Design Of Control System For 4-DOF Composite Elbow Pipe Winding Machine

Composite winding pipe products have many advantages,such as high strength,light weight,corrosion resistance and so on.,so that they are widely used in energy,ships,oil fields and other fields.At present,the winding molding process and equipment of straight pipe have been relatively mature,but the winding molding of elbow pipe is still mainly made by hand or traditional horizontal winding machine.The elbow pipe is a non-axismetrical rotating structure,which makes the traditional winding machine based on four degrees of freedom main shaft to drive the elbow pipe rotation combined with the translation of the guide wire nozzle to realize the elbow pipe winding forming method limited in linear design,trajectory planning and other aspects.In addition,in the process of spindle rotation,the convex side of the ring section of the elbow pipe produces a large centrifugal force,which brings instability to the winding machine.Especially,with the increasing demand of medium and large diameter composite elbow pipe,the traditional horizontal winding machine and fiber winding technology are more difficult to meet the production demand of composite elbow pipe.Therefore,this paper designs a new type of fourdegree-of-freedom pipe bending machine based on the fixed core mold and the rotary and translational movement of the guide wire nozzle to realize the winding formation of the elbow pipe,and carries out the winding linear design,trajectory planning and winding experiment research.Linear design is one of the key contents of fiber winding technology.In this paper,for non-rotary elbow pipe members,the linear design based on geodesic is carried out for the ring section of elbow pipe,and the linear design of the cylindrical section of elbow pipe is carried out for the non-measuring line.At the same time,the slip phenomenon is easy to occur in the ring section of elbow pipe,and the overhead phenomenon is easy to occur on the concave side of the ring section.The non-slip and non-overhead conditions of elbow pipe were derived,and the elbow pipe lineament was simulated by Matlab platform,so as to meet the requirement of uniform and stable covering of fibers on the core mold surface in the winding process of elbow pipe.In order to realize the structural design and winding trajectory planning of the new elbow pipe winding machine,this paper compares and analyzes the two types of motion forms of the guide wire,namely the traditional trolley reciprocating translation and the guide wire circular rotation around the core mold,and the characteristics of the three winding forms,namely the fiber yarn winding,the prepreg tape winding and the yarn/tape winding,and designs the elbow pipe winding forming process of the guide wire circular rotation around the core mold combined with the yarn/tape winding.According to the winding process,the gantry frame mechanism,rotary guide wire ring mechanism,deflection module,yarn splitting mechanism,dipping groove and other structures of the new four-degree-of-freedom elbow pipe winding machine are designed.At the same time,the trajectory planning and motion simulation of the guide wire nozzle are carried out based on Matlab platform to obtain a reasonable winding trajectory of the elbow pipe.Finally,this paper designs a four-degree-of-freedom composite pipe bending machine control system with industrial computer,Googo motion controller and servo motor as the main hardware,and develops the upper computer software system based on the Visual Studio platform C# language to achieve human-computer interaction,data transmission and other functions.The new four-degree-of-freedom bending machine designed in this paper is taken as the experimental platform,and combined with the new winding forming process,the bending forming experiment is carried out.The hydrostatic testing platform and the blasting experiment machine are used to test the performance of the winding forming pipe,and the experiment verifies that the new four-degree-of-freedom bending machine designed in this paper has good adaptability.It can meet the winding forming requirements of composite elbow pipe.