A fiber winding robot for tube bending forming

Abstract

This invention provides a fiber winding robot for tube bending, relating to the field of tube bending equipment technology. It includes an industrial robot body, a tube bending clamping device, and a winding disc device. The tube bending clamping device is used to fix both ends of the tube bending mandrel. The winding disc device is installed at the free end of the industrial robot body, and a wire collector is mounted on the winding disc device. The winding disc device drives the wire collector to perform a circular motion around the tube bending mandrel. The solution provided by this invention can improve production efficiency and product quality.

Description

Technical Field

[0001] This invention relates to the field of pipe bending equipment technology, and in particular to a fiber winding robot for pipe bending. Background Technology

[0002] Composite material bends are typical non-axisymmetric components, characterized by high production difficulty, numerous specifications, and complex shapes and structures. Currently, the production efficiency of composite material bends is low, and quality is difficult to guarantee. With the increasing use of composite material bends in chemical enterprises, the demand for small and medium diameter bends is growing, creating an urgent need for automated production by machine winding of composite material bends.

[0003] In traditional bend-tube fiber winding machines, the nozzle moves in three-dimensional space, while the mandrel rotates around its axis. The nozzle is mounted on a carriage, which achieves its movement in three-dimensional space through three linear motion axes: extension and retraction of the arm, lifting and lowering of the carriage, and left and right reciprocating motion, as well as three rotational coordinate axes: nozzle rotation, yaw, and spindle rotation. Through the rotational motion of the mandrel, the fiber bundle can fall onto the mandrel according to a pre-designed trajectory, and then be cured and demolded to obtain the finished product.

[0004] However, the existing fiber winding machines mainly involve two basic movements: the carriage and the mandrel. They have been widely used in the molding of axisymmetric composite structures, but existing bending fiber winding machines have problems such as low production efficiency, poor flexibility, and low product quality when winding non-axisymmetric structures such as bending tubes. Summary of the Invention

[0005] The purpose of this invention is to provide a fiber winding robot for tube bending to solve the problems existing in the prior art and improve production efficiency and product quality.

[0006] To achieve the above objectives, the present invention provides the following solution:

[0007] This invention provides a fiber winding robot for tube bending forming, comprising an industrial robot body, a tube bending clamping device, and a winding disc device. The tube bending clamping device is used to fix both ends of the tube bending mandrel. The winding disc device is installed at the free end of the industrial robot body, and a wire collector is installed on the winding disc device. The winding disc device drives the wire collector to perform circumferential motion around the tube bending mandrel.

[0008] Preferably, the winding disc device includes a support body, a rack, and a rack drive device. The rack is arc-shaped or annular and is rotatably mounted on the support body around its own center. The rack drive device can drive the rack to perform circular motion around the center of its own structure. The cable collector is installed inside the rack.

[0009] Preferably, the rack drive device includes a motor and a pinion, the pinion being arranged on the outside of the rack and meshing with the teeth on the outside of the rack, and the motor being connected to the pinion in a transmission connection;

[0010] When the rack is arc-shaped, at least two rack drive devices are provided, and at any time when the rack is making circular motion, at least one of the pinions is engaged with the rack.

[0011] Preferably, the support body includes a housing and a self-lubricating bearing disposed within the housing. The rack is arc-shaped, the housing is arc-shaped, and the two ends of the housing are open in the circumferential direction to allow the rack to enter and exit the housing. The sidewall of the rack is in sliding contact with the self-lubricating bearing.

[0012] Preferably, the pinion is also disposed within the housing, and the pinion is rotatably connected to the side wall of the housing via a shaft and a bearing.

[0013] Preferably, the inner portion of the two side walls of the rack is provided with guide grooves extending along the length direction of the rack. The self-lubricating bearing is generally arc-shaped and includes a horizontal plate and a vertical plate connected to each other. Both the horizontal plate and the vertical plate are arc-shaped and perpendicular to each other. The horizontal plate is arranged in the guide groove and slides in contact with the wall of the guide groove. The vertical plate slides in contact with the side wall of the rack.

[0014] Preferably, the rack also includes multiple guide wheels, which are arranged sequentially on the inner side of the rack, and at least one of the guide wheels is equipped with a torque sensor.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] This invention uses an industrial robot to drive a winding disc device to move and rotate. The winding disc device drives the coil to make a circular motion around the bending mandrel to complete a complex winding process, thereby realizing the winding and forming of composite material bent pipes. This method improves the automation level of fiber winding and forming of bent pipes, is suitable for processing small and medium-sized composite material bent pipes, and improves the product quality of composite material bent pipes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1A schematic diagram of the fiber winding robot for tube bending provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the pipe bending clamping device.

