Needling forming path planning method for special-shaped preform robot

Abstract

The invention discloses a needling forming path planning method for a special-shaped preform robot. The needling forming path planning method comprises the following steps that layered cutting is performed on the surface of a special-shaped preform model according to a special-shaped preform three-dimensional model and a needling step length, and a needling path is fitted by utilizing a non-uniform rational B spline method to obtain a robot needling path; equal-step interpolation processing is performed on the path by using a fourth-order Runge-Kutta-based pre-estimation correction method, and needling point position coordinate information is determined; the angle of the needling posture of the robot is calculated in a robot tail end posture description manner; and in combination with the needling point position coordinate information and the needling posture angle, posture information is transmitted to the robot, and needling is performed according to a planned route. According to the needling forming path planning method, the uniformity of needling point position coordinates and the consistency of needling postures are ensured, and the needling forming quality of the special-shaped preform is improved; and the method is suitable for any preform with a complex curved surface, is simple to implement, does not depend on other third-party software, and is convenient for realizing development of a robot needling offline programming system.

Description

technical field [0001] The invention relates to the technical field of three-dimensional textile prefabricated body acupuncture forming automation, in particular to a path planning method for special-shaped prefabricated body robot acupuncture forming path. Background technique [0002] At this stage, the needle punching technology of flat plate preform and ring preform has been relatively mature, and the automatic production of preform needle punching has been basically realized. Due to the relative complexity of the technology or the requirement of confidentiality, there are not many literatures available at home and abroad on the acupuncture forming technology of special-shaped preforms. Olry P (U.S. Patent 4621662) invented the "Novoltex" acupuncture forming technology, which can produce relatively good acupuncture effects on rotary preforms such as cylinders and cones. The disadvantage is that the preparation of variable-diameter rotary preforms cannot be completed; Fra...

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Problems solved by technology

Due to the relatively complex technology or confidentiality requirements, there are not many literatures available at home and abroad for the acupuncture forming technology of special-shaped preforms

Olry P (U.S. Patent 4621662) invented the "Novoltex" acupuncture forming technology, which can produce relatively good acupuncture effects on rotary preforms such as cylinders and cones. The disadvantage is that the preparation of variable-diameter rotary preforms cannot be completed; Francois Monget et al. Designed a CNC fiber-reinforced acupuncture equipment for composite materials (U.S. Patent 5642679). The equipment adopts a gantry structure and is equipped with a numerical control system. It has a larger working range and a higher degree of automation. It can perform acupuncture tasks on plane and curved surfaces. The disadvantages The acupuncture angle cannot be adjusted; in the same year, Olry P et al. invented the acupuncture equipment for special-shaped fiber preforms (U.S. Patent 5226217). The acupuncture head is dragged by a four-degree-of-freedom mechanical arm to complete the acupuncture. The angle of the acupuncture head can It can be adjusted in the range of 0-90 degrees, especially suitable for acupuncture work of specific types of non-enclosed shell products such as ellipsoids and cones.

In China, Chen Xiaoming and others invented a robot acupuncture equipment, which is composed of a six-degree-of-freedom joint robot and a single-axis horizontal positioner, which is basically suitable for various complex prefabricated bodies. The disadvantage is that it is a single-station The design does not allow it to adapt to the complex needling process

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