CN1919585A - Six-coordinate linkage fibre wrapping machine - Google Patents
Six-coordinate linkage fibre wrapping machine Download PDFInfo
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- CN1919585A CN1919585A CN 200610010528 CN200610010528A CN1919585A CN 1919585 A CN1919585 A CN 1919585A CN 200610010528 CN200610010528 CN 200610010528 CN 200610010528 A CN200610010528 A CN 200610010528A CN 1919585 A CN1919585 A CN 1919585A
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Abstract
The invention discloses a six-coordinate linked fiber coiler, which is characterized by the following: the movement of six-coordinate is realized by controlling six servo motors, the back driving axial line of core mould C shaft parallels the moving direction of Z-coordinate straight-line movement unit assemblage (2), the X-coordinate straight-line movement unit assemblage (4) is set on one side of Y-coordinate straight-line movement unit assemblage (3), the B-axle rotary moving unit assemblage (5) is fixed on one end of near-core mould C rotary moving unit assemblage on the case (42) of X-coordinate straight-line moving unit assemblage, the bottom of second box (63) of A-axle rotary moving unit assemblage (6) connects the connecting flannel (55) of B-axle rotary moving unit assemblage (5), the spinning swaying head (65) is fixed on the opposite end of core mould C-axle rotary moving unit assemblage on the second driving shaft (64).
Description
Technical field
The present invention relates to a kind of fiber winding machine.
Background technology
Along with the composite processing technology development, fiber twines and develops rapidly as a newer processing technology, the development of fiber winding machine has become the necessary ways that improve the composite products workmanship, its control system is developed to Control System of Microcomputer through mechanical system, Hydrauservo System, progressively adapts to the production demand.A multiple-rotor wrapping machine of doing more physical exercises has become the main flow direction of research and development.At present, successively diaxon to four a numerical control linked fiber winding machine that does not wait occurred on the market, but these can satisfy far from also to some complex components, Wrapping formed such as non-revolved body special-shaped components such as three-way pipe, blades.
Summary of the invention
For solving the Wrapping formed problem that prior art can not satisfy complicated special-shaped component, the invention provides a kind of six-coordinate linkage fibre wrapping machine, it comprises core C axle gyration assembly 1, Z coordinate rectilinear motion assembly 2, Y coordinate rectilinear motion assembly 3 and X coordinate rectilinear motion assembly 4, and the moving axial line of the passback of core C axle gyration assembly 1 is parallel with the direction of motion of Z coordinate rectilinear motion assembly 2; The dolly 21 of Z coordinate rectilinear motion assembly 2 is arranged on the top of Z coordinate rectilinear motion base 22, the support 31 of Y coordinate rectilinear motion assembly 3 is fixedly installed on the top of dolly 21, X coordinate rectilinear motion assembly 4 is arranged on a side of Y coordinate rectilinear motion assembly 3, it also comprises B axle gyration assembly 5 and A axle gyration assembly 6, B axle gyration assembly 5 is fixedly installed on nearly core C axle gyration assembly 1 one ends on the shell 42 of X coordinate rectilinear motion assembly 4, B axle gyration assembly 5 comprises first servomotor 51, first reduction gearing 52, first casing 53, first power transmission shaft 54 and adpting flange 55, first reduction gearing 52 places in first casing 53, described first servomotor 51 is fixedlyed connected with first casing 53 and the output gear and first reduction gearing 52 of first servomotor 51 mesh, first power transmission shaft 54 and first reduction gearing 52 be coaxial fixedlys connected and loam cake that first casing 53 is passed in the upper end of first power transmission shaft 54 is fixedlyed connected with adpting flange 55, and the axial line of described first power transmission shaft 54 is parallel with the Y coordinate; A axle gyration assembly 6 comprises second servomotor 61, second reduction gearing 62, second casing 63, second power transmission shaft 64 and yarn yaw 65, fixedly connected with the adpting flange 55 of B axle gyration assembly 5 in the bottom surface of second casing 63 of A axle gyration assembly 6, second reduction gearing 62 places in second casing 63, described second servomotor 61 is fixedlyed connected with second casing 63 and the output gear and second reduction gearing 62 of second servomotor 61 mesh, second power transmission shaft 64 and second reduction gearing 62 are coaxial fixedly connected and axial line second power transmission shaft 64 is parallel with the X coordinate, and passing on second casing 63 and this end with core C axle gyration assembly 1 opposite end of second power transmission shaft 64 is set with yarn yaw 65.The present invention has characteristics such as the speed of service is fast, control accuracy height, it can satisfy the winding path and the winding angle specific (special) requirements of twining complicated special-shaped component, be through with the history that hand is stuck with paste, half hand is stuck with paste the production pipe fitting, can effectively improve the performance and the quality of twining member.
