CN114013068A - Annular wire laying machine tool and wire laying method thereof - Google Patents

Abstract

The invention discloses an annular wire laying machine tool and a wire laying method thereof, relating to the technical field of wire laying equipment and comprising the following steps: the wire spreading mechanism comprises a circular ring, a mechanical arm and a wire spreading head, wherein the circular ring can axially displace along the circular ring and can rotate around the axis of the circular ring; according to the invention, the mechanical arm is driven by the circular ring to move, and the posture adjustment of the mechanical arm is matched, so that the silk laying head at the end part of the mechanical arm can be controlled to lay the silk along any surface of the die under the condition that the die is not moved, when the silk is required to be laid on different surfaces of the die, the circular ring is only required to be controlled to drive the mechanical arm, and then the silk laying head is driven to move to the corresponding surface to be laid with the silk, so that the time for turning over the die is saved, and the silk laying efficiency is greatly improved.

Description

Annular wire laying machine tool and wire laying method thereof

Technical Field

The invention relates to the technical field of filament paving equipment, in particular to an annular filament paving machine tool and a filament paving method thereof.

Background

An automatic tow placement (EP) process is initiated by tow winding and, between the winding and automatic tape laying processes, lays pre-preg tows or narrow pre-preg tapes at an angle to the mold surface with little or no tension by an automatic tape laying machine, with lay rollers in intimate contact with the part surface to compact the lay, and also lays the tows onto a rotating mandrel, with differential release of the tows and with cutting and subsequent application of the fibers, suitable for parts of widely varying shapes and sizes.

The automatic fiber bundle laying process has the advantages that the fiber bundles can be laid according to the shape of a workpiece, corner waste materials are avoided, and raw materials are saved; the automatic laying process is suitable for manufacturing the integral parts, the number of the assembled parts is reduced, and the manufacturing and assembling cost is saved; the fiber bundles can be laid according to the needs, the materials can be fully utilized, and the process is suitable for manufacturing parts with complex shapes, such as fuselage skins and ducts, and is also suitable for manufacturing large-size plane skins of wings, horizontal stabilizers and the like; the method can be used for molding the thermosetting resin composite material, is also suitable for compacting the thermoplastic resin matrix composite material in situ, does not need an autoclave and a vacuum bag, eliminates an expensive mold, reduces the labor capacity and reduces the material waste to the minimum.

At present, the laying mode of the fiber reinforced composite material mainly comprises hand lay-up, vacuum bag, mould pressing and automatic filament laying process, wherein the automatic filament laying process mainly refers to filament laying of a filament laying machine, the laying of the composite material by the filament laying machine starts in the United states at the end of the 20 th century 80 years, the filament laying machine has various forms such as gantry type, robot type, mixed type and the like, the functions of the filament laying machine are continuously improved, the performance of the filament laying machine is continuously improved, the filament laying machine is developed into representative mainstream equipment of the automatic forming technology of the composite material at present, the adaptability of the automatic filament laying process is better, the filament laying machine can be used for manufacturing composite material parts with complex curved surfaces, the filament laying head of each manufacturer has different configurations but similar basic functions, the functions such as compression roller yarn laying, yarn feeding, yarn breaking, yarn stopping, tension control, temperature control, laying pressure control and the like can be completed, and as various countries have great differences in the aspects of robots, precision machine tools and software development levels, in the development of an automatic fiber laying machine, the existing technology has larger difference, the automatic fiber laying technology is the key development technology in the fields of aerospace, wind power and transportation, in recent years, automatic fiber laying equipment is widely applied to the fields of airplanes, aerospace and military industry and forms the trend of accelerating the technology development, the core technology of the fiber laying machine is mainly mastered in developed countries in Europe and America and imposes limitation on the technical requirements of China, the research and development work of the automatic fiber laying technology in China is also carried out for more than 20 years, the comprehensive technology is not mature, and the fiber laying machine has room for improvement and promotion, but because the matching of related technologies such as robots, related software and the like is lacked in the engineering application foundation and can not be applied to engineering practice, the stability of equipment is also a big problem, at present, no engineering practical fiber composite material automatic fiber laying equipment is available in China, and the manufacturing precision of domestic equipment has a gap compared with the foreign advanced level, the integration degree of the machine is not enough, and the structural and functional integration degree of the filament paving machine is not enough.

