CN104626610A - Modularized wire pavement head for automatically paving composite material and method - Google Patents
Modularized wire pavement head for automatically paving composite material and method Download PDFInfo
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- CN104626610A CN104626610A CN201510048582.5A CN201510048582A CN104626610A CN 104626610 A CN104626610 A CN 104626610A CN 201510048582 A CN201510048582 A CN 201510048582A CN 104626610 A CN104626610 A CN 104626610A
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- tow
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- 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
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- 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]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Composite Materials (AREA)
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- Moulding By Coating Moulds (AREA)
Abstract
The invention relates to a modularized wire pavement head for automatically paving a composite material and a method. A six-axial robot-based platform design is used for paving a composite material member. The modularized wire pavement head is mainly characterized in that the wire pavement head is based on a completely modularized design, and comprises a wire coil mounting module (C), a gasket paper collecting module (D), a tension detection module (B), a tow steering module (A), a shearing, clamping and tow-reconveying module (E), a heater (F), a compression roller and the like. The modularized wire pavement head has the capability of simultaneously paving 8 bundles of composite material presoaking yarns; each tow is independently controlled; shearing of the tows and reconveying after shearing can be independently carried out; on the basis of rapid-exchange structure design, mounting and dismantling of the wire pavement head and mounting and exchanging of the tows can be conveniently carried out; on the basis of bared yarn duct design, cleaning of the wire pavement head can be conveniently carried out; and the widths of the used composite material presoaking yarns are 3.17mm, 6.35mm and 12.7mm.
Description
Technical field
The present invention is used for composite automatic placement molding technical field, relates to a kind of modularization piddler head for composite automatic placement and method.
Background technology
Composite element is with the performance of its excellence, and high specific strength, high ratio modulus, endurance, good manufacturability, be widely used in aerospace field, and a large amount of use composites are development trends of airborne vehicle.In common manufacture technology of composite material, as the RTM technology based on liquid molding, based on the Filament-wound Machine technology of preimpregnation material strip, pultrusion technique and automatic placement molding technology, wherein, composite automatic placement molding technology is the key technology increasing composite consumption, raising manufacturing technology level and efficiency, ensure product quality and reduce costs.And automatic fiber placement forming technique is one of automatic placement molding technology, its advantage has stronger adaptive capacity when laying complex curvatures component, and the component quality produced is higher.
Automatic fiber placement forming technique is one of Composites Molding Techniques that development in recent years is fastest, prospect is best.Width is the surface that the wide prepreg tow of 3.17mm, 6.35mm or 12.7mm is routed to core by the pressure roller of piddler head by automatic fiber placement forming technique.Piddler head needs normal laying, and tow compresses, and tow is sheared, and tow such as to resend at the function, to complete the automatic placement work of parts with complex structures.
Automatic placement molding technology obtains significant progress abroad, and correlation technique is very complete.The piddler head that US Patent No. 7849903B2 discloses a kind of circumgyration incision and resends, it cuts and resends complex structure, and piddler Tou Si road is closed, and piddler head is rolled up without silk.US Patent No. 2014/0238612 A1 discloses a kind of placement head based on portal frame body, its complex structure, heavier mass, silk road complicated design.Due to laying apparatus complex structure, control overflow is high, and association area development imperfection, and domestic technique level is lower, only rests on the conceptual phase of scientific research institutions.Not only blockade on new techniques is carried out to us abroad, introduce a set of automatic placement equipment price also very expensive.The present invention aims to provide a kind of piddler head that can be used for automatic fiber placement forming technique.
On the whole, seen by open source information, the domestic piddler carrying out multifibres bundle lay is several leading does not have, though there is a lot of ripe product abroad, complex structure mostly, the body carried also mostly is planer-type, and carries out blockade on new techniques to domestic.So invent a kind of structure simply, the piddler head of excellent performance, can break external monopolization, also can improve domestic technical merit.
