CN116922817A - Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit - Google Patents
Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit Download PDFInfo
- Publication number
- CN116922817A CN116922817A CN202310927444.9A CN202310927444A CN116922817A CN 116922817 A CN116922817 A CN 116922817A CN 202310927444 A CN202310927444 A CN 202310927444A CN 116922817 A CN116922817 A CN 116922817A
- Authority
- CN
- China
- Prior art keywords
- linear
- yarn
- driving device
- laying
- carbon fiber
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
- B29C70/38—Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns
- B29C70/382—Automated fiber placement [AFP]
- B29C70/384—Fiber placement heads, e.g. component parts, details or accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
- Mechanical Engineering (AREA)
- Moulding By Coating Moulds (AREA)
Abstract
本发明公开了一种基于并联调姿单元和线性走丝单元的碳纤维协同铺丝设备，包括：并联调姿单元，并联调姿单元包括底座、多个支链、支撑板、支撑轴和芯模转动驱动装置，每个支链包括伸缩杆和支链驱动装置，支撑轴上适于安装待铺丝芯模；线性走丝单元，线性走丝单元包括支座、第一水平线性滑台、升降线性滑台、第二水平线性滑台、铺丝头转动平台、铺丝头转动驱动装置和铺丝头，支座通过连杆与底座相连。根据本发明实施例的基于并联调姿单元和线性走丝单元的碳纤维协同铺丝设备具有铺丝效率高、铺丝质量好、适用性强等优点。
The invention discloses a carbon fiber collaborative wire laying equipment based on a parallel posture adjustment unit and a linear wire running unit, which includes: a parallel posture adjustment unit, which includes a base, a plurality of branch chains, a support plate, a support shaft and a mandrel. Rotary driving device, each branch chain includes a telescopic rod and a branch chain driving device, and the support shaft is suitable for installing the core mold to be laid; a linear wire running unit, the linear wire running unit includes a support, a first horizontal linear slide, a lifting A linear sliding table, a second horizontal linear sliding table, a rotating platform for the laying head, a rotating driving device for the laying head and a laying head. The support is connected to the base through a connecting rod. According to the embodiment of the present invention, the carbon fiber collaborative fiber laying equipment based on the parallel posture adjustment unit and the linear wire running unit has the advantages of high fiber laying efficiency, good fiber laying quality, and strong applicability.
Description
Technical Field
The application relates to the technical field of composite material forming equipment, in particular to carbon fiber collaborative wire laying equipment based on a parallel posture adjusting unit and a linear wire moving unit.
Background
The composite material is widely applied to the fields of aerospace and the like due to the advantages of high specific strength, high specific modulus, fatigue resistance, corrosion resistance and the like. The automatic wire laying technology is a technology for laying carbon fiber prepreg on the surface of a core mold so as to prepare the prepreg of the composite material component.
In the wire laying equipment in the related art, a serial robot is adopted for laying wires, the fiber path is a complex space curve in the automatic wire laying process of a complex curved surface component, and the wire laying head is required to track the curve fiber path and keep vertical to the surface of the core mold. The wire laying equipment is required to meet the position constraint and the attitude constraint at the same time, but the freedom degree of a bracket for fixing the core mold by the serial robot is limited, the wire laying speed is reduced due to frequent passing through an attitude odd domain in the wire laying process, and the temperature of the carbon fiber prepreg in the heating area is too high, so that the wire laying quality and efficiency are reduced.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides the carbon fiber collaborative wire laying equipment based on the parallel posture adjusting unit and the linear wire moving unit, which has the advantages of high wire laying efficiency, good wire laying quality, strong applicability and the like.
