CN109109338B - Desktop type four-axis linkage fiber winding machine for forming grid structure - Google Patents
Desktop type four-axis linkage fiber winding machine for forming grid structure Download PDFInfo
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- CN109109338B CN109109338B CN201811286193.6A CN201811286193A CN109109338B CN 109109338 B CN109109338 B CN 109109338B CN 201811286193 A CN201811286193 A CN 201811286193A CN 109109338 B CN109109338 B CN 109109338B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/32—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core on a rotating mould, former or core
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Abstract
The invention relates to a desktop type four-axis linkage fiber winding machine for forming a grid structure, in particular to a fiber winding machine, which aims to solve the problem that the existing winding machine cannot meet the requirements of grid structure winding and miniature spacecraft component winding forming and comprises a machine tool platform, a movable frame body, a frame body movement driving mechanism, a fiber unwinding mechanism, a yarn picking mechanism, a glue dipping mechanism, a telescopic arm component, a wire nozzle component, a main shaft rotating component and a circumferential rib winding component; the invention belongs to the field of composite material forming, and discloses a fiber unwinding mechanism, a yarn picking mechanism, a glue dipping mechanism, a telescopic arm assembly and a yarn nozzle assembly.
Description
Technical Field
The invention relates to a fiber winding machine, in particular to a desktop type four-axis linkage fiber winding machine for forming a grid structure, and belongs to the field of composite material forming.
Background
The fiber winding is an automatic forming method for manufacturing fiber reinforced resin matrix composite, continuous fibers or cloth belts and pre-impregnated yarns impregnated with resin are wound on a core mold according to a certain rule, and then products are obtained through curing and demolding, wherein the products have the characteristics of light weight, high strength, corrosion resistance and the like, and a fiber winding machine is key equipment for realizing the process. In the aerospace field, the numerical control fiber winding machine is mainly used for forming composite materials of rockets, missile engine shells, spray pipes, satellite structural parts and the like. With the development of aerospace industry and space application in China, the miniature spacecraft is increasingly paid attention to the industry due to light weight and low emission cost. The components of the minisaviator, such as a storage tank, a propeller and the like, are generally formed by winding fiber composite materials. The fiber composite material grid structure has the advantages of high specific strength and large specific modulus, and can effectively realize weight reduction of the spacecraft structure. The winding machine on the market at present is designed for large components, occupies a large space, has high production cost, cannot realize winding of a grid structure, and cannot meet the requirement of forming of fiber winding components in the micro spacecraft.
Disclosure of Invention
The invention aims to solve the problem that the existing winding machine cannot meet the requirements of grid structure winding and miniature spacecraft component winding forming, and further provides a desktop type four-axis linkage fiber winding machine for grid structure forming.
The technical scheme adopted by the invention for solving the problems is as follows:
the automatic winding machine comprises a machine tool platform, a movable frame body, a frame body movement driving mechanism, a fiber unwinding mechanism, a yarn picking mechanism, a glue dipping mechanism, a telescopic arm assembly, a yarn nozzle assembly, a main shaft rotating part and an annular rib winding assembly; the device comprises a frame body moving driving mechanism, a main shaft rotating part and a circumferential rib winding assembly, wherein the frame body moving driving mechanism, the main shaft rotating part and the circumferential rib winding assembly are arranged on a machine tool platform, the main shaft rotating part is positioned between the frame body moving driving mechanism and the circumferential rib winding assembly, a moving frame body is arranged on the frame body moving driving mechanism, and a fiber unreeling mechanism, a yarn picking mechanism, a glue dipping mechanism, a telescopic arm assembly and a yarn nozzle assembly are arranged on the moving frame.
The invention has the beneficial effects that:
the invention provides a novel desktop type four-coordinate linkage winding machine for winding and forming a grid structure, which can realize the four-coordinate winding of a revolving body core mold and meet the forming requirement of a micro spacecraft shell; the invention contains a circumferential rib winding mechanism which is provided with a plurality of fixed wire mouths and a moving wire mouth and can simultaneously form circumferential ribs and spiral ribs of a grid structure, thereby effectively reducing fiber accumulation and overhead defects caused by fiber bending and accumulation at cross points when a single wire mouth winds the grid structure, improving the performance of a grid component and realizing the automatic forming of the grid structure; meanwhile, the winding machine comprises a tension control mechanism, so that the tension in the winding process can be monitored and controlled, and the quality of a wound product is improved; the constant-temperature water bath impregnation tank is integrated, so that the temperature of the resin in the winding process can be improved, the fluidity of the resin is improved, and the selection range of the resin type is expanded. The winding machine is suitable for various materials, is suitable for dry winding of thermosetting prepreg tapes, and can also be used for wet winding molding of materials such as carbon fibers, glass fibers, basalt fibers and the like. The winding machine adopts a modular design, adopts a standard automatic assembly, is convenient to maintain and use, adopts a desktop structure, occupies small space and can well meet the requirement of winding sample pieces in a laboratory; and the winding forming speed is high, and the production efficiency is high.
Drawings
Fig. 1 is an isometric view of the overall structure of the present application.
Fig. 2 is an isometric view of the overall structure of the present application.
Fig. 3 is a front view of the overall structure of the present application.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a schematic view showing the connection of the spindle rotating unit 7 and the circumferential rib winding assembly 8 according to the present invention.
Fig. 6 is a schematic connection diagram of a machine tool platform 1, a movable frame 2, a fiber unwinding mechanism 3, a yarn picking mechanism 4, a telescopic arm assembly 5, a yarn nozzle assembly 6, a frame moving driving mechanism 9 and a dipping mechanism 10.
Fig. 7 is a schematic top view of the dipping mechanism 10 of the present application.
Fig. 8 is a front view schematically illustrating the glue dipping mechanism 10 according to the present application.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 8, and the desktop four-axis linkage fiber winding machine for forming a grid structure in the present embodiment includes a machine tool platform 1, a movable frame 2, a frame moving driving mechanism 9, a fiber unwinding mechanism 3, a yarn picking mechanism 4, a glue dipping mechanism 10, a telescopic arm assembly 5, a yarn nozzle assembly 6, a main shaft rotating part 7, and a circumferential rib winding assembly 8; the frame body moving driving mechanism 9, the main shaft rotating part 7 and the annular rib winding assembly 8 are installed on the machine tool platform 1, the main shaft rotating part 7 is located between the frame body moving driving mechanism 9 and the annular rib winding assembly 8, the moving frame body 2 is installed on the frame body moving driving mechanism 9, and the fiber unwinding mechanism 3, the yarn picking mechanism 4, the glue dipping mechanism 10, the telescopic arm assembly 5 and the yarn nozzle assembly 6 are installed on the moving frame body 2.
The controller based on the Powerlink Ethernet communication realizes real-time communication of units such as an upper computer, a controller, an I/O module, a servo driver and the like through controlling the Ethernet communication through an industrial control machine control interface to form a control system of a winding machine, and can realize four-coordinate linkage.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5, in which the present embodiment describes a desktop four-axis linkage fiber winding machine for forming a grid structure, a spindle rotating part 7 includes a spindle servo motor 11, a speed reducer 12, a spindle servo motor coupler 13, a spindle 14, a core mold, a spindle chuck 16, a support chuck 17, a slider 18, a slide rail 19 and two spindle support columns 15, the spindle servo motor 11, the speed reducer 12, the spindle servo motor coupler 13, a spindle 14, the core mold, the spindle chuck 16 and the support chuck 17 are sequentially and fixedly connected along a straight line, an outer housing of the spindle servo motor 11 is fixedly connected with a housing of the speed reducer 12 and one end of a support of the spindle servo motor coupler 13, the other end of the spindle servo motor coupler 13 is fixedly connected with one spindle support column 15, the spindle 14 is rotatably connected and mounted on the spindle support column 15, a bottom end of the spindle support column 15 below the spindle 14 is, the supporting chuck 17 is rotatably connected with another main shaft supporting column 15, a sliding block 18 is fixedly installed at the bottom end of the main shaft supporting column 15, the sliding block 18 is arranged on a sliding rail 19 in a sliding mode, the sliding rail 19 is fixedly installed on the machine tool platform 1, and other methods are the same as those in the first embodiment.
The third concrete implementation mode: in the desktop four-axis linkage fiber winding machine for forming the grid structure, the hoop rib winding assembly 8 comprises a creel 21 and a yarn group 20, the yarn group 20 is installed on the creel 21, and the creel 21 is fixedly installed on the machine tool platform 1. The other methods are the same as those in the second embodiment.
The fourth concrete implementation mode: referring to fig. 1 to 4, the present embodiment is described, in which the frame body moving driving mechanism 9 includes a frame body moving driving servo motor 22, a frame body moving driving servo motor reducer 23, and a frame body moving synchronous belt linear motion module 24; the support body moving and driving servo motor 22 is connected with the input end of the synchronous belt linear motion module 24 through the support body moving and driving servo motor reducer 23, the support body moving synchronous belt linear motion module 24 is installed on the machine tool platform 1, and the moving support body 2 is fixedly installed on a module moving sliding block of the support body moving synchronous belt linear motion module 24. The other methods are the same as those in the first embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 4, and the fiber unwinding mechanism 3 of the present embodiment includes a fiber unwinding fixing frame 25, a fiber unwinding servo motor 26, a fiber unwinding driven wheel 27, a fiber unwinding synchronous belt 28, a fiber unwinding motor driving wheel 29, and a fiber unwinding rotating shaft 30; the fiber unreeling fixing frame 25 is fixedly installed at the top end of the movable frame body 2, two ends of the fiber unreeling rotating shaft 30 are rotatably connected and installed on the fiber unreeling fixing frame 25, the fiber unreeling driven wheel 27 is sleeved on one end of the fiber unreeling rotating shaft 30, a fiber unreeling servo motor 26 fixing seat is installed on the fiber unreeling fixing frame 25, the fiber unreeling motor driving wheel 29 is fixedly sleeved on the output end of the fiber unreeling servo motor 26, and the fiber unreeling driven wheel 27 and the fiber unreeling motor driving wheel 29 are connected through a fiber unreeling synchronous belt 28. The other methods are the same as those in the first embodiment.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 4, and the yarn taking-up mechanism 4 of the present embodiment includes a yarn taking-up roller 33, a yarn taking-up spring fixing bracket 32, two yarn taking-up roller connecting plates 31 and two yarn taking-up roller tensioning springs 34; choose yarn spring mount 32 fixed mounting to be located one of bottom at the removal support body 2, choose yarn roller connecting plate 31 to rotate to connect to install on choosing yarn spring mount 32 for two, and choose yarn roller 33 to rotate to connect to install on two choose yarn roller connecting plates 31, every one end of choosing yarn roller tension spring 34 is fixed on choosing yarn spring mount 32, every other end of choosing yarn roller tension spring 34 is chosen yarn roller 33's pivot with one respectively and is connected on choosing yarn roller connecting plate 31. The other methods are the same as those in the first embodiment.
The seventh embodiment: with reference to fig. 1 to 4, 7 and 8, the present embodiment is described, in which the gumming mechanism 10 includes a gumming tank 35, a constant temperature box 36, a gumming tank bracket 37, a gumming roller bracket 38, a fixed doctor blade 39, a distance-adjustable doctor blade 40, a gumming roller 42 and two distance-adjustable doctor blade fixed pressing plates 41; the bottom end of the gumming tank 35 is provided with a constant temperature box 36, the constant temperature box 36 is communicated with an external constant temperature water tank through an input water pipe and an output water pipe, the gumming tank 35 is fixedly arranged on a gumming tank bracket 37, the gumming tank bracket 37 is arranged on the movable frame body 2, a gumming roller 42 is fixedly arranged on the gumming tank bracket 37 through a gumming roller bracket 38, the gumming roller 42 is positioned above the gumming tank 35, a fixed doctor blade 39 is fixedly arranged on the gumming tank bracket 37 close to the gumming roller bracket 38, and a distance-adjustable doctor blade 40 is fixedly arranged on the gumming tank bracket 37 through two distance-adjustable doctor blade fixing pressing plates 41. The distance between the distance-adjustable scraping rubber plate 40 and the fixed scraping rubber plate 39 is adjusted, so that the amount of the rubber carried on the fiber is adjusted. The thermostat box 36 provides a constant temperature to the dip tank 35, and the thermostat box 36 provides constant temperature water through an external constant temperature water system, and other methods are the same as those in the first embodiment.
The specific implementation mode is eight: referring to fig. 1 to 4, the present embodiment is described, in which the telescopic arm assembly 5 includes a telescopic arm driving servo motor 50, a telescopic arm motor driving wheel 51, a telescopic arm driven wheel 53, a telescopic arm driven wheel support frame 52, a telescopic arm synchronous belt 54, a telescopic arm synchronous belt connection plate 46, a telescopic arm fixing plate 48 and a telescopic arm sliding plate 47; fixed mounting of telescopic boom drive servo motor 50 on removing support body 2, telescopic boom follows driving wheel 53 and installs on removing support body 2 through telescopic boom follow driving wheel support frame 52, telescopic boom motor driving wheel 51 and telescopic boom follow driving wheel 53 are connected through telescopic boom hold-in range 54, telescopic boom fixed plate 48 fixed mounting is on removing support body 2, the top of telescopic boom fixed plate 48 sets up the 'T' type arch that has the gyro wheel along length direction, telescopic boom sliding plate 47's bottom processing has the protruding recess that corresponds of the' T 'type that has the gyro wheel on the telescopic boom fixed plate 48, telescopic boom sliding plate 47's recess setting sets up the protruding of the 'T' type that has the gyro wheel on telescopic boom fixed plate 48, telescopic boom hold-in range 54 is through telescopic boom hold-in range connecting plate 46 and telescopic boom sliding plate 47 fixed connection. The other methods are the same as those in the first embodiment.
The specific implementation method nine: referring to fig. 1 to 4, the present embodiment is described, in which the filament nozzle assembly 6 includes a filament nozzle driving servo motor 43, a filament nozzle motor driving wheel 44, a filament nozzle motor driven wheel 45, a filament nozzle assembly connecting plate 56, a filament nozzle motor synchronous belt 57, and a filament nozzle 55; the fixing seat of the screw nozzle driving servo motor 43 is fixedly installed on the telescopic arm sliding plate 47, the vertical fixed installation of the screw nozzle component connecting plate 56 is at the extending end of the telescopic arm sliding plate 47, the rotating shaft output end of the screw nozzle driving servo motor 43 penetrates through the screw nozzle component connecting plate 56 and is connected with the screw nozzle motor driving wheel 44, the screw nozzle motor driven wheel 45 is rotatably connected and installed on the screw nozzle component connecting plate 56, the screw nozzle motor driving wheel 44 and the screw nozzle motor driven wheel 45 are connected through a screw nozzle motor synchronous belt 57, the screw nozzle 55 is installed on the screw nozzle motor driven wheel 45, and the screw nozzle 55 is close to the mandrel. The other methods are the same as those in the first embodiment.
The detailed implementation mode is ten: the present embodiment is described with reference to fig. 1 to 4, and the desktop four-axis linkage fiber winding machine for forming a grid structure further includes a yarn nozzle lead-in wheel 59, a tension measuring assembly 58, a dipping mechanism lead-out wheel 62, a dipping mechanism lead-in wheel 63, and two picking mechanism lead-out wheels 64; the tension measuring assembly 58 includes a tension sensor 61 and two rollers 60; the yarn nozzle leading-in wheel 59 is installed at the bottom end of the telescopic arm fixing plate 48 through a specified frame, the tension sensor 61 and the two rollers 60 are installed on the movable frame body 2 below the telescopic arm fixing plate 48 through the fixing plate, the tension sensor 61 is arranged between the two rollers 60, the gumming mechanism leading-out wheel 62 is installed at the outlet of the gumming mechanism 10 through the fixing plate, the gumming mechanism leading-in wheel 63 is installed at the inlet of the gumming mechanism 10 through the fixing plate, the yarn nozzle leading-in wheel 59, the gumming mechanism leading-out wheel 62, the gumming mechanism leading-in wheel 63 and the two rollers 60 are all horizontally and parallelly arranged, and the two yarn picking mechanism leading-out wheels 64 are vertically arranged between the gumming mechanism leading-in. The fiber passing through the yarn picking mechanism 4 is guided by the two yarn picking mechanism guide wheels 64, the tension force applied to the fiber passing through the sensor is measured by the tension sensor 61, and the rotating speed of the rotating shaft of the fiber unwinding servo motor 26 is adjusted according to requirements, so that the requirement of fiber winding is met. The other methods are the same as in embodiments one, six or seven.