Summary of the invention
The present invention aims to provide a kind of modularization piddler head for composite automatic placement and method, for laying composite element, its lighter weight, structure is simple, there is the ability of simultaneously laying 8 bundle composite fiber tow, every rhizoid Shu Duli controls, and has to resend function after the clamping of tow, shearing and shearing.Fill up domestic blank of automatically laying field at multifibres bundle composite fiber silk; Compare the equipment of foreign same type, based on 6 axle robot platforms, structure is simple, multiple functional.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
For a modularization piddler head for composite automatic placement, it is characterized in that, comprise discoid backboard, and be arranged on discoid backboard:
Circumference is evenly arranged at least eight silk volume installation modules on discoid backboard: comprise the magnetic powder brake for regulating tow tension, for bearings mounted bearing block, for bearing outer ring location bearing end cap, angular contact ball bearing, by the gasket ring that bearing (ball) cover and magnetic powder brake link together, silk is rolled up, for installing the jackshaft of silk volume, the moment of torsion of magnetic powder brake is passed to the shaft coupling of jackshaft, for the back-up ring of silk volume location, the nut of fixing silk volume;
Receipts lining paper module corresponding to installation module quantity is rolled up: comprise the sleeve for receiving lining paper, angular contact ball bearing, bearing block and bearing (ball) cover with silk, for the axle of sleeve, the nut of fixed muffle
Tension detect module B corresponding to installation module quantity is rolled up: can freely move up and down with silk, comprise the substrate of fixing whole module, slide rail, the slide block 14 that slide rail moves, be fixed on the contiguous block on slide block, be fixed on the tension detect axle for tow guiding on contiguous block and vertical with slide block, spring, detect the position sensor of tension detect shaft position; Described spring one end is fixed on substrate, and the other end is fixed on slide block;
One tow steering module: will the direction changed in the direction of 8 synnemas moved towards along discoid backboard perpendicular to discoid backboard be used for, and be divided into two rows, comprise directive wheel link, for the connecting plate be connected with discoid backboard, some directive wheels, for the link of the symmetry of stator wheel, be fixedly connected with the bolt of frame; Described directive wheel is two rows and two rows are crisscross arranged;
Shearing, clamping, tow conveyor module again: comprise cylinder, for clamping the two rows clamping device of tow, two rows for tow conveying resend device, with the two rows shear of cutting knife, for providing the cylinder of power, with the tow guide pad in air channel sending compress wind and cooling air;
Heater: for heating tow
Driver module: for driving shearing, clamping, tow conveyor module E again;
And a pressure roller be arranged on below heater.
At above-mentioned a kind of modularization piddler head for composite automatic placement, described shearing, clamping, tow again conveyor module adopt three cylinders to drive clamping device respectively, resend device and shear motion;
Described clamping device comprises the roller connecting link with cylinder output shaft and be connected with link by bearing pin;
Described shear comprises and to connect link and the cutting knife fixing with link with cylinder output shaft;
The described device that resends comprises the roller connecting link with cylinder output shaft and be connected with link by bearing pin, and be arranged on below roller up and down two resend axle, described in resend axle one end and all fix a gear and two gears engage each other; The motor shaft of DC servo electricity is connected by shaft coupling and one of them gear thus two can be driven to resend axle and rotates.
