Design and research of 6-DOF automatic fiber laying machine
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摘要: 针对复合材料自动铺放设备进行设计及研究，基于自动铺放成型设备运行原理，利用SolidWorks软件建立纤维铺放成型机各个部件的三维模型。以6自由度纤维丝铺放成型虚拟样机关键零部件为研究对象，利用ABAQUS软件进行静力学分析及模态分析，得到了关键零部件的仿真结果。通过分析关键零部件的仿真数据，验证铺放成型机的结构能够满足铺放设备作业时所需的强度、刚度及稳定性等要求。建立了铺放成型虚拟样机仿真模型，得到了芯模及铺放头与机械臂连接处的速度及加速度变化规律，通过分析铺放速度及加速度变化范围，验证了6自由度纤维铺放成型虚拟样机设计的合理性。Abstract: Based on the operating principle of the automatic laying molding equipment, the three-dimensional model of each component of the fiber laying molding machine was established by SolidWorks software. Taking the key parts of 6-DOF fiber laying virtual prototype as the research object, the software ABAQUS was used for statics analysis and modal analysis, and the simulation results of the key parts were obtained. By analyzing the simulation data of the key parts, it was verified that the structure of the laying machine can meet the requirements of the strength, stiffness and stability of the laying equipment. The simulation model of the laying virtual prototype was established, and the variation rules of the speed and acceleration at the connection of the core die and the laying head and the manipulator arm were obtained. The rationality of the design of the 6-DOF fiber laying virtual prototype was verified by analyzing the variation range of the laying speed and acceleration.
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图 3 导纱系统结构图
1—纱架轴机构；2—纤维丝束；3—衬纸回收机构；4—变向辊；5—压辊；6—丝束通；7—护板；8—楔形体；9—支撑架；10—连接板；11—导向槽；12—法兰盘。
图 4 夹剪装置结构图
1—楔形体；2—丝束通道；3—夹紧块；4—剪切刀；5—弹簧；6—气缸推杆；7—驱动气缸。
Figure 4. Clamping device structure diagram
图 8 铺放头工作原理图
1—纱架盘；2—纤维纱架筒；3—压紧驱动气缸；4—收纱马达；5—纤维纱架马达；6—连接板；7—导向槽；8—楔形体；9—楔形体导向槽；10—重送轴；11—丝束通道；12—加热机构；13—压辊；14—滚轮；15—重送电机；16—重送驱动气缸； 17—重送轮；18—重送机构；19—夹剪机构；20—夹剪驱动气缸；21—剪切刀；22—夹紧块；23—护板；24—收纱架；25—剪切槽。
表 1 工业机器人KR240 R3330主要技术参数
控制轴数 6 自重/kg 2 415 有效载荷/kg 280 安装位置 地板 总负荷/kg 330 环境温度/℃ 10 bis + 55 最远可达距离/mm 3 076 位置重复度/mm ±0.08 每个轴的运动参数 运动范围 运动速度 轴1 ±185° 156°/s 轴2 +35°/−155° 156°/s 轴3 +154°/−130° 156°/s 轴4 ±350° 330°/s 轴5 ±130° 330°/s 轴6 ±350° 615°/s 
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