CN113291926A - Constant-tension wire feeding and withdrawing control system and control method for automatic carbon fiber wire laying machine - Google Patents
Constant-tension wire feeding and withdrawing control system and control method for automatic carbon fiber wire laying machine Download PDFInfo
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- CN113291926A CN113291926A CN202110632867.9A CN202110632867A CN113291926A CN 113291926 A CN113291926 A CN 113291926A CN 202110632867 A CN202110632867 A CN 202110632867A CN 113291926 A CN113291926 A CN 113291926A
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- feeding
- floating roller
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 229920000049 Carbon (fiber) Polymers 0.000 title claims abstract description 18
- 239000004917 carbon fiber Substances 0.000 title claims abstract description 18
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 17
- 230000008859 change Effects 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 7
- 230000005284 excitation Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000003321 amplification Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000007480 spreading Effects 0.000 description 8
- 238000003892 spreading Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 239000000835 fiber Substances 0.000 description 4
- 239000006247 magnetic powder Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
- B65H59/36—Floating elements compensating for irregularities in supply or take-up of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/385—Regulating winding speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/38—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension
- B65H59/384—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by regulating speed of driving mechanism of unwinding, paying-out, forwarding, winding, or depositing devices, e.g. automatically in response to variations in tension using electronic means
- B65H59/387—Regulating unwinding speed
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- Tension Adjustment In Filamentary Materials (AREA)
Abstract
The invention discloses a constant-tension wire feeding and withdrawing control system of an automatic carbon fiber wire laying machine, which comprises a floating roller device, a wire feeding and withdrawing device and a constant-tension controller assembly; the floating roller device comprises a floating roller, a sliding block, a balancing weight, a guide rail, a magnetic ring and a base; the wire feeding and withdrawing device comprises a feeding barrel, a servo motor and a plurality of guide wheels; the constant tension controller assembly comprises a position sensor and a constant tension position closed-loop controller, the position sensor is matched with the position of the magnetic ring and used for detecting the position change of the magnetic ring in real time and transmitting a signal to the constant tension position closed-loop controller, and the constant tension position closed-loop controller is connected with the servo motor. The invention also discloses a constant-tension wire feeding and withdrawing control method, and the constant-tension control of the material wire during the automatic wire laying operation of the automatic wire laying machine can be realized by combining the system.
Description
Technical Field
The invention relates to a constant-tension wire feeding and withdrawing control system and method for an automatic carbon fiber wire laying machine, which are used in the field of automatic carbon fiber wire laying machines.
Background
The carbon fiber composite material generally consists of carbon fibers and resin, and has the characteristics of high strength, high modulus, wear resistance, heat resistance, corrosion resistance and the like. The quality of the traditional manual laying mode depends on factors such as personnel competence quality, whether the operation is standard and the like, the product quality has high volatility and the rejection rate is high. The automatic laying control precision is high, the repeatability and consistency of the product quality are good, and the method is an important means for realizing the high-performance digital manufacturing of the composite material.
The basic principle of the automatic filament spreading machine is as follows: a plurality of carbon fiber prepreg filaments with the width range of 1/8-1/2 inches (3.2-12.7 millimeters) form a prepreg tow with variable width under a flexible press roll, and a filament laying head is attached to the surface of a core mold under the action of certain temperature and pressure, so that the automatic laying of the composite material with the complex curved surface part can be completed.
The automatic composite material filament spreading machine consists of filament spreading head unit, moving mechanism unit, filament feeding system unit, main control unit, etc. The units jointly act to realize the simultaneous laying of multi-path tows, and can also realize the actions of cutting, re-feeding, laying and pressing and the like on a single or a plurality of tows according to the process requirements, so that the carbon fiber tows are laid on the surface of the die according to the set laying width, laying speed and path planning.
Each tow in the multi-path tows is lifted, laid and retracted at a high speed on the surface of a die along with a tow laying head, and the prepreg filaments selected by the process are required to complete a high-speed filament feeding task in the laying process of the tow laying head. In the processes of lifting, laying and returning of the fiber laying head, the pre-impregnated tows move back and forth along with the fiber laying head, and each tow needs to be kept at constant tension all the time to ensure the fiber laying quality.