Operation principle: in the course of the work, core C axle gyration assembly 1, Z coordinate rectilinear motion assembly 2 constitutes two basic exercise coordinates that fibers twine, Wrapping formed for regular members such as cylinders, and winding angle mainly is by the decision of these two interlock coordinates; The X coordinate rectilinear motion assembly 4 of semi-girder can reduce the motion excess of stroke scope of Z coordinate, and simultaneously, X coordinate rectilinear motion assembly 4 can be made corresponding action according to the diameter that is twined member, to satisfy the Wrapping formed of different size core; Silk mouth rotational coordinates A and beat coordinate B can guarantee that fibre bundle is wound into mandrel surface accurately by theoretical track, the yarn yaw 65 that is installed in simultaneously on the A axle gyration assembly 6 can make fibre bundle full and uniform expansion on the mandrel surface normal direction, and makes the both sides uniform tension in order of fibre bundle; During for some special profiled pieces (as three-way pipe, blade etc.) Wrapping formed, Y coordinate rectilinear motion assembly 3 can drive the yarn yaw and move up and down, to satisfy the requirement of winding pattern, simultaneously its homogenizing the motion of each coordinate, reduce outstanding yarn length, make the fiber winding pattern more accurately, speed of wrap is more steady.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention, Fig. 2 is the right side view of Fig. 1, Fig. 3 is the assembling enlarged drawing of X coordinate rectilinear motion assembly 4, B axle gyration assembly 5 and A axle gyration assembly 6, Fig. 4 is the enlarged drawing of Y coordinate rectilinear motion assembly 3, Fig. 5 is the left view of Fig. 4, and Fig. 6 is that the A of the Z coordinate rectilinear motion assembly 2 shown in Fig. 1 is to partial enlarged drawing.
The specific embodiment
The specific embodiment one: (referring to Fig. 1-Fig. 6) present embodiment is made up of core C axle gyration assembly 1, Z coordinate rectilinear motion assembly 2, Y coordinate rectilinear motion assembly 3, X coordinate rectilinear motion assembly 4, B axle gyration assembly 5 and A axle gyration assembly 6, the moving axial line of the passback of core C axle gyration assembly 1 is parallel with the direction of motion of Z coordinate rectilinear motion assembly 2; The dolly 21 of Z coordinate rectilinear motion assembly 2 is arranged on the top of Z coordinate rectilinear motion base 22, the support 31 of Y coordinate rectilinear motion assembly 3 is fixedly installed on the top of dolly 21, X coordinate rectilinear motion assembly 4 is arranged on a side of Y coordinate rectilinear motion assembly 3, B axle gyration assembly 5 is fixedly installed on nearly core C axle gyration assembly 1 one ends on the shell 42 of X coordinate rectilinear motion assembly 4, B axle gyration assembly 5 comprises first servomotor 51, first reduction gearing 52, first casing 53, first power transmission shaft 54 and adpting flange 55, first reduction gearing 52 places in first casing 53, described first servomotor 51 is fixedlyed connected with first casing 53 and the output gear and first reduction gearing 52 of first servomotor 51 mesh, first power transmission shaft 54 and first reduction gearing 52 be coaxial fixedlys connected and loam cake that first casing 53 is passed in the upper end of first power transmission shaft 54 is fixedlyed connected with adpting flange 55, and the axial line of described first power transmission shaft 54 is parallel with the Y coordinate; A axle gyration assembly 6 comprises second servomotor 61, second reduction gearing 62, second casing 63, second power transmission shaft 64 and yarn yaw 65, fixedly connected with the adpting flange 55 of B axle gyration assembly 5 in the bottom surface of second casing 63 of A axle gyration assembly 6, second reduction gearing 62 places in second casing 63, described second servomotor 61 is fixedlyed connected with second casing 63 and the output gear and second reduction gearing 62 of second servomotor 61 mesh, second power transmission shaft 64 and second reduction gearing 62 are coaxial fixedly connected and axial line second power transmission shaft 64 is parallel with the X coordinate, and passing on second casing 63 and this end with core C axle gyration assembly 1 opposite end of second power transmission shaft 64 is set with yarn yaw 65.
