CN109551781A - It is a kind of large size seven-axis linkage numerical control paving twine integrated molding equipment - Google Patents

Abstract

The invention belongs to machine design and manufacture-high-grade, digitally controlled machine tools and basic manufacturing equipment field, it is related to a kind of large-scale seven-axis linkage numerical control paving and twines integrated molding equipment, its host for using+one rotary table rotating shaft of three linear axes to constitute and three shaft-driven pavings of revolution twine head, synthesize three translational motions and four rotary motions, realize that paving twines the space motion path control and workpiece revolution of head, simultaneously to send the folding and unfolding with U axis driving strap and speed to adjust, realize that eight axis control seven-axis linkage laying, to realize the automatic forming of the composite material skin structure of all kinds of abnormal curved surfaces in space.The present invention can directly control the space motion path that paving twines head, even the workpiece of abnormal curved surface also can accurately be bonded its surface carry out paving twine, to which reduction even avoids the operation of excision material progress shaping after curing molding, it reduces pollution, save the cost, improve efficiency, the equipment platform suitable for engineering Application Research and manufacture is provided for automatic tow laying technology.

Description

It is a kind of large size seven-axis linkage numerical control paving twine integrated molding equipment

Technical field

The invention belongs to machine design and manufacture-high-grade, digitally controlled machine tools and basic manufacturing equipment field, are related to a kind of large size Eight axis of double-column vertical controls seven-axis linkage numerical control Fabric tape winding/laying integrated molding equipment.It is used for more particularly, to one kind Composite fiber grid cloth band twines each servo motion axis using all-digitized demodulator host and paving, carries out Space Axisymmetric, face Symmetrically, the laying forming equipment of all kinds of complicated stressed-skin construction parts such as non-axis symmetry, abnormal curved surface.

Background technique

Traditional three-axis numerical control wrapping machine can complete tubular, taper, the composite material skin of power curved shape revolving body It is Wrapping formed, but it is unable to complete the laying forming of special-shaped curved covering.For special-shaped curved covering, twined using three axis straps of tradition It is only capable of completing mold rotation around machine and prepreg tape is fixed, the laying forming of strap is manually completed, and prepreg tape is artificial in laying Apply tension, cause to be bonded between strap and mould product it is not firm, it is bigger than normal than theoretical circumference.

Except that Cloth Tape Winding Machine can be used is directly Wrapping formed for revolving body shell class composite material thin wall stressed-skin construction part product Outside, spatial complex abnormal curved surface class composite material thin wall formed product is at present without automated arm, need by by hand at Type.Composite material skin fiber placement direction, precision and spreading are affected to product comprehensive performance and quality conformance. Manual laying is preheated firstly the need of to mold, guarantees that prepreg can preferably mold；The angle of preimpregnation tow laying, seam Gap is spliced by manual control；In order to guarantee good fit between prepreg, every 2~3 layers of paving needs packet vacuum to carry out primary pre- Pressure；It needs again to preheat mold before next laying, prepreg of the laying on mold needs experience heating for multiple times mistake often Journey.The forming process period is very long, large labor intensity low efficiency；And the fiber placement angle of the composite material structural member of offhand Degree etc., which is straightened, in resin content, the fiber of piece, prepreg between degree, fibre bundle not can guarantee, stable product quality Difference and be unable to satisfy multiple material material space curved surface covering class product engineering high efficiency production rhythm demand.

Therefore, by manually using fibrous mesh cloth to carry out after parallel overlap wrapping, twill tiltedly fold Wrapping formed solidification, It is machined out shaping again, there are three aspects for existing major defect:

Firstly, leading to product there are a variety of mass defects such as gauffer, bridge formation, layering, cracking after artificial curing molding processing Reliability, stability and consistency are poor；Secondly, stock utilization lowly causes material cost high, to reduce manual operation Difficulty improves man efficiency, and conventional curing process is directly to wrap entire abnormal curved surface workpiece, and the material of large area needs Realization molding is machined away after solidification, practical Wrapping formed stock utilization wastes extremely serious less than 30%；Furthermore it needs Extra strap covering is removed by machine cut processing, strap fiber is destroyed by cutting in the process leads to comprehensive performance It is low, and processing cost is high, cutting when dust pollution is serious, long to cause the overall cost high period long etc. numerous for process turn around time Disadvantage.

The country has more already carried out Technical Follow-Up and exploratory development to automatic tow laying technology, and Nanjing aerospace is big , Northwestern Polytechnical University, Harbin Institute of Technology, Wuhan Polytechnical Univ etc. have carried out some theoretical and laboratory researches.But The technologies such as automatic tow equipment, technology and the preparation of corresponding preimpregnation tow did not all carry out system research, this for this at The engineering application of type technology brings great difficulty.Currently, due to the country not yet develop can satisfy engineer application from Dynamic tow laying equipment causes the necessary tow laying equipment of domestic shortage as research platform, and then causes necessary mating The research of technology such as tow prepreg technology, drive software, placement process and mold design technology etc. can not also be carried out, and can not accomplish In-depth study is carried out to automatic tow laying technological system.

Summary of the invention

Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of large-scale seven-axis linkage numerical control pavings to twine Integrated molding equipment, it is intended that twining the oscilaltion of head using three linear axis drive pavings, elastic, left and right is moved It is dynamic, the pitching, rolling, yaw of head are twined by three rotating shaft driving pavings, and workpiece revolution is driven by rotary table, realizes paving The space motion path control and workpiece revolution of head are twined, while driving the folding and unfolding of strap and speed to adjust with a rotating shaft, into Eight axis of row controls seven-axis linkage laying, to realize the automatic chemical conversion of the composite material skin structure of all kinds of abnormal curved surfaces in space Type.

To achieve the above object, according to one aspect of the present invention, it provides a kind of large-scale seven-axis linkage numerical control paving and twines one Body molding equipment, comprising: equipment host, the troublesome wrist of paving, paving twine head, rotary table and numerical control unit；

Equip host include three translation units, respectively oscilaltion Z axis unit, move left and right X-axis unit and front and back Flexible Y-axis unit；X-axis unit is moved left and right on oscilaltion Z axis unit, elastic Y-axis unit is set to and moves left and right X On axle unit；

Spreading troublesome wrist includes that rolling A axle unit, pitching B axle unit and yaw C axle unit, A axis are parallel to Y-axis, and B axle is parallel In X-axis, C axis is parallel to Z axis；Rolling A axle unit is fixed on elastic Y-axis unit to move therewith along Y-axis is elastic, Rolling A axle unit drives pitching B axle unit to carry out rolling around A axis, and pitching B axle unit drives yaw C axle unit to bow around B axle Face upward movement；

Paving twines the output end that head is set to yaw C axle unit, inclined to realize under the drive of yaw C axle unit around the rotation of C axis Shipping is dynamic；Paving twines head and twines the volume of material strip needed for workpiece for installing paving with band U axle unit is sent, and tape speed is sent in adjusting；

Rotary table is a turning unit, for placing wait spread the workpiece twined and drive the workpiece around vertical C Axis rotation；

Numerical control unit is used to control the movement of three translation units, a turning unit and three rotary units, thus band Dynamic paving twines head and moves and drive workpiece rotation, and control that band U axle unit adjusting is sent to send tape speed according to the track of setting.

Further, oscilaltion Z axis unit includes: two columns symmetrically arranged on the left and the right, the leading flank of two columns It is equipped with lifting motor, Z-direction ball-screw, Z-direction guide rail and Z-direction sliding block；

Lifting motor is connect with Z-direction ball-screw, to drive Z-direction ball screw turns；Z-direction sliding block and Z-direction guide rail cooperate； It moves left and right X-axis unit and the feed screw nut of Z-direction sliding block and Z-direction ball-screw on two columns is fixedly connected with, in Z-direction It is moved under ball-screw driving along Z-direction lifting rail.

Further, equipment host further includes two gravity balance units, and bilateral symmetry is respectively arranged in two columns The left and right sides, two gravity balance units include: line slide rail, movable pulley mounting plate, hydraulic cylinder mounting base, hydraulic cylinder, chain Item, movable pulley A, the first fixed pulley B, the second fixed pulley C and connector；

Line slide rail is fixed on vertically on corresponding column, and movable pulley mounting plate is fixed on the sliding block of line slide rail；Liquid Cylinder pressure is fixed below line slide rail by hydraulic cylinder mounting base, the piston rod end of hydraulic cylinder and the fixed company of movable pulley mounting plate It connects；Movable pulley A is set on movable pulley mounting plate, and the first fixed pulley B, the second fixed pulley C are set on column and are located at straight line and slide Rail side；The position of first fixed pulley B is higher than the minimum point of movable pulley A, the position of the second fixed pulley C is lower than movable pulley A most Low spot；Chain one end is fixed in hydraulic cylinder mounting base, and the other end successively bypasses movable pulley A, the first fixed pulley B, the second fixed cunning After taking turns C, it is fixed on Z axis lifting base by connector.

Further, hydraulic cylinder mounting base includes pedestal A, fixed plate B and two guide plates；

Pedestal A is equipped with hydraulic cylinder mounting hole, and hydraulic cylinder passes through hydraulic cylinder mounting hole, and is fixed on by mounting flange B On pedestal A；It is formed between two opposite sides of mounting flange B and two opposite hole walls of hydraulic cylinder mounting hole respectively for two The gap that guide plate passes through；The lower end of two guide plates is each passed through the gap of respective side, and upper end is fixed on the piston of hydraulic cylinder Boom end.

Further, move left and right X-axis unit include: lifting base, X to sliding rail, X to rack gear, X to sliding block, translation base Seat, X are to motor and X to gear；

Lifting base is fixedly connected with the feed screw nut of two Z-direction ball-screws, the left and right ends of lifting base respectively with Z-direction sliding block on corresponding Z-direction guide rail is fixedly connected, transported under the rotation of ball-screw driving along Z-direction guide rail oscilaltion It is dynamic；

X is set to lifting base upper surface to sliding rail, X to rack gear along the x axis；X matches to sliding block and X to sliding rail sliding It closes, translation base is fixed on X on sliding block；

X is fixed on translation base to motor, and output end is equipped with X to gear, and X is engaged with X to rack gear to gear.

Further, elastic Y-axis unit includes Y-direction guide rail, Y-direction sliding block A, Y-direction pedestal, Y-direction rack gear, Y-direction motor And Y-direction gear；

Y-direction guide rail is set to Y-direction pedestal lower part along the y axis；Y-direction sliding block A is slidably matched with Y-direction guide rail, and is fixed on On translation base；Y-direction rack gear is set to along the y axis on Y-direction pedestal；Y-direction motor is fixed on translation base, and its output end Equipped with Y-direction gear, Y-direction gear is engaged with Y-direction rack gear.

Further, rolling A axle unit includes rolling motor, rolling pedestal and pitching matrix；Rolling motor is fixed on Y-direction On pedestal, rolling pedestal is fixed on the output end of rolling motor；Rolling pedestal extends two side arms, pitching matrix along the y axis It is articulated between two side arms；One of them drive-connecting shaft of pitching matrix and two side arms is equipped with driven gear；

Pitching B axle unit includes pitching motor and driving gear；Pitching motor is fixed on the corresponding side arm of driven gear, Its output end is equipped with driving gear, and driving gear is engaged with driven gear；

Yawing C axle unit includes that yaw motor and paving twine a mounting base；Yaw motor is fixed on pitching matrix upper end, defeated Outlet passes through pitching matrix along C axis direction, and twines a mounting base with paving below pitching matrix and connect；Paving twines a mounting base and is used for Installation paving twines head.

