CN114274532A

CN114274532A - Method for sewing barrel composite material

Info

Publication number: CN114274532A
Application number: CN202111668290.3A
Authority: CN
Inventors: 罗宏毅; 刘新明; 陈锐; 汤浩; 高勋朝
Original assignee: Hubei Sanjiang Aerospace Group Hongyang Electromechanical Co Ltd
Current assignee: Hubei Sanjiang Aerospace Group Hongyang Electromechanical Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-05

Abstract

The invention discloses a method for sewing barrel type composite materials, belongs to the technical field of composite material sewing, and solves the technical problem that the existing method for sewing barrel type materials cannot be suitable for sewing high-strength composite materials. The method comprises the following steps: providing a turntable, and fixing the composite material on the turntable, wherein the axis of the composite material is coaxial with the axis of the turntable; making a plurality of suture holes in the composite material according to the target spacing; and providing a sewing needle to sew the composite material, wherein the composite material rotates along with the rotary table, and the sewing thread sequentially passes through the plurality of sewing holes along with the sewing needle, so that the sewing stitch is 209 stitches. The 209 stitches are applied to the sewing of the composite material, the stress of the 209 stitches on the composite material is uniform, and the 209 stitches are not easy to break.

Description

Method for sewing barrel composite material

Technical Field

The invention belongs to the technical field of composite material sewing, and particularly relates to a method for sewing barrel type composite materials.

Background

The barrel type composite material workpiece is overlapped by various different materials to obtain various requirements such as heat insulation, ablation resistance and the like, and at present, lock type sewing and chain type sewing are adopted for the sewing method of the barrel type high-strength composite material. But the lock type sewing is easy to generate stress concentration and damage the local performance of the material; chain stitching, however, involves multiple flexing of the suture and is not suitable for stitching sutures used in composite materials.

Disclosure of Invention

The technical problem that the existing method for sewing the barrel type material cannot adapt to sewing of the high-strength composite material is solved to a certain extent, and therefore the method for sewing the barrel type composite material is provided.

The technical scheme of the application is as follows:

a method of seaming a barrel-like composite material, comprising:

providing a rotary table, and coaxially fixing the composite material on the rotary table;

making a plurality of suture holes in the composite material according to the target spacing;

and controlling the rotary table to rotate, and sequentially enabling the suture line to pass through the plurality of suture holes along with the suture needle so as to enable the suture line to be 209 lines.

In some embodiments, the turret is intermittently rotatable about its axis at equal degrees to equally divide the composite material into a plurality of stitching processing zones;

in the step of providing a sewing needle to sew the composite material, after the sewing needle completes one sewing processing area, the turntable rotates to drive the adjacent sewing processing area to enter the processing area of the sewing needle, wherein the processing area of the sewing needle is not smaller than that of the sewing processing area.

In some embodiments, the step of providing a suture needle to suture the composite material comprises:

providing an outer sewing mechanism, wherein the outer sewing mechanism is arranged on the outer side of the composite material, and after the outer sewing mechanism grabs the first end of the sewing needle, the outer sewing mechanism penetrates the second end of the sewing needle into the composite material from a sewing hole along the radial direction of the composite material;

providing an inner sewing mechanism, wherein the inner sewing mechanism is arranged on the inner side of the composite material, the inner sewing mechanism grabs the second end of the sewing needle, and after the first end of the sewing needle is dragged into the composite material along the radial direction of the composite material, the inner sewing mechanism penetrates the first end of the sewing needle out of the other sewing hole to the outside of the composite material along the radial direction of the composite material;

the outer stitching mechanism grabs a first end of the stitching needle and draws out a second end of the stitching needle to the outside of the composite material along the radial direction of the composite material.

In some embodiments, the outer suturing mechanism comprises a mechanical arm and a first needle grasping mechanism for grasping the suture needle, wherein the first needle grasping mechanism is arranged on a manipulator of the mechanical arm.

In some embodiments, the outer suturing mechanism further comprises a pendulum rod pulling mechanism, a hook rod of the pendulum rod pulling mechanism being operable to depress a suture thread between the second end of the suturing needle and the composite material.

In some embodiments, a needle supply mechanism is provided, the needle supply mechanism having a plurality of spaced apart suturing needles, and the outer suturing mechanism is operable to grasp a suturing needle on the needle supply mechanism.

