Fiber winding machine

Abstract

The application discloses a fiber winding machine, which is suitable for fiber winding of a rotary workpiece and comprises a main guide rail arranged according to a predetermined Z-axis direction; a clamping assembly which is matched with the main guide rail through a sliding base to form a main guide rail pair and has a main shaft box assembly and a tailstock assembly for clamping the workpiece; a Z-axis driving mechanism for driving the clamping assembly to move on the main guide rail; an arc-shaped gantry which takes the Z-axis as an axis and is fixed at a Z-axis position; two groups of winding head assemblies which are divided by the left and right middle surfaces of the arc-shaped gantry and are arranged on the left and right sides respectively; a left yarn feeding device for feeding yarns to the winding head assembly on the left side; and a right yarn feeding device for feeding yarns to the winding head assembly on the right side. The fiber winding machine according to the application has relatively strong synchronous winding fiber bundle number expansion capability.

Description

Technical Field

[0001] This invention relates to a fiber winding machine. Background Technology

[0002] The patent for fiber winding technology was first registered in the United States in 1946, and the first dedicated fiber winding machine was successfully manufactured by Kellogg Company in 1947, marking the beginning of industrialization. Subsequently, fiber winding machines have successively gone through the mechanical control stage, the digital program control stage, and the computer / robot intelligent stage. Its iteration is basically adapted to the current development history of mechanical equipment. Since 2000, fiber winding machines have entered the computer / robot intelligent stage, with the emergence of six-axis or higher CNC, robotic flexible winding, and mandrel-less manufacturing technologies, such as the commercial robot system of MFTech in France in 2004. However, fiber winding machines with mandrels are still the mainstream of this type of equipment.

[0003] The essence of a fiber winding machine is to precisely lay continuous resin-impregnated fibers onto the surface of a mandrel according to a preset geometric path through the coordinated movement of the mandrel and the trajectory of the guide head. After curing and demolding, a predetermined high-strength composite material structure is formed. Its key subsystems include a yarn tension control system to ensure the uniformity of fiber layup, a resin impregnation device adapted to wet processes (as opposed to dry processes), and a multi-axis linkage controller for performing path planning.

[0004] Early fiber winding machines could only wind a single bundle of fiber onto a workpiece. Multi-axis linkage has enabled fiber winding machines to perform multiple bundles of winding simultaneously, providing better technical conditions. Furthermore, there is no fixed upper limit to the number of bundles that can be wound on existing equipment, and the number of fiber bundles wound simultaneously depends on the machine configuration and process requirements.

[0005] Conventional CNC winding machines are typically configured to wind 2 to 4 bundles. Some multi-axis models are specifically designed to wind 4 bundles simultaneously, but each bundle requires an independent tension unit. Furthermore, high-end / customized equipment, such as twin-frame machines and multi-channel winding heads at the end of robots, can support 6 bundles or more, and even achieve parallel winding of more bundles through modular expansion.

[0006] It should be understood that the core difficulties in increasing the number of fiber bundles for synchronous winding mainly include the loss of control over impregnation uniformity and the decrease in tension synchronization accuracy, as well as the increase in the complexity of trajectory planning and anti-interference and the bottleneck of equipment structural rigidity. In the embodiments of the present invention, the solution that leads to the decrease in tension synchronization accuracy is first considered. In the current fiber winding machine, each bundle needs to be independently controlled in a closed loop. The increase in the number of bundles leads to an increase in the risk of mechanical interference and a larger response delay, which may lead to the problem of decreased tension synchronization accuracy.

[0007] Through research, the inventors discovered that current fiber winding machines generally use a method where the workpiece is clamped by the main spindle box and tail box, and the workpiece is driven to rotate around its axis. Tracks parallel to the workpiece axis are set on both sides of the workpiece, and the winding head of the fiber winding machine is arranged on a robotic arm running on the track. Only one robotic arm can be arranged on the same track. Expanding the number of robotic arms requires deploying more robotic arms. When planning the path of multiple robotic arms on the same side, it is necessary to avoid interference between them, which limits the increase in the number of fiber bundles wound simultaneously.

[0008] In summary, current fiber winding machines that support simultaneous winding of multiple bundles are mostly based on independent closed-loop control of each bundle. However, due to spatial constraints, it is very difficult to further increase the number of bundles.

[0009] It should be noted that the above background technology is technical information acquired by the inventor in order to deduce the relevant technical problems or obtained in the process of designing the present invention, and does not mean that the above background technology was prior art before this application, especially the technical content of the cognition and confirmation of the relevant technical problems. Summary of the Invention

[0010] The purpose of this invention is to provide a fiber winding machine with a relatively strong ability to expand the number of synchronously wound fiber bundles.

[0011] According to an embodiment of the present invention, a fiber winding machine is provided, suitable for fiber winding of rotating workpieces, comprising: The main guide rail is laid out according to the predetermined Z-axis direction; The clamping assembly forms a main guide rail pair by cooperating with the main guide rail via a slide block, and has a spindle box assembly and a tailstock assembly for clamping workpieces; Z-axis drive mechanism is used to drive the clamping assembly to move on the main guide rail; An arc-shaped gantry, which is fixed at the Z-axis position with the Z-axis as its axis; The winding head assembly has two sets, with one set on each side, divided by the left and right center surfaces of the arc-shaped gantry. Left wire feeding device, used to feed wire bundles to the winding head assembly located on the left; and The right-hand wire feeding device is used to feed the bundled wires to the group of winding heads located on the right.

[0012] Optionally, the arc-shaped gantry has a given pitch circle for the winding head assembly to be distributed according to the pitch circle.

[0013] Optionally, the structure of the pitch circle, as described by the C-pendulum, is as follows: The C-shaped track or C-shaped positioning ring is fixed to the ring track base of the curved gantry; and The gear ring is adapted to the C-shaped pendulum track and is fixed to the ring rail base in parallel with the C-shaped pendulum track. Accordingly, the winding head assembly includes a first slide that cooperates with the C-axis track to form a C-axis kinematic pair; a C-axis drive device mounted on the first slide, the output shaft of which is provided with a first output gear meshing with the gear ring; or The winding head assembly includes an adjustment seat that mates with the C-shaped positioning ring to adjust the position of the winding head assembly on the pitch circle.

[0014] Optionally, the first slide block is provided with a radial guide portion extending radially from the arc-shaped gantry; The winding head assembly also includes: The radial adjustment seat is a rod-type seat, which cooperates with the radial guide part to form a radial guide pair, corresponding to the Y-axis; A radial drive device is provided to drive the radial adjustment seat to move along the radial guide. The winding head is installed at the radial end of the radial adjustment seat; and The winding roller assembly is mounted on the radial adjustment seat.

[0015] Optionally, the first slide has a winding roller assembly on the centrifugal side to guide the fiber belt delivered from the corresponding feeding device.

[0016] Optionally, the winding rollers of the winding roller assembly are configured on the first slide via a tangential adjustment structure; The tangential direction is perpendicular to both the Y-axis and Z-axis, thus forming the X-axis.

[0017] Optionally, the tangential adjustment structure includes: T-slot, parallel to the X-axis; T-slot bolts are used to secure the roller shaft in the T-slot and for adjustment on the X-axis.

[0018] Optionally, the first slide is provided with a locking structure to lock it onto the C-swing track after the first slide is adjusted to the correct position.

[0019] Optionally, the locking structure includes: The lock seat has a lock groove through which the guide rail component of the C-shaped pendulum track passes, and a set screw hole is formed on the groove wall corresponding to the lock groove; and A set screw that mates with a set screw hole, and the set screw is equipped with a locking handle or is a hand-tightening screw.

[0020] Optionally, the clamping assembly further includes a pair of connecting rods for connecting the spindle box assembly and the tailstock assembly into one unit, with one connecting rod on each side connected between the spindle box assembly and the tailstock assembly.

[0021] Optionally, the connecting rod is a connecting rod or lead screw with threaded sections at both ends; If the connecting rod has threaded sections at both ends, the spindle box assembly and tailstock assembly are equipped with corresponding nut sleeves; If it is a lead screw, one end of the lead screw is mounted on one of the main spindle box assembly or tailstock assembly via a bearing, and the other end is mounted on the other of the main spindle box assembly or tailstock assembly via a lead screw nut, forming a lead screw and nut mechanism. A corresponding pitch adjustment drive unit is provided for the drive screw mechanism.

[0022] Optionally, the left wire feeding device and the right wire feeding device include: The support is arranged along the wire feeding direction; An infeed roller is set on one end of the support for infeeding the fiber belt; this end is referred to as the rear end. The dip roller is located in front of the guide roller. The fiber belt being guided passes over the top of the dip roller, and the wrap angle of the fiber belt on the dip roller is not less than 15°. The dip tank is located below the dip roller, allowing the lower part of the dip roller to be partially immersed in it; A splicing plate assembly includes an upper splicing plate and a lower splicing plate at a predetermined angle to each other, forming a splicing channel that is wider at the inlet end and narrower at the outlet end. The minimum gap of the splicing channel is 1 to 1.2 times the fiber diameter in the fiber belt. At the outlet end, the corresponding edges of the upper and lower splicing plates are rounded or chamfered. The splicing channel is located above the impregnation tank and / or a given receiving tank. The tension roller assembly is located in front of the glue-spreading plate assembly. After the fiber belt is glued, it is wound around the tension roller assembly to tension the fiber belt and feed the fiber to the winding device.

