Robot full-automatic needling equipment based on integration of servo needling unit and rewinding machine

Abstract

The invention discloses robot full-automatic needling equipment based on integration of a servo needling unit and a rewinding machine. The robot full-automatic needling equipment comprises a six-degree-of-freedom robot, the servo needling unit and the rewinding machine located in the working range of the robot. A winding unit of the rewinding machine is provided with a wooden barrel mold, and the wooden barrel mold is fixed by an inflatable shaft on the winding unit of the rewinding machine and is driven to rotate by a motor of the rewinding machine through a chain gear; the rewinding machine is integrated with a meter counter, a magnetic powder tension controller and a deviation rectifying device, and material tension control and edge positioning are achieved. And a cutting unit of the rewinding machine is used for carrying out customized cutting on the material, so that the material covers the wooden barrel mold to be formed. And the servo needling unit assembly is connected with the robot. The equipment can realize needling forming of a complex space curved surface prefabricated body; the needling speed is controllable, a circle recording device of the winding unit counts the number of needling layers, and the needling depth can be dynamically adjusted in real time according to the number of layers; the equipment is simple in structure, convenient to maintain, simple to operate, flexible and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of composite material preform manufacturing equipment, in particular to a fully automatic needling device based on the integration of a servo needling unit and a rewinder. Background Art

[0002] Three-dimensional needle punching technology is divided into two types: flat preform needle punching and complex component (special-shaped) preform needle punching. The research on flat preform needle punching is relatively extensive. The above needle punching technology belongs to flat needle punching technology, which is suitable for preparing preforms with relatively simple shapes. When preparing high-thickness or special-shaped preforms, which require surface adaptability, automation and forming efficiency, the above needle punching technology shows its limitations.

[0003] Traditional acupuncture equipment has three major defects:

[0004] 1. High dependence on manual labor: manual laying is required, which is inefficient and introduces significant risk of error (time consumption > 5 hours / piece), and low positioning accuracy leads to inter-layer strength fluctuations of ≥ 15%

[0005] 2. Poor adaptability to curved surfaces: Fixed-track machines cannot adjust the needle angle in real time, resulting in a large deviation between the fiber implantation direction and the normal direction of the curved surface (for example, the special-shaped CNC needle loom described in patent CN202898738U, when the normal deviation is greater than 15°, the preform strength decreases by 25-30%)

[0006] 3. Lack of material pretreatment: There is a lack of automated pretreatment capabilities for fiber mats. Especially when the core mold has a closed-end curved surface (such as a cone top or spherical cap), it is difficult for the flat fiber mat to naturally conform to the curved surface contour, which can easily cause wrinkles or overhead phenomena. Although patent CN105755680A introduces robotic needling, it still requires manual pre-cutting of the material and does not solve the problem of real-time tension control of the material on the curved surface. This results in a material utilization rate that is generally less than 85%, while also affecting the uniformity of the preform density distribution.

[0007] Existing patent technologies are severely fragmented:

[0008] The servo needling unit of CN110549645A supports dynamic depth adjustment but does not integrate robot path planning;

[0009] The rewinder of CN115635761A can achieve curved surface needling, but does not involve robot automated path planning. The material still needs manual pretreatment and laying, which is inefficient.

[0010] The stripping plate pressure feedback mechanism in CN210856546U lacks full-process automation coordination;

[0011] CN108103671A introduces a robot, but the reciprocating motion control of the screw is disconnected from the needling action, resulting in low equipment efficiency; it also does not achieve automated pre-processing and laying of materials;

[0012] Technological gap: There is no solution to achieve the full process integration of "material unwinding - cutting pretreatment - robot normal tracking needling - closed-loop quality control".

[0013] Therefore, in order to correct the above defects, we proposed a robotic fully automatic needling equipment based on the integration of a servo needling unit and a rewinder. Summary of the Invention

[0014] The technical problem solved by the present invention is to propose a robotic fully automatic needling equipment based on the integration of a servo needling unit and a rewinder. The equipment can realize the needling forming of complex spatial curved surface preforms. The equipment has a simple structure and can realize high-speed needling, real-time dynamic adjustment of the needling depth, and automatic cutting, pretreatment and laying of materials.

[0015] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic needling machine based on a servo needling unit and a rewinder integrated with a robot, comprising a PLC system, a six-degree-of-freedom robot, a barrel mold, and a rewinder integrated within the working range of the six-degree-of-freedom robot; the barrel mold is mounted on the rewinding unit of the rewinder, which also integrates a magnetic powder tension controller, a meter counter, a deviation correction device, a cutting device, and a circle counter; the device is characterized in that it also includes a servo needling unit assembly, a rewinder integrated, and a complete set of deviation correction, needling layer number, and force monitoring and feedback systems; the servo needling head unit assembly is connected to the six-degree-of-freedom robot;

[0016] The servo needling unit assembly includes a connecting flange, a servo motor, a reducer, a reducer mounting plate, a coupling, an eccentric shaft, an eccentric shaft mounting bearing seat, a connecting rod A, a connecting rod B, a fisheye joint, a needle plate mounting plate, a needle plate, six pressure plates, four linear bearings, a linear bearing mounting plate, four guide columns, four connecting rods C, a frame top plate, a frame bottom plate, two frame side plates, and eight fixing blocks;

[0017] The servo acupuncture unit assembly is threadedly connected to the six-degree-of-freedom robot through a connecting flange; the connecting flange is threadedly connected to the frame top plate; the reducer mounting plate, eccentric shaft mounting bearing seat, eight fixing blocks, and two frame side plates are respectively connected to the frame top plate; the servo motor and reducer are combined and installed on one side of the reducer mounting plate through a threaded connection; the eccentric shaft is installed on the eccentric shaft mounting bearing seat through a hole-axis fit; the coupling is fitted through a hole-axis fit and the screws are tightened to connect the reducer output shaft and the eccentric shaft respectively; the connecting rod A, connecting rod B, and fisheye joint are connected through a hole-axis fit; the fisheye joint is connected to the needle plate mounting plate through a threaded connection; the linear bearing is mounted on the linear bearing mounting plate and moves on the guide column through a hole-axis fit; the four connecting rods C are threadedly connected to the linear bearing mounting plate and the needle plate mounting plate; the needle plate is mounted on the needle plate mounting plate through a threaded connection or a pressure plate; the acupuncture needle is mounted on the needle plate through a hole-axis fit;

[0018] The rewinding machine assembly includes a main frame, an unwinding unit, a cutting device, and a rewinding unit.

[0019] The main frame 4 of the rewinder mainly includes a correction photoelectric sensor, a meter counter, and a frame body. It is threadedly connected to the unwinding unit, meter counter, cutting device, and circle counter. The rewinding unit is connected to the main frame through a hole-shaft fit and a cylinder assembly.

[0020] The unwinding unit assembly primarily comprises an unwinding unit swing frame, an unwinding unit base, an air shaft A, a magnetic powder tension controller, a gear pair, a correction device, and four slider guide rail assemblies. The guide rails are threadedly connected to the unwinding unit base, and the sliders are threadedly connected to the swing frame. The correction device is also threadedly connected to the base and swing frame. The air shaft A is connected to the magnetic powder tension controller via a gear pair. The air shaft is placed in an open hole in the swing frame and secured with screws.

[0021] The cutting device assembly primarily comprises an aluminum profile frame, a linear module, a height-adjustable bracket, a cutter, a height-adjustable support plate assembly, and a roller brush assembly. The height-adjustable bracket is threadedly connected to the aluminum profile frame, allowing for left and right movement and fixation on the aluminum profile, and its own vertical adjustment. The linear module is threadedly connected to the height-adjustable bracket and the cutter. The roller brush assembly is threadedly connected to the aluminum profile frame, and the height-adjustable support plate assembly is also threadedly connected to the aluminum profile frame.

[0022] The winding unit assembly mainly includes a three-phase motor, a gear chain assembly, an inflatable shaft B with a spur gear, an inflatable shaft B bracket, a bearing seat, a cylinder assembly, a latch, and a circle counter. The three-phase motor is connected to the main frame 4 via a threaded connection, and is connected to the gear chain assembly via a hole shaft; the gear chain assembly is connected to the main frame 4 via a bearing hole shaft, and is connected to the inflatable shaft B via a gear pair for transmission; the inflatable shaft B is connected and supported by the inflatable shaft B bracket via a hole shaft; the inflatable shaft B bracket is connected to the bearing seat via a hole shaft; the bearing seat is connected to the main frame 4 via a threaded connection; the cylinder assembly is connected to the inflatable shaft B bracket via a hole shaft; the cylinder assembly is connected to the main frame via a threaded connection.

[0023] The control method of the robotic fully automatic needling equipment based on the integration of a servo needling unit and a rewinder comprises the following steps:

[0024] S1, the rewinder cuts the carbon fiber material according to the topological expansion diagram of the wooden barrel mold;

[0025] S2: The robot adjusts the end-point posture based on normal tracking and inserts the needle perpendicular to the curved surface;

[0026] S3: Real-time collection of the number of revolutions of the barrel mold and dynamic step-by-step adjustment of the needling depth;

[0027] S4, based on the meter counter, controls the cutting timing and interval through algorithms.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. Using servo motors and connecting rods as the actuators for acupuncture, the action is continuous, the rhythm is fast, and the acupuncture speed is controllable, which can achieve high-speed acupuncture and improve acupuncture efficiency. The acupuncture depth can be dynamically adjusted in real time by the robot's preset program to achieve gradient acupuncture shaping;

[0030] 2. This invention uses a circle-counting sensor to monitor the number of needling layers, enabling the robot to adjust the needling depth in real time. This solves the problem of insufficient needling depth caused by the accumulation of layer thickness in traditional equipment (for example, the fifth layer actually requires a 25mm depth, but the equipment still executes it as 20mm), ensuring consistent fiber implantation in each layer.

[0031] 3. The present invention adopts the linkage between the meter counter and the magnetic powder tension controller to achieve unwinding length measurement, dynamic material tension adjustment, suppress material rebound, accurately trigger the cutting time, and ensure smooth and neat incision;

[0032] 4. The present invention adopts a correction device composed of a photoelectric sensor and a servo motor to achieve accurate positioning of the material edge, ensuring that the cut material matches the core mold contour;

[0033] 5. The present invention breaks through the limitations of traditional equipment, improves material utilization, reduces dependence on manual labor, and improves operating efficiency. It is an integrated, intelligent, and highly flexible fully automatic acupuncture equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is an exploded view of the overall structure of an embodiment of the robot-based fully automatic acupuncture device of the present invention;

[0035] Figure 2 and Figure 3 2 is a schematic structural diagram of a servo acupuncture unit of an embodiment of a robotic fully automatic acupuncture device according to the present invention;

[0036] Figure 4 This is a schematic structural diagram of a rewinder integrated with an embodiment of a robotic fully automatic acupuncture device of the present invention;

[0037] Figure 5 This is a schematic diagram of the main frame structure of a rewinder of an embodiment of a robotic fully automatic acupuncture device of the present invention;

[0038] Figure 6 This is a schematic structural diagram of an unwinding unit of an embodiment of a robotic fully automatic acupuncture device of the present invention;

[0039] Figure 7 This is a schematic structural diagram of a cutting device in one embodiment of a robotic fully automatic acupuncture device according to the present invention;

[0040] Figure 8 yes Figure 7 A partial enlarged view of the

[0041] Figure 9 This is a schematic diagram of the structure of a winding unit of an embodiment of a robotic fully automatic acupuncture device of the present invention;

[0042] Figure 10 This is a detailed view of the lap counter;

[0043] Figure 11 This is a schematic diagram of the prefabricated structure of Example 1 of the robotic fully automatic acupuncture equipment of the present invention.

[0044] Figure 1 In: 1. Six-degree-of-freedom robot; 2. Servo needling unit; 3. Rewinder integration;

[0045] Figure 2-3Middle: 2.1, connecting flange; 2.2, servo motor; 2.3, reducer; 2.4, reducer mounting plate; 2.5, coupling; 2.6, eccentric shaft; 2.7, eccentric shaft mounting bearing seat; 2.8, connecting rod A; 2.9, connecting rod B; 2.10, fisheye joint; 2.11, needle plate mounting plate; 2.12, needle plate; 2.13, six pressure plates; 2.14, four linear bearings; 2.15, linear bearing mounting plate; 2.16, four guide pillars; 2.17, four connecting rods C; 2.18, frame top plate; 2.19, frame bottom plate; 2.20, two frame side plates; 2.21, eight fixing blocks;

[0046] Figure 4 Middle: 4. Main frame; 5. Unwinding unit; 6. Cutting device; 7. Rewinding unit;

[0047] Figure 5 Middle: 4.1, photoelectric sensor for deviation correction; 4.2, meter counter; 4.3, frame body; 4.4, carbon fiber material;

[0048] Figure 6 Middle: 5.1, unwinding unit swing frame; 5.2, unwinding unit base; 5.3, air shaft A; 5.4, magnetic powder tension controller; 5.5, gear pair; 5.6, deviation correction device; 5.7, four slider guide rail assemblies;

[0049] Figure 7 Middle: 6.1, aluminum profile frame; 6.2, linear module; 6.3, height-adjustable bracket; 6.4, cutter; 6.5, height-adjustable support plate assembly; 6.6, roller brush assembly;

[0050] Figure 9 Middle: 7.1, three-phase motor; 7.2, gear chain assembly; 7.3, pneumatic shaft B with spur gear; 7.4, pneumatic shaft B bracket; 7.5, bearing seat; 7.6, cylinder assembly; 7.7, latch; 7.8, revolution counter; DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0052] The present invention provides a technical solution:

[0053] See also Figure 1-3A fully automatic needling equipment based on the integration of a servo needling unit and a rewinder, a six-degree-of-freedom robot, a wooden barrel mold and a rewinder located within the working range of the six-degree-of-freedom robot; the wooden barrel mold is installed on the winding unit of the rewinder, and a magnetic powder tension controller 5.4, a meter counter 4.2, a correction device 5.6, a cutting device 6, and a circle counter 7.8 are also integrated; it is characterized in that the equipment also includes a servo needling unit assembly; the servo needling head unit assembly is connected to the six-degree-of-freedom robot.

[0054] The servo needling unit assembly includes a connecting flange 2.1, a servo motor 2.2, a reducer 2.3, a reducer mounting plate 2.4, a coupling 2.5, an eccentric shaft 2.6, an eccentric shaft mounting bearing seat 2.7, a connecting rod A 2.8, a connecting rod B 2.9, a fisheye joint 2.10, a needle plate mounting plate 2.11, a needle plate 2.12, six pressure plates 2.13, four linear bearings 2.14, a linear bearing mounting plate 2.15, four guide pillars 2.16, four connecting rods C 2.17, a frame top plate 2.18, a frame bottom plate 2.19, two frame side plates 2.20, and eight fixing blocks 2.21;

[0055] The servo acupuncture unit assembly is threadedly connected to the six-degree-of-freedom robot via a connecting flange 2.1; the connecting flange 2.1 is threadedly connected to the frame top plate 2.18; the reducer mounting plate 2.4, the eccentric shaft mounting bearing seat 2.7, eight fixing blocks 2.21, and two frame side plates 2.20 are respectively connected to the frame top plate 2.18; the servo motor 2.2 and the reducer 2.3 are combined and mounted on one side of the reducer mounting plate 2.4 via a threaded connection; the eccentric shaft 2.6 is mounted on the eccentric shaft mounting bearing seat 2.7 via a hole-shaft fit; the coupling 2.5 is respectively connected to the reducer 2.4 via a hole-shaft fit and screwed. The output shaft of the speed machine 2.3 and the eccentric shaft 2.6; the connecting rod A2.8, the connecting rod B2.9, and the fisheye joint 2.10 are connected by a hole-shaft fit; the fisheye joint 2.10 is connected to the needle plate mounting plate 2.11 by a thread; the linear bearing is mounted on the linear bearing mounting plate 2.15 and moves on the guide column 2.16 by a hole-shaft fit; the four connecting rods C are connected to the linear bearing mounting plate 2.15 and the needle plate mounting plate 2.11 by a thread; the needle plate 2.12 is mounted on the needle plate mounting plate 2.11 by a threaded connection or a pressure plate 2.13; the needle is mounted on the needle plate 2.12 by a hole-shaft fit.

[0056] The rewinding machine assembly includes a main frame 4 , an unwinding unit 5 , a cutting device 6 , and a rewinding unit 7 .

[0057] The rewinder's main frame 4 primarily comprises a deflection-correcting photoelectric sensor 4.1, a meter counter 4.2, and a frame body 4.3. It is threadedly connected to the unwinding unit 5, meter counter 4.2, cutting device 6, and circle counter 7.8. The rewinding unit is connected to the main frame 4 via a hole-shaft fit and a cylinder assembly 7.6.

[0058] The unwinding unit 5 mainly comprises an unwinding unit swing frame 5.1, an unwinding unit base 5.2, an air shaft A5.3, a magnetic powder tension controller 5.4, a gear pair 5.5, a correction device 5.6, and four slider guide rail assemblies 5.7. The slider guide rail assemblies 5.7 are threadedly connected to the unwinding unit base 5.2, and the slider is threadedly connected to the swing frame; the correction device 5.6 is threadedly connected to the base and the swing frame; the air shaft A5.3 is connected to the magnetic powder tension controller 5.4 via a gear pair 5.5; the air shaft is placed in the open hole of the swing frame and secured with screws.

[0059] The cutting device 6 primarily comprises an aluminum profile frame 6.1, a linear module 6.2, a height-adjustable bracket 6.3, a cutter 6.4, a height-adjustable support plate assembly 6.5, and a roller brush assembly 6.6. The height-adjustable bracket 6.3 is threadedly connected to the aluminum profile frame 6.1, allowing for left-right movement and fixation on the aluminum profile, and its own vertical adjustment. The linear module 6.2 is threadedly connected to the height-adjustable bracket 6.3 and to the cutter 6.4. The roller brush assembly 6.6 is threadedly connected to the aluminum profile frame 6.1, and the height-adjustable support plate assembly 6.5 is also threadedly connected to the aluminum profile frame 6.1.

[0060] The winding unit assembly mainly includes a three-phase motor 7.1, a gear chain assembly 7.2, an air shaft B7.3 with a spur gear, an air shaft B bracket 7.4, a bearing seat 7.5, a cylinder assembly 7.6, a latch 7.7, and a circle counter 7.8. The three-phase motor 7.1 is connected to the main frame 4 via a threaded connection and is connected to the gear chain assembly 7.2 via a hole shaft; the gear chain assembly 7.2 is connected to the main frame 4 via a bearing hole shaft, and is connected to the air shaft B7.3 via a gear pair 5.5 for transmission; the air shaft B 7.3 is connected and supported by the air shaft B bracket 7.4 via a hole shaft; the air shaft B bracket 7.4 is connected to the bearing seat 7.5 via a hole shaft; the bearing seat 7.5 is connected to the main frame 4 via a threaded connection; the cylinder assembly 7.6 is connected to the air shaft B bracket 7.4 via a hole shaft; and the cylinder assembly 7.6 is connected to the main frame 4 via a threaded connection.

[0061] The model of the robot 1 is Canopus CRP-RA26-220, and it works in conjunction with a PLC and sensors.

[0062] The servo needling unit assembly, located at the end of the 6-DOF robot's arm, can perform acupuncture at any position within its working range. It is powered by a servo motor 2.2, which rotates an eccentric shaft 2.6 via a coupling 2.5. This eccentric shaft 2.6 then pivots connecting rods A 2.8 and B 2.9. Connecting rod B 2.9, via a fisheye joint 2.10, drives needle plate mounting plate 2.11 and needle plate 2.12 in reciprocating linear motion, achieving acupuncture. A linear bearing mounting plate 2.15, connected to needle plate mounting plate 2.11 via connecting rod C 2.17, reciprocates along guide posts 2.16, providing guidance for acupuncture. A PLC system monitors the current in the servo motor 2.2, providing real-time monitoring of acupuncture force.

[0063] When the web-correcting device 5.6 in the rewinding unit detects that the edge of the material has exceeded a set range, a signal is generated via the PLC, causing the device to move the swing frame left or right to correct the material's orientation. Air shaft A5.3 is inflated to tighten and secure the material core, and deflated to release the core. A meter counter 4.2 monitors the distance traveled per unit time, and the PLC generates a signal to control the magnetic powder tensioner to adjust the tension in real time to achieve the desired material tension control.

[0064] The cutting device 6 operates as follows: a height-adjustable bracket 6.3 mounts two linear modules 6.2 and a cutter 6.4 at a specific angle and height. A meter counter 4.2 sends a signal to the PLC, causing cutter 6.4 to rotate at high speed. This in turn drives the linear module 6.4 forward, and after reaching the set travel distance, it quickly returns to its original position. When the material to be cut reaches the position of cutter 6.4, the meter counter 4.2 sends a signal to the PLC, causing cutter 6.4 to rotate at high speed. This in turn drives the linear module 6.4 forward, and after reaching the set travel distance, it quickly returns to its original position. At this time, the material being cut is exactly a triangle and falls to the bottom as the material moves forward; the height and angle adjustable support plate assembly 6.5, its support plate has a long arc groove, the support plate can be adjusted to be parallel to the travel direction of the cutter 6.4, its L-shaped base is provided with long slots in the height and horizontal directions, the distance of which can be adjusted in the height and horizontal directions, playing the role of supporting the material and engaging with the cutter 6.4, restraining the material so that it does not run away with the cutter 6.4; the roller brush is height-adjustable and plays the role of leveling and restraining the material.

[0065] The winding unit operates as follows: Cylinder assembly 7.6 extends, driving air shaft bracket B 7.4 downward and disengaging it from gear chain assembly 7.2. Cylinder assembly 7.6 retracts, driving air shaft bracket B 7.4 upward and engaging it with gear chain assembly 7.2. Air shaft B7.3 with spur gear inflates, tightening the barrel mold; deflated air shaft B7.3 loosens it. Under normal operation, a three-phase motor 7.1 drives air shaft B7.3 through gear chain assembly 7.2, rotating the barrel mold. A latch 7.7 passes through holes in the main frame 4 and air shaft bracket B 7.4 to prevent air shaft bracket B 7.4, the barrel mold, and the product from falling if air is deactivated. A rotation counter 7.8, mounted on the gear chain, monitors the number of revolutions of the barrel mold and provides feedback to the PLC and robot, enabling real-time adjustment of the needling depth and serving as a signal to terminate the needling operation.

[0066] The workflow of the present invention is:

[0067] Manual loading - deviation correction - first cut - second cut - rewinding to wooden barrel mold - robot moves servo needling unit (needling action continues at the same time) - needling is completed - product is off the line

[0068] Example 1

[0069] A top-rounded open-rotating carbon fiber preform is manufactured using the robotic fully automatic needle punching equipment based on the integration of a servo needle punching unit and a rewinder (see Figure 8 ).

[0070] Material: Carbon fiber felt, density 300g / m2, thickness 5mm.

[0071] The manufacturing implementation steps of the present invention are:

[0072] (1) Lower the air shaft A5.3 of the winding unit, insert the wooden barrel mold into the air shaft A5.3, inflate the wooden barrel mold to tighten it, and fix the side section with a fixing ring.

[0073] (2) A 20mm rubber pad is glued around the barrel body including the rounded corners and the top.

[0074] (3) The carbon fiber roll is placed on the unwinding unit 5, passes through the roller, the correction sensor, and the cutting device 6, and is laid on the rubber pad of the wooden barrel mold. The material and the rubber pad are simply connected by needle punching using a handheld needle punching tool.

[0075] (4) The programmable controller (PLC) and the touch screen (HMI) were used to set the rotation speed of the barrel mold of the winding unit to 4 minutes / revolution and the cutting interval to 1000 mm (i.e., the cutting device 6 cuts off a triangular edge material every time the material travels 1000 mm), and the needling reciprocating speed to 400 mm / s.

[0076] (5) Start the workstation, the barrel mold begins to rotate, and the servo needling unit assembly at the end of the robot 1 arm moves to the specified initial position according to the robot 1 program. The servo needling unit performs reciprocating needling motion non-stop, and the robot begins to move according to the programmed path. Path: Needling the barrel mold's circumferential surface - needling the rounded corner surface - needling the end surface - needling the rounded corner surface - needling the circumferential surface, and so on. When needling the rounded corner surface, the robot has at least three points of the path to ensure that the product surface is always needled normally.

[0077] (6) According to the circle counting signal, the robot increases the needle depth by 4 mm every time it completes 5 layers of needle insertion.

[0078] (7) At the same time, the deviation correction device 5.6 at the unwinding position corrects the material position; the cutting device 6 cuts off a triangular edge material at a distance of 1000mm from the complete material, so that the remaining edge material is easier to fit the rounded corner surface and end surface of the wooden barrel mold.

[0079] (8) After 30 layers, the entire product is completed by needle punching.

[0080] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic needling machine based on the integration of a servo needling unit and a rewinder, characterized by: The invention comprises a PLC system, a six-degree-of-freedom robot (1), a servo needling unit (2), and a rewinder (3) located within the working range of the six-degree-of-freedom robot (1); the servo needling unit (2) is connected to the six-degree-of-freedom robot (1); and the PLC system synchronizes the actions of the rewinder (3), the six-degree-of-freedom robot (1), and the servo needling unit (2) through I / O; The rewinding machine (3) comprises a main frame (4), an unwinding unit (5), a cutting device (6), and a rewinding unit (7), wherein a wooden barrel mold is installed on the rewinding unit (7).

2. The fully automatic needling equipment based on the integration of a servo needling unit and a rewinder according to claim 1, characterized in that: The servo acupuncture unit (2) comprises a servo motor (2.2), a coupling (2.5), an eccentric shaft bearing seat (2.7), an eccentric shaft (2.6), a connecting rod A (2.8), a connecting rod B (2.9), a fisheye joint (2.10), a needle plate mounting plate (2.11), a pressure plate (2.13), four sets of linear bearings (2.14), and four guide pillars (2.16); the acupuncture depth of the servo acupuncture unit (2) is controlled in real time and gradually; the servo acupuncture unit is combined with a robot to achieve a multi-point normal tracking acupuncture function.

3. The fully automatic needling equipment based on the integration of a servo needling unit and a rewinder according to claim 1, characterized in that: The main frame (4) comprises a deviation-correcting photoelectric sensor (4.1), a meter counter (4.2), and a frame body (4.3).

4. The fully automatic needling equipment based on the integration of a servo needling unit and a rewinder according to claim 1, characterized in that: The unwinding unit (5) comprises an unwinding unit swing frame (5.1), an unwinding unit base (5.2), an air shaft A (5.3), a magnetic powder tension controller (5.4), a gear pair (5.5), a deviation correction device (5.6), and four slider guide rail assemblies (5.7).

5. The fully automatic needling equipment based on the integration of a servo needling unit and a rewinder according to claim 1, characterized in that: The cutting device (6) comprises an aluminum profile frame (6.1), a linear module (6.2), a height-angle adjustable bracket (6.3), a cutter (6.4), a height-angle adjustable support plate assembly (6.5), and a roller brush assembly (6.6).

6. The fully automatic needling equipment based on the integration of a servo needling unit and a rewinder according to claim 1, characterized in that: The winding unit (7) comprises a three-phase motor (7.1), a gear chain assembly (7.2), an inflatable shaft B with a spur gear (7.3), an inflatable shaft B bracket (7.4), a bearing seat (7.5), a cylinder assembly (7.6), a latch (7.7), and a revolution counter (7.8).

7. A control method for a robotic fully automatic needling device based on integration of a servo needling unit and a rewinder according to any one of claims 1 to 6, characterized in that: The steps include: S1, the rewinder cuts the carbon fiber material according to the topological expansion diagram of the wooden barrel mold; S2: The robot adjusts the end-point posture based on normal tracking and inserts the needle perpendicular to the curved surface; S3: Real-time collection of the number of revolutions of the barrel mold and dynamic step-by-step adjustment of the needling depth; S4, based on the meter counter, controls the cutting timing and interval through algorithms.

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