CN117754846B

CN117754846B - Cracking type fiber winding manipulator, self-walking device and fiber winding method

Info

Publication number: CN117754846B
Application number: CN202410195381.7A
Authority: CN
Inventors: 李辉; 梁建国; 姜伟鑫; 张硕; 刘江林; 高海峰; 陈占春; 武婷; 李银辉; 张金柱; 赵润田
Original assignee: Taiyuan University of Technology
Current assignee: Taiyuan University of Technology
Priority date: 2024-02-22
Filing date: 2024-02-22
Publication date: 2024-04-26
Anticipated expiration: 2044-02-22
Also published as: CN117754846A

Abstract

The invention provides a cracking type fiber winding manipulator, a self-walking device and a fiber winding method, and belongs to the technical field of fiber winding. The cracking type fiber winding manipulator comprises a winding head and a multi-degree-of-freedom mechanical arm; the winding head comprises a winding head shell, a rotary winding assembly, a glue storage assembly, an unreeling assembly and a clamping shearing assembly, full-automatic operation of the whole winding process is achieved, fibers are not required to be manually fixed on the surface of a pipeline and sheared after winding, the step of winding the pipeline is simplified, and the efficiency of winding the pipeline is improved. The fiber winding self-walking device comprises a vehicle body, a sizing component and the split type fiber winding manipulator, the multi-degree-of-freedom mechanical arm and the vehicle body are matched to realize free adjustment of a winding head, the maneuverability of the winding device is improved, and the working surface is greatly expanded, so that the fiber winding self-walking device is suitable for straight pipes and bent pipes.

Description

Cracking type fiber winding manipulator, self-walking device and fiber winding method

Technical Field

The invention belongs to the technical field of fiber winding, and particularly discloses a cracking type fiber winding manipulator, a self-walking device and a fiber winding method.

Background

The pipeline is a main component for fluid transportation, is subjected to corrosion action of an internal fluid medium and an external environment for a long time, so that the wall thickness of the pipeline is reduced, the strength of the pipeline is weakened, and leakage and explosion accidents of the pipeline frequently occur along with the phenomena of initiation and expansion of cracks of the pipeline. In the prior art, the repair mode of the pipeline is generally pipe section replacement welding, jacket repair, fiber winding and the like, wherein the repair mode of the pipe section replacement welding has the defects of severe repair environment, high repair cost and pipeline shutdown and production shutdown; the jacket repair has the defect that the repair work of the elbow or the special pipe cannot be satisfied; the specific operation of the filament winding repair method is to wind the fiber reinforced material on the defect-containing pipeline, and then heat the wound fiber reinforced material to fasten the fiber reinforced material on the defect-containing pipeline so as to increase the strength, corrosion resistance and the like of the pipeline, and the filament winding repair method has the characteristics of fire-free, shutdown-free and low maintenance cost, as disclosed in patent CN116373273a, an automatic fiber winding device for repairing the defect pipeline, but the device has the following problems:

1. the fiber is manually fixed on the surface of the pipeline when the winding is started, and the fiber is manually sheared after the winding is finished, so that the degree of automation is not high, the extra operation time of winding the pipeline is increased, and the winding efficiency is low;

2. For a bent pipeline, the degree of freedom of the equipment is limited, and the requirement cannot be met.

Disclosure of Invention

The invention provides a cracking type fiber winding manipulator, a self-walking device and a fiber winding method, which are used for solving the problems in the background art.

The invention provides a cracking type fiber winding manipulator which comprises a winding head and a multi-degree-of-freedom mechanical arm; the winding head comprises a winding head shell, a rotary winding assembly, a glue storage assembly, an unreeling assembly and a clamping and shearing assembly; the winding head shell is connected with the tail end of the multi-degree-of-freedom mechanical arm; the winding head shell is concentrically provided with an arc groove and an arc channel, and two side surfaces of the winding head shell which are distributed along the radial direction of the arc groove and a single side surface which is distributed along the axial direction of the arc groove are communicated through the arc channel; the rotary winding assembly comprises a rotary body I, a rotary body II and a rotary body driving mechanism; the circle centers of the rotating body I, the rotating body II and the arc-shaped channel are coaxial; the rotating body I comprises an arc objective table and an arc track I; the rotating body II comprises an arc-shaped track II; the arc track I and the arc track II are in sliding connection with the arc channel, the rotary body driving mechanism drives the arc track I and the arc track II to rotate relatively to form an annular track or to overlap the annular track into a double-layer arc track, the annular track is driven by the rotary body driving mechanism to rotate along the arc channel, and the double-layer arc track is driven by the rotary body driving mechanism to rotate and enter the arc channel; the arc objective table is positioned outside the winding head shell, is axially connected with the arc track I, is provided with a wire guide plate extending into the arc groove, and is provided with a wire guide nozzle; the glue storage assembly comprises a glue storage box I; the glue storage box I is arranged on the arc-shaped object stage and is provided with a fiber inlet and a fiber outlet; the plurality of groups of unreeling components are arranged around the center of the arc-shaped objective table; the unreeling assembly comprises a material reel perpendicular to the arc-shaped object stage, and the material reel is rotationally connected with the arc-shaped object stage; the clamping and shearing assembly comprises a clamping and shearing frame I, a clamping and shearing frame translation mechanism I, a clamping and shearing frame II, a clamping and shearing frame translation mechanism II, a clamping and shearing rotation mechanism, a clamping piece and a shearing piece; the clamping and shearing frame I is connected with the winding head shell, and is driven by the clamping and shearing frame translation mechanism I to move along the direction parallel to the wire guide plate; the clamping shearing frame II is connected with the clamping shearing frame I, and is driven by the clamping shearing frame translation mechanism II to move along the direction parallel to the axial direction of the arc-shaped groove; the clamping and shearing frame II comprises a clamping frame and a shearing frame which are connected in a rotating way, and the clamping frame and the shearing frame are driven by a clamping and shearing rotating mechanism to rotate relatively; the clamping piece and the shearing piece are respectively arranged on the clamping frame and the shearing frame.

In the split type fiber winding manipulator, the rotary body driving mechanism comprises a rail supporting structure, a telescopic piece and a gear disc driving structure; the multiple groups of track supporting structures are arranged in the arc-shaped channel and comprise wheel shafts, supporting wheels I and supporting wheels II which are arranged on the wheel shafts, the wheel shafts are parallel to the central axis of the arc-shaped channel, two ends of the wheel shafts are connected with the winding head shell, and annular grooves are formed in the supporting wheels I and the supporting wheels II; the arc-shaped track I is in rolling contact with annular grooves of the supporting wheels I at two sides; the arc-shaped track II is in rolling contact with annular grooves of the supporting wheels II on two sides; the rotating body I also comprises a half gear disk I which is axially connected with the arc-shaped track I; the rotating body II also comprises a half gear disc II which is axially connected with the arc-shaped track II; the two rotating bodies are respectively provided with a fixed end mounting groove and a telescopic end mounting groove; the telescopic piece comprises a fixed end and a telescopic end, the fixed end is arranged in the fixed end mounting groove, and the telescopic end is inserted into the telescopic end mounting groove when the arc-shaped track I and the arc-shaped track II are enclosed to form an annular track or are overlapped to form a double-layer arc-shaped track; the gear disc driving structure comprises a gear I, a gear driving piece I, a gear axial translation frame and a gear frame driving piece; the gear I is arranged on the gear axial translation frame and is driven to rotate by the gear driving piece I; the gear axial translation frame is driven by the gear frame driving piece to move along the direction parallel to the axial direction of the arc-shaped groove, so that the gear I is meshed with one of the two half gear plates or simultaneously meshed with the two half gear plates.

In the cracking type fiber winding manipulator, the telescopic part is an electric telescopic rod, and the gear rack driving part is a linear module I; the rotating body I also comprises a conductive ring; the conducting ring, the arc-shaped track I, the semi-gear disc I and the arc-shaped objective table are sequentially connected along the axial direction; an insulating layer is arranged between the conducting ring and the arc-shaped track I and between the conducting ring and the arc-shaped track II; the fixed end mounting groove is positioned in the arc-shaped track I, and the telescopic end mounting groove is positioned in the arc-shaped track II; the electric telescopic rod is parallel to the central axis of the arc-shaped track I, and the power input end is contacted with the conducting ring; the rotating body driving mechanism further comprises an electric brush; the electric brush is arranged in the arc-shaped channel and is contacted with the conducting ring; the fixing seat of the linear module I is connected with the winding head shell, and the sliding seat is connected with the gear axial translation frame.