[0023] Optionally, the rear end of the upper uniform adhesive plate is directly or indirectly mounted on the bracket via a movable uniform adhesive plate shaft to form a movable uniform adhesive plate. The lower uniform adhesive plate correspondingly forms the static uniform adhesive plate; A force-applying component is provided, which clamps the moving uniform rubber plate and the stationary uniform rubber plate to form a clamping outlet at the wire exit end.

[0024] Optionally, the force-applying component is: A torsion spring is sleeved on the shaft of the moving uniform rubber plate, with one torsion arm supported on the upper side of the moving uniform rubber plate and the other supported on a bracket or a given uniform rubber plate bracket; or The first counterweight is set on the upper surface of the moving uniform rubber plate; or A tension spring, one end of which is pulled on a moving uniform adhesive plate, and the other end of which is pulled on the lower part of a support or a given uniform adhesive support.

[0025] Optionally, a scraper roller is also provided between the glue-spreading plate assembly and the glue-dipping roller; After the fiber strip comes out from the top of the dip roller, it goes around the bottom of the scraper roller and enters the glue-spreading channel.

[0026] Optionally, the scraper roller is a grooved roller.

[0027] Optionally, the tensioning roller assembly includes a front tensioning assembly, a middle tensioning assembly, and a rear tensioning assembly; wherein the middle tensioning assembly is a dynamic response tensioning assembly, which dynamically tensions the fiber belt according to its tension level.

[0028] Optionally, the intermediate tensioning assembly includes: The tensioning bracket is installed on the bracket and set vertically. The lifting mechanism uses the tensioning bracket as its frame; The tensioning drive roller is mounted on the output component of the lifting mechanism, and the fiber belt passes over the upper side of the tensioning drive roller; and Tension sensor is used to detect the pressure on a tensioning roller of the front or rear tensioning assembly.

[0029] Optionally, the post-tensioning assembly includes a post-exit roller, a middle-exit roller, and a front-exit roller, wherein the middle-exit roller is a single-end support roller, and the tension sensor is disposed at the support end of the middle-exit roller; Accordingly, the fiber belt is wound in from the underside of the exit roller, then around the upper side of the exit roller, and finally out from the underside of the exit roller.

[0030] Optionally, the lifting mechanism is a chain drive mechanism or a synchronous belt mechanism; A vertical guide component is provided, wherein the tensioning drive roller is mounted on the vertical guide component via a vertical slide seat, and the vertical slide seat is connected to one chain side of the chain drive mechanism or one belt side of the synchronous belt mechanism.

[0031] Optionally, the other chain side of the chain drive mechanism or the other belt side of the synchronous belt mechanism is equipped with a counterweight to balance the weight of the vertical slide and the tensioning drive roller.

[0032] Optionally, the front tensioning assembly includes a rear tensioning roller, a middle tensioning roller, and a front tensioning roller, wherein the middle tensioning roller is the driving roller, and the rear tensioning roller and the front tensioning roller are driven rollers; The fiber belt is wound into the tensioning roller from the bottom side, passes through the tensioning roller from the top side, and then exits from the tensioning front roller. The wrap angle of the fiber belt on the tensioning roller is not less than 112° and not more than 165°.

[0033] Optionally, the winding device includes: Seat; The radial adjustment seat is a rod-type seat that extends radially relative to the workpiece. The radial adjustment seat and the seat portion cooperate to form a radial adjustment pair. The winding head assembly is located at the centripetal end of the radial adjustment seat; The fiber is wound around a roller shaft and mounted at the centrifugal end of the seat to guide the fiber strip exported from the fiber winding device and to exit the fiber into the winding head assembly; and A radial adjustment power unit is provided on the seat to drive the radial adjustment pair to assist in tensioning the fiber belt.

[0034] Optionally, a pressure roller is provided on the upper side of the dipping roller, and a roller extrusion structure is formed between the pressure roller and the pressure roller, and the extrusion gap is greater than 1.5 times the fiber diameter.

[0035] Optionally, the wrap angle of the fiber belt on the impregnation roller shall be not less than 75° and not more than 113°.

[0036] The fiber winding machine according to embodiments of the present invention is specifically designed for rotating workpieces, a typical characteristic of which is that the radial dimensions of the surface at the same axial position are uniform. In embodiments of the present invention, the winding head assembly is divided into two groups, one on the left and one on the right. The winding head assemblies located on the same side use the same wire feeding device, that is, the main tensioning part of the winding head assembly on that side uses the same set. The fiber winding machine requires only two sets of tensioning devices in total, resulting in low overall control difficulty. Furthermore, the winding head assembly is configured on an arc-shaped gantry. In the initial stage, all winding head assemblies are located at the same axial position on the workpiece, while the winding head assemblies distributed on the arc-shaped gantry are circumferentially staggered. Winding can be carried out synchronously in a manner similar to a multi-head spiral, making synchronous control relatively easy. Since the clamping assembly moves along the axial direction of the workpiece, rather than controlling the movement of the robotic arm of the winding head assembly along the axial direction of the workpiece, in other words, the axial movement of all winding head assembly robotic arms is unified based on the axial movement of the workpiece, simplifying the structure and further reducing the difficulty of synchronization. The arc-shaped gantry is equivalent to determining the axial position of the workpiece. The winding head assembly based on synchronous winding does not need to consider the circumferential movement around the workpiece or the circumferential movement of the workpiece. That is, its position on the arc-shaped gantry is relatively stable, which simplifies path planning. There will be no motion interference between the winding head assemblies. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a multi-head fiber winding machine in one embodiment.

[0038] Figure 2 This is a schematic diagram of a gantry assembly structure equipped with four winding head assemblies in one embodiment.

[0039] Figure 3 This is a first schematic diagram of the winding head assembly structure in one embodiment.

[0040] Figure 4 This is a second schematic diagram of the winding head assembly structure in one embodiment.

[0041] Figure 5 This is a schematic diagram of the tailstock assembly structure in one embodiment.

[0042] Figure 6 This is a schematic diagram of the first structure of the yarn feeding control machine in one embodiment.

[0043] Figure 7 This is a schematic diagram of the second structure of the yarn feeding control machine in one embodiment.

[0044] Figure 8 This is a schematic diagram of the first structure of the glue-spreading plate assembly in one embodiment.

[0045] Figure 9 This is a schematic diagram of the second structure of the plating plate assembly in one embodiment.

[0046] Figure 10 This is a schematic diagram of a yarn box structure in one embodiment (one box panel is omitted).

[0047] Figure 11 This is a schematic diagram of the structure of a yarn feeding control machine in one embodiment.

[0048] In the diagram: 1. First base plate, 2. First yarn box, 3. Main frame, 4. Main guide rail, 5. Main rack, 6. Tailstock, 7. Connecting rod, 8. Core mold, 9. Gantry assembly, 10. Winding head assembly, 11. Second yarn output controller, 12. Second yarn box, 13. Second pad, 14. Main shaft box, 15. First yarn output controller, 16. Connecting base, 17. Support base, 18. Ring rail base, 19. Ring rail, 20. Gear ring, 21. Channel, 22. Bridging space, 23. Head support, 24. B-swing, 25. Roller frame, 26. B-swing motor, 27. Fifth roller, 28. Fifth roller adjustment mounting seat, 29. First 30. Slide, 31. First slide drive motor, 32. First wound roller shaft, 33. First T-slot bolt, 34. First T-slot, 35. Radial adjustment seat, 36. Second T-slot, 37. Second wound roller shaft, 38. Adjustment seat, 39. Radial adjustment motor, 40. First slider, 41. Fourth roller shaft adjustment mounting seat, 42. Fourth roller shaft, 43. Third roller shaft adjustment mounting seat, 44. Third roller shaft, 45. Second roller shaft adjustment mounting seat, 46. Second roller shaft, 47. First roller shaft adjustment mounting seat, 48. First roller shaft, 49. First output gear, 50. Lock seat, 51. Locking hand 52. Handle, 53. Radial guide rail, 54. Radial rack, 55. Z-axis slide, 56. Housing, 57. Sleeve, 58. First Z-axis motor, 59. Tail chuck, 60. Support roller, 61. Support roller seat, 62. Second Z-axis motor, 63. Connector, 64. Z-axis slider, 65. Bracket, 66. Base plate, 67. Lower positioning guide roller, 68. Upper positioning guide roller, 69. Directional guide roller, 70. Vertical plate, 71. Dipping cylinder, 72. Pressure roller, 73. Glue trough roller, 74. Glue leveling plate assembly, 75. Moving glue leveling plate shaft, 76. Tension spring, 77. Tension spring pin, 78. Tensioning rear roller, 79. Tensioning middle roller motor, 80. 81. Tensioning middle roller, 82. Tensioning front roller, 83. Tensioning bracket, 84. Tensioning guide rail, 85. Second counterweight, 86. Tensioning slide, 87. Synchronous belt mechanism, 88. Tensioning drive roller, 89. Yarn exit rear roller, 90. Yarn exit middle roller, 91. Yarn exit front roller, 92. Tensioning motor, 93. Glue leveling bracket, 94. Static glue leveling plate, 95. Dynamic glue leveling plate, 96. Gap, 97. Front box plate, 98. Front opening, 99. Lower guide, 100. Multi-groove roller, 101. Hanging ring, 102. Top plate, 103. Grooved wheel frame plate, 104. Spindle motor, 105. Spindle, 106. Sinking trough, 107. Glue receiving trough. Detailed Implementation

[0049] To facilitate understanding of this invention, the basic structure of the fiber winding machine will be briefly described below, so as to provide an overall understanding of the fiber winding machine feeding device.

