CN116330708A

CN116330708A - Fiber winding robot for bend forming

Info

Publication number: CN116330708A
Application number: CN202310414064.5A
Authority: CN
Inventors: 张骞; 祖磊; 曾铮; 王鑫; 张晓艳; 张桂明; 任萍; 扶建辉; 周立川; 吴乔国; 王华毕; 李德宝
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2023-04-13
Filing date: 2023-04-13
Publication date: 2023-06-27

Abstract

The invention provides a fiber winding robot for bend forming, which relates to the technical field of bend forming equipment and comprises an industrial robot body, a bend clamping device and a winding disc device, wherein the bend clamping device is used for fixing two ends of a bend mandrel; the winding disc device is arranged at the free end of the industrial robot body, a line concentration cylinder is arranged on the winding disc device, and the winding disc device drives the line concentration cylinder to do circular motion around the bent pipe core mould. The scheme provided by the invention can improve the production efficiency and the product quality.

Description

Fiber winding robot for bend forming

Technical Field

The invention relates to the technical field of pipe bending equipment, in particular to a fiber winding robot for pipe bending.

Background

The composite bent pipe is a typical non-axisymmetric part, and has the advantages of large production difficulty, multiple specification series and complex shape and structure. The production efficiency of the composite bent pipe required by the current production is low, and the quality is difficult to ensure. With the popularization and use of the composite material bent pipe in chemical enterprises, the use amount of the bent pipe with small and medium caliber is increased, and the machine is urgently needed to wind the composite material bent pipe, so that the bent pipe is automatically produced.

The filament nozzle of a conventional pipe bending filament winding machine moves in three-dimensional space, and the core die rotates around the axial direction of the filament nozzle. The wire nozzle is arranged on the trolley, and the trolley realizes the movement of the wire nozzle in a three-dimensional space through three linear movement coordinates of extension arm extension, trolley lifting and left-right reciprocation, wire nozzle rotation, yaw and main shaft rotation; through the rotary motion of the core mold, the fiber bundles can fall onto the core mold according to a predesigned track, and then the fiber bundles are solidified and demoulded to obtain the product.

However, the existing fiber winding machine mainly comprises two basic movements of a trolley and a mandrel, and is widely applied to the forming of axisymmetric composite material structures, but the existing pipe bending fiber winding machine has the problems of low production efficiency, poor flexibility and low product quality in winding of non-axisymmetric structures such as pipe bending and the like.

Disclosure of Invention

The invention aims to provide a fiber winding robot for bend forming, which is used for solving the problems of the prior art and improving the production efficiency and the product quality.

In order to achieve the above object, the present invention provides the following solutions:

the invention provides a fiber winding robot for bend forming, which comprises an industrial robot body, a bend clamping device and a winding disc device, wherein the bend clamping device is used for fixing two ends of a bend mandrel; the winding disc device is arranged at the free end of the industrial robot body, a line concentration cylinder is arranged on the winding disc device, and the winding disc device drives the line concentration cylinder to do circular motion around the bent pipe core mould.

Preferably, the winding disc device comprises a supporting body, a rack and a rack driving device, wherein the rack is arc-shaped or circular, the rack is rotatably arranged on the supporting body around the circle center of the rack, the rack driving device can drive the rack to do circular motion around the circle center of the structure of the rack, and the wire collecting barrel is arranged on the inner side of the rack.

Preferably, the rack driving device comprises a motor and a pinion, wherein the pinion is arranged on the outer side of the rack and meshed with teeth on the outer side of the rack, and the motor is in transmission connection with the pinion;

when the racks are arc-shaped, at least two rack driving devices are arranged, and at least one pinion is meshed with the racks at any moment when the racks do circular motion.

Preferably, the support body include the casing with set up in self-lubricating bearing in the casing, the rack is the arc, the casing is the arc, the both ends opening of casing circumference is for the rack is come in and go out the casing, the lateral wall of rack with self-lubricating bearing sliding contact.

Preferably, the pinion is also arranged in the shell, and the pinion is rotationally connected with the side wall of the shell through a rotating shaft and a bearing.

Preferably, the part that rack both sides wall is close to the inboard is provided with along the guide way that rack length direction extends, self-lubricating bearing wholly is the arc, self-lubricating bearing includes interconnect's diaphragm and riser, diaphragm and riser all are the arc, just the diaphragm with the riser is perpendicular, the diaphragm cloth in the guide way and with guide way wall sliding contact, the riser with rack side wall sliding contact.

Preferably, the device further comprises a plurality of guide wheels, wherein the guide wheels are sequentially arranged on the inner side of the rack, and at least one guide wheel is provided with a torque sensor in a matching manner.

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

according to the invention, the winding disc device is driven by the industrial robot body to move and rotate, the winding disc device drives the line concentration cylinder to do circular motion around the bent pipe core mould to complete a complex winding process, so that the winding forming of the composite bent pipe is realized, the automation degree of the winding forming of the bent pipe fiber is improved, the winding device is suitable for processing the middle-small-sized composite bent pipe, and the product quality of the composite bent pipe is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a filament winding robot for bend forming according to the present invention;

FIG. 2 is a schematic structural view of a bent pipe clamping device;

FIG. 3 is a schematic view of the structure of the winding disc apparatus;

FIG. 4 is a schematic view of the internal structure of the winding disc apparatus;

in the figure: 1-an elbow clamping device; 2-bending the pipe core mould; 3-winding disc means; 4-an industrial robot body; 11-a workbench; 12, a guide rail; 13-a slider; 14-a bracket; 15-a chuck; 31-cover plate; 32-self-lubricating bearings; 33-a housing; 34-rack; 35-a motor mounting base; 36-coupling; 37-motor; 38-a guide wheel bracket; 39-guiding wheels; 310-a wire concentration barrel bracket; 311-line concentration cylinder; 312-pinion gear; 313-torque sensor; 314-fiber bundles; 315-end cap; 316-rolling bearings; 317-spindle; 318-sleeve.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

The invention provides a fiber winding robot for bend forming, which is suitable for manufacturing a non-axisymmetric composite bent pipe, as shown in fig. 1, and comprises an industrial robot body 4, a bent pipe clamping device 1 and a winding disc device 3, wherein the bent pipe clamping device 1 is used for fixing two ends of a bent pipe mandrel 2; the winding disc device 3 is arranged at the free end of the industrial robot body 4, the winding disc device 3 is provided with a line concentration cylinder 311, the winding disc device 3 drives the line concentration cylinder 311 to do circular motion around the pipe bending mandrel 2, and the line concentration cylinder 311 is wound with a fiber bundle 314.

The industrial robot body 4 is a robot in the prior art, the industrial robot body 4 can drive the bent pipe clamping device 1 to do six-degree-of-freedom motion,

as shown in fig. 3 and 4, the winding disc device 3 includes a support body, a rack 34 and a rack driving device, the rack 34 is arc-shaped or ring-shaped, the rack 34 can be rotatably installed on the support body around its center, the rack driving device can drive the rack 34 to do circular motion around its structure center, and the wire collecting tube 311 is installed inside the rack 34.

Before winding starts, the pipe bending core mold 2 is clamped on the pipe bending clamping device 1, the pipe bending core mold 2 is kept fixed in the winding process, the rack 34 drives the line concentration cylinder 311 to do circular motion around the pipe bending core mold 2 and achieve the purpose of winding the fiber bundles 314 on the pipe bending core mold 2, when the winding of the angle is required to be changed, the industrial robot body 4 drives the winding disc device 3 to rotate at a certain angle, and when the winding of the position is required to be changed, the industrial robot body 4 drives the winding disc device 3 to move at a certain distance, so that the complex winding process is completed.

According to the invention, the winding disc device 3 is driven to move and rotate by the industrial robot body 4, the winding disc device 3 drives the line concentration cylinder 311 to do circular motion around the bent pipe core mould 2 to complete a complex winding process, so that the winding forming of the bent pipe made of the composite material is realized, the automation degree of the winding forming of the bent pipe fiber is improved, the winding forming device is suitable for processing the bent pipe made of the composite material with medium and small sizes, and the product quality of the bent pipe made of the composite material is improved.

Before winding, the head of the fiber bundle 314 needs to be manually wound several turns on the elbow core mold 2 to fix the wire end to the elbow core mold 2.

In a preferred embodiment, the rack drive comprises a motor 37 and a pinion 312, the pinion 312 being arranged outside the rack 34 and engaging with teeth outside the rack 34, the motor 37 being in driving connection with the pinion 312; when the rack 34 is arc-shaped, at least two rack driving devices are provided, and at any moment when the rack 34 performs circular motion, at least one pinion 312 is meshed with the rack 34, so as to ensure that the rack 34 is always in a driven state.

In some embodiments, as shown in fig. 2, the structure of the pipe bending clamping device 1 is that a guide rail 12 is installed on a workbench 11, a sliding block 13 is installed on the guide rail 12, a bracket 14 is connected with the sliding block 13, and a chuck 15 is installed on the bracket 14.

In some embodiments, the support body includes a housing 33 and a self-lubricating bearing 32 disposed in the housing 33, the rack 34 is arc-shaped, the housing 33 is arc-shaped, two ends of the housing 33 are open in the circumferential direction for the rack 34 to come in and go out of the housing 33, the side wall of the rack 34 is in sliding contact with the self-lubricating bearing 32, and the self-lubricating bearing 32 is coated with graphite to form an oil film, so that the lubrication performance of the rotation between the rack 34 and the self-lubricating bearing 32 can be improved.

The housing 33 and the rack 34 are each of a notched annular configuration so that the winding disc device 3 can be moved closer to or farther from the elbow core 2 at the beginning and end of the process.

Wherein, the part that rack 34 both sides wall is close to the inboard is provided with the guide way that extends along rack 34 length direction, and self-lubricating bearing 32 is whole to be the arc, and self-lubricating bearing 32 includes interconnect's diaphragm and riser, and diaphragm and riser all are the arc, and diaphragm and riser are perpendicular, and the diaphragm is laid in the guide way and with guide groove wall sliding contact, riser and rack 34 lateral wall sliding contact.

The casing 33 comprises two mutually buckled sub-casings, the two sub-casings are formed by connecting a plurality of bolts, and cover plates 31 are fixedly arranged at two ends of the casing 33.

In some embodiments, for improved safety, the pinion 312 is also disposed in the housing 33, and the pinion 312 is rotatably connected to the side wall of the housing 33 through a rotation shaft 317 and a bearing. The machine mount pad passes through the screw to be installed in the outside of casing 33, and motor 37 installs on motor mount pad 35, and motor 37 passes through shaft coupling 36 and pivot 317 connection, and pinion 312 is installed on pivot 317, and shaft sleeve 318 passes through the screw and connects with two sub-casings, and antifriction bearing 316, shaft sleeve 318 and pivot 317 coaxial coupling, end cover 315 are installed in the pivot 317 outside and are realized sealedly.

In some embodiments, based on the above embodiments, the filament winding robot for forming an elbow pipe according to the present embodiment further includes a plurality of guide wheels 39, the guide wheels 39 are sequentially disposed on the inner side of the rack 34, and at least one guide wheel 39 is provided with a torque sensor 313 in a matching manner.

Wherein, the guide wheel 39 is installed on the guide wheel bracket 38, the guide wheel bracket 38 is installed on the inner side of the rack 34, when the rack 34 rotates, the fiber bundle 314 wound on the wire collecting cylinder 311 is pulled to precisely fall onto the pipe bending mandrel 2 through a plurality of guide wheels 39, meanwhile, the initial torque value of the torque controller is given, and when the tension on the fiber bundle 314 exceeds a preset value in the winding process, the torque controller can enable the corresponding guide wheel 39 to slip so as to keep the tension of the fiber bundle 314 constant.

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims

1. A filament winding robot for return bend shaping, its characterized in that: the bending machine comprises an industrial robot body, a bending pipe clamping device and a winding disc device, wherein the bending pipe clamping device is used for fixing two ends of a bending pipe core die; the winding disc device is arranged at the free end of the industrial robot body, a line concentration cylinder is arranged on the winding disc device, and the winding disc device drives the line concentration cylinder to do circular motion around the bent pipe core mould.

2. The filament winding robot for bend forming of claim 1, wherein: the winding disc device comprises a supporting body, a rack and a rack driving device, wherein the rack is arc-shaped or circular-ring-shaped, the rack can be rotatably installed on the supporting body around the circle center of the rack, the rack driving device can drive the rack to do circular motion around the circle center of the structure of the rack, and the line concentration barrel is installed on the inner side of the rack.

3. The filament winding robot for bend forming according to claim 2, wherein: the rack driving device comprises a motor and a pinion, wherein the pinion is arranged on the outer side of the rack and meshed with teeth on the outer side of the rack, and the motor is in transmission connection with the pinion;

4. A filament winding robot for pipe bending according to claim 3, wherein: the support body include the casing with set up in self-lubricating bearing in the casing, the rack is the arc, the casing is the arc, the both ends opening of casing circumference is for the rack business turn over the casing, the lateral wall of rack with self-lubricating bearing sliding contact.

5. The filament winding robot for bend forming of claim 4, wherein: the pinion is also arranged in the shell, and the pinion is rotationally connected with the side wall of the shell through a rotating shaft and a bearing.

6. The filament winding robot for bend forming of claim 4, wherein: the part that rack both sides wall is close to the inboard is provided with along the guide way that rack length direction extends, self-lubricating bearing wholly is the arc, self-lubricating bearing includes interconnect's diaphragm and riser, diaphragm and riser all are the arc, just the diaphragm with the riser is perpendicular, the diaphragm arrange in the guide way and with guide way wall sliding contact, the riser with rack side wall sliding contact.

7. The filament winding robot for bend forming according to claim 2, wherein: the novel steering rack further comprises a plurality of steering wheels, the steering wheels are sequentially arranged on the inner side of the rack, and at least one steering wheel is provided with a torque sensor in a matching mode.