CN110962368A

CN110962368A - Seven fibre winding machines based on arm

Info

Publication number: CN110962368A
Application number: CN201911324324.XA
Authority: CN
Inventors: 祝龙云
Original assignee: Zhenjiang Aolite Machinery Manufacturing Co ltd
Current assignee: Zhenjiang Aolite Machinery Manufacturing Co ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-04-07

Abstract

The invention discloses a seven-axis fiber winding machine based on a mechanical arm, and belongs to the technical field of fiber winding machines. The seven-shaft fiber winding machine comprises six mechanical arms, a tail end executing mechanism and a guide rail, wherein the six mechanical arms are connected with the guide rail through the tail end executing mechanism. And a robot fiber winding system is arranged in the tail end executing mechanism. The robot fiber winding system comprises a data input subsystem, a fiber winding linear design subsystem, a robot motion track design subsystem, a data output subsystem and a display subsystem which are sequentially connected. The seven-axis fiber winding machine can realize the fiber winding of a complex special-shaped structure.

Description

Seven fibre winding machines based on arm

Technical Field

The invention relates to a seven-axis fiber winding machine based on a mechanical arm, and belongs to the technical field of fiber winding machines.

Background

The fiber winding process is one of the important forming processes for producing fiber reinforced composite material product, and the fiber winding machine is the key equipment in the fiber winding forming process.

The fiber winding machine is subjected to three stages of a winding machine controlled mechanically, a winding machine controlled digitally and a fiber winding machine controlled by a microcomputer, and then a fourth generation winding machine adopting a general numerical control system appears. The Bear company, BSD company, british Pultrex ltd company, and the like in germany have successfully developed a winding machine using a general numerical control system. In order to improve the production efficiency, winding machines with multiple spindles appear in succession, namely one winding machine can wind a plurality of parts simultaneously. The method has great promotion effect on the improvement of the quality and the performance of the composite material product and the glass fiber reinforced plastic product and the development of the process of the composite material product. With the rapid development of microelectronic technology and the trend of the maturity of motion control cards, winding machines with more than four coordinates consisting of industrial control computers and motion control cards are beginning to appear, and the appearance of winding machines with more than five coordinates makes it possible to wind special-shaped structural members such as tee joints, bent pipes, S pipes and the like which can only be manually or semi-manually hand-pasted before. Meanwhile, in order to improve the winding precision, the multi-shaft numerical control winding machine can carry out automatic resin distribution, automatic quality control and the like, and is provided with a precise tension control system.

At present, a fiber winding machine can only finish the winding of axisymmetric products, and a seven-axis winding machine and a winding machine with more than seven axes can realize the intelligent winding of special-shaped structural parts which are manually pasted or semi-manually pasted by hands, such as a tee joint, a bent pipe, an S pipe and the like, by using machines. However, the existing filament winding machine has low winding efficiency, and for filament winding products with high product performance, the existing winding process has very low efficiency, and high-efficiency large-tension filament winding cannot be realized at present.

Disclosure of Invention

The invention provides a seven-axis fiber winding machine based on a mechanical arm, which can realize fiber winding of a complex special-shaped structure.

The invention adopts the following technical scheme for solving the technical problems:

the utility model provides a seven fibre winding machines based on arm, includes six arms, terminal actuating mechanism and guide rail, six arms establish through terminal actuating mechanism and are connected with the guide rail.

And a robot fiber winding system is arranged in the tail end executing mechanism.

The robot fiber winding system comprises a data input subsystem, a fiber winding linear design subsystem, a robot motion track design subsystem, a data output subsystem and a display subsystem which are sequentially connected.

The horizontal movement speed of the six-axis mechanical arm is 0-20 m/min.

The six-axis mechanical arm is a standard mechanical arm KR150 of a library card.

The invention has the following beneficial effects:

1. the invention replaces the original machine tool type multi-shaft linkage structure, and the tension control system and the like are all realized by adopting a robot except the rotation of the main shaft.

2. The invention has the characteristics of stable movement, wide speed regulation range of each shaft, strong anti-interference capability and high winding efficiency, and can realize winding of various complex products.

Drawings

FIG. 1 is a diagram of the software system of the winding machine of the present invention.

FIG. 2 is a diagram of the control software operating interface of the present invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

The winding machine mainly comprises a seven-axis fiber winding system consisting of six mechanical arms, a tail end executing mechanism and a guide rail. And calculating the optimal winding path of the special-shaped structure through software, forming a G code, and performing fiber winding on the special-shaped structure composite material product by using a winding machine.

Six mechanical arms with horizontal movement speed of 0-20 m/min; the horizontal movement stroke is not less than 1000 mm on the premise of ensuring the maximum winding length capability. Maximum boom extension stroke: 900mm (based on the center of rotation of the main shaft).

The 6-axis robot selects the standard robot KR150 for the library card. The weight of the end actuating mechanism is not more than 50Kg, and the actuator can realize smooth laying on the concave-convex mould. The temperature, humidity and pressure can be displayed in real time in the laying process.

The robot winding software system sequences all functions into linear design (CAD) - > robot motion trajectory planning (CAM) - > simulation- > other auxiliary functions. The structure of the software system may be as shown in fig. 1.

The core functions of the method are modeling, displaying and path planning of a mould for winding a product, and finally generating a motion trail control program of the robot according to the following steps: model import- > CAD (winding line design) - > CAM (robot track) - > export the flow of the robot control program. The basic interface of the software can be as shown in fig. 2.

The software consists of a file, a modeling menu, a view menu, a winding CAM, a simulation menu and an output menu. The primary interface is a graphical display. The software operation flow comprises modeling- > winding CAD- > winding CAM- > simulating- > outputting, starting from the management of basic information of a mold and a winding environment, to the winding linear CAD design, then to the CAM design of the motion track of the robot, and finally completing the output of the robot program through simulation test.

Modeling: the method is characterized by comprising a pressure container, a modified mould and an imported file. The pressure container is in the most basic form, and different container model models are realized by adjusting parameters such as the length of a cylinder body, the form of a seal head and the like. The existing pressure vessel modification may be accomplished by modifying the die menu, or the die may be obtained by importing an existing DXF file.

The mold generation is the same as the tape winding, and the generatrix of the complex core mold can be expressed by a plurality of sets of polynomials. The mould modification can be completed by selecting the core mould wire frame of different line segments and the mathematical expression thereof. For modeling, mathematical description can be performed, or DXF files in AutoCAD can be imported, so that mathematical forms (point location information) of 1, winding and laying curved surfaces are completed; 2. OpenGL based graphical display.

And (4) winding CAD: the winding CAD is the planning of winding line shape, and the stable winding line shape arrangement of the fiber on the surface of the mould is realized through initial constraint conditions such as initial angle, ideal winding angle range, friction coefficient and the like.

After determining the required corresponding parameters, the hoop winding track, spiral winding and the like, or transition conversion among multiple winding modes can be selected.

And (4) winding the CAM: the method comprises the steps of setting motion parameters of the robot, such as data of guiding, height and the like, and calculating the motion trail of the robot according to the obtained winding CAD linear shape.

Simulation: the simulation function simulates the winding process according to the motion track of the robot, and the movement of the silk mouths and the arrangement of the fibers can be observed.

And (3) outputting: and processing the motion trail of the robot, and transmitting the generated robot control program to the controller to finish the preparation work of fiber winding.

The tension and quality control method comprises the selection and data acquisition of a plurality of force controllers, and the research of the quality controller on multi-parameter acquisition and display strategies such as environment temperature, humidity, working temperature and the like.

The tension control system consists of a tension input device and a tension motor servo controller, the PLC calculates the pre-tension and the actual tension input by the tension input system and sends the calculation result to the servo controller to complete tension control, and the quality control system is responsible for acquiring the tension of each yarn group and the total winding tension, generating a process curve, acquiring the ambient temperature and humidity in the winding process, acquiring the working temperature of the glue tank and the like.

Claims

1. The seven-shaft fiber winding machine based on the mechanical arm is characterized by comprising six mechanical arms, a tail end executing mechanism and a guide rail, wherein the six mechanical arms are connected with the guide rail through the tail end executing mechanism.

2. The seven-axis fiber winding machine based on mechanical arm as claimed in claim 1, wherein a robotic fiber winding system is provided in said end effector.

3. The seven-axis filament winding machine based on the mechanical arm as claimed in claim 2, wherein the robot filament winding system comprises a data input subsystem, a filament winding line type design subsystem, a robot motion track design subsystem, a data output subsystem and a display subsystem which are connected in sequence.

4. The seven-axis filament winding machine based on mechanical arm as claimed in claim 1, wherein the horizontal movement speed of the six-axis mechanical arm is 0-20 m/min.

5. The seven-axis robot-based filament winding machine of claim 1, wherein said six-axis robot is a standard robot KR150 of a couka.