[0050] It should be noted that, for example, Figure 6The bracket 64 shown is a general term, and in the embodiments of the present invention, it is mainly used as a mounting base for other components of the yarn control machine. Installation includes direct installation and indirect installation, and indirect installation includes, but is not limited to, installation on the bracket 64 via other components. Installation via other components includes dynamic connections and static connections; even dynamic connections with idle travel are still considered mechanical connections.

[0051] Figure 1 The main frame 3 shown is not directly connected to, for example, the first yarn feed control machine 15, but rather has a definite correlation based on strong coupling of the coupling, and also a definite positional relationship. The main frame 3 provides a primary reference frame, and the support 64 provides another reference frame. The positional relationships are expressed differently in different reference frames. For example, in the primary reference frame, the axis of the workpiece corresponds to the head-to-tail direction, which is the longitudinal direction of the main frame 3. However, for the support 64, the end closer to the main frame 3 is considered the front, and the end away from the main frame 3 is considered the rear. The longitudinal direction on the support 64 is perpendicular to the longitudinal direction on the main frame 3. But under different reference frames, the relative front-to-back relationships are still definite and will not cause misunderstanding.

[0052] In embodiments of the present invention, the yarn feeding control machine is referred to as a yarn straightening device, which is used to straighten the fiber tape, complete impregnation and uniform application of glue, and provide tension for the fiber tape. One set of yarn straightening devices simultaneously provides fiber tape to a group of winding head assemblies 10. By feeding yarn to the winding head assemblies 10 contained in the same group in a bundled manner, it is not necessary to configure separate tensioning devices for each winding head assembly 10 contained in the same group, thus reducing the difficulty of achieving tension synchronization.

[0053] The fiber belt is composed of several fibers, such as carbon fibers, arranged in a predetermined manner to form a belt with a predetermined distribution width, hence the name fiber belt. As mentioned earlier, each winding head assembly 10 outputs one fiber belt, and in this field, one fiber belt is also referred to as a fiber bundle.

[0054] In a fiber-arranging device, the width direction of the fiber strip is also the width direction of the device, and the direction in which the fiber strip travels is the front-to-back direction. In the mechanical field, the width direction is also called the transverse direction, left-to-right direction, or lateral direction. The front-to-back direction is also called the head-to-tail direction, length direction, or longitudinal direction.

[0055] Given a fixed front, back, left, and right orientation, the height direction is also fixed. The height direction is also called the up and down direction. However, it should be noted that in the field of mechanics, height mainly refers to the difference in elevation, not the exact up or down.

[0056] Similarly, for the main frame, the longitudinal direction, i.e. the front-to-back direction, is determined by the workpiece's axial direction, thereby determining the spindle box 14 (i.e., the headstock) and the tailstock 6. Based on the same consideration, the front-to-back, left-to-right, etc., are also determined in the main reference frame.

[0057] It should also be understood that in the embodiments of the present invention, there is also a reference system, namely the axial, circumferential and radial directions determined by the arc-shaped gantry assembly 9, as well as the corresponding centrifugal, centripetal and other concepts.

[0058] In the embodiments of the present invention, terms such as up, down, left, right, inside, outside, front, back, etc., and similar expressions are for illustrative and explanatory purposes only, and are intended not to mislead those skilled in the art.

[0059] Similarly, statements that are mutually explanatory, such as vertical or horizontal, are also for the purpose of explanation or clarification.

[0060] Additionally, to facilitate the description of the relationship between one component or component and another component or component shown in the accompanying drawings, spatially relative terms, such as "lower," "upper," and similar terms, may be used in embodiments of the invention. It should be understood that the spatially relative terms are intended to cover different orientations of the device during use and operation, in addition to those depicted in the accompanying drawings.

[0061] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0062] Furthermore, as a special note, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] It should be understood that in the field of mechanics, standard geometric terms are typically used to describe approximate mechanical structures, without implying that the mechanical mechanism possesses the exact geometric characteristics corresponding to those terms. For example, the bolt head of a hexagonal head bolt is actually a hexagonal prism, and the ends of the bolt head are rounded.

[0064] It should be understood that fiber winding machines are multi-axis motion platforms, and multi-axis motion control is common knowledge in the field. In the embodiments of this invention, the focus is on describing the mechanical structure, and the multi-axis motion control will not be described in detail, as these are all conventional methods in the field.

[0065] The motion platform is the basic load-bearing and displacement mechanism of the fiber winding machine, determining its working range and motion accuracy. Figure 1 The diagram shows the basic layout of a fiber winding machine based on an embodiment of the present invention. The gantry assembly 9 shown in the diagram spans the left and right sides of the workpiece. The axial direction of the workpiece is the inlet / outlet direction of the gantry assembly 9. The radial direction is used to assist in controlling the tension of the fiber belt or initial tension control. The fiber belt is then formed into an impregnated belt (hereinafter collectively referred to as fiber belt) via a fiber straightening device. Figure 1 As shown, for example, the first yarn output control machine 15 sends the yarn to the winding head assembly 10, and the head support 23 of the winding head assembly 10 is the winding head for the final yarn output.

[0066] Regarding tensioning, it is mainly achieved through the yarn output control machine, i.e., the yarn straightening device. The yarn winding head assembly 10 serves as an auxiliary function for tensioning in this embodiment of the invention, and its main related components are as follows: Figure 3 The first winding roller 31 and the second winding roller 37 shown are mainly used for auxiliary tension control.

[0067] However, it should be understood that the winding head 2 is the core functional component of the automatic fiber winding machine. It typically integrates more than ten precision functional modules and concentrates 4 to 6 high-precision control axes, directly determining the quality of the winding and forming process. It is the core technology of the equipment. The main integrated modules include the conveying and guiding tension control module, the ultrasonic cutting module, and the online detection module. In the embodiments of this invention, the focus is on describing the tension control module; the other parts will not be elaborated upon, and relevant methods of existing technology can be used.

[0068] It should be understood that the basic working principle of an automatic fiber winding machine is as follows: the equipment is turned on and completes self-check and calibration. The operator then installs, for example, a carbon fiber roll into, for example, the first yarn box 2, completes the filament threading and tension initialization settings, and imports the pre-prepared component layup process program. After the equipment starts, the multi-axis motion platform drives the winding head to move precisely along the preset trajectory. At the same time, the feeding system conveys the fiber belt at a uniform speed, and the correction system corrects the belt position deviation in real time to ensure that the belt is conveyed in a centered position without deviation.

[0069] The following describes the group feeding method of the fiber belt. Specifically, a gantry assembly 9 with an arc-shaped main body is introduced, and a pair of fiber sorting devices are used to feed the fiber belt in groups.

[0070] It should be understood that both single-head and multi-head fiber winding machines require path planning beforehand. In the embodiments of this invention, the workpiece used is a rotating workpiece, such as... Figure 1 The workpiece shown is cylindrical with a spherical end cap at each end. Its radial dimensions are equal at any axial position. The inventors believe that by employing a multi-bundle synchronous winding method, the multiple winding heads of the 10 winding heads can be arranged on the same pitch circle, using the same winding path with different starting angles on that pitch circle, without causing motion interference between them. In this case, instead of moving the winding heads axially on the workpiece, the workpiece itself is moved, eliminating the motion interference problem that might occur when the winding heads move axially on the workpiece.

[0071] It should be understood that dynamic compensation of process parameters is mainly used for changes in the radial dimensions of the workpiece along the planned path. As mentioned earlier, there will be changes in the diameter of the workpiece body and the end cap, which is common knowledge in the field. The difference lies in the fact that in the embodiments of this invention, tension control is achieved through grouping to reduce the difficulty of overall tension control. It should also be understood that dynamic compensation of process parameters is common knowledge in the field. In the embodiments of this invention, the grouping control method is introduced based on existing dynamic compensation of process parameters, without changing the dynamic compensation of process parameters itself.

[0072] As described above, the fiber winding machine according to embodiments of the present invention is suitable for fiber winding or forming of rotating workpieces. The characteristics of such workpieces have been described above. The fiber winding machine according to embodiments of the present invention mainly utilizes the characteristic that the radial dimensions at the same axial position of such workpieces are equal in the circumferential direction. It arranges the winding head assembly 10 in a manner similar to a multi-threaded thread, thereby enabling different starting angles under the same path planning conditions, significantly reducing the path planning of the multi-threaded fiber winding machine. Furthermore, by adjusting the clamping assembly to have axial movement, motion interference between the winding head assemblies 10 is eliminated.