Further, sending band U axle unit includes sending band U axis and U axis driving motor, and band U axis is sent to twine workpiece for installing paving Required material strip volume；U axis driving motor and send band U axis connection, for adjust send tape speed；

It further includes home roll, deputy roller, home roll cylinder, deputy roller cylinder and triangular connecting plate that paving, which twines head,；

Band U axis, home roll, deputy roller is sent to be arranged in parallel；Home roll, deputy roller are set on two angles of triangular connecting plate, deputy roller cylinder Piston head be articulated on third angle, deputy roller cylinder can be parallel to around one send the shaft with U axis to rotate；The piston of home roll cylinder Head is articulated on the angle where home roll, and home roll cylinder only one linear motion freedom degree, so that piston head is only stretched as straight line Contracting movement；

Home roll and deputy roller are successively arranged on the paving tape wrap A motion path involved in material strip volume, for adjusting paving tape wrap A's Tension and angle.

Further, rotary table includes pedestal, turntable, gear ring, two rotating electric machines and two rotation gears；

Turntable is rotatably disposed within pedestal upper end, and rotation axis is vertical C1 axis, and turntable upper surface is workpiece mounting surface；Turn Platform lower part is equipped with gear ring, and the axis of gear ring is vertical C1 axis；Two rotating electric machines are set to base side wall, and output end is respectively provided with one Gear is rotated, two rotation gears are engaged about C1 axial symmetry, and with gear ring.

In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial to effect Fruit:

1, the present invention uses the oscilaltion Z axis of tri- linear axis drive placement heads of XYZ, elastic Y-axis, moves left and right X-axis is driven pitching A axis, rolling B axle, the yaw C axis of placement head by tri- rotating shafts of ABC, drives work by rotary table Part turns round C1 axis, realizes that paving twines the spatial movement control of head and workpiece revolution, combining with digital control unit carry out TRAJECTORY CONTROL and realize eight Axis controls seven-axis linkage laying.The space motion path that head is twined since paving can be directly controlled, even the workpiece of abnormal curved surface Also it can accurately be bonded its surface and carry out paving and twine, even avoid the behaviour that excision material after curing molding carries out shaping to reduce Make, substantially increase stock utilization, and fibrous fracture caused by reducing or even avoid because of excision, reduce pollution, save the cost, It improves efficiency.

2, since paving twines head tool, there are three translation freedoms and three rotary freedoms, can move such as manpower generic flexible, And paving twines head and rotary table and tacit agreement can cooperate as the both hands of people, but twines compared to artificial paving but can stablize folding and unfolding With pull strap, product quality reliability, stability and the consistency of acquisition significantly improve.

3, track is set by numerical control unit, can be realized multiple circulation laying, be overlapped in parallel laying, tiltedly it is folded wind laying, The different proportions lap reciprocation cycle laying forming such as spiral winding laying realizes various spacial special-shaped curved surface class complexity covering knots The laying forming of component has high versatility.

4, since the paving towards large-scale workpiece twines processing, processing stroke range may have several meters, each moving component of the present invention Overall size and total weight also can be larger, using double upright type lifting structures, pass through two Z-direction ball-screws and control lifting simultaneously Movement, can be with lifting motion stability.Lifting base is sling using gravity balance unit, and then own to lifting base and thereon The total weight of components is balanced, so that greatly promoting when Z-direction ball-screw progress elevating control hardly by load effect The response speed of elevating movement, reduces the intensity requirement of Z-direction ball-screw and lifting motor.

5, the hydraulic cylinder piston rod of gravity balance unit is oriented to by guide plate, can be to avoid because living caused by overload Stopper rod offset is shaken, and the stability of gravitational equilibrium process is improved.

6, change the position of home roll, deputy roller by cylinder moving, thus it is possible to vary the paving of strap twines angle, further increases multiple The adaptability in miscellaneous type face, so that improving paving twines quality and stability.

7, turntable is symmetrically driven by bi-motor, Double-gear, in the driving towards large-scale workpiece, control it is more stable and Accurately.

8, automatic paving provided by the invention twines Integration Equipment, additionally it is possible to the research base as automatic tow laying technology Plinth provides for the systematization further investigation in the field and meets the research platform of engineer application.

Detailed description of the invention

Fig. 1 is integral structure layout and the grid bearing schematic diagram of the preferred embodiment of the present invention；

Fig. 2 is the oscilaltion Z axis cellular construction schematic diagram of the preferred embodiment of the present invention；

Fig. 3 is the gravity balance unit structural schematic diagram of the preferred embodiment of the present invention；

Fig. 4 is the assembling schematic diagram for moving left and right X-axis unit and elastic Y-axis unit of the preferred embodiment of the present invention Perspective view；

Fig. 5 is the main view of Fig. 4；

Fig. 6 is the right view of elastic Y-axis unit under the visual angle Fig. 5；

Fig. 7 is the stereoscopic schematic diagram of translation base in Fig. 4；

Fig. 8 is the troublesome wrist structural schematic diagram of paving of the preferred embodiment of the present invention；

Fig. 9 be Fig. 8 some look up the structural schematic diagram at visual angle, for show driving gear and driven gear cooperation close System；

Figure 10 is that the paving of the preferred embodiment of the present invention twines a governing mechanism of tension schematic diagram；

Figure 11 is the rotary table structural schematic diagram of the preferred embodiment of the present invention.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below Not constituting a conflict with each other can be combined with each other.

