CN115573093B - Constant force follow-up supporting device for special-shaped workpiece of braiding machine - Google Patents
Constant force follow-up supporting device for special-shaped workpiece of braiding machine Download PDFInfo
- Publication number
- CN115573093B CN115573093B CN202211240641.5A CN202211240641A CN115573093B CN 115573093 B CN115573093 B CN 115573093B CN 202211240641 A CN202211240641 A CN 202211240641A CN 115573093 B CN115573093 B CN 115573093B
- Authority
- CN
- China
- Prior art keywords
- supporting
- special
- shaped workpiece
- constant force
- pressure sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009954 braiding Methods 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 9
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 9
- 241001330002 Bambuseae Species 0.000 claims description 9
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 9
- 239000011425 bamboo Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims 1
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000009941 weaving Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 13
- 230000009286 beneficial effect Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000011156 evaluation Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000001788 irregular Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 239000000835 fiber Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
- D04C3/00—Braiding or lacing machines
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
- D04C3/00—Braiding or lacing machines
- D04C3/48—Auxiliary devices
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
- Y02P70/62—Manufacturing or production processes characterised by the final manufactured product related technologies for production or treatment of textile or flexible materials or products thereof, including footwear
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
Abstract
The invention discloses a special-shaped workpiece constant force follow-up supporting device for a braiding machine, which comprises: the support platform is used for supporting one end of the special-shaped workpiece mandrel; the lifting mechanism is arranged on the support frame, the end part of the lifting mechanism, which outputs supporting force, is connected with the supporting platform through the first pressure sensor, and the lifting mechanism controls the supporting platform to move along with the mandrel of the special-shaped workpiece in the axial direction or the downward direction according to the detection result of the first pressure sensor, so that the supporting platform outputs constant force to the end part of the mandrel of the special-shaped workpiece. The force of the end part of the special-shaped workpiece mandrel on the supporting platform can be detected in real time through the first pressure sensor, the direction that the manipulator drives the special-shaped workpiece mandrel to move can be reflected by the reduction and the increase of the acting force, so that the lifting mechanism can be effectively controlled to drive the supporting platform to move along with the moving direction of the special-shaped workpiece mandrel, the weaving position of the special-shaped workpiece mandrel is ensured not to deviate from the center of the braiding machine, the tension of the braided wires in all directions is consistent, and the quality of a finished product is ensured.
Description
Technical Field
The invention relates to the technical field of braiding machines, in particular to a constant force follow-up supporting device for a special-shaped workpiece of a braiding machine.
Background
The braiding machine can be used for producing a three-dimensional braiding of a fiber composite preform, and a three-dimensional braiding method is adopted when braiding a special-shaped braiding, namely a special-shaped workpiece, and the braiding machine is used for interweaving fibers by interlacing bobbins on a dial of the braiding machine 8 and winding the fibers on the surface of a mandrel 10 of the special-shaped workpiece to form the special-shaped braiding. One end of the special-shaped workpiece mandrel 10 is controlled to move in the horizontal direction and the vertical direction by the manipulator 9, the special-shaped workpiece mandrel 10 passes through the center of the braiding machine 8 in the braiding process and is controlled to feed forward in the horizontal direction by the manipulator 9, and meanwhile the manipulator 9 is also used for controlling the special-shaped workpiece mandrel 10 to move up and down in the vertical direction, so that the axis of the special-shaped workpiece mandrel 10 positioned at the center part of the braiding machine 8 coincides with the axis of the braiding machine 8, the braiding position is ensured not to deviate from the center of the braiding machine 8, the braided wire tension in all directions is consistent, and the quality of a finished product is ensured.
In the prior art, for a common workpiece with central axes of all sections on the same axis, the production requirement can be met by adopting a fixed supporting device at the other end of the common workpiece. However, for the special-shaped workpiece, the central axes of the cross sections at different sections of the special-shaped workpiece deviate, and the manipulator 9 is required to control the special-shaped workpiece mandrel 10 to move in the horizontal direction and also to control the special-shaped workpiece mandrel 10 to move in the up-down direction, so that the fixed supporting device applied to the other end of the common workpiece mandrel cannot meet the supporting requirement of the other end of the special-shaped workpiece mandrel 10 along with the up-down movement of the manipulator 9. Accordingly, there is a need for a constant force follow-up support device for a profiled workpiece for a braiding machine that at least partially addresses the problems of the prior art.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a profiled work piece constant force follow-up support device for a braiding machine, comprising:
the support platform is used for supporting one end of the special-shaped workpiece mandrel;
the lifting mechanism is arranged on the support frame, the end part of the lifting mechanism outputting the supporting force is connected with the supporting platform through the first pressure sensor, and the lifting mechanism controls the supporting platform to move along with the mandrel of the special-shaped workpiece in the axial direction or the downward direction according to the detection result of the first pressure sensor, so that the supporting platform outputs a constant force to the end part of the mandrel of the special-shaped workpiece.
Preferably, the top of the supporting platform is provided with a connector for fixing the special-shaped workpiece mandrel through a hinge assembly.