The invention patent with the application number of '201110274287.3' and the name of 'double-belt laying device and method' discloses a wire laying machine, which comprises a workbench and a portal frame arranged on the workbench and capable of realizing X-direction translation; the trolley is arranged on the portal frame and can realize translation in the Y direction, and the laying head is arranged on the trolley and can realize rotation in the Z direction and feeding; dolly and shop head constitute the shop head subassembly in the Z direction, and through control shop head in X, Y, Z three directions and spread the silk on the mould, but when the silk is accomplished to the another side after the mould one side is spread the silk and is accomplished, need stop the operation of machine, the silk is spread again to the upset mould, has reduced shop's silk efficiency.

The invention patent with the application number of '201810521418.5' and the name of 'automatic fiber laying equipment for laying fiber composite material' discloses a fiber laying machine, wherein two servo motors A drive two output gears to rotate along an X-direction long rack so as to drive a transverse beam to slide along a longitudinal beam; the servo motor B drives the sliding seat to slide along the transverse beam; the servo motor C drives the Z-direction screw rod to rotate, so that the ram is driven to slide up and down along the sliding seat; the C-axis revolving mechanism fixed on the fixed body drives the C-axis revolving body to rotate along the central axis C of the C-axis revolving body; the A-axis slewing mechanism drives the swinging body to rotate along the axis A of the two coaxial axes; the C1 shaft rotating mechanism fixed on the swinging body drives the creel to rotate along the creel central shaft C1 shaft; the yarn laying head and the yarn laying head pressing roller are fixed at the lower end of the creel; the control system controls the actions of the C shaft, the C1 shaft, the A shaft swing mechanism and the brake device; the servo motor D drives the workpiece to rotate along the workpiece rotating main shaft, the servo motor A, the servo motor B, the servo motor C, the servo motor D, C shaft rotating mechanism, the C1 shaft rotating mechanism, the A shaft rotating mechanism and the brake device are integrally combined to form the mechanical arm equivalent to multiple degrees of freedom, the multiple degrees of freedom mechanical arm is used for driving the filament spreading head to move, the filament spreading of the workpiece is completed together by matching the rotating motion of the workpiece driven by the servo motor D, when the workpiece has a curved surface shape, the control system not only needs to analyze the motion of the mechanical arm (the position of the end part of the mechanical arm), but also needs to analyze the position data of the surface of the rotated die, and then the data of the servo motor A and the servo motor B are combined to enable the workpiece to complete the motion in a matching mode, the matching technology difficulty between software and hardware is large, and the manufacturing cost is improved.

Therefore, an annular wire laying machine tool with high wire laying efficiency and low technical requirement is needed.

Disclosure of Invention

The invention aims to provide an annular wire laying machine tool and a wire laying method thereof, which are used for solving the problems in the prior art and reducing the technical requirements on the basis of improving the wire laying efficiency.

In order to achieve the purpose, the invention provides the following scheme: the invention provides an annular wire laying machine tool and a wire laying method thereof, wherein the annular wire laying machine tool comprises an annular wire laying mechanism and a die bearing mechanism, the annular wire laying mechanism comprises a circular ring which can axially displace along the annular wire laying mechanism and can rotate around the axis of the annular wire laying mechanism, a mechanical arm with more than six degrees of freedom and a wire laying head, one end of the mechanical arm is connected to the inner wall surface of the circular ring, the other end of the mechanical arm faces the axis of the circular ring, the wire laying head is arranged at one end of the mechanical arm far away from the circular ring, a die clamping end of the die bearing mechanism is positioned on the axis of the circular ring, and when the die clamping end is connected with a die, the die is positioned in the circular ring.

Preferably, the sliding device further comprises a first sliding rail and a circular ring base arranged above the first sliding rail in a sliding mode, a groove body matched with the circular ring is arranged at the top of the circular ring base, the circular ring is arranged in the groove body, the outer surface of the circular ring is of a tooth-shaped structure, a gear meshed with the tooth-shaped structure is arranged at the bottom of the groove body, the axis of the gear is parallel to the axis of the circular ring, a driving motor for driving the gear to rotate is arranged in the circular ring base, and the first sliding rail is parallel to the axis of the circular ring.

Preferably, the ring base comprises two Z-shaped structures symmetrically arranged, the groove bodies are arranged on the Z-shaped structures, and the bottoms of the Z-shaped structures are connected with the first sliding rails in a sliding mode.

Preferably, still including being used for storing the storage silk spindle of laying with the silk bundle, store up the silk spindle setting on the internal face of ring, and be close to the arm setting, store up the silk spindle the silk bundle with shop's silk head is connected.

Preferably, the fiber spreading head comprises a tension control mechanism, a re-feeding and heating mechanism, a shearing mechanism and a rolling mechanism, the fiber bundles of the stored fiber ingots sequentially pass through the tension control mechanism, the re-feeding and heating mechanism and the shearing mechanism and the rolling mechanism are connected, the re-feeding and heating mechanism is a conveying roller, an infrared heater is arranged above the conveying roller, the shearing mechanism is a rolling blade, a pneumatic blade, a laser cutter or an ultrasonic cutter, and the rolling mechanism is a pressure roller.

Preferably, the tension control mechanism is a plurality of godet rollers with the rotating speed being independently adjustable.

Preferably, the mold bearing mechanism comprises two support tables crossing two axial sides of the ring, and a connecting part for fixing the mold is arranged on the top of each support table.

Preferably, the support platform further comprises a second slide rail, the bottom of the support platform is slidably arranged on the second slide rail, and the second slide rail is parallel to the axis of the circular ring.

Preferably, the two ends of the mold are provided with support rods, and the mold is connected with the mold bearing mechanism through the support rods.

The invention also provides a wire laying method of the annular wire laying machine tool, which is characterized by comprising the following steps:

s1: respectively installing support rods at two ends of a mould on support tables at two ends of a circular ring in the axial direction, controlling the circular ring to move by a system until one end of the pressure roller corresponds to any surface of the mould, and controlling a mechanical arm by the system to enable the bottom surface of the pressure roller to be parallel to the surface of the mould;

s2: the system controls and starts a conveying roller and an infrared heater, the conveying roller conveys tows, a pressure roller starts to lay the yarns, the system controls a circular ring base to move along a first sliding rail, the pressure roller is driven by a mechanical arm to move along the surface of the die to complete single-line yarn laying, and in the single-line yarn laying process, the bottom surface of the pressure roller is always parallel to the surface of the die by controlling the posture of the mechanical arm and the angle and position of the circular ring;

s3: and adjusting the angle and position of the circular ring and the posture of the mechanical arm to enable the pressure roller to correspond to the position of the non-laid yarn on the side of the previous yarn laying, and repeating the step S2 until the yarn laying of all planes of the die is completed.

Compared with the prior art, the invention has the following technical effects:

1. the invention utilizes the ring which can be axially displaced along the self and can rotate around the self axis to drive the mechanical arm to move, and is matched with the posture adjustment of the mechanical arm, the invention can realize that under the condition that the die is not moved, the wire laying head at the end part of the mechanical arm is controlled to lay wires along any surface of the die, when the wire laying is required to be carried out on different surfaces of the die, only the ring is controlled to drive the mechanical arm, and then the wire laying head is driven to move to the surface corresponding to the wire to be laid, thereby saving the time for turning the die, greatly improving the wire laying efficiency, and because the die is not moved in the whole wire laying process, the movement is only the movement of the mechanical arm and the ring, and the inner wall surface of the ring is of an annular structure, the technical difficulty of the system for obtaining the base point of the mechanical arm by controlling the movement of the end part of the mechanical arm is relatively reduced, and the technical difficulty of controlling the movement track of the end part of the mechanical arm at the base point by controlling the ring is relatively reduced, this application for the adjustment of mould normal running fit arm gesture, need cooperate surface data and the arm motion data after the mould rotates, greatly reduced to the requirement of technique, be favorable to reduction in production cost, improvement data accuracy that moreover can be corresponding, and then improve the shop silk effect.

2. According to the invention, the wire storage ingot is arranged on the inner wall surface of the circular ring, so that the wire supply mechanism and the wire laying mechanism are arranged into an integral structure, the structural compactness of the device is improved, the integral device can be arranged in a closed cavity at the moment, the wire laying of the whole die is controlled by a system, the cleanness and the safety of a working environment can be ensured, and the pollution of the external environment to the wire laying is avoided.

3. The second sliding rail is arranged, so that the die can move on the second sliding rail along the axis direction of the circular ring through the supporting table, and the problem of wire laying dead angles in the actual wire laying process is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic view of the mechanism of the annular wire laying machine of the present invention;

FIG. 2 is a front view of the annular wire laying machine of the present invention;

FIG. 3 is a schematic view of a filament placement head according to the present invention;

wherein, 1, a circular ring; 2. a mechanical arm; 3. laying a silk head; 4. storing the filament ingots; 5. a mold; 6. a circular ring base; 7. a first slide rail; 8. a support table; 9. a second slide rail; 10. a tension control mechanism; 11. a refeed and heating mechanism; 12. a shearing mechanism; 13. a rolling mechanism; 14. a godet roller; 15. a conveying roller; 16. an infrared heater; 17. rolling the knife; 18. a pressure roller; 19. an illuminating lamp.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention aims to provide an annular wire laying machine tool and a wire laying method thereof, which are used for solving the problems in the prior art and reducing the technical requirements on the basis of improving the wire laying efficiency.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1 to 3, an annular filament spreading machine tool is provided, which includes an annular filament spreading mechanism and a mold bearing mechanism, wherein the annular filament spreading mechanism includes a ring 1 capable of moving along its own axial direction and rotating around its own axis, a mechanical arm 2 having more than six degrees of freedom, and a filament spreading head 3, one end of the mechanical arm 2 is connected to an inner wall surface of the ring 1, and the other end is disposed toward the axis of the ring 1, the mechanical arm 2 is detachably connected to an inner wall surface of the ring 1, so as to facilitate subsequent maintenance, the filament spreading head 3 is disposed at an end of the mechanical arm 2 away from the ring 1, the filament spreading head 3 is detachably connected to the mechanical arm 2, so as to facilitate subsequent replacement of the filament spreading head 3, a mold clamping end of the mold bearing mechanism is disposed on the axis of the ring 1, and after the mold clamping end is connected to the mold 5, the mold 5 is disposed inside the ring 1, and the ring 1 capable of moving along its own axial direction is used, and the ring 1 capable of rotating around its own axis drives the mechanical arm 2 to move, the technical difficulty of obtaining a base point of the mechanical arm by controlling the movement of the ring 1 is low, the technical difficulty of controlling the movement track of the end part of the mechanical arm 2 by the obtained base point of the mechanical arm is relatively reduced, namely the method is matched with the posture adjustment of the mechanical arm 2 in a rotating way relative to the mold 5, so that the silk laying of the silk laying head 3 at the end part of the mechanical arm 2 is realized under the condition that the mold 5 is not moved, when the silk laying of different surfaces of the mold 5 is required, the ring 1 is only controlled to drive the mechanical arm 2, and the silk laying head 3 is further driven to move to the corresponding surface to be laid, the time for turning over the mold 5 is saved, the silk laying efficiency is greatly improved, the mold 5 is not moved in the whole silk laying process, only the mechanical arm 2 and the ring 1 move, the inner wall surface of the ring 1 is of an annular structure, the system obtains the base point of the mechanical arm by controlling the movement of the ring 1, the technical difficulty of controlling the movement track of the end part of the mechanical arm 2 by the obtained base point of the mechanical arm is relatively reduced, for the surface data after the die 5 rotates and the motion data of the mechanical arm 2, the requirements on the technology are greatly reduced, the production cost is reduced, the data precision can be correspondingly improved, and the wire laying effect is further improved.

The mode that the control ring 1 moves along the self axial direction and rotates around the self axis is as follows: the automatic feeding device is characterized by comprising a first sliding rail 7 and a circular ring base 6 arranged above the first sliding rail 7 in a sliding mode, wherein a groove body matched with a circular ring 1 is arranged at the top of the circular ring base 6, the circular ring 1 is arranged in the groove body, the outer surface of the circular ring 1 is of a toothed structure, a gear meshed with the toothed structure is arranged at the bottom of the groove body, the axis of the gear is parallel to the axis of the circular ring 1, a driving motor for driving the gear to rotate is arranged in the circular ring base 6, and the first sliding rail 7 is parallel to the axis of the circular ring 1; or directly utilize a plurality of telescopic links, the telescopic link is parallel with ring 1 axis, and flexible end all sets up on ring 1's outer wall, the stiff end setting of telescopic link is on the support frame, the flexible end of telescopic link is connected with ring 1 outer wall through a connecting portion, the fixed setting of connecting portion one end is served at the flexible of telescopic link, the other end is provided with and holds with ring 1 outer wall assorted cell body, ring 1's surface is dentate structure, the cell body bottom is provided with the gear with dentate structure engaged with, the axis of gear is parallel with ring 1's axis, be provided with drive gear pivoted driving motor in the connecting portion.

When adopting ring base 6 to support and drive the motion of ring 1, ring base 6 includes the Z style of calligraphy structure that two symmetries set up, and the structural ring channel that is provided with of Z style of calligraphy, Z style of calligraphy structure bottom and slide rail sliding connection utilize Z style of calligraphy structure to support ring 1, utilize structure itself to improve the stability of supporting.

In order to make the silk machine of integral type, still set up and be used for storing the storage silk spindle 4 of laying with the silk bundle, storage silk spindle 4 sets up on the internal face of ring 1, and be close to arm 2 setting, the silk bundle and the shop head 3 of storage silk spindle 4 are connected, make supply silk mechanism (store up silk spindle 4 promptly) and shop silk mechanism to set up to a body structure, the compactness of structure of device has been improved, and can set up the integrated device in inclosed cavity this moment, the shop silk through the whole mould 5 of system control, can ensure that operational environment is clean, safety, avoid external environment to the pollution of shop silk.

The tows in the storage spindle 4 are integrated into a cylindrical structure and are formed by tangentially backing off the tows, and the tows are of a flat structure.

The wire laying head 3 adopts a conventional wire laying head, the general structure of the wire laying head comprises a tension control mechanism 10, a re-feeding and heating mechanism 11, a shearing mechanism 12 and a rolling mechanism 13, the tension control mechanism 10, the re-feeding and heating mechanism 11, the shearing mechanism 12 and the rolling mechanism 13 are sequentially arranged on a frame-shaped connecting frame, a wire bundle of a wire storage ingot 4 is sequentially connected with the rolling mechanism 13 through the tension control mechanism 10, the re-feeding and heating mechanism 11 and the shearing mechanism 12, the re-feeding and heating mechanism 11 is a conveying roller 15, an infrared heater 16 is arranged above the conveying roller 15, the shearing mechanism 12 is a rolling knife 17, a pneumatic knife, a laser cutter or an ultrasonic cutter and the like, and the rolling mechanism 13 is a pressure roller 18.

An illuminating lamp 19 can be arranged on one side of the pressure roller 18.