To achieve the above object, according to one aspect of the present invention, it provides a kind of large-scale seven-axis linkage numerical control paving and twines one Body molding equipment, as shown in Figure 1, the equipment include: equipment host 1, the troublesome wrist 2 of paving, paving twine first 3, rotary table 4 and Numerical control unit (not shown).

Equip host 1 include three translation units, respectively oscilaltion Z axis unit 11, move left and right 13 and of X-axis unit Elastic Y-axis unit 14.It moves left and right X-axis unit 13 to be set to 11 on oscilaltion Z axis unit, elastic Y-axis unit 14 Set on moving left and right on X-axis unit 13.Spreading troublesome wrist 2 includes rolling A axle unit 21, pitching B axle unit 22 and yaw C axle unit 23, A axis are parallel to Y-axis, and B axle is parallel to X-axis, and C axis is parallel to Z axis.Rolling A axle unit 21 is fixed on elastic Y-axis unit To move therewith along Y-axis is elastic on 14, rolling A axle unit 21 drives pitching B axle unit 22 to carry out rolling, pitching B around A axis Axle unit 22 drives yaw C axle unit 23 to carry out pitching movement around B axle.Paving twines first 3 output ends for being set to yaw C axle unit 23, Yawing rotation is realized to rotate under the drive of yaw C axle unit around C axis.Paving twines first 3 with band U axle unit is sent, for installing Paving twines the volume of material strip needed for workpiece 31, and adjusts and send tape speed.Rotary table 4 is somebody's turn to do for placing wait spread the workpiece twined and drive Workpiece is rotated around vertical C1 axis.

Numerical control unit is used to control the movements of three translation units and three rotary units, so that paving be driven to twine head according to setting Fixed track movement, control rotary table drive workpiece rotation, and control that band U axle unit adjusting is sent to send tape speed.This reality It applies example and eight axis control seven-axis linkage laying is carried out using domestic Central China numerical control system HNC848.

As shown in figures 1-4, the main-body structure of the oscilaltion Z axis unit 11 of the present embodiment is portal frame, can directly be existed It is reequiped on the basis of existing portal frame, the crossbeam of portal frame, can also be autonomous according to actual needs as lifting base 131 Design.Two columns 111 symmetrically arranged on the left and the right, the leading flank of two columns 111 are equipped with lifting motor 116, Z-direction ball wire Thick stick 113, Z-direction guide rail 112 and Z-direction sliding block 117.

Lifting motor 116 is connect with Z-direction ball-screw 113 by speed reducer or shaft coupling, to drive Z-direction ball-screw 113 rotations, ball-screw 113 are fixed on column 111 by two the first supports 114, and lifting motor 116 passes through the second support 115 are fixed on column 111.Z-direction sliding block 117 and Z-direction guide rail 112 cooperate.Move left and right X-axis unit 13 and two columns 111 On Z-direction sliding block 117 and the feed screw nut of Z-direction ball-screw 113 be fixedly connected with, to drive lower edge in Z-direction ball-screw 113 112 elevating movement of Z-direction guide rail.It is additionally provided with upper stopper 118 on column 111 and lower stopper 119 carries out travel limit up and down.Lower stopper 119 can also play the role of supporting lifting base 131 when shutting down, and lifting base 131 is located at minimum point, gravitational equilibrium at this time Unit can smooth load removal, safety shutdown.

As shown in Figures 1 and 3, equipment host further includes two gravity balance units 12, and bilateral symmetry is respectively arranged in two The left and right sides of a column 111, two gravity balance units 12 include: line slide rail 121, movable pulley mounting plate 122, hydraulic Cylinder mounting base 123, hydraulic cylinder 124, chain 125, movable pulley 126A, the first fixed pulley 126B, the second fixed pulley 126C and company Connector 127.The movable pulley 126A of the present embodiment, the first fixed pulley 126B, the second fixed pulley 126C select sprocket wheel.

Line slide rail 121 is fixed on vertically on corresponding column 111, and movable pulley mounting plate 122 is fixed on line slide rail 121 Sliding block on.Hydraulic cylinder 124 is fixed on 121 lower section of line slide rail, the piston rod of hydraulic cylinder 124 by hydraulic cylinder mounting base 123 End is fixedly connected with movable pulley mounting plate 122.Movable pulley 126A is set on movable pulley mounting plate 122, the first fixed pulley 126B, Second fixed pulley 126C is set on column 111 and is located at 121 side of line slide rail.The position of first fixed pulley 126B is higher than dynamic The minimum point of pulley 126A, minimum point of the position lower than movable pulley 126A of the second fixed pulley 126C.125 one end of chain is fixed on In hydraulic cylinder mounting base 123, after the other end successively bypasses movable pulley 126A, the first fixed pulley 126B, the second fixed pulley 126C, lead to Connector 127 is crossed to be fixed on Z axis lifting base.

Hydraulic cylinder mounting base 123 includes pedestal 123A, fixed plate 123B and two guide plates 128.It is set on pedestal 123A There is hydraulic cylinder mounting hole, hydraulic cylinder 124 passes through hydraulic cylinder mounting hole, and is fixed on pedestal 123A by mounting flange 123B. It is formed between two opposite sides of mounting flange 123B and two opposite hole walls of hydraulic cylinder mounting hole respectively for two guiding The gap that plate 128 passes through.The lower end of two guide plates is each passed through the gap of respective side, and upper end is fixed on the work of hydraulic cylinder 124 Stopper rod end.

When lifting base 131 rises and declines, lifting base 131 and the thereon gravity of all components are by hydraulic cylinder 124 Piston rod lift be balanced.Piston rod pushes or pull on movable pulley mounting plate 122 and movable pulley 126A is driven to rise or fall, To which the front part (Fig. 3 mark orientation) of drive chain 125 shortens or extends, to be moved synchronously with lifting base 131, in real time Carry out gravitational equilibrium.