[0020] Figure 3 This is a schematic diagram of the winding disc device;

[0021] Figure 4 This is a schematic diagram of the internal structure of the winding disc device;

[0022] In the diagram: 1-Pipe bending clamping device; 2-Pipe bending mandrel; 3-Winding disc device; 4-Industrial robot body; 11-Workbench; 12-Guide rail; 13-Slider; 14-Bracket; 15-Chuck; 31-Cover plate; 32-Self-lubricating bearing; 33-Housing; 34-Rack; 35-Motor mounting base; 36-Coupling; 37-Motor; 38-Guide wheel bracket; 39-Guide wheel; 310-Cable mandrel bracket; 311-Cable mandrel; 312-Pinal gear; 313-Torque sensor; 314-Fiber bundle; 315-End cap; 316-Rolling bearing; 317-Shaft; 318-Busset. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The purpose of this invention is to provide a fiber winding robot for tube bending to solve the problems existing in the prior art and improve production efficiency and product quality.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] This invention provides a fiber winding robot for tube bending, suitable for fabricating non-axisymmetric composite material tubes, such as... Figure 1 As shown, the device includes an industrial robot body 4, a pipe bending clamping device 1, and a winding disc device 3. The pipe bending clamping device 1 is used to fix both ends of the pipe bending mandrel 2. The winding disc device 3 is installed at the free end of the industrial robot body 4. A wire gathering drum 311 is installed on the winding disc device 3. The winding disc device 3 drives the wire gathering drum 311 to make a circular motion around the pipe bending mandrel 2. Fiber bundles 314 are wound on the wire gathering drum 311.

[0027] The industrial robot body 4 can be any robot using existing technology. The industrial robot body 4 is capable of driving the pipe bending clamping device 1 to perform six degrees of freedom of motion.

[0028] Among them, such as Figure 3 and Figure 4 As shown, the winding disc device 3 includes a support body, a rack 34 and a rack drive device. The rack 34 is arc-shaped or circular. The rack 34 is rotatably mounted on the support body around its own center. The rack drive device can drive the rack 34 to make circular motion around the center of its own structure. The cable drum 311 is installed inside the rack 34.

[0029] Before winding begins, the bent mandrel 2 is clamped on the bent mandrel clamping device 1. During the winding process, the bent mandrel 2 remains fixed. The rack 34 drives the coil 311 to make a circular motion around the bent mandrel 2 and achieve the purpose of winding the fiber bundle 314 on the bent mandrel 2. When it is necessary to change the winding angle, the industrial robot body 4 drives the winding disc device 3 to rotate at a certain angle. When it is necessary to change the winding position, the industrial robot body 4 drives the winding disc device 3 to move a certain distance, thereby completing the complex winding process.

[0030] This invention uses an industrial robot body 4 to drive a winding disc device 3 to move and rotate. The winding disc device 3 drives the coil 311 to make a circular motion around the bending core mold 2 to complete a complex winding process, thereby realizing the winding and forming of composite material bent pipes. This method improves the automation level of fiber winding and forming of bent pipes, is suitable for processing small and medium-sized composite material bent pipes, and improves the product quality of composite material bent pipes.

[0031] Before winding, the head of the fiber bundle 314 needs to be manually wound around the bending mandrel 2 several times to fix the end of the wire to the bending mandrel 2.

[0032] In a preferred embodiment, the rack drive device includes a motor 37 and a pinion 312. The pinion 312 is arranged on the outside of the rack 34 and meshes with the teeth on the outside of the rack 34. The motor 37 is connected to the pinion 312 for transmission. When the rack 34 is arc-shaped, at least two rack drive devices are provided, and at any time when the rack 34 is in circular motion, at least one pinion 312 is meshing with the rack 34 to ensure that the rack 34 is always in a driven state.

[0033] In some embodiments, the pipe bending clamping device 1 is structured as follows: Figure 2 As shown, the guide rail 12 is mounted on the worktable 11, the slider 13 is mounted on the guide rail 12, the bracket 14 is connected to the slider 13, and the chuck 15 is mounted on the bracket 14.

[0034] In some embodiments, the support includes a housing 33 and a self-lubricating bearing 32 disposed within the housing 33. The rack 34 is arc-shaped, and the housing 33 is arc-shaped. The two ends of the housing 33 are circumferentially open to allow the rack 34 to enter and exit the housing 33. The sidewall of the rack 34 is in sliding contact with the self-lubricating bearing 32. The self-lubricating bearing 32 is coated with graphite to form an oil film, which can improve the lubrication performance of rotation between the rack 34 and the self-lubricating bearing 32.

[0035] Both the housing 33 and the rack 34 are annular structures with notches, so that the winding disc device 3 can approach or move away from the bending mandrel 2 at the beginning and end of the process.

[0036] Among them, the inner side of the two side walls of the rack 34 is provided with guide grooves extending along the length of the rack 34. The self-lubricating bearing 32 is arc-shaped as a whole. The self-lubricating bearing 32 includes a horizontal plate and a vertical plate connected to each other. Both the horizontal plate and the vertical plate are arc-shaped and perpendicular to each other. The horizontal plate is arranged in the guide groove and slides in contact with the guide groove wall. The vertical plate slides in contact with the side wall of the rack 34.

[0037] The housing 33 includes two interlocking sub-housings connected by several bolts, and cover plates 31 are fixedly installed at both ends of the housing 33.

[0038] In some embodiments, to improve safety, the pinion 312 is also disposed within the housing 33, and the pinion 312 is rotatably connected to the side wall of the housing 33 via a rotating shaft 317 and a bearing. A motor mounting base is mounted on the outside of the housing 33 with screws. The motor 37 is mounted on a motor mounting base 35 and connected to the rotating shaft 317 via a coupling 36. The pinion 312 is mounted on the rotating shaft 317. A bushing 318 is connected to two sub-housings with screws. The rolling bearing 316, bushing 318, and rotating shaft 317 are coaxially fitted. An end cap 315 is mounted on the outside of the rotating shaft 317 to achieve a seal.

[0039] In some embodiments, based on the above embodiments, the fiber winding robot for tube bending provided in this embodiment further includes a plurality of guide wheels 39, the guide wheels 39 being arranged sequentially on the inner side of the rack 34, and at least one guide wheel 39 being matched with a torque sensor 313.

[0040] The guide wheel 39 is mounted on the guide wheel bracket 38, which is mounted on the inner side of the rack 34. When the rack 34 rotates, it pulls the fiber bundle 314 wound on the hub 311 through several guide wheels 39 and accurately falls onto the bending mandrel 2. At the same time, the torque controller is given an initial torque value. When the tension on the fiber bundle 314 exceeds the preset value during the winding process, the torque controller will cause the corresponding guide wheel 39 to slip, thereby maintaining the constant tension of the fiber bundle 314.

[0041] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A fiber winding robot for pipe bending forming, characterized by: The device includes an industrial robot body, a pipe bending clamping device, and a winding disc device. The pipe bending clamping device is used to fix both ends of the pipe bending mandrel. The winding disc device is installed at the free end of the industrial robot body, and a wire collector is installed on the winding disc device. The winding disc device drives the wire collector to make a circular motion around the pipe bending mandrel. The winding disc device includes a support body, a rack, and a rack drive device. The rack is arc-shaped and is rotatably mounted on the support body around its own center. The rack drive device can drive the rack to make circular motion around the center of its own structure. The cable collector is installed inside the rack. The rack drive device includes a motor and a pinion. The pinion is arranged on the outside of the rack and meshes with the teeth on the outside of the rack. The motor is connected to the pinion for transmission. There are at least two rack drive devices, and at any time when the rack is in circular motion, at least one of the pinions is meshing with the rack.

2. A fiber-winding robot for tube bending forming according to claim 1, characterized in that: The support includes a housing and a self-lubricating bearing disposed within the housing. The rack is arc-shaped, the housing is arc-shaped, and the two ends of the housing are circumferentially open to allow the rack to enter and exit the housing. The sidewalls of the rack are in sliding contact with the self-lubricating bearing.

3. A fiber-winding robot for tube bending forming according to claim 2, characterized in that: The pinion is also disposed inside the housing, and the pinion is rotatably connected to the side wall of the housing via a shaft and a bearing.

4. The fiber winding robot for tube bending as described in claim 2, characterized in that: The rack has guide grooves extending along its length on the inner side of its two side walls. The self-lubricating bearing is arc-shaped and includes a horizontal plate and a vertical plate connected to each other. Both the horizontal and vertical plates are arc-shaped and perpendicular to each other. The horizontal plate is arranged in the guide groove and slides in contact with the guide groove wall. The vertical plate slides in contact with the rack side wall.

5. The fiber winding robot for tube bending as described in claim 1, characterized in that: It also includes multiple guide wheels, which are arranged sequentially on the inner side of the rack, and at least one of the guide wheels is equipped with a torque sensor.

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