CN116219643B - High-speed needling robot equipment, weaving method and high-speed needling end effector - Google Patents
High-speed needling robot equipment, weaving method and high-speed needling end effector Download PDFInfo
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- CN116219643B CN116219643B CN202310054903.7A CN202310054903A CN116219643B CN 116219643 B CN116219643 B CN 116219643B CN 202310054903 A CN202310054903 A CN 202310054903A CN 116219643 B CN116219643 B CN 116219643B
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- 239000012636 effector Substances 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000009941 weaving Methods 0.000 title claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 44
- 230000007246 mechanism Effects 0.000 claims description 36
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 23
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 7
- 239000002356 single layer Substances 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims description 4
- 239000010410 layer Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004080 punching Methods 0.000 claims description 2
- 238000000465 moulding Methods 0.000 abstract description 8
- 238000012423 maintenance Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 241000274582 Pycnanthus angolensis Species 0.000 description 3
- 239000000306 component Substances 0.000 description 3
- 239000002131 composite material Substances 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000011087 paperboard Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000001467 acupuncture Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002657 fibrous material Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
- D04H18/00—Needling machines
- D04H18/02—Needling machines with needles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Nonwoven Fabrics (AREA)
Abstract
The invention relates to high-speed needling robot equipment, which comprises a high-speed needling end effector, a first needling workbench, a second needling workbench and a six-degree-of-freedom robot, wherein the first needling workbench is arranged on the first needling workbench; the six-degree-of-freedom robot is arranged on a horizontal plane through a robot base; the high-speed needling end effector is fixedly connected with the tail end of the six-degree-of-freedom robot mechanical arm so as to realize high-precision movement of the robot mechanical arm in space and can perform needling on the curved surface preform; the first needling workbench and the second needling workbench are respectively positioned at two sides of the robot, the needling workbench comprises a rotary workbench provided with a core mould, a bottom felt is sleeved on the core mould, and a preform to be needled is sleeved on the bottom felt; the rotary workbench drives the core mold to move together, so that the feeding of the prefabricated body around the Z axis by a preset angle is realized. The invention also comprises a weaving method using the robot device and a high-speed needling end effector. The invention can realize the needling molding of the complex space curved surface preform, and has the advantages of convenient equipment maintenance, simple operation, flexibility and high efficiency.
Description
Technical Field
The invention belongs to the technical field of composite material three-dimensional preform fabric manufacturing equipment, and particularly relates to high-speed needling robot equipment, a weaving method and a high-speed needling end effector.
Background
Needled preforms and composite materials thereof are increasingly applied to key core components of aerospace vehicles, and profile modeling needled forming technology of special-shaped preforms is always a research hot spot. The literature 'design of a flexible needling molding system of a rotary structure preform' discloses a 4-axis flexible needling molding system which can meet the needling molding of a variable-curvature rotary preform; the documents "Robot needle-punching for manufacturing composite preforms" and "Robot needle-pushing PATH PLANNING for complex surface preforms" disclose a 6-joint needling Robot system and a track planning method, which satisfy the needling molding of complex curved surface preforms; the needling robot adopts the pneumatic needling end effector, realizes needling reciprocating motion by using the air cylinder, and has slower needling speed and lower production efficiency.
Patent (CN 202011299892.1) discloses a double-station robot needling equipment, also adopts pneumatic needling end effector, through the switching of duplex position, has realized basically that the robot does not shut down, has improved the acupuncture shaping efficiency to a certain extent, but 9 robot system is comparatively complicated, and the cost is higher, and programming is also relatively difficult. In addition, patent (CN 202210812610.6) also discloses a mixed switching double-station needling robot, adopts a 7-axis linkage robot system and is additionally provided with a double-station switching system, so that the stoppage of the needling robot is effectively avoided, the production efficiency is improved, and the double-station switching system is more complex.
In summary, the existing needling robot adopts the pneumatic needling actuator, so that the needling speed is low and the needling efficiency is low. In addition, existing dual-station needling systems are relatively complex and costly. Improvements in the needling robots and actuators are therefore desirable.
Disclosure of Invention
The invention provides high-speed needling robot equipment, a weaving method and a high-speed needling end effector for solving the technical problems in the prior art, and can realize needling molding of a complex space curved surface preform, and the equipment is convenient to maintain, simple to operate, flexible and efficient.
The invention comprises the following technical scheme:
A high-speed needling robot device comprises a high-speed needling end effector, a first needling workbench, a second needling workbench and a six-degree-of-freedom robot; the six-degree-of-freedom robot is arranged on a horizontal plane through a robot base; the high-speed needling end effector is fixedly connected with the tail end of the six-degree-of-freedom robot mechanical arm so as to realize high-precision movement of the robot mechanical arm in space and can perform needling on the curved surface preform; the first needling workbench and the second needling workbench are respectively positioned at two sides of the six-freedom robot, the needling workbench comprises a rotary workbench provided with a core mould, a bottom felt is sleeved on the core mould, and a preform to be needled is sleeved on the bottom felt; the rotary workbench drives the core mold to move together, so that the feeding of the prefabricated body around the Z axis by a preset angle is realized;
The high-speed needling end effector comprises a cuboid box body formed by six box plates, a rotary motion mechanism, a linear motion mechanism and a position detection mechanism; the rotary motion mechanism comprises a servo motor and a double-groove disc cam, the servo motor is in threaded connection with the planetary reducer, and the double-groove disc cam is arranged in the box body; the two end faces of the double-groove disc cam are respectively provided with a first track groove and a second track groove, the middle part of one end face is fixedly provided with a cam shaft, and the cam shaft end is provided with a cam shaft end synchronous wheel; the speed reducer end synchronizing wheel of the planetary speed reducer drives the cam shaft end synchronizing wheel and the double-groove disc cam through a synchronous belt;
The linear motion mechanism comprises two pairs of cam followers, the rollers of one pair of cam followers are embedded in the first track groove and fixedly arranged on the first push rod through the first connecting bar so as to control the linear motion of the puncture needle; the rollers of the other pair of cam followers are embedded in the second track groove and fixedly provided with a second push rod through a second connecting bar so as to control the linear motion of the stripping plate; the position detection mechanism comprises an origin detection component, a starting point sensor, an end point sensor and a motion sensor.
