CN208055589U - A kind of robot acupuncture apparatus based on servo needle tartar's unit - Google Patents
A kind of robot acupuncture apparatus based on servo needle tartar's unit Download PDFInfo
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- CN208055589U CN208055589U CN201820208808.2U CN201820208808U CN208055589U CN 208055589 U CN208055589 U CN 208055589U CN 201820208808 U CN201820208808 U CN 201820208808U CN 208055589 U CN208055589 U CN 208055589U
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Abstract
The utility model discloses a kind of robot acupuncture apparatus based on servo needle tartar's unit, including six-DOF robot, core model and the workbench in robot working range；The worktable upper surface is equipped with core model, the output axis connection of core model and servo motor；It is characterized in that the equipment further includes servo needle tartar's unit block；Servo needle tartar's unit block is connect with robot.The equipment can realize the needle thorn molding 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 utility model is related to composite material solid prefabricated component manufacturing equipments, specially a kind of to be based on servo needle tartar's unit
Robot acupuncture apparatus.
Background technology
D refraction statics forming technique is divided into the molding of flat preform needle thorn and the thorn molding of complex component (abnormal shape) prefabricated component needle.
It is relatively broad that flat preform needle pierces molding research, as to develop tablet pre- by Pierre Olry (U.S.Patent 4790052)
Product needle pierces forming technique, which can realize the uniform needle thorn molding of prefabricated component；(the U.S.Patent such as Olry P
6009605) a kind of round 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, to reduce manufacturing cost.More than
Needling technique belong to plane needle thorn forming technique, be suitble to prepare the relatively simple prefabricated component of shape, it is high thick or different preparing
When shape structure prefabricated component, above-mentioned needling technique just shows its limitation.
Forming technique is pierced for special-shaped prefabricated component needle, Olry P (U.S.Patent 4621662) have invented " Novoltex "
Needle 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 needle thorn at
Type equipment, for pushing up, not prepared by closed reducing precast body at bottom.CN202898738U discloses a kind of abnormal numerical control needle machine,
It is prepared by the prefabricated body acupuncture thorn molding of binding for specific product shape.However, above-mentioned special-shaped prefabricated component needle thorn forming technique is for making
There are limitations when 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 needle thorn molding of prefabricated component, however the equipment is pierced using pneumatic needle, acupuncture speed is slower, and efficiency, which is unable to get, to 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 molding of gradient needle；Finally, the equipment
Stripping web plate do not have pressure feedback function, stripping the distance between web plate and fabric are difficult to accurately control.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of based on servo needle thorn
The robot acupuncture apparatus of head unit.The equipment can realize the needle thorn molding of complex space curved surfaces prefabricated component, device structure is simple,
Achievable high speed needle thorn, depth of needling dynamically adjust, shell the adjustment of distance between web plate and fabric in real time.
The technical solution that the utility model solves the technical problem is to provide a kind of machine based on servo needle tartar's unit
Device people's acupuncture apparatus, including six-DOF robot, core model and the workbench in six-DOF robot working range；Institute
It states worktable upper surface and core model, the output axis connection of core model and servo motor is installed；It is characterized in that the equipment further includes
Servo needle tartar's unit block；Servo needle tartar's unit block is connect with six-DOF robot；
Servo needle tartar's unit block includes connecting flange, servo motor, servo motor mounting plate, shaft coupling, needle
Plate mounting plate, needle plate, pricker, stripping web plate, bottom plate, preceding end bearing block, the linear guide, guide rail slide block, feed screw nut, two pressure
Sensor mounting plate, two pressure sensors, rear axle bearing and leading screw；
The servo needle tartar unit block is threadedly coupled by connecting flange with six-DOF robot；The connection method
Orchid connect with base thread；The servo motor mounting plate, preceding end bearing block, the linear guide, rear axle bearing respectively with bottom
Plate is threadedly coupled；The servo motor is connected through a screw thread the side for being installed on servo motor mounting plate；The leading screw two
End bearing block and rear axle bearing before end is respectively arranged in by hole axle cooperation；The servo motor and leading screw passes through shaft coupling
Connection；The guide rail slide block is mounted in the linear guide；The feed screw nut is connected through a screw thread on guide rail slide block；
The needle plate mounting 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 mounting plate；The pricker is fitted to by hole axle on needle plate；The pressure sensor mounting plate and base thread
Connection；The pressure sensor is connected through a screw thread on pressure sensor mounting plate；The stripping web plate passes through spiral shell
Line connection is mounted on pressure sensor.
Compared with prior art, the utility model advantageous effect is：
1. the executive component pierced as needle using servo motor, acupuncture speed is controllable, it can be achieved that high speed needle pierces, and raising needle pierces
Efficiency, and depth of needling can be adjusted dynamically in real time, to realize the thorn molding of gradient needle；
2. the utility model is using the pressure between pressure sensor detection stripping web plate and fabric, it can be achieved that stripping web plate and fabric
Between the intelligence of distance accurately control.
Description of the drawings
Fig. 1 is a kind of robot acupuncture apparatus overall structure of embodiment of the utility model based on servo needle tartar's unit
Explosive view；
Fig. 2 and Fig. 3 is a kind of watching for robot acupuncture apparatus embodiment of the utility model based on servo needle tartar's unit
Take the structural schematic diagram of needle tartar's component；
Fig. 4 is a kind of robot acupuncture apparatus workbench of embodiment of the utility model based on servo needle tartar's unit
Structural schematic diagram；
Fig. 5 is the preform structure of robot acupuncture apparatus embodiment 1 of the utility model based on servo needle tartar's unit
Schematic diagram.(1, six-DOF robot in figure；2, servo needle tartar unit block；3, core model；4, workbench；2.1, connection method
It is blue；2.2, servo motor；2.3, servo motor mounting plate；2.4, shaft coupling；2.5, needle plate mounting plate；2.6, needle plate；2.7, it pierces
Needle；2.8, web plate is shelled；2.9, bottom plate；2.10, leading portion bearing block；2.11, the linear guide；2.12, guide rail slide block；2.13, leading screw
Nut；2.14, pressure sensor mounting plate；2.15, pressure sensor；2.16, rear axle bearing；2.17, leading screw；2.18, pressure
Force snesor；2.19, pressure sensor mounting plate；5, bottom felt；6, prefabricated component)
Specific implementation mode
Clear, complete description will be carried out to the technical scheme in the embodiment of the utility model below, it is clear that described
Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on the embodiments of the present invention,
The every other embodiment that those of ordinary skill in the art are obtained without making creative work belongs to this
The range of utility model protection.
The utility model provides a kind of robot acupuncture apparatus based on servo needle tartar's unit (referring to Fig. 1-4, referred to as
Equipment), including six-DOF robot (abbreviation robot) 1, servo needle tartar unit block 2, core model 3 and be located at robot 1
Workbench 4 in working range；The robot 1 can reach space any direction and any position in its working range；
The servo needle tartar unit block 2 is connect with robot 1；The servo needle tartar unit block 2 passes through six degree of freedom machine
People 1 can reach space any direction and any position in its working range；4 upper surface of the workbench is equipped with being capable of water
The core model 3 of flat rotation, the output axis connection of core model 3 and servo motor, power are provided by servo motor；
The robot 1 and servo motor are existing commercial product；The servo needle tartar unit block 2 includes connection method
Orchid 2.1, servo motor 2.2, servo motor mounting plate 2.3, shaft coupling 2.4, needle plate mounting 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, the linear guide 2.11, guide rail slide block 2.12, feed screw nut 2.13, two
Pressure sensor mounting plate 2.14 and 2.19, two pressure sensors 2.15 and 2.18, rear axle bearing 2.16 and leading screw 2.17；
The servo needle 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 servo motor mounting plate 2.3, preceding end bearing block 2.10, the linear guide
2.11, rear axle bearing 2.16 is threadedly coupled with bottom plate 2.9 respectively；The servo motor 2.2, which is connected through a screw thread, to be installed on
The side of servo motor mounting 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 servo motor 2.2 and leading screw 2.17 is connected by shaft coupling 2.4；Described leads
Rail sliding block 2.12 is mounted in the linear guide 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 mounting 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 mounting plate 2.5；The pricker 2.7 is fitted to by hole axle on needle plate 2.6；The pressure
Sensor mounting plate 2.14 and 2.19 is threadedly coupled with bottom plate 2.9 respectively；The pressure sensor 2.15 and 2.18 leads to respectively
Threaded connection is crossed to be mounted on pressure sensor mounting 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 needle 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 needle tartar unit block 2 is used as power source using servo motor 2.2, drives leading screw 2.17
Rotation, the rotation of leading screw 2.17 drive the forwardly and rearwardly linear reciprocating motion of feed screw nut 2.13, feed screw nut 2.13 to drive needle plate
2.6 linear reciprocating motion of mounting plate 2.5 and needle plate, and then drive pricker 2.7 to move back and forth and realize needle and pierce.