In order to achieve the above object, according to an embodiment of the present application, a carbon fiber collaborative yarn laying device based on a parallel posture adjustment unit and a linear yarn feeding unit is provided, the carbon fiber collaborative yarn laying device based on the parallel posture adjustment unit and the linear yarn feeding unit includes: the parallel gesture adjusting unit comprises a base, a plurality of branched chains, a supporting plate, a supporting shaft and a mandrel rotation driving device, wherein the supporting plate is positioned above the base, the lower end of each branched chain is connected with the base through a revolute pair, the upper end of each branched chain is connected with the supporting plate through a ball pair, each branched chain comprises a telescopic rod and a branched chain driving device, the branched chain driving device is in transmission connection with the telescopic rod so as to drive the telescopic rod to stretch out and draw back, the supporting shaft is rotatably arranged on the supporting plate, the rotating axis is perpendicular to the supporting plate, the mandrel rotation driving device is in transmission connection with the supporting shaft, and the mandrel to be paved is suitable for being installed on the supporting shaft; the linear silk unit of walking, the linear silk unit of walking includes support, first horizontal linear slip table, lift linear slip table, second horizontal linear slip table, spreads the silk head and rotate the platform, spread the silk head and rotate drive arrangement and spread the silk head, the support pass through the connecting rod with the base links to each other, first horizontal linear slip table with the length direction of second horizontal linear slip table is all along the directional and mutually perpendicular of horizontal direction, the length direction of lift linear slip table is along vertical direction orientation, first horizontal linear slip table includes first slipbed, first slider and first drive arrangement, first slipbed is established on the support, first slider slidable establishes on the first slipbed, first drive arrangement establish on the first slipbed and with first slider transmission is connected, lift linear slip table includes lift slipbed, lift slider and lift drive arrangement, lift drive arrangement is established on the lift slipbed and lift slider and second slider slidable is established on the second slipbed is connected with the second slider is rotated on the first slipbed, second slider rotatable on the second slipbed is connected with the second slider.
According to the embodiment of the application, the carbon fiber collaborative wire laying equipment based on the parallel gesture adjusting unit and the linear wire moving unit has the advantages of high wire laying efficiency, good wire laying quality, strong applicability and the like.
In addition, the carbon fiber collaborative yarn laying device based on the parallel attitude adjusting unit and the linear yarn feeding unit according to the embodiment of the application can also have the following additional technical characteristics:
according to one embodiment of the application, the carbon fiber collaborative yarn laying equipment based on the parallel gesture adjusting unit and the linear yarn feeding unit further comprises a collaborative control device, wherein the collaborative control device is respectively electrically connected with a plurality of branched chain driving devices, the core mold rotating driving devices, the first driving devices, the lifting driving devices, the second driving devices and the yarn laying head rotating driving devices and is suitable for keeping the rotating axis of a compression roller of the yarn laying head perpendicular to the normal direction of the outer surface of the yarn core mold to be laid.
According to an embodiment of the present application, the rotation axis of the support shaft is oriented in the up-down direction when the lengths of the plurality of branches are equal.
According to one embodiment of the application, the support shaft is configured to be bendable and adapted to maintain the shape after bending.
According to one embodiment of the application, the support shaft is detachably provided with an upper fastening nut and a lower fastening nut, the wire core mould to be paved is suitable for being detachably sleeved on the support shaft, the upper fastening nut is suitable for stopping the upper end of the wire core mould to be paved, and the lower fastening nut is suitable for stopping the lower end of the wire core mould to be paved.
According to one embodiment of the application, the first sliding seat is provided with a first guide rail, the first sliding block is slidably arranged on the first guide rail, the lifting sliding seat is provided with a lifting guide rail, the lifting sliding block is slidably arranged on the lifting guide rail, the second sliding seat is provided with a second guide rail, and the second sliding block is slidably arranged on the second guide rail.
According to one embodiment of the application, the first driving device, the lifting driving device and the second driving device each comprise a linear motor and a transmission mechanism, and the transmission mechanism is a screw rod type transmission mechanism, a gear rack type transmission mechanism or a synchronous belt type transmission mechanism.
According to one embodiment of the application, the branched chain driving device is a branched chain motor, a pneumatic cylinder or a hydraulic cylinder, and the core die rotation driving device and the spinneret rotation driving device are both rotation motors.
According to one embodiment of the application, the branches are three.
According to one embodiment of the application, the spinneret is an 8-strand spinneret, a 16-strand spinneret, or a 32-strand spinneret.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a carbon fiber collaborative yarn laying device based on a parallel attitude adjusting unit and a linear yarn feeding unit according to an embodiment of the application.
Fig. 2 is a schematic structural diagram of a carbon fiber collaborative yarn laying device based on a parallel attitude adjusting unit and a linear yarn feeding unit according to an embodiment of the application.
Fig. 3 is a schematic structural view of a core die to be filament laid according to an embodiment of the present application.
Reference numerals: carbon fiber collaborative wire laying equipment 1 based on parallel gesture adjusting unit and linear wire walking unit, base 11, branched chain 12, revolute pair 121, ball pair 122, telescopic rod 123, branched chain driving device 124, support plate 13, support shaft 14, upper fastening nut 141, lower fastening nut 142, mandrel rotation driving device 15, support 21, connecting rod 211, first horizontal linear sliding table 22, first sliding table base 221, first sliding block 222, first driving device 223, lifting linear sliding table 23, lifting sliding table base 231, lifting sliding block 232, lifting driving device 233, second horizontal linear sliding table 24, second sliding table base 241, second driving device 243, wire laying head rotation platform 25, wire laying head rotation driving device 26, wire laying head 27 and wire mandrel 2 to be laid.
Detailed Description
The present application has been made based on the findings and knowledge of the inventors regarding the following facts and problems:
in the wire laying equipment in the related art, a serial robot is adopted for laying wires, the fiber path is a complex space curve in the automatic wire laying process of a complex curved surface component, and the wire laying head is required to track the curve fiber path and keep vertical to the surface of the core mold. The wire laying equipment is required to meet the position constraint and the attitude constraint at the same time, but the freedom degree of a bracket for fixing the core mold by the serial robot is limited, the wire laying speed is reduced due to frequent passing through an attitude odd domain in the wire laying process, and the temperature of the carbon fiber prepreg in the heating area is too high, so that the wire laying quality and efficiency are reduced.
In the related art, part of wire laying equipment is connected with a parallel mechanism at the tail end of a serial robot, a wire laying head is installed on the parallel mechanism, and a mandrel is fixedly arranged, so that although the degree of freedom can be enriched to a certain extent, the parallel mechanism can be influenced by the motion of the serial robot, on one hand, the control difficulty is increased, on the other hand, the motion of the parallel mechanism still needs to be based on the motion of the serial robot, and the attitude singular domain still easily appears.
In the related art, the wire laying head is positioned through the parallel positioning mechanism, the limitation of the degree of freedom can be reduced to a certain extent, but the core mould can only rotate with one degree of freedom, the position and posture adjusting capability is lacked, the movement of the wire laying head still has a certain dead angle for a component with a complex curved surface, the core mould needs to be supported through the cylinder, and the support of the cylinder needs to be released every time of rotation, so that the wire laying efficiency is influenced.
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, 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 application 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 application. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
The carbon fiber collaborative yarn laying device 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit according to the embodiment of the application is described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a carbon fiber collaborative yarn laying device 1 based on a parallel posture adjustment unit and a linear yarn feeding unit according to an embodiment of the present application includes a parallel posture adjustment unit and a linear yarn feeding unit.
The parallel posture adjusting unit comprises a base 11, a plurality of branched chains 12, a supporting plate 13, a supporting shaft 14 and a mandrel rotation driving device 15.
The support plate 13 is located above the base 11 (the up-down direction is shown by the arrow in the figure), the lower end of each branched chain 12 is connected with the base 11 through a revolute pair 121, the upper end is connected with the support plate 13 through a ball pair 122, each branched chain 12 comprises a telescopic rod 123 and a branched chain driving device 124, and the branched chain driving device 124 is in transmission connection with the telescopic rod 123 to drive the telescopic rod 123 to stretch and retract.
A support shaft 14 is rotatably provided on the support plate 13 with a rotation axis perpendicular to the support plate 13, the support shaft 14 is adapted to mount a wire core die 2 to be laid, and a die rotation driving means 15 is in driving connection with the support shaft 14.
The linear wire feeding unit comprises a support 21, a first horizontal linear sliding table 22, a lifting linear sliding table 23, a second horizontal linear sliding table 24, a wire laying head rotating platform 25, a wire laying head rotating driving device 26 and a wire laying head 27.
The support 21 is connected with the base 11 through a connecting rod 211, the length directions of the first horizontal linear sliding table 22 and the second horizontal linear sliding table 24 are oriented along the horizontal direction and are mutually perpendicular, and the length direction of the lifting linear sliding table 23 is oriented along the vertical direction.
The first horizontal linear sliding table 22 includes a first sliding table base 221, a first sliding block 222, and a first driving device 223, the first sliding table base 221 is provided on the support 21, the first sliding block 222 is slidably provided on the first sliding table base 221, the first driving device 223 is provided on the first sliding table base 221 and is in transmission connection with the first sliding block 222, the lifting linear sliding table 23 includes a lifting sliding table base 231, a lifting sliding block 232, and a lifting driving device 233, the lifting sliding table base 231 is provided on the first sliding block 222, the lifting sliding block 232 is slidably provided on the lifting sliding table base 231, the lifting driving device 233 is provided on the lifting sliding table base 231 and is in transmission connection with the lifting sliding block 232, the second horizontal linear sliding table 24 includes a second sliding table base 241, a second sliding block connected with the lifting sliding block 232 and slidably provided on the second sliding table base 241, and the second driving device 243 is provided on the second sliding table base 241 and is in transmission connection with the second sliding block.
The laying head rotating platform 25 is rotatably arranged on the second slipway seat 241, the laying head rotating driving device 26 is in transmission connection with the laying head rotating platform 25, and the laying head 27 is arranged on the laying head rotating platform 25.
Specifically, by connecting the lower end of each of the branched chains 12 to the base 11 through the revolute pair 121 and the upper end to the support plate 13 through the ball pair 122, each of the branched chains 12 includes a telescopic rod 123 and a branched chain driving device 124, and the branched chain driving device 124 is drivingly connected to the telescopic rod 123 to drive the telescopic rod 123 to expand and contract. Thus, the length of each branched chain 12 can be adjusted through the extension and contraction of the plurality of branched chains 12, so that the pose of the supporting plate 13 is adjusted, the pose of the supporting shaft 14 and the pose of the wire core mould 2 to be laid on the supporting shaft are further adjusted, the two ends of the branched chain 12 are connected with the ball pair 122 through the revolute pair 121, the flexibility of the movement of the branched chain 12 can be improved, and the movement of the supporting plate 13 is facilitated.
The mandrel rotation driving means 15 is in driving connection with the support shaft 14 by means of the support shaft 14 being rotatably provided on the support plate 13 with the axis of rotation perpendicular to the support plate 13, the support shaft 14 being adapted to fix the mandrel 2 to be laid. In this way, the to-be-laid filament core die 2 can be driven to rotate through the rotation of the supporting shaft 14, so that the part of the to-be-laid filament core die 2 facing the filament laying head 27 is adjusted, and all positions of the to-be-laid filament core die 2 in the circumferential direction of the supporting shaft 14 can face the filament laying head 27, so that the filament laying head 27 is convenient for laying the filament of the to-be-laid filament core die 2.
By connecting the support 21 to the base 11 via the link 211. The relative positions of the parallel gesture adjusting unit and the linear wire moving unit can be fixed, so that the relative gesture of the wire laying head 27 and the wire core mould 2 to be laid can be controlled and adjusted conveniently.
By orienting the length directions of the first horizontal linear slide 22 and the second horizontal linear slide 24 both in the horizontal direction and perpendicular to each other, the length direction of the elevation linear slide 23 is oriented in the vertical direction. This allows the spinneret 27 to be moved in two horizontal degrees of freedom and one vertical degree of freedom, allowing the spinneret 27 to be moved in three basic degrees of freedom.
By having the first horizontal linear slide 22 comprise a first slide base 221, a first slide 222 and a first drive means 223, the first slide base 221 is provided on the support 21, the first slide 222 is slidably provided on the first slide base 221, the first drive means 223 is provided on the first slide base 221 and in driving connection with the first slide 222, the lifting linear slide 23 comprises a lifting slide base 231, a lifting slide 232 and a lifting drive means 233, the lifting slide base 231 is provided on the first slide 222, the lifting slide 232 is slidably provided on the lifting slide base 231, the lifting drive means 233 is provided on the lifting slide base 231 and in driving connection with the lifting slide 232, the second horizontal linear slide 24 comprises a second slide base 241, a second slide and a second drive means 243, said second slide being connected with the lifting slide 232 and slidably provided on the second slide base 241, the second drive means 243 being provided on the second slide base 241 and in driving connection with said second slide. This facilitates adjustment of the position of the spinneret 27.
The laying head 27 is provided on the laying head rotating platform 25 by rotatably providing the laying head rotating platform 25 on the second skid base 241, and the laying head rotating driving device 26 is in transmission connection with the laying head rotating platform 25. This allows the laying head 27 to be rotated and the relative angle of the pressing roller of the laying head 27 to the core die 2 to be laid to be adjusted.
When wire laying is performed, the wire laying core mould 2 to be laid is arranged on the supporting shaft 14, the parallel gesture adjusting unit adjusts the gesture of the wire laying core mould 2 to be laid through the expansion and contraction of the plurality of branched chains 12, the supporting shaft 14 is driven to rotate and drive the wire laying core mould 2 to rotate through the core mould rotation driving device 15, meanwhile, the linear wire moving unit adjusts the positions of the wire laying heads 27 on three mutually perpendicular basic degrees of freedom through the first horizontal linear sliding table 22, the lifting linear sliding table 23 and the second horizontal linear sliding table 24, and the wire laying head rotation driving device 26 drives the wire laying head rotation platform 25 to rotate and drives the wire laying heads 27 to rotate. And (3) carrying out wire laying on the wire laying core mould 2 through cooperative control of the parallel gesture adjusting unit and the linear wire feeding unit.
According to the carbon fiber collaborative yarn laying equipment 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit, through the arrangement of the parallel attitude adjusting unit and the linear yarn feeding unit, the attitude of the yarn core mold 2 to be laid is adjusted by the parallel attitude adjusting unit, the yarn core mold 2 to be laid is rotated, the position of the yarn laying head 27 on three mutually perpendicular basic degrees of freedom is adjusted by the linear yarn feeding unit, the yarn laying head 27 is rotated, the respective attitudes and relative attitudes of the yarn core mold 2 to be laid and the yarn laying head 27 can be adjusted through the collaborative motion of the parallel attitude adjusting unit and the linear yarn feeding unit, compared with the technical scheme that a serial robot is adopted for yarn laying in the related art, the yarn core mold 2 to be laid is more flexible through the parallel attitude adjusting unit, the yarn core mold 2 to be laid has richer degrees of freedom in the attitude adjusting process, the carbon fiber collaborative yarn laying equipment 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit can be conveniently used for laying the yarn on complex curved surface components, the adaptive motion of the carbon fiber collaborative yarn laying equipment 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit is improved, and the adaptive motion efficiency of the yarn laying equipment 1 to be improved, and the yarn laying performance of the yarn is improved.
And, carbon fiber based on parallel attitude adjusting unit and linear moving unit is with shop silk equipment 1 through the collaborative motion of parallel attitude adjusting unit and linear moving unit, compared with the technical scheme that adopts series robot end-to-end connection parallel mechanism in the prior art, the centralized setting of attitude adjusting mechanism has been avoided, linear moving unit and parallel attitude adjusting unit can the collaborative motion but can not influence each other, can make the attitude adjustment of waiting to shop silk mandrel 2 and shop silk head 27's position adjustment by independent motion mechanism respectively accomplish in coordination and can not interfere each other, can avoid getting into the odd abnormal domain of gesture more effectively, reduce the control degree of difficulty, guarantee shop silk speed, avoid local dwell time overlength to lead to the heating temperature too high and influence shop silk quality.
In addition, the carbon fiber collaborative yarn laying equipment 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit adjusts the position of the yarn laying head 27 through the linear yarn feeding unit by the collaborative motion of the parallel attitude adjusting unit and the linear yarn feeding unit, and adjusts the position of the yarn laying core mould 2 to be laid through the parallel attitude adjusting unit.
Further, the complicated pose adjustment of the wire core mold 2 to be paved is performed through the parallel pose adjustment unit, the position adjustment on the simple basic degree of freedom of the wire paving head 27 is performed through the linear wire moving unit, the carbon fiber collaborative wire paving equipment 1 based on the parallel pose adjustment unit and the linear wire moving unit can be conveniently controlled in a collaborative manner, the control difficulty is reduced, and compared with the technical scheme that the wire paving head 27 is driven by a parallel mechanism, the movement of the wire paving head 27 is more stable, so that the wire paving quality is improved.
Therefore, the carbon fiber collaborative wire laying equipment 1 based on the parallel gesture adjusting unit and the linear wire moving unit has the advantages of high wire laying efficiency, good wire laying quality, strong applicability and the like.
The carbon fiber collaborative yarn laying device 1 based on the parallel attitude adjusting unit and the linear yarn feeding unit according to the embodiment of the present application is described below with reference to the accompanying drawings.
In some embodiments of the present application, as shown in fig. 1-3, a carbon fiber collaborative wire laying device 1 based on a parallel posture adjustment unit and a linear wire feeding unit according to an embodiment of the present application includes a parallel posture adjustment unit and a linear wire feeding unit.
Specifically, the carbon fiber collaborative yarn laying apparatus 1 based on the parallel posture adjustment unit and the linear yarn feeding unit further includes a collaborative control device electrically connected to the plurality of branched chain driving devices 124, the core mold rotation driving device 15, the first driving device 223, the elevation driving device 233, the second driving device 243, and the yarn laying head rotation driving device 26, respectively, and adapted to keep the rotation axis of the pressing roller of the yarn laying head 27 perpendicular to the normal direction of the outer surface of the yarn core mold 2 to be laid. This facilitates the cooperative control of the parallel posture adjusting unit and the linear wire feeding unit, and also the wire laying effect can be improved by keeping the rotation axis of the pressing roller of the wire laying head 27 perpendicular to the normal direction of the outer surface of the wire core mold 2 to be laid.
More specifically, as shown in fig. 1, the rotation axis of the support shaft 14 is oriented in the up-down direction when the lengths of the plurality of branches 12 are equal. Therefore, when the lengths of the branched chains 12 are equal, the rotation axis of the supporting shaft 14 is parallel to the length direction of the lifting linear sliding table 23, so that the coordinated control of the parallel posture adjusting unit and the linear wire moving unit is facilitated. For example, the position of the support shaft 14 at the shortest length of the plurality of branches 12 may be used as a control reference, and then the pose adjustment of the wire laying core die 2 may be performed based on the reference.
Advantageously, as shown in fig. 1-3, the support shaft 14 is configured to be bendable and adapted to maintain the shape after bending. Specifically, the support shaft 14 may be a snake bone tube, a plastic metal piece, or the like. This facilitates the positioning of the different shaped wire cores 2 to be laid.
More advantageously, as shown in fig. 1 to 3, the support shaft 14 is detachably provided with an upper fastening nut 141 and a lower fastening nut 142, the wire core die 2 to be laid is adapted to be detachably sleeved on the support shaft 14, the upper fastening nut 141 is adapted to stop the upper end of the wire core die 2 to be laid and the lower fastening nut 142 is adapted to stop the lower end of the wire core die 2 to be laid. The wire core mold 2 to be laid can be clamped on the support shaft 14 by the upper fastening nut 141 and the lower fastening nut 142, thereby achieving positioning of the wire core mold 2 to be laid.
Fig. 1 and 2 show a carbon fiber collaborative wire laying device 1 based on a parallel posture adjustment unit and a linear wire travel unit according to some examples of the application. As shown in fig. 1 and fig. 1, a first rail is provided on the first slide base 221, a first slider 222 is slidably provided on the first rail, a lifting rail is provided on the lifting slide base 231, a lifting slider 232 is slidably provided on the lifting rail, and a second rail is provided on the second slide base 241, and the second slider is slidably provided on the second rail. Thus, the sliding of the sliding block on the sliding seat can be more stable and smooth.
Optionally, the first driving device 223, the lifting driving device 233 and the second driving device 243 each include a linear motor and a transmission mechanism, and the transmission mechanism is a screw type transmission mechanism, a rack and pinion type transmission mechanism or a synchronous belt type transmission mechanism. This can facilitate the driving of the slider.
Specifically, fig. 1 and 2 show an embodiment in which the transmission mechanism is a screw rod type transmission mechanism, the linear motor is connected with a screw rod, and the screw rod is in threaded fit with the sliding block so as to convert rotation of the screw rod into axial sliding of the sliding block relative to the screw rod, thereby realizing driving of the sliding block.
In some embodiments, a gear is connected to the linear motor, the gear is meshed with a rack, and the rack is connected to the sliding block, so that transmission with the sliding block is realized.
In other embodiments, the linear motor is connected with a belt wheel, and a synchronous belt is sleeved on the belt wheel and connected with the sliding block, so that transmission with the sliding block is realized.
Further, the branched chain driving device 124 is a branched chain motor, a pneumatic cylinder or a hydraulic cylinder, and the core mold rotation driving device 15 and the spinneret rotation driving device 26 are both rotation motors. This facilitates the telescopic control of the branches, the rotation of the core die 2 to be laid and the rotation of the laying head 27.
Advantageously, as shown in fig. 1 and 2, the branches 12 are three. Thus, the stability of the wire core mould 2 to be paved can be improved and the control difficulty can be reduced under the condition of ensuring the degree of freedom of pose adjustment of the wire core mould 2 to be paved.
Alternatively, the spinneret 27 is an 8-strand spinneret, a 16-strand spinneret, or a 32-strand spinneret. This allows the spinneret 27 to simultaneously lay a plurality of filaments.
Other components and operations of the carbon fiber collaborative wire laying device 1 based on the parallel posture adjustment unit and the linear wire feeding unit according to the embodiment of the present application are known to those skilled in the art, and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. Carbon fiber cooperated wire laying equipment based on parallel posture adjusting unit and linear wire moving unit, which is characterized by comprising:
the parallel gesture adjusting unit comprises a base, a plurality of branched chains, a supporting plate, a supporting shaft and a mandrel rotation driving device, wherein the supporting plate is positioned above the base, the lower end of each branched chain is connected with the base through a revolute pair, the upper end of each branched chain is connected with the supporting plate through a ball pair, each branched chain comprises a telescopic rod and a branched chain driving device, the branched chain driving device is in transmission connection with the telescopic rod so as to drive the telescopic rod to stretch out and draw back, the supporting shaft is rotatably arranged on the supporting plate, the rotating axis is perpendicular to the supporting plate, the mandrel rotation driving device is in transmission connection with the supporting shaft, and the mandrel to be paved is suitable for being installed on the supporting shaft;
the linear silk unit of walking, the linear silk unit of walking includes support, first horizontal linear slip table, lift linear slip table, second horizontal linear slip table, spreads the silk head and rotate the platform, spread the silk head and rotate drive arrangement and spread the silk head, the support pass through the connecting rod with the base links to each other, first horizontal linear slip table with the length direction of second horizontal linear slip table is all along the directional and mutually perpendicular of horizontal direction, the length direction of lift linear slip table is along vertical direction orientation, first horizontal linear slip table includes first slipbed, first slider and first drive arrangement, first slipbed is established on the support, first slider slidable establishes on the first slipbed, first drive arrangement establish on the first slipbed and with first slider transmission is connected, lift linear slip table includes lift slipbed, lift slider and lift drive arrangement, lift drive arrangement is established on the lift slipbed and lift slider and second slider slidable is established on the second slipbed is connected with the second slider is rotated on the first slipbed, second slider rotatable on the second slipbed is connected with the second slider.
2. The carbon fiber collaborative yarn laying apparatus based on a parallel gesture adjusting unit and a linear yarn feeding unit according to claim 1, further comprising a collaborative control device electrically connected with a plurality of the branched chain driving devices, the core mold rotation driving device, the first driving device, the lifting driving device, the second driving device, and the yarn laying head rotation driving device, respectively, and adapted to keep a rotation axis of a compression roller of the yarn laying head perpendicular to a normal direction of an outer surface of the yarn core mold to be laid.
3. The carbon fiber collaborative yarn laying apparatus based on a parallel posture adjustment unit and a linear yarn feeding unit according to claim 1, wherein the rotation axis of the support shaft is oriented in the up-down direction when the lengths of a plurality of the branched chains are equal.
4. The carbon fiber collaborative wire laying apparatus based on a parallel posture adjustment unit and a linear wire travel unit according to claim 1, wherein the support shaft is configured to be bendable and adapted to maintain a bent shape.
5. The carbon fiber collaborative yarn laying device based on the parallel posture adjustment unit and the linear yarn feeding unit according to claim 1, wherein an upper fastening nut and a lower fastening nut are detachably arranged on the supporting shaft, the yarn core mold to be laid is suitable for being detachably sleeved on the supporting shaft, the upper fastening nut is suitable for stopping the upper end of the yarn core mold to be laid, and the lower fastening nut is suitable for stopping the lower end of the yarn core mold to be laid.
6. The carbon fiber collaborative wire laying device based on the parallel gesture adjusting unit and the linear wire moving unit according to claim 1, wherein a first guide rail is arranged on the first sliding seat, the first sliding block is slidably arranged on the first guide rail, a lifting guide rail is arranged on the lifting sliding seat, the lifting sliding block is slidably arranged on the lifting guide rail, a second guide rail is arranged on the second sliding seat, and the second sliding block is slidably arranged on the second guide rail.
7. The carbon fiber collaborative yarn laying device based on the parallel gesture adjusting unit and the linear yarn feeding unit according to claim 1, wherein the first driving device, the lifting driving device and the second driving device all comprise a linear motor and a transmission mechanism, and the transmission mechanism is a screw rod type transmission mechanism, a gear rack type transmission mechanism or a synchronous belt type transmission mechanism.
8. The carbon fiber collaborative yarn laying device based on the parallel gesture adjusting unit and the linear yarn feeding unit according to claim 1, wherein the branched chain driving device is a branched chain motor, a pneumatic cylinder or a hydraulic cylinder, and the core mold rotation driving device and the yarn laying head rotation driving device are both rotation motors.
9. The carbon fiber collaborative yarn laying device based on the parallel gesture adjusting unit and the linear yarn feeding unit according to claim 1, wherein the number of the branched chains is three.
10. The carbon fiber collaborative yarn laying apparatus based on a parallel attitude determination unit and a linear yarn feeding unit according to claim 1, wherein the yarn laying head is an 8-strand yarn laying head, a 16-strand yarn laying head or a 32-strand yarn laying head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310927444.9A CN116922817A (en) | 2023-07-26 | 2023-07-26 | Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310927444.9A CN116922817A (en) | 2023-07-26 | 2023-07-26 | Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116922817A true CN116922817A (en) | 2023-10-24 |
Family
ID=88387588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310927444.9A Pending CN116922817A (en) | 2023-07-26 | 2023-07-26 | Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116922817A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119974589A (en) * | 2025-02-17 | 2025-05-13 | 威海光威精密机械有限公司 | A horizontal robot laying and wrapping machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690801A (en) * | 2016-04-13 | 2016-06-22 | 李军利 | Universal laying device for automatic tow placement of carbon fiber composite |
| 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 |
-
2023
- 2023-07-26 CN CN202310927444.9A patent/CN116922817A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690801A (en) * | 2016-04-13 | 2016-06-22 | 李军利 | Universal laying device for automatic tow placement of carbon fiber composite |
| 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 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119974589A (en) * | 2025-02-17 | 2025-05-13 | 威海光威精密机械有限公司 | A horizontal robot laying and wrapping machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103029308B (en) | Carbon fiber laying apparatus | |
| KR101714772B1 (en) | Three-dimensional product manufacturing robot for plastic formable materials | |
| KR101785703B1 (en) | Head unit and head supply unit for controlling discharge of raw material made of plastic formable materials | |
| US7793576B2 (en) | Braided reinforcement for aircraft fuselage frames and method of producing the same | |
| US20080257445A1 (en) | Method And System For Manufacture Of A Wire Cage | |
| JP2016221949A (en) | Apparatus and method for automatically laying up composite structures | |
| US6443040B1 (en) | Process for manufacturing screws and a device for actuating the process | |
| WO2005105414A1 (en) | Filament winding device | |
| CN116922817A (en) | Carbon fiber collaborative yarn laying equipment based on parallel attitude adjusting unit and linear yarn feeding unit | |
| CN113263723B (en) | Variable radius multi-print head integrated truss 3D printer and method of use | |
| CN109551781A (en) | It is a kind of large size seven-axis linkage numerical control paving twine integrated molding equipment | |
| CN110355779A (en) | Manipulator and distance adjustor | |
| CN113155039A (en) | Gum dipping fiber bundle broadening and thickness-expanding real-time adjusting device | |
| CN113136654A (en) | Prefabricated part processing equipment | |
| CN115815364B (en) | Bimetallic wire metal rubber winding equipment and working method thereof | |
| JP2004148776A (en) | Filament winding apparatus | |
| JP2002205346A (en) | Device for mounting cables on rotating surfaces | |
| JP7097003B2 (en) | Filament winding device | |
| CN108715042B (en) | Traction speed differential-based traction equipment and method for pultrusion production of bent section | |
| CN115821480B (en) | Yarn carrier shifting device and method for knitting unit | |
| CN115871129B (en) | Production equipment and production process of thermoplastic prepreg with high thickness uniformity | |
| CN211664487U (en) | Glass fiber cloth wrapping device that reciprocates | |
| CN2582856Y (en) | Pipe material external insulating layer shaping machine | |
| CN119372833B (en) | A braided multi-angle carbon fiber tube for unmanned aerial vehicles and its production line and preparation process | |
| CN119974589A (en) | A horizontal robot laying and wrapping machine |
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 |