[0073] Accordingly, a main guide rail 4 is provided, which is arranged according to a predetermined Z-axis direction. In the embodiments of the present invention, the Z-axis, for example, is mainly used for simplification and is not intended to limit the present invention.

[0074] Dominant Track 4 Figure 1 The illustrated structure is mounted on a main frame 3.

[0075] A clamping assembly is provided that is supported on and guided by the main guide rail 4, and the part used for workpiece clamping is treated as an assembly to facilitate control of the clamping assembly's movement along the Z-axis.

[0076] The clamping assembly forms a main guide rail pair by cooperating with the main slide block and the main guide rail 4. Obviously, the movement direction of the main guide rail pair is the Z-axis direction.

[0077] The clamping assembly has a spindle box assembly and a tailstock assembly for clamping the workpiece. The workpiece is clamped between the spindle fixture of the spindle box assembly and the tailstock fixture of the tailstock assembly. Generally, the rotational motion output from the spindle box is used to provide the "winding" of the wire, which corresponds to the C-shaped pendulum.

[0078] For ease of explanation, the indexing control of each winding head assembly 10 on the gantry assembly 9 also corresponds to the C-pendulum.

[0079] Furthermore, a Z-axis drive mechanism is provided to drive the clamping assembly to move on the main guide rail, i.e., to provide Z-axis control, while the winding C-axis (C-swing, movement around the Z-axis) is provided by, for example, the rotational motion output from the spindle box. Thus, the main motion of fiber winding is completed on the main frame 3 side, and the winding head assembly 10 mainly controls the attitude of the fiber strip, for example... Figure 4 The B-axis is shown in the image, while the radial movement of the radial adjustment seat 34 corresponds to the Y-axis. The B-axis and the Y-axis are mainly used for yarn feeding posture control and auxiliary tensioning.

[0080] Furthermore, a gantry assembly 9 with an arc-shaped main body (hereinafter referred to as an arc-shaped gantry) is provided, the main body of which is used for positioning and installation of the wire winding head assembly 10.

[0081] Based on the concept of this invention, the arc-shaped gantry is centered on the Z-axis and its position is fixed in the direction determined by the Z-axis. As mentioned above, the fixed position of the base for mounting the winding head assembly 10 reduces the number of axes corresponding to the winding head assembly 10, and the motion is relatively simple, mainly consisting of B-axis and Y-axis motion. During operation, there is no mutual approach (circumferential) motion between them, thus eliminating the motion interference problem during operation.

[0082] Furthermore, based on the concept of this invention, the winding head assembly 10 is divided into two groups, with the left and right mid-surfaces of the arc-shaped gantry serving as the dividing lines. There is one group on each side, namely the left group and the right group, indicating that in... Figure 1 and Figure 2 In the middle, there are two groups, left and right, each including two winding head assemblies 10.

[0083] Figure 2 The diagram shows two groups of four winding head assemblies 10, or each group could have three or four winding head assemblies 10.

[0084] Accordingly, a left wire feeding device is configured to feed wire into the 10 bundles of the winding head assembly located on the left side. Figure 2 As can be seen, the two winding head assemblies 10 located on the same side can define a central angle. The fiber tape wound from, for example, the first yarn exit control machine 15 can enter the splitting at the center line of this central angle. That is, the position where the fiber tape wound from the first yarn exit control machine 15 is approximately in the middle of the two winding head assemblies 10 in the same group, which is conducive to threading and adjustment.

[0085] However, it should also be understood that the yarn produced by the yarn output control machine comes from, for example, the first yarn box 2. The threading length can be released according to the distance of the winding head. In other words, whether the first yarn output control machine 15 is located in the middle of the two winding head assemblies 10 on the same side does not affect the threading and synchronous impregnation and tensioning of the two or more winding head assemblies 10 in the same group. Specifically, assuming that the total path length of one of the two winding head assemblies 10 in the same group is 2300mm and the other is 2150mm, the spindle adapted to the former can release an additional 150mm of fiber. The bundled parts that have completed threading and tensioning will not be separated due to the difference in total path length.

[0086] Similarly, the right-hand wire feeder is used to feed 10 bundles of wire to a group of wire winding heads located on the right.

[0087] Tensioning is completed at the two fiber feeding devices. Overall, one fiber feeding device controls the impregnation and tension of multiple fiber bundles, rather than controlling them separately, which reduces the overall planning difficulty.

[0088] Furthermore, as mentioned earlier, due to the use of an arc-shaped gantry, when the object being used is a rotating workpiece, each winding head assembly 10 can be positioned according to a predetermined indexing, ensuring that there is no interference between them, and thus performing overall path planning and synchronous winding.

[0089] Furthermore, the arc-shaped gantry has a given pitch circle for the winding head assembly 10 to be distributed according to the pitch circle, and the pitch circle is described with reference to the C-pendulum to make the overall description more concise.

[0090] Furthermore, using the C-pendulum as a reference, the structure of the pitch circle is determined as follows: The C-shaped track or C-shaped positioning ring is fixed to the ring track base 18 of the curved gantry; and The gear ring 20 is adapted to the C-shaped pendulum track, runs parallel to the C-shaped pendulum track, and is fixed on the ring rail base 18.

[0091] Accordingly, the winding head assembly 10 includes a first slide 29 that cooperates with the C-axis track to form a C-axis kinematic pair; and a C-axis drive device mounted on the first slide 29, wherein the output shaft of the C-axis drive device is provided with a first output gear 49 that meshes with the gear ring 20.

[0092] exist Figure 2 The illustrated structure includes a base and an arc-shaped ring track base 18. Figure 2 The illustrated structure includes two parts, but only one part can be used, for mounting the curved gantry on both sides of the main frame 3. The ring rail base 18 serves as a functional part, supporting the C-swing track and gear ring 20 as described above. Figure 2The ring is referred to as ring rail 19. There are two track components of ring rail 19. The gear ring 20 is located between the two track components of ring rail 19 and is coaxial with the track components of ring rail 19. Obviously, the coaxial axis is collinear with the axis of the workpiece.

[0093] Figure 4 The first slide block 29 is equipped with two sets of four first sliders 40. The first sliders 40 cooperate with the track components of the ring rail 19 to form a ring rail pair. The first output gear 49 meshes with the gear ring, and the first output gear 49 has Figure 4 The first slide block shown is driven by the motor 30 to adjust the position of the winding head assembly 10 on the arc-shaped gantry.

[0094] The above describes the method of electrically controlling the position of the winding head assembly 10 on the arc-shaped gantry. Alternatively, a manual adjustment method can be used, i.e., as mentioned above, a C-shaped positioning ring is set on the ring rail base 18. The winding head assembly 10 then includes an adjustment seat that cooperates with the C-shaped positioning ring, and its position is locked after adjustment.

[0095] Obviously, the positioning ring of the C-pendulum can be as follows: Figure 2 The circular track 19 shown.

[0096] See Figures 2-4 The first slide 29 is provided with a radial guide portion extending radially from the arc-shaped gantry, as shown in the figure, a radial adjustment seat 34. The radial adjustment seat 34 is provided with a radial guide rail 52 and a radial rack 53. The radial adjustment seat 34 is the radial adjustment seat 34 that cooperates with the radial guide portion. The two cooperate to form a radial guide pair, corresponding to the Y-axis, and the radial adjustment seat 34 is a rod type seat.

[0097] Correspondingly, a radial drive device for driving the radial adjustment seat is provided, such as... Figure 4 The radial adjustment motor 39 shown has a second gear on its output shaft that meshes with the radial rack 53 to drive the radial guide pair.

[0098] The winding head is installed at the centripetal end of the radial adjustment seat 34. In the initial stage, the winding heads on each winding head assembly 10 are in the same initial radial position relative to the workpiece. By controlling the length of the yarn exit path, the length of the fiber belts in the same group is equal in the bundling stage.

[0099] It should be noted that the winding head assembly 10 is usually equipped with multiple roller groups to stably control the winding of the fiber belt, referred to as the winding roller group. The winding roller group is installed on the radial adjustment seat 34 and can be adjusted synchronously with the radial adjustment seat 34 to adapt to workpieces of different diameters.

[0100] exist Figure 3In the illustrated structure, the first slide 29 is provided with a winding roller assembly on the centrifugal side to guide the fiber belt delivered from the corresponding feeding device, adjust the winding angle, and make the fiber belt have a suitable wrap angle with the corresponding winding roller.

[0101] Furthermore, the winding rollers of the winding roller assembly are mounted on the first slide 29 by means of a tangential adjustment structure, so as to adjust the position of the winding rollers according to the size of the maximum diameter, thereby adaptively adjusting the angle of the fiber belt winding and making the fiber belt and the corresponding winding rollers have a suitable wrap angle.

[0102] Correspondingly, the tangential direction is perpendicular to both the Y-axis and the Z-axis, thus forming the X-axis.