In the split type fiber winding manipulator, the glue storage assembly further comprises a glue injection port sealing plug, a glue injection spring, a guide block I, a compression roller, a rigid glue injection pipe and a glue injection pipe driving piece; a glue injection port is arranged on the glue storage box I; the sealing plug of the glue injection port is positioned in the glue storage box I and is connected with the glue storage box I through a glue injection spring to seal the glue injection port; the fiber inlet and the fiber outlet of the glue storage box I are arranged oppositely, guide blocks I are arranged on the fiber inlet and the fiber outlet, and guide holes are formed in the guide blocks I; the compression roller is rotatably arranged in the glue storage box I and positioned at two sides of the guide block I; the rigid rubber injection pipe comprises a straight pipe and a bent pipe; the straight pipe is rotatably arranged on the winding head shell and driven to rotate by the rubber injection pipe driving piece, and an inlet and an outlet are arranged on the curved surface of the straight pipe; the inlet of the bent pipe is communicated with the outlet of the straight pipe, and the outlet is communicated with the glue injection port of the glue storage box I through rotation.

In the above-mentioned fracture type fiber winding manipulator, the unreeling assembly further comprises a magnetic powder brake; the material scroll is an inflatable shaft and penetrates through the arc-shaped objective table to be connected with an output shaft of the magnetic powder brake; the cracking type fiber winding manipulator further comprises tension detection assemblies and guide blocks II, wherein the tension detection assemblies and the guide blocks II are in one-to-one correspondence with the unreeling assemblies; the tension detection assembly comprises a guide roller, a tension roller and a tension sensor; the guide roller and the tension roller are both perpendicular to the arc-shaped object stage; the two guide rollers are symmetrically arranged at two sides of the tension roller; the tension sensor is connected with the tension roller; the guide block II is arranged on the arc objective table and provided with a guide hole.

In the split type fiber winding manipulator, the guide wire plate is parallel to the symmetry axis of the arc-shaped groove; the clamping shearing frame I comprises a connecting beam I and a connecting beam II which is vertically connected with the connecting beam I; the clamping shear frame translation mechanism I comprises a guide rail, a sliding block, a rack, a gear II and a gear driving piece II; the guide rail is parallel to the symmetry axis of the arc-shaped groove and is arranged on the winding head shell and positioned at two sides of the arc-shaped groove; two ends of the connecting beam I are provided with sliding blocks which are in sliding fit with the guide rails; the rack is parallel to the symmetry axis of the arc-shaped groove and is arranged on the winding head shell and positioned at two sides or one side of the arc-shaped groove; the gear II is rotatably arranged on the connecting beam I and meshed with the rack, and is driven to rotate by the gear driving piece II; the connecting beam II is parallel to the central axis of the arc-shaped groove; the clamping shearing frame translation mechanism II is a linear module II, the fixing seat is connected with the connecting beam II, and the sliding seat is connected with the clamping shearing frame II.

In the split type fiber winding manipulator, the multi-degree-of-freedom mechanical arm comprises a vertical telescopic arm, a horizontal telescopic arm and a rotating assembly; the vertical telescopic arm comprises a fixed pipe I, a telescopic pipe I, a guide rail sliding block assembly I, a telescopic cylinder I, a worm wheel screw rod mechanism I and a worm wheel screw rod driving motor I; the fixed pipe I and the telescopic pipe I are vertically arranged and are in sliding connection through the guide rail sliding block assembly I; the telescopic cylinder I is positioned outside the fixed pipe I and the telescopic pipe I, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe I and the telescopic pipe I; the worm wheel screw rod mechanism I and the worm wheel screw rod driving motor I are positioned in the fixed pipe I and the telescopic pipe I; the worm wheel screw rod mechanism I is driven by a worm wheel screw rod driving motor I, the worm wheel seat is connected with the fixed tube I, and the screw rod is connected with the telescopic tube I; the horizontal telescopic arm comprises a fixed pipe II, a telescopic pipe II, a guide rail sliding block assembly II, a telescopic cylinder II, a worm wheel screw rod mechanism II and a worm wheel screw rod driving motor II; the fixed pipe II is vertically connected with the telescopic pipe I and is in sliding connection with the telescopic pipe II through the guide rail sliding block assembly II; the telescopic cylinder II is positioned outside the fixed pipe II and the telescopic pipe II, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe II and the telescopic pipe II; the worm wheel screw rod mechanism II and the worm wheel screw rod driving motor II are positioned in the fixed tube II and the telescopic tube II; the worm wheel screw rod mechanism II is driven by a worm wheel screw rod driving motor II, the worm wheel seat is connected with the fixed tube II, and the screw rod is connected with the telescopic tube II; the rotating assembly comprises a driven gear, a driving gear and a driving gear driving motor; the diameter of the driven gear is larger than that of the driving gear; the driven gear is rotationally connected with the telescopic pipe II and fixedly connected with the winding head shell; the driving gear is meshed with the driven gear, and the driving gear drives the motor to drive the motor to rotate.

The invention provides a fiber winding self-walking device, which comprises a vehicle body, a sizing component and the cracking type fiber winding manipulator; the head end of the multi-degree-of-freedom mechanical arm is connected with the vehicle body; the rubberizing assembly comprises a stirring mechanism, a glue storage mechanism and a flexible conveying pipe; the stirring mechanism comprises a stirring tank, a stirring head driving piece and a pump I; the stirring head penetrates through the stirring tank and is driven to rotate by the stirring head driving piece; the inlet of the pump I is connected with the outlet of the stirring tank, and the outlet is communicated with the inlet of the straight pipe through a flexible conveying pipe; the glue storage mechanism comprises a glue tank, a pump II, a coagulant tank and a pump III; the inlet of the pump II is connected with the outlet of the glue tank, and the outlet is communicated with the inlet of the stirring tank through a flexible conveying pipe; the inlet of the pump III is connected with the outlet of the coagulant tank, and the outlet is communicated with the inlet of the stirring tank through a flexible conveying pipe.

In the fiber winding self-walking device, the stirring mechanism further comprises a stirring tank mounting frame and a liquid level indicator; the stirring tank mounting frame is arranged on the multi-degree-of-freedom mechanical arm; the stirring tank is arranged on the stirring tank mounting frame; the liquid level indicator is arranged on the stirring tank; the glue storage mechanism also comprises a glue storage box II and a tank frame; the glue storage box II comprises a box body arranged on the car body, a cover body rotationally connected with the box body and a locking piece used for locking the cover body and the box body; the tank body frame is fixed on the inner side of the cover body and is horizontally arranged; the glue tank and the coagulant tank are both arranged on the tank body frame; the pump II and the pump III are arranged in the box body.

The filament winding method provided by the invention comprises the following steps:

S1, installing a material roll on a material roll shaft of the fiber winding self-walking device, adjusting an included angle between a clamping piece and a shearing piece to be 180 degrees, converging prepreg tapes led out by a plurality of material rolls to a fiber inlet of a glue storage box I, and clamping the prepreg tapes by the clamping piece after penetrating through a guide block I on the fiber inlet of the glue storage box I, a compression roller, a guide block I on a fiber outlet of the glue storage box I and a guide nozzle;

S2, pumping the glue and the coagulant in the glue tank and the coagulant tank to a stirring tank, stirring and mixing, driving a rigid glue injection pipe to be communicated with a glue injection port of a glue storage box I, and pumping the stirred and mixed glue to the inside of the glue storage box I;

s3, driving the vehicle body to reach a designated position, and if the arc track I and the arc track II are in a double-layer arc track state and are positioned in the arc channel, adjusting the multi-degree-of-freedom mechanical arm to enable the winding head shell to be sleeved outside the pipeline to be wound;

