Composite material winding machine and winding method

Abstract

The invention provides a composite material winding machine and a winding method, and belongs to the technical field of dry winding, the composite material winding machine comprises an underframe, a clamping mechanism mounted on the underframe, a walking trolley mounted on the underframe, and an angle control mechanism and a tension control mechanism mounted on the walking trolley; the winding angle of the composite material strip is strictly controlled through the angle control mechanism, the tension of the composite material strip is adjusted through the tension control mechanism, it is guaranteed that the tension and the wall thickness are uniform when the composite material strip is wound, and it is guaranteed that a product obtained after winding forming is stable in performance and attractive in appearance.

Description

Technical Field

[0001] The invention belongs to the technical field of dry winding, and relates to the winding technology of composite materials, in particular to a composite material winding machine and a winding method. Background Art

[0002] At present, the composite winding molding process is a process method that forms a composite structural part with specific design properties by precisely controlling the winding trajectory of fiber prepreg or prepreg tape on the core mold, and curing it by heating, pressurizing, etc. This process method has the characteristics of high production efficiency, high material utilization, low cost, and superior product performance. It is widely used in many fields such as aerospace, ships, automobiles, sports equipment, etc.

[0003] The composite winding machine is an important technical guarantee for the implementation of the composite winding molding process. The traditional composite winding machine adopts the method of winding after the tow is impregnated with glue, that is, wet winding. See the patent application document with application number CN202010908308.1, which discloses a large composite rocket engine casing winding method, including the following steps: 1) Prepare the glue solution: prepare the resin according to the ratio of resin and curing agent; 2) Test the yarn weaving tension: dry the carbon fiber yarn used before winding, put the carbon fiber yarn into the oven for drying; fully immerse the dried carbon fiber yarn in the above resin, and test the tension of the carbon fiber yarn impregnated with resin, and enter the next step after the measurement is qualified; 3) Winding: winding is carried out by spiral oblique winding and circumferential winding. During the winding process, the tension of the carbon fiber yarn is kept within the set range. During the spiral oblique winding, the end face of the spiral winding layer is 2.5±0.2mm away from the front end head hole, and the end face of the spiral winding layer is 15±1mm away from the rear end head hole. The glue on the surface of the winding layer needs to be scraped off during the winding process; 4) Curing; 5) Demolding. It can be seen from this that the wet winding process is relatively complicated and requires multiple dips in glue to produce a molded product. There is a deviation in each dip. When winding at an angle, it is easy for the joints between two adjacent winding circles to be large, and the wall thickness of the wound product cannot be guaranteed to be uniform. Summary of the invention

[0004] As described in the above background technology, most of the existing composite material winding machines adopt wet winding. When winding at an angle, it is easy for the joints between two adjacent winding circles to be large, and there is a technical problem of uneven wall thickness of the wound product. To solve this technical problem, the present invention proposes a composite material winding machine and a winding method.

[0005] The composite material winding machine of the present invention strictly controls the relationship between the winding angle of the composite material strip and the rod diameter of the mold core material, so that the seams of two adjacent circles of the composite material strip are just matched, and the tension control mechanism adjusts the tension of the composite material strip. The present invention ensures the uniformity of tension and wall thickness when the composite material strip is wound by controlling the seams of the composite material strip and adjusting the tension, thereby ensuring that the product performance after winding molding is stable and the appearance is beautiful.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention discloses a composite material winding machine, comprising a base frame, a clamping mechanism installed on the base frame, a traveling trolley installed on the base frame, and an angle control mechanism and a tension control mechanism installed on the traveling trolley;

[0008] The clamping mechanism is used to clamp the mold core material and drive the mold core material to rotate;

[0009] The walking trolley is used to drive the angle control mechanism and the tension control mechanism to move along the winding direction on the base frame;

[0010] The angle control mechanism is used to control the winding angle of the composite material strip, and is arranged close to the mold core material and along the radial direction of the mold core material, wherein the composite material strip is pre-impregnated;

[0011] The tension control mechanism is used to control the tension of the composite material strip;

[0012] Among them, the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship:

[0013]

[0014] In the formula, ∝ is the winding angle each time, unit: ° / time; k is the bandwidth of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley, unit: times.

[0015] It is further defined that the composite material winding machine also includes a winding support frame, and the winding support frame is used to connect the base frame and the clamping mechanism;

[0016] The clamping mechanism includes a main shaft rotating mechanism and a tailstock center mechanism, and both the main shaft rotating mechanism and the tailstock center mechanism are connected to the winding support frame;

[0017] The spindle rotating mechanism and the tailstock center mechanism are respectively used to connect the two ends of the mold core material to clamp the mold core material; and the spindle rotating mechanism is used to drive the mold core material to rotate.

[0018] It is further defined that the composite material winding machine also includes a pneumatic support mechanism, which is installed on the winding support frame and is used to support the mold core material to ensure that the center position of the mold core material does not shift during winding.

[0019] It is further defined that the pneumatic support mechanism is arranged along the radial direction of the mold core material, and the pneumatic support mechanism is arranged on both sides along the radial direction of the mold core material.

[0020] It is further defined that the composite material winding machine also includes a feeding mechanism, which is connected to the angle control mechanism and is arranged close to the mold core material. The composite material strip coming out of the tension control mechanism passes through the angle control mechanism and the feeding mechanism in sequence and is wound around the mold core material.

[0021] It is further defined that the angle control mechanism includes an angle adjustment drive member, a transmission box and an angle adjustment plate, the transmission box is installed on the walking trolley, and an angle adjustment transmission assembly is arranged in the transmission box, wherein the power output end of the angle adjustment drive member extends into the transmission box and is connected with the power input end of the angle adjustment transmission assembly, the power input end of the angle adjustment transmission assembly is connected with one end of the angle adjustment plate, the other end of the angle adjustment plate extends out of the transmission box and extends in a direction close to the mold core material, the angle adjustment plate is arranged along the radial direction of the mold core material, and the discharge mechanism is installed on the angle adjustment plate;

[0022] The angle adjustment driving member is fixedly connected to the traveling trolley.

[0023] It is further defined that the tension control mechanism includes a tension adjustment drive member, a tension adjustment transmission shaft, a belt winding wheel, an electronic cam group and a belt guide assembly, the power output end of the tension adjustment drive member is connected to the tension adjustment transmission shaft, the belt winding wheel is fixedly connected to the tension adjustment transmission shaft, the electronic cam group and the belt guide assembly are both fixedly connected to the transmission box; the tension adjustment drive member is fixedly connected to the walking trolley;

[0024] The composite material strip is wound around the mold core material through the electronic cam assembly, the guide strip assembly, the angle adjustment plate and the unwinding mechanism in sequence;

[0025] The tension adjustment drive controls the rotation speed of the electronic cam group to control the tension of the composite material strip.

[0026] It is further defined that the tension adjustment drive member adjusts the rotation speed of the electronic cam group based on the PID control principle.

[0027] Further limiting, the expression of PID control principle is:

[0028] M n =MP n +MIn +MD n

[0029] MP n =K C *(SP n -PV n )

[0030]

[0031]

[0032] Where M n MP is the output value of the tension adjustment drive at sampling time n; n is the proportional term value of the output value of the tension adjustment drive at sampling time n; MI n is the integral value of the output value of the tension adjustment drive when the sampling time is n; MD n K is the differential value of the output value of the tension adjustment drive when the sampling time is n; C is the PID control loop gain; SP n is the set value of the electronic cam group when the sampling time is n; PV n is the process variable value of the electronic cam group when the sampling time is n; TS is the sampling time of the electronic cam group; TI is the integration period of the electronic cam group; M n-1 is the integral value of the output value of the tension adjustment drive when the sampling time is n-1; PV n-1 It is the process variable value of the electronic cam group when the sampling time is n-1.

[0033] The present invention provides a composite material winding method, which is applied to the composite material winding machine mentioned above, and comprises the following steps:

[0034] S1: winding the prepreg, wherein the prepreg refers to the composite material tape after prepreg;

[0035] S2: The mold core material is clamped by a clamping assembly;

[0036] S3: Determine the winding angle of the composite material strip based on the rod diameter of the mold core material, wherein the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship:

[0037]

[0038] In the formula, ∝ is the winding angle each time, unit: ° / time; k is the bandwidth of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley, unit: times;

[0039] S4: adjusting the winding angle of the composite material strip to be consistent with step S3 through the angle control mechanism;