As shown in figures 4-6, move left and right X-axis unit 13 include: lifting base 131, X to sliding rail 132, X to rack gear 133, X is to sliding block 134, translation base 135, X to motor 136 and X to gear 137.

Lifting base 131 is fixedly connected with the feed screw nut of two Z-direction ball-screws 113, the left and right two of lifting base 131 End be fixedly connected respectively with the Z-direction sliding block 117 on corresponding Z-direction guide rail 112, with the rotation of ball-screw 113 driving under, edge The 112 oscilaltion campaign of Z-direction guide rail.The feed screw nut of ball-screw 113 can be directly be nested on lifting base 131 or With the integrally formed part of lifting base 131, it can be and first fixed again with lifting base 131 on ball-screw 113, may be used also To be constituted by directly being opened up on lifting base 131 with the matched threaded hole of ball-screw 113.

Three X are set to 131 upper surface of lifting base to rack gear 133 to 132, X of sliding rail along the x axis.Six X It being slidably matched in pairs with three X to sliding rail 132 to sliding block 134, translation base 135 is fixed on six X on sliding block 134, To improve stability, certainly, above-mentioned quantity is not limited thereto, as long as can guarantee the stability of translation base 135.X to Motor 136 is fixed on translation base 135, and output end is equipped with X to gear 137, and X is engaged with X to rack gear 133 to gear 137. The left and right sides of translation base 135 is equipped with limited block 138, can be by being arranged on column 111 or lifting base 131 Corresponding block carries out left and right stroke limit.Position limiting slide block directly can also be set to sliding rail both ends in X, limit is slided Block is moved to after different location is fixed on X on sliding rail 132 again, to realize the quick adjusting of stroke range.

Please continue to refer to Fig. 4~6, elastic Y-axis unit 14 includes Y-direction guide rail 141, Y-direction sliding block 141A, Y-direction pedestal 142, Y-direction rack gear 143, Y-direction motor 144 and Y-direction gear 146.

Two Y-direction guide rails 141 are set to 142 lower part of Y-direction pedestal along the y axis, and the present embodiment Y-direction pedestal 142 is front end The rectangular long cylinder of opening.Y-direction sliding block 141A is slidably matched with Y-direction guide rail 141, and is fixed on translation base 135.Y-direction rack gear 143 are set to along the y axis on Y-direction pedestal 142.Y-direction motor 144 is fixed on translation base 135, and its output end is equipped with Y To gear 146, Y-direction gear 146 is engaged with Y-direction rack gear 143.

Please refer to Fig. 6 and Fig. 7, the frame structure that translation base 135 is made of multiple cross bars and vertical pole.The present embodiment Cross bar quantity and spacing are equal with the quantity of X direction guiding rail 132 and spacing, and position corresponds to each other when installation, to promote translation base 135 support strength and stability, while mitigating the weight of translation base as far as possible.Translation base 135 is equipped with X and installs to motor Hole 135A, Y-direction motor mount 135B, two Y-direction sliding block mounting base 135C and multipair Y-direction sliding block locating piece 135D.

Y-direction motor 144 is fixed on Y-direction motor mount 135B by Y-direction motor support base 145, four Y-direction sliding block 141A It is bolted on the corresponding position of Y-direction sliding block mounting base 135C, and is respectively consolidated by a pair of Y-direction sliding block locating piece 135D Position.

In the present embodiment, the design of other anti-moving cells of elastic Y-axis unit 14 1, by Y-direction sliding block 141A rather than Y Direction guiding rail 141 is arranged on translation base 135, can be substantially reduced the Y-direction length of lifting base 131, rises to mitigate significantly The weight (because portal frame crossbeam is generally casting) for dropping pedestal 131, reduces the burden of gravitational equilibrium mechanism.And Y-direction pedestal 142 It itself can be carried out light-weight design, such as using the lighter aluminium alloy of quality, copper etc., and need to extend, that is, need to have Certain length, therefore above-mentioned design can mitigate overall weight in the case where guaranteeing motion range as far as possible.

Fig. 8 and Fig. 9 is please referred to, rolling A axle unit 21 includes rolling motor 211, rolling pedestal 213 and pitching matrix 24. Rolling motor 211 is fixed on Y-direction pedestal 142, and rolling pedestal 213 is fixed on the output end of rolling motor 211.Rolling pedestal 213 extend two side arms along the y axis, and pitching matrix 24 is articulated between two side arms.Pitching matrix 24 and two side arms wherein one A drive-connecting shaft is equipped with driven gear 224.To promote the fluency that pitching matrix 24 rotates, can choose in another pivot joint It installs bearing and rolling pedestal 213 on axis 241 additional or pitching matrix 24 cooperates.

Pitching B axle unit 22 includes pitching motor 221, planetary reduction gear 222 and driving gear 223.Pitching motor 221 is solid Due on the corresponding side arm of driven gear 224, output end connects driving gear 223, driving gear by planetary reduction gear 222 223 engage with driven gear 224.

Yaw C axle unit 23 includes that yaw motor 231 and paving twine a mounting base 232.Yaw motor 231 is fixed on pitching base 24 upper end of body, output end passes through pitching matrix 24 along C axis direction, and twines a mounting base 232 with paving below pitching matrix 24 Connection.Paving twine a mounting base 232 for install spread twine first 3.

Figure 10 is please referred to, sending band U axle unit (not shown since material strip volume 31 blocks) includes that band U axis and U axis is sent to drive Motor is sent with U axis for installing material strip volume 31 needed for paving twines workpiece.U axis driving motor and send band U axis connection, for adjusting Send tape speed.

