CN109763254A - A kind of three-dimensional circular knitting machine by mechanical arm control mandrel - Google Patents
A kind of three-dimensional circular knitting machine by mechanical arm control mandrel Download PDFInfo
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- CN109763254A CN109763254A CN201811622297.XA CN201811622297A CN109763254A CN 109763254 A CN109763254 A CN 109763254A CN 201811622297 A CN201811622297 A CN 201811622297A CN 109763254 A CN109763254 A CN 109763254A
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- mechanical arm
- guide wheel
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- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
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Abstract
The invention discloses a kind of three-dimensional circular knitting machines by mechanical arm control mandrel, including rack, Circular Plate is installed along the vertical direction in rack, the track substrate of annular is coaxially installed in Circular Plate, several four notches angle guide wheel is evenly distributed on the circumference of track substrate, four notch angle guide wheels are equipped with and take yarn device, four notch angle guide wheels are connected on the rack by guiding transmission shaft, transmission mechanism is connected on guiding transmission shaft, mandrel is equipped at the center of rack, one end of mandrel is equipped with yarn mouth, and the other end of mandrel is equipped with mechanical arm.The present invention is connected to directly control the movement of mandrel with mandrel using the end of sixdegree-of-freedom simulation, realizes the 3 D weaving of major diameter complicated shape and molded part.
Description
Technical field
The invention belongs to technical field of textile machine, are related to a kind of three-dimensional circular knitting machine by mechanical arm control mandrel.
Background technique
Traditional knitting skill is generally used to the similar tubular products such as production hose, rope, cable.However in recent years,
Have very big application prospect in fields such as fibre reinforced composites, medical grafts, can be used to produce rotator blade,
The three-dimensional braid of the advanced composite materials preformed member such as artificial trachea bracket.But knitting skill still without as fiber winding and
Weaving technique is widely used in composite industry like that.
Three-dimensional woven technology includes three dimensional weaving technique, three-dimensional woven technology and three-dimensional knitting technology etc., wherein three-dimensional compile
The technology of knitting is a kind of new technique to grow up the 1970s for manufacturing stereo fabric.It is manufactured with other stereo fabrics
Technology is compared, the three dimensional weaving technique in the present invention be it is a kind of by the threads that are orientated along fabric forming direction according to certain
Rule inclination intersect, the technique for making yarn be interweaved together.It can by the three dimensional knitting machine of core of three dimensional weaving technique
Weave a variety of fabrics of different shapes including round, rectangular rule and special-shaped three dimensional fabric etc..Fabric tool after braiding
There is the features such as overall structure is not stratified, can constantly change along weaving direction section, complicated structural elements one-pass molding, has resistance to
The performances such as impact, anti-layering and creep resistant, lead in technologies such as biological organization material, automobile, the fan blade of wind-power electricity generation, aerospaces
Domain is widely used.
Summary of the invention
The object of the present invention is to provide a kind of three-dimensional circular knitting machine by mechanical arm control mandrel, which utilizes six
The end of degree-of-freedom manipulator device is connected to directly control the movement of mandrel with mandrel, according to the shape of pre- braided part and mandrel
Shape selects to determine a set of or two sets of sixdegree-of-freedom simulation devices, realizes the 3 D weaving of major diameter complicated shape and molded part.
The technical scheme adopted by the invention is that a kind of three-dimensional circular knitting machine by mechanical arm control mandrel, including machine
Frame is equipped with Circular Plate in rack along the vertical direction, and the track substrate of annular, the circle of track substrate are coaxially installed in Circular Plate
Several four notches angle guide wheel is evenly distributed on week, four notch angle guide wheels are equipped with and take yarn device, and four notch angle guide wheels pass through guiding
Transmission shaft connects on the rack, is oriented on transmission shaft and is connected with transmission mechanism, and mandrel, one end of mandrel are equipped at the center of rack
Equipped with yarn mouth, the other end of mandrel is equipped with mechanical arm.
The features of the present invention also characterized in that
Rack includes hollow substrate, and several substrate apertures are evenly distributed on substrate, and each substrate aperture fences up to form one
Circular configuration；The bottom of substrate is equipped with pedestal；
The both ends of substrate are equipped with support frame A and support frame B, and support frame A and support frame B are located at the phase of substrate one end
To two sides.
Circular Plate includes the cylindrical ring flat-plate and inner circle ring flat-plate of coaxial arrangement, and inner circle ring flat-plate is nested in cylindrical ring flat-plate, outer circle
Semi arch A is successively continuously offered at the inner port edge of ring flat-plate, successively continuously offers semicircle at the external margin of inner circle ring flat-plate
Arc B, when cylindrical ring flat-plate is combined together with inner circle ring flat-plate, correspondence is spliced to form each semi arch A with a semi arch B just
Full circle A；
Cylindrical ring flat-plate is fixed on the leading flank of holster base plate, and each full circle A that semi arch A and semi arch B is constituted is equal
Correspondence is coaxial with a substrate aperture；Cylindrical ring flat-plate is equipped with circular track substrate.
Track substrate includes several sequentially connected circuit orbit plate modules, and each track plate module correspondence is co-axially mounted
In a substrate aperture, circuit orbit, the opposite end point of each track plate module are coaxially offered in each track plate module
Not She You arc notch and arc guide groove, arc notch and arc guide groove are penetrated through with circuit orbit；
The fit system of two neighboring track plate module is that the arc guide groove both ends in previous track plate module are lucky
Both ends with the arc notch in the latter track plate module are to connecting.
Guide wheel transmission shaft in angle is equipped at the side center of each four notch angle guide wheel, one end of angle guide wheel transmission shaft connects
It connects on four notch angle guide wheels, the other end of angle guide wheel transmission shaft sequentially passes through track plate module, full circle A and substrate aperture, substrate
A pair of of rolling bearing is equipped with by bearing block in hole, angle guide wheel transmission shaft is coaxially socketed on rolling bearing, a pair of of axis of rolling
It holds at the middle part of bearing block inner support angle of entry guide wheel transmission shaft, bearing block is fixed on holster base plate by bearing body retaining ring；
The other end end of angle guide wheel transmission shaft is coaxially socketed with axle end baffle plate, and axle end baffle plate will together with axial positioning sleeve
Toothed belt is coaxially fixed on the guide wheel transmission shaft other end；Each four notch angle guide wheel is successively tangent to form closed full circle B, takes
Yarn device is mounted on the indentation, there of four notch angle guide wheels.
Transmission mechanism includes motor, and gear A is equipped on the output shaft of motor, and gear A is engaged with gear B, in gear B
Gear C is coaxially socketed in mandrel, gear C is engaged with gear D, and the central axis and angle guide wheel of gear D are driven axis connection, makes gear
A is coaxial with toothed belt, and the outer rim wheel face of toothed belt is equipped with tooth socket, and the outer rim of toothed belt is equipped with double-sided toothed belt, double
Face toothed belt is wrapped in the outer rim of each toothed belt in S shape, and double-sided toothed belt is engaged with the tooth socket in toothed belt outer rim.
The invention has the advantages that the present invention discharges knitting yarn by taking yarn device, while warp thread is discharged from creel, is worn
The center of warp thread centre bore and angle guide wheel is crossed, two groups of yarns interwovens are woven on mandrel.At this point, filling yarn is also from external creel
It obtains and is woven on mandrel, form three-dimensional braid；Sixdegree-of-freedom simulation is connected by end effector with mandrel, control
Core spindle does the movement of different directions, realizes batching for preformed member, that is, completes entire knitting.Pass through computer system control
Braider kinematic parameter processed, can weave the braided fabric of different yarns blanketing fctor and fiber volume fraction.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention；
Fig. 2 is the structural schematic diagram of rack in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention；
Fig. 3 is a kind of side view of the three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention；
Fig. 4 is the company of Circular Plate and holster base plate in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention
Connect structural schematic diagram；
Fig. 5 is Fig. 4 configuration schematic diagram；
Fig. 6 is a kind of structural representation of the three-dimensional circular knitting machine middle orbit plate module by mechanical arm control mandrel of the present invention
Figure；
Fig. 7 is four notch angle guide wheels and rack base in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention
The connection configuration schematic diagram of plate；
Fig. 8 is four notch angle guide wheels and rack base in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention
The connection cross-sectional view of plate；
Fig. 9 is the structural representation of transmission mechanism in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention
Figure；
Figure 10 is a kind of structural schematic diagram by taking yarn device in the three-dimensional circular knitting machine of mechanical arm control mandrel of the present invention；
Figure 11 is to take yarn device in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention to lead with four notch angles
The structural schematic diagram of wheel；
Figure 12 is to take yarn device in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention to lead at four notch angles
Movement locus schematic diagram on wheel；
Figure 13 is the structural schematic diagram of mechanical arm in a kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention；
Figure 14 (a), (b) are a kind of the Knitting Principle figures of the three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention；
Figure 15 is a kind of structure schematic diagram of the three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention.
In figure, 1. mechanical arms, 1-1. pedestal driving box, 1-2. driving arm seat, 1-3. connecting rod, 1-4. large arm, 1-5. arm,
1-6. wrist, 1-7. end effector；
2. rack, 2-1. holster base plate, 2-2. substrate aperture, 2-3. pedestal, 2-4. support frame A, 2-5. support frame B；
3. Circular Plate, 3-1 cylindrical ring flat-plate, 3-2 inner circle ring flat-plate, 3-3. semi arch A, 3-4. semi arch B；
4. housing；5. four notch angle guide wheels；
6. yarn device is taken, 6-1. spindle blade, 6-2. installation pedestal, 6-3. sole, 6-4. claw, 6-5. newel；
7. yarn mouth；8. mandrel；9. filling yarn；
10. track substrate, 10-1. circuit orbit, 10-2. track plate module, 10-3. arc notch, 10-4. arcuate guide
Slot；
11. bearing block, 12. bearing body retaining rings, 13. rolling bearings, 14. axle end baffle plates, 15. axial positioning sleeves, 16. teeth
Shape belt wheel, 17. warp thread, 18. knitting yarns, 19. warp thread centre bores, 20. jiaos of guide wheel transmission shafts, 21. braided rings, 22. Double-side Synchronous
Toothed belt, 23. motors, 24. gear As, 25. gear Bs, 26. gear Cs, 27. gear Ds.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention, shown in structure chart 1, including rack 2, rack
Circular Plate 3 is installed along the vertical direction on 2, the track substrate 10 of annular, the circle of track substrate 10 are coaxially installed in Circular Plate 3
Several four notches angle guide wheel 5 is evenly distributed on week, four notch angle guide wheels 5 are equipped with and take yarn device 6, and four notch angle guide wheels 5 pass through
Guiding transmission shaft 20 is connected in rack 2, is oriented on transmission shaft 20 and is connected with transmission mechanism, and mandrel is equipped at the center of rack 2
8, one end of mandrel 8 is equipped with yarn mouth 7, and the other end of mandrel 8 is equipped with mechanical arm 1.
As shown in Fig. 2, rack 2 includes hollow substrate 2-1, several substrate aperture 2-2 are evenly distributed on substrate 2-1, respectively
Substrate aperture 2-2 fences up to form a circular configuration；The bottom of substrate 2-1 is equipped with pedestal 2-3；
As shown in figure 3, the both ends of substrate 2-1 are equipped with support frame A2-4 and support frame B2-5, support frame A2-4 and support
Frame B2-5 is located at the opposite sides of the one end substrate 2-1.