Preferably, the hinge assembly includes: the fixed plate is arranged at the top of the supporting platform, the fixed plate is rotationally provided with a hinge shaft, and the hinge shaft is fixedly connected with the connector through a fixing piece.
Preferably, the lifting mechanism comprises: the lifting driving part is fixedly arranged on the supporting frame, a supporting rod is arranged at the output end of the lifting driving part, the top end of the supporting rod penetrates through the top plate of the supporting frame, and the supporting rod is connected with the supporting platform through the first pressure sensor; the vertical sliding arrangement is in spacing subassembly on the support frame, spacing subassembly's top with supporting platform fixed connection.
Preferably, the limiting assembly includes: the top of spacing branch with supporting platform connects, the bottom of spacing branch passes the roof setting of support frame, the bottom of spacing branch is equipped with the limiting plate, be equipped with four at least spacing barrels of evenly arranging on the roof, the spacing section of thick bamboo sliding is equipped with spacing branch.
Preferably, the first pressure sensor is in communication connection with the lifting mechanism through a control part, and the control part is used for controlling the lifting mechanism to work according to the real-time detected pressure value of the first pressure sensor, so that the difference value between the detected pressure value of the first pressure sensor and the preset pressure value is kept within a preset range.
Preferably, the method further comprises: the constant force support compensation mechanism is arranged at the joint of the support rod and the first pressure sensor and is used for compensating the constant force output by the support rod.
Preferably, the constant force support compensation mechanism includes: the top of the connecting cylinder is fixedly connected with the first pressure sensor through a connecting plate, a sliding rod is arranged at the inner top of the connecting cylinder, the top of the supporting rod is arranged in the connecting cylinder in a sliding manner, a round hole for the sliding rod to slide is formed in the top of the supporting rod, a first spring is sleeved on the outer side of the sliding rod, and the first spring is arranged between the inner top of the connecting cylinder and the top of the supporting rod; at least both sides on bracing piece top are articulated through the fixed block have the gyro wheel, the inside of connecting the barrel is equipped with the pressure detection subassembly with gyro wheel butt, pressure detection subassembly is used for radial perception bracing piece and supporting platform between relative movement, so that control lift drive portion makes the bracing piece upwards or the downward movement, compensates the constant force of bracing piece output.
Preferably, the pressure detecting assembly includes: the abutting block is an inclined surface on one side, abutting against the roller, of the abutting block, the other side of the abutting block is connected with the side wall of the connecting cylinder body through an elastic piece, and a second pressure sensor is arranged at the joint of the abutting block and the elastic piece; the distance between the top end of the inclined surface and the axis of the supporting rod is smaller than the distance between the bottom end of the inclined surface and the axis of the supporting rod, and a limiting chute corresponding to the roller is arranged on the inclined surface.
Preferably, the elastic member includes: the outer side of the adjusting cylinder is provided with external threads, and the side wall of the connecting cylinder body is provided with a threaded hole corresponding to the external threads; the supporting rod, the one end of supporting rod with supporting block fixed connection, the other end sliding connection of supporting rod is in the adjustment section of thick bamboo, the outside cover of supporting rod is equipped with the second spring, the second spring is located between the tip of supporting block and adjustment section of thick bamboo, second pressure sensor locates between second spring and the supporting block.
Compared with the prior art, the invention at least comprises the following beneficial effects:
according to the constant force follow-up supporting device for the special-shaped workpiece of the braiding machine, the force applied to the supporting platform by the end part of the special-shaped workpiece mandrel can be detected in real time through the first pressure sensor, the reduction and the increase of the acting force can reflect the direction that the manipulator drives the special-shaped workpiece mandrel to move, so that the lifting mechanism can be effectively controlled to drive the supporting platform to move along with the moving direction of the special-shaped workpiece mandrel, the supporting platform is ensured to output constant force support to the end part of the special-shaped workpiece mandrel, and therefore, when the braiding machine works, the braiding wire is wound on the surface of the special-shaped workpiece mandrel to form the whole process of the special-shaped braiding, the stress balance of the special-shaped workpiece mandrel during the movement can be ensured, and the braiding position of the special-shaped workpiece mandrel is ensured not to deviate from the center of the braiding machine, so that the braiding wire tension in all directions is consistent, and the quality of a finished product is ensured.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination and practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a connecting side view structure of a special-shaped workpiece constant force follow-up supporting device for a braiding machine, the braiding machine and a manipulator;
FIG. 2 is a schematic structural view of a constant force follow-up support device for a profiled workpiece of a braiding machine according to the present invention;
FIG. 3 is a schematic view of the structure of the hinge assembly in the profiled work piece constant force follow-up support device for a braiding machine according to the present invention;
FIG. 4 is a schematic diagram of the installation position structure of a pressure sensor in the special-shaped workpiece constant force follow-up supporting device for the braiding machine;
FIG. 5 is a schematic view of the internal structure of the constant force support compensation mechanism in the constant force follow-up support device for the profiled work piece of the braiding machine according to the present invention;
FIG. 6 is an enlarged schematic view of the internal structure of the constant force support compensation mechanism in the constant force follow-up support device for the profiled work piece of the braiding machine according to the present invention;
fig. 7 is a schematic view of the internal structure of an elastic member in the constant force follow-up supporting device for a profiled workpiece of a braiding machine according to the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 7, the present invention provides a constant force follow-up support device for a profiled workpiece of a braiding machine, comprising: a support platform 1 for supporting one end of the special-shaped workpiece mandrel 10; the lifting mechanism 3 is arranged on the support frame 2, the end part of the lifting mechanism 3 outputting supporting force is connected with the support platform 1 through the first pressure sensor 4, and the lifting mechanism 3 controls the support platform 1 to move upwards or downwards along with the special-shaped workpiece mandrel 10 according to the detection result of the first pressure sensor 4, so that the support platform 1 outputs constant force to the end part of the special-shaped workpiece mandrel 10.