It further includes that pedestal (not shown), home roll 32, deputy roller 33, home roll cylinder 34, deputy roller cylinder 35 and triangle connect that paving, which twines first 3, Fishplate bar 36.Band U axis, home roll 32, deputy roller 33 is sent to be arranged in parallel on pedestal.Home roll 32, deputy roller 33 are set to triangular connecting plate 36 On two angles, the piston head of deputy roller cylinder 35 is articulated on third angle, and deputy roller cylinder 35 can be parallel to send around one to be turned with U axis Axis rotation.The piston head of home roll cylinder 34 is articulated on the angle where home roll 32, and only one linear motion of home roll cylinder from By spending, so that piston head only makees linear expansion movement.Home roll 32 and deputy roller 33 are successively arranged in the paving involved in material strip volume 31 and twine On band 31A motion path, for adjusting the angle of paving tape wrap 31A.Pedestal is installed on paving and twines in a mounting base 232.

Deputy roller cylinder 35 both can be articulated on pedestal or be articulated in paving and twine in a mounting base 232 in the present embodiment, Home roll cylinder 34 both can be fixed on the base or be fixed on paving and twine in a mounting base 232.Pedestal is equipped with line slide rail 37 or the piston rod of straight line guide sleeve 37 and home roll cylinder 34 cooperate, to make it that can only do the linear expansion of single-degree-of-freedom fortune It is dynamic.

Figure 11 is please referred to, rotary table 4 includes pedestal 41, turntable 42,43, two rotating electric machines 44 of gear ring and two Rotate gear.Turntable 42 is rotatably disposed within 41 upper end of pedestal, and rotation axis is vertical C1 axis, and 42 upper surface of turntable is workpiece peace Dress face.42 lower part of turntable is equipped with gear ring 43, and the axis of gear ring is vertical C1 axis.Two rotating electric machines 44 are set to 41 side wall of pedestal, Output end is respectively provided with a rotation gear, and two rotation gears are engaged about C1 axial symmetry, and with gear ring 43.

Rotary table of the invention is driven using double-motor anti-backlash, and structure is simple, carrying is big, precision is high.In addition, operation Person can move manually translation base along the X on lifting base to sliding rail, and so that paving is twined head rest close, be convenient for changing material volume and detection and Observation paving twines quality state.Gravity balance unit can eliminate paving twine head and flexible Y-axis unit Forward cause center of gravity move forward and produce Raw sagging deflections, while carrying out gravitational equilibrium, it is ensured that paving twines the precision and rigidity of head.Paving twines head using three axis rotational structure moulds The automatic paving of quasi- Wrist-sport, achievable special shaped gyrorotor twines molding, while paving twines pressure adjustable.

By taking the paving of certain large scale special-shaped workpiece twines processing and its relevant equipment design requirement as an example, the width of prepreg cloth band is general For 75mm, 150mm, 300mm, 600mm equal-specification, also there are 100mm, 200mm equal-specification in the country, and thickness is generally 0.1~ 0.25mm.Preferably, can use 40-60mm wide strap, setting 55% laying lap combination non-overlap area equidistantly segment into Row reciprocation cycle paving twines the profile tolerance that molding improves laying.

The specified chief technical indicator specification of this secondary design is as shown in table 1.

1 numerical control double-column vertical of table paving twines equipment host technology specification

On the basis of host carries out tri- directions movements of XYZ, workpiece is located on rotary table, by three lines of host Property axis, the rotary shaft of workbench, paving twine pitching/rotating shaft of yaw/rolling three of head, seven-axis linkage realizes that abnormal curved surface covers altogether The laying of skin all carries out laying forming using servo motor.The size that main stroke is related to component can be according to the specification of table 1 Carry out adaptability design.

During automatic placement molding, strap uses low-tension laying, and the tensioning of laying tensile requirements heat insulating belt does not relax, And can moderately deform, realize " in place with type ", the especially laying at component concave curved surface, excessive laying tension can cause recessed Bridge formation defect at face.In automatic winding forming process, the winding tension of prepreg tape is larger, and control precision is higher, especially At the lesser knuckle of radius of curvature, the winding tension of heat insulating belt need to make heat-insulated prepreg tape be close to knuckle.Depositing speeds are units The cloth strip length twined to above mold can be spread in time, the productivity and efficiency of paving tape wrap are represent, by sending tape speed and rotation Rotating speed of table determines.

Tenslator based on home roll and deputy roller should be able to realize that a wide range of paving twines tension automatic control, minimum 5N, maximum 200N, is controlled by numerical control unit.Paving twines tension adjustment range in order to balance and paving twines needed for moulding process Precision is controlled, which twines head and twine tension and be divided into two sections: hightension section 50N~200N and small tension receiving coil I 5~50N of section system paving, greatly Tension section is mainly used for automatic winding molding, and small tension receiving coil section is mainly used for automatic placement molding.

In addition, home roll and deputy roller are all made of flexibility roller made of rubber, to improve the adaptability of complex profile.Home roll can edge Linear guide translation, using 4Cylinder provides roller pressure, and when supply gas pressure 0.6MPa, roller pressure is up to 1200N.It is secondary Roller can be around home roll axis oscillating, using 2Cylinder provides roller pressure, and when supply gas pressure 0.6MPa, cylinder thrust is reachable The roller pressure size of 600N, die surface normal direction change with the variation of deputy roller swing angle.The oscillating stroke of deputy roller can meet Concave surface minimum profile curvature radius R250mm, convex surface minimum profile curvature radius R15mm meet the shape curvature of target product.

Twine adjustings of speed and retractable volume speed by spreading and may be implemented the opened loop control of tension, each motor drive current and The relationship of driving moment need to calibrate in advance.

