Efficient stitching device and method for pre-piercing stitched composite preforms

Abstract

The application relates to a high-efficiency stitching device and method for a composite preform with pre-punching and stitching cooperation, belonging to the technical field of single-side stitching devices, which comprises a pre-punching mechanism, a stitching mechanism, a presser foot mechanism, a replacement mechanism and a translation mechanism, the pre-punching mechanism is installed on the translation mechanism, a pre-punching crank disc of the pre-punching mechanism drives a pre-punching needle to complete a pre-punching action through whole rotation; the stitching mechanism is connected with a main rotating shaft of the replacement mechanism through a stitching bottom plate, a stitching crank disc drives a stitching needle carrying a suture to complete a stitching action through whole rotation; the main rotating shaft of the replacement mechanism drives the pre-punching mechanism and the stitching mechanism to complete a 180-degree replacement action, so that the pre-punching action and the stitching action are converted; the translation mechanism adds a translation degree of freedom to the pre-punching mechanism, and synchronous operation of the pre-punching work is completed under the stitching process; the application has compact structure, can realize high-efficiency stitching of a hard sandwich structure composite preform, and guarantees continuous and stable stitching.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of single-edge stitching devices, in particular to a composite preform efficient stitching device and method with pre-punching and stitching cooperation. BACKGROUND

[0002] Sandwich composite material is a derivative of textile composite material. As a lightweight and efficient structure, sandwich composite material is usually composed of a core layer and two face layers, has the characteristics of compression resistance, impact resistance, noise reduction, shock absorption, lightweight, heat insulation, etc., and belongs to good acoustic material. It is widely used in military, medical, aerospace and other fields.

[0003] At present, the preparation method of sandwich composite material needs to use adhesive for bonding. The formed composite material has poor shear resistance, low interfacial strength between the face layer and the core layer, and is prone to delamination damage when impacted, which has the disadvantages of poor overall performance, limited use, etc. Stitching sandwich composite material, i.e. introducing stitching threads in the Z direction of the composite material to strengthen stitching, can effectively overcome the disadvantage of easy delamination of traditional sandwich structure composite material, and obtain sandwich composite material with better overall performance.

[0004] Tufting stitching, as a kind of stitching process, belongs to single-edge no-bottom thread stitching. The stitching machine needle penetrates into the preform with stitching thread, and when the stitching machine needle retracts, the friction between the fabric and the stitching thread or the holding force provided by the fabric bottom support material makes the stitching thread form a tufted thread loop at the bottom of the fabric. Tufting stitching technology is the only stitching technology that does not rely on interlocking to form a loop among all known single-edge stitching technologies. Tufting stitching was used to make carpets in the early stage. With the development of composite materials, tufting stitching is also widely used in stitching composite materials. This technology only needs the stitching machine needle to contact the preform once with the stitching thread, so the damage to the fabric is minimal in single-edge stitching, and it is very suitable for stitching full-thickness reinforced and locally reinforced composite preforms. For sandwich composite material, especially when carbon fiber is used as Z-direction reinforcing stitching thread, due to the poor performance of carbon fiber textile process, carbon fiber is prone to breakage. Therefore, a sandwich structure composite preform stitching device with pre-punching function is designed to realize automatic stitching of sandwich structure composite material.

[0005] The invention patent "a sandwich structure composite material preform stitching head with pre-piercing function" (CN111705440 A) discloses a sandwich structure composite material preform stitching head with pre-piercing function, belonging to the technical field of stitching devices, comprising a pre-piercing mechanism, a stitching mechanism, a swing mechanism and a presser foot mechanism. The mechanism operation consists of four steps. In the first step, the pre-piercing needle pre-pierces. In the second step, the stitching mechanism is replaced, and the presser foot presses the end of the stitching line. In the third step, the stitching needle stitches, and other mechanisms remain stationary during the stitching process. In the fourth step, the pre-piercing mechanism is replaced, and the presser foot is lifted. The above process is repeated. Compared with the traditional tufting stitching process, the device adds a pre-piercing action before the stitching starts, reduces the friction between the stitching line and the core layer, reduces the yarn breakage phenomenon, and realizes the stable stitching of the hard sandwich structure composite material preform. The swing mechanism of the device uses a swing tail cylinder to drive the needle replacement action of the mechanism, and the cylinder is prone to collision and impact during each needle replacement action, causing the overall instability of the mechanism and affecting the normal operation of the mechanism. In addition, in the working state of the stitching mechanism, other mechanisms remain stationary, and the pre-piercing end is in an idle state. The entire mechanism only performs a single action of pre-piercing or stitching at the same time, resulting in low efficiency.

[0006] Therefore, it is necessary to develop a pre-piercing stitching cooperative operation composite material preform efficient stitching device with compact stitching structure, high stitching efficiency and stable stitching process. SUMMARY

[0007] The problem to be solved by the present application is to provide a pre-piercing stitching cooperative operation composite material preform efficient stitching device and method.

[0008] To solve the above technical problems, the technical scheme adopted by the present application is: a pre-piercing stitching cooperative operation composite material preform efficient stitching device, comprising a pre-piercing mechanism, a stitching mechanism, a replacement mechanism and a translation mechanism. The pre-piercing mechanism is installed on the translation mechanism. The pre-piercing mechanism comprises a pre-piercing crank disc. The pre-piercing crank disc drives the pre-piercing mechanism needle to complete the pre-piercing action through whole rotation. The stitching mechanism comprises a stitching crank disc. The stitching mechanism is connected to the main rotating shaft of the replacement mechanism through a stitching bottom plate. The stitching crank disc drives the stitching mechanism needle carrying the stitching line to complete the stitching action through whole rotation. The main rotating shaft of the replacement mechanism drives the pre-piercing mechanism and the stitching mechanism to complete a 180° replacement action, realizing the conversion of pre-piercing and stitching actions.

[0009] Further, the pre-piercing mechanism further comprises a servo motor I fixed in a pre-piercing motor base, a bevel gear I is installed on the output end of the servo motor I, the pre-piercing motor base and the gear shaft bearing seat are fixed on the pre-piercing bottom plate respectively, a gear connecting shaft is installed on the gear shaft bearing seat, a bevel gear II is fixed on one end of the gear connecting shaft, the other end of the gear connecting shaft is connected with a pre-piercing crank disc, the bevel gear II is engaged with the bevel gear I, and the two are arranged 90° apart to replace the speed reducer, so that the pre-piercing mechanism is more compact while increasing the pre-piercing force of the pre-piercing needle.

[0010] Further, the photoelectric sensor is installed on the gear shaft bearing seat through a connecting block, a light sensing block I is fixed on the pre-piercing crank disc, the light sensing block I cooperates with the photoelectric sensor, the light sensing block I moves with the pre-piercing crank disc, the light sensing block I passes through the light sensing area of the photoelectric sensor to realize the limiting of the pre-piercing crank disc.

[0011] Further, the sewing mechanism further comprises a servo motor II fixed in a sewing motor base, the sewing motor base is fixed on a sewing bottom plate, the servo motor II drives a sewing crank disc to complete a whole circle movement, the sewing crank disc is connected with a sewing needle fixing block through a sewing connecting shaft, the sewing needle fixing block is constrained by two sewing light shafts, the sewing light shafts are fixed on the lower side of the sewing bottom plate and are fixed and constrained by sewing light shaft fixing blocks, the sewing needle fixing block moves axially along the sewing light shaft, and the sewing needle fixed on the sewing needle fixing block completes reciprocating lifting to complete a sewing action.

[0012] Further, a yarn cylinder supporting side plate is fixed on the sewing bottom plate, the yarn cylinder supporting side plate and the yarn cylinder supporting plate are fixedly connected with each other, a yarn cylinder is installed on the yarn cylinder supporting plate, the yarn cylinder is connected with the yarn cylinder supporting plate, a suture line channel is installed on the yarn cylinder supporting side plate, the suture line channel is fixedly connected with the yarn cylinder supporting side plate, a yarn tensioner is installed in the suture line channel, the yarn tensioner keeps the suture line tension stable, a porcelain ring is installed in the suture line channel hole, so that the suture yarn passes through the suture line channel and has stable tension through the yarn tensioner, and the suture yarn is prevented from being abraded with the suture line channel, and a pneumatic scissors is installed on the lower side of the sewing bottom plate, the pneumatic scissors is used for cutting the suture line.

[0013] Further, the yarn cylinder support plate end is provided with a sewing mechanism photoelectric sensor, a sewing mechanism photosensitive block is installed on the sewing crank disc, and the sewing mechanism photoelectric sensor is matched with the sewing mechanism photosensitive block. The sewing mechanism photosensitive block moves with the sewing crank disc, and the sewing mechanism photosensitive block passes through the photosensitive area of the sewing mechanism photoelectric sensor to realize the limiting of the sewing crank disc.

[0014] Further, a presser foot mechanism is further included, which is located below the sewing mechanism and is matched with the sewing machine needle. The presser foot of the presser foot mechanism plays a role in pressing the sewing thread in the sewing process and helps the formation of the sewing thread loop. The presser foot is driven to complete the lifting and pressing action by a cylinder. The presser foot mechanism includes a presser foot connecting block, which is installed on the lower side of the sewing base plate. A cylinder fixing block is fixed below the presser foot connecting block. A cylinder connected with the cylinder fixing block provides power for the presser foot. The presser foot is connected with the cylinder. The end of the presser foot is connected with a guide rail sliding block I. The guide rail sliding block I is installed on a guide rail fixing block. The guide rail fixing block is connected and fixed on the cylinder fixing block. Under the driving of the cylinder, the presser foot moves along the guide rail sliding block I to complete the lifting and pressing action of the presser foot. The presser foot cooperates with the sewing machine needle to ensure the relative fixation of the position of the sewing thread in the sewing process.

[0015] Further, the servo motor III of the replacement mechanism is fixed on the rotating motor base. Motor side plates I are symmetrically arranged on both sides of the rotating motor base. The motor side plates I are connected and fixed with a motor upper top plate. One end of the main rotating shaft is connected with the output shaft of the servo motor III through a coupling I. The other end of the main rotating shaft penetrates through a bearing end cover and is connected with the sewing base plate. The bearing end cover is installed on a bearing end cover fixing plate. A deep groove ball bearing and a pressure bearing are sequentially installed in the bearing end cover for helping the main rotating shaft rotate and bear force. The bearing end cover fixing plate and the rotating motor base are connected through a motor side plate II. Under the driving of the servo motor III, the main rotating shaft drives the pre-piercing mechanism and the sewing mechanism to complete 180° replacement rotation and the conversion between the sewing end and the pre-piercing end. The replacement mechanism photoelectric sensor is connected with the bearing end cover fixing plate through a sensor pad block. A photosensitive block fixing block is installed on the main rotating shaft. The photosensitive block fixing block is constrained on the main rotating shaft. A photosensitive block II is installed on the photosensitive block fixing block. The photosensitive block II cooperates with the replacement mechanism photoelectric sensor. The photosensitive block II passes through the photosensitive area of the replacement mechanism photoelectric sensor under the driving of the main rotating shaft to realize the limiting of the replacement rotation.

[0016] Further, the servo motor IV of the translation mechanism is installed on the translation motor base, the translation motor base is installed on the underside of the stitching bottom plate, the output shaft of the servo motor IV is connected with one end of the ball screw through the shaft coupling II to drive the rotation of the ball screw, the ball screw is installed in the support base I and the support base II, the ball screw fixing seat is installed on the ball screw between the support base I and the support base II, the ball screw fixing seat is connected with the pre-piercing bottom plate, the support base I and the support base II are connected with the translation bottom plate, the guide rail slider II is installed on the translation bottom plate, the upper end of the guide rail slider II is connected with the pre-piercing bottom plate to realize the translational displacement of the pre-piercing mechanism, the translation bottom plate connecting block is fixed on the translation bottom plate, the translation bottom plate connecting block connects the translation bottom plate and the stitching bottom plate, the sensor mounting block is fixed on the underside of the translation bottom plate, the sensor mounting block is located at the front end of the guide rail slider II, the photoelectric switch sensor is installed on the sensor mounting block, the photoelectric switch sensor cooperates with the guide rail slider II to realize the limit of the slider.

[0017] The application also provides a high-efficiency stitching method for a composite material preform with pre-piercing and stitching cooperation, which comprises the following steps:

[0018] S1, the pre-piercing mechanism pre-pierces, the pre-piercing machine needle leaves a pre-piercing hole on the surface of the preform;

[0019] S2, the replacement mechanism replaces, the pre-piercing mechanism and the stitching mechanism complete 180° rotation to realize the switching of the pre-piercing mechanism and the stitching mechanism, the stitching machine needle carries the suture to stitch the pre-piercing hole left in step S1, and the pre-piercing machine needle works simultaneously to pre-pierce a new pre-piercing hole;

[0020] S3, the replacement mechanism replaces again, the pre-piercing mechanism and the stitching mechanism complete 180° rotation, the stitching mechanism completes the stitching work on the pre-piercing hole, at the same time, the translation mechanism drives the pre-piercing mechanism to translate towards the stitching stitch direction, and the pre-piercing mechanism after translation in the stitching process of the stitching mechanism completes the pre-piercing of a new pre-piercing hole;

[0021] S4, the pre-piercing mechanism returns to the original position, and the stitching device as a whole translates towards the stitching stitch direction; the replacement mechanism continues to replace after translation, the pre-piercing mechanism and the stitching mechanism work simultaneously to complete the pre-piercing and stitching process;

[0022] S5, the replacement mechanism continues to replace, the pre-piercing mechanism driven by the replacement mechanism after replacement completes translation towards the stitching stitch direction, and then the stitching and pre-piercing processes start simultaneously;

[0023] S6, steps S4 and S5 are repeated until the stitching is completed.

[0024] Further, the distance of each translation of the pre-piercing mechanism is the same as the distance of the overall translation of the stitching device.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] The present application is suitable for stitching hard sandwich structure composite material preform, has the characteristics of compact structure and high stitching efficiency, the stitching mechanism and the pre-piercing mechanism are placed in 180° position, driven by high-power servo motor, realize the replacement action of the mechanism, complete the conversion of the pre-piercing mechanism and the stitching mechanism, avoid the instability of the mechanism caused by the replacement action; in addition, the translational mechanism adds translational freedom degree to the pre-piercing mechanism under the driving of the servo motor, ensures the synchronous operation of the pre-piercing action under the stitching process, improves the stitching efficiency, ensures the continuous and stable stitching of the stitching device, improves the delamination resistance of the hard sandwich structure preform under impact, realizes the automatic and efficient stitching of the hard sandwich structure composite material preform, and improves the product quality. BRIEF DESCRIPTION OF DRAWINGS

[0027] The advantages and implementation modes of the present application will be more obvious by referring to the drawings and combining the examples, wherein the contents shown in the drawings are only used for explaining and describing the present application, and do not constitute any sense of limitation to the present application, and in the drawings:

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of the present application.

[0029] Figure 2 is the front view of the present application Figure 1 .

[0030] Figure 3 is the side view of the present application Figure 1 .

[0031] Figure 4 is a structural schematic diagram of the pre-piercing mechanism of the present application.

[0032] Figure 5 is a structural schematic diagram of the stitching mechanism of the present application.

[0033] Figure 6 is a structural schematic diagram of the presser foot mechanism of the present application.

[0034] Figure 7 is a structural schematic diagram of the replacement mechanism of the present application.

[0035] Figure 8 is a structural schematic diagram of the translational mechanism of the present application.

[0036] Figure 9 is a yarn supply line diagram of the stitching device of the present application.

[0037] Figure 10 is a structural block diagram of the control system of the present application.

[0038] Figure 11 is the schematic diagram of the workflow of the stitching method of the present application.

[0039] In the figure:

[0040] 1, pre-piercing mechanism; 2, stitching mechanism; 3, presser foot mechanism; 4, replacement mechanism; 5, translation mechanism; 6, control system;

[0041] 101, servo motor I; 102, pre-piercing motor base; 103, bevel gear I; 104, bevel gear II; 105, pre-piercing bottom plate; 106, gear shaft bearing seat; 107, pre-piercing needle holding block; 108, pre-piercing light shaft; 109, pre-piercing needle; 110, pre-piercing connecting shaft; 111, pre-piercing light shaft fixing block; 112, pre-piercing crank disc; 113, light sensing block I; 114, photoelectric sensor; 115, sensor connecting block I; 116, sensor connecting block II; 117, gear connecting shaft;

[0042] 201, bobbin support plate; 202, porcelain ring; 203, bobbin support side plate; 204, servo motor II; 205, stitching bottom plate; 206, stitching thread channel; 207, thread tensioner; 208, pneumatic scissors; 209, stitching light shaft fixing block; 210, stitching needle holding block; 211, stitching needle; 212, stitching light shaft; 213, stitching connecting shaft; 214, stitching motor base; 215, stitching crank disc; 216, bobbin; 217, stitching mechanism photoelectric sensor; 218, stitching mechanism light sensing block;

[0043] 301, presser foot connecting block; 302, air cylinder fixing block; 303, guide rail sliding block I; 304, guide rail fixing block; 305, presser foot; 306, air cylinder;

[0044] 401, motor upper top plate; 402, motor side plate I; 403, rotary motor base; 404, bearing end cover; 405, bearing end cover fixing plate; 406, light sensing block fixing block; 407, light sensing block II; 408, main rotary shaft; 409, replacement mechanism photoelectric sensor; 410, sensor cushion block; 411, motor side plate II; 412, coupling I; 413, servo motor III;

[0045] 501, coupling II; 502, support seat I; 503, ball screw fixing seat; 504, ball screw; 505, support seat II; 506, guide rail sliding block II; 507, photoelectric switch sensor; 508, sensor carrying block; 509, translation bottom plate; 510, translation bottom plate connecting block; 511, translation motor base; 512, servo motor IV;

[0046] 601. Human-Machine Interaction System; 602. Programmable Logic Controller (PLC); 603. Servo Driver I; 604. Servo Driver II; 605. Servo Driver III; 606. Servo Driver IV;

[0047] 6011, Touchscreen. Detailed Implementation

[0048] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0049] like Figures 1 to 9 As shown, the present invention provides a high-efficiency suturing device for pre-punctured and sutured composite preforms, comprising a pre-puncturing mechanism 1, a suturing mechanism 2, a presser foot mechanism 3, a replacement mechanism 4, and a translational mechanism 5.

[0050] The translation mechanism 5 is mounted on the translation base plate 509. The guide rail slider II 506 of the translation mechanism 5 is located on both sides of the translation base plate 509. A ball screw 504 is provided between the two guide rail slider II 506. The servo motor IV 512 drives the ball screw 504 to move.

[0051] The pre-puncture mechanism 1 is fixed on the guide rail slider II 506 and works with the ball screw 504 to complete the translational action. The pre-puncture mechanism 1 includes a pre-puncture crank disc 112. The pre-puncture needle 109 is driven by the full rotation of the pre-puncture crank disc 112 to complete the pre-puncture action of the mechanism.

[0052] The suturing mechanism 2 includes a suturing crank disc 215 and a suturing base plate 205. The suturing mechanism 2 is connected to the main rotating shaft 408 of the replacement mechanism 4 through the suturing base plate 205. The suturing crank disc 215 rotates around the entire circle to drive the suturing needle 211 carrying the suture thread to complete the suturing action.

[0053] The presser foot mechanism 3 is located on the lower side of the sewing base plate 205 of the sewing mechanism 2 and is matched with the sewing needle 211. The presser foot 305 of the presser foot mechanism 3 plays the role of pressing down the suture during the sewing process, which helps to form the suture loop. The presser foot 305 is driven by the cylinder 306 to complete the lifting and pressing actions.

[0054] The replacement mechanism 4 relies on a high-power servo motor (servo motor Ⅲ413) to drive the main rotating shaft 408, which drives the suture base plate 205 and the pre-puncture base plate 105 to complete a 180° replacement action, realizing the conversion between pre-puncture and suture actions.

[0055] like Figure 4As shown, the pre-piercing mechanism 1 further comprises a servo motor I 101 fixed in a pre-piercing motor base 102, a bevel gear I 103 is installed on the output end of the servo motor I 101, the pre-piercing motor base 102 and the gear shaft bearing seat 106 are fixed on the pre-piercing bottom plate 105 respectively, a gear connecting shaft 117 is installed on the gear shaft bearing seat 106, a bevel gear II 104 is fixed on one end of the gear connecting shaft 117, the other end of the gear connecting shaft 117 is connected with the pre-piercing crank disc 112, the bevel gear II 104 is engaged with the bevel gear I 103, and the two are arranged 90° apart to replace the speed reducer to increase the pre-piercing force of the pre-piercing needle 109 while making the pre-piercing mechanism 1 more compact.

[0056] The pre-piercing crank disc 112 completes a full rotation under the drive of the gear connecting shaft 117 to form a biasing crank slider mechanism, the pre-piercing crank disc 112 is connected with the pre-piercing fixed needle block 107 through a pre-piercing connecting shaft 110, the pre-piercing fixed needle block 107 is constrained by two pre-piercing optical shafts 108, the pre-piercing optical shafts 108 are fixed on the lower side of the pre-piercing bottom plate 105 and are fixedly constrained by a pre-piercing optical shaft fixing block 111, the pre-piercing fixed needle block 107 moves axially along the pre-piercing optical shaft 108 to drive the pre-piercing needle 109 fixed thereon to complete reciprocating lifting to complete the pre-piercing action.

[0057] A sensor connecting block II 116 is installed on the gear shaft bearing seat 106, the sensor connecting block II 116 is vertically arranged, a horizontally arranged sensor connecting block I 115 is fixed on the top of the sensor connecting block II 116, a photoelectric sensor 114 is fixed on the sensor connecting block I 115 through bolt connection, a light sensing block I 113 is fixed on the pre-piercing crank disc 112, the light sensing block I 113 cooperates with the photoelectric sensor 114, the light sensing block I 113 moves with the pre-piercing crank disc 112, the light sensing block I 113 passes through the light sensing area of the photoelectric sensor 114 to realize limiting of the pre-piercing crank disc 112.

[0058] As shown in the figure, Figure 5 The stitching mechanism 2 further comprises a servo motor II 204 fixed in a stitching motor base 214 fixed on a stitching bottom plate 205, the servo motor II 204 drives a stitching crank disc 215 to complete a full rotation, same as the pre-piercing mechanism 1.

[0059] The stitching crank disc 215 is connected with a stitching fixed needle block 210 through a stitching connecting shaft 213, the stitching fixed needle block 210 is constrained by two stitching optical shafts 212, the stitching optical shafts 212 are fixed on the lower side of the stitching bottom plate 205 and are fixedly constrained by a stitching optical shaft fixing block 209, the stitching fixed needle block 210 moves axially along the stitching optical shaft 212 to drive the stitching needle 211 fixed thereon to complete reciprocating lifting to complete the stitching action.

[0060] The yarn cylinder support side plate 203 is fixed on the sewing base plate 205, and the yarn cylinder support side plate 203 and the yarn cylinder support plate 201 are fixed by bolts. The yarn cylinder 216 is installed on the yarn cylinder support plate 201 and is connected with the yarn cylinder support plate 201 by threads. The suture line channel 206 is installed on the yarn cylinder support side plate 203 and is fixed by bolts. The yarn tensioner 207 is installed inside the suture line channel 206 to keep the suture line tension stable. The porcelain ring 202 is installed in the round hole of the suture line channel 206 to make the suture yarn pass through the suture line channel 206 and keep the tension stable through the yarn tensioner 207, preventing the suture yarn from being worn by the suture line channel 206. The pneumatic scissors 208 is installed on the lower side of the sewing base plate 205 and is used to cut the suture line.

[0061] The suture mechanism photoelectric sensor 217 is installed at the end of the yarn cylinder support plate 201. The suture mechanism light sensing block 218 is installed on the suture crank disc 215. The suture mechanism photoelectric sensor 217 is matched with the suture mechanism light sensing block 218. The suture mechanism light sensing block 218 moves with the suture crank disc 215. The suture mechanism light sensing block 218 passes through the light sensing area of the suture mechanism photoelectric sensor 217 to limit the suture crank disc 215.

[0062] As shown in Figure 6 The presser foot mechanism 3 further includes a presser foot connecting block 301 which is installed on the lower side of the sewing base plate 205 by bolts. The pneumatic cylinder 306 which is connected with the cylinder fixing block 302 by bolts provides power for the presser foot 305. The presser foot 305 is connected with the pneumatic cylinder 306 by threads. The end of the presser foot 305 is connected with the guide rail sliding block I 303 which is installed on the guide rail fixing block 304. The guide rail fixing block 304 is fixed on the cylinder fixing block 302 by bolts. Under the driving of the pneumatic cylinder 306, the presser foot 305 moves along the guide rail sliding block I 303 to complete the lifting and pressing action of the presser foot 305. The presser foot 305 cooperates with the sewing machine needle 211 to ensure the relative fixation of the suture line position in the suture process.

[0063] As shown in Figure 7As shown, the servo motor Ⅲ 413 of the replacement mechanism 4 is fixed on the rotating motor base 403, the motor side plate Ⅰ 402 is symmetrically arranged on both sides of the rotating motor base 403, and the motor side plate Ⅰ 402 is connected and fixed with the motor upper top plate 401 through a pin and a bolt. One end of the main rotating shaft 408 is connected with the output shaft of the servo motor Ⅲ 413 through a shaft coupling Ⅰ 412, the other end passes through a bearing end cover 404 and is connected with the suture bottom plate 205 through a key, and the bearing end cover 404 is installed on the bearing end cover fixing plate 405 through a bolt. The bearing end cover 404 is internally sequentially installed with a deep groove ball bearing and a pressure bearing for helping the main rotating shaft 408 to rotate and bear force. The bearing end cover fixing plate 405 and the rotating motor base 403 are connected through the motor side plate Ⅱ 411. Under the driving of the servo motor Ⅲ 413, the main rotating shaft 408 drives the pre-piercing mechanism 1 and the suturing mechanism 2 to complete 180° replacement rotation, and the conversion of the suture end and the pre-piercing end is completed.

[0064] The replacement mechanism photoelectric sensor 409 is connected with the bearing end cover fixing plate 405 through a sensor pad block 410, and the main rotating shaft 408 is installed with a photosensitive block fixing block 406. The photosensitive block fixing block 406 has a threaded hole thereon, and is constrained on the main rotating shaft 408 through a bolt. The photosensitive block Ⅱ 407 is installed on the photosensitive block fixing block 406 through a bolt, and is matched with the replacement mechanism photoelectric sensor 409. The photosensitive block Ⅱ 407 passes through the photosensitive area of the replacement mechanism photoelectric sensor 409 under the driving of the main rotating shaft 408, and realizes replacement rotation limiting.

[0065] As shown, Figure 8 The servo motor Ⅳ 512 of the translation mechanism 5 is installed on the translation motor base 511, the translation motor base 511 is installed on the lower side of the suture bottom plate 205, the output shaft of the servo motor Ⅳ 512 is connected with one end of the ball screw 504 through a shaft coupling Ⅱ 501 to drive the rotation of the ball screw 504, the ball screw 504 is installed in the support seat Ⅰ 502 and the support seat Ⅱ 505, the ball screw 504 between the support seat Ⅰ 502 and the support seat Ⅱ 505 is installed with a ball screw fixing seat 503, the ball screw fixing seat 503 is connected with the pre-piercing bottom plate 105, the support seat Ⅰ 502 and the support seat Ⅱ 505 are connected with the translation bottom plate 509, the guide rail slider Ⅱ 506 is installed on the translation bottom plate 509, the upper end of the guide rail slider Ⅱ 506 is connected with the pre-piercing bottom plate 105 through a bolt, and the pre-piercing mechanism 1 realizes translational displacement. The translation bottom plate 509 is also fixed with a translation bottom plate connecting block 510, the translation bottom plate connecting block 510 connects the translation bottom plate 509 and the suture bottom plate 205 through a bolt. The lower side of the translation bottom plate 509 is fixed with a sensor carrying block 508, the sensor carrying block 508 is located at the front end of the guide rail slider Ⅱ 506, the photoelectric switch sensor 507 is installed on the sensor carrying block 508, and the photoelectric switch sensor 507 is matched with the guide rail slider Ⅱ 506 to realize the limiting of the slider.

[0066] AsFigure 10 As shown, the present application also includes a control system 6, which includes a human-computer interaction system 601 and a programmable logic controller PLC 602, the human-computer interaction system 601 includes a touch screen 6011, and the information exchange and real-time control between the operator and the device are realized by manually operating the touch screen 6011, the programmable logic controller PLC 602 is connected with the touch screen 6011 to realize communication interaction, the input instruction is transmitted into the programmable logic controller PLC 602 through the touch screen 6011, and pulse signals are sent to the servo driver I 603, the servo driver II 604, the servo driver III 605 and the servo driver IV 606, the servo motor I 101, the servo motor II 204, the servo motor III 413 and the servo motor IV 512 complete corresponding output rotation, the light block I 113 and the light block 218 of the suturing mechanism are respectively installed on the pre-piercing crank disc 112 and the suturing crank disc 215, rotate with the disc, cooperate with the corresponding photoelectric sensor 114 and the photoelectric sensor 217 of the suturing mechanism, and are used for detecting the initial hovering position of the pre-piercing crank disc 112 and the suturing crank disc 215, the light block II 407 is placed on the main rotating shaft 408 and rotates synchronously with the main rotating shaft 408, detects the initial position of the replacement action through the light sensing area of the corresponding replacement mechanism photoelectric sensor 409, the photoelectric switch sensor 507 is installed on the front end sensor carrying block 508 of the sliding block II 506 of the translation mechanism 5, the photoelectric switch sensor 507 can perform infrared non-contact detection, is used for detecting the position information of the sliding block II 506 and feeding back the information to the programmable logic controller PLC 602, controlling the servo motor IV 512, and realizing the detection control of the translation displacement.

[0067] As shown in the figure, Figure 11 The present application also provides a high-efficiency suturing method for a composite material preform in pre-piercing and suturing cooperation, which comprises the following steps:

[0068] S1, pre-piercing by the pre-piercing mechanism 1, the pre-piercing machine needle 109 leaves a pre-piercing hole on the surface of the preform;

[0069] S2, replacement by the replacement mechanism 4, the pre-piercing mechanism 1 and the suturing mechanism 2 complete 180° rotation, realize switching between the pre-piercing mechanism 1 and the suturing mechanism 2, the suturing machine needle 211 carries out suturing on the pre-piercing hole left in step S1, and the pre-piercing machine needle 109 simultaneously works to pre-pierce a new pre-piercing hole;

[0070] S3, replacement by the replacement mechanism 4 again, the pre-piercing mechanism 1 and the suturing mechanism 2 complete 180° rotation, the suturing mechanism 2 completes the suturing work on the pre-piercing hole, and at the same time, the translation mechanism 5 drives the pre-piercing mechanism 1 to translate towards the suturing stitch direction, and the pre-piercing mechanism 1 after translation in the suturing process of the suturing mechanism 2 completes pre-piercing of a new pre-piercing hole;

[0071] S4, the pre-punching mechanism 1 restores to the original position, and the whole stitching device moves horizontally to the suture trace direction; after the horizontal movement, the replacement mechanism 4 continues to replace, the pre-punching mechanism 1 and the stitching mechanism 2 work simultaneously, and the pre-punching and stitching process is completed;

[0072] S5, the replacement mechanism 4 continues to replace, the horizontal movement mechanism 5 after replacement drives the pre-punching mechanism 1 to complete horizontal movement to the suture trace direction, and then the stitching and pre-punching process is started simultaneously;

[0073] S6, repeat step S4 and step S5 until the stitching is completed.

[0074] Wherein, the distance of each horizontal movement of the pre-punching mechanism 1 is the same as the distance of the whole horizontal movement of the stitching device.

[0075] The present application is used for the stitching preparation of the hard sandwich structure composite material prefabricated body, the present stitching device structure is compact, the stitching efficiency is higher, the continuous and efficient stitching of the hard sandwich structure composite material prefabricated body can be realized, the automation degree of the single-side stitching hard sandwich structure composite material prefabricated body is improved, and the product quality is improved.

[0076] The above-mentioned embodiments of the present application are described in detail, but the content described is only the preferred embodiments of the present application, and cannot be considered as used for limiting the scope of the present application. Any equivalent changes and improvements within the scope of the present application should still belong to the scope of the present patent.

Claims

1. A high efficiency stitching device for pre-piercing stitched synergic composite preform, characterized in that: The pre-piercing mechanism, the suturing mechanism, the replacement mechanism and the translation mechanism are included, the pre-piercing mechanism is installed on the translation mechanism, the pre-piercing mechanism includes a pre-piercing crank disc, the pre-piercing crank disc drives a pre-piercing needle to complete a pre-piercing action through a whole rotation; the suturing mechanism includes a suturing crank disc, the suturing mechanism is connected with the main rotating shaft of the replacement mechanism through a suturing bottom plate, the suturing crank disc drives a suturing needle to complete a suturing action through a whole rotation; the main rotating shaft of the replacement mechanism drives the pre-piercing mechanism and the suturing mechanism to complete a 180° replacement action.

2. The pre-piercing, pre-sewing, synergistically operating, composite preform high- efficiency sewing apparatus of claim 1, wherein: The pre-piercing mechanism further includes a servo motor I, the servo motor I is fixed in a pre-piercing motor base, a bevel gear I is installed on the output end of the servo motor I, the pre-piercing motor base and a gear shaft bearing seat are fixed on a pre-piercing bottom plate respectively, a gear connecting shaft is installed on the gear shaft bearing seat, a bevel gear II is fixed on one end of the gear connecting shaft, the other end of the gear connecting shaft is connected with the pre-piercing crank disc, the bevel gear II is engaged with the bevel gear I, and the two gears are arranged at a space of 90°; the pre-piercing crank disc completes a whole rotation under the driving of the gear connecting shaft, forms a bias crank slider mechanism, the pre-piercing crank disc is connected with a pre-piercing fixed needle block through a pre-piercing connecting shaft, the pre-piercing fixed needle block is constrained by two pre-piercing optical shafts, the pre-piercing optical shafts are fixed on the lower side of the pre-piercing bottom plate and are fixedly constrained by pre-piercing optical shaft fixing blocks, the pre-piercing fixed needle block moves along the axial direction of the pre-piercing optical shafts, and a pre-piercing needle fixed on the pre-piercing fixed needle block completes a pre-piercing action of reciprocating lifting.

3. The pre-piercing, stitching, synergistically operating, composite preform high- efficiency stitching apparatus of claim 2, wherein: An optical sensor is installed on the gear shaft bearing seat through a connecting block, a light sensing block I is fixed on the pre-piercing crank disc, the light sensing block I is matched with the optical sensor to limit the pre-piercing crank disc.

4. The high efficiency stitching device for pre-pierced stitched synergistically operating composite preform of claim 1, wherein: The suturing mechanism further includes a servo motor II, the servo motor II is fixed in a suturing motor base, the suturing motor base is fixed on a suturing bottom plate, the servo motor II drives the suturing crank disc to complete a whole rotation, the suturing crank disc is connected with a suturing fixed needle block through a suturing connecting shaft, the suturing fixed needle block is constrained by two suturing optical shafts, the suturing optical shafts are fixed on the lower side of the suturing bottom plate and are fixedly constrained by suturing optical shaft fixing blocks, the suturing fixed needle block moves along the axial direction of the suturing optical shafts, and a suturing needle fixed on the suturing fixed needle block completes a suturing action of reciprocating lifting.

5. The pre-piercing, pre-sewing, synergistically operating, composite preform high- efficiency sewing apparatus of claim 4, wherein: A yarn drum supporting side plate is fixed on the suturing bottom plate, the yarn drum supporting side plate and a yarn drum supporting plate are fixedly connected with each other, a yarn drum is installed on the yarn drum supporting plate, the yarn drum is connected with the yarn drum supporting plate, a suturing thread channel is installed on the yarn drum supporting side plate, the suturing thread channel is fixedly connected with the yarn drum supporting side plate, a yarn tensioner is installed on the inner side of the suturing thread channel, a porcelain ring is installed in a circular hole of the suturing thread channel, and pneumatic scissors are installed on the lower side of the suturing bottom plate.

6. The pre-piercing, stitching, synergistically operating, composite preform high- efficiency stitching apparatus of claim 5, wherein: A suturing mechanism optical sensor is installed on the end of the yarn drum supporting plate, a suturing mechanism light sensing block is installed on the suturing crank disc, the suturing mechanism optical sensor and the suturing mechanism light sensing block are arranged in a matched mode to limit the suturing crank disc.

7. The pre-piercing, pre-sewing, synergistically operating, composite preform high- efficiency sewing apparatus of claim 1, wherein: The presser foot mechanism is located below the stitching mechanism and is matched with the stitching needle arrangement, and the presser foot mechanism comprises a presser foot connecting block which is installed on the lower side of the stitching base plate, a cylinder fixing block is fixed below the presser foot connecting block, a cylinder connected with the cylinder fixing block provides power for the presser foot, the end of the presser foot is connected with a guide rail sliding block I, the guide rail sliding block I is installed on a guide rail fixing block, the guide rail fixing block is connected and fixed on the cylinder fixing block, and the presser foot moves along the guide rail sliding block I under the driving of the cylinder.

8. The pre-piercing, pre-sewing, synergistically operating, composite preform high- efficiency sewing apparatus of claim 4, wherein: The servo motor III of the replacement mechanism is fixed on the rotary motor base, motor side plates I are symmetrically arranged on the two sides of the rotary motor base, the motor side plates I are connected and fixed with the upper motor top plate, one end of the main rotating shaft is connected with the output shaft of the servo motor III through a shaft coupling I, the other end penetrates through a bearing end cover and is connected with the stitching base plate, the bearing end cover is installed on a bearing end cover fixing plate, a deep groove ball bearing and a pressure bearing are sequentially installed in the bearing end cover, the bearing end cover fixing plate and the rotary motor base are connected through a motor side plate II, and the main rotating shaft drives the pre-piercing mechanism and the stitching mechanism to complete 180° replacement rotation under the driving of the servo motor III; the photoelectric sensor of the replacement mechanism is connected with the bearing end cover fixing plate through a sensor cushion block, a photosensitive block fixing block is installed on the main rotating shaft, the photosensitive block fixing block is constrained on the main rotating shaft, a photosensitive block II is installed on the photosensitive block fixing block, the photosensitive block II cooperates with the position of the replacement mechanism photoelectric sensor to realize replacement rotation limiting.

9. The pre-piercing, pre-sewing, synergistically operating, composite preform high- efficiency sewing apparatus of claim 8, wherein: The servo motor IV of the translation mechanism is installed on a translation motor base, the translation motor base is installed on the lower side of the stitching base plate, the output shaft of the servo motor IV is connected with one end of a ball screw through a shaft coupling II, the ball screw is installed in support seats I and II, a ball screw fixing seat is installed on the ball screw between the support seats I and II, the ball screw fixing seat is connected with the pre-piercing base plate, the support seats I and II are connected with a translation base plate, a guide rail sliding block II is installed on the translation base plate, the upper end of the guide rail sliding block II is connected with the pre-piercing base plate, and the pre-piercing mechanism realizes translational displacement; a translation base plate connecting block is further fixed on the translation base plate, the translation base plate connecting block connects the translation base plate and the stitching base plate, a sensor carrying block is fixed on the lower side of the translation base plate, the sensor carrying block is located at the front end of the guide rail sliding block II, a photoelectric switch sensor is installed on the sensor carrying block, the photoelectric switch sensor cooperates with the guide rail sliding block II to realize sliding block limiting.

10. A method for efficient stitching of a pre-pierced stitched synergic composite preform, implemented by means of a device for efficient stitching of a pre-pierced stitched synergic composite preform according to any one of claims 1 to 9, characterized in that: The steps include the following steps: S1, the pre-piercing mechanism pre-pierces, and the pre-piercing needle leaves a pre-piercing hole on the surface of the prefabricated body; S2, the replacement mechanism replaces, the pre-piercing mechanism and the stitching mechanism complete 180° rotation, the pre-piercing mechanism and the stitching mechanism are switched, the stitching needle carries the suture to stitch the pre-piercing hole left in step S1, and the pre-piercing needle works simultaneously to pre-pierce a new pre-piercing hole; S3, the replacement mechanism is replaced again, the pre-piercing mechanism and the stitching mechanism complete 180° rotation, the stitching mechanism completes the stitching work on the pre-pierced hole, and the translation mechanism drives the pre-piercing mechanism to translate to the stitching trace direction. The pre-piercing mechanism that translates after the stitching mechanism completes the stitching process completes the pre-piercing of a new pre-piercing hole; S4, the pre-piercing mechanism returns to the original position, and the stitching device as a whole translates to the stitching trace direction; the replacement mechanism continues to replace after translation, and the pre-piercing mechanism and the stitching mechanism work simultaneously to complete the pre-piercing and stitching process; S5, the replacement mechanism continues to replace, and the pre-piercing mechanism is driven by the translated replacement mechanism to complete translation to the stitching trace direction, and then the stitching and pre-piercing process is started synchronously; S6, repeat steps S4 and S5 until the stitching is completed.

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