An automatic yarn laying and forming device for composite material grids

Abstract

The present application discloses a fully automatic yarn laying and forming device for a composite material grid, including a forming die, a warp and weft walking mechanism, and a yarn laying manipulator. The warp and weft walking mechanism is installed above the die, and the yarn laying manipulator is installed on one side of the warp and weft walking mechanism. The device of the present application can replace manual yarn laying, thereby greatly reducing the labor intensity, lowering the cost, and ensuring the product quality. Compared with manual yarn laying, it has uniform yarn distribution, constant tension control, and guaranteed process control.

Description

Technical Field

[0001] This application belongs to the field of composite material grid production, and particularly relates to a fully automatic yarn laying and forming device for composite material grids. Background Art

[0002] Composite material grids are widely used building and decoration materials. Glass fiber yarns need to be evenly laid in composite material grids. At present, yarn laying is generally carried out manually to produce grid products. Manual yarn laying has high labor intensity, low production efficiency, high production cost, and the yarn tension and distribution state cannot be effectively and consistently controlled, and the product quality cannot be well controlled. Therefore, designing a fully automatic yarn laying device to replace manual yarn laying and manufacture composite material grids meets the needs of the times. Summary of the Invention

[0003] The technical problem to be solved by this application is to provide a fully automated composite material grid yarn laying production device to replace manual yarn laying and manufacture composite material grids. Compared with manual yarn laying, it has uniform yarn distribution, constant tension control, and guaranteed process control, and provides a fully automatic yarn laying and forming device for composite material grids.

[0004] The purpose of this application is achieved through the following technical solutions:

[0005] A fully automatic yarn laying and forming device for composite material grids includes a forming die, a warp and weft walking mechanism, and a yarn laying manipulator. The warp and weft walking mechanism is installed above the die, and the yarn laying manipulator is installed on one side of the warp and weft walking mechanism. A further technical solution is that the warp and weft walking mechanism includes: a weft walking cross beam, a weft linear guide rail, a weft walking power slide plate, a warp walking power slide plate, a warp linear guide rail, a warp walking slide plate, and a linear slider. Both ends of the weft walking cross beam are fixedly connected to the warp walking power slide plate and the warp walking slide plate through columns. Second linear sliders are provided at the bottoms of the warp walking power slide plate and the warp walking slide plate, and the second linear sliders are installed on the warp linear slide rails; the warp linear slide rails are arranged along two edges of the die plate in the warp direction, and a warp servo motor is provided at the end of the warp walking power slide plate, and the warp servo motor drives the weft walking cross beam to move in the warp direction;

[0006] The weft linear guide rail is arranged on one side of the weft walking cross beam. A first linear slider is provided at the bottom of the weft walking slide plate, and the first linear slider is installed in the weft linear guide rail; a weft moving driving wheel and a weft moving driven wheel are arranged on one side of the weft walking cross beam, a weft servo motor is arranged on the other side of the weft walking cross beam, the weft servo motor is fixedly connected to the weft moving driving wheel, and the weft moving driving wheel and the weft moving driven wheel are movably connected.

[0007] A further technical solution is that the molding die includes a die plate unit, a hot circulating water heating and curing unit, a demolding jacking mechanism and a base. The demolding jacking mechanism is installed on the base. The hot circulating water heating and curing unit is arranged above the demolding jacking mechanism. The die plate unit is installed on the upper part of the hot circulating water heating and curing unit.

[0008] A further technical solution is that the yarn laying manipulator includes a distance adjusting manipulator. The distance adjusting manipulator includes a yarn laying tube adjusting mechanism, a Z-direction bottom plate, a manipulator base and a yarn laying tube. The manipulator base is arranged on one side of the Z-direction bottom plate. The yarn laying tube adjusting mechanism is arranged on the manipulator base.

[0009] A further technical solution is that the yarn laying tube adjusting mechanism includes a first Z-axis, a first C-axis, a first B-axis and a first T-axis;

[0010] The first Z-axis includes a first Z-axis servo motor, a first Z-direction linear guide rail and a first Z-direction slider. The first Z-direction slider is installed in the first Z-direction linear guide rail. The first Z-axis servo motor is arranged on one side of the first Z-direction linear guide rail. The manipulator base is provided with a first Z-direction slider. The first Z-direction bottom plate is provided with a first Z-direction linear guide rail. The first Z-direction slider is installed in the first Z-direction linear guide rail;

[0011] The first C-axis includes a first C-axis servo motor, a first C-direction pinion, a first C-direction gear disk and a first sliding ring. The first C-axis servo motor is driven and connected to the first C-direction pinion. The first C-direction pinion meshes with the first C-direction gear disk. The first sliding ring is installed in the manipulator base;

[0012] The first B-axis includes a first B-axis servo motor and a first B-axis swinging execution bottom plate. The first B-axis swinging execution bottom plate is fixedly connected to the rotating shaft of the first B-axis servo motor. Both ends of the first B-axis swinging execution bottom plate are installed on the first C-direction gear disk through first bearing seats;

[0013] The first T-axis includes a first T-axis servo motor, a first left-handed lead screw, a first T-direction linear guide rail, a first right-handed lead screw, and a first fixed-end bracket. The first left-handed lead screw and the first right-handed lead screw are arranged on both sides of the first fixed-end bracket. First mobile end nuts are provided on both the first left-handed lead screw and the first right-handed lead screw. A first T-direction slider is provided at the lower end of the first mobile end nut. The first T-direction slider is arranged within the first T-direction linear guide rail. The first T-direction linear guide rail is arranged on the first B-axis swing execution bottom plate. The first right-handed lead screw is connected to the first T-axis servo motor through a first T-axis coupling. The yarn distributing tube includes a first two-side yarn distributing tube and a first middle yarn distributing tube. The first middle yarn distributing tube is fixedly arranged in the middle of the first T-direction linear guide rail. The first two-side yarn distributing tube is arranged on the first mobile end nut. 7. A further technical solution is that the yarn distributing tube adjusting mechanism includes a second Z-axis, a second C-axis, a second B-axis, and a second T-axis;

[0014] The second Z-axis includes a second Z-axis servo motor, a second Z-direction linear guide rail, and a second Z-direction slider. The second Z-direction slider is installed within the second Z-direction linear guide rail. The second Z-axis servo motor is arranged on one side of the second Z-direction linear guide rail. The robot base is provided with a second Z-direction slider, and a second Z-direction linear guide rail is arranged on the second Z-direction bottom plate. The second Z-direction slider is arranged within the second Z-direction linear guide rail;

[0015] The second C-axis includes a second C-axis servo motor, a second C-direction pinion, a second C-direction gear disk, and a second sliding ring. The second C-axis servo motor drives and is connected to the second C-direction pinion. The second C-direction pinion meshes with the second C-direction gear disk. The second sliding ring is installed within the robot base;

[0016] The second B-axis includes a second B-axis servo motor and a second B-axis swing execution bottom plate. The second B-axis swing execution bottom plate is fixedly connected to the rotating shaft of the second B-axis servo motor. Both ends of the second B-axis swing execution bottom plate are installed on the second C-direction gear disk through second bearing seats;

[0017] The second T-axis includes a second T-axis servo motor, a second lead screw, a second T-direction linear guide rail, a second yarn distributing tube, a second link adjusting plate, a second equidistant link, and a second fixed-end bracket. The second yarn distributing tube includes a second two-side yarn distributing tube and a second middle yarn distributing tube. The second middle yarn distributing tube is fixedly arranged in the middle of the second T-direction linear guide rail. The second T-axis servo motor is located above the second B-axis servo motor. One end of the second lead screw is connected to the second B-axis servo motor through a second T-axis coupling. The other end of the second lead screw is connected to the second link adjusting plate. A second moving end nut is arranged on the second lead screw. The second moving end nut is arranged on the second yarn distributing tube. One end of the second equidistant link is connected with a second T-direction slider. The other end of the second equidistant link is movably connected to the second fixed-end bracket. The second T-direction slider is arranged in the second T-direction linear guide rail. The second T-direction linear guide rail is arranged on the second B-axis swing execution bottom plate.

[0018] A further technical solution is that the yarn distributing tube adjusting mechanism includes a third Z-axis, a third C-axis, and a third B-axis;

[0019] The third Z-axis includes a third Z-axis servo motor, a third Z-direction linear guide rail, and a third Z-direction slider. The third Z-direction slider is installed in the third Z-direction linear guide rail. The third Z-axis servo motor is arranged on one side of the third Z-direction linear guide rail. The robot base is provided with a third Z-direction slider. A third Z-direction linear guide rail is arranged on the third Z-direction bottom plate. The third Z-direction slider is arranged in the third Z-direction linear guide rail;

[0020] The third C-axis includes a third C-axis servo motor, a third C-direction pinion, a third C-direction gear disk, and a sliding ring. The third C-axis servo motor is driven and connected to the third C-direction pinion. The third C-direction pinion meshes with the third C-direction gear disk. The sliding ring is installed in the robot base;

[0021] The third B-axis includes a third B-axis servo motor, a third T-direction linear guide rail, a third T-direction linear slider, a third B-axis swing execution bottom plate, and a third yarn distributing tube. The third B-axis swing execution bottom plate is fixedly connected to the rotating shaft of the third B-axis servo motor. Both ends of the third B-axis swing execution bottom plate are installed on the third C-direction gear disk through third bearing seats; The third yarn distributing tube includes a third two-side yarn distributing tube and a third middle yarn distributing tube. The third middle yarn distributing tube is fixedly arranged in the middle of the third T-direction linear guide rail. The third two-side yarn distributing tubes are installed on the third T-direction linear slider. A compression spring is arranged between the third T-direction linear slider and the third middle yarn distributing tube. A rectangular profile is provided at the bottom of the robot base.

[0022] A further technical solution is that the weft movement driving wheel and the weft movement driven wheel are connected by a synchronous belt.

[0023] A further technical solution is that the warp servo motor drives the weft walking crossbeam to move in the warp direction through the transmission of gears and racks.

[0024] A further technical solution is that the mold plate unit includes a mold plate, a metal module, a frame, and a thimble guide sleeve. The metal module, the frame, and the thimble guide sleeve are all installed on the mold plate. The metal module is arranged inside the frame, and the thimble guide sleeve is arranged between the metal modules; the thermal cycle water heating and curing unit includes a heat conduction copper pipe, a shunt main pipe, and a confluence main pipe. The shunt main pipe and the confluence main pipe are connected through the heat conduction copper pipe.

[0025] This application has the following advantages:

[0026] 1. This application can replace manual yarn laying, thus greatly reducing the labor intensity, lowering the cost, and ensuring the product quality.

[0027] 2. Compared with manual yarn laying, it has uniform yarn distribution, constant tension control, and guaranteed process control. Description of the Drawings

[0028] Figure 1 It is a structural schematic diagram of this application

[0029] Figure 2 It is a structural schematic diagram of the mold

[0030] Figure 3 It is a structural schematic diagram of the mold plate unit

[0031] Figure 4 It is a structural schematic diagram of the thermal cycle water heating and curing unit

[0032] Figure 5 It is a structural schematic diagram of the demolding jacking mechanism

[0033] Figure 6 It is a structural schematic diagram of the jacking drive

[0034] Figure 7 It is a structural schematic diagram of the base and tie rod leveling unit

[0035] Figure 8 It is a structural schematic diagram of the warp and weft walking mechanism

[0036] Figure 9 It is a structural schematic diagram of the warp and weft walking mechanism

[0037] Figure 10 It is a structural schematic diagram of the 4-axis screw rod distance adjusting manipulator

[0038] Figure 11 Schematic left view structure diagram of a 4-axis screw rod distance-adjusting manipulator

[0039] Figure 12 Schematic sectional structure diagram in the A-A direction

[0040] Figure 13 Schematic rear view structure diagram of a 4-axis screw rod distance-adjusting manipulator

[0041] Figure 14 Schematic structure diagram of a 4-axis connecting rod distance-adjusting manipulator

[0042] Figure 15 Schematic left view structure diagram of a 4-axis connecting rod distance-adjusting manipulator

[0043] Figure 16 Schematic sectional structure diagram in the B-B direction

[0044] Figure 17 Schematic rear view structure diagram of a 4-axis connecting rod distance-adjusting manipulator

[0045] Figure 18 Schematic structure diagram of a 3-axis edge distance-adjusting manipulator

[0046] Figure 19 Schematic left view structure diagram of a 3-axis edge distance-adjusting manipulator

[0047] Figure 20 Schematic sectional structure diagram in the C-C direction

[0048] Figure 21 Schematic rear view structure diagram of a 3-axis edge distance-adjusting manipulator

[0049] In the figure: 1. Mold plate, 2. Metal module, 3. Frame, 4. Ejector guide sleeve, 5. Heat-conducting copper tube, 6. Manifold header for flow distribution, 7. Manifold header for flow collection, 8. Hydraulic cylinder, 9. Lower inclined block, 10. Upper inclined block, 11. Ejector row, 12. Base, 13. Equal-height support tie rod, 1001. Mold, 2001. Yarn laying manipulator, 3001. Weft and warp walking mechanism, 1002. Mold plate unit, 1003. Heat cycle water heating and curing unit, 1004. Demolding and lifting mechanism, 1005. Base and tie rod leveling unit, 14. Warp-direction walking power slide plate, 15. Warp-direction walking slide plate, 16. Linear slider, 17. Warp-direction linear slide rail, 18. Warp-direction servo motor, 19. Gear, 20. Rack, 21. Weft-direction walking cross beam, 22. Weft-direction linear guide rail, 23. Support pillar, 24. Weft-direction walking slide plate, 25. Linear slider, 26. Warp-direction drag chain pull plate, 27. Weft-direction servo motor, 28. Weft-direction driving pulley, 29. Weft-direction driven pulley, 30. Timing belt, 31. Warp-direction guide rail protective cover, 32. Weft-direction guide rail protective cover, 100. First Z-axis, 200. First B-axis, 300. First C-axis, 400. First T-axis, 33. First Z-axis servo motor, 34. First Z-axis gear, 35. First Z-direction rack, 36. First Z-direction linear guide rail, 37. First Z-direction slider, 38. First C-axis servo motor, 39. First C-direction pinion, 40. First C-direction gear disc, 41. First sliding ring, 42. First B-axis servo motor, 43. First T-axis servo motor, 44. First left-handed lead screw, 45. First right-handed lead screw, 46. First fixed-end bracket, 47. First T-direction linear guide rail, 48. First T-direction slider, 49. First intermediate yarn laying tube, 50. First B-axis swing actuator bottom plate, 51. First two-side yarn laying tubes, 52. First mobile end nut, 53. First T-axis coupling, 54. First bearing block, 55. First manipulator base, 56. First Z-direction bottom plate, 101. Second Z-axis, 201. Second B-axis, 301. Second C-axis, 401. Second T-axis, 57. Second Z-axis servo motor, 58. Second Z-axis gear, 59. Second Z-direction rack, 60. Second Z-direction linear guide rail, 61. Second Z-direction slider, 62. Second C-axis servo motor, 63. Second C-direction pinion, 64. Second C-direction gear disc, 65. Second sliding ring, 66. Second B-axis servo motor, 67. Second B-axis swing actuator bottom plate, 68. Second T-axis servo motor, 69. Second lead screw, 70. Second equidistant connecting rod, 71. Second T-direction linear guide rail, 72. Second T-direction slider, 73. Second intermediate yarn laying tube, 74. Second yarn laying tube, 75. Second fixed-end bracket, 76. Second connecting rod adjusting plate, 77. Second mobile end nut, 78. Second T-axis coupling, 79. Second bearing block, 80. Manipulator base, 81. Second Z-direction bottom plate, 102. Third Z-axis, 202. Third B-axis, 302. Third C-axis, 82. Third Z-axis servo motor, 83. Third Z-axis gear,84. Third Z-direction rack, 85. Third Z-direction linear guide rail, 86. Third Z-direction slider, 87. Third C-axis servo motor, 88. Third C-direction pinion gear, 89. Third C-direction gear disk, 90. Third sliding ring, 91. Third B-axis servo motor, 92. Third B-axis swing execution base plate, 93. Third bearing seat, 94. Third robot base, 95. Rectangular profile template, 96. Third T-direction linear guide rail, 97. Third T-direction linear slider, 98. Third intermediate yarn distributing tube, 99. Third yarn distributing tube, 100. Compression spring, 101. Third Z-direction base plate., Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some but not all of the embodiments of this application. The components of the embodiments of this application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents the selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts shall fall within the scope of protection of this application.

[0052] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0053] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0054] In the description of this application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship when the inventive product is normally placed, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to this application. In addition, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present application, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0056] As Figures 1 to 3 shown, a fully automatic yarn laying and forming device for a composite material grid includes a forming die, a warp and weft walking mechanism 3001, and a yarn laying manipulator. The warp and weft walking mechanism 3001 is installed above the die, and the yarn laying manipulator is installed on one side of the warp and weft walking mechanism 3001.

[0057] In this embodiment, the warp and weft walking mechanism 3001 includes: a weft walking cross beam 21, a weft linear guide rail 22, a weft walking power slide plate, a warp walking power slide plate 14, a warp linear guide rail, a warp walking slide plate 15, and a linear slider. Both ends of the weft walking cross beam 21 are fixedly connected to the warp walking power slide plate and the warp walking slide plate 15 through columns 23. Second linear sliders 16 are provided at the bottoms of the warp walking power slide plate 14 and the warp walking slide plate 15, and the second linear sliders 16 are installed on the warp linear slide rail 17. The warp linear slide rail is arranged along two edges of the die plate in the warp direction. A warp servo motor 18 is provided at the end of the warp walking power slide plate 14, and the warp servo motor 18 drives the weft walking cross beam 21 to move in the warp direction.

[0058] The latitudinal linear guide 22 is arranged on one side of the latitudinal traveling cross beam 21. A first linear slider 25 is provided at the bottom of the latitudinal traveling carriage 24, and the first linear slider 25 is installed in the latitudinal linear guide 22. On one side of the latitudinal traveling cross beam 21, a latitudinal driving pulley 28 and a latitudinal driven pulley 29 are arranged. On the other side of the latitudinal traveling cross beam 21, a latitudinal servo motor 27 is provided. The latitudinal servo motor 27 is fixedly connected to the latitudinal driving pulley 28, and the latitudinal driving pulley 28 and the latitudinal driven pulley 29 are movably connected. The longitudinal linear slide rails 17 are laid along two edges of the mold plate in the longitudinal direction. The linear sliders at the bottoms of the longitudinal traveling power carriage 14 and the longitudinal traveling carriage 15 are used in cooperation with the longitudinal linear guides. Among them, a longitudinal servo motor 18 and a supporting speed reducer are configured on the longitudinal traveling power carriage 14 as the power source for longitudinal movement. A rack 20 is laid on the side of the longitudinal traveling power carriage 14 at the bottom of the mold plate and is in transmission cooperation with the gear 19 at the end of the longitudinal servo motor 18. The latitudinal traveling cross beam 21 is made of rectangular steel pipes to ensure stiffness. Two latitudinal linear guides 22 are laid vertically on one side of the latitudinal traveling cross beam 21. Both ends of the latitudinal traveling cross beam 21 are firmly connected to the longitudinal traveling power carriage 14 and the longitudinal traveling carriage 15 through two columns 23 each to achieve longitudinal movement control. Two linear sliders are provided at the bottom of the latitudinal traveling carriage 24 and are used in cooperation with the latitudinal linear guides 22. A latitudinal servo motor 27 and a supporting speed reducer are provided at one end of the latitudinal traveling cross beam 21 as the power source for latitudinal movement. A synchronous belt 30 pulley is provided at the end of the latitudinal servo motor 27 as the latitudinal driving pulley 28. A synchronous belt 30 pulley is provided at the other end of the latitudinal traveling cross beam 21 as the latitudinal driven pulley 29. The latitudinal driving pulley 28 and the latitudinal driven pulley 29 are connected and driven by a synchronous belt 30. The synchronous belt 30 is connected to the latitudinal traveling carriage 24, thereby achieving latitudinal movement control. Longitudinal guide shields 31 are provided between the two longitudinal side frames of the mold plate and the longitudinal linear guides. Latitudinal guide shields 32 are provided on the side of the latitudinal linear guides 22. The longitudinal guide shields 31 and the latitudinal guide shields 32 can effectively protect the linear guides from dust and liquid adhesion in the composite materials.

[0059] In this embodiment, the forming die includes a die plate unit 1002, a hot circulating water heating and curing unit 1003, a demolding lifting mechanism 1004 and a base. The demolding lifting mechanism 1004 is installed on the base. The hot circulating water heating and curing unit 1003 is arranged above the demolding lifting mechanism 1004. The die plate unit 1002 is installed on the upper part of the hot circulating water heating and curing unit 1003. The die plate unit 1002 includes a die plate, a metal module 2, a frame 3 and a thimble guide sleeve 4. The metal module 2, the frame 3 and the thimble guide sleeve 4 are all installed on the die plate. The metal module 2 is arranged within the frame 3. The thimble guide sleeve 4 is arranged on the metal module 2. The die plate is a rectangular steel plate. The metal modules 2 are evenly distributed at equal intervals at the upper end of the die plate. The rectangle is formed by 4 frames 3, and the formed groove area therebetween serves as the forming area of the grille product. Vertical thimble through holes are evenly opened on the die plate surface of the formed groove, and the thimble guide sleeve 4 is installed on the thimble through holes. For the hot circulating water heating and curing unit 1003, heat-conducting copper tubes 5 are evenly distributed around the frame 3 and at the bottom of the die plate. After the hot water is directed through the heat-conducting copper tubes 5 by the shunt main pipe 6 for heat conduction to heat the die plate, it is led out by the confluence main pipe 7. The heat-depleted water is then heated and enters the shunt main pipe 6 again, and thus a hot circulating water heating system is formed (a hot water solenoid valve is provided at the front end of the shunt main pipe 6 to incorporate the hot circulating water heating and curing unit 1003 into the electrical timing control). For the demolding lifting mechanism 1004, a hydraulic cylinder 8 is provided at each end. Driven by the hydraulic cylinder 8 to move horizontally, the lower inclined block 9 is pushed to form a relative movement with the upper inclined block 10, so that the upper inclined block 10 forms a displacement in the vertical direction, lifting the thimble row 11. Through the thimble guide sleeve 4 in the thimble through hole of the die plate, the cured grille product is demolded and ejected from the forming area of the grille product. (A stroke control switch is provided on the lower inclined block 9 to incorporate the hydraulic cylinder 8 into the electrical position and timing control through a hydraulic battery valve). For the base and the tie rod leveling unit 1005, the base frame is welded by channel steels, and steel plates are laid on its frame (the upper surface of the base steel plate has good flatness) to ensure the overall stability of the base. The base steel plate and the die plate are connected by equal-height support tie rods 13, and the demolding mechanism is firmly fixed on the base steel plate to form a firm overall die.

[0060] In this embodiment, the yarn laying manipulator includes an adjustable distance manipulator. The adjustable distance manipulator includes a yarn laying tube adjusting mechanism, a Z-direction bottom plate, a manipulator base and a yarn laying tube. The manipulator base is arranged on one side of the Z-direction bottom plate, and the yarn laying tube adjusting mechanism is arranged on the manipulator base.

[0061] Embodiment 1:

[0062] As a preferred embodiment, wherein, as Figure 4As shown, a 4-axis screw rod distance adjustment mechanism is provided on a manipulator base. The yarn distributing tube adjustment mechanism includes a first Z-axis 100, a first C-axis 300, a first B-axis 200, and a first T-axis 3001;

[0063] The first Z-axis 100 includes a first Z-axis servo motor 33, a first Z-direction linear guide 36, and a first Z-direction slider 37. The first Z-direction slider 37 is installed in the first Z-direction linear guide 36. The first Z-axis servo motor 33 is arranged on one side of the first Z-direction linear guide 36. The first manipulator base 55 and the first Z-direction bottom plate 56 are connected through the first Z-direction linear guide 36 and the first Z-direction slider 37;

[0064] The first C-axis 300 includes a first C-axis servo motor 38, a first C-direction pinion 39, a first C-direction gear disk 40, and a first sliding ring 41. The first C-axis servo motor 38 drives the first C-direction pinion 39 to rotate. The first C-direction pinion 39 meshes with the first C-direction gear disk 40. The first sliding ring 41 is installed in the first manipulator base 55;

[0065] The first B-axis 200 includes a first B-axis servo motor 42 and a first B-axis swing execution bottom plate 50. The first B-axis swing execution bottom plate 50 is fixedly connected to the rotating shaft of the first B-axis servo motor 42. Both ends of the first B-axis swing execution bottom plate 50 are installed on the first C-direction gear disk 40 through first bearing seats 54;

[0066] The first T-axis 3001 includes a first T-axis servo motor 43, a first left-handed lead screw 44, a first T-direction linear guide 47, a first right-handed lead screw 45, and a first fixed-end bracket 46. The first left-handed lead screw 44 and the first right-handed lead screw 45 are arranged on both sides of the first fixed-end bracket 46. First mobile-end nuts 52 are provided on both the first left-handed lead screw 44 and the first right-handed lead screw 45. A first T-direction slider 48 is provided at the lower end of the first mobile-end nut 52. The first T-direction slider 48 is arranged within the first T-direction linear guide 47. The first T-direction linear guide 47 is arranged on the first B-axis swing execution base plate 50. The first right-handed lead screw 45 is connected to the first T-axis servo motor 43 through a first T-axis coupling 53. The yarn spreading tube includes a first two-side yarn spreading tube 51 and a first middle yarn spreading tube 49. The first middle yarn spreading tube 49 is fixedly arranged in the middle of the first T-direction linear guide 47. The first two-side yarn spreading tube 51 is arranged on the first mobile-end nut 52. Driven by the first Z-axis servo motor 33, the first Z-axis gear 34 and the first Z-direction rack 35 are used for transmission, and the first Z-direction linear guide 36 and the first Z-direction slider 37 cooperate to realize the vertical movement of the manipulator. The first C-axis servo motor 38 drives the first C-direction pinion 39 and the first C-direction gear disc 40 for transmission, and the first slip ring 41 cooperates to rotate to realize the vertical and horizontal rotation of the three yarn spreading tubes. The first B-axis servo motor 42 drives the three yarn spreading tubes to swing vertically. The first T-axis servo motor 43 drives the first left-handed lead screw 44 and the first right-handed lead screw 45. The first fixed-end bracket 46, the first T-direction linear guide 47, and the first T-direction slider 48 have the same pitch for the first left-handed lead screw 44 and the first right-handed lead screw 45, and they are synchronously driven. The two end yarn spreading tubes move in reverse and equidistantly. The first T-direction linear guide 47 and the first T-direction slider 48 cooperate to realize the horizontal distance adjustment of the yarn spreading tubes. Among them, the first T-direction linear guide 47 and the first T-direction slider 48 are provided on the first B-axis swing execution base plate 50. Among the three yarn spreading tubes, the first middle yarn spreading tube 49 is fixed in the middle of the first T-direction linear guide 47 and overlaps with the center position of the first C-axis 300 gear disc. The other two yarn spreading tubes are respectively stably installed on the two first T-direction sliders 48. The first left-handed lead screw 44 and the first right-handed lead screw 45 are provided on the middle yarn spreading tube among the three yarn spreading tubes. The first left-handed lead screw 44 and the first right-handed lead screw 45 are fixed on the fixed-end bracket. The first mobile-end nuts 52 of the first left-handed lead screw 44 and the first right-handed lead screw 45 are provided on the other two yarn spreading tubes. The first T-axis servo motor 43 and the first right-handed lead screw 45 are connected through a first T-axis coupling. When the first T-axis servo motor 43 rotates, the first left-handed lead screw 44 and the first right-handed lead screw 45 rotate synchronously, and the first mobile-end nut 52 drives the two end yarn spreading tubes among the three yarn spreading tubes to move in reverse and equidistantly and synchronously with respect to the middle yarn spreading tube.The first T-axis 3001 is installed on the first B-axis swing execution base plate 50. The first B-axis execution base plate 50 is installed on the first C-direction gear disk 40 through two first bearing seats 54 and rotates following the first C-direction gear disk 40. The first C-direction gear disk 40 is installed in place on the first robot base 55. The first robot base 55 and the first Z-axis base plate 56 are connected by a first Z-axis linear guide 36 and a first Z-axis slider 37. The first Z-axis 100 servo motor controls the height of the yarn feeding tube to adapt to the heights of different layers of fiberglass yarn. The positive and negative rotations of the first C-axis 300 can effectively handle the direction changes of 3 yarn feeding tubes at the four corners of the rectangular area in the mold forming area. The swing inclination angle of the first B-axis 200 effectively reduces the tension of the fiberglass yarn during the weft and warp movement. When the first C-axis 300 rotates, the first T-axis 3001 and the first C-axis 300 perform an electrical interpolation movement to achieve the transition of the horizontal movement trajectory of the yarn feeding tube between the rectangular side margin and the rectangular diagonal distance.

[0067] Embodiment 2:

[0068] As a preferred embodiment, wherein, as Figure 5 shown, a 4-axis link distance adjustment mechanism is provided on a robot base. The yarn feeding tube adjustment mechanism includes a second Z-axis 101, a second C-axis 301, a second B-axis 201, and a second T-axis 401;

[0069] The second Z-axis 101 includes a second Z-axis servo motor 57, a second Z-axis linear guide 60, and a second Z-axis slider 61. The second Z-axis slider 61 is installed in the second Z-axis linear guide 60. The second Z-axis servo motor 57 is arranged on one side of the second Z-axis linear guide 60. The robot base 80 and the second Z-axis base plate are connected by the second Z-axis linear guide 60 and the second Z-axis slider 61;

[0070] The second C-axis 301 includes a second C-axis servo motor 62, a second C-direction pinion 63, a second C-direction gear disk 64, and a second sliding ring 65. The second C-axis servo motor 62 is driven to be connected with the second C-direction pinion 63. The second C-direction pinion 63 meshes with the second C-direction gear disk 64. The second sliding ring 65 is installed in the robot base 80;