Preferably, it after setting equipment and digital control system in this example according to above-mentioned parameter, can first be spread automatically Test is put, comprising following aspects: 1. groping the big step pitch of 40mm-80mm wide strap and back and forth wind special-shaped cabin in parallel；② The parallel overlap wrapping verifying of tri- kinds of wide step pitches of 10% cloth of breadth strap of 40mm, 60mm, 80mm；3. using the laying work by verifying Skill parameter twines testpieces using the formal paving of formal strap progress, carries out performance sampling, detection, comparison；4. verifying technological equipment journey Sequence reliability, process optimization, RTCP (RTP Control Protocol) application, programming and automation technolo and efficiency The problems such as.

Design and perfect, hardware aspect improvement completion are carried out shaping to main pressure roller and auxiliary pressure roller according to debugging determining state Partial mainly optimizes comprising pressure roller segment design, hook leg spacing, proposes the optimization of body separating film, major-minor platen pressure optimum organization Deng.It plans simultaneously using biobelt laying Die Design and verifying, to further increase efficiency.Prepreg cloth precompressed is not reduced simultaneously Time.Digital control system control aspect, is sophisticated to paving for multi-shaft interlocked RTCP control function and twines in TRAJECTORY CONTROL program, to eliminate paving " pulsed " problem during putting, realizes the continuity and ride comfort of laying track.In terms of automatic placement numerical control program, design It adapts to the dynamic state of parameters such as tension output valve, the depositing speeds of circumferential different location adaptively to adjust, rationally to control different positions Set spreading.After above-mentioned setting and debugging, it can come into operation.

As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include Within protection scope of the present invention.

Claims (9)

1. a kind of large size seven-axis linkage numerical control paving twines integrated molding equipment characterized by comprising equipment host (1), paving twine Wrist (2), paving twine head (3), rotary table (4) and numerical control unit；

Equip host (1) include three translation units, respectively oscilaltion Z axis unit (11), move left and right X-axis unit (13) With elastic Y-axis unit (14)；X-axis unit (13) are moved left and right set on (11) on oscilaltion Z axis unit, elastic Y Axle unit (14) is set to and moves left and right on X-axis unit (13)；

Spreading troublesome wrist (2) includes three rotary units, respectively rolling A axle unit (21), pitching B axle unit (22) and yaw C Axle unit (23), A axis are parallel to Y-axis, and B axle is parallel to X-axis, and C axis is parallel to Z axis；Rolling A axle unit (21), which is fixed on front and back, to be stretched To move therewith along Y-axis is elastic on contracting Y-axis unit (14), rolling A axle unit (21) drives pitching B axle unit (22) around A Axis carries out rolling, and pitching B axle unit (22) drives yaw C axle unit (23) to carry out pitching movement around B axle；

Paving twines the output end that head (3) are set to yaw C axle unit (23), is realized with rotating under the drive of yaw C axle unit around C axis Yawing rotation；Paving twines head (3) and twines the volume of material strip needed for workpiece (31) for installing paving with band U axle unit is sent, and belt speed is sent in adjusting Degree；

Rotary table (4) is a turning unit, for placing wait spread the workpiece twined and drive the workpiece around vertical C1 Axis rotation；

Numerical control unit is used to control the movement of three translation units, a turning unit and three rotary units, to drive paving Twining head moves and drives workpiece rotation, and control that band U axle unit adjusting is sent to send tape speed according to the track of setting.

2. a kind of large-scale seven-axis linkage numerical control paving as described in claim 1 twines integrated molding equipment, which is characterized in that up and down Going up and down Z axis unit (11) includes: two columns (111) symmetrically arranged on the left and the right, and the leading flank of two columns (111) is equipped with liter Motor (116), Z-direction ball-screw (113), Z-direction guide rail (112) and Z-direction sliding block (117) drop；

Lifting motor (116) is connect with Z-direction ball-screw (113), to drive Z-direction ball-screw (113) to rotate；Z-direction sliding block (117) cooperate with Z-direction guide rail (112)；Move left and right X-axis unit (13) and the Z-direction sliding block (117) and Z on two columns (111) Be fixedly connected with to the feed screw nut of ball-screw (113), with Z-direction ball-screw (113) driving under along Z-direction guide rail (112) Elevating movement.

3. a kind of large-scale seven-axis linkage numerical control paving as claimed in claim 2 twines integrated molding equipment, which is characterized in that equipment Host further includes two gravity balance units (12), and bilateral symmetry is respectively arranged in the left and right sides of two columns (111), two A gravity balance unit (12) includes: line slide rail (121), movable pulley mounting plate (122), hydraulic cylinder mounting base (123), liquid Cylinder pressure (124), chain (125), movable pulley (126A), the first fixed pulley (126B), the second fixed pulley (126C) and connector (127)；

Line slide rail (121) is fixed on vertically on corresponding column (111), and movable pulley mounting plate (122) is fixed on line slide rail (121) on sliding block；Hydraulic cylinder (124) is fixed below line slide rail (121) by hydraulic cylinder mounting base (123), hydraulic cylinder (124) piston rod end is fixedly connected with movable pulley mounting plate (122)；Movable pulley (126A) is set to movable pulley mounting plate (122) on, the first fixed pulley (126B), the second fixed pulley (126C) are set on column (111) and are located at line slide rail (121) Side；The position of first fixed pulley (126B) is low higher than the minimum point of movable pulley (126A), the position of the second fixed pulley (126C) In the minimum point of movable pulley (126A)；Chain (125) one end is fixed on hydraulic cylinder mounting base (123), and the other end successively bypasses After movable pulley (126A), the first fixed pulley (126B), the second fixed pulley (126C), Z axis lifting is fixed on by connector (127) On pedestal.