In the embodiment, the tension sensor 61 and the fiber unwinding servo motor 26 of the fiber unwinding mechanism 3 are communicated with a tension control system, the tension control system adopts fp0r of a loose PLC as a controller, collected tension signals of the fibers are input into an analog input module of fp0r in an analog mode through the tension sensor 61, an analog output module of fp0r is connected with the servo motor for unwinding a yarn group, and through control calculation, the PLC controls yarn unwinding and winding of the yarn group motor according to a detection result of the tension sensor, so that closed-loop tension control is realized.
Principle of operation
Store fibrous yarn group and install on the yarn group support cylinder of fibre unwinding mechanism 3, yarn group support cylinder and fibre unreel pivot 30 and link to each other, fibre unreel servo motor 26 drive fibre and unreel motor action wheel 29 and rotate, under the transmission effect that fibre unreeled hold-in range 28, drive fibre and unreel driven wheel 27 and rotate, fibre unreels driven wheel 27 and drives fibre and unreel pivot 30 and rotate to drive yarn group and rotate, through fibre and unreel the corotation of servo motor 26, reversal and stop, realize the fibrous unreeling of yarn group, rolling and keeping. The fiber is led out from the yarn roll and enters the yarn picking mechanism 4, after passing through the yarn picking roller 33 of the yarn picking mechanism 4, the fiber is led out from the middle of the two yarn picking mechanism leading-out wheels 64, and the two yarn picking mechanism leading-out wheels 64 limit the position of the fiber, so that the fiber can smoothly enter the rubber dipping mechanism 10. The presence of the yarn-picking mechanism 4 enables the device to respond quickly and to stabilize the tension when sudden fluctuations occur in the fibers. After the fibers come out of the two take-up mechanism lead-out wheels 64, the fibers are led into the dipping mechanism 10 through the dipping mechanism lead-in wheel 63, the fibers enter the dipping tank 35 and are subjected to dipping through the dipping roller 42, after the fibers come out of the dipping tank 35, the fibers pass through a gap between the distance-adjustable glue scraping plate 40 and the fixed glue scraping plate 39, and then the fibers are led out through the dipping mechanism lead-out wheel 62. By moving the distance between the adjustable doctor blade 40 and the fixed doctor blade 39, the amount of glue on the fibres can be controlled. When the glue is dipped, the glue solution is poured into the glue dipping tank 35, and water with a corresponding temperature is introduced into the constant temperature box 36 according to the requirement of the working temperature of the glue solution, so that the temperature of the glue solution is adjusted. The fibers can be fully soaked in the glue solution under the action of the glue dipping roller 42. The fiber enters the tension measuring assembly 58 after passing through the gum dipping mechanism leading-out wheel 62, the three rollers of the tension measuring assembly 58 are arranged in a triangle, the fiber enters from the lower part of the roller 60 close to the gum dipping mechanism leading-out wheel 62, passes through the upper part of the tension sensor 61 and then penetrates out from the lower part of the other roller 60 of the tension measuring assembly 58, and the tension measurement is realized through the structure. The fiber is fed out from the roller 60 of the tension measuring unit 58 and guided to the nozzle unit 6 by the nozzle feed roller 59, and the fiber is wound around the surface of the core mold by the nozzle 55 after being discharged from the nozzle unit 6.
The linear motion of the movable frame body 2 driving the screw nozzle 55 and the rotary motion of the core mold form two basic motion coordinates for winding the spiral ribs of the grid structure, and the winding of different spiral rib winding angles can be realized. The linear motion of the telescopic arm assembly 5 can make the machine tool adapt to the winding of core moulds with different diameters, the rotary motion of the wire nozzle 55 can make the fiber with a certain width uniformly wound on the surface of the core mould, and the linear motion of the telescopic arm assembly 5 and the wire nozzle 55 cooperate to realize the turning of the fiber at the end position of the core mould. In the winding process, the tension in the fiber is measured by the tension sensor 61 and fed back to the PLC controller, and the yarn outlet speed and direction of the fiber are controlled by controlling the rotating speed and direction of the fiber unwinding servo motor 26 through the PLC, so that a closed-loop control system of the tension is formed, and the real-time control of the fiber tension is realized. When tension fluctuation occurs, under the combined action of the fiber unreeling servo motor 26 and the yarn picking mechanism 4, the tension is stably controlled.