[0103] exist Figure 3 In the illustrated structure, taking the first wound roller 31 as an example, the tangential adjustment structure includes: The first T-slot 33 is parallel to the X-axis and fixed on the first slide block 29; The first T-slot bolt 32 is used to fix the first winding roller shaft 31 on the first T-slot 33 and to adjust it on the X-axis. The first T-slot bolt 32 can serve as a seat for the first winding roller shaft 31, or it can be threadedly connected to the first winding roller shaft 31.

[0104] The second winding roller 37 works similarly, and will not be described in detail here.

[0105] As mentioned earlier, the winding head assembly 10 can be positioned on the ring rail 19, and after adjustment, it is locked by a locking structure. Figure 4 As shown, the first slide 29 is provided with two sets of three locking parts. The locking part shown in the figure has a locking handle 51. An electric locking structure can also be selected so that the electric locking structure is activated after the first slide drive motor 30 stops driving.

[0106] Figure 4 In this context, the locking structure includes: The lock base 50 has a lock groove through which the guide rail component of the C-shaped pendulum track passes, and a set screw hole is formed in the groove wall corresponding to the lock groove; and A set screw that mates with the set screw hole, and the set screw is equipped with a locking handle 51 or is a hand-tightening screw.

[0107] It should be noted that hand-tightened screws are a common type of fastener, commonly including knurled screws and wing screws, which will not be elaborated on here.

[0108] exist Figure 1 In the illustrated structure, the clamping assembly further includes a pair of connecting rods 7 for connecting the spindle box assembly and the tailstock assembly into one unit, with one connecting rod 7 on each side connected between the spindle box assembly and the tailstock assembly.

[0109] In other embodiments, the spindle box assembly and the tailstock assembly can be mounted together, referred to as the main slide. The spindle box assembly can be fixedly mounted on the main slide, while the tailstock is mounted on the main slide by adjusting the guide rails to adjust the tailstock according to the length of the workpiece.

[0110] The main slide cooperates with the main guide rail 4 to form the main motion pair.

[0111] In the case of using a connecting rod 7 for connection, the connecting rod 7 is a connecting rod 7 or a lead screw with threaded sections at both ends; If the connecting rod 7 has threaded sections at both ends, the spindle box assembly and the tailstock assembly are respectively equipped with nut sleeves; the distance between the spindle box assembly and the tailstock assembly can also be adjusted based on the cooperation between the nut sleeve and the lead screw.

[0112] If it is a lead screw, one end of the lead screw is mounted on one of the spindle box assembly or the tailstock assembly via a bearing, and the other end is mounted on the other of the spindle box assembly or the tailstock assembly via a lead screw nut, forming a lead screw and nut mechanism, which can control the distance between the spindle box assembly and the tailstock assembly electrically.

[0113] In addition, such as Figure 5 As shown, the tailstock 6 is equipped with two Z-axis motors. The output axis of the Z-axis motors is downward, and the installed third gear can mesh with the main rack 5 to output Z-axis motion.

[0114] The feeding device mainly includes the fiber sorting device, such as... Figure 1 The two yarn output control machines shown in the diagram have a winding head assembly 10, which is the main winding actuation part.

[0115] Figure 1 The first yarn box 2 and the second yarn box 12 shown are, for example, housing components for carbon fiber rolls (spindles). Several carbon fiber rolls are arranged in a predetermined manner, and the released carbon fiber filaments are arranged in a predetermined direction by rollers located inside the yarn box to form a fiber belt. The fiber belt released from the yarn box enters the guide roller of the yarn winding device.

[0116] The fiber belt travels in a predetermined direction, and after being impregnated and evenly coated, it is sent to the winding head assembly 10. Therefore, the support 64 adapted to the fiber winding device forms as follows: Figure 6 The longitudinally extending structure shown has a front end and a rear end, where the rear end refers to the end where the yarn control machine receives the fiber belt, that is, the end adjacent to the yarn box, and the front end is the end where the yarn exit control machine releases the fiber belt, that is, the end adjacent to the winding head assembly 10. Thus, the support 64 is arranged generally along the yarn feeding direction.

[0117] Figure 6 and Figure 7In the middle, the guide roller includes a set of three rollers, two small and one large. The pair of guide rollers located at the rear end of the bracket 64 are the lower positioning guide wheel 66 and the upper positioning guide wheel 67 shown in the figure, so as to smoothly guide the fiber belt released from the yarn box and determine the winding direction.

[0118] In some embodiments, one of the upper positioning guide wheel 67 and the lower positioning guide wheel 66 may be retained, or both may be omitted, with only the directional guide wheel 68 retained. The directional guide wheel 68 is equivalent to a fixed pulley, used to change the winding position and winding direction of the disturbed fiber belt.

[0119] At the same time, upper positioning guide wheel 67 and lower positioning guide wheel 66 are set for the initial reorientation of the fiber belt released from the yarn box, so as to ensure that the reorientation of the directional guide wheel 68 is more stable and that the fiber belt has a predetermined first wrap angle on the directional guide wheel 68. Accordingly, by making the fiber belt and the directional guide wheel 68 have a suitable friction force, it is adapted to the subsequent tensioning device, which is conducive to the appropriate tensioning of the fiber belt.

[0120] The first wrap angle is 60°±10°. The roller diameters of the upper positioning guide wheel 67 and the lower positioning guide wheel 66 can be the same, and half that of the positioning guide wheel 67. The upper positioning guide wheel 67 and the lower positioning guide wheel 66 are mainly used to control the wrap angle of the fiber belt, mainly the wrap angle of the positioning guide wheel 68, which is approximately forward and downward at an angle of approximately 15°±5° to the horizontal plane. At this time, the axis of the positioning guide wheel 68 is not located on the plane of symmetry between the upper positioning guide wheel 67 and the lower positioning guide wheel 66, but is offset upward to satisfy the determination of the first wrap angle and to prevent the positioning guide wheel 68 from entering the glue tank 73. The glue tank 73 is the glue impregnation tank, which contains glue of a predetermined depth.

[0121] In an embodiment of the present invention, the adhesive is carried from the glue tank 73 by dipping the glue roller 70. During the rotation of the glue roller 70, a natural glue-draining effect is generated, and the adhesive forms a glue film on the glue roller 70 with a relatively uniform thickness.

[0122] In terms of position, the dipping roller 70 is located in front of the infeed roller. Figure 6 and Figure 7 In the illustrated structure, the dip roller 70 has a larger diameter than the directional guide wheel 68. This satisfies the requirements of the dip process and also prevents the directional guide wheel 68 from entering the glue tank 73. That is, even if the height of the roller axis is the same, the lower generatrix of the dip roller 70 extends further when the roller diameter is larger. The dip roller 70 with a relatively larger diameter is also more likely to achieve sufficient glue extrusion when rotating upward after coating, leaving only a predetermined thickness of glue film. This reduces the amount of excess glue before contacting the fiber belt, thereby reducing the burden of uniform glue application.

[0123] The axis of the directional guide wheel 68 is slightly higher than that of the dip roller 70, primarily to effectively avoid the adhesive in the adhesive tank 73 or to prevent positional interference with the adhesive tank 73. Meanwhile, the dip roller 70 has a relatively large diameter, which is 2 to 2.5 times the diameter of the directional guide wheel 68. It should be noted that only at least one-fifth of the lower half of the dip roller 70 needs to be immersed in the adhesive tank. Immersing too little makes it difficult to control the overall adhesive amount, while immersing too much is also ineffective. Generally, the amount of adhesive immersed in the dip roller 70 in the vertical direction should not exceed three-quarters of the radius of the dip roller 70, so as not to affect the support of the dip roller shaft.

[0124] The fiber tape passes between the upper positioning guide wheel 67 and the lower positioning guide wheel 66, and then wraps around the lower side of the positioning guide wheel 68. The upper positioning guide wheel 67 and the lower positioning guide wheel 66 are arranged directly above each other, with a distance of 2.4mm to 20mm between them. The fiber tape may come into contact with one or both of the two positioning guide wheels, as mentioned above, to control the wrap angle of the fiber tape toward the positioning guide wheel 68, and ultimately control the wrap angle of the fiber tape on the positioning guide wheel 68.

[0125] The fiber belt wraps around the top of the dipping roller 70, and the adhesive liquid on the roller adheres to the fiber belt. Therefore, the second wrap angle of the fiber belt on the dipping roller 70 needs to be controlled to ensure that the contact line length between the fiber belt and the dipping roller 70 is not less than 20 mm, so that the fibers in the fiber belt are sufficiently impregnated with adhesive. The appropriate contact size and contact time can be obtained by controlling the second wrap angle.

[0126] The second wrap angle should not be less than 15°, but it should not be too large either, otherwise it will be difficult to arrange the directional guide wheel 68 and other rollers located in subsequent stations. The second wrap angle should not be greater than 113°. In some embodiments, it is necessary to control the second wrap angle to be no less than 75°, and the optimal value of the second wrap angle is 88°.

[0127] The glue tank 73 is a glue soaking tank used to hold a given amount of glue solution. A water jacket can also be installed outside the glue tank 73 to control the temperature of the glue tank 73 by water bath, so that the glue solution is maintained within a relatively constant temperature range.

