Tail end sewing device of three-dimensional textile composite material prefabricated part sewing manipulator

Abstract

The tail end sewing device structurally comprises a shell, a sewing groove and a fixing base, the sewing groove is formed in the end face of the shell, a guide structure and a transmission device are arranged in front of and behind the sewing groove respectively, a penetrating hole is formed in the middle of the sewing groove, and the fixing base is fixed to the top of the shell. The shell is connected with a flange at the tail end of the manipulator, a transmission fluted disc is arranged in the shell and is in meshed connection with a first servo motor, a limiting pipe is fixedly installed at the right position in the shell, a needle seat is installed on the end face of the limiting pipe, and the bottom of the needle seat is connected with a suture needle in a clamped mode. The second servo motor is meshed with the gear to drive the transmission roller to rotate and make contact with the end face of the prefabricated part to drive the transmission roller to move, then the prefabricated part is supported by the driven wheel to move, the situation that the prefabricated part deviates leftwards and rightwards in the sewing process is prevented, the situation that sewing of the prefabricated part deviates is avoided, and the quality of produced products is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of composite material stitching, specifically to the end stitching device of a three-dimensional textile composite preform stitching manipulator. Background Art

[0002] Three-dimensional textile composites are multi-directionally reinforced composites formed by interweaving or arranging fibers in three-dimensional space through textile technology and then combining with a resin matrix. Compared with traditional laminates, their greatest feature is the fiber reinforcement in the thickness direction, which significantly improves the anti-delamination, anti-impact, and overall mechanical properties. They are widely used in the fields of aerospace, national defense, automobiles, etc. The stitching device is installed at the end of the manipulator and drives the stitching of textile materials through the manipulator.

[0003] Based on the above, the inventor of the present invention found that the existing ones mainly have the following deficiencies. For example: the existing stitching device stitches the composite material following the movement of the manipulator. As the manipulator swings, the position between the composite material and the stitching device will deviate, reducing the stitching accuracy of the composite material, resulting in the sewn product not being firm enough, thereby affecting the quality of the products produced and processed. Summary of the Invention

[0004] In view of the above problems, the present invention provides an end stitching device for a three-dimensional textile composite preform stitching manipulator.

[0005] To achieve the above object, the present invention is realized through the following technical solutions: The end stitching device of a three-dimensional textile composite preform stitching manipulator, its structure includes a housing, a stitching groove, and a fixing seat. The end face of the housing is provided with a stitching groove. A guiding structure and a transmission device are respectively arranged in front of and behind the stitching groove. A perforation is arranged at the middle position of the stitching groove. The fixing seat is fixed on the top of the housing, and the housing is flange-connected to the end of the manipulator.

[0006] Furthermore, a transmission gear disc is arranged inside the housing. The transmission gear disc is meshed and connected with a servo motor 1. A limiting tube is fixedly installed at the right position inside the housing. A needle seat is installed at the end face of the limiting tube. The bottom of the needle seat is clamped and connected with a stitching needle, and the needle seat is in transmission connection with the end face of the transmission gear disc through a transmission rod. The bottom of the transmission gear disc is meshed and connected with a wheel disc through a gear set. A wire winding ring is arranged at the middle position of the wheel disc. By driving the transmission gear disc to rotate through the servo motor 1, then installing the stitching needle at the bottom of the needle seat, and being movably connected with the top of the needle seat through the transmission rod, the transmission rod can drive the needle seat to make repeated up and down movements in the limiting tube, enabling the stitching needle to drive the stitching thread to move downward through the three-dimensional textile composite, then through the perforation, and cooperating with the wheel disc to drive the wire winding ring to rotate for stitching.

[0007] Furthermore, the transmission device is provided with a transmission roller, which is installed at the middle position inside the sewing groove. A driven wheel is installed at the bottom end of the sewing groove. The transmission roller is meshed and connected with the second servo motor. The three-dimensional textile composite material is driven to move to the left by the transmission roller, and the bottom supports the movement of the three-dimensional textile composite material through the driven wheel, which can improve the stability during the sewing of the three-dimensional textile composite material and avoid the situation of sewing deviation.

[0008] Furthermore, the end face of the transmission roller is fixedly connected with a rotating shaft. A gear is provided on the end face of the rotating shaft and is meshed and connected with the second servo motor. The transmission roller is supported by the rotating shaft, and then driven to rotate through the meshing of the gear and the second servo motor, so that the transmission roller can rotate and contact with the three-dimensional textile composite material to drive the movement, and sew the three-dimensional placed composite material.

[0009] Furthermore, a support column is arranged inside the transmission roller and is fixedly connected with the rotating shaft. A number of V-shaped elastic strips are arranged around the end face of the support column. The outer end face of the elastic strip is fixedly connected with a contact layer. The contact layer is made of metal material, and convex grains are arranged on the outer end face of the contact layer. The friction between the composite material can be increased through the convex grains. The transmission roller rotates and stably moves on the end face of the composite material for sewing. The elastic strip elastically supports the contact layer, so that the contact layer can contact with the three-dimensional composite material and squeeze the elastic strip to deform, improving the friction between the contact layer and the three-dimensional composite material. At the same time, the convex grains on the end face of the contact layer can also increase the friction between the contact layer and the three-dimensional composite material.

[0010] Furthermore, the guiding structure is provided with a support rod. The bottom of the support rod is rotatably connected with a support seat. The support seat is fixedly installed on the top of the guiding plate. By rotatably connecting the bottom of the support rod with the support seat, the guiding plate can swing up and down to adjust the angle and stably press down the three-dimensional composite material for movement.

[0011] Furthermore, the support rod is provided with a lower rod body. The bottom of the lower rod body is fixedly connected with a rotating shaft. The top of the lower rod body is rotatably connected with a fitting pipe. Internal threads are arranged inside the fitting pipe and are in threaded cooperation with the upper rod body. By rotating the fitting pipe and the upper rod body in threaded cooperation, the overall length of the support rod can be adjusted, so that the guiding plate can guide three-dimensional textile composite materials with different thicknesses. Beneficial Effects

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses the second servo motor to drive the transmission roller to rotate through meshing with the gear and contact with the end face of the preform to drive the movement, and then supports the movement of the preform through the driven wheel, preventing the situation of left and right deviation during the sewing of the preform, avoiding the situation of sewing deviation of the preform, and improving the quality of the produced products.

[0013] In the present invention, the upper rod body is threadedly engaged with the rotating mating pipe, so that the upper rod body can extend outward from the mating pipe or contract inward into the mating pipe, adjusting the overall length of the support rod, enabling the guide plate to press down on three-dimensional textile composite preforms of different thicknesses. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 FIG. is a schematic structural diagram of the main view end stitching device of the three-dimensional textile composite preform stitching manipulator of the present invention.

[0015] Figure 2 FIG. is a schematic front sectional structural diagram of the housing of the present invention.

[0016] Figure 3 FIG. is a schematic top sectional structural diagram of the housing of the present invention.

[0017] Figure 4 FIG. is a schematic front structural diagram of the drive roller of the present invention.

[0018] Figure 5 FIG. is a schematic front sectional structural diagram of the drive roller of the present invention.

[0019] Figure 6 FIG. is a schematic front structural diagram of the guiding structure of the present invention.

[0020] Figure 7 FIG. is a schematic side sectional structural diagram of the support rod of the present invention.

[0021] In the figures: housing 1, stitching groove 2, transmission device 3, guiding structure 4, perforation 5, fixed seat 6, transmission gear disk 11, first servo motor 12, limiting tube 13, needle seat 14, transmission rod 15, stitching needle 16, gear set 17, disk 18, wire winding ring 19, drive roller 31, driven wheel 32, second servo motor 33, rotating shaft 311, gear 312, support column 313, elastic strip 314, contact layer 315, support rod 41, support seat 42, guide plate 43, lower rod body 411, rotating shaft 412, mating pipe 413, internal thread 414, upper rod body 415. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0023] Example 1: Please refer to Figures 1 - 5 , the specific embodiments of the present invention are as follows: Its structure includes a housing 1, a suture groove 2, and a fixing seat 6. The end face of the housing 1 is provided with a suture groove 2. A guiding structure 4 and a transmission device 3 are respectively arranged in front of and behind the suture groove 2. A perforation 5 is arranged at the middle position of the suture groove 2. The fixing seat 6 is fixed on the top of the housing 1, and the housing 1 is flange-connected to the end of the manipulator.

[0024] A transmission gear disk 11 is arranged inside the housing 1. The transmission gear disk 11 is meshed and connected with a first servo motor 12. A limiting tube 13 is fixedly installed at the right position inside the housing 1. A needle seat 14 is installed on the end face of the limiting tube 13. The bottom of the needle seat 14 is clamped and connected with a suture needle 16. The needle seat 14 is in transmission connection with the end face of the transmission gear disk 11 through a transmission rod 15. The bottom of the transmission gear disk 11 is meshed and connected with a wheel disk 18 through a gear set 17. A winding ring 19 is arranged at the middle position of the wheel disk 18. By driving the transmission gear disk 11 to rotate through the first servo motor 12, installing the suture needle 16 at the bottom of the needle seat 14, and movably connecting the transmission rod 15 with the top of the needle seat 14, the transmission rod 15 can drive the needle seat 14 to move up and down repeatedly in the limiting tube 13, so that the suture needle 16 drives the suture thread to move downward through the three-dimensional textile composite material, then through the perforation 5, and cooperates with the wheel disk 18 to drive the winding ring 19 to rotate for suturing.

[0025] The transmission device 3 is provided with a transmission roller 31. The transmission roller 31 is installed at the middle position inside the suture groove 2. A driven wheel 32 is installed at the bottom end of the suture groove 2. The transmission roller 31 is meshed and connected with a second servo motor 33. By driving the three-dimensional textile composite material to move to the left through the transmission roller 31 and supporting the movement of the three-dimensional textile composite material through the driven wheel 32 at the bottom, the stability during the suturing of the three-dimensional textile composite material can be improved, and the situation of suture deviation can be avoided.

[0026] The end face of the transmission roller 31 is fixedly connected with a rotating shaft 311. A gear 312 is arranged on the end face of the rotating shaft 311 and is meshed and connected with the second servo motor 33. By supporting the transmission roller 31 through the rotating shaft 311 and driving it to rotate through the meshing of the gear 312 and the second servo motor 33, the transmission roller 31 can rotate to contact and drive the movement of the three-dimensional textile composite material, and suture the three-dimensional placed composite material.

[0027] Inside the driving roller 31, there is a support column 313 fixedly connected to the rotating shaft 311. A number of V-shaped elastic strips 314 are arranged around the end face of the support column 313. The outer end face of the elastic strip 314 is fixedly connected to the contact layer 315. The contact layer 315 is made of metal, and convex particles are provided on the outer end face of the contact layer 315, which can increase the friction with the composite material through the convex particles. By rotating the driving roller 31 stably, it moves and stitches on the end face of the composite material. The elastic strip 314 supports the contact layer 315 elastically, so that when the contact layer 315 contacts the three-dimensional composite material, the elastic strip 314 can be deformed by extrusion, improving the friction between the contact layer 315 and the three-dimensional composite material. At the same time, the convex particles on the end face of the contact layer 315 can also increase the friction with the three-dimensional composite material.

[0028] Based on the above embodiments, the specific working principle is as follows: The housing 1 is fixedly installed at the end of the manipulator through the fixed seat 6. Driven by the manipulator, the three-dimensional textile material preform can pass through the stitching groove 2. The end face of the preform is pressed down by the guiding structure 4, so that the end face of the preform can move smoothly in the stitching groove 2. Then, the driving gear disc 11 is rotated by the servo motor 12. The stitching needle 16 is installed at the bottom of the needle seat 14 and is movably connected to the top of the needle seat 14 through the transmission rod 15, enabling the transmission rod 15 to drive the needle seat 14 to move up and down repeatedly in the limiting tube 13, so that the stitching needle 16 drives the stitching thread to move downward through the three-dimensional composite material, then through the through hole 5, and cooperates with the wheel disc 18 to drive the wire winding ring 19 to rotate for stitching. The servo motor 33 meshes with the gear 312 to drive the driving roller 31 to rotate and contact with the end face of the preform to drive the movement, and then the preform is supported by the driven wheel 32 to move, preventing the preform from shifting left and right during the sewing process, improving the stability of the preform during stitching, and avoiding deviation in the stitching of the preform.

[0029] Embodiment 2: Please refer to Figures 6 - 7 , the specific embodiments of the present invention are as follows: The guiding structure 4 is provided with a support rod 41. The bottom of the support rod 41 is rotatably connected to the support seat 42. The support seat 42 is fixedly installed on the top of the guiding plate 43. By rotatably connecting the bottom of the support rod 41 to the support seat 42, the guiding plate 43 can swing up and down to adjust the angle, and stably press down the three-dimensional composite material for movement.

[0030] The support rod 41 is provided with a lower rod body 411. The bottom of the lower rod body 411 is fixedly connected to a rotating shaft 412. The top of the lower rod body 411 is rotatably connected to a fitting pipe 413. An internal thread 414 is provided inside the fitting pipe 413. The internal thread 414 is in threaded cooperation with an upper rod body 415. By rotating the fitting pipe 413 in threaded cooperation with the upper rod body 415, the overall length of the support rod 41 can be adjusted, enabling the guide plate 43 to guide three-dimensional textile composite materials of different thicknesses.

[0031] Based on the above embodiments, the specific working principle is as follows: By using the fact that the bottom of the support rod 41 is rotatably connected to the support base 42, the guide plate 43 can swing up and down to adjust the angle, stably pressing down the preform to move, improving the stability during preform stitching. Then, by rotating the fitting pipe 413 in threaded cooperation with the upper rod body 415, the upper rod body 415 can extend outward from the fitting pipe 413 or contract into the fitting pipe 413, adjusting the overall length of the support rod 41, enabling the guide plate 43 to press down on three-dimensional textile composite preforms of different thicknesses, improving the stability during preform stitching.

[0032] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0033] Therefore, from any perspective, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed within the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. The end stitching device of a three-dimensional textile composite preform stitching manipulator, the structure of which includes a housing (1), a stitching groove (2), and a fixed seat (6), and is characterized in that: The end face of the housing (1) is provided with a suture groove (2). A guiding structure (4) and a transmission device (3) are respectively arranged in front of and behind the suture groove (2). A perforation (5) is arranged at the middle position of the suture groove (2). The fixing seat (6) is fixed on the top of the housing (1), and the housing (1) is flange-connected to the end of the manipulator.

2. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 1, characterized in that: A transmission gear disk (11) is arranged inside the housing (1). The transmission gear disk (11) is meshed and connected with a first servo motor (12). A limiting tube (13) is fixedly installed at the position on the right side inside the housing (1). A needle seat (14) is installed on the end face of the limiting tube (13). The bottom of the needle seat (14) is clamped and connected with a suture needle (16), and the needle seat (14) is in transmission connection with the end face of the transmission gear disk (11) through a transmission rod (15). The bottom of the transmission gear disk (11) is meshed and connected with a wheel disk (18) through a gear set (17). A winding ring (19) is arranged at the middle position of the wheel disk (18).

3. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 2, characterized in that: The transmission device (3) is provided with a transmission roller (31). The transmission roller (31) is installed at the middle position inside the suture groove (2). A driven wheel (32) is installed at the bottom end of the suture groove (2). The transmission roller (31) is meshed and connected with a second servo motor (33).

4. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 3, characterized in that: The end face of the transmission roller (31) is fixedly connected with a rotating shaft (311). A gear (312) is arranged on the end face of the rotating shaft (311) and is meshed and connected with the second servo motor (33).

5. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 4, characterized in that: A support column (313) is arranged inside the transmission roller (31) and is fixedly connected with the rotating shaft (311). A plurality of V-shaped elastic strips (314) are arranged around the end face of the support column (313). The outer end face of the elastic strip (314) is fixedly connected with a contact layer (315). The contact layer (315) is made of metal, and convex grains are arranged on the outer end face of the contact layer (315).

6. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 1, characterized in that: The guiding structure (4) is provided with a support rod (41). The bottom of the support rod (41) is rotatably connected with a support seat (42). The support seat (42) is fixedly installed on the top of a guiding plate (43).

7. The end stitching device of the three-dimensional textile composite preform stitching manipulator according to claim 6, characterized in that: The support rod (41) is provided with a lower rod body (411). The bottom of the lower rod body (411) is fixedly connected with a rotating shaft (412). The top of the lower rod body (411) is rotatably connected with a fitting tube (413). Internal threads (414) are arranged inside the fitting tube (413). The internal threads (414) are in threaded cooperation with an upper rod body (415).

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