A solid energetic fuel charge belt forming system and working method thereof

Abstract

The present invention belongs to the technical field of fiber additive manufacturing equipment, and relates to a solid energetic fuel charge belt molding system and its working method. The system includes a base, a rotary table, a multi-degree-of-freedom tape laying system, a tape feeding tension system, a charge column positioning system and an auxiliary system; the rotary table is located on the base, a support frame is provided on the rotary table, and the multi-degree-of-freedom tape laying system and the charge column positioning system are fixed on the rotary table; the tape feeding tension system is fixed above the support frame; the charge column is installed in the charge column positioning system, and the charge column remains stationary during the molding process, and the fiber belt is successively wound around the charge column in the circumferential and longitudinal directions after passing through the tape feeding tension system and the multi-degree-of-freedom tape laying system. The present invention cooperates with each other through the motion systems to accurately control the motion trajectory of the tape laying wheel, so that the winding trajectory of the fiber belt on the surface of the charge column is accurate, and different styles such as specific spiral winding and circumferential uniform winding are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fiber additive manufacturing equipment, and in particular relates to a solid energetic fuel charge belt forming system and a working method thereof. Background Art

[0002] Existing additive manufacturing equipment for continuous fiber shells of energetic materials all adopts the method of rotating the grain. The rotation speed of the grain is limited. Once the speed is too high, the centrifugal force will cause the grain on the core column to crack and peel off, and the integrity of the grain cannot be guaranteed. The winding speed directly determines the efficiency, and the limited rotation speed is the key issue restricting the efficiency. Summary of the invention

[0003] The object of the present invention is to provide a solid energetic fuel charge strip forming system and a working method thereof, which solves the problems of limited winding speed and low efficiency of existing forming equipment.

[0004] The present invention is achieved through the following technical solutions: The present invention discloses a solid energetic fuel charge tape forming system, comprising a base, a rotary worktable, a multi-degree-of-freedom tape laying system, a tape feeding tension system, a charge column positioning system and an auxiliary system; the rotary worktable is located on the base, a support frame is provided on the rotary worktable, the multi-degree-of-freedom tape laying system and the charge column positioning system are fixed on the rotary worktable; the tape feeding tension system is fixed above the support frame; The grain is installed in the grain positioning system. The grain remains stationary during the forming process. The fiber tape is successively wound around the grain in the circumferential and longitudinal directions after passing through the tape feeding tension system and the multi-degree-of-freedom tape laying system. The multi-degree-of-freedom tape laying system includes a tape laying wheel, a horizontal movement system, a vertical motion system and a swinging motion system. The tape laying wheel is installed on the swinging motion system, and the swinging motion system drives the tape laying wheel to move; the swinging motion system is installed on the horizontal movement system, and the horizontal movement system drives the swinging motion system and the tape laying wheel to achieve horizontal movement; the horizontal movement system is installed on the vertical motion system, and the vertical motion system drives the horizontal movement system, the swinging motion system and the tape laying wheel to make vertical movement as a whole.

[0005] Furthermore, both the horizontal movement system and the vertical movement system are driven by screws; and the swing movement system is driven by synchronous belts.

[0006] Furthermore, the swing motion system includes a first motor for driving the horizontal movement system to move horizontally, a second motor for driving the linear motion system to move vertically, and a third motor for driving the swing motion system.

[0007] Furthermore, the belt feeding tension system includes a horizontal air shaft, a film collecting shaft, a first guide shaft, a second guide shaft, a third guide shaft, a tensioning shaft and a bracket, and the horizontal air shaft, the film collecting shaft, the guide shaft and the tensioning shaft are all installed on the bracket, and a plurality of guide shafts are provided; The fiber tape passes through the film-collecting shaft, the first guide shaft, the tensioning shaft and the second guide shaft in sequence, and finally is wound out through the third guide shaft and wound onto the tape laying wheel of the multi-degree-of-freedom tape laying system.

[0008] Furthermore, the tape feeding tension system also includes a winding motor and an unwinding motor. The unwinding motor is arranged on the upper side of the bracket, and the winding motor is installed on the lower right side of the bracket. The winding motor is connected to the winding shaft, and the unwinding motor is connected to the unwinding shaft.

[0009] Furthermore, the support frame includes a first vertical frame, a horizontal support plate and a second vertical frame, the first vertical frame and the second vertical frame are arranged in parallel, and the first vertical frame and the second vertical frame are vertically connected to the horizontal support plate; the belt feeding tension system is arranged above the horizontal support plate; The drug column positioning system is arranged below the horizontal support plate and located between the first vertical frame and the second vertical frame.

[0010] Furthermore, the charge positioning system includes a positioning seat, a supporting top, a vertical inflatable shaft and a tray. The positioning seat is installed on the base and is located inside the rotary worktable. The charge is installed on the outside of the vertical inflatable shaft and is held by the tray. The supporting top is arranged above the vertical inflatable shaft. The supporting top is fixed to the auxiliary system through a connecting rod. The auxiliary system is used to drive the supporting top to rise and fall.

[0011] Furthermore, the positioning seat adopts a three-jaw chuck.

[0012] Further, the auxiliary system is mounted on the second vertical frame.

[0013] The present invention also discloses a working method of the solid energetic fuel charge belt forming system, which includes the following process: The grain is fixed in the grain positioning system. The grain remains stationary during the forming process. The fiber tape is wound by the tape feeding tension system and then wound from top to bottom onto the tape laying wheel of the multi-degree-of-freedom tape laying system. The rotary table rotates, driving the multi-degree-of-freedom tape laying system to rotate in the circumferential direction around the grain. At the same time, the tape laying wheel rotates driven by the swinging motion system, moves horizontally driven by the horizontal moving system, and continuously winds around the grain from bottom to top in the circumferential and longitudinal directions driven by the vertical motion system.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention discloses a solid energetic fuel charge strip forming system, including a base, a rotary worktable, a multi-degree-of-freedom tape laying system, a tape feeding tension system, a charge positioning system and an auxiliary system; the base serves as a foundation to support the entire system, and the rotary worktable is located on the base, providing a stable and rotatable operating platform for the installation of subsequent related systems and the charge strip forming operation, so that the stability of the overall structure can be maintained when performing operations such as winding at different angles and orientations, which is conducive to the smooth development of the forming process. By integrating multiple subsystems such as the multi-degree-of-freedom tape laying system, the tape feeding tension system, the charge positioning system and the auxiliary system, the various parts cooperate with each other to achieve a series of complex charge strip forming processes from tape feeding, adjusting tension to accurately winding around the charge, so as to ensure that the charge strip can be formed according to predetermined requirements.

[0015] The tape feeding tension system is fixed above the support frame. It can control the delivery of the fiber tape to ensure that the fiber tape can be continuously and stably supplied to the multi-degree-of-freedom tape laying system at an appropriate speed and direction, avoiding situations such as too fast, too slow or stuck tape feeding that affect the quality of the grain winding. The system can adjust the tension of the fiber tape. The appropriate tension can ensure that the fiber tape can fit tightly to the surface of the grain when winding around it, and will not cause the fiber tape to break or excessively squeeze the grain due to excessive tension, thereby ensuring that the flatness and compactness of the winding meet the molding requirements.

[0016] The charge positioning system is installed on the base and located inside the rotary table. It can accurately position the charge so that it remains stationary throughout the complex molding process. In this way, when the fiber belt is continuously wound around it in the circumferential and longitudinal directions, the charge will not shift or shake, thereby ensuring the accuracy of the winding position, so that the final formed charge has a uniform charge structure and meets the dimensional accuracy requirements.

[0017] The multi-degree-of-freedom tape laying system includes a tape laying wheel, a horizontal moving system, a vertical motion system and a swinging motion system. The vertical motion system can drive the tape laying wheel to move vertically as a whole, which is convenient for laying fiber tape at different height positions of the grain; the horizontal moving system can achieve horizontal displacement of the tape laying wheel, which can cover different radial positions of the grain; the swinging motion system drives the tape laying wheel to move and can adjust the tape laying angle. The cooperation of these systems enables the tape laying wheel to achieve flexible horizontal, vertical and angular changes, so that the grain can be continuously wound in the circumferential and longitudinal directions, meeting the needs of various complex grain forming paths, ensuring that the fiber tape can be wound on the grain in an all-round and uniform manner, and improving the quality and performance of the grain after forming.

[0018] The present invention achieves precise control of the motion trajectory of the tape-laying wheel by the cooperation of various motion systems, so that the winding trajectory of the fiber tape on the surface of the grain is accurate, and different styles such as specific spiral winding and circumferential uniform winding are achieved to meet the differentiated requirements of different types of solid energetic fuel grains for the grain-carrying molding structure, which ultimately helps to improve the combustion performance, energy release and other related performance of the grain during use.

[0019] Furthermore, by setting up multiple guide shafts (first guide shaft, second guide shaft, third guide shaft), a clear and definite conveying path can be provided for the fiber belt, so that it can move forward stably in the established order and route from the film collecting shaft to the final winding to the tape laying wheel, avoiding the fiber belt from swinging randomly, winding chaos, etc., ensuring the orderliness and continuity of the conveying process, and thus helping the entire drug-containing molding process to be carried out continuously and smoothly. This multi-axis guidance method can flexibly adapt to the overall spatial layout of the system. Even when the positions of various components are relatively fixed and complex, the guide shafts can be cleverly used to change the direction of the fiber belt, so that it can smoothly start from the film collecting shaft, bypass different components, and finally accurately reach the tape laying wheel, meeting the requirements of the entire drug-containing molding system for the fiber belt conveying route in structural design.

[0020] The tensioning shaft plays a key role in adjusting the tension in the entire fiber belt conveying path. The fiber belt passes through multiple shafts in sequence. When passing through the tensioning shaft, the tension of the fiber belt can be accurately controlled by adjusting the relevant parameters of the tensioning shaft (such as the size of the tensioning force, the rotational resistance of the shaft, etc.). Moreover, when passing through different components such as the front film collection shaft and various guide shafts, the tension state of the fiber belt itself will also be initially adjusted and stabilized based on factors such as friction and angle changes between the shafts, so that the fiber belt that finally reaches the laying wheel can have a suitable and stable tension, meeting the strict requirements of the winding operation for tension.

[0021] Different solid energetic fuel grain forming processes may have different requirements for fiber band tension. The system relies on the coordination between the tensioning shaft and the shafts in the entire conveying path to flexibly and accurately adjust the tension according to specific process requirements. For example, for some grains that require tighter winding, the tension of the tensioning shaft can be appropriately increased to allow the fiber band to be tightly wound on the grain with a higher tension; and for situations that are more sensitive to the surface pressure of the grain, the tension can be finely adjusted to a suitable smaller value to ensure that the fiber band can be wound in place without causing adverse effects on the grain, effectively improving the quality and adaptability of the grain forming process.

[0022] The horizontal air shaft, film collection shaft, guide shafts and tensioning shaft are all installed on the bracket, forming a relatively integrated structure. This integrated design facilitates the installation and fixation of the entire belt feeding tension system above the support frame. The arrangement of multiple key components can be completed by simply installing the bracket as a whole, reducing the problems of inaccurate positioning and cumbersome installation that may occur when installing each shaft separately, and improving installation efficiency.

[0023] By reasonably adjusting the tension and stabilizing the conveying process, the physical properties of the fiber belt itself (such as strength, elasticity, etc.) can be kept stable, so that it can play its due function when it is wound onto the drug column, ensuring the reliability of the overall structure and the consistency of performance of the drug column after the drug is formed.

[0024] The structural design of the tape feeding tension system has significant beneficial effects in ensuring stable fiber tape transportation, accurately controlling tension, facilitating system installation and maintenance, and protecting fiber tape materials. It helps to improve the quality and efficiency of solid energetic fuel propellant propellant molding work.

[0025] Furthermore, the positioning seat is installed on the base and located inside the rotary table, which builds a stable basic platform for the entire drug column positioning system. The drug column is subsequently positioned by cooperating with the vertical air shaft, tray, etc., and the positioning seat ensures that these components will not move randomly in the horizontal direction during the entire drug column molding process, so that the drug column can have a relatively fixed and accurate initial position in the three-dimensional space, laying the foundation for subsequent precise winding and other operations.

[0026] The vertical inflatable shaft plays a key role in axial positioning in the positioning of the charge. The charge is installed outside the vertical inflatable shaft. The inflatable shaft can be tightly fitted with the inner wall of the charge by means of inflation, or form a stable matching relationship with the structure such as the center hole of the charge, so as to accurately determine the position of the charge in the vertical direction and ensure that it will not move in the height direction, so that the fiber belt can be wound with the accurate axial position of the charge as a reference to achieve uniform and regular circumferential and longitudinal winding.

[0027] The tray holds the medicine column, providing stable support from the bottom of the medicine column, sharing the weight of the medicine column itself, and preventing the medicine column from sinking or deforming due to gravity. Especially for some larger and heavier medicine columns, the supporting role of the tray is particularly important. It can ensure that the medicine column always maintains a good shape and position during the entire medicine forming process, which is conducive to the smooth progress of the subsequent winding process.

[0028] The support tip is set above the vertical inflatable shaft, fixed to the auxiliary system through a connecting rod and can be driven up and down by it. When necessary, the support tip can be lowered to contact the top of the drug column, providing additional support from the top of the drug column, forming a support structure that echoes up and down with the tray, further enhancing the stable support effect of the drug column, especially for some long-length and large-slenderness drug columns. This method of supporting up and down at the same time can effectively prevent the drug column from bending and deformation due to its own structural characteristics when placed horizontally, ensuring that the drug column remains straight and fixed in position when stationary, so that the fiber belt can be accurately wrapped around it.

[0029] The vertical inflation axis can usually be adjusted to a certain extent according to the inner diameter and other dimensions of different grains (such as the degree of inflation, etc.). The tray can also be designed and replaced accordingly according to the shape and size of the bottom of the grain. The supporting top can also flexibly adjust its lifting position and the contact method with the top of the grain through the auxiliary system. In this way, the entire grain positioning system can adapt to grains of different specifications (such as different diameters, lengths, shapes, etc.), thereby improving the versatility and applicability of the system, so that the grain-carrying molding system can be used for the production and processing of various types of solid energetic fuel grains.

[0030] The auxiliary system drives the lifting and lowering of the support top, which allows flexible operation in different stages such as the installation, removal and winding of the grain. When installing the grain, the support top can be raised first to facilitate the placement of the grain on the tray and the vertical air shaft, and then the support top can be lowered for stable support; after the winding is completed, the support top is raised to facilitate the smooth removal of the formed grain. This flexible operation method enables the grain positioning system to be well connected with the workflow of other parts of the entire grain forming system (such as the multi-degree-of-freedom tape laying system, etc.), ensuring the smoothness of the production process.

[0031] Through the comprehensive effects of precise positioning, reliable support, and operational flexibility, the charge positioning system can ensure that the charge is always in an ideal static, stable, and accurately positioned state during the entire charge forming process. When the fiber tape is continuously wound around the charge in the circumferential and longitudinal directions, it can be operated in strict accordance with the predetermined design requirements, such as the number of winding layers, winding angle, winding spacing, etc., to ultimately ensure that the charge structure of the formed charge is uniform and has high dimensional accuracy, which has a positive impact on the key performance indicators of the charge in the subsequent use process, such as the combustion performance and energy release stability, and helps to improve the overall quality and reliability of the solid energetic fuel charge. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram of a solid energetic fuel charge strip forming system of the present invention; Figure 2It is a schematic diagram of the structure of the multi-degree-of-freedom tape laying system; Figure 3 It is a structural schematic diagram of the belt laying pulley; Figure 4 It is a structural schematic diagram of the belt feeding tension system; Figure 5 It is a structural schematic diagram of the drug column positioning system; Among them, 1. Rotary worktable; 2. Multi-degree-of-freedom tape laying system; 3. Tape feeding tension system; 4. Grain column positioning system; 5. Auxiliary system; 6. Grain column; 7. Base; 21. Tape laying wheel; 22. Horizontal moving system; 23. Vertical moving system; 24. Swinging motion system; 31. Horizontal inflatable shaft; 32. Film-collecting shaft; 33. First guide shaft; 34. Second guide shaft; 35. Third guide shaft; 36. Tensioning shaft; 37. Bracket; 41. Support top; 42. Vertical air shaft; 43. Tray; 44. Positioning seat; 81. First vertical frame; 82. Horizontal support plate; 83. Second vertical frame. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the present invention more clear, the following is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, not all embodiments.

[0034] The components described and shown in the drawings and embodiments of the present invention may be arranged and designed in various configurations. Therefore, the detailed description of the embodiments of the present invention provided in the following drawings is not intended to limit the scope of the claimed invention, but merely represents a selected embodiment of the present invention. Based on the drawings and embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0035] It should be noted that the terms "comprises", "includes" or any other variants are intended to cover non-exclusive inclusion, so that a process, element, method, article or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to the process, element, method, article or device. In addition, the terms "horizontal" and "vertical" are based on the orientation and positional relationship of the devices or components shown in the drawings, and are only for the purpose of better describing the present invention, rather than requiring the devices, components or equipment shown to have this specific orientation, and therefore cannot be understood as limiting the present invention.

[0036] The features and performances of the present invention are further described in detail below in conjunction with the embodiments.

[0037] like Figure 1 As shown, the present invention discloses a solid energetic fuel charge tape forming system, comprising a base 7, a rotary worktable 1, a multi-degree-of-freedom tape laying system 2, a tape feeding tension system 3, a charge positioning system 4 and an auxiliary system 5; the rotary worktable 1 is located on the base 7, a support frame is provided on the rotary worktable 1, the multi-degree-of-freedom tape laying system 2 is fixed on the rotary worktable 1; the tape feeding tension system 3 is fixed above the support frame.

[0038] like Figure 1 As shown, the support frame includes a first vertical frame 81, a horizontal support plate 82, and a second vertical frame 83. The first vertical frame 81 and the second vertical frame 83 are arranged in parallel, and the first vertical frame 81 and the second vertical frame 83 are vertically connected to the horizontal support plate 82. The belt feeding tension system 3 is arranged above the horizontal support plate 82.

[0039] like Figure 2 and Figure 3 As shown, the multi-degree-of-freedom tape-laying system 2 includes a tape-laying wheel 21, a horizontal moving system 22, a vertical motion system and a swinging motion system 24. The tape-laying wheel 21 is installed on the swinging motion system 24, and the swinging motion system 24 drives the tape-laying wheel 21 to move; the swinging motion system 24 is installed on the horizontal moving system 22, and the horizontal moving system 22 drives the swinging motion system 24 and the tape-laying wheel 21 to achieve horizontal movement; the horizontal moving system 22 is installed on the vertical motion system, and the vertical motion system drives the horizontal moving system 22, the swinging motion system 24 and the tape-laying wheel 21 to make vertical movement as a whole.

[0040] Specifically, the swing motion system 24 adopts synchronous belt transmission, and the belt laying wheel 21 is actually a roller shaft. The servo motor drives the synchronous belt transmission, thereby driving the roller shaft to rotate.

[0041] Both the horizontal moving system 22 and the vertical moving system adopt screw drive to realize the movement of the multi-degree-of-freedom tape laying system 2 in the X direction and the Z direction.

[0042] The multi-degree-of-freedom tape laying system 2 is fixed on the rotary table 1 . The rotation of the rotary table 1 can also drive the support frame and the multi-degree-of-freedom tape laying system 2 to rotate together, thereby realizing the winding of the drug column 6 .

