A profiling needling device and method

Abstract

The application discloses a profiling needling device and method, which comprises a multi-degree-of-freedom mechanical arm, a profiling needling plate mechanism, a prefabricated body and a needling table, the prefabricated body is fixed on the needling table and is driven to rotate by the needling table, a multi-degree-of-freedom mechanical arm is arranged in front of the prefabricated body, a profiling needling plate mechanism for needling is arranged on the multi-degree-of-freedom mechanical arm, the profiling needling plate mechanism comprises a base body, a needle plate assembly is arranged under the base body, a plurality of needles are movably connected on the needle plate assembly, a needle limiting mechanism is further arranged in the needle plate assembly, the needles are limited by the needle limiting mechanism, and a needle homing mechanism is arranged above the needles. When the profiling needling device is used for needling a variable-curvature curved surface, the profiling needling plate mechanism is driven to be attached to the curved surface by the movement of the multi-degree-of-freedom mechanical arm, and the needling is performed after the needles are locked, so that all the needles participate in the needling process, the needling efficiency is improved, and the waste caused by the suspended needles of the planar needling plate is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of composite needle punching, in particular to a profiling needle punching device and method. BACKGROUND

[0002] The composite preform is made by CVD composite, and the needle punching preform technology has the advantages of low cost and easy automation forming, and is a key technology for large-scale production and application of preforms. The needle punching preform is a three-dimensional structure preform with certain strength in the plane and between the layers, which is formed by the hooking of the needle to carry the horizontal fibers in the web into the longitudinal direction. The three-dimensional needle punched composite prepared by this technology overcomes the shortcomings of poor interlaminar performance, low impact toughness and low damage tolerance of traditional composite laminates.

[0003] The three-dimensional composite needle punching technology is a common method for preparing complex curved surface products at present. At present, the needle punching plate is generally a planar needle punching plate, and the needle punching area is limited, and the efficiency is low when the curved surface is needle punched, such as aviation antenna cover, rocket engine and missile throat liner and some complex shapes. For complex curved surface preforms, the method of scanning-uploading data-analysis-computer adjusting the needle through program is adopted to make the needle adapt to the curved surface. This adjustment method has high cost, and it is necessary to rely on extremely accurate scanning and computer operation calculation to achieve good adaptation to the curved surface. The planar needle punching plate is difficult to meet the industrial production requirements of preform materials, and has low needle punching efficiency and high cost. The curvature of the curved surface of the cylindrical preform is constant in two directions at the same point, and the planar needle punching plate has the condition of suspended needle in the radial direction, causing invalid needle punching. However, the curvature of the curved surface of the complex curved surface is variable in two directions at the same point, and the planar needle punching plate has the condition of suspended needle in the radial and axial directions, and the needle only performs effective needle punching in a small area above the vertical curved surface. If the size of the needle punching plate is simply reduced, the needle punching time will be increased. SUMMARY

[0004] The present application aims to provide a profiling needle punching device and method to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a profiling needle punching device, comprising a multi-degree-of-freedom mechanical arm, a conformal needle punching plate mechanism, a preform, and a needle punching table, the preform is fixed on the needle punching table and is driven to rotate by the needle punching table, a multi-degree-of-freedom mechanical arm is arranged in front of the preform, a conformal needle punching plate mechanism for needle punching is arranged on the multi-degree-of-freedom mechanical arm, the conformal needle punching plate mechanism comprises a base body, a needle plate assembly is arranged under the base body, a plurality of needles are movably connected on the needle plate assembly, a needle limiting mechanism is further arranged in the needle plate assembly, the needles are limited by the needle limiting mechanism, and a needle homing mechanism is arranged above the needles.

[0006] Preferably, the needle plate assembly comprises a lower needle plate and an upper needle plate, the upper ends of a plurality of needle guiding shafts are connected to the lower side of the base through linear bearings, the other ends of the needle guiding shafts are fixedly connected to the lower needle plate and the upper needle plate, a needle limiting mechanism is arranged between the lower needle plate and the upper needle plate, a needle piercing mechanism is further arranged on the needle plate assembly, and a plurality of holes for allowing the needle to slide are arranged on the lower needle plate and the upper needle plate.

[0007] Preferably, the needle limiting mechanism comprises a needle piercing plate servo motor, a gear, a rack, and an intermediate needle plate, the intermediate needle plate is arranged between the lower needle plate and the upper needle plate and slides therein, one end of the rack is fixedly connected to one side of the intermediate needle plate, the rack is engaged with the gear, the gear is fixedly connected to the output shaft of the needle piercing plate servo motor, the needle piercing plate servo motor is fixed on the upper needle plate, and a plurality of holes for allowing the needle to slide are arranged on the intermediate needle plate.

[0008] Preferably, a plurality of grooves with a thickness matching that of the intermediate needle plate are arranged on the needle.

[0009] Preferably, the needle homing mechanism comprises a thin-walled cylinder, a homing guiding shaft, and a needle homing plate, the thin-walled cylinder is fixed on the base, the output shaft of the thin-walled cylinder is fixedly connected to the needle homing plate, one end of the homing guiding shaft is further fixedly connected to the needle homing plate, the other end of the homing guiding shaft slides in the base, and the needle homing plate is arranged above the needle and has an area capable of covering all the needles.

[0010] Preferably, the needle piercing mechanism comprises a double-shaft cylinder, the output shaft of the double-shaft cylinder is fixedly connected to the upper needle plate, and the double-shaft cylinder is fixed on the base.

[0011] A needle piercing method of a profiling needle piercing device, comprising the following steps:

[0012] A. Preform model import; fixing the preform on the needle piercing table;

[0013] B. Forming a curved surface; a multi-degree-of-freedom mechanical arm drives the needles on the conforming needle piercing plate mechanism to conform to the curved surface of the preform, and the needles are automatically adjusted according to the curved surface of the preform to adapt to the curved surface;

[0014] C. Needle limiting; after the needles form an adaptive curved surface, the needle limiting mechanism is started, the needle piercing plate servo motor is started, the needle piercing plate servo motor drives the intermediate needle plate to withdraw to limit and fix the needles, and the positions of the needle heads of a row of needles are formed into positions cooperating with the outer curved surface of the preform;

[0015] D. Needle piercing; the needle piercing table is started, the needle piercing table servo motor is started, the preform is rotated, the conforming needle piercing plate mechanism performs needle piercing along the circumference of the preform at a set feeding amount for one circle; after the needle piercing is completed, the needle piercing table servo motor is stopped, and the conforming needle piercing plate mechanism is raised;

[0016] E. The needle is returned to the original position; the needle plate servo motor is started to reset the middle needle plate, loosen the needle, and then the needle returning mechanism is started. The thin-walled cylinder drives the needle returning plate to press down to make all the needles return to the original position;

[0017] F. Check; check whether all coordinates are traversed. If yes, the preform needling is completed; otherwise, repeat steps B to F.

[0018] Compared with the prior art, the beneficial effects of the present application are: the present application proposes a profiling needling method suitable for complex curved surface preforms, and a conformal needle plate mechanism matched therewith. When needling a variable-curvature curved surface, the position of the needle does not need to be adjusted depending on high-precision scanning. The conformal needle plate mechanism is driven by the movement of the multi-degree-of-freedom mechanical arm to conform to the curved surface, and the needle is needled after being locked, so that all the needles participate in the needling process, improving the needling efficiency and effectively avoiding the waste caused by the suspended needles of the plane needle plate. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the working equipment of the present application;

[0020] Figure 2 It is an axial view of the conformal needle plate of the present application;

[0021] Figure 3 It is a right view of the needle fixed state of the conformal needle plate of the present application;

[0022] Figure 4 It is a partial enlarged view of the right view B of the needle floating state of the conformal needle plate of the present application;

[0023] Figure 5 It is a right view of the needle floating state of the conformal needle plate of the present application;

[0024] Figure 6 It is a partial enlarged view of the right view B of the needle floating state of the conformal needle plate of the present application;

[0025] Figure 7 It is a bottom view of the needle fixed state of the conformal needle plate of the present application;

[0026] Figure 8 It is a schematic diagram of the needle profiling curved surface formed by the present application;

[0027] Figure 9 It is a working state schematic diagram of the needle returning plate of the present application;

[0028] Figure 10 It is a size relationship diagram of the needle curvature range of the present application;

[0029] Figure 11 It is a structure schematic diagram of the needle plate of the present application;

[0030] Figure 12 Fig. 1 is a schematic diagram of the needle structure of the present application;

[0031] Figure 13 Fig. 2 is a flow chart of the needle method of the present application.

[0032] Fig. 1 is a schematic diagram of the needle structure of the present application; DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0034] Please refer to Figures 1-12 To solve the problems of high cost and low efficiency of the existing needle 2.8 adjustment method, the present application provides a technical solution: a profiling needle device, which comprises a multi-degree-of-freedom mechanical arm 1, a profiling needle plate mechanism 2, a preform 3, and a needle plate 4. The preform 3 is fixed on the needle plate 4 and is driven to rotate by the needle plate 4. The multi-degree-of-freedom mechanical arm 1 is arranged in front of the preform 3. The profiling needle plate mechanism 2 is arranged on the multi-degree-of-freedom mechanical arm 1 for needle punching. The profiling needle plate mechanism 2 comprises a base body 2.1. A needle plate assembly is arranged under the base body 2.1. A plurality of needles 2.8 are movably connected to the needle plate assembly. A needle limiting mechanism is further arranged in the needle plate assembly. The needles 2.8 are limited by the needle limiting mechanism. A needle homing mechanism is arranged above the needles 2.8. In the present application, motors, air cylinders, push rods and other electrical components are of existing types. When in use, the preform 3 is fixed on the needle plate 4, so that the needles 2.8 can automatically adjust according to the curved surface of the preform 3 to adapt to the curved surface. The needles 2.8 are limited, and then needle punching is performed.

[0035] Please refer to Figures 1-7For the convenience of setting the needle 2.8, a needle plate assembly is arranged, which comprises a lower needle plate 2.9 and an upper needle plate 2.11, the upper ends of a plurality of needle guiding shafts 2.4 are connected to the lower side of the base 2.1 through a linear bearing 2.13, the other ends of the needle guiding shafts 2.4 are fixedly connected to the lower needle plate 2.9 and the upper needle plate 2.11, a needle limiting mechanism is arranged between the lower needle plate 2.9 and the upper needle plate 2.11, a needle mechanism is further arranged on the needle plate assembly, a plurality of holes for the sliding of the needle 2.8 are arranged on the lower needle plate 2.9 and the upper needle plate 2.11, and the holes of the lower needle plate 2.9 and the upper needle plate 2.11 are correspondingly arranged so as to allow the needle 2.8 to float therein.

[0036] Please refer to Figures 1-7 , 12, in order to fix the needle 2.8 after forming an adaptive curved surface so as to needle, a needle limiting mechanism is arranged, which comprises a needle plate servo motor 2.5, a gear 2.6, a rack 2.7, and an intermediate needle plate 2.10, the intermediate needle plate 2.10 is arranged between the lower needle plate 2.9 and the upper needle plate 2.11 and slides therein, one side of the intermediate needle plate 2.10 is fixedly connected to one end of the rack 2.7, the rack 2.7 is engaged with the gear 2.6, the gear 2.6 is fixedly connected to the output shaft of the needle plate servo motor 2.5, the needle plate servo motor 2.5 is fixed on the upper needle plate 2.11, and a plurality of holes for the sliding of the needle 2.8 are arranged on the intermediate needle plate 2.10. A plurality of grooves with the thickness of the intermediate needle plate 2.10 are arranged on the needle 2.8. Before being matched with the preform 3, the holes of the intermediate needle plate 2.10 are aligned with the holes of the lower needle plate 2.9 and the upper needle plate 2.11 so as to allow the needle 2.8 to float and adjust therein; when the needle 2.8 is adjusted to a proper position during use, the servo motor 2.5 is started, the servo motor 2.5 drives the gear 2.6 to rotate, the rotation of the gear 2.6 drives the rack 2.7 to move, the rack 2.7 drives the intermediate needle plate 2.10 to move, and the intermediate needle plate 2.10 is clamped into the grooves on the needle 2.8, thereby limiting the position of the needle 2.8.

[0037] Please refer to Figures 1-9 In order to return the needle 2.8 to the original position after use for the next use, a needle returning mechanism is arranged, which comprises a thin-wall cylinder 2.2, a returning guiding shaft 2.3, and a needle returning plate 2.12, the thin-wall cylinder 2.2 is fixed on the base 2.1, the output shaft of the thin-wall cylinder 2.2 is fixedly connected to the needle returning plate 2.12, one end of a plurality of returning guiding shafts 2.3 is further fixedly connected to the needle returning plate 2.12, the other end of the returning guiding shaft 2.3 slides in the base 2.1, and the needle returning plate 2.12 is arranged above the needle 2.8 and has an area capable of covering all the needles 2.8. During use, the thin-wall cylinder 2.2 is started, the thin-wall cylinder 2.2 pushes the needle returning plate 2.12 to move downward, the needle returning plate 2.12 presses the needle 2.8 downward under the guidance of the returning guiding shaft 2.3, and the needle 2.8 is returned to the original position.

[0038] Please refer to Figure 1 , the needling mechanism includes a double-shaft air cylinder 2.14, the output shaft of the double-shaft air cylinder 2.14 is fixedly connected with the upper needle plate 2.11, and the double-shaft air cylinder 2.14 is fixed on the base body 2.1. In use, the double-shaft air cylinder 2.14 drives the needle plate assembly to make vertical reciprocating movement, the needle plate assembly drives the needles 2.8 to make reciprocating movement, and needle is performed.

[0039] Please refer to Figure 10 , the following size relationships need to be met by the profiling needle plate mechanism, so that interference does not occur during work.

[0040] D ≥ Ymin-Xmin ≥ L,

[0041] L ≥ Ymin-Xmax ≥ D

[0042] Min{M, N} > H

[0043] The profiling needle plate has a minimum needle penetration curvature radius, that is that is, the radius of the circumscribed circle when the needle plate and the longest intermediate needle are extended.

[0044] Please refer to Figure 1 , 11 In order to enable the preform 3 to rotate for needle penetration, the needle penetration table 4 is provided with a double-row roller self-aligning bearing 4.1, a flange bearing 4.2, a rotating shaft 4.3 and a needle penetration table servo motor 4.4, the needle penetration table servo motor 4.4 is fixedly arranged on the needle penetration table 4, the output shaft of the needle penetration table servo motor 4.4 is fixedly connected with one end of the rotating shaft 4.3, the rotating shaft 4.3 is arranged on the needle penetration table 4 through the double-row roller self-aligning bearing 4.1 and the flange bearing 4.2, and the other end of the rotating shaft 4.3 is connected with the preform 3.

[0045] Please refer to Figure 13 , a needle penetration method of the profiling needle penetration device, steps are:

[0046] A. The preform 3 model is imported; the preform 3 is fixed on the needle penetration table 4;

[0047] B. Forming a curved surface; the needles 2.8 on the profiling needle plate mechanism 2 are adhered to the curved surface of the preform 3 by the multi-degree-of-freedom mechanical arm 1, and the needles 2.8 are adjusted according to the curved surface of the preform 3 to adapt to the curved surface;

[0048] C. Limiting the needles 2.8; after the needles 2.8 form the adaptive curved surface, the needle limiting mechanism is started, the needle plate servo motor 2.5 is started, the needle plate servo motor 2.5 drives the intermediate needle plate 2.10 to withdraw to limit and fix the needles 2.8, so that the positions of the needle heads of the needles 2.8 form positions matched with the outer curved surface of the preform 3;

[0049] D. Needle punching; start the needle punching table 4, the needle punching table servo motor 4.4 starts, drives the preform 3 to rotate, and the profiled needle punching plate mechanism 2 carries out needle punching along the preform 3 circumferentially according to the set feed amount for one circle; after the needle punching is completed, the needle punching table servo motor 4.4 stops, and the profiled needle punching plate mechanism 2 rises;

[0050] E. Needle 2.8 homing; start the needle plate servo motor 2.5 to make the intermediate needle plate 2.10 reset and release the needle 2.8, and then the needle homing mechanism starts, the thin-walled cylinder 2.2 drives the needle homing plate 2.12 to press down to make all the needles 2.8 homing;

[0051] F. Check; check whether all coordinates are traversed, if yes, the preform needle punching is completed; otherwise, repeat steps B to F.

[0052] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A contour-following needle acupuncture device, comprising a multi-degree-of-freedom robotic arm (1), a conformal needle acupuncture plate mechanism (2), a preform (3), and a needle acupuncture table (4), wherein the preform (3) is fixed on the needle acupuncture table (4) and rotates via the needle acupuncture table (4), the multi-degree-of-freedom robotic arm (1) is provided in front of the preform (3), and the multi-degree-of-freedom robotic arm (1) is provided with a conformal needle acupuncture plate mechanism (2) for needle acupuncture, characterized in that: The conformal needle plate mechanism (2) includes a base (2.1), a needle plate assembly is mounted on the base (2.1), a plurality of needles (2.8) are movably connected on the needle plate assembly, and a needle limiting mechanism is also provided in the needle plate assembly. The needles (2.8) are limited by the needle limiting mechanism, and a needle return mechanism is provided above the needles (2.8). The needle plate assembly includes a lower needle plate (2.9) and an upper needle plate (2.11), and a needle limiting mechanism is provided between the lower needle plate (2.9) and the upper needle plate (2.11); The needle limiting mechanism includes an intermediate needle plate (2.10), which is disposed between the lower needle plate (2.9) and the upper needle plate (2.11) and slides therein. The intermediate needle plate (2.10) is provided with a plurality of holes for the needle (2.8) to slide through, and the needle (2.8) is provided with a plurality of grooves adapted to the thickness of the intermediate needle plate (2.10).

2. The contour needle-punching device according to claim 1, characterized in that: The upper end of multiple needle guide shafts (2.4) is connected to the base (2.1) via a linear bearing (2.13). The other end of the needle guide shaft (2.4) is fixedly connected to the lower needle plate (2.9) and the upper needle plate (2.11). The needle plate assembly is also provided with a needle piercing mechanism. Both the lower needle plate (2.9) and the upper needle plate (2.11) are provided with several holes for the needle (2.8) to slide.

3. The contour needle-punching device according to claim 2, characterized in that: The needle limiting mechanism also includes a needle plate servo motor (2.5), a gear (2.6), and a rack (2.7). One side of the intermediate needle plate (2.10) is fixedly connected to one end of the rack (2.7). The rack (2.7) meshes with the gear (2.6). The gear (2.6) is fixedly connected to the output shaft of the needle plate servo motor (2.5). The needle plate servo motor (2.5) is fixed on the upper needle plate (2.11).

4. The contour needle-punching device according to claim 3, characterized in that: The needle return mechanism includes a thin-walled cylinder (2.2), a return guide shaft (2.3), and a needle return plate (2.12). The thin-walled cylinder (2.2) is fixed on the base (2.1). The output shaft of the thin-walled cylinder (2.2) is fixedly connected to the needle return plate (2.12). One end of multiple return guide shafts (2.3) is also fixedly connected to the needle return plate (2.12). The other end of the return guide shafts (2.3) slides in the base (2.1). The needle return plate (2.12) is set above the needles (2.8), and its area can cover all the needles (2.8).

5. The contour needle-punching device according to claim 2, characterized in that: The acupuncture mechanism includes a dual-axis cylinder (2.14), the output shaft of which is fixedly connected to the upper needle plate (2.11), and the dual-axis cylinder (2.14) is fixed on the base (2.1).

6. The acupuncture method of the contour acupuncture device according to any one of claims 1-5, characterized in that, The steps are as follows: A. Import the prefabricated body (3) model; fix the prefabricated body (3) on the needle punching table (4); B. Forming a curved surface; the multi-degree-of-freedom robotic arm (1) drives the needles (2.8) on the conformal needle piercing plate mechanism (2) to conform to the curved surface of the preform (3), and the needles (2.8) adjust themselves according to the curved surface of the preform (3) to adapt to the curved surface; C. Needle (2.8) limit; After the needle (2.8) forms an adaptive curved surface, the needle limit mechanism is activated, the needle plate servo motor (2.5) is activated, and the needle plate servo motor (2.5) drives the middle needle plate (2.10) to be pulled out to limit and fix the needle (2.8), so that the needle head position of a row of needles (2.8) is formed to match the outer curved surface of the preform (3); D. Perform acupuncture; start the acupuncture table (4), start the acupuncture table servo motor (4.4), drive the preform (3) to rotate, and the conformal acupuncture plate mechanism (2) performs acupuncture around the preform (3) in a circle according to the set feed amount; after the acupuncture is completed, the acupuncture table servo motor (4.4) stops, and the conformal acupuncture plate mechanism (2) rises. E. The needle (2.8) returns to its original position; the needle plate servo motor (2.5) is started to reset the middle needle plate (2.10) and release the needle (2.8). Then the needle return mechanism is started, and the thin-walled cylinder (2.2) is started to drive the needle return plate (2.12) to press down so that all needles (2.8) return to their original positions. F. Check; check if all coordinates have been traversed. If so, the prefab needle punching is complete; otherwise, repeat steps B to F.

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