4. a kind of large-scale seven-axis linkage numerical control paving as claimed in claim 3 twines integrated molding equipment, which is characterized in that hydraulic Cylinder mounting base (123) includes pedestal (123A), fixed plate (123B) and two guide plates (128)；

Pedestal (123A) is equipped with hydraulic cylinder mounting hole, and hydraulic cylinder (124) passes through hydraulic cylinder mounting hole, and passes through mounting flange (123B) is fixed on pedestal (123A)；Two of two opposite sides of mounting flange (123B) and hydraulic cylinder mounting hole are opposite The gap passed through respectively for two guide plates (128) is formed between hole wall；The lower end of two guide plates is each passed through respective side Gap, upper end are fixed on the piston rod end of hydraulic cylinder (124).

5. a kind of large-scale seven-axis linkage numerical control paving as described in Claims 1 to 4 any one twines integrated molding equipment, special Sign is, moving left and right X-axis unit (13) includes: lifting base (131), X to sliding rail (132), X to rack gear (133), X to cunning Block (134), translation base (135), X are to motor (136) and X to gear (137)；

Lifting base (131) is fixedly connected with the feed screw nut of two Z-direction ball-screws (113), the left and right of lifting base (131) Both ends are fixedly connected with the Z-direction sliding block (117) on corresponding Z-direction guide rail (112) respectively, in the rotation of ball-screw (113) Under driving, along Z-direction guide rail (112) oscilaltion campaign；

X is set to lifting base (131) upper surface to sliding rail (132), X to rack gear (133) along the x axis；X is to sliding block (134) it is slidably matched with X to sliding rail (132), translation base (135) is fixed on X on sliding block (134)；

X is fixed on translation base (135) to motor (136), and output end is equipped with X to gear (137), X to gear (137) with X is engaged to rack gear (133).

6. a kind of large-scale seven-axis linkage numerical control paving as claimed in claim 5 twines integrated molding equipment, which is characterized in that front and back Flexible Y-axis unit (14) include Y-direction guide rail (141), Y-direction sliding block (141A), Y-direction pedestal (142), Y-direction rack gear (143), Y-direction electricity Machine (144) and Y-direction gear (146)；

Y-direction guide rail (141) is set to Y-direction pedestal (142) lower part along the y axis；Y-direction sliding block (141A) and Y-direction guide rail (141) are sliding Dynamic cooperation, and be fixed on translation base (135)；Y-direction rack gear (143) is set to along the y axis on Y-direction pedestal (142)；Y-direction Motor (144) is fixed on translation base (135), and its output end is equipped with Y-direction gear (146), Y-direction gear (146) and Y-direction tooth Item (143) engagement.

7. a kind of large-scale seven-axis linkage numerical control paving as claimed in claim 5 twines integrated molding equipment, which is characterized in that rolling A axle unit (21) includes rolling motor (211), rolling pedestal (213) and pitching matrix (24)；Rolling motor (211) is fixed on Y To on pedestal (142), rolling pedestal (213) is fixed on the output end of rolling motor (211)；Rolling pedestal (213) is along the y axis Extend two side arms, pitching matrix (24) is articulated between two side arms；One of them the pivot joint of pitching matrix (24) and two side arms Axis is equipped with driven gear (224)；

Pitching B axle unit (22) includes pitching motor (221) and driving gear (223)；Pitching motor (221) is fixed on driven tooth It takes turns on (224) corresponding side arm, output end is equipped with driving gear (223), and driving gear (223) is nibbled with driven gear (224) It closes；

Yawing C axle unit (23) includes that yaw motor (231) and paving twine a mounting base (232)；Yaw motor (231), which is fixed on, bows Matrix (24) upper end is faced upward, output end passes through pitching matrix (24) along C axis direction, and twines head with paving below pitching matrix (24) Mounting base (232) connection；Paving twine a mounting base (232) for install spread twine head (3).

8. a kind of large-scale seven-axis linkage numerical control paving as described in claim 1~7 any one twines integrated molding equipment, special Sign is that sending band U axle unit includes sending band U axis and U axis driving motor, send with U axis for installing material strip needed for paving twines workpiece It rolls up (31)；U axis driving motor and send band U axis connection, for adjust send tape speed；

It further includes home roll (32), deputy roller (33), home roll cylinder (34), deputy roller cylinder (35) and triangular connecting plate that paving, which twines head (3), (36)；

Band U axis, home roll (32), deputy roller (33) is sent to be arranged in parallel；Home roll (32), deputy roller (33) are set to the two of triangular connecting plate (36) On a angle, the piston head of deputy roller cylinder (35) is articulated on third angle, and deputy roller cylinder (35) can be parallel to around one and send with U axis Shaft rotation；The piston head of home roll cylinder (34) is articulated on the angle where home roll (32), and home roll cylinder only one straight line Freedom of motion, so that piston head only makees linear expansion movement；

Home roll (32) and deputy roller (33) are successively arranged on paving tape wrap (31A) motion path involved in material strip volume (31), are used for Adjust the tension and angle of paving tape wrap (31A).

9. a kind of large-scale seven-axis linkage numerical control paving as described in claim 1~8 any one twines integrated molding equipment, special Sign is that rotary table (4) includes pedestal (41), turntable (42), gear ring (43), two rotating electric machines (44) and two rotations Rotating disk；

Turntable (42) is rotatably disposed within pedestal (41) upper end, and rotation axis is vertical C1 axis, and turntable (42) upper surface is workpiece Mounting surface；Turntable (42) lower part is equipped with gear ring (43), and the axis of gear ring is vertical C1 axis；Two rotating electric machines (44) are set to pedestal (41) side wall, output end are respectively provided with a rotation gear, and two rotation gears are nibbled about C1 axial symmetry, and with gear ring (43) It closes.