[0040] S5: The traveling trolley drives the angle control mechanism and the tension adjustment drive to move back and forth along the winding direction on the base frame. The winding angle of the composite material strip is adjusted each time the traveling direction is adjusted. The composite material strip is wound around the mold core material through the tension adjustment drive and the angle control mechanism in turn. During the winding process, the tension adjustment drive adjusts the tension of the composite material strip in real time.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The composite material winding machine of the present invention strictly controls the relationship between the winding angle of the composite material strip and the rod diameter of the mold core material, so that the seams of two adjacent circles of the composite material strip are just matched. At the same time, the tension control mechanism adjusts the tension of the composite material strip. The present invention ensures the uniformity of tension and wall thickness during the winding of the composite material strip by controlling the seams of the composite material strip and adjusting the tension, thereby ensuring that the product performance after winding molding is stable and the appearance is beautiful.

[0043] 2. The composite material tape wound by the present invention is pre-impregnated, that is, the present invention adopts dry winding, which greatly shortens the product molding time in the winding process, saves the equipment floor space, and improves the production environment.

[0044] 3. The composite material winding machine of the present invention also includes a pneumatic support mechanism, which supports the mold core material in the radial direction of the mold core material through the pneumatic support mechanism to ensure that the center position of the mold core material does not shift during winding, thereby ensuring that the axial and radial movement of the mold core material is not affected during the winding process, thereby improving product quality.

[0045] 4. The composite material winding machine of the present invention has high production efficiency and a winding speed of up to 100-200 m / min. It can realize continuous winding of composite material strips at multiple angles with controllable layer tension. The wound products have uniform wall thickness, beautiful appearance and reliable performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of the composite material winding machine of the present invention;

[0047] Figure 2 It is a structural schematic diagram of the angle control mechanism and the tension control mechanism;

[0048] Figure 3 It is a structural schematic diagram of the traveling trolley, the angle control mechanism and the tension control mechanism;

[0049] Among them, 1-spindle rotation mechanism, 101-spindle drive, 102-spindle transmission, 2-tailstock top mechanism, 3-travel trolley, 31-travel drive, 32-travel gear, 33-connecting plate, 4-angle control mechanism, 41-angle adjustment drive, 42-transmission box, 43-angle adjustment plate, 5-tension control mechanism, 51-tension adjustment drive, 52-tension adjustment transmission shaft, 53-winding wheel, 54-electronic cam group, 55-guide belt assembly, 6-linear module mechanism, 7-pneumatic support mechanism, 8-discharging mechanism, 81-discharging wheel, 9-base frame, 10-oblique support, 11-first support, 12-second support, 13-moving wheel, 14-winding support frame, 15-support block. DETAILED DESCRIPTION

[0050] The technical solution of the present invention is further explained below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the implementation modes described below.

[0051] As an important part of composite material winding technology, composite material winding machine is an important technical guarantee to ensure the implementation of winding process, and it is also a key indicator of product quality after winding molding. Traditional winding adopts wet winding, and the winding process is relatively complicated. It requires multiple dips in glue to make a molded product, occupies a large space, and the production environment is relatively dirty. The composite material strip of the present invention is pre-impregnated, that is, the present invention adopts dry winding, which greatly shortens the product molding time compared with wet winding in production process, saves equipment floor space, and greatly changes the production environment. The product performance after winding molding is stable and the appearance is beautiful.

[0052] See also Figure 1 The present invention provides a composite material winding machine, including a base frame 9, a clamping mechanism installed on the base frame 9, a traveling trolley 3 installed on the base frame 9, and an angle control mechanism 4 and a tension control mechanism 5 installed on the traveling trolley 3; the clamping mechanism is used to clamp the mold core material and drive the mold core material to rotate, wherein the mold core material is prepreg; preferably, the mold core material of the present application is a round rod-shaped structure, in addition, it can also be a cylindrical structure or other shapes commonly used in the field of technology. The traveling trolley 3 is used to drive the angle control mechanism 4 and the tension control mechanism 5 to move along the winding direction on the base frame 9; the angle control mechanism 4 is used to control the winding angle of the composite material strip, and is close to the mold core material and arranged along the radial direction of the mold core material; the tension control mechanism 5 is used to control the tension of the composite material strip; wherein, the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship:

[0053]

[0054] Wherein, ∝ is the winding angle each time, unit: ° / time; k is the bandwidth of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley 3, unit: times.

[0055] In the present invention, the angle control mechanism 4 and the tension control mechanism 5 are both connected to the upper end surface of the base frame 9, and a moving wheel 13 is connected to the lower end surface of the base frame 9 to facilitate the movement of the entire composite material winding machine. At the same time, a locking mechanism is provided on the moving wheel 13 to facilitate fixing the composite material winding machine after the composite material winding machine is moved to an appropriate position.

[0056] The composite material winding machine of the present invention further comprises a linear module mechanism 6, preferably, see Figure 1 The linear module mechanism 6 is composed of three mutually parallel linear guide rails, and the length direction of each linear guide rail is arranged along the winding direction of the composite material strip. Specifically, the number of linear guide rails is not limited to three, and can be two or four, etc., as long as the number can achieve the movement of the walking trolley 3.

[0057] In the present invention, the traveling trolley 3 includes a traveling drive component 31, a traveling gear 32 and a connecting plate 33. The connecting plate 33 is placed above three linear guide pairs. The power output end of the traveling drive component 31 is connected to the traveling gear 32. The traveling gear 32 is meshed with one or two of the linear guide pairs. The connecting plate 33 is fixedly connected to two or three linear guide pairs, and is used to be driven by the linear guide pairs and move along the winding direction.

[0058] In the present invention, the composite winding machine further includes a winding support frame 14, which is used to connect the base frame 9 and the clamping mechanism; the winding support frame 14 is connected to the top of the base frame 9 and is arranged in parallel with the walking trolley 3. In the present invention, the walking drive member 31 is a motor or other power drive member known to those skilled in the art.

[0059] The clamping mechanism includes a spindle rotating mechanism 1 and a tailstock top mechanism 2, both of which are connected to a winding support frame 14; the spindle rotating mechanism 1 and the tailstock top mechanism 2 are respectively used to connect the two ends of the mold core material to clamp the mold core material; and the spindle rotating mechanism 1 is used to drive the mold core material to rotate. Specifically, the spindle rotating mechanism 1 and the tailstock top mechanism 2 are respectively placed at the opposite ends of the winding support frame 14, and the mold core material is clamped between the spindle rotating mechanism 1 and the tailstock top mechanism 2. The spindle rotating mechanism 1 includes a spindle driving member 101 and a spindle transmission member 102, the power output end of the spindle driving member 101 is connected to the spindle transmission member 102, the spindle transmission member 102 is connected to one end of the mold core material, and the other end of the mold core material is connected to the tailstock top mechanism 2; the spindle transmission member 102 is connected to the winding support frame 14 through a support block 15, wherein the spindle transmission member 102 is rotatably connected to the support block 15 through a bearing.

[0060] In the present invention, the spindle rotating mechanism 1 is a motor or other power driving parts well known to those skilled in the art.

[0061] In the present invention, the composite winding machine also includes a pneumatic support mechanism 7, which is installed on the winding support frame 14 and is used to support the mold core material to ensure that the center position of the mold core material does not shift during winding. Specifically, the pneumatic support mechanism 7 is arranged along the radial direction of the mold core material, and the pneumatic support mechanism 7 is arranged on both sides of the radial direction of the mold core material to improve the stability of the radial and axial support of the mold core material. The pneumatic support mechanism 7 of the present invention is a bull's eye universal ball, which can adapt to the rotation of the mold core material.

[0062] In the present invention, the composite material winding machine further includes a discharge mechanism 8, which is connected to the angle control mechanism 4 and is arranged close to the mold core material. The composite material tape coming out of the tension control mechanism 5 passes through the angle control mechanism 4 and the discharge mechanism 8 in sequence and is wound on the mold core material. The discharge mechanism 8 is a discharge wheel 81.

