Full-automatic winding system and winding method of electromagnetic valve for spaceflight

Abstract

The full-automatic winding system comprises a rack, a pay-off mechanism, a movable pulley block, a fixed pulley block and the like, the pay-off mechanism, a tensioning mechanism and a winding mechanism are installed on a vertical plate of the rack, and a mechanical arm grabbing mechanism is arranged on the bottom face of the rack; an inclined long sliding groove is formed in a vertical plate of the rack, and the movable pulley block is installed in the long sliding groove and slides along the long sliding groove. The fixed pulley block is fixedly connected with the rack; an enameled wire is paid off by the pay-off mechanism, passes through the fixed pulley block, the movable pulley block and the tensioning mechanism, and is wound on a solenoid valve coil by the winding mechanism; the sensor detects position information of the movable pulley block and the tensioning mechanism, and the control device controls the pay-off mechanism and the winding mechanism according to the information detected by the sensor and adjusts the tension of the enameled wire in cooperation with the movable pulley block and the tensioning mechanism. And the manipulator grabbing mechanism is used for grabbing the electromagnetic valve coil. The electromagnetic valve coil winding device can be used for winding various electromagnetic valve coils for spaceflight.

Description

Technical Field

[0001] The invention belongs to the technical field of solenoid valve coil winding for aerospace, and relates to a full-automatic winding system and a winding method for solenoid valves in aerospace. Background Art

[0002] A solenoid valve is a valve actuated by an electromagnetic coil actuator, which can act multiple times to open and cut off the fluid passage. Solenoid valves are extremely important for liquid rocket engines that start multiple times. Especially in on-orbit attitude control engines, it is precisely the use of solenoid valves that enables the repeated start and pulsed operation of the engine, and it has an important impact on the switching dynamic characteristics and pulsed characteristics of the engine. The coil assembly is an important component of the solenoid valve. It is through the coil assembly that the solenoid valve generates magnetic potential and magnetic flux, and then controls the opening and closing of the valve core to achieve pulsed operation. Therefore, the winding of the solenoid valve coil is an important link in the solenoid valve processing process.

[0003] At present, the winding method of solenoid valves uses a semi-automatic winding machine, whose main function is to count the number of turns wound. When winding the enameled wire, one hand holds the enameled wire and the other hand operates the knob of the winding machine to control the rotation speed. When the winding machine rotates, the hand holding the enameled wire swings left and right to wind the enameled wire around the valve body. This enameled wire winding method has high requirements for personnel skills. During the winding process, the tension of the enameled wire held by the personnel is unstable, and there is a risk of stretching the enameled wire, resulting in a large difference in the coil resistance under the same number of turns of the product, affecting the product performance. In addition, the coil arrangement method is unstable, there are large differences in the enameled wire arrangement methods of products, and the outer diameter of some products exceeds the outer circle of the valve body, resulting in damage to the wire or enameled wire during the assembly of the outer shell assembly or the inability to assemble the outer shell assembly. Summary of the Invention

[0004] The purpose of the invention is to solve the disadvantages existing in the prior art, and propose a full-automatic winding system and a winding method for solenoid valves in aerospace.

[0005] To achieve the above purposes, the invention adopts the following technical solutions: A full-automatic winding system for solenoid valves in aerospace includes a frame, a wire feeding mechanism, a movable pulley group, a fixed pulley group, a tensioning mechanism, a winding mechanism, a sensor and a control device. The wire feeding mechanism, the tensioning mechanism and the winding mechanism are installed on the vertical plate of the frame, and a manipulator grasping mechanism is arranged on the bottom surface of the frame;

[0006] An inclined long chute is arranged on the vertical plate of the frame, and the movable pulley group is installed in the long chute and slides along the long chute; the fixed pulley group is fixedly connected to the frame;

[0007] The wire feeding mechanism releases the enameled wire, which passes through the fixed pulley group, the movable pulley group and the tensioning mechanism, and the winding mechanism winds the enameled wire on the solenoid valve coil;

[0008] The sensor detects the position information of the movable pulley block and the tensioning mechanism, and the control device controls the wire pay-off mechanism and the wire winding mechanism according to the information detected by the sensor, and cooperates with the movable pulley block and the tensioning mechanism to adjust the tension of the enameled wire;

[0009] The manipulator grasping mechanism is used to grasp the solenoid valve coil, and the control device controls the manipulator grasping mechanism to install the solenoid valve coil on the wire winding mechanism or remove the solenoid valve coil from the wire winding mechanism.