If the arc track I and the arc track II are in a double-layer arc track state and are positioned outside the arc channel, the gear axial translation frame is regulated to enable the gear I to be meshed with the two half gear plates at the same time, the gear driving piece I is started, the arc track I and the arc track II are enabled to rotate into the arc channel, and then the multi-degree-of-freedom mechanical arm is regulated to enable the winding head shell to be sleeved outside the pipeline to be wound;

if the arc-shaped track I and the arc-shaped track II are in the annular track state, the method comprises the following steps:

t1, starting a telescopic part to enable a telescopic end to shrink, adjusting a gear axial translation frame to enable a gear I to be meshed with one of two half gear plates, starting a gear driving part I to enable an arc-shaped track corresponding to the half gear plate meshed with the gear I to rotate until the arc-shaped track I and the arc-shaped track II are overlapped to form a double-layer arc-shaped track;

t2, starting the telescopic part to enable the telescopic end to extend out and insert into the telescopic end mounting groove, adjusting the gear axial translation frame to enable the gear I to be meshed with the two half gear plates at the same time, and starting the gear driving part I to enable the arc-shaped track I and the arc-shaped track II to rotate into the arc-shaped channel;

t3, adjusting the multi-degree-of-freedom mechanical arm to enable the winding head shell to be sleeved outside the pipeline to be wound;

s4, starting a telescopic part to enable the telescopic end to shrink, adjusting a gear axial translation frame to enable a gear I to be meshed with one of two half gear plates, starting a gear driving part I to enable an arc track corresponding to the half gear plate meshed with the gear I to rotate until the arc track I and the arc track II enclose an annular track, starting the telescopic part to enable the telescopic end to extend out and be inserted into a telescopic end mounting groove, adjusting the gear axial translation frame to enable the gear I to be meshed with the two half gear plates at the same time, and adjusting a multi-degree-of-freedom mechanical arm to enable the central axis of the annular track to be collinear with the central axis of a pipeline to be wound;

S5, starting a clamping shear frame translation mechanism I until a clamping piece is close to the surface of the pipeline to be wound, attaching the clamped prepreg tape to the pipeline to be wound, loosening the prepreg tape by the clamping piece, and starting a gear driving piece I to enable the annular track to rotate around the pipeline to be wound;

S6, winding is carried out until the winding is finished, a clamping and shearing rotating mechanism is started to enable a shearing frame to rotate 180 degrees and to be overlapped with the clamping frame, a clamping and shearing frame translation mechanism I and a clamping and shearing frame translation mechanism II are started to move a clamping piece and a shearing piece, a prepreg tape is located in the working range of the clamping piece and the shearing piece, the clamping piece is started to clamp the prepreg tape, and the shearing piece is started to shear the prepreg tape;

S7, starting the telescopic part to enable the telescopic end to shrink, adjusting the gear axial translation frame to enable the gear I to be meshed with one of the two half gear plates, starting the gear driving part I, enabling the arc-shaped track corresponding to the half gear plate meshed with the gear I to rotate until the arc-shaped track I and the arc-shaped track II are overlapped to form a double-layer arc-shaped track, starting the telescopic part to enable the telescopic end to extend out and insert into the telescopic end mounting groove, adjusting the gear axial translation frame to enable the gear I to be meshed with the two half gear plates simultaneously, starting the gear driving part I, enabling the arc-shaped track I and the arc-shaped track II to rotate into the arc-shaped channel, and adjusting the multi-degree-of-freedom mechanical arm to enable the winding head shell to withdraw from the pipeline to be wound.

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

1. The invention realizes the full-automatic operation of the whole winding process, does not need to fix the fiber on the surface of the pipeline manually and cut the fiber after winding, simplifies the winding step of the pipeline and improves the winding efficiency of the pipeline;

2. The multi-degree-of-freedom mechanical arm and the vehicle body are matched to realize the free adjustment of the winding head, so that the maneuverability of the winding device is improved, the working surface is greatly expanded, and the winding device is suitable for straight pipes and bent pipes;

3. the rotary winding assembly can realize the winding work of the fixed pipeline, and the winding work is not needed to be performed through the rotation of the pipeline.

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 description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a fiber wound self-propelled device;

FIG. 2 is a schematic view of the structure of the winding head (the rigid glue injection pipe is connected with the glue injection port of the glue storage box I, and the included angle between the clamping finger and the shearing finger is 180 degrees);

FIG. 3 is a schematic view of the structure of the winding head (the rigid glue injection pipe is separated from the glue injection port of the glue storage box I, and the included angle between the clamping finger and the shearing finger is 0 °);

FIG. 4 is a schematic illustration of the installation of rigid hose and hose drive motors on a winding head housing and track support structures in an arcuate channel;

FIG. 5 is a schematic view of a structure of a rotary winding assembly;

FIG. 6 is a schematic view of the installation of an electric telescopic rod;

FIG. 7 is a schematic structural view of a rotary body driving mechanism;

FIG. 8 is a cross-sectional view of the glue reservoir I;

FIG. 9 is a cross-sectional view of the unwind assembly;

FIG. 10 is a schematic structural view of a tension sensing assembly;

FIG. 11 is a schematic view of a clamp shear assembly;

FIG. 12 is a schematic view of the mounting of the multiple degree of freedom robotic arm and the sizing assembly on a vehicle body;

FIG. 13 is a cross-sectional view of a vertical telescoping arm;

FIG. 14 is a cross-sectional view of the rotating assembly;

FIG. 15 is a schematic structural view of a stirring mechanism;

FIG. 16 is a cross-sectional view of the glue reservoir II;

FIG. 17 is a flowchart of the operation of the winding head over the pipe to be wound;

fig. 18 is a flowchart of the operation of the filament wound self-walking device.

In the figure: 1-winding heads; 1.1-winding head housing; 1.1.1-a rubber injection tube supporting frame;

1.2.1-arc stage; 1.2.2-arc track I; 1.2.3-arc track II; 1.2.4-godet; 1.2.5-godet nozzle; 1.2.6-supporting wheel I; 1.2.7-supporting wheel II; 1.2.8-half-gear disk I; 1.2.9-half gear plate II; 1.2.10-gear I; 1.2.11-gear axial translation stages; 1.2.12-electric telescopic rod; 1.2.13-a linear module I; 1.2.14-a gear driving motor I; 1.2.15-conducting rings; 1.2.16 brushes;

1.3.1-a glue storage box I; 1.3.2-sealing plug of glue injection port; 1.3.3-glue injection springs; 1.3.4-guide block I; 1.3.5-pressing rolls; 1.3.6-rigid rubber injection tube; 1.3.7-a rubber injection tube driving motor;

1.4-unreeling assembly; 1.4.1-material reels; 1.4.2-bearing I; 1.4.3-bearing II; 1.4.4-permeabilizing covers; 1.4.5-coupling; 1.4.6-coupling support frames; 1.4.7-magnetic powder brake;

1.5-tension detection assembly; 1.5.1-tension detecting brackets; 1.5.2-guide rolls; 1.5.3-tension roller; 1.5.4-tension sensor; 1.5.5-stud vertical bearing seats;

1.6-guide block II;

1.7-clamping shear assembly; 1.7.1-clamping shearing frame I; 1.7.2-clamping shear frame II; 1.7.3-guide rails; 1.7.4-sliders; 1.7.5 rack bar; 1.7.6 gear II; 1.7.7-a gear drive motor II; 1.7.8-a linear module II; 1.7.9-clamping a shear rotating motor; 1.7.10-grip fingers; 1.7.11-shearing fingers;

2-multi-degree-of-freedom mechanical arm;

2.1.1-fixing the tube I; 2.1.2-telescoping tube I; 2.1.3-a guide rail slide block assembly I; 2.1.4-telescopic cylinder I; 2.1.5-worm wheel screw rod mechanism I; 2.1.6-worm wheel screw driving motor I;

2.2.1-fixing the tube II; 2.2.2-telescoping tube II; 2.2.3-telescopic cylinder II;

2.3.1-driven gears; 2.3.2-drive gear; 2.3.3-a driving gear drive motor; 2.3.4-a seated bearing; 2.3.5-sleeve;

3-a vehicle body;

4.1.1-agitator tank mount; 4.1.2-stirring tank; 4.1.3-stirring head; 4.1.4-pump I; 4.1.5-level indicator; 4.1.6-stirring head motor;

4.2.1-a glue storage box II; 4.2.2-tank frame; 4.2.3-glue tanks; 4.2.4-pump II; 4.2.5-coagulant tanks; 4.2.6 Pump III;

4.3-flexible delivery tube;

100-pipe to be wound.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. 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.

Example 1

The embodiment provides a cracking type fiber winding manipulator which comprises a winding head 1 and a multi-degree-of-freedom mechanical arm 2; the winding head 1 comprises a winding head shell 1.1, a rotary winding assembly, a glue storage assembly, an unreeling assembly, a tension detection assembly 1.5, a guide block II 1.6 and a clamping and shearing assembly 1.7.

