Yaw system and winding machine

Abstract

The present invention discloses a yaw system and a winding machine, wherein the yaw system includes a yaw shaft, a radial drive device connected to the yaw shaft, the radial drive device includes a first drive member and a second drive member symmetrically arranged at both ends of the yaw shaft, the first drive member and the second drive member drive the yaw shaft to move radially thereof, and further includes an intelligent control system, the intelligent control system is respectively connected to the first drive member and the second drive member, and the intelligent control system controls the synchronous start and stop of the first drive member and the second drive member. Compared with the traditional single-drive structure, the above-mentioned scheme can provide a more balanced radial driving force for the yaw shaft, which is conducive to avoiding the flexural deformation of the yaw shaft due to uneven distribution of radial driving force under heavy load, thereby ensuring that the yaw shaft and the winding nozzle can achieve stable, efficient and precise radial movement and yaw rotation in high-speed, heavy-load winding operations, which is conducive to improving winding accuracy and winding efficiency, and ensuring the quality of composite winding products.

Description

Technical Field

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

[0002] Composite winding is a composite forming process suitable for producing rotating parts. Reinforcement materials are wound around a core mold according to a specific pattern, ultimately resulting in high-performance products with high strength, lightweight construction, and excellent corrosion resistance. These products are widely used in high-end equipment such as aerospace and energy. The winding machine is an essential component of the composite winding process, and its performance largely determines the performance of the finished product. However, the first generation of traditional three-axis winding machines cannot meet the requirements of various winding angles. At smaller winding angles, fibers tend to accumulate in one corner of the nozzle, resulting in poor fiber spreading and damage.

[0003] Therefore, based on the traditional three-axis winding machine, four-axis winding machine, five-axis winding machine and other winding machine models with higher degree of freedom in winding processing have been developed to meet the multi-angle winding process requirements of wound products of different specifications and shapes. The existing five-axis fiber winding machine usually adopts a gantry structure. This structure makes it easy to control the movement of the winding pulley along the axial direction and radial direction of the main shaft relative to the main shaft and the core mold on the main shaft to perform winding operations. However, for the yaw axis and nozzle box set on the winding pulley, since the existing structure usually drives the nozzle box and other winding mechanisms to move with the winding pulley through a single cantilever structure, and also drives the nozzle box and other winding mechanisms to move relative to the winding pulley through the cantilever structure, the center of gravity is easily shifted during the process of the single cantilever structure driving the nozzle box and other winding mechanisms to move relative to the winding pulley, which is easy to cause unnecessary vibration, affecting the stability of high-speed winding processing, and the fiber tension cannot be kept constant during the winding process, resulting in problems such as unbalanced wear of the guide rails of some structures and insufficient transmission accuracy.

[0004] At the same time, the traditional nozzle box yaw structure in the existing technology also has many defects: the traditional nozzle box yaw mechanism usually only uses a single drive member to drive the yaw axis to move radially relative to the winding pulley. However, the driving force of the single drive member in this drive mode is limited. When facing high-speed winding operations or the production of large-size products requires heavy load and high-speed operations, it is difficult to achieve fast and stable yaw action, resulting in reduced winding accuracy and low winding efficiency. If the radial driving force is increased by increasing the power of the single drive member, it is easy to cause the transmission mechanism to overload, affecting the structural life and transmission accuracy, and deteriorating the dynamic performance of the equipment and affecting the winding quality. At the same time, the single drive member is also prone to uneven distribution of radial driving force when driving the yaw axis to move radially. Therefore, the existing yaw structure also limits the yaw angle of the yaw axis to avoid flexible deformation of the yaw axis due to uneven distribution of radial driving force during heavy-load operations, which affects the winding accuracy and winding quality. This makes it difficult for the traditional yaw structure to flexibly and accurately adjust the yaw angle when facing diverse winding process requirements, limiting the application of winding machines in the production of complex products.

[0005] This shows that the existing technology still has certain defects. Summary of the Invention

[0006] The object 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, while improving the working efficiency of the winding machine and the quality of the wound products.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] In a first aspect, the present application provides a yaw system, which includes a yaw axis and a radial drive device connected to the yaw axis, the radial drive device including a first drive member and a second drive member symmetrically arranged at both ends of the yaw axis, the first drive member and the second drive member drive the yaw axis to move radially thereof, and also includes an intelligent control system, 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.

[0009] In the above scheme, the radial dual-drive structure is adopted to effectively improve the radial driving force, which is beneficial to ensure that the yaw axis can move radially into position even under heavy load, and can provide a more balanced radial driving force to the yaw axis compared to the traditional single-drive structure, which is beneficial to avoid the yaw axis from being deformed due to uneven distribution of radial driving force under heavy load, thereby affecting the yaw angle control of the yaw axis, thereby ensuring that the winding nozzle connected to the yaw axis can achieve stable, efficient and precise radial movement and yaw rotation in high-speed, heavy-load winding operations, which is beneficial to improving winding accuracy and efficiency and ensuring the quality of composite wound products.

[0010] As a preferred embodiment of the present application, 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.

[0011] In the above solution, the provision of the first and second guide assemblies can ensure that the moving path of the yaw axis remains constant during the radial movement, and the first and second guide assemblies have simple structures, convenient connections and reliable guidance.

[0012] As a preferred embodiment of the present application, 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, and 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.

[0013] In the above scheme, the motor drive has the advantages of fast response speed, high control accuracy and convenient control. At the same time, the gear rack meshing transmission also has the advantage of high transmission accuracy and the rack can realize auxiliary guiding function, which is beneficial to ensure the stability of the moving path of the first pulley and the second pulley relative to the first pulley arm and the second pulley arm, and thus helps to ensure the stability of the radial moving path of the yaw axis.

[0014] As a preferred embodiment of the present application, it further includes a yaw drive device, one end of the yaw shaft is rotatably connected to the first pulley, and the other end of the yaw shaft is rotatably connected to the second pulley, and the yaw drive device includes a third drive member arranged on the first pulley and / or the second pulley, and the third drive member is in transmission connection with the yaw shaft to drive the yaw shaft to perform yaw rotation around its axis.

[0015] In the above solution, the above arrangement can fully utilize the installation space on the first pulley and the second pulley, and is conducive to shortening the transmission distance between the third driving member and the yaw axis, thereby improving the transmission efficiency.

[0016] As a preferred embodiment of the present application, the third driving member is a third motor, and the yaw drive device further includes a transmission gear set, which includes a driving gear connected to the third motor and a driven gear connected to the end of the yaw shaft and meshing with the driving gear.

[0017] In the above scheme, the use of motor drive and gear meshing transmission also has the advantages of fast response speed, high control accuracy, convenient control and high transmission accuracy, which is conducive to achieving efficient and precise control of the yaw angle of the yaw axis.

[0018] As a preferred embodiment of the present application, an installation cavity is provided inside the first pulley and the second pulley, the transmission gear set is provided in the installation cavity, and a closed structure is provided at the opening of the installation cavity.

[0019] In the above scheme, this setting method can provide all-round protection for the transmission gear set and the bearings at the end of the yaw shaft, improve the waterproof, dustproof and anti-corrosion performance, thereby ensuring the yaw rotation accuracy of the yaw shaft during long-term use and reducing maintenance difficulty and maintenance costs.

[0020] As a preferred embodiment of the present application, 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.

[0021] In the above scheme, through the setting of the above-mentioned detection parts and controllers, the radial movement distance and yaw rotation angle of the yaw axis can be monitored in real time, and the working conditions of each driving part can be accurately controlled in conjunction with the preset motion control algorithm and winding process parameters, thereby achieving precise adjustment of the winding nozzle position and angle, meeting the requirements of various complex winding processes, and improving winding quality and winding efficiency.

[0022] As a preferred embodiment of the present application, the angle detection component is an absolute encoder arranged on the yaw axis, the displacement detection component is provided on the first pulley arm and the second pulley arm, and / or the displacement detection component is provided on the first pulley and the second pulley.

[0023] In the above scheme, the use of an absolute encoder can directly output the absolute angle value of the rotating axis, namely 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, thereby greatly improving the measurement accuracy of the yaw angle. The absolute encoder has strong anti-interference ability and can realize power-off memory. After the equipment is restarted, it directly outputs the current angle without having to re-find the origin, which simplifies the system design and reduces maintenance costs. In addition, the absolute encoder is easy to install, compact in structure and supports self-diagnosis function, which is convenient for integration into the yaw system; a displacement detection component is set on the first pulley, the second pulley or the first pulley arm, the second pulley arm. While being able to detect the radial movement distance of the yaw axis, it can also monitor whether there is a displacement difference between the two ends of the yaw axis, so as to facilitate real-time adjustment of the first drive component and the second drive component to maintain synchronous movement.

[0024] On the second aspect, the present application also provides a winding machine, which is provided with a yaw system as described above, and one or more yaw systems are provided. In the above scheme, when the winding machine in the scheme of the present application is provided with one yaw system as described above, it has the same beneficial effects as the yaw system as described above, which will not be repeated here. It should be noted that when the winding machine in the scheme of the present application is provided with multiple yaw systems as described above, the composite winding of multi-layer fiber structures can be achieved through the linkage of multiple yaw systems, and the multiple yaw systems can also be used to adapt to the operational requirements of heavy-load winding or other complex winding work. Multiple yaw systems can also be used to achieve redundant backup of the winding function of the winding machine. Multiple yaw systems can be rotated to reduce the working loss of a single yaw system to extend the service life of the equipment, reduce the difficulty and cost of maintenance, and avoid the situation where the entire winding machine is stopped and waiting for work due to a failure of a single yaw system, which is conducive to ensuring the continuous and stable operation of the winding machine and ensuring the winding efficiency and quality.

[0025] 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 movement in the vertical and horizontal directions.

[0026] In the above scheme, the above-mentioned multi-directional drive system preferably includes linear drive of the above-mentioned yaw system in the vertical and horizontal directions, and can also further realize deflection drive of the above-mentioned yaw system in the vertical and horizontal directions through optimization and improvement of the transmission structure, so that the above-mentioned yaw system can flexibly adjust the working position and working angle, and cooperate with the radial movement and yaw rotation of the yaw axis in the above-mentioned yaw system to realize flexible control of the winding nozzle, further effectively adapt to the increasingly diversified winding process requirements, thereby improving the versatility and utilization rate of the winding machine in this application, which is conducive to reducing the equipment use cost and obtaining better economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 This is a schematic diagram of the structure of a yaw system in an example;

[0029] Figure 2 is a partial structural schematic diagram of a yaw drive device in an example;

[0030] Figure 3 This is a schematic diagram of the coordination between the yaw system and other components of the winding machine in an example;

[0031] Figure 4 This is a schematic diagram of the composition of an intelligent control system in an example.

[0032] List of parts and reference numerals:

[0033] 11 yaw axis, 12 nozzle box;

[0034] 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 counter gear, 27 mounting cavity, 28 guide rail;

[0035] 31 third driving member, 32 driving gear, 33 driven gear;

[0036] 41 controller, 42 angle detection component, 43 displacement detection component;

[0037] 5. Other parts on the winding machine. DETAILED DESCRIPTION

[0038] In order to more clearly illustrate the overall concept of the present invention, a detailed description is given below in combination with the accompanying drawings by way of examples.

[0039] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0040] First, refer to Figures 1-4As 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 thereof. The intelligent control system is also included. The intelligent control system is connected to the first drive member 21 and the second drive member 22 respectively. The intelligent control system controls the synchronous start and stop of the first drive member 21 and the second drive member 22.

[0041] In the above scheme, by adopting the radial dual-drive structure, the radial driving force of the yaw shaft 11 and the nozzle box 12 connected to the yaw shaft 11 can be effectively improved, so that the movement and stop of the yaw shaft 11 and the nozzle box 12 can be controlled more easily in the process of driving the yaw shaft 11 and the nozzle box 12 to move radially, thereby reducing the difficulty of controlling the radial movement of the yaw shaft 11 and the nozzle box 12, and improving the control ability of the radial movement of the yaw shaft 11 and the nozzle box 12, thereby ensuring that the yaw shaft 11 and the nozzle box 12 can respond to radial movement instructions in time and can move quickly and accurately even in heavy-load winding operations. In place, and compared with the traditional single-drive structure, the radial dual-drive structure can provide a more balanced radial driving force to the yaw shaft 11 and the nozzle box 12 along the axial direction of the yaw shaft 11, thereby helping to avoid the yaw angle control of the yaw shaft 11 caused by the uneven distribution of radial driving force under heavy load, thereby preventing the yaw shaft 11 from being flexibly deformed due to uneven distribution of radial driving force, and then cooperating with the control of the intelligent control system to ensure that the yaw shaft 11 and the winding nozzle connected to the yaw shaft 11 can achieve stable, efficient and precise radial movement and yaw rotation in high-speed and heavy-load winding operations, which is conducive to improving the winding accuracy and efficiency and ensuring the quality of composite winding products.

