Carbon fiber hard-soft hybrid three-dimensional woven narrow slit passage weft insertion and yarn laying system and process

Abstract

The present invention provides a weft insertion and yarn laying system and process for a narrow slit channel of a carbon fiber soft-hard mixed three-dimensional fabric, belonging to the technical field of automatic weaving of carbon fiber three-dimensional fabrics. The system includes a weft delivery device, a carbon rod array, a controlled weft yarn device, and a weft insertion device. The carbon fiber yarn enters the weft delivery device. The weft insertion device drives the weft insertion sword to pass through the narrow slit channel formed by the carbon rod array and reach one side of the weft delivery device for weft insertion. When the weft insertion sword returns, it hooks the yarn to one side of the controlled weft yarn device. The controlled weft yarn device includes a control and beating mechanism and a yarn clamping mechanism, and the three actions of controlling, beating, and clamping the carbon fiber yarn are completed by the coordinated cooperation of two linear cylinders. After a series of actions are completed, the weft insertion sword performs weft insertion in the next channel, and so on. Each mechanism precisely and coordinately cooperates to complete the automatic production of the three-dimensional fabric. The invention has a compact structure, novel and reasonable design, and assists the automatic weaving machine of the carbon fiber three-dimensional fabric to complete the automatic production of the three-dimensional fabric.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic weaving of three-dimensional carbon fiber fabrics, and in particular relates to a weft insertion and yarn laying system and process for narrow slit channels of three-dimensional carbon fiber soft-hard mixed woven fabrics. Background Technique

[0002] Carbon / carbon composites have the advantages of good ablation resistance, good thermal shock resistance, excellent friction and wear resistance, etc. They are mostly used in extreme environments of high temperature, high pressure and high speed, and are the best choice for the throat liner material of high-performance solid rocket engines. The preform technology is one of the most important basic technologies of carbon / carbon composites, which determines the various properties of carbon / carbon composites. Due to the low interlaminar shear strength of traditional laminates, it cannot meet the performance requirements of the nozzle throat liner of high-performance solid rocket engines. In order to adapt to the extreme environment of high-performance solid rocket engines, it is necessary to study the key technologies of automatic weaving of soft-hard mixed woven throat liner preforms for solid rocket engines. There is an urgent need for a weft insertion and yarn laying system for narrow slit channels to improve the forming efficiency of preforms and meet their mass production. Summary of the Invention

[0003] The problem to be solved by the present invention is to provide a weft insertion and yarn laying system and process for narrow slit channels of three-dimensional carbon fiber soft-hard mixed woven fabrics to assist the automatic weaving machine of three-dimensional carbon fiber fabrics to complete the automatic production of three-dimensional fabrics.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: a weft insertion and yarn laying system for narrow slit channels of three-dimensional carbon fiber soft-hard mixed woven fabrics, including a weft delivery device and a controlled weft yarn device, and the weft delivery device and the controlled weft yarn device are installed on both sides of the carbon rod array;

[0005] The weft delivery device includes a yarn guiding member, a weft delivery device bottom plate, a weft delivery mechanism and a weft control mechanism. The weft delivery device bottom plate is installed on the weft delivery moving platform, and the yarn guiding member, the weft delivery mechanism and the weft control mechanism are respectively installed on the surface of the weft delivery device bottom plate. The yarn guiding member is located on the input side, and the weft delivery mechanism and the weft control mechanism are located on the output side; the weft control mechanism cooperates with the weft blocking rod to achieve the weft blocking action;

[0006] The controlled weft yarn device includes a control and beating mechanism, a yarn clamping mechanism, a rotating bracket and a controlled weft yarn device bottom plate. The controlled weft yarn device bottom plate is installed on the weft insertion moving platform, and the yarn clamping mechanism and the rotating bracket are installed on the surface of the controlled weft yarn device bottom plate. The inside of the rotating bracket contains a bearing to achieve rotation, and the control and beating mechanism is installed on the rotating bracket by using a bearing to form a rotating pair;

[0007] The control and hitting mechanism includes a linear cylinder base, a third linear cylinder, a third connecting rod, a four-bar linkage stroke amplification mechanism, a slider mechanism, and a control and hitting rod. The linear cylinder base and the slider mechanism are respectively installed on the rotating bracket. The third linear cylinder is installed on the linear cylinder base. One end of the four-bar linkage stroke amplification mechanism is connected to the rotating bracket and forms a rotating pair with the rotating bracket by means of a bearing. The driving rod of the four-bar linkage stroke amplification mechanism is connected to the output end of the third connecting rod and forms a rotating pair by means of a bearing. The driven rod of the four-bar linkage stroke amplification mechanism is installed on the slider of the slider mechanism and forms a rotating pair by means of a bearing. The input end of the third connecting rod is connected to the output end of the third linear cylinder. The control and hitting rod is installed on the slider of the slider mechanism and reciprocates linearly together with the slider.

[0008] It can be seen that the third linear cylinder of the present invention drives the four-bar linkage stroke amplification mechanism to drive the control and hitting rod to reciprocate linearly, realizing the actions of yarn control and yarn hitting. The four-bar linkage stroke amplification mechanism forms a rotating pair with the rotating bracket by means of a bearing, and contains bearings inside to enable rotation. The four-bar linkage stroke amplification mechanism can achieve a stroke amplification of one to four, expanding the movement stroke of the control and hitting rod.

[0009] The yarn clamping mechanism includes a fourth linear cylinder, a fourth connecting rod, a second connecting rod, a second pin shaft, and a yarn clamping rod. The fourth linear cylinder and the second pin shaft are respectively installed on the base plate of the yarn guiding control device. One end of the fourth connecting rod is connected to the output end of the fourth linear cylinder through a thread, and the other end is connected to the second connecting rod with a pin. The second connecting rod is connected to the rotating bracket with a pin. The rotating bracket and the second pin shaft form a rotating pair by means of a bearing. The yarn clamping rod is installed on the rotating bracket.

[0010] It can be seen that the fourth linear cylinder of the present invention drives the rotating bracket to rotate around the second pin shaft, realizing the yarn clamping action of the yarn clamping rod. The yarn clamping rod is installed on the rotating bracket, and the clamping and loosening of the yarn are realized through the rotation of the rotating bracket.

[0011] Furthermore, it further includes a weft insertion device, which is installed on the frame of the automatic knitting machine; the weft insertion moving platform is installed on the frame of the automatic knitting machine; the carbon rod array is installed on the working table of the automatic knitting machine.

[0012] Furthermore, the weft delivery mechanism includes a first linear cylinder, a first connecting rod, a rocker, and a weft delivery swing rod. The first linear cylinder is hinged to the base plate of the weft delivery device. The output end of the first linear cylinder is connected to the rocker through the first connecting rod. The first connecting rod is hinged to the rocker. The output end of the rocker is connected to the weft delivery swing rod. The rocker is installed on a bearing seat, and a bearing for rotation is provided between the rocker and the bearing seat. A porcelain ring is installed at the end of the weft delivery swing rod. The first linear cylinder drives the rocker to drive the weft delivery swing rod to swing through the first connecting rod, realizing the weft delivery action.

[0013] It can be seen that the first linear cylinder of the present invention drives the rocker to drive the weft-feeding swing rod to swing, rotating the yarn to the required angle; one end of the first connecting rod is connected to the piston rod of the first linear cylinder by a thread, and the other end is connected to the rocker by a pin; the rocker is installed on the bearing seat and forms a rotating pair with the bearing; the weft-feeding swing rod is connected to the rocker by a nut, and a porcelain ring is installed at the position of the end hole of the weft-feeding swing rod. The material is ceramic, which can reduce the friction force when the yarn passes through it and ensure that the yarn is not damaged during weft-feeding.

[0014] Further, the weft control mechanism includes a second linear cylinder, a second connecting rod, a first connecting rod, a weft control swing rod and a first pin shaft. The second linear cylinder is installed on the bottom plate of the weft-feeding device. The output end of the second linear cylinder is connected to the first connecting rod through the second connecting rod. One end of the first connecting rod is hinged to the second connecting rod, and the other end is hinged to the weft control swing rod. The weft control swing rod is in an L-shaped class. The L-shaped corner of the weft control swing rod is rotatably connected to the first pin shaft.

[0015] It can be seen that the second linear cylinder of the present invention drives the weft control swing rod to rotate around the first pin shaft to realize the weft control action; two bearings are installed on the first pin shaft to ensure the smooth rotation of the weft control swing rod.

[0016] The weft-feeding device realizes the automatic weft-feeding function by the cooperation of the weft-feeding swing rod, the weft control swing rod and the weft blocking rod.

[0017] Further, the carbon rod array is a regular polygon carbon rod array formed by inserting tens of thousands of carbon fiber rods into an equidistant and densely arranged precision micro-hole plate tooling.

[0018] The present invention also provides a weft insertion and laying process for a carbon fiber soft-hard hybrid three-dimensional fabric narrow slit channel, including the following steps:

[0019] S1. After the carbon fiber yarn is unwound from the yarn bobbin, it enters the weft-feeding device. The second linear cylinder of the weft-feeding device drives the weft control swing rod to rotate around the first pin shaft to the working point, and cooperates with the weft control rod to fix the yarn.

[0020] S2. The weft insertion device drives the weft insertion sword to pass through the narrow slit channel formed by the carbon rod array to one side of the weft-feeding device for weft insertion. When the weft insertion sword reaches directly above the yarn, the first linear cylinder drives the rocker to drive the weft-feeding swing rod to swing upward to the working point. At this time, the yarn is located in the weft insertion sword hook groove.

[0021] S3. The weft insertion sword returns, hooks the yarn to the side of the wefted yarn control device. At the same time, the first linear cylinder and the second linear cylinder respectively retract the first connecting rod and the second connecting rod, driving the weft control swing rod and the weft-feeding swing rod back to the initial position.

[0022] Further, in step S3, when the weft insertion sword of the weft insertion device retracts and brings the yarn to one side of the inserted yarn control device,

[0023] S31. The fourth linear cylinder drives the fourth connecting rod to extend, driving the rotating bracket to rotate counterclockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect counterclockwise. At this time, the control hitting rod also deflects;

[0024] S32. The third linear cylinder drives the third connecting rod to extend, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the control hitting rod to move linearly downward, bringing the yarn to the yarn clamping position;

[0025] S33. The fourth linear cylinder drives the fourth connecting rod to retract, driving the rotating bracket to rotate clockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect clockwise, clamping the i-th yarn at the yarn clamping position at this time;

[0026] S34. The third linear cylinder drives the third connecting rod to retract, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the control hitting rod to move linearly upward, returning to the initial position, and completing the operation of the i-th yarn;

[0027] S35. Continue to repeat the above yarn guiding action. The fourth linear cylinder drives the fourth connecting rod to extend, driving the rotating bracket to rotate counterclockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect counterclockwise, loosening the i-th yarn at the yarn clamping position;

[0028] S36. The third linear cylinder drives the third connecting rod to extend, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the control hitting rod to move linearly downward, bringing the (i + 1)-th yarn to the yarn clamping position, and at the same time hitting the i-th yarn that has been loosened at the yarn clamping position to the weaving mouth position;

[0029] S37. The fourth linear cylinder drives the fourth connecting rod to retract, driving the rotating bracket to rotate clockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect clockwise, clamping the (i + 1)-th yarn at the yarn clamping position at this time;

[0030] S38. The whole control hitting mechanism deflects. The third linear cylinder drives the third connecting rod to retract, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the control hitting rod to move linearly upward, returning to the initial position, and completing the operation of the (i + 1)-th yarn; The weft insertion device continues to drive the weft insertion sword to hook the (i + 2)-th yarn, and so on, completing the automatic laying and winding of continuous carbon fiber yarns.

[0031] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0032] In the present invention, bearings are added at multiple places in the mechanism, making the operation of the mechanism more stable during the working process and extending the mechanical life. The adjustment of the present invention is more convenient. With the position of the cylinder unchanged, the rotation and swing ranges of the weft delivery swing rod and the weft control swing rod can be adjusted by adjusting the screwing distance of the threaded connection between the output end of the cylinder and the connecting rod. The present invention uses a linear cylinder, which is easier to adjust and has a much lower cost than a rotary cylinder. The force of the present invention is concentrated on the bottom plate of the weft delivery device rather than on the rods. Therefore, during the actual working process, the vibration amplitude is small, the bolts are not easily loosened, and the equipment downtime for maintenance is reduced.

[0033] The present invention can assist in the automated forming of preforms of carbon / carbon composite materials with mixed hard and soft components, including a weft delivery device, a carbon rod array, a controlled yarn control device, and a weft insertion device. After the carbon fiber yarn is unwound from the yarn bobbin, it enters the weft delivery device. The weft insertion device drives the weft insertion sword to pass through the narrow slit channel formed by the carbon rod array and reach one side of the weft delivery device for weft insertion. When the weft insertion sword returns, it hooks the yarn to one side of the controlled yarn control device. The controlled yarn control device includes a control and beating mechanism and a yarn clamping mechanism. The control, beating, and clamping actions of the carbon fiber yarn are completed through the coordinated cooperation of two linear cylinders. And the control and beating mechanism is integrally installed on the driven position of the yarn clamping mechanism, i.e., the rotating bracket. After a series of actions are completed, the weft insertion sword performs weft insertion in the next channel, and so on. Each mechanism precisely and coordinately cooperates to complete the automated production of three-dimensional fabrics.

[0034] It can be seen that the controlled yarn control device of the present invention can realize the three actions of yarn control, yarn beating, and yarn clamping only with two linear cylinders. Through the designed control and beating rod, one rod can realize two actions. At the same time, the control and beating mechanism is integrally installed on the driven position of the yarn clamping mechanism, i.e., the rotating bracket, which can realize the coupling actions of the two mechanisms, complete the yarn control, yarn beating, and yarn clamping actions of the controlled yarn control device for continuous yarns, and realize the automated winding of continuous carbon fiber yarns.

[0035] It can be seen that the present invention has a compact structure, novel and reasonable design, reduces the labor intensity, improves the quality consistency and forming efficiency of the preform, has strong practicability, good use effect, is convenient for popularization, and can assist the automated production of three-dimensional fabrics by an automated carbon fiber three-dimensional fabric knitting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be specifically described below with reference to the drawings and in combination with examples. The advantages and implementation methods of the present invention will become more obvious. The content shown in the drawings is only used for the explanation of the present invention and does not constitute any limitation to the present invention in any sense. In the drawings:

[0037] Figure 1 is the overall structural schematic diagram of the present invention.

[0038] Figure 2 is the structural schematic diagram of the weft delivery device of the present invention.

[0039] Figure 3 It is a schematic structural diagram of the yarn guiding control device of the present invention.

[0040] Figure 4 It is a schematic structural diagram of the weft inserting mechanism of the present invention.

[0041] Figure 5 It is a schematic structural diagram of the weft control mechanism of the present invention.

[0042] Figure 6 It is a schematic structural diagram of the weft blocking rod of the present invention.

[0043] Figure 7 It is a schematic structural diagram of the weft beating control mechanism of the present invention.

[0044] Figure 8 It is a schematic structural diagram of the yarn clamping mechanism of the present invention.

[0045] Figure 9 It is a schematic structural diagram of the first connecting rod of the present invention.

[0046] Figure 10 It is a schematic structural diagram of the bearing seat of the present invention.

[0047] Figure 11 It is a schematic structural diagram of the rocker of the present invention.

[0048] Figure 12 It is a schematic structural diagram of the bottom plate of the weft inserting device of the present invention.

[0049] Figure 13 It is a schematic structural diagram of the yarn guiding member of the present invention.

[0050] Figure 14 It is a schematic structural diagram of the weft inserting swing rod of the present invention.

[0051] Figure 15 It is a schematic structural diagram of the first pin shaft of the present invention.

[0052] Figure 16 It is a schematic structural diagram of the weft control swing rod of the present invention.

[0053] Figure 17 It is a schematic structural diagram of the first connecting rod of the present invention.

[0054] Figure 18 It is a schematic structural diagram of the bottom plate of the yarn guiding control device of the present invention.

[0055] Figure 19 It is a schematic structural diagram of the rotating bracket of the present invention.

[0056] ]> Figure 20 It is a schematic structural diagram of the linear cylinder seat of the present invention.

[0057] Figure 21 It is a structural schematic diagram of the control hitting rod of the present invention.

[0058] Figure 22 It is a structural schematic diagram of the slider mechanism of the present invention.

[0059] Figure 23 It is a structural schematic diagram of the four-bar linkage stroke amplification mechanism of the present invention.

[0060] Figure 24 It is a structural schematic diagram of the third connecting rod of the present invention.

[0061] Figure 25 It is a structural schematic diagram of the fourth connecting rod of the present invention.

[0062] Figure 26 It is a structural schematic diagram of the second connecting rod of the present invention.

[0063] Figure 27 It is a structural schematic diagram of the second pin shaft of the present invention.

[0064] Figure 28 It is a structural schematic diagram of the yarn clamping rod of the present invention.

[0065] Figure 29 It is a schematic diagram of the process flow of the weft inserting device of the present invention.

[0066] Figure 30 It is a schematic diagram of the knitting process flow of the yarn guiding control device of the present invention.

[0067] Figure 31 It is a schematic diagram of the yarn position of the present invention.

[0068] Figure 32 It is a working timing diagram of the present invention.

[0069] Figure 33 It is a path planning diagram of the present invention.

[0070] In the figure:

[0071] 1. Weft inserting device; 2. Carbon rod array; 3. Yarn guiding control device; 4. Weft inserting sword; 5. Weft inserting moving platform; 6. Weft inserting moving platform;

[0072] 101. Yarn guiding member; 102. Weft inserting device bottom plate; 103. Weft inserting mechanism; 104. Weft control mechanism; 105. Weft blocking rod;

[0073] 301. Control hitting mechanism; 302. Yarn clamping mechanism; 303. Rotating bracket; 304. Yarn guiding control device bottom plate;

[0074] 401. Weft inserting sword;

[0075] 103-1, First linear cylinder; 103-2, First connecting rod; 103-3, Rocker; 103-4, Weft transfer swing rod; 103-5, Bearing seat; 103-6, Ceramic ring;

[0076] 104-1, Second linear cylinder; 104-2, Second connecting rod; 104-3, First link; 104-4, Weft control swing rod; 104-5, First pin shaft;

[0077] 301-1, Linear cylinder seat; 301-2, Third linear cylinder; 301-3, Third connecting rod; 301-4, Four-bar linkage stroke amplification mechanism; 301-5, Slide block mechanism; 301-6, Control hitting rod;

[0078] 302-1, Fourth linear cylinder; 302-2, Fourth connecting rod; 302-3, Second pin shaft; 302-4, Yarn clamping rod; 302-5, Second link. Specific embodiments

[0079] As Figures 1 to 28 shown, a weft transfer and yarn laying system for a narrow slit passage of a carbon fiber soft-hard mixed three-dimensional fabric of the present invention includes a weft transfer device 1, a carbon rod array 2, a controlled weft yarn device 3, and a weft insertion device 4 (patent for invention "A variable stroke narrow slit passage weft insertion device for a carbon fiber three-dimensional fabric automatic knitting machine", authorization announcement number: CN209162331U. The present invention uses the same weft insertion device, and the specific structure will not be described in detail).

[0080] The weft transfer device 1 and the controlled weft yarn device 3 are installed on both sides of the carbon rod array 2. The weft transfer device 1 is positioned by pins and installed on the weft transfer moving platform 5 by bolts; the controlled weft yarn device 3 is positioned by pins and installed on the weft insertion moving platform 6 by bolts; the carbon rod array 2 is supported on the working table of the automatic knitting machine; the weft insertion device 4 is positioned by pins and installed on the frame of the automatic knitting machine; the weft insertion moving platform 6 is positioned by pins and installed on the frame of the automatic knitting machine.

[0081] The weft transfer moving platform 5 realizes precise displacement by a high-precision linear module driven by a servo motor.

[0082] The weft transfer device 1 includes a yarn guiding member 101, a weft transfer device bottom plate 102, a weft transfer mechanism 103, a weft control mechanism 104, and a weft blocking rod 105.

[0083] The weft transfer device bottom plate 102 is positioned by pins and installed on the weft transfer moving platform 5 by bolts. The yarn guiding member 101, the weft transfer mechanism 103, and the weft control mechanism 104 are respectively installed on the surface of the weft transfer device bottom plate 102 by bolts. The yarn guiding member 101 is located on the input side, and the weft transfer mechanism 103 and the weft control mechanism 104 are located on the output side;

[0084] The weft delivering mechanism 103 includes a first linear cylinder 103-1, a first connecting rod 103-2, a rocker 103-3, a weft delivering swing rod 103-4, a bearing seat 103-5 and a porcelain ring 103-6. The first linear cylinder 103-1 is hinged to the weft delivering device bottom plate 102. The output end of the first linear cylinder 103-1 is connected to the rocker 103-3 through the first connecting rod 103-2. The first connecting rod 103-2 is hinged to the rocker 103-3. The output end of the rocker 103-3 is connected to the weft delivering swing rod 103-4. The rocker 103-3 is installed on the bearing seat 103-5. A bearing for rotation is arranged between the rocker 103-3 and the bearing seat 103-5. A porcelain ring 103-6 is installed at the end of the weft delivering swing rod 103-4 to ensure the smooth passing of the yarn and reduce damage. The first linear cylinder 103-1 drives the rocker 103-3 through the first connecting rod 103-2 to drive the weft delivering swing rod 103-4 to swing, realizing the weft delivering action.

[0085] It can be seen that the first linear cylinder 103-1 of the present invention drives the rocker 103-3 to drive the weft delivering swing rod 103-4 to swing, rotating the yarn to the required angle. One end of the first connecting rod 103-2 is connected to the piston rod of the first linear cylinder 103-1 by a thread, and the other end is connected to the rocker 103-3 by a pin. The rocker 103-3 is installed on the bearing seat and forms a rotating pair with the bearing. The weft delivering swing rod 103-4 is connected to the rocker 103-3 by a nut, and a porcelain ring 103-6 is installed at the hole position at the end of the weft delivering swing rod 103-4. The material is ceramic, which can reduce the friction force when the yarn passes through it, ensuring that the yarn is not damaged during weft delivering.

[0086] The weft controlling mechanism 104 includes a second linear cylinder 104-1, a second connecting rod 104-2, a first connecting rod 104-3, a weft controlling swing rod 104-4 and a first pin shaft 104-5. The second linear cylinder 104-1 is installed on the weft delivering device bottom plate 102. The output end of the second linear cylinder 104-1 is connected to the first connecting rod 104-3 through the second connecting rod 104-2. One end of the first connecting rod 104-3 is hinged to the second connecting rod 104-2, and the other end is hinged to the weft controlling swing rod 104-4. The weft controlling swing rod 104-4 is in an L-shaped class. The L-shaped corner of the weft controlling swing rod 104-4 is rotatably connected to the first pin shaft 104-5.

[0087] It can be seen that the second linear cylinder 104-1 of the present invention drives the weft controlling swing rod 104-4 to rotate around the first pin shaft 104-5, realizing the weft controlling action. Two bearings are installed on the first pin shaft 104-5 to ensure the smooth rotation of the weft controlling swing rod 104-4.

[0088] The weft blocking rod 105 is installed on the bearing seat 103-5 through bolts and cooperates with the weft controlling mechanism 104 to realize the weft blocking action.

[0089] The weft supply device 1 realizes the automatic weft supply function through the cooperation of the weft supply swing rod 103-4, the weft control swing rod 104-4 and the weft blocking rod 105.

[0090] The carbon rod array 2 is a regular polygon carbon rod array formed by inserting tens of thousands of carbon fiber rods into the tooling of a precision micro-hole plate with equidistant and dense arrangement.

[0091] The yarn feeding control device 3 includes a control hitting mechanism 301, a yarn clamping mechanism 302, a rotating bracket 303 and a base plate 304 of the yarn feeding control device. The base plate 304 of the yarn feeding control device is positioned by pins and installed on the weft insertion moving platform 6 through bolts. The yarn clamping mechanism 302 and the rotating bracket 303 are installed on the surface of the base plate 304 of the yarn feeding control device. The rotating bracket 303 contains bearings inside and can realize rotation. The control hitting mechanism 301 is installed on the rotating bracket 303 by using bearings to form a rotating pair.

[0092] The control hitting mechanism 301 includes a linear cylinder seat 301-1, a third linear cylinder 301-2, a third connecting rod 301-3, a four-bar linkage stroke amplification mechanism 301-4, a slider mechanism 301-5 and a control hitting rod 301-6. The linear cylinder seat 301-1 and the slider mechanism 301-5 are respectively installed on the rotating bracket 303 through bolt connections. The third linear cylinder 301-2 is installed on the linear cylinder seat 301-1. One end of the four-bar linkage stroke amplification mechanism 301-4 is connected to the rotating bracket 303 and forms a rotating pair with the rotating bracket 303 by bearings. The driving rod of the four-bar linkage stroke amplification mechanism 301-4 is connected to the output end of the third connecting rod 301-3 by a pin and forms a rotating pair by bearings. The driven rod of the four-bar linkage stroke amplification mechanism 301-4 is installed on the slider of the slider mechanism 301-5 and forms a rotating pair by bearings. The input end of the third connecting rod 301-3 is connected to the output end of the third linear cylinder 301-2 by a thread. The control hitting rod 301-6 is installed on the slider of the slider mechanism 301-5 through a bolt connection and moves linearly back and forth together with the slider.

[0093] It can be seen that the third linear cylinder 301-2 of the present invention drives the four-bar linkage stroke amplification mechanism 301-4 to drive the control hitting rod 301-6 to perform linear reciprocating motion, realizing the control and hitting of the yarn. The four-bar linkage stroke amplification mechanism 301-4 forms a rotating pair with the rotating bracket 303 by bearings and contains bearings inside and can realize rotation. The four-bar linkage stroke amplification mechanism 301-4 can realize a four-fold stroke amplification, expanding the motion stroke of the control hitting rod 301-6.

[0094] The yarn clamping mechanism 302 includes a fourth linear cylinder 302-1, a fourth connecting rod 302-2, a second connecting rod 302-5, a second pin shaft 302-3 and a yarn clamping rod 302-4.

[0095] The fourth linear cylinder 302-1 and the second pin shaft 302-3 are respectively installed on the base plate 304 of the drawn yarn control device by bolt connection. One end of the fourth connecting rod 302-2 is connected to the output end of the fourth linear cylinder 302-1 by thread, and the other end is connected to the second connecting rod 302-5 by a pin; the second connecting rod 302-5 is connected to the rotating bracket 303 by a pin, and the rotating bracket 303 and the second pin shaft 302-3 form a rotating pair by means of a bearing; the yarn clamping rod 302-4 is installed on the rotating bracket 303 by bolt connection.

[0096] It can be seen that the fourth linear cylinder 302-1 of the present invention drives the rotating bracket 303 to rotate around the second pin shaft 302-3, realizing the yarn clamping action of the yarn clamping rod 302-4; the yarn clamping rod 302-4 is installed on the rotating bracket 303, and the clamping and loosening of the yarn are realized through the rotation of the rotating bracket 303.

[0097] As Figure 3 shown, the drawn yarn control device 3 can realize three actions of yarn control, yarn beating and yarn clamping only by using two linear cylinders (the third linear cylinder 301-2 and the fourth linear cylinder 302-1). By integrating the yarn control rod and the yarn beating rod into one to form the yarn control and beating rod 301-6, and by reasonably designing the dimension parameters of the yarn control and beating rod 301-6, two actions are completed by one rod. At the same time, the whole yarn control mechanism 301 is installed on the driven position of the yarn clamping mechanism 302, that is, the rotating bracket 303, so as to realize the coupled action of the two mechanisms, complete the actions of yarn control, yarn beating and yarn clamping of the drawn yarn control device 3 on the continuous yarn, and realize the automatic winding of the continuous carbon fiber yarn.

[0098] The base plate 102 of the weft inserting device and the base plate 304 of the drawn yarn control device are respectively positioned by pins and installed on two moving platforms by bolts, so as to accurately realize the variable stroke movement of the weft inserting device 1 and the drawn yarn control device 3.

[0099] As Figures 29 to 33 shown, the present invention also provides a weft inserting and yarn laying process for a narrow slit channel of a carbon fiber soft-hard hybrid three-dimensional fabric, including the following steps:

[0100] S1. After the carbon fiber yarn is unwound from the yarn bobbin, it enters the weft inserting device 1. As Figure 29 shown, the second linear cylinder 104-1 of the weft inserting device 1 drives the weft control swing rod 104-4 to rotate around the first pin shaft 104-5 to the working point, and cooperates with the weft control rod 105 to fix the yarn.

[0101] S2. The weft insertion device 4 drives the weft insertion sword 401 to pass through the narrow slit channel formed by the carbon rod array and reach one side of the weft delivery device 1 for weft insertion. When the weft insertion sword 401 reaches directly above the yarn, the first linear cylinder 103-1 operates to drive the rocker 103-3 to drive the weft delivery swing rod 103-4 to swing upward to the working point. At this time, the yarn is located in the groove of the weft insertion sword 401;

[0102] S3. The weft insertion sword 401 returns, hooks the yarn to one side of the wefted yarn control device 3. At the same time, the first linear cylinder 103-1 and the second linear cylinder 104-1 respectively retract the first connecting rod 103-2 and the second connecting rod 104- and drive the weft control swing rod 104-4 and the weft delivery swing rod 103-4 back to the initial position.

[0103] As Figure 30 and 33 shown, when the weft insertion sword 401 of the weft insertion device 4 retracts and brings the yarn to one side of the wefted yarn control device 3,

[0104] S31. The fourth linear cylinder 302-1 drives the fourth connecting rod 302-2 to extend, drives the rotating bracket 303 to rotate counterclockwise around the second pin shaft 302-3. The rotating bracket 303 drives the yarn clamping rod 302-4 to deflect counterclockwise. Since the whole control and beating mechanism 301 is installed on the rotating bracket 303, the control and beating rod 301-6 also deflects;

[0105] S32. The third linear cylinder 301-2 drives the third connecting rod 301-3 to extend, drives the four-bar linkage stroke amplification mechanism 301-4 to move. The four-bar linkage stroke amplification mechanism 301-4 drives the control and beating rod 301-6 to move downward linearly, bringing the yarn to the yarn clamping position;

[0106] S33. The fourth linear cylinder 302-1 drives the fourth connecting rod 302-2 to retract, drives the rotating bracket 303 to rotate clockwise around the second pin shaft 302-3. The rotating bracket 303 drives the yarn clamping rod 302-4 to deflect clockwise, clamping the i-th yarn at the yarn clamping position at this time;

[0107] S34. The third linear cylinder 301-2 drives the third connecting rod 301-3 to retract, drives the four-bar linkage stroke amplification mechanism 301-4 to move. The four-bar linkage stroke amplification mechanism 301-4 drives the control and beating rod 301-6 to move upward linearly, returning to the initial position, completing the operation of the i-th yarn;

[0108] S35. Continue to repeat the above yarn guiding operation. The fourth linear cylinder 301-2 drives the fourth connecting rod 302-2 to extend, drives the rotating bracket 303 to rotate counterclockwise around the second pin shaft 302-3. The rotating bracket 303 drives the yarn clamping rod 302-4 to deflect counterclockwise, releasing the i-th yarn at the yarn clamping position;

[0109] S36. Then, the third linear cylinder 301-2 drives the third connecting rod 301-3 to extend, driving the four-bar linkage stroke amplification mechanism 301-4 to move. The four-bar linkage stroke amplification mechanism 301-4 drives the control hitting rod 301-6 to move linearly downward, bringing the (i + 1)-th yarn to the yarn clamping position, and at the same time hitting the i-th yarn that has been loosened at the original yarn clamping position towards the weaving position;

[0110] S37. Then, the fourth linear cylinder 302-1 drives the fourth connecting rod 302-2 to retract, driving the rotating bracket 303 to rotate clockwise around the second pin shaft. The rotating bracket 303 drives the yarn clamping rod 302-4 to deflect clockwise, clamping the (i + 1)-th yarn at the current yarn clamping position;

[0111] S38. The entire control hitting mechanism 301 deflects. The third linear cylinder 301-2 drives the third connecting rod 301-3 to retract, driving the four-bar linkage stroke amplification mechanism 301-4 to move. The four-bar linkage stroke amplification mechanism 301-4 drives the control hitting rod 301-6 to move linearly upward and return to the initial position, completing the operation of the (i + 1)-th yarn. The weft insertion device continues to drive the weft insertion sword 401 to pick up the (i + 2)-th yarn. Repeating this process, the automatic laying and winding of continuous carbon fiber yarns are completed, and the automatic weaving of carbon fiber three-dimensional fabrics is realized.

[0112] Figure 30 In I-IV, it represents the execution sequence of actions in each link. Figure 30 In it, a represents that the yarn clamping mechanism 302 loosens the yarn while the control hitting mechanism 301 deflects counterclockwise, b represents that the yarn clamping mechanism 302 clamps the yarn while the control hitting mechanism 301 deflects clockwise, c represents that the control hitting mechanism 301 controls and hits the yarn, and d represents that the control hitting mechanism 301 returns with no load. Figure 31 It is a position relationship diagram when observing the continuous weaving of yarns in three channels from the yoz direction.

[0113] This application uses multiple linear cylinders and servo motors as driving elements to perform motion planning on each mechanism and cooperate with each other to complete the automatic weaving of continuous carbon fiber yarns. Among them, one side of the weft supply device 1 requires a weft supply moving platform 5 driven by a servo motor to achieve displacement, and at the same time requires two linear cylinders as power sources to drive the weft control mechanism 104 and the weft supply mechanism 103; the controlled weft yarn device 3 requires a weft insertion moving platform 6 driven by a servo motor to achieve displacement, and at the same time requires a control hitting mechanism 301 and a yarn clamping mechanism 302 driven by two linear cylinders; the weft insertion device 4 requires a servo motor to drive the weft insertion sword 401 to perform the weft yarn picking action. Each mechanism jointly and cooperatively completes the forming work of the fabric, and these mechanisms need to cooperate according to a certain working time sequence to complete the weft insertion action in the narrow slit channel. As Figure 32As shown in the figure, it represents the time plan of each action of the present invention when completing single-channel yarn laying. The vertical axis represents the mechanism action (S), the upward process and the downward return stroke, and the horizontal axis represents the action time (t), where T represents a cycle. Starting from the moment when the weft insertion sword 401 starts to enter the sword as the starting point of the working cycle, before completing the sword entering action through the narrow slit channel (0 - t3), the weft control mechanism 104 first completes the weft control action (t1 - t2). After the weft insertion sword 401 reaches the designated position (at the moment of t3), the weft delivery mechanism 103 acts to send the yarn into the groove of the weft insertion sword 401 (t3 - t4). Subsequently, the weft insertion sword 401 retracts the sword to bring the yarn through the narrow slit channel to the initial position (at the moment of t7). During this process (t3 - t7), the weft control action returns to the initial state (t5 - t6). Subsequently, the yarn clamping mechanism 302 acts (t7 - t8) to release the yarn at this position, and the yarn control and yarn beating actions are carried out (t8 - t9) to bring the yarn at the yarn guiding position to the yarn clamping position, and the yarn at the original yarn clamping position to the fabric mouth position. Subsequently, the yarn clamping, yarn control and yarn beating actions return to the initial position (t9 - t 10 , t 10 - t 11 ). At this time, the single-channel yarn laying is completed, and the next channel is carried out (at the moment of t 12 ). Among them, t j is the weft insertion time. The feeding means that the workbench relying on the carbon rod array displaces a distance of one channel, which is convenient for the weft insertion sword 401 to carry out the work of the next channel.

[0114] As Figure 33 shown, the continuous carbon fiber bundle is laid and wound along the planned laying and winding path in the regular polygon carbon rod array, and is woven layer by layer and pressed and compacted to obtain a soft-hard hybrid carbon / carbon composite preform. The laying and winding path of the fiber bundle directly affects the fiber volume fraction and forming quality of the preform. Therefore, before automatically weaving the preform, it is necessary to correspondingly plan the laying and winding path of the continuous carbon fiber bundle. Taking the cross-section of the regular hexagon carbon rod array as an example, fully considering the weaving starting point, weaving ending point, scanning direction of the path and laying direction of the fiber, the laying and winding paths of the continuous carbon fiber bundle in the cross-section of the regular hexagon carbon rod array at 0°, 12° and 240° are planned.

[0115] The above has described the embodiments of the present invention in detail, but the content described is only the preferred embodiments of the present invention and cannot be considered as used to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the present invention should still fall within the scope covered by this patent.

Claims

1. A weft insertion and yarn laying system for a narrow slit channel with a carbon fiber soft-hard mixed three-dimensional fabric, characterized in that: It includes a weft inserting device and a controlled weft yarn device, and the weft inserting device and the controlled weft yarn device are installed on both sides of the carbon rod array; The weft inserting device includes a yarn guiding member, a weft inserting device bottom plate, a weft inserting mechanism and a weft controlling mechanism. The weft inserting device bottom plate is installed on the weft inserting moving platform. The yarn guiding member, the weft inserting mechanism and the weft controlling mechanism are respectively installed on the surface of the weft inserting device bottom plate. The yarn guiding member is located on the input side, and the weft inserting mechanism and the weft controlling mechanism are located on the output side. The weft controlling mechanism cooperates with the weft blocking rod to achieve the weft blocking action; The controlled weft yarn device includes a controlling and hitting mechanism, a yarn clamping mechanism, a rotating bracket and a controlled weft yarn device bottom plate. The controlled weft yarn device bottom plate is installed on the weft inserting moving platform. The yarn clamping mechanism and the rotating bracket are installed on the surface of the controlled weft yarn device bottom plate. A bearing is contained inside the rotating bracket to achieve rotation. The controlling and hitting mechanism is installed on the rotating bracket by using a bearing to form a rotating pair; The controlling and hitting mechanism includes a linear cylinder seat, a third linear cylinder, a third connecting rod, a four-bar linkage stroke amplification mechanism, a slider mechanism and a controlling and hitting rod. The linear cylinder seat and the slider mechanism are respectively installed on the rotating bracket. The third linear cylinder is installed on the linear cylinder seat. One end of the four-bar linkage stroke amplification mechanism is connected to the rotating bracket and forms a rotating pair with the rotating bracket by means of a bearing. The driving rod of the four-bar linkage stroke amplification mechanism is connected to the output end of the third connecting rod and forms a rotating pair by means of a bearing. The driven rod of the four-bar linkage stroke amplification mechanism is installed on the slider of the slider mechanism and forms a rotating pair by means of a bearing. The input end of the third connecting rod is connected to the output end of the third linear cylinder. The controlling and hitting rod is installed on the slider of the slider mechanism and reciprocates linearly together with the slider; The yarn clamping mechanism includes a fourth linear cylinder, a fourth connecting rod, a second connecting rod, a second pin shaft and a yarn clamping rod. The fourth linear cylinder and the second pin shaft are respectively installed on the controlled weft yarn device bottom plate. One end of the fourth connecting rod is connected to the output end of the fourth linear cylinder through a thread, and the other end is connected to the second connecting rod with a pin. The second connecting rod is connected to the rotating bracket with a pin. The rotating bracket and the second pin shaft form a rotating pair by means of a bearing. The yarn clamping rod is installed on the rotating bracket.

2. The weft insertion and yarn laying system with a narrow slit channel for a carbon fiber three-dimensional fabric with a soft-hard mixed weave according to claim 1, characterized in that: It further includes a weft inserting device, and the weft inserting device is installed on the frame of the automatic knitting machine; the weft inserting moving platform is installed on the frame of the automatic knitting machine; the carbon rod array is installed on the working table of the automatic knitting machine.

3. The weft insertion and yarn laying system with narrow slit channels for carbon fiber three-dimensional fabrics with mixed hard and soft weaving according to claim 2, wherein: The weft inserting mechanism includes a first linear cylinder, a first connecting rod, a rocker and a weft inserting swing rod. The first linear cylinder is hinged to the weft inserting device bottom plate. The output end of the first linear cylinder is connected to the rocker through the first connecting rod. The first connecting rod is hinged to the rocker. The output end of the rocker is connected to the weft inserting swing rod. The rocker is installed on a bearing seat, and a bearing for realizing rotation is arranged between the rocker and the bearing seat. A porcelain ring is installed at the end of the weft inserting swing rod. The first linear cylinder drives the rocker to drive the weft inserting swing rod to swing through the first connecting rod, so as to achieve the weft inserting action.

4. The weft insertion and yarn laying system with narrow slit channels for carbon fiber three-dimensional fabrics with a combination of rigid and flexible weaving according to claim 3, characterized in that: The weft control mechanism includes a second linear cylinder, a second connecting rod, a first connecting rod, a weft control swing rod and a first pin shaft. The second linear cylinder is installed on the base plate of the weft delivery device. The output end of the second linear cylinder is connected to the first connecting rod through the second connecting rod. One end of the first connecting rod is hinged to the second connecting rod, and the other end is hinged to the weft control swing rod. The corner of the weft control swing rod is rotatably connected to the first pin shaft.

5. The weft insertion and yarn laying system for narrow slit channels of the carbon fiber three-dimensional fabric with a combination of rigid and flexible weaving according to claim 4, characterized in that: The carbon rod array is a regular polygon carbon rod array formed by arranging carbon fiber rods at equal intervals and in a dense pattern.

6. A weft insertion and yarn laying process for a narrow slit channel of a carbon fiber soft-hard hybrid three-dimensional fabric, using the weft insertion and yarn laying system for a narrow slit channel of a carbon fiber soft-hard hybrid three-dimensional fabric according to claim 5, characterized in that: It includes the following steps: S1. After the carbon fiber yarn is unwound from the yarn bobbin, it enters the weft delivery device. The second linear cylinder of the weft delivery device drives the weft control swing rod to rotate around the first pin shaft to the working point, and cooperates with the weft control rod to fix the yarn. S2. The weft insertion device drives the weft insertion sword to pass through the narrow slit channel formed by the carbon rod array to the side of the weft delivery device for weft insertion. When the weft insertion sword reaches directly above the yarn, the first linear cylinder drives the rocker to drive the weft delivery swing rod to swing upward to the working point. At this time, the yarn is located in the hook groove of the weft insertion sword. S3. The weft insertion sword returns, hooks the yarn to the side of the wefted yarn control device. At the same time, the first linear cylinder and the second linear cylinder respectively retract the first connecting rod and the second connecting rod, and drive the weft control swing rod and the weft delivery swing rod back to the initial position.

7. The weft insertion and yarn laying process for narrow slit channels of the carbon fiber three-dimensional fabric with a combination of rigid and flexible weaving as claimed in claim 6, wherein: In step S3, when the weft insertion sword of the weft insertion device retracts and brings the yarn to the side of the wefted yarn control device, S31. The fourth linear cylinder drives the fourth connecting rod to extend, driving the rotating bracket to rotate counterclockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect counterclockwise. At this time, the weft beating rod also deflects. S32. The third linear cylinder drives the third connecting rod to extend, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the weft beating rod to move downward in a straight line, bringing the yarn to the yarn clamping position. S33. The fourth linear cylinder drives the fourth connecting rod to retract, driving the rotating bracket to rotate clockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect clockwise, clamping the i-th yarn at the yarn clamping position at this time. S34. The third linear cylinder drives the third connecting rod to retract, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the weft beating rod to move upward in a straight line and return to the initial position, completing the operation of the i-th yarn. S35. The fourth linear cylinder drives the fourth connecting rod to extend, driving the rotating bracket to rotate counterclockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect counterclockwise, loosening the i-th yarn at the yarn clamping position. S36. The third linear cylinder drives the third connecting rod to extend, driving the four-bar linkage stroke amplification mechanism to move. The four-bar linkage stroke amplification mechanism drives the weft beating rod to move downward in a straight line, bringing the (i + 1)-th yarn to the yarn clamping position, and at the same time beating the previously loosened i-th yarn at the yarn clamping position to the weaving shed position. S37. The fourth linear cylinder drives the fourth connecting rod to retract, driving the rotating bracket to rotate clockwise around the second pin shaft. The rotating bracket drives the yarn clamping rod to deflect clockwise, clamping the (i + 1)-th yarn at the yarn clamping position at this time. S38. The whole beating control mechanism deflects. The third linear cylinder drives the third connecting rod to retract, driving the four-bar stroke amplification mechanism to move. The four-bar stroke amplification mechanism drives the beating control rod to move linearly upward and return to the initial position, completing the operation of the (i + 1)-th yarn. The weft insertion device continues to drive the weft insertion sword to pick up the (i + 2)-th yarn, and so on, completing the automatic winding of continuous carbon fiber yarns.

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