The winding head shell 1.1 is connected with the tail end of the multi-degree-of-freedom mechanical arm 2; the winding head shell 1.1 is concentrically provided with an arc groove and an arc channel, and two side surfaces of the winding head shell 1.1 which are distributed along the radial direction of the arc groove and a single side surface which is distributed along the axial direction of the arc groove are communicated through the arc channel. In this embodiment, the opening angle of the arc-shaped groove is 120 °.

The rotary winding assembly comprises a rotary body I, a rotary body II and a rotary body driving mechanism; the circle centers of the rotating body I, the rotating body II and the arc-shaped channel are coaxial; the rotator I comprises an arc objective table 1.2.1 and an arc track I1.2.2; the rotating body II comprises an arc-shaped track II 1.2.3; the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 are in sliding connection with the arc-shaped channel, the arc-shaped track I and the arc-shaped track II are driven by the rotating body driving mechanism to relatively rotate to form an annular track or are overlapped to form a double-layer arc-shaped track, the annular track is driven by the rotating body driving mechanism to rotate along the arc-shaped channel, and the double-layer arc-shaped track is driven by the rotating body driving mechanism to rotate to enter the arc-shaped channel; the arc objective table 1.2.1 is arranged outside the winding head shell 1.1 and is connected with the arc track I1.2.2 along the axial direction through a screw, a wire guide plate 1.2.4 extending into the arc groove is arranged, and a wire guide nozzle 1.2.5 is arranged on the wire guide plate 1.2.4.

In the split type fiber winding manipulator, the rotary body driving mechanism comprises a rail supporting structure, a telescopic piece and a gear disc driving structure; the multi-group track supporting structure is arranged in the arc-shaped channel and comprises a wheel shaft, a supporting wheel I1.2.6 and a supporting wheel II 1.2.7, wherein the supporting wheel I1.2.6 and the supporting wheel II 1.2.7 are arranged on the wheel shaft, the wheel shaft is parallel to the central axis of the arc-shaped channel, two ends of the wheel shaft are connected with the winding head shell 1.1, and annular grooves are formed in the supporting wheel I1.2.6 and the supporting wheel II 1.2.7; the arc-shaped track I1.2.2 is in rolling contact with annular grooves of the supporting wheels I1.2.6 on the two sides; the arc-shaped track II 1.2.3 is in rolling contact with annular grooves of the supporting wheels II 1.2.7 at the two sides; the rotator I also comprises a half gear disk I1.2.8 which is connected with the arc-shaped track I1.2.2 along the axial direction through a screw; the rotating body II also comprises a half gear disc II 1.2.9 which is connected with the arc-shaped track II 1.2.3 along the axial direction through a screw; the two rotating bodies are respectively provided with a fixed end mounting groove and a telescopic end mounting groove; the telescopic piece comprises a fixed end and a telescopic end, the fixed end is arranged in the fixed end mounting groove, and the telescopic end is inserted into the telescopic end mounting groove when the arc-shaped track I and the arc-shaped track II are enclosed to form an annular track or are overlapped to form a double-layer arc-shaped track, so that the annular track or the double-layer arc-shaped track is fixed; the gear disk driving structure comprises a gear I1.2.10, a gear driving piece I, a gear axial translation frame 1.2.11 and a gear frame driving piece; the gear I1.2.10 is arranged on the gear axial translation frame 1.2.11 and is driven to rotate by the gear driving piece I; the gear axial translation carriage 1.2.11 is driven by the carriage drive to move in a direction parallel to the axial direction of the arcuate recess, so that the gear I1.2.10 meshes with one of the two half-gear discs or simultaneously with both half-gear discs.

In the split type fiber winding manipulator, the telescopic part is an electric telescopic rod 1.2.12, the gear rack driving part is a linear module I1.2.13, and the gear driving part I is a gear driving motor I1.2.14; the rotator I also comprises a conductive ring 1.2.15; the conducting ring 1.2.15, the arc-shaped track I1.2.2, the half-gear wheel I1.2.8 and the arc-shaped object stage 1.2.1 are sequentially connected along the axial direction; insulating layers are arranged between the conducting ring 1.2.15 and the arc-shaped track I1.2.2 and between the conducting ring 1.2.15 and the arc-shaped track II 1.2.3; the fixed end mounting groove is positioned in the arc-shaped track I1.2.2, and the telescopic end mounting groove is positioned in the arc-shaped track II 1.2.3; the electric telescopic rod 1.2.12 is parallel to the central axis of the arc-shaped track I1.2.2, and the power input end is contacted with the conducting ring 1.2.15; the rotator driving mechanism further includes a brush 1.2.16; the electric brush 1.2.16 is arranged in the arc-shaped channel and is contacted with the conducting ring 1.2.15 to jointly provide power for the electric telescopic rod 1.2.12; in this embodiment, two brushes 1.2.16 are provided, and the included angle between the two brushes 1.2.16 is larger than the opening angle of the arc-shaped groove, so as to ensure that at least one brush 1.2.16 contacts with the conducting ring 1.2.15 at any time; the fixed seat of the linear module I1.2.13 is connected with the winding head shell 1.1 through screws, and the sliding seat is connected with the gear axial translation frame 1.2.11 through screws.

The glue storage assembly comprises a glue storage box I1.3.1, a glue injection port sealing plug 1.3.2, a glue injection spring 1.3.3, a guide block I1.3.4, a compression roller 1.3.5, a rigid glue injection pipe 1.3.6 and a glue injection pipe driving piece; the glue storage box I1.3.1 is arranged on the arc-shaped object stage 1.2.1 in a spot welding mode and is provided with a glue injection port, a fiber inlet and a fiber outlet; the sealing plug 1.3.2 of the glue injection port is positioned in the glue storage box I1.3.1 and is connected with the glue storage box I1.3.1 through the glue injection spring 1.3.3 to seal the glue injection port; the fiber inlet and the fiber outlet of the glue storage box I1.3.1 are arranged oppositely, guide blocks I1.3.4 are installed in grooves of the fiber inlet and the fiber outlet in an interference mode, and guide holes are formed in the guide blocks I1.3.4; the compression rollers 1.3.5 are rotatably arranged in the glue storage box I1.3.1 and positioned at two sides of the guide block I1.3.4, the compression rollers 1.3.5 are flexible pressure rollers, a gap between the two compression rollers 1.3.5 is 1-2mm, and a gap between the compression rollers 1.3.5 and the upper surface and the lower surface of the glue storage box I1.3.1 is 1-2mm, so that glue overflow is avoided; the rigid rubber injection pipe 1.3.6 comprises a straight pipe and a bent pipe; the winding head shell 1.1 is provided with a rubber injection pipe supporting frame 1.1.1; the straight pipe is rotatably arranged on the glue injection head supporting frame 1.1.1 through a bearing and is driven to rotate by a glue injection pipe driving piece, and an inlet and an outlet are arranged on the curved surface of the straight pipe; the inlet of the bent pipe is communicated with the outlet of the straight pipe, and the outlet is communicated with the glue injection port of the glue storage box I1.3.1 through rotation. The rubber injection pipe driving piece adopts a rubber injection pipe driving motor 1.3.7 which is connected to the rubber injection pipe supporting frame 1.1.1 through screws to provide power for the rotation of the rigid rubber injection pipe 1.3.6.