In some embodiments, the internal suturing mechanism comprises a first bracket, a first slide rail, a second bracket, a second slide rail, a third bracket, a third slide rail, a telescoping rod, a swing mechanism, and a second needle grasping mechanism;

the first support is fixedly arranged on one side of the rotary table, the first sliding rail is horizontally arranged on the top surface of the first support, and the second support can move along the first sliding rail in an operable manner;

the second sliding rail is vertically arranged on the side wall of the second support facing the rotary table, and the third support can be operated to lift along the second sliding rail;

the third sliding rail is horizontally arranged on the third support, the length direction of the third sliding rail is perpendicular to the length direction of the first sliding rail, the top end of the telescopic rod can operatively move along the third sliding rail, the telescopic rod can operatively stretch and retract, the second needle grabbing mechanism is arranged at the bottom end of the telescopic rod, and the swing mechanism can drive the second needle grabbing mechanism to rotate around the axis of the telescopic rod.

In some embodiments, in the step of forming a plurality of suture holes in the composite material according to the target suture hole pitch, after a punching operation is performed on one suture processing area, the turntable is rotated to drive the adjacent suture processing areas into the processing area of the punching operation, wherein the processing area of the punching operation is not smaller than the processing area of the suture processing areas.

In some embodiments, the step of making a plurality of suture holes in the composite material according to the target pitch comprises:

and providing a punching mechanism, wherein the punching mechanism performs punching operation along the radial direction of the composite material.

In some embodiments, the step of making a plurality of suture holes in the composite material according to the target pitch further comprises:

providing a cylindrical forming die, wherein a plurality of avoiding holes are formed in the outer ring surface of the forming die at intervals along the moving direction of the plurality of sewing holes, the inner diameters of the avoiding holes are not smaller than those of the sewing holes, and the forming die is placed in the composite material before punching operation so that the outer ring surface of the forming die is attached to the inner ring surface of the composite material.

The embodiment of the application has at least the following beneficial effects:

according to the technical scheme, the sewing method disclosed by the invention drives the composite material to rotate around the axis of the composite material through the rotary table, so that the sewing needle sequentially penetrates through the adjacent sewing holes, and the 209 stitches are applied to sewing of the composite material.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 shows a schematic flow chart of a stitching method in an embodiment of the present application;

FIG. 2 is a schematic view showing the combination of the apparatus used in the suturing method of the embodiment of the present application;

FIG. 3 shows a schematic structural view of the outer suturing mechanism of FIG. 2;

FIG. 4 shows a schematic structural view of the first grasping mechanism in FIG. 3;

FIG. 5 shows a schematic diagram of the hole punch mechanism of FIG. 3;

FIG. 6 is a schematic view of the inner suturing mechanism of FIG. 2;

FIG. 7 is a schematic structural view of the needle supply mechanism of FIG. 2;

the labels in the figure are: 1-composite material, 2-rotary table, 3-external sewing mechanism, 4-internal sewing mechanism, 5-needle supply mechanism, 6-controller, 7-punching mechanism, 8-sewing needle,

30-a mechanical arm, 31-a first needle grasping mechanism, 32-a swing rod wire pulling mechanism, 321-a first rod, 322-a second rod, 323-a driving mechanism,

41-a first bracket, 42-a first slide rail, 43-a second bracket, 44-a second slide rail, 45-a third bracket, 46-a third slide rail, 47-a telescopic rod, 48-a swing mechanism, 49-a second needle grasping mechanism,

51-support, 52-placing box, 53-fourth slide rail.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

The method is not suitable for fragile and fluffy suture lines, such as wax quartz lines and the like, and when the suture lines have the problem of thread breakage, the sewed parts need to be detached and sewed again.

When the composite material is sewed, the sewing thread needs to take heat insulation, ablation resistance and the like into consideration, so that the sewing thread of the composite material is mostly used for the wax-added quartz thread which has certain brittleness, and the sewing thread is easy to break when the sewing thread is more bent as the sewing thread is longer in the process of sewing the composite material.

FIG. 1 shows a schematic flow chart of a stitching method in an embodiment of the present application; FIG. 2 is a schematic view showing the combination of the apparatus used in the suturing method of the embodiment of the present application; FIG. 3 shows a schematic structural view of the outer suturing mechanism of FIG. 2; FIG. 4 shows a schematic structural view of the first grasping mechanism in FIG. 3; FIG. 5 shows a schematic diagram of the hole punch mechanism of FIG. 3; FIG. 6 is a schematic view of the inner suturing mechanism of FIG. 2; fig. 7 shows a schematic structural view of the needle supply mechanism in fig. 2.