[0042] In addition, during actual use, by optimizing the transmission structure, the first drive member 21 and the second drive member 22 in the above-mentioned radial dual-drive structure can be used as backups for each other. When one of the drive members fails, the other normal drive member can be used as an emergency to drive both ends of the yaw shaft 11 simultaneously, thereby avoiding the radial movement instability of the yaw shaft 11 and the nozzle box 12 due to the imbalance of the radial driving force at both ends of the yaw shaft 11, which affects the winding quality, and also avoids deformation or structural damage to the yaw shaft 11 / the nozzle box 12. For example, when one of the drive members fails and loses power, power transmission between the first drive member 21 and the second drive member 22 can be achieved through a worm gear structure or a bevel gear transmission structure, thereby ensuring the balance of the radial driving force at both ends of the yaw shaft 11.

[0043] It should be noted here that the above example is only a preferred implementation scheme of the present application. The first drive member 21 and the second drive member 22 in the present application can work independently or realize power combination by setting a transmission structure. The transmission structure that links the first drive member 21 and the second drive member 22 can be the above-mentioned worm gear structure, bevel gear transmission structure or other more synchronous transmission connection mechanisms, and the present application does not make any specific restrictions on this.

[0044] Further, refer to Figure 1 、 Figure 3 As shown, the radial drive device in the present application further 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. In one example, continue to refer to 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 parallel to 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, guide rails 28 are further provided on the first pulley arm 232 and the second pulley arm 242. The first pulley 231 is guided and engaged with the guide rails 28 on the first pulley arm 232, and the second pulley 241 is guided and engaged with the guide rails 28 on the second pulley arm 242. 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 drives the yaw axis 11 and the nozzle box 12 to achieve radial movement. 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 shaft 11 and the nozzle box 12; on the other hand, the first pulley 231 and the second pulley 241 also directly carry the yaw shaft 11, the nozzle box 12 and the yaw drive device, while ensuring the reliability of the limit guidance, the installation structure of the yaw shaft 11, the nozzle box 12 and the yaw drive device is simplified, which is conducive to the miniaturization of the entire yaw system, avoiding the interference of the yaw system with the core mold or other parts of the equipment during the winding process due to the yaw system being too large, and avoiding the limitation of the core mold installation space and the specifications of the winding-molded products due to the large size of the yaw system, which is conducive to ensuring the versatility of the equipment.

[0045] As a preferred embodiment of this example, continue to refer to Figure 1 and Figure 3As shown, the first driving member 21 is a first motor provided on the first pulley 231, and the second driving member 22 is a second motor provided 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. 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 an auxiliary guiding effect. Preferably, continue to refer to Figure 1 、 Figure 2 and Figure 3 As shown, the first pulley 231 and the second pulley 241 are further connected to a pinion 262 meshing with the above-mentioned rack 25. The pinion 262 also serves as an auxiliary limiter, 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 beneficial to ensuring the stability of the radial moving path of the yaw axis 11.

[0046] 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 via a high-precision angular contact ball bearing, and the other end of the yaw shaft 11 is rotatably connected to the second pulley 241 via a high-precision angular contact ball bearing. The aforementioned yaw drive device includes a third drive member 31 disposed on the first pulley 231 and / or the second pulley 241. The third drive member 31 is in driving connection with the yaw shaft 11 to drive the yaw shaft 11 to yaw about its axis. The angular contact ball bearing can withstand both radial and certain axial loads, which helps ensure that the yaw shaft 11 can achieve flexible and stable yaw steering while moving with the first pulley 231 and the second pulley 241.

[0047] At the same time, the above-mentioned arrangement can fully utilize 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 a timely manner to realize yaw rotation, thereby ensuring the precise adjustment of the yaw angle to meet the requirements of different winding processes.