The plurality of groups of unreeling components 1.4 are arranged around the center of the arc-shaped objective table 1.2.1; the unreeling assembly comprises a material reel 1.4.1, a bearing I1.4.2, a bearing II 1.4.3, a transparent cover 1.4.4, a coupler 1.4.5, a coupler support frame 1.4.6 and a magnetic powder brake 1.4.7; the bearing I1.4.2 is arranged on the front surface of the arc-shaped object stage 1.2.1 through a bearing seat, the bearing II 1.4.3 is arranged in a material scroll mounting hole of the arc-shaped object stage 1.2.1, and the transparent cover 1.4.4 is arranged on the back surface of the arc-shaped object stage 1.2.1 and used for sealing the material scroll mounting hole to limit the axial movement of the bearing II 1.4.3; the material scroll 1.4.1 passes through the inner ring of the bearing I1.4.2, the inner ring of the bearing II 1.4.3 and the transparent cover 1.4.4, is connected with the output shaft of the magnetic powder brake 1.4.7 through the coupler 1.4.5, and is sleeved with a positioning sleeve at the position between the bearing I1.4.2 and the bearing II 1.4.3; the two ends of the coupler support frame 1.4.6 are respectively connected with the transparent cover 1.4.4 and the magnetic powder brake 1.4.7 through bolts, and are provided with coupler dismounting holes, and the coupler 1.4.5 is positioned at the positions of the coupler dismounting holes so as to facilitate the mounting and dismounting of the coupler 1.4.5; bolts for connecting the coupler support frame 1.4.6 and the transparent cover 1.4.4 pass through the bearing seats of the arc-shaped object stage 1.2.1 and the bearing I1.4.2 and then are fixed through nuts; the material scroll 1.4.1 is an inflatable shaft, and the inflatable shaft is inflated in the working process to enable the material scroll and the inflatable shaft to synchronously rotate, and the rotation power of the material scroll and the inflatable shaft is from the tension of the prepreg tape; the magnetic particle brake 1.4.7 provides different damping to control the rotational speed of the material spool 1.4.1 in dependence of the signal of the tension detection assembly 1.5.

The tension detection assembly 1.5 and the guide block II 1.6 are in one-to-one correspondence with the unreeling assembly.

The tension detection assembly 1.5 comprises a tension detection bracket 1.5.1, a guide roller 1.5.2, a tension roller 1.5.3 and a tension sensor 1.5.4; the tension detection bracket 1.5.1 is arranged on the front surface of the arc-shaped object stage 1.2.1 through screws; the guide roller 1.5.2 and the tension roller 1.5.3 are perpendicular to the arc-shaped object stage 1.2.1; two ends of the guide roller 1.5.2 are connected with the tension detection bracket 1.5.1 through bearing blocks; the tension sensor 1.5.4 is arranged on the tension detection bracket 1.5.1; two ends of the tension roller 1.5.3 are connected with tension sensors 1.5.4 at two sides through stud vertical bearing seats 1.5.5; the two guide rollers 1.5.2 are symmetrically arranged at two sides of the tension roller 1.5.3; the angle between the central axis of the tension roller 1.5.3 and the central axes of the guide rollers 1.5.2 on both sides is smaller than 120 degrees.

When the prepreg tape is wound around the guide roller 1.5.2 and the tension roller 1.5.3, a heterolateral winding method is adopted: enters from the lower side of the one-side guide roller 1.5.2, passes around from the upper side of the tension roller 1.5.3 and then leaves from the lower side of the other-side guide roller 1.5.2, or enters from the upper side of the one-side guide roller 1.5.2 and passes around from the lower side of the tension roller 1.5.3 and then leaves from the upper side of the other-side guide roller 1.5.2. Tension sensor 1.5.4 detects the atress of tension roller 1.5.3 and converts into the signal of telecommunication, and the regulation prepreg tape tension is in order to satisfy the requirement according to feedback control unreeling assembly 1.4.

The guide block II 1.6 is arranged on the arc-shaped object stage 1.2.1, is provided with a guide hole and is in a preset angle so as to facilitate the transmission of the prepreg tape.

The clamping and shearing assembly 1.7 comprises a clamping and shearing frame I1.7.1, a clamping and shearing frame translation mechanism I, a clamping and shearing frame II 1.7.2, a clamping and shearing frame translation mechanism II, a clamping and shearing rotation mechanism, a clamping piece and a shearing piece; the clamping and shearing frame I1.7.1 is connected with the winding head shell 1.1, and is driven by the clamping and shearing frame translation mechanism I to move along the direction parallel to the wire guide plate 1.2.4; the clamping shearing frame II 1.7.2 is connected with the clamping shearing frame I1.7.1, and is driven by the clamping shearing frame translation mechanism II to move along the direction parallel to the axial direction of the arc-shaped groove; the clamping and shearing frame II 1.7.2 comprises a clamping frame and a shearing frame which are connected in a rotating way, and the clamping frame and the shearing frame are driven by a clamping and shearing rotating mechanism to rotate relatively; the clamping piece and the shearing piece are respectively arranged on the clamping frame and the shearing frame.

In the split type fiber winding manipulator, the guide wire plate 1.2.4 is parallel to the symmetry axis of the arc-shaped groove; the clamping shearing frame I1.7.1 comprises a connecting beam I and a connecting beam II which is vertically connected with the connecting beam I; the clamping shear frame translation mechanism I comprises a guide rail 1.7.3, a sliding block 1.7.4, a rack 1.7.5, a gear II 1.7.6 and a gear driving piece II; the guide rail 1.7.3 is parallel to the symmetry axis of the arc-shaped groove and is arranged on the winding head shell 1.1 through screws and positioned at two sides of the arc-shaped groove; two ends of the connecting beam I are provided with sliding blocks 1.7.4 through screws, and the sliding blocks 1.7.4 are in sliding fit with the guide rails 1.7.3; the racks 1.7.5 are parallel to the symmetry axis of the arc-shaped groove and are arranged on the winding head shell 1.1 and positioned on two sides or a single side of the arc-shaped groove; the gear II 1.7.6 is rotatably arranged on the connecting beam I and meshed with the rack 1.7.5, and is driven to rotate by the gear driving piece II; the gear driving piece II adopts a gear driving motor II 1.7.7, a gear driving motor II 1.7.7 is arranged on the connecting beam I through a screw, and the output end of the gear driving piece II is connected with a gear II 1.7.6; the connecting beam II is parallel to the central axis of the arc-shaped groove; the clamping shearing frame translation mechanism II is a linear module II 1.7.8, the fixed seat is connected with the connecting beam II through a screw, and the sliding seat is connected with the clamping shearing frame II 1.7.2 through a screw.

In the embodiment, a clamping and shearing rotating mechanism adopts a clamping and shearing rotating motor 1.7.9, and is arranged on a sliding seat of a linear module II 1.7.8 through a screw, and an output shaft is connected with a clamping frame and a rotating shaft of the shearing frame; the clamping frame is a fixed frame, the shearing frame is a rotating frame, and the clamping shearing rotating motor 1.7.9 drives the shearing frame to rotate; the clamping piece adopts clamping fingers 1.7.10 and is arranged on the clamping frame through screws; the shearing part adopts shearing fingers 1.7.11 and is installed on the shearing frame through screws.

In the split type fiber winding manipulator, the multi-degree-of-freedom mechanical arm 2 comprises a vertical telescopic arm, a horizontal telescopic arm and a rotating assembly; the vertical telescopic arm comprises a fixed pipe I2.1.1, a telescopic pipe I2.1.2, a guide rail sliding block component I2.1.3, a telescopic cylinder I2.1.4, a worm gear screw rod mechanism I2.1.5 and a worm gear screw rod driving motor I2.1.6; the fixed pipe I2.1.1 and the telescopic pipe I2.1.2 are vertically arranged and are connected in a sliding manner through the guide rail sliding block component I2.1.3; the guide rail sliding block assembly I2.1.3 comprises a vertical guide rail and a vertical sliding block which are in sliding fit, and the vertical guide rail and the vertical sliding block are respectively connected with the fixed pipe I2.1.1 and the telescopic pipe I2.1.2; the telescopic cylinder I2.1.2 is positioned outside the fixed pipe I2.1.1 and the telescopic pipe I2.1.2, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe I2.1.1 and the telescopic pipe I2.1.2 through screws; the worm wheel screw rod mechanism I2.1.5 and the worm wheel screw rod driving motor I2.1.6 are positioned in the fixed tube I2.1.1 and the telescopic tube I2.1.2; the worm wheel and screw rod mechanism I2.1.5 is driven by a worm wheel and screw rod driving motor I2.1.6, the worm wheel seat is connected with the fixed pipe I2.1.1 through a flange, and the screw rod is connected with the telescopic pipe I2.1.2 through a flange; the telescopic cylinder I2.1.4 is used for providing lifting power, the worm wheel screw rod mechanism I2.1.5 is used for accurately controlling lifting travel and providing partial lifting power, and the guide rail sliding block assembly I2.1.3 is used for guiding.