With the development of the related automatic control technology, various constant tension control methods have appeared, wherein the methods of floating roll tension control, radius following compensation, tension closed-loop feedback control and the like are more commonly applied.
Tension control of the floating roller utilizes the self weight of the floating roller to form tension on the tows, and when the floating roller is lifted to the upper proximity switch, the driving wheel sends wires; when the floating roller descends to the lower part to approach the switch, the driving wheel stops feeding wires, the control method is simple, but the tension adjusting precision is low, and the requirements of high-speed and high-dynamic-change wire feeding cannot be met.
The radius following compensation is to calculate the yarn feeding amount according to the change of the distance (diameter) between the yarn bundle wound on the drum and the center of the drum and a mathematical model, and to control the change of the tension of the yarn bundle by controlling the rotating speed of the yarn drum. The method has simple mechanical structure and lower cost, but has low control precision and can not meet the requirements of high-speed and high-dynamic-change wire feeding.
The tension closed-loop feedback control mainly comprises 2 main control modes of tension feedback, magnetic powder braking, tension feedback and variable speed control, the control precision is high, and stepless control of the tension can be realized. Wherein the magnetic powder brake can not realize the initiative and send silk and move back the silk, can not satisfy the requirement of automatic shop silk. No matter the variable speed controller adopts a frequency converter or a servo driver, the requirement of the filament laying head on the high dynamic change of the wiring harness cannot be met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a constant-tension feeding and returning control system and a control method for an automatic carbon fiber filament spreading machine, which can realize constant-tension control of a material filament during automatic filament spreading operation of the automatic filament spreading machine.
One technical scheme for achieving the above purpose is as follows: a constant tension yarn feeding and returning control system of an automatic carbon fiber yarn laying machine comprises a floating roller device, a yarn feeding and returning device and a constant tension controller assembly;
the floating roller device comprises a floating roller, a sliding block, a balancing weight, a guide rail, a magnetic ring and a base, wherein the guide rail is arranged on the base, the sliding block is arranged on the guide rail in a manner of sliding up and down along the guide rail, the floating roller is arranged on the sliding block, the balancing weight is arranged on the sliding block, and the magnetic ring is sleeved on the guide rail and connected with the sliding block so as to move synchronously;
the feeding and unwinding device comprises a feeding barrel, a servo motor and a plurality of guide wheels, the feeding barrel is connected with the servo motor through a speed reducer, a material wire coil is arranged on the feeding barrel, and the material wire is guided by each guide wheel, wound on the floating roller and then connected with a wire laying head through the guide wheels;
the constant tension controller assembly comprises a position sensor and a constant tension position closed-loop controller, the position sensor is matched with the position of the magnetic ring and used for detecting the position change of the magnetic ring in real time and transmitting a signal to the constant tension position closed-loop controller, and the constant tension position closed-loop controller is connected with the servo motor.
The control method of the constant-tension wire feeding and withdrawing control system of the automatic carbon fiber wire laying machine comprises the following specific tension control methods:
Furthermore, the constant tension position closed-loop controller adjusts the excitation given component of the motor according to the set motor speed, obtains the torque given component of the motor through calculation, and outputs control current to the servo motor through the vector conversion and power amplification circuit in sequence to control the output torque of the motor.
The invention adopts a series constant tension position closed-loop control method of floating roll control and servo direct torque drive (electronic magnetic powder machine), integrates the advantages of various control methods, does not need to install a high-precision torque sensor, and realizes the tension control effect of the pre-impregnated fiber with stable tension control, quick dynamic response and lower cost by a position closed-loop direct torque drive control mode. On the basis, the weak magnetic speed-raising function can be realized, the requirements of the automatic wire laying machine on high-dynamic-change constant-tension wire feeding and withdrawing can be completely met, the tension fluctuation resistance is high, an expensive high-precision tension sensor is not needed, the structure is simple and reliable, and the cost is low.
