Integrated needle-punched fabric production device and method

Abstract

The present invention discloses an integrated needle-punched fabric production device and method, the device consists of a needle-punching component, a winding component, a scanning component and a driving component. The needle-punching component is mainly responsible for the needling process of the product, ensuring that the needle clamping handle can reciprocate in the shell under the drive of the electromagnetic coil; the winding component is mainly responsible for the winding process of the product, and the winding roller and the tensioning roller are fixed by bearings and roller brackets, that is, the 360° rotation freedom of the winding roller can be guaranteed; the scanning component is mainly responsible for product deformation scanning, and the scanning head is clamped by three scanning clamps to perform scanning operations. The present invention integrates the process processing methods required for needle-punched fabrics, and is assisted by a mature manipulator in the current market, so that each process is integrated into one device, reducing the working hours and operators, improving economic benefits, reducing the difficulty of operation, and contributing to the further development of the needle-punching process market.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical design, and in particular relates to an integrated needle-punched fabric production device and method. Background Art

[0002] The needling process of the existing technology is mature, and various mechanical needling methods are widely used. However, the current mechanized needling technology is relatively single, and mechanical equipment can only perform a single needling process for preforms. Most needling products are not only limited to the needling process, but also include a winding process and a scanning deformation detection process. Moreover, the three processes are independent of each other, and the connection is not coherent during product production. Therefore, there is an urgent need for a device that can not only mechanize or semi-mechanize the three processes, but also integrate the three processes together, thereby improving the problem of integrated manufacturing and equipment integration of the needling process, reducing the connection time of the three processes in the product production process, reducing the production hours of the product, and improving the product capacity. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the mechanical equipment in the prior art needling process can only perform a single needling process for the preform, resulting in discontinuous connection in product production, reduce the connection time of the three processes in the product production process, reduce the production working hours of the product, and improve the product production capacity.

[0004] In order to achieve the purpose of the present invention, the present invention discloses an integrated needle-punched fabric production device, including a needle-punching component, a winding component, a scanning component, a driving component and a supporting component; the needle-punching component, the winding component and the scanning component are connected to the driving component through a thread, and are distributed on the driving component at preset angles (the preset angles are generally between 70° and 90°) from each other; the needle-punching component is located between the winding component and the scanning component due to its long operation time, the driving component is rotated in the supporting component through a bearing, and the supporting component is fixed on a manipulator to achieve multi-degree-of-freedom and highly automated operation of the entire device; the fabric is fixed on a rotating needle-punching tooling spindle, and the rotating needle-punching tooling spindle is used to drive the fabric to rotate; when the device is operating, the driving component drives the needle-punching component, the winding component or the scanning component to the location of the fabric by rotation according to different processes to process the fabric.

[0005] Furthermore, the needle-punching component includes a needle-clamping handle, a telescopic rod, a first spring, a second spring, a magnet, an electromagnetic coil, and a shell; wherein the needle-clamping handle is connected to one end of the telescopic rod, and the other end of the telescopic rod is fixed to the magnet, and the telescopic rod and the magnet are fixed in the shell to ensure that the telescopic rod and the magnet can reciprocate in the shell, and the first spring and the second spring are respectively installed at the upper and lower ends of the shell to buffer the telescopic rod; the electromagnetic coil is installed at the front end of the shell, and is isolated from the movement space of the telescopic rod and the magnet. By changing the direction of the current in the electromagnetic coil, the change of the north and south poles of the electromagnetic coil is controlled, thereby controlling the reciprocating motion of the magnet. The shell is connected to the driving component by a thread, thereby fixing the needle-punching component on the driving component; when the needle-punching component is in operation, the fabric starts to keep one side facing up and not moving, and the manipulator drives the needle-punching component to move synchronously on the surface of the fabric according to the curvature of the fabric surface, thereby performing a needle-punching operation on the fabric. When the needle-punching of this side of the fabric is completed, the main shaft of the rotary needle-punching tool rotates to turn the un-punctured side of the fabric upward, and then repeats the same steps to needle-punch the un-punctured side.

[0006] Furthermore, the winding component includes a first winding roller, a second winding roller, a third winding roller, a winding frame, a first tensioning roller, a second tensioning roller, a tensioning roller rod, and a third tensioning roller; the first winding roller, the second winding roller, and the third winding roller are fixed on the winding frame through bearings in a triangular shape, and the three winding rollers can rotate freely 360 degrees, and there is a circle of surrounding grooves in the middle of each winding roller to ensure that the yarn does not deviate; the first tensioning roller and the second tensioning roller are fixed to the tensioning roller rod by bolts, and the third tensioning roller is used to adjust the tightness of the first tensioning roller and the second tensioning roller. The tensioning roller rod Welded on the winding frame, the winding frame is connected to the driving component by threads, so that the winding component is fixed on the driving component; when the winding component starts to work, the winding yarn passes between the first tensioning roller and the second tensioning roller, giving the winding yarn a certain tension, and then the winding yarn passes under the second winding roller to the top of the first winding roller, and then from the top of the first winding roller back to the bottom of the third winding roller; then the main shaft of the rotary needle punching tooling rotates at high speed, and the manipulator drives the winding component to move parallel to the mother direction of the fabric, so that the winding yarn is wound around the fabric in circles along the circumferential direction.

[0007] Furthermore, the scanning component includes a connecting rod, a scanning clamp and a pin; three scanning clamps are welded and fixed on the connecting rod, and the pin passes through the scanning clamp to fix the scanning head handle of the scanner, so that the scanning head is fixed on the scanning component, and the scanning head is used to emit laser and receive reflected laser to determine the shape of the fabric; the tracking head of the scanner is placed directly in front of the fabric, and the tracking head is used to calibrate the movement trajectory and position of the scanning head and the fabric; the entire scanning component is connected and fixed to the driving component through a connecting rod; when the scanning component is working, the brake of the rotary needling tooling is opened and is in a locked state, so that the fabric remains stationary. At this time, the robot drives the scanning component to move back and forth along the mother direction of the fabric.

[0008] Furthermore, the driving component includes a first connector, a second connector, a third connector, a rotating roller, a rotating roller shaft, a first bearing, a rotating roller gear, a rotating roller gear shaft, a second bearing, a gear steering device and a reduction motor; the first connector, the second connector and the third connector are arranged at a preset angle (the preset angle is generally between 70° and 90°) and are distributed on the rotating roller, and the first connector, the second connector and the third connector are respectively used to connect the acupuncture component, the winding component and the scanning component; gear teeth are arranged on the rotating roller, and the rotating roller is fixed to the supporting component through the cooperation between the rotating roller shaft and the first bearing; the rotating roller gear is fixed to the supporting component through the cooperation between the rotating roller gear shaft and the second bearing; the rotating roller and the rotating roller gear are meshed with each other, and the teeth are tightly fitted; one end of the rotating roller gear shaft is connected to the gear steering device and is connected to the reduction motor to realize power output steering; the reduction motor is fixed to the outside of the supporting component by bolts, and the reduction motor drives the rotating roller gear to rotate, and the rotating roller gear thereby drives the rotating roller to rotate, and the movement of the acupuncture component, the winding component and the scanning component is realized through the rotation of the rotating roller.

[0009] Furthermore, the supporting component includes a supporting frame, a manipulator connecting shaft and a yarn hanging frame; the supporting frame is a Y-shaped frame, and a rotating roller shaft and a rotating roller gear shaft are arranged inside the frame; and it is connected to the manipulator through the manipulator connecting shaft; the yarn hanging frame is used to fix the yarn shaft and provide yarn for the winding component.

[0010] Furthermore, the head of the needle clamping handle is used to install the needle plate or the acupuncture handle. The needle needs to be changed manually, and the frequency of needle change is determined by the number of reciprocating times of the cylinder (generally, the needle needs to be changed about 2500 times); the electromagnetic coil is controlled by an electronic control, and the reciprocating operation is controlled by controlling the direction of the current, and the number of reciprocating times of the electromagnetic coil operation can be set by the electronic control; the outer shell is made of aluminum alloy to reduce the motion inertia of the acupuncture component during operation, making the entire device more stable.

[0011] Furthermore, in order to imitate human hands, thereby increasing the tension of the yarn winding and improving the quality of fabric production, the first tensioning roller and the second tensioning roller do not rotate, or the rotation angle between the first tensioning roller and the second tensioning roller is less than 10°.

[0012] Furthermore, the rotating roller cooperates with a rack or a worm gear arranged outside the rotating roller gear shaft to realize transmission.

[0013] In order to achieve the purpose of the present invention, the present invention also discloses an integrated needle-punched fabric production method, comprising the following steps:

[0014] Step 1, install the integrated needle-punched fabric production device at the end of the manipulator, debug each component, install the needle of the needle-punched component, debug the tension of the winding component, turn on the power supply of the scanning head of the scanning component, and energize the driving component. After the debugging of each component is completed, proceed to step 2;

[0015] Step 2: Install the needle-punched fabric production mold on the needle-punching tooling, and start the needle-punching process. The driving component rotates the needle-punching component to the fabric position, and energizes the electromagnetic coil in the needle-punching component through the wire installed on the manipulator, and controls the change of the north and south poles of the electromagnetic coil by constantly changing the direction of the current, so that the needle clamping handle reciprocates to needle the fabric; the needling angle of the manipulator is adjusted to facilitate the needling of fabrics of various shapes;

[0016] Step 3, when the winding process is carried out, the driving component works to make the winding component be in the fabric position, and then the needle punching tool rotates to perform hoop yarn winding on the fabric, and the winding angle is adjusted by the manipulator to perform the winding process;

[0017] Step 4: When the scanning process is performed, the motor of the driving component is reversed to make the scanning component in the fabric position, and then the scanning head switch of the scanning component is turned on to start scanning the fabric; the scanning angle is adjusted by the manipulator to facilitate scanning of needle-punched fabrics of various shapes;

[0018] Step 5: When the scanning process is completed, if there is no problem after the profile comparison, the motor of the driving component rotates and step 2 is repeated to process the next area of ​​the fabric.

[0019] Compared with the prior art, the significant progress of the present invention is as follows: 1) The present invention proposes an integrated needle-punched fabric production device, which can realize the mechanization and automation of the needling process, scanning process and winding process of irregular fabrics; 2) The present invention proposes an integrated needle-punched fabric production device, which can realize the integration and modularization of the three processes of needling process, scanning process and winding process, greatly shortening the connection time of the three processes and improving production capacity; 3) The present invention proposes an integrated needle-punched fabric production device, which can realize controllable needling density and number of needles, controllable scanning accuracy, and controllable winding tension and winding spacing, greatly improving product quality and improving the market competitiveness of needle-punched products.

[0020] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a structural schematic diagram of the integrated needle-punched fabric production device of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the acupuncture component of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the winding component of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the scanning component of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the driving component and the clamping component of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the yarn hanging frame of the present invention;

[0028] Figure 7 It is a schematic diagram of the main shaft structure of the rotary acupuncture tooling of the present invention;

[0029] The accompanying drawings are marked as follows: acupuncture component 1, winding component 2, scanning component 3, driving component 4, supporting component 5, needle clamping handle 11, telescopic rod 12, first spring 13, second spring 14, magnet 15, electromagnetic coil 16, housing 17, first winding roller 21, second winding roller 22, third winding roller 23, winding frame 24, first tensioning roller 25, second tensioning roller 26, tensioning roller rod 27, third tensioning roller 28, connecting rod 31, scanning clamp 32, pin shaft 33, first connecting head 41, second connecting head 42, third connecting head 43, rotating roller 44, rotating roller shaft 45, first bearing 46, rotating roller gear 47, rotating roller gear shaft 48, second bearing 49, gear diverter 412, reduction motor 413, supporting frame 51, manipulator connecting shaft 52, yarn hanging frame 53, rotating acupuncture tooling main shaft 61. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] like Figure 1 , Figure 7As shown, an integrated needle-punched fabric production device includes a needle-punching component 1, a winding component 2, a scanning component 3, a driving component 4 and a supporting component 5; the needle-punching component 1, the winding component 2 and the scanning component 3 are connected to the driving component 4 through threads, and are distributed on the driving component 4 at an interval of 90°; the needle-punching component 1 is located between the winding component 2 and the scanning component 3 due to its long operation time, and the driving component 4 is rotated in the supporting component 5 through a bearing, and the supporting component 5 is fixed on a manipulator to achieve multi-degree-of-freedom and highly automated operation of the entire device; the fabric is fixed on a rotating needle-punching tooling spindle 61, and the rotating needle-punching tooling spindle 61 is used to drive the fabric to rotate; when the device is operating, the driving component 4 drives the needle-punching component 1, the winding component 2 or the scanning component 3 to the location of the fabric by rotation according to different processes to process the fabric.

[0032] like Figure 2 As shown, the acupuncture component 1 includes a needle clamping handle 11, a telescopic rod 12, a first spring 13, a second spring 14, a magnet 15, an electromagnetic coil 16, and a shell 17; wherein the needle clamping handle 11 is connected to one end of the telescopic rod 12, the other end of the telescopic rod 12 is fixed to the magnet 15, the telescopic rod 12 and the magnet 15 are fixed in the shell 17 to ensure that the telescopic rod 12 and the magnet 15 can reciprocate in the shell, the first spring 13 and the second spring 14 are respectively installed at the upper and lower ends of the shell 17 to buffer the telescopic rod 12; the electromagnetic coil 16 is installed at the front end of the shell, and the movement space between the telescopic rod 12 and the magnet 15 The electromagnetic coil 16 is isolated and the north and south poles of the electromagnetic coil 16 are changed by changing the direction of the current, thereby controlling the reciprocating motion of the magnet 15. The housing 17 is connected to the driving component 4 by threads, thereby fixing the needling component 1 on the driving component 4. When the needling component 1 is working, the fabric starts to keep one side facing up and does not move. The manipulator drives the needling component 1 to move synchronously on the fabric surface according to the curvature of the fabric surface, thereby needling the fabric. After the needling of this side of the fabric is completed, the main shaft 61 of the rotary needling tooling rotates to turn the unneedled side of the fabric upward, and then repeats the same steps to needle the unneedled side.

[0033] like Figure 3As shown, the winding component 2 includes a first winding roller 21, a second winding roller 22, a third winding roller 23, a winding frame 24, a first tensioning roller 25, a second tensioning roller 26, a tensioning roller rod 27, and a third tensioning roller 28; the first winding roller 21, the second winding roller 22, and the third winding roller 23 are fixed on the winding frame 24 in a triangular shape through bearings, and the three winding rollers can rotate freely 360 degrees, and there is a circle of surrounding grooves in the middle of each winding roller to ensure that the yarn is not offset; the first tensioning roller 25 and the second tensioning roller 26 are fixed on the tensioning roller rod 27 at both ends, and the third tensioning roller 28 is arranged inside the tensioning roller rod 27. By screwing the nut on the third tensioning roller 28, the relative height of the first tensioning roller 25 is changed to compress or loosen the yarn. The spring is used to adjust the tightness of the first tensioning roller 25 and the second tensioning roller 26; the tensioning roller rod 27 is welded to the winding frame 24, and the winding frame 24 is connected to the driving component 4 by threads, so that the winding component 2 is fixed to the driving component 4; when the winding component 2 starts to work, the winding yarn passes between the first tensioning roller 25 and the second tensioning roller 26, giving the winding yarn a certain tension, and then the winding yarn passes under the second winding roller 22 to the top of the first winding roller 21, and then from the top of the first winding roller 21 back to the bottom of the third winding roller 23; then the rotary acupuncture tooling main shaft 61 rotates at high speed, and the manipulator drives the winding component 2 to move parallel to the mother direction of the fabric, so that the winding yarn is wound around the fabric in circles along the circumferential direction.

[0034] like Figure 4 As shown, the scanning component 3 includes a connecting rod 31, a scanning clamp 32 and a pin 33; three scanning clamps 32 are welded and fixed on the connecting rod 31, and the pin 33 passes through the scanning clamp 32 to fix the scanning head handle of the scanner, so that the scanning head is fixed on the scanning component 3, and the scanning head is used to emit laser and receive reflected laser to judge the shape of the fabric; the tracking head of the scanner is placed in front of the fabric, and the tracking head is used to calibrate the movement trajectory and position of the scanning head and the fabric; the entire scanning component 3 is connected and fixed to the driving component 4 through the connecting rod 31; when the scanning component 3 is working, the rotating needling tooling brake is opened and is in a locked state, so that the fabric remains stationary. At this time, the manipulator drives the scanning component 3 to move back and forth along the mother direction of the fabric.

[0035] Combination Figure 5The driving component 4 includes a first connector 41, a second connector 42, a third connector 43, a rotating roller 44, a rotating roller shaft 45, a first bearing 46, a rotating roller gear 47, a rotating roller gear shaft 48, a second bearing 49, a gear diverter 412 and a reduction motor 413; the first connector 41, the second connector 42 and the third connector 43 are distributed on the rotating roller 44 at 90 degrees, and the first connector 41, the second connector 42 and the third connector 43 are respectively used to connect the acupuncture component 1, the winding component 2 and the scanning component 3; the rotating roller 44 is provided with gear teeth, and the rotating roller 44 is connected to the first bearing 46 through the rotating roller shaft 45. They are fixed on the supporting component 5 in cooperation with each other; the rotating roller gear 47 is fixed on the supporting component 5 through the rotating roller gear shaft 48 and the second bearing 49; the rotating roller 44 and the rotating roller gear 47 are meshed with each other, and the teeth are tightly fitted; one end of the rotating roller gear shaft 48 is connected to the gear steering device 412 and is connected to the reduction motor 413 to realize power output steering; the reduction motor 413 is fixed to the outside of the supporting component 5 by bolts, and the reduction motor 413 drives the rotating roller gear 47 to rotate, and the rotating roller gear 47 thereby drives the rotating roller 44 to rotate, and the movement of the acupuncture component 1, the winding component 2, and the scanning component 3 is realized through the rotation of the rotating roller 44.

[0036] like Figure 5 , Figure 6 As shown, the support component 5 includes a support frame 51, a manipulator connecting shaft 52 and a yarn hanging frame 53; the support frame 51 is a Y-shaped frame, and a rotating roller shaft 45 and a rotating roller gear shaft 48 are arranged inside the frame; and it is connected to the manipulator through the manipulator connecting shaft 52; the yarn hanging frame 53 is used to fix the yarn shaft and provide yarn for the winding component 2.

[0037] Preferably, the integrated needle-punched fabric production device is fixed on a robot arm to realize the operation of the entire device.

[0038] Preferably, the needle clamping handle 11 is used to install the needle, and can be fixed to an ordinary needle plate or a needle handle. The needle needs to be changed manually, and the frequency of needle change is fixed and determined according to the number of reciprocating times of the cylinder.

[0039] Preferably, the electromagnetic coil 16 is controlled by an electric control system to control the direction of the current, thereby automatically starting or stopping the reciprocating operation, and the number of reciprocating times of the electromagnetic coil 16 operation can be set by the electric control system.

[0040] Preferably, the housing 17 is made of a lightweight material to reduce the moment of inertia of the acupuncture component 1 during operation, thereby making the entire device more stable.

[0041] Preferably, the first tensioning roller 25 and the second tensioning roller 26 do not rotate or rotate slightly to imitate human hands, thereby increasing the tension of the yarn winding and improving the quality of fabric production.

[0042] Preferably, the scanner scan head is an existing device and does not need to be designed.

[0043] Preferably, the scanning clamp 32 is processed according to the size of the scanning head holding handle and has no fixed size.

[0044] Preferably, the gear diverter 412 is an existing device and does not need to be designed.

[0045] Preferably, the method of realizing the rotating roller 44 and the rotating roller gear 47 is not limited to gear matching, and includes but is not limited to a worm gear, a gear rack, and the like.

[0046] An integrated needle-punched fabric production method, characterized by comprising the following steps;

[0047] Step 1, install the integrated needle-punched fabric production device at the end of the manipulator, debug each component, install the needle of the needle-punching component 1, debug the tension of the winding component 2, turn on the power supply of the scanning head of the scanning component 3, and energize the driving component 4. After the debugging of each component is completed, proceed to step 2;

[0048] Step 2: Install the needle-punched fabric production mold on the needle-punching tooling, and start the needle-punching process. The driving component 4 rotates the needle-punching component 1 to the fabric position, and energizes the electromagnetic coil 16 in the needle-punching component 1 through the wire installed on the manipulator, and controls the change of the north and south poles of the electromagnetic coil 16 by constantly changing the direction of the current, so that the needle clamping handle 11 reciprocates to needle the fabric; the needling angle of the manipulator is adjusted to facilitate the needling of fabrics of various shapes;

[0049] Step 3, when the winding process is carried out, the driving component 4 works to make the winding component 2 be in the fabric position, and then the needle punching tool rotates to perform hoop yarn winding on the fabric, and the winding angle is adjusted by the manipulator to perform the winding process;

[0050] Step 4: When the scanning process is performed, the motor of the driving component 4 is reversed to make the scanning component 3 at the fabric position, and then the scanning head switch of the scanning component 3 is turned on to start scanning the fabric; the scanning angle is adjusted by the manipulator to facilitate scanning of needle-punched fabrics of various shapes;

[0051] Step 5: After the scanning process is completed, if there is no problem after the profile comparison, the motor of the driving component 4 rotates and step 2 is repeated to process the next area of ​​the fabric.