The horizontal telescopic arm comprises a fixed pipe II 2.2.1, a telescopic pipe II 2.2.2, a guide rail sliding block assembly II, a telescopic cylinder II 2.2.3, a worm wheel screw rod mechanism II and a worm wheel screw rod driving motor II; the fixed pipe II 2.2.1 is vertically connected with the telescopic pipe I2.1.2 and is in sliding connection with the telescopic pipe II 2.2.2 through the guide rail sliding block assembly II; the guide rail sliding block assembly II comprises a horizontal guide rail and a horizontal sliding block which are in sliding fit, and the horizontal guide rail and the horizontal sliding block are respectively connected with the fixed pipe II 2.2.1 and the telescopic pipe II 2.2.2; the telescopic cylinder II 2.2.3 is positioned outside the fixed pipe II 2.2.1 and the telescopic pipe II 2.2.2, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe II 2.2.1 and the telescopic pipe II 2.2.2 through screws; the worm wheel screw rod mechanism II and the worm wheel screw rod driving motor II are positioned in the fixed tube II 2.2.1 and the telescopic tube II 2.2.2; the worm wheel screw rod mechanism II is driven by a worm wheel screw rod driving motor II, the worm wheel seat is connected with the fixed pipe II 2.2.1 through a flange, and the screw rod is connected with the telescopic pipe II 2.2.2 through a flange.

The rotating assembly comprises a driven gear 2.3.1, a driving gear 2.3.2, a driving gear driving motor 2.3.3, a bearing with a seat 2.3.4 and a sleeve 2.3.5; the diameter of the driven gear 2.3.1 is larger than that of the driving gear 2.3.2; two bearings 2.3.4 with seats are arranged in the telescopic pipe II 2.2.2; the wheel shaft of the driven gear 2.3.1 is inserted into the telescopic pipe II 2.2.2 and is in interference fit with the inner rings of the two bearings 2.3.4 with seats, a sleeve 2.3.5 is sleeved on the wheel shaft between the two bearings 2.3.4 with seats, so that the driven gear 2.3.1 is in rotary connection with the telescopic pipe II 2.2.2, and the driven gear 2.3.1 is fixedly connected with the winding head shell 1.1 through screws; the driving gear 2.3.2 is meshed with the driven gear 2.3.1, and the driving gear drives the motor 2.3.3 to drive rotation; the driving gear driving motor 2.3.3 is arranged on the side surface of the telescopic pipe II 2.2.2 through bolts.

Example 2

The embodiment provides a fiber winding self-walking device, which comprises a vehicle body 3, a sizing component and the cracking type fiber winding manipulator; the head end of the multi-degree-of-freedom mechanical arm 2 is connected with the vehicle body 3; the rubberizing subassembly includes rabbling mechanism, stores up gluey mechanism and flexible conveyer pipe 4.3.

The stirring mechanism comprises a stirring tank mounting frame 4.1.1, a stirring tank 4.1.2, a stirring head 4.1.3, a stirring head driving piece, a pump I4.1.4 and a liquid level indicator 4.1.5; the stirring tank mounting frame 4.1.1 is arranged on the telescopic pipe II 2.2.2 through screws; the stirring tank 4.1.2 comprises a tank body and a cover body which are coaxially arranged, the tank body is arranged on the stirring tank mounting frame 4.1.1 through bolts, and the cover body is arranged on the tank body through bolts; the stirring head 4.1.3 passes through the cover body of the stirring tank 4.1.2 and is driven to rotate by a stirring head driving piece, in the embodiment, the stirring head driving piece adopts a stirring head motor 4.1.6, and the stirring head motor 4.1.6 is fixedly connected to the cover body of the stirring tank 4.1.2 through a bolt; the inlet of the pump I4.1.4 is connected with the outlet of the stirring tank 4.1.2, and the outlet is communicated with the inlet of the straight pipe through the flexible conveying pipe 4.3, so that on one hand, the glue which is uniformly stirred and mixed is pumped into the glue storage tank I1.3.1, and on the other hand, the redundant glue in the stirring tank 4.1.2 can be removed after the use to avoid the blockage of a pipeline by gel fixation; a liquid level indicator 4.1.5 is arranged on the stirring tank 4.1.2 and indicates the liquid level of the glue in the stirring tank 4.1.2.

The glue storage mechanism comprises a glue storage box II 4.2.1, a tank body frame 4.2.2, a glue tank 4.2.3, a pump II 4.2.4, a coagulant tank 4.2.5 and a pump III 4.2.6; the glue storage box II 4.2.1 comprises a box body welded on the car body 3, a cover body rotationally connected with the box body 3 through a hinge and a locking piece used for locking the cover body and the box body; the tank body frame 4.2.2 is fixed on the inner side of the cover body and is horizontally arranged; the glue tank 4.2.3 and the coagulant tank 4.2.5 are both arranged on the tank body frame 4.2.2; the pump II 4.2.4 and the pump III 4.2.6 are arranged in the box body through bolts; the inlet of the pump II 4.2.4 is connected with the outlet of the glue tank 4.2.3, and the outlet is communicated with the inlet of the stirring tank 4.1.2 through a flexible conveying pipe 4.3; the inlet of the pump III 4.2.6 is connected with the outlet of the coagulant tank 4.2.5, and the outlet is communicated with the inlet of the stirring tank 4.1.2 through a flexible conveying pipe 4.3.

In this embodiment, pumps I4.1.4, II 4.2.4, and III 4.2.6 are air pumps.

Example 3

The embodiment provides a filament winding method, which comprises the following steps.

S1, installing a material roll on a material roll shaft 1.4.1 of the fiber winding self-walking device, adjusting an included angle between a clamping piece and a shearing piece to be 180 degrees, leading out a prepreg tape led out by a plurality of material rolls, bypassing a corresponding guide roll 1.5.2, a tension roll 1.5.3 and a guide block II 1.6, converging the prepreg tape to a fiber inlet of a glue storage box I1.3.1, leading a rigid thin traction strip corresponding to the prepreg tape one by one to pass through the guide block I1.3.4, a compression roll 1.3.5 and the guide block I1.3.4 on a fiber inlet of the glue storage box I1.3.1 on a fiber outlet of the glue storage box I1.3.1, leading out the prepreg tape from the guide block I1.3.4 on the fiber outlet of the glue storage box I1.3.1 after connecting the prepreg tape, and clamping the prepreg tape by the clamping piece after passing through a guide nozzle 1.2.5.

S2, filling the glue in the glue tank 4.2.3 and the coagulant tank 4.2.5 with the coagulant, pumping the glue to the stirring tank 4.1.2, stirring and mixing, driving the rigid glue injection pipe 1.3.6 to be communicated with the glue injection port of the glue storage tank I1.3.1, pumping the glue stirred and mixed in the stirring tank 4.1.2 to the glue injection port of the glue storage tank I1.3.1, stretching the stress of the glue injection spring 1.3.3, separating the sealing plug of the glue injection port from the glue injection port, injecting the glue into the glue storage tank I1.3.1 through the glue injection port, separating the rigid glue injection pipe 1.3.6 from the glue injection port of the glue storage tank I1.3.1, and resetting the glue injection port by the glue injection spring 1.3.3 after the glue injection is completed.

S3, driving the vehicle body 3 to reach a designated position, and if the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 are in a double-layer arc-shaped track state and are positioned in the arc-shaped channel, adjusting the multi-degree-of-freedom mechanical arm 2 to enable the winding head shell 1.1 to be sleeved outside the pipeline 100 to be wound;

If the arc track I1.2.2 and the arc track II 1.2.3 are in a double-layer arc track state but are positioned outside the arc channel, adjusting the gear axial translation frame 1.2.11 to enable the gear I1.2.10 to be meshed with the two half gear plates at the same time, starting the gear driving piece I to enable the arc track I1.2.2 and the arc track II 1.2.3 to rotate into the arc channel, and then adjusting the multi-degree-of-freedom mechanical arm 2 to enable the winding head shell 1.1 to be sleeved outside the pipeline 100 to be wound;

if the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 are in the annular track state, the method comprises the following steps:

t1, starting a telescopic part to enable a telescopic end to shrink, adjusting a gear axial translation frame 1.2.11 to enable a gear I1.2.10 to be meshed with one of two half gear plates, starting a gear driving part I to enable an arc-shaped track corresponding to the half gear plate meshed with the gear I1.2.10 to rotate until the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 are overlapped to form a double-layer arc-shaped track;

t2, starting the telescopic part to enable the telescopic end to extend out and insert into the telescopic end mounting groove, adjusting the gear axial translation frame 1.2.11 to enable the gear I1.2.10 to be meshed with the two half gear plates at the same time, and starting the gear driving part I to enable the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 to rotate into the arc-shaped channel;

t3, adjusting the multi-degree-of-freedom mechanical arm 2 to enable the winding head shell 1.1 to be sleeved outside the pipeline 100 to be wound.

