Yaw system and winding machine

Abstract

The invention discloses a yaw system and a winding machine, the yaw system comprises a yaw shaft and a radial driving device connected with the yaw shaft, the radial driving device comprises a first driving part and a second driving part which are symmetrically arranged at the two ends of the yaw shaft, and the first driving part and the second driving part drive the yaw shaft to move in the radial direction of the first driving part and the second driving part; and the intelligent control system is connected with the first driving piece and the second driving piece, and controls the first driving piece and the second driving piece to start and stop synchronously. Compared with a traditional single-drive structure, by the adoption of the scheme, more balanced radial driving force can be provided for the yaw shaft, and flexible deformation of the yaw shaft in the heavy load state due to uneven distribution of the radial driving force can be avoided; therefore, stable, efficient and accurate radial movement and yawing rotation of the yawing shaft and the winding wire nozzle in high-speed and heavy-load winding operation are guaranteed, the winding precision and the winding efficiency can be improved, and the quality of composite winding products is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of composite material winding forming, and particularly relates to a yaw system and a winding machine. Background Art

[0002] Composite material winding forming is a composite material forming process applicable to the preparation of rotationally symmetric products. It winds reinforcing materials around a mandrel according to a certain rule, and finally can obtain products with high performance such as high strength, light weight, and good corrosion resistance, which are widely used in high-end equipment fields such as aerospace and energy equipment. In the composite material winding forming process, the winding machine is an essential key link. The process performance of the winding machine largely determines the performance of the composite material winding forming process products. However, the initial traditional three-axis winding machine cannot meet the requirements of multi-angle winding, and when the winding angle is small, fibers are easily stacked at one corner of the nozzle, resulting in poor fiber spreading effect and easy damage to the fibers.

[0003] Therefore, based on the traditional three-axis winding machine, winding machines with higher degrees of freedom in winding processing, such as four-axis winding machines and five-axis winding machines, have been developed to meet the multi-angle winding process requirements of winding products with different specifications and shapes. Existing five-axis fiber winding machines usually adopt a gantry structure. Using this structure is convenient for controlling the winding carriage to move relative to the spindle and the mandrel on the spindle along the axial direction and the radial direction of the spindle for winding operations. However, for the yaw axis and the nozzle box provided on the winding carriage, since the existing structure usually drives the winding mechanisms such as the nozzle box to move with the winding carriage through a single cantilever structure, and also drives the winding mechanisms such as the nozzle box to move relative to the winding carriage through the cantilever structure, during the process of driving the winding mechanisms such as the nozzle box to move relative to the winding carriage by the single cantilever structure, it is easy to cause a center of gravity shift, which in turn easily causes unnecessary vibrations, affecting the stability of high-speed winding processing, and it is impossible to ensure the constancy of fiber tension during the winding process, resulting in problems such as unbalanced wear of the guide rails of some structures and insufficient transmission accuracy.

[0004] Meanwhile, there are also many defects in the traditional yaw structure of the nozzle box in the prior art: The traditional yaw mechanism of the nozzle box usually only uses a single driving part to drive the yaw axis to move radially relative to the winding pulley. However, in this driving mode, the driving force of the single driving part is limited. When facing the production of high-speed winding operations or large-sized products that require heavy load and high-speed operations, it is difficult to achieve fast and stable yaw movements, resulting in reduced winding accuracy and low winding efficiency. If the radial driving force is increased by increasing the power of the single driving part, it is easy to cause the transmission mechanism to be overloaded, affecting the structural life and transmission accuracy, deteriorating the dynamic performance of the equipment and affecting the winding quality. At the same time, during the process of driving the yaw axis to move radially by the single driving part, there is also an easy problem of uneven distribution of the radial driving force. Therefore, in the existing yaw structure, the yaw angle of the yaw axis is also restricted to prevent the yaw axis from undergoing flexural deformation due to uneven distribution of the radial driving force during heavy-load operations, which affects the winding accuracy and winding quality. This also makes it difficult for the traditional yaw structure to flexibly and accurately adjust the yaw angle when facing diverse winding process requirements, restricting the application of the winding machine in the production of complex products.

[0005] Thus, it can be seen that there are still certain defects in the prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide a yaw system and a winding machine to solve the problems of insufficient driving force, low transmission accuracy, and poor adaptability of the existing yaw structure, and at the same time improve the working efficiency of the winding machine and the quality of the wound products.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is as follows: In a first aspect, the present application provides a yaw system, which includes a yaw axis and a radial driving device connected to the yaw axis. The radial driving device includes a first driving part and a second driving part symmetrically arranged at both ends of the yaw axis. The first driving part and the second driving part drive the yaw axis to move radially along it. It further includes an intelligent control system, which is respectively connected to the first driving part and the second driving part, and the intelligent control system controls the first driving part and the second driving part to start and stop synchronously.

[0008] In the above solution, by adopting a radial dual-drive structure, the radial driving force can be effectively increased, which is beneficial to ensuring that the yaw axis can also move radially in place under heavy load conditions. Moreover, compared with the traditional single-drive structure, a more balanced radial driving force can be provided for the yaw axis, which is beneficial to avoiding the flexural deformation of the yaw axis due to uneven distribution of the radial driving force under heavy load conditions, thereby affecting the yaw angle control of the yaw axis. Furthermore, it ensures that the winding nozzle connected to the yaw axis can achieve stable, efficient, and accurate radial movement and yaw rotation during high-speed and heavy-load winding operations, which is beneficial to improving the winding accuracy and winding efficiency and ensuring the quality of the composite winding products.

[0009] As a preferred embodiment of the present application, the radial driving device further includes a first guiding component and a second guiding component. The first guiding component includes a first pulley and a first pulley arm, and the second guiding component includes a second pulley and a second pulley arm. The first pulley arm and the second pulley arm extend along the radial direction of the yaw axis. The first driving member drives the first pulley to reciprocate along the first pulley arm, and the second driving member drives the second pulley to reciprocate along the second pulley arm.

[0010] In the above solution, by setting the first and second guiding components, it can be ensured that the moving path of the yaw axis remains constant during the radial movement process. Moreover, the structures of the first and second guiding components are simple, the connection is convenient, and the guiding is reliable.

[0011] As a preferred embodiment of the present application, the first driving member is a first motor disposed on the first pulley, and the second driving member is a second motor disposed on the second pulley. Rack bars extending along the radial direction of the yaw axis are disposed on both the first pulley arm and the second pulley arm. The radial driving device further includes a gear meshing with the rack bars, and the first motor and the second motor are in transmission connection with the gear.

[0012] In the above solution, the motor drive has the advantages of fast response speed, high control accuracy, and convenient control. At the same time, the gear-rack meshing drive also has the advantage of high transmission accuracy, and the rack bar can play an auxiliary guiding role, which is beneficial to ensuring the stability of the moving paths of the first pulley and the second pulley relative to the first pulley arm and the second pulley arm, and further beneficial to ensuring the stability of the radial moving path of the yaw axis.

[0013] As a preferred embodiment of the present application, it further includes a yaw driving device. One end of the yaw axis is rotatably connected to the first pulley, and the other end of the yaw axis is rotatably connected to the second pulley. The yaw driving device includes a third driving member disposed on the first pulley and / or the second pulley, and the third driving member is in transmission connection with the yaw axis to drive the yaw axis to perform yaw rotation around its axis.

[0014] In the above solution, the above setting method can make full use of the installation space on the first pulley and the second pulley. At the same time, it is beneficial to shorten the transmission distance between the third driving member and the yaw axis, improving the transmission efficiency.

[0015] As a preferred embodiment of the present application, the third driving member is a third motor, and the yaw driving device further includes a transmission gear set. The transmission gear set includes a driving gear drivingly connected to the third motor and a driven gear connected to the end of the yaw axis and meshing with the driving gear.

[0016] In the above solution, using motor drive and gear meshing transmission also has the advantages of fast response speed, high control precision, convenient control, and high transmission precision, which is beneficial to realizing efficient and precise control of the yaw angle of the yaw axis.

[0017] As a preferred embodiment of the present application, installation cavities are provided inside the first pulley and the second pulley. The transmission gear set is arranged in the installation cavity, and a closed structure is provided at the opening of the installation cavity.

[0018] In the above solution, adopting this setting method can provide comprehensive protection for the transmission gear set and the bearings at the end of the yaw axis, improving the waterproof, dustproof, and anti-corrosion performance. Thus, it can ensure the yaw rotation precision of the yaw axis during long-term use, reducing the maintenance difficulty and maintenance cost.

[0019] As a preferred embodiment of the present application, the intelligent control system includes a controller, an angle detection member, and a displacement detection member. The angle detection member is used to monitor the yaw angle of the yaw axis, the displacement detection member is used to monitor the radial movement distance of the yaw axis, and the controller is respectively connected to the angle detection member, the displacement detection member, the first driving member, the second driving member, and the third driving member.

[0020] In the above solution, through the settings of the above various detection members and the controller, the radial movement distance and the yaw rotation angle of the yaw axis can be monitored in real time. By cooperating with the preset motion control algorithm and winding process parameters, the working conditions of each driving member can be precisely controlled, thereby realizing precise adjustment of the position and angle of the winding nozzle, meeting the requirements of various complex winding processes, and improving the winding quality and winding efficiency.

[0021] As a preferred embodiment of the present application, the angle detection member is an absolute encoder provided on the yaw axis, and the displacement detection member is provided on the first pulley arm and the second pulley arm, and / or the displacement detection member is provided on the first pulley and the second pulley.

[0022] In the above solution, the use of an absolute encoder can directly output the absolute angle value of the rotating shaft, i.e., the yaw axis, rather than the relative angle or incremental signal. The angle can be determined without relying on an external counter or reference point, thus greatly improving the measurement accuracy of the yaw angle. Moreover, the absolute encoder has strong anti-interference ability and can achieve power-off memory. After the device is restarted, it directly outputs the current angle without having to re-find the origin, simplifying the system design and reducing the maintenance cost. In addition, the absolute encoder is easy to install, has a compact structure and supports self-diagnosis function, which is convenient for integration into the yaw system. The displacement detection components are arranged on the first pulley, the second pulley, or the first pulley arm and the second pulley arm, which can detect the radial movement distance of the yaw axis and monitor whether there is a displacement difference at both ends of the yaw axis, facilitating real-time adjustment of the first driving component and the second driving component to keep them synchronized.

[0023] In a second aspect, the present application also provides a winding machine, which is provided with the above-mentioned yaw system, and one or more of the above-mentioned yaw systems are provided. In the above solution, when the winding machine in the present application is provided with one of the above-mentioned yaw systems, it has the same beneficial effects as the above-mentioned yaw system, which will not be elaborated here. It should be noted that when the winding machine in the present application is provided with multiple above-mentioned yaw systems, multi-layer fiber structure composite winding can be achieved through the linkage of multiple yaw systems, or the operation requirements of heavy-duty winding or other complex winding operations can be adapted through multiple yaw systems. In addition, the redundant backup of the winding function of the winding machine can be realized by using multiple yaw systems. Multiple yaw systems can rotate alternately to reduce the working loss of a single yaw system, extend the service life of the equipment, reduce the maintenance difficulty and maintenance cost, and can also avoid the situation where the entire winding machine stops working due to the failure of a single yaw system, which is beneficial to ensuring the continuous and stable operation of the winding machine, and ensuring the winding efficiency and winding quality.

[0024] As a preferred embodiment of the present application, the winding machine further includes a multi-directional drive system, which is connected to the yaw system, and the multi-directional drive system drives the yaw system to perform linear reciprocating movements at least in the vertical direction and the horizontal direction.