[0048] Preferably, continue to refer to Figure 1 and Figure 3As shown, the third driving member 31 is preferably a third motor. The yaw drive device further includes a transmission gear set, which includes a driving gear 32 drivingly 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 a motor drive and a gear 261 transmission also takes into account the advantages of motor drive and gear 261 transmission, such as fast response speed, high control accuracy, convenient control, and high transmission precision. This facilitates efficient and precise control of the yaw angle of the yaw shaft 11, better meeting the requirements of various complex winding processes.

[0049] As a preferred embodiment of this application, Figure 1 、 Figure 2 and Figure 3 As shown, a mounting cavity 27 is provided inside the first pulley 231 and the second pulley 241. The transmission gear set is disposed within the mounting cavity 27, and a sealing structure is provided at the opening of the mounting cavity 27. In this solution, the provision of the sealing structure provides comprehensive protection for the transmission gear set and the bearings at the end of the yaw shaft 11, improving waterproof, dustproof, and corrosion-resistant performance. This ensures the yaw rotation accuracy of the yaw shaft 11 during long-term use and reduces maintenance difficulty and cost.

[0050] It should be noted here that the present application does not make specific restrictions on the specific structure and setting method of the closed structure. In one example, the sealing structure is a sealing cover plate arranged corresponding to the opening of the installation cavity 27. The sealing cover plate and the side wall of the installation cavity 27 provide safety protection for the transmission gear set. The sealing cover plate has a simple structure and is easy to set up. This setting method also makes it easy to open the installation cavity 27 to maintain and replace the transmission gear set and the bearing structure. In another example, the closed structure is a connection structure between the first pulley 231, the second pulley 241 and other components 5 on the winding machine, such as a vertical drive device, a wire guide device, etc. This setting method further makes full use of the installation space on the first pulley 231 and the second pulley 241, and is conducive to the compact setting of the winding machine equipment structure, avoiding interference with the rotation of the core mold. Of course, in addition to the above two examples, the closed structure can also adopt other more different specific structures and settings.

[0051] Further, refer to Figure 4As shown, the aforementioned intelligent control system includes a controller 41, an angle detection member 42, and a displacement detection member 43. The angle detection member 42 is used to monitor the yaw angle of the yaw axis 11, and the displacement detection member 43 is used to monitor the radial movement distance of the yaw axis 11. The controller 41 is respectively connected to the angle detection member 42, the displacement detection member 43, and the first drive member 21, the second drive member 22, and the third drive member 31. Through the configuration of the above-mentioned detection members and the controller 41, the radial movement distance and yaw rotation angle of the yaw axis 11 can be monitored in real time. In conjunction with the preset motion control algorithm and winding process parameters, the start and stop of the first drive member 21, the second drive member 22, and the third drive member 31 can be accurately controlled, thereby achieving precise adjustment of the winding nozzle position and angle, meeting the requirements of various complex winding processes, and improving winding quality and efficiency.

[0052] Preferably, the angle detection element 42 is an absolute encoder provided on the yaw axis 11, and the displacement detection element 43 is provided on the first pulley arm 232 and the second pulley arm 242, and / or the displacement detection element 43 is provided on the first pulley 231 and the second pulley 241. An absolute encoder can directly output the absolute angle value of the rotating axis, i.e., the yaw axis 11, rather than a relative angle or incremental signal, without relying on an external counter or reference point to determine the angle, thereby greatly improving the measurement accuracy of the yaw angle. Absolute encoders also have strong anti-interference capabilities and can implement power-off memory. After the device is restarted, the current angle is directly output without re-finding the origin, simplifying system design and reducing maintenance costs. Absolute encoders are easy to install, compact in structure, and support self-diagnosis functions, making them easy to integrate into the yaw system. It should be noted that the type and configuration of the angle detection element 42 in this application are not limited to the above examples. Different types of angle detection elements 42, such as inertial angle sensors, capacitive angle sensors, or pressure angle sensors, can also be used according to actual needs. This is not specifically limited in this application.