For a piddler method for composite automatic placement, it is characterized in that, comprise tension detect part and tension adjustment portion, wherein,
Step one: tension detect detects the position of tension detect axle in real time by position sensor, tension detect controller obtains this positional information x with higher sample rate
0, the combination of positional information and temporal information is solved speed, the acceleration information a of tension detect axle;
Definition tension detect axle and the removable mass quality comprising it are m, and the coefficient of elasticity of spring is that k third fourth one spring initial position is nonelastic, and the cornerite b of tow on tension detect axle, asks the tension force T in tow
survey;
With tension detect axle for research object, obtain:
Then,
Angle b can be more and more and diminish along with lining paper on receipts lining paper axle, and it also receives the position influence of tow on tension detect axle, so need to revise, to reduce tension detect error in tow setting up diagonal angle b in controller;
Step 2: the concrete control procedure of tension adjustment portion is: install a PID controller, with tow tension T
surveywith T
ifdeviation be the input quantity of controller, and definition because of technological requirement setting tow in tension force be T
ifand laying loss when normally working at the uniform velocity, during stable state, the driving moment of tow is T
drive, and T
drive>T
if, moment of friction T
resistancefrictional resistance because of system is very little ignores, then the braking moment T of magnetic powder brake
brakingfor:
T
braking=T
drive– T
survey
T
survey=T
if
Can obtain, T
braking=T
drive– T
if
And tow laid course can cause the velocity perturbation of tow because of the beginning and end etc. of change in resistance, lay, thus there is angular acceleration in the rotating part such as silk volume, and now, suppose that rotating part rotary inertia is M, angular acceleration is α, then
T
drive– T
survey– T
braking=M α
From above formula, make T for regulating
survey=T
if, at T
drivewhen constant, T need be regulated
brakingsize, because angular acceleration can because of T
brakingchange and change, then the dynamic adjustment performance of tension system is very poor, then a PID controller, with tow tension T
surveywith T
ifdeviation be the input quantity of controller, regulate T
brakingsize, make T
survey=T
if; It is fast that requirement changes controller response, and do not shake, steady-state error is little; And controller stable state exports by T
braking=T
drive– T
ifdetermining, is the static basis of this controller; The control principle of magnetic powder brake is for changing braking moment T by changing electric current
brakingsize, pass into magnetic powder brake size of current so be controller regulate T by regulating
brakingsize.
Therefore, the present invention has the following advantages: 1, modular design, is easy to installation and the replacing of parts; 2, use hydraulic quick coupler to be connected with robot, be convenient to installation and removal; 3, have the ability of simultaneously laying at most 8 synnemas, production efficiency is high; 4, the tow of different in width specification can be used, when the component that laying curvature is larger, use the composite silk of 3.17mm and 6.35mm, when laying small curve component, use 12.7mm or wider silk; 5, two-way laying can be realized; 6, placement head carries silk volume, and be easy to realize tension force and control, the Silk Road change is small; 7, open silk road, easy to clean and tow is installed to pressure roller place from silk volume; 8, pressure roller uses one deck flexible material outward, has certain flexibility, is applicable to the slight curvature change of surface of the work; 9, tensioned control and silk road is reasonable in design, there will not be the problems such as tow fracture, warpage.
Accompanying drawing explanation
Fig. 1 is the outside drawing of the general structure of piddler head.
Fig. 2 is the outside drawing of the tow of integrated disc portions structure and this part.
Fig. 3 is silk volume installation module structure division profile.
Fig. 4 is the fragmentary cross-sectional view receiving lining paper modular structure.
Fig. 5 is the outside drawing of tension detect modular structure.
Fig. 6 is the outside drawing connecting floor and tow steering module.
Fig. 7 a be tow shearing, compress and resend the outside drawing 1 of modular structure.
Fig. 7 b be tow shearing, compress and resend the outside drawing 2 of modular structure.
Fig. 7 c be tow shearing, compress and resend the outside drawing 3 of modular structure.
Fig. 7 d be tow shearing, compress and resend the outside drawing 4 of modular structure.
Fig. 8 is the outside drawing of guide block structure.
Detailed description of the invention
Below by specific embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is done and further illustrates.
Embodiment:
In overall construction design of the present invention, provide a kind of modular piddler head, as depicted in figs. 1 and 2, the structure of piddler head is made up of following module.8 identical silk volume installation module C, receipts lining paper module D and tension detect module B are arranged on the discoid backboard 100 of main carriers of piddler head in the mode of annular; The tow steering module of discoid backboard 100 is arranged on by two pieces of connecting plates 22; Be connected to the shearing on connecting plate 22, clamping, tow conveyor module E again; Be arranged on shearing, clamping, the tow driver module G of conveyor module E, pressure roller 101 and heater F again.
In the present invention, silk volume installation module C is used for the laminated material mounting and dismounting laying fast--silk volume 2, as shown in Figure 3, the main parts size of this module comprises: for regulating the magnetic powder brake 1 of tow tension, for bearings mounted bearing block 4, for bearing outer ring location bearing end cap 9, angular contact ball bearing 5, the gasket ring 13 that bearing (ball) cover 9 and magnetic powder brake are linked together, silk volume 2, for installing the jackshaft 6 of silk volume 2, the moment of torsion of magnetic powder brake 1 is passed to the shaft coupling 7 of jackshaft 6, for the back-up ring 10 of silk volume 2 location, the nut 11 of fixing silk volume.The principle of its functional realiey is, realizes the fixing of silk volume 2 with nut 11, back-up ring 10, realizes silk and roll up 2 and the fixing of jackshaft 6, then rotate together by the moment of friction that axle in 2 roll up by back-up ring 10 and silk.
In the present invention, receiving lining paper module D for the lining paper collected on composite silk sheds lining paper fast when a curled hair volume is used up, as shown in Figure 4, the main parts size of this module comprises: for receiving the sleeve 8 of lining paper, angular contact ball bearing 5, bearing block 4 and bearing (ball) cover 3, for the axle 12 of sleeve, the nut 7 of fixed muffle 8.The principle of its functional realiey is: when the tow before laying starts is installed, lining paper is separated with tow, and lining paper is fixed on receipts lining paper sleeve 8, in normal laid course, tow is had to drive receipts lining paper axle 12 to rotate, and lining paper is wrapped on receipts lining paper sleeve 8, reach the object collecting lining paper.Shed lining paper and only need turn on nut 7, change receipts lining paper sleeve 8 and both can.
In the present invention, tension detect module B is for detecting the tension force in tow, for tension force controls to provide the data of the real-time strain in tow, as shown in Figure 5, the main parts size of this module comprises: the substrate 19 of fixing whole module, slide rail 17, the slide block 14 of motion on slide rail 17, spring 50, detects the position sensor 51 of tension detect shaft position, for the tension detect axle 18 of tow guiding, tension detect axle 18 contiguous block 16.The principle that realizes of tension detect function is: position sensor 51 detects the position of tension detect axle 18 in real time, tension detect controller obtains this positional information with higher sample rate, by solving speed, the acceleration information of tension detect axle 18 with the combination of temporal information, with tension detect axle 18 for research object, obtained the tension force in tow by the relation of power.
In the present invention, the tension force controlled in tow realizes principle and is: as shown in Figure 7a, tow is pressed on and resends on axle 40 by the cylinder 34 resend in mechanism, and drive motors 25 drive resends axle 40 and moves, for tow motion provides power; Tension detect module B provides real-time tension data for controller; As shown in Figure 3, play the magnetic powder brake 1 for being linked together by shaft coupling and silk spool 6 of tension adjustment effect, controller is by regulating the braking moment of magnetic powder brake 1, according to concrete technological requirement, tension force in control tow is in suitable scope, to improve laying quality, play simultaneously and prevent the overtension in tow and the fracture causing tow.
In the present invention, tow steering module A is used for the direction changed in the direction of 8 synnemas moved towards along discoid backboard perpendicular to discoid backboard, and is divided into two rows, to be more conducive to the later stage conveying of tow.As shown in Figure 6, the main parts size of this module comprises: for the connecting plate 22 be connected with discoid backboard 100, and directive wheel 20, for the link 21 of the symmetry of stator wheel 20, is fixedly connected with the bolt 23 of frame.Its functional realiey principle is: the directive wheel 20 with rectangular channel can Free-rolling, and the directive wheel arranged by two achieves the object of tow conversion direction.Wherein from tension detect axle 18 to the tow of directive wheel 20 sections permission warpage to a certain degree, simplify the design of structure.
In the present invention, shear, clamping, tow again conveyor module E provide the controlling functions of tow, for realize tow shearing function, shear after tow conveying function again and do not use the clamping function of tow.As shown in Fig. 7 a, Fig. 8, the main parts size of this module comprises: tow 102, for clamping the clamping device 29 of tow 102, that carries for tow 102 resends device 27, with the shear 26 of cutting knife, for providing the cylinder 3 of power, with the tow guide pad 30 in air channel sending compress wind and cooling air.Its functional realiey principle is: when tow needs to shear, clamping cylinder 33 stretches out, by the roller of end, tow is pressed on tow guide pad 30, shear cylinder 35 drives shear knife 26 to do shearing motion simultaneously, shear knife 26 is formed with the rectangle tow guide pad 30 in Fig. 8 and cuts pair, cuts off tow; When needs tow resends, resend cylinder 34 and stretch out, be pressed to by tow and resend on axle, clamping cylinder 33 and shearing cylinder 35 are retracted simultaneously, resend axle 40 and rotate, tow is resend pressure roller 101 place, to treat lay again; Clamping is embodied as, and when a rhizoid bundle does not need to use, or at the end of this tow carries again, corresponding clamping cylinder 33 stretches out, and is pressed on tow guide pad 30 by tow, reaches the object of fixing tow by the roller of cylinder end.
In the present invention, driver module G is used for providing power to resending axle 40, and as shown in Figure 7b, the main parts size of this module comprises: DC servo motor 25, for connecting the shaft coupling 28 resending axle 40 and motor 25, is connected to the gear 55 resend on axle 40.This module uses DC servo motor to drive, torque is provided for resending axle 40 after being slowed down by planetary reducer, reducer shaft with resend axle 40 and linked together by shaft coupling, motor is fixed in the side plate figure of shearing, clamping, tow conveyor module E again and conceals.There is structure letter answer, control feature easily.
In the present invention, pressure roller 101 and heater F, as shown in Figure 7 c, the main parts size of this module comprises: the center of pressure roller 101 is a stiff shaft, and outer surface cover has one deck elastomeric material, adopts infrared heater.The Main Function of pressure roller 101 is, by the drive of 6 axle robots, tow is pressed to the surface of part mould, and keeps certain pressure, then realizes laying motion by the drive of robot.Pressure roller outermost layer is flexible material, has certain deformability, and object adapts to the small Curvature varying in part mould surface, is that tow is better fitted the surface of part mould, improves laying quality.Heater F, for heating the tow spread, improves the quality of follow-up laying, is also the requirement in order to meet lay-up process.
In the present invention, before normal laid course starts, need silk volume is installed, and by hand tow is directed to pressure roller 101 from silk volume 2.Because exposed silk road design and simple structure, this process is very simple.Concrete process is: as shown in Figure 2, and 8 rhizoid Shu Congsi roll up 2 places and start, from below or top walk around and receive lining paper module D and lining paper is received on lining paper sleeve 8 from being fixed to after tow is separated; Then walk around tension detect module B and proceed to tow steering module A, seeing Fig. 7 b, through the directive wheel 20 of tow steering module A, tow is integrated into two rows; Then be sent to shearing, clamping, tow conveyor module E again, as shown in Figure 8, then tow is guided to pressure roller 101 place along silk road, complete the bootup process of tow, the tow after having guided is as shown in 102 in Fig. 7 a in the silk road of this module.
In the present invention, collect for continuous print one row after tow has guided at pressure roller place, its structural principle that realizes is: as shown in figure 7d, two rows silk road is staggered, and collects for continuous print one row at pressure roller place.
In the present invention, the motion of tow has normal laid course, single tow shear history and single tow to resend process.Being implemented as of each motion, the normal laid course of tow is: piddler head is under the drive of 6 axle robots, have and to move along coordinate system and to rotate 6 frees degree around coordinate system, the tip pressing roller 101 of piddler head is fitted in part mould surface, and keep certain pressure, then according to the path of planning in advance, tow is routed to part mould surface; For meeting the technological requirement of laid course, controller is needed to control tension force in tow in suitable scope, and the heating-up temperature of control heater.The shearing function implementation procedure of tow is: because the demand of ply angles, needs single or multi-filament bundle to cut off, as shown in Figure 7a, when shear history starts, clamping cylinder 33 stretches out, and tow is pressed on tow guide pad 30 by pinching roller, completes preparation during shearing; Then shear cylinder 35 to stretch out, drive shear knife 26 to do shearing motion, shear knife 26 is formed with the groove on tow guide pad 30 and cuts pair, cuts off tow; Shear cylinder 35 to retract, complete the shear history of tow.Tow again conveying function implementation procedure is: as shown in Figure 7 c, when the process of resending starts, clamping cylinder 33 is in the state of stretching out, then resend cylinder 34 to stretch out, being pressed on by tow by the roller of cylinder end resends on axle 40, clamping cylinder 33 is retracted simultaneously, and tow is again carried and wanted pressure roller 101 place under the rotation resending axle 40 drives; Then clamping cylinder 33 stretches out, and is again pressed on tow guide pad 30 by tow, resends cylinder 34 and retracts, and completes the course of conveying again of tow.
When adjustment of tonicity, comprise tension detect part and tension adjustment portion, wherein,
Step one: tension detect detects the position of tension detect axle 18 in real time by position sensor 51, tension detect controller obtains this positional information x0 with higher sample rate, the combination of positional information and temporal information is solved speed, the acceleration information a of tension detect axle 18;
Definition tension detect axle 18 and the removable mass quality comprising it are m, and the coefficient of elasticity of spring is that k third fourth one spring initial position is nonelastic, and the cornerite b of tow on tension detect axle 18, asks the tension force T in tow to survey;
With tension detect axle 18 for research object, obtain:
Then,
Angle b can be more and more and diminish along with lining paper on receipts lining paper axle, and it also receives the position influence of tow on tension detect axle, so need to revise, to reduce tension detect error in tow setting up diagonal angle b in controller;
Step 2: the concrete control procedure of tension adjustment portion is: install a PID controller, with the input quantity of the deviation that tow tension T surveys and T sets as controller, and definition because of technological requirement set tension force in tow be that T sets and laying loss normally works time as at the uniform velocity, during stable state, the driving moment of tow is that T drives, and T drives >T and establishes, moment of friction T resistance is ignored because the frictional resistance of system is very little, then the braking moment T braking of magnetic powder brake is:
T braking=T Qu – T surveys
T survey=T establishes
Can obtain, T braking=T Qu – T establishes
And tow laid course can cause the velocity perturbation of tow because of the beginning and end etc. of change in resistance, lay, thus there is angular acceleration in the rotating part such as silk volume, and now, suppose that rotating part rotary inertia is M, angular acceleration is α, then
T Qu – T Ce – T braking=M α
From above formula, for regulating, T survey=T is established, when T drives constant, need regulate the size that T brakes, because angular acceleration can change because of the change of T braking, then the dynamic adjustment performance of tension system is very poor, a then PID controller, with the input quantity of the deviation that tow tension T surveys and T sets as controller, regulate the size of T braking, T survey=T is established; It is fast that requirement changes controller response, and do not shake, steady-state error is little; And the output of controller stable state establishes decision by T braking=T Qu – T, it is the static basis of this controller; The control principle of magnetic powder brake is the size changing braking moment T braking by changing electric current, so be that controller is by regulating the size passing into magnetic powder brake size of current and regulate T to brake.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art of the present invention can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (3)
1. for a modularization piddler head for composite automatic placement, it is characterized in that, comprise discoid backboard (100), and be arranged on discoid backboard (100):
Circumference is evenly arranged at least eight silks volume installation module (C) on discoid backboard (100): comprise the magnetic powder brake (1) for regulating tow tension, for bearings mounted bearing block (4), for bearing outer ring location bearing end cap (9), angular contact ball bearing (5), by the gasket ring (13) that bearing (ball) cover (9) and magnetic powder brake (1) link together, silk volume (2), for installing the jackshaft (6) of silk volume (2), the moment of torsion of magnetic powder brake (1) is passed to the shaft coupling (7) of jackshaft (6), for the back-up ring (10) that silk volume (2) is located, the nut (11) of fixing silk volume,
Receipts lining paper module (D) corresponding to installation module quantity (C) is rolled up: comprise the sleeve (8) for receiving lining paper with silk, angular contact ball bearing (5), bearing block (4) and bearing (ball) cover (3), for the axle (12) of sleeve, the nut (7) of fixed muffle (8)
Tension detect module (B) corresponding to installation module quantity (C) is rolled up: can freely move up and down with silk, comprise the substrate (19) of fixing whole module, slide rail (17), at the slide block (14) of the upper motion of slide rail (17), be fixed on the contiguous block (16) on slide block (14), be fixed on the tension detect axle (18) led for tow that contiguous block (16) is upper and vertical with slide block (14), spring (50), detects the position sensor (51) of tension detect axle (18) position; Described spring (50) one end is fixed on substrate (19), and the other end is fixed on slide block (14);
One tow steering module (A): will the direction changed in the direction of 8 synnemas moved towards along discoid backboard perpendicular to discoid backboard be used for, and be divided into two rows, comprise directive wheel link, for the connecting plate (22) be connected with discoid backboard (100), some directive wheels (20), for the link (21) of the symmetry of stator wheel (20), be fixedly connected with the bolt (23) of frame; Described directive wheel (20) for two rows and two rows be crisscross arranged;
Shearing, clamping, tow conveyor module (E) again: comprise cylinder, for clamping the two rows clamping device (29) of tow (102), the two rows carried for tow (102) resend device (27), with the two rows shear (26) of cutting knife, for providing the cylinder (33,34,35) of power, with the tow guide pad (30) in air channel sending compress wind and cooling air;
Heater (F): for heating tow (102)
Driver module (G): for driving shearing, clamping, tow conveyor module (E) again;
And a pressure roller (101) be arranged on below heater (F).
2. a kind of modularization piddler head for composite automatic placement according to claim 1, it is characterized in that, described shearing, clamping, tow again conveyor module (E) adopt three cylinders (33,34,35) to drive clamping device (29) respectively, resend device (27) and shear (26) motion;
Described clamping device (29) comprises the roller connecting link with cylinder output shaft and be connected with link by bearing pin;
Described shear (26) comprises and to connect link and the cutting knife fixing with link with cylinder output shaft;
The described device (27) that resends comprises the roller connecting link with cylinder output shaft and be connected with link by bearing pin, and be arranged on below roller up and down two resend axle (40), described in resend axle (40) one end and all fix a gear (55) and two gears (55) engage each other; The motor shaft (25) of DC servo motor (25) is connected by shaft coupling (28) and one of them gear (55) thus two can be driven to resend axle (40) and rotates.
3. for a piddler method for composite automatic placement, it is characterized in that, comprise tension detect part and tension adjustment portion, wherein,
Step one: tension detect detects the position of tension detect axle (18) in real time by position sensor (51), tension detect controller obtains this positional information x with higher sample rate
0, the combination of positional information and temporal information is solved speed, the acceleration information a of tension detect axle (18);
Definition tension detect axle (18) and the removable mass quality comprising it are m, and the coefficient of elasticity of spring is that k third fourth one spring initial position is nonelastic, and the cornerite b of tow on tension detect axle (18), asks the tension force T in tow
survey;
With tension detect axle (18) for research object, obtain:
Then,
Angle b can be more and more and diminish along with lining paper on receipts lining paper axle, and it also receives the position influence of tow on tension detect axle, so need to revise, to reduce tension detect error in tow setting up diagonal angle b in controller;
Step 2: the concrete control procedure of tension adjustment portion is: install a PID controller, with tow tension T
surveywith T
ifdeviation be the input quantity of controller, and definition because of technological requirement setting tow in tension force be T
ifand laying loss when normally working at the uniform velocity, during stable state, the driving moment of tow is T
drive, and T
drive>T
if, moment of friction T
resistancefrictional resistance because of system is very little ignores, then the braking moment T of magnetic powder brake
brakingfor:
T
braking=T
drive– T
survey
T
survey=T
if
Can obtain, T
braking=T
drive– T
if
And tow laid course can cause the velocity perturbation of tow because of the beginning and end etc. of change in resistance, lay, thus there is angular acceleration in the rotating part such as silk volume, and now, suppose that rotating part rotary inertia is M, angular acceleration is α, then
T
drive– T
survey– T
braking=M α
From above formula, make T for regulating
survey=T
if, at T
drivewhen constant, T need be regulated
brakingsize, because angular acceleration can because of T
brakingchange and change, then the dynamic adjustment performance of tension system is very poor, then a PID controller, with tow tension T
surveywith T
ifdeviation be the input quantity of controller, regulate T
brakingsize, make T
survey=T
if; It is fast that requirement changes controller response, and do not shake, steady-state error is little; And controller stable state exports by T
braking=T
drive– T
ifdetermining, is the static basis of this controller; The control principle of magnetic powder brake is for changing braking moment T by changing electric current
brakingsize, pass into magnetic powder brake size of current so be controller regulate T by regulating
brakingsize.
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| CN105911909A (en) * | 2016-04-29 | 2016-08-31 | 李军利 | Integrated type carbon fiber automatically laying apparatus controlling system and the controlling method |
| CN107187075A (en) * | 2017-05-12 | 2017-09-22 | 武汉理工大学 | Device is resend in a kind of carbon fiber placement head |
| CN107244079A (en) * | 2017-05-19 | 2017-10-13 | 北京航空航天大学 | A kind of integrated laying device of carbon fiber |
| CN108582814A (en) * | 2018-05-25 | 2018-09-28 | 中国科学院自动化研究所 | The composite material piddler head integrated apparatus that singly drives and its resend axle system |
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| US10632693B2 (en) | 2018-07-24 | 2020-04-28 | Zhejiang University | Fiber coil mounting device used in automated composite material layup equipment |
| CN110303692A (en) * | 2019-08-01 | 2019-10-08 | 肖睿 | A kind of novel piddler head |
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| CN113336002A (en) * | 2021-06-07 | 2021-09-03 | 太原理工大学 | Super many tow fibre twines equipment fast |
| CN114161740A (en) * | 2021-12-06 | 2022-03-11 | 山东中恒景新碳纤维科技发展有限公司 | Automatic detection filament spreading head, filament spreading machine and filament spreading method thereof |
| CN114161740B (en) * | 2021-12-06 | 2024-08-09 | 山东中恒景新碳纤维科技发展有限公司 | Automatic detection wire laying head, wire laying machine and wire laying method thereof |
| CN114634054A (en) * | 2022-02-08 | 2022-06-17 | 昆明鼎承科技有限公司 | Filiform material cohesion device |
| CN114634054B (en) * | 2022-02-08 | 2023-09-29 | 昆明鼎承科技有限公司 | Filamentous material enclasping device |
| CN115674723A (en) * | 2022-10-27 | 2023-02-03 | 中国航空制造技术研究院 | Quick change device and fiber placement machine |
| CN116811302B (en) * | 2023-08-29 | 2023-10-27 | 太原理工大学 | Multi-tow fiber circumferential winding equipment capable of automatically feeding yarns and yarn feeding method |
| CN116811302A (en) * | 2023-08-29 | 2023-09-29 | 太原理工大学 | Multi-tow fiber circumferential winding equipment capable of automatically feeding yarns and yarn feeding method |
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Application publication date: 20150520 |