The specific embodiment two: (difference referring to the present embodiment of Fig. 1-Fig. 5) and the specific embodiment one is that it also comprises connecting plate 7, described X coordinate rectilinear motion assembly 4 comprises that the 3rd servomotor 41, shell 42, first leading screw 43, first feed screw nut 44, shaft coupling 45, first leading screw support 46 and second leading screw and support 47, nearly core C axle gyration assembly 1 one ends of shell 42 inner chambers be provided with first leading screw support 46 and the other end of shell 42 on be installed with the 3rd servomotor 41, the middle part of shell 42 inner chambers is provided with second leading screw and supports 47; One end of described first leading screw 43 and first leading screw support 46 and are rotationally connected, and the other end of described first leading screw 43 passes second leading screw support 47 and fixedlys connected with the output shaft of the 3rd servomotor 41 by shaft coupling 45; First feed screw nut 44 is threaded with first leading screw 43 and first feed screw nut 44 is fixedlyed connected with the end face of connecting plate 7 one sides; Described Y coordinate rectilinear motion assembly 3 comprises the 4th servomotor 31, support 32, second leading screw 33, second feed screw nut 34, driven gear 35, cog belt 36, leading screw upper support 38 and leading screw lower support 39, have strip hole 32-1 on the sidewall of support 32 1 sides, leading screw upper support 38 and leading screw lower support 39 are fixedly installed on the top and the bottom of support 32 inner chambers respectively, on second leading screw 33, the lower end is passed leading screw upper support 38 and leading screw lower support 39 respectively and is rotationally connected, described second feed screw nut 34 and second leading screw, 33 threaded engagement, second feed screw nut 34 are passed the strip hole 32-1 that offers on the support 32 and are fixedlyed connected with the end face of connecting plate 7 opposite sides; Driven gear 35 is fixedlyed connected with the lower end of second leading screw 33 is coaxial, and the 4th servomotor 31 is fixed on the outer wall of support 32 bottoms and the output gear of the 4th servomotor 31 bottoms is connected with driven gear 35 by cog belt 36.Other composition is identical with the specific embodiment one with annexation.The connecting plate 7 that second feed screw nut 34 of first feed screw nut 44 of present embodiment X coordinate rectilinear motion assembly 4 and Y coordinate rectilinear motion assembly 3 passes through to be increased is fixedlyed connected, X coordinate rectilinear motion assembly 4 and Y coordinate rectilinear motion assembly 3 coordinates adopt the transmission of leading screw screw, can guarantee the precision and stability of transmission; 31 work of the 4th servomotor, second feed screw nut 34 produces axial relative motion with respect to second leading screw 33, and then drives X coordinate rectilinear motion assembly 4 along the Y coordinate motion by connecting plate 7; The work of the 3rd servomotor 41, first leading screw 43 produces axial relative motion with respect to first feed screw nut 44, and then drives the B axle gyration assembly 5 that is fixed on the shell 42 and A axle gyration assembly 6 along the X coordinate motion.