As shown in Figure 4,5, Circular Plate 3 includes the cylindrical ring flat-plate 3-1 and inner circle ring flat-plate 3-2 of coaxial arrangement, inner circle ring flat-plate 3-2
It is nested in cylindrical ring flat-plate 3-1, semi arch A3-3, inner circle ring flat-plate is successively continuously offered at the inner port edge of cylindrical ring flat-plate 3-1
Semi arch B3-4 is successively continuously offered at the external margin of 3-2, when cylindrical ring flat-plate 3-1 and inner circle ring flat-plate 3-2 are combined together
When, each semi arch A3-3 is just corresponding to be spliced to form full circle A with a semi arch B3-4；
Cylindrical ring flat-plate 3-1 is fixed on the leading flank of holster base plate 2-1 (before the one side of holster base plate 2-1 towards operator are
Side) on, and semi arch A3-3 and corresponding coaxial, the full circle with a substrate aperture 2-2 of each full circle A that semi arch B3-4 is constituted
A quantity is identical as the quantity of substrate aperture 2-2；
Cylindrical ring flat-plate 3-1 is equipped with circular track substrate 10, and track substrate 10 includes several sequentially connected circles
Track plate module 10-2, each track plate module 10-2 correspondence are coaxially mounted on a substrate aperture 2-2.
As shown in fig. 6, coaxially offering circuit orbit 10-1, each track plate module on each track plate module 10-2
The opposite end of 10-2 is respectively equipped with arc notch 10-3 and arc guide groove 10-4, arc notch 10-3 and arc guide groove
10-4 is penetrated through with circuit orbit 10-1；
The fit system of two neighboring track plate module 10-2 is the arc guide groove on previous track plate module 10-2
The both ends 10-4 just the both ends with the arc notch 10-3 on the latter track plate module 10-2 to connecting.
As shown in fig. 7, angle guide wheel transmission shaft 20 is equipped at the side center of each four notch angle guide wheel 5, the transmission of angle guide wheel
One end (front end) of axis 20 is connected on four notch angle guide wheels 5, and the other end of angle guide wheel transmission shaft 20 sequentially passes through track template die
Block 10-2, full circle A and substrate aperture 2-2, substrate aperture 2-2 is interior to be equipped with a pair of of rolling bearing 13 by bearing block 11, and angle guide wheel passes
Moving axis 20 is coaxially socketed on rolling bearing 13, and a pair of of rolling bearing 13 is in 11 inner support angle of entry guide wheel transmission shaft 20 of bearing block
Bearing block 11 is fixed on holster base plate 2-1 by middle part, bearing body retaining ring 12；The diagonal guide wheel transmission shaft 20 of axial positioning sleeve 15
The other end (rear end) 13 inner ring of rolling bearing carry out axially position；One end (front end) rolling bearing of angle guide wheel transmission shaft 20
The axially position of 13 inner rings relies on the shaft shoulder of angle guide wheel transmission shaft 20, and the positioning of 13 outer ring of rolling bearing is completed by bearing block 11；
Bearing block 11 and substrate aperture 2-2 are clearance fit.
As shown in figure 8, the other end end of angle guide wheel transmission shaft 20 is coaxially socketed with axle end baffle plate 14, axle end baffle plate 14 with
Toothed belt 16 is coaxially fixed on 20 other end of guide wheel transmission shaft (rear end) by axial positioning sleeve 15 together；It leads at each four notch angle
Wheel 5 is successively tangent to form closed full circle B, takes the indentation, there that yarn device 6 is mounted on four notch angle guide wheels 5.It is set on rear side of substrate 2-1
There is housing 4, axle end baffle plate 14 is enclosed in housing 4.
As shown in figure 9, transmission mechanism includes motor 23, gear A 24 is installed on the output shaft of motor 23, gear A 24 with
Gear B 25 engages, and is coaxially socketed with gear C 26 on the central axis of gear B 25, gear C 26 is engaged with gear D 27, gear D 27
Central axis is connect with angle guide wheel transmission shaft 20, keeps gear A 27 and toothed belt 16 coaxial, is set on the outer rim wheel face of toothed belt 16
There is tooth socket, the outer rim of toothed belt 16 is equipped with double-sided toothed belt 22, and double-sided toothed belt 22 is wrapped in each toothed belt 16 in S shape
In outer rim, and double-sided toothed belt 22 is engaged with the tooth socket in 16 outer rim of toothed belt.
As shown in Figure 10, it takes yarn device 6 and includes spindle blade 6-1 (not including taking yarn bobbin and tensioner part), the one of spindle blade 6-1
End is connected on the one side of installation pedestal 6-2, and the another side of installation pedestal 6-2 is connected to sole by newel 6-5
On the one side of 6-3, set on the another side of sole 6-3 there are two claw 6-4.
Fit system between newel 6-5 and installation pedestal 6-2 and sole 6-3 is interference fit.
The notch of four notch angle guide wheels 5 holds the newel 6-5 taken on yarn device 6, rotates it with angle guide wheel 5, simultaneously
The ground claw 6-4 for taking yarn device 6 is slided in the circuit orbit 10-1 on track substrate 10, to guarantee to take in 6 motion process of yarn device
Always the top surface perpendicular to four notch angle guide wheels 5 or track substrate 10；
As shown in figure 11, it holds on each four notch angle guide wheel 5 there are two yarn device 6 is taken, each takes yarn device 6 in each four notch
It is successively moved along the notch of four notch angle guide wheels 5 between angle guide wheel 5.
As shown in figure 12,2 on each four notch angle guide wheel 5 take yarn device (A and B) and do respectively along different tracks
Serpentine movement discharges knitting yarn to complete to weave.In Figure 11, solid line is first motion profile for taking yarn device (taking yarn device A)；
Dotted line is second motion profile for taking yarn device (taking yarn device B)；
The revolution of toothed belt 16 can drive four coaxial notch angle guide wheels 5 to turn round, and four notch each of of the invention angle is led
Wheel 5 has 4 notches (quantity of notch is depending on the structural parameters of braided fabric on the guide wheel of angle), each four notch angle guide wheel 5
Upper gripping has 2 to take yarn device 6, and the revolution of four notch angle guide wheels 5 can push (drive) two to take yarn device 6 along track base respectively
The circuit orbit 10-1 of plate 10 does serpentine braiding movement, to discharge knitting yarn 18.
As shown in figure 13, mechanical arm 1 includes arm 1-5, and one end of arm 1-5 is successively arranged wrist 1-6 and end executes
Device 1-7, arm 1-5, wrist 1-6 and end effector 1-7 are jointly controlled by three Serve Motor Control A respectively；
One end of another point connection large arm 1-4 of arm 1-5, the other end of large arm 1-4 pass through driving arm seat 1-2 connection bottom
Connecting rod 1-3 is additionally provided between seat driving box 1-1, arm 1-5 and driving arm seat 1-2；Drive arm seat 1-2, connecting rod 1-3 and large arm 1-
4 respectively by three servo motor B transmission controls；
Mechanical arm 1 is connect by end effector 1-7 with mandrel 8.
Mechanical arm 1 is total to six-freedom degree.
A kind of the Knitting Principle of the three-dimensional circular knitting machine by mechanical arm control mandrel of the present invention is, such as Figure 14 (a), (b)
Shown, Figure 14 (a) is a kind of woven condition schematic diagram for the three-dimensional circular knitting machine that mandrel is controlled by mechanical arm of the present invention, Figure 14
It (b) is a kind of simplification the Knitting Principle figure for the three-dimensional circular knitting machine that mandrel is controlled by mechanical arm of the present invention.Yarn device 6 is taken in track
It is moved on 10 substrates, the bobbin taken on yarn device 6 discharges knitting yarn 18 by yarn tension-adjusting gear (present invention is not shown), together
When warp thread 17 discharged from creel, across the center of warp thread centre bore 19 and angle guide wheel 5, two groups of yarns interwovens are woven in mandrel 8
On, braided ring 21 is coaxially socketed on mandrel 8, at this point, filling yarn 9 is also obtained from external creel and is woven on mandrel 8, shape
At three-dimensional braid.
Mandrel 8 is depending on the shape of braided preforms and structure, and structure with complex shape and special can basis
The shape of braided preforms and deform.Using two sets of robot arm devices, mechanical arm can in the upper and lower of mandrel or
It is symmetrically arranged.
As shown in figure 15, one end of spindle blade 6-1 is equipped with warp thread centre bore 19.
A kind of the characteristics of three-dimensional circular knitting machine controlling mandrel by mechanical arm of the invention is that mechanical arm 1 is settable a set of
Or six sets of structural parameters requirements that can be different according to braided fabric, as braid angle, yarn blanketing fctor and fiber volume fraction adjust
Braider speed (movement velocity for taking yarn device 6), 8 characteristics of motion of mandrel, to meet the braiding requirement of braided fabric；The present invention is adjustable
Reorganize the structural parameters of loom, the size and distribution diameter parameter (substrate of the holster base plate 2-1 upper substrate hole 2-2 in the present invention
The quantity of hole 2-2), the number parameter of four notch angle guide wheels 5 takes the number parameter of yarn device 6, notch on four notch angle guide wheels 5
Number parameter, it is adjustable (with relational expression or equation control between each adjustable parameter in system in overall structure and structural design of fittings
System), to realize the braiding of major diameter complexity braided fabric.Theoretically, the diameter of braided fabric does not limit strictly, and practical maximum is set
It is much to count braided diameter, should be determined according to the experiment of the virtual experimental of virtual prototype or physical prototyping.
Claims (6)
1. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel, it is characterised in that: including rack, along vertical side in rack
To Circular Plate is equipped with, the track substrate of annular is coaxially installed in Circular Plate, if being evenly distributed on the circumference of track substrate
Dry four notch angle guide wheels, four notch angle guide wheels, which are equipped with, takes yarn device, and four notch angle guide wheels are connected to rack by being oriented to transmission shaft
On, it is oriented on transmission shaft and is connected with transmission mechanism, mandrel is equipped at the center of rack, one end of mandrel is equipped with yarn mouth, mandrel
The other end is equipped with mechanical arm.
2. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel according to claim 1, it is characterised in that: described
Rack includes hollow substrate, and several substrate apertures are evenly distributed on substrate, and each substrate aperture fences up to form a circular configuration；
The bottom of substrate is equipped with pedestal；
The both ends of substrate are equipped with support frame A and support frame B, and support frame A and support frame B are located at opposite the two of substrate one end
Side.
3. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel according to claim 2, it is characterised in that: described
Circular Plate includes the cylindrical ring flat-plate and inner circle ring flat-plate of coaxial arrangement, and inner circle ring flat-plate is nested in cylindrical ring flat-plate, cylindrical ring flat-plate it is interior
Semi arch A is successively continuously offered at bore edges, semi arch B is successively continuously offered at the external margin of inner circle ring flat-plate, when outer
When Circular Plate and inner circle ring flat-plate are combined together, each semi arch A is just corresponding to be spliced to form full circle A with a semi arch B；
Cylindrical ring flat-plate is fixed on the leading flank of holster base plate, and semi arch A and each full circle A that semi arch B is constituted are corresponding
It is coaxial with a substrate aperture；Cylindrical ring flat-plate is equipped with circular track substrate.
4. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel according to claim 3, it is characterised in that: described
Track substrate includes several sequentially connected circuit orbit plate modules, and each track plate module correspondence is coaxially mounted to a base
On plate hole, circuit orbit is coaxially offered in each track plate module, the opposite end of each track plate module is respectively equipped with arc
V notch v and arc guide groove, arc notch and arc guide groove are penetrated through with circuit orbit；
The fit system of two neighboring track plate module is that the arc guide groove both ends in previous track plate module are just with after
The both ends of arc notch in one track plate module are to connecting.
5. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel according to claim 4, it is characterised in that: each
Guide wheel transmission shaft in angle is equipped at the side center of four notch angle guide wheel, one end of angle guide wheel transmission shaft is connected to four notch angles
On guide wheel, the other end of angle guide wheel transmission shaft sequentially passes through track plate module, full circle A and substrate aperture, passes through bearing in substrate aperture
Seat is equipped with a pair of of rolling bearing, and angle guide wheel transmission shaft is coaxially socketed on rolling bearing, and a pair of of rolling bearing is in bearing block
The middle part of angle of entry guide wheel transmission shaft is supported, bearing block is fixed on holster base plate by bearing body retaining ring；
The other end end of angle guide wheel transmission shaft is coaxially socketed with axle end baffle plate, and axle end baffle plate is together with axial positioning sleeve by tooth form
Belt wheel is coaxially fixed on the guide wheel transmission shaft other end；Each four notch angle guide wheel is successively tangent to form closed full circle B, takes yarn device
It is mounted on the indentation, there of four notch angle guide wheels.
6. a kind of three-dimensional circular knitting machine by mechanical arm control mandrel according to claim 5, it is characterised in that: described
Transmission mechanism includes motor, and gear A is equipped on the output shaft of motor, and gear A is engaged with gear B, same on the central axis of gear B
Axle sleeve is connected to gear C, and gear C is engaged with gear D, and the central axis and angle guide wheel of gear D are driven axis connection, makes gear A and tooth form
Belt wheel is coaxial, and the outer rim wheel face of toothed belt is equipped with tooth socket, and the outer rim of toothed belt is equipped with double-sided toothed belt, double-sided toothed belt
It is wrapped in S shape in the outer rim of each toothed belt, and double-sided toothed belt is engaged with the tooth socket in toothed belt outer rim.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811622297.XA CN109763254B (en) | 2018-12-28 | 2018-12-28 | Three-dimensional circular knitting machine with mandrel controlled by mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811622297.XA CN109763254B (en) | 2018-12-28 | 2018-12-28 | Three-dimensional circular knitting machine with mandrel controlled by mechanical arm |
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| CN109763254A true CN109763254A (en) | 2019-05-17 |
| CN109763254B CN109763254B (en) | 2021-03-05 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110453360A (en) * | 2019-08-19 | 2019-11-15 | 江苏响道精密机械有限公司 | A kind of high-speed knitter |
| CN110777478A (en) * | 2019-10-21 | 2020-02-11 | 西安空间无线电技术研究所 | Preparation method of low-passive intermodulation metal mesh wire woven in tubular shape by using dielectric wires |
| CN110936514A (en) * | 2019-11-19 | 2020-03-31 | 东华大学 | Equipment and method capable of weaving large-diameter composite pipe and structural member pre-forming body |
| CN113046915A (en) * | 2021-05-08 | 2021-06-29 | 哈尔滨工业大学（威海） | Digital multi-axial horizontal yarn releasing three-dimensional weaving device and weaving method |
| CN116141702A (en) * | 2023-02-17 | 2023-05-23 | 现代纺织技术创新中心(鉴湖实验室) | 3D winding method of fibers |
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| CN110453360A (en) * | 2019-08-19 | 2019-11-15 | 江苏响道精密机械有限公司 | A kind of high-speed knitter |
| CN110453360B (en) * | 2019-08-19 | 2021-08-24 | 江苏响道精密机械有限公司 | High-speed braiding machine |
| CN110777478A (en) * | 2019-10-21 | 2020-02-11 | 西安空间无线电技术研究所 | Preparation method of low-passive intermodulation metal mesh wire woven in tubular shape by using dielectric wires |
| CN110936514A (en) * | 2019-11-19 | 2020-03-31 | 东华大学 | Equipment and method capable of weaving large-diameter composite pipe and structural member pre-forming body |
| CN110936514B (en) * | 2019-11-19 | 2021-06-25 | 东华大学 | Equipment and method capable of weaving large-diameter composite pipe and structural member pre-forming body |
| CN113046915A (en) * | 2021-05-08 | 2021-06-29 | 哈尔滨工业大学（威海） | Digital multi-axial horizontal yarn releasing three-dimensional weaving device and weaving method |
| CN116141702A (en) * | 2023-02-17 | 2023-05-23 | 现代纺织技术创新中心(鉴湖实验室) | 3D winding method of fibers |
| CN116141702B (en) * | 2023-02-17 | 2024-07-16 | 现代纺织技术创新中心(鉴湖实验室) | 3D winding method of fibers |
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