CN109703063B - Be used for fashioned robot fiber winding head of three-way pipe - Google Patents
Be used for fashioned robot fiber winding head of three-way pipe Download PDFInfo
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- CN109703063B CN109703063B CN201910138248.7A CN201910138248A CN109703063B CN 109703063 B CN109703063 B CN 109703063B CN 201910138248 A CN201910138248 A CN 201910138248A CN 109703063 B CN109703063 B CN 109703063B
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Abstract
A fiber winding head of a robot for forming a three-way pipe belongs to the field of fiber winding processing, mainly aims to solve the problem that only manual winding can be adopted in the prior art, and avoids the phenomenon of fiber twisting in the winding process, and comprises an integral frame, a fiber unwinding mechanism, a gum dipping mechanism, a wire nozzle mechanism and a synchronous transmission mechanism; the integral frame comprises a front panel, a section frame body, a rear panel and side panels, wherein the front panel is fixedly connected to the front of the section frame body, the rear panel is fixedly connected to the rear of the section frame body, and the side panels are fixedly connected to the side faces of the section frame body; the fiber unwinding mechanism is installed on the back panel, the gum dipping mechanism is installed inside the integral frame through the section frame body, the wire nozzle mechanism is installed on the outer side of the front panel, the synchronous transmission mechanism is installed on the outer side of the side panel, and the fiber unwinding mechanism and the wire nozzle mechanism are connected with the synchronous transmission mechanism.
Description
Technical Field
The invention belongs to the field of fiber winding processing, and particularly relates to a robot fiber winding head for three-way pipe forming.
Background
The fiber winding technology is a forming method of resin-based fiber reinforced composite material, which winds fiber bundles on a core mold according to a certain track, and then obtains a final product through curing and forming. The three-way pipe is a special-shaped piece, and a branch pipe of the three-way pipe is perpendicular to the main pipe. The fiber-reinforced three-way pipe is a common pipeline connecting piece, has the advantages of a plastic pipeline and a metal pipeline, has the advantages of high specific rigidity, good corrosion resistance, good heat insulation performance and low surface roughness, and greatly reduces the energy loss in the pipeline conveying process. The fiber winding machine in the market at present is special equipment, and area is big, and equipment flexibility is low, is difficult to realize full automated production with the cooperation of upstream and downstream process. With the development of robot technology, a six-degree-of-freedom series robot has been widely applied in industrial automation, and the degree of freedom, the repeated positioning accuracy and the load capacity of the robot all meet the requirements of a fiber winding process, so that the robot is possible to be used as a motion execution mechanism to replace a special winding machine. One of the difficulties in tee winding is the formation of the branch pipe. If the main pipe is clamped on the rotating shaft, the branch pipe is required to be formed by encircling fibers around the branch pipe shaft for multiple circles, so that the fiber bundles are twisted and cannot be spread on a mold, and the quality of wound products is affected. The conventional three-way pipe is manufactured by manual winding, and when the branch pipes are wound, the main pipe needs to be taken down from the rotating shaft, and then the branch pipes are clamped on the rotating shaft, so that the problem of fiber twisting is avoided. However, this solution is clearly disadvantageous for process automation.
Disclosure of Invention
The invention provides a robot fiber winding head for forming a three-way pipe, which aims to solve the problem that only manual winding can be adopted in the prior art and avoid the phenomenon of fiber twisting in the winding process.
A robot fiber winding head for three-way pipe forming comprises an integral frame, a fiber unwinding mechanism, a gum dipping mechanism, a wire nozzle mechanism and a synchronous transmission mechanism;
the integral frame comprises a front panel, a section frame body, a rear panel and side panels, wherein the front panel is fixedly connected to the front of the section frame body, the rear panel is fixedly connected to the rear of the section frame body, and the side panels are fixedly connected to the side faces of the section frame body;
the fiber unwinding mechanism is arranged on the rear panel, the gum dipping mechanism is arranged inside the integral frame through the section bar frame body, the wire nozzle mechanism is arranged on the outer side of the front panel, the synchronous transmission mechanism is arranged on the outer side of the side panel, and the fiber unwinding mechanism and the wire nozzle mechanism are connected with the synchronous transmission mechanism;
preferably, the fiber unwinding mechanism comprises a conductive slip ring, a yarn group, a tension motor, a tension sensor, an L-shaped plate, a hand-expanding shaft, a first speed reducer, a tension synchronous pulley, a first crossed roller bearing, a transmission synchronous pulley, a rear-end turntable, a third synchronous belt, N yarn feeding rollers, a first bearing, a connecting shaft and a first synchronous pulley, wherein N is a positive integer;
the L-shaped plate comprises a first side plate and a second side plate, the second side plate is provided with a horizontal through hole, and the outer ring of the first bearing is arranged in the through hole;
the conductive sliding ring is sleeved at one end of a connecting shaft, the other end of the connecting shaft sequentially penetrates through a transmission synchronous belt wheel and an inner ring of a first crossed roller bearing and is arranged on a rear end turntable, the transmission synchronous belt wheel, the inner ring of the first crossed roller bearing and the rear end turntable are fixedly connected with the connecting shaft, an outer ring of the first crossed roller bearing is arranged on a rear panel, an outer ring of the first crossed roller bearing is fixedly connected with the rear panel, the rear end turntable is fixedly connected with a first side plate, one end of a hand expansion shaft penetrates through an inner ring of a first bearing in a second side plate and is inserted on a tension synchronous belt wheel, the hand expansion shaft is fixedly connected with an inner ring of the first bearing, a yarn ball is sleeved at the other end of the hand expansion shaft, N yarn rollers are distributed around the yarn ball along the circumferential direction of the yarn ball, each yarn roller is arranged on the inner surface of the second side plate through a bearing seat with a bearing, a tension sensor is arranged on the inner surface of the second side plate through a connecting, the output end of a rotating shaft of the tension motor is fixedly connected with the input end of a rotating shaft of the first speed reducer, a shell of the tension motor is fixedly connected with the shell of the first speed reducer, the output end of the rotating shaft of the first speed reducer penetrates through the second side plate and is inserted and installed on the first synchronous belt pulley, the first speed reducer is installed on the inner surface of the second side plate, and the first synchronous belt pulley is connected with the tension synchronous belt pulley through the third synchronous belt;
preferably, the rubber dipping mechanism comprises a rubber roller, a rubber groove, a motor, a worm gear speed reducer, a cross coupling, a first support plate, a second support plate, a first support and a second support;
the motor is arranged on the upper part of the worm gear speed reducer in an inverted mode, the rotating shaft output end of the motor is fixedly connected with the worm input end of the worm gear speed reducer, the shell of the motor is fixedly connected with the shell of the worm gear speed reducer, the shell of the worm gear speed reducer and the first support are arranged on the upper surface of the first support plate, the second support is arranged on the upper surface of the second support plate, the first support and the second support are provided with rubber rollers, one end of each rubber roller is fixedly connected with the worm gear output end of the worm gear speed reducer through a cross-shaped coupler, a rubber groove is formed in the rubber rollers and is right below the roller, the rubber groove is lapped on the first support plate and the second support plate, and the first support plate and the second support plate are;
preferably, the wire nozzle mechanism comprises a first side plate, a second side plate, a wire nozzle mounting plate, a front end transmission synchronous belt wheel, a second crossed roller bearing and M flat rollers, wherein M is a positive integer;
the outer ring of a second crossed roller bearing is fixedly connected with the front panel, the rear end face of the front-end transmission synchronous belt pulley is fixedly connected with the inner ring of the second crossed roller bearing, the rear end face of the screw nozzle mounting plate is fixedly connected with the front end face of the front-end transmission synchronous belt pulley, the tail end of the first side plate is fixedly connected with the front end face of the screw nozzle mounting plate, the tail end of the second side plate is fixedly connected with the front end face of the screw nozzle mounting plate, the first side plate and the second side plate are arranged in parallel and oppositely, M flat rollers are arranged between the first side plate and the second side plate at equal intervals along the length direction of the first side plate, each flat roller is rotatably connected with the first side plate, and each flat roller is rotatably connected with the second side plate;
preferably, the synchronous transmission mechanism comprises a transmission shaft, a rear transmission belt wheel, a rolling servo motor, a second speed reducer, a speed reducer base, a front transmission belt wheel, a first synchronous belt, a second synchronous belt, a first bearing seat, a second bearing seat and two gears;
the output end of a rotating shaft of a rolling servo motor is fixedly connected with the input end of a rotating shaft of a second speed reducer, a shell of the rolling servo motor is fixedly connected with the shell of the second speed reducer, the second speed reducer is arranged on a speed reducer base, the speed reducer base is arranged on the outer side surface of a side panel, a gear is sleeved on the output end of the rotating shaft of the second speed reducer, the other gear is sleeved on a transmission shaft, two gears are meshed with each other, the transmission shaft is inserted on a bearing inner ring of a first bearing seat and a bearing inner ring of a second bearing seat, a front transmission belt wheel is arranged at one end of the transmission shaft close to the first bearing seat, a rear transmission belt wheel is arranged at one end of the transmission shaft close to the second bearing seat, the front transmission belt wheel is connected with a front transmission synchronous belt wheel through a first synchronous belt, the rear transmission belt wheel, the first bearing seat and the second bearing seat are coaxial and are arranged oppositely;
preferably, the integral frame further comprises a connecting disc, the connecting disc is mounted on the top surface of the integral frame, and the integral frame is connected to the working end of the robot through the connecting disc;
preferably, N yarn feeding rollers are arranged in the fiber unwinding mechanism, and the value range of N is 2-4;
preferably, M flat rolls are arranged in the wire nozzle mechanism, and the value range of M is 3-4;
preferably, the glue groove in the glue dipping mechanism is of a sandwich structure, and two water changing ports are arranged below the glue groove;
preferably, the connecting disc is mounted at the working end of the robot by means of pins and screws.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a novel fiber winding head of a robot for forming a three-way pipe, which mainly aims at winding the three-way pipe and can be used for winding a rotary body die, compared with the manual winding in the prior art, the fiber winding head of the robot has a novel working mode, effectively replaces a human with a robot, greatly improves the working efficiency and accuracy, does not need to take a main pipe off a rotary shaft when the fiber winding head of the robot is used for winding the three-way pipe, clamps a branch pipe on the rotary shaft, and is more beneficial to the automation of the process; meanwhile, a servo motor and a tension sensor in the fiber unreeling mechanism realize closed-loop control of tension in the winding process, so that the quality of wound products is improved; the glue dipping roller in the glue dipping mechanism can adapt to the yarn discharging speed, the uniformity of the glue content of the fiber is ensured, and the resin soaking effect is improved; the heat-preservation glue tank in the glue dipping mechanism can adapt to the process conditions of various resin systems; the front panel above the filament nozzle mechanism is reserved with a mounting hole of a heating device, and the fiber can be heated after the heating device is mounted, so that the filament nozzle mechanism is suitable for dry winding requirements.
