Unilateral curved needle type three-dimensional composite material preform suture head and suture method thereof

Abstract

The invention provides a unilateral curved needle type three-dimensional composite material preform sewing head and a sewing method thereof, and belongs to the technical field of unilateral sewing, the unilateral curved needle type three-dimensional composite material preform sewing head comprises a rack, a thread leading mechanism, a thread hooking mechanism, a synchronous transmission mechanism, a thread guiding mechanism, a presser foot plate and a driving mechanism, the servo motor and the speed reducer are used for driving the thread leading needle and the thread hooking needle to rotate back and forth on a fixed plane respectively; the synchronous transmission mechanism ensures that cranks in the thread leading mechanism and the thread hooking mechanism rotate synchronously, and synchronous control can be achieved through one servo motor. The thread guide mechanism guides the trend of the suture thread, the tension of the suture thread is ensured, and the stitch forming efficiency is improved. It can be seen that the device is compact in structure and wide in application range, the prefabricated body can be sewn according to the penetrating thickness, non-penetrating sewing can be achieved, laying and splicing are completed, and the production efficiency and the product consistency are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of single-side suturing, and in particular relates to a single-side curved needle type three-dimensional composite material preform suturing head and a suturing method thereof. Background Art

[0002] Three-dimensional stitching technology is to introduce stitches in the thickness direction of composite laminates. Since stitched composite materials can significantly improve the interlaminar strength of traditional composite materials, it has attracted widespread attention and has gradually become a hot topic in the field of composite interlaminar reinforcement in recent years. With the widespread application of fiber-reinforced composites in aerospace and other fields, the industrialization demand for stitched composite materials is becoming more and more urgent. Therefore, the research on composite stitching technology has outstanding engineering significance for the industrial application of stitched composite materials.

[0003] The existing single-sided sewing processes mainly include OSS sewing, single-sided double-needle double-thread sewing, Tufting sewing, and blind sewing. OSS sewing, single-sided double-needle double-thread sewing, and Tufting sewing have been studied at home and abroad. Blind sewing technology is a single-sided sewing process that does not require any free space on the bottom surface of the material. Compared with other single-sided sewing technologies, the sewing advantage of blind sewing is that it can not only achieve through-thickness sewing of the fiber preform, but also non-penetrating sewing. Therefore, the size and shape of the sewing material will not be limited by the size of the sewing machine.

[0004] Most of the existing single-sided suture prototypes use dual motors to control the thread guide needle and the hook needle respectively, which is difficult to control synchronously and is not suitable for carbon fiber sutures. Guide rails are used to realize the movement of the entire prototype, which has low degrees of freedom and is not suitable for suture of curved preforms. At the same time, the stitch planning of the existing prototypes easily causes interference between the curved needles and the sutures in adjacent suture cycles, damaging the sutures and affecting the suture effect. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a single-side curved needle type three-dimensional composite material preform sewing head and a sewing method thereof.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a single-sided curved needle type three-dimensional composite material preform sewing head, including a thread guide mechanism, a thread hook mechanism and a synchronous transmission mechanism, wherein the thread guide mechanism and the thread hook mechanism are installed in a frame and driven by the synchronous transmission mechanism to perform reciprocating rotational motion; The frame includes side plate I, side plate II and top plate; The lead mechanism comprises an upper lead shaft I and a lower lead shaft I, one end of the upper lead shaft I is rotatably connected to the side plate I, and the other end of the upper lead shaft I is connected to the lead crank II; a lead connecting rod is arranged between the lead crank II and the lead crank I; the upper end of the lead connecting rod is rotatably connected to the lead crank II and the lead crank I, and the lower end of the lead connecting rod is rotatably connected to the lead rocker; one end of the lead rocker is rotatably connected to the lead connecting rod, and the other end of the lead rocker is connected to the lower lead shaft I, and a lead needle handle is installed at the output end of the lower lead shaft I, and a hook-shaped lead needle is installed on the lead needle handle; The hooking mechanism comprises a hooking bevel gear set, a hooking oscillating disc and a hooking needle, wherein the two bevel gears of the hooking bevel gear set are respectively connected to the hooking rotating shaft I and the hooking rotating shaft II; the hooking rotating shaft II is vertically arranged, a hooking needle fixing piece is installed at the bottom end of the hooking rotating shaft II, and the hooking needle is installed on the hooking needle fixing piece; the hooking needle is horizontally arranged and is hook-shaped; one end of the hooking oscillating disc is installed on the hooking rotating shaft I, and the other end of the hooking oscillating disc is connected to the hooking connecting rod; the end of the hooking connecting rod away from the hooking oscillating disc is connected to the hooking crank; The wire guide crank I of the wire guide mechanism and the wire hook crank of the wire hook mechanism are respectively connected to the synchronous transmission mechanism.

[0007] Furthermore, the synchronous transmission mechanism includes two synchronous pulleys, which are connected by a synchronous belt, and the two synchronous pulleys are respectively connected to the upper shaft II and the lower shaft II, and the other ends of the upper shaft II and the lower shaft II are respectively connected to the wire hook crank of the wire hook mechanism and the wire lead crank I of the wire lead mechanism.

[0008] Furthermore, it also includes a wire guiding mechanism, which includes a yarn tensioner, a ceramic ring, a lead block and a yarn bobbin. The yarn bobbin is fixed on the side plate II through a yarn bobbin seat, and the lead block is installed on the side plate I. The ceramic ring is installed in the circular hole of the lead block to prevent friction damage between the suture and the lead block. The lead block is used to extract the suture and guide the direction of the suture. The yarn tensioner is fixed on the side plate I through the yarn tensioner seat; the suture is extracted from the yarn bobbin, passes through the lead block, and then passes through the yarn tensioner to ensure the stable tension of the suture.

[0009] Furthermore, it also includes a presser foot, which is installed at the bottom of the side plate I. The presser foot is provided with a groove I for the curved hook-shaped thread guide needle to pass through and a groove II that can reduce its own weight. The presser foot is fixed under the side plate I through an oblong hole, and the installation height can be adjusted to achieve pre-tightening force on the sewing material.

[0010] Furthermore, it also includes a driving mechanism, which includes a servo motor and a photoelectric sensor. The servo motor is installed on the frame, and the output end of the servo motor is connected to the reducer. The output end of the reducer is connected to the boss pulley. The boss pulley is connected to the synchronous transmission mechanism through a belt, thereby driving the suturing movement inside the frame; a pointer is provided on the boss pulley, and the pointer rotates with the output end of the reducer. The photoelectric sensor is installed and fixed on the motor fixing plate I, and the photoelectric sensor is used to detect the position of the pointer; the photoelectric sensor detects the initial position of the pointer, and after the servo motor is started, the photoelectric sensor detects the position of the output shaft after one circle, to ensure the accuracy of the synchronous transmission mechanism.

[0011] Furthermore, it also includes a control system, which includes a human-machine interface and a PLC. The human-machine interface is connected to the PLC, and the PLC is connected to the servo motor through a driver.

[0012] Furthermore, the human-machine interface is used for inputting and displaying instructions, is connected to the PLC via a data line, and the set parameters are input into the PLC via the data line. The PLC sends a pulse instruction to the driver, the servo motor returns to its initial position, the photoelectric sensor determines the position of the servo motor, starts the servo motor, and controls the servo motor by the PLC.

[0013] The present invention also provides a method for sewing a single-sided curved needle type three-dimensional composite material preform sewing head, comprising the following steps: S1, the thread guide needle and the thread hook needle are respectively at the initial position above the preform, and the PLC controls and drives the thread guide needle to start puncturing and suturing, while the thread hook needle rotates horizontally backward counterclockwise from the initial position; S2, the guide needle carries a single suture in an arc-shaped trajectory through the preform and reaches the end position and then begins to retreat along the original path, and at the same time, the hook needle also retreats along the original path after reaching the end position; S3, during the retreat of the thread guide needle and the thread hook needle, the suture on the thread guide needle rubs unevenly with the preform, and the suture accumulates and forms a thread loop; the thread hook needle rotates horizontally clockwise from the end position to the initial position, hooks the thread loop formed by the thread guide needle, and then continues to move toward the initial position with the suture thread loop; S4, after the guide needle and the hook needle reach the initial positions respectively, the PLC receives feedback control to move the suture head by a fixed needle distance, and the guide needle carries the suture to puncture the preform again; S5, when the thread guide needle carries the suture through the preform, it passes through the inside of the thread loop hooked by the thread hook needle last time, and then the thread guide needle continues to move toward the end position, and when the thread hook needle moves toward its end position, it throws out the thread loop, and the thrown out thread loop forms a locking knot with the passed suture, completing a suturing cycle; Repeat steps S2 to S5 to complete the preform suturing.

[0014] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: The thread guide mechanism and the thread hook mechanism of the present invention are both installed on the inner side of the frame, and are driven by a servo motor and a reducer to respectively realize the reciprocating rotational motion of the thread guide needle and the thread hook needle in a fixed plane; the synchronous transmission mechanism ensures that the cranks in the thread guide mechanism and the thread hook mechanism rotate synchronously, and synchronous control can be achieved through a servo motor; the wire guide mechanism guides the direction of the suture thread, ensures the suture thread tension, and improves the stitch forming efficiency; the adjustable pressure foot plate is located at the lower part of the suture head to realize the pre-tightening force for preforms of different thicknesses.

[0015] The present invention has a compact structure, is suitable for multi-degree-of-freedom robotic arms, and has a wide range of applications. It can achieve stable unilateral stitching of carbon fiber preforms, and can not only achieve through-thickness stitching of the preforms, but also achieve non-penetration stitching, and complete overlapping splicing, and complete Z-direction fastening of thick seams, thereby improving the molding quality of the stitching traces, reducing labor costs, and improving product consistency and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation methods of the present invention will become more obvious. The contents shown in the accompanying drawings are only used to explain the present invention and do not constitute any limitation to the present invention in any sense. In the accompanying drawings: Figure 1 It is a perspective view of the present invention.

[0017] Figure 2 It is the front view of the present invention.

[0018] Figure 3 It is a side view of the present invention.

[0019] Figure 4 It is a structural schematic diagram of the lead-in mechanism of the present invention.

[0020] Figure 5 It is a structural schematic diagram of the line hooking mechanism of the present invention.

[0021] Figure 6 It is a structural schematic diagram of the synchronous transmission mechanism of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the wire guide mechanism of the present invention.

[0023] Figure 8 It is a structural schematic diagram of a presser foot of the present invention.

[0024] Fig. 9 It is a structural schematic diagram of the driving mechanism of the present invention.

[0025] Fig.10 It is a diagram of the stitch forming process of the suturing method of the present invention.

[0026] Fig.11 It is a top view of the motion trajectory of the hook needle of the present invention.

[0027] Fig.12 It is a suture supply line diagram of the present invention.

[0028] In the figure: 1. Frame; 2. Leading mechanism; 3. Wire hooking mechanism; 4. Synchronous transmission mechanism; 5. Wire guide mechanism; 6. Presser foot; 7. Driving mechanism; 101, side panel I; 102, side panel II; 103, top panel; 104, horizontal axis; 201, wire crank Ⅰ; 202, wire pin Ⅰ; 203, wire connecting rod; 204, wire crank Ⅱ; 205, wire upper shaft Ⅰ; 206, wire pin Ⅱ; 207, wire rocker; 208, wire lower shaft Ⅰ; 209, wire needle handle; 210, wire needle; 301, hook wire crank; 302, hook wire pin shaft Ⅰ; 303, hook wire connecting rod; 304, hook wire pin shaft Ⅱ; 305, hook wire shaking plate; 306, hook wire rotating shaft Ⅰ; 308, hook wire bevel gear set; 309, hook wire rotating shaft Ⅱ; 310, hook wire vertical bearing seat; 311, hook wire needle fixing piece; 312, hook wire needle; 401, synchronous belt tensioner Ⅰ; 402, synchronous belt pulley; 403, synchronous belt; 404, upper shaft Ⅱ; 405, synchronous belt tensioner Ⅱ; 406, bearing end cover; 407, lower shaft Ⅱ; 501, yarn tube; 502, yarn tube seat; 503, lead block; 504, porcelain ring; 505, yarn tensioner seat; 506, yarn tensioner; 601, slot I; 602, slot II; 701, servo motor; 702, reducer; 703, boss type pulley; 704, pointer; 705, photoelectric sensor; 706, motor fixing plate I; 707, motor fixing plate II. DETAILED DESCRIPTION

[0029] like Figures 1 to 12 As shown, a single-sided curved needle type three-dimensional composite material preform sewing head of the present invention includes a frame 1, a lead wire mechanism 2, a hook wire mechanism 3, a synchronous transmission mechanism 4, a guide wire mechanism 5, a pressure foot plate 6 and a driving mechanism 7.

[0030] The frame 1 is an irregular rectangle, including side panels Ⅰ101, side panels Ⅱ102, a top panel 103 and four transverse axes 104; the top panel 103 is connected to the side panels Ⅰ101 and Ⅱ102 by bolts, and the two side panels are connected by the transverse axes 104. The side panels Ⅰ101 and Ⅱ102 are provided with a plurality of slots to reduce their own weight.

[0031] The wire guiding mechanism 2 and the wire hooking mechanism 3 are installed in the frame 1, and the crank drives the rocker to perform reciprocating rotation motion.

[0032] like Figure 4 As shown, the lead mechanism 2 includes a lead crank I 201, a lead pin I 202, a lead connecting rod 203, a lead crank II 204, a lead upper shaft I 205, a lead pin II 206, a lead rocker 207, a lead lower shaft I 208, a lead needle handle 209 and a lead needle 210. One end of the lead upper shaft Ⅰ205 is rotatably connected to the side plate Ⅰ101, and the other end is connected to the lead crank Ⅱ204. A lead connecting rod 203 is arranged between the lead crank Ⅱ204 and the lead crank Ⅰ201. The upper end of the lead connecting rod 203 is rotatably connected to the lead crank Ⅱ204 and the lead crank Ⅰ201 through the lead pin shaft Ⅰ202, and the lower end is rotatably connected to the lead rocker 207. One end of the lead rocker 207 is rotatably connected to the lead connecting rod 203 through the lead pin shaft Ⅱ206, and the other end is connected to the lead lower shaft Ⅰ208. A lead needle handle 209 is installed at the output end of the lead lower shaft Ⅰ208. A hook-shaped lead needle 210 with a fixed curvature radius is installed on the lead needle handle 209, and an engaging groove is arranged at the end of the lead needle 210.

[0033] like Figure 5 As shown, the hooking mechanism 3 includes a hooking crank 301, a hooking pin shaft I 302, a hooking connecting rod 303, a hooking pin shaft II 304, a hooking rocker 305, a hooking rotating shaft I 306, a hooking bevel gear set 308, a hooking rotating shaft II 309, a hooking vertical bearing seat 310, a hooking needle fixing part 311 and a hooking needle 312. The two bevel gears of the hook line bevel gear set 308 are connected to the hook line rotating shaft I 306 and the hook line rotating shaft II 309 respectively through keys. The hook line rotating shaft II 309 is vertically arranged, and a hook line needle fixing part 311 is installed at the bottom through bolts. The hook line needle 312 is installed on the hook line needle fixing part 311 through bolts, and the key is positioned. The hook line needle 312 is horizontally arranged in a curved hook shape; a hook line vertical bearing seat 310 is arranged on the hook line rotating shaft II 309, and the hook line rotating shaft II 309 and the hook line vertical bearing seat 310 are positioned through shaft shoulders, and bearings are arranged between them; one end of the hook line rocker 305 is installed on the hook line rotating shaft I 306, and the other end is connected to the hook line connecting rod 303 through the hook line pin shaft II 304; the end of the hook line connecting rod 303 away from the hook line rocker 305 is connected to the hook line crank 301 through the hook line pin shaft I 302.

[0034] In the hook wire mechanism 3, the vertical rotational motion is converted into the horizontal rotational motion through the meshing of two bevel gears; the hook wire vertical bearing seat 310 has a deep groove ball bearing and an inner hole elastic retaining ring built in, and the hook wire rotating shaft II 309 is positioned by a shaft shoulder to prevent axial movement; the two hook wire vertical bearing seats 310 are fixed to the side plate I101 by bolts, ensuring the straightness of the rotating shaft II during rotation.

[0035] like Figure 6 As shown, the synchronous transmission mechanism 4 includes a synchronous belt tensioner I 401, a synchronous pulley 402, a synchronous belt 403, an upper shaft II 404, a synchronous belt tensioner II 405, a bearing end cover 406 and a lower shaft II 407; two synchronous pulleys 402 are provided, the two synchronous pulleys 402 are connected by a synchronous belt 403, the two synchronous pulleys 402 are respectively connected to the upper shaft II 404 and the lower shaft II 407 by a key, the upper shaft II 404 and the lower shaft II 407 are connected to the side plate II 102 by the bearing end cover 406 with built-in double bearings, and the upper shaft II 404 and the lower shaft II 407 are positioned by a shaft shoulder; the synchronous belt tensioner I 401 and the synchronous belt tensioner II 405 have the same specifications, and the synchronous belt tensioner I 401 and the synchronous belt tensioner II 405 are respectively fixed to the fixed plate by a pin and a crank, and the fixed plate is installed on the side plate II 102 by bolts.

[0036] The wire guide crank Ⅰ201 of the wire guide mechanism 2 and the wire hook crank 301 of the wire hook mechanism 3 are connected to the lower shaft Ⅱ407 and the upper shaft Ⅱ404 respectively through keys.

[0037] like Figure 7 As shown, the wire guide mechanism includes a yarn tensioner 506, a ceramic ring 504, a lead block 503 and a yarn drum 501. The yarn drum 501 is fixed on the side plate II 102 through a yarn drum seat 502. The lead block 503 is installed on the side plate I 101. The ceramic ring 504 is installed in the round hole of the lead block 503 to prevent the suture from being damaged by friction with the lead block 503. The lead block 503 is used to extract the suture and guide the direction of the suture. The yarn tensioner 506 is fixed on the side plate I 101 through a yarn tensioner seat 505. The suture is extracted from the yarn drum 501, passes through the lead block 503, and then passes through the yarn tensioner 506 to ensure the stable tension of the suture.

[0038] like Figure 8 As shown, the presser foot 6 is installed at the bottom of the side plate Ⅰ101. The presser foot 6 is provided with a groove Ⅰ601 for facilitating the passage of the hook-shaped thread guide needle 210 and a groove Ⅱ602 for reducing its own weight. The presser foot 6 is fixed to the bottom of the side plate Ⅰ101 through an oblong hole, and the installation height can be adjusted to achieve pre-tightening force on the sewing material.

[0039] like Fig. 9As shown, the driving mechanism 7 includes a servo motor 701, a reducer 702, a boss pulley 703, a pointer 704, a photoelectric sensor 705, a motor fixing plate I 706 and a motor fixing plate II 707. The servo motor 701 is mounted on the frame 1 through the motor fixing plate II 707. The output end of the servo motor 701 is connected to the reducer 702. The output end of the reducer 702 is key-connected to the boss pulley 703. The boss pulley 703 is connected to the synchronous transmission mechanism 4 through a belt, thereby driving the sewing movement inside the frame 1. The boss pulley 703 is provided with a pointer 704, which rotates with the output end of the reducer 702. The photoelectric sensor 705 is fixed on the motor fixing plate I 706. The photoelectric sensor 705 is used to detect the position of the pointer 704. The photoelectric sensor 705 detects the initial position of the pointer 704 . After the servo motor 701 is started, the photoelectric sensor 705 detects the position of the output shaft after one rotation, thereby ensuring the accuracy of the synchronous transmission mechanism 4 .

[0040] It also includes a control system, which includes a human-machine interface (touch screen) and a PLC. The human-machine interface is connected to the PLC, and the PLC is connected to the servo motor 701 through a driver.

[0041] Among them, the human-machine interface is used for inputting and displaying instructions, and can be connected to the PLC through a data line. The set parameters are input into the PLC through the data line, and the PLC sends a pulse command to the driver, and the servo motor 701 returns to the initial position. The photoelectric sensor 705 determines the position of the servo motor 701, starts the servo motor 701, and controls the servo motor 701 by the PLC; the photoelectric sensor 705 is bolted and fixed to the motor fixing plate I 706, the pointer 704 is bolted to the boss pulley 703, the boss pulley 703 is key-connected to the reducer 702, one end of the motor fixing plate II 707 is bolted to the motor fixing plate I 706, and the other end is bolted to the side plate I 101.

[0042] like Fig.10 and Fig.11 As shown, the present invention also provides a method for sewing a single-sided curved needle type three-dimensional composite material preform sewing head, comprising the following steps: S1, the lead needle 210 and the hook needle 312 are respectively in the initial position above the preform, and the PLC controls and drives the lead needle 210 to start puncturing and suturing. At the same time, the hook needle 312 rotates horizontally backward counterclockwise from the initial position (looking down), and the photoelectric sensor 705 detects the angle of rotation of the output end of the reducer 702 and feeds back to the PLC.

[0043] S2. The thread guide needle 210 carries a single suture thread through the preform in an arc-shaped trajectory and then begins to retreat along the original path after reaching the end position. At the same time, the thread hook needle 312 also retreats along the original path after reaching the end position.

[0044] S3, during the retraction process of the lead needle 210 and the hook needle 312, since the lead needle 210 is provided with an engaging groove, the friction between the sutures on both sides of the needle body of the lead needle 210 and the preform is uneven, and the sutures accumulate and form a thread loop; the hook needle 312 rotates horizontally clockwise from the end position to the initial position, hooks the well-shaped thread loop formed by the lead needle 210, and then continues to move to the initial position carrying the suture loop.

[0045] S4, after the thread guide needle 210 and the thread hook needle 312 reach the initial positions respectively, the PLC receives feedback control to move the suture head by a fixed needle distance, and the thread guide needle 210 carries the suture to puncture the preform again.

[0046] S5. When the guide needle 210 carries the suture through the preform, it passes through the inside of the thread loop hooked by the hook needle 312 last time, and then the guide needle 210 continues to move toward the end position. During the process of the hook needle 312 moving horizontally backward counterclockwise to the end position, the thread loop is thrown out, and the thrown out thread loop forms a locking knot with the passed suture, completing a suturing cycle.

[0047] Repeat steps S2 to S5 to complete the preform suturing.

[0048] The embodiments of the present invention are described in detail above, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A single-sided curved needle type three-dimensional composite material preform sewing head, characterized in that: It includes a lead mechanism, a hook mechanism and a synchronous transmission mechanism, the lead mechanism and the hook mechanism are installed in the frame, and are driven by the synchronous transmission mechanism to perform reciprocating rotation; the frame includes a side plate I, a side plate II and a top plate; the lead mechanism includes an upper lead shaft I and a lower lead shaft I, one end of the upper lead shaft I is rotatably connected to the side plate I, and the other end of the upper lead shaft I is connected to the lead crank II; a lead connecting rod is arranged between the lead crank II and the lead crank I; the upper end of the lead connecting rod is rotatably connected to the lead crank II and the lead crank I, and the lower end of the lead connecting rod is rotatably connected to the lead rocker; one end of the lead rocker is rotatably connected to the lead connecting rod, and the other end of the lead rocker is connected to the lower lead shaft I, and the lower lead shaft I is output A thread guide needle handle is installed at the outlet end, and a hook-shaped thread guide needle is installed on the thread guide needle handle; the thread hooking mechanism includes a thread hooking bevel gear set, a thread hooking rocker and a thread hooking needle, and the two bevel gears of the thread hooking bevel gear set are respectively connected to the thread hooking rotating shaft I and the thread hooking rotating shaft II; the thread hooking rotating shaft II is vertically arranged, and a thread hooking needle fixing piece is installed at the bottom end of the thread hooking rotating shaft II, and the thread hooking needle is installed on the thread hooking needle fixing piece; the thread hooking needle is horizontally arranged and is hook-shaped; one end of the thread hooking rocker is installed on the thread hooking rotating shaft I, and the other end of the thread hooking rocker is connected to the thread hooking connecting rod; the end of the thread hooking connecting rod away from the thread hooking rocker is connected to the thread hooking crank; the thread guide crank I of the thread guide mechanism and the thread hooking crank of the thread hooking mechanism are respectively connected to the synchronous transmission mechanism.

2. The single-sided curved needle type three-dimensional composite material preform sewing head according to claim 1, characterized in that: The synchronous transmission mechanism includes two synchronous pulleys, which are connected by a synchronous belt. The two synchronous pulleys are respectively connected to the upper shaft II and the lower shaft II. The other ends of the upper shaft II and the lower shaft II are respectively connected to the wire hook crank of the wire hook mechanism and the wire lead crank I of the wire lead mechanism.

3. The single-sided curved needle type three-dimensional composite material preform sewing head according to claim 1, characterized in that: It also includes a wire mechanism, which includes a yarn tensioner, a ceramic ring, a lead block and a yarn bobbin. The yarn bobbin is fixed to the side plate II through a yarn bobbin seat, the lead block is installed on the side plate I, the ceramic ring is installed in the circular hole of the lead block, and the yarn tensioner is fixed to the side plate I through the yarn tensioner seat.

4. The single-sided curved needle type three-dimensional composite material preform sewing head according to claim 1, characterized in that: It also includes a presser foot, which is installed at the bottom of the side plate I. The presser foot is provided with a slot I for a hook-shaped thread guide needle to pass through and a slot II for reducing its own weight. The presser foot is fixed below the side plate I through an oblong hole.

5. The single-sided curved needle type three-dimensional composite material preform sewing head according to claim 1, characterized in that: It also includes a driving mechanism, which includes a servo motor and a photoelectric sensor. The servo motor is installed on a frame, and the output end of the servo motor is connected to a reducer. The output end of the reducer is connected to a boss pulley, and the boss pulley is connected to a synchronous transmission mechanism through a belt. A pointer is provided on the boss pulley, and the pointer rotates with the output end of the reducer. The photoelectric sensor is installed and fixed on a motor fixing plate I, and the photoelectric sensor is used to detect the position of the pointer.

6. The single-sided curved needle type three-dimensional composite material preform sewing head according to claim 5, characterized in that: It also includes a control system, which includes a human-machine interface and a PLC. The human-machine interface is connected to the PLC, and the PLC is connected to the servo motor through a driver.

7. A method for sewing a single-sided curved needle type three-dimensional composite material preform sewing head, using the single-sided curved needle type three-dimensional composite material preform sewing head as claimed in any one of claims 1 to 6 to perform the sewing method, characterized in that: The following steps are involved: S1, the thread guide needle and the thread hook needle are respectively at the initial position above the preform, and the PLC controls and drives the thread guide needle to start puncturing and suturing, while the thread hook needle rotates horizontally backward counterclockwise from the initial position; S2, the guide needle carries a single suture in an arc-shaped trajectory through the preform and reaches the end position and then begins to retreat along the original path, and at the same time, the hook needle also retreats along the original path after reaching the end position; S3, during the retreat of the thread guide needle and the thread hook needle, the suture on the thread guide needle rubs unevenly with the preform, and the suture accumulates and forms a thread loop; the thread hook needle rotates horizontally clockwise from the end position to the initial position, hooks the thread loop formed by the thread guide needle, and then continues to move toward the initial position with the suture thread loop; S4, after the guide needle and the hook needle reach the initial positions respectively, the PLC receives feedback control to move the suture head by a fixed needle distance, and the guide needle carries the suture to puncture the preform again; S5, when the thread guide needle carries the suture through the preform, it passes through the inside of the thread loop hooked by the thread hook needle last time, and then the thread guide needle continues to move toward the end position, and when the thread hook needle moves toward its end position, it throws out the thread loop, and the thrown out thread loop forms a locking knot with the passed suture, completing a suturing cycle; Repeat steps S2 to S5 to complete the preform suturing.

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