shank installation cover (51) both sides are provided with bar hole (514) along the generating line direction, be provided with fixed pin (515) in the through-hole, two bar holes (514) are passed respectively at fixed pin (515) both ends.
2. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 1, wherein: the moving device (2) comprises an axis a linear driving device (21), an axis b linear driving device (22) and an axis c linear driving device (23) which are sequentially connected, the axis a linear driving device (21) is connected with the base (1), and the axis c linear driving device (23) is connected with the clamping support (3).
3. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 2, wherein: the driving direction of the a-axis linear driving device (21) is parallel to the rotating shaft of the clamping part (5).
4. The multi-axis linkage winding machine for irregular pipe lapping according to claim 2 or 3, wherein: the rotating shaft of the winding frame (6) is vertically arranged, the rotating shaft of the clamping part (5) is horizontally arranged, the driving directions of the axis a linear driving device (21), the axis b linear driving device (22) and the axis c linear driving device (23) are mutually perpendicular, and the axis c linear driving device (23) drives the clamping support (3) to move along the vertical direction.
5. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 1, wherein: a supporting device (8) is arranged on the winding disc (7) through a brake (75),
and a tension sensor (74) for testing the tension of the winding belt is also arranged on the winding disc (7).
6. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 1, wherein:
the winding disc (7) is further provided with a clamping wheel (77) and a one-way wheel (78), the clamping wheel (77) and the one-way wheel (78) are pressed tightly, and the one-way wheel (78) rotates in a one-way mode.
7. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 1, wherein: the supporting device (8) comprises an installation sleeve (81) rotatably arranged on the winding frame (6), an installation notch (82) is formed in the end portion of the installation sleeve (81), the installation notch (82) is arranged along a bus of the installation sleeve (81), a clamping notch is formed in one side of the bottom of the installation notch (82),
the middle part of the belt disc (84) is provided with a mounting hole (85) along the axial direction, the inner side of the mounting hole (85) is provided with a bayonet lock (86),
when the tape reel (84) is mounted, the clamping pin (86) slides in the mounting notch (82) and is clamped into the clamping notch.
8. The multi-axis linkage winding machine for the irregular pipe lapping according to claim 1, wherein: at least two distance sensors (61) are arranged on the winding frame (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426158.3A CN108423220B (en) | 2018-05-07 | 2018-05-07 | Multi-shaft linkage winding machine for lapping irregular pipe body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426158.3A CN108423220B (en) | 2018-05-07 | 2018-05-07 | Multi-shaft linkage winding machine for lapping irregular pipe body |
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| Publication Number | Publication Date |
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| CN108423220A CN108423220A (en) | 2018-08-21 |
| CN108423220B true CN108423220B (en) | 2020-12-04 |
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| CN201810426158.3A Active CN108423220B (en) | 2018-05-07 | 2018-05-07 | Multi-shaft linkage winding machine for lapping irregular pipe body |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110255300A (en) * | 2019-07-12 | 2019-09-20 | 广州熠达复合材料有限公司 | A kind of soft head wrapping machine |
| CN111099432B (en) * | 2019-12-26 | 2021-07-30 | 河北海赞自动化科技有限公司 | Irregular pipe body advancing device, advancing method and winding device thereof |
| CN111009358A (en) * | 2019-12-31 | 2020-04-14 | 武汉巴士博技术有限公司 | Numerical control wrapping equipment |
| CN112357162B (en) * | 2020-10-29 | 2022-04-19 | 湖南红太阳光电科技有限公司 | Automatic winding and packaging equipment |
| CN112456222A (en) * | 2020-11-25 | 2021-03-09 | 德清宏业晶体纤维有限公司 | Six-coordinate linkage HY fiber special-shaped winding machine |
| CN112498785A (en) * | 2020-12-14 | 2021-03-16 | 宿松九点科技有限公司 | Food packaging method |
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| US3616061A (en) * | 1970-02-05 | 1971-10-26 | Ciba Geigy Corp | Apparatus for making curved wound articles |
| SU534366A1 (en) * | 1975-05-11 | 1976-11-05 | Предприятие П/Я М-5612 | "Machine for winding curvilinear |
| DE3843488A1 (en) * | 1988-12-23 | 1990-07-05 | Ver Foerderung Inst Kunststoff | Winding apparatus and winding process |
| CN202213194U (en) * | 2011-09-06 | 2012-05-09 | 李建学 | Composite bend winding machine controlled by computer |
| CN103009614A (en) * | 2012-12-13 | 2013-04-03 | 天津工业大学 | Four-shaft linkage heterotype fiber twister |
| CN105071614B (en) * | 2015-08-13 | 2018-04-24 | 温州市桑德拉自动化科技有限公司 | Belting machine for high ferro traction electric machine coil |
| CN205630355U (en) * | 2016-05-26 | 2016-10-12 | 郭飚 | Automatic coiler of dull polish bar |
| CN106347758A (en) * | 2016-09-18 | 2017-01-25 | 佛山市虞氏科技有限公司 | Automatic stainless steel tube winding and packaging mechanism |
| CN208217069U (en) * | 2018-05-07 | 2018-12-11 | 河北海赞自动化科技有限公司 | A kind of multi-shaft interlocked wrapping machine wrapped for irregular tube body |
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