[0071] The second B-axis 201 includes a second B-axis servo motor 66 and a second B-axis swing execution base plate 67. The second B-axis swing execution base plate 67 is fixedly connected to the rotating shaft of the second B-axis servo motor 66. Both ends of the second B-axis swing execution base plate 67 are installed on the second C-direction gear disk 64 through second bearing seats 79;

[0072] The second T-axis 401 includes a second T-axis servo motor 68, a second lead screw 69, a second T-direction linear guide rail, a second yarn distributing tube 74, a second connecting rod adjusting plate 76, a second equidistant connecting rod 70 and a second fixed-end bracket 75. The second yarn distributing tube 74 includes second side yarn distributing tubes and a second middle yarn distributing tube 73. The second middle yarn distributing tube 73 is fixedly arranged in the middle of the second T-direction linear guide rail. The second T-axis servo motor 68 is located above the second B-axis servo motor 66. One end of the second lead screw 69 is connected to the second B-axis servo motor 66 through a second T-axis coupling. The other end of the second lead screw 69 is connected to the second connecting rod adjusting plate 76. A second moving end nut 77 is arranged on the second lead screw 69. The second moving end nut 77 is arranged on the second yarn distributing tube 74. One end of the second equidistant connecting rod 70 is connected with a second T-direction sliding block. The other end of the second equidistant connecting rod 70 is movably connected to the second fixed-end bracket 75. The second T-direction sliding block is arranged in the second T-direction linear guide rail. The second T-direction linear guide rail is arranged on the second B-axis swing execution bottom plate 67. It includes the drive of a second Z-axis servo motor 57, the transmission of a second Z-axis gear 58 and a second Z-direction rack 59, and the cooperation of a second Z-direction linear guide rail 60 and a second Z-direction sliding block 61 to realize the vertical movement of the manipulator; the drive of a second C-axis servo motor 62, the transmission of a second C-direction pinion 63 and a second C-direction gear disk 64, and the cooperation of a sliding ring to realize the vertical and horizontal rotation of 3 yarn distributing tubes; the transmission of a second B-axis servo motor 66, the second B-axis swing execution bottom plate 67, and the vertical swing of 3 yarn distributing tubes; the drive of a second T-axis servo motor 68, the cooperation of the second lead screw 69, the second equidistant connecting rod 70, the second T-direction linear guide rail and the second T-direction sliding block, and the yarn distributing tubes form a reverse equidistant movement to realize the horizontal distance adjustment of the yarn distributing tubes.Among them, a second T-direction linear guide and a second T-direction slider are provided on the second B-axis swing execution bottom plate 67. Among the 3 yarn spreading tubes, the second middle yarn spreading tube 73 is fixed in the middle of the second T-direction linear guide, and the second middle yarn spreading tube 73 overlaps with the center position of the second C-direction dial; the other 2 yarn spreading tubes are respectively stably installed on the two second T-direction sliders; a second lead screw 69, a second fixed-end bracket 75 and a second connecting rod adjusting plate 76 are provided on the middle yarn spreading tube of the 3 yarn spreading tubes, a second lead screw 69 mobile nut is provided on the other 1 yarn spreading tube, and is connected to one end of the second connecting rod, and the other yarn spreading tube is directly connected to the other end of the second connecting rod; the second T-axis servo motor 68 is connected to the lead screw through a second T-axis coupling. When the second T-axis servo motor 68 rotates, the mobile nut drives the yarn spreading tube to move. Through the adjustment of the second equal-distance connecting rod 70, the two end yarn spreading tubes move in reverse equal-distance synchronization corresponding to the middle yarn spreading tube. The second B-axis is installed on the second B-axis swing execution bottom plate 67, and the second B-axis swing execution bottom plate is installed on the second C-direction gear disk 64 through two second bearing seats 79 and rotates following the second C-direction gear disk 64; the second C-direction gear disk 64 is installed on the second manipulator base 80, and the second manipulator base 80 is connected to the second Z-direction bottom plate through a second Z-direction linear guide 60 and a second Z-direction slider 61; the second Z-axis servo motor 57 controls the height of the yarn spreading tube to adapt to the heights of different layers of fiberglass yarn; the rotation of the second C-axis can effectively handle the direction changes of the 3 yarn spreading tubes at the 4 corners of the rectangular area in the mold forming area; the swing inclination angle of the second B-axis effectively reduces the tension of the fiberglass yarn during the weft and warp movement; when the second C-axis rotates, the second T-axis and the second C-axis perform an electrical interpolation movement to realize the transition of the horizontal movement trajectory of the yarn spreading tube between the rectangular side margin and the rectangular diagonal distance.

[0073] Embodiment 3:

[0074] As a preferred embodiment, among them, as Figure 6 shown, a 3-axis edge distance adjustment mechanism is provided on a manipulator base, and the yarn spreading tube adjustment mechanism includes a third Z-axis 102, a third C-axis 302 and a third B-axis 202;

[0075] The third Z-axis 102 includes a third Z-axis servo motor 82, a third Z-direction linear guide 85 and a third Z-direction slider 86. The third Z-direction slider 86 is installed in the third Z-direction linear guide 85. The third Z-axis servo motor 82 is arranged on one side of the third Z-direction linear guide 85. The manipulator base is connected to the third Z-direction bottom plate 109 through the third Z-direction linear guide 85 and the third Z-direction slider 86;

[0076] The third C-axis 302 includes a third C-axis servo motor 87, a third C-direction pinion, a third C-direction gear disk 89, and a sliding ring. The third C-axis servo motor 87 is driven and connected to the third C-direction pinion 88, the third C-direction pinion 88 meshes with the third C-direction gear disk 89, and the sliding ring is installed in the manipulator base;

[0077] The third B-axis 202 includes a third B-axis servo motor 91, a third T-direction linear guide 96, a third T-direction linear slider, a third B-axis swing execution base plate 92, and a third yarn distributing tube. The third B-axis swing execution base plate 92 is fixedly connected to the rotating shaft of the third B-axis servo motor 91. Both ends of the third B-axis swing execution base plate 92 are mounted on the third C-direction gear disk 89 through third bearing seats 93. The third yarn distributing tube includes a third two-side yarn distributing tube and a third middle yarn distributing tube. The third middle yarn distributing tube is fixedly arranged in the middle of the third T-direction linear guide 96. The third two-side yarn distributing tubes are mounted on the third T-direction linear slider. A compression spring 108 is arranged between the third T-direction linear slider and the third middle yarn distributing tube. A rectangular profiling template 95 is provided at the bottom of the robot base. Driven by the third Z-axis servo motor 82, transmitted by the third Z-axis gear 83 and the third Z-direction rack 84, and coordinated with the third Z-direction linear guide 85 and the third Z-direction slider 86, the robot realizes vertical movement. Driven by the third C-axis servo motor 87, transmitted by the third C-direction pinion 88 and the third C-direction gear disk 89, and coordinated with the third sliding ring 90, the three yarn distributing tubes realize vertical and horizontal rotation. Driven by the third B-axis servo motor 91, the third B-axis swing execution base plate 92 realizes the vertical swing of the three yarn distributing tubes. Among them, the third B-axis swing execution base plate 92 is mounted on the third C-direction scale disk through two third bearing seats 93 and rotates following the third C-direction gear disk. The third C-direction gear disk is installed on the third robot base 94. A rectangular profiling template 95 is provided at the bottom of the third robot base 94. A third T-direction linear guide 96 and a third T-direction linear slider are provided on the third B-axis swing execution base plate 92. Among the three yarn distributing tubes, the third middle yarn distributing tube is fixed in the middle of the third T-direction linear guide 96 and overlaps with the center position of the third C-direction gear disk 89. The other two yarn distributing tubes are respectively stably mounted on the two third T-direction linear sliders, and two compression springs 108 are respectively provided to connect with the third middle yarn distributing tube. A rectangular profiling template 95 is provided at the bottom of the third robot base 94. When the third C-axis rotates, the two end yarn distributing tubes rely on the pressure of the compression springs 108 and perform reverse equidistant synchronous movement along the inner edge of the rectangular profiling template 95 corresponding to the third middle yarn distributing tube. The third robot base 94 and the third Z-direction base plate 109 are connected through the third Z-direction linear guide 85 and the third Z-direction slider 86. The third Z-axis servo motor 82 controls the height of the yarn distributing tube to adapt to the heights of different layers of fiberglass yarns. The rotation of the third C-axis can effectively handle the direction changes of the three yarn distributing tubes at the four corners of the rectangular area in the mold forming area. The swing angle of the third B-axis effectively reduces the tension of the fiberglass yarns during the weft and warp movement. When the third C-axis rotates, the two end yarn distributing tubes perform a rectangular trajectory movement along the inner edge of the rectangular profiling template 95, realizing the transition of the movement trajectory of the yarn distributing tube between the rectangular side margin and the rectangular diagonal margin.

[0078] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A fully automatic yarn laying and forming device for a composite material grid, characterized in that: it includes a forming die, a warp and weft walking mechanism and a yarn laying manipulator. The warp and weft walking mechanism is installed above the die, and the yarn laying manipulator is installed on one side of the warp and weft walking mechanism; The warp and weft walking mechanism includes: a weft walking cross beam, a weft linear guide rail, a weft walking power slide plate, a warp walking power slide plate, a warp linear guide rail, a warp walking slide plate and a linear slider. Both ends of the weft walking cross beam are fixedly connected to the warp walking power slide plate and the warp walking slide plate through columns. Second linear sliders are arranged at the bottoms of the warp walking power slide plate and the warp walking slide plate, and the second linear sliders are installed on the warp linear slide rails; the warp linear slide rails are arranged along the two edges of the die plate in the warp direction. A warp servo motor is arranged on the end of the warp walking power slide plate, and the warp servo motor drives the weft walking cross beam to move in the warp direction; The weft linear guide rail is arranged on one side of the weft walking cross beam. A first linear slider is arranged at the bottom of the weft walking slide plate, and the first linear slider is installed in the weft linear guide rail; a weft movement driving wheel and a weft movement driven wheel are arranged on one side of the weft walking cross beam, and a weft servo motor is arranged on the other side of the weft walking cross beam. The weft servo motor is fixedly connected to the weft movement driving wheel, and the weft movement driving wheel and the weft movement driven wheel are movably connected; The yarn laying manipulator includes an adjustable distance manipulator; the adjustable distance manipulator includes a yarn laying tube adjusting mechanism, a Z-direction bottom plate, a manipulator base and a yarn laying tube; the manipulator base is arranged on one side of the Z-direction bottom plate, and the yarn laying tube adjusting mechanism is arranged on the manipulator base; The yarn laying tube adjusting mechanism realizes the transition of the horizontal movement trajectory of the yarn laying tube between the rectangular side margin and the rectangular diagonal margin.

2. The fully automatic yarn laying and forming device for a composite material grid according to claim 1, characterized in that: the forming die includes a die plate unit, a hot circulating water heating and curing unit, a demolding and jacking mechanism and a base. The demolding and jacking mechanism is installed on the base, the hot circulating water heating and curing unit is arranged above the demolding and jacking mechanism, and the die plate unit is installed on the upper part of the hot circulating water heating and curing unit.

3. The fully automatic yarn laying and forming device for a composite material grid according to claim 1, characterized in that: the yarn laying tube adjusting mechanism includes a first Z-axis, a first C-axis, a first B-axis and a first T-axis; The first Z-axis includes a first Z-axis servo motor, a first Z-direction linear guide rail and a first Z-direction slider. The first Z-direction slider is installed in the first Z-direction linear guide rail. The first Z-axis servo motor is arranged on one side of the first Z-direction linear guide rail. The manipulator base is provided with a first Z-direction slider, and a first Z-direction linear guide rail is arranged on the first Z-direction bottom plate. The first Z-direction slider is installed in the first Z-direction linear guide rail; The first C-axis includes a first C-axis servo motor, a first C-direction pinion gear, a first C-direction gear disk, and a first sliding ring. The first C-axis servo motor is drivingly connected to the first C-direction pinion gear. The first C-direction pinion gear meshes with the first C-direction gear disk. The first sliding ring is installed inside the robot base. The first B-axis includes a first B-axis servo motor and a first B-axis swing execution base plate. The first B-axis swing execution base plate is fixedly connected to the rotating shaft of the first B-axis servo motor. Both ends of the first B-axis swing execution base plate are installed on the first C-direction gear disk through first bearing seats. The first T-axis includes a first T-axis servo motor, a first left-handed lead screw, a first T-direction linear guide rail, a first right-handed lead screw, and a first fixed-end bracket. The first left-handed lead screw and the first right-handed lead screw are arranged on both sides of the first fixed-end bracket. First mobile end nuts are arranged on both the first left-handed lead screw and the first right-handed lead screw. A first T-direction slider is arranged at the lower end of the first mobile end nut. The first T-direction slider is arranged inside the first T-direction linear guide rail. The first T-direction linear guide rail is arranged on the first B-axis swing execution base plate. The first right-handed lead screw is connected to the first T-axis servo motor through a first T-axis coupling. The yarn distribution tube includes a first two-side yarn distribution tube and a first middle yarn distribution tube. The first middle yarn distribution tube is fixedly arranged in the middle of the first T-direction linear guide rail. The first two-side yarn distribution tubes are arranged on the first mobile end nuts.

4. A fully automatic yarn distribution and forming device for composite material grids according to claim 1, characterized in that: the yarn distribution tube adjusting mechanism includes a second Z-axis, a second C-axis, a second B-axis, and a second T-axis; The second Z-axis includes a second Z-axis servo motor, a second Z-direction linear guide rail, and a second Z-direction slider. The second Z-direction slider is installed inside the second Z-direction linear guide rail. The second Z-axis servo motor is arranged on one side of the second Z-direction linear guide rail. The robot base is provided with a second Z-direction slider. A second Z-direction linear guide rail is arranged on the second Z-direction base plate. The second Z-direction slider is arranged inside the second Z-direction linear guide rail; The second C-axis includes a second C-axis servo motor, a second C-direction pinion gear, a second C-direction gear disk, and a second sliding ring. The second C-axis servo motor is drivingly connected to the second C-direction pinion gear. The second C-direction pinion gear meshes with the second C-direction gear disk. The second sliding ring is installed inside the robot base; The second B-axis includes a second B-axis servo motor and a second B-axis swing execution base plate. The second B-axis swing execution base plate is fixedly connected to the rotating shaft of the second B-axis servo motor. Both ends of the second B-axis swing execution base plate are installed on the second C-direction gear disk through second bearing seats. The second T-axis includes a second T-axis servo motor, a second lead screw, a second T-direction linear guide rail, a second yarn distributing tube, a second connecting rod adjusting plate, a second equidistant connecting rod, and a second fixed-end bracket. The second yarn distributing tube includes a second two-side yarn distributing tube and a second middle yarn distributing tube. The second middle yarn distributing tube is fixedly arranged in the middle of the second T-direction linear guide rail. The second T-axis servo motor is located above the second B-axis servo motor. One end of the second lead screw is connected to the second B-axis servo motor through a second T-axis coupling. The other end of the second lead screw is connected to the second connecting rod adjusting plate. A second moving-end screw nut is arranged on the second lead screw. The second moving-end screw nut is arranged on the second yarn distributing tube. One end of the second equidistant connecting rod is connected with a second T-direction sliding block. The other end of the second equidistant connecting rod is movably connected to the second fixed-end bracket. The second T-direction sliding block is arranged in the second T-direction linear guide rail. The second T-direction linear guide rail is arranged on the second B-axis swing execution bottom plate.

5. A full-automatic yarn distributing and forming device for composite material grids according to claim 1, characterized in that: the yarn distributing tube adjusting mechanism includes a third Z-axis, a third C-axis, and a third B-axis; The third Z-axis includes a third Z-axis servo motor, a third Z-direction linear guide rail, and a third Z-direction sliding block. The third Z-direction sliding block is installed in the third Z-direction linear guide rail. The third Z-axis servo motor is arranged on one side of the third Z-direction linear guide rail. The manipulator base is provided with a third Z-direction sliding block. A third Z-direction linear guide rail is arranged on the third Z-direction bottom plate. The third Z-direction sliding block is arranged in the third Z-direction linear guide rail; The third C-axis includes a third C-axis servo motor, a third C-direction pinion, a third C-direction gear disk, and a sliding ring. The third C-axis servo motor is driven and connected to the third C-direction pinion. The third C-direction pinion meshes with the third C-direction gear disk. The sliding ring is installed in the manipulator base; The third B-axis includes a third B-axis servo motor, a third T-direction linear guide rail, a third T-direction linear sliding block, a third B-axis swing execution bottom plate, and a third yarn distributing tube. The third B-axis swing execution bottom plate is fixedly connected to the rotating shaft of the third B-axis servo motor. Both ends of the third B-axis swing execution bottom plate are installed on the third C-direction gear disk through third bearing seats; The third yarn distributing tube includes a third two-side yarn distributing tube and a third middle yarn distributing tube. The third middle yarn distributing tube is fixedly arranged in the middle of the third T-direction linear guide rail. The third two-side yarn distributing tubes are installed on the third T-direction linear sliding block. A compression spring is arranged between the third T-direction linear sliding block and the third middle yarn distributing tube. A rectangular profiling template is arranged at the bottom of the manipulator base.

6. A full-automatic yarn distributing and forming device for composite material grids according to claim 1, characterized in that: the weft-direction driving wheel and the weft-direction driven wheel are connected by a synchronous belt.

7. A full-automatic yarn distributing and forming device for composite material grids according to claim 1, characterized in that: the warp-direction servo motor drives the weft-direction walking cross beam to move in the warp direction through gear and rack transmission.

8. The full-automatic yarn laying and forming equipment for a composite material grid according to claim 2, characterized in that: The mold plate unit includes a mold plate, a metal module, a frame, and a thimble guide sleeve. The metal module, the frame, and the thimble guide sleeve are all installed on the mold plate. The metal module is arranged inside the frame, and the thimble guide sleeve is arranged between the metal modules. The hot water circulation heating and curing unit includes a heat-conducting copper pipe, a shunt main pipe, and a confluence main pipe. The shunt main pipe and the confluence main pipe are connected through the heat-conducting copper pipe.

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