Drawings
FIG. 1 is an isometric view of the present invention;
FIG. 2 is a schematic view of the synchronous drive mechanism of the present invention;
FIG. 3 is a schematic view of a fiber unwinding mechanism according to the present invention;
FIG. 4 is a schematic view of the gum dipping mechanism of the present invention;
FIG. 5 is a schematic view of a wire-nozzle mechanism of the present invention;
FIG. 6 is a schematic view of the position installation of the dipping mechanism of the present invention;
FIG. 7 is a front view of the fiber unwinding mechanism of the present invention;
FIG. 8 is a rear view of the fiber unwinding mechanism of the present invention;
fig. 9 is a schematic view of the connection of the present invention to a robot.
In the figure, 1 integral frame, 2 fiber unreeling mechanism, 3 glue dipping mechanism, 4 wire nozzle mechanism, 5 synchronous transmission mechanism, 6 robot, 10 front panel, 11 section bar frame body, 12 rear panel, 13 side panel, 14 connecting disc, 20 conductive slip ring, 21 yarn group, 22 tension motor, 23 tension sensor, 24L template, 25 hand expanding shaft, 26I speed reducer, 27 tension synchronous pulley, 28I cross roller bearing, 29 sand moving roller, 201 transmission synchronous pulley, 202 rear end turntable, 203 III synchronous belt, 241I side plate, 242 II side plate, 30 rubber roller, 31 rubber groove, 32 motor, 33 worm gear speed reducer, 34 coupler, 35 left support plate, 36 right support plate, 371I support, 372 II support plate, 40I side plate, 41 II side plate, 42 flat roller, 43 wire nozzle mounting plate, 44 front end transmission synchronous pulley, 45 II cross roller bearing, 45 cross roller bearing, The automatic transmission device comprises a 50 transmission shaft, a 51 rear transmission belt wheel, a 53 rolling servo motor, a 54 second speed reducing motor, a 55 speed reducing base, a 56 gear, a 57 front transmission belt wheel, a 58 first synchronous belt, a 59 second synchronous belt, a 521 first bearing seat and a 522 second bearing seat.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1, and the robot fiber winding head for three-way pipe forming in the embodiment comprises an integral frame 1, a fiber unwinding mechanism 2, a gum dipping mechanism 3, a wire nozzle mechanism 4 and a synchronous transmission mechanism 5;
the integral frame 1 comprises a front panel 10, a section frame body 11, a rear panel 12 and a side panel 13, wherein the front panel 10 is fixedly connected to the front of the section frame body 11, the rear panel 12 is fixedly connected to the rear of the section frame body 11, and the side panel 13 is fixedly connected to the side of the section frame body 11;
the fiber unwinding mechanism 2 is mounted on the rear panel 12, the gum dipping mechanism 3 is mounted inside the integral frame 1 through the section bar frame body 11, the wire nozzle mechanism 4 is mounted on the outer side of the front panel 10, the synchronous transmission mechanism 5 is mounted on the outer side of the side panel 13, and the fiber unwinding mechanism 2 and the wire nozzle mechanism 4 are connected with the synchronous transmission mechanism 5.
The invention provides a novel robot fiber winding head for three-way pipe forming, which is mainly used for winding a three-way pipe and can be used for winding a rotary body die. According to the invention, the yarn ball 21 and the yarn nozzle mechanism 4 are linked by virtue of the synchronous transmission mechanism 5, the twisting problem of fibers in the winding process is prevented, the unfolding width of the fibers at the yarn nozzle is ensured, the fiber damage is reduced, the mounting hole of the heating equipment is reserved in the front panel 10, the fibers can be heated after the heating equipment is mounted, and the dry winding requirement is met.
The second embodiment is as follows: the present embodiment is described with reference to fig. 3, in the present embodiment, the fiber unwinding mechanism 2 includes a conductive slip ring 20, a yarn group 21, a tension motor 22, a tension sensor 23, an L-shaped plate 24, a hand-expanding shaft 25, a first speed reducer 26, a tension synchronous pulley 27, a first cross roller bearing 28, a transmission synchronous pulley 201, a rear end turntable 202, a third synchronous belt 203, N yarn feeding rollers 29, a first bearing, a connecting shaft, and a first synchronous pulley, where N is a positive integer;
the L-shaped plate 24 comprises a first side plate 241 and a second side plate 242, the second side plate 242 is provided with a horizontal through hole, and the outer ring of the first bearing is arranged in the through hole;
the conductive slip ring 20 is sleeved on one end of the connecting shaft, the other end of the connecting shaft sequentially passes through the inner rings of the transmission synchronous belt wheel 201 and the first crossed roller bearing 28 and is arranged on the rear end turntable 202, the inner rings of the transmission synchronous belt wheel 201 and the first crossed roller bearing 28 and the rear end turntable 202 are fixedly connected with the connecting shaft, the outer ring of the first crossed roller bearing 28 is arranged on the rear panel 12, the outer ring of the first crossed roller bearing 28 is fixedly connected with the rear panel 12, the rear end turntable 202 is fixedly connected with the first side plate 241, one end of the hand expansion shaft 25 passes through the inner ring of the first bearing in the second side plate 242 and is inserted on the tension synchronous belt wheel 27, the hand expansion shaft 25 is fixedly connected with the inner ring of the first bearing, the yarn ball 21 is sleeved on the other end of the hand expansion shaft 25, the N yarn walking rollers 29 are distributed around the yarn ball 21 along the circumferential direction of the yarn ball 21, and each yarn walking roller 29 is arranged on the inner surface of the second side plate 242 through a bearing seat, the tension sensor 23 is installed on the inner surface of the second side plate 242 through a connecting frame, the rotating shaft output end of the tension motor 22 is fixedly connected with the rotating shaft input end of the first speed reducer 26, the shell of the tension motor 22 is fixedly connected with the shell of the first speed reducer 26, the rotating shaft output end of the first speed reducer 26 penetrates through the second side plate 242 and is inserted into the first synchronous belt wheel, the first speed reducer 26 is installed on the inner surface of the second side plate 242, and the first synchronous belt wheel is connected with the tension synchronous belt wheel 27 through the third synchronous belt 203. Other undisclosed connection modes are the same as those of the first embodiment.
With the arrangement, the tension motor 22 and the tension sensor 23 in the fiber unreeling mechanism realize closed-loop control of tension in the winding process, the quality of wound products is improved, the N yarn feeding rollers 29 are distributed in the circumferential direction of the yarn group 21, a good guiding effect is achieved, fiber bundles on the yarn group can conveniently walk according to a given movement route when being separated from the yarn group, each yarn feeding roller 29 is installed on the L-shaped plate 24 through a bearing seat with a bearing, each yarn feeding roller 29 can rotate, the fiber bundles cannot generate large friction force on the fiber bundles when moving on the yarn feeding rollers 29, abrasion of the fiber bundles in the movement process is effectively avoided, the first speed reducer 26 effectively reduces the rotation speed of the tension motor 22, the problem that the quality of the fiber bundles is influenced due to overhigh rotation speed of the yarn group 21 in the movement process of the fiber bundles is avoided, and the conductive slip ring 20 mentioned in the embodiment is an electrical contact sliding connection piece, the power line and the signal line of the tension motor 22 and the tension sensor 23 can be led out and respectively connected to a power supply line and an input terminal of the PLC. If the conductive slip ring 20 is not used, the power lines and the signal lines are twisted and twisted when the unwinding mechanism 2 rotates for a plurality of turns continuously. The device that this embodiment provided when being used for actual work, the rate of accuracy when comparing manual work has improved 60%, has practiced thrift 85% at least to the winding time of same pipe fitting.
The third concrete implementation mode: the present embodiment is described with reference to fig. 4, in the present embodiment, the glue dipping mechanism 3 includes a glue roller 30, a glue tank 31, a motor 32, a worm gear reducer 33, a cross coupling 34, a first support plate 35, a second support plate 36, a first support 371, and a second support 372;
the motor 32 inverts the upper portion at worm gear speed reducer 33, the pivot output of motor 32 and worm gear speed reducer 33's worm input end fixed connection, and motor 32's casing and worm gear speed reducer 33's casing fixed connection, worm gear speed reducer 33's casing and support 371 install on the upper surface of a support board 35, No. two supports 372 install on the upper surface of No. two support boards 36, be provided with rubber roll 30 on support 371 and No. two support 372, and the one end of rubber roll 30 is passed through cross-shaped coupling 34 and worm gear speed reducer 33's worm wheel output fixed connection, rubber groove 31 sets up under the running roller in rubber roll 30, and rubber groove 31 overlap joint is on a support board 35 and No. two support boards 36, a support board 35 and No. two support boards 36 install on section bar support body 11. Other undisclosed connection modes are the same as those of the first embodiment.
Due to the arrangement, the worm gear speed reducer 33 effectively reduces the rotating speed of the motor 32, so that the rotating speed of the rubber roller 30 in the rubber dipping mechanism can be adapted to the yarn discharging speed, the uniformity of the rubber content of the fiber is ensured, and the resin dipping effect is improved; the glue tank 31 in the glue dipping mechanism can be adapted to the process conditions of various resin systems, so that the universality and the practicability of the device are increased, and the requirements in actual work are met better.
The fourth concrete implementation mode: referring to fig. 5, the present embodiment will be described, in which the nozzle mechanism 4 includes a first side plate 40, a second side plate 41, a nozzle mounting plate 43, a front end transmission synchronous pulley 44, a second cross roller bearing 45, and M flat rollers 42, where M is a positive integer;
the outer ring of a second cross roller bearing 45 is fixedly connected with the front panel 10, the rear end face of a front end transmission synchronous pulley 44 is fixedly connected with the inner ring of the second cross roller bearing 45, the rear end face of a screw nozzle mounting plate 43 is fixedly connected with the front end face of the front end transmission synchronous pulley 44, the tail end of a first side plate 40 is fixedly connected with the front end face of the screw nozzle mounting plate 43, the tail end of a second side plate 41 is fixedly connected with the front end face of the screw nozzle mounting plate 43, the first side plate 40 and the second side plate 41 are oppositely arranged in parallel, M flat rollers 42 are equidistantly arranged between the first side plate 40 and the second side plate 41 along the length direction of the first side plate 40, each flat roller 42 is rotatably connected with the first side plate 40, and each flat roller 42 is rotatably connected with the second side plate 41. Other undisclosed connection modes are the same as those of the first embodiment.
So set up, can be through the fibre that a plurality of flat rolls 42 will be stained with glue and the three-way pipe contact that needs are contacted to twine, a curb plate 40 and No. two curb plates 41 parallel relative settings to guarantee that every flat roll 42 that sets up between a curb plate 40 and No. two curb plates 41 is parallel, guarantee that fibre bundle internal tension is even, can launch well, the problem of twisting can not appear.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 2, in the present embodiment, the synchronous transmission mechanism 5 includes a transmission shaft 50, a rear transmission pulley 51, a rolling servo motor 53, a second speed reducer 54, a speed reducer base 55, a front transmission pulley 57, a first synchronous belt 58, a second synchronous belt 59, a first bearing seat 521, a second bearing seat 522, and two gears 56;
the output end of the rotating shaft of the rolling servo motor 53 is fixedly connected with the input end of the rotating shaft of the second speed reducer 54, the shell of the rolling servo motor 53 is fixedly connected with the shell of the second speed reducer 54, the second speed reducer 54 is arranged on the speed reducer base 55, the speed reducer base 55 is arranged on the outer side surface of the side panel 13, one gear 56 is sleeved on the output end of the rotating shaft of the second speed reducer 54, the other gear 56 is sleeved on the transmission shaft 50, the two gears 56 are meshed, the transmission shaft 50 is inserted on the inner bearing ring of the first bearing seat 521 and the inner bearing ring of the second bearing seat 522, one end of the transmission shaft 50 close to the first bearing seat 521 is provided with a front transmission belt pulley 57, one end of the transmission shaft 50 close to the second bearing seat 522 is provided with a rear transmission belt pulley 51, the front transmission belt pulley 57 is connected with the front transmission synchronous belt pulley 44 through the first synchronous belt 58, the, no. one bearing seat 521 is installed on section bar support body 11, and No. two bearing seats 522 are installed on the lateral surface of the below side board 13 of speed reducer seat 55, and No. one bearing seat 521 and No. two bearing seats 522 are coaxial and relative setting.
So set up, in order to solve the problem of fibre twisting when twining the branch pipe, yarn group 21 and silk mouth mechanism 4 need synchronous rotation, and servo motor 53 rolls and transmits the motion for transmission shaft 50 through No. two speed reducer 54 and gear 56, and transmission shaft 50 both ends have been arranged preceding driving pulley 57 and back driving pulley 51, and preceding driving pulley 57 and the back driving pulley 51 of both sides transmit the motion for fibre unwinding mechanism 2 and silk mouth mechanism 4 through the hold-in range. The transmission ratio of the belt wheels at the two sides of the transmission shaft is the same, so that the synchronous rotation of the yarn group and the yarn nozzle mechanism is realized.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 7, in which the integrated frame 1 further includes a connecting plate 14, the connecting plate 14 is mounted on the top surface of the integrated frame 1, and the integrated frame 1 is connected to the working end of the robot 6 through the connecting plate 14. Other undisclosed connection modes are the same as those of the first embodiment.
The arrangement is that the robot can be better connected with the invention.
The seventh embodiment: the present embodiment is described with reference to fig. 3, where N of the N feed rollers 29 in the fiber unwinding mechanism 2 in the present embodiment has a value range of 2 to 4. Other undisclosed connection modes are the same as the second embodiment.
With the arrangement, the number of the yarn feeding rollers 29 can completely meet the transmission requirement of the yarn belt when 2-4 yarn feeding rollers are arranged in consideration of the manufacturing cost and the space left in the device.
The specific implementation mode is eight: referring to fig. 5, the present embodiment will be described, in which M flat rolls 42 are provided in the tip mechanism 4, and M has a value ranging from 3 to 4. Other undisclosed connection modes are the same as the fourth embodiment.
With such an arrangement, considering the manufacturing cost and the actual working distance in the winding work, the number of the flat rollers 42 is 3-4, so that the yarn belt with glue can be completely conveyed to the wound workpiece, and if the number of the flat rollers 42 is too large, the movement distance of the fiber yarn belt with glue is longer, and the glue content is influenced.
The specific implementation method nine: the present embodiment will be described with reference to fig. 4, in the dipping mechanism 3 of the present embodiment, the glue tank 31 has a sandwich structure, and two water change ports are provided below the glue tank 31. Other undisclosed connection modes are the same as the third embodiment.
So set up, make things convenient for the heat preservation of resin in the gluey groove 31 more.
The detailed implementation mode is ten: the present embodiment will be described with reference to fig. 7, and the connection plate 14 in the present embodiment is attached to the working end of the robot 6 by a pin and a screw. Other unpublished connection modes are the same as the sixth embodiment.
So set up, under the circumstances of considering the cost of manufacture, be the most economic and firm connected mode, the pin can also play fine positioning action, the effectual assembly error that has reduced.
Principle of operation
The invention provides a robot fiber winding head for three-way pipe forming, which has the following main parts:
| name of component | Manufacturer and |
| Tension motor | |
| 22 | Loose servo motorMechanical |
| Tension sensor | |
| 23 | Anhujinuo JZHL-1 type tension sensor in clam port |
| |
Senrapu conductive slip ring ZM056-01-91719 |
| |
BITPASS reducer 060-HTB10S |
| |
Siemens servomotor 1FK7034-2AF71-1RA0 |
| No. two |
BITPASS reducer 060-HTB30S |
When the device works, the servo motor drives the synchronous belt pulley at the tail end of the output shaft of the speed reducer to rotate, the synchronous belt pulley at the tail end of the hand expansion shaft and the synchronous belt pulley at the tail end of the output shaft of the first speed reducer are in transmission through the synchronous belt, the hand expansion shaft is driven to rotate, and the hand expansion shaft and the yarn group are kept fixed through tension force and friction force. The fiber bundle is led out from the yarn group and sequentially passes through a plurality of yarn feeding rollers and a tension sensor to enter the rubber dipping mechanism. The tension sensor can measure the tension value of the fiber bundle in real time, the tension motor performs closed-loop control according to the measured tension value, the output torque value is adjusted in real time, and the tension value is kept near a set value.
After the fibers enter the glue soaking mechanism, the fibers can be soaked by the prepared resin, the motor drives the rubber roll to rotate through the worm gear speed reducer and the cross coupler, the glue groove is formed below the rubber roll, flowing resin is filled in the glue groove, the lower half part of the rubber roll is soaked by the resin in the glue groove, and when the rubber roll rotates, the outer wall of the rubber roll can be coated with the resin. When the fiber passes through the glue dipping mechanism, the fiber is slightly contacted with the upper part of the rubber roller, so that the resin is soaked in the fiber. The rotation speed of the motor can be adjusted according to the yarn outlet speed of the fiber, and the yarn outlet speed is obtained by calculating the measured value of the comprehensive tension, the torque and the rotation speed of the tension motor. The infiltration effect of the fiber is related to the amount of resin attached to the rubber roller, and when the yarn outlet speed of the fiber is changed, the rotating speed of the motor is also properly changed, so that the same amount of resin infiltrated by the fiber in unit length is ensured.
In order to solve the problem of fiber twisting when the branch pipe is wound, the yarn group and the yarn nozzle mechanism need to rotate synchronously, the rolling servo motor transmits motion to the transmission shaft through a second speed reducer and a gear, a front transmission belt wheel and a rear transmission belt wheel are arranged at two ends of the transmission shaft, and the front transmission belt wheel and the rear transmission belt wheel on two sides transmit motion to the fiber unwinding mechanism and the yarn nozzle mechanism through synchronous belts. The transmission ratio of the belt wheels at the two sides of the transmission shaft is the same, so that the synchronous rotation of the yarn group and the yarn nozzle mechanism is realized.
