A four-degree-of-freedom worktable for a variable cross-section special-shaped preform stitching device

Abstract

The application discloses a four-degree-of-freedom workbench for a variable cross-section special-shaped preform stitching device, comprising a base, wherein a sliding plate capable of moving along an X-axis direction under the drive of a first servo motor is arranged on the base, a lifting plate capable of moving along a Z-axis direction under the drive of a second servo motor is arranged on the sliding plate, a turnover plate capable of rotating around a Y-axis under the drive of a third servo motor is arranged on the lifting plate, and a preform clamp capable of rotating around an X-axis under the drive of a fourth servo motor is arranged on the turnover plate; the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are comprehensively controlled by a controller. The application has four degrees of freedom, and multi-angle adjustment of the preform can be realized through setting a program, so that the movement track of the preform is controlled to obtain a required wiring path during stitching, the problem that the existing workbench cannot realize multi-directional synchronous feeding of the variable cross-section special-shaped composite material preform is solved, and the stitching effect is ensured.

Description

Technical Field

[0001] This invention belongs to the field of composite material preform stitching technology, specifically relating to a four-degree-of-freedom worktable for a variable cross-section irregular preform stitching device. Background Technology

[0002] In the stitching process of composite preforms, common flat preforms can be stitched using a sewing machine. However, for irregularly shaped composite preforms with variable cross-sections, sewing machines cannot be used. One of the technical challenges is that existing sewing machines lack a matching worktable for clamping and moving the preform, thus preventing multi-directional synchronous feeding and resulting in unsatisfactory stitching results.

[0003] For example, the Chinese invention patent "XY worktable actuator" with publication number CN101326588B allows objects mounted on the worktable to move freely and be positioned in the XY plane, but it cannot rotate objects mounted on the worktable. Moreover, the structure is relatively complex, so it cannot be used for stitching prefabricated composite materials with variable cross-sections.

[0004] For example, the Chinese utility model patent with publication number CN209246818U, "A missile needle-punched shell rotation mechanism", can replace manual labor and directly form the missile shape when needle-punching carbon fiber to meet the production requirements of missile quality. However, the conical support of the mechanism does not leave a working space in the middle, and it cannot achieve double-sided stitching by stitching equipment. Therefore, it cannot be used for stitching of variable cross-section irregular composite material preforms.

[0005] Therefore, the current stitching method for variable cross-section irregular composite material preforms is still at the stage of manual stitching. Although the effect of manual stitching can meet the stitching requirements of variable cross-section irregular composite material preforms, it inevitably has problems such as cumbersome steps, low efficiency, and high cost. Summary of the Invention

[0006] Based on this, the present invention provides a four-degree-of-freedom worktable for a variable cross-section irregular preform sewing equipment to meet the sewing requirements of variable cross-section irregular composite material preforms and improve the sewing effect.

[0007] To solve the above-mentioned technical problems and achieve the above-mentioned technical effects, the present invention is implemented through the following technical solution: A four-degree-of-freedom worktable for a variable cross-section irregular prefabricated body stitching device includes a base, on which a sliding plate is provided that can move along the X-axis direction under the drive of a first servo motor, a lifting plate is provided that can move along the Z-axis direction under the drive of a second servo motor, a flipping plate is provided that can rotate around the Y-axis under the drive of a third servo motor, and a prefabricated body clamp is provided on the flipping plate that can rotate around the X-axis under the drive of a fourth servo motor. The prefabricated body clamp is used to clamp the variable cross-section irregular prefabricated body to be sewn and drive it to rotate around the X-axis; the flipping plate is used to drive the variable cross-section irregular prefabricated body to be sewn to rotate around the Y-axis; the lifting plate is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the Z-axis; the sliding plate is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the X-axis. The first servo motor, the second servo motor, the third servo motor, and the fourth servo motor are all under the comprehensive control of the controller, thereby realizing the linkage of the sliding plate, the lifting plate, the flipping plate, and the prefabricated fixture.

[0008] Furthermore, the sliding plate is slidably connected to the base via two parallel linear slide rails on its lower surface in the X-axis direction. Two lead screw fixing seats are arranged in series on the lower surface of the sliding plate along the X-axis direction. A first lead screw is installed in each of the two lead screw fixing seats. A first lead screw passes through the two first lead screws. One end of the first lead screw is connected to the output shaft of the first servo motor. The first servo motor drives the sliding plate to move along the X-axis direction through the first lead screw and the first lead screw.

[0009] Furthermore, the upper surface of the sliding plate is provided with two first moving tracks parallel to each other in the X-axis direction, and the lower surface of the lifting plate is provided with two second moving tracks parallel to each other in the X-axis direction. The two second moving tracks correspond vertically to the two first moving tracks. An X-shaped lifting bracket is provided between the lifting plate and the sliding plate. A second servo motor is provided on one side of the X-shaped lifting bracket. Sliding grooves are provided at the ends of the two first moving tracks and the two second moving tracks near the second servo motor. Sliding first sliding rods are provided in the sliding grooves of the two first moving tracks, and sliding second sliding rods are provided in the sliding grooves of the two second moving tracks. The lower end of the X-shaped lifting bracket near the second servo motor... The first sliding rod is hinged, and the upper end of the X-shaped lifting bracket near the second servo motor is hinged to the second sliding rod. The lower end of the X-shaped lifting bracket away from the second servo motor is simultaneously hinged to the ends of the two first moving tracks away from the second servo motor. The upper end of the X-shaped lifting bracket away from the second servo motor is simultaneously hinged to the ends of the two second moving tracks away from the second servo motor. A second lead screw is provided in the middle of the first sliding rod. One end of the second lead screw is connected to the output shaft of the second servo motor. The second servo motor drives the X-shaped lifting bracket to extend and retract up and down through the second lead screw and the second lead screw, thereby driving the lifting plate to move along the Z-axis.

[0010] Furthermore, a vertical plate is provided at one end of the upper surface of the lifting plate, and a rotary shaft that can rotate around the Y-axis is provided on the upper surface of the vertical plate through a rotary shaft bracket. The third servo motor is provided vertically upward on both sides of the other end of the lifting plate. Two swing tracks parallel to each other in the X-axis direction are provided on the lower surface of the tilting plate. One end of each swing track is hinged to the rotary shaft, and the other end of each swing track is provided with a groove. A swing rod is provided in the groove of each swing track. A swing block is provided at both ends of each swing rod. A third nut is provided in each of the two swing blocks. A third screw is passed through each of the two third nuts. The lower ends of the two third screws are respectively connected to the output shaft of the corresponding third servo motor. The third servo motor drives the tilting plate to rotate around the Y-axis through the third screw and the third nut.

[0011] Furthermore, a first arc-shaped recess and a second arc-shaped recess are arranged in series along the X-axis on the upper surface of the flipping plate. The preform fixture is rotatably placed on the first arc-shaped recess and the second arc-shaped recess around the X-axis. A fourth servo motor is provided on one side of the preform fixture. The fourth servo motor is fixedly connected to the upper surface of the flipping plate through a fourth servo motor bracket. The central axis of the preform fixture is connected to the output shaft of the fourth servo motor through a coupling. The fourth servo motor drives the preform fixture to rotate around the X-axis through the coupling.

[0012] Furthermore, the prefabricated fixture includes a turntable, a conical pressure sleeve, a conical support body, connecting columns, gripper structures, arc-shaped moving plates, and a spacing adjustment mechanism. The turntable is rotatably supported on the first arc-shaped concave platform. A central shaft is provided at the center of the left side of the turntable, and the central shaft is connected to the output shaft of the fourth servo motor through the coupling. The conical pressure sleeve is located at the center of the right side of the turntable. The conical support body is located between the first and second arc-shaped concave platforms, and the conical tip of the conical support body is aligned with the conical pressure sleeve. The open end of the conical support body is rotatably supported on the second arc-shaped concave platform. The circumference of the open end of the conical support body and the circumference of the turntable are fixedly connected by four parallel connecting columns. Two gripper structures are provided on the circumference of the open end of the conical support body. Two arc-shaped moving plates are respectively provided on both sides of the conical support body, and the spacing adjustment mechanism enables synchronous outward or inward movement on both sides of the conical support body.

[0013] Furthermore, the gripper structure includes a connecting base, on which two support columns are fixedly connected to both the front and rear sides. The lower ends of the four support columns are jointly fixedly connected to a cylinder base. A small cylinder is fixedly connected to the upper surface of the connecting base. The cylinder rod of the small cylinder passes downward through the connecting base and is fixedly connected to a moving rod. The left and right ends of the moving rod are respectively hinged to the upper ends of a corresponding transmission connecting rod. The left and right ends of the cylinder base are respectively hinged to the upper ends of a corresponding finger connecting rod. The lower ends of the moving link are respectively hinged to the middle bending points of the corresponding finger links. The bottom ends of the two finger links are respectively fixedly provided with concave clamping blocks and convex clamping blocks. When the claw structure is installed on the conical support, the connecting base is circumferentially fixedly connected to the open end of the conical support. The concave clamping block is installed on the bottom end of the finger link located on the outer side wall of the open end of the conical support, and the convex clamping block is installed on the bottom end of the finger link located on the inner side wall of the open end of the conical support.

[0014] Furthermore, the two arc-shaped movable plates are movably embedded in the sliding groove holes on the left and right sides of the conical support body, respectively. The spacing adjustment mechanism includes a T-shaped bracket, a lead screw, a lead screw nut, a worm gear, and a worm, all located within the conical support body. The bottom of the T-shaped bracket is fixedly connected to the flip plate through a clearance hole at the bottom of the conical support body. The worm is rotatably mounted on the top of the T-shaped bracket. The two ends of the lead screw are threadedly connected to the inner surfaces of the left and right arc-shaped movable plates through corresponding lead screw nuts. The worm gear is fixedly sleeved on the lead screw and meshes with the worm. The worm is provided with a rocker adjustment shaft to facilitate rotation of the worm.

[0015] Furthermore, the controller uses position control to precisely move the first servo motor, the second servo motor, the third servo motor, and the fourth servo motor respectively.

[0016] Furthermore, when the controller outputs a single pulse, the moving distance of the first servo motor, the second servo motor, the third servo motor, and the fourth servo motor, i.e., the pulse equivalent, is 0.001 mm.

[0017] The beneficial effects of this invention are as follows: The four-degree-of-freedom worktable of the present invention has four degrees of freedom, which can move along the X and Z axes and rotate around the X and Y axes respectively. The X-axis moving mechanism and the Z-axis moving mechanism are vertically superimposed to ensure that they do not interfere with each other. The Y-axis rotating mechanism can drive the tilting plate to tilt, and the X-axis rotating mechanism can drive the rotation of the preform fixture, thereby realizing multi-angle adjustment of the variable cross-section irregular composite material preform.

[0018] The four-degree-of-freedom worktable of this invention can control the motion trajectory of the variable cross-section irregular composite material preform through a set program to obtain the stitching path required during sewing. This enables the variable cross-section irregular composite material preform to move relative to the sewing head during the sewing process, solving the problem that existing worktables cannot feed the variable cross-section irregular composite material preform in multiple directions synchronously, thus ensuring the sewing effect.

[0019] The four-degree-of-freedom worktable of the present invention has the advantages of simple structure, multiple degrees of freedom of motion, large working range and wide application range. It can effectively solve the automatic stitching problem of variable cross-section irregular composite material preforms, especially variable cross-section hollow conical sleeve composite material preforms, thereby effectively replacing manual stitching, reducing operation steps, improving stitching efficiency and reducing costs.

[0020] The four-degree-of-freedom worktable of the present invention can be combined with different prefabricated fixtures to realize the stitching of products of various specifications.

[0021] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a perspective view of the four-degree-of-freedom worktable of the present invention.

[0023] Figure 2 This is the front view of the four-degree-of-freedom worktable of the present invention.

[0024] Figure 3 This is a right view of the four-degree-of-freedom worktable of the present invention.

[0025] Figure 4 This is a cross-sectional view showing the connection relationship between the base and the sliding plate in the four-degree-of-freedom worktable of this invention.

[0026] Figure 5 This is a schematic diagram of the structure of the prefabricated fixture on the four-degree-of-freedom workbench of the present invention.

[0027] Figure 6 This is a perspective view of the gripper structure of the prefabricated fixture on the four-degree-of-freedom workbench of the present invention.

[0028] Figure 7 This is the control flowchart of the four-degree-of-freedom worktable of the present invention. Detailed Implementation

[0029] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the invention's purpose, features, and advantages. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but are merely illustrative of the essential spirit of the invention's technical solution.

[0030] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0031] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0032] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0033] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0034] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] See Figure 1-4 As shown, a four-degree-of-freedom workbench for a variable cross-section irregular prefabricated body stitching device includes a base 1. The base 1 is provided with a sliding plate 2 that can move along the X-axis direction under the drive of a first servo motor 10. The sliding plate 2 is provided with a lifting plate 3 that can move along the Z-axis direction under the drive of a second servo motor 15. The lifting plate 3 is provided with a flipping plate 4 that can rotate around the Y-axis under the drive of a third servo motor 17. The flipping plate 4 is provided with a prefabricated body clamp 5 that can rotate around the X-axis under the drive of a fourth servo motor 25.

[0036] In this invention, the prefabricated body clamp 5 is used to clamp the variable cross-section irregular prefabricated body to be sewn and drive it to rotate around the X-axis; the flipping plate 4 is used to drive the variable cross-section irregular prefabricated body to be sewn to rotate around the Y-axis; the lifting plate 3 is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the Z-axis; and the sliding plate 2 is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the X-axis.

[0037] As an embodiment of the present invention, the first servo motor 10 drives the sliding plate 2 in the following manner: the sliding plate 2 is slidably connected to the base 1 via two linear slide rails 6 parallel to each other in the X-axis direction on its lower surface; two lead screw fixing seats 7 are arranged in series along the X-axis direction on the lower surface of the sliding plate 2; a first lead screw 8 is installed in each of the two lead screw fixing seats 7; a first lead screw 9 is passed through the two first lead screws 8; and one end of the first lead screw 9 is connected to the output shaft of the first servo motor 10.

[0038] When the first servo motor 10 rotates, it drives the first lead screw 9 to rotate. The first lead screw nut 8 moves on the first lead screw 9 as the first lead screw 9 rotates, thereby enabling the lead screw nut fixing seat 7 to drive the sliding plate 2 to move along the X-axis direction.

[0039] In one embodiment of the present invention, the second servo motor 15 drives the lifting plate 3 in the following manner: two first moving tracks 11a parallel to each other in the X-axis direction are provided on the upper surface of the sliding plate 2, and two second moving tracks 11b parallel to each other in the X-axis direction are provided on the lower surface of the lifting plate 3. The two second moving tracks 11b correspond vertically to the two first moving tracks 11a. An X-shaped lifting bracket 12 is provided between the lifting plate 3 and the sliding plate 2. The second servo motor 15 is provided on one side of the X-shaped lifting bracket 12. A sliding groove is provided at the end of each of the two first moving tracks 11a and the two second moving tracks 11b near the second servo motor 15. A slidable first sliding rod 13a is provided in the sliding groove of each of the two first moving tracks 11a. A slidable second sliding rod 13b is provided in the slide groove of 1b. The lower end of the X-shaped lifting bracket 12 near the second servo motor 15 is hinged to the first sliding rod 13a. The upper end of the X-shaped lifting bracket 12 near the second servo motor 15 is hinged to the second sliding rod 13b. The lower end of the X-shaped lifting bracket 12 away from the second servo motor 15 is simultaneously hinged to the ends of the two first moving tracks 11a away from the second servo motor 15. The upper end of the X-shaped lifting bracket 12 away from the second servo motor 15 is simultaneously hinged to the ends of the two second moving tracks 11b away from the second servo motor 15. A second lead screw 14 is provided in the middle of the first sliding rod 13a. One end of the second lead screw 14 is connected to the output shaft of the second servo motor 15.

[0040] When the second servo motor 15 rotates, it drives the second lead screw 14 to rotate. The second lead screw nut moves on the second lead screw 14 as it rotates, thereby enabling the first sliding rod 13a to move within the groove of the first moving track 11a, and thus enabling the X-shaped lifting bracket 12 to drive the lifting plate 3 to move along the Z-axis.

[0041] As an embodiment of the present invention, the third servo motor 17 drives the flipping plate 4 in the following manner: a vertical plate is provided at one end of the upper surface of the lifting plate 3, and a rotary shaft 22 that can rotate around the Y-axis is provided on the upper surface of the vertical plate through a rotary shaft bracket 23. The third servo motor 17 is provided vertically upward on both sides of the other end of the lifting plate 3. Two swing tracks 21 parallel to each other in the X-axis direction are provided on the lower surface of the flipping plate 4. One end of each of the two swing tracks 21 is hinged to the rotary shaft 22, and the other end of each of the two swing tracks 21 is provided with a groove. A swing rod 20 is provided in the groove of the two swing tracks 21. A swing block 19 is provided at both ends of the swing rod 20. A third lead screw 18 is provided in each of the two swing blocks 19. The lower ends of the two third lead screws 18 are respectively connected to the output shaft of the corresponding third servo motor 17.

[0042] When the two third servo motors 17 rotate synchronously, they drive the two third lead screws 18 to rotate. The third lead screw nut moves on the third lead screw 18 as it rotates, thereby enabling the two swing blocks 19 to drive the swing rod 20 to move in the grooves of the two swing tracks 21, and thus enabling the swing rod 20 to drive the flip plate 4 to rotate around the Y-axis.

[0043] In one embodiment of the present invention, the fourth servo motor 25 drives the preform fixture 5 in the following manner: a first arc-shaped recess 26a and a second arc-shaped recess 26b are arranged in series along the X-axis on the upper surface of the flipping plate 4; the preform fixture 5 is rotatably placed on the first arc-shaped recess 26a and the second arc-shaped recess 26b around the X-axis; the fourth servo motor 25 is arranged on one side of the preform fixture 5; the fourth servo motor 25 is fixedly connected to the upper surface of the flipping plate 4 through a fourth servo motor bracket 24; and the central axis of the preform fixture 5 is connected to the output shaft of the fourth servo motor 25 through a coupling 16.

[0044] When the fourth servo motor 25 rotates, it drives the coupling 16 to rotate. The coupling 16 drives the preform fixture 5 to rotate on the first arc-shaped recess 26a and the second arc-shaped recess 26b, thereby driving the variable cross-section irregular preform to be sewn on the preform fixture 5 to rotate around the X-axis.

[0045] The present invention also includes a controller, wherein the first servo motor 10, the second servo motor 15, the third servo motor 17, and the fourth servo motor 25 are all under the comprehensive control of the controller, thereby realizing the linkage and cooperation of the sliding plate 2, the lifting plate 3, the flipping plate 4, and the preform fixture 5, and thereby realizing the multi-directional synchronous feeding of the variable cross-section irregular preform at the sewing machine head during the sewing process.

[0046] In one embodiment of the present invention, the controller is a PLC, and position control is used to control the first servo motor 10, the second servo motor 15, the third servo motor 17, and the fourth servo motor 25 to move precisely. Simultaneously, each of the first servo motor 10, the second servo motor 15, the third servo motor 17, and the fourth servo motor 25 also has a corresponding encoder for feedback control. When the controller outputs a single pulse, the movement accuracy of the first servo motor 10, the second servo motor 15, the third servo motor 17, and the fourth servo motor 25, i.e., the pulse equivalent, is 0.001 mm.

[0047] It can be seen that the four-degree-of-freedom worktable of the present invention has four degrees of freedom, which can move along the X and Z axes and rotate around the X and Y axes respectively. The X-axis moving mechanism and the Z-axis moving mechanism are vertically superimposed to ensure that they do not interfere with each other. The Y-axis rotating mechanism can drive the tilting plate to tilt, and the X-axis rotating mechanism can drive the rotation of the preform fixture, thereby realizing multi-angle adjustment of the variable cross-section irregular preform.

[0048] As one embodiment of the present invention, see Figure 5As shown, the prefabrication fixture 5 includes a turntable 507, a conical pressure sleeve 509, a conical support body 505, a connecting column 508, a gripper structure 506, an arc-shaped moving plate 512, and a spacing adjustment mechanism. The turntable 507 is rotatably supported on the first arc-shaped recess 26a. A central shaft is provided at the center of the left side of the turntable 507, and the central shaft is connected to the output shaft of the fourth servo motor 25 through the coupling 16. The conical pressure sleeve 509 is located at the center of the right side of the turntable 507. The conical support body 505 is located between the first arc-shaped recess 26a and the second arc-shaped recess 26b. The cone tip of the cone support 505 is aligned with the cone pressure sleeve 509. The open end of the cone support 505 is rotatably supported on the second arc-shaped concave platform 26b. The circumference of the open end of the cone support 505 and the circumference of the turntable 507 are fixedly connected by four parallel connecting columns 508. Two gripper structures 506 are arranged on the circumference of the open end of the cone support 505. Two arc-shaped moving plates 512 are respectively arranged on both sides of the cone support 505, and the synchronous outward or inward movement of both sides of the cone support 505 is realized through the spacing adjustment mechanism.

[0049] As one embodiment of the present invention, see Figure 5 As shown, the main body of the conical support 505 is a conical cylinder. The upper surface of the conical cylinder has a fan-shaped gap for the sewing machine head to pass through during sewing. The open end of the conical cylinder has a semi-circular ring plate for installing the gripper structure 506 and for connecting the connecting column 508. The two sides of the conical cylinder have sliding groove holes for the arc-shaped moving plate 512 to move outward or inward. The lower surface of the conical cylinder has clearance holes for the spacing adjustment mechanism to be installed on the flip plate 4.

[0050] As one embodiment of the present invention, see Figure 5 As shown, the two arc-shaped movable plates 512 are movably embedded in the sliding groove holes on the left and right sides of the conical support 505, respectively. The spacing adjustment mechanism includes a T-shaped bracket 518, a lead screw 513, a lead screw nut, a worm gear 514, and a worm 515, all located within the conical support 505. The bottom of the T-shaped bracket 518 is fixedly connected to the flip plate 4 through the clearance hole at the bottom of the conical support 505. The worm 515 is rotatably mounted on the top of the T-shaped bracket 518. The two ends of the lead screw 513 are respectively threaded to the inner surfaces of the left and right arc-shaped movable plates 512 through the corresponding lead screw nuts. The worm gear 514 is fixedly sleeved on the lead screw 513 and meshes with the worm 515. The worm 515 is provided with a rocker adjustment shaft 516 for easy rotation of the worm 515.

[0051] As one embodiment of the present invention, see Figure 6 As shown, the gripper structure 506 includes a connecting base 5061. Two support columns 5062 are fixedly connected to both the front and rear sides of the connecting base 5061. The lower ends of the four support columns 5062 are fixedly connected to a cylinder base 5063. A small cylinder 5065 is fixedly connected to the upper surface of the connecting base 5061. The small cylinder 5065 is controlled by the controller. The cylinder rod of the small cylinder 5065 passes downward through the connecting base 5061 and is fixedly connected to a moving rod 5066. The left and right ends of the moving rod 5066 are respectively hinged to the upper ends of a corresponding transmission connecting rod 5067. The left and right ends of the cylinder base 5063 are respectively connected to a corresponding finger connecting rod 5068. The upper end of the two transmission links 5067 is hinged to the middle bending point of the corresponding finger link 5068, and the bottom ends of the two finger links 5068 are respectively fixedly provided with a concave clamping block 5069 and a convex clamping block 5064. When the gripper structure 506 is installed on the conical support 505, the connecting base 5061 is circumferentially fixedly connected to the open end of the conical support 505. The concave clamping block 5069 is installed at the bottom end of the finger link 5068 located on the outer side wall of the open end of the conical support 505, and the convex clamping block 5064 is installed at the bottom end of the finger link 5068 located on the inner side wall of the open end of the conical support 505.

[0052] In this invention, the conical support 505 is used to support the variable cross-section preform during stitching to prevent deformation. Two gripper structures 506 are used to clamp the variable cross-section preform to prevent it from detaching from the conical support 505. Therefore, the concave surface of the concave gripping block 5069 of the gripper structure 506 is adapted to the outer surface of the open portion of the variable cross-section preform, and the convex surface of the convex gripping block 5064 is adapted to the inner surface of the open portion of the variable cross-section hollow conical sleeve preform. This allows the gripper structure 506 to stably clamp the variable cross-section preform, thereby preventing rotation of the variable cross-section preform relative to the conical support 505. The conical pressure sleeve 509 is used to contact the conical tip of the variable cross-section irregular preform and press the variable cross-section irregular preform tightly. Therefore, the inner surface of the conical pressure sleeve 509 is adapted to the outer surface of the conical tip of the variable cross-section irregular preform, thereby preventing the variable cross-section irregular preform from falling off. The two arc-shaped moving plates 512 adjust the distance between the two arc-shaped moving plates on both sides through a set of worm gear and lead screw nut mechanism, thereby realizing the synchronous outward or inward movement of the two arc-shaped moving plates 512 relative to the conical support body 505, so as to adapt to the clamping of variable cross-section irregular preforms of different sizes and specifications.

[0053] It can be seen that the present invention also has the advantages of stable clamping and automatic feeding, realizing effective clamping of the variable cross-section irregular preform during the sewing process, which is beneficial to improving the sewing quality of the variable cross-section irregular preform.

[0054] The present invention also provides a control method for a four-degree-of-freedom worktable for a variable cross-section irregular prefabricated body sewing equipment. The control method is based on the working principle of the variable cross-section irregular prefabricated body sewing equipment, analyzes the motion coordination process between the sewing machine head and the four-degree-of-freedom worktable, and thus plans the control program.

[0055] See Figure 7 As shown, the steps of this control method are described below with reference to the position of the lead wire mechanism: S1, Input suture parameters Because the PLC outputs pulse counts, which are not consistent with the commonly used distance units such as millimeters during actual operation, it is necessary to calculate and convert them into a commonly used unit form. The distance in millimeters is input on the touch screen, converted into the corresponding pulse count by the F312 instruction, converted from a floating-point number to an integer by the F330 instruction, and then written into the data table by the F3855 instruction.

[0056] Write the required position control commands, such as the movement of the sliding plate on the base along the X-axis, the movement of the lifting plate on the sliding plate along the Z-axis, the rotation of the flipping plate on the lifting plate around the Y-axis, and the rotation of the precast fixture on the flipping plate around the X-axis. Write the displacement actions required for each stage in advance, and finally call them directly by the loop program.

[0057] The origin return function is set and called when the system starts or stops. Since the required functions are the same for both, only the origin return function needs to be edited. Other functions can be called directly using the SET function when needed.

[0058] S2, Precast Clamping The variable cross-section precast body to be sewn is installed on the precast body clamp, with the sewing area facing upwards. The controller retracts the small cylinder extension rod of the clamping structure, causing the concave and convex clamping blocks of the clamping structure to clamp the variable cross-section precast body to be sewn onto the precast body clamp. The controller will detect whether the clamping structure is clamped in place. If not, it will re-control the clamping structure to perform the clamping action. If it is in place, it will proceed to the next step.

[0059] S3, the lead wire mechanism is in its initial position. The controller moves the suture guide mechanism in the suture head to its initial position (upper limit position). The controller detects whether the suture guide mechanism has moved into place. If it has not, the controller readjusts the position of the suture guide mechanism until it is in the initial position. If it is in place, the controller proceeds to the next step.

[0060] S4, the four-degree-of-freedom worktable moves to its initial position. The controller controls the coordinated movement of three degrees of freedom of the four-degree-of-freedom worktable: simultaneously controlling the movement of the sliding plate along the X-axis on the base, the movement of the lifting plate along the Z-axis on the sliding plate, and the rotation of the tilting plate around the Y-axis on the lifting plate. This adjusts the variable cross-section prefabricated body to be stitched to its initial position. The controller detects whether the variable cross-section prefabricated body has rotated into position. If not, it further adjusts the angles of the three degrees of freedom until the variable cross-section prefabricated body is in the initial position. If it is in position, the next step is performed.

[0061] S5, Sewing and Feeding The controller starts the lead wire mechanism. When the lead wire mechanism completes a work cycle and reaches the upper limit position again, the controller controls the sliding plate of the four-degree-of-freedom worktable to move along the X-axis on the base and the preform fixture to rotate around the X-axis on the flip plate, adjusting the two degrees of freedom of feeding.

[0062] S6, Looping Action After the four-degree-of-freedom worktable moves one stitch length, the controller determines whether the four-degree-of-freedom worktable has moved to the limit position. If it has reached the limit position, the four-degree-of-freedom worktable and the sewing machine head stop working. If it has not reached the limit position, the next sewing cycle begins. This process is repeated until continuous sewing is completed.

[0063] The four-degree-of-freedom worktable of this invention can control the movement trajectory of the variable cross-section irregular composite material preform through a set program to obtain the stitching path required during sewing. This allows the variable cross-section irregular composite material preform to move relative to the sewing head during the sewing process, solving the problem that existing worktables cannot simultaneously feed variable cross-section irregular composite material preforms in multiple directions, thus ensuring the sewing effect. The four-degree-of-freedom worktable of this invention can be combined with different preform fixtures to achieve sewing of products of various specifications.

[0064] The four-degree-of-freedom worktable of the present invention has the advantages of simple structure, multiple degrees of freedom of motion, large working range and wide application range. It can effectively solve the automatic stitching problem of variable cross-section irregular composite material preforms, especially variable cross-section hollow conical sleeve composite material preforms, thereby effectively replacing manual stitching, reducing operation steps, improving stitching efficiency and reducing costs.

[0065] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A four-degree-of-freedom worktable for a stitching device for irregularly shaped prefabricated bodies with variable cross-sections, characterized in that: Includes a base (1), on which a sliding plate (2) is provided that can move along the X-axis direction under the drive of a first servo motor (10), a lifting plate (3) is provided that can move along the Z-axis direction under the drive of a second servo motor (15), a flipping plate (4) is provided that can rotate around the Y-axis under the drive of a third servo motor (17), and a prefabricated fixture (5) is provided that can rotate around the X-axis under the drive of a fourth servo motor (25). The prefabricated body clamp (5) is used to clamp the variable cross-section irregular prefabricated body to be sewn and drive it to rotate around the X-axis; the flipping plate (4) is used to drive the variable cross-section irregular prefabricated body to be sewn to rotate around the Y-axis; the lifting plate (3) is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the Z-axis; the sliding plate (2) is used to drive the variable cross-section irregular prefabricated body to be sewn to move along the X-axis. The first servo motor (10), the second servo motor (15), the third servo motor (17), and the fourth servo motor (25) are all under the comprehensive control of the controller, thereby realizing the linkage of the sliding plate (2), the lifting plate (3), the flipping plate (4), and the prefabricated fixture (5); The upper surface of the flip plate (4) is provided with a first arc-shaped recess (26a) and a second arc-shaped recess (26b) arranged in series along the X-axis. The preform fixture (5) is rotatably placed on the first arc-shaped recess (26a) and the second arc-shaped recess (26b) around the X-axis. The fourth servo motor (25) is provided on one side of the preform fixture (5). The fourth servo motor (25) is fixedly connected to the upper surface of the flip plate (4) through the fourth servo motor bracket (24). The central shaft of the preform fixture (5) is connected to the output shaft of the fourth servo motor (25) through the coupling (16). The fourth servo motor (25) drives the preform fixture (5) to rotate around the X-axis through the coupling (16). The prefabrication fixture (5) includes a turntable (507), a conical pressure sleeve (509), a conical support body (505), a connecting column (508), a gripper structure (506), an arc-shaped moving plate (512), and a spacing adjustment mechanism. The turntable (507) is rotatably supported on the first arc-shaped recess (26a). A central shaft is provided at the center of the left side of the turntable (507). The central shaft is connected to the output shaft of the fourth servo motor (25) through the coupling (16). The conical pressure sleeve (509) is located at the center of the right side of the turntable (507). The conical support body (505) is located between the first arc-shaped recess (26a) and the second arc-shaped recess (26a). b) and the cone tip of the cone support (505) is aligned with the cone pressure sleeve (509). The open end of the cone support (505) is rotatably supported on the second arc-shaped concave platform (26b). The circumference of the open end of the cone support (505) and the circumference of the turntable (507) are fixedly connected by four parallel connecting columns (508). Two gripper structures (506) are provided on the circumference of the open end of the cone support (505). Two arc-shaped moving plates (512) are respectively provided on both sides of the cone support (505), and the synchronous outward or inward movement of both sides of the cone support (505) is realized through the spacing adjustment mechanism. The main body of the conical support (505) is a conical cylinder. The upper surface of the conical cylinder is provided with a fan-shaped gap for the sewing machine head to pass through during sewing. The open end of the conical cylinder is provided with a semi-circular ring plate for installing the clamping structure (506) and for connecting the connecting column (508). The two sides of the conical cylinder are provided with sliding groove holes for the arc-shaped moving plate (512) to move outward or inward. The lower surface of the conical cylinder is provided with clearance holes for the spacing adjustment mechanism to be installed on the flip plate (4). The two arc-shaped movable plates (512) are respectively movably embedded in the sliding groove holes on the left and right sides of the conical support (505). The spacing adjustment mechanism includes a T-shaped bracket (518), a lead screw (513), a lead nut, a worm gear (514), and a worm (515) all located in the conical support (505). The bottom of the T-shaped bracket (518) is fixedly connected to the flip plate (4) through the clearance hole at the bottom of the conical support (505). The worm gear (515) is rotatably mounted on the top of the T-shaped bracket (518). The two ends of the lead screw (513) are respectively threaded to the inner sides of the left and right arc-shaped moving plates (512) through the corresponding lead screw nuts. The worm wheel (514) is fixedly sleeved on the lead screw (513) and meshes with the worm (515). The worm (515) is provided with a rocker adjustment shaft (516) to facilitate the rotation of the worm (515).

2. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: The sliding plate (2) is slidably connected to the base (1) via two parallel linear slide rails (6) on its lower surface in the X-axis direction. Two screw nut fixing seats (7) are arranged in series on the lower surface of the sliding plate (2) in the X-axis direction. A first screw nut (8) is installed in each of the two screw nut fixing seats (7). A first screw rod (9) is passed through the two first screw nuts (8). One end of the first screw rod (9) is connected to the output shaft of the first servo motor (10). The first servo motor (10) drives the sliding plate (2) to move in the X-axis direction through the first screw rod (9) and the first screw nut (8).

3. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: The upper surface of the sliding plate (2) is provided with two first moving tracks (11a) that are parallel to each other in the X-axis direction, and the lower surface of the lifting plate (3) is provided with two second moving tracks (11b) that are parallel to each other in the X-axis direction. The two second moving tracks (11b) correspond to the two first moving tracks (11a) in their vertical positions. An X-shaped lifting bracket (12) is provided between the lifting plate (3) and the sliding plate (2). A second servo motor (15) is provided on one side of the X-shaped lifting bracket (12). The two first moving tracks (11a) and the two second moving tracks (11b) are provided with a sliding groove at the end near the second servo motor (15). A slidable first sliding rod (13a) is provided in the sliding groove of the two first moving tracks (11a), and a slidable second sliding rod (13b) is provided in the sliding groove of the two second moving tracks (11b). The lower end of the X-shaped lifting bracket (12) near the second servo motor (15) is connected to the sliding plate (2). The first sliding rod (13a) is hinged, and the upper end of the X-shaped lifting bracket (12) near the second servo motor (15) is hinged to the second sliding rod (13b). The lower end of the X-shaped lifting bracket (12) away from the second servo motor (15) is simultaneously hinged to the ends of the two first moving tracks (11a) away from the second servo motor (15). The upper end of the X-shaped lifting bracket (12) away from the second servo motor (15) is simultaneously hinged to the ends of the two second moving tracks (11b) away from the second servo motor (15). A second nut is provided in the middle of the first sliding rod (13a), and a second screw (14) is passed through the second nut. One end of the second screw (14) is connected to the output shaft of the second servo motor (15). The second servo motor (15) drives the X-shaped lifting bracket (12) to extend and retract up and down through the second screw (14) and the second nut, thereby driving the lifting plate (3) to move along the Z-axis.

4. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: One end of the upper surface of the lifting plate (3) is provided with a vertical plate. A rotary shaft (22) that can rotate around the Y-axis is provided on the upper surface of the vertical plate through a rotary shaft bracket (23). The third servo motor (17) is provided vertically upward on both sides of the other end of the lifting plate (3). The lower surface of the flipping plate (4) is provided with two swing tracks (21) that are parallel to each other in the X-axis direction. One end of each swing track (21) is hinged to the rotary shaft (22), and the other end of each swing track (21) is provided with a groove. A swing rod (20) is provided in the groove of the two swing tracks (21). A swing block (19) is provided at both ends of the swing rod (20). A third screw nut is provided in each of the two swing blocks (19). A third screw (18) is passed through each of the two third screws. The lower ends of the two third screws (18) are connected to the output shaft of the corresponding third servo motor (17). The third servo motor (17) drives the rotating plate (4) to rotate around the Y-axis through the third screw (18) and the third screw nut.

5. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: The gripper structure (506) includes a connecting base (5061). Two support columns (5062) are fixedly connected to both the front and rear sides of the connecting base (5061). The lower ends of the four support columns (5062) are fixedly connected to a cylinder base (5063). A small cylinder (5065) is fixedly connected to the upper surface of the connecting base (5061). The cylinder rod of the small cylinder (5065) passes downwards through the connecting base (5061) and is fixedly connected to a moving rod (5066). The left and right ends of the moving rod (5066) are respectively hinged to the upper ends of a corresponding transmission connecting rod (5067). The left and right ends of the cylinder base (5063) are respectively hinged to the upper ends of a corresponding finger connecting rod (5068). The lower end of the moving link (5067) is hinged to the middle bending point of the corresponding finger link (5068). The bottom ends of the two finger links (5068) are respectively fixedly provided with a concave clamping block (5069) and a convex clamping block (5064). When the claw structure (506) is installed on the conical support (505), the connecting base (5061) is circumferentially fixedly connected to the open end of the conical support (505). The concave clamping block (5069) is installed on the bottom end of the finger link (5068) located on the outside of the side wall of the open end of the conical support (505), and the convex clamping block (5064) is installed on the bottom end of the finger link (5068) located on the inside of the side wall of the open end of the conical support (505).

6. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: The controller uses position control to precisely move the first servo motor (10), the second servo motor (15), the third servo motor (17), and the fourth servo motor (25).

7. The four-degree-of-freedom worktable for stitching irregularly shaped prefabricated bodies according to claim 1, characterized in that: When the controller outputs a single pulse, the moving distance of the first servo motor (10), the second servo motor (15), the third servo motor (17), and the fourth servo motor (25), i.e., the pulse equivalent, is 0.001 mm.

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