[0128] Figure 11 In the process, the glue tank 73 has a settling tank 106, which extends relatively far longitudinally relative to the main body of the glue tank 73 along the support 64. This is to facilitate the collection of glue dripping from the fiber tape or excess glue scraped off during the glue-spinning process. After glue-spinning, the excess glue on the fiber tape is basically scraped off, preventing glue dripping at subsequent workstations and reducing or eliminating contamination of subsequent process equipment. Simultaneously, the fiber tape treated by the glue-spinning plate assembly 74 has properties similar to the prepreg tape but retains a certain degree of viscosity, eliminating the need for heating during yarn laying. In other words, the yarn winding assembly 10 can be configured without a heating device under prepreg conditions.

[0129] Based on the concept of this invention, the impregnated fiber tape is fed to the winding head assembly 10 after being uniformly coated with glue. In embodiments of this invention, uniform coating is mainly achieved by means of the uniform coating plate assembly 74. See [link to relevant documentation]. Figure 8 and Figure 9 The illustrated spin coater assembly 74 includes a movable spin coater 94 serving as an upper spin coater and a stationary spin coater 93 serving as a lower spin coater, which are positioned at a predetermined angle to each other, and form a spin coater channel that is wide at the inlet end and narrow at the outlet end.

[0130] Due to the homogenization channel Figure 8 and Figure 9 The illustrated structure is constructed from a flat, dynamic uniform adhesive plate 94 and a static uniform adhesive plate 93. Under the condition that the two uniform adhesive plates are at a predetermined angle, the uniform adhesive channel is wedge-shaped, which is beneficial for threading the fibers. At the same time, since the space above and below the inlet end is relatively spacious, the adhesive liquid will be gradually squeezed by the two uniform adhesive plates as it moves towards the outlet end, and diffuse to both sides, thereby achieving transverse uniform adhesive. Furthermore, the pressure generated by the gradual squeezing also makes it easier for the adhesive liquid to fully coat the fiber filaments.

[0131] The fiber belt can be positioned so that it does not come into contact with the two uniform glue plates after entering the uniform glue channel and before reaching the filament outlet, by adjusting the position of the dip roller 70 or the scraper roller 72 and the tension roller 78. This effectively controls the relatively intense friction between the fiber belt and the two uniform glue plates.

[0132] For example in Figure 6 In the illustrated structure, the fiber belt passes under the scraper roller 72 and also under the tension roller 78. Due to the height setting of the scraper roller 72 and the tension roller 78, the fiber belt passes approximately parallel to the upper and lower mid-surfaces of the fiber outlet. Even if it comes into contact with the glue leveling plate, the contact will be relatively slight and will not easily damage the fiber.

[0133] The above describes the use of a scraper roller 72 and a tensioning roller 78 to adjust the state of the fiber belt passing through the uniform glue channel. Based on the same concept, those skilled in the art are also motivated to use other rollers adjacent to the uniform glue plate assembly 74 to adjust the state of the fiber belt passing through the uniform glue channel, which will not be elaborated here.

[0134] In addition, the edges of the upper and lower uniform adhesive plates at the fiber outlet are rounded or chamfered to further reduce damage to the fiber belt.

[0135] Correspondingly, the minimum gap of the spin coating channel is obviously at its filament exit end, and this minimum gap is indicated in... Figure 8The center is a slit 95 through which the fiber tape passes, with a minimum gap of 1 to 1.2 times the fiber diameter in the fiber tape. Excess adhesive extends to both sides and drips from both sides of the wedge-shaped splicing channel. Furthermore, the width of the splicing channel is necessarily greater than the width of the fiber tape, and some adhesive may drip from the slit 95. Therefore, the splicing channel is located above the impregnation tank and / or the given receiving tank 107 to collect the dripping adhesive. When there is a relatively large amount of adhesive, or for example, when the lower splicing plate is in an upward position, the adhesive can also flow back from the fiber inlet end of the splicing channel.

[0136] In addition, from Figure 8 and Figure 9 As can be seen, the width of the static glue plate 93 used as the lower glue plate is slightly narrower than that of the dynamic glue plate 94 used as the upper glue plate. The upper glue plate can leave 5mm to 25mm on one side relative to the lower glue plate, which also helps to set the width of the glue tank 73 or the glue receiving tank 107, so as to fully receive the glue that drips or flows back during glue application.

[0137] Regarding the width of the gap 95, it is necessary to consider whether the glue-spreading plate on the upper plate is movable. If the upper plate is statically set, it also constitutes a static glue-spreading plate 93. In this case, the difficulty of threading the wire needs to be considered, and a threading allowance needs to be left. The threading allowance is no more than 0.2 times the wire diameter.

[0138] If the top-mounted glue-spreading plate forms a dynamic glue-spreading plate 94, then there is no problem with threading the yarn due to an excessively small gap 95. In this case, the dimensions of the gap 95 in the vertical direction should be the same as the yarn diameter. The basic requirement for choosing the size of the gap 95 is to be as small as possible. In other words, even if the top-mounted glue-spreading plate is a statically set glue-spreading plate, the gap 95 should not be too large, just large enough to allow for threading. A relatively small gap 95 can produce a scraping effect, which helps to squeeze out air bubbles in the glue, thereby allowing the glue to fully fill the gaps between the fibers.

[0139] Furthermore, based on the same considerations, the relatively long contact length between the fiber belt and the dip roller 70 is also beneficial for the adhesive to fill the gaps between the fiber filaments of the fiber belt.

[0140] Furthermore, a tensioning roller assembly is provided in front of the top-coating plate assembly 74 to generate a predetermined tension on the fiber belt, reducing the probability of fiber filaments becoming scattered and facilitating a relatively stable state of the fiber belt after top-coating. Accordingly, after top-coating, the fiber belt is wound around the tensioning roller assembly to tension the fiber belt and feed the fibers to the winding device. The tensioning is also used to respond when the fiber belt is wound around different outer diameters of the workpiece.

[0141] Following the previous consideration of the difficulty of threading due to the gap 95, in a preferred embodiment, the upper uniform adhesive plate is configured as a movable uniform adhesive plate 94. The rear end of the movable uniform adhesive plate 94 is directly or indirectly mounted on the bracket 64 via a movable uniform adhesive plate shaft 75. The movable uniform adhesive plate 94 has rotational freedom based on the rotational connection of the movable uniform adhesive plate shaft 75. When threading is required, the movable uniform adhesive plate 94 can rotate relative to the lower uniform adhesive plate by a predetermined angle, thereby widening the gap 95. After threading, it returns to its original position.

[0142] Correspondingly, the lower uniform adhesive plate constitutes a static uniform adhesive plate 93; under this condition, the gap 95, based on the reset of the dynamic uniform adhesive plate 94 and with the help of the fiber, makes the size of the gap 95 approximately equal to the fiber diameter.

[0143] Furthermore, a force-applying component is provided, which clamps the moving uniform adhesive plate 94 and the stationary uniform adhesive plate 93 at the wire exit end to form a clamping wire exit opening, namely the clamping gap 95.

[0144] Regarding the selection of the force-applying component, any of the following room-based methods, as well as similar force-applying components, can be selected: One force-applying component is a torsion spring, which is sleeved on the shaft 75 of the moving uniform rubber plate. One of the torsion arms of the torsion spring is supported on the upper side of the moving uniform rubber plate 94, and the other is supported on the bracket 64 or a given uniform rubber support 92.

[0145] Another option is to directly use a counterweight. The counterweight structure is simple, and the applied force remains constant when the moving uniform plate 94 is at a predetermined angle. For distinction, this is defined as the first counterweight, which is disposed on the upper surface of the moving uniform plate 94.

[0146] Another option is Figure 9 The tension spring 76 shown has one end attached to the moving uniform plate 94 and the other end attached to the lower part of the support 64 or a given uniform plate support 92. Clearly, the connection point between the tension spring 76 and the moving uniform plate 94 is located at one end of the moving uniform plate 94 from the moving uniform plate shaft 75 to obtain a relatively large lever arm.

[0147] Based on the above description, the force-applying component applies a predetermined force to cause the slit 95 to have a degumming effect through clamping. The dimension of the slit 95 in the clamping direction corresponding to the radial direction of the fiber filament is approximately equivalent to the diameter (outer circle diameter) of the fiber filament. Based on the force applied, the slit 95 generates a clamping effect; that is, under ideal conditions, the fiber strip contacts the two uniform glue plates at the slit 95, and separates from the two uniform glue plates at other positions in the uniform glue channel. As mentioned earlier, the form in which the fiber strip passes through the uniform glue channel can be determined by the rollers located before and after the uniform glue plate assembly 74. The rollers include, but are not limited to, the scraper roller 72 and the tensioning rear roller 78. If the scraper roller 72 is not provided, the dipping roller 70 can also be used as a roller for adjusting the rear position of the fiber strip; that is, it can be achieved simply by adjusting the position of the corresponding roller in the height direction.

[0148] The degumming effect of the slit 95 makes it relatively narrow, and most of the excess glue gradually moves to both sides and falls from both sides. The sides are closer to, for example, the edge of the glue tank 73. In order to reduce the amount of glue falling during the glue spreading process, a portion of the excess glue is scraped off before the fiber belt enters the glue spreading plate assembly 74. A scraping roller is also provided between the glue spreading plate assembly 74 and the glue dipping roller 70.

[0149] Correspondingly, the fiber tape, after passing over the upper side of the dip roller 70, passes under the scraper roller 72 and enters the uniform coating channel. Thus, the fiber tape passes through the scraper roller 72 before entering the uniform coating channel, reducing the amount of adhesive entering the uniform coating channel and reducing the difficulty of uniform coating based on the double uniform coating plates. Since the adhesive is relatively viscous, it will generate greater resistance when passing through the uniform coating channel due to adhesion and internal liquid resistance. When the resistance is relatively small, the clamping force required for the degumming effect generated by the clamping between the two uniform coating plates will also be smaller. Therefore, by reducing the amount of adhesive entering the uniform coating channel, a smaller clamping force can be used to reduce damage to the fiber filaments.

[0150] If a scraping roller is used for scraping the adhesive, then the following should be adopted: Figure 6 The example shown is the scraper roller 72.

[0151] A tension roller assembly is provided at the head end of the support 64. Figure 6 and Figure 7 In the illustrated structure, the tensioning roller assembly includes a front tensioning assembly, a middle tensioning assembly, and a rear tensioning assembly. The middle tensioning assembly is a dynamically responsive tensioning assembly that dynamically tensions the fiber belt according to its tension level, preventing excessively loose fiber belts from separating and affecting impregnation, uniform coating, and the maintenance of the coated state. It can also be used in conjunction with the tensioning devices on both sides of the winding head assembly 10 to respond to changes in the workpiece contour.

[0152] See Figure 6 and Figure 7The tensioning assembly adapted to the tensioning roller assembly includes a tensioning bracket 82, a lifting mechanism with the tensioning bracket 82 as a frame, a tension sensor for detecting the tension of the fiber belt, and a tensioning drive roller 87 wound with the fiber belt. The tensioning bracket 82, from... Figure 6 As can be seen, the tensioning bracket 82 is a vertical bracket and is vertically mounted on the bracket 64. In some embodiments, the tensioning bracket 82 can also be a gantry-type bracket.

[0153] The tensioning mechanism is a lifting mechanism. By lifting and lowering, the tensioning drive roller 87 is dragged to change its vertical support position, thereby causing the wound fiber belt to rise and fall at that point, thus achieving tension control of the fiber belt.

[0154] Accordingly, the tensioning active roller 87 is mounted on the output component of the lifting mechanism. The fiber belt passes over the upper side of the tensioning active roller 87. When the tensioning active roller 87 moves upward, it will generate a tensioning action to tension the fiber belt, and vice versa, thus responding to the influence of the change in the workpiece contour on the tension of the fiber belt.

[0155] For a roller with a fiber belt, when the tension of the fiber belt changes, the radial load of the fiber belt on the roller will also change accordingly. Therefore, the tension of the fiber belt is determined by directly or indirectly detecting the change in the radial load of the corresponding roller, and then the change in the lifting and lowering of the tensioning drive roller 87 is used to adapt to the change in the tension of the fiber belt.

[0156] Accordingly, the tension sensor is located at, for example, a bearing housing of a tensioning roller in the front or rear tensioning assembly to detect changes in the bearing pressure of the bearing housing.

[0157] exist Figure 6 and Figure 7 In the illustrated structure, the rear tensioning assembly includes a rear extrusion roller 88, a middle extrusion roller 89, and a front extrusion roller 90, wherein the middle extrusion roller 89 is a single-end support roller, and the tension sensor is disposed at the support end of the middle extrusion roller 89.

[0158] The support end of the yarn exit roller 89 can be a floating support or a fixed support. Even with a fixed support, pressure changes will occur between it and the mounting body. Therefore, a pressure sensor can be installed under the floating support to detect pressure changes in the floating support.

[0159] Accordingly, the fiber belt is wound into the lower side of the exit roller 88, then onto the upper side of the exit roller 89, and finally out from the lower side of the exit roller 90.

[0160] A typical structure for a floating seat is to mount the seat on a vertical guide structure, with an elastic element at the top to provide the force to keep it in the designed position.

[0161] exist Figure 6 and Figure 7 In the illustrated structure, the lifting mechanism is a synchronous belt mechanism 86, but a chain drive mechanism can also be used; the lifting mechanism does not directly support the tensioning drive roller 87 because both belt drive mechanisms and chain drive mechanisms are flexible mechanisms.

[0162] Accordingly, a vertical guide component is provided, such as Figure 6 The tensioning guide rail 83 shown is fixed to the tensioning bracket 82. A tensioning slide 85 is provided to cooperate with the tensioning guide rail 83 to form a tensioning guide pair. The tensioning drive roller 87 is disposed on the tensioning slide 85, and the tensioning slide 85 is connected to a chain side of the chain drive mechanism or a belt side of the synchronous belt mechanism to obtain lifting power.

[0163] Obviously, the strip or chain edge used to connect with the tension slide 85 is a vertical strip or chain edge.

[0164] To reduce the difficulty of driving, a counterweight is installed on the other side of the chain drive mechanism or the other side of the synchronous belt mechanism 86, i.e. Figure 6 The second counterweight 84 shown is used to balance the weight of the vertical tensioning slide 85 and the tensioning drive roller 87.

[0165] exist Figure 6 and Figure 7 In the illustrated structure, the pre-tensioning assembly includes a rear tensioning roller 78, a middle tensioning roller 80, and a front tensioning roller 81, wherein the middle tensioning roller 80 is the driving roller, and the rear tensioning roller 78 and the front tensioning roller 81 are driven rollers, so as to form tension by means of the middle tensioning roller 80.

[0166] The fiber belt is wound into the tensioning roller 78 from the bottom side, passes through the tensioning roller 80 from the top side, and exits from the tensioning roller 81 from the bottom side. The wrap angle of the fiber belt on the tensioning roller 80 is not less than 112° and not more than 165°.

[0167] Figures 2-4 The diagram shows the general configuration of the winding device. As previously described, the embodiments of the present invention focus on describing the parts that cooperate with the winding device, while the remaining parts of the winding device can follow the relevant configurations in the prior art.

[0168] See Figure 3 and Figure 4 In the figure, the winding device includes a first slide 29 that forms the base, and the first slide 29 is provided with a radial adjustment seat 34 through a radial adjustment pair. Figure 2The ring rail base 18 shown is arranged around the workpiece. The radial adjustment seat 34 can be understood as being used to control the winding head assembly 10 to move closer to or further away from the workpiece, thereby making adaptive adjustments in the radial direction of the ring rail base 18 to adapt to changes in the workpiece contour. Furthermore, auxiliary tensioning can also be achieved through radial adjustment. Although active tensioning is primarily achieved through, for example, the tensioning drive roller 87 in many applications, the linkage between the tensioning drive roller 87 and the radial adjustment pair allows for better tension adjustment.

[0169] Correspondingly, the wire winding head assembly is located at the centripetal end of the radial adjustment seat 34, that is, the end facing the workpiece.

[0170] Also available are wound rollers, such as Figure 3 The first winding roller 31 and the second winding roller 37 shown are used to receive the fiber strip output from the fiber feeding device and guide it to the winding head. The two winding rollers are mounted on the centrifugal end of the first slide 29. The two winding rollers are adapted to adjust the angle at which the fiber strip is fed to the winding head assembly.

[0171] A radial adjustment power unit is also provided, which is disposed on the first slide 29 to drive the radial adjustment pair to assist in tensioning the fiber belt.

[0172] exist Figure 3 and Figure 4 In the illustrated structure, the radial adjustment power unit also employs a gear and rack mechanism. Figure 3 The output shaft of the radial adjustment motor 39, which is mounted on the first slide 29, is equipped with a gear, and the radial adjustment seat 34 is provided with a rack that meshes with the gear.

[0173] exist Figure 6 In the illustrated structure, a pressure roller 71 is provided on the upper side of the dipping roller 70, and an initial uniform glue gap is formed between the dipping roller 70 and the pressure roller, so as to remove some of the excess glue in advance.

[0174] The above description is illustrative in conjunction with the accompanying drawings and is not intended to limit the invention. Within the framework of this invention, the above embodiments or different embodiments can be combined without conflict. Although the invention has been described in detail in the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this invention.

Claims

1. A fiber winding machine, suitable for fiber winding of rotating workpieces, characterized in that, include: The main guide rail is laid out according to the predetermined Z-axis direction; The clamping assembly forms a main guide rail pair by cooperating with the main guide rail via a slide block, and has a spindle box assembly and a tailstock assembly for clamping workpieces; Z-axis drive mechanism is used to drive the clamping assembly to move on the main guide rail; An arc-shaped gantry, which is fixed at the Z-axis position with the Z-axis as its axis; The winding head assembly has two sets, with one set on each side, divided by the left and right center surfaces of the arc-shaped gantry. The left wire feeding device is used to feed the wire bundles to the winding head assembly located on the left side; as well as The right-hand wire feeding device is used to feed the bundled wires to the group of winding heads located on the right.

