阅读说明：本技术 基于智能机器人的多轴纤维缠绕系统 (Multi-axis fiber winding system based on intelligent robot ) 是由 祝龙云 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种基于智能机器人的多轴纤维缠绕系统,包括六轴机器人、丝嘴、纱架、拓展轴、控制系统和上位机,所述的上位机内封装有模块化软件,所述的模块化软件包括工艺设计模块、仿真模块和CAM模块,所述的控制系统由运动控制模块、张力控制模块、质量控制模块和传动及伺服驱动模块组成；本发明中采用智能机器人作为纤维缠绕的主体,通过上位机实现人机交互、PLC管理、图形显示和运动仿真,通过控制系统实现对电机的位置与速度的实时控制、插补运算、曲线轨迹计算等工作,具有较强的运动控制功能和灵活的多轴运动控制效果；模块化的设计使得控制系统和上位机都具有较强的开放性和拓展性,便于升级更新和自主设计。(The invention discloses a multi-axis fiber winding system based on an intelligent robot, which comprises a six-axis robot, a yarn nozzle, a creel, an expansion shaft, a control system and an upper computer, wherein modular software is packaged in the upper computer, the modular software comprises a process design module, a simulation module and a CAM module, and the control system consists of a motion control module, a tension control module, a quality control module and a transmission and servo driving module; the intelligent robot is used as a main body for winding fibers, man-machine interaction, PLC (programmable logic controller) management, graphic display and motion simulation are realized through an upper computer, the real-time control of the position and the speed of a motor, interpolation operation, curve track calculation and other work are realized through a control system, and the intelligent robot has a strong motion control function and a flexible multi-axis motion control effect; due to the modularized design, the control system and the upper computer have strong openness and expansibility, and are convenient to upgrade, update and design autonomously.)

1. A multi-axis fiber winding system based on an intelligent robot is characterized by comprising a six-axis robot, a yarn nozzle, a creel, an expansion axis, a control system and an upper computer, wherein modular software is packaged in the upper computer and comprises a process design module, a simulation module and a CAM module, the process design module consists of geometric model establishing software and winding line type design software, the simulation module consists of winding line type simulation software and yarn nozzle pose simulation software, and the CAM module consists of winding path planning software, winding speed planning software and execution file generating software;

the control system consists of a motion control module, a tension control module, a quality control module and a transmission and servo driving module; the motion control system receives a control instruction in an execution file generated by an upper computer, combines the position and the speed, completes the work of real-time control, interpolation operation and curve track calculation, and sends a motion instruction to the servo controller; the tension control system consists of a tension input device and a tension motor servo controller, pre-tension and actual tension input by the tension input device are calculated through a PLC, and an operation result is sent to the servo controller to complete tension control; the quality control system collects the tension of each yarn group and the total winding tension and sends the tension to an upper computer, and collects the ambient temperature, the humidity and the working temperature of the rubber tank in the winding process; and the transmission and vegetarian clothing driving module receives the instruction of the servo controller and drives the respective servo motors to cooperate with the controller to complete the linkage action of each coordinate axis.

2. The multi-axis fiber winding system based on the intelligent robot as claimed in claim 1, wherein the yarn groups and the total winding tension collected by the quality control system are sent to an upper computer, and a corresponding process curve is generated through a process design module of the upper computer.

3. The multi-axis fiber winding system based on the intelligent robot as claimed in claim 1, wherein the path planning method of the path planning software comprises the following steps:

s1: calculating yarn points according to the discrete doffing point track and the suspension yarn length constraint in the winding process;

s2: calculating the positions of adjacent yarn points to obtain a discrete winding path under a robot base coordinate;

s3: according to the precision requirement, by judging the distance between two adjacent path points and a threshold value, selectively carrying out interpolation planning on the path points, and carrying out linear interpolation and NURBS curve interpolation processing;

s4: the path points of all the base coordinates are converted into joint coordinates consisting of the rotation angles of each axis.

4. The multi-axis fiber winding system based on the intelligent robot as claimed in claim 1, wherein a multi-CPU is provided in the upper computer for multi-task processing.

Technical Field

The invention particularly relates to a multi-axis fiber winding system based on an intelligent robot.

Background

The fiber reinforced composite material has a series of excellent technical performances of light weight, fatigue resistance, corrosion resistance, high specific strength and specific modulus, anisotropy, designability, easy large-area integral molding and the like. At present, fiber reinforced composite materials are developing towards the direction of structural complexity and heterotypic, higher requirements are provided for the technical performance of process equipment of limiting winding conforming materials, but at present, domestic numerical control fiber winding machines are restricted by technology and equipment production capacity, the technical level of equipment is only limited in the four-axis linkage field, and the quality of high-performance and complex structural fiber winding composite material products cannot be ensured due to poor equipment design performance and low automation degree.

Disclosure of Invention

The invention aims to solve the defects of the prior art, and provides a multi-axis fiber winding system based on an intelligent robot, which comprises a six-axis robot, a yarn nozzle, a creel, an expansion axis, a PLC (programmable logic controller), a control system and an upper computer, wherein modular software is packaged in the upper computer and comprises a process design module, a simulation module and a CAM (computer-aided manufacturing) module, the process design module consists of geometric model building software and winding line type design software, the simulation module consists of winding line type simulation software and yarn nozzle pose simulation software, and the CAM module consists of winding path planning software, winding speed planning software and execution file generation software;

the control system consists of a motion control module, a tension control module, a quality control module and a transmission and servo driving module; the motion control system receives a control instruction in an execution file generated by an upper computer, combines the position and the speed, completes the work of real-time control, interpolation operation and curve track calculation, and sends a motion instruction to the servo controller; the tension control system consists of a tension input device and a tension motor servo controller, pre-tension and actual tension input by the tension input device are calculated through a PLC, and an operation result is sent to the servo controller to complete tension control; the quality control system collects the tension of each yarn group and the total winding tension and sends the tension to an upper computer, and collects the ambient temperature, the humidity and the working temperature of the rubber tank in the winding process; and the transmission and vegetarian clothing driving module receives the instruction of the servo controller and drives the respective servo motors to cooperate with the controller to complete the linkage action of each coordinate axis.

In order to better guarantee the winding efficiency and precision of the robot, preferably, the yarn groups and the total winding tension collected by the quality control system are sent to an upper computer, and a corresponding process curve is generated through a process design module of the upper computer.

Preferably, the path planning method of the path planning software includes the following steps:

s1: calculating yarn points according to the discrete doffing point track and the suspension yarn length constraint in the winding process;

s2: calculating the positions of adjacent yarn points to obtain a discrete winding path under a robot base coordinate;

s3: according to the precision requirement, by judging the distance between two adjacent path points and a threshold value, selectively carrying out interpolation planning on the path points, and carrying out linear interpolation and NURBS curve interpolation processing;

s4: the path points of all the base coordinates are converted into joint coordinates consisting of the rotation angles of each axis.

Preferably, a multi-CPU is arranged in the upper computer for multi-task processing. And the robot can be prevented from being out of control by adopting the multi-CPU to carry out multi-task processing.

Has the advantages that: the intelligent robot is used as a main body for winding fibers, man-machine interaction, PLC (programmable logic controller) management, graphic display and motion simulation are realized through an upper computer, the real-time control of the position and the speed of a motor, interpolation operation, curve track calculation and other work are realized through a control system, and the intelligent robot has a strong motion control function and a flexible multi-axis motion control effect; due to the modular design, the control system and the upper computer have strong openness and expansibility, and are convenient to upgrade, update and design autonomously; the method has the advantages of high precision of fiber winding, high adaptability and freedom degree and strong universality.

Drawings

FIG. 1 is a schematic structural diagram of a multi-axis fiber winding system based on an intelligent robot;

FIG. 2 is a schematic diagram of module classification of the upper computer;

FIG. 3 is a block diagram of a control system;

in the figure: 1. six-axis robot, 2, silk mouth, 3, creel, 4, expansion axle.

Detailed Description

For the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.

As shown in fig. 1-3, a multi-axis fiber winding system based on an intelligent robot comprises a six-axis robot 1, a yarn nozzle 2, a creel 3, an expansion axis 4, a PLC, a control system and an upper computer, wherein modular software is packaged in the upper computer, the modular software comprises a process design module, a simulation module and a CAM module, the process design module comprises geometric model establishing software and winding line type design software, the simulation module comprises winding line type simulation software and yarn nozzle pose simulation software, and the CAM module comprises winding path planning software, winding speed planning software and execution file generation software;

the control system consists of a motion control module, a tension control module, a quality control module and a transmission and servo driving module; the motion control system receives a control instruction in an execution file generated by an upper computer, combines the position and the speed, completes the work of real-time control, interpolation operation and curve track calculation, and sends a motion instruction to the servo controller; the tension control system consists of a tension input device and a tension motor servo controller, pre-tension and actual tension input by the tension input device are calculated through a PLC, and an operation result is sent to the servo controller to complete tension control; the quality control system collects the tension of each yarn group and the total winding tension and sends the tension to an upper computer, and collects the ambient temperature, the humidity and the working temperature of the rubber tank in the winding process; and the transmission and vegetarian clothing driving module receives the instruction of the servo controller and drives the respective servo motors to cooperate with the controller to complete the linkage action of each coordinate axis.

In order to better guarantee the winding efficiency and precision of the robot, preferably, the yarn groups and the total winding tension collected by the quality control system are sent to an upper computer, and a corresponding process curve is generated through a process design module of the upper computer.

Preferably, the path planning method of the path planning software includes the following steps:

s1: calculating yarn points according to the discrete doffing point track and the suspension yarn length constraint in the winding process;

s2: calculating the positions of adjacent yarn points to obtain a discrete winding path under a robot base coordinate;

s3: according to the precision requirement, by judging the distance between two adjacent path points and a threshold value, selectively carrying out interpolation planning on the path points, and carrying out linear interpolation and NURBS curve interpolation processing;

s4: the path points of all the base coordinates are converted into joint coordinates consisting of the rotation angles of each axis.

Preferably, a multi-CPU is arranged in the upper computer for multi-task processing. And the robot can be prevented from being out of control by adopting the multi-CPU to carry out multi-task processing.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.