CN102926137A - Formation method for single-side suture line stitch of three-dimensional composite material prefabricating component - Google Patents
Formation method for single-side suture line stitch of three-dimensional composite material prefabricating component Download PDFInfo
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- CN102926137A CN102926137A CN2012104527645A CN201210452764A CN102926137A CN 102926137 A CN102926137 A CN 102926137A CN 2012104527645 A CN2012104527645 A CN 2012104527645A CN 201210452764 A CN201210452764 A CN 201210452764A CN 102926137 A CN102926137 A CN 102926137A
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Abstract
The invention discloses a formation method for single-side suture line stitch of a three-dimensional composite material prefabricating component. According to the formation method, a line guiding mechanism, a line hooking mechanism and a line picking mechanism are precisely matched to move to obtain the single-side suture line stitch based on time. The formation method mainly comprises four steps: 1, forming a line ring; 2: returning the line ring by hooking; 3, locking the line ring; and 4, cycling operations, wherein suturing works in steps 1 to 3 are repeated, and a reciprocating cycling movement under design cycles is carried out, so that the single-side suture line stitch can be formed. The formation method for the single-side suture line stitch has the characteristics of being simple in technology, good in suturing effect, flexible in operation, and high in adaptability and the like; and a spinning three-dimensional composite material prefabricating component product in shape of complex suturing space is high in interlaminar fracture toughness, and high in fatigue strength.
Description
Technical field
The present invention relates to three-dimensional composite material prefabricated component manufacturing technology, be specially the formation method of the monolateral stitching stitching of a kind of three-dimensional composite material prefabricated component.
Background technology
The three-dimensional woven composite is a kind of composite of advanced configuration, it has overcome the in the past low fatal shortcoming of interlaminar strength of various structural composite materials, has good mechanical property, can be used to make the bearing carrier of various structures, be widely used at present the key areas such as Aeronautics and Astronautics, automobile, boats and ships.
In the processing and manufacture process of three-dimensional composite material preform product, mainly adopt the technology such as bonding, braiding.But adhesive technology can't guarantee every mechanical property of preform product under some specific condition, and the knitting skill aspect, small-sized preform product adopts manually-operated more at present, the processing cost of product is high, production efficiency is but very low, and for the large scale structure preform product of some space three-dimensional shapes, because the clever active deficiency of complex process and 3 D weaving causes only adopting braid method to be difficult to especially realize.Therefore, under the prerequisite that guarantees three-dimensional composite material properties advantage, shorten into the product cycle, improve into product efficient, be lowered into the product cost, realize preform product processing and the automation of making, just become problem demanding prompt solution.
Adopt suturing skill to address the above problem, it can improve the performances such as the interlayer faults toughness of preform product and fatigue strength, suturing skill is combined with knitting skill, processing and the manufacturing of large scale prefabricated product that can the implementation space complicated shape, make it have preferably bonding strength, simultaneously can substitute bonding and riveting technology, be applied in the composite material manufacturing process of some special dimension.
Stitching is the important technology that three-dimensional composite material is made.The advanced light airplane body structure made plan (ALAFS plan) of the advanced composite material technical research plan of NASA (ACT plan) and USAF is all carried out primary study to stitching/RTM and stitching/RFI technology as a key technology.China has also given the attention of height in the research of composite suturing skill and application facet, Tenth Five-Year Plan Period just will be sewed up with the technology of fabric preform/RTM(RFI) as main research, Eleventh Five-Year Development Plan planning is pointed out: promote the use of stitch bonded fabrics, encourage the process equipment that the exploitation automaticity is high, processing performance is good.
Close for the composite interlayer seam on the two dimensional surface, carry out two-sided stitching at the general industry Sewing machines and can realize.But the 3 D stereo preform product for complex geometry, the complex large-sized profiled piece once can not weaved out of three-dimension integrally braiding technique particularly, need to be along the space three-dimensional suture with the profiled piece formation prefabricated component that unites by a seam, in process, owing to being subject to sewing up the restriction of angle and equipment flexibility, adopt traditional sewing method to be difficult to realize.Therefore design a kind of formation method of monolateral stitching stitching, become three-dimensional woven composite suturing skill to an urgent demand of automation, high efficiency development.
Summary of the invention
In the process of the special-shaped prefabricated component sew application of composite, flexibility is restricted for present traditional sewing method, particularly is difficult to finish the problem of the large-sized structural parts sew application of complex space shape.The technical problem that quasi-solution of the present invention is determined is that the formation method of the monolateral stitching stitching of a kind of three-dimensional composite material prefabricated component is provided.It is simple that this formation method has technique, and sewing effect is good, flexible operation, and the characteristics such as strong adaptability in order to match with monolateral robotic suturing device, can be sewed up the weaving three-dimensional composite material preform product of complex space shape smoothly.
The technical scheme that the present invention solve the technical problem is: the formation method that proposes the monolateral stitching stitching of a kind of three-dimensional composite material prefabricated component, this formation method is utilized lead wires mechanism, hook line mechanism and thread take-up mechanism three to have in time accurate motion matching relationship and is finished monolateral stitching stitching, mainly is divided into 4 steps:
In the 1st step, form wire loop; Design makes is with sutural lead wires mechanism suture introducing needle to return after becoming 45 degree directions to pass the sewing upper surface with the sewing upper surface, moving to suture introducing needle stroke lowest point; In suture introducing needle backhaul process, because the active force between suture introducing needle and sewing causes the suture motion to be obstructed, and forms wire loop gradually, suture amount required in this process cooperates conveying by thread take-up mechanism;
The 2nd step, the uncinate gyrus wire loop; Design makes the hook line pin of hook line mechanism move along the direction vertical with sewing, and the time that causes it to move to hook line needle stroke lowest point lagged behind to some extent with respect to the time that suture introducing needle moves to lowest point, when the wire loop that forms on the suture introducing needle reaches perfect condition, hook line pin hooks wire loop from the sewing lower surface, and suture is taken out of the upper surface of sewing by the drawback movement of hook line pin;
In the 3rd step, pin wire loop; When hook line pinhock is lived wire loop when getting back to again the upper surface of sewing, new wire loop can pass the last wire loop that forms, two wire loops are presented interlock mutually the knot state, finish an operation of sewing up the cycle, in this process, the thread take-up tension lever in the thread take-up mechanism is strained described wire loop by the take-up action;
The 4th step, periodic duty; Repeat the stitching work in described 1-3 step, the reciprocation cycle motion through the design quantity cycle finally forms monolateral stitching stitching of the present invention.
Compare with traditional bind, the monolateral stitching stitching of the present invention formation method matches with monolateral robotic suturing device, only need sewing is fixed, two suture needles are only sewed up in the single side surface of workpiece, the sewing opposite side is without any need for the stapling unit compounding practice, the size and shape of workpiece is unrestricted, and it is simple to have technique, sewing effect is good, flexible operation, the characteristics such as strong adaptability, the weaving three-dimensional composite material preform product of the complex space shape of sewing up has the performances such as stronger interlayer faults toughness and fatigue strength.
Description of drawings
Fig. 1 is the schematic diagram of mechanism of the employed monolateral robotic suturing device of formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention;
Fig. 2 is that the stitching of the formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention forms principle schematic; Wherein,
Fig. 2 (a) passes sewing 6 for suture introducing needle 21 band lines, and forms the process schematic diagram of wire loop;
Fig. 2 (b) is that hook line pin 11 is with the process schematic diagram of wire loop uncinate gyrus sewing 6 upper surfaces;
The wire loop that Fig. 2 (c) passes a period-producer for hook line pin 11 makes it interlock mutually the process schematic diagram of knot;
Fig. 3 is lead wires mechanism in the formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention, hook line mechanism and thread take-up mechanism three motion matching relationship schematic diagram in time;
Fig. 4 is in the formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention, the schematic diagram of crank angle and shank displacement universal relation; Wherein,
Fig. 4 (a) is the schematic diagram of hook line mechanism crank angle and shank displacement universal relation;
Fig. 4 (b) is the schematic diagram of lead wires mechanism crank angle and shank displacement universal relation;
Fig. 5 is that the single line chain type of a kind of embodiment of formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention is sewed up stitching photo figure.
The specific embodiment
Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof.
The formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component of the present invention's design (is called for short formation method or sewing method, referring to Fig. 1-5) (" two pins, one line " principle is corresponding with traditional bind " pin one line " formula stitching principle to be based on " two pins, one line " stitching principle, it refers to that the method needs two suture needles and a suture to realize sewing operation) design, by lead-in wire, hook line and the thread take-up mechanism three perfect cooperation of monolateral robotic suturing device, finish the monolateral sew application of three-dimensional composite material prefabricated component.The present invention forms the hook line pin 11 of method and the upper surface that suture introducing needle 21 all is positioned at sewing 6 or workpiece, scoops out the stapling unit that cooperates without any with upper surface below sewing 6, only needs to leave certain operating space to suture needle below sewing 6.Rely on the lead-in wire of two suture needles (hook line pin 11 and suture introducing needle 21) and hook line to move ingenious cooperation, can realize needed monolateral stitching stitching.In the forming process of monolateral stitching stitching, hook line pin 11 and suture introducing needle 21 all will move reciprocatingly along the axial direction of shank, suture introducing needle 21 plays the effect of suture being drawn sewing 6 and forming wire loop, and 11 on hook line pin plays the effect with wire loop uncinate gyrus sewing 6 upper surfaces.Meanwhile, thread take-up tension lever 31 cooperates line sendings, and the suture that will form on the stitching tightens up, and finishes the one-period of stitching, moves in circles according to this and can finish smoothly monolateral stitching task.
Formation method of the present invention (referring to Fig. 1,2) mainly is divided into 4 steps:
In the 1st step, form wire loop; Design makes is with sutural suture introducing needle 21 to return after becoming 45 degree directions to pass sewing 6 upper surfaces with sewing 6 upper surfaces, moving to suture introducing needle 21 stroke lowest points; In suture introducing needle 21 backhaul processes, because the active force of 6 of suture introducing needle 21 and sewings causes the suture motion to be obstructed, and form wire loop gradually, requiredly in this process cooperate conveyings with the line amount by thread take-up mechanism 3;
The 2nd step, the uncinate gyrus wire loop; Design makes hook line pin 11 move along the direction vertical with sewing 6, and the time that causes it to move to hook line pin 11 stroke lowest points lagged behind to some extent with respect to the time that suture introducing needle 21 moves to lowest point, when the wire loop that forms on the suture introducing needle 21 reaches perfect condition, hook line pin 11 hooks wire loop from sewing 6 lower surfaces, suture is taken out of the upper surface of sewing 6 by the drawback movement of hook line pin 11;
In the 3rd step, pin wire loop; When hook line pin 11 hooks wire loop and gets back to again the upper surface of sewing 6, new wire loop can pass the last wire loop that forms, two wire loops are presented interlock mutually the knot state, finish an operation of sewing up the cycle, in this process, the thread take-up tension lever 31 in the thread take-up mechanism 3 is strained described wire loop by the take-up action;
The 4th step, periodic duty; Repeat the stitching work in described 1-3 step, the reciprocation cycle motion through the design quantity cycle finally forms monolateral stitching stitching of the present invention.
The present invention forms the desirable formation of sewing up stitching of method, and its precondition is in time accurate motion matching relationship of lead wires mechanism 2, hook line mechanism 1 and thread take-up mechanism 3 threes.Therefore the present invention is directed to that each mechanism action matching relationship has in time carried out detailed design and planning in the monolateral robotic suturing device, utilize the universal relation of method of geometry analysis institution corner and shank displacement, derive the phase difference calculating formula between the crank angle, provide theoretical foundation for forming the desirable stitching stitching of expection.
Form continuous stitching stitching (referring to Fig. 2,5), key issue is that hook line pin 11, suture introducing needle 21 and thread take-up tension lever 31 threes' motion cooperates.If the design objective of robotic suturing device suturing ability be 100 pins/minute, the work period of whole robot sewing system is T=0.6s, sewing needle is spaced apart Δ S=10mm apart from design, and the translational speed of industrial robot is v=0.1m/s, then the work period T of robotic suturing device and technique
1For
As requested, cook up in monolateral robotic suturing device and the method each mechanism at a work period T
1Motion state among the=0.5s (referring to Fig. 3), longitudinal axis outgoing mechanism make progress backhaul and process motion downwards, transverse axis represents the working time.Original state (being the t=0 moment), suture introducing needle 21 is done the process motion downwards from top dead centre (being a point position on the longitudinal axis) beginning, and hook line pin 11 is in the motion state of the last backhaul that makes progress of one-period at this moment.According to the planning and designing requirement, at t=T1/2 constantly, lead wires mechanism 1 drops to lowest point and bottom out or backhaul through the motion of half period.T=t1 constantly, suture introducing needle 21 forms the wire loop of perfect condition in the rise process, and hook line pin 11 is when continuing to go up to top dead centre, and the wire loop of formation on the suture introducing needle 21 is hooked.This moment, thread take-up mechanism 3 moved to top dead centre, and its line sending amount reaches maximum.If Δ t is lead wires mechanism 2 and the phase difference of hook line mechanism 1 in doing drawback movement, Δ t value can utilize the relation between mechanism displacement and the crank angle to try to achieve (referring to Fig. 3).
The mechanism design (referring to Fig. 4) that hook line mechanism 1 in the monolateral robotic suturing device (separate case is applied for simultaneously) of supporting design and lead wires mechanism 2 have adopted crank block type, because hook line pin 11(suture introducing needle 21) does straight reciprocating motion, displacement of each point is identical on it, analyze for convenient, with connecting rod AB and hook line pin 11(suture introducing needle 21) the B point position that is connected represents hook line pin 11(suture introducing needle 21) displacement.Initial plan according to the action matching relationship, in the Δ t time period shown in Fig. 3, suture introducing needle 21 is when forming wire loop and doing drawback movement, hook line pin 11 is in downward process status, so the displacement process of suture introducing needle 21 and hook line pin 11 can be divided into two stages: namely hook line pin 11 begins to move downward the stage and suture introducing needle 21 begins the stage of moving upward from lower dead center (being b point position on the longitudinal axis) from top dead centre.Crank length OA=R among Fig. 4, L are length of connecting rod, and Ψ and Ψ ＇ are the angles of connecting rod and shank displacement axis, θ
BAnd θ
HThe corner (being initiated with 0) of expression crank, B ＇ and B " the high-low limit position of expression needle bar stroke.S
BAnd S
HThe displacement of expression shank.In Fig. 4 (a), when hook line pin 11 begins to move downward from top dead centre, by geometrical relationship, try to achieve the displacement formula (2) that hook line pin 11 begins to move downward from top dead centre:
When supposing that formed wire loop state is ideal, the displacement that suture introducing needle 21 gos up from lower dead center is SH, can get thus suture introducing needle 21 and begin to move upward and form the wire loop state when ideal from lower dead center, the displacement of suture introducing needle 21 and the relational expression between the crank angle (3) are as follows:
At the displacement one of suture introducing needle 21 and hook line pin 11 regularly, determine hook line position crank angle θ B and θ H constantly, can obtain two mechanism crank angles phase difference (being the Δ t among Fig. 3) in time and be:
Form the matching used monolateral robotic suturing device of method (referring to Fig. 1) chief component with the present invention and comprise hook line mechanism 1, lead wires mechanism 2 and thread take-up mechanism 3, the three relies on gear drive 4 and synchronous belt drive mechanism 5 to realize transmission.Because in the process of sewing up stitching, main dependence lead wires mechanism 2 cooperatively interacts with hook line mechanism 1, when the first assemblage and adjustment of equipment, can determine relation between the crank corner of the crank of lead wires mechanism 2 and thread take-up mechanism 1 according to above-mentioned steps, thereby realize the duty of expection, and obtain desirable stitching stitching.
The present invention does not address part and is applicable to prior art.
The below provides the specific embodiment that robotic suturing device of the present invention is used.But embodiment does not limit claim protection domain of the present invention.The specific implementation process of the braided fabric composite material prefabricated component sew application of a typical Application Example of stitching formation method of the present invention is as follows:
Experimental condition: suture way: single line chain type is sewed up; Sewing needle distance: 5-10mm (thickness by material is decided, and sewing up needle gage in the present embodiment is 10mm).Type of suture: carbon fiber line or Kevlar (aramid fiber) line.The lap of splice: the 40-80mm(specific embodiment is 60mm).Stitching speed: 100-200 pin/minute (specific embodiment be 100 pins/minute).Suture direction: suture introducing needle 21 and hook line pin 11 are respectively the suture direction motion of 45 ° and 90 ° angles with sewing 6.
Specific implementation method is: suture introducing needle 21 is done in the rise motion process, when the distance between its lower dead center and the needle point is 15mm, the wire loop state that forms is ideal, this moment, the suture introducing needle crank angle was θ H=55 °, simultaneously, planned according to the mechanism action on the time coordination, when suture introducing needle 11 gos up to form desirable wire loop, hook line pin 11 just moves to bottom dead center position, and bottom out, and namely hook line pin crank angle is θ B=180 °.Can determine that thus suture introducing needle 21 and the phase difference of hook line pin 11 both crank angles are 55 °, i.e. Δ t=0.7s.
Adopt said method and experimental condition, can obtain the monolateral stitching stitching (referring to Fig. 5) of three-dimensional composite material.From Fig. 5, can clearly observe the formation state of continuous stitching stitching (single line chain type stitching stitching).
Claims (3)
1. the formation method of the monolateral stitching stitching of three-dimensional composite material prefabricated component, this formation method is utilized lead wires mechanism, hook line mechanism and thread take-up mechanism three to have in time accurate motion matching relationship and is finished monolateral stitching stitching, mainly is divided into 4 steps:
In the 1st step, form wire loop; Design makes is with sutural lead wires mechanism suture introducing needle to return after becoming 45 degree directions to pass the sewing upper surface with the sewing upper surface, moving to suture introducing needle stroke lowest point; In suture introducing needle backhaul process, because the active force between suture introducing needle and sewing causes the suture motion to be obstructed, and forms wire loop gradually, suture amount required in this process cooperates conveying by thread take-up mechanism;
The 2nd step, the uncinate gyrus wire loop; Design makes the hook line pin of hook line mechanism move along the direction vertical with sewing, and the time that causes it to move to hook line needle stroke lowest point lagged behind to some extent with respect to the time that suture introducing needle moves to lowest point, when the wire loop that forms on the suture introducing needle reaches perfect condition, hook line pin hooks wire loop from the sewing lower surface, and suture is taken out of the upper surface of sewing by the drawback movement of hook line pin;
In the 3rd step, pin wire loop; When hook line pinhock is lived wire loop when getting back to again the upper surface of sewing, new wire loop can pass the last wire loop that forms, two wire loops are presented interlock mutually the knot state, finish an operation of sewing up the cycle, in this process, the thread take-up tension lever in the thread take-up mechanism is strained described wire loop by the take-up action;
The 4th step, periodic duty; Repeat the stitching work in described 1-3 step, the reciprocation cycle motion through the design quantity cycle finally forms monolateral stitching stitching of the present invention.
2. the formation method of the monolateral stitching stitching of described three-dimensional composite material prefabricated component according to claim 1, it is characterized in that described suture introducing needle does in the rise motion process, distance between its lower dead center and the needle point is 15mm, and the phase difference of described suture introducing needle and hook line pin crank angle is 55 °.
3. the formation method of the monolateral stitching stitching of described three-dimensional composite material prefabricated component according to claim 1 is characterized in that suture way is that single line chain type is sewed up; Sewing needle is apart from 5-10mm; Suture is carbon fiber line or aramid fiber line; Lap of splice 40-80mm; Stitching speed 100-200 pin/minute; Suture direction is suture introducing needle and hook line pin are respectively 45 ° and 90 ° angles with sewing direction stitching motion.
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Cited By (6)
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| CN106012235A (en) * | 2016-06-13 | 2016-10-12 | 江苏伯龙宇航新材料科技有限公司 | Sewing and weaving method and structure of capping fabric |
| CN107012595A (en) * | 2017-05-17 | 2017-08-04 | 武汉理工大学 | Composite Patches two-wire stitching devices |
| CN108425189A (en) * | 2017-02-13 | 2018-08-21 | 空中客车运营简化股份公司 | For suturing the method and system that function flexibility element is fastened to flexible strutting piece by zigzag |
| CN109311340A (en) * | 2016-07-21 | 2019-02-05 | 麦克诺技术股份有限公司 | There is no the suture of the bookblock of stowing line |
| CN110241528A (en) * | 2019-07-03 | 2019-09-17 | 天津工业大学 | A kind of unilateral stitching devices thread-laying mechanism of carbon fiber precast body |
| CN110241528B (en) * | 2019-07-03 | 2024-05-24 | 天津工业大学 | Wire pulling mechanism of carbon fiber preform unilateral stitching device |
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| CN108425189A (en) * | 2017-02-13 | 2018-08-21 | 空中客车运营简化股份公司 | For suturing the method and system that function flexibility element is fastened to flexible strutting piece by zigzag |
| CN107012595A (en) * | 2017-05-17 | 2017-08-04 | 武汉理工大学 | Composite Patches two-wire stitching devices |
| CN107012595B (en) * | 2017-05-17 | 2019-10-25 | 武汉理工大学 | Composite Patches two-wire stitching devices |
| CN110241528A (en) * | 2019-07-03 | 2019-09-17 | 天津工业大学 | A kind of unilateral stitching devices thread-laying mechanism of carbon fiber precast body |
| CN110241528B (en) * | 2019-07-03 | 2024-05-24 | 天津工业大学 | Wire pulling mechanism of carbon fiber preform unilateral stitching device |
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