CN205310853U - Device is put to automatic shop of curved surface - Google Patents
Device is put to automatic shop of curved surface Download PDFInfo
- Publication number
- CN205310853U CN205310853U CN201520909252.6U CN201520909252U CN205310853U CN 205310853 U CN205310853 U CN 205310853U CN 201520909252 U CN201520909252 U CN 201520909252U CN 205310853 U CN205310853 U CN 205310853U
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- China
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- turn around
- paving
- around table
- curved surface
- servomotor
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Abstract
The utility model provides a device is put to automatic shop of curved surface, including the revolving platform, the mould is fixed on the revolving platform, gyration servo motor, with the revolving platform drive is connected, the 6 -degree of freedom arm, spread the silk head, fix the 6 -degree of freedom arm is terminal, control system is put in the shop, with shop's electric connection of silk head, send a servo motor, install in it is overhead to spread the silk, thread feeding mechanism, by send a servo motor drive to connect, arm control system, respectively with the 6 -degree of freedom arm gyration servo motor send a servo motor with the shop puts the control system electricity and connects. Utilize the coordinated actions of 6 -degree of freedom arm, revolving platform, thread feeding mechanism, shop's silk head, realized smoothly that automatic shop of curved surface of combined material preimpregnation material silk ribbon is put, spread to put with the manual work and compare, spread spermiation degree and efficiency and obtained very big improvement.
Description
Technical field
The utility model relates to matrix material automatic placement molding technical field, particularly relates to a kind of curved surface automatic placement device.
Background technology
Supporting cabin, nose cone are the composite element in launch vehicle, are the important component parts of rocket, therefore have the manufacture requirements of high-performance, high reliability. Compare ripe spacecraft composite element preparation method at present and spread discharge technique exactly, adopt silk material or band according to rational Rotating fields in die surface laying, solidifying formation, the component needed for acquisition.
Owing to the surface of supporting cabin, nose cone is complex-curved, its laying process is main based on manually at present. Artificial laying process, due to reasons such as the muscle power of people, craftsmanships, certainly exists the shortcomings such as production efficiency is low, laying quality unstable, material use efficiency is low, manufacturing cycle length. Composite element paving is put and more or less can be discharged some poisonous volatile matters in forming process, is harmful to the health of operator.
Practical novel content
The purpose of this utility model is to provide a kind of curved surface automatic placement device, manually carries out when paving puts operation that efficiency is lower, spreading is unstable to solve existing dependence, and labour intensity is big and is harmful to the problem that operator is healthy.
The utility model provides a kind of curved surface automatic placement device, comprises turn around table, and mould is fixed on described turn around table; Rotary servovalve motor, drives with described turn around table and is connected; Sixdegree-of-freedom simulation; Piddler head, is fixed on described sixdegree-of-freedom simulation end; Paving puts Controlling System, is electrically connected with piddler head; Send a servomotor, it is installed on described piddler head; Wire drive feeder, send a driven by servomotor to connect by described; Mechanical arm control system, respectively with described sixdegree-of-freedom simulation, described rotary servovalve motor, described in send a servomotor and described paving to put Controlling System to be electrically connected.
Further, turn around table comprises: turn around table base; Mounting bracket, is fixed on described turn around table base; Accurate retarding machine, is arranged on described mounting bracket; Pinion(gear), is connected with described accurate retarding machine; External tooth type rotating bearing, engages with described pinion(gear), and its inner ring is connected with described turn around table base; Turn around table table top, is connected with described external tooth type rotating bearing outer ring.
Further, sixdegree-of-freedom simulation described in mechanical arm control system cooperation control, described rotary servovalve motor, described in send a servomotor;Utilize its I/O mouth that described paving is put Controlling System and carry out break-make control.
The curved surface automatic placement device that the utility model provides has following useful effect: the co-ordinate motion utilizing sixdegree-of-freedom simulation, turn around table, wire drive feeder, piddler head, achieve the curved surface automatic placement of material prepreg silk ribbon smoothly, compared with putting with artificial paving, paving spermiation degree and efficiency are greatly improved.
Accompanying drawing explanation
Fig. 1 is the structure iron of the curved surface automatic placement device of the utility model one embodiment;
Fig. 2 is the structure iron of the turn around table of the utility model one embodiment;
Fig. 3 is the control schematic diagram of the curved surface automatic placement device of the utility model one embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments, a kind of curved surface automatic placement device that the utility model proposes is described in further detail. According to the following describes and claim book, advantage of the present utility model and feature will be clearer.
As shown in Figure 1, the utility model provides a kind of curved surface automatic placement device, comprising: turn around table 1, and mould 5 is fixed on described turn around table; Rotary servovalve motor 2, drives with described turn around table 1 and is connected; Sixdegree-of-freedom simulation 8; Piddler 7, is fixed on the end of described sixdegree-of-freedom simulation 8; Paving puts Controlling System 4, is electrically connected with described piddler 7; Send a servomotor 3, it is fixed in described piddler 7; Wire drive feeder 6, send a servomotor 3 to drive connection by described; Mechanical arm control system 9, respectively with described sixdegree-of-freedom simulation 8, described rotary servovalve motor 2, described in send a servomotor 3 and described paving to put Controlling System 4 to be electrically connected.
Specifically, mould 5 is fixed on turn around table 1, and turn around table 1 is driven by rotary servovalve motor 2. Piddler 7 is arranged on the end of degree-of-freedom manipulator 8, puts, by paving, the paving that Controlling System 4 controls piddler 7 and puts action; Each joint action of sixdegree-of-freedom simulation 8 is controlled so that it is relative to treating that inclination angle, the distance on mould 5 surface remain on set(ting)value by mechanical arm control system 9. Wire drive feeder 6 is arranged in piddler 7, drives by sending a servomotor 3.
Specifically, as shown in Figure 2, turn around table 1 comprises: turn around table base 11; Mounting bracket 12, is fixed on described turn around table base 11; Accurate retarding machine 13, is arranged on described mounting bracket 12, drives by rotary servovalve motor 2; Pinion(gear) 14, is connected with described accurate retarding machine 13; External tooth type rotating bearing 15, engages with described pinion(gear) 12, and its inner ring is connected with described turn around table base 11; Turn around table table top 16, is connected with described external tooth type rotating bearing 15 outer ring.
Specifically, as shown in Figure 3, sixdegree-of-freedom simulation 8, rotary servovalve motor 2, send a servomotor under the control of mechanical arm control system 9,8 axle linkages can be realized, realize piddler 7 spatial pose smoothly to regulate, the co-ordinate motion of turn around table 1, and the in good time action of wire drive feeder 6; Piddler 7 is put Controlling System 4 by the paving under the I/O signal control of mechanical arm control system 9 and is controlled, and realizes paving smoothly and puts action.
When utilizing curved surface automatic placement device to carry out operation, first adjusting process parameter, knocks off the selected technical recipe (silk ribbon tension force, snap-in force, depositing speeds etc.) adapted with it of condition (mold surface shape, paving put composite material quality, ply angles, overlay thickness) according to paving; Secondly, selecting laying track, the operation interface at mechanical arm control system 9 selects the laying track program editted in advance;Press " examination paving " button in the operation interface of mechanical arm control system 9, under the coordination of mechanical arm control system 9, sixdegree-of-freedom simulation 8 is knocked off position to examination paving according to examination laying track program action, a servomotor 3 is sent to start to drive wire drive feeder 6, paving is put Controlling System 4 and is started to control piddler 7 and carry out paving and put action, put effect according to examination paving, optimize technical recipe and preserve; The every index of mechanical arm control system 9 display unit is normal, then can press " starting paving to put " button, turn around table 1, sixdegree-of-freedom simulation 8, wire drive feeder 6 carry out action by the track program selected, and piddler 7 carries out paving according to the technical recipe optimized and puts, and puts until completing paving. In the present embodiment, mechanical arm control system 9 controls carbon fiber wire band feeding on wire drive feeder 6, those of ordinary skill in the art should know and know, the curved surface automatic placement device that embodiment of the present utility model provides equally also is applicable to the automatic placement of other material silk materials.
The above, it it is only better embodiment of the present utility model, not the utility model is done any restriction in form, any content not departing from technical solutions of the utility model, according to any simple modification, equivalent variations and modification that above embodiment is done by technical spirit of the present utility model, all belong to the scope of technical solutions of the utility model.
Claims (3)
1. a curved surface automatic placement device, it is characterised in that, comprising: turn around table, rotary servovalve motor, sixdegree-of-freedom simulation, piddler head, paving are put Controlling System, sent a servomotor, wire drive feeder and mechanical arm control system; Mould is fixed on described turn around table; Described rotary servovalve motor drives with described turn around table and is connected; Described piddler head is fixed on the end of described sixdegree-of-freedom simulation; Described paving is put Controlling System and is electrically connected with described piddler head; Described a servomotor is sent to be fixed on described piddler head; Described wire drive feeder send a driven by servomotor to connect by described; Described mechanical arm control system respectively with described sixdegree-of-freedom simulation, described rotary servovalve motor, described in send a servomotor and described paving to put Controlling System to be electrically connected.
2. a kind of curved surface automatic placement device according to claim 1, it is characterised in that, described turn around table comprises: turn around table base; Mounting bracket, is fixed on described turn around table base; Accurate retarding machine, is arranged on described mounting bracket; Pinion(gear), is connected with described accurate retarding machine; External tooth type rotating bearing, engages with described pinion(gear), and its inner ring is connected with described turn around table base; Turn around table table top, is connected with described external tooth type rotating bearing outer ring.
3. a kind of curved surface automatic placement device according to claim 1, it is characterised in that, sixdegree-of-freedom simulation, rotary servovalve motor described in described mechanical arm control system cooperation control, send a servomotor; Utilize its I/O mouth that described paving is put Controlling System and carry out break-make control, and then the paving of control piddler head puts action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520909252.6U CN205310853U (en) | 2015-11-16 | 2015-11-16 | Device is put to automatic shop of curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520909252.6U CN205310853U (en) | 2015-11-16 | 2015-11-16 | Device is put to automatic shop of curved surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205310853U true CN205310853U (en) | 2016-06-15 |
Family
ID=56189239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520909252.6U Expired - Fee Related CN205310853U (en) | 2015-11-16 | 2015-11-16 | Device is put to automatic shop of curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205310853U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808706A (en) * | 2017-03-20 | 2017-06-09 | 王智 | A kind of storage tank end socket producing device and method |
| CN107756828A (en) * | 2017-09-08 | 2018-03-06 | 江苏科技大学 | Six linkage series-parallel carbon fiber automatic fiber placement devices and piddler method for adjustable propeller |
| CN108673912A (en) * | 2018-05-28 | 2018-10-19 | 保定标正机床有限责任公司 | A kind of slewing equipment for automatic fiber placement equipment |
| CN111766343A (en) * | 2020-07-13 | 2020-10-13 | 长沙理工大学 | Method for judging spreadability of curved surface automatic laying prepreg tape |
| CN111989200A (en) * | 2018-06-15 | 2020-11-24 | 三菱重工业株式会社 | Mold for laminating prepreg and method for laminating prepreg |
| CN112060627A (en) * | 2020-09-08 | 2020-12-11 | 武汉大学 | Digital intelligent laying method and system for composite material |
| CN112078148A (en) * | 2020-08-18 | 2020-12-15 | 武汉大学 | Automatic composite material laying device applied to curved surface |
| CN112223788A (en) * | 2020-09-08 | 2021-01-15 | 武汉大学 | Automatic fiber laying system and laying track planning method thereof |
| CN114589939A (en) * | 2020-12-03 | 2022-06-07 | 杨景森 | Processing equipment and method for manufacturing composite material structure by using mechanical arm |
| CN115476528A (en) * | 2022-09-05 | 2022-12-16 | 武汉大学 | Composite material silk laying robot based on double-arm cooperation and silk laying method |
-
2015
- 2015-11-16 CN CN201520909252.6U patent/CN205310853U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106808706A (en) * | 2017-03-20 | 2017-06-09 | 王智 | A kind of storage tank end socket producing device and method |
| CN107756828A (en) * | 2017-09-08 | 2018-03-06 | 江苏科技大学 | Six linkage series-parallel carbon fiber automatic fiber placement devices and piddler method for adjustable propeller |
| CN107756828B (en) * | 2017-09-08 | 2019-11-19 | 江苏科技大学 | Six linkage series-parallel carbon fiber automatic fiber placement devices and piddler method for adjustable propeller |
| CN108673912A (en) * | 2018-05-28 | 2018-10-19 | 保定标正机床有限责任公司 | A kind of slewing equipment for automatic fiber placement equipment |
| CN108673912B (en) * | 2018-05-28 | 2020-04-14 | 保定标正机床有限责任公司 | A slewer for automatic fiber placement equipment |
| CN111989200A (en) * | 2018-06-15 | 2020-11-24 | 三菱重工业株式会社 | Mold for laminating prepreg and method for laminating prepreg |
| CN111766343A (en) * | 2020-07-13 | 2020-10-13 | 长沙理工大学 | Method for judging spreadability of curved surface automatic laying prepreg tape |
| CN111766343B (en) * | 2020-07-13 | 2022-09-13 | 长沙理工大学 | Method for judging spreadability of curved surface automatic laying prepreg tape |
| CN112078148A (en) * | 2020-08-18 | 2020-12-15 | 武汉大学 | Automatic composite material laying device applied to curved surface |
| CN112060627A (en) * | 2020-09-08 | 2020-12-11 | 武汉大学 | Digital intelligent laying method and system for composite material |
| CN112223788A (en) * | 2020-09-08 | 2021-01-15 | 武汉大学 | Automatic fiber laying system and laying track planning method thereof |
| CN112060627B (en) * | 2020-09-08 | 2022-01-14 | 武汉大学 | Digital intelligent laying method and system for composite material |
| CN114589939A (en) * | 2020-12-03 | 2022-06-07 | 杨景森 | Processing equipment and method for manufacturing composite material structure by using mechanical arm |
| CN115476528A (en) * | 2022-09-05 | 2022-12-16 | 武汉大学 | Composite material silk laying robot based on double-arm cooperation and silk laying method |
| CN115476528B (en) * | 2022-09-05 | 2024-04-30 | 武汉大学 | Composite material wire laying robot and wire laying method based on double-arm cooperation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20191116 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |