Z-Pin automatic implantation device and operation arm comprising same

Abstract

The invention provides a Z-Pin automatic implantation device and an operation arm comprising the same, the Z-Pin automatic implantation device comprises a main body frame, a driving mechanism, a Z-Pin automatic implantation module and a Z-Pin automatic pre-punching module, the driving mechanism is installed on the main body frame, the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are respectively connected with the driving mechanism, the Z-Pin automatic pre-punching module is installed on the main body frame, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are connected with the driving mechanism. The Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are located on the main body frame, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are driven by the driving mechanism to move left and right, so that batch pre-punching and Z-Pin batch implantation are realized. According to the invention, the Z-Pin can be efficiently implanted into the prepreg laying layer of the laying composite material with low in-plane performance damage; z-Pin can be implanted into a prepreg laying layer with the thickness of more than 30mm; implanting of Z-Pin with the diameter smaller than 0.28 mm can be achieved, and the diameter of the Z-Pin capable of being implanted has no theoretical lower limit; the implantation of the flexible Z-Pin can be realized; the Z-Pin implanting efficiency is improved by more than 30 times compared with that of manual operation.

Description

Technical Field

[0001] The invention relates to the technical field of Z-Pin batch pre-perforation implantation, and in particular to a Z-Pin automatic implantation device. Background Art

[0002] In the composite material interlayer toughening Z-Pin batch pre-perforation implantation technology, the composite material is a mixed material system composed of two or more materials. Interlayer toughening refers to the technology of increasing the delamination resistance of the composite material. Pre-perforation refers to the operation of pre-drilling holes with tungsten steel needles at the location and path of implanting Z-Pins in the composite material. Batch implantation refers to the technology of implanting multiple Z-Pins at one time.

[0003] At present, Z-Pin (refers to a micro-rod material used to pin into uncured prepreg or fiber preforms to form anchoring and toughening in the thickness direction of the composite material after curing) technology is to implant Z-direction fibers between the layers of the laminated composite material to enhance its interlayer performance and ability to resist defects, damage and fatigue. The traditional Z-Pin implantation method requires the pultruded Z-Pin to be driven into the uncured prepreg layer with high-frequency vibration force through an ultrasonic hammer, which requires the Z-Pin to have sufficient stiffness and diameter to withstand high-frequency vibration force.

[0004] However, the larger the diameter of the Z-Pin is, the greater the damage to the fiber during the implantation process of the prepreg. In order to balance the interlayer toughening and the loss of planar performance, the thickness of the composite material that can be toughened by the Z-Pin is greatly limited. The diameter of the Z-Pin is rarely less than 0.28mm, which inevitably causes a 10-15% loss in planar performance.

[0005] In the prior art, the constraints of the ultrasonic hammer implantation method on the stiffness, diameter and implantation depth of the Z-Pin can be overcome by pre-punching holes in the prepreg and then implanting the Z-Pin, and a smaller diameter Z-Pin or a flexible Z-Pin can be implanted into a larger prepreg ply thickness. However, how to solve the batch drilling of Z-Pin pre-punching holes, batch transportation of Z-Pin implantation, accurate alignment of the implantation end with the pre-punching holes, batch cutting, efficient switching of batch pre-punching and batch implantation processes are all issues that need to be solved and optimized.

[0006] In view of this, the inventor of the present application designed a Z-Pin automatic implantation device in order to overcome the above technical problems. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a Z-Pin automatic implantation device in order to overcome the defects of the prior art Z-Pin implantation method that limits the thickness of the composite material that can be toughened and that batch delivery, alignment and cutting are relatively difficult.

[0008] The present invention solves the above technical problems through the following technical solutions:

[0009] A Z-Pin automatic implantation device is characterized in that the Z-Pin automatic implantation device comprises: a main frame, a driving mechanism, a Z-Pin automatic implantation module and a Z-Pin automatic pre-punching module, the driving mechanism is installed on the main frame, the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are respectively connected to the driving mechanism, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are located on the main frame, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are driven by the driving mechanism to move left and right to realize batch pre-punching and Z-Pin batch implantation.

[0010] According to one embodiment of the present invention, the driving mechanism includes a screw-driven stepper motor, a stepper screw and a plurality of screw limiters, the screw limiter is fixed on the main frame, one end of the stepper screw passes through the screw limiter in sequence, and the other end is connected to the screw-driven stepper motor, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are installed on the stepper screw.

[0011] According to one embodiment of the present invention, the Z-Pin automatic pre-punching module includes a Z-Pin punch head frame, a punch stepper motor, a punch lead screw limiter, a punch drive lead screw, a punch adapter and a batch punch, wherein the Z-Pin punch head frame has a hollow cavity at the bottom, and the punch stepper motor, the punch lead screw limiter, the punch drive lead screw and the punch adapter are sequentially installed from top to bottom and connected to each other;

[0012] The punch driving screw extends outward from the cavity and is connected to the batch punch, and the upper part of the Z-Pin punch head frame is connected to the driving mechanism.

[0013] According to one embodiment of the present invention, the batch hole puncher includes a first positioning plate, a second positioning plate and a plurality of connecting columns, the first positioning plate is installed at the bottom of the hole puncher driving screw, the second positioning plate is connected to the bottom of the first positioning plate through the connecting column, the second positioning plate is provided with a plurality of pinholes for arranging drilling pins, and a return spring is provided on the connecting column, so that the first positioning plate moves up and down along the connecting column under the drive of the hole puncher driving screw.

[0014] According to one embodiment of the present invention, the drilling needle is a tungsten steel needle.

[0015] According to one embodiment of the present invention, the diameter of the drilling needle is 0.2 mm to 0.4 mm larger than the diameter of the Z-Pin needle.

[0016] According to one embodiment of the present invention, the Z-Pin automatic implantation module comprises a Z-Pin implantation head frame, a Z-Pin material roll device, a Z-Pin bundle guide shaft, a Z-Pin step feeder and a Z-Pin cutter assembly, wherein the Z-Pin implantation head frame is connected to the driving mechanism, the Z-Pin material roll device is installed on the upper part of the Z-Pin implantation head frame, and the Z-Pin bundle guide shaft is installed on the Z-Pin implantation head frame;

[0017] The Z-Pin stepper feeder is installed at the lower part of the Z-Pin implant head frame, located at the lower part of the Z-Pin bundle guide shaft, the Z-Pin cutter assembly is installed at the lower part of the Z-Pin implant head frame, located below the Z-Pin stepper feeder, and the Z-Pin bundle is installed in sequence to the Z-Pin bundle guide shaft, the Z-Pin stepper feeder and the Z-Pin cutter assembly by the Z-Pin material roll apparatus.

[0018] According to one embodiment of the present invention, the Z-Pin cutter assembly includes a batch cutter and an implantation limit plate, a through installation slot is provided on the side of the implantation limit plate, and the batch cutter is installed in the installation slot;

[0019] The batch cutter is provided with a plurality of first limiting holes, the implant limiting plate is provided with a plurality of through-going second limiting holes, the first limiting holes and the second limiting holes correspond to each other up and down in sequence, so that the Z-Pin bundle passes through the implant limiting plate from top to bottom.

[0020] According to an embodiment of the present invention, the first limiting hole on the batch cutter is a tapered circular hole.

[0021] The present invention also provides an operating arm, which is characterized in that at least one Z-Pin automatic implantation device as described above is installed on the operating arm.

[0022] The positive and progressive effects of the present invention are:

[0023] The Z-Pin automatic implantation device and the operating arm including the same of the present invention have the following advantages:

[0024] 1. Realize the high efficiency and low in-plane performance damage of Z-Pin implantation into composite prepreg plies;

[0025] Second, Z-Pin can be implanted in prepreg plies with a thickness of more than 30mm;

[0026] 3. Z-Pin implantation with a diameter less than 0.28mm can be achieved, and there is no theoretical lower limit to the diameter of the Z-Pin that can be implanted;

[0027] 4. It can realize the implantation of flexible Z-Pin;

[0028] 5. Z-Pin implantation efficiency is more than 30 times higher than manual implantation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which the same reference numerals always represent the same features, wherein:

[0030] Figure 1 It is a schematic diagram of the structure of the Z-Pin automatic implantation device of the present invention.

[0031] Figure 2 It is a schematic structural diagram of the Z-Pin automatic pre-punching module in the Z-Pin automatic implantation device of the present invention.

[0032] Figure 3 It is a schematic diagram of the structure of the batch puncher in the Z-Pin automatic implantation device of the present invention.

[0033] Figure 4 It is a structural schematic diagram of the Z-Pin automatic implantation module in the Z-Pin automatic implantation device of the present invention.

[0034] Figure 5 It is a structural schematic diagram of the Z-Pin cutter assembly in the Z-Pin automatic implantation device of the present invention.

[0035] Figure 6 It is a schematic diagram of the structure of the batch cutter in the Z-Pin automatic implantation device of the present invention.

[0036] Figure 7 It is a schematic diagram of the structure of the limiter in the Z-Pin automatic implantation device of the present invention.

[0037] [Reference Signs]

[0038] Main frame 100

[0039] Driving mechanism 200

[0040] Z-Pin Automatic Implantation Module 300

[0041] Z-Pin Automatic Pre-punching Module 400

[0042] Screw driven stepper motor 210

[0043] Stepper Screw 220

[0044] Screw stopper 230

[0045] Z-Pin Punch Head Frame 410

[0046] Punch stepper motor 420

[0047] Punch screw limiter 430

[0048] Punch drive screw 440

[0049] Hole Punch Adapter 450

[0050] Batch Punch 460

[0051] Cavity 411

[0052] First positioning plate 461

[0053] Second positioning plate 462

[0054] Connecting column 463

[0055] Drilling Needle 500

[0056] Pinhole 464

[0057] Return spring 465

[0058] Z-Pin Implant Head Frame 310

[0059] Z-Pin Coil 320

[0060] Z-Pin beam guide shaft 330

[0061] Z-Pin Stepper Feeder 340

[0062] Z-Pin Cutter Assembly 350

[0063] Z-Pin Harness 360

[0064] Batch Cutter 351

[0065] Implantation limit plate 352

[0066] Mounting slot 353

[0067] The first limiting hole 354

[0068] The second limiting hole 355

[0069] Stopper 600

[0070] Limit hole 610 DETAILED DESCRIPTION

[0071] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0072] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to preferred embodiments of the present invention, examples of which are shown in the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to represent the same or similar parts.

[0073] Furthermore, although the terms used in the present invention are selected from well-known and commonly used terms, some terms mentioned in the present invention specification may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this document.

[0074] Furthermore, it is required that the present invention be understood not only by the actual terms used but also by the meanings connoted by each term.

[0075] Figure 1 It is a schematic diagram of the structure of the Z-Pin automatic implantation device of the present invention.

[0076] like Figure 1 As shown, the present invention discloses a Z-Pin automatic implantation device, which includes: a main frame 100, a driving mechanism 200, a Z-Pin automatic implantation module 300 and a Z-Pin automatic pre-punching module 400. The driving mechanism 200 is installed on the main frame 100, the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400 are respectively connected to the driving mechanism 200, and the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400 are located on the main frame 100, and the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400 are driven by the driving mechanism 100 to move left and right, thereby realizing batch pre-punching and Z-Pin batch implantation.

[0077] The Z-Pin here refers to a micro-rod material that is used to pin into uncured prepreg or fiber preform to form anchoring and toughening in the thickness direction of the composite material after curing.

[0078] Preferably, the driving mechanism 200 includes a screw-driven stepper motor 210, a stepper screw 220 and a plurality of screw limiters 230, the screw limiter 230 is fixed on the main frame 100, one end of the stepper screw 220 passes through the screw limiter 230 in sequence, and the other end is connected to the screw-driven stepper motor 210, and the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400 are installed on the stepper screw 220.

[0079] The stepper motor 210 drives the stepper screw 220 to move left and right along the screw limiter 230 to switch the positions of the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400, thereby realizing the coordinated operation of batch pre-punching and Z-Pin batch implantation.

[0080] Figure 2 It is a schematic structural diagram of the Z-Pin automatic pre-punching module in the Z-Pin automatic implantation device of the present invention.

[0081] like Figure 2 As shown, the Z-Pin automatic pre-punching module 400 includes a Z-Pin punch head frame 410, a punch stepper motor 420, a punch lead screw stopper 430, a punch drive lead screw 440, a punch adapter 450 and a batch punch 460. The Z-Pin punch head frame 410 has a hollow cavity 411 at the bottom, and the punch stepper motor 420, the punch lead screw stopper 430, the punch drive lead screw 440 and the punch adapter 450 are sequentially installed from top to bottom. The punch drive lead screw 440 extends outward from the cavity 411 and is connected to the batch punch 460. The upper part of the Z-Pin punch head frame 410 is connected to the driving mechanism 200.

[0082] The controller drives the puncher drive screw 440 to drive the puncher adapter 450 by controlling the puncher stepper motor 420, thereby driving the batch puncher to achieve precise up and down movement and batch drilling depth control.

[0083] Figure 3 It is a schematic diagram of the structure of the batch puncher in the Z-Pin automatic implantation device of the present invention.

[0084] like Figure 3 As shown, the structure of the batch punch 460 preferably includes a first positioning plate 461, a second positioning plate 462 and a plurality of connecting posts 463. The first positioning plate 461 is installed at the bottom of the punch driving screw 440, and the second positioning plate 462 is connected to the bottom of the first positioning plate 461 through the connecting posts 463. The second positioning plate 462 is provided with a plurality of pinholes 464 for arranging the drilling pins 500. In addition, a return spring 465 is provided on the connecting post 463, so that the first positioning plate 461 moves up and down along the connecting post 463 under the drive of the punch driving screw 440.

[0085] The lower bottom plate of the batch pre-piercing head connected to the base of the implant head through the reset spring 465 is provided with a piercing needle limit hole, which can protect the needle from buckling and breaking during the piercing process. At the same time, the resin on the needle is scraped off when the needle is pulled out of the prepreg to avoid the influence of resin adhesion on subsequent drilling.

[0086] The drilling needle 500 here can preferably be a high-toughness tungsten steel needle. Preferably, the diameter of the drilling needle 500 can be adjusted according to the diameter of the Z-Pin to be implanted, and the diameter of the drilling needle 500 is 0.2mm to 0.4mm larger than the diameter of the Z-Pin needle.

[0087] Figure 4 It is a structural schematic diagram of the Z-Pin automatic implantation module in the Z-Pin automatic implantation device of the present invention.

[0088] like Figure 4 As shown, the Z-Pin automatic implantation module 300 includes a Z-Pin implantation head frame 310, a Z-Pin material roll device 320, a Z-Pin bundle guide shaft 330, a Z-Pin step feeder 340 and a Z-Pin cutter assembly 350. Among them, the Z-Pin implantation head frame 310 is connected to the driving mechanism 200, the Z-Pin material roll device 320 is installed on the upper part of the Z-Pin implantation head frame 310, and the Z-Pin bundle guide shaft 330 is installed on the Z-Pin implantation head frame 310.

[0089] The Z-Pin stepper feeder 340 is installed at the lower part of the Z-Pin implant head frame 310, located at the lower part of the Z-Pin bundle guide shaft 330. The Z-Pin cutter assembly 350 is installed at the lower part of the Z-Pin implant head frame 310, located below the Z-Pin stepper feeder 340. The Z-Pin bundle 360 ​​is installed in sequence to the Z-Pin bundle guide shaft 330, the Z-Pin stepper feeder 340 and the Z-Pin cutter assembly 350 by the Z-Pin material roll apparatus 320.

[0090] Each Z-Pin bundle 360 ​​to be implanted is fixed on the Z-Pin implant head frame 310 by a Z-Pin material roll device 320, adjusted to a vertical state ready for implantation through the Z-Pin bundle guide shaft 330, and then the precise implantation length control of the Z-Pin is achieved through the Z-Pin stepper feeder 340 controlled by a stepper motor.

[0091] Figure 5 It is a structural schematic diagram of the Z-Pin cutter assembly in the Z-Pin automatic implantation device of the present invention.

[0092] like Figure 5As shown, the Z-Pin cutter assembly 350 includes a batch cutter 351 and an implantation limiting plate 352. A through installation slot 353 is provided on the side of the implantation limiting plate 352, and the batch cutter 351 is installed in the installation slot 353. A plurality of first limiting holes 354 are provided on the batch cutter 351. A plurality of through second limiting holes 355 are provided on the implantation limiting plate 352. The first limiting holes 354 and the second limiting holes 355 are aligned in sequence up and down, so that the Z-Pin bundle 360 ​​penetrates the implantation limiting plate 352 from top to bottom.

[0093] Figure 6 It is a schematic diagram of the structure of the batch cutter in the Z-Pin automatic implantation device of the present invention.

[0094] like Figure 6 As shown, the first limiting hole 354 on the batch cutter 351 can preferably be a tapered circular hole.

[0095] The Z-Pin automatic implantation module 300 is implemented by Figure 5 The upper and lower limit holes (i.e., the first limit hole 354 and the second limit hole 355) shown in the figure realize accurate limit control of the Z-Pin. Figure 6 The tapered circular hole cutter shown is used to achieve batch cutting of the Z-Pins passing therethrough.

[0096] In addition, the Z-Pin automatic implantation device further includes a limiter 600 disposed at the bottom of the main frame 100 for limiting the positions of the Z-Pin automatic implantation module 300 and the Z-Pin automatic pre-punching module 400 .

[0097] According to the above structural description, the coordinated operation process of Z-Pin batch pre-punching and batch implantation is as follows: Figure 1 As shown, first, the lead screw drives the stepper motor 210 to drive the Z-Pin automatic pre-punching module 400 to move to the stopper 600, and then the puncher stepper motor 420 drives the batch puncher 460 to extend into the position as shown in FIG. Figure 7 The Z-Pin batches are pre-punched (i.e., the limiting holes 610) and implanted in the limiting device 600. The punching needles will automatically align with the limiting holes in the limiting device 600.

[0098] Then, the punch stepper motor 420 continues to drive the punch needle to move downward to the expected punching depth and then rotates in the opposite direction, and the punch needle is pulled out to return to the position before punching.

[0099] Next, the lead screw drives the stepper motor 210 to rotate in the opposite direction to drive the Z-Pin automatic implantation module 300 to align with the limiting hole, and then the Z-Pin stepper feeder 340 drives the batch of Z-Pins downward and implants them to a predetermined depth through the limiting hole 610 aligned with the previously pre-punched position.

[0100] Then, the batch cutter 351 is driven by the Z-Pin cutter motor to simultaneously cut off the Z-Pins passing through the conical cutting hole (i.e., the first limiting hole 354). The Z-Pin stepper feeder 340 is continuously rotated to convey the uncut Z-Pins downward and push the cut Z-Pins into the depth of the pre-punched hole, and then the stepper feeder motor is rotated in the reverse direction to return the uncut Z-Pins to the position before conveying and implanting, thus realizing a complete round of Z-Pin pre-punched hole implantation process.

[0101] Subsequent operation: Move the main frame 100 to the next implantation position, repeat the above operation process to achieve a new round of Z-Pin implantation, then move the main frame 100 to a different position, and repeat the above operation process to achieve full coverage of Z-Pin implantation.

[0102] Preferably, the present invention also provides an operating arm, on which at least one Z-Pin automatic implantation device as described above is installed. Specifically, the main frame 100 can be fixed on a multi-axis robot arm or a gantry operating arm, so as to achieve Z-Pin pre-perforation at any angle on large and complex curved surfaces with low in-plane performance damage and implantation of interlayer reinforcement.

[0103] The Z-Pin automatic implantation device of the present invention can quickly and accurately switch between a coaxial pre-punching module and a Z-Pin batch implantation module driven by a lead screw driven by a stepping motor, and the Z-Pin batch implantation end can be accurately aligned with the position of the pre-punching hole through a limiting groove, and the batch delivery and implantation of Z-Pins is realized by a coaxial delivery device, and the batch cutting of Z-Pins is realized by a motor-driven annular circular hole shear.

[0104] Therefore, the Z-Pin automatic implantation device of the present invention can achieve the following results:

[0105] 1. The Z-Pin automatic implantation device can achieve prepreg pre-punching with a maximum depth of 30 mm, reduce the bending and breakage failures of the steel needle during the punching process, and reduce the adhesion effect of the prepreg resin on the drilling needle;

[0106] Second, the Z-Pin automatic implantation device proposes a limit slot design for accurate centering of the pre-punched holes and Z-Pin batch implantation heads, which can enable the batch-delivered Z-Pins to be accurately aligned with their respective pre-punched hole positions and smoothly delivered to the pre-punched holes;

[0107] 3. The Z-Pin automatic implantation device adopts a conical hole scissors device, which can realize one-time batch cutting of the Z-Pins passing through it;

[0108] 4. The Z-Pin pre-punching module and batch implantation module can realize the efficient and accurate switching of Z-Pin between batch pre-punching and batch implantation through the coaxial lead screw driven fast switching working mode.

[0109] Therefore, the Z-Pin automatic implantation device of the present invention solves the following technical problems:

[0110] 1. Solved the batch drilling technology of Z-Pin pre-punching;

[0111] Second, the batch delivery technology of Z-Pin implantation has been solved;

[0112] Third, the problem of accurate alignment between the Z-Pin implant end and the pre-punched hole has been solved;

[0113] 4. Solved the batch cutting problem of Z-Pin;

[0114] 5. The problem of efficient switching between Z-Pin batch pre-punching and batch implantation processes has been solved.

[0115] In summary, the Z-Pin automatic implantation device of the present invention can batch pre-punch and batch implant Z-Pins in the laminated prepreg, which can improve the interlayer performance of the composite material and its ability to resist defects, impact, fatigue, etc. with high efficiency and low plane performance damage.

[0116] The Z-Pin automatic implantation device and the operating arm including the same of the present invention have the following advantages:

[0117] 1. Realize the high efficiency and low in-plane performance damage of Z-Pin implantation into composite prepreg plies;

[0118] Second, Z-Pin can be implanted in prepreg plies with a thickness of more than 30mm;

[0119] 3. Z-Pin implantation with a diameter less than 0.28mm can be achieved, and there is no theoretical lower limit to the diameter of the Z-Pin that can be implanted;

[0120] 4. It can realize the implantation of flexible Z-Pin;

[0121] 5. Z-Pin implantation efficiency is more than 30 times higher than manual implantation.

[0122] For those skilled in the art, the above invention disclosure is only used as an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary implementation of the present application.

[0123] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0124] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that these are only examples, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A Z-Pin automatic implantation device, characterized in that: The Z-Pin automatic implantation device includes: a main frame, a driving mechanism, a Z-Pin automatic implantation module and a Z-Pin automatic pre-punching module, the driving mechanism is installed on the main frame, the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are respectively connected to the driving mechanism, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are located on the main frame, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are driven by the driving mechanism to move left and right to realize batch pre-punching and Z-Pin batch implantation.

2. The Z-Pin automatic implantation device according to claim 1, characterized in that: The driving mechanism includes a screw-driven stepper motor, a stepper screw and a plurality of screw limiters, wherein the screw limiter is fixed on the main frame, one end of the stepper screw passes through the screw limiter in sequence, and the other end is connected to the screw-driven stepper motor, and the Z-Pin automatic implantation module and the Z-Pin automatic pre-punching module are installed on the stepper screw.

3. The Z-Pin automatic implantation device according to claim 1, characterized in that: The Z-Pin automatic pre-punching module includes a Z-Pin punch head frame, a punch stepper motor, a punch lead screw limiter, a punch drive lead screw, a punch adapter and a batch punch, wherein the Z-Pin punch head frame has a hollow cavity at the bottom, and the punch stepper motor, the punch lead screw limiter, the punch drive lead screw and the punch adapter are sequentially installed from top to bottom and connected to each other; The punch driving screw extends outward from the cavity and is connected to the batch punch, and the upper part of the Z-Pin punch head frame is connected to the driving mechanism.

4. The Z-Pin automatic implantation device as claimed in claim 3, characterized in that: The batch hole puncher includes a first positioning plate, a second positioning plate and a plurality of connecting columns, the first positioning plate is installed at the bottom of the hole puncher driving screw, the second positioning plate is connected to the bottom of the first positioning plate through the connecting column, the second positioning plate is provided with a plurality of needle holes for arranging drilling needles, and a return spring is arranged on the connecting column, so that the first positioning plate moves up and down along the connecting column under the drive of the hole puncher driving screw.

5. The Z-Pin automatic implantation device according to claim 4, characterized in that: The drilling needle is a tungsten steel needle.

6. The Z-Pin automatic implantation device according to claim 4, characterized in that: The diameter of the drilling needle is 0.2 mm to 0.4 mm larger than the diameter of the Z-Pin needle.

7. The Z-Pin automatic implantation device according to claim 1, characterized in that: The Z-Pin automatic implantation module comprises a Z-Pin implantation head frame, a Z-Pin material roll device, a Z-Pin bundle guide shaft, a Z-Pin step feeder and a Z-Pin cutter assembly, wherein the Z-Pin implantation head frame is connected to the driving mechanism, the Z-Pin material roll device is installed on the upper part of the Z-Pin implantation head frame, and the Z-Pin bundle guide shaft is installed on the Z-Pin implantation head frame; The Z-Pin stepper feeder is installed at the lower part of the Z-Pin implant head frame, located at the lower part of the Z-Pin bundle guide shaft, the Z-Pin cutter assembly is installed at the lower part of the Z-Pin implant head frame, located below the Z-Pin stepper feeder, and the Z-Pin bundle is installed in sequence to the Z-Pin bundle guide shaft, the Z-Pin stepper feeder and the Z-Pin cutter assembly by the Z-Pin material roll apparatus.

8. The Z-Pin automatic implantation device according to claim 7, characterized in that: The Z-Pin cutter assembly includes a batch cutter and an implantation limit plate, a through installation slot is provided on the side of the implantation limit plate, and the batch cutter is installed in the installation slot; The batch cutter is provided with a plurality of first limiting holes, the implant limiting plate is provided with a plurality of through-going second limiting holes, the first limiting holes and the second limiting holes correspond to each other up and down in sequence, so that the Z-Pin bundle passes through the implant limiting plate from top to bottom.

9. The Z-Pin automatic implantation device according to claim 8, characterized in that: The first limiting hole on the batch cutter is a tapered circular hole.

10. An operating arm, characterized in that: At least one Z-Pin automatic implantation device as described in any one of claims 1 to 9 is installed on the operating arm.

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