And yarn groups 20 of another group of fibers are arranged on a creel 21 of the circumferential rib winding assembly 8, the distance between the yarn groups 20 is adjusted to ensure that the distance between the yarn groups is consistent with the distance between the annular rib grooves on the grid structure mould, and the fibers are wound in the circumferential rib grooves on the surface of the core mould after being led out from the yarn groups 20. The fibers are passively drawn out under the action of the rotational motion of the mandrel and the creel 21 provides resistance to the clew 20, maintaining the fiber tension in the circumferential rib. When the spiral ribs of the grid structure are wound, the core mold rotates to drive the group of fibers to complete the winding of the annular ribs of the grid structure, and finally the synchronous winding of the spiral ribs and the annular ribs of the grid structure is realized.
Claims (8)
1. A desktop type four-axis linkage fiber winding machine for forming a grid structure comprises a machine tool platform (1), a movable frame body (2), a frame body movement driving mechanism (9), a fiber unwinding mechanism (3), a yarn picking mechanism (4), a glue dipping mechanism (10), a telescopic arm assembly (5), a yarn nozzle assembly (6), a main shaft rotating part (7) and a circumferential rib winding assembly (8); the method is characterized in that: the yarn taking-in device also comprises a yarn nozzle leading-in wheel (59), a tension measuring assembly (58), a gum dipping mechanism leading-out wheel (62), a gum dipping mechanism leading-in wheel (63) and two yarn taking-up mechanism leading-out wheels (64); the tension measuring assembly (58) comprises a tension sensor (61) and two rollers (60); the glue dipping mechanism (10) comprises a glue dipping tank (35), a constant temperature box body (36), a glue dipping tank bracket (37), a glue dipping roller bracket (38), a fixed glue scraping plate (39), a distance-adjusting glue scraping plate (40), a glue dipping roller (42) and two distance-adjusting glue scraping plate fixed pressing plates (41); the frame body moving driving mechanism (9), the main shaft rotating part (7) and the circumferential rib winding assembly (8) are arranged on a machine tool platform (1), the main shaft rotating part (7) is positioned between the frame body moving driving mechanism (9) and the circumferential rib winding assembly (8), the moving frame body (2) is arranged on the frame body moving driving mechanism (9), the fiber unreeling mechanism (3), the yarn picking mechanism (4), the glue dipping mechanism (10), the telescopic arm assembly (5) and the wire nozzle assembly (6) are arranged on the moving frame body (2), the bottom end of the glue dipping tank (35) is provided with a constant temperature box body (36), the constant temperature box body (36) is communicated with an external constant temperature water tank through an input water pipe and an output water pipe, the glue dipping tank (35) is fixedly arranged on the glue dipping tank bracket (37), the dipping tank bracket (37) is arranged on the moving frame body (2), the dipping roller (42) is fixedly arranged on the dipping tank bracket (37) through a dipping, a glue dipping roller (42) is positioned above a glue dipping groove (35), a fixed glue scraping plate (39) is fixedly arranged on a glue dipping groove bracket (37) close to a glue dipping roller bracket (38), a distance-adjusting glue scraping plate (40) is fixedly arranged on the glue dipping groove bracket (37) through two distance-adjusting glue scraping plate fixing pressing plates (41), a yarn nozzle leading-in wheel (59) is arranged at the bottom end of a telescopic arm fixing plate (48) through a fixing frame, a tension sensor (61) and two rollers (60) are arranged on a movable frame body (2) below the telescopic arm fixing plate (48) through a fixing plate, the tension sensor (61) is arranged between the two rollers (60), a leading-out wheel (62) of a glue dipping mechanism is arranged at an outlet of the glue dipping mechanism (10) through a fixing plate, a leading-in wheel (63) of the glue dipping mechanism is arranged at an inlet of the glue dipping mechanism (10) through a fixing plate, a leading-in wheel (59), The glue dipping mechanism lead-in wheel (63) and the two rollers (60) are both arranged horizontally and in parallel, and the two take-up mechanism lead-out wheels (64) are vertically arranged between the glue dipping mechanism lead-in wheel (63) and the take-up mechanism (4).
2. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the main shaft rotating part (7) comprises a main shaft servo motor (11), a speed reducer (12), a main shaft servo motor coupler (13), a main shaft (14), a core mold, a main shaft chuck (16), a supporting chuck (17), a slide block (18), a slide rail (19) and two main shaft supporting columns (15), wherein the main shaft servo motor (11), the speed reducer (12), the main shaft servo motor coupler (13), the main shaft (14), the core mold, the main shaft chuck (16) and the supporting chuck (17) are fixedly connected along a straight line in sequence, an outer shell of the main shaft servo motor (11) is fixedly connected with a shell of the speed reducer (12) and one end of a bracket of the main shaft servo motor coupler (13), the other end of the main shaft servo motor coupler (13) is fixedly connected with one main shaft supporting column (15), the main shaft (14) is rotatably connected and installed on the main shaft supporting column (15), the bottom end of the main shaft supporting column, support chuck (17) and another main shaft support column (15) and rotate and be connected, the bottom fixed mounting of main shaft support column (15) has a slider (18), slider (18) slide to set up on slide rail (19), slide rail (19) fixed mounting is on machine tool platform (1).
3. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the hoop rib winding assembly (8) comprises a creel (21) and a yarn group (20), the yarn group (20) is installed on the creel (21), and the creel (21) is fixedly installed on the machine tool platform (1).
4. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the frame body moving driving mechanism (9) comprises a frame body moving driving servo motor (22), a frame body moving driving servo motor reducer (23) and a frame body moving synchronous belt linear motion module (24); the support body moving and driving servo motor (22) is connected with the input end of the synchronous belt linear motion module (24) through a support body moving and driving servo motor reducer (23), the support body moving synchronous belt linear motion module (24) is installed on the machine tool platform (1), and the moving support body (2) is fixedly installed on a module moving sliding block of the support body moving synchronous belt linear motion module (24).
5. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the fiber unreeling mechanism (3) comprises a fiber unreeling fixing frame (25), a fiber unreeling servo motor (26), a fiber unreeling driven wheel (27), a fiber unreeling synchronous belt (28), a fiber unreeling motor driving wheel (29) and a fiber unreeling rotating shaft (30); the fiber unreeling fixing frame (25) is fixedly installed at the top end of the movable frame body (2), two ends of a fiber unreeling rotating shaft (30) are rotatably connected and installed on the fiber unreeling fixing frame (25), a fiber unreeling driven wheel (27) is sleeved on one end of the fiber unreeling rotating shaft (30), a fiber unreeling servo motor (26) fixing seat is installed on the fiber unreeling fixing frame (25), a fiber unreeling motor driving wheel (29) is fixedly sleeved on the output end of the fiber unreeling servo motor (26), and the fiber unreeling driven wheel (27) and the fiber unreeling motor driving wheel (29) are connected through a fiber unreeling synchronous belt (28).
6. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the yarn picking mechanism (4) comprises a yarn picking roller (33), a yarn picking spring fixing frame (32), two yarn picking roller connecting plates (31) and two yarn picking roller tensioning springs (34); choose yarn spring mount (32) fixed mounting to be located one of bottom at removal support body (2) and serve, choose yarn gyro wheel connecting plate (31) to rotate to connect to install on choosing yarn spring mount (32) for two, and choose yarn gyro wheel (33) to rotate to connect to install on two choose yarn gyro wheel connecting plates (31), the one end of every choosing yarn gyro wheel straining spring (34) is fixed on choosing yarn spring mount (32), the other end of every choosing yarn gyro wheel straining spring (34) is chosen the pivot of yarn gyro wheel (33) on with one choosing yarn gyro wheel connecting plate (31) respectively and is connected.
7. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the telescopic arm assembly (5) comprises a telescopic arm driving servo motor (50), a telescopic arm motor driving wheel (51), a telescopic arm driven wheel (53), a telescopic arm driven wheel support frame (52), a telescopic arm synchronous belt (54), a telescopic arm synchronous belt connecting plate (46), a telescopic arm fixing plate (48) and a telescopic arm sliding plate (47); telescopic boom drive servo motor (50) fixing base fixed mounting is on removing support body (2), telescopic boom follows driving wheel (53) and installs on removing support body (2) through telescopic boom follow driving wheel support frame (52), telescopic boom motor driving wheel (51) and telescopic boom follow driving wheel (53) are connected through telescopic boom hold-in range (54), telescopic boom fixed plate (48) fixed mounting is on removing support body (2), the top of telescopic boom fixed plate (48) sets up the protruding of 'T' type that has the gyro wheel along length direction, the bottom processing of telescopic boom sliding plate (47) has the protruding recess that corresponds of 'T' type that has the gyro wheel on with telescopic boom fixed plate (48), the recess setting of telescopic boom sliding plate (47) sets up on telescopic boom fixed plate (48) the protruding of 'T' type that has the gyro wheel, telescopic boom hold-in range (54) are through telescopic boom hold-in range connecting plate (46) and telescopic boom sliding plate (47) fixed connection.
8. The desktop four-axis linkage fiber winding machine for forming the grid structure according to claim 1, wherein: the wire nozzle component (6) comprises a wire nozzle driving servo motor (43), a wire nozzle motor driving wheel (44), a wire nozzle motor driven wheel (45), a wire nozzle component connecting plate (56), a wire nozzle motor synchronous belt (57) and a wire nozzle (55); screw mouth drive servo motor (43) fixing base fixed mounting is on flexible arm sliding plate (47), the vertical fixed mounting in the department of stretching out of flexible arm sliding plate (47) of screw mouth subassembly connecting plate (56), the pivot output end of screw mouth drive servo motor (43) passes screw mouth subassembly connecting plate (56) and is connected with screw mouth motor drive wheel (44), the screw mouth motor is rotated from driving wheel (45) and is connected and install on screw mouth subassembly connecting plate (56), screw mouth motor drive wheel (44), screw mouth motor is followed driving wheel (45) and is passed through screw mouth motor hold-in range (57) and connect, install on screw mouth motor follows driving wheel (45) screw mouth (55), screw mouth (55) are close to the mandrel setting.
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| CN109703063B (en) * | 2019-02-25 | 2021-05-07 | 哈尔滨工业大学 | Be used for fashioned robot fiber winding head of three-way pipe |
| CN112140579B (en) * | 2020-09-21 | 2022-04-22 | 哈尔滨工业大学 | Fiber winding head device |
| CN113547764A (en) * | 2021-08-04 | 2021-10-26 | 济南玖源机电科技有限公司 | Intelligent tension distributed continuous fiber additive manufacturing system |
| CN114131951B (en) * | 2021-11-30 | 2023-05-23 | 中材科技（苏州）有限公司 | Combined winding forming equipment |
| CN116572562B (en) * | 2023-04-04 | 2024-03-19 | 南京红复玻璃钢有限公司 | Manufacturing process of continuously-wound glass fiber reinforced plastic pipeline |
| CN116901488B (en) * | 2023-09-15 | 2023-12-05 | 昆山台功精密机械有限公司 | Lifting type fiber loading box for aviation six-axis linkage wire laying machine |
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| CN103009614A (en) * | 2012-12-13 | 2013-04-03 | 天津工业大学 | Four-shaft linkage heterotype fiber twister |
| CN105799187A (en) * | 2016-04-14 | 2016-07-27 | 航天材料及工艺研究所 | Composite material grid conical shell fiber placing and winding integrated molding device |
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| WO2005105641A2 (en) * | 2004-04-21 | 2005-11-10 | Ingersoll Machine Tools, Inc. | Automated fiber placement using multiple placement heads, replaceable creels, and replaceable placement heads |
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| CN103009614A (en) * | 2012-12-13 | 2013-04-03 | 天津工业大学 | Four-shaft linkage heterotype fiber twister |
| CN105799187A (en) * | 2016-04-14 | 2016-07-27 | 航天材料及工艺研究所 | Composite material grid conical shell fiber placing and winding integrated molding device |
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