The specific embodiment three: (referring to Fig. 1, Fig. 2, Fig. 6) present embodiment and the specific embodiment one or twos' difference is that described Z coordinate rectilinear motion assembly 2 also comprises the 5th servomotor 27 and tooth bar 28, the top of Z coordinate rectilinear motion base 22 two sides is respectively arranged with a guide rail 23 and No. two guide rails 24, and the below of dolly 21 both sides is respectively arranged with a gathering sill 25 and No. two gathering sills 26 that match with guide rail 23 and No. two guide rails 24; Tooth bar 28 is fixedly installed on the outer surface of Z coordinate rectilinear motion base 22 1 sides, and 28 engagements of output gear wheel and rack and the servomotor 27 of the 5th servomotor 27 are fixed on the dolly 21.Other composition is identical with the specific embodiment one or two with annexation.
The specific embodiment four: (referring to Fig. 1, Fig. 2) present embodiment and the specific embodiment one, two or three difference is that described core C axle gyration assembly 1 is by the 6th servomotor 11, reduction box 12, movable fixed seat 13, base 14, three-jaw chuck 15, clamping device 16, reduction box 12 is fixed on the upper surface of base 14 1 ends, the input of the output of the 6th servomotor 11 and reduction box 12 is in transmission connection, three-jaw chuck 15 is fixedlyed connected with the output of reduction box 12, the upper surface of the other end of base 14 is provided with guide rail 14-1, movable fixed seat 13 is arranged on the other end of base 14 and on the lower surface of movable fixed seat 13 and offers the gathering sill 13-1 that matches with guide rail 14-1, clamping device 16 is fixed on the movable fixed seat 13, and clamping device 16 is oppositely arranged with three-jaw chuck 15 and at same axial line.Other composition is identical with the specific embodiment one, two or three with annexation.The three-jaw chuck 15 of present embodiment and clamping device 16 are finished the axial location to core together, control core angle position, and provide driving force for core.
Control system of the present invention can adopt PMAC (Programmable Multi Axis Controller) card as servo motion controller, is inserted in the standard sockets of IPC main frame, forms the master control system of wrapping machine; Add ancillary equipment,, constitute a modular digital control system as servo amplifier, PLC, power supply, control panel etc.The wrapping machine digital control system of Gou Chenging has many, the characteristics such as the speed of service is fast, control accuracy height of interlock number of coordinates thus.
Claims (4)
1, six-coordinate linkage fibre wrapping machine, it comprises core C axle gyration assembly (1), Z coordinate rectilinear motion assembly (2), Y coordinate rectilinear motion assembly (3) and X coordinate rectilinear motion assembly (4), and the moving axial line of the passback of core C axle gyration assembly (1) is parallel with the direction of motion of Z coordinate rectilinear motion assembly (2); The dolly (21) of Z coordinate rectilinear motion assembly (2) is arranged on the top of Z coordinate rectilinear motion base (22), the support (31) of Y coordinate rectilinear motion assembly (3) is fixedly installed on the top of dolly (21), X coordinate rectilinear motion assembly (4) is arranged on a side of Y coordinate rectilinear motion assembly (3), it is characterized in that it also comprises B axle gyration assembly (5) and A axle gyration assembly (6), B axle gyration assembly (5) is fixedly installed on nearly core C axle gyration assembly (1) one end on the shell (42) of X coordinate rectilinear motion assembly (4), B axle gyration assembly (5) comprises first servomotor (51), first reduction gearing (52), first casing (53), first power transmission shaft (54) and adpting flange (55), first reduction gearing (52) places in first casing (53), described first servomotor (51) is fixedlyed connected with first casing (53) and the output gear and first reduction gearing (52) of first servomotor (51) mesh, first power transmission shaft (54) and first reduction gearing (52) be coaxial fixedlys connected and loam cake that first casing (53) is passed in the upper end of first power transmission shaft (54) is fixedlyed connected with adpting flange (55), and the axial line of described first power transmission shaft (54) is parallel with the Y coordinate; A axle gyration assembly (6) comprises second servomotor (61), second reduction gearing (62), second casing (63), second power transmission shaft (64) and yarn yaw (65), fixedly connected with the adpting flange (55) of B axle gyration assembly (5) in the bottom surface of second casing (63) of A axle gyration assembly (6), second reduction gearing (62) places in second casing (63), described second servomotor (61) is fixedlyed connected with second casing (63) and the output gear and second reduction gearing (62) of second servomotor (61) mesh, second power transmission shaft (64) and second reduction gearing (62) are coaxial fixedly connected and axial line second power transmission shaft (64) is parallel with the X coordinate, and passing with core C axle gyration assembly (1) opposite end of second power transmission shaft (64) is set with yarn yaw (65) on second casing (63) and this end.
2, six-coordinate linkage fibre wrapping machine according to claim 1, it is characterized in that it also comprises connecting plate (7), described X coordinate rectilinear motion assembly (4) comprises the 3rd servomotor (41), shell (42), first leading screw (43), first feed screw nut (44) and shaft coupling (45), nearly core C axle gyration assembly (1) one end of shell (42) inner chamber is provided with on the other end that first leading screw supports (46) and shell (42) and is installed with the 3rd servomotor (41), and the middle part of shell (42) inner chamber is provided with second leading screw and supports (47); One end of described first leading screw (43) and first leading screw support (46) and are rotationally connected, and the other end of described first leading screw (43) passes second leading screw support (47) and fixedlys connected with the output shaft of the 3rd servomotor (41) by shaft coupling (45); First feed screw nut (44) is threaded with first leading screw (43) and first feed screw nut (44) is fixedlyed connected with the end face of connecting plate (7) one sides; Described Y coordinate rectilinear motion assembly (3) comprises the 4th servomotor (31), support (32), second leading screw (33), second feed screw nut (34), driven gear (35), cog belt (36), leading screw upper support (38) and leading screw lower support (39), have strip hole (32-1) on the sidewall of support (32) one sides, leading screw upper support (38) and leading screw lower support (39) are fixedly installed on the top and the bottom of support (32) inner chamber respectively, on second leading screw (33), the lower end is passed leading screw upper support (38) and leading screw lower support (39) respectively and is rotationally connected, described second feed screw nut (34) and second leading screw (33) threaded engagement, second feed screw nut (34) passes the strip hole of offering on the support (32) (32-1) fixedlys connected with the end face of connecting plate (7) opposite side; Coaxial the fixedlying connected in lower end of driven gear (35) and second leading screw (33), the 4th servomotor (31) are fixed on the outer wall of support (32) bottom and the output gear of the 4th servomotor (31) bottom is connected with driven gear (35) by cog belt (36).
3, six-coordinate linkage fibre wrapping machine according to claim 1, it is characterized in that described Z coordinate rectilinear motion assembly (2) also comprises the 5th servomotor (27) and tooth bar (28), the top of Z coordinate rectilinear motion base (22) two side is respectively arranged with a guide rail (23) and No. two guide rails (24), and the below of dolly (21) both sides is respectively arranged with a gathering sill (25) and No. two gathering sills (26) that match with a guide rail (23) and No. two guide rails (24); Tooth bar (28) is fixedly installed on the outer surface of Z coordinate rectilinear motion base (22) one sides, and engagement of the output gear wheel and rack (28) of the 5th servomotor (27) and servomotor (27) are fixed on the dolly (21).
4, six-coordinate linkage fibre wrapping machine according to claim 1, it is characterized in that described core C axle gyration assembly (1) is by the 6th servomotor (11), reduction box (12), movable fixed seat (13), base (14), three-jaw chuck (15), clamping device (16), reduction box (12) is fixed on the upper surface of base (14) one ends, the input of the output of the 6th servomotor (11) and reduction box (12) is in transmission connection, three-jaw chuck (15) is fixedlyed connected with the output of reduction box (12), the upper surface of the other end of base (14) is provided with guide rail (14-1), movable fixed seat (13) is arranged on the other end of base (14) and on the lower surface of movable fixed seat (13) and offers the gathering sill (13-1) that matches with guide rail (14-1), clamping device (16) is fixed on the movable fixed seat (13), and clamping device (16) and three-jaw chuck (15) are oppositely arranged and at same axial line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610010528 CN1919585A (en) | 2006-09-08 | 2006-09-08 | Six-coordinate linkage fibre wrapping machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610010528 CN1919585A (en) | 2006-09-08 | 2006-09-08 | Six-coordinate linkage fibre wrapping machine |
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| CN1919585A true CN1919585A (en) | 2007-02-28 |
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| CN 200610010528 Pending CN1919585A (en) | 2006-09-08 | 2006-09-08 | Six-coordinate linkage fibre wrapping machine |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102380957A (en) * | 2011-09-02 | 2012-03-21 | 天津海天长丰科技开发有限公司 | Large-tow carbon fiber and glass fiber composite preimpregnation equipment |
| CN102529115A (en) * | 2011-12-31 | 2012-07-04 | 哈尔滨工业大学 | Automatic fiber laying variable-angle path planning method for non-developable curved surface part |
| CN103448261B (en) * | 2013-09-16 | 2015-11-18 | 河北科技大学 | A kind of motion control method for midfoot support device in wind turbine blade forming process |
| CN105235231A (en) * | 2015-10-19 | 2016-01-13 | 无锡清杨机械制造有限公司 | Machining method for five-coordinate linkage numerical control winding machine |
| CN108312572A (en) * | 2018-01-15 | 2018-07-24 | 武汉理工大学 | A kind of automatic extension yarn cutting system for horizontal fiber winding machine |
| CN109896337A (en) * | 2019-03-29 | 2019-06-18 | 北京理工大学 | Bobbin winder device |
| CN112456222A (en) * | 2020-11-25 | 2021-03-09 | 德清宏业晶体纤维有限公司 | Six-coordinate linkage HY fiber special-shaped winding machine |
| CN113232278A (en) * | 2021-05-08 | 2021-08-10 | 沈阳汇力智能科技有限公司 | High-speed fiber winding machine for plastic bottle |
| CN116533554A (en) * | 2023-07-07 | 2023-08-04 | 北京玻钢院复合材料有限公司 | Special-shaped molded surface fiber winding device, winding system and winding method |
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2006
- 2006-09-08 CN CN 200610010528 patent/CN1919585A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102380957A (en) * | 2011-09-02 | 2012-03-21 | 天津海天长丰科技开发有限公司 | Large-tow carbon fiber and glass fiber composite preimpregnation equipment |
| CN102380957B (en) * | 2011-09-02 | 2013-08-14 | 天津海天长丰科技开发有限公司 | Large-tow carbon fiber and glass fiber composite preimpregnation equipment |
| CN102529115A (en) * | 2011-12-31 | 2012-07-04 | 哈尔滨工业大学 | Automatic fiber laying variable-angle path planning method for non-developable curved surface part |
| CN102529115B (en) * | 2011-12-31 | 2014-04-02 | 哈尔滨工业大学 | Automatic fiber laying variable-angle path planning method for non-developable curved surface part |
| CN103448261B (en) * | 2013-09-16 | 2015-11-18 | 河北科技大学 | A kind of motion control method for midfoot support device in wind turbine blade forming process |
| CN105235231A (en) * | 2015-10-19 | 2016-01-13 | 无锡清杨机械制造有限公司 | Machining method for five-coordinate linkage numerical control winding machine |
| CN108312572A (en) * | 2018-01-15 | 2018-07-24 | 武汉理工大学 | A kind of automatic extension yarn cutting system for horizontal fiber winding machine |
| CN108312572B (en) * | 2018-01-15 | 2020-01-31 | 武汉理工大学 | automatic yarn hanging and cutting system for horizontal fiber winding machine |
| CN109896337A (en) * | 2019-03-29 | 2019-06-18 | 北京理工大学 | Bobbin winder device |
| CN112456222A (en) * | 2020-11-25 | 2021-03-09 | 德清宏业晶体纤维有限公司 | Six-coordinate linkage HY fiber special-shaped winding machine |
| CN113232278A (en) * | 2021-05-08 | 2021-08-10 | 沈阳汇力智能科技有限公司 | High-speed fiber winding machine for plastic bottle |
| CN116533554A (en) * | 2023-07-07 | 2023-08-04 | 北京玻钢院复合材料有限公司 | Special-shaped molded surface fiber winding device, winding system and winding method |
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