CN108103671A - A kind of robot acupuncture apparatus based on servo pin tartar's unit - Google Patents
A kind of robot acupuncture apparatus based on servo pin tartar's unit Download PDFInfo
- Publication number
- CN108103671A CN108103671A CN201810120214.0A CN201810120214A CN108103671A CN 108103671 A CN108103671 A CN 108103671A CN 201810120214 A CN201810120214 A CN 201810120214A CN 108103671 A CN108103671 A CN 108103671A
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- Prior art keywords
- tartar
- pin
- robot
- plate
- servomotor
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- 208000006558 Dental Calculus Diseases 0.000 title claims abstract description 38
- 238000001467 acupuncture Methods 0.000 title claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000007493 shaping process Methods 0.000 abstract description 9
- 239000004744 fabric Substances 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000047 product Substances 0.000 description 3
- 241000233855 Orchidaceae Species 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04H—MAKING TEXTILE FABRICS, e.g. FROM FIBRES OR FILAMENTARY MATERIAL; FABRICS MADE BY SUCH PROCESSES OR APPARATUS, e.g. FELTS, NON-WOVEN FABRICS; COTTON-WOOL; WADDING ; NON-WOVEN FABRICS FROM STAPLE FIBRES, FILAMENTS OR YARNS, BONDED WITH AT LEAST ONE WEB-LIKE MATERIAL DURING THEIR CONSOLIDATION
- D04H18/00—Needling machines
- D04H18/02—Needling machines with needles
Abstract
The invention discloses a kind of robot acupuncture apparatus based on servo pin tartar's unit, including six-DOF robot, core and the workbench in robot working range；The worktable upper surface is equipped with the output axis connection of core, core and servomotor；It is characterized in that the equipment further includes servo pin tartar's unit block；Servo pin tartar's unit block is connected with robot.The equipment can realize the pin thorn shaping of complex space curved surfaces precast body；Acupuncture speed is controllable, and depth of needling can be adjusted dynamically in real time；Pressure between stripping web plate and fabric is detected using pressure sensor, it can be achieved that the intelligence of distance accurately controls between stripping web plate and fabric；Device structure is simple, easy to maintain, easy to operate, flexible and efficient.
Description
Technical field
The present invention relates to composite material solid prefabricated component manufacturing equipments, are specially a kind of machine based on servo pin tartar's unit
Device people's acupuncture apparatus.
Background technology
D refraction statics forming technique is divided into the shaping of flat preform pin thorn and the thorn shaping of complex component (abnormal shape) prefabricated component pin.
Flat preform pin thorn molding research is relatively broad, and such as Pierre Olry (U.S.Patent 4790052), to develop tablet pre-
Product pin pierces forming technique, which can realize the uniform pin thorn shaping of prefabricated component；(the U.S.Patent such as Olry P
6009605) a kind of circular needing machine has been invented, which prepares the prefabricated of composite material brake disc using helix-deformed bring
Part；A kind of annular preforms preparation machine is developed by Delecroix V etc. (U.S.Patent 7251871), and the machine is directly sharp
Annular preforms are prepared with business yarn, saving prepares the intermediate link of hurricane band, so as to reduce manufacturing cost.More than
Needling technique belong to plane pin thorn forming technique, be suitble to prepare the relatively simple prefabricated component of shape, it is high thick or different preparing
During shape structure prefabricated component, above-mentioned needling technique just shows its limitation.
Forming technique is pierced for special-shaped prefabricated component pin, Olry P (U.S.Patent 4621662) have invented " Novoltex "
Pin pierces forming technique, which prepares the prefabricated component of axial symmetry non-cylindrical shape using needling fiber band, it is especially useful in manufacture hair
The reinforcement of motivation jet pipe tail cone composite material.Patent CN107059252A disclose a kind of variable diameters revolving body fabric pin thorn into
Type equipment, for pushing up, prepared by reducing precast body that bottom is not closed.CN202898738U discloses a kind of abnormal numerical control needle machine,
It is prepared for the prefabricated body acupuncture thorn shaping of binding of specific product shape.However, above-mentioned special-shaped prefabricated component pin thorn forming technique is used to make
There are limitations during standby complexity multi-curvature curve form prefabricated component.For the problem, patent CN105755680A discloses one kind
Robot acupuncture apparatus is prepared for complicated multi-curvature curve form prefabricated component, although the equipment can realize complex space curved surfaces
The pin thorn shaping of prefabricated component, however the equipment is pierced using pneumatic pin, acupuncture speed is slower, and efficiency can not be effectively ensured；Separately
Outside, since cylinder stroke is fixed, depth of needling can not be dynamically converted in real time to realize the thorn shaping of gradient pin；Finally, the equipment
Stripping web plate do not possess pressure feedback function, the distance between stripping web plate and fabric are difficult to accurately control.
The content of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of single based on servo pin tartar
The robot acupuncture apparatus of member.The equipment can realize the pin thorn shaping of complex space curved surfaces prefabricated component, and device structure is simple, can be real
Now high speed pin thorn, depth of needling dynamically adjust, shell the adjustment of distance between web plate and fabric in real time.
The technical solution that the present invention solves the technical problem is to provide a kind of robot based on servo pin tartar's unit
Acupuncture apparatus, including six-DOF robot, core and the workbench in six-DOF robot working range；The work
Make the output axis connection that platform upper surface is equipped with core, core and servomotor；It is characterized in that the equipment further includes servo
Pin tartar's unit block；Servo pin tartar's unit block is connected with six-DOF robot；
The servo pin tartar unit block includes connecting flange, servomotor, servomotor installing plate, shaft coupling, pin
Plate installing plate, needle plate, pricker, stripping web plate, bottom plate, preceding end bearing block, line slideway, guide rail slide block, feed screw nut, two pressure
Sensor installing plate, two pressure sensors, rear axle bearing and leading screw；
The servo pin tartar unit block is threadedly coupled by connecting flange with six-DOF robot；The connection method
Orchid is connected with base thread；The servomotor installing plate, preceding end bearing block, line slideway, rear axle bearing respectively with bottom
Plate is threadedly coupled；The servomotor is connected through a screw thread the one side for being installed on servomotor installing plate；The leading screw two
End bearing block and rear axle bearing before end is respectively arranged in by hole axle cooperation；The servomotor and leading screw passes through shaft coupling
Connection；The guide rail slide block is mounted on line slideway；The feed screw nut is connected through a screw thread on guide rail slide block；
The needle plate installing plate is connected through a screw thread on feed screw nut；The needle plate is connected through a screw thread mounted on needle plate
On installing plate；The pricker is fitted to by hole axle on needle plate；The pressure sensor installing plate and base thread
Connection；The pressure sensor is connected through a screw thread on pressure sensor installing plate；The stripping web plate passes through spiral shell
Line connection is mounted on pressure sensor.
Compared with prior art, advantageous effect of the present invention is：
1. the executive component pierced using servomotor as pin, acupuncture speed is controllable, it can be achieved that high speed pin pierces, and raising pin pierces
Efficiency, and depth of needling can be adjusted dynamically in real time, to realize the thorn shaping of gradient pin；
2. the present invention is using the pressure between pressure sensor detection stripping web plate and fabric, it can be achieved that between stripping web plate and fabric
The intelligence of distance accurately controls.
Description of the drawings
Fig. 1 is that the present invention is based on a kind of explosions of the overall structure of embodiment of robot acupuncture apparatus of servo pin tartar's unit
Figure；
Fig. 2 and Fig. 3 is that the present invention is based on a kind of servo pins of embodiment of robot acupuncture apparatus of servo pin tartar's unit
The structure diagram of tartar's component；
Fig. 4 is that the present invention is based on a kind of structures of the workbench of embodiment of the robot acupuncture apparatus of servo pin tartar's unit
Schematic diagram；
Fig. 5 is that the present invention is based on the signals of the preform structure of the robot acupuncture apparatus embodiment 1 of servo pin tartar's unit
Figure.(1, six-DOF robot in figure；2nd, servo pin tartar unit block；3rd, core；4th, workbench；2.1st, connecting flange；
2.2nd, servomotor；2.3rd, servomotor installing plate；2.4th, shaft coupling；2.5th, needle plate installing plate；2.6th, needle plate；2.7th, pricker；
2.8th, web plate is shelled；2.9th, bottom plate；2.10th, leading portion bearing block；2.11, line slideway；2.12, guide rail slide block；2.13rd, leading screw spiral shell
It is female；2.14th, pressure sensor installing plate；2.15, pressure sensor；2.16th, rear axle bearing；2.17, leading screw；2.18, pressure
Sensor；2.19th, pressure sensor installing plate；5th, bottom felt；6th, prefabricated component)
Specific embodiment
Clear, complete description will be carried out to the technical solution in the embodiment of the present invention below, it is clear that described implementation
Example is the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel all other embodiments obtained on the premise of creative work is not made belong to the model that the present invention protects
It encloses.
The present invention provides a kind of robot acupuncture apparatuses based on servo pin tartar's unit (referring to Fig. 1-4, referred to as to set
It is standby), including six-DOF robot (abbreviation robot) 1, servo pin tartar unit block 2, core 3 and positioned at 1 work of robot
Workbench 4 in the range of work；The robot 1 can reach space any direction and any position in its working range；Institute
Servo pin tartar unit block 2 is stated to be connected with robot 1；The servo pin tartar unit block 2 passes through six-DOF robot 1
Space any direction and any position in its working range can be reached；4 upper surface of workbench is equipped with can be horizontal
The core 3 of rotation, the output axis connection of core 3 and servomotor, power are provided by servomotor；
The robot 1 and servomotor are existing commercial product；The servo pin tartar unit block 2 includes connection method
Orchid 2.1, servomotor 2.2, servomotor installing plate 2.3, shaft coupling 2.4, needle plate installing plate 2.5, needle plate 2.6, pricker 2.7,
Shell web plate 2.8, bottom plate 2.9, preceding end bearing block 2.10, line slideway 2.11, guide rail slide block 2.12, feed screw nut 2.13, two
Pressure sensor installing plate 2.14 and 2.19, two pressure sensors 2.15 and 2.18, rear axle bearing 2.16 and leading screws 2.17；
The servo pin tartar unit block 2 is threadedly coupled by connecting flange 2.1 with six-DOF robot 1；It is described
Connecting flange 2.1 is threadedly coupled with bottom plate 2.9；The servomotor installing plate 2.3, preceding end bearing block 2.10, line slideway
2.11st, rear axle bearing 2.16 is threadedly coupled respectively with bottom plate 2.9；The servomotor 2.2, which is connected through a screw thread, to be installed on
The one side of servomotor installing plate 2.3；2.17 both ends of leading screw are respectively arranged in preceding end bearing block by hole axle cooperation
2.10 and rear axle bearing 2.16 on；The servomotor 2.2 and leading screw 2.17 is connected by shaft coupling 2.4；Described leads
Rail sliding block 2.12 is mounted on line slideway 2.11；The feed screw nut 2.13 is connected through a screw thread mounted on guide rail slide block 2.12
On；The needle plate installing plate 2.5 is connected through a screw thread on feed screw nut 2.13；The needle plate 2.6 passes through screw thread
Connection is mounted on needle plate installing plate 2.5；The pricker 2.7 is fitted to by hole axle on needle plate 2.6；The pressure
Sensor installing plate 2.14 and 2.19 is threadedly coupled respectively with bottom plate 2.9；The pressure sensor 2.15 and 2.18 leads to respectively
Threaded connection is crossed to be mounted on pressure sensor installing plate 2.14 and 2.19；The stripping web plate 2.8 is connected through a screw thread installation
On pressure sensor 2.15 and 2.18.
The model of the robot 1 is Kawasaki RS50N.
Servo pin tartar unit block 2 positioned at 1 mechanical arm tail end of six-DOF robot can be directed to any operative model
Position in enclosing is pierced into the hand-manipulating of needle；Servo pin tartar unit block 2, as power source, drives leading screw 2.17 using servomotor 2.2
Rotation, the rotation of leading screw 2.17 drive the forwardly and rearwardly linear reciprocating motion of feed screw nut 2.13, and feed screw nut 2.13 drives needle plate
2.6 linear reciprocating motion of installing plate 2.5 and needle plate, and then pricker 2.7 is driven to move back and forth and realizes pin and pierces.
The present invention operation principle and workflow be：Start, six-DOF robot 1 drive servo pin tartar's unit group
Part 2 reaches station, and being exported using servomotor 2.2 for servo pin tartar unit block 2 passes through shaft coupling using servomotor 2.2
Device 2.4 drives leading screw 2.17 to rotate, and then needle plate 2.6 and pricker 2.7 is promoted to travel forward, and pricker 2.7 is pierced into fabric prefabricated component,
2.2 rotating campaign of servomotor, and then pricker 2.7 is driven to move back and forth and realizes that pin pierces, after pin pierces, feed screw nut
2.13 retract initial point.Six-DOF robot 1 drives servo pin tartar unit block 2 to reach next station, continues pin thorn.
Embodiment 1
A kind of taper of top seal is weaved using the robot acupuncture apparatus based on servo pin tartar's unit to turn round
Prefabricated component (referring to Fig. 5).
Material：Chopped mat, density 100g/m2, thickness 0.8mm.
Specifically weaving implementation steps are：
(1) bottom felt 5 is covered on core 3.
(2) the layer overlay chopped mat on bottom felt 5.
(3) shuttle speed and pin pierced by programmable controller (PLC) programming and touch-screen (HMI) setting pin are pierced deep
Degree, sets depth of needling as 30mm here, and pin thorn reciprocating speed is 150mm/s.
(4) machine is started, the servo pin tartar unit block 2 of 1 arm end of robot is by 1 Sequence motion of robot to specifying
Initial position, the PLC program that servo pin tartar unit block 2 starts by setting pierces into the hand-manipulating of needle, 2.2 positive transmission of servomotor
Go out, leading screw 2.17 is driven to rotate, leading screw 2.17 drives 2.13 straight forward movement of feed screw nut, and feed screw nut 2.13 drives needle plate
Installing plate 2.5 and needle plate 2.6 travel forward, and needle plate 2.6 drives pricker 2.7 to travel forward and chopped strand is pierced into prefabricated component
30mm, then 2.2 return motion of servomotor, and then pricker 2.7 is driven to retract pin thorn initial point position, it completes a pin and pierced
Journey.Robot 1 drives servo pin tartar unit block 2 to move to next target darting station, PLC by the track planned in advance
Control system control core 3 completes predetermined angular feeding, to carry out the pin of next step thorn Xun Huan, so repeatedly, until completing whole
The individual layer pin thorn of a product.
(5) individual layer pin has pierced, and spreads one layer of new chopped mat, and circulation step (4) carries out next layer of pin and pierces, directly
Reach predetermined prefabricated component thickness.
The present invention does not address part and is suitable for the prior art.
Claims (1)
1. a kind of robot acupuncture apparatus based on servo pin tartar's unit, including six-DOF robot, core and positioned at six
Workbench in degree of freedom robot working range；The worktable upper surface is equipped with core, core and servomotor it is defeated
Go out axis connection；It is characterized in that the equipment further includes servo pin tartar's unit block；The servo pin tartar unit block with
Six-DOF robot connects；
The servo pin tartar unit block includes connecting flange, servomotor, servomotor installing plate, shaft coupling, needle plate peace
Loading board, needle plate, pricker, stripping web plate, bottom plate, preceding end bearing block, line slideway, guide rail slide block, feed screw nut, two pressure sensings
Device installing plate, two pressure sensors, rear axle bearing and leading screw；The servo pin tartar unit block by connecting flange with
Six-DOF robot is threadedly coupled；The connecting flange is connected with base thread；The servomotor installing plate, front end axis
Bearing, line slideway, rear axle bearing are connected respectively with base thread；The servomotor is connected through a screw thread to be installed on and watch
Take the one side of motor mounting plate；End bearing block and rear end bearing before the leading screw both ends are respectively arranged in by hole axle cooperation
Seat；The servomotor is connected with leading screw by shaft coupling；The guide rail slide block is mounted on line slideway；The leading screw
Nut is connected through a screw thread on guide rail slide block；The needle plate installing plate is connected through a screw thread mounted on feed screw nut
On；The needle plate is connected through a screw thread on needle plate installing plate；The pricker is fitted to needle plate by hole axle
On；The pressure sensor installing plate is connected with base thread；The pressure sensor is connected through a screw thread mounted on pressure
On force snesor installing plate；The stripping web plate is connected through a screw thread on pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810120214.0A CN108103671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot acupuncture apparatus based on servo pin tartar's unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810120214.0A CN108103671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot acupuncture apparatus based on servo pin tartar's unit |
Publications (1)
| Publication Number | Publication Date |
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| CN108103671A true CN108103671A (en) | 2018-06-01 |
Family
ID=62222011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810120214.0A Pending CN108103671A (en) | 2018-02-01 | 2018-02-01 | A kind of robot acupuncture apparatus based on servo pin tartar's unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN108103671A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108589056A (en) * | 2018-07-05 | 2018-09-28 | 天津工大航泰复合材料有限公司 | A kind of servo needle thorn rifle |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN109594204A (en) * | 2019-02-15 | 2019-04-09 | 常州柯勒玛智能装备有限公司 | A kind of non-woven fabrics needle machine |
| CN109881373A (en) * | 2019-02-25 | 2019-06-14 | 天津工业大学 | A kind of double end symmetrically turns round precast body flexible needle thorn Forming Equipments |
| CN111455568A (en) * | 2020-04-15 | 2020-07-28 | 长沙佳而特电子科技有限公司 | Linkage needling forming equipment for carbon fibers |
| CN114086324A (en) * | 2021-11-12 | 2022-02-25 | 上海大学 | Controllable electric needling forming device |
| CN114892347A (en) * | 2022-02-10 | 2022-08-12 | 北京玻钢院复合材料有限公司 | Needling equipment and method for special-shaped fabric |
| CN116219643A (en) * | 2023-02-03 | 2023-06-06 | 天津工业大学 | High-speed needling robot equipment, weaving method and high-speed needling end effector |
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| CN202898738U (en) * | 2012-09-12 | 2013-04-24 | 宝鸡赛威重型机床制造有限公司 | Special-shaped numerical control needle machine |
| CN204982289U (en) * | 2015-06-26 | 2016-01-20 | 天津工业大学 | Fashioned puncture of three -dimensional fabric of carbon fiber and compaction device |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
| CN105755679A (en) * | 2016-04-25 | 2016-07-13 | 天津工大航泰复合材料有限公司 | Portable pneumatic needle gun |
| CN106012311A (en) * | 2016-05-03 | 2016-10-12 | 天津工业大学 | Stereoscopic fabric clamping device containing Z-direction steel needle array |
| CN107059252A (en) * | 2017-03-30 | 2017-08-18 | 中材科技股份有限公司 | A kind of variable diameters revolving body fabric acupuncture former |
| CN208055589U (en) * | 2018-02-01 | 2018-11-06 | 天津工业大学 | A kind of robot acupuncture apparatus based on servo needle tartar's unit |
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2018
- 2018-02-01 CN CN201810120214.0A patent/CN108103671A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202898738U (en) * | 2012-09-12 | 2013-04-24 | 宝鸡赛威重型机床制造有限公司 | Special-shaped numerical control needle machine |
| CN204982289U (en) * | 2015-06-26 | 2016-01-20 | 天津工业大学 | Fashioned puncture of three -dimensional fabric of carbon fiber and compaction device |
| CN105755680A (en) * | 2016-04-25 | 2016-07-13 | 天津工业大学 | Robot needling device |
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| CN106012311A (en) * | 2016-05-03 | 2016-10-12 | 天津工业大学 | Stereoscopic fabric clamping device containing Z-direction steel needle array |
| CN107059252A (en) * | 2017-03-30 | 2017-08-18 | 中材科技股份有限公司 | A kind of variable diameters revolving body fabric acupuncture former |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108589056A (en) * | 2018-07-05 | 2018-09-28 | 天津工大航泰复合材料有限公司 | A kind of servo needle thorn rifle |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN109594204A (en) * | 2019-02-15 | 2019-04-09 | 常州柯勒玛智能装备有限公司 | A kind of non-woven fabrics needle machine |
| CN109881373A (en) * | 2019-02-25 | 2019-06-14 | 天津工业大学 | A kind of double end symmetrically turns round precast body flexible needle thorn Forming Equipments |
| CN111455568A (en) * | 2020-04-15 | 2020-07-28 | 长沙佳而特电子科技有限公司 | Linkage needling forming equipment for carbon fibers |
| CN114086324A (en) * | 2021-11-12 | 2022-02-25 | 上海大学 | Controllable electric needling forming device |
| CN114086324B (en) * | 2021-11-12 | 2022-12-02 | 上海大学 | Controllable electric needling forming device |
| CN114892347A (en) * | 2022-02-10 | 2022-08-12 | 北京玻钢院复合材料有限公司 | Needling equipment and method for special-shaped fabric |
| CN116219643A (en) * | 2023-02-03 | 2023-06-06 | 天津工业大学 | High-speed needling robot equipment, weaving method and high-speed needling end effector |
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Application publication date: 20180601 |
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