S4, starting a telescopic part to enable a telescopic end to shrink, adjusting a gear axial translation frame 1.2.11 to enable a gear I1.2.10 to be meshed with one of two half gear plates, starting a gear driving part I to enable an arc-shaped track corresponding to the half gear plate meshed with the gear I1.2.10 to rotate until the arc-shaped track I1.2.2 and the arc-shaped track II 1.2.3 are enclosed to form an annular track, starting the telescopic part to enable the telescopic end to extend out and insert into a telescopic end mounting groove to fix the annular track, adjusting the gear axial translation frame 1.2.11 to enable the gear I1.2.10 to be meshed with the two half gear plates at the same time, and adjusting a multi-degree-of-freedom mechanical arm 2 to enable the central axis of the annular track to be collinear with the central axis of a pipeline 100 to be wound.

S5, starting the clamping shear frame translation mechanism I until the clamping piece is close to the surface of the pipeline 100 to be wound, attaching the clamped prepreg tape to the pipeline 100 to be wound, starting the gear driving piece I to enable the annular track to rotate around the pipeline 100 to be wound, driving the vehicle body 3 and the clamping shear frame translation mechanism II simultaneously, enabling the vehicle body 3 and the clamping piece to move at the same speed in the opposite direction, enabling the prepreg tape which is originally wound to be firmly attached to the pipeline 100 to be wound, loosening the prepreg tape by the clamping piece when the clamping shear frame translation mechanism II reaches the limit position, resetting the clamping shear assembly, and enabling the friction force of the prepreg tape on the pipeline 100 to be wound to be enough to enable the subsequent prepreg tape to be firmly wound on the pipeline 100 to be wound.

S6, winding is carried out until the winding is finished, the clamping and shearing rotating mechanism is started to enable the shearing frame to rotate 180 degrees and to be stacked with the clamping frame, the clamping and shearing frame translation mechanism I and the clamping and shearing frame translation mechanism II are started to move the clamping piece and the shearing piece, the prepreg tape is located in the working range of the clamping piece and the shearing piece, the clamping piece is started to clamp the prepreg tape, and the shearing piece is started to shear the prepreg tape.

S7, starting a telescopic part to enable a telescopic end to shrink, adjusting a gear axial translation frame 1.2.11 to enable a gear I1.2.10 to be meshed with one of two half gear plates, starting a gear driving part I to enable an arc track corresponding to the half gear plate meshed with the gear I1.2.10 to rotate until the arc track I1.2.2 and the arc track II 1.2.3 are overlapped into double-layer arc tracks, starting the telescopic part to enable the telescopic end to extend out and insert into a telescopic end mounting groove, adjusting the gear axial translation frame 1.2.11 to enable the gear I1.2.10 to be meshed with the two half gear plates at the same time, starting the gear driving part I to enable the arc track I1.2.2 and the arc track II 1.2.3 to rotate into the arc channel, and adjusting a multi-degree-of-freedom mechanical arm 2 to enable a winding head shell 1.1 to withdraw from a pipeline 100 to be wound.

If the pipe fixing frame is met, the winding head 1 is withdrawn when the winding head 1 cannot pass through, and the steps S3-S7 are repeated.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any person skilled in the art may make modifications or alterations to the above disclosed technical content to equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. The cracking type fiber winding manipulator is characterized by comprising a winding head and a multi-degree-of-freedom mechanical arm;

the winding head comprises a winding head shell, a rotary winding assembly, a glue storage assembly, an unreeling assembly and a clamping and shearing assembly;

the winding head shell is connected with the tail end of the multi-degree-of-freedom mechanical arm;

The winding head shell is concentrically provided with an arc groove and an arc channel, and two side surfaces of the winding head shell which are distributed along the radial direction of the arc groove and a single side surface which is distributed along the axial direction of the arc groove are communicated through the arc channel;

The rotary winding assembly comprises a rotary body I, a rotary body II and a rotary body driving mechanism;

The circle centers of the rotating body I, the rotating body II and the arc-shaped channel are coaxial;

the rotating body I comprises an arc objective table and an arc track I;

the rotating body II comprises an arc-shaped track II;

The arc track I and the arc track II are in sliding connection with the arc channel, the rotary body driving mechanism drives the arc track I and the arc track II to rotate relatively to form an annular track or to overlap the annular track into a double-layer arc track, the annular track is driven by the rotary body driving mechanism to rotate along the arc channel, and the double-layer arc track is driven by the rotary body driving mechanism to rotate and enter the arc channel;

the arc objective table is positioned outside the winding head shell, is axially connected with the arc track I, is provided with a wire guide plate extending into the arc groove, and is provided with a wire guide nozzle;

the glue storage assembly comprises a glue storage box I;

The glue storage box I is arranged on the arc-shaped object stage and is provided with a fiber inlet and a fiber outlet;

The plurality of groups of unreeling components are arranged around the center of the arc-shaped objective table;

The unreeling assembly comprises a material reel perpendicular to the arc-shaped object stage, and the material reel is rotationally connected with the arc-shaped object stage;

The clamping and shearing assembly comprises a clamping and shearing frame I, a clamping and shearing frame translation mechanism I, a clamping and shearing frame II, a clamping and shearing frame translation mechanism II, a clamping and shearing rotation mechanism, a clamping piece and a shearing piece;

The clamping shearing frame I is connected with the winding head shell, and is driven by the clamping shearing frame translation mechanism I to move along the direction parallel to the wire guide plate;

the clamping shearing frame II is connected with the clamping shearing frame I, and is driven by the clamping shearing frame translation mechanism II to move along the direction parallel to the axial direction of the arc-shaped groove;

The clamping and shearing frame II comprises a clamping frame and a shearing frame which are connected in a rotating way, and the clamping frame and the shearing frame are driven by a clamping and shearing rotating mechanism to rotate relatively;

the clamping piece and the shearing piece are respectively arranged on the clamping frame and the shearing frame.

2. The split fiber winding manipulator of claim 1, wherein the rotator drive mechanism comprises a track support structure, a telescoping member, and a gear plate drive structure;

The multiple groups of track supporting structures are arranged in the arc-shaped channel and comprise wheel shafts, supporting wheels I and supporting wheels II which are arranged on the wheel shafts, the wheel shafts are parallel to the central axis of the arc-shaped channel, two ends of the wheel shafts are connected with the winding head shell, and annular grooves are formed in the supporting wheels I and the supporting wheels II;

the arc-shaped track I is in rolling contact with annular grooves of the supporting wheels I at two sides;

The arc-shaped track II is in rolling contact with annular grooves of the supporting wheels II on two sides;

the rotating body I further comprises a half gear disc I which is axially connected with the arc-shaped track I;

the rotating body II further comprises a half gear disc II which is axially connected with the arc-shaped track II;

The two rotating bodies are respectively provided with a fixed end mounting groove and a telescopic end mounting groove;

The telescopic piece comprises a fixed end and a telescopic end, the fixed end is arranged in a fixed end mounting groove, and the telescopic end is inserted into the telescopic end mounting groove when the arc-shaped track I and the arc-shaped track II are enclosed into an annular track or overlapped into a double-layer arc-shaped track;

the gear disc driving structure comprises a gear I, a gear driving piece I, a gear axial translation frame and a gear frame driving piece;

the gear I is arranged on the gear axial translation frame and is driven to rotate by the gear driving piece I;

The gear axial translation frame is driven by the gear frame driving piece to move along the direction parallel to the axial direction of the arc-shaped groove, so that the gear I is meshed with one of the two half gear plates or simultaneously meshed with the two half gear plates.

3. The split fiber winding manipulator of claim 2, wherein the telescoping member is an electric telescoping rod and the carrier drive member is a linear module i;

The rotator I also comprises a conductive ring;

The conducting ring, the arc-shaped track I, the semi-gear disc I and the arc-shaped objective table are sequentially connected in the axial direction;

an insulating layer is arranged between the conducting ring and the arc-shaped track I and between the conducting ring and the arc-shaped track II;

the fixed end mounting groove is positioned in the arc-shaped track I, and the telescopic end mounting groove is positioned in the arc-shaped track II;

the electric telescopic rod is parallel to the central axis of the arc-shaped track I, and the power input end of the electric telescopic rod is in contact with the conducting ring;

the rotating body driving mechanism further comprises an electric brush;

the electric brush is arranged in the arc-shaped channel and is contacted with the conducting ring;

the fixing seat of the linear module I is connected with the winding head shell, and the sliding seat is connected with the gear axial translation frame.