2. The fiber winding machine according to claim 1, characterized in that, The arc-shaped gantry has a given pitch circle for the winding head assembly to be distributed according to that pitch circle.

3. The fiber winding machine according to claim 2, characterized in that, Described using a C-pendulum, the structure of the pitch circle is determined as follows: The C-shaped track or C-shaped positioning ring is fixed to the ring track base of the curved gantry; and The gear ring is adapted to the C-shaped pendulum track and is fixed to the ring rail base in parallel with the C-shaped pendulum track. Accordingly, the winding head assembly includes a first slide that cooperates with the C-axis track to form a C-axis kinematic pair; a C-axis drive device mounted on the first slide, the output shaft of which is provided with a first output gear meshing with the gear ring; or The winding head assembly includes an adjustment seat that mates with the C-shaped positioning ring to adjust the position of the winding head assembly on the pitch circle.

4. The fiber winding machine according to claim 3, characterized in that, The first slide block is provided with a radial guide portion that extends radially from the arc-shaped gantry; The winding head assembly also includes: The radial adjustment seat is a rod-type seat, which cooperates with the radial guide part to form a radial guide pair, corresponding to the Y-axis; A radial drive device is provided to drive the radial adjustment seat to move along the radial guide. The winding head is installed at the radial end of the radial adjustment seat; and The winding roller assembly is mounted on the radial adjustment seat.

5. The fiber winding machine according to claim 4, characterized in that, The first slide has a winding roller assembly on the centrifugal side to guide the fiber belt delivered from the corresponding feeding device.

6. The fiber winding machine according to claim 5, characterized in that, The winding roller shaft of the winding roller shaft assembly is set in the first slide block by a tangential adjustment structure; The tangential direction is perpendicular to both the Y-axis and Z-axis, thus forming the X-axis.

7. The fiber winding machine according to claim 5, characterized in that, The tangential adjustment structure includes: T-slot, parallel to the X-axis; T-slot bolts are used to secure the roller shaft in the T-slot and for adjustment on the X-axis.

8. The fiber winding machine according to any one of claims 3 to 7, characterized in that, The first slide is provided with a locking structure to lock it on the C-swing track after the first slide is adjusted to the correct position.

9. The fiber winding machine according to claim 8, characterized in that, The locking structure includes: The lock seat has a lock groove through which the guide rail component of the C-shaped pendulum track passes, and a set screw hole is formed on the groove wall corresponding to the lock groove; and A set screw that mates with a set screw hole, and the set screw is equipped with a locking handle or is a hand-tightening screw.

10. The fiber winding machine according to claim 1, characterized in that, The clamping assembly also includes a pair of connecting rods for connecting the spindle box assembly and the tailstock assembly into one unit, with one connecting rod on each side connected between the spindle box assembly and the tailstock assembly.

11. The fiber winding machine according to claim 10, characterized in that, The connecting rod is a connecting rod or lead screw with threaded sections at both ends; If the connecting rod has threaded sections at both ends, the spindle box assembly and tailstock assembly are equipped with corresponding nut sleeves; If it is a lead screw, one end of the lead screw is mounted on one of the main spindle box assembly or tailstock assembly via a bearing, and the other end is mounted on the other of the main spindle box assembly or tailstock assembly via a lead screw nut, forming a lead screw and nut mechanism. A corresponding pitch adjustment drive unit is provided for the drive screw mechanism.

12. The fiber winding machine according to claim 1, characterized in that, The left wire feeding device and the right wire feeding device include: The support is arranged along the wire feeding direction; An infeed roller is set on one end of the support for infeeding the fiber belt; this end is referred to as the rear end. The dip roller is located in front of the guide roller. The fiber belt being guided passes over the top of the dip roller, and the wrap angle of the fiber belt on the dip roller is not less than 15°. The dip tank is located below the dip roller, allowing the lower part of the dip roller to be partially immersed in it; A splicing plate assembly includes an upper splicing plate and a lower splicing plate at a predetermined angle to each other, forming a splicing channel that is wider at the inlet end and narrower at the outlet end. The minimum gap of the splicing channel is 1 to 1.2 times the fiber diameter in the fiber belt. At the outlet end, the corresponding edges of the upper and lower splicing plates are rounded or chamfered. The splicing channel is located above the impregnation tank and / or a given receiving tank. The tension roller assembly is located in front of the glue-spreading plate assembly. After the fiber belt is glued, it is wound around the tension roller assembly to tension the fiber belt and feed the fiber to the winding device.

13. The fiber winding machine according to claim 12, characterized in that, The rear end of the upper uniform adhesive plate is directly or indirectly mounted on the bracket via the dynamic uniform adhesive plate shaft to form a dynamic uniform adhesive plate. The lower uniform adhesive plate correspondingly forms the static uniform adhesive plate; A force-applying component is provided, which clamps the moving uniform rubber plate and the stationary uniform rubber plate to form a clamping outlet at the wire exit end.

14. The fiber winding machine according to claim 13, characterized in that, The force-applying component is: A torsion spring is sleeved on the shaft of the moving uniform rubber plate, with one torsion arm supported on the upper side of the moving uniform rubber plate and the other supported on a bracket or a given uniform rubber plate bracket; or The first counterweight is set on the upper surface of the moving uniform rubber plate; or A tension spring, one end of which is pulled on a moving uniform adhesive plate, and the other end of which is pulled on the lower part of a support or a given uniform adhesive support.

15. The fiber winding machine according to any one of claims 12 to 14, characterized in that, A scraper roller is also provided between the glue-spreading plate assembly and the glue-dipping roller. After the fiber strip comes out from the top of the dip roller, it goes around the bottom of the scraper roller and enters the glue-spreading channel.

16. The fiber winding machine according to claim 15, characterized in that, The scraper roller is a grooved roller.

17. The fiber winding machine according to claim 12, characterized in that, The tensioning roller assembly includes a front tensioning assembly, a middle tensioning assembly, and a rear tensioning assembly; The intermediate tensioning component is a dynamic response tensioning component, which dynamically tensions the fiber belt according to its tension level.

18. The fiber winding machine according to claim 17, characterized in that, The tensioning assembly includes: The tensioning bracket is installed on the bracket and set vertically. The lifting mechanism uses the tensioning bracket as its frame; The tensioning drive roller is mounted on the output component of the lifting mechanism, and the fiber belt passes over the upper side of the tensioning drive roller; and Tension sensor is used to detect the pressure on a tensioning roller of the front or rear tensioning assembly.

19. The fiber winding machine according to claim 18, characterized in that, The post-tensioning assembly includes a rear yarn exit roller, a middle yarn exit roller, and a front yarn exit roller, wherein the middle yarn exit roller is a single-end support roller, and the tension sensor is located at the support end of the middle yarn exit roller. Accordingly, the fiber belt is wound in from the underside of the exit roller, then around the upper side of the exit roller, and finally out from the underside of the exit roller.

20. The fiber winding machine according to claim 18, characterized in that, The lifting mechanism is a chain drive mechanism or a synchronous belt mechanism; A vertical guide component is provided, wherein the tensioning drive roller is mounted on the vertical guide component via a vertical slide seat, and the vertical slide seat is connected to one chain side of the chain drive mechanism or one belt side of the synchronous belt mechanism.

21. The fiber winding machine according to claim 20, characterized in that, The other chain edge of the chain drive mechanism or the other belt edge of the synchronous belt mechanism is equipped with a counterweight to balance the weight of the vertical slide and the tensioning drive roller.

22. The fiber winding machine according to claim 12, characterized in that, The pre-tensioning assembly includes a rear tensioning roller, a middle tensioning roller, and a front tensioning roller, wherein the middle tensioning roller is the driving roller, and the rear tensioning roller and the front tensioning roller are driven rollers; The fiber belt is wound into the tensioning roller from the bottom side, passes through the tensioning roller from the top side, and then exits from the tensioning front roller. The wrap angle of the fiber belt on the tensioning roller is not less than 112° and not more than 165°.

23. The fiber winding machine according to claim 12, characterized in that, The winding device includes: Seat; The radial adjustment seat is a rod-type seat that extends radially relative to the workpiece. The radial adjustment seat and the seat portion cooperate to form a radial adjustment pair. The winding head assembly is located at the centripetal end of the radial adjustment seat; The fiber is wound around a roller shaft and mounted at the centrifugal end of the seat to guide the fiber strip exported from the fiber winding device and to exit the fiber into the winding head assembly; and A radial adjustment power unit is provided on the seat to drive the radial adjustment pair to assist in tensioning the fiber belt.

24. The fiber winding machine according to claim 12, characterized in that, A pressure roller is provided on the upper side of the dipping roller, and a roller extrusion structure is formed between the pressure roller and the roller, and the extrusion gap is greater than 1.5 times the fiber diameter.

25. The fiber winding machine according to claim 24, characterized in that, The wrap angle of the fiber belt on the impregnation roller shall not be less than 75° and not more than 113°.

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