The operation principle and workflow of the utility model be：Booting, six-DOF robot 1 drive servo needle tartar single
First component 2 reaches station, and being exported using servo motor 2.2 for servo needle tartar unit block 2 is passed through using servo motor 2.2
Shaft coupling 2.4 drives leading screw 2.17 to rotate, and then needle plate 2.6 and pricker 2.7 is pushed to travel forward, and it is pre- that pricker 2.7 is pierced into fabric
Product, 2.2 positive and negative rotation campaign of servo motor, and then drive pricker 2.7 to move back and forth and realize that needle pierces, after needle pierces, leading screw
Nut 2.13 retracts initial point.Six-DOF robot 1 drives servo needle tartar unit block 2 to reach next station, continues
Needle pierces.
Embodiment 1
A kind of taper revolution of top seal is weaved using the robot acupuncture apparatus based on servo needle tartar's unit
Prefabricated component (referring to Fig. 5).
Material：Chopped mat, density 100g/m2, thickness 0.8mm.
Specifically weaving implementation steps are：
(1) upper bottom felt 5 is covered on core model 3.
(2) the layer overlay chopped mat on bottom felt 5.
(3) it is pierced by the shuttle speed and needle of programmable controller (PLC) programming and touch screen (HMI) setting needle thorn deep
Degree sets depth of needling as 30mm here, and it is 150mm/s that needle, which pierces reciprocating speed,.
(4) start machine, the servo needle tartar unit block 2 of 1 arm end of robot is by 1 Sequence motion of robot to specified
Initial position, servo needle tartar unit block 2 starts the PLC program by setting and pierced into the hand-manipulating of needle, 2.2 positive transmission of servo motor
Go out, leading screw 2.17 is driven to rotate, leading screw 2.17 drives 2.13 straight forward movement of feed screw nut, feed screw nut 2.13 to drive needle plate
Mounting 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 servo motor, and then pricker 2.7 is driven to retract needle thorn initial point position, it completes a needle and pierced
Journey.Robot 1 drives servo needle tartar unit block 2 to move to next target darting station, PLC by the track planned in advance
Control system controls core model 3 and completes predetermined angular feeding, and the needle to carry out next step pierces cycle, repeatedly, until completing whole
The single layer needle of a product pierces.
(5) single layer needle has pierced, and spreads one layer of new chopped mat, and circulation step (4) carries out next layer of needle thorn, directly
Reach scheduled prefabricated component thickness.
The utility model does not address place and is suitable for the prior art.
Claims (1)
1. a kind of robot acupuncture apparatus based on servo needle tartar's unit, including six-DOF robot, core model and it is located at six
Workbench in degree of freedom robot working range；The worktable upper surface is equipped with core model, core model and servo motor it is defeated
Go out axis connection；It is characterized in that the equipment further includes servo needle tartar's unit block；The servo needle tartar unit block with
Six-DOF robot connects；
Servo needle tartar's unit block includes connecting flange, servo motor, servo motor mounting plate, shaft coupling, needle plate peace
Loading board, needle plate, pricker, stripping web plate, bottom plate, preceding end bearing block, the linear guide, guide rail slide block, feed screw nut, two pressure sensings
Device mounting plate, two pressure sensors, rear axle bearing and leading screw；The servo needle tartar unit block by connecting flange with
Six-DOF robot is threadedly coupled；The connecting flange is connect with base thread；The servo motor mounting plate, front end axis
Bearing, the linear guide, rear axle bearing are connect with base thread respectively；The servo motor is connected through a screw thread to be installed on and watch
Take the 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 servo motor is connected with leading screw by shaft coupling；The guide rail slide block is mounted in the linear guide；The leading screw
Nut is connected through a screw thread on guide rail slide block；The needle plate mounting 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 mounting plate；The pricker is fitted to needle plate by hole axle
On；The pressure sensor mounting plate is connect with base thread；The pressure sensor is connected through a screw thread mounted on pressure
On force snesor mounting plate；The stripping web plate is connected through a screw thread on pressure sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820208808.2U CN208055589U (en) | 2018-02-01 | 2018-02-01 | A kind of robot acupuncture apparatus based on servo needle tartar's unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820208808.2U CN208055589U (en) | 2018-02-01 | 2018-02-01 | A kind of robot acupuncture apparatus based on servo needle tartar's unit |
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| CN208055589U true CN208055589U (en) | 2018-11-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108103671A (en) * | 2018-02-01 | 2018-06-01 | 天津工业大学 | A kind of robot acupuncture apparatus based on servo pin tartar's unit |
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2018
- 2018-02-01 CN CN201820208808.2U patent/CN208055589U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108103671A (en) * | 2018-02-01 | 2018-06-01 | 天津工业大学 | A kind of robot acupuncture apparatus based on servo pin tartar's unit |
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