[0063] See also Figure 2 and Figure 3In the present invention, the angle control mechanism 4 includes an angle adjustment drive member 41, a transmission box 42 and an angle adjustment plate 43. The transmission box 42 is installed on the traveling trolley 3. An angle adjustment transmission assembly is arranged in the transmission box 42, wherein the power output end of the angle adjustment drive member 41 extends into the transmission box 42 and is connected to the power input end of the angle adjustment transmission assembly, the power input end of the angle adjustment transmission assembly is connected to one end of the angle adjustment plate 43, the other end of the angle adjustment plate 43 extends out of the transmission box 42 and extends in the direction close to the mold core material, the angle adjustment plate 43 is arranged along the radial direction of the mold core material, and the discharge mechanism 8 is installed on the angle adjustment plate 43; the angle adjustment drive member 41 is fixedly connected to the traveling trolley 3. Specifically, the angle adjustment transmission assembly is a gear transmission group, and the angle adjustment drive member 41 is a motor or other power drive member known to those skilled in the art. The transmission box 42 is fixedly connected to the base frame 9 through the diagonal support 10.

[0064] In the present invention, the tension control mechanism 5 includes a tension adjustment drive 51, a tension adjustment transmission shaft 52, a belt winding wheel 53, an electronic cam group 54 and a belt guide assembly 55. The power output end of the tension adjustment drive 51 is connected to the tension adjustment transmission shaft 52, the belt winding wheel 53 is fixedly connected to the tension adjustment transmission shaft 52, and the electronic cam group 54 and the belt guide assembly 55 are both fixedly connected to the transmission housing 42; the tension adjustment drive 51 is fixedly connected to the walking trolley 3; the composite material tape is wound on the mold core material through the electronic cam group 54, the belt guide assembly 55, the angle adjustment plate 43 and the unloading mechanism 8 in sequence; the tension adjustment drive 51 controls the rotation speed of the electronic cam group 54 to control the tension of the composite material tape. The tension adjustment transmission shaft 52 is connected to the transmission housing 42 through the second support 12, wherein the tension adjustment transmission shaft 52 is rotatably connected to the second support 12 through a bearing, and the electronic cam group 54 is connected to the transmission housing 42 through the first support 11, that is, the electronic cam group 54 is fixedly connected to the first support 11.

[0065] In the present invention, the tension adjustment driving member 51 is a motor or other power driving members well known to those skilled in the art.

[0066] In the present invention, the tension adjustment drive 51 adjusts the rotation speed of the electronic cam group 54 based on the PID control principle. Specifically, the tension control mechanism 5 of the present invention also includes a PID control component, which is electrically connected to the tension adjustment drive 51 and the electronic cam group 54. The electronic cam group 54 detects the tension of the composite material strip and feeds back the tension of the composite material strip to the PID control component. The PID control component determines the rotation speed of the tension adjustment drive 51 based on the tension of the composite material strip based on the PID control principle, thereby realizing real-time adjustment of the tension of the composite material strip.

[0067] Among them, the expression of PID control principle is:

[0068] M n =MP n +MI n +MD n

[0069] MP n =K C *(SP n -PV n )

[0070]

[0071]

[0072] Where M n MP is the output value of the tension adjustment drive 51 at sampling time n; n is the proportional term value of the output value of the tension adjustment drive 51 when the sampling time is n; n MD is the integral value of the output value of the tension adjustment drive 51 when the sampling time is n; n K is the differential value of the output value of the tension adjustment drive 51 when the sampling time is n; C is the PID control loop gain; SP n is the setting value of the electronic cam group 54 when the sampling time is n; PV n is the process variable value of the electronic cam group 54 when the sampling time is n; TS is the sampling time of the electronic cam group 54; TI is the integration period of the electronic cam group 54; M n-1 is the integral value of the output value of the tension adjustment drive 51 when the sampling time is n-1; PV n-1 is the process variable value of the electronic cam group 54 when the sampling time is n-1.

[0073] The present invention also provides a composite material winding method, which is applied to the composite material winding machine mentioned above, and comprises the following steps:

[0074] S1: winding the prepreg, wherein the prepreg refers to the composite material tape after prepreg;

[0075] S2: clamping the mold core material after prepreg by a clamping assembly;

[0076] S3: Determine the winding angle of the composite material strip based on the rod diameter of the mold core material, wherein the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship:

[0077]

[0078] Wherein, ∝ is the winding angle each time, unit: ° / time; k is the bandwidth of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley 3, unit: times;

[0079] S4: adjusting the winding angle of the composite material strip to be consistent with step S3 through the angle control mechanism 4;

[0080] S5: The walking trolley 3 drives the angle control mechanism 4 and the tension control mechanism 5 to move back and forth along the winding direction on the base frame 9. The winding angle of the composite material strip is adjusted each time the moving direction is adjusted. The composite material strip is wound around the mold core material through the tension control mechanism 5 and the angle control mechanism 4 in turn. During the winding process, the tension control mechanism 5 adjusts the tension of the composite material strip in real time.

[0081] The present invention realizes the adjustment of the tension of the composite material strip based on the PID control principle. Specifically, the electronic cam group 54 detects the tension of the composite material strip and feeds back the tension of the composite material strip to the PID control component. The PID control component determines the rotation speed of the tension adjustment drive 51 through the tension of the composite material strip based on the PID control principle, thereby realizing real-time adjustment of the tension of the composite material strip.

[0082] Among them, the expression of PID control principle is:

[0083] M n =MP n +MI n +MD n

[0084] MP n =K C *(SP n -PV n )

[0085]

[0086]

[0087] Where M n MP is the output value of the tension adjustment drive 51 at sampling time n; n is the proportional term value of the output value of the tension adjustment drive 51 when the sampling time is n; n MD is the integral value of the output value of the tension adjustment drive 51 when the sampling time is n; n K is the differential value of the output value of the tension adjustment drive 51 when the sampling time is n; C is the PID control loop gain; SP n is the setting value of the electronic cam group 54 when the sampling time is n; PVn is the process variable value of the electronic cam group 54 when the sampling time is n; TS is the sampling time of the electronic cam group 54; TI is the integration period of the electronic cam group 54; M n-1 is the integral value of the output value of the tension adjustment drive 51 when the sampling time is n-1; PV n-1 is the process variable value of the electronic cam group 54 when the sampling time is n-1.

[0088] The composite material winding machine of the present invention strictly controls the relationship between the winding angle of the composite material strip and the rod diameter of the mold core material, so that the seams of two adjacent circles of the composite material strip are just matched. At the same time, the tension control mechanism 5 adjusts the tension of the composite material strip. The present invention ensures the uniformity of tension and wall thickness when the composite material strip is wound by controlling the seams of the composite material strip and adjusting the tension, thereby ensuring that the product performance after winding molding is stable and the appearance is beautiful.

[0089] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the present invention.

Claims

1. A composite material winding machine, characterized in that: It comprises a base frame (9), a clamping mechanism installed on the base frame (9), a traveling trolley (3) installed on the base frame (9), and an angle control mechanism (4) and a tension control mechanism (5) installed on the traveling trolley (3); The clamping mechanism is used to clamp the mold core material and drive the mold core material to rotate; The walking trolley (3) is used to drive the angle control mechanism (4) and the tension control mechanism (5) to move along the winding direction on the base frame (9); The angle control mechanism (4) is used to control the winding angle of the composite material strip and is arranged close to the mold core material and along the radial direction of the mold core material, wherein the composite material strip is pre-impregnated; The tension control mechanism (5) is used to control the tension of the composite material strip; Among them, the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship: Wherein, ∝ is the winding angle each time, unit: ° / time; k is the bandwidth of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley (3), unit: times.

2. The composite material winding machine according to claim 1, characterized in that: The composite material winding machine further comprises a winding support frame (14), wherein the winding support frame (14) is used to connect the base frame (9) and the clamping mechanism; The clamping mechanism comprises a main shaft rotating mechanism (1) and a tailstock center mechanism (2), and the main shaft rotating mechanism (1) and the tailstock center mechanism (2) are both connected to a winding support frame (14); The spindle rotating mechanism (1) and the tailstock center mechanism (2) are respectively used to connect the two ends of the mold core material to clamp the mold core material; and the spindle rotating mechanism (1) is used to drive the mold core material to rotate.

3. The composite material winding machine according to claim 2, characterized in that: The composite material winding machine also includes a pneumatic support mechanism (7), which is installed on a winding support frame (14) and is used to support the mold core material to ensure that the center position of the mold core material does not shift during winding.

4. The composite material winding machine according to claim 3, characterized in that: The pneumatic support mechanism (7) is arranged along the radial direction of the mold core material, and the pneumatic support mechanism (7) is arranged on both sides along the radial direction of the mold core material.

5. The composite material winding machine according to claim 1, characterized in that: The composite material winding machine also includes a discharge mechanism (8), which is connected to the angle control mechanism (4) and is arranged close to the mold core material. The composite material strip coming out of the tension control mechanism (5) passes through the angle control mechanism (4) and the discharge mechanism (8) in sequence and is wound on the mold core material.

6. The composite material winding machine according to claim 5, characterized in that: The angle control mechanism (4) comprises an angle adjustment driving member (41), a transmission housing (42) and an angle adjustment plate (43); the transmission housing (42) is mounted on the walking trolley (3); an angle adjustment transmission assembly is arranged in the transmission housing (42); a power output end of the angle adjustment driving member (41) extends into the transmission housing (42) and is connected to a power input end of the angle adjustment transmission assembly; the power input end of the angle adjustment transmission assembly is connected to one end of the angle adjustment plate (43); the other end of the angle adjustment plate (43) extends out of the transmission housing (42) and extends in a direction close to the mold core material; the angle adjustment plate (43) is arranged along the radial direction of the mold core material; and the discharge mechanism (8) is mounted on the angle adjustment plate (43); The angle adjustment driving member (41) is fixedly connected to the traveling trolley (3).

7. The composite material winding machine according to claim 6, characterized in that: The tension control mechanism (5) comprises a tension adjustment driving member (51), a tension adjustment transmission shaft (52), a belt winding wheel (53), an electronic cam group (54) and a belt guide assembly (55); the power output end of the tension adjustment driving member (51) is connected to the tension adjustment transmission shaft (52); the belt winding wheel (53) is fixedly connected to the tension adjustment transmission shaft (52); the electronic cam group (54) and the belt guide assembly (55) are both fixedly connected to the transmission box (42); the tension adjustment driving member (51) is fixedly connected to the walking trolley (3); The composite material strip is wound around the mold core material through an electronic cam assembly (54), a guide belt assembly (55), an angle adjustment plate (43) and a material discharge mechanism (8) in sequence; The tension adjustment driving member (51) controls the rotation speed of the electronic cam group (54) to control the tension of the composite material strip.

8. The composite material winding machine according to claim 7, characterized in that: The tension adjustment drive (51) adjusts the rotation speed of the electronic cam group (54) based on the PID control principle.

9. The composite material winding machine according to claim 8, characterized in that: The expression of PID control principle is: M n =MP n +ME n +MD n MP n =K C **(SP n -PV n ) Where M n is the output value of the tension adjustment driving member (51) when the sampling time is n; MP n is the proportional term value of the output value of the tension adjustment driving member (51) when the sampling time is n; MI n MD is the integral value of the output value of the tension adjustment driving member (51) when the sampling time is n; n K is the differential value of the output value of the tension adjustment driving member (51) when the sampling time is n; C is the PID control loop gain; SP n is the setting value of the electronic cam group (54) when the sampling time is n; PV n is the process variable value of the electronic cam group (54) when the sampling time is n; TS is the sampling time of the electronic cam group (54); TI is the integration period of the electronic cam group (54); M n-1 is the integral value of the output value of the tension adjustment driving member (51) when the sampling time is n-1; PV n-1 is the process variable value of the electronic cam group (54) at sampling time n-1.

10. A composite material winding method, applied to the composite material winding machine according to claim 1, characterized in that: The following steps are involved: S1: winding the prepreg, wherein the prepreg refers to the composite material tape after prepreg; S2: clamping the mold core material through a clamping assembly; S3: Determine the winding angle of the composite material strip based on the rod diameter of the mold core material, wherein the winding angle of the composite material strip and the rod diameter of the mold core material have the following relationship: Wherein, ∝ is the winding angle each time, unit: ° / time; k is the width of the composite material strip, unit: mm; d is the rod diameter of the mold core material, unit: mm; n is the number of reciprocating windings of the walking trolley (3), unit: times; S4: adjusting the winding angle of the composite material strip to be consistent with step S3 through the angle control mechanism (4); S5: The walking trolley (3) drives the angle control mechanism (4) and the tension control mechanism (5) to move back and forth on the base frame (9) along the winding direction. The winding angle of the composite material strip is adjusted each time the moving direction is adjusted. The composite material strip is wound on the mold core material through the tension control mechanism (5) and the angle control mechanism (4) in turn. During the winding process, the tension control mechanism (5) adjusts the tension of the composite material strip in real time.

Images