[0010] Further, the tensioning mechanism includes a tensioning wheel, a tensioning wheel shaft, a rotating shaft, a spring, a slider, a slide rod, a slide rod rotating shaft and a rotating block;

[0011] A short sliding groove is opened on the vertical plate of the frame, and the tensioning wheel shaft can slide up and down along the short sliding groove; the tensioning wheel is installed on the tensioning wheel shaft and can rotate around the tensioning wheel shaft, and the tensioning wheel shaft is rotatably connected with the slider; the slider is installed on the slide rod and can slide along the slide rod; both ends of the spring are fixedly connected with the slider and the rotating block respectively, the rotating block is rotatably connected with the rotating shaft, the rotating shaft is fixedly connected with the frame, one end of the slide rod is rotatably connected with the slide rod rotating shaft, and the slide rod rotating shaft is fixedly connected with the frame.

[0012] Further, the wire pay-off mechanism includes a wire pay-off wheel motor and a wire pay-off wheel. The wire pay-off wheel motor is fixedly connected with the frame, and the main shaft of the wire pay-off wheel motor is connected to the wire pay-off wheel.

[0013] Further, the wire winding mechanism includes a wire winding motor. The wire winding motor is fixedly connected with the frame, and the main shaft of the wire winding motor is used for installing the solenoid valve coil.

[0014] Further, the sensor includes a movable pulley block position sensor and a tensioning wheel position sensor. The movable pulley block position sensor is fixedly connected with the frame and is used for detecting the position information of the movable pulley block; the tensioning wheel position sensor is fixedly connected with the frame and is used for detecting the position information of the tensioning wheel.

[0015] Further, according to different enameled wire diameters, the compression amount of the spring is adjusted so that the winding tension of the enameled wire is within the process requirements; after the winding system is powered on, the wire pay-off wheel motor rotates, driving the wire pay-off wheel to rotate, and the enameled wire is released from the wire pay-off wheel, passing through the fixed pulley block, the movable pulley block and the tensioning wheel; the wire winding motor rotates, driving the solenoid valve coil to rotate, and winding the enameled wire on the solenoid valve coil.

[0016] Further, when the tensioning wheel position sensor detects that the tensioning wheel shaft moves downward, it drives the slider to move downward, the compression amount of the spring becomes larger, the winding tension of the enameled wire increases, and the controller controls the rotational speed of the wire winding motor to decrease, and the tensioning wheel shaft moves upward to keep the winding tension of the enameled wire within the process requirements.

[0017] Further, when the movable pulley group position sensor detects that the movable pulley group moves downward, the length of the enameled wire released by the wire pay-off wheel becomes longer, and the wire pay-off wheel motor rotates faster than the winding motor. The controller controls the wire pay-off wheel motor to decelerate to keep the length of the released enameled wire within the process requirements.

[0018] The beneficial effects of the present invention compared with the prior art are as follows:

[0019] (1) By setting the wire pay-off mechanism, when the movable pulley group position sensor detects that the movable pulley group moves up and down, resulting in too long or too short wire pay-off length, the rotation speed of the wire pay-off wheel motor increases or decreases, and the movable pulley group moves up and down to maintain the released wire length at the set value, ensuring the stable tension of the enameled wire at the wire pay-off wheel.

[0020] (2) By setting the tensioning mechanism, when the winding main shaft rotates too fast, the tensioning wheel position sensor detects the up and down movement of the tensioning wheel shaft, and controls the tension within the set range by adjusting the spring, ensuring the stable tension of the enameled wire at the solenoid valve coil. Description of the Drawings

[0021] Figure 1 Schematic structure of the full-automatic wire winding system for aerospace solenoid valves Figure 1 ;

[0022] Figure 2 Schematic structure of the full-automatic wire winding system for aerospace solenoid valves Figure 2 ;

[0023] Figure 3 Front view of the structure of the full-automatic wire winding system for aerospace solenoid valves;

[0024] Figure 4 Top view of the structure of the full-automatic wire winding system for aerospace solenoid valves.