Furthermore, in the above scheme, a connecting block is fixedly arranged at the top of the box body, and a connecting flange is arranged at the top of the connecting block; the high-speed needling end effector is connected with the six-degree-of-freedom robot through a connecting flange.
Furthermore, in the scheme, the rotary worktable is fixed on the T-shaped groove platform, the three-jaw chuck is arranged on the rotary worktable, the core mold is fixed on the T-shaped rotary table, and the T-shaped rotary table is clamped on the three-jaw chuck.
Further, in the above scheme, the planetary reducer is fixed on a reducer mounting plate, and the reducer mounting plate is fixed with the first box plate of the box body through a third straight notch on the reducer mounting plate; the mounting position of the speed reducer mounting plate and the relative positions of the servo motor, the planetary speed reducer and the box body can be adjusted through the third straight notch, so that the center distance of the belt wheel is changed, and the tensioning force of the synchronous belt is adjusted; the synchronous belt is characterized in that a synchronous belt protective cover is arranged on the outer side of the synchronous belt, and the speed reducer mounting plate is fixedly connected with the synchronous belt protective cover to protect the belt and the belt wheel.
Further, in the above scheme, the synchronous wheel at the end of the speed reducer is fixed on the output shaft of the planetary speed reducer, the fixed end of the ball screw supporting seat is fixed on the first box plate through a screw, and the supporting end of the ball screw supporting seat is fixed on the second box plate through a screw; the cam shaft is a stepped shaft, a key groove is formed in the shaft, and two ends of the cam shaft are respectively matched with the fixed end of the ball screw supporting seat and the supporting end of the ball screw supporting seat so as to be connected with the box body.
Further, in the above scheme, the front end face and the rear end face of the double-groove disc cam are respectively provided with a symmetrical first track groove and a symmetrical second track groove; the first track groove and the second track groove are annular, the first track groove is arranged at a position close to the cam shaft, and the second track groove is arranged on the outer side of the first track groove. The double-groove disc cam is fixed on the cam shaft through the shaft shoulder, the shaft sleeve and the flat key of the cam shaft.
Further, in the above scheme, a plurality of flange-type linear bearings are fixedly arranged on a fourth box plate at the bottom of the box body, a connecting plate is arranged at the rear end of the first push rod penetrating through the flange-type linear bearings, and a backing plate and a needle plate are sequentially arranged below the connecting plate; the clamping part of the puncture needle is arranged between the backing plate and the needle plate, and the working part is exposed through the needle plate; the second push rod penetrates through the rear end of the flange-type linear bearing and is provided with a stripping plate, and a plurality of stripping plate holes are formed in the stripping plate; the working part of the puncture needle is exposed through the screen stripping plate hole, and the exposed part is the needling depth; the position of the stripping plate is adjusted through a first straight notch arranged on a first box plate of the box body and a second straight notch arranged on a second box plate, so that the needling depth is adjusted.
Further, in the above scheme, the position detecting mechanism further includes a proximity switch mounting rack, the proximity switch mounting rack is mounted on the second box board, and the start point sensor, the end point sensor and the motion sensor are fixed on the proximity switch mounting rack; the original point detection assembly is fixedly connected to the cam shaft on the side of the second box plate, the working part of the original point detection assembly is a protruding arc section, and the sensor outputs a signal in a stroke of the arc section beginning to reach the sensing position of the sensor and the arc section completely leaving the sensing position.
A weaving method using a high-speed needling robot apparatus for weaving a closed-top tapered rotary preform, comprising the steps of:
S1, sleeving a bottom felt on a core mold, and arranging a preform to be needled on the bottom felt;
s2, adjusting the position of the stripping plate through a first straight slot and a second straight slot on the box body, and determining the needling depth;
S3, starting equipment, entering a subprogram, and driving a high-speed needling end effector to reach an initial position appointed by a rotary workbench by a six-degree-of-freedom robot, wherein a needling needle and a screen stripping plate of the high-speed needling end effector are positioned at respective starting positions; when the starting point sensor detects a signal, the servo motor outputs the signal, the double-groove disc cam moves, and the puncture needle feeds; when the puncture needle reaches the end point, the stripping plate starts to advance, and the signal of the starting point sensor disappears; when the net stripping plate reaches the end point, the needle starts to retract, and when the needle completely exits the fabric, the motion sensor detects a signal, the six-degree-of-freedom robot drives the high-speed needling end effector to move to the position of the next needling point, and the rotary workbench carries out preset angle feeding; when the puncture needle retreats to the starting point position, the stripping plate starts to retreat, and in the process of retreating to the starting point, the signal of the motion sensor disappears; after the puncture needle and the stripping plate return to the respective starting positions, the servo motor stops outputting, the double-groove disc cam completes a movement period, and the system completes one needling cycle; after the high-speed needling end effector reaches the position of the next needling point, the rotary workbench finishes feeding at a preset angle, and the process performs the next needling cycle, so that the process is repeated until the single-layer needling of the whole product is finished;
And S4, after the single-layer needling is completed, the six-degree-of-freedom robot rotates the machine body, and needling is started to be carried out on the preform on the second needling workbench. During the process, a new preform to be needled is paved on the first needling workbench, and after the needling of the preform on the second needling workbench is completed, the next needling is carried out on the preform;
And (4) circularly performing steps S1-S4, and sequentially performing needling of the next layer of the two stations until the thickness of the prefabricated body reaches the preset thickness.