[0043] Specifically, the swing motion system 24 includes a first motor for driving the horizontal movement system 22 to move horizontally, a second motor for driving the linear motion system to move vertically, and a third motor for driving the swing motion system 24 .

[0044] like Figure 4As shown, the tape feeding tension system 3 includes a horizontal pneumatic shaft 31, a film collecting shaft 32, a guide shaft, a tensioning shaft 36 and a bracket 37. The horizontal pneumatic shaft 31, the film collecting shaft 32, the guide shaft, and the tensioning shaft 36 are all installed on the bracket 37. There are three guide shafts. Specifically, the guide shafts include a first guide shaft 33 located on the upper side, a second guide shaft 34, and a third guide shaft 35 located at the outlet end.

[0045] The horizontal inflatable shaft 31 is mainly used to support the fiber belt. After the inflatable shaft is ventilated, it prevents the fiber belt from falling downward.

[0046] The fiber tape passes through the film-collecting shaft 32 , the first guide shaft 33 , the tensioning shaft 36 and the second guide shaft 34 in sequence, and finally is wound out through the third guide shaft 35 and is wound onto the tape laying wheel 21 in the multi-degree-of-freedom tape laying system 2 .

[0047] The belt tension system 3 is fixed to the upper surface of the horizontal support plate 82, and rotates with the rotary table 1 together with the support frame. The guide shaft plays the role of guiding the belt, and the tension shaft 36 makes the fiber belt have a controllable and appropriate tension.

[0048] The tape feeding tension system 3 further includes a winding motor and an unwinding motor, wherein the unwinding motor is arranged on the upper side of the bracket 37, and the winding motor is installed on the lower right side of the bracket 37. The winding motor is connected to a winding shaft, and the unwinding motor is connected to an unwinding shaft.

[0049] Set the air pressure value of the proportional regulating valve. By setting the pressure difference between the downward and upward proportional regulating valves, the line tension of the horizontal air shaft 31 can be adjusted. The setting range is 0-100%. Generally, the air pressure of the upward proportional regulating valve is set to 0%, and the air pressure of the downward proportional regulating valve is set to 30%, corresponding to a tension of 50N. Set the torque value of the winding motor. By setting the torque value of the winding motor, the winding motor starts to rotate. The larger the torque value of the winding motor, the faster the motor speed and the greater the torque. The setting range is 0-100%. Generally, it is set to 30%.

[0050] After startup, Figure 1 The machine makes a rotating motion during printing. Counterclockwise rotation is the positive direction. The unwinding axis rotates counterclockwise for unwinding and the rewinding axis rotates clockwise for rewinding. Select the automatic processing program and start processing the longitudinal or circumferential program.

[0051] like Figure 5As shown, the drug column positioning system 4 includes a positioning seat 44, a supporting top 41, a vertical inflatable shaft 42, and a tray 43. The positioning seat 44 is installed on the base 7 and is located inside the rotary workbench 1. The drug column 6 is installed outside the vertical inflatable shaft 42 and is dragged by the tray 43. The supporting top 41 is arranged above the vertical inflatable shaft 42. The supporting top 41 is fixed to the auxiliary system 5 through a connecting rod. The auxiliary system 5 is used to drive the supporting top 41 to rise and fall, and then cooperate with the disassembly and assembly of the drug column 6 by moving the supporting top 41 up and down, and play a role in centering the drug column 6, ensuring the verticality of the axis of the drug column 6, and coinciding with the rotation center of the workbench, thereby ensuring the winding accuracy.

[0052] Specifically, the positioning seat 44 adopts a three-jaw chuck, which can clamp and position the vertical inflatable shaft 42.

[0053] In order to ensure the structural integrity of the energetic material charge 6, the traditional manufacturing method of rotating the energetic material charge 6 is not adopted. Therefore, the present invention keeps the energetic material charge 6 stationary during the molding process, and the fiber tape is continuously printed in the circumferential and longitudinal directions around the charge 6. The degree of freedom of the continuous fiber printing device is controlled to realize the motion trajectory of the tape laying wheel 21 and complete accurate tape laying. The working method of the solid energetic fuel charge belt forming system of the present invention specifically includes the following processes: First, fix the medicine column 6 on the vertical inflatable shaft 42, fix the vertical inflatable shaft 42 on the positioning seat 44, and set the support top 41 to press down and fix the vertical inflatable shaft 42; The fiber tape is fed into the tape tension system 3. Figure 4 After winding in the direction of motion, it is wound from top to bottom onto the tape laying wheel 21 of the multi-degree-of-freedom tape laying system 2; the rotary table 1 rotates, driving the multi-degree-of-freedom tape laying system 2 to rotate in the circumferential direction around the drug column 6. At the same time, the tape laying wheel 21 rotates driven by the swinging motion system 24, and moves horizontally driven by the horizontal moving system 22, and is continuously wound in the circumferential and longitudinal directions from bottom to top around the drug column 6 driven by the vertical motion system.

[0054] After the winding is completed, the unwinding shaft stops rotating, the unwinding motor stops, returns to the origin, the supporting top 41 rises to its position, the positioning seat 44 is released, the medicine column 6 is taken away, and the winding is completed.

[0055] The advantages of the present invention are: (1) Continuously rotating 4-DOF fiber motion system. The cylindrical coordinate 4-DOF motion system can perform NX360° continuous rotation around the center of the 6-cartridge while having 4 motion systems in up and down, swing and telescopic directions to complete continuous fiber additive manufacturing; (2) The long-pass yarn fiber delivery design is adopted, which has a combined continuous fiber additive manufacturing with automatic cutting, delivery, and rolling, greatly improving the flexibility of the printing process and the process adaptability and reliability; (3) To ensure the integrity of the drug column 6 structure, it is necessary to remain stationary during the molding process, and the fiber belt is continuously printed in the circumferential and longitudinal directions around the drug column 6; (4) To ensure the load-bearing capacity of the continuous fiber shell, it is necessary to apply real-time controllable tension to the fiber during the printing process; (5) Due to the weak rigidity and low strength of the drug column 6, the tension must be precisely controlled according to different structural profiles, and the printing equipment must have the ability to output, measure, feedback, and adjust the tension; (6) This device can achieve continuous and unlimited rotation; (7) The inflatable shaft system is used to fix the drug column 6 and the support shaft, reduce the eccentric force caused by the tension on the drug column 6, and ensure that the center of the drug column 6 is concentric with the rotation of the fiber printing head; (8) The solid grain 6 has a floating three-claw positioning system at the bottom to ensure the coaxial positioning of the grain 6, thereby improving the coaxiality of the combustion chamber shell of the grain 6 during the printing and winding molding process.

[0056] The solid energetic fuel charge tape forming system designed based on the present invention can achieve a winding speed of 30 rpm, thus achieving high efficiency.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A solid energetic fuel grain strip forming system, characterized in that: The invention comprises a base (7), a rotary worktable (1), a multi-degree-of-freedom tape laying system (2), a tape feeding tension system (3), a charge column positioning system (4) and an auxiliary system (5); the rotary worktable (1) is located on the base (7), a support frame is provided on the rotary worktable (1), the multi-degree-of-freedom tape laying system (2) and the charge column positioning system (4) are fixed on the rotary worktable (1); and the tape feeding tension system (3) is fixed above the support frame; The charge (6) is installed in the charge positioning system (4). The charge (6) remains stationary during the forming process. The fiber tape is sequentially passed through the tape feeding tension system (3) and the multi-degree-of-freedom tape laying system (2) and then continuously wound around the charge (6) in the circumferential and longitudinal directions. The multi-degree-of-freedom tape laying system (2) comprises a tape laying wheel (21), a horizontal moving system (22), a vertical motion system and a swinging motion system (24); the tape laying wheel (21) is mounted on the swinging motion system (24), and the swinging motion system (24) drives the tape laying wheel (21) to move; the swinging motion system (24) is mounted on the horizontal moving system (22), and the horizontal moving system (22) drives the swinging motion system (24) and the tape laying wheel (21) to achieve horizontal motion; the horizontal moving system (22) is mounted on the vertical motion system, and the vertical motion system drives the horizontal moving system (22), the swinging motion system (24) and the tape laying wheel (21) to perform vertical motion as a whole.

2. A solid energetic fuel charge strip forming system according to claim 1, characterized in that: The horizontal movement system (22) and the vertical movement system are both driven by screws; the swing movement system (24) is driven by synchronous belts.

3. A solid energetic fuel grain strip forming system according to claim 1, characterized in that: The swing motion system (24) comprises a first motor for driving the horizontal movement system (22) to move horizontally, a second motor for driving the linear motion system to move vertically, and a third motor for driving the swing motion system (24).

4. A solid energetic fuel grain strip forming system according to claim 1, characterized in that: The tape feeding tension system (3) comprises a horizontal air shaft (31), a film collecting shaft (32), a first guide shaft (33), a second guide shaft (34), a third guide shaft (35), a tensioning shaft (36) and a bracket (37). The horizontal air shaft (31), the film collecting shaft (32), the guide shaft and the tensioning shaft (36) are all mounted on the bracket (37), and a plurality of guide shafts are provided. The fiber tape passes through a film-collecting shaft (32), a first guide shaft (33), a tensioning shaft (36) and a second guide shaft (34) in sequence, and finally is wound out through a third guide shaft (35) and wound onto a tape laying wheel (21) of a multi-degree-of-freedom tape laying system (2).

5. A solid energetic fuel grain strip forming system according to claim 4, characterized in that: The tape feeding tension system (3) further comprises a winding motor and an unwinding motor, wherein the unwinding motor is arranged on the upper side of the bracket (37) and the winding motor is installed on the lower right side of the bracket (37); the winding motor is connected to a winding shaft and the unwinding motor is connected to an unwinding shaft.

6. A solid energetic fuel charge strip forming system according to claim 1, characterized in that: The support frame comprises a first vertical frame (81), a horizontal support plate (82) and a second vertical frame (83); the first vertical frame (81) and the second vertical frame (83) are arranged in parallel, and the first vertical frame (81) and the second vertical frame (83) are vertically connected to the horizontal support plate (82); the belt feeding tension system (3) is arranged above the horizontal support plate (82); The drug column positioning system (4) is arranged below the horizontal support plate (82) and is located between the first vertical frame (81) and the second vertical frame (83).

7. A solid energetic fuel grain strip forming system according to claim 6, characterized in that: The charge column positioning system (4) comprises a positioning seat (44), a supporting top (41), a vertical air shaft (42) and a tray (43); the positioning seat (44) is mounted on a base (7) and is located inside the rotary table (1); the charge column (6) is mounted outside the vertical air shaft (42) and is held by the tray (43); the supporting top (41) is arranged above the vertical air shaft (42); the supporting top (41) is fixed to an auxiliary system (5) via a connecting rod; and the auxiliary system (5) is used to drive the supporting top (41) to rise and fall.

8. A solid energetic fuel grain strip forming system according to claim 7, characterized in that: The positioning seat (44) adopts a three-jaw chuck.

9. A solid energetic fuel grain strip forming system according to claim 7, characterized in that: The auxiliary system (5) is mounted on the second vertical frame (83).

10. The working method of the solid energetic fuel charge strip forming system according to any one of claims 1 to 9, characterized in that: The process includes: The charge column (6) is fixed in the charge column positioning system (4), the charge column (6) is kept in a stationary state during the forming process, and the fiber tape is wound by the tape feeding tension system (3), and then wound from top to bottom onto the tape laying wheel (21) of the multi-degree-of-freedom tape laying system (2); The rotary table (1) rotates, driving the multi-degree-of-freedom tape laying system (2) to rotate in a circumferential direction around the drug column (6). At the same time, the tape laying wheel (21) rotates under the drive of the swing motion system (24), moves horizontally under the drive of the horizontal movement system (22), and performs continuous circumferential and longitudinal winding from bottom to top around the drug column (6) under the drive of the vertical motion system.

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