The tension control mechanism 10 may be a plurality of godet rollers 14 with independently adjustable rotation speed, and the tension of the conveyed filament bundle is adjusted by adjusting the rotation speed of different godet rollers 14, or may be other mechanisms capable of adjusting the tension of the filament bundle.

In order to ensure the stable support of the mold 5, the mold bearing mechanism comprises two support tables 8 spanning two axial sides of the ring 1, and the tops of the support tables 8 are provided with connecting parts for fixing the mold 5.

Still be provided with second slide rail 9, the bottom of brace table 8 slides and sets up on second slide rail 9, and second slide rail 9 is parallel with the axis of ring 1, through setting up second slide rail 9, makes mould 5 accessible brace table 8 move along the axis direction of ring 1 on second slide rail 9, avoids appearing the problem of shop's silk dead angle at the actual shop silk in-process.

For the complete silk of spreading to mould 5, 5 both ends of mould are provided with the bracing piece among the whole technical scheme, and mould 5 bears the weight of the mechanism through bracing piece and mould and is connected, makes mould 5 itself can radially not have the setting of sheltering from in ring 1.

The invention also provides a wire laying method of the annular wire laying machine tool, which comprises the following steps:

s1: respectively installing support rods at two ends of a mould 5 on support tables 8 at two axial ends of a circular ring 1, controlling the circular ring 1 to move by a system until one end of a pressure roller 18 corresponding to any surface of the mould 5, and controlling a mechanical arm 2 by the system to enable the bottom surface of the pressure roller 18 to be parallel to the surface of the mould 5;

s2: the system controls and starts the conveying roller 15 and the infrared heater 16, the conveying roller 15 conveys tows, the pressure roller 18 starts to lay the yarns, the system controls the ring base 6 to move along the first sliding rail 7, the mechanical arm 2 drives the pressure roller 18 to move along the surface of the mold 5, single-line yarn laying is completed, the single-line yarn laying can be carried out according to the yarn laying direction designed according to four directions of 0 degree, 45 degrees and 90 degrees, and in the single-line yarn laying process, the bottom surface of the pressure roller 18 is always parallel to the surface of the mold 5 by controlling the posture of the mechanical arm 2 and the angle and position of the ring 1;

s3: after the single-line fiber laying is finished, the shearing mechanism 12 cuts off the fiber bundles, the angle and the position of the circular ring 1 and the posture of the mechanical arm 2 are adjusted, the pressure roller 18 corresponds to the position where no fiber is laid on the side of the previous fiber laying, the step S2 is repeated, only the fiber bundles in one direction are laid each time, the distance error between every two adjacent fiber bundles is guaranteed to be +/-2 mm, and the number of laid layers is determined according to the design until the fiber laying of all planes of the die 5 is finished.

The requirements during filament laying are as follows:

(1) gap accuracy:

when the unidirectional laying is carried out, namely, each time of laying is started from the same end of the die 5, the gap between two adjacent tow belts is uniform, all deviations are consistent with the deviation direction of a set value (positive deviation or negative deviation), and the deviation value is less than or equal to 0.5 mm; when the two-way laying is carried out, namely the initial position of the next laying is the other end of one end of the mould 5 where the initial position of the previous laying is positioned, the gap between the two belts is uniform, the deviation value is less than or equal to +/-0.5 mm, the adjacent tows are not overlapped, and the single gap

≤0.5mm。

(2) The requirements of the fiber laying path are as follows:

the wire laying machine can lay the wire in two directions at any angle, and the angle error is within +/-0.1 degrees.

(3) The requirements of the form of the layering are as follows:

the wire laying machine can lay a laying layer and a reinforcing layer with curved surface appearances (such as C-shaped beams, fuselage wall plates and the like), the laying layer has no folds and no bubbles, and whether process materials are laid on the upper surface of the tool or not can be selected according to process requirements.

The adaptation according to the actual needs is within the scope of the invention.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1. The utility model provides an annular shop silk lathe, its characterized in that includes that the annular is spread silk mechanism and mould and is born the weight of the mechanism, the annular is spread silk mechanism and is included and to follow self axial displacement, and can wind self axis pivoted ring, have the arm more than six degrees of freedom and spread the silk head, arm one end is connected on the internal face of ring, the other end orientation the axis setting of ring, it sets up to spread the silk head the arm is kept away from the one end of ring, mould bearing mechanism's mould exposed end is located on the axis of ring, and works as the back is connected with the mould to the mould exposed end, the mould is located inside the ring.

2. The annular wire laying machine tool according to claim 1, further comprising a first slide rail and an annular base slidably disposed above the first slide rail, wherein a groove body matched with the annular is disposed at the top of the annular base, the annular is disposed in the groove body, the outer surface of the annular is of a toothed structure, a gear meshed with the toothed structure is disposed at the bottom of the groove body, the axis of the gear is parallel to the axis of the annular, a driving motor for driving the gear to rotate is disposed in the annular base, and the axis of the first slide rail is parallel to the axis of the annular.

3. An annular wire laying machine tool according to claim 2, wherein the annular base comprises two symmetrically arranged Z-shaped structures, the Z-shaped structures are provided with the grooves, and the bottoms of the Z-shaped structures are slidably connected with the first slide rails.

4. An annular fiber-laying machine tool according to claim 1, further comprising a fiber storage spindle for storing the fiber bundles for laying, the fiber storage spindle is arranged on the inner wall surface of the circular ring and close to the mechanical arm, and the fiber bundles of the fiber storage spindle are connected with the fiber-laying head.

5. An annular fiber-laying machine tool according to claim 4, wherein the fiber-laying head comprises a tension control mechanism, a re-feeding and heating mechanism, a shearing mechanism and a rolling mechanism, the fiber bundles of the fiber storage ingot sequentially pass through the tension control mechanism, the re-feeding and heating mechanism and the shearing mechanism and are connected with the rolling mechanism, the re-feeding and heating mechanism is a conveying roller, an infrared heater is arranged above the conveying roller, the shearing mechanism is a rolling blade, a pneumatic blade, a laser cutter or an ultrasonic cutter, and the rolling mechanism is a pressure roller.

6. A circular filament-laying machine according to claim 5, characterized in that the tension control mechanism is a plurality of godets with individually adjustable rotational speed.

7. An annular wire laying machine according to claim 1, wherein the die carrying mechanism comprises two support tables spanning axially both sides of the ring, the support tables being topped by a connecting portion for securing the die.

8. An annular wire laying machine according to claim 7, further comprising a second slide rail on which the bottom of the support table is slidingly arranged, the second slide rail being parallel to the axis of the ring.

9. An annular wire laying machine according to claim 1, wherein support rods are provided at both ends of the die, and the die is connected with the die carrying mechanism through the support rods.

10. A wire laying method of an annular wire laying machine tool is characterized by comprising the following steps:

s1: respectively installing support rods at two ends of a mould on support tables at two ends of a circular ring in the axial direction, controlling the circular ring to move by a system until one end of the pressure roller corresponds to any surface of the mould, and controlling a mechanical arm by the system to enable the bottom surface of the pressure roller to be parallel to the surface of the mould;

s2: the system controls and starts a conveying roller and an infrared heater, the conveying roller conveys tows, a pressure roller starts to lay the yarns, the system controls a circular ring base to move along a first sliding rail, the pressure roller is driven by a mechanical arm to move along the surface of the die to complete single-line yarn laying, and in the single-line yarn laying process, the bottom surface of the pressure roller is always parallel to the surface of the die by controlling the posture of the mechanical arm and the angle and position of the circular ring;

s3: and adjusting the angle and position of the circular ring and the posture of the mechanical arm to enable the pressure roller to correspond to the position of the non-laid yarn on the side of the previous yarn laying, and repeating the step S2 until the yarn laying of all planes of the die is completed.

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