Claims (10)
1. The utility model provides a be used for fashioned robot fiber winding head of three-way pipe which characterized in that: the device comprises an integral frame (1), a fiber unreeling mechanism (2), a gum dipping mechanism (3), a wire nozzle mechanism (4) and a synchronous transmission mechanism (5);
the integral frame (1) comprises a front panel (10), a section frame body (11), a rear panel (12) and side panels (13), wherein the front panel (10) is fixedly connected to the front of the section frame body (11), the rear panel (12) is fixedly connected to the rear of the section frame body (11), and the side panels (13) are fixedly connected to the side faces of the section frame body (11);
the fiber unwinding mechanism (2) is installed on the rear panel (12), the glue dipping mechanism (3) is installed inside the integral frame (1) through the section bar frame body (11), the wire nozzle mechanism (4) is installed on the outer side of the front panel (10), the synchronous transmission mechanism (5) is installed on the outer side of the side panel (13), and the fiber unwinding mechanism (2) and the wire nozzle mechanism (4) are connected with the synchronous transmission mechanism (5).
2. A robotic fiber winding head for tee forming, as claimed in claim 1, wherein: the fiber unwinding mechanism (2) comprises a conductive slip ring (20), a yarn group (21), a tension motor (22), a tension sensor (23), an L-shaped plate (24), a hand expanding shaft (25), a first speed reducer (26), a tension synchronous pulley (27), a first crossed roller bearing (28), a transmission synchronous pulley (201), a rear end turntable (202), a third synchronous belt (203), N yarn feeding rollers (29), a first bearing, a connecting shaft and a first synchronous pulley, wherein N is a positive integer;
the L-shaped plate (24) comprises a first side plate (241) and a second side plate (242), the second side plate (242) is provided with a horizontal through hole, and the outer ring of the first bearing is arranged in the through hole;
the conductive slip ring (20) is sleeved at one end of the connecting shaft, the other end of the connecting shaft sequentially penetrates through the inner rings of the transmission synchronous belt wheel (201) and the first crossed roller bearing (28) and is arranged on the rear end turntable (202), the inner rings of the transmission synchronous belt wheel (201) and the first crossed roller bearing (28) and the rear end turntable (202) are fixedly connected with the connecting shaft, the outer ring of the first crossed roller bearing (28) is arranged on the rear panel (12), the outer ring of the first crossed roller bearing (28) is fixedly connected with the rear panel (12), the rear end turntable (202) is fixedly connected with the first side plate (241), one end of the hand expansion shaft (25) penetrates through the first bearing in the second side plate (242) and is inserted into the inner ring of the tension synchronous belt wheel (27), the hand expansion shaft (25) is fixedly connected with the inner ring of the first bearing, and the yarn ball (21) is sleeved at the other end of the hand expansion shaft (25), n yarn feeding rollers (29) are distributed around the yarn group (21) along the circumferential direction of the yarn group (21), each yarn feeding roller (29) is installed on the inner surface of a second side plate (242) through a bearing seat with a bearing, a tension sensor (23) is installed on the inner surface of the second side plate (242) through a connecting frame, the output end of a rotating shaft of a tension motor (22) is fixedly connected with the input end of a rotating shaft of a first speed reducer (26), a shell of the tension motor (22) is fixedly connected with a shell of the first speed reducer (26), the output end of the rotating shaft of the first speed reducer (26) penetrates through the second side plate (242) and is inserted into a first synchronous belt wheel, the first speed reducer (26) is installed on the inner surface of the second side plate (242), and the first synchronous belt wheel is connected with a tension synchronous belt wheel (27) through a third synchronous belt (203).
3. A robotic fiber winding head for tee forming, as claimed in claim 1, wherein: the glue dipping mechanism (3) comprises a rubber roller (30), a glue groove (31), a motor (32), a worm gear speed reducer (33), a cross coupling (34), a first support plate (35), a second support plate (36), a first support (371) and a second support (372);
the motor (32) is arranged on the upper part of the worm gear speed reducer (33) in an inverted way, the output end of the rotating shaft of the motor (32) is fixedly connected with the input end of the worm gear speed reducer (33), and the shell of the motor (32) is fixedly connected with the shell of the worm and gear speed reducer (33), the shell of the worm and gear speed reducer (33) and the first support seat (371) are arranged on the upper surface of the first support plate (35), the second support seat (372) is arranged on the upper surface of the second support plate (36), the first support seat (371) and the second support seat (372) are provided with rubber rollers (30), one end of the rubber roller (30) is fixedly connected with the worm wheel output end of the worm gear speed reducer (33) through a cross coupling (34), the rubber groove (31) is arranged in the rubber roller (30) under the roller, the glue groove (31) is lapped on the first support plate (35) and the second support plate (36), and the first support plate (35) and the second support plate (36) are arranged on the section bar frame body (11).