[0025] Legend: 1. Frame; 2. Wire pay-off wheel; 3. Wire pay-off wheel motor; 4. Movable pulley group position sensor; 5. Fixed pulley group; 6. Tensioning wheel position sensor; 7. Short chute; 8. Tensioning wheel; 9. Tensioning wheel shaft; 10. Winding motor; 11. Solenoid valve coil; 12. Manipulator grasping mechanism; 13. Long chute; 14. Movable pulley group; 15. Rotating shaft; 16. Spring; 17. Slide block; 18. Slide rod; 19. Slide rod rotating shaft; 20. Rotating block. Detailed Embodiments

[0026] The following further describes the present invention in conjunction with the drawings and embodiments, but it shall not be used as a basis for limiting the present invention.

[0027] Refer to Figures 1-4, a fully automatic wire winding system for aerospace solenoid valves provided by the present invention includes a frame 1, a wire feeding mechanism, a movable pulley group 14, a fixed pulley group 5, a tensioning mechanism, a wire winding mechanism, sensors and a control device. The wire feeding mechanism, the movable pulley group 14, the fixed pulley group 5, the tensioning mechanism and the wire winding mechanism are sequentially arranged on the vertical plate of the frame 1 from one side to the other side;

[0028] An inclined long chute 13 is arranged on the vertical plate of the frame 1, and the movable pulley group 14 is installed in the long chute 13 and slides along the long chute 13; the fixed pulley group 5 is fixedly connected to the frame 1 and is located obliquely above the movable pulley group 14 (near the upper end of the inclined long chute 13);

[0029] The wire feeding mechanism releases the enameled wire, which passes through the fixed pulley group 5, the movable pulley group 14 and the tensioning mechanism, and the wire winding mechanism winds the enameled wire around the solenoid valve coil 11;

[0030] The sensors detect the position information of the movable pulley group 14 and the tensioning mechanism, and the control device controls the wire feeding mechanism and the wire winding mechanism according to the information detected by the sensors, and adjusts the tension of the enameled wire in cooperation with the movable pulley group 14 and the tensioning mechanism;

[0031] The manipulator grasping mechanism 12 is used to grasp the solenoid valve coil 11, and the control device controls the manipulator grasping mechanism 12 to install the solenoid valve coil 11 on the wire winding mechanism or remove the solenoid valve coil 11 from the wire winding mechanism.

[0032] A short chute 7 is opened on the vertical plate of the frame 1, and the tensioning pulley shaft 9 can slide up and down along the short chute 7; the tensioning pulley 8 is installed on the tensioning pulley shaft 9 and can rotate around the tensioning pulley shaft 9, and the tensioning pulley shaft 9 is rotatably connected to the slider 17; the slider 17 is installed on the slide rod 18 and can slide along the slide rod 18; both ends of the spring 16 are fixedly connected to the slider 17 and the rotating block 20 respectively, the rotating block 20 is rotatably connected to the rotating shaft 15, the rotating shaft 15 is fixedly connected to the frame 1, and one end of the slide rod 18 is rotatably connected to the slide rod rotating shaft 19, and the slide rod rotating shaft 19 is fixedly connected to the frame 1.

[0033] The wire feeding mechanism includes a wire feeding wheel motor 3 and a wire feeding wheel 2. The wire feeding wheel motor 3 is fixedly connected to the frame 1, the main shaft of the wire feeding wheel motor 3 is connected to the wire feeding wheel 2, a long chute 13 is opened on the frame 1, the movable pulley group 14 is slidably connected to the long chute 13, and the fixed pulley group 5 is fixedly connected to the frame 1.

[0034] The wire winding mechanism includes a wire winding motor 10. The wire winding motor 10 is fixedly connected to the frame 1, and the main shaft of the wire winding motor 10 is connected to the solenoid valve coil 11. The sensors include a movable pulley group position sensor 4 and a tensioning pulley position sensor 6. The movable pulley group position sensor 4 is fixedly connected to the frame 1, and the signal output end of the movable pulley group position sensor 4 is connected to the control box. The tensioning pulley position sensor 6 is fixedly connected to the frame 1, and the signal output end of the tensioning pulley position sensor 6 is connected to the control box.