4. A split fiber winding manipulator as claimed in claim 2 or claim 3 wherein the glue storage assembly further comprises a glue injection port sealing plug, a glue injection spring, a guide block i, a compression roller, a rigid glue injection tube and a glue injection tube drive;

A glue injection port is arranged on the glue storage box I;

The sealing plug of the glue injection port is positioned in the glue storage box I and is connected with the glue storage box I through a glue injection spring to seal the glue injection port;

The fiber inlet and the fiber outlet of the glue storage box I are arranged oppositely, guide blocks I are arranged on the fiber inlet and the fiber outlet, and guide holes are formed in the guide blocks I;

the compression roller is rotatably arranged in the glue storage box I and positioned at two sides of the guide block I;

the rigid rubber injection pipe comprises a straight pipe and a bent pipe;

The straight pipe is rotatably arranged on the winding head shell and driven to rotate by the rubber injection pipe driving piece, and an inlet and an outlet are arranged on the curved surface of the straight pipe;

the inlet of the bent pipe is communicated with the outlet of the straight pipe, and the outlet is communicated with the glue injection port of the glue storage box I through rotation.

5. The split fiber winding manipulator of claim 4, wherein the unreeling assembly further comprises a magnetic powder brake;

The material scroll is an inflatable shaft and penetrates through the arc-shaped objective table to be connected with an output shaft of the magnetic powder brake;

The cracking type fiber winding manipulator further comprises tension detection assemblies and guide blocks II, wherein the tension detection assemblies and the guide blocks II are in one-to-one correspondence with the unreeling assemblies;

The tension detection assembly comprises a guide roller, a tension roller and a tension sensor;

the guide roller and the tension roller are both perpendicular to the arc-shaped object stage;

The two guide rollers are symmetrically arranged at two sides of the tension roller;

The tension sensor is connected with the tension roller;

The guide block II is arranged on the arc-shaped object stage and provided with a guide hole.

6. The split fiber winding robot of claim 5, wherein the wire guide plate is parallel to the axis of symmetry of the arcuate groove;

The clamping shearing frame I comprises a connecting beam I and a connecting beam II which is vertically connected with the connecting beam I;

the clamping shear frame translation mechanism I comprises a guide rail, a sliding block, a rack, a gear II and a gear driving piece II;

the guide rail is parallel to the symmetry axis of the arc-shaped groove, is arranged on the winding head shell and is positioned at two sides of the arc-shaped groove;

the two ends of the connecting beam I are provided with sliding blocks which are in sliding fit with the guide rails;

The rack is parallel to the symmetry axis of the arc-shaped groove and is arranged on the winding head shell and positioned at two sides or one side of the arc-shaped groove;

The gear II is rotatably arranged on the connecting beam I and meshed with the rack, and is driven to rotate by the gear driving piece II;

The connecting beam II is parallel to the central axis of the arc-shaped groove;

The clamping shearing frame translation mechanism II is a linear module II, the fixing seat is connected with the connecting beam II, and the sliding seat is connected with the clamping shearing frame II.

7. The split fiber winding manipulator of claim 6, wherein the multiple degree of freedom manipulator comprises a vertical telescoping arm, a horizontal telescoping arm, and a rotating assembly;

The vertical telescopic arm comprises a fixed pipe I, a telescopic pipe I, a guide rail sliding block assembly I, a telescopic cylinder I, a worm wheel screw rod mechanism I and a worm wheel screw rod driving motor I;

The fixed pipe I and the telescopic pipe I are vertically arranged and are connected in a sliding manner through the guide rail sliding block assembly I;

The telescopic cylinder I is positioned outside the fixed pipe I and the telescopic pipe I, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe I and the telescopic pipe I;

the worm wheel screw rod mechanism I and the worm wheel screw rod driving motor I are positioned in the fixed pipe I and the telescopic pipe I;

the worm wheel screw rod mechanism I is driven by a worm wheel screw rod driving motor I, the worm wheel seat is connected with the fixed pipe I, and the screw rod is connected with the telescopic pipe I;

the horizontal telescopic arm comprises a fixed pipe II, a telescopic pipe II, a guide rail sliding block assembly II, a telescopic cylinder II, a worm wheel screw rod mechanism II and a worm wheel screw rod driving motor II;

The fixed pipe II is vertically connected with the telescopic pipe I and is in sliding connection with the telescopic pipe II through the guide rail sliding block assembly II;

The telescopic cylinder II is positioned outside the fixed pipe II and the telescopic pipe II, and the cylinder body and the telescopic rod are respectively connected with the fixed pipe II and the telescopic pipe II;

the worm wheel screw rod mechanism II and the worm wheel screw rod driving motor II are positioned in the fixed pipe II and the telescopic pipe II;

the worm wheel screw rod mechanism II is driven by a worm wheel screw rod driving motor II, the worm wheel seat is connected with the fixed tube II, and the screw rod is connected with the telescopic tube II;

The rotating assembly comprises a driven gear, a driving gear and a driving gear driving motor;

The diameter of the driven gear is larger than that of the driving gear;

the driven gear is rotationally connected with the telescopic pipe II and fixedly connected with the winding head shell;

the driving gear is meshed with the driven gear, and the driving gear drives the motor to drive the motor to rotate.

8. A filament wound self-propelled device comprising a vehicle body, a sizing assembly, and the split filament winding manipulator of any of claims 4-7;

the head end of the multi-degree-of-freedom mechanical arm is connected with the vehicle body;

the rubberizing assembly comprises a stirring mechanism, a rubberizing mechanism and a flexible conveying pipe;

the stirring mechanism comprises a stirring tank, a stirring head driving piece and a pump I;

the stirring head penetrates through the stirring tank and is driven to rotate by the stirring head driving piece;

the inlet of the pump I is connected with the outlet of the stirring tank, and the outlet is communicated with the inlet of the straight pipe through a flexible conveying pipe;

the glue storage mechanism comprises a glue tank, a pump II, a coagulant tank and a pump III;

The inlet of the pump II is connected with the outlet of the glue tank, and the outlet is communicated with the inlet of the stirring tank through a flexible conveying pipe; and the inlet of the pump III is connected with the outlet of the coagulant tank, and the outlet is communicated with the inlet of the stirring tank through a flexible conveying pipe.

9. The filament wound self-walking device of claim 8, wherein the stirring mechanism further comprises a stirring tank mount and a level indicator;

The stirring tank mounting frame is arranged on the multi-degree-of-freedom mechanical arm;

The stirring tank is arranged on the stirring tank mounting frame;

the liquid level indicator is arranged on the stirring tank;

the glue storage mechanism further comprises a glue storage box II and a tank frame;

the glue storage box II comprises a box body arranged on the car body, a cover body rotationally connected with the box body and a locking piece used for locking the cover body and the box body;

The tank body frame is fixed on the inner side of the cover body and is horizontally arranged;

the glue tank and the coagulant tank are both arranged on the tank body frame;

the pump II and the pump III are arranged in the box body.

10. A filament winding method comprising the steps of:

S1, installing a material roll on a material roll shaft of the fiber winding self-walking device in claim 8 or 9, adjusting an included angle between a clamping piece and a shearing piece to be 180 degrees, converging prepreg tapes led out by a plurality of material rolls to a fiber inlet of a glue storage box I, and clamping the prepreg tapes by the clamping piece after the prepreg tapes pass through a guide block I on the fiber inlet of the glue storage box I, a compression roller, a guide block I on a fiber outlet of the glue storage box I and a wire guide nozzle;

S5, starting a clamping shear frame translation mechanism I until a clamping piece is close to the surface of a pipeline to be wound, starting a gear driving piece I to enable an annular track to rotate around the pipeline to be wound after the clamped prepreg tape is attached to the pipeline to be wound, driving a vehicle body and the clamping shear frame translation mechanism II to enable the vehicle body and the clamping piece to move at the same speed in the opposite direction, enabling the prepreg tape which is originally wound to be firmly attached to the pipeline to be wound, loosening the prepreg tape by the clamping piece when the clamping shear frame translation mechanism II reaches a limit position, and resetting a clamping shear assembly;