Drawings
FIG. 1 is a schematic structural view of a constant-tension yarn feeding and withdrawing control system of an automatic carbon fiber yarn laying machine according to the present invention;
FIG. 2 is a functional schematic diagram of a constant-tension yarn feeding and withdrawing control method of the automatic carbon fiber yarn laying machine.
Detailed Description
In order to better understand the technical solution of the present invention, the following detailed description is made by specific examples:
referring to fig. 1, a constant tension filament feeding and withdrawing control system of an automatic carbon fiber filament spreading machine according to the present invention includes a floating roll device, a filament feeding and withdrawing device, and a constant tension controller assembly.
The floating roller device comprises a floating roller 1, a sliding block 2, a balancing weight 3, a guide rail 4, a magnetic ring 5 and a base 6. The guide rail 3 sets up on base 6, and sliding block 2 can be along the gliding setting in guide rail 4 from top to bottom of guide rail 4, and floating roll 1 sets up on sliding block 2, is provided with balancing weight 3 on sliding block 2, thereby magnetic ring 5 cup joints on guide rail 3 and is connected the synchronous motion with sliding block 2.
The wire feeding and withdrawing device comprises a feeding barrel 7, a servo motor 8 and a plurality of guide wheels 9, wherein the feeding barrel 7 is connected with the servo motor 8 through a speed reducer, a wire coil is arranged on the feeding barrel 8, a wire 10 is wound on the floating roller 1 through the guide of each guide wheel 9, and then the wire is connected with a wire laying head through the guide wheels 9.
The constant tension controller assembly comprises a position sensor 11 and a constant tension position closed-loop controller 12, the position sensor 11 is matched with the position of the magnetic ring 5 and used for detecting the position change of the magnetic ring 5 in real time and transmitting a signal to the constant tension position closed-loop controller 12, and the constant tension position closed-loop controller 12 is connected with the servo motor 8.
The wire feeding and withdrawing length of the floating roller device is determined by the lifting distance of the wire laying head, the moving distance of the wire laying head and the laying length of the tows, and the wire feeding and withdrawing speed is determined by the lifting and moving speed of the wire laying head and the laying speed of the tows. The wire feeding length and speed determine the upward moving distance and speed of the floating roller, and the wire withdrawing length and speed determine the downward moving distance and speed of the floating roller. In order to prevent the floating roller from exceeding the mechanical range, the wire feeding and withdrawing mechanism needs to determine wire feeding and withdrawing according to the height position of the floating roller, and meanwhile, the tension of the wire is ensured to be in a constant range in the whole operation flow.
Referring to fig. 2, a control method of the constant-tension feeding and withdrawing control system of the automatic carbon fiber filament spreading machine includes the following specific tension control methods:
On the basis of the principle, the position sensor informs the position of the floating roller to a constant tension position closed-loop controller, and a given component of the motor torque is obtained through calculation; the constant tension position closed-loop controller can also adjust given excitation components according to the required motor speed, so as to achieve the effect of weak magnetic speed rise of the motor. The torque given component and the excitation given component sequentially pass through the vector conversion and power amplification circuit to output control current to the servo motor, so that the output torque of the motor is controlled, and finally the buoy is controlled to be always kept at the middle position of the buoy device.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (3)
1. A constant tension yarn feeding and returning control system of an automatic carbon fiber yarn laying machine comprises a floating roller device and a yarn feeding and returning device, and is characterized by further comprising a constant tension controller assembly;
the floating roller device comprises a floating roller, a sliding block, a balancing weight, a guide rail, a magnetic ring and a base, wherein the guide rail is arranged on the base, the sliding block is arranged on the guide rail in a manner of sliding up and down along the guide rail, the floating roller is arranged on the sliding block, the balancing weight is arranged on the sliding block, and the magnetic ring is sleeved on the guide rail and connected with the sliding block so as to move synchronously;
the feeding and unwinding device comprises a feeding barrel, a servo motor and a plurality of guide wheels, the feeding barrel is connected with the servo motor through a speed reducer, a material wire coil is arranged on the feeding barrel, and the material wire is guided by each guide wheel, wound on the floating roller and then connected with a wire laying head through the guide wheels;
the constant tension controller assembly comprises a position sensor and a constant tension position closed-loop controller, the position sensor is matched with the position of the magnetic ring and used for detecting the position change of the magnetic ring in real time and transmitting a signal to the constant tension position closed-loop controller, and the constant tension position closed-loop controller is connected with the servo motor.
2. The control method of the constant-tension wire feeding and withdrawing control system of the automatic carbon fiber wire laying machine is characterized in that the specific tension control method is as follows:
step 1, according to a preset wire laying route and a preset wire laying speed, a wire laying head carries out wire laying operation, and a servo motor starts a control feeding barrel to carry out wire feeding or wire withdrawing;
step 2, according to the wire feeding length and the wire feeding speed, the floating roller has corresponding upward moving distance and upward moving speed; according to the wire withdrawing length and the wire withdrawing speed, the floating roller has corresponding downward moving distance and downward moving speed;
step 3, when the floating roll ascends or descends, the magnetic ring is driven to perform corresponding displacement, the displacement and the displacement speed are detected by a position sensor, and signals are transmitted to a constant-tension position closed-loop controller; when the magnetic ring ascends, the constant tension position closed-loop controller controls the output torque of the excitation motor to be reduced, so that the balancing weight drives the floating roller to descend, and when the magnetic ring descends, the constant tension position closed-loop controller controls the output torque of the excitation motor to be increased, so that the feeding barrel is driven to rotate and withdraw the wire, the floating roller is dragged to ascend, and therefore the position of the floating roller is controlled, so that the wire can be stably kept at a certain tension.
3. The control method according to claim 2, wherein the constant tension position closed loop controller adjusts an excitation given component of the motor according to a set motor speed, obtains a torque given component of the motor through calculation, and outputs a control current to the servo motor through the vector conversion and power amplification circuit in sequence to control the output torque of the motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110632867.9A CN113291926A (en) | 2021-06-07 | 2021-06-07 | Constant-tension wire feeding and withdrawing control system and control method for automatic carbon fiber wire laying machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110632867.9A CN113291926A (en) | 2021-06-07 | 2021-06-07 | Constant-tension wire feeding and withdrawing control system and control method for automatic carbon fiber wire laying machine |
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| CN113291926A true CN113291926A (en) | 2021-08-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114506739A (en) * | 2022-01-20 | 2022-05-17 | 新华都特种电气股份有限公司 | Constant tension buffer mechanism for transformer winding and transformer winding production equipment |
| US20220185618A1 (en) * | 2020-12-11 | 2022-06-16 | Flynt Amtex, Inc. | Dynamic tension control system for narrow fabric |
| CN114955723A (en) * | 2022-06-21 | 2022-08-30 | 西安英利科电气科技有限公司 | Yarn constant tension device adopting gravity |
| CN115928314A (en) * | 2023-02-02 | 2023-04-07 | 上工富怡智能制造(天津)有限公司 | Artificial lung mousse braider |
| CN117103727A (en) * | 2023-09-14 | 2023-11-24 | 成都飞机工业（集团）有限责任公司 | A laying temperature control method and system based on changes in viscosity temperature of prepreg tows |
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2021
- 2021-06-07 CN CN202110632867.9A patent/CN113291926A/en active Pending
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220185618A1 (en) * | 2020-12-11 | 2022-06-16 | Flynt Amtex, Inc. | Dynamic tension control system for narrow fabric |
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| CN114955723A (en) * | 2022-06-21 | 2022-08-30 | 西安英利科电气科技有限公司 | Yarn constant tension device adopting gravity |
| CN115928314A (en) * | 2023-02-02 | 2023-04-07 | 上工富怡智能制造(天津)有限公司 | Artificial lung mousse braider |
| CN115928314B (en) * | 2023-02-02 | 2024-05-17 | 上工富怡智能制造(天津)有限公司 | Artificial lung membrane yarn braiding machine |
| CN117103727A (en) * | 2023-09-14 | 2023-11-24 | 成都飞机工业（集团）有限责任公司 | A laying temperature control method and system based on changes in viscosity temperature of prepreg tows |
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