[0053] Furthermore, as a preferred embodiment of the present application, a displacement detection member 43 is provided on the first pulley 231, the second pulley 241 and the first pulley arm 232, the second pulley arm 242, and the above-mentioned displacement detection member 43 is preferably a laser distance sensor. With this arrangement, the laser distance sensor provided on the first pulley 231 and the second pulley 241 can detect and collect a set of displacement data, and the laser distance meter provided on the first pulley arm 232 and the second pulley 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 shaft 11 can be effectively improved. At the same time, through the intra-group comparison of the two sets of displacement data, it is also possible to accurately detect in real time whether there is a radial displacement difference between the two ends of the yaw shaft 11, thereby facilitating real-time regulation of the output power of the first drive member 21 and the second drive member 22 to ensure that the two ends of the yaw shaft 11 achieve synchronous radial movement, avoid unbalanced radial movement at the two ends of the yaw shaft 11 interfering with the yaw rotation of the yaw shaft 11, and also avoid causing different degrees of wear due to different bearing loads at the two ends of the yaw shaft 11, thereby affecting subsequent normal use.

[0054] In a second aspect, the present application further provides a winding machine, which is provided with the above-mentioned yaw system, and one or more yaw systems are provided. When the above-mentioned yaw system is adopted, the winding machine in the present application scheme has the same beneficial effects as the above-mentioned yaw system when it is provided with one yaw system, which will not be described in detail here. It should be noted that when the winding machine in the present application scheme is provided with multiple yaw systems, the composite winding of multi-layer fiber structures can be achieved through the linkage of multiple yaw systems. It can also adapt to the operational requirements of heavy-load winding or other complex winding work through multiple yaw systems. For example, the provision of multiple yaw systems can achieve synchronous winding of multiple layers of different materials, saving waiting time for material change and improving winding efficiency. Multiple yaw systems can also be used to achieve redundant backup of the winding function of the winding machine. Multiple yaw systems can be rotated to reduce the working loss of a single yaw system to extend the service life of the equipment, reduce maintenance difficulty and maintenance costs, and avoid the situation where the entire winding machine is shut down due to a failure of a single yaw system, which is conducive to ensuring the continuous and stable operation of the winding machine and ensuring winding efficiency and winding quality.

[0055] As a preferred embodiment of the present application, the winding machine also 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 movement in the vertical and horizontal directions. The above-mentioned multi-directional drive system preferably includes linear drive of the above-mentioned yaw system in the vertical and horizontal directions, and can also further realize deflection drive of the above-mentioned yaw system in the vertical and horizontal directions through optimization and improvement of the transmission structure, so that the above-mentioned yaw system can flexibly adjust the working position and working angle, and cooperate with the radial movement and yaw rotation of the yaw axis 11 in the above-mentioned yaw system to achieve flexible control of the winding nozzle, further effectively adapting to the increasingly diverse winding process requirements, thereby improving the versatility and utilization rate of the winding machine in this application, which is conducive to reducing the cost of equipment use and obtaining better economic benefits.

[0056] It should be noted that the present application does not impose any specific limitation on the structure and arrangement of the multi-directional drive system. The system may adopt a conventional gantry structure to achieve linear movement of the yaw system in the vertical and horizontal directions, or it may adopt a multi-axis structure to enable the yaw system to have the ability to yaw and steer as a whole. Of course, it may also adopt other more different structures and arrangements.

[0057] The technical solutions protected by the present invention are not limited to the above-described embodiments. It should be noted that the combination of the technical solutions of any one embodiment with the technical solutions of one or more other embodiments falls within the scope of protection of the present invention. Although the present invention has been described in detail above using general descriptions and specific embodiments, it is obvious to those skilled in the art that modifications or improvements can be made based on the present invention. Therefore, such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed 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 both 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 synchronous start and stop of the first drive member and the second drive member.

2. The yaw system according to claim 1, wherein: 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, wherein: 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, and 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, wherein: The invention also includes a yaw drive device, wherein one end of the yaw shaft is rotatably connected to the first pulley, and the other end of the yaw shaft is rotatably connected to the second pulley. The yaw drive device includes a third drive member provided on the first pulley and / or the second pulley, and the third drive member is in transmission connection with the yaw shaft to drive the yaw shaft 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 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, wherein: 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 winding machine, characterized in that: The winding machine is provided with a yaw system according to any one of claims 1 to 8, and one or more yaw systems are provided.

10. The wrapping machine according to claim 9, wherein: The winding machine further includes a multidirectional drive system, which is connected to the yaw system. The multidirectional drive system at least drives the yaw system to perform linear reciprocating movement in vertical and horizontal directions.

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