CN113618954A - I fiber implantation device and I fiber implantation equipment - Google Patents
I fiber implantation device and I fiber implantation equipment Download PDFInfo
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- CN113618954A CN113618954A CN202110814005.8A CN202110814005A CN113618954A CN 113618954 A CN113618954 A CN 113618954A CN 202110814005 A CN202110814005 A CN 202110814005A CN 113618954 A CN113618954 A CN 113618954A
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- needle tube
- yarn
- fiber
- implantation
- mounting plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B11/00—Making preforms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/66—Disintegrating fibre-containing textile articles to obtain fibres for re-use
Abstract
The invention discloses an I fiber implantation device and I fiber implantation equipment. The I fiber implanting device comprises a wire clamp, a wire pressing cylinder mounting plate, a wire pressing cylinder, a pneumatic scissors feeding cylinder, pneumatic scissors, a pneumatic scissors mounting plate, a needle tube seat, an implanting needle tube, a needle tube seat mounting plate, a threading needle tube, a pneumatic scissors feeding cylinder mounting plate, a guide mechanism, a needle tube seat supporting plate, a main supporting plate, a yarn storage device, a wire feeding cylinder and a yarn storage device connecting plate. The I fiber implantation equipment comprises an implantation platform, an I fiber implantation device, a robot and a robot base; the robot is arranged on a horizontal plane through a robot base; the I fiber implantation device is fixedly connected with the tail end of a mechanical arm of the robot; the implantation platform is arranged on a horizontal plane and used for installing a prefabricated body to be implanted. The device realizes the automatic implantation of the I fiber, makes up the blank in the field, simultaneously satisfies the I fiber implantation of a complex curved surface component, and has the advantages of simple structure, convenient maintenance, simple operation, flexibility and high efficiency.
Description
Technical Field
The invention relates to a fiber implantation technology in the thickness direction of a composite material preform, in particular to an I fiber implantation device and I fiber implantation equipment.
Background
The stitching technology can effectively improve the interlaminar performance of the prefabricated body and the composite material thereof, and is a hot spot of domestic and foreign research. The prefabricated body sewing mainly comprises locking type sewing, chain type sewing, improved locking type sewing and tufting sewing, the existing sewing process is relatively serious in fiber bending, high-rigidity and fragile high-performance fibers such as carbon fibers, silicon carbide, silicon nitride, aluminum oxide and the like are difficult to sew, and the existing sewing equipment is complex in structure, high in cost and relatively difficult to maintain.
The document Process Variables of I-fiber Stitching in Mode I Failure proposes a novel sewing technology, namely I fiber sewing technology (I fiber is continuous fiber penetrating through the whole thickness of a fabric and is similar to a letter I, so the I fiber is named), yarns are implanted into the thickness direction of a prepreg or a dry fiber preform through a hollow needle tube and compressed air to play a role in enhancing the performance of the thickness direction, the interlayer performance of the preform can be effectively improved by implanting the I fiber, and the preform implanted through the I fiber is called as an I fiber sewing preform and is a semi-finished product required by subsequent compounding. Since the yarns are not subjected to bending action in the process of sewing the I fibers, high-performance fibers with high rigidity and brittleness can be adopted. At present, there are few reports about the I-fiber implantation device, and the document "Process Variables of I-fiber Stitching in Mode I Failure" mentions the hand-held I-fiber implantation device and I-fiber implantation device suitable for small flat plate, but the detailed technical details of the device are not disclosed, and the existing I-fiber implantation device cannot satisfy the I-fiber implantation of the complex curved surface member.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to solve the technical problem of providing an I-fiber implantation device and I-fiber implantation equipment.
The technical scheme for solving the technical problem of the I fiber implanting device is that the I fiber implanting device is provided, and the I fiber implanting device is characterized by comprising a wire clamp, a wire pressing cylinder mounting plate, a wire pressing cylinder, a pneumatic scissors feeding cylinder, pneumatic scissors, a pneumatic scissors mounting plate, a needle tube seat, an implanting needle tube, a needle tube seat mounting plate, a threading needle tube, a pneumatic scissors feeding cylinder mounting plate, a guide mechanism, a needle tube seat supporting plate, a main supporting plate, a yarn storage device, a wire feeding cylinder and a yarn storage device connecting plate;
the cylinder body of the wire feeding cylinder is fixed on the main supporting plate, and the piston rod is fixedly connected with the wire pressing cylinder mounting plate; the cylinder body of the line pressing cylinder is fixed on the line pressing cylinder mounting plate, the piston rod is matched with the line pressing cylinder mounting plate, and the yarn is clamped between the piston rod and the line pressing cylinder mounting plate, so that the yarn is conveyed forwards under the driving of the piston rod of the line feeding cylinder; the yarn clamping device is arranged on the main supporting plate, is positioned behind the yarn feeding cylinder according to the yarn conveying direction and is used for clamping and guiding yarns;
the pneumatic scissors feeding cylinder mounting plate is fixed on the main supporting plate; the cylinder body of the pneumatic scissors feeding cylinder is fixed on the pneumatic scissors feeding cylinder mounting plate, and the piston rod is fixedly connected with the pneumatic scissors mounting plate; the pneumatic scissors are fixed on the pneumatic scissors mounting plate;
the needle tube seat mounting plate is fixedly connected with the main support plate; the needle tube seat is fixed on the needle tube seat mounting plate, the implanting end of the needle tube seat is fixedly provided with an implanting needle tube, and the threading end of the needle tube seat is fixedly provided with a threading needle tube; the guide mechanism is arranged on the needle tube seat mounting plate or the main support plate, is positioned between the needle tube seat and the thread pressing cylinder according to the conveying direction of the yarn, and is used for guiding the yarn so that the yarn horizontally enters the threading needle tube;
the yarn storage device connecting plate is fixed on the main supporting plate; yarn storage ware rotatable installation is on storing up yarn ware connecting plate, stores up yarn ware and is used for twining the yarn and stores.
The technical scheme for solving the technical problem of the equipment is to provide I fiber implantation equipment, which is characterized by comprising an implantation platform, an I fiber implantation device, a robot and a robot base; the robot is arranged on a horizontal plane through a robot base; the I fiber implantation device is fixedly connected with the tail end of a mechanical arm of the robot; the implantation platform is arranged on a horizontal plane and used for installing a prefabricated body to be implanted.
Compared with the prior art, the invention has the beneficial effects that:
(1) the device realizes the automatic implantation of the I fiber, makes up the blank in the field, simultaneously satisfies the I fiber implantation of a complex curved surface component, and has the advantages of simple structure, convenient maintenance, simple operation, flexibility and high efficiency.
(2) The device adopts a pneumatic structure, and has the advantages of short response time, high interchangeability, less non-standard parts and low cost.
(3) The equipment adopts a multi-joint robot to drive the I fiber implantation device to reach any direction and position in space, can realize the I fiber implantation of the prefabricated part with the curved surface in the complex space, and has stronger adaptability.
(4) The yarns are not subjected to bending action in the process of sewing the preform by adopting the invention, so that high-rigidity and fragile high-performance fibers can be adopted for sewing, and the interlayer reinforcement of the high-thickness preform can be realized.
Drawings
FIG. 1 is a perspective view of the overall structure of an apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an I-fiber implant device according to one embodiment of the present invention;
FIG. 3 is a schematic view of another angular perspective of an I-fiber implant device according to one embodiment of the present invention;
FIG. 4 is a schematic front view of an I-fiber implant device according to one embodiment of the present invention;
FIG. 5 is an exploded view of the yarn storage device according to one embodiment of the present invention;
figure 6 is a left side view of an implant platform according to one embodiment of the present invention.
In the figure, 1, an implantation platform; 2. i a fibrous implant device; 3. a robot; 4. a robot base; 5. implanted I fibers; 6. prefabricating a body; 7. a yarn;
1.1, a frame; 1.2, a servo motor; 1.3, a prefabricated part clamping mechanism; 1.4, installing a chuck on the clamping mechanism; 1.5, a coupler;
2.1, connecting a flange; 2.2, a wire clamping device; 2.3, mounting a line pressing cylinder; 2.4, a line pressing cylinder; 2.5, a pneumatic scissors feeding cylinder; 2.6, pneumatic scissors; 2.7, mounting a pneumatic scissors; 2.8, a needle tube seat; 2.9, implanting a needle tube; 2.10, mounting a needle tube seat; 2.11, threading the needle tube; 2.12, mounting a pneumatic scissors feeding cylinder; 2.13, a guide mechanism; 2.14, needle tube seat supporting plate; 2.15, a main supporting plate; 2.16, a yarn storage device; 2.17, a yarn storage device fixing rod; 2.18, a wire feeding cylinder; 2.19, a yarn storage device connecting plate; 2.20, installing a gasket; 2.21 and locking the nut.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only intended to illustrate the invention in further detail and do not limit the scope of protection of the claims of the present application.
The invention provides an I fiber implanting device which is characterized by comprising a wire clamp 2.2, a wire pressing cylinder mounting plate 2.3, a wire pressing cylinder 2.4, a pneumatic scissors feeding cylinder 2.5, pneumatic scissors 2.6, a pneumatic scissors mounting plate 2.7, a needle tube seat 2.8, an implanted needle tube 2.9, a needle tube seat mounting plate 2.10, a threading needle tube 2.11, a pneumatic scissors feeding cylinder mounting plate 2.12, a guide mechanism 2.13, a needle tube seat supporting plate 2.14, a main supporting plate 2.15, a yarn storage device 2.16, a wire feeding cylinder 2.18 and a yarn storage device connecting plate 2.19;
the cylinder body of the wire feeding cylinder 2.18 is fixed on the main supporting plate 2.15, and the piston rod is fixedly connected with the wire pressing cylinder mounting plate 2.3; the cylinder body of the thread pressing cylinder 2.4 is fixed on the thread pressing cylinder mounting plate 2.3, the piston rod is matched with the thread pressing cylinder mounting plate 2.3, and the yarn 7 is clamped between the piston rod and the thread pressing cylinder mounting plate 2.3, so that the yarn 7 is conveyed forwards under the driving of the piston rod of the thread feeding cylinder 2.18; the thread clamping device 2.2 is arranged on the main supporting plate 2.15 and is positioned behind the thread feeding cylinder 2.18 according to the conveying direction of the yarns, and the thread clamping device 2.2 is used for adjusting the tension of the yarns 7, fixing the positions of the yarns 7, preventing the yarns from retracting due to mechanical vibration and rotation of a yarn storage device and simultaneously preventing the yarns 7 from blowing away and losing control under the action of high-speed airflow of compressed air;
the pneumatic scissors feeding cylinder mounting plate 2.12 is fixed on the main supporting plate 2.15; the cylinder body of the pneumatic scissors feeding cylinder 2.5 is fixed on the pneumatic scissors feeding cylinder mounting plate 2.12, and the piston rod is fixedly connected with the pneumatic scissors mounting plate 2.7; the pneumatic scissors 2.6 are fixed on the pneumatic scissors mounting plate 2.7;
the needle tube seat mounting plate 2.10 is fixedly connected with the main support plate 2.15 through a needle tube seat support plate 2.14; the needle tube seat 2.8 is fixed on the needle tube seat mounting plate 2.10, the implantation end thread of the needle tube seat is fixedly provided with an implantation needle tube 2.9, and the threading end thread of the needle tube seat is fixedly provided with a threading needle tube 2.11; the guide mechanism 2.13 is arranged on the needle tube seat mounting plate 2.10, the needle tube seat supporting plate 2.14 or the main supporting plate 2.15 (preferably, the needle tube seat supporting plate 2.14), is positioned behind the needle tube seat 2.8 (namely, between the needle tube seat 2.8 and the thread pressing cylinder 2.4) according to the yarn conveying direction and is used for guiding the yarn 7 so that the yarn 7 horizontally enters the threading needle tube 2.11;
the yarn storage device connecting plate 2.19 is fixed on the main supporting plate 2.15 and the needle tube seat supporting plate 2.14; the yarn storage device 2.16 is rotatably arranged on the yarn storage device connecting plate 2.19, and the yarn storage device 2.16 is used for winding and storing the yarn 7 so as to ensure smoothness in the implantation process and reduce the downtime required for adding the yarn.
Preferably, the inner diameter of the implantation needle tube 2.9 is larger than that of the threading needle tube 2.11, so that enough forward traction force is generated when high-speed airflow flows; and the implantation needle tube 2.9 is a pointed end, so that the prefabricated body can be conveniently pierced, and the threading needle tube 2.11 is a flat end, so that the yarn can be prevented from being scratched.
Preferably, the guiding mechanism 2.13 can adopt a thread clamping device, and the guiding mechanism 2.13 is used for clamping the yarn 7 after the feeding cylinder 2.18 feeds, so that the horizontal feeding of the yarn 7 in the process that the compressed air blows out the yarn 7 in the needle tube seat 2.8 is ensured, and simultaneously, the guiding mechanism and the thread clamping device 2.2 jointly prevent the yarn 7 from blowing away and losing control under the action of high-speed airflow of the compressed air.
Preferably, the centers of the yarn clamping device 2.2, the yarn pressing cylinder 2.4, the needle tube seat 2.8 and the guide mechanism 2.13 are positioned in the same vertical plane, which has the advantages of reducing unnecessary friction between the yarn 7 and the parts in the yarn conveying process and preventing the parts from scratching the yarn; preferably, the vertical plane is located on the centerline of the I-fiber implant device 2.
Preferably, the line cylinder mounting plate 2.3 is L-shaped.
Preferably, the wire pressing cylinder 2.4, the wire feeding cylinder 2.18, the needle tube seat 2.8, the pneumatic scissors feeding cylinder 2.5 and the pneumatic scissors 2.6 need to be externally connected with compressed air equipment, and the compressed air equipment is driven by compressed air to provide power.
Preferably, the pneumatic scissors feeding cylinder 2.5 and the wire feeding cylinder 2.18 adopt cylinders with guiding functions.
Preferably, the I-fibre implant device further comprises a connecting flange 2.1; the connecting flange 2.1 is fixed on the main supporting plate 2.15; the connecting flange 2.1 is used for connecting to a robot arm of the robot 3.
Preferably, the I-fiber implanting device further comprises a yarn storage device fixing rod 2.17, a mounting gasket 2.20 and a locking nut 2.21; one end of the yarn storage device fixing rod 2.17 is fixedly connected with the yarn storage device connecting plate 2.19 through threads, the yarn storage device 2.16 is rotatably installed in the middle of the yarn storage device fixing rod through a shaft sleeve, and the other end of the yarn storage device fixing rod is provided with an installation gasket 2.20 and is fixed through locking nuts 2.21 through threads.
The invention also provides I fiber implantation equipment (equipment for short), which is characterized by comprising an implantation platform 1, an I fiber implantation device 2, a robot 3 and a robot base 4; the robot 3 is arranged on a horizontal plane through a robot base 4; the connecting flange 2.1 of the I fiber implanting device 2 is fixedly connected with the tail end of a mechanical arm of the robot 3, the I fiber implanting device 2 can reach any direction and any position of a space in a working range of the robot 3, and implanting I fibers aiming at the position in any working range; the implantation platform 1 is arranged on a horizontal plane for mounting a preform 6 to be implanted.
Preferably, the robot 3 is a six-degree-of-freedom robot of Kawasaki RS 30N.
Preferably, the implantation platform 1 comprises a frame 1.1, a servo motor 1.2, a prefabricated part clamping mechanism 1.3, a clamping mechanism mounting chuck 1.4 and a coupler 1.5; the shell of the servo motor 1.2 is fixed on the frame 1.1, and the output end of the servo motor is fixedly connected with a rotating shaft of a mounting chuck 1.4 of the clamping mechanism through a coupler 1.5; the prefabricated part clamping mechanism 1.3 is detachably fixed (clamped) on the clamping mechanism mounting chuck 1.4.
Preferably, the fixture mounting chuck 1.4 is a three-jaw chuck.
The step of performing I-fiber implantation on the prefabricated body 6 by using the I-fiber implantation equipment comprises the following steps:
(1) fixing a prefabricated part 6 on a prefabricated part clamping mechanism 1.3, and clamping the prefabricated part clamping mechanism 1.3 on a clamping mechanism mounting chuck 1.4; in the embodiment, 190tex quartz fiber yarn is adopted; the prefabricated body 6 to be implanted is a conical quartz fiber acupuncture prefabricated body with the bottom surface diameter of 200mm, the height of 425mm and the wall thickness of 10 mm;
(2) the yarn 7 is uniformly wound on the yarn storage device 2.16; then the yarn 7 sequentially passes through the thread clamping device 2.2, is placed between a piston rod of the thread pressing cylinder 2.4 and a thread pressing cylinder mounting plate 2.3, passes through the guide mechanism 2.13, and then passes through the threading needle tube 2.11, the needle tube seat 2.8 and the implantation needle tube 2.9, and the tail end of the yarn 7 is flush with the piercing end of the implantation needle tube 2.9; in the embodiment, the model of the threading needle tube 2.11 is 21G, and the model of the implantation needle tube 2.9 is 10 #;
(3) starting the equipment, wherein the robot 3 drives the I fiber implanting device 2 to implant I fibers according to a preset program, and in the implanting process, the implanting needle tube 2.9 is always coincided with a normal plane of the implanting position (namely, is always vertical to a tangent plane of the implanting position);
the robot 3 drives the I-fiber implantation device 2 to reach a pre-implantation point, wherein the pre-implantation point is a position right above a normal direction of a target implantation point, and the position of the pre-implantation point in the embodiment is a position at which the distance between the needle point of the implantation needle tube 2.9 and the target implantation point is 20 mm; then the robot 3 drives the I fiber implantation device 2 to move 40mm from the pre-implantation point along the normal direction, and the prefabricated body 6 is punctured; then the yarn pressing cylinder 2.4 outputs and is matched with the yarn pressing cylinder mounting plate 2.3, and the yarn 7 is clamped between a piston rod of the yarn pressing cylinder and the yarn pressing cylinder mounting plate 2.3; the yarn 7 is dragged to move forwards by 30mm after being output by the yarn feeding cylinder 2.18; then, a compressed air device connected with the needle tube seat 2.8 is opened, the thread pressing cylinder 2.4 is reset, the thread feeding cylinder 2.18 is reset, the high-speed airflow of the compressed air drives the yarn 7 to move forward by 30mm, and at the moment, the thread clamping device 2.2 and the guide mechanism 2.13 play a role in clamping and guiding the yarn, so that the yarn 7 is prevented from blowing away and losing control under the action of the high-speed airflow of the compressed air; then the robot 3 drives the I fiber implanting device 2 to retreat to a pre-implanting point along the normal direction; then, the pneumatic scissors feed cylinder 2.5 outputs the signals to drive the pneumatic scissors 2.6 to a target position; then the pneumatic scissors 2.6 output, the yarn 7 is cut according to the length required by the process, and the yarn left in the prefabricated body 6 forms the implanted I fiber 5; then the pneumatic scissors feed cylinder 2.5 resets to complete an implantation action process;
(4) the robot 3 drives the I fiber implanting device 2 to move to the next implanting position according to a pre-planned motion track, and meanwhile, the PLC program can be matched to control the rotation of the servo motor 1.2 to drive the prefabricated part clamping mechanism 1.3 to rotate, so that the prefabricated part 6 is driven to rotate to complete feeding at a preset angle, the motion track of the robot 3 is optimized, large-amplitude actions of the robot 3 are reduced, invalid actions are prevented, and the efficiency is improved; repeating the step (3) to implant the next implant position;
(5) and (5) repeating the step (4) until the I fiber implantation of the whole prefabricated body 6 is completed.
Nothing in this specification is said to apply to the prior art.
Claims (10)
1. An I fiber implanting device is characterized by comprising a wire clamp, a wire pressing cylinder mounting plate, a wire pressing cylinder, a pneumatic scissors feeding cylinder, pneumatic scissors, a pneumatic scissors mounting plate, a needle tube seat, an implanting needle tube, a needle tube seat mounting plate, a threading needle tube, a pneumatic scissors feeding cylinder mounting plate, a guide mechanism, a needle tube seat supporting plate, a main supporting plate, a yarn storage device, a wire feeding cylinder and a yarn storage device connecting plate;
the cylinder body of the wire feeding cylinder is fixed on the main supporting plate, and the piston rod is fixedly connected with the wire pressing cylinder mounting plate; the cylinder body of the line pressing cylinder is fixed on the line pressing cylinder mounting plate, the piston rod is matched with the line pressing cylinder mounting plate, and the yarn is clamped between the piston rod and the line pressing cylinder mounting plate, so that the yarn is conveyed forwards under the driving of the piston rod of the line feeding cylinder; the yarn clamping device is arranged on the main supporting plate, is positioned behind the yarn feeding cylinder according to the yarn conveying direction and is used for clamping and guiding yarns;
the pneumatic scissors feeding cylinder mounting plate is fixed on the main supporting plate; the cylinder body of the pneumatic scissors feeding cylinder is fixed on the pneumatic scissors feeding cylinder mounting plate, and the piston rod is fixedly connected with the pneumatic scissors mounting plate; the pneumatic scissors are fixed on the pneumatic scissors mounting plate;
the needle tube seat mounting plate is fixedly connected with the main support plate; the needle tube seat is fixed on the needle tube seat mounting plate, the implanting end of the needle tube seat is fixedly provided with an implanting needle tube, and the threading end of the needle tube seat is fixedly provided with a threading needle tube; the guide mechanism is arranged on the needle tube seat mounting plate or the main support plate, is positioned between the needle tube seat and the thread pressing cylinder according to the conveying direction of the yarn, and is used for guiding the yarn so that the yarn horizontally enters the threading needle tube;
the yarn storage device connecting plate is fixed on the main supporting plate; yarn storage ware rotatable installation is on storing up yarn ware connecting plate, stores up yarn ware and is used for twining the yarn and stores.
2. The I-fiber implantation device according to claim 1, wherein centers of the gripper, the crimping cylinder, the needle holder and the guide mechanism are located in a same vertical plane.
3. The I-fiber implantation device of claim 1, wherein the guiding mechanism employs a wire gripper.
4. The I-fiber implantation device of claim 1, wherein the implantation needle cannula has an inner diameter greater than the inner diameter of the threading needle cannula, the implantation needle cannula being pointed and the threading needle cannula being flat-headed.
5. The I-fiber implantation device according to claim 1, wherein the crimping cylinder, the thread feeding cylinder, the needle holder, the pneumatic scissors feeding cylinder and the pneumatic scissors are externally connected with a compressed air device.
6. The I-fiber implant device of claim 1, further comprising a connection flange; the connecting flange is fixed on the main supporting plate and used for being connected with the mechanical arm of the robot.
7. The I-fiber implantation device according to claim 1, further comprising a yarn storage securing rod, a mounting washer, and a locking nut; one end of the yarn storage device fixing rod is fixedly connected with the yarn storage device connecting plate, the yarn storage device is rotatably installed in the middle of the yarn storage device fixing rod, and the other end of the yarn storage device fixing rod is provided with a mounting gasket and fixed through a locking nut.
8. An I-fiber implantation apparatus, comprising an implantation platform, an I-fiber implantation device according to any one of claims 1 to 7, a robot, and a robot base; the robot is arranged on a horizontal plane through a robot base; the I fiber implantation device is fixedly connected with the tail end of a mechanical arm of the robot; the implantation platform is arranged on a horizontal plane and used for installing a prefabricated body to be implanted.
9. The I fiber implantation device according to claim 8, wherein the implantation platform comprises a frame, a servo motor, a preform clamping mechanism, a clamping mechanism mounting chuck and a coupling; the shell of the servo motor is fixed on the frame, and the output end of the servo motor is fixedly connected with a rotating shaft of the mounting chuck of the clamping mechanism through a coupler; the prefabricated part clamping mechanism is detachably fixed on the clamping mechanism mounting chuck.
10. The I-fiber implantation apparatus of claim 8, wherein the robot is a six degree-of-freedom robot of Kawasaki RS 30N; the mounting chuck of the clamping mechanism is a three-jaw chuck.
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| CN202110814005.8A CN113618954B (en) | 2021-07-19 | 2021-07-19 | I fiber implantation device and I fiber implantation equipment |
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| CN202110814005.8A CN113618954B (en) | 2021-07-19 | 2021-07-19 | I fiber implantation device and I fiber implantation equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114855355A (en) * | 2022-04-28 | 2022-08-05 | 南京航空航天大学 | Radial yarn implanting device for three-dimensional knitting machine |
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