[0052] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated needle-punched fabric production device, characterized in that: The invention comprises a needling component (1), a winding component (2), a scanning component (3), a driving component (4) and a supporting component (5); the needling component (1), the winding component (2) and the scanning component (3) are connected to the driving component (4) via threads, and are distributed on the driving component (4) at preset angles; the needling component (1) is located between the winding component (2) and the scanning component (3) due to a long operation time, the driving component (4) is rotated in the supporting component (5) via a bearing, and the supporting component (5) is fixed on a manipulator; the fabric is fixed on a rotating needling tooling main shaft (61), and the rotating needling tooling main shaft (61) is used to drive the fabric to rotate; when the device is in operation, the driving component (4) drives the needling component (1), the winding component (2) or the scanning component (3) to the location of the fabric by rotation according to different processes, and processes the fabric; The acupuncture component (1) comprises a needle clamping handle (11), a telescopic rod (12), a first spring (13), a second spring (14), a magnet (15), an electromagnetic coil (16), and a shell (17); wherein the needle clamping handle (11) is connected to one end of the telescopic rod (12), the other end of the telescopic rod (12) is fixed to the magnet (15), the telescopic rod (12) and the magnet (15) are fixed in the shell (17), so as to ensure that the telescopic rod (12) and the magnet (15) can reciprocate in the shell; the first spring (13) and the second spring (14) are respectively installed at the upper and lower ends of the shell (17) to play a buffering role for the telescopic rod (12); the electromagnetic coil (16) is installed at the front end of the shell and is connected to the telescopic rod (17). 2) is isolated from the movement space of the magnet (15), and the direction of the current of the electromagnetic coil (16) is changed to control the change of the north and south poles of the electromagnetic coil (16), thereby controlling the reciprocating movement of the magnet (15), and the housing (17) is connected to the driving component (4) by threads, so that the needling component (1) is fixed on the driving component (4); when the needling component (1) is in operation, the fabric initially remains motionless with one side facing upward, and the manipulator drives the needling component (1) to move synchronously on the surface of the fabric according to the curvature of the fabric surface, thereby needling the fabric, and when the needling of this side of the fabric is completed, the rotary needling tool main shaft (61) is rotated to turn the non-needling side of the fabric upward, and then repeat the same steps to needling the non-needling side; The winding component (2) comprises a first winding roller (21), a second winding roller (22), a third winding roller (23), a winding frame (24), a first tensioning roller (25), a second tensioning roller (26), a tensioning roller rod (27), and a third tensioning roller (28); the first winding roller (21), the second winding roller (22), and the third winding roller (23) are triangular in shape and fixed on the winding frame (24) through bearings; the three winding rollers can rotate freely 360 degrees, and there is a surrounding groove in the middle of each winding roller to ensure that the yarn does not deviate; the first tensioning roller (25) and the second tensioning roller (26) are fixed on the tensioning roller rod (27) through bolts, and the first tensioning roller (25) and the second tensioning roller (26) are adjusted through the third tensioning roller (28). ), the tensioning roller rod (27) is welded to the winding frame (24), and the winding frame (24) is connected to the driving component (4) by means of threads, so that the winding component (2) is fixed to the driving component (4); when the winding component (2) starts to work, the winding yarn passes between the first tensioning roller (25) and the second tensioning roller (26), giving the winding yarn a certain tension, and then the winding yarn passes under the second winding roller (22) and is wound to the top of the first winding roller (21), and then is wound back from the top of the first winding roller (21) to the bottom of the third winding roller (23); then the main shaft (61) of the rotary needle punching tool rotates at a high speed, and the manipulator drives the winding component (2) to move parallel to the mother direction of the fabric, so that the winding yarn is wound around the fabric in circles in the circumferential direction; The scanning component (3) comprises a connecting rod (31), a scanning clamp (32) and a pin (33); three scanning clamps (32) are welded and fixed on the connecting rod (31); the pin (33) passes through the scanning clamp (32) to fix the scanning head handle of the scanner, so that the scanning head is fixed on the scanning component (3); the scanning head is used to emit laser and receive reflected laser to determine the shape of the fabric; the tracking head of the scanner is placed in front of the fabric, and the tracking head is used to calibrate the movement trajectory and position of the scanning head and the fabric; the entire scanning component (3) is connected and fixed to the driving component (4) through the connecting rod (31); when the scanning component (3) is in operation, the rotating acupuncture tool brake is opened and is in a locked state, so that the fabric remains in a stationary state, and at this time, the robot drives the scanning component (3) to move back and forth along the mother direction of the fabric; The driving component (4) comprises a first connector (41), a second connector (42), a third connector (43), a rotating roller (44), a rotating roller shaft (45), a first bearing (46), a rotating roller gear (47), a rotating roller gear shaft (48), a second bearing (49), a gear steering device (412) and a reduction motor (413); the first connector (41), the second connector (42) and the third connector (43) are arranged at a preset angle and are distributed on the rotating roller (44); the first connector (41), the second connector (42) and the third connector (43) are respectively used to connect the acupuncture component (1), the winding component (2) and the scanning component (3); the rotating roller (44) is provided with gear teeth, and the rotating roller (44) is connected to the first connector (41) through the rotating roller shaft (45). The bearings (46) cooperate with each other and are fixed on the supporting component (5); the rotating roller gear (47) cooperates with the second bearing (49) and is fixed on the supporting component (5) through the rotating roller gear shaft (48); the rotating roller (44) and the rotating roller gear (47) are meshed with each other, and the teeth are tightly fitted; one end of the rotating roller gear shaft (48) is connected to the gear steering device (412) and is connected to the reduction motor (413) to achieve power output steering; the reduction motor (413) is fixed to the outside of the supporting component (5) by bolts, and the reduction motor (413) drives the rotating roller gear (47) to rotate, and the rotating roller gear (47) thereby drives the rotating roller (44) to rotate, and the rotation of the rotating roller (44) realizes the movement of the acupuncture component (1), the winding component (2), and the scanning component (3); The support component (5) comprises a support frame (51), a manipulator connecting shaft (52) and a yarn hanging frame (53); the support frame (51) is a Y-shaped frame, and a rotating roller shaft (45) and a rotating roller gear shaft (48) are arranged inside the frame; and is connected to the manipulator via the manipulator connecting shaft (52); the yarn hanging frame (53) is used to fix the yarn shaft and provide yarn for the winding component (2).

2. The integrated needle-punched fabric production device according to claim 1, characterized in that: The head of the needle clamping handle (11) is used to install a needle plate or a needle handle. Needles need to be replaced manually, and the frequency of needle replacement is determined according to the number of reciprocating times of the cylinder. The electromagnetic coil (16) is controlled by an electric control, and the reciprocating operation is controlled by controlling the direction of the current, and the number of reciprocating times of the electromagnetic coil (16) can be set by the electric control. The shell (17) is made of aluminum alloy to reduce the motion inertia of the acupuncture component (1) during operation, making the entire device more stable.

3. The integrated needle-punched fabric production device according to claim 1, characterized in that: The first tensioning roller (25) and the second tensioning roller (26) are non-rotating, or the rotation angle between the first tensioning roller (25) and the second tensioning roller (26) is less than 10°.

4. The integrated needle-punched fabric production device according to claim 1, characterized in that: The rotating roller (44) cooperates with a rack or a worm gear arranged outside the rotating roller gear shaft (48) to achieve transmission.

5. An integrated needle-punched fabric production method, the method is based on any one of the integrated needle-punched fabric production devices according to claims 1-4, characterized in that: The following steps are involved: Step 1, installing the integrated needle-punched fabric production device at the end of the manipulator, debugging each component, installing the needle of the needle-punching component (1), debugging the tension of the winding component (2), turning on the power supply of the scanning head of the scanning component (3), and energizing the driving component (4). After debugging of each component is completed, proceed to step 2; Step 2: Install the needle-punched fabric production mold on the needle-punching tooling, and first start the needle-punching process. The driving component (4) rotates the needle-punching component (1) to the fabric position, and energizes the electromagnetic coil (16) in the needle-punching component (1) through the wire installed on the manipulator, and controls the change of the north and south poles of the electromagnetic coil (16) by constantly changing the direction of the current, so that the needle clamping handle (11) reciprocates to needle the fabric; the needling angle of the manipulator is adjusted to facilitate the needling of fabrics of various shapes; Step 3, when the winding process is carried out, the driving component (4) works to make the winding component (2) be in the fabric position, and then the needle punching tool rotates to perform hoop yarn winding on the fabric, and the winding angle is adjusted by the manipulator to carry out the winding process; Step 4: When the scanning process is performed, the motor of the driving component (4) is reversed to make the scanning component (3) be in the fabric position, and then the scanning head switch of the scanning component (3) is turned on to start scanning the fabric; the scanning angle is adjusted by the manipulator to facilitate scanning of needle-punched fabrics of various shapes; Step 5: After the scanning process is completed, if there is no problem after the profile comparison, the motor of the driving component (4) rotates and step 2 is repeated to process the next area of ​​the fabric.

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