CN114481457A

CN114481457A - Special-shaped needling machine

Info

Publication number: CN114481457A
Application number: CN202011252363.6A
Authority: CN
Inventors: 张焱
Original assignee: Yixing Fuyuanhao New Material Technology Co ltd
Current assignee: Yixing Fuyuanhao New Material Technology Co ltd
Priority date: 2020-11-13
Filing date: 2020-11-13
Publication date: 2022-05-13
Anticipated expiration: 2040-11-13
Also published as: CN114481457B

Abstract

The invention provides a special-shaped needling machine which comprises a needling module and a pose regulating module, wherein the needling module and the pose regulating module are installed on a support frame, the pose regulating module is provided with a control unit, a turnover unit, a horizontal displacement unit and a vertical displacement unit, the turnover unit supports and drives a piece to be needled to perform posture transformation, the horizontal displacement unit and the vertical displacement unit drive the piece to be needled to perform three-dimensional position transformation, the turnover unit, the horizontal displacement unit, the vertical displacement unit and the needling module are driven by the control unit to operate in a linkage manner, and the pose and needling parameters of the piece to be needled are automatically regulated and controlled to realize the forming of a special-shaped needling structure. The needling module and the pose regulating module which are operated in a linked manner are arranged, so that the pose and needling parameters of a piece to be needled are automatically regulated, the needling module is applied to actual production, less manual participation is realized, the degree of mechanization is high, the special-shaped needling piece can be automatically and integrally formed, the processing precision is ensured, the consistency and the reproducibility of the product quality are good, the production efficiency is obviously improved, and the requirement of batch industrial production is met.

Description

Special-shaped needling machine

Technical Field

The invention relates to the technical field of needling, in particular to a special-shaped needling machine.

Background

The needle-punched three-dimensional fabric is divided into a plane needle-punched forming prefabricated part and a needle-punched forming special-shaped component according to the structure, the existing plane needle-punching technology is generally mechanized, the special-shaped component, such as a rotary prefabricated part, can only apply a flat needle-punching technology to a cylinder part, and is difficult to be applied to the forming of a large needle plate for a closed end part, because the needle-punching forming of the large needle plate is a needle-punching track which is circumferentially distributed, the end part can be broken; therefore, in the prior art, the end part can be formed only by manual needling or mechanical arm needling, and then the large needle plate forming cylinder body part is combined for step-by-step manufacturing. The needling efficiency of manual needling or mechanical arm needling is low, and when high-speed needling is carried out, broken slag is easily formed to influence fabric forming; among them, it is more disadvantageous that it is difficult for an operator to strictly control the needling force and uniformity of each layer, resulting in unstable internal quality and poor reproducibility of product quality.

Disclosure of Invention

In view of the above, there is a need for an improved needle loom to solve the above problems.

The technical scheme provided by the invention is as follows: the utility model provides a dysmorphism needle loom, is including installing acupuncture module and the position appearance regulation and control module on the support frame, position appearance regulation and control module is equipped with the control unit, upset unit, horizontal displacement unit and vertical displacement unit, the upset unit supports and drives and treats that acupuncture spare carries out the gesture transform, horizontal displacement unit with vertical displacement unit drives treat that acupuncture spare carries out the three-dimensional position transform, just the upset unit with horizontal displacement unit with vertical displacement unit reaches acupuncture module is in linkage operation under the control unit's drive, automatic regulation and control the position appearance and the acupuncture parameter of treating acupuncture spare realize the shaping of special-shaped acupuncture structure.

Furthermore, when the special-shaped needling structure comprises a curved end face, the linkage operation can form needling tracks distributed in a staggered manner in the region of the curved end face so as to avoid the breakage of the needling curved end face distributed in the circumferential direction.

Further, the change of the pose comprises three-dimensional position transformation and/or posture transformation, and the three-dimensional position transformation is used for displacing the base point of the piece to be needled in any direction in an orthogonal coordinate system; the posture transformation is that the piece to be needled rolls and/or pitches based on the axial section where the base point of the piece to be needled is located.

Further, the support frame comprises a support base, support columns, support beams, a support horizontal table and a movable bottom plate, wherein the support columns are installed on the support base, and the support beams are fixed at the top ends of two circumferentially adjacent support columns; the movable bottom plate is installed on the supporting base and enclosed inside the supporting column, and the movable bottom plate bears the supporting horizontal table.

Furthermore, a linkage mechanism which is combined with the needling module, the horizontal displacement unit, the vertical displacement unit and the overturning unit is arranged in the control unit, and the linkage mechanism is arranged on the supporting horizontal table in an overhead mode through an installation part of the control unit.

Furthermore, the horizontal displacement unit is provided with a parallel first horizontal guide rail which is arranged on the supporting base, and the moving bottom plate is provided with a sliding block which is matched with the first horizontal guide rail so as to realize horizontal movement; the vertical displacement unit is provided with a plurality of vertical guide rails which are fixed on the movable bottom plate and bear the supporting horizontal table so as to draw the supporting horizontal table to vertically move up and down.

Furthermore, the overturning unit is provided with a supporting rod for mounting the piece to be needled, and the supporting rod is connected to the control unit and extends out in the direction far away from the control unit; the overturning unit further comprises a connecting arm and a second horizontal guide rail parallel to the first horizontal guide rail, the second horizontal guide rail is mounted on the supporting horizontal table, one end of the connecting arm moves relative to the second horizontal guide rail, and the other end of the connecting arm is connected to the control unit; the supporting rod can roll or/and pitch under the driving of the control unit.

Furthermore, the needling module is arranged on the supporting beam or is externally arranged.

Further, when the needling module is mounted on the support beam, the needling module comprises a needle beam, a needle plate and needles mounted on the needle plate, and the needle plate is mounted on the needle beam and reciprocates relative to the needle beam so that the needles perform reciprocating needling on the piece to be needled.

Further, the needle plate is planar.

Compared with the prior art, the special-shaped needling machine provided by the invention automatically regulates and controls the position and the needling parameters of a piece to be needled by arranging the needling module and the position and posture regulating module which operate in a linkage manner, is applied to actual production, has less manual participation and high degree of mechanization, can automatically form the special-shaped needling piece, ensures the processing precision and has good product quality consistency and reproducibility, obviously improves the production efficiency, and meets the requirement of batch industrial production.

Drawings

The invention is described in further detail below with reference to the following figures and detailed description:

FIG. 1 is a schematic perspective view of a needle loom according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the needle loom shown in FIG. 1 at another angle;

FIG. 3 is a front view of the contour needling machine shown in FIG. 1;

FIG. 4 is a left side view of the contour needling machine shown in FIG. 1;

FIG. 5 is a top view of the contour needling machine shown in FIG. 1;

FIG. 6 is a schematic diagram of the needling structure with staggered distribution and circumferential distribution in the invention, (a) staggered distribution and (b) circumferential distribution.

Description of the main element symbols:

special-shaped needling machine 100

Needling module 10

Needle beam 12

Control unit 30

Linkage mechanism 32

Rotating shaft 32a

Mounting portion 34

Mounting hole 34a

Horizontal displacement unit 50

First horizontal guide rail 52

Vertical displacement unit 70

Vertical guide 72

Overturning unit 90

Support rod 92

Connecting arm 94

Second horizontal guide rail 96

Support base 1

Support column 3

Support beam 5

Supporting horizontal table 7

Opening 7a

Movable bottom plate 9

Slider 9a

Light guide rod 74

To-be-needled piece 200

The following detailed description further illustrates embodiments of the invention in conjunction with the above-described figures.

Detailed Description

So that the manner in which the above recited objects, features and advantages of embodiments of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth to provide a thorough understanding of embodiments of the invention, and the described embodiments are merely a subset of embodiments of the invention, rather than a complete embodiment. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the present invention belong. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention.

The invention provides a special-shaped needling machine 100 which comprises a needling module 10 and a pose regulating module, wherein the needling module 10 and the pose regulating module are installed on a support frame, the pose regulating module is provided with a control unit 30, a turning unit 90, a horizontal displacement unit 50 and a vertical displacement unit 70, the turning unit 90 supports and drives a piece to be needled 200 to perform posture transformation, the horizontal displacement unit 50 and the vertical displacement unit 70 drive the piece to be needled 200 to perform three-dimensional position transformation, and the turning unit 90, the horizontal displacement unit 50, the vertical displacement unit 70 and the needling module 10 are driven by the control unit 30 to operate in a linkage manner, so that the pose and needling parameters of the piece to be needled 200 are automatically regulated and controlled to realize the forming of a special-shaped needling structure. The invention automatically regulates and controls the pose and needling parameters of the member to be needled 200 by arranging the needling module 10 and the pose regulating and controlling module which are operated in a linkage manner, is applied to actual production, has less manual participation and high degree of mechanization, can automatically and integrally form the special-shaped needling member, ensures the processing precision, has good product quality consistency and reproducibility, obviously improves the production efficiency and meets the requirement of batch industrial production.

Referring to fig. 1, the present invention provides a special-shaped needling machine 100, which mainly comprises a support frame, a needling module 10 and a pose regulating module, and the specific structure is as follows:

firstly, the support frame is briefly described with reference to the attached fig. 1-5;

the support frame is used for a bearing component of the body of the special-shaped needle machine 100, and the shape of the support frame is approximately cubic as shown in figure 1. The support frame generally comprises a support base 1, a support column 3, a support beam 5, a support horizontal table 7 and a moving floor 9, wherein:

the support base 1 is square and is located at the bottom and close to the ground (other placing platforms are also possible, and the ground is not limited).

The supporting columns 3 are cylinders, the cross section of each supporting column 3 is square in shape in the embodiment, four supporting columns 3 with equal length are arranged on the supporting base 1, and are arranged in four corner areas of the supporting base 1 as shown in fig. 1, and the bottoms of the supporting columns are in contact with the ground, so that the supporting base 1 is kept away from the ground; the support base 1 is arranged at substantially the same height as the four support columns 3 to ensure that the surface of the support base 1 is level.

The support beams 5 are similar to the support columns 3 in shape, have longitudinal directions perpendicular to the longitudinal directions of the support columns 3, and have both ends fixed to the top ends of two support columns 3, as shown in fig. 1 and 2, in the present embodiment, one support beam 5 is fixed to each of the top ends of two support columns 3 adjacent to each other in the circumferential direction. The support beam 5 in the present invention mainly serves to carry the needling module 10.

The supporting horizontal table 7 is substantially square, and as shown in fig. 1 and fig. 2, an opening 7a is formed in the middle of the supporting horizontal table and mainly plays a role of supporting part of the pose adjusting and controlling module.

Remove bottom plate 9, the appearance is roughly the field font, as shown in fig. 1 and fig. 2, installs on support base 1 and enclosed in the inside of support column 3, removes bottom plate 9 and is bearing support horizontal platform 7, can drive support horizontal platform 7 and move equivalent to support base 1 to the realization treats the displacement change of acupuncture prefab.

Next, the present invention is briefly described with reference to FIGS. 1-5 for a needling module 10. The needling module 10 may be external, such as with robotic linkages, etc. It can be understood that the area of the mechanical hand type needling or the artificial needling is small, but flexible and changeable, and generally speaking, the needling is more suitable for the special-shaped end surface, such as a spherical closed end surface, a U-shaped curved surface and the like; but is not suitable for large-area needling, the needling efficiency is low, and the needling strength is low. It should be noted that the combination of the small area needling module 10 with the mold rotating mechanism and the mold lifting mechanism cannot realize the high-speed molding of the special-shaped revolving body, and the continuous fibers can be broken into slag in the preparation process, and interlayer connection cannot be realized; if the needling distance is small, the strength required by interlayer connection cannot be achieved, and the product quality is not ideal.

In the present embodiment, the needling module 10 is suspended from the support beam 5. As shown in fig. 2 and 3, the needling module 10 generally includes a needle bar 12, a needle board (not shown), and needles (not shown) mounted on the needle board, wherein,

the needle beam 12 is fixed on the support beam 5;

the needle plate is mounted on the needle beam 12 and is movable back and forth therewith to allow the needles to perform a back and forth needling of the member to be needled 200. The needle is usually of an inverted triangle needle type, when the needle penetrates into the piece to be needled 200, loose layer fiber bundles can be pulled among a plurality of layers of the piece to be needled 200, when the piece to be needled 200 is withdrawn, the loose layer fiber bundles can be withdrawn smoothly without taking out the transferred fiber bundles, so that the layers of the piece to be needled 200 are gradually connected, and finally the quasi three-dimensional fabric is formed. In the present embodiment, the contact surface between the needle beam 12 and the needle plate is planar, and the needle plate is substantially planar. It can be understood that the flat needling can realize large-area needling, the needling efficiency is high, the needling strength is high, and the needled product is more compact. In particular, in the embodiment, the pose of the to-be-needled part 200 is automatically regulated and controlled, so that the flat needling is also suitable for needling of special-shaped end surfaces, large-area needling and flexible and variable needling effects are achieved, and the special-shaped needling part, such as crucible fabric, cone fabric and the like, can be formed layer by layer at one time. Of course, it is easily conceivable that the needling requirement of the manipulator for a small area can be met by reducing the needle distribution in combination with the posture change of the member to be needled 200. According to the design scheme of the invention, the flat plate type needling module 10 is preferably adopted, so that the production efficiency is high, the needling precision is good, the product is more compact, and the product quality is better.