Further, in the scheme, the double-groove disc cam rotates for one circle, the puncture needle feeds at 0-90 degrees, and the stripping plate is not moved; the puncture needle is motionless at 90-180 degrees, and the stripping plate advances; the lancet is retracted at 180 degrees to 270 degrees, and the stripping plate is not moved; the puncture needle is fixed at 270-360 degrees, the stripping plate is retracted, and the puncture needle and the stripping plate complete one cycle of asynchronous needling movement.
A high-speed needling end effector comprises a cuboid box body consisting of six box plates, a rotary motion mechanism, a linear motion mechanism and a position detection mechanism; the rotary motion mechanism comprises a servo motor and a double-groove disc cam, the servo motor is in threaded connection with the planetary reducer, and the double-groove disc cam is arranged in the box body; the two end faces of the double-groove disc cam are respectively provided with a first track groove and a second track groove, the middle part of one end face is fixedly provided with a cam shaft, and the cam shaft end is provided with a cam shaft end synchronous wheel; the speed reducer end synchronizing wheel of the planetary speed reducer drives the cam shaft end synchronizing wheel and the double-groove disc cam through a synchronous belt;
The linear motion mechanism comprises two pairs of cam followers, the rollers of one pair of cam followers are embedded in the first track groove and fixedly arranged on the first push rod through the first connecting bar so as to control the linear motion of the puncture needle; the rollers of the other pair of cam followers are embedded in the second track groove and fixedly provided with a second push rod through a second connecting bar so as to control the linear motion of the stripping plate; the position detection mechanism comprises an origin detection assembly, a starting point sensor, an end point sensor and a motion sensor; the front end face and the rear end face of the double-groove disc cam are respectively provided with a symmetrical first track groove and a symmetrical second track groove; the first track groove and the second track groove are annular, and the length of the first track groove is smaller than that of the second track groove and is arranged at a position close to the cam shaft.
Further, in the above scheme, the radius of the base circle of the first track groove is smaller than that of the base circle of the second track groove, and the eccentricity of the first track groove and the eccentricity of the second track groove are both 0; the puncture needle is a follower of a cam follower in the first track groove, and the movement rules of the puncture needle feeding and retracting are determined by the corresponding curve shape of the first track groove; the net stripping plate is a follower of a cam follower in the second track groove, and the motion rule of the net stripping plate is determined by the curve shape of the corresponding second track groove.
Further, in the above scheme, the profile curve of the first track groove is divided into four motion type segments within 360 degrees: the 0-90-degree pushing section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 90-180-degree stopping section, the travel h=0 mm, the 180-270-degree return section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 270-360-degree stopping section, and the travel h=0 mm; the profile curve of the second track groove is divided into four motion type segments within 360 degrees: the stop section is 0-90 degrees, the stroke h=0mm, the push section is 90-180 degrees adopts a sine acceleration motion rule, the stroke h=30mm, the stop section is 180-270 degrees, the return section is 270-360 degrees adopts a sine acceleration motion rule, and the stroke h=30mm.
In the whole movement period, as the pushing section and the return section both adopt a sine acceleration movement rule, the cam roller follower is not subjected to rigid impact and flexible impact, so that the cam mechanism is suitable for medium-high speed movement, quick in response and high in needling efficiency.
The invention has the advantages and positive effects that:
1. The robot equipment adopts eight-axis linkage, comprises six standard axes of a six-joint robot and two axes of two standard rotary tables, realizes double-station needling molding, avoids robot shutdown, improves the production efficiency, has simple mechanical structure, is convenient to program, and has lower cost.
2. The high-speed needling end effector adopts the servo motor as a needling power element, so that the needling speed is greatly improved, and the needling processing period is shortened; meanwhile, the piercing speed can be adjusted in a targeted manner to face the prefabricated bodies of different configurations and fiber materials, so that the needling quality is improved; the double-groove disc cam mechanism is adopted to convert the rotation of the servo motor into the needling motion of the cooperation of the needling needle and the screen stripping plate, so that the response is quick, and the mechanical structure is compact.
3. The high-speed needling end effector integrates the function of detecting the position of the needling needle, the position sensor is used for detecting the position of the needling needle in the needling process, when the fact that the needle point of the needling needle is pulled out of a prefabricated body is detected, the robot starts to move to the next needling point, and the movement engagement efficiency is improved, so that the needling molding efficiency is improved.
4. The connecting plate in the high-speed needling end effector is provided with the pin holes, and the backing plate and the needle plate are provided with the locating pins, so that the needle plate can be positioned and installed quickly and accurately; the screen plate is provided with the inner hexagon screw tool holes, so that the needle plate can be conveniently assembled and disassembled and the needles can be conveniently replaced.
Drawings
FIG. 1 is a schematic perspective view of the overall structure of the apparatus of the present invention;
FIG. 2 is a schematic view of a left and right isometric perspective of the back of the high-speed needling end effector;
FIG. 3 is a schematic view of a front left and right isometric perspective of a high-speed needling end effector;
FIG. 4 is a schematic view of the internal structure of a high-speed needling end effector;
FIG. 5 is a schematic perspective view of a camshaft and shaft mounting components of the present invention;
FIG. 6 is a front view of a double groove disc cam of the present invention;
FIG. 7 is a graph of the motion of the needling and the stripping plate of the present invention, wherein the first graph is a needling motion law curve, and the second graph is a stripping plate motion law curve;
FIG. 8 is a partial cross-sectional view of a dual groove disc cam and cam follower embedded in a cam track groove of the present invention;
FIG. 9 is an exploded view of the attachment plate, pad and needle plate assembly of the present invention;
FIG. 10 is a schematic view of a peeling web of the present invention;
FIG. 11 is a schematic view of a needling station of the present invention;
In the figure, 1-a first needling workbench; 1.1-T-shaped groove platform; 1.2-a rotary workbench; 1.3-triangular chuck; 1.4-T-shaped rotary table; 1.5-mandrel;
2-high speed needling end effector; 2.1-connecting flanges; 2.2-connecting blocks; 2.3-a first box plate; 2.3.1-a first straight slot; 2.4-second box plate; 2.4.1 second straight slot; 2.5-third box plate; 2.6-fourth box board; 2.7-fifth box board; 2.8-sixth box plate; 2.9-a servo motor; 2.10-planetary reducer;
2.11-a reducer mounting plate; 2.11.1-a third straight slot; 2.12-a speed reducer end synchronizing wheel; 2.13-synchronous belt; 2.14-cam shaft end synchronizing wheel; 2.15-a synchronous belt protective cover; 2.16-a fixed end of a ball screw supporting seat; 2.17-a supporting end of a ball screw supporting seat; 2.18-camshaft;
2.19-double grooved cam disc; 2.19.1-a first track groove; 2.19.2-second track grooves;
2.20-cam follower; 2.21-first connecting strips; 2.22-a second connecting strip; 2.23-a first pushrod; 2.24-a second pushrod; 2.25-flange linear bearings; 2.26-connecting plates; 2.27-backing plate; 2.28-needle plate; 2.28.1-needle plate holes; 2.29-lancet;
2.30-stripping the net plate; 2.30.1-stripping holes; 2.30.2-socket head cap screw tool holes; 2.31-locating pins; 2.32-proximity switch mount; 2.33-origin detection component; 2.34—an origin sensor; 2.35-endpoint sensor; 2.36-motion sensor;
3-six degrees of freedom robots; 4-a robot base; 5-a second needling workbench; 6-bottom felt; 7-preform.
Detailed Description
In order to further disclose the inventive aspects, features and advantages of the present invention, the following examples are set forth in detail below with reference to the accompanying drawings.
Examples: referring to fig. 1-11, a high-speed needling robot apparatus includes a high-speed needling end effector 2, a first needling station 1, a second needling station 5, and a six-degree-of-freedom robot 3; the model of the six-degree-of-freedom robot 3 is KAWASAKI RS50 0N. The first needling workbench 1 and the second needling workbench 5 comprise a T-shaped groove platform 1.1, a rotary workbench 1.2, a triangular chuck 1.3, a T-shaped rotary platform 1.4 and a core mold 1.5. The rotary worktable 1.2 is fixed on the T-shaped groove platform 1.1, and the three-jaw chuck 1.3 is arranged on the rotary worktable 1.2. The core mould 1.5 is fixed on a T-shaped rotary table, and the T-shaped rotary table 1.4 is clamped on a three-jaw chuck 1.3. Finally, the rotary worktable 1.2 drives the core mold 1.5 to move together, so that the feeding of the preform 7 around the Z axis by a preset angle is realized; a bottom felt 6 is sleeved on the core mould 1.5, and a preform 7 to be needled is sleeved on the bottom felt 6;
the six-degree-of-freedom robot 3 is arranged on a horizontal plane through a robot base; the high-speed needling end effector 2 is fixedly connected with the tail end of the mechanical arm of the six-degree-of-freedom robot 3 so as to realize high-precision movement in space and perform needling on the curved surface preform; the first needling workbench 1 and the second needling workbench 5 are respectively positioned at two sides of the six-free robot; double-station needling can effectively improve production efficiency. The high-speed needling end effector 2 can reach any direction and any position in space within the working range by the six-degree-of-freedom robot 3, and can perform needling for positions within any working range.
The high-speed needling end effector 2 comprises a cuboid box body formed by six box plates, a rotary motion mechanism, a linear motion mechanism and a position detection mechanism; the box body comprises a first box plate 2.3 on the front side of the box body, a second box plate 2.4 on the back side of the box body, a third box plate 2.5 on the upper side, a fourth box plate 2.6 on the lower side, a fifth box plate 2.7 on the left side and a sixth box plate 2.8 on the right side. Adjacent box plates are fixedly connected through screws. The connecting block 2.2 is fixedly arranged on the third box plate 2.5, and a connecting flange 2.1 is arranged at the top of the connecting block 2.2; the high-speed needling end effector 2 is connected with a six-degree-of-freedom robot 3 through a connecting flange 2.1.
As shown in fig. 2-4, the rotary motion mechanism comprises a servo motor 2.9, a planetary reducer 2.10, a reducer mounting plate 2.11, a synchronous belt 2.13, a reducer end synchronous wheel 2.12, a cam shaft end synchronous wheel 2.14, a synchronous belt protection cover 2.15, a ball screw supporting seat fixed end 2.16, a ball screw supporting seat supporting end 2.17, a cam shaft 2.18 and a double-groove disc cam 2.19. The servo motor 2.9 is in threaded connection with the planetary reducer 2.10, the double-groove disc cam 2.19 is arranged in the box body, the middle part of the end surface of the double-groove disc cam 2.19 is fixedly provided with the cam shaft 2.18, and the cam shaft end synchronizing wheel 2.14 is arranged on the cam shaft 2.18; the speed reducer end synchronizing wheel 2.12 of the planetary speed reducer 2.10 drives the cam shaft end synchronizing wheel 2.14 and the double-groove disc cam 2.19 through the synchronous belt 2.13; the planetary reducer 2.10 is fixed on a reducer mounting plate 2.11, and the reducer mounting plate 2.11 is fixed with a first box plate 2.3 of the box body through a mounting screw in a third straight slot 2.11.1 on the reducer mounting plate; the installation position of the speed reducer installation plate 2.11 and the relative positions of the servo motor 2.9, the planetary speed reducer 2.10 and the box body can be adjusted through the third straight slot opening 2.11.1, so that the center distance of the belt wheel is changed, and the tensioning force of the synchronous belt 2.13 is adjusted; the outside of the synchronous belt 2.13 is provided with a synchronous belt protective cover 2.15, and the speed reducer mounting plate 2.11 is fixedly connected with the synchronous belt protective cover 2.15 to protect the belt and the belt wheel. The speed reducer end synchronizing wheel 2.12 is fixed on an output shaft of the planetary speed reducer 2.10, the ball screw supporting seat fixed end 2.16 is fixed on the first box plate 2.3 through a screw, and the ball screw supporting seat supporting end 2.17 is fixed on the second box plate 2.4 through a screw; the cam shaft 2.18 is a stepped shaft, a key groove is formed in the shaft, and two ends of the cam shaft 2.18 are respectively matched with the fixed end 2.16 of the ball screw supporting seat and the supporting end 2.17 of the ball screw supporting seat so as to be connected with the box body.
As shown in fig. 5-6, the double grooved cam disc 2.19 is secured to the cam shaft 2.18 by means of shoulders, sleeves and flat keys of the cam shaft 2.18. The front end face and the rear end face of the double-groove disc cam 2.19 are respectively provided with a symmetrical first track groove 2.19.1 and a symmetrical second track groove 2.19.2; the first track groove 2.19.1 and the second track groove 2.19.2 are annular, the first track groove 2.19.1 is arranged at a position close to the cam shaft 2.18, and the second track groove 2.19.2 is arranged outside the first track groove 2.19.1. The base radius of the first track groove 2.19.1 is smaller than that of the second track groove 2.19.2, and the eccentricity of the first track groove and the second track groove is 0; the puncture needle is a follower of the cam follower 2.20 in the first track groove 2.19.1, and the movement rule of the puncture needle 2.29 for feeding and retracting is determined by the curve shape of the corresponding first track groove 2.19.1; the stripping plate 2.30 is a follower of the cam follower 2.20 in the second track groove 2.19.2, and the motion rule of the stripping plate 2.30 is determined by the curve shape of the corresponding second track groove 2.19.2.
As shown in fig. 2-4 and 8, the linear motion mechanism comprises two pairs of cam followers 2.20, the rollers of one pair of cam followers 2.20 are embedded in the first track groove 2.19.1 and fixedly arranged with the first push rod 2.23 through the first connecting strip 2.21 so as to control the linear motion of the pricker 2.29; two through holes with the diameter slightly larger than that of the first push rod 2.23 are formed in the left side and the right side of the first connecting strip 2.21, and after one ends of the four first push rods 2.23 respectively penetrate through the through holes, the first push rods are fixed through screws arranged on the side surfaces of the first connecting strip 2.21.
The rollers of the other pair of cam followers 2.20 are embedded in the second track grooves 2.19.2 and fixedly arranged with the second push rods 2.24 through the second connecting bars 2.22 so as to control the linear motion of the net stripping plate 2.30; two through holes with the diameter slightly larger than that of the second push rod 2.24 are formed in the left side and the right side of the second connecting strip 2.22, and after one ends of the four second push rods 2.24 respectively penetrate through the through holes, the two through holes are fixed through screws arranged on the side surfaces of the second connecting strip 2.22. The first box plate 2.3 of the high-speed needling end effector 2 is provided with a first straight notch 2.3.1 and the second box plate is provided with a second straight notch 2.4.1, and screws for fixing the second push rod 2.24 can be loosened and tightened through the first straight notch 2.3.1 and the second straight notch 2.4.1, so that the fixing position of the second push rod 2.24 can be adjusted.
A plurality of flange-type linear bearings 2.25 are fixedly arranged on a fourth box plate 2.6 at the bottom of the box body, a connecting plate 2.26 is arranged at the tail end of the first push rod 2.23, which penetrates through the flange-type linear bearings 2.25, and a backing plate 2.27 and a needle plate 2.28 are sequentially arranged below the connecting plate 2.26; the clamping part of the needle 2.28 is arranged between the backing plate 2.27 and the needle plate 2.28, and the working part is exposed through the needle plate 2.28; the second push rod 2.24 passes through the flange-type linear bearing 2.25, the rear end of the second push rod is provided with a screen stripping plate 2.30, and a plurality of screen stripping plate holes 2.30.1 are formed in the screen stripping plate 2.30; the working part of the puncture needle 2.29 is exposed through the screen stripping plate holes 2.30.1, and the exposed part is the needling depth; the fixed position of the second push rod 2.24 is adjusted through the first straight notch 2.3.1 and the second straight notch 2.4.1 to adjust the position of the screen stripping plate 2.30, so that the needling depth is adjusted.
The base radius of the first track groove 2.19.1 is smaller than that of the second track groove 2.19.2, and the eccentricity of the first track groove and the second track groove is 0; the puncture needle 2.29 is a follower of the cam follower 2.20 in the first track groove 2.19.1, and the movement rule of the puncture needle 2.29 for feeding and retracting is determined by the curve shape of the corresponding first track groove 2.19.1; the stripping plate 2.30 is a follower of the cam follower 2.20 in the second track groove 2.19.2, and the motion rule of the stripping plate 2.30 is determined by the curve shape of the corresponding second track groove 2.19.2, and is shown in fig. 7. The first track groove 2.19.1 base radius r1=38 mm, the eccentricity e=0 its first track groove 2.19.1 profile is divided into four motion type segments within 360 °: the 0-90-degree pushing section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 90-180-degree stopping section, the travel h=0 mm, the 180-270-degree return section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 270-360-degree stopping section, and the travel h=0 mm. The second track groove 2.19.2 has a base radius r2=103 mm and an eccentricity e=0. The second trajectory groove 2.19.2 contour line is divided into four movement type segments within 360 °: the stop section is 0-90 degrees, the stroke h=0mm, the push section is 90-180 degrees adopts a sine acceleration motion rule, the stroke h=30mm, the stop section is 180-270 degrees, the return section is 270-360 degrees adopts a sine acceleration motion rule, and the stroke h=30mm. So the double-groove disc cam 2.19 rotates for one circle, the needle 2.29 with 0-90 degrees is fed, the net stripping plate 2.30 is motionless, the needle 2.29 with 90-180 degrees is motionless, the net stripping plate 2.30 is advanced, the needle 2.29 with 180-270 degrees is retracted, the net stripping plate 2.30 is motionless, the needle 2.29 with 270-360 degrees is motionless, the net stripping plate 2.30 is retracted, and the needle 2.29 and the net stripping plate 2.30 complete asynchronous needling motion in one cycle. In the whole movement period, as the pushing section and the return section both adopt a sine acceleration movement rule, the cam roller follower is not subjected to rigid impact and flexible impact, so that the cam mechanism is suitable for medium-high speed movement, quick in response and high in needling efficiency.
As shown in fig. 2, the position detection mechanism includes an origin detection assembly 2.33, a start point sensor 2.34, an end point sensor 2.35, and a motion sensor 2.36. The position detection mechanism further comprises a proximity switch mounting frame 2.32, wherein the proximity switch mounting frame 2.32 is arranged on the second box plate 2.4, and the starting point sensor 2.34, the end point sensor 2.35 and the motion sensor 2.36 are fixed on the proximity switch mounting frame 2.32; the origin detecting assembly 2.33 is fixedly connected to the cam shaft 2.18 on the second box plate 2.4 side, the working part of the origin detecting assembly 2.33 is a protruding arc section, and a sensor outputs a signal in a stroke of the arc section beginning to reach the sensing position of the sensor and the arc section completely leaving the sensing position.
Integrated lancet position detection relies primarily on a start point sensor 2.34, an end point sensor 2.35, and a motion sensor 2.36. When the start sensor 2.34 starts receiving the signal, the lancet 2.29 and the peeling plate 2.30 are at the respective start positions, which is also the position where the high-speed needling end effector 2 starts and stops each time. When the end point sensor 2.35 starts to receive the signal, the pricking needle 2.29 and the stripping plate 2.30 are at the respective end point positions, and the pricking depth of the pricking needle 2.29 can be adjusted by adjusting the position of the stripping plate 2.30. When the motion sensor 2.36 begins to receive a signal that is used to move the high speed lancing end effector 2 to the next lancing site, the lance 2.29 has returned to its starting position.
As shown in fig. 9, the connecting plate 2.26, the backing plate 2.27 and the needle plate 2.28 are all provided with pin holes, and accurate installation and positioning of the needle plate 2.28 are facilitated by installing the positioning pins 2.31.
As shown in fig. 10, the net stripping plate 2.30 is provided with a socket head cap screw tool hole 2.30.2, when the high-speed needling end effector 2 needs to replace the needling needle 2.29, the needle plate can be disassembled and assembled through the socket head cap screw tool hole 2.30.2 on the net stripping plate 2.30, so that the needling needle 2.29 is replaced.
As shown in fig. 1 to 11, a weaving method using the above-described high-speed needling robot apparatus for weaving a closed-top tapered rotary preform, comprising the steps of:
S1, sleeving a bottom felt on a core mold, and arranging a preform to be needled on the bottom felt; the preform consists of five layers of chopped strand mats, the density is 100g/m 2, and the thickness is 0.8mm;
S2, adjusting the positions of the stripping plate 2.30 through a first straight notch 2.3.1 and a second straight notch 2.4.1 on the box body, and determining the needling depth to be 20mm;
S3, starting equipment, entering a subprogram, and driving the high-speed needling end effector 2 by the six-degree-of-freedom robot 3 to reach an initial position appointed by the rotary table 1.2, wherein the needling needle 2.29 and the stripping plate 2.30 of the high-speed needling end effector 2 are positioned at respective starting positions; when the starting point sensor 2.34 detects a signal, the servo motor 2.9 outputs, the double-groove disc cam 2.19 moves, and the puncture needle 2.29 feeds; when the puncture needle 2.29 reaches the end point, the stripping plate 2.30 starts to advance, and the signal of the starting point sensor 2.34 disappears; when the net stripping plate 2.30 reaches the end point, the needle 2.29 starts to retract, when the needle 2.29 completely withdraws from the fabric, the motion sensor 2.36 detects a signal, the six-degree-of-freedom robot 3 drives the high-speed needling end effector 2 to move to the position of the next needling point, and the rotary workbench 1.2 performs preset angle feeding; when the lancet 2.29 is retracted to the starting point position, the stripping plate 2.30 starts to retract, and the signal of the motion sensor 2.36 disappears in the process of retracting to the starting point; after the puncture needle 2.29 and the screen stripping plate 2.30 return to the respective starting positions, the servo motor 2.9 stops outputting, the double-groove disc cam 2.19 completes a movement period, and the system completes one needling cycle; after the high-speed needling end effector 2 reaches the position of the next needling point and the rotary workbench 1.2 finishes feeding at a preset angle, the process performs the next needling cycle, and the process is repeated until the single-layer needling of the whole product is finished;
The double-groove disc cam 2.19 rotates for one circle, the 0-90 degrees of the pricker needle 2.29 feeds a knife, and the stripping plate 2.30 is motionless; the puncture needle 2.29 at 90 degrees to 180 degrees is fixed, and the stripping plate 2.30 advances; the lancet 2.29 with 180 degrees to 270 degrees is retracted, and the stripping plate 2.30 is not moved; the puncture needle 2.29 is motionless at 270 degrees to 360 degrees, the screen stripping plate 2.30 is retracted, and the puncture needle 2.29 and the screen stripping plate 2.30 complete asynchronous needling movement in one period;
and S4, after the single-layer needling is completed, the six-degree-of-freedom robot 3 rotates the machine body to start needling the preform 7 on the second needling workbench 5. During the process, a new preform 7 to be needled is paved on the first needling workbench 1, and after the needling of the preform 7 on the second needling workbench 5 is finished, the next needling is carried out;
And (4) circularly performing steps S1-S4, and sequentially performing needling of the next layer of the two stations until the thickness of the prefabricated body reaches the preset thickness.
Although the preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims. All of which are within the scope of the present invention.
Claims (9)
1. A high-speed needling robotic apparatus characterized by: the device comprises a high-speed needling end effector, a first needling workbench, a second needling workbench and a six-degree-of-freedom robot; the six-degree-of-freedom robot is arranged on a horizontal plane through a robot base; the high-speed needling end effector is fixedly connected with the tail end of the six-degree-of-freedom robot mechanical arm so as to realize high-precision movement of the robot mechanical arm in space and can perform needling on the curved surface preform; the first needling workbench and the second needling workbench are respectively positioned at two sides of the six-freedom robot, the needling workbench comprises a rotary workbench provided with a core mould, a bottom felt is sleeved on the core mould, and a preform to be needled is sleeved on the bottom felt; the rotary workbench drives the core mold to move together, so that the feeding of the prefabricated body around the Z axis by a preset angle is realized;
the high-speed needling end effector comprises a cuboid box body formed by six box plates, a rotary motion mechanism, a linear motion mechanism and a position detection mechanism; the rotary motion mechanism comprises a servo motor and a double-groove disc cam, the servo motor is in threaded connection with the planetary reducer, and the double-groove disc cam is arranged in the box body; the two end faces of the double-groove disc cam are respectively provided with a first track groove and a second track groove, the middle part of one end face is fixedly provided with a cam shaft, and the cam shaft end is provided with a cam shaft end synchronous wheel; the speed reducer end synchronizing wheel of the planetary speed reducer drives the cam shaft end synchronizing wheel and the double-groove disc cam through a synchronous belt; the front end face and the rear end face of the double-groove disc cam are respectively provided with a symmetrical first track groove and a symmetrical second track groove; the first track groove and the second track groove are annular, the first track groove is arranged at a position close to the cam shaft, and the second track groove is positioned at the outer side of the first track groove;
The linear motion mechanism comprises two pairs of cam followers, the rollers of one pair of cam followers are embedded in the first track groove and fixedly arranged on the first push rod through the first connecting bar so as to control the linear motion of the puncture needle; the rollers of the other pair of cam followers are embedded in the second track groove and fixedly provided with a second push rod through a second connecting bar so as to control the linear motion of the stripping plate; the position detection mechanism comprises an origin detection component, a starting point sensor, an end point sensor and a motion sensor.
2. The high-speed needling robotic apparatus of claim 1, wherein: the planetary reducer is fixed on a reducer mounting plate, and the reducer mounting plate is fixed with a first box plate of the box body through a third straight notch on the reducer mounting plate; and the outer side of the synchronous belt is provided with a synchronous belt protective cover, and the speed reducer mounting plate is fixedly connected with the synchronous belt protective cover.
3. The high-speed needling robotic apparatus of claim 1, wherein: a plurality of flange-type linear bearings are fixedly arranged on a fourth box plate at the bottom of the box body, a connecting plate is arranged at the rear end of the first push rod penetrating through the flange-type linear bearings, and a backing plate and a needle plate are sequentially arranged below the connecting plate; the clamping part of the puncture needle is arranged between the backing plate and the needle plate, and the working part is exposed through the needle plate; the second push rod penetrates through the rear end of the flange-type linear bearing and is provided with a stripping plate, and a plurality of stripping plate holes are formed in the stripping plate; the working part of the puncture needle is exposed through the screen stripping plate hole, and the exposed part is the needling depth; the position of the stripping plate is adjusted through a first straight notch arranged on a first box plate of the box body and a second straight notch arranged on a second box plate, so that the needling depth is adjusted.
4. The high-speed needling robotic apparatus of claim 1, wherein: the position detection mechanism further comprises a proximity switch mounting frame, the proximity switch mounting frame is mounted on the second box plate, and the starting point sensor, the end point sensor and the motion sensor are fixed on the proximity switch mounting frame; the original point detection assembly is fixedly connected to the cam shaft on the side of the second box plate, the working part of the original point detection assembly is a protruding arc section, and the sensor outputs a signal in a stroke of the arc section beginning to reach the sensing position of the sensor and the arc section completely leaving the sensing position.
5. A weaving method using the high-speed needling robot apparatus, which weaves the tapered rotary preform with a closed top, using the high-speed needling robot apparatus as claimed in any one of claims 1 to 4, comprising the steps of:
S1, sleeving a bottom felt on a core mold, and arranging a preform to be needled on the bottom felt;
S2, adjusting the position of the stripping plate, and determining the needling depth;
S3, starting equipment, entering a subprogram, and driving a high-speed needling end effector to reach an initial position appointed by a rotary workbench by a six-degree-of-freedom robot, wherein a needling needle and a screen stripping plate of the high-speed needling end effector are positioned at respective starting positions; when the starting point sensor detects a signal, the servo motor outputs the signal, the double-groove disc cam moves, and the puncture needle feeds; when the puncture needle reaches the end point, the stripping plate starts to advance, and the signal of the starting point sensor disappears; when the net stripping plate reaches the end point, the needle starts to retract, and when the needle completely exits the fabric, the motion sensor detects a signal, the six-degree-of-freedom robot drives the high-speed needling end effector to move to the position of the next needling point, and the rotary workbench carries out preset angle feeding; when the puncture needle retreats to the starting point position, the stripping plate starts to retreat, and in the process of retreating to the starting point, the signal of the motion sensor disappears; after the puncture needle and the stripping plate return to the respective starting positions, the servo motor stops outputting, the double-groove disc cam completes a movement period, and the system completes one needling cycle; after the high-speed needling end effector reaches the position of the next needling point, the rotary workbench finishes feeding at a preset angle, and the process performs the next needling cycle, so that the process is repeated until the single-layer needling of the whole product is finished;
S4, after the single-layer needling is completed, the six-degree-of-freedom robot rotates the machine body and starts needling the preform on the second needling workbench; during the process, a new preform to be needled is paved on the first needling workbench, and after the needling of the preform on the second needling workbench is completed, the next needling is carried out on the preform;
and (4) circularly performing steps S1-S4, and sequentially performing needling of the next layer of the two stations until the thickness of the prefabricated body reaches a preset value.
6. A weaving method using a high-speed needling robot apparatus as defined in claim 5, characterized in that: the double-groove disc cam rotates for one circle, the 0-90-degree puncture needle feeds, and the stripping plate is motionless; the puncture needle is motionless at 90-180 degrees, and the stripping plate advances; the lancet needle is retracted at 180 degrees to 270 degrees, and the stripping plate is not moved; the puncture needle is fixed at 270-360 degrees, the stripping plate is retracted, and the puncture needle and the stripping plate complete one cycle of asynchronous needling movement.
7. A high speed needled end effector, comprising: the device comprises a cuboid box body formed by six box plates, a rotary motion mechanism, a linear motion mechanism and a position detection mechanism; the rotary motion mechanism comprises a servo motor and a double-groove disc cam, the servo motor is in threaded connection with the planetary reducer, and the double-groove disc cam is arranged in the box body; the two end faces of the double-groove disc cam are respectively provided with a first track groove and a second track groove, the middle part of one end face is fixedly provided with a cam shaft, and the cam shaft end is provided with a cam shaft end synchronous wheel; the speed reducer end synchronizing wheel of the planetary speed reducer drives the cam shaft end synchronizing wheel and the double-groove disc cam through a synchronous belt;
The linear motion mechanism comprises two pairs of cam followers, the rollers of one pair of cam followers are embedded in the first track groove and fixedly arranged on the first push rod through the first connecting bar so as to control the linear motion of the puncture needle; the rollers of the other pair of cam followers are embedded in the second track groove and fixedly provided with a second push rod through a second connecting bar so as to control the linear motion of the stripping plate; the position detection mechanism comprises an origin detection assembly, a starting point sensor, an end point sensor and a motion sensor; the front end face and the rear end face of the double-groove disc cam are respectively provided with a symmetrical first track groove and a symmetrical second track groove; the first track groove and the second track groove are annular, the first track groove is arranged at a position close to the cam shaft, and the second track groove is arranged on the outer side of the first track groove.
8. The high speed needle punching end effector as recited in claim 7, wherein: the base radius of the first track groove is smaller than that of the second track groove, and the eccentricity of the first track groove and the eccentricity of the second track groove are 0; the puncture needle is a follower of a cam follower in the first track groove, and the movement rules of the puncture needle feeding and retracting are determined by the corresponding curve shape of the first track groove; the net stripping plate is a follower of a cam follower in the second track groove, and the motion rule of the net stripping plate is determined by the curve shape of the corresponding second track groove.
9. The high speed needle end effector as recited in claim 8, wherein: the profile curve of the first track groove is divided into four motion type segments within 360 degrees: the 0-90-degree pushing section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 90-180-degree stopping section, the travel h=0 mm, the 180-270-degree return section adopts a sinusoidal acceleration motion rule, the travel h=40 mm, the 270-360-degree stopping section, and the travel h=0 mm; the profile curve of the second track groove is divided into four motion type segments within 360 degrees: the method comprises the steps of stopping a section at 0-90 degrees, wherein a stroke h=0mm, a pushing section at 90-180 degrees adopts a sinusoidal acceleration motion rule, stopping a section at the stroke h=30mm, at 180-270 degrees, and a return section at the stroke h=0mm, at 270-360 degrees adopts a sinusoidal acceleration motion rule, and the stroke h=30mm.
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| CN109594204B (en) * | 2019-02-15 | 2024-05-10 | 南京玻璃纤维研究设计院有限公司 | Non-woven fabrics needling machine |
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| CN104500669A (en) * | 2014-12-31 | 2015-04-08 | 中国人民解放军军械工程学院 | Dual-trace cam mechanism |
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