4. A robotic fiber winding head for tee forming, as claimed in claim 1, wherein: the wire nozzle mechanism (4) comprises a first side plate (40), a second side plate (41), a wire nozzle mounting plate (43), a front-end transmission synchronous pulley (44), a second crossed roller bearing (45) and M flat rollers (42), wherein M is a positive integer;
the outer ring of a second crossed roller bearing (45) is fixedly connected with a front panel (10), the rear end face of a front end transmission synchronous pulley (44) is fixedly connected with the inner ring of the second crossed roller bearing (45), the rear end face of a screw nozzle mounting plate (43) is fixedly connected with the front end face of the front end transmission synchronous pulley (44), the tail end of a first side plate (40) is fixedly connected with the front end face of the screw nozzle mounting plate (43), the tail end of a second side plate (41) is fixedly connected with the front end face of the screw nozzle mounting plate (43), the first side plate (40) and the second side plate (41) are arranged in parallel and opposite, M flat rollers (42) are arranged between the first side plate (40) and the second side plate (41) at equal intervals along the length direction of the first side plate (40), and each flat roller (42) is rotationally connected with the first side plate (40), and each flat roller (42) is rotationally connected with the second side plate (41).
5. A robotic fiber winding head for tee forming according to claim 2 or 4, characterized by: the synchronous transmission mechanism (5) comprises a transmission shaft (50), a rear transmission belt wheel (51), a rolling servo motor (53), a second speed reducer (54), a speed reducer base (55), a front transmission belt wheel (57), a first synchronous belt (58), a second synchronous belt (59), a first bearing seat (521), a second bearing seat (522) and two gears (56);
the output end of a rotating shaft of a rolling servo motor (53) is fixedly connected with the input end of a rotating shaft of a second speed reducer (54), a shell of the rolling servo motor (53) is fixedly connected with the shell of the second speed reducer (54), the second speed reducer (54) is installed on a speed reducer base (55), the speed reducer base (55) is installed on the outer side surface of a side panel (13), one gear (56) is sleeved on the output end of the rotating shaft of the second speed reducer (54), the other gear (56) is sleeved on a transmission shaft (50), the two gears (56) are arranged in a tooth meshing manner, the transmission shaft (50) is inserted on a bearing inner ring of a first bearing seat (521) and a bearing inner ring of a second bearing seat (522), a front transmission belt pulley (57) is installed at one end, close to the first bearing seat (521), of the transmission shaft (50) is installed at one end, close to the second bearing seat (522), a rear transmission belt, preceding driving pulley (57) are connected through hold-in range (58) with front end transmission synchronous pulley (44), and back driving pulley (51) are connected through No. two hold-in ranges (59) with transmission synchronous pulley (201), and No. one bearing frame (521) is installed on section bar support body (11), and No. two bearing frame (522) are installed on the lateral surface of the below side board (13) of speed reducer seat (55), and No. one bearing frame (521) and No. two bearing frame (522) are coaxial and relative setting.
6. A robotic fiber winding head for tee forming, as claimed in claim 1, wherein: the whole frame (1) further comprises a connecting disc (14), the connecting disc (14) is installed on the top surface of the whole frame (1), and the whole frame (1) is connected to the working end of the robot (6) through the connecting disc (14).
7. A robotic fiber winding head for tee forming as claimed in claim 2 wherein: n yarn feeding rollers (29) in the fiber unwinding mechanism (2), wherein the value range of N is 2-4.
8. A robotic fiber winding head for tee forming as claimed in claim 4 wherein: m flat rolls (42) in the wire nozzle mechanism (4), wherein the value range of M is 3-4.
9. A robotic fiber winding head for tee forming as claimed in claim 3 wherein: the glue soaking mechanism (3) is characterized in that a glue groove (31) is of a sandwich structure, and two water changing ports are arranged below the glue groove (31).
10. A robotic fiber winding head for tee forming as claimed in claim 6 wherein: the connecting disc (14) is arranged at the working end of the robot (6) through pins and screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138248.7A CN109703063B (en) | 2019-02-25 | 2019-02-25 | Be used for fashioned robot fiber winding head of three-way pipe |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910138248.7A CN109703063B (en) | 2019-02-25 | 2019-02-25 | Be used for fashioned robot fiber winding head of three-way pipe |
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| Publication Number | Publication Date |
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| CN109703063A CN109703063A (en) | 2019-05-03 |
| CN109703063B true CN109703063B (en) | 2021-05-07 |
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| CN112140579B (en) * | 2020-09-21 | 2022-04-22 | 哈尔滨工业大学 | Fiber winding head device |
| CN112964623B (en) * | 2021-03-23 | 2023-04-11 | 哈尔滨工业大学 | Experimental device for axial permeation of annular tissue engineering scaffold and use method |
| CN115648654B (en) * | 2022-12-09 | 2023-03-21 | 太原理工大学 | Fiber winding mechanical arm, multi-bundle yarn nozzle device thereof and fiber winding method |
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| CN109703063A (en) | 2019-05-03 |
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