In the present embodiment, the needling parameters include needling depth, needling frequency, needling spacing, etc.; the normal direction is usually preferred, but it may be oblique according to the design of actual production, depending on the design of production.

Finally, the structure and operation of the pose control module according to the present invention will be explained with reference to fig. 1 to 4.

In an embodiment of the present invention, the change in pose includes a three-dimensional position transformation and/or a pose transformation. Namely, the change of the pose can be simple three-dimensional position transformation, simple pose transformation or transformation of both the three-dimensional position and the pose.

On the one hand, the three-dimensional position transformation is to displace the base point of the piece to be needled 200 in any direction in an orthogonal coordinate system (noted as X, Y, Z); for example, the base point of the member to be needled 200 is displaced in X, Y or Z direction, or the base point of the member to be needled 200 is displaced in XY, XZ, YZ, or XYZ direction.

On the other hand, the posture change is such that the member to be needled 200 rolls and/or pitches based on the axial section on which its base point is located. Roll is understood to mean that the opposite sides of the member to be needled 200 move in opposite directions to each other, similar to a spinning motion; pitching may also be understood as an up-and-down movement of the end of the piece to be needled 200 remote from the base point. The attitude transformation also comprises yaw, namely, the end part of the part 200 to be needled, which is far away from the base point, moves left and right.

Taking the crucible fabric of the rotary needling member as an example, the posture control module of the present invention is provided with a control unit 30, a turning unit 90, a horizontal displacement unit 50 and a vertical displacement unit 70. Wherein the content of the first and second substances,

the control unit 30 is internally provided with the linkage mechanism 32 of the combined needling module 10, the horizontal displacement unit 50, the vertical displacement unit 70 and the turnover unit 90, and the linkage mechanism 32 is overhead on the supporting horizontal table 7 through the mounting part 34 of the control unit 30. In the present embodiment, the mounting portion 34 has a substantially L-shaped side cross section and a triangular front surface, and the bottom of the triangle is fixed to the support horizontal table 7 and is parallel to the X direction (the direction in which the axial projection of the revolving body is directed to the horizontal plane). The two opposite mounting portions 34 are symmetrically distributed on two sides of the turnover unit 90, and mounting holes 34a are respectively formed near the vertex angle of the triangle in opposite directions, so that the linkage mechanism 32 is erected on the supporting horizontal table 7 after being mounted, and an opening 7a is formed in the supporting horizontal table 7 corresponding to the linkage mechanism 32, so that the weight of the supporting horizontal table 7 is reduced, and the modules and the units are convenient to wire and connect. In the present embodiment, the housing of the link mechanism 32 is substantially rectangular, a rotation shaft 32a is extended from the middle of the symmetrical side edges, and both ends of the rotation shaft 32a are connected and fixed to the mounting holes 34 a.

The horizontal displacement unit 50 is provided with a parallel first horizontal guide rail 52 and is installed on the support base 1, and the moving base plate 9 is provided with a slide block 9a which is matched with the first horizontal guide rail 52 to realize horizontal movement. As shown in fig. 1, the first horizontal rail 52 of the present invention is provided with a pair of parallel rails, the longitudinal direction of which is parallel to the X-axis, and is driven by a motor to operate, and the control unit 30 automatically controls the operation parameters, so that the member to be needled 200 can move along the X-direction.

And a vertical displacement unit 70 provided with a plurality of vertical guide rails 72 fixed on the moving base plate 9 and carrying and supporting the horizontal table 7 to draw it vertically up and down. As shown in fig. 1, four vertical guide rails 72 are provided in the present invention, symmetrically distributed at four corners of the supporting horizontal platform 7, and penetrate through the supporting horizontal platform 7. In this embodiment, the support horizontal table 7 is driven by the screw motor to move up and down, and the control unit 30 automatically controls the operation parameters, so as to realize the Z-direction movement of the piece to be needled 200, wherein the Z-direction is a direction perpendicular to the support base 1 (i.e., the horizontal plane). A plurality of light guide rods 74 parallel to the vertical guide rails 72 are arranged on the inner sides of the vertical guide rails 72, and the light guide rods 74 also penetrate through the supporting horizontal table 7. In this embodiment, three light guide rods 74 are provided and are disposed at the opposite side of the supporting horizontal table 7, and the light guide rods 74 are provided with sensors, so that the relative parallelism between the supporting horizontal table and the moving base plate can be monitored in time for real-time adjustment, thereby ensuring the consistency and stability of product quality.