[0025] In the above solution, the above-mentioned multi-directional drive system preferably includes linear drives for the above-mentioned yaw system in the vertical direction and the horizontal direction, and can also further realize the deflection drive for the above-mentioned yaw system in the vertical direction and the horizontal direction through the optimization and improvement of the transmission structure. Thereby, the above-mentioned yaw system can flexibly adjust its working position and working angle, cooperate with the radial movement and yaw rotation of the yaw axis in the above-mentioned yaw system to realize the flexible control of the winding nozzle, further effectively adapt to the increasingly diverse winding process requirements, thereby improving the versatility and utilization rate of the winding machine in the present application, being beneficial to reducing the equipment use cost and obtaining better economic benefits. Description of the Drawings

[0026] The accompanying drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 It is a schematic structural diagram of a yaw system in an example; Figure 2 It is a partial structural schematic diagram of a yaw drive device in an example; Figure 3 It is a schematic diagram of the cooperation between a yaw system and other components on a winding machine in an example; Figure 4 It is a schematic diagram of the composition of an intelligent control system in an example.

[0027] List of components and reference numerals: 11 Yaw axis, 12 nozzle box; 21 First driving member, 22 Second driving member, 231 First pulley, 232 First pulley arm, 241 Second pulley, 242 Second pulley arm, 25 Rack, 261 Gear, 262 Auxiliary gear, 27 Installation cavity, 28 Guide slide rail; 31 Third driving member, 32 Driving gear, 33 Driven gear; 41 Controller, 42 Angle detecting member, 43 Displacement detecting member; 5 Other components on the winding machine. Detailed embodiments

[0028] In order to more clearly illustrate the overall concept of the present invention, the following will be further described in detail by way of examples in combination with the accompanying drawings of the specification.

[0029] It should be noted that many specific details are set forth in the following description in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0030] In a first aspect, referring to Figures 1 - 4 as shown, the present application provides a yaw system, which includes a yaw axis 11 and a radial drive device connected to the yaw axis 11. The radial drive device includes a first drive member 21 and a second drive member 22 symmetrically arranged at both ends of the yaw axis 11. The first drive member 21 and the second drive member 22 drive the yaw axis 11 to move radially along it. It further includes an intelligent control system, which is respectively connected to the first drive member 21 and the second drive member 22, and the intelligent control system controls the first drive member 21 and the second drive member 22 to start and stop synchronously.

[0031] In the above solution, by adopting a radial dual-drive structure, the radial driving force on the yaw axis 11 and the nozzle box 12 connected to the yaw axis 11 can be effectively improved. Thus, during the process of driving the radial movement of the yaw axis 11 and the nozzle box 12, it is possible to more calmly control the movement and stop of the yaw axis 11 and the nozzle box 12, reduce the control difficulty of the radial movement of the yaw axis 11 and the nozzle box 12, and improve the control ability of the radial movement of the yaw axis 11 and the nozzle box 12. This is conducive to ensuring that the yaw axis 11 and the nozzle box 12 can also promptly respond to the radial movement command and move quickly and accurately into place under the heavy-load winding operation state. Moreover, compared with the traditional single-drive structure, adopting the above radial dual-drive structure can provide a more balanced radial driving force to the yaw axis 11 and the nozzle box 12 along the axial direction of the yaw axis 11, which is conducive to avoiding the flexural deformation of the yaw axis 11 due to uneven distribution of the radial driving force under the heavy-load state, thereby affecting the yaw angle control of the yaw axis 11. Furthermore, it cooperates with the control of the intelligent control system to ensure the stable, efficient, and accurate radial movement and yaw rotation of the yaw axis 11 and the winding nozzle connected to the yaw axis 11 during the high-speed and heavy-load winding operation, which is beneficial to improving the winding accuracy and winding efficiency and ensuring the quality of the composite winding products.

[0032] In addition, during the actual use process, by optimizing the transmission structure, the first driving member 21 and the second driving member 22 in the above radial dual-drive structure can be made to be backup for each other. When one of the driving members fails, the other normal driving member can also be used to drive both ends of the yaw axis 11 emergently, avoiding the unstable radial movement of the yaw axis 11 and the nozzle box 12 due to the imbalance of the radial driving forces at both ends of the yaw axis 11, which affects the winding quality, and also avoiding the deformation or structural damage of the yaw axis 11 / nozzle box 12. For example, the power transmission between the first driving member 21 and the second driving member 22 can be realized through a worm and gear structure or a bevel gear transmission structure when one of the driving members fails and loses power, thereby ensuring the balance of the radial driving forces at both ends of the yaw axis 11.

[0033] It should be noted here that the above example is only a preferred implementation mode of the solution of the present application. The first driving member 21 and the second driving member 22 in the present application can either work independently or realize power combination by setting a transmission structure. The transmission structure for linking the first driving member 21 and the second driving member 22 can be the above worm and gear structure, bevel gear transmission structure, or other more synchronous transmission connection mechanisms. The present application does not make specific limitations on this.

[0034] Further, referring to Figure 1 、 Figure 3As shown, the radial drive device in the present application also includes a first guide assembly and a second guide assembly. The arrangement of the first and second guide assemblies can ensure that the moving path of the yaw axis 11 remains constant during the radial movement. Figure 1 and Figure 3 As shown, the first guide assembly includes a first pulley 231 and a first pulley arm 232, and the second guide assembly includes a second pulley 241 and a second pulley arm 242. The first pulley arm 232 and the second pulley arm 242 extend in parallel along the radial direction of the yaw axis 11. The first driving member 21 drives the first pulley 231 to reciprocate along the first pulley arm 232, and the second driving member 22 drives the second pulley 241 to reciprocate along the second pulley arm 242. Preferably, continue to refer to Figure 1 and Figure 3 As shown, the first pulley arm 232 and the second pulley arm 242 are further provided with guide rails 28, the first pulley 231 is guided and matched with the guide rails 28 on the first pulley arm 232, and the second pulley 241 is guided and matched with the guide rails 28 on the second pulley arm 242. The yaw axis 11 and the nozzle box 12 are driven to move radially by the synchronous movement of the first pulley 231 and the second pulley 241 relative to the first pulley arm 232 and the second pulley arm 242. In the above structure, the first pulley 231 and the second pulley 241, on the one hand, serve as part of the guide structure to limit the radial movement of the yaw axis 11 and the nozzle box 12; on the other hand, the first pulley 231 and the second pulley 241 also directly carry the yaw axis 11, the nozzle box 12 and the yaw drive device, thereby ensuring the reliability of the limit guide and simplifying the installation structure of the yaw axis 11, the nozzle box 12 and the yaw drive device, which is beneficial to the miniaturization of the entire yaw system, avoiding interference between the yaw system due to its large size and the core mold or other parts of the equipment during the winding process, and avoiding restrictions on the core mold installation space and the specifications of the winding products due to the large size of the yaw system, which is beneficial to ensuring the versatility of the equipment.

[0035] As a preferred embodiment of this example, continue to refer to Figure 1 and Figure 3 As shown, the first driving member 21 is a first motor arranged on the first pulley 231, the second driving member 22 is a second motor arranged on the second pulley 241, the first pulley arm 232 and the second pulley arm 242 are both provided with a rack 25 extending radially along the yaw axis 11, the radial driving device also includes a gear 261 meshing with the rack 25, and the first motor and the second motor are respectively connected to the corresponding gear 261 through a planetary reducer. The motor drive has the advantages of fast response speed, high control accuracy, and convenient control. At the same time, the meshing transmission of the gear 261 and the rack 25 also has the advantages of high transmission accuracy and the rack 25 can achieve auxiliary guiding effect. Preferably, continue to refer to Figure 1 , Figure 2 andFigure 3 As shown, the first pulley 231 and the second pulley 241 are also connected with a sub-gear 262 meshing with the above-mentioned rack 25. The sub-gear 262 also plays a role of auxiliary limiting, which is beneficial to ensuring the stability of the moving path of the first pulley 231 and the second pulley 241 relative to the first pulley arm 232 and the second pulley arm 242, and further helps to ensure the stability of the radial moving path of the yaw axis 11.

[0036] Further, continue to refer to Figure 1 and Figure 3 As shown, one end of the yaw shaft 11 is rotatably connected to the first pulley 231 through a high-precision angular contact ball bearing, and the other end of the yaw shaft 11 is also rotatably connected to the second pulley 241 through a high-precision angular contact ball bearing. The aforementioned yaw drive device includes a third drive member 31 arranged on the first pulley 231 and / or the second pulley 241, and the third drive member 31 is transmission-connected to the yaw shaft 11 to drive the yaw shaft 11 to yaw around its axis. The angular contact ball bearing can withstand both radial loads and certain axial loads, which is conducive to ensuring that the yaw shaft 11 can achieve flexible and stable yaw steering while moving with the first pulley 231 and the second pulley 241.

[0037] At the same time, the above-mentioned setting method can make full use of the installation space on the first pulley 231 and the second pulley 241, and can shorten the transmission distance between the third drive member 31 and the yaw axis 11, thereby improving the transmission efficiency between the third drive member 31 and the yaw axis 11, ensuring that the yaw axis 11 can respond to the yaw control signal in time to realize yaw rotation, thereby ensuring the precise adjustment of the yaw angle to meet the needs of different winding processes.

[0038] Preferably, continue to refer to Figure 1 and Figure 3 As shown, the third driving member 31 is preferably a third motor, and the yaw drive device further includes a transmission gear set, which includes a driving gear 32 connected to the third motor and a driven gear 33 connected to the end of the yaw shaft 11 and meshing with the driving gear 32. The use of motor drive and gear 261 transmission also takes into account the advantages of fast response speed, high control accuracy, convenient control and high transmission accuracy of motor drive and gear 261 transmission, which is conducive to achieving efficient and accurate control of the yaw angle of the yaw shaft 11, and better meeting the requirements of various complex winding processes.

[0039] As a preferred embodiment of the present application, Figure 1 , Figure 2 and Figure 3As shown, an installation cavity 27 is provided inside the first pulley 231 and inside the second pulley 241. The transmission gear set is arranged in the installation cavity 27, and a closed structure is provided at the opening of the installation cavity 27. In the above solution, through the setting of the closed structure, comprehensive protection can be provided for the transmission gear set and the bearings at the ends of the yaw shaft 11, improving the waterproof, dustproof and anti-corrosion performance, so as to ensure the yaw rotation accuracy of the yaw shaft 11 during long-term use and reduce the maintenance difficulty and cost.

[0040] It should be noted here that the present application does not specifically limit the specific structure and setting method of the closed structure. In one example, the sealing structure is a sealing cover plate corresponding to the opening of the installation cavity 27, which provides safety protection for the transmission gear set through the sealing cover plate and the side wall of the installation cavity 27. The structure of the sealing cover plate is simple and convenient to set. Using this setting method is also convenient for opening the installation cavity 27 to maintain and replace the transmission gear set and the bearing structure. In another example, the closed structure is the connection structure between the first pulley 231, the second pulley 241 and other components 5 on the winding machine, such as the vertical driving device, the wire guiding device, etc. Using this setting method further makes full use of the installation space on the first pulley 231 and the second pulley 241, and is beneficial to the compact setting of the winding machine equipment structure, avoiding interference with the rotation of the mandrel. Of course, in addition to the above two examples, the closed structure can also adopt other more different specific structures and setting methods.

[0041] Furthermore, referring to Figure 4 As shown, the aforementioned intelligent control system includes a controller 41, an angle detector 42 and a displacement detector 43. The angle detector 42 is used to monitor the yaw angle of the yaw shaft 11, and the displacement detector 43 is used to monitor the radial movement distance of the yaw shaft 11. The controller 41 is respectively connected to the angle detector 42, the displacement detector 43, and the above-mentioned first driving member 21, second driving member 22 and third driving member 31. Through the setting of the above-mentioned detectors and the controller 41, the radial movement distance and yaw rotation angle of the yaw shaft 11 can be monitored in real time, and the start and stop of the first driving member 21, second driving member 22 and third driving member 31 can be accurately controlled in cooperation with the preset motion control algorithm and winding process parameters, so as to realize the precise adjustment of the position and angle of the winding nozzle, meet the requirements of various complex winding processes, and improve the winding quality and efficiency.

[0042] Preferably, the angle detector 42 is an absolute encoder disposed on the yaw axis 11. The displacement detectors 43 are disposed on the first trolley arm 232 and the second trolley arm 242, and / or the displacement detectors 43 are disposed on the first trolley 231 and the second trolley 241. The absolute encoder can directly output the absolute angle value of the rotating shaft, i.e., the yaw axis 11, rather than the relative angle or incremental signal, and can determine the angle without relying on an external counter or reference point. Therefore, the measurement accuracy of the yaw angle can be greatly improved. Moreover, the absolute encoder has strong anti-interference ability and can achieve power-off memory. After the device is restarted, it directly outputs the current angle without having to find the origin again, which simplifies the system design and reduces the maintenance cost. At the same time, the absolute encoder is easy to install, has a compact structure and supports self-diagnosis function, which is convenient for integration into the yaw system. It should be noted here that the type and setting method of the angle detector 42 in this application are not limited to the above examples, and different types of angle detectors 42 such as inertial angle sensors, capacitive angle sensors or pressure angle sensors can also be used according to actual needs, and this application does not make specific limitations on this.

[0043] Furthermore, as a preferred embodiment of this application, displacement detectors 43 are disposed on both the first trolley 231, the second trolley 241, the first trolley arm 232 and the second trolley arm 242, and the displacement detector 43 is preferably a laser range finder. With this setting method, the laser range finders disposed on the first trolley 231 and the second trolley 241 can detect and collect a set of displacement data, and the laser range finders disposed on the first trolley arm 232 and the second trolley arm 242 can also collect a set of displacement data. By comparing the two sets of displacement data, the detection accuracy of the overall radial displacement distance of the yaw axis 11 can be effectively improved. At the same time, by comparing within each set of the two sets of displacement data, it can also be accurately detected in real time whether there is a radial displacement difference at both ends of the yaw axis 11, so as to facilitate the real-time adjustment of the output power of the first driving member 21 and the second driving member 22 to ensure that both ends of the yaw axis 11 achieve synchronous radial movement, avoid the unbalanced radial movement at both ends of the yaw axis 11 from interfering with the yaw rotation of the yaw axis 11, and at the same time avoid different degrees of wear due to different bearing loads at both ends of the yaw axis 11, which affects subsequent normal use.

[0044] In a second aspect, the present application also provides a winding machine, which is provided with the above-mentioned yaw system, and one or more yaw systems are provided. By adopting the above-mentioned yaw system, when the winding machine in the solution of the present application is provided with one of the above-mentioned yaw systems, it has the same beneficial effects as the above-mentioned yaw system, which will not be elaborated here. It should be noted that when the winding machine in the solution of the present application is provided with multiple above-mentioned yaw systems, the composite winding of the multi-layer fiber structure can be realized through the linkage of multiple yaw systems, or multiple yaw systems can be used to meet the operation requirements of heavy-duty winding or other complex winding operations. For example, through the setting of multiple yaw systems, the synchronous winding of multiple different materials can be realized, saving the waiting time for material change to improve the winding efficiency. Multiple yaw systems can also be used to achieve redundant backup of the winding function of the winding machine. Either multiple yaw systems can rotate in turn to reduce the working loss of a single yaw system to extend the service life of the equipment, reduce the maintenance difficulty and maintenance cost, or the situation where the entire winding machine stops working due to the failure of a single yaw system can be avoided, which is beneficial to ensuring the continuous and stable operation of the winding machine, and ensuring the winding efficiency and winding quality.

[0045] As a preferred embodiment of the present application, the winding machine further includes a multi-directional drive system, which is connected to the yaw system, and the multi-directional drive system at least drives the yaw system to perform linear reciprocating movements in the vertical and horizontal directions. The above-mentioned multi-directional drive system preferably includes linear driving of the above-mentioned yaw system in the vertical and horizontal directions, and can also further realize the deflection driving of the above-mentioned yaw system in the vertical and horizontal directions through the optimization and improvement of the transmission structure, so that the above-mentioned yaw system can flexibly adjust its working position and working angle, cooperate with the radial movement and yaw rotation of the yaw axis 11 in the above-mentioned yaw system to realize flexible control of the winding nozzle, and further effectively adapt to the increasingly diverse winding process requirements, thereby improving the versatility and utilization rate of the winding machine in the present application, being beneficial to reducing the equipment use cost, and obtaining better economic benefits.

[0046] It should be noted here that the present application does not specifically limit the structure and arrangement mode of the above-mentioned multi-directional drive system. It can adopt a conventional gantry structure to realize the linear movement of the yaw system in the vertical and horizontal directions, or it can also adopt a multi-axis structure to enable the yaw system to have the ability of overall deflection and conversion. Of course, it can also adopt other more different structures and setting methods.

[0047] The technical solution protected by the present invention is not limited to the above embodiments. It should be noted that the combination of the technical solution of any one embodiment with the technical solutions of one or more other embodiments is within the protection scope of the present invention. Although the present invention has been described in detail above with general descriptions and specific embodiments, on the basis of the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. A yaw system, characterized in that: The invention comprises a yaw axis and a radial drive device connected to the yaw axis, wherein the radial drive device comprises a first drive member and a second drive member symmetrically arranged at two ends of the yaw axis, wherein the first drive member and the second drive member drive the yaw axis to move radially thereof, and further comprises an intelligent control system, wherein the intelligent control system is respectively connected to the first drive member and the second drive member, and the intelligent control system controls the first drive member and the second drive member to start and stop synchronously.

2. The yaw system according to claim 1, characterized in that: The radial drive device also includes a first guide assembly and a second guide assembly, the first guide assembly includes a first pulley and a first pulley arm, the second guide assembly includes a second pulley and a second pulley arm, the first pulley arm and the second pulley arm extend radially along the yaw axis, the first drive member drives the first pulley to reciprocate along the first pulley arm, and the second drive member drives the second pulley to reciprocate along the second pulley arm.

3. The yaw system according to claim 2, characterized in that: The first driving member is a first motor arranged on the first pulley, the second driving member is a second motor arranged on the second pulley, the first pulley arm and the second pulley arm are both provided with racks extending radially along the yaw axis, the radial driving device also includes a gear meshing with the rack, and the first motor and the second motor are connected to the gear transmission.

4. The yaw system according to claim 2, characterized in that: It also includes a yaw drive device, one end of the yaw axis is rotatably connected to the first pulley, the other end of the yaw axis is rotatably connected to the second pulley, the yaw drive device includes a third drive member arranged on the first pulley and / or the second pulley, the third drive member is transmission-connected to the yaw axis to drive the yaw axis to perform yaw rotation around its axis.

5. The yaw system according to claim 4, characterized in that: The third driving member is a third motor, and the yaw driving device further includes a transmission gear set, which includes a driving gear transmission-connected to the third motor and a driven gear connected to the end of the yaw shaft and meshing with the driving gear.

6. The yaw system according to claim 5, characterized in that: An installation cavity is provided inside the first pulley and inside the second pulley, the transmission gear set is provided in the installation cavity, and a closing structure is provided at the opening of the installation cavity.

7. The yaw system according to claim 4, characterized in that: The intelligent control system includes a controller, an angle detection component and a displacement detection component. The angle detection component is used to monitor the yaw angle of the yaw axis, and the displacement detection component is used to monitor the radial movement distance of the yaw axis. The controller is respectively connected to the angle detection component, the displacement detection component, the first drive component, the second drive component, and the third drive component.

8. The yaw system according to claim 7, characterized in that: The angle detection component is an absolute value encoder arranged on the yaw axis, the first pulley arm and the second pulley arm are provided with the displacement detection component, and / or the first pulley and the second pulley are provided with the displacement detection component.

9. A wrapping machine, characterized in that: The winding machine is provided with a yaw system as described in any one of claims 1 to 8, and one or more yaw systems are provided.

10. The wrapping machine according to claim 9, characterized in that: The winding machine further comprises a multi-directional driving system, which is connected to the yaw system. The multi-directional driving system at least drives the yaw system to perform linear reciprocating movement in vertical and horizontal directions.

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