The working principle of the technical scheme is as follows: the base of the braiding machine 8 is respectively provided with a first sliding rail and a second sliding rail for horizontally moving the manipulator 9 and the follow-up supporting device, one end of the special-shaped workpiece mandrel 10 is connected with the manipulator 9, the other end of the special-shaped workpiece mandrel 10 is connected with the follow-up supporting device, when the manipulator 9 drives the special-shaped workpiece mandrel 10 to horizontally move, the follow-up supporting device integrally moves along with the special-shaped workpiece mandrel 10, when one end of the manipulator 9 drives the special-shaped workpiece mandrel 10 to move upwards or downwards, the other end of the special-shaped workpiece mandrel 10 is subjected to upward pulling force or downward pulling force of the manipulator 9, the special-shaped workpiece mandrel 10 is reduced or increased compared with the force acted on the supporting platform 1 at the last moment, so that the pressure between the supporting platform 1 and the lifting mechanism 3 detected by the first pressure sensor 4 is reduced or increased, the supporting platform 1 and the lifting mechanism 3 are controlled to move upwards or downwards along with the special-shaped workpiece mandrel 10 through the lifting mechanism 3, and in the moving process, when the pressure value detected by the first pressure sensor 4 reaches the preset value, the supporting platform 1 stops moving along with the preset value, the supporting platform 1 is ensured to always maintain the constant supporting force of the special-shaped workpiece mandrel 10 to the preset supporting force at the end of the special-shaped workpiece mandrel 10.
The beneficial effects of the technical scheme are that: the force of the end part of the special-shaped workpiece mandrel 10 acting on the supporting platform 1 can be detected in real time through the first pressure sensor 4, the reduction and the increase of acting force can reflect the direction that the manipulator 9 drives the special-shaped workpiece mandrel 10 to move, so that the lifting mechanism 3 can be effectively controlled to drive the supporting platform 1 to move along with the moving direction of the special-shaped workpiece mandrel 10, the supporting platform 1 is ensured to output constant force support to the end part of the special-shaped workpiece mandrel 10, therefore, when the braiding machine 8 works, the braiding wire is wound on the surface of the special-shaped workpiece mandrel 10 to form the whole process of a special-shaped braiding, the stress balance of the special-shaped workpiece mandrel 10 during the movement can be ensured, and the braiding position of the special-shaped workpiece mandrel 10 is ensured not to deviate from the center of the braiding machine 8, so that the braiding wire tension in all directions is consistent, and the quality of a finished product is ensured.
In one embodiment, the top of the supporting platform 1 is provided with a connector 5 for fixing a special-shaped workpiece mandrel 10 through a hinge assembly 6.
The working principle and the beneficial effects of the technical scheme are as follows: because the manipulator 9 controls one end of the special-shaped workpiece mandrel 10 to start moving up and down, stress is applied to the other end of the special-shaped workpiece mandrel 10 in the same direction, before the lifting mechanism 3 receives the information of the first pressure sensor 4 to start responding, in order to ensure that the other end of the special-shaped workpiece mandrel 10 cannot be damaged due to unbalanced stress, the connector 5 detachably connected with the connector is hinged with the supporting platform 1 through the hinge assembly 6, that is, one end of the special-shaped workpiece mandrel 10 connected with the supporting platform 1 can rotate for a certain angle relative to the supporting platform 1, so that the other end of the special-shaped workpiece mandrel 10 is conveniently hinged and supported before the lifting mechanism 3 responds, and uneven stress is prevented.
In one embodiment, the hinge assembly 6 comprises: the fixed plate 610 is arranged at the top of the supporting platform 1, the fixed plate 610 is rotatably provided with a hinge shaft 620, and the hinge shaft 620 is fixedly connected with the connector 5 through a fixing piece 630.
The working principle and the beneficial effects of the technical scheme are as follows: the fixed plate 610 is arranged in two, the fixed plates are symmetrically arranged on the supporting platform 1, the hinge shaft 620 is connected with the fixed plate 610 in a rotating mode, a fixed piece 630 is fixedly sleeved on the hinge shaft 620, one side of the fixed piece 630 is fixed with the connector 5 through a bolt, the end portion, away from the fixed piece 630, of the connector 5 can be inserted into the special-shaped workpiece mandrel 10, then the fixed plate and the connector are fixed through a screw, detachable connection is achieved, and the special-shaped workpiece mandrel 10 is convenient to install and detach.
In one embodiment, the lifting mechanism 3 comprises: the lifting driving part 310 is fixedly arranged on the support frame 2, a supporting rod 320 is arranged at the output end of the lifting driving part 310, the top end of the supporting rod 320 penetrates through the top plate 210 of the support frame 2, and the supporting rod 320 is connected with the support platform 1 through the first pressure sensor 4; the limiting component 330 is vertically arranged on the supporting frame 2 in a sliding mode, and the top of the limiting component 330 is fixedly connected with the supporting platform 1.
The working principle and the beneficial effects of the technical scheme are as follows: the lifting driving part 310 can be any form such as a linear motor and the like and can drive the supporting rod 320 to move up and down, the top end of the supporting rod 320 is connected with the center of the bottom surface of the supporting platform 1 through the first pressure sensor 4, the first pressure sensor 4 can be a weighing sensor, a larger pressure value of the special-shaped workpiece mandrel 10 acting on the supporting rod 320 can be detected, the limiting component 330 can be used for supporting the supporting platform 1 more uniformly, radial limiting is provided for the up-and-down movement of the supporting platform 1, and the up-and-down movement stability of the supporting platform 1 is ensured.
In one embodiment, the limit assembly 330 includes: the limiting support rod 331, the top of limiting support rod 331 with supporting platform 1 connects, the bottom of limiting support rod 331 passes the roof 210 setting of support frame 2, the bottom of limiting support rod 331 is equipped with limiting plate 332, be equipped with four at least spacing section of thick bamboo 211 of evenly arranging on the roof 210, the spacing section of thick bamboo 211 sliding is equipped with limiting support rod 331.
The working principle and the beneficial effects of the technical scheme are as follows: the sliding damper can be arranged at the sliding connection part between the inside of the limiting cylinder 211 and the limiting support rod 331 so that the limiting support rod 331 can provide more stable support for the movement of the supporting platform 1, the limiting support rod 331 is uniformly distributed with at least four supporting rods 320 in the circumferential direction so as to uniformly disperse the auxiliary supporting force to the supporting platform 1, and the limiting plates 332 are arranged at the bottom ends of the four limiting support rods 331 so as to ensure that the limiting support rod 331 cannot deviate from the limiting cylinder 211 when moving, and ensure the stability of the synchronous movement of the four limiting support rods 331.
In one embodiment, the first pressure sensor 4 is communicatively connected to the lifting mechanism 3 through a control unit, and the control unit is configured to control the lifting mechanism 3 to operate according to the real-time detected pressure value of the first pressure sensor 4, so that a difference between the detected pressure value of the first pressure sensor 4 and a preset pressure value is kept within a preset range.
The working principle and the beneficial effects of the technical scheme are as follows: the first pressure sensor 4 detects the pressure value between the supporting platform 1 and the supporting rod 320 in real time, and transmits the detected pressure value information to the control part, the control part compares the detected pressure value with a preset pressure value to control the lifting mechanism 3 to work cooperatively, the detected pressure value is dynamically changed at any time, and is difficult to maintain that the detected pressure value is identical with the preset pressure value, therefore, a preset range capable of meeting the production requirement is preset, the preset range is a limit set for the difference value between the detected pressure value and the preset pressure value, if the difference value exceeds the preset range, the lifting mechanism 3 is controlled to work according to the magnitude relation between the detected pressure value and the preset pressure value, so that the difference value between the detected pressure value and the preset pressure value in real time is maintained within the preset range, and the constant force support output by the supporting platform 1 is ensured.
In one embodiment, further comprising: and the constant force support compensation mechanism 7 is arranged at the joint of the support rod 320 and the first pressure sensor 4 and is used for compensating the constant force output by the support rod 320.
The working principle and the beneficial effects of the technical scheme are as follows: the pressure detected by the first pressure sensor 4 mainly comes from the gravity of the special-shaped workpiece mandrel 10 and the resultant force of the acting force generated by the mechanical arm 9 when the special-shaped workpiece mandrel 10 moves, so that the measuring range of the first pressure sensor 4 is larger, the pressure detected by the pressure sensor is closer to the measuring range detection range of the special-shaped workpiece mandrel, the detection precision is higher, the special-shaped workpiece mandrel 10 is horizontally fed during braiding, the special-shaped workpiece mandrel 10 needs to be controlled to move up and down through the mechanical arm 9 when passing through the center of the braiding machine 8 at transition positions of different shapes, if the transition size of the transition position is smaller in the vertical direction, the first pressure sensor 4 with the larger measuring range possibly has disadvantages on the precision of the pressure detection at the position, so that in order to compensate the pressure error detected by the first pressure sensor 4, the constant force support compensating mechanism 7 is arranged, the constant force output by the supporting rod 320 can be compensated in an auxiliary control mode, and after the lifting mechanism 3 moves to the position according to the pressure value detected by the first pressure sensor 4, the supporting rod 320 can also detect the moving to the position and the constant force supporting rod 320 and can support the constant force output by the constant force compensating mechanism, the constant force supporting the supporting rod 320 in the transition position, the stability of the supporting rod 320 is ensured, and the quality of the braiding quality is ensured to be stable along with the braiding quality of the braiding end of the special-shaped workpiece.
In one embodiment, the constant force support compensation mechanism 7 comprises: the top of the connecting cylinder 710 is fixedly connected with the first pressure sensor 4 through a connecting plate 720, a sliding rod 730 is arranged at the inner top of the connecting cylinder 710, the top of the supporting rod 320 is slidably arranged in the connecting cylinder 710, a round hole for the sliding rod 730 to slide is formed at the top of the supporting rod 320, a first spring 740 is sleeved outside the sliding rod 730, and the first spring 740 is arranged between the inner top of the connecting cylinder 710 and the top of the supporting rod 320; at least two sides of the top end of the supporting rod 320 are hinged with rollers 760 through fixed blocks, a pressure detection assembly 770 abutting against the rollers 760 is arranged in the connecting cylinder 710, and the pressure detection assembly 770 is used for sensing relative movement between the supporting rod 320 and the supporting platform 1 in the radial direction so as to control the lifting driving part 310 to enable the supporting rod 320 to move upwards or downwards, and constant force output by the supporting rod 320 is compensated.
The working principle and the beneficial effects of the technical scheme are as follows: the pressure detection assembly 770 is always abutted against the roller 760, and provides a moving resistance for upward movement of the roller 760, and a resultant force of an elastic supporting force generated by pressing the first spring 740 and a component force of the elastic abutting force generated between the roller 760 and the pressure detection assembly 770 in a vertical direction acts on the first supporting platform 1 to be always stable, and the resultant force and a force output by the top end of the supporting rod 320 form a constant force support for the output of the first supporting platform 1; before the braiding machine 8 starts to work, the preset pressure value and the preset range of the difference value of the first pressure sensor 4 should be preset, and the initial pressure value range of the pressure detection assembly 770 under the preset pressure value is used as the standard pressure value range in the horizontal direction of the subsequent detection, when the manipulator 9 drives the special-shaped workpiece mandrel 10 to move downwards during work, the supporting platform 1 further increases the downward pulling force of the manipulator 9 on the basis of the gravity of the special-shaped workpiece mandrel 10, the supporting platform 1 presses down the first pressure sensor 4, then drives the connecting plate 720 fixed with the supporting platform, the connecting cylinder 710, the sliding rod 730 arranged in the connecting cylinder 710 and the pressure detection assembly 770 to move downwards together, the compression amount of the first spring 740 is increased to provide larger elastic force, and the acting force between the roller 760 and the pressure detection assembly 770 is increased, so that the component force of the force in the horizontal direction acts on the pressure detecting component 770 to increase the detected horizontal pressure value, and meanwhile, the component force of the force in the vertical direction and the elastic force of the first spring 740 act between the support rod 320 and the first support platform 1 together to enable the detected pressure value of the first pressure sensor 4 to exceed the preset pressure value, and the value detected by the pressure detecting component 770 exceeds the standard pressure value range, the control part preferably controls the lifting mechanism 3 to move the support rod 320 according to the detected pressure value of the first pressure sensor 4, when the difference between the detected pressure value and the preset pressure value satisfies the preset range, the control part further judges whether the value detected by the current pressure detecting component 770 satisfies the standard pressure value range or not, if so, fine adjustment is not needed, if the constant force output is not met, the control part controls the lifting mechanism 3 to move the supporting rod 320 according to the numerical value detected by the current pressure detection assembly 770, so that fine adjustment is realized, more accurate constant force output after fine adjustment is obtained, and the accuracy of supporting constant force output by the special-shaped workpiece mandrel 10 is ensured; in the working process of the special-shaped workpiece mandrel 10, vibration is inevitably generated, the pressure value detected by the pressure detection assembly 770 in real time is changed under the vibration action, and the pressure value detected by the pressure detection assembly 770 is generally within the standard pressure value range under the vibration action, so that adjustment is not needed, and meanwhile, the damping effect can be achieved through the abutting acting force between the first spring 740 and the pressure detection assembly 770 and the roller 760; when the detected pressure value of the first pressure sensor 4 is maintained within the preset range, and the pressure value detected by the pressure detection assembly 770 is beyond the standard pressure value range, the control part controls the lifting mechanism 3 to work according to the pressure detection assembly 770, so that the constant force support output by the support platform 1 is finely adjusted, and the stability of the support force is ensured.
In one embodiment, the pressure detection assembly 770 includes: an abutment block 771, wherein one side of the abutment block 771 abutting against the roller 760 is an inclined surface, the other side of the abutment block 771 is connected with the side wall of the connecting cylinder 710 through an elastic member 772, and a second pressure sensor is arranged at the joint of the abutment block 771 and the elastic member 772; the distance between the top end of the inclined surface and the axis of the supporting rod 320 is smaller than the distance between the bottom end of the inclined surface and the axis of the supporting rod 320, and the inclined surface is provided with a limiting chute 773 corresponding to the roller 760.
The working principle and the beneficial effects of the technical scheme are as follows: the limiting sliding groove 773 arranged on the inclined surface of the abutting block 771 is used for the roller 760 to slide along the inclined surface so as to ensure the abutting stability of the two, the elastic piece 772 is arranged on the other side of the abutting block 771, so that the elastic abutting action between the abutting block 771 and the roller 760 can be realized, the abutting block 771 can be horizontally moved under the abutting action of the roller 760 when the roller 760 moves up and down, the second pressure sensor can sensitively detect the relative movement between the support rod 320 and the support platform 1 from the radial direction, namely the horizontal direction, so that the relative movement between the support rod 320 and the support platform 1 can be perceived, the larger weight of the special-shaped workpiece mandrel 10 is not needed to bear, and the action of the manipulator 9 is avoided, the measuring range of the second pressure sensor can be selected according to the size of the horizontal acting force, the relative movement between the support rod 320 and the support platform 1 can be more sensitively perceived, the force support of the special-shaped workpiece mandrel 10 can be more accurately adjusted, and the uniformity of the knitting line in each direction is further ensured, and the tension of the special-shaped workpiece mandrel 10 is wound at each part of the special-shaped workpiece mandrel is more uniform;
the elastic member 772 may be provided with a plurality of pressure sensors along the length direction of the abutment block 771, and meanwhile, the second pressure sensor is also provided with a plurality of pressure sensors, so that the control part needs to acquire a plurality of pressure values detected by the plurality of pressure detecting components 770 respectively, and after calculation, a more accurate detected pressure value can be output and then compared with a standard pressure value range.
In one embodiment, the control section includes:
a storage unit, wherein the storage unit stores a standard pressure value range of the constant force support compensation mechanism 7;
an acquisition unit configured to acquire detection pressure values of a plurality of second pressure sensors;
the calculating unit is used for carrying out average value calculation on the plurality of detection pressure values to obtain a target pressure value;
the judging unit is used for comparing the target pressure value with the standard pressure value range and judging whether the target pressure value exceeds the standard pressure value range;
further comprises: a vibration evaluation unit for acquiring an evaluation coefficient μ of a change in a vertical runout of the pressure value detected by the second pressure sensor within a preset time when the first pressure sensor 4 does not detect a change in pressure:
wherein x is i To obtain for the ith time in the preset timeTaking the target pressure value x 0 The method comprises the steps that the method is a middle value of a standard pressure value range, and n is the number of target pressure values acquired in preset time;
an abnormality early warning unit for comparing the evaluation coefficient μ obtained by the vibration evaluation unit with the evaluation standard coefficient μ 0 Comparing if mu<μ 0 The vibration generated in the working process of the special-shaped workpiece mandrel 10 is stable, and no alarm prompt is sent out; if mu is greater than or equal to mu 0 The abnormal workpiece mandrel 10 is unstable in vibration generated in the working process, the risk of deviating from the center of the braiding machine 8 exists, and an alarm prompt is sent.
The working principle and the beneficial effects of the technical scheme are as follows: in the braiding process, the special-shaped workpiece mandrel 10 inevitably generates vibration conditions, and excessive vibration amplitude can lead the special-shaped workpiece mandrel 10 to deviate from the center of the braiding machine 8, so that the tension of braiding wires in all directions wound on the special-shaped workpiece mandrel 10 is uneven, and the product quality is affected; in the above scheme, the intermediate value between the obtained target pressure value and the standard pressure value range is used as the calculation parameter, and the amplitude of the jump of the target pressure value up and down the intermediate value can be obtained, wherein the intermediate value means, for example, that the standard pressure value range is [100,120]Then the intermediate value is
The smoother the irregular workpiece mandrel 10 works, the smaller the obtained evaluation coefficient is, the larger the irregular workpiece mandrel 10 fluctuates in the working process, and therefore, an evaluation standard coefficient is set as a reference to measure the working stability of the irregular workpiece mandrel 10, and the abnormal working condition of the irregular workpiece mandrel 10 is reminded to people in an alarm sending mode.
In one embodiment, the elastic member 772 includes: an external thread is arranged on the outer side of the adjusting cylinder 7721, and a threaded hole 711 corresponding to the external thread is arranged on the side wall of the connecting cylinder 710; the supporting rod 7722, one end of the supporting rod 7722 is fixedly connected with the supporting block 771, the other end of the supporting rod 7722 is slidably connected in the adjusting cylinder 7721, a second spring 7723 is sleeved on the outer side of the supporting rod 7722, the second spring 7723 is arranged between the supporting block 771 and the end of the adjusting cylinder 7721, and the second pressure sensor is arranged between the second spring 7723 and the supporting block 771.
The working principle and the beneficial effects of the technical scheme are as follows: in order to meet the requirement of supporting the special-shaped workpiece mandrel 10 with different weights, the elastic abutting force between the abutting block 771 and the roller 760 can be increased or reduced by adjusting the elastic piece 772, specifically, the threaded hole 711 is formed in the side wall of the connecting cylinder 710, the compression amount of the second spring 7723 between the abutting block 771 and the end part of the adjusting cylinder 7721 is changed by changing the connecting length of the adjusting cylinder 7721 in the threaded hole 711, the acting force of the second spring 7723 on the abutting block 771 is changed, and therefore the elastic abutting force between the abutting block 771 and the roller 760 is adjusted, and the elastic abutting force can be changed by removing the adjusting cylinder 7721 from the threaded hole 711 and changing the elastic abutting force by changing the second spring 7723, so that the initial abutting position of the roller 760 and the abutting block 771 can meet the production work requirement.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (8)
1. A constant force follow-up support device for a profiled workpiece of a braiding machine, comprising: the support platform (1) is used for supporting one end of the special-shaped workpiece mandrel (10); the lifting mechanism (3) is arranged on the support frame (2), the end part of the lifting mechanism (3) outputting supporting force is connected with the supporting platform (1) through the first pressure sensor (4), and the lifting mechanism (3) controls the supporting platform (1) to move upwards or downwards along with the special-shaped workpiece mandrel (10) according to the detection result of the first pressure sensor (4), so that the supporting platform (1) outputs constant force to the end part of the special-shaped workpiece mandrel (10);
the lifting mechanism (3) comprises: the lifting driving part (310) is fixedly arranged on the supporting frame (2), a supporting rod (320) is arranged at the output end of the lifting driving part (310), the top end of the supporting rod (320) penetrates through the top plate (210) of the supporting frame (2), and the supporting rod (320) is connected with the supporting platform (1) through the first pressure sensor (4); the limiting assembly (330) is vertically arranged on the supporting frame (2) in a sliding manner, and the top of the limiting assembly (330) is fixedly connected with the supporting platform (1);
further comprises: and the constant force support compensation mechanism (7) is arranged at the joint of the support rod (320) and the first pressure sensor (4) and is used for compensating the constant force output by the support rod (320).
2. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 1, characterized in that the top of the support platform (1) is provided with a connector (5) for fixing a profiled workpiece mandrel (10) by means of a hinge assembly (6).
3. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 2, wherein the hinge assembly (6) comprises: the fixed plate (610) is arranged at the top of the supporting platform (1), the fixed plate (610) is rotatably provided with a hinge shaft (620), and the hinge shaft (620) is fixedly connected with the connector (5) through a fixing piece (630).
4. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 1, wherein the limiting assembly (330) comprises: spacing branch (331), the top of spacing branch (331) with supporting platform (1) is connected, the bottom of spacing branch (331) passes roof (210) setting of support frame (2), the bottom of spacing branch (331) is equipped with limiting plate (332), be equipped with four at least spacing section of thick bamboo (211) of evenly arranging on roof (210), be equipped with in spacing section of thick bamboo (211) the interior of sliding of branch (331).
5. The special-shaped workpiece constant force follow-up supporting device for the braiding machine according to claim 1, wherein the first pressure sensor (4) is in communication connection with the lifting mechanism (3) through a control part, and the control part is used for controlling the lifting mechanism (3) to work according to the real-time detection pressure value of the first pressure sensor (4) so as to enable the difference value between the detection pressure value of the first pressure sensor (4) and a preset pressure value to be kept within a preset range.
6. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 1, wherein the constant force support compensation mechanism (7) comprises: the top of the connecting cylinder body (710) is fixedly connected with the first pressure sensor (4) through a connecting plate (720), a sliding rod (730) is arranged at the inner top of the connecting cylinder body (710), the top of the supporting rod (320) is arranged in the connecting cylinder body (710) in a sliding mode, a round hole for the sliding rod (730) to slide is formed in the top of the supporting rod (320), a first spring (740) is sleeved on the outer side of the sliding rod (730), and the first spring (740) is arranged between the inner top of the connecting cylinder body (710) and the top of the supporting rod (320); at least two sides at the top end of the supporting rod (320) are hinged with rollers (760) through fixed blocks, a pressure detection assembly (770) which is abutted against the rollers (760) is arranged in the connecting cylinder (710), and the pressure detection assembly (770) is used for sensing relative movement between the supporting rod (320) and the supporting platform (1) in the radial direction and compensating constant force output by the supporting rod (320).
7. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 6, wherein the pressure detection assembly (770) comprises: an abutting block (771), wherein one side of the abutting block (771) abutting against the roller (760) is an inclined surface, the other side of the abutting block (771) is connected with the side wall of the connecting cylinder (710) through an elastic piece (772), and a second pressure sensor is arranged at the joint of the abutting block (771) and the elastic piece (772); the distance between the top end of the inclined plane and the axis of the supporting rod (320) is smaller than the distance between the bottom end of the inclined plane and the axis of the supporting rod (320), and a limiting chute (773) corresponding to the roller (760) is arranged on the inclined plane.
8. The profiled workpiece constant force follow-up support device for a braiding machine according to claim 7, wherein the elastic member (772) comprises: an external thread is arranged on the outer side of the adjusting cylinder (7721), and a threaded hole (711) corresponding to the external thread is arranged on the side wall of the connecting cylinder body (710); the supporting rod (7722), the one end of supporting rod (7722) with supporting block (771) fixed connection, the other end sliding connection of supporting rod (7722) is in adjusting section of thick bamboo (7721), the outside cover of supporting rod (7722) is equipped with second spring (7723), between supporting block (771) and the tip of adjusting section of thick bamboo (7721) is located to second spring (7723), between second spring (7723) and supporting block (771).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211240641.5A CN115573093B (en) | 2022-10-11 | 2022-10-11 | Constant force follow-up supporting device for special-shaped workpiece of braiding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211240641.5A CN115573093B (en) | 2022-10-11 | 2022-10-11 | Constant force follow-up supporting device for special-shaped workpiece of braiding machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115573093A CN115573093A (en) | 2023-01-06 |
| CN115573093B true CN115573093B (en) | 2023-06-13 |
Family
ID=84584680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211240641.5A Active CN115573093B (en) | 2022-10-11 | 2022-10-11 | Constant force follow-up supporting device for special-shaped workpiece of braiding machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115573093B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5398586A (en) * | 1990-08-25 | 1995-03-21 | Murata Kikai Kabushiki Kaisha | Braided structure forming method |
| JPH07189096A (en) * | 1993-12-27 | 1995-07-25 | Murata Mach Ltd | Braider |
| JP2007321281A (en) * | 2006-05-31 | 2007-12-13 | Murata Mach Ltd | Braiding device for long mandrel |
| JP2010090494A (en) * | 2008-10-07 | 2010-04-22 | Murata Machinery Ltd | Apparatus for producing bent preform |
| CN106567186A (en) * | 2016-10-08 | 2017-04-19 | 东华大学 | Inner-ring horizontal three-dimensional braiding machine and robot core traction system |
| CN108221172A (en) * | 2018-02-01 | 2018-06-29 | 浙江理工大学 | A kind of special-shaped textile dabber clamp and its operating method |
| CN108532121A (en) * | 2018-06-14 | 2018-09-14 | 浙江本发科技有限公司 | The braiding plug transfer device of net cover equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4450232B2 (en) * | 2006-02-14 | 2010-04-14 | 村田機械株式会社 | Assembly machine movable braider |
-
2022
- 2022-10-11 CN CN202211240641.5A patent/CN115573093B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5398586A (en) * | 1990-08-25 | 1995-03-21 | Murata Kikai Kabushiki Kaisha | Braided structure forming method |
| JPH07189096A (en) * | 1993-12-27 | 1995-07-25 | Murata Mach Ltd | Braider |
| JP2007321281A (en) * | 2006-05-31 | 2007-12-13 | Murata Mach Ltd | Braiding device for long mandrel |
| JP2010090494A (en) * | 2008-10-07 | 2010-04-22 | Murata Machinery Ltd | Apparatus for producing bent preform |
| CN106567186A (en) * | 2016-10-08 | 2017-04-19 | 东华大学 | Inner-ring horizontal three-dimensional braiding machine and robot core traction system |
| CN108221172A (en) * | 2018-02-01 | 2018-06-29 | 浙江理工大学 | A kind of special-shaped textile dabber clamp and its operating method |
| CN108532121A (en) * | 2018-06-14 | 2018-09-14 | 浙江本发科技有限公司 | The braiding plug transfer device of net cover equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115573093A (en) | 2023-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH10511311A (en) | Method and apparatus for optimizing and manufacturing a coil spring in an automatic spring winding apparatus | |
| NL9000775A (en) | DEVICE FOR HANDLING PARTS WITH A GRIPPING DEVICE. | |
| CN109937355A (en) | Car lifting J-Horner lift unit load test TT&C system and method | |
| US6192732B1 (en) | Bending method and bending apparatus for bending machine | |
| CN111032547A (en) | Winding device with support roller and contact force control device and yarn processing machine | |
| US5214592A (en) | Machine tool position correcting method and apparatus | |
| CN115573093B (en) | Constant force follow-up supporting device for special-shaped workpiece of braiding machine | |
| EP0940196B1 (en) | Bending angle correction method and press brake made using the same | |
| JP2007216319A (en) | Machine tool | |
| CN109623448A (en) | A kind of circle hardware shell special fixture and its working method | |
| CN112880570A (en) | Intelligent steel bar weighing and length measuring mechanism and weight deviation marking all-in-one machine thereof | |
| US5053973A (en) | Method and apparatus for correcting deflection of a movable member | |
| CN117340050B (en) | Wheelchair rod piece correction jig and process | |
| CN206944917U (en) | Out star wheel length and cylindrical automatic detection device | |
| CN209945303U (en) | Automatic detection device for position degree of wheel bolt hole | |
| CN214748625U (en) | Force standard machine for continuously measuring pulling pressure of sensor | |
| EP3751035B1 (en) | Device for sensing warp thread tension in a weaving machine | |
| CN213316268U (en) | Roller bounce detection and sorting equipment | |
| CN219520086U (en) | Horizontal shaft's level adjustment device | |
| CN114801302B (en) | Intelligent press machine with built-in deformation compensation module | |
| JP5965096B2 (en) | Steel pipe forming apparatus and forming method | |
| CN217837919U (en) | Strander tension control device | |
| JP2020114601A (en) | Press for direct extrusion of metallic material | |
| CN216945544U (en) | Roller system balance system of 5-micron high-tensile-strength copper foil | |
| CN209753704U (en) | Digital display manual straightener |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |