技术领域Technical field
本发明属于压力容器制备的技术领域，具体公开了一种球形及短粗形压力容器的纤维缠绕方法。The invention belongs to the technical field of pressure vessel preparation, and specifically discloses a fiber winding method for spherical and short thick-shaped pressure vessels.
背景技术Background technique
纤维缠绕工艺是复合材料压力容器的主要成型方法之一，通过缠绕机将浸渍树脂的连续纤维按照一定的线型排布在固定好的芯模上，部分芯模可以打碎或者拆卸，然后运用固化炉对气瓶加热使树脂固化，从而获得一定形状和壁厚，能承受高压的纤维缠绕制品。The fiber winding process is one of the main molding methods for composite pressure vessels. The resin-impregnated continuous fibers are arranged on a fixed mandrel according to a certain linear pattern through a winding machine. Some of the mandrels can be broken or disassembled and then used The curing oven heats the gas cylinder to solidify the resin, thereby obtaining fiber-wound products with a certain shape and wall thickness that can withstand high pressure.
球形压力容器又称球罐，是贮存和运输各种气体、液体、液化气体的一种有效、经济的压力容器，在石油、化工、炼油、造船及城市煤气工业等领域大量应用。与圆筒形压力容器相比，其主要优点是受力均匀：在同样壁厚条件下，球形压力容器的承载能力最高；在相同内压条件下，球形压力容器所需要壁厚仅为同直径、同材料的圆筒形压力容器壁厚的1/2；在相同容积条件下，球形压力容器由于其壁厚、表面积小等，一般比圆筒形压力容器要节约钢材及纤维。Spherical pressure vessels, also known as spherical tanks, are effective and economical pressure vessels for storing and transporting various gases, liquids, and liquefied gases. They are widely used in petroleum, chemical industry, oil refining, shipbuilding, and city gas industries. Compared with cylindrical pressure vessels, its main advantage is uniform stress: under the same wall thickness, the spherical pressure vessel has the highest load-bearing capacity; under the same internal pressure, the required wall thickness of the spherical pressure vessel is only the same diameter. , 1/2 of the wall thickness of cylindrical pressure vessels of the same material; under the same volume conditions, spherical pressure vessels generally save steel and fiber than cylindrical pressure vessels due to their wall thickness and small surface area.
长径比小于4的短粗形压力容器与球形压力容器类似的结构和优点，二者在制造时可采取相同的方式。Short and thick pressure vessels with an aspect ratio less than 4 have similar structures and advantages to spherical pressure vessels, and they can be manufactured in the same way.
但由于其形体的特殊性，制造比较复杂，《FRP球形压力容器纤维缠绕规律分析及装备研究》一文设计了一种球形容器机械缠绕机，为四轴缠绕机的变体，将四轴缠绕机伸臂运动和小车平移做了联动，基本运动形式还是四轴缠绕机（芯模自转、小车平移、丝嘴伸缩、丝嘴旋转）。However, due to the particularity of its shape, the manufacturing is relatively complicated. The article "Analysis of Fiber Winding Rules and Equipment Research for FRP Spherical Pressure Vessels" designed a mechanical winding machine for spherical containers, which is a variant of the four-axis winding machine. The four-axis winding machine is The arm movement and the trolley translation are linked, and the basic movement form is still a four-axis winding machine (mandrel rotation, trolley translation, thread nozzle expansion and contraction, thread nozzle rotation).
但是目前还没有专门针对球形及长径比小于4的短粗形压力容器的纤维缠绕方法。However, there is currently no fiber winding method specifically for spherical and short and thick pressure vessels with an aspect ratio of less than 4.
发明内容Contents of the invention
本发明提供一种球形及短粗形压力容器的纤维缠绕方法，实现三自由度缠绕球形及长径比小于4的短粗形压力容器，降低了缠绕工艺设计的复杂程度，提高了缠绕速度和缠绕精度。The invention provides a fiber winding method for spherical and short thick-shaped pressure vessels, which realizes three degrees of freedom winding of spherical and short thick-shaped pressure vessels with an aspect ratio of less than 4, reduces the complexity of the winding process design, and improves the winding speed and Winding accuracy.
一种球形及短粗形压力容器的纤维缠绕方法，包括下述步骤：A fiber winding method for spherical and short thick-shaped pressure vessels, including the following steps:
S1，安装芯模S1, install core mold
纤维缠绕控制设备包括机架、环形缠绕平台、缠绕机构、径向旋转机构和轴向旋转机构；机架上竖直设置有上弧形槽和下弧形槽；环形缠绕平台水平设置，位于上弧形槽和下弧形槽之间，且与上弧形槽和下弧形槽均垂直相交，环形缠绕平台上设置有一组缠绕机构；缠绕机构包括环向旋转台以及安装在环向旋转台上的出纱组件；环向旋转台安装在环形缠绕平台上，绕环形缠绕平台旋转；径向旋转机构包括可沿上弧形槽旋转的上径向旋转台以及可沿下弧形槽旋转的下径向旋转台，上径向旋转台和下径向旋转台的旋转方向相同且旋转速度相同；轴向旋转机构包括转动安装在上径向旋转台上的上夹持盘以及转动安装在下径向旋转台上的下夹持盘，上夹持盘和下夹持盘的旋转方向和旋转速度均相同，上夹持盘和下夹持盘呈180°时，二者的连线穿过环形缠绕平台的圆心；The fiber winding control equipment includes a frame, an annular winding platform, a winding mechanism, a radial rotation mechanism and an axial rotation mechanism; the frame is vertically provided with an upper arc groove and a lower arc groove; the annular winding platform is set horizontally, located on the upper Between the arcuate groove and the lower arcuate groove, and perpendicularly intersecting with the upper arcuate groove and the lower arcuate groove, a set of winding mechanisms is provided on the annular winding platform; the winding mechanism includes a circumferential rotating table and a set of winding mechanisms installed on the circumferential rotating table The yarn output assembly on the top; the circumferential rotary table is installed on the annular winding platform and rotates around the annular winding platform; the radial rotary mechanism includes an upper radial rotary table that can rotate along the upper arc groove and a rotary rotary table that can rotate along the lower arc groove. The lower radial rotary table, the upper radial rotary table and the lower radial rotary table have the same rotation direction and the same rotation speed; the axial rotation mechanism includes an upper clamping plate rotatably installed on the upper radial rotary table and an upper radial rotary table rotatably installed on the lower radial rotary table. Towards the lower clamping plate on the rotating table, the rotation direction and speed of the upper and lower clamping plates are the same. When the upper and lower clamping plates are at 180°, the line connecting them passes through the ring. The center of the circle that wraps around the platform;
将芯模两端极孔的芯模轴分别夹持在上夹持盘和下夹持盘上：Clamp the mandrel shafts with pole holes at both ends of the mandrel on the upper and lower clamping plates respectively:
缠绕等极孔容器时，芯模中心为缠绕中心，将缠绕中心调整至出纱组件出纱点位所在水平面上；When winding containers with equal pole holes, the center of the mandrel is the winding center, and the winding center is adjusted to the horizontal plane where the yarn outlet point of the yarn outlet component is located;
缠绕不等极孔容器时，芯模两极孔位于芯模轴两侧的端部连线与两根芯模轴连线的交点为缠绕中心，将缠绕中心调整至出纱组件出纱点位所在水平面上；When winding a container with unequal pole holes, the intersection point of the line connecting the two pole holes of the mandrel on both sides of the mandrel shaft and the line connecting the two mandrel shafts is the winding center. Adjust the winding center to the yarn outlet point of the yarn outlet assembly. on a horizontal surface;
S2，控制环向旋转台靠近芯模的上极孔或下极孔，从已安装在出纱组件上的纤维卷引出纤维缠绕至芯模的上极孔或下极孔处；S2, control the circumferential rotating table to be close to the upper pole hole or lower pole hole of the mandrel, and take out the fiber from the fiber roll installed on the yarn outlet component and wind it to the upper pole hole or lower pole hole of the mandrel mold;
S3，采用单组缠绕机构缠绕S3, using a single group winding mechanism for winding
纤维缠绕控制设备通过芯模轴向转角θ、缠绕机构绕芯模转角Ф和芯模径向与水平面夹角ψ三个参数控制缠绕，单位均为°，球形及短粗形压力容器的纤维缠绕采用纵向缠绕、环向缠绕和过渡缠绕三种缠绕工艺，纵向缠绕工艺根据要求设计不同的纵向缠绕角ψ1实现不同纵向层的缠绕，不同纵向缠绕角ψ1的纵向缠绕工艺之间通过过渡缠绕工艺进行过渡，纵向缠绕工艺和环向缠绕工艺之间通过过渡缠绕工艺进行过渡；The fiber winding control equipment controls the winding through three parameters: the axial rotation angle of the mandrelθ , the rotation angle of the winding mechanism around the mandrelФ , and the angle between the radial direction of the mandrel and the horizontal planeψ . The units are all °. Fiber winding of spherical and short and thick pressure vessels Three winding processes are adopted: longitudinal winding, circumferential winding and transitional winding. The longitudinal winding process is designed with different longitudinal winding anglesψ1 according to the requirements to achieve winding of different longitudinal layers. The longitudinal winding processes with different longitudinal winding anglesψ1 are separated by transitional winding. The process is transitioned, and the longitudinal winding process and the circumferential winding process are transitioned through the transition winding process;
纵向缠绕工艺中，ψ=ψ1，缠绕同一纵向层时，纵向缠绕角ψ1不变，出纱组件出纱点位绕芯模旋转一周，芯模轴向匀速转过Δθ，In the longitudinal winding process,ψ=ψ1. When winding the same longitudinal layer, the longitudinal winding angleψ1 remains unchanged. The yarn outlet point of the yarn outlet assembly rotates around the mandrel for one revolution, and the mandrel rotates axially throughΔθ at a constant speed.
， ,
其中R为所缠绕芯模的赤道圆半径，单位mm，Δt为纤维带宽，单位mm，α为赤道圆处所对应的螺旋缠绕角，单位°；Among them,R is the equatorial circle radius of the wound core mold, unit mm,Δt is the fiber bandwidth, unit mm,α is the corresponding spiral winding angle at the equatorial circle, unit °;
转速比i的定义为芯模转数与出纱组件出纱点位绕芯模转数比值，The rotation speed ratioi is defined as the ratio of the number of revolutions of the core mold to the number of revolutions of the yarn outlet component around the core mold,
； ;
环向缠绕工艺中，通过调整径向旋转机构使芯模径向与水平面夹角ψ为纤维缠绕控制设备所能达到最小值ψ2，缠绕机构在两根芯模轴连线单侧的环形缠绕平台上进行弧形往复运动，以缠绕中心为原点，以两根芯模轴连线在出纱组件出纱点位所在水平面上的投影为x轴，垂直于x轴方向为y轴，垂直于出纱组件出纱点位所在水平面的方向为z轴建立坐标系，芯模每轴向匀速转动一周，出纱组件出纱点位的x坐标改变Δtcosψ2，依照下式，以x为变量，单位mm，计算对应的θ与Ф值，In the circumferential winding process, the radial rotation mechanism is adjusted so that the angleψ between the radial direction of the mandrel and the horizontal plane is the minimum valueψ2 that the fiber winding control equipment can achieve. The winding mechanism performs annular winding on one side of the line connecting the two mandrel shafts. The platform performs arc-shaped reciprocating motion, with the winding center as the origin, the projection of the line connecting the two mandrel axes on the horizontal plane where the yarn outlet point of the yarn outlet assembly is located isthe x- axis, the direction perpendicular tothe x-axis is the y-axis, and the direction perpendicular to the x- axis isthe y- axis. The direction of the horizontal plane where the yarn outlet point of the yarn outlet assembly is located isthe z- axis to establish a coordinate system. The mandrelrotates once in each axis at a uniform speed.The x coordinate of the yarn outlet point of the yarn outlet assembly changes byΔtcosψ2 . According to the following formula,x is the variable. , unit mm, calculate the correspondingθ andФ values,
， ,
其中Δt为纤维带宽，b为出纱组件出纱点位轨迹所在圆半径，单位均为mm；Among them,Δt is the fiber bandwidth,b is the radius of the circle where the yarn outlet point trajectory of the yarn outlet component is located, and the units are mm;
过渡缠绕工艺中，随着缠绕机构绕芯模旋转，芯模自转，同时调整芯模径向与水平面夹角ψ，按照非测地线稳定缠绕线型，使芯模在不同的工艺层之间稳定过渡。In the transitional winding process, as the winding mechanism rotates around the mandrel, the mandrel rotates, and at the same time, the angleψ between the radial direction of the mandrel and the horizontal plane is adjusted to stabilize the winding line shape according to the non-geodesic line, so that the mandrel is between different process layers. Stable transition.
一种球形及短粗形压力容器的纤维缠绕方法，包括下述步骤：A fiber winding method for spherical and short thick-shaped pressure vessels, including the following steps:
S1，安装芯模S1, install core mold
纤维缠绕控制设备包括机架、环形缠绕平台、缠绕机构、径向旋转机构和轴向旋转机构；机架上竖直设置有上弧形槽和下弧形槽；环形缠绕平台水平设置，位于上弧形槽和下弧形槽之间，且与上弧形槽和下弧形槽均垂直相交，环形缠绕平台上设置有多组缠绕机构；缠绕机构包括环向旋转台以及安装在环向旋转台上的出纱组件；环向旋转台安装在环形缠绕平台上，绕环形缠绕平台旋转；径向旋转机构包括可沿上弧形槽旋转的上径向旋转台以及可沿下弧形槽旋转的下径向旋转台，上径向旋转台和下径向旋转台的旋转方向相同且旋转速度相同；轴向旋转机构包括转动安装在上径向旋转台上的上夹持盘以及转动安装在下径向旋转台上的下夹持盘，上夹持盘和下夹持盘的旋转方向和旋转速度均相同，上夹持盘和下夹持盘呈180°时，二者的连线穿过环形缠绕平台的圆心；The fiber winding control equipment includes a frame, an annular winding platform, a winding mechanism, a radial rotation mechanism and an axial rotation mechanism; the frame is vertically provided with an upper arc groove and a lower arc groove; the annular winding platform is set horizontally, located on the upper Between the arcuate groove and the lower arcuate groove, and perpendicularly intersecting with the upper arcuate groove and the lower arcuate groove, multiple sets of winding mechanisms are provided on the annular winding platform; the winding mechanism includes an annular rotating table and an annular rotating table installed on the annular rotating platform. The yarn output component on the table; the circumferential rotary table is installed on the annular winding platform and rotates around the annular winding platform; the radial rotation mechanism includes an upper radial rotary table that can rotate along the upper arc groove and a lower arc groove that can rotate The lower radial rotary table, the upper radial rotary table and the lower radial rotary table have the same rotation direction and the same rotation speed; the axial rotation mechanism includes an upper clamping plate rotatably installed on the upper radial rotary table and a rotatably installed lower radial rotary table. On the lower clamping plate on the radial rotating table, the rotation direction and speed of the upper clamping plate and the lower clamping plate are the same. When the upper clamping plate and the lower clamping plate are at 180°, the line connecting them passes through The center of the circle of the annular winding platform;
将芯模两端极孔的芯模轴分别夹持在上夹持盘和下夹持盘上：Clamp the mandrel shafts with pole holes at both ends of the mandrel on the upper and lower clamping plates respectively:
缠绕等极孔容器时，芯模中心为缠绕中心，将缠绕中心调整至出纱组件出纱点位所在水平面上；When winding containers with equal pole holes, the center of the mandrel is the winding center, and the winding center is adjusted to the horizontal plane where the yarn outlet point of the yarn outlet component is located;
缠绕不等极孔容器时，芯模两极孔位于芯模轴两侧的端部连线与两根芯模轴连线的交点为缠绕中心，将缠绕中心调整至出纱组件出纱点位所在水平面上；When winding a container with unequal pole holes, the intersection point of the line connecting the two pole holes of the mandrel on both sides of the mandrel shaft and the line connecting the two mandrel shafts is the winding center. Adjust the winding center to the yarn outlet point of the yarn outlet assembly. on a horizontal surface;
S2，控制环向旋转台靠近芯模的上极孔或下极孔，从已安装在出纱组件上的纤维卷引出纤维缠绕至芯模的上极孔或下极孔处，多组缠绕机构均匀布置在环形缠绕平台上；S2, control the circumferential rotating table to be close to the upper pole hole or the lower pole hole of the mandrel, and take out the fiber from the fiber roll installed on the yarn outlet component and wind it to the upper pole hole or the lower pole hole of the mandrel. Multiple sets of winding mechanisms Evenly arranged on the ring-shaped winding platform;
S3，采用多组缠绕机构缠绕S3, using multiple groups of winding mechanisms for winding
纤维缠绕控制设备通过芯模轴向转角θ、缠绕机构绕芯模转角Ф和芯模径向与水平面夹角ψ三个参数控制缠绕，单位均为°，球形及短粗形压力容器的纤维缠绕采用纵向缠绕、环向缠绕和过渡缠绕三种缠绕工艺，纵向缠绕工艺根据要求设计不同的纵向缠绕角ψ1实现不同纵向层的缠绕，不同纵向缠绕角ψ1的纵向缠绕工艺之间通过过渡缠绕工艺进行过渡，纵向缠绕工艺和环向缠绕工艺之间通过过渡缠绕工艺进行过渡；The fiber winding control equipment controls the winding through three parameters: the axial rotation angle of the mandrelθ , the rotation angle of the winding mechanism around the mandrelФ , and the angle between the radial direction of the mandrel and the horizontal planeψ . The units are all °. Fiber winding of spherical and short and thick pressure vessels Three winding processes are adopted: longitudinal winding, circumferential winding and transitional winding. The longitudinal winding process is designed with different longitudinal winding anglesψ1 according to the requirements to achieve winding of different longitudinal layers. The longitudinal winding processes with different longitudinal winding anglesψ1 are separated by transitional winding. The process is transitioned, and the longitudinal winding process and the circumferential winding process are transitioned through the transition winding process;
纵向缠绕工艺中，ψ=ψ1，缠绕同一纵向层时，纵向缠绕角ψ1不变，出纱组件出纱点位绕芯模旋转一周，芯模轴向匀速转过n倍于Δθ的角度，n为缠绕机构的数量，In the longitudinal winding process,ψ=ψ1. When winding the same longitudinal layer, the longitudinal winding angleψ1 remains unchanged. The yarn outlet point of the yarn outlet component rotates around the mandrel, and the mandrel rotates axially at a constant speed n timesΔθ . Angle, n is the number of winding mechanisms,
， ,
其中R为所缠绕芯模的赤道圆半径，单位mm，Δt为纤维带宽，单位mm，α为赤道圆处所对应的螺旋缠绕角，单位°；Among them,R is the equatorial circle radius of the wound core mold, unit mm,Δt is the fiber bandwidth, unit mm,α is the corresponding spiral winding angle at the equatorial circle, unit °;
转速比i的定义为芯模转数与出纱组件出纱点位绕芯模转数比值，The rotation speed ratioi is defined as the ratio of the number of revolutions of the core mold to the number of revolutions of the yarn outlet component around the core mold,
； ;
环向缠绕工艺中，最多使用两组缠绕机构，通过调整径向旋转机构使芯模径向与水平面夹角为纤维缠绕控制设备所能达到最小值ψ2，两组缠绕机构分别在两根芯模轴连线两侧的环形缠绕平台上进行弧形往复运动，以缠绕中心为原点，以两根芯模轴连线在出纱组件出纱点位所在水平面上的投影为x轴，垂直于x轴方向为y轴，垂直于出纱组件出纱点位所在水平面的方向为z轴建立坐标系，芯模每轴向匀速转动一周，出纱组件出纱点位的x坐标改变2Δtcosψ2，依照下式，以x为变量，单位mm，计算对应的θ与Ф值，In the circumferential winding process, up to two sets of winding mechanisms are used, and the angle between the radial direction of the mandrel and the horizontal plane is adjusted by adjusting the radial rotation mechanism. In order to achieve the minimum valueψ2 that the fiber winding control equipment can achieve, the two sets of winding mechanisms perform arc-shaped reciprocating motion on the annular winding platforms on both sides of the line connecting the two mandrel shafts. With the winding center as the origin, the two mandrels The projection of the axis connection line on the horizontal plane where the yarn outlet point of the yarn outlet component is located isthe x- axis, the direction perpendicular tothe x- axis isthe y- axis, and the direction perpendicular to the horizontal plane where the yarn outlet point of the yarn outlet component is isthe z- axis to establish a coordinate system. When the mold rotates at a uniform speed in each axial direction, thex- coordinate of the yarn outlet point of the yarn outlet assembly changes by 2Δtcosψ2. According to the following formula, usingx as the variable in mm, calculate the correspondingθ andФ values,
， ,
其中Δt为纤维带宽，b为出纱组件出纱点位轨迹所在圆半径，单位均为mm；Among them,Δt is the fiber bandwidth,b is the radius of the circle where the yarn outlet point trajectory of the yarn outlet component is located, and the units are mm;
待纵向缠绕工艺或环向缠绕工艺中最后一组缠绕机构缠绕结束，进行过渡缠绕工艺，随着缠绕机构绕芯模旋转，芯模自转，同时调整芯模径向与水平面夹角ψ，按照非测地线稳定缠绕线型，使芯模在不同的工艺层之间稳定过渡。After the winding of the last group of winding mechanisms in the longitudinal winding process or the circumferential winding process is completed, the transition winding process is carried out. As the winding mechanism rotates around the mandrel, the mandrel rotates. At the same time, the angleψ between the radial direction of the mandrel and the horizontal plane is adjusted. The geodesic wire is stably wrapped in a linear shape, allowing the core mold to transition stably between different process layers.
步骤S3中，两组缠绕机构分别在两根芯模轴连线两侧的环形缠绕平台上进行弧形往复运动，两组缠绕机构旋转方向相同。In step S3, the two sets of winding mechanisms respectively perform arc-shaped reciprocating motion on the annular winding platforms on both sides of the line connecting the two mandrel shafts, and the two sets of winding mechanisms rotate in the same direction.
上述球形及短粗形压力容器的纤维缠绕方法，还包括S4，完成所有缠绕工艺后，剪断纤维。The above-mentioned fiber winding method for spherical and short thick-shaped pressure vessels also includes S4. After completing all winding processes, the fibers are cut.
上述球形及短粗形压力容器的纤维缠绕方法中，出纱组件包括放卷辊、导纱轮、丝嘴悬臂、丝嘴和出丝辊；放卷辊和导纱轮转动安装在环向旋转台上；放卷辊用于安装纤维卷；导纱轮用于引导放卷辊引出的纤维穿过环向旋转台的出纱孔；丝嘴悬臂沿环形缠绕平台的径向布置，包括第一圆环、第二圆环和轴向连杆，第一圆环和第二圆环之间通过多根轴向连杆连接，第一圆环安装在环向旋转台的出纱孔上，第二圆环安装丝嘴；出丝辊转动安装在丝嘴上，用于引导从出纱孔引出的纤维；出纱组件出纱点位为丝嘴。In the fiber winding method of the above-mentioned spherical and short thick-shaped pressure vessels, the yarn outlet assembly includes an unwinding roller, a yarn guide wheel, a yarn nozzle cantilever, a yarn nozzle, and a yarn outlet roller; the unwinding roller and the yarn guide wheel are mounted on a circumferentially rotating on the platform; the unwinding roller is used to install the fiber roll; the yarn guide wheel is used to guide the fiber led by the unwinding roller through the yarn outlet hole of the circumferential rotating platform; the nozzle cantilever is arranged along the radial direction of the annular winding platform, including the first The ring, the second ring and the axial connecting rod, the first ring and the second ring are connected by a plurality of axial connecting rods, the first ring is installed on the yarn outlet hole of the ring rotating table, and the The two rings are installed with the yarn nozzle; the yarn outlet roller is rotated and installed on the yarn outlet to guide the fiber drawn out from the yarn outlet hole; the yarn outlet point of the yarn outlet assembly is the yarn outlet.
上述球形及短粗形压力容器的纤维缠绕方法中，环向旋转台上安装有两个旋转方向相反的放卷辊和两个旋转方向相同的导纱轮；两个导纱轮上均设置有上下两道环形轮槽，第一导纱轮的轴向高度大于第二导纱轮的轴向高度，第二导纱轮安装在出纱孔侧，第一导纱轮安装在放卷辊和第二导纱轮之间；第二圆环通过轴承与丝嘴连接；轴向连杆包括与第一圆环固定连接的第一轴向连杆以及与第二圆环固定连接的第二轴向连杆；第一轴向连杆和第二轴向连杆通过卡块和卡槽轴向滑动连接，且沿轴向设置有多个通孔，第一轴向连杆和第二轴向连杆的通孔通过螺栓螺母连接。In the above-mentioned fiber winding method for spherical and short thick-shaped pressure vessels, two unwinding rollers with opposite rotation directions and two yarn guide wheels with the same rotation direction are installed on the circumferential rotating table; both yarn guide wheels are equipped with There are two annular wheel grooves up and down. The axial height of the first yarn guide wheel is greater than the axial height of the second yarn guide wheel. The second yarn guide wheel is installed on the side of the yarn outlet hole. The first yarn guide wheel is installed on the unwinding roller and between the second guide wheels; the second ring is connected to the thread nozzle through a bearing; the axial connecting rod includes a first axial connecting rod fixedly connected to the first ring and a second shaft fixedly connected to the second ring axial connecting rod; the first axial connecting rod and the second axial connecting rod are axially slidingly connected through the clamping block and the slot, and are provided with a plurality of through holes along the axial direction. The first axial connecting rod and the second axial connecting rod are The through holes of the connecting rod are connected by bolts and nuts.
上述球形及短粗形压力容器的纤维缠绕方法中，环形缠绕平台上设置有环形齿圈和环形轨道；缠绕机构还包括第二电机和第二齿轮；第二电机安装在环向旋转台上，输出轴与第二齿轮连接；第二齿轮与环形齿圈啮合；环向旋转台上设置有环形轨道限位槽，环形轨道限位槽与环形轨道滑动配合。In the above-mentioned fiber winding method for spherical and short thick-shaped pressure vessels, the annular winding platform is provided with an annular ring gear and an annular track; the winding mechanism also includes a second motor and a second gear; the second motor is installed on the annular rotating platform, The output shaft is connected to the second gear; the second gear is meshed with the annular ring gear; an annular track limit groove is provided on the circumferential rotating table, and the annular track limit groove is in sliding fit with the annular track.
上述球形及短粗形压力容器的纤维缠绕方法中，上弧形槽和下弧形槽上均设置有弧形齿条和弧形轨道；径向旋转机构还包括第一齿轮和第一电机；两组第一齿轮均为由第一电机驱动的主动齿轮，分别转动安装在上径向旋转台和下径向旋转台上，与弧形齿条啮合；或，两组第一齿轮为主动齿轮和从动齿轮，分别转动安装在上径向旋转台和下径向旋转台上，与弧形齿条啮合，主动齿轮由第一电机驱动；上径向旋转台和下径向旋转台上均设置有弧形轨道限位槽，弧形轨道限位槽与弧形轨道滑动配合。In the fiber winding method of the above-mentioned spherical and short thick-shaped pressure vessels, the upper arc-shaped groove and the lower arc-shaped groove are provided with arc-shaped racks and arc-shaped tracks; the radial rotation mechanism also includes a first gear and a first motor; The two sets of first gears are both driving gears driven by the first motor, and are rotatably installed on the upper radial rotating table and the lower radial rotating table respectively, meshing with the arc-shaped racks; or, the two sets of first gears are driving gears and driven gears, which are rotated and installed on the upper radial rotary table and the lower radial rotary table respectively, meshing with the arc-shaped rack, and the driving gear is driven by the first motor; both the upper radial rotary table and the lower radial rotary table are An arc-shaped track limit groove is provided, and the arc-shaped track limit groove is slidably matched with the arc-shaped track.
上述球形及短粗形压力容器的纤维缠绕方法中，轴向旋转机构还包括第三电机；上夹持盘和下夹持盘均由第三电机驱动同向同速旋转；或，上夹持盘和下夹持盘分别为主动旋转盘和从动旋转盘，主动旋转盘由第三电机驱动旋转，从动旋转盘通过芯模及芯模轴从动旋转。In the fiber winding method of the above-mentioned spherical and short thick pressure vessels, the axial rotation mechanism also includes a third motor; the upper clamping disc and the lower clamping disc are driven by the third motor to rotate in the same direction and at the same speed; or, the upper clamping disc The disc and the lower clamping disc are respectively an active rotating disc and a driven rotating disc. The active rotating disc is driven to rotate by a third motor, and the driven rotating disc is driven to rotate through the mandrel and the mandrel shaft.
上述球形及短粗形压力容器的纤维缠绕方法中，机架包括上机架、下机架以及连接上机架和下机架的旋转件；上弧形槽位于上机架上，下弧形槽位于下机架上。In the fiber winding method of the above-mentioned spherical and short thick pressure vessels, the frame includes an upper frame, a lower frame and a rotating part connecting the upper frame and the lower frame; the upper arc-shaped groove is located on the upper frame, and the lower arc-shaped groove is located on the upper frame. The slot is located on the lower frame.
本发明具有以下有益效果：The invention has the following beneficial effects:
本发明所提供的纤维缠绕方法通过芯模轴向转角θ、缠绕机构绕芯模转角Ф和芯模径向与水平面夹角ψ三个参数控制缠绕，可实现三自由度缠绕球形及短粗形压力容器，可进行纵向缠绕、环向缠绕和过渡缠绕三种缠绕工艺的自由切换，降低了缠绕工艺设计的复杂程度，提高了缠绕速度和缠绕精度。The fiber winding method provided by the invention controls winding through three parameters: the axial rotation angleθ of the mandrel, the rotation angleφ of the winding mechanism around the mandrel, and the angleψ between the radial direction of the mandrel and the horizontal plane, and can realize three-degree-of-freedom winding of spherical and short thick shapes. The pressure vessel can freely switch between three winding processes: longitudinal winding, circumferential winding and transitional winding, which reduces the complexity of the winding process design and improves the winding speed and winding accuracy.
附图说明Description of the drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1为球形芯模在纤维缠绕控制设备上的安装示意图（单组缠绕机构缠绕）；Figure 1 is a schematic diagram of the installation of the spherical mandrel on the fiber winding control equipment (single-group winding mechanism winding);
图2为短粗形芯模在纤维缠绕控制设备上的安装示意（两组缠绕机构缠绕）；Figure 2 shows the installation diagram of the short thick mandrel on the fiber winding control equipment (two sets of winding mechanisms);
图3为环形缠绕平台和缠绕机构的安装示意图；Figure 3 is a schematic diagram of the installation of the annular winding platform and the winding mechanism;
图4为缠绕机构的结构示意图；Figure 4 is a schematic structural diagram of the winding mechanism;
图5为丝嘴、第二圆环和第二轴向连杆的安装示意图；Figure 5 is a schematic diagram of the installation of the thread nozzle, the second ring and the second axial connecting rod;
图6为第一圆环和第一轴向连杆的安装示意图；Figure 6 is a schematic diagram of the installation of the first ring and the first axial connecting rod;
图7为径向旋转机构和轴向旋转机构的整体图；Figure 7 is an overall view of the radial rotation mechanism and the axial rotation mechanism;
图8为径向旋转机构和轴向旋转机构上半部分的示意图；Figure 8 is a schematic diagram of the upper part of the radial rotation mechanism and the axial rotation mechanism;
图9为径向旋转机构和轴向旋转机构下半部分的示意图；Figure 9 is a schematic diagram of the lower part of the radial rotation mechanism and the axial rotation mechanism;
图10为等极孔容器缠绕中心的位置图；Figure 10 shows the position of the winding center of the isopole container;
图11为不等极孔容器缠绕中心的位置图；Figure 11 shows the position of the winding center of the container with unequal pole holes;
图12为以缠绕中心为原点建立的坐标系；Figure 12 shows the coordinate system established with the winding center as the origin;
图13为纵向缠绕轨迹图。Figure 13 is a longitudinal winding trajectory diagram.
图中：1.1-上机架；1.2-下机架；1.3-旋转件；1.4-弧形齿条；1.5-弧形轨道；In the picture: 1.1-upper frame; 1.2-lower frame; 1.3-rotating parts; 1.4-arc rack; 1.5-arc track;
2-环形缠绕平台；2.1-环形齿圈；2.2-环形轨道；2-annular winding platform; 2.1-annular ring gear; 2.2-annular track;
3.1-环向旋转台；3.2-第二电机；3.3-第二齿轮；3.4-环形轨道限位槽；3.5-放卷辊；3.6-丝嘴悬臂；3.6.1-第一圆环；3.6.2-第二圆环；3.6.3-第一轴向连杆；3.6.4-第二轴向连杆；3.6.5-通孔；3.7-丝嘴；3.8-出丝辊；3.9-第一导纱轮；3.10-第二导纱轮；3.1-circular rotating table; 3.2-second motor; 3.3-second gear; 3.4-annular track limit groove; 3.5-unwinding roller; 3.6-wire nozzle cantilever; 3.6.1-first ring; 3.6. 2-Second ring; 3.6.3-First axial connecting rod; 3.6.4-Second axial connecting rod; 3.6.5-Through hole; 3.7-Wire nozzle; 3.8-Wire outlet roller; 3.9-No. One yarn guide wheel; 3.10-The second yarn guide wheel;
4.1-上径向旋转台；4.2-下径向旋转台；4.3-第一电机；4.4-主动齿轮；4.5-从动齿轮；4.6-弧形轨道限位槽；4.1-upper radial rotary table; 4.2-lower radial rotary table; 4.3-first motor; 4.4-driving gear; 4.5-driven gear; 4.6-arc track limit groove;
5.1-上夹持盘；5.2-下夹持盘；5.3-第三电机；5.1-Upper clamping plate; 5.2-Lower clamping plate; 5.3-Third motor;
101-芯模；102-芯模轴；103-缠绕中心；104-纵向缠绕轨迹。101-mandrel; 102-mandrel axis; 103-winding center; 104-longitudinal winding track.
具体实施方式Detailed ways
下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.
实施例1Example 1
本实施例提供一种球形及短粗形压力容器的纤维缠绕控制设备，包括机架、环形缠绕平台2、缠绕机构、径向旋转机构和轴向旋转机构；机架上竖直设置有上弧形槽和下弧形槽；环形缠绕平台2位于上弧形槽和下弧形槽之间，且与上弧形槽和下弧形槽均垂直相交；缠绕机构包括环向旋转台3.1以及安装在环向旋转台3.1上的出纱组件；环向旋转台3.1安装在环形缠绕平台2上，绕环形缠绕平台2旋转；径向旋转机构包括可沿上弧形槽旋转的上径向旋转台4.1以及可沿下弧形槽旋转的下径向旋转台4.2，上径向旋转台4.1和下径向旋转台4.2的旋转方向相同且旋转速度相同，控制芯模101在垂直于环形缠绕平台2的平面上旋转；轴向旋转机构包括转动安装在上径向旋转台4.1上的上夹持盘5.1以及转动安装在下径向旋转台4.2上的下夹持盘5.2，上夹持盘5.1和下夹持盘5.2用于夹持芯模101两端极孔的芯模轴102，上夹持盘5.1和下夹持盘5.2的旋转方向和旋转速度均相同，控制芯模101绕其轴线旋转；上夹持盘5.1和下夹持盘5.2呈180°时，二者的连线穿过环形缠绕平台2的圆心。This embodiment provides a fiber winding control device for spherical and short thick-shaped pressure vessels, including a frame, an annular winding platform 2, a winding mechanism, a radial rotation mechanism and an axial rotation mechanism; an upper arc is vertically provided on the frame shaped groove and lower arc-shaped groove; the annular winding platform 2 is located between the upper arc-shaped groove and the lower arc-shaped groove, and vertically intersects with both the upper arc-shaped groove and the lower arc-shaped groove; the winding mechanism includes an annular rotating platform 3.1 and an installation The yarn output component is on the circumferential rotary table 3.1; the circumferential rotary table 3.1 is installed on the annular winding platform 2 and rotates around the annular winding platform 2; the radial rotation mechanism includes an upper radial rotary table that can rotate along the upper arc groove. 4.1 and the lower radial rotary table 4.2 that can rotate along the lower arc groove. The upper radial rotary table 4.1 and the lower radial rotary table 4.2 have the same rotation direction and the same rotation speed. The control mandrel 101 is perpendicular to the annular winding platform 2 Rotate on the plane; the axial rotation mechanism includes an upper clamping disk 5.1 that is rotationally installed on the upper radial rotation table 4.1 and a lower clamping disk 5.2 that is rotationally installed on the lower radial rotation table 4.2. The upper clamping disk 5.1 and the lower The clamping plate 5.2 is used to clamp the mandrel shaft 102 of the pole holes at both ends of the mandrel 101. The rotation direction and speed of the upper clamping plate 5.1 and the lower clamping plate 5.2 are the same, and the mandrel 101 is controlled to rotate around its axis; When the upper clamping plate 5.1 and the lower clamping plate 5.2 are at 180°, the line connecting them passes through the center of the annular winding platform 2.
机架包括上机架1.1、下机架1.2以及连接上机架1.1和下机架1.2的旋转件1.3；上弧形槽设置在上机架1.1上，下弧形槽设置在下机架1.2上。由于环形缠绕平台2妨碍，在装卸芯模101时可能会不便或无法装卸，将上机架1.1和下机架1.2之间通过旋转件1.3相连，在装卸芯模101时，将上机架1.1打开，避免了上述情况发生。The frame includes an upper frame 1.1, a lower frame 1.2, and a rotating member 1.3 connecting the upper frame 1.1 and the lower frame 1.2; the upper arc-shaped groove is provided on the upper frame 1.1, and the lower arc-shaped groove is provided on the lower frame 1.2. . Due to the obstruction of the annular winding platform 2, it may be inconvenient or impossible to load and unload the mandrel 101. The upper frame 1.1 and the lower frame 1.2 are connected through the rotating member 1.3. When loading and unloading the mandrel 101, the upper frame 1.1 Open to avoid the above situation.
环形缠绕平台2上设置有环形齿圈2.1和环形轨道2.2；缠绕机构还包括第二电机3.2和第二齿轮3.3；第二电机3.2安装在环向旋转台3.1上，输出轴与第二齿轮3.3连接；第二齿轮3.3与环形齿圈2.1啮合，由第二电机3.2驱动第二齿轮3.3旋转，有效地解决了环向旋转台3.1的驱动问题，第二齿轮3.3优选圆锥齿轮，实现了高精度、高效率的传动；环向旋转台3.1上设置有环形轨道限位槽3.4，环形轨道限位槽3.4与环形轨道2.2滑动配合，限制环向旋转台3.1的其他自由度，使其只能环向旋转。The annular winding platform 2 is provided with an annular ring gear 2.1 and an annular track 2.2; the winding mechanism also includes a second motor 3.2 and a second gear 3.3; the second motor 3.2 is installed on the annular rotating platform 3.1, and the output shaft is connected to the second gear 3.3 Connection; the second gear 3.3 meshes with the annular ring gear 2.1, and the second motor 3.2 drives the second gear 3.3 to rotate, which effectively solves the driving problem of the circumferential rotary table 3.1. The second gear 3.3 is preferably a bevel gear, achieving high precision. , High-efficiency transmission; the circumferential rotary table 3.1 is provided with an annular track limit groove 3.4. The annular track limit groove 3.4 slides with the annular track 2.2 to limit other degrees of freedom of the circumferential rotary table 3.1, so that it can only circumferentially rotate. rotate towards.
出纱组件包括放卷辊3.5、导纱轮、丝嘴悬臂3.6、丝嘴3.7和出丝辊3.8；放卷辊3.5和导纱轮转动安装在环向旋转台3.1上；放卷辊3.5用于安装纤维卷；导纱轮用于引导放卷辊3.5引出的纤维穿过环向旋转台3.1的出纱孔；丝嘴悬臂3.6沿环形缠绕平台2的径向布置，包括第一圆环3.6.1、第二圆环3.6.2和轴向连杆，第一圆环3.6.1和第二圆环3.6.2之间通过多根轴向连杆连接，第一圆环3.6.1安装在环向旋转台3.1的出纱孔上，第二圆环3.6.2安装丝嘴3.7；出丝辊3.8转动安装在丝嘴3.7上，用于引导从出纱孔引出的纤维。The yarn discharging assembly includes the unwinding roller 3.5, the yarn guide wheel, the yarn nozzle cantilever 3.6, the yarn nozzle 3.7 and the yarn outlet roller 3.8; the unwinding roller 3.5 and the yarn guide wheel are rotationally installed on the circumferential rotary table 3.1; the unwinding roller 3.5 is used for To install the fiber roll; the yarn guide wheel is used to guide the fiber drawn out by the unwinding roller 3.5 through the yarn outlet hole of the circumferential rotating platform 3.1; the yarn nozzle cantilever 3.6 is arranged along the radial direction of the annular winding platform 2, including the first ring 3.6 .1. The second ring 3.6.2 and the axial connecting rod. The first ring 3.6.1 and the second ring 3.6.2 are connected through multiple axial connecting rods. The first ring 3.6.1 is installed On the yarn outlet hole of the circumferential rotary table 3.1, the second ring 3.6.2 is installed with the yarn nozzle 3.7; the yarn outlet roller 3.8 is rotated and installed on the yarn outlet 3.7 for guiding the fiber drawn out from the yarn outlet hole.
环向旋转台3.1上安装有两个旋转方向相反的放卷辊3.5和两个旋转方向相同的导纱轮；两个导纱轮上均设置有上下两道环形轮槽，第一导纱轮3.9的轴向高度大于第二导纱轮3.10的轴向高度，第二导纱轮3.10安装在出纱孔侧，第一导纱轮3.9安装在放卷辊3.5和第二导纱轮3.10之间。采用旋向相反的放纱方式，有效减少了放纱所需空间，更加高效、合理。从两个放卷辊3.5引出的纤维分别绕过第一导纱轮3.9的上下两道环形轮槽，保证两股纤维放卷过程中不交叉，再绕过第二导纱轮3.10的上下两道环形轮槽，在保证不交叉的同时缩短两股纤维间距，便于同时将两股纤维导向出纱孔。Two unwinding rollers 3.5 with opposite rotation directions and two yarn guide wheels with the same rotation direction are installed on the circumferential rotary table 3.1; the two yarn guide wheels are provided with upper and lower annular wheel grooves, and the first yarn guide wheel The axial height of 3.9 is greater than the axial height of the second yarn guide wheel 3.10. The second yarn guide wheel 3.10 is installed on the side of the yarn outlet hole. The first yarn guide wheel 3.9 is installed between the unwinding roller 3.5 and the second yarn guide wheel 3.10. between. The yarn placing method with opposite rotation direction effectively reduces the space required for yarn placing and is more efficient and reasonable. The fibers drawn out from the two unwinding rollers 3.5 respectively bypass the upper and lower annular grooves of the first yarn guide wheel 3.9 to ensure that the two fibers do not cross during the unwinding process, and then bypass the upper and lower two grooves of the second yarn guide wheel 3.10. The annular wheel groove shortens the distance between the two fibers while ensuring that they do not cross, so that the two fibers can be guided out of the yarn hole at the same time.
第二圆环3.6.2通过轴承与丝嘴3.7连接，用于减小丝嘴3.7与第二圆环3.6.2之间的摩擦，使丝嘴3.7可根据纤维受力进行旋转，实时调控。由于该设备在缠绕过程中，纤维卷装配在环向旋转台3.1上围绕芯模101旋转进行缠绕，所以丝嘴3.7的运动幅度较小，采用轴承这种机械调控使丝嘴3.7进行转动，可以有效减少丝嘴3.7反应时间，调控也更为精确。The second ring 3.6.2 is connected to the thread nozzle 3.7 through a bearing, which is used to reduce the friction between the thread nozzle 3.7 and the second ring 3.6.2, so that the thread nozzle 3.7 can rotate according to the force of the fiber and be regulated in real time. Since during the winding process of this equipment, the fiber roll is assembled on the circumferential rotating table 3.1 and rotates around the mandrel 101 for winding, the motion range of the thread nozzle 3.7 is small. The mechanical control of the bearing is used to rotate the thread nozzle 3.7, which can It effectively reduces the reaction time of the thread nozzle 3.7 and makes the control more precise.
轴向连杆包括与第一圆环3.6.1固定连接的第一轴向连杆3.6.3以及与第二圆环3.6.2固定连接的第二轴向连杆3.6.4；第一轴向连杆3.6.3和第二轴向连杆3.6.4通过卡块和卡槽轴向滑动连接，且沿轴向设置有多个通孔3.6.5，第一轴向连杆3.6.3和第二轴向连杆3.6.4的通孔通过螺栓螺母连接，可以使丝嘴3.7进行前后移动，以适应不同尺寸的芯模101。球形压力容器表面任意位置与圆心距离相等，短粗形压力容器器表面据中心距离相差不大，该类容器在缠绕过程中丝嘴3.7可以不进行前后运动，故通过卡块、卡槽、通孔3.6.5和螺栓螺母将丝嘴3.7的前后运动设为手动调节，降低设备复杂程度。The axial connecting rod includes a first axial connecting rod 3.6.3 fixedly connected with the first circular ring 3.6.1 and a second axial connecting rod 3.6.4 fixedly connected with the second circular ring 3.6.2; the first shaft The axial connecting rod 3.6.3 and the second axial connecting rod 3.6.4 are axially slidingly connected through the clamping block and the slot, and are provided with multiple through holes 3.6.5 along the axial direction. The first axial connecting rod 3.6.3 It is connected with the through hole of the second axial connecting rod 3.6.4 through bolts and nuts, so that the thread nozzle 3.7 can be moved forward and backward to adapt to the core mold 101 of different sizes. The distance between any position on the surface of a spherical pressure vessel and the center of the circle is equal. The distance between the surface and the center of a short and thick pressure vessel is not much different. The thread nozzle 3.7 of this type of vessel does not need to move forward and backward during the winding process. Therefore, through the clamping block, slot, and through Hole 3.6.5 and bolts and nuts allow the forward and backward movement of thread nozzle 3.7 to be manually adjusted, reducing the complexity of the equipment.
环形缠绕平台2上设置有一个或多个缠绕机构。在单组缠绕机构效率提高的基础上，再将缠绕效率成倍提升。The annular winding platform 2 is provided with one or more winding mechanisms. On the basis of improving the efficiency of the single-group winding mechanism, the winding efficiency is doubled.
上弧形槽和下弧形槽上均设置有弧形齿条1.4；径向旋转机构还包括第一齿轮和第一电机4.3；两组第一齿轮有两种方式实现旋转：The upper arc-shaped groove and the lower arc-shaped groove are both provided with arc-shaped racks 1.4; the radial rotation mechanism also includes a first gear and a first motor 4.3; the two sets of first gears have two ways to achieve rotation:
第一种方式为：两组第一齿轮均为由第一电机4.3驱动的主动齿轮4.4，分别转动安装在上径向旋转台4.1和下径向旋转台4.2上，与弧形齿条1.4啮合；The first way is: both sets of first gears are driving gears 4.4 driven by the first motor 4.3, which are rotatably installed on the upper radial rotating table 4.1 and the lower radial rotating table 4.2 respectively, and mesh with the arc rack 1.4 ;
第二种方式为：两组第一齿轮为主动齿轮4.4和从动齿轮4.5，分别转动安装在上径向旋转台4.1和下径向旋转台4.2上，与弧形齿条1.4啮合，主动齿轮4.4由第一电机4.3驱动，安装芯模101和芯模轴102后将径向旋转机构的上下两部分连成一体，通过夹持盘、芯模101和芯模轴102带动从动齿轮4.5旋转。The second way is: the two sets of first gears are the driving gear 4.4 and the driven gear 4.5, which are rotatably installed on the upper radial rotating table 4.1 and the lower radial rotating table 4.2 respectively, meshing with the arc rack 1.4, and the driving gear 4.4 is driven by the first motor 4.3. After installing the mandrel 101 and the mandrel shaft 102, the upper and lower parts of the radial rotation mechanism are integrated, and the driven gear 4.5 is driven to rotate through the clamping plate, the mandrel 101 and the mandrel shaft 102. .
为了简化结构，本实施例采用第二种方式。In order to simplify the structure, this embodiment adopts the second method.
上弧形槽和下弧形槽上还设置有弧形轨道1.5；上径向旋转台4.1和下径向旋转台4.2上均设置有弧形轨道限位槽4.6，弧形轨道限位槽4.6与弧形轨道1.5滑动配合，限制径向旋转台的其他自由度，使其只能径向旋转。The upper arc-shaped groove and the lower arc-shaped groove are also provided with arc-shaped tracks 1.5; the upper radial rotary table 4.1 and the lower radial rotary table 4.2 are both provided with arc-shaped track limit grooves 4.6, and arc-shaped track limit grooves 4.6 Slidingly cooperates with the arc track 1.5 to limit other degrees of freedom of the radial rotary table so that it can only rotate radially.
轴向旋转机构还包括第三电机5.3；夹持盘有两种方式实现旋转：The axial rotation mechanism also includes a third motor 5.3; the clamping plate has two ways to rotate:
第一种方式为：上夹持盘5.1和下夹持盘5.2均由第三电机5.3驱动同向同速旋转；The first way is: the upper clamping plate 5.1 and the lower clamping plate 5.2 are both driven by the third motor 5.3 to rotate in the same direction and at the same speed;
第二种方式为：上夹持盘5.1和下夹持盘5.2分别为主动旋转盘和从动旋转盘，主动旋转盘由第三电机5.3驱动旋转，从动旋转盘通过芯模101及芯模轴102从动旋转。The second way is: the upper clamping plate 5.1 and the lower clamping plate 5.2 are the active rotating plate and the driven rotating plate respectively. The active rotating plate is driven to rotate by the third motor 5.3, and the driven rotating plate passes through the core mold 101 and the mandrel. Shaft 102 is driven to rotate.
为了简化结构，本实施例采用第二种方式。In order to simplify the structure, this embodiment adopts the second method.
上夹持盘5.1和下夹持盘5.2均采用三爪卡盘，第三电机5.3可直接驱动夹持盘，也可通过齿轮驱动。Both the upper clamping plate 5.1 and the lower clamping plate 5.2 adopt three-jaw chucks, and the third motor 5.3 can directly drive the clamping plate or drive it through a gear.
实施例2Example 2
本实施例提供一种球形及短粗形压力容器的纤维缠绕方法，基于实施例1所述纤维缠绕控制设备实施，采用单组缠绕机构缠绕，包括下述步骤。This embodiment provides a fiber winding method for spherical and short thick-shaped pressure vessels, which is implemented based on the fiber winding control equipment described in Embodiment 1, and is wound using a single group of winding mechanisms, including the following steps.
S1，安装芯模S1, install core mold
将芯模101两端极孔的芯模轴102分别夹持在上夹持盘5.1和下夹持盘5.2上：Clamp the mandrel shaft 102 with pole holes at both ends of the mandrel 101 on the upper clamping plate 5.1 and the lower clamping plate 5.2 respectively:
如图10所示，缠绕等极孔容器时，芯模101中心为缠绕中心103，将缠绕中心103调整至出纱组件出纱点位（本实施例中出纱组件出纱点位即丝嘴3.7）所在水平面上；As shown in Figure 10, when winding a container with equal pole holes, the center of the mandrel 101 is the winding center 103, and the winding center 103 is adjusted to the yarn outlet point of the yarn outlet assembly (in this embodiment, the yarn outlet point of the yarn outlet assembly is the yarn nozzle). 3.7) On the horizontal plane;
如图11所示，缠绕不等极孔容器时，芯模101两极孔位于芯模轴102两侧的端部连线与两根芯模轴102连线的交点为缠绕中心103，将缠绕中心103调整至出纱组件出纱点位所在水平面上。As shown in Figure 11, when winding a container with unequal pole holes, the intersection point of the end line connecting the two pole holes of the mandrel 101 on both sides of the mandrel shaft 102 and the line connecting the two mandrel shafts 102 is the winding center 103. The winding center 103 is adjusted to the horizontal plane where the yarn outlet point of the yarn outlet assembly is located.
S2，控制环向旋转台3.1靠近芯模101的上极孔或下极孔，从已安装在出纱组件上的纤维卷引出纤维缠绕至芯模101的上极孔或下极孔处。S2, control the circumferential rotating table 3.1 to be close to the upper pole hole or the lower pole hole of the core mold 101, and take out the fiber from the fiber roll installed on the yarn outlet component and wind it to the upper pole hole or the lower pole hole of the core mold 101.
S3，采用单组缠绕机构缠绕S3, using a single group winding mechanism for winding
纤维缠绕控制设备通过芯模101轴向转角θ、缠绕机构绕芯模101转角Ф和芯模101径向与水平面夹角ψ三个参数控制缠绕，单位均为°，球形及短粗形压力容器的纤维缠绕采用纵向缠绕、环向缠绕和过渡缠绕三种缠绕工艺，纵向缠绕工艺根据要求设计不同的纵向缠绕角ψ1实现不同纵向层的缠绕，不同纵向缠绕角ψ1的纵向缠绕工艺之间通过过渡缠绕工艺进行过渡，纵向缠绕工艺和环向缠绕工艺之间通过过渡缠绕工艺进行过渡；The fiber winding control equipment controls winding through three parameters: the axial rotation angleθ of the mandrel 101, the rotation angleФ of the winding mechanism around the mandrel 101, and the angleψ between the radial direction of the mandrel 101 and the horizontal plane. The units are all °. Spherical and short and thick pressure vessels The fiber winding adopts three winding processes: longitudinal winding, circumferential winding and transitional winding. The longitudinal winding process is designed with different longitudinal winding anglesψ1 according to the requirements to achieve the winding of different longitudinal layers. The longitudinal winding processes with different longitudinal winding anglesψ1 are different. The transition is carried out through the transitional winding process, and the transition between the longitudinal winding process and the circumferential winding process is carried out through the transitional winding process;
纵向缠绕工艺中，ψ=ψ1，缠绕同一纵向层时，纵向缠绕角ψ1不变，出纱组件出纱点位绕芯模101旋转一周，芯模101轴向匀速转过Δθ，In the longitudinal winding process,ψ=ψ1. When winding the same longitudinal layer, the longitudinal winding angleψ1 remains unchanged. The yarn outlet point of the yarn outlet component rotates around the core mold 101, and the core mold 101 rotates axially throughΔθ at a constant speed.
， ,
其中R为所缠绕芯模的赤道圆半径，单位mm，Δt为纤维带宽，单位mm，α为赤道圆处所对应的螺旋缠绕角，单位°；Among them,R is the equatorial circle radius of the wound core mold, unit mm,Δt is the fiber bandwidth, unit mm,α is the corresponding spiral winding angle at the equatorial circle, unit °;
转速比i的定义为芯模101转数与出纱组件出纱点位绕芯模101转数比值，The rotation speed ratioi is defined as the ratio of the 101 revolutions of the core mold to the 101 revolutions of the yarn outlet assembly around the core mold.
； ;
环向缠绕工艺中，通过调整径向旋转机构使芯模101径向与水平面夹角ψ为纤维缠绕控制设备所能达到最小值ψ2，缠绕机构在两根芯模轴102连线单侧的环形缠绕平台2上进行弧形往复运动，如图12所示，以缠绕中心103为原点，以两根芯模轴102连线在出纱组件出纱点位所在水平面上的投影为x轴，垂直于x轴方向为y轴，垂直于出纱组件出纱点位所在水平面的方向为z轴建立坐标系，芯模101每轴向匀速转动一周，出纱组件出纱点位的x坐标改变Δtcosψ2，依照下式，以x为变量，单位mm，计算对应的θ与Ф值，In the circumferential winding process, the radial rotation mechanism is adjusted so that the angleψ between the radial direction of the mandrel 101 and the horizontal plane is the minimum valueψ2 that the fiber winding control equipment can achieve. The winding mechanism is on one side of the connection between the two mandrel shafts 102. The annular winding platform 2 performs arc-shaped reciprocating motion, as shown in Figure 12, with the winding center 103 as the origin, and the projection of the line connecting the two mandrel shafts 102 on the horizontal plane where the yarn outlet point of the yarn outlet assembly is located isthe x- axis. The direction perpendicular tothe x- axis isthe y- axis, and the direction perpendicular to the horizontal plane where the yarn outlet point of the yarn outlet assembly is located is thez- axis to establish a coordinate system. The mandrel 101 rotates once in each axis at a uniform speed, andthe x- coordinate of the yarn outlet point of the yarn outlet assembly changes. Δtcosψ2 , according to the following formula, usingx as the variable in mm, calculate the correspondingθ andФ values,
， ,
其中Δt为纤维带宽，b为出纱组件出纱点位轨迹所在圆半径，单位均mm；Among them,Δt is the fiber bandwidth,b is the radius of the circle where the yarn outlet point trajectory of the yarn outlet component is located, and the unit is mm;
过渡缠绕工艺中，随着缠绕机构绕芯模101旋转，芯模101自转，同时调整芯模101径向与水平面夹角ψ，按照非测地线稳定缠绕线型，使芯模101在不同的工艺层之间稳定过渡。In the transitional winding process, as the winding mechanism rotates around the core mold 101, the core mold 101 rotates. At the same time, the angleψ between the radial direction of the core mold 101 and the horizontal plane is adjusted to stabilize the winding line pattern according to the non-geodesic line, so that the core mold 101 can be wound in different positions. Stable transition between process layers.
S4，完成所有缠绕工艺后，剪断纤维。S4, after completing all winding processes, cut the fibers.
实施例3Example 3
本实施例提供一种球形及短粗形压力容器的纤维缠绕方法，与实施例2不同之处在于，采用多组缠绕机构缠绕，包括下述步骤。This embodiment provides a fiber winding method for spherical and short thick-shaped pressure vessels. The difference from Embodiment 2 is that multiple groups of winding mechanisms are used for winding, including the following steps.
S1，安装芯模S1, install core mold
同实施例2。Same as Example 2.
S2，控制环向旋转台3.1靠近芯模101的上极孔或下极孔，从已安装在出纱组件上的纤维卷引出纤维缠绕至芯模101的上极孔或下极孔处，多组缠绕机构均匀布置在环形缠绕平台2上。S2, control the circumferential rotary table 3.1 to be close to the upper pole hole or the lower pole hole of the core mold 101, and take out the fiber from the fiber roll installed on the yarn outlet component and wind it to the upper pole hole or the lower pole hole of the core mold 101. The group winding mechanism is evenly arranged on the annular winding platform 2.
S3，采用多组缠绕机构缠绕S3, using multiple groups of winding mechanisms for winding
不同之处在于：The difference is:
纵向缠绕工艺中，ψ=ψ1，缠绕同一纵向层时，纵向缠绕角ψ1不变，出纱组件出纱点位绕芯模101旋转一周，芯模101轴向匀速转过n倍于Δθ的角度，n为缠绕机构的数量In the longitudinal winding process,ψ = ψ1. When winding the same longitudinal layer, the longitudinal winding angleψ1 remains unchanged. The yarn outlet point of the yarn outlet component rotates around the core mold 101 for one revolution. The core mold 101 rotates axially at a constant speed n times Δ The angle ofθ , n is the number of winding mechanisms
， ,
其中R为所缠绕芯模的赤道圆半径，单位mm，Δt为纤维带宽，单位mm，α为赤道圆处所对应的螺旋缠绕角，单位°；Among them,R is the equatorial circle radius of the wound core mold, unit mm,Δt is the fiber bandwidth, unit mm,α is the corresponding spiral winding angle at the equatorial circle, unit °;
转速比i的定义为芯模转数与出纱组件出纱点位绕芯模转数比值，The rotation speed ratioi is defined as the ratio of the number of revolutions of the core mold to the number of revolutions of the yarn outlet component around the core mold,
； ;
环向缠绕工艺中，最多使用两组缠绕机构，两组缠绕机构分别在两根芯模轴102连线两侧的环形缠绕平台2上进行弧形往复运动，其余缠绕机构置于不影响缠绕轨迹处，如图2所示，两组缠绕机构旋转方向相同，均为顺时针或逆时针，采用与实施例2相同的方法建立坐标系，芯模每轴向匀速转动一周，出纱组件出纱点位的x坐标改变2Δtcosψ2，依照下式，以x为变量，单位mm，计算对应的θ与Ф值，In the circumferential winding process, at most two groups of winding mechanisms are used. The two groups of winding mechanisms perform arc-shaped reciprocating motion on the annular winding platform 2 on both sides of the connection line between the two mandrel shafts 102. The remaining winding mechanisms are placed so as not to affect the winding trajectory. , as shown in Figure 2, the two groups of winding mechanisms rotate in the same direction, clockwise or counterclockwise. The same method as in Embodiment 2 is used to establish the coordinate system. The mandrel rotates at a uniform speed in each axial direction, and the yarn output assembly outputs yarn. The x coordinate of the point changes by 2Δtcosψ2. According to the following formula, usingx as the variable in mm, calculate the correspondingθ andФ values,
， ,
其中Δt为纤维带宽，b为出纱组件出纱点位轨迹所在圆半径，单位均为mm；Among them,Δt is the fiber bandwidth,b is the radius of the circle where the yarn outlet point trajectory of the yarn outlet component is located, and the units are mm;
待纵向缠绕工艺或环向缠绕工艺中最后一组缠绕机构缠绕结束，进行过渡缠绕工艺。After the last group of winding mechanisms in the longitudinal winding process or the circumferential winding process has finished winding, the transition winding process is performed.
S4，完成所有缠绕工艺后，依次剪断纤维。S4, after completing all winding processes, cut the fibers in sequence.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. scope.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310792273.3ACN116533559B (en) | 2023-06-30 | 2023-06-30 | A fiber winding method for spherical and short thick pressure vessels |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310792273.3ACN116533559B (en) | 2023-06-30 | 2023-06-30 | A fiber winding method for spherical and short thick pressure vessels |
| Publication Number | Publication Date |
|---|---|
| CN116533559A CN116533559A (en) | 2023-08-04 |
| CN116533559Btrue CN116533559B (en) | 2023-09-22 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310792273.3AActiveCN116533559B (en) | 2023-06-30 | 2023-06-30 | A fiber winding method for spherical and short thick pressure vessels |
| Country | Link |
|---|---|
| CN (1) | CN116533559B (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117818089B (en)* | 2024-03-06 | 2024-05-03 | 江苏扫地僧智能科技有限公司 | Arc-shaped rotary winding manipulator |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3283050A (en)* | 1965-04-06 | 1966-11-01 | Universal Moulded Fiber Glass | Method and apparatus for making continuous lengths of threaded fiber reinforced resin articles |
| US3306797A (en)* | 1963-08-02 | 1967-02-28 | Universal Moulded Fiber Glass | Method and apparatus for making elongated articles of fiber reinforced resin material |
| US3537937A (en)* | 1966-12-15 | 1970-11-03 | Koppers Co Inc | Method and apparatus for filament winding planar structures |
| US4183232A (en)* | 1977-06-20 | 1980-01-15 | Societe Nationale Industrielle Aero-Spatiale | Method and machine for three-dimensional weaving for obtaining woven hollow reinforcements of revolution |
| US4264278A (en)* | 1977-10-31 | 1981-04-28 | Oscar Weingart | Blade or spar |
| US4273601A (en)* | 1977-10-31 | 1981-06-16 | Structural Composites Industries, Inc. | Method for the production of elongated resin impregnated filament composite structures |
| US4790898A (en)* | 1982-07-19 | 1988-12-13 | The Boeing Company | Method and apparatus for fiber lamination |
| US4892764A (en)* | 1985-11-26 | 1990-01-09 | Loctite Corporation | Fiber/resin composites, and method of making the same |
| US5580409A (en)* | 1992-08-11 | 1996-12-03 | E. Khashoggi Industries | Methods for manufacturing articles of manufacture from hydraulically settable sheets |
| US5798013A (en)* | 1993-08-06 | 1998-08-25 | Brandenburger Patentverwertungsgesellschaft Des Burgerlichen Rechts | Method and apparatus for producing a tubular lining hose |
| US6151743A (en)* | 1998-10-26 | 2000-11-28 | Faroex Ltd. | Structural panel for bridging between spaced supports |
| US6431490B1 (en)* | 1998-01-23 | 2002-08-13 | Societe Nationale Industrielle Et Aerospatiale | Process for depositing by winding on a support several rovings simultaneously of pre-impregnated fibers, device for practicing the same, and structure of a composite material thus obtained |
| CN102022589A (en)* | 2010-12-22 | 2011-04-20 | 南京诺尔泰复合材料设备制造有限公司 | Method and device for preparing composite tube having axial fibers |
| WO2018234687A1 (en)* | 2017-06-19 | 2018-12-27 | Safran Aircraft Engines | TOOLING AND METHOD FOR IMPREGNATING A FIBROUS REVOLUTION PREFORM |
| KR102127894B1 (en)* | 2020-01-14 | 2020-06-29 | 킴텍(주) | Facility for manufacturing the composite pressure vessel |
| CN215791876U (en)* | 2021-04-20 | 2022-02-11 | 钱冬明 | Glass fiber reinforced plastic cable guide pipe mold shaft and continuous production line |
| RU2770724C1 (en)* | 2020-07-17 | 2022-04-21 | Иван Александрович Григор | Process line for production of reinforcement from composite materials |
| CN115648654A (en)* | 2022-12-09 | 2023-01-31 | 太原理工大学 | A kind of fiber winding manipulator, its multi-bundle yarn nozzle device, and fiber winding method |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE532988T1 (en)* | 2000-09-11 | 2011-11-15 | Toray Industries | HIGH SPEED PROCESS FOR PRODUCING COMPOSITE FLYWHEELS |
| US20040198539A1 (en)* | 2002-02-21 | 2004-10-07 | Sutherland Terrance W. | Polymer composite bat |
| GB201223001D0 (en)* | 2012-12-20 | 2013-01-30 | Williams Hybrid Power Ltd | Magnetically loaded composite rotor and methods of making the same |
| GB201310485D0 (en)* | 2013-06-12 | 2013-07-24 | Wellstream Int Ltd | Windable body |
| US9956987B2 (en)* | 2013-11-22 | 2018-05-01 | Jtekt Corporation | Manufacturing method of bar component and bar component |
| DE102018211793A1 (en)* | 2018-07-16 | 2020-01-16 | Sgl Carbon Se | Process for producing a hollow profile with variable curvatures and cross sections |
| US11534986B2 (en)* | 2018-11-02 | 2022-12-27 | The Boeing Company | Composite structures constructed of wound tubular braiding |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3306797A (en)* | 1963-08-02 | 1967-02-28 | Universal Moulded Fiber Glass | Method and apparatus for making elongated articles of fiber reinforced resin material |
| US3283050A (en)* | 1965-04-06 | 1966-11-01 | Universal Moulded Fiber Glass | Method and apparatus for making continuous lengths of threaded fiber reinforced resin articles |
| US3537937A (en)* | 1966-12-15 | 1970-11-03 | Koppers Co Inc | Method and apparatus for filament winding planar structures |
| US4183232A (en)* | 1977-06-20 | 1980-01-15 | Societe Nationale Industrielle Aero-Spatiale | Method and machine for three-dimensional weaving for obtaining woven hollow reinforcements of revolution |
| US4264278A (en)* | 1977-10-31 | 1981-04-28 | Oscar Weingart | Blade or spar |
| US4273601A (en)* | 1977-10-31 | 1981-06-16 | Structural Composites Industries, Inc. | Method for the production of elongated resin impregnated filament composite structures |
| US4790898A (en)* | 1982-07-19 | 1988-12-13 | The Boeing Company | Method and apparatus for fiber lamination |
| US4892764A (en)* | 1985-11-26 | 1990-01-09 | Loctite Corporation | Fiber/resin composites, and method of making the same |
| US5580409A (en)* | 1992-08-11 | 1996-12-03 | E. Khashoggi Industries | Methods for manufacturing articles of manufacture from hydraulically settable sheets |
| US5798013A (en)* | 1993-08-06 | 1998-08-25 | Brandenburger Patentverwertungsgesellschaft Des Burgerlichen Rechts | Method and apparatus for producing a tubular lining hose |
| US6431490B1 (en)* | 1998-01-23 | 2002-08-13 | Societe Nationale Industrielle Et Aerospatiale | Process for depositing by winding on a support several rovings simultaneously of pre-impregnated fibers, device for practicing the same, and structure of a composite material thus obtained |
| US6151743A (en)* | 1998-10-26 | 2000-11-28 | Faroex Ltd. | Structural panel for bridging between spaced supports |
| CN102022589A (en)* | 2010-12-22 | 2011-04-20 | 南京诺尔泰复合材料设备制造有限公司 | Method and device for preparing composite tube having axial fibers |
| WO2018234687A1 (en)* | 2017-06-19 | 2018-12-27 | Safran Aircraft Engines | TOOLING AND METHOD FOR IMPREGNATING A FIBROUS REVOLUTION PREFORM |
| KR102127894B1 (en)* | 2020-01-14 | 2020-06-29 | 킴텍(주) | Facility for manufacturing the composite pressure vessel |
| RU2770724C1 (en)* | 2020-07-17 | 2022-04-21 | Иван Александрович Григор | Process line for production of reinforcement from composite materials |
| CN215791876U (en)* | 2021-04-20 | 2022-02-11 | 钱冬明 | Glass fiber reinforced plastic cable guide pipe mold shaft and continuous production line |
| CN115648654A (en)* | 2022-12-09 | 2023-01-31 | 太原理工大学 | A kind of fiber winding manipulator, its multi-bundle yarn nozzle device, and fiber winding method |
| Title |
|---|
| 《FRP球形压力容器纤维缠绕规律分析及装备研究》;周敏;《工程科技Ⅱ辑》;全文* |
| 《基于渐进均匀化方法的CFRP 缠绕储氢气瓶多尺度仿真研究》;梁建国;《复合材料科学与工程》;全文* |
| 树脂基复合材料纤维缠绕动态显示技术研究;练在中, 李杨;武汉理工大学学报(第01期);全文* |
| 等极孔球形压力容器平面缠绕规律;王洪运;马国峰;赵亮;费春东;;宇航材料工艺(第03期);全文* |
| 纤维缠绕成型的CAD/CAM技术研究;王增加, 李辅安, 喻俊伟;纤维复合材料(第02期);全文* |
| Publication number | Publication date |
|---|---|
| CN116533559A (en) | 2023-08-04 |
| Publication | Publication Date | Title |
|---|---|---|
| CN116494566B (en) | Filament winding control equipment for spherical and short thick pressure vessels | |
| CN116533559B (en) | A fiber winding method for spherical and short thick pressure vessels | |
| CN1112309C (en) | Method and device for packing welding-wire into holder | |
| WO2023274379A1 (en) | Fiber winding machine and winding method | |
| CN113334748B (en) | Fiber winding device | |
| CN115230201B (en) | Method for manufacturing storage container by spirally winding multiple bundles of fibers | |
| CN111014883A (en) | Electric arc fuse wire additive manufacturing device | |
| JP4431469B2 (en) | Pressure vessel manufacturing method and fiber bundle winding device | |
| CN114043745A (en) | Filament winding method and system applied to a composite rotor with a concave surface | |
| CN116494576B (en) | Multi-beam fiber spiral winding equipment capable of assisting yarn spreading and tension adjustment | |
| JP5510179B2 (en) | Filament winding equipment | |
| KR101277422B1 (en) | Winder with monitored secondary travel | |
| US20220388228A1 (en) | Multi-filament helical winding devices | |
| CN120362883A (en) | Pressure vessel inner circular seam welding device and inner circular seam welding method | |
| JPS5912587B2 (en) | Traverse device for linear material winding device | |
| CN215198748U (en) | Internal cleaning device for pressure container | |
| US4323408A (en) | Filament winding of plastic articles | |
| CN113386330A (en) | Novel multi-beam fiber spiral winding equipment | |
| CA1166227A (en) | Coiling process and apparatus by radially winding a filament | |
| CN113798761B (en) | A serpentine inner support device for girth welding of large-diameter tank barrel sections | |
| US4557788A (en) | Filament winding of plastic articles | |
| US20140199504A1 (en) | System and methods for creating wrapped filament reinforced vessels, and vessels created thereby | |
| US4384913A (en) | Mandrel for filament winding of plastic articles | |
| CN113968672A (en) | Device and method for controlling anchor rod swing in anchor rod production | |
| CN113118959A (en) | Burnishing device is used in steel pipe machining |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |