Program control truss type fiber three-dimensional fabric sewing equipment and method for combined processing

Abstract

The invention belongs to the technical field of fiber three-dimensional fabric sewing, and discloses program control truss type fiber three-dimensional fabric sewing equipment and method for combined machining, and the program control truss type fiber three-dimensional fabric sewing equipment is composed of a frame body, a clamping needle sewing device, a movable clamp and pressing device combination, a carbon fiber thread threading mechanism and a thread dragging mechanism, the movable clamp and the pressing device are combined and arranged below the clamping needle sewing device, the carbon fiber thread threading mechanism is connected with the thread dragging mechanism, the carbon fiber thread threading mechanism is located on the left side of the bottom end of the frame body, and the thread dragging mechanism is located at the front end of the carbon fiber thread threading mechanism. According to the full-automatic truss fiber three-dimensional fabric sewing equipment, parts such as a PLC industrial personal computer, a high-precision servo motor and a high-precision linear guide rail are adopted, the functions of automatic connection of a sewing needle and a carbon fiber line, unmanned automatic sewing of the equipment and the like are achieved, and regular fiber three-dimensional fabric automatic sewing is safely and efficiently achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of combined processing of non-textile materials, and in particular relates to a program-controlled truss-type fiber three-dimensional fabric sewing device and a sewing method for combined processing. Background Art

[0002] The development of modern science and technology is inseparable from composite materials, which play a very important role in the development of modern science and technology. The research depth and application breadth of composite materials and the speed and scale of their production development have become one of the important indicators to measure the advanced level of science and technology of a country. Carbon / carbon composite materials are composite materials with asphalt carbon, resin carbon or pyrolytic carbon as the matrix and carbon fiber and its products as the reinforcement. They have become the most important aspect of advanced composite materials. Composite materials with carbon fiber as the reinforcement have the characteristics of light and strong, light and rigid, high temperature resistance, corrosion resistance, fatigue resistance, good structural dimensional stability, high specific modulus, good design, and large-area integral molding. The most important application form of carbon fiber is as a reinforcement of resin materials. The carbon fiber reinforced resin-based composite materials have excellent comprehensive properties. They have practical and potential applications in sixteen fields, including missiles, space platforms and launch vehicles, aircraft, advanced ships, rail transit vehicles, electric vehicles, trucks, wind turbine blades, fuel cells, power cables, pressure vessels, uranium enrichment ultra-high-speed centrifuges, special tubes, public infrastructure, medical and industrial equipment, sports and leisure products, and fashionable life appliances. Since then, the application of carbon fiber has grown rapidly towards high-end development represented by the main structural materials of aerospace vehicles.

[0003] Workpieces made of carbon fiber often require multiple layers of carbon fiber fabric to be stacked and then stitched together to meet product performance requirements. As a preform molding technology, stitching technology is a new technology for the production of carbon / carbon composite preforms proposed to address the shortcomings of traditional processes. The stitching line is used to make a two-dimensional fabric or a thin layer of three-dimensional fabric form a quasi-three-dimensional fabric or to connect several separated pieces of fabric into an integral structure. The principle is that by stitching, the stitching line passing through the thickness direction of the fabric strengthens the carbon fiber fabric in the direction perpendicular to the ply plane, thereby improving the interlayer fracture toughness and impact damage tolerance.

[0004] In the mid-1980s, NASA first used stitching technology to manufacture wings, conducted systematic tests on their mechanical properties, and established a design database for stitched composite wings. In addition, the U.S. Air Force's Advanced Light Aircraft Fuselage Structure Program (ALAFS Program) also studied stitching technology and successfully used stitched composite materials to replace metal materials to manufacture fuselages, wings and other components, greatly reducing their own weight. Stitching technology has received attention and research from countries around the world.

[0005] At present, the carbon fiber fabric is sewn manually, and the process is as follows: a. First, manually clamp the carbon fiber fabrics that need to be sewn together b. Manual threading of the suture needle c. Use a suture needle to penetrate the carbon fiber thread through the carbon fiber fabric on the front side, pull out the suture needle and the carbon fiber thread from the back side of the carbon fiber fabric, tighten the carbon fiber thread, and then penetrate it from the back side to the front side, and sew back and forth in sequence.

[0006] Since the product needs to be intensively stitched, a large amount of labor is needed to complete the workload in mass production, and the labor cost is huge. The carbon fiber thread used for stitching is very easy to break, and the technical level of the sewing personnel varies, resulting in low production efficiency and difficult to control the production progress. In addition, the carbon fiber cloth and carbon fiber board used in the production of preforms are extremely expensive. Since manual operation cannot maintain a high consistency, the consistency of product quality cannot be guaranteed, and waste is prone to occur, causing great waste. Therefore, it is urgent to invent a device that can realize automatic stitching to improve stitching quality and stitching efficiency.

[0007] Through the above analysis, the problems and defects of the prior art are as follows: 1) A large amount of labor is required to complete the workload, and the labor cost is huge; 2) Due to the different technical levels of sewing workers, production efficiency is low and production progress is difficult to control; 3) The carbon fiber thread used for stitching is very easy to break, and the carbon fiber cloth or plate that needs to be stitched is extremely expensive. Due to the limitations of the sewing personnel's ability, manual operation cannot maintain a high consistency, which easily leads to waste and huge waste, and the consistency of product quality cannot be guaranteed. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention provides a programmable truss-type fiber three-dimensional fabric sewing equipment and sewing method for combined processing, which can realize the automatic connection between the sewing needle and the carbon fiber line, unmanned automatic sewing of the equipment and other functions. By using the truss carbon fiber material sewing method, without considering other working conditions, the product specifications can be infinitely expanded, and the specifications used during research and development can cover all products at this time.

[0010] The present invention is implemented as follows: a program-controlled truss-type fiber three-dimensional fabric sewing equipment for combined processing is composed of a frame, a clamping needle sewing device, a mobile clamp and a pressing device combination, a carbon fiber threading mechanism, and a thread dragging mechanism. The clamping needle sewing device is arranged at the front of the top end of the frame, the mobile clamp and the pressing device combination is arranged below the clamping needle sewing device, the carbon fiber threading mechanism and the thread dragging mechanism are connected, the carbon fiber threading mechanism is located on the left side of the bottom end of the frame, and the thread dragging mechanism is located at the front end of the carbon fiber threading mechanism.

[0011] Furthermore, standard I-beam welding is adopted, the system axes all adopt servo system plus ball screw mechanism, the guide adopts linear guide mechanism, the needle inserting carbon fiber fabric mechanism adopts electric cylinder module plus servo system, the needle clamping adopts claw cylinder, the clamping system adopts cylinder clamping, the needle loading system adopts electric cylinder module plus servo system, the glue injection system adopts servo system plus ball screw mechanism, the guide adopts linear guide mechanism, the detection system adopts camera photography, the wire feeding system adopts electric cylinder module plus servo system, the rotating part adopts swing cylinder, and the swing angle is adjustable.

[0012] Furthermore, the clamp needle suturing device is mainly composed of a moving device, a clamp needle puncture mechanism and a support plate moving device, wherein the clamp needle puncture mechanism realizes carbon fiber fabric suturing and clamp needle technology; the clamp needle puncture mechanism is mainly composed of a rotating cylinder, a clamping claw cylinder, a SCHUNK clamping claw, a servo motor, a water spray assembly and other components installed together on the frame to realize carbon fiber fabric suturing and clamp needle technology; The SCHUNK clamp is made of rigid material and is solved by a 180° rotating cylinder plus a clamp cylinder. The clamp cylinder clamps the needle, the clamp assembly is loosened and shifted, the rotary cylinder rotates to reverse the needle, the clamp assembly clamps, the needle head is swapped 180°, and suturing can continue. A servo motor is used, and displacement control and torque control are simultaneously controlled. A water spray assembly is added to the clamp assembly to spray deionized water to lubricate the non-textile material line. The length of the suture line is determined according to the process requirements, and the suture line is replaced before wear.

[0013] Furthermore, the movable clamp and clamping device combination is assembled from a mold base, a mold frame, a main and auxiliary molds, a main and auxiliary mold clamping cylinder, left and right positioning cylinders, a bottom mold moving mechanism and a clamping assembly motion mechanism; a stiffening plate is added to the outside of the mold frame, and the mold core plate uses a titanium alloy plate, and the core plate openings are staggered holes; the mold base and the mold frame are made of stainless steel, and the base is used as a water trough; the mold is set as a main mold and an auxiliary mold, and the main mold is reinforced with a stiffening plate as a reference, and the auxiliary mold is installed on the main mold for easy operation after being distinguished.

[0014] Furthermore, the carbon fiber threading mechanism includes fully automatic threading, needle loading, needle removal, fully automatic needle and thread connection, and glue dispensing functions, and is mainly composed of a workbench, a reel assembly, a wire outlet assembly, a needle removal assembly, a glue dispensing assembly, a wire feeding assembly, a needle rack assembly, a scissors assembly, a needle loading assembly, and a feeding assembly; The suture needle is made of hot-rolled steel wire, the tip of the suture needle is ground, the tail is punched with electric sparks, and the connection between the suture thread and the suture needle is processed with a bonding slot 3mm beyond the tail. After adding adhesive, it is integrated into the front and rear cavities to prevent the glue from falling out of the suture needle and affecting the suture process. The carbon fiber line enters the outlet assembly through the reel assembly, and the claw cylinder of the wire feeding assembly moves to clamp the line and pass the carbon fiber line through the threading tube. At this time, the needle holder assembly and the wire feeding assembly move simultaneously through the servo electric cylinder to automatically pass the line into the suture needle. Then, the water spray assembly is added to lubricate the carbon fiber line. The needle removal assembly is used to clamp the needle in the needle box through the clamp, and place the needle on the needle holder assembly under the drive of the servo motor to complete the needle removal function. The scissors assembly is used to cut the carbon fiber line into a suitable length according to the process requirements; the glue dispensing assembly is used to servo-control the pressure head to press the rubber hose after the needle and thread are threaded, control the stroke, squeeze out a certain amount of glue, and dispense glue at the joint of the needle and thread. The glue solidifies within the process time to bond the needle and thread together.

[0015] Furthermore, two types of cylinders are used for clamping, one side uses a 100 cylinder diameter cylinder as a reference, and the other side uses an 80 cylinder diameter cylinder for clamping; for the cylinder elongation size, the clamping amount is adjusted according to the process requirements; the clamping assembly slides freely on the linear guide rail, and the displacement is controlled by the top servo system, and the pressure block assembly is moved after sewing into place; positioning cylinders are added on the left and right, and the positioning holes are conical holes, and a double-sided mirror workstation is used for simultaneous sewing.

[0016] Another object of the present invention is to provide a program-controlled truss-type fiber three-dimensional fabric sewing method for combined processing using the program-controlled truss-type fiber three-dimensional fabric sewing device for combined processing, comprising: S1, laying the carbon fiber material cloth on the mold; S2, lifting the mold; S3, hoisting the mold onto the transfer device; S4, mobile assembly extended; S5, the transfer device moves toward the mobile component to transport the mold to the mobile component; S6, the transfer device transports the mold to the moving assembly, moves back, and prepares for the installation of the other side mold; S7, the moving assembly and the mold return to the initial position, the clamping cylinder clamps the core plate, and the stitching assembly starts stitching from bottom to top; S8, according to the suturing position, the clamping cylinders are adjusted respectively, and the moving assembly moves forward to suturing in sequence; S9, suture end; S10, after the stitching is completed, the moving assembly extends, the mold is lifted, and the product is taken out.

[0017] First, the present invention is used for carbon fiber sewing, and can realize automatic needle removal, automatic needle threading, automatic connection between the sewing needle and the carbon fiber line, and automatic sewing of fiber three-dimensional fabrics. It has tension detection and can adjust the torque of the pulling line to replace manual sewing, improve work efficiency, enhance product quality, and fully realize full-automatic sewing.

[0018] 1) In order to solve the problem that the existing technology requires a large amount of labor to complete the workload and has huge labor costs, the present invention designs a fully automatic truss fiber three-dimensional fabric sewing equipment, which adopts PLC industrial computer control, high-precision servo motors, high-precision linear guides and other components to realize the automatic connection between the sewing needle and the carbon fiber line, unmanned automatic sewing of the equipment and other functions, and realizes the automatic sewing of regular non-textile material cloth safely and efficiently.

[0019] 2) In order to solve the problem of low production efficiency and difficult to control production progress due to the different technical levels of sewing personnel, the solution of the present invention adopts PLC industrial computer control technology, and the automatic sewing equipment of carbon fiber three-dimensional fabric truss has the characteristics of high efficiency, fast speed and good stability. The efficiency of each set of equipment is equivalent to the production of 4-6 people and the quality is stable.

[0020] 3) As the existing technology cannot guarantee the consistency of product quality, the present invention has created original suture needle clamping technology, mold clamping technology, and automatic needle threading technology. The high-precision servo motor is controlled by a PLC industrial computer, and the displacement control and torque control are controlled simultaneously to complete the suture with high quality and ensure the consistency of product quality.

[0021] Second, the present invention has the technical advantage of fast needle threading. The present invention innovatively designs a carbon fiber threading mechanism that can realize functions such as fully automatic threading, needle insertion, needle removal, fully automatic needle and thread connection, and glue dispensing. It has the advantages of high stability and high needle threading efficiency, and effectively solves the needle and thread connection problem through the glue dispensing function.

[0022] The present invention has an efficient and stable suturing technology effect. The present invention innovatively designs a clamp needle suturing device, and realizes canvas suturing and clamp needle technology through a clamp needle puncture mechanism. A servo motor is used, and displacement control and torque control are performed simultaneously to accurately control the suturing tension to prevent inadequate suturing or breaking of the carbon fiber line. A water spraying component is added to the clamp needle assembly to spray deionized water to lubricate the carbon fiber line, which can effectively solve the wear problem of the carbon fiber line and effectively increase the stability of the stretching line.

[0023] The present invention has a unique mold pressing technology, which can press and position the main and auxiliary molds, effectively solve the problem of product deformation, and achieve the effect of automatic giving way of the pressing block during the suturing process.

[0024] The invention has high efficiency in double-sided sewing. The invention adopts double-sided mirror workstations for simultaneous sewing, that is, completely identical clamping needle sewing devices and threading mechanisms are arranged on both sides of the product, and both sides are sewn simultaneously, which greatly improves the efficiency on the original basis.

[0025] Third, the technical solution of the present invention fills the technical gap in the industry at home and abroad: The technical solution of the present invention innovatively adopts the truss method to realize the fiber three-dimensional fabric sewing technology, filling the technical gap of truss sewing at home and abroad. The truss method has the advantages of high needle threading and sewing positioning accuracy, large sewing area and fast speed. Using the truss carbon fiber sewing method, regardless of other working conditions, the specifications of the carbon cloth can be infinitely expanded, and the specifications that can cover all products at this time are used during development.

[0026] The technical solution of the present invention solves the technical problem that people have been eager to solve but have never succeeded in solving: the technical solution of the present invention solves the technical problem of automatic needle threading, and realizes the functions of fully automatic threading, needle insertion, needle removal, fully automatic needle and thread connection, glue dispensing, etc. through the threading mechanism. It completely solves the problem of manual needle threading and glue dispensing.

[0027] Fourthly, the significant technical progress of the program-controlled truss-type fiber three-dimensional fabric sewing device provided by the present invention is mainly reflected in the following aspects: 1. High degree of automation and intelligence: The equipment adopts servo system, ball screw mechanism and linear guide mechanism to achieve high-precision movement and positioning of each component, greatly improving the automation level of the suturing process.

[0028] Combined with a detection system consisting of cameras and lighting, the equipment can monitor the suturing process in real time, intelligently identify abnormal situations and take corresponding measures, significantly improving production efficiency and product quality.

[0029] 2. Accurate clamping and positioning: The needle clamping suturing device adopts a clamping claw cylinder, which can stably clamp the suturing needle to ensure the accurate movement and positioning of the needle during the suturing process, reducing errors and the generation of defective products.

[0030] The mold system including the mold base, mold frame, main mold and auxiliary mold, together with the mold moving mechanism and the clamping assembly movement mechanism, realizes the precise support and positioning of the fabric and improves the accuracy and stability of stitching.

[0031] 3. Flexible adjustment and adaptability: The equipment adopts a swing cylinder as the rotating part, and the swing angle is adjustable, so that the equipment can adapt to the suturing needs of different angles and shapes, improving the flexibility and adaptability of the equipment.

[0032] The slide platform, push cylinder, needle holder lifting cylinder and other components are responsible for accurately controlling the movement and positioning of each component, and can be quickly adjusted according to different suturing requirements, improving the versatility and production efficiency of the equipment.

[0033] 4. Efficient wire feeding and glue injection system: The wire feeding system adopts electric cylinder module plus servo system to ensure that the suture thread can be smoothly and accurately fed to the threading mechanism, thus improving the suture efficiency.

[0034] The glue injection system uses a servo system to accurately control the amount and position of glue injection, ensuring that the seams have sufficient strength and stability while avoiding glue waste.

[0035] 5. Convenient maintenance and operation: The equipment adopts a standard I-steel welded equipment platform, which has a solid structure and is easy to maintain, reducing equipment failure rate and maintenance costs.

[0036] The equipment is simple and convenient to operate. Various parameters and settings can be easily adjusted through the control system, which improves operating efficiency and user experience.

[0037] The program-controlled truss-type fiber three-dimensional fabric sewing equipment provided by the present invention has achieved remarkable technical progress in automation, intelligence, accuracy, flexibility, high efficiency, operation and maintenance, and provides a more efficient and stable solution for the sewing production of fiber three-dimensional fabrics. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 is a schematic diagram of a truss non-textile material sewing device provided by an embodiment of the present invention; Figure 2 Schematic diagram of a needle clamping suturing device provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a needle clamping puncture mechanism provided in an embodiment of the present invention; Figure 4 is a schematic diagram of a combination of a mobile clamp and a pressing device provided in an embodiment of the present invention; Figure 5 is a schematic diagram of a carbon fiber threading mechanism provided by an embodiment of the present invention; Figure 6 Schematic diagram of a hot-rolled steel wire abrasive suture needle provided in an embodiment of the present invention; Figure 7 is a schematic diagram of an outlet assembly provided by an embodiment of the present invention; Figure 8 is a schematic diagram of a wire feeding assembly provided in an embodiment of the present invention; Fig. 9 is a schematic diagram of a needle holder assembly provided by an embodiment of the present invention; Fig.10 is a schematic diagram of a needle removal assembly provided in an embodiment of the present invention; Fig.11 is a schematic diagram of a dispensing assembly provided by an embodiment of the present invention; Fig.12 It is a schematic diagram of the process of sewing a three-dimensional fiber fabric provided by an embodiment of the present invention; In the figure: 1, frame; 2, clamp needle suturing device; 3, combination of mobile clamp and clamping device; 4, carbon fiber threading mechanism; 5, dragging mechanism; 6, moving device; 7, clamp needle puncture mechanism; 8, pallet moving device; 9, rotating cylinder; 10, clamping claw cylinder; 11, SCHUNK clamping claw; 12, servo motor; 13, water spray assembly; 14, mold base; 15, mold frame; 16, main mold; 17, auxiliary mold; 18, clamping cylinder; 19, positioning cylinder; 20, mold moving mechanism; 21, clamping assembly movement mechanism; 22, workbench; 23. Reel assembly; 24. Wire outlet assembly; 25. Needle removal assembly; 26. Glue dispensing assembly; 27. Wire feeding assembly; 28. Needle holder assembly; 29. ​​Scissors assembly; 30. Needle upper assembly; 31. Feeding assembly; 32. Rack; 33. Wire passing wheel; 34. Water adding needle assembly; 35. Wire paying-off wheel; 36. Wire passing assembly; 37. Electric cylinder; 38. Clamp; 39. Slide platform; 40. Push cylinder; 41. Needle holder lifting cylinder; 42. Needle holder plate; 43. Up and down moving cylinder; 44. Forward and backward moving cylinder; 45. Servo displacement mechanism; 46. Lighting lamp. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] The present invention provides a program-controlled truss-type fiber three-dimensional fabric stitching device, characterized in that the device comprises a frame 1, a clamping needle stitching device 2, a mobile clamp and a pressing device combination 3, a carbon fiber threading mechanism 4, a dragging mechanism 5, a rotating cylinder 9, a servo motor 12, a mold base 14, a main mold 16 and a sub-mold 17, wherein the clamping needle stitching device 2 is arranged at the front of the top end of the frame 1, the mobile clamp and the pressing device combination 3 is arranged below the clamping needle stitching device 2, the carbon fiber threading mechanism 4 and the dragging mechanism 5 are connected and the carbon fiber threading mechanism 4 is located on the left side of the bottom end of the frame 1, and the dragging mechanism 5 is located at the front end of the carbon fiber threading mechanism 4; the rotating cylinder 9 is used to realize the rotation control of the clamping needle, the servo motor 12 is responsible for the precise position control of the drive system axis, and the mold base 14 is used to fix the main mold 16 and the sub-mold 17 for stitching operations.

[0042] The equipment also includes a water spray assembly 13, a mold moving mechanism 20, a wire feeding assembly 27, and a lighting lamp 46. The water spray assembly 13 is used to moisten the material during the suturing process. The mold moving mechanism 20 is responsible for the precise movement and positioning of the main mold 16 and the auxiliary mold 17 on the mold base 14. The wire feeding assembly 27 is responsible for smoothly delivering the suture thread to the threading mechanism through the electric cylinder module plus the servo system. The lighting lamp 46 provides sufficient light so that the operator can clearly observe the suturing process.

[0043] The system axis of the equipment adopts a servo system plus a ball screw mechanism, the guide adopts a linear guide mechanism, the carbon fiber line insertion mechanism adopts an electric cylinder module plus a servo system, the detection system adopts a camera, and the rotating part adopts a swing cylinder with an adjustable swing angle to achieve precise position control and stable motion performance, as well as real-time monitoring of the suturing process to ensure the suturing quality and meet the needs of different suturing angles.

[0044] Example 1: Automated carbon fiber three-dimensional fabric sewing production line In the embodiment of the automated carbon fiber three-dimensional fabric sewing production line, the equipment adopts a programmable truss design to improve production efficiency and product quality. The frame 1, as the main supporting structure of the equipment, is welded with standard I-beams to ensure the stability and durability of the equipment. The needle clamping suturing device 2 is installed at the front of the top of the frame and is responsible for performing the suturing operation, while the mobile clamp and clamping device combination 3 is located below the needle clamping suturing device to fix and adjust the position of the carbon fiber three-dimensional fabric to ensure the suturing accuracy. The carbon fiber threading mechanism 4 and the towing mechanism 5 are connected and located on the left side of the bottom end of the frame, responsible for the transportation and tensioning of the suture line. In this embodiment, the servo motor 12 achieves high-precision positioning and movement of the needle clamping suturing device by precisely controlling the ball screw mechanism, thereby improving the suturing efficiency and quality.

[0045] Embodiment 2: Intelligently controlled fiber three-dimensional fabric repair device In an embodiment of the intelligently controlled fiber three-dimensional fabric repair device, the device is specially designed for precise repair of damaged fiber three-dimensional fabrics. The device is also based on a programmable truss structure, which includes a precise clamping needle puncture mechanism 7 and a support plate moving device 8 for precise positioning and suturing of damaged areas. The rotary cylinder 9 and the SCHUNK clamp 11 are used in combination to provide flexible operating angles and stable material clamping for clamping needle suturing. In addition, the equipment is also equipped with a water spray assembly 13 for wetting the material during the suturing process to prevent additional damage to the material due to drying. Through the mold moving mechanism 20 and the clamping assembly motion mechanism 21, the device can accurately move and adjust the mold to adapt to repair tasks of different shapes and sizes. This embodiment is particularly suitable for the repair of high-value fiber three-dimensional fabrics. Through the intelligent control system and high-precision mechanical structure, the efficiency and quality of the repair work are ensured.

[0046] These two examples demonstrate the application potential of program-controlled truss-type fiber 3D fabric sewing equipment in the fields of automated production and intelligent repair. Through sophisticated mechanical design and intelligent control, these devices can not only improve production efficiency and product quality, but also provide more flexible and efficient solutions for the processing and repair of fiber 3D fabrics.

[0047] In view of the problems existing in the prior art, the present invention provides a program-controlled truss-type fiber three-dimensional fabric sewing device and sewing method for combined processing. The present invention is described in detail below in conjunction with the accompanying drawings.

[0048] The construction of the programmable truss-type fiber three-dimensional fabric suturing equipment for combined processing provided by the present invention involves a sophisticated component layout and installation relationship to ensure the efficiency and stability of the equipment. First, the clamping needle suturing device 2 is installed at the top front of the frame 1, which is directly responsible for the suturing operation of the fiber three-dimensional fabric. Next, a movable clamp and a clamping device combination 3 is configured under the clamping needle suturing device. This combination not only fixes the fiber three-dimensional fabric, but also completes the suturing work together with the clamping needle suturing device. In order to achieve precise control and guidance of the suture line, the carbon fiber threading mechanism 4 is placed on the left side of the bottom end of the frame, and is connected to it through a towing mechanism 5, which is located at the front end of the carbon fiber threading mechanism and is responsible for controlling the tension of the suture line.

[0049] In the design of this device, the combination of the rotary cylinder 9, the clamping cylinder 10 and the SCHUNK clamping jaw 11 not only optimizes the flexibility and precision of the clamping needle mechanism, but also ensures the stability and stitching effect of the fiber three-dimensional fabric. The introduction of the servo motor 12 further enhances the control accuracy of the system axis, and cooperates with the ball screw mechanism and the linear guide mechanism to achieve high-precision position control and smooth movement during the stitching process.

[0050] In addition, the layout and function of the mold system are also one of the highlights of the present invention. The mold base 14, mold frame 15, main mold 16 and auxiliary mold 17 together constitute the core working area of ​​the suturing device, wherein the main and auxiliary molds are installed in the mold frame and fixed on the mold base, and accurate positioning and movement are achieved through the mold moving mechanism 20. The clamping cylinder 18 and the positioning cylinder 19 are responsible for the clamping and positioning of the mold, respectively, ensuring the efficiency and stability during the suturing process.

[0051] The program-controlled truss-type fiber three-dimensional fabric sewing equipment for combined processing provided by the present invention realizes efficient sewing of fiber three-dimensional fabrics through standardized I-beam welding frames, high-precision servo systems, and flexible and reliable cylinder and electric cylinder modules. The design of the equipment not only focuses on the convenience and flexibility of operation, but also takes into account the stability and accuracy of the sewing process, showing new progress in modern textile equipment technology. The fiber three-dimensional fabric automatic sewing project is a truss fiber three-dimensional fabric sewing equipment, which can realize the automatic connection of the sewing needle and the carbon fiber line, and the unmanned automatic sewing of the equipment and other functions.

[0052] The working principle of the program-controlled truss-type fiber three-dimensional fabric sewing equipment for combined processing is as follows: the entire equipment is built on a standard I-beam welded equipment platform 22, which ensures the stability and load-bearing capacity of the equipment. The system axis adopts a servo system plus a ball screw mechanism to ensure precise position control and stable motion performance. The guide adopts a linear guide mechanism, so that each component can move smoothly in a straight line direction.

[0053] The needle clamping suturing device 2 is arranged at the front of the top of the frame 1, and it is the core component in the suturing process. When suturing is required, the needle clamping suturing device 2 will be started, and the movement trajectory and speed of the clamping needle will be accurately controlled through the coordinated work of the electric cylinder module and the servo system such as the servo motor 12. The clamping needle adopts a clamping claw cylinder 10, which can stably clamp the suturing needle to ensure the smooth progress of the suturing process.

[0054] The mobile clamp and the pressing device combination 3 are located below the clamping needle suturing device 2, and its main function is to fix the non-woven material to be suturing. The mobile clamp can be moved to a designated position as needed, and then the pressing device clamps the fiber three-dimensional fabric through a cylinder such as a pressing cylinder 18 to prevent it from moving or deforming during the suturing process.

[0055] The carbon fiber threading mechanism 4 and the thread dragging mechanism 5 are connected, and they are jointly responsible for passing the suture thread through the fiber three-dimensional fabric. The carbon fiber threading mechanism 4 is located on the left side of the bottom end of the frame 1, and accurately guides the suture thread to the position where suture is required through a precise mechanical structure and control system. The thread dragging mechanism 5 is located at the front end of the carbon fiber threading mechanism 4, and is responsible for dragging the suture thread for suture.

[0056] During the stitching process, the glue injection system (such as the glue dispensing assembly 26) will play a role. It uses a servo system plus a ball screw mechanism to accurately control the amount and position of the glue injection to ensure that the stitching has sufficient strength and stability.

[0057] The detection system uses a camera to monitor the suturing process and suturing quality in real time through the auxiliary lighting of the illuminator 46. Once an abnormal situation is found, the system will immediately sound an alarm and take corresponding treatment measures.

[0058] The wire feeding system, such as the wire feeding assembly 27, adopts an electric cylinder module plus a servo system, which is responsible for smoothly feeding the suture thread to the threading mechanism.

[0059] The rotating part adopts a swing cylinder such as the rotating cylinder 9, and the swing angle is adjustable, which enables the device to adapt to the needs of different suturing angles.

[0060] The mold base 14, the mold frame 15, the main mold 16 and the auxiliary mold 17 work together to provide stable support and positioning for the stitching process. The mold moving mechanism 20 is responsible for the precise movement and positioning of the mold.

[0061] The water spray assembly 13 is used to perform water spraying during the suturing process to meet specific process requirements.

[0062] The components such as the reel assembly 23, the thread outlet assembly 24, the needle removal assembly 25, the needle holder assembly 28, the scissor assembly 29, the needle upper assembly 30 and the material supply assembly 31 are each responsible for their specific functions, such as providing suture thread, taking and placing suture needles, cutting excess thread ends, etc., and jointly ensure the smooth progress of the suture process. The frame 32 is the supporting structure of the entire equipment, ensuring the stable installation and operation of each component.

[0063] Auxiliary components such as the thread wheel 33, the water needle assembly 34, the thread pay-off wheel 35 and the thread assembly 36 are responsible for the transmission and guidance of the suture thread to ensure the smooth flow of the suture thread. Actuators such as the electric cylinder 37 and the clamping jaws 38 are responsible for accurately controlling the movement and position of each component.

[0064] The slide rail platform 39, the propulsion cylinder 40, the needle holder lifting cylinder 41, the needle holder plate 42, the up and down moving cylinder 43, the front and back moving cylinder 44 and the servo displacement mechanism 45 are responsible for accurately controlling the movement and positioning of each component to ensure the accuracy and stability of the stitching process. During the entire stitching process, the various components and mechanisms work together to achieve fast, efficient and accurate stitching of the fiber three-dimensional fabric through precise control of the system and mechanical structure. The program-controlled truss fiber three-dimensional fabric stitching equipment for combined processing realizes the automated stitching of the fiber three-dimensional fabric through its unique device structure and control system, greatly improving production efficiency and quality.

[0065] By using the truss fiber three-dimensional fabric sewing method, without considering other working conditions, the product specifications can be infinitely expanded, and the specifications that can cover all products at this time can be adopted during development.

[0066] The actual case equipment can achieve a maximum product specification of 2030mmx1200mm. Since the truss stitching mold is relatively large, in order to prevent the mold core plate from deforming, automatic pressing is adopted, and the pressing block automatically gives way during the sewing process.

[0067] The equipment is mainly composed of a frame 1, a clamping needle suturing device 2, a mobile clamp and a pressing device combination 3, a carbon fiber threading mechanism 4, and a thread dragging mechanism 5. Figure 1 ), these components are fixedly installed according to relative positions and operate in conjunction with each other through instructions issued by the control system.

[0068] The technical requirements of this equipment are shown in the following table:

[0069]

[0070] The equipment platform is welded with standard I-beams, which ensures stable and reliable strength. The system axes all adopt servo system plus ball screw mechanism, and the guide adopts linear guide mechanism, which ensures stable and reliable control and high precision. The needle insertion carbon fiber line mechanism adopts electric cylinder 37 module plus servo system, which ensures stable and reliable control. The clamping needle adopts claw cylinder, which has strong clamping force and stable action. The clamping system adopts cylinder clamping, which has adjustable stroke and stable pressure.

[0071] The needle loading system adopts an electric cylinder 37 module plus a servo system, which has stable and reliable control; the glue injection system adopts a servo system plus a ball screw mechanism, and the guidance adopts a linear guide mechanism, which has stable and reliable control and high precision; the detection system adopts a camera, which has high precision and easy control; the wire feeding system adopts an electric cylinder 37 module plus a servo system, which has stable and reliable control, and the rotating part adopts a swing cylinder with adjustable swing angle, fast speed and high repeatability.

[0072] It uses professional programming software for automatic program control, providing powerful logic control and motion logic functions; it can complete input and output logic control and mathematical operations, high-speed counting and timing. At the same time, it can edit the linear and rotational motion functions of parts, as well as the compound motion of components, and supports the automatic saving function of manual adjustment position.

[0073] It supports multiple motion controls and uses G-code programming to facilitate secondary editing and development by operators. It also supports stable and safe prohibited area functions.

[0074] It has complete manual operation functions. In addition to the basic functions, the control system also provides manual operation for each component, such as: supporting the jog function of each part and the separate positioning function, which is convenient for the alignment and point debugging of each component; supporting manual single-step debugging according to the process trajectory.

[0075] 2. Key technical solutions and their implementation process and effects 2.1 Suture needle technique The present invention innovatively designs a clamping needle suturing device 2 (see Figure 2 ), mainly composed of a moving device 6, a clamping needle puncture mechanism 7 and a support plate moving device 8. The clamping needle puncture mechanism 7 realizes the fiber three-dimensional fabric sewing and clamping needle technology.

[0076] The needle clamping and puncturing mechanism 7 is mainly composed of a rotating cylinder 9, a clamping claw cylinder 10, a SCHUNK clamping claw 11, a servo motor 12, a water spraying assembly 13 and other components installed on a frame 32 ( Figure 3 ), realize fiber three-dimensional fabric stitching and clamping needle technology.

[0077] The SCHUNK clamping jaw 11 is used, and the clamping force and stability are reliable; the clamping jaw 38 is made of rigid material, and the rigid clamping has the advantages of strong clamping force and the steel needle is not easy to fall off; this solution can effectively solve the problem of suture needle clamping force.

[0078] A 180° rotating cylinder plus a clamping claw cylinder 10 is used, the clamping claw cylinder 10 clamps the needle, the clamping needle assembly is loosened and shifted, the rotating cylinder rotates to change the direction of the needle, the clamping needle assembly is clamped, the needle head is replaced 180°, and suturing can continue; this solution can effectively solve the problem of suture needle reversal endurance.

[0079] Servo motor 12 is used to control displacement and torque simultaneously, accurately controlling the sewing tension to prevent incomplete sewing or breaking of the carbon fiber line; Adding a water spray assembly 13 to the clamping needle assembly to spray deionized water and lubricate the carbon fiber line can effectively solve the wear problem of the carbon fiber line; determining the length of the suture line according to the process requirements, and replacing the suture line before wear; this solution can effectively solve the problem of wire stretching stability.

[0080] 2.2 Research and development of mold clamping technology The present invention innovatively designs a combination of a mobile clamp and a clamping device 3 (see Figure 4 ), which is assembled from a mold base 14, a mold frame 15, a main mold and a sub-mold, a main and sub-mold pressing cylinder 18 (the main mold 16 uses a 100 cylinder diameter cylinder as a reference, and the sub-mold 17 uses an 80 cylinder diameter for pressing), left and right positioning cylinders 19, a bottom mold moving mechanism 20 and a clamping assembly moving mechanism 21. The unique innovation solves the problem of mold clamping and displacement, and effectively solves the problem of automatic giving way of the pressing block.

[0081] A stiffener is added to the outside of the mold frame 15 to enhance the strength of the tooling; a titanium alloy plate is used for the mold core plate to increase the strength; the core plate is opened with staggered holes to increase the strength of the core plate; this solution can effectively solve the problem of tooling strength.

[0082] The mold base 14 and the mold frame 15 are made of stainless steel, and the base is used as a water tank so that water can be discharged, thereby solving the problem of mold corrosion prevention.

[0083] The mold is configured as a main mold 16 and a sub-mold 17. The main mold 16 is reinforced with ribs as a reference. The sub-mold 17 is mounted on the main mold 16 for easy operation after being distinguished. The problem of laying and assembling fiber three-dimensional fabrics is solved.

[0084] 2.3 Automatic needle threading technology The present invention innovatively designs the carbon fiber threading mechanism 4 (see Figure 5 ), which can realize the functions of fully automatic threading, needle loading, needle removal, fully automatic needle and thread connection, glue dispensing, etc. The mechanism is mainly composed of a workbench 22, a reel assembly 23, a thread outlet assembly 24, a needle removal assembly 25, a glue dispensing assembly 26, a thread feeding assembly 27, a needle rack assembly 28, a scissors assembly 29, a needle loading assembly 30, a material feeding assembly 31 and other components.

[0085] 1) Regarding the problem of using glue to connect the needle and the thread, the present invention uses a specially selected brand of glue to bond the needle and the carbon fiber thread through experiments, which can effectively solve the problem of connecting the needle and the thread.

[0086] Find professional manufacturers to develop special suture needles according to the production process requirements, conduct needle and thread bonding process experiments for comparison, and select the best suture needles.

[0087] In the process of developing suture needles, GCr6 steel was selected as the material, which has high hardness, high wear resistance, certain corrosion resistance, certain toughness and impact resistance; 5 manufacturing processes of suture needles were selected in the early stage, which were divided into steel plate rolling and hot-rolled steel wire grinding according to the manufacturing method. The suture needle made of hot-rolled steel wire in the final experiment (see Figure 6 ) To meet production needs, the suture needle is ground to have a sharp tip and the tail is punched with electric sparks. The processing technology is complicated, but the toughness and impact resistance are of high quality during the suturing process; the connection between the suture thread and the suture needle is processed with a bonding groove 3mm beyond the tail. After adding bonding glue, it can be smoothly integrated into the front and rear cavities to prevent the glue from escaping from the outside of the suture needle and affecting the suturing process.

[0088] 2) Develop a special wire feeding mechanism, the wire passes through the reel assembly 23 and enters the outlet assembly 24 ( Figure 7 ), wire feeding assembly 27 ( Figure 8 ) The clamping claw cylinder 10 is actuated to clamp the suture thread and pass the carbon fiber thread through the threading tube. At this time, the needle assembly 28 ( Fig. 9) and the wire feeding assembly 27 move simultaneously through the servo electric cylinder 37 to automatically transfer the suture thread into the suture needle. Secondly, add the water spray assembly 13 to lubricate the carbon fiber line and prevent wear.

[0089] Needle removal assembly 25 ( Fig.10 ) is used to clamp the needles in the needle box through the clamping claw 38, and place the needles on the needle holder assembly 28 under the drive of the servo electric cylinder 37 to complete the needle removal function. The scissor assembly 29 is used to cut the carbon fiber line into a suitable length according to the process requirements.

[0090] 3) Research and develop special dispensing components 26 ( Fig.11 ), when the needle and thread are threaded, the servo-controlled pressure head presses the rubber hose, controls the stroke, squeezes out a certain amount of glue, dispenses glue at the joint of the needle and thread, and the glue solidifies within the process time to bond the needle and thread together.

[0091] 2.4 Truss mold positioning and clamping technology Two types of cylinders are used for compression, one with a 100-cylinder bore as the base and the other with an 80-cylinder bore (see Figure 4 ); The cylinder extension size is determined and the clamping amount is adjusted according to the process requirements; this solution can effectively solve the problem of clamping amount control.

[0092] The clamping assembly slides freely on the linear guide rail, and the top servo system controls the displacement. After the stitching is in place, the clamping assembly is moved; this solution can effectively solve the problem of the clamp automatically giving way (see Figure 4 ).

[0093] Add positioning cylinders 19 on the left and right, and the positioning holes are conical holes to improve the alignment accuracy (see Figure 4 ).

[0094] In addition, the truss fiber three-dimensional fabric sewing device of the present invention adopts double-sided mirror image workstations for simultaneous sewing, which nearly doubles the efficiency on the original basis.

[0095] 3. Production process of the equipment of the present invention The action flow of the device for stitching fiber materials of the present invention is as follows (see Fig.12 ): ① Place the three-dimensional fiber fabric on the mold ②Lifting mold ③Lift the mold onto the transfer device ④Moving components extended ⑤The transfer device moves to the mobile component and transports the mold to the mobile component ⑥ The transfer device transports the mold to the mobile assembly and moves it back to prepare for the installation of the other side mold. ⑦ Move the assembly with the mold back to the initial position, clamp the cylinder to clamp the core plate, and start stitching the assembly from bottom to top ⑧ According to the stitching position, the clamping cylinder is adjusted respectively, and the moving assembly moves forward to stitch in sequence. ⑨Suture end ⑩After stitching is completed, the moving component extends, lifts the mold, and takes out the product.

[0096] According to the technical solution of the present invention, a program-controlled truss fiber three-dimensional fabric sewing device has been manufactured. The device can cover the sewing of 2160mm x 1200mm carbon cloth, and can realize automatic needle removal, automatic needle threading (delivery length 2800mm), automatic connection between the sewing needle and the carbon fiber line, and automatic sewing of the fiber three-dimensional fabric. It has tension detection and can adjust the torque of the pulling line to replace manual sewing, improve work efficiency, enhance product quality, and fully realize fully automatic sewing.

[0097] The examples of the present invention have been tested and compared with the prior art, and have the following positive effects and advantages in terms of needle threading, needle threading thrust, suturing speed, etc.:

[0098] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0099] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A program-controlled truss-type fiber three-dimensional fabric sewing device for combined processing, characterized in that: It includes a frame, a needle clamping suturing device, a combination of a movable clamp and a pressing device, a carbon fiber threading mechanism, and a thread dragging mechanism; the needle clamping suturing device is arranged at the front of the top of the frame, the movable clamp and the pressing device combination is arranged below the needle clamping suturing device, the carbon fiber threading mechanism and the thread dragging mechanism are connected, the carbon fiber threading mechanism is located at the left side of the bottom end of the frame, and the thread dragging mechanism is located at the front end of the carbon fiber threading mechanism; The equipment platform of the programmable truss-type fiber three-dimensional fabric sewing equipment for combined processing is welded with standard I-beams, the system axes all adopt a servo system plus a ball screw mechanism, the guide adopts a linear guide mechanism, the needle inserting carbon fiber wire mechanism adopts an electric cylinder module plus a servo system, the needle clamping adopts a clamping claw cylinder, the clamping system adopts a cylinder clamping, the needle loading system adopts an electric cylinder module plus a servo system, the glue injection system adopts a servo system plus a ball screw mechanism, the guide adopts a linear guide mechanism, the detection system adopts a camera, the wire feeding system adopts an electric cylinder module plus a servo system, the rotating part adopts a swing cylinder, and the swing angle is adjustable.

2. The program-controlled truss-type fiber three-dimensional fabric sewing device for combined processing according to claim 1, characterized in that: The clamping needle suturing device is composed of a moving device, a clamping needle puncturing mechanism and a support plate moving device, wherein the clamping needle puncturing mechanism realizes fiber three-dimensional fabric suturing and clamping needle technology; the clamping needle puncturing mechanism is composed of a rotating cylinder, a clamping claw cylinder, a SCHUNK clamping claw, a servo motor and a water spraying assembly installed on the frame; The SCHUNK clamp is made of rigid material and adopts 180° rotating cylinder plus clamp air cylinder. The clamp air cylinder clamps the needle, the clamp assembly is loosened and shifted, the rotating cylinder rotates to change the direction of the needle, the clamp assembly clamps, the needle head is swapped 180°, and the stitching continues. The servo motor is used, and the displacement control and torque control are controlled simultaneously. A water spray assembly is added to the clamp assembly to spray deionized water to lubricate the carbon fiber line. The length of the suture line is determined according to the process requirements, and the suture line is replaced before wear.

3. The program-controlled truss-type fiber three-dimensional fabric sewing device for combined processing according to claim 1, characterized in that: The movable fixture and clamping device combination is assembled from a mold base, a mold frame, a main and auxiliary molds, main and auxiliary mold clamping cylinders, left and right positioning cylinders, a bottom mold moving mechanism and a clamping assembly motion mechanism; a stiffening plate is added to the outside of the mold frame, and the mold core plate is made of titanium alloy plate, and the core plate openings are staggered holes; the mold base and mold frame are made of stainless steel, and the base is used as a water trough; the mold is changed into a main mold and an auxiliary mold, and the main mold is reinforced with a stiffening plate as a reference, and the auxiliary mold is installed on the main mold for easy operation after being distinguished.

4. The program-controlled truss-type fiber three-dimensional fabric sewing device for combined processing according to claim 1, characterized in that: The equipment includes a carbon fiber threading mechanism, which has the functions of fully automatic threading, needle loading, needle removal, fully automatic needle and thread connection and glue dispensing, and is composed of a workbench, a reel assembly, a wire outlet assembly, a needle removal assembly, a glue dispensing assembly, a wire feeding assembly, a needle rack assembly, a scissors assembly, a needle loading assembly and a feeding assembly.

5. The program-controlled truss-type fiber three-dimensional fabric sewing device according to claim 4 is characterized in that: The suture needle is made of hot-rolled steel wire. The tip of the suture needle is ground and the tail is punched with electric sparks. The connection between the suture thread and the suture needle is machined with a bonding groove 3mm beyond the tail. After adding adhesive, it is integrated into the front and rear cavities to achieve a stable needle and thread connection.

6. The program-controlled truss-type fiber three-dimensional fabric sewing device according to claim 4, characterized in that: The clamping mechanism of the equipment adopts two cylinders with different cylinder diameters for clamping, one side adopts a 100 cylinder diameter cylinder as a reference, and the other side adopts an 80 cylinder diameter cylinder for clamping; the elongation size of the cylinder is adjusted according to the process requirements to ensure the appropriate clamping amount; the clamping assembly can slide freely on the linear guide rail, and its displacement is controlled by the servo system on the top; after sewing in place, the clamping block assembly moves accordingly; in addition, the equipment is also equipped with left and right positioning cylinders, and the positioning holes are designed with conical holes to realize simultaneous sewing of double-sided mirror workstations.

7. The program-controlled truss-type fiber three-dimensional fabric sewing device according to claim 4 is characterized in that: The carbon fiber line enters the wire outlet assembly through the reel assembly, and the claw cylinder of the wire feeding assembly moves to clamp the line and pass the line through the threading tube; at this time, the needle holder assembly and the wire feeding assembly move simultaneously through the servo electric cylinder, so that the line is automatically passed into the inside of the suture needle; in addition, the equipment is also equipped with a water spray assembly to keep the carbon fiber line lubricated during the suture process; the needle removal assembly is used to clamp the suture needle from the needle box and place the needle on the needle holder assembly driven by the servo motor; the scissors assembly is used to cut the carbon fiber line into a suitable length according to process requirements; after the needle and thread are threaded, the glue dispensing assembly controls the pressure head to press the hose through the servo system, controls the extrusion stroke, and thus extrudes a certain amount of glue, and dispenses glue at the joint of the needle and thread, so that the glue solidifies within the process time and firmly bonds the needle and thread together.

8. A program-controlled truss-type fiber three-dimensional fabric sewing method for combined processing using the device according to any one of claims 1 to 6, characterized in that: include: S1, laying the fiber three-dimensional fabric on the mold; S2, lifting the mold; S3, hoisting the mold onto the transfer device; S4, mobile assembly extended; S5, the transfer device moves toward the mobile component to transport the mold to the mobile component; S6, the transfer device transports the mold to the moving assembly, moves back, and prepares for the installation of the other side mold; S7, the moving assembly and the mold return to the initial position, the clamping cylinder clamps the core plate, and the stitching assembly starts stitching from bottom to top; S8, according to the suturing position, the clamping cylinders are adjusted respectively, and the moving assembly moves forward to suturing in sequence; S9, suture end; S10, after the stitching is completed, the moving assembly extends, the mold is lifted, and the product is taken out.

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