The turning unit 90 is provided with a support rod 92 for mounting the piece to be needled 200, the support rod 92 is connected to the control unit 30 and extends in a direction away from the control unit 30, in the present embodiment, the support rod 92 extends outwards from the middle of one side of the linkage mechanism 32, any point on the support rod 92 can be regarded as a base point of the piece to be needled 200, the spatial position change represents three-dimensional position change, the extending intersection point of the support rod 92 inwards is the midpoint of the rotating shaft 32a, and the support rod 92 can drive the piece to be needled 200 to rotate axially, i.e. roll; in this embodiment, the tilting unit 90 further includes two connecting arms 94 and two second horizontal rails 96 parallel to the first horizontal rails 52, the two second horizontal rails 96 are mounted on the supporting horizontal table 7, are parallel to the X-axis and are symmetrically distributed on the inner sides of the two mounting portions 34 and the outer sides of the linkage 32, one end of each connecting arm 94 is connected to the second horizontal rail 96 and can move relative to the second horizontal rail 96, the other end is connected to the rotating shaft 32a, when the connecting arm 94 is displaced in the X-direction, the linkage 32 performs a pitching motion, in the present embodiment, the section of the needle to be pierced 200 taken on the plane where the center axes of the rotating shaft 32a and the support rod 92 are located is an axial section in the present invention, and the pitching motion is a vertical motion in which the center axis of the rotating shaft 32a is the base axis and the axial section rotates around the center axis; in this manner, the member to be needled 200 mounted on the support bar 92 can roll or/and pitch under the drive of the control unit 30.

In the embodiment of the present invention, the turnover unit 90 supports and drives the to-be-needled piece 200 to perform posture transformation, the horizontal displacement unit 50 and the vertical displacement unit 70 drive the to-be-needled piece 200 to perform three-dimensional position transformation, and the turnover unit 90, the horizontal displacement unit 50, the vertical displacement unit 70 and the needling module 10 operate in a linkage manner under the driving of the control unit 30. In actual production, the existing revolving body needling equipment can only form circumferentially and uniformly distributed needling tracks, but the needling structure is fatal to the curved end face (such as the end head part of a crucible) of the revolving body, and the end of a formed product can be directly broken and cannot be formed at all through verification of a plurality of tests; the existing measures are that the cylinder body is partially subjected to mechanical needling, the curved end face is still subjected to manual forming or mechanical hand needling forming, the needling efficiency is low, and the needling quality is unstable. The special-shaped needling structure has the advantages that when the special-shaped needling structure comprises a curved end face, needling tracks distributed in a staggered mode can be formed in the area of the curved end face in a linkage mode (as shown in (a) in fig. 6, a plane projection schematic diagram obtained by axial horizontal view can be understood), the problem of breakage of the needling curved end face distributed in the circumferential direction (as shown in (b) in fig. 6) is thoroughly solved, the cylinder body and the curved end face can be continuously formed at one time, automation is really realized, manual participation is reduced, the production efficiency and the production precision are improved, meanwhile, the product quality consistency and the reproducibility are effectively guaranteed, the urgent requirements of batch automatic production of special-shaped needling pieces are met, and the development requirements of the fields of semiconductors, the thermal industry, aerospace and the like are met. In the contrast test, adopt this equipment and traditional equipment or artifical preparation same dysmorphism acupuncture piece simultaneously, the required production man-hour of this equipment is within half of traditional equipment or artifical preparation required time, and production efficiency is original more than 200%, wherein need not artificial adjustment device, calibration etc. and consuming time is few, and artifical the participation is few.

In other embodiments, the horizontal displacement unit 50 may further include a guide rail perpendicular to the X direction and in the Y direction of the horizontal plane, such that the three-dimensional position may be changed by the linkage in any directions of XYZ and XYZ, and then the special-shaped needling component is prepared by the combined operation with the needling module 10.

In particular embodiments, control unit 30 further includes a program module and a display module; the program module sets, stores and runs the running parameters of each module and each unit in each layer, and the display module is used for displaying the program module and starting, pausing, stopping and other operations. In a specific embodiment, the precision of three-dimensional position transformation or posture transformation reaches below 0.01mm, the displacement is accurate, the controllability is strong, and the system error is small.

In conclusion, the special-shaped needling machine provided by the invention can automatically regulate and control the pose and needling parameters of a piece to be needled, and realize one-time automatic molding of the special-shaped piece layer by layer; the forming efficiency is high, the precision is good, the product quality consistency and the reproducibility are stable, and when the forming machine is particularly used for curved end face needling, needling tracks with staggered and uniform distribution can be formed, and end face fracture caused by circumferential and uniform distribution is avoided.

Although the embodiments of the present invention have been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the embodiments of the present invention.

Claims

1. The special-shaped needling machine is characterized in that: the special-shaped needling structure comprises a needling module and a pose regulating module, wherein the needling module and the pose regulating module are installed on a support frame, the pose regulating module is provided with a control unit, a turnover unit, a horizontal displacement unit and a vertical displacement unit, the turnover unit supports and drives a piece to be needled to change the pose, the horizontal displacement unit and the vertical displacement unit drive the piece to be needled to change the three-dimensional position, the turnover unit, the horizontal displacement unit, the vertical displacement unit and the needling module are driven by the control unit to operate in a linkage mode, and the pose and needling parameters of the piece to be needled are automatically regulated and controlled to realize the forming of the special-shaped needling structure.

2. The contour needling machine of claim 1, wherein: when the special-shaped needling structure comprises a curved end face, the linkage operation can form needling tracks distributed in a staggered manner in the region of the curved end face so as to avoid the breakage of the needling curved end face distributed in the circumferential direction.

3. The contour needling machine of claim 1, wherein: the change of the pose comprises three-dimensional position transformation and/or posture transformation, and the three-dimensional position transformation is that the base point of the piece to be needled is displaced in any direction in an orthogonal coordinate system; the posture transformation is that the piece to be needled rolls and/or pitches based on the axial section where the base point of the piece to be needled is located.

4. The contour needling machine of claim 1, wherein: the supporting frame comprises a supporting base, supporting columns, supporting beams, a supporting horizontal table and a moving bottom plate, wherein the supporting columns are installed on the supporting base, and the supporting beams are fixed at the top ends of two circumferentially adjacent supporting columns; the movable bottom plate is installed on the supporting base and enclosed inside the supporting column, and the movable bottom plate bears the supporting horizontal table.

5. The contour needling machine of claim 4, wherein: the control unit is internally provided with a linkage mechanism which combines the needling module, the horizontal displacement unit, the vertical displacement unit and the overturning unit, and the linkage mechanism is arranged on the supporting horizontal table in an overhead manner through an installation part of the control unit.

6. The contour needling machine of claim 4, wherein: the horizontal displacement unit is provided with a parallel first horizontal guide rail which is arranged on the supporting base, and the moving bottom plate is provided with a sliding block which is matched with the first horizontal guide rail so as to realize horizontal movement; the vertical displacement unit is provided with a plurality of vertical guide rails which are fixed on the movable bottom plate and bear the supporting horizontal table so as to draw the supporting horizontal table to vertically move up and down.

7. The contour needling machine of claim 6, wherein: the overturning unit is provided with a supporting rod for mounting the piece to be needled, and the supporting rod is connected to the control unit and extends out in the direction away from the control unit; the overturning unit further comprises a connecting arm and a second horizontal guide rail parallel to the first horizontal guide rail, the second horizontal guide rail is mounted on the supporting horizontal table, one end of the connecting arm moves relative to the second horizontal guide rail, and the other end of the connecting arm is connected to the control unit; the supporting rod can roll or/and pitch under the driving of the control unit.

8. The contour needling machine of claim 4, wherein: the needling module is arranged on the supporting beam or is externally arranged.

9. The contour needling machine of claim 8, wherein: when the needling module is arranged on the supporting beam, the needling module comprises a needle beam, a needle plate and a felting needle arranged on the needle plate, and the needle plate is arranged on the needle beam and reciprocates relative to the needle beam so that the felting needle performs reciprocating needling on the piece to be needled.

10. The contour needling machine of claim 9, wherein: the needle plate is planar.