[0035] The steps of the winding method are as follows:

[0036] During use, first, according to different enameled wire diameters, adjust the compression amount of the spring 16 to maintain the enameled wire winding tension within the process requirements. After the equipment is powered on, the pay-off reel motor 3 rotates forward, driving the pay-off reel 2 to rotate forward. The enameled wire is released from the pay-off reel 2, passes through the fixed pulley set 5, the movable pulley set 14, and the tension pulley 8. The winding motor 10 rotates forward, driving the solenoid valve coil 11 to rotate forward, and winds the enameled wire on the solenoid valve coil 11. The manipulator grasping mechanism 12 grasps the solenoid valve coil 11 to be wound and installs it on the main shaft of the winding motor 10. After the winding of the solenoid valve coil 11 is completed, the manipulator grasping mechanism 12 removes the solenoid valve coil 11. When the tension pulley position sensor 6 detects that the tension pulley shaft 9 moves downward, the slider 17 moves downward, the compression amount of the spring 16 becomes larger, the enameled wire winding tension is too large, the rotation speed of the winding motor 10 is too fast, and the controller controls the rotation speed of the winding motor 10 to decrease, and the tension pulley shaft 9 moves upward to maintain the enameled wire winding tension within the process requirements. When the movable pulley set position sensor 4 detects that the movable pulley set moves downward, the length of the enameled wire released by the pay-off reel 2 becomes longer, the rotation speed of the pay-off reel motor 3 is too fast compared with the winding motor 10, and the controller controls the pay-off reel motor 3 to decelerate to maintain the released wire length within the process requirements.

[0037] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered within the protection scope of the present invention.

Claims

1. A fully automatic wire winding system for aerospace solenoid valves, characterized in that It includes a frame (1), a wire pay-off mechanism, a movable pulley block (14), a fixed pulley block (5), a tensioning mechanism, a wire winding mechanism, sensors and a control device. The wire pay-off mechanism, the tensioning mechanism and the wire winding mechanism are installed on the vertical plate of the frame (1), and a manipulator grasping mechanism (12) is arranged on the bottom surface of the frame (1); An inclined long chute (13) is arranged on the vertical plate of the frame (1), and the movable pulley block (14) is installed in the long chute (13) and slides along the long chute (13); the fixed pulley block (5) is fixedly connected to the frame (1); The wire pay-off mechanism pays out the enameled wire, which passes through the fixed pulley block (5), the movable pulley block (14) and the tensioning mechanism, and the wire winding mechanism winds the enameled wire around the solenoid valve coil (11); The sensors detect the position information of the movable pulley block (14) and the tensioning mechanism, and the control device controls the wire pay-off mechanism and the wire winding mechanism according to the information detected by the sensors, and cooperates with the movable pulley block (14) and the tensioning mechanism to adjust the tension of the enameled wire; The manipulator grasping mechanism (12) is used to grasp the solenoid valve coil (11), and the control device controls the manipulator grasping mechanism (12) to install the solenoid valve coil (11) on the wire winding mechanism or remove the solenoid valve coil (11) from the wire winding mechanism.

2. An automatic winding system for aerospace solenoid valves according to claim 1, characterized in that, The tensioning mechanism includes a tensioning wheel (8), a tensioning wheel shaft (9), a rotating shaft (15), a spring (16), a slider (17), a slide rod (18), a slide rod rotating shaft (19) and a rotating block (20); A short chute (7) is opened on the vertical plate of the frame (1), and the tensioning wheel shaft (9) can slide up and down along the short chute (7); the tensioning wheel (8) is installed on the tensioning wheel shaft (9) and can rotate around the tensioning wheel shaft (9), and the tensioning wheel shaft (9) is rotatably connected to the slider (17); the slider (17) is installed on the slide rod (18) and can slide along the slide rod (18); both ends of the spring (16) are fixedly connected to the slider (17) and the rotating block (20) respectively, the rotating block (20) is rotatably connected to the rotating shaft (15), the rotating shaft (15) is fixedly connected to the frame (1), and one end of the slide rod (18) is rotatably connected to the slide rod rotating shaft (19), and the slide rod rotating shaft (19) is fixedly connected to the frame (1).

3. The full-automatic wire winding system for aerospace solenoid valves according to claim 2, wherein, The wire pay-off mechanism includes a wire pay-off wheel motor (3) and a wire pay-off wheel (2), the wire pay-off wheel motor (3) is fixedly connected to the frame (1), and the main shaft of the wire pay-off wheel motor (3) is connected to the wire pay-off wheel (2).

4. The full-automatic winding system for aerospace solenoid valves according to claim 3, wherein, The wire winding mechanism includes a wire winding motor (10), the wire winding motor (10) is fixedly connected to the frame (1), and the main shaft of the wire winding motor (10) is used for installing the solenoid valve coil (11).

5. The full-automatic wire winding system for aerospace solenoid valves according to claim 4, characterized in that, The sensors include a movable pulley block position sensor (4) and a tensioning wheel position sensor (6). The movable pulley block position sensor (4) is fixedly connected to the frame (1) and is used for detecting the position information of the movable pulley block (14); the tensioning wheel position sensor (6) is fixedly connected to the frame (1) and is used for detecting the position information of the tensioning wheel (8).

6. The full-automatic wire winding system for aerospace solenoid valves according to claim 5, characterized in that, Adjust the compression amount of the spring (16) according to different enameled wire diameters so that the winding tension of the enameled wire is within the process requirements; after the winding system is powered on, the pay-off reel motor (3) rotates, driving the pay-off reel (2) to rotate, and the enameled wire is released from the pay-off reel (2), passing through the fixed pulley set (5), the movable pulley set (14) and the tension pulley (8); the winding motor (10) rotates, driving the solenoid valve coil (11) to rotate, and winding the enameled wire on the solenoid valve coil (11).

7. The full-automatic wire winding system for aerospace solenoid valves according to claim 6, characterized in that, When the tension pulley position sensor (6) detects that the tension pulley shaft (9) moves downward, it drives the slider (17) to move downward, the compression amount of the spring (16) becomes larger, the winding tension of the enameled wire increases, and the controller controls the speed of the winding motor (10) to decrease, and the tension pulley shaft (9) moves upward to keep the winding tension of the enameled wire within the process requirements.

8. The full-automatic wire winding system for aerospace solenoid valves according to claim 6, characterized in that, When the movable pulley set position sensor (4) detects that the movable pulley set (14) moves downward, the length of the enameled wire released by the pay-off reel (2) becomes longer, and the pay-off reel motor (3) rotates faster than the winding motor (10). The controller controls the pay-off reel motor (3) to decelerate to keep the length of the released enameled wire within the process requirements.

9. The winding method of a full-automatic winding system for aerospace solenoid valves according to any one of claims 1 to 5, characterized in that, Including: Adjust the compression amount of the spring (16) according to different enameled wire diameters so that the winding tension of the enameled wire is within the process requirements; After being powered on, the pay-off reel motor (3) rotates, driving the pay-off reel (2) to rotate, and the enameled wire is released from the pay-off reel (2), passing through the fixed pulley set (5), the movable pulley set (14) and the tension pulley (8); the winding motor (10) rotates, driving the solenoid valve coil (11) to rotate, and winding the enameled wire on the solenoid valve coil (11).

10. A winding method according to claim 9, characterized in that, Also including: When the tension pulley position sensor (6) detects that the tension pulley shaft (9) moves downward, it drives the slider (17) to move downward, the compression amount of the spring (16) becomes larger, the winding tension of the enameled wire increases, and the controller controls the speed of the winding motor (10) to decrease, and the tension pulley shaft (9) moves upward to keep the winding tension of the enameled wire within the process requirements; When the movable pulley set position sensor (4) detects that the movable pulley set (14) moves downward, the length of the enameled wire released by the pay-off reel (2) becomes longer, and the pay-off reel motor (3) rotates faster than the winding motor (10). The controller controls the pay-off reel motor (3) to decelerate to keep the length of the released enameled wire within the process requirements.

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