The application is described below with reference to specific embodiments in conjunction with the following drawings:

as shown in fig. 1 to 7, the present embodiment provides a method for sewing a composite material of a cylinder type, comprising the following steps:

step 1: a turntable 2 is provided, and the composite material 1 is coaxially fixed on the turntable 2.

Step 2: a plurality of suture holes are made in the composite material 1 according to the target suture hole pitch.

And step 3: the rotary table 2 is controlled to rotate, and the suture thread sequentially passes through the plurality of suture holes along with the suture needle 8, so that the suture thread is 209 stitches.

Through 2 drive combined material 1 rotations around the axis of self of revolving stage, it stitches the hole to be convenient for sew up needle 8 and pass adjacent in proper order, and then accomplish 1 circumference of combined material's sewing up through the industrial mode, and use the 209 stitches at 1's sewing up of combined material, compare in the present chain that is commonly used and sew up with the lock-type sewing up, the 209 stitches are even to combined material 1's stress, and the stitches are single, the difficult fracture of stylolite, unnecessary stitches, can guarantee the regularity on combined material 1's surface, the stylolite is scraped the broken possibility low, the stability of sewing up the stitches is strong.

The turntable 2 can adopt an index plate in the embodiment, so that the turntable 2 can rotate intermittently and equally around the axis of the turntable 2 to divide the composite material 1 into a plurality of sewing processing areas which are arc-shaped and are sequentially arranged along the circumferential direction of the composite material 1, and it can be understood that when the composite material 1 is sewn by the sewing needle 8 in the step 3, after the sewing needle 8 finishes one sewing processing area, the turntable 2 rotates to drive the adjacent sewing processing area to enter the processing area of the sewing needle 8, wherein, the processing region of sewing needle 8 is not less than the processing region of sewing processing district, and is concrete, in order to make sewing needle 8 to sew up processing district and process, sewing needle 8 can adopt arm 30 to drive, and arm 30 flexible operation can guarantee the accurate cooperation between sewing needle 8 and the suture hole.

Specifically, the sewing needle 8 is provided with a first end and a second end which are opposite, the first end and the second end of the sewing needle 8 are pointed ends, a needle hole for penetrating a sewing thread is formed in the middle of the sewing needle 8, in the step 3, the sewing needle 8 completely enters the composite material 1 and penetrates out of another sewing hole to the sewing needle 8 which is completely located outside the composite material 1, and therefore 209 stitches of the sewing thread are achieved. Referring to fig. 2 to 6, an outer sewing mechanism 3 and an inner sewing mechanism 4 are provided to perform a sewing operation of the sewing needle 8, the outer sewing mechanism 3 being disposed on the outer side of the composite material 1, and the inner sewing mechanism 4 being disposed on the inner side of the composite material 1. After the first end of the suture needle 8 with the suture thread is grabbed by the outer suture mechanism 3, the second end of the suture needle 8 penetrates into the composite material 1 from one suture hole along the radial direction of the composite material 1, the second end of the suture needle 8 which enters into the composite material 1 is grabbed by the inner suture mechanism 4, the first end of the suture needle 8 is dragged into the composite material 1 along the radial direction of the composite material 1, and then the first end of the suture needle 8 penetrates out of the composite material 1 from the other suture hole along the radial direction of the composite material 1 by the inner suture mechanism 4; the outer sewing mechanism 3 grabs the first end of the sewing needle 8, the second end of the sewing needle 8 is drawn out to the outside of the composite material 1 along the radial direction of the composite material 1, sewing operation is performed repeatedly and matched with the rotation of the rotary table 2, the circumferential sewing of the composite material 1 can be realized, meanwhile, the rotary table 2 is kept still, and the axial sewing of the composite material 1 can be realized through the mechanical arm 30. In the sewing process, the sewing needle 8 does not need to turn around, and the sewing efficiency is high.

Specifically, referring to fig. 3, the external suturing mechanism 3 includes a robot arm 30 and a first needle grasping mechanism 31, and the first needle grasping mechanism 31 is disposed on a robot arm of the robot arm 30 by means of bolt fastening. The robot 30 is disposed outside the composite material 1, and the robot 30 may employ a six-axis robot 30 to easily and precisely position the suture holes in each region of the suture processing area.

In view of the limited inner space of the composite material 1, in this embodiment, referring to fig. 4, the outer sewing mechanism 3 further includes a swing link thread pulling mechanism 32, a thread hooking rod of the swing link thread pulling mechanism 32 is operable to press down the sewing thread between the second end of the sewing needle 8 and the composite material 1, specifically, the thread hooking rod includes a first rod 321 and a second rod 322 perpendicular to each other, an axial direction of the second rod 322 is perpendicular to an axial direction of the sewing needle 8, the first rod 321 is connected with a driving mechanism 323, and the driving mechanism 323 drives the first rod 321 to rotate back and forth, so as to realize the operation of intermittently pressing down the sewing thread by the second rod 322. After the first needle grasping mechanism 31 grasps the suture needle 8 to the outside of the composite material 1, the swing rod wire pulling mechanism 32 is used for realizing the tightening of the suture line positioned in the composite material 1, and the tightness of the suture line is ensured.

In the sewing process, the length of the suture line is decreased progressively along with the sewing process, therefore, referring to fig. 2 and 7, the embodiment further provides the needle supply mechanism 5, the needle supply mechanism 5 can include a rack, a placing box 52 is arranged on the rack, a plurality of placing holes for the suture needles 8 are arranged on the placing box 52, so that the suture needles 8 with the suture lines arranged in the placing box 52 can be placed at intervals, the mechanical arm 30 drives the mechanical arm to move to the rack, and after the suture needle 8 to be replaced is loosened, the suture needle 8 in the placing box 52 is grabbed, and then the replacement of the suture needle 8 can be realized. Further, the top end of the rack may be provided with a fourth slide rail 53, and the placing box 52 may be operatively moved on the fourth slide rail 53 to reduce the distance between the placing box 52 and the robot 30, thereby facilitating the grasping of the robot 30.

The inner suturing mechanism 4 can also be driven by other mechanical arm 30 structures, but considering the limited inner space of the composite material 1, referring to fig. 2 and 6, the inner suturing mechanism 4 in this embodiment comprises a first bracket 41, a first slide rail 42, a second bracket 43, a second slide rail 44, a third bracket 45, a third slide rail 46, a telescopic rod 47, a swing mechanism 48 and a second needle grasping mechanism 49; the first bracket 41 is fixedly arranged at one side of the rotary table 2, the first sliding rail 42 is horizontal and fixedly arranged at the top surface of the first bracket 41 through bolts, and the second bracket 43 can move along the first sliding rail 42; the second slide rail 44 is vertical and fixedly arranged on the side wall of the second bracket 43 facing the rotary table 2 through bolts, and the third bracket 45 can be operated to lift along the second slide rail 44; the third slide rail 46 is horizontally and fixedly arranged on the third bracket 45 through bolts, the length direction of the third slide rail 46 is perpendicular to the length direction of the first slide rail 42, the top end of the telescopic rod 47 can operatively move along the third slide rail 46, the swing mechanism 48 is fixedly arranged at the bottom end of the telescopic rod 47 through bolts, the second needle grasping mechanism 49 is connected with the swing mechanism 48, and the swing mechanism 48 can drive the second needle grasping mechanism 49 to rotate around the axis of the telescopic rod 47. That is, the adjustment of the spatial position of the second needle grasping mechanism 49 is realized by the movement of the second support 43, the third support 45 and the telescopic rod 47 on the corresponding slide rails, the adjustment of the height of the second needle grasping device in the composite material 1 can also be realized by the lifting of the telescopic rod 47, so that the second needle grasping mechanism 49 can be accurately positioned, the orientation of the second needle grasping mechanism 49 is changed by the rotating mechanism 48, the second needle grasping mechanism 49 can accurately grasp the suture needle 8, and the suture needle 8 can be sent out along the axis of the suture hole when the needle is sent.

In step 2 of this embodiment, in order to ensure the precision of the punching, the composite material 1 may be divided into sections by the turntable 2, and after a punching operation is performed on one sewing processing area, the turntable 2 is rotated to drive the adjacent sewing processing area into the processing area of the punching operation, wherein the processing area of the punching operation is not smaller than the processing area of the sewing processing area.

In order to reduce the devices used in the method, the punching mechanism 7 is provided in the present embodiment, the punching device is installed on the manipulator of the mechanical arm 30, the axis of the punching needle of the punching mechanism 7 is parallel to the axial direction when the first needle grasping mechanism 31 grasps the suture needle 8, that is, the same mechanical arm 30 is used, so that the error between the punching mechanism 7 and the first needle grasping mechanism 31 when the needle is fed into the suture hole during punching is reduced, and the accuracy and efficiency of the suture process are improved.

The punching mechanism 7 performs punching operation along the radial direction of the composite material 1, and as can be understood, the punching mechanism 7 does not slip easily and has small error when punching along the radial direction of the composite material 1. Considering that the composite material 1 still has certain flexibility, in order to further improve the punching accuracy of the punching mechanism 7, the embodiment further provides the forming die in the step 2, the forming die is cylindrical, the outer annular surface of the forming die is provided with a plurality of avoiding holes at intervals along the moving direction of the plurality of sewing holes, the inner diameters of the avoiding holes are not smaller than the inner diameters of the sewing holes, the forming die is placed in the composite material 1 before punching operation, and the outer annular surface of the forming die is attached to the inner annular surface of the composite material 1. Before step 2, a moulding bed is placed inside the composite material 1, the composite material 1 is supported by the moulding bed, so that the composite material 1 can keep a cylindrical shape during punching, and after punching is completed, the moulding bed is taken out. The height of the moulding bed is higher than that of the composite material 1, so that effective support is realized, and the moulding bed is convenient to place and take out.

In this embodiment, the composite material sewing machine further comprises a controller 6, wherein the controller 6 is electrically connected with each mechanism in the embodiment, the operation of each mechanism is controlled according to a flow, and the composite material 1 is sewn through 209 stitches.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise" indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

It should be noted that all the directional indications in the embodiments of the present application are only used to explain the relative position relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.

In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of seaming a composite material in a tubular body, comprising the steps of:

2. A method of seaming a tubular composite material according to claim 1, wherein the turntable is intermittently rotatable equally about its axis to equally divide the composite material into a plurality of seaming processing zones;

in the step of providing a sewing needle to sew the composite material, after the sewing needle completes one sewing processing area, the turntable rotates to drive the adjacent sewing processing area into the processing area of the sewing needle, wherein the processing area of the sewing needle is not smaller than the processing area of the sewing processing area.

3. The method of suturing a cartridge-like composite material according to claim 1 or 2, wherein the step of providing a suture needle to suture the composite material comprises:

4. The method for suturing a cylinder-like composite material according to claim 3, wherein the outer suturing mechanism comprises a mechanical arm and a first needle grasping mechanism for grasping the suturing needle, the first needle grasping mechanism being provided to a manipulator of the mechanical arm.

5. The method of suturing a tubular composite material according to claim 4, wherein the outer suturing mechanism further comprises a pendulum rod pulling mechanism, a thread hooking rod of the pendulum rod pulling mechanism being operable to depress a suture thread between the second end of the suturing needle and the composite material.

6. The method for suturing a tubular composite material according to claim 3, wherein a needle supply mechanism is provided, a plurality of suturing needles are spaced apart on the needle supply mechanism, and the outer suturing mechanism is operable to grasp the suturing needles on the needle supply mechanism.

7. The method of suturing a barrel-like composite material according to claim 3, wherein the internal suturing mechanism comprises a first bracket, a first slide rail, a second bracket, a second slide rail, a third bracket, a third slide rail, a telescoping rod, a swing mechanism, and a second needle grasping mechanism;

8. The method for sewing a tubular composite material according to claim 2, wherein in the step of forming a plurality of sewing holes in the composite material in accordance with the target sewing hole pitch, after one sewing processing region is perforated, the turntable is rotated to drive the adjacent sewing processing region into the processing region of the perforation operation, wherein the processing region of the perforation operation is not smaller than the processing region of the sewing processing region.

9. The method of suturing a cartridge-like composite material of claim 1, wherein the step of making a plurality of suture holes in the composite material according to a target pitch comprises:

10. The method of suturing a cartridge-like composite material of claim 9, wherein the step of making a plurality of suture holes in the composite material according to a target pitch further comprises: