CN120588391A - A fiber preform dual-robot collaborative suturing device and suturing method - Google Patents
A fiber preform dual-robot collaborative suturing device and suturing methodInfo
- Publication number
- CN120588391A CN120588391A CN202510884272.0A CN202510884272A CN120588391A CN 120588391 A CN120588391 A CN 120588391A CN 202510884272 A CN202510884272 A CN 202510884272A CN 120588391 A CN120588391 A CN 120588391A
- Authority
- CN
- China
- Prior art keywords
- needle
- stitching
- sewing
- double
- industrial robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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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
- B29B15/00—Pretreatment of the material to be shaped, not covered by groups B29B7/00 - B29B13/00
- B29B15/08—Pretreatment of the material to be shaped, not covered by groups B29B7/00 - B29B13/00 of reinforcements or fillers
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B19/00—Programme-controlled sewing machines
- D05B19/02—Sewing machines having electronic memory or microprocessor control unit
- D05B19/12—Sewing machines having electronic memory or microprocessor control unit characterised by control of operation of machine
- D05B19/14—Control of needle movement, e.g. varying amplitude or period of needle movement
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B65/00—Devices for severing the needle or lower thread
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- D—TEXTILES; PAPER
- D05—SEWING; EMBROIDERING; TUFTING
- D05B—SEWING
- D05B87/00—Needle- or looper- threading devices
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Sewing Machines And Sewing (AREA)
Abstract
本发明涉及一种纤维预制体双机器人协同缝合设备，包括第一工业机器人、第二工业机器人、上料装置及工作台；所述第一工业机器人的第六关节安装第一缝合末端执行器，第二工业机器人的第六关节安装第二缝合末端执行器；所述第一工业机器人、第二工业机器人分别置于工作台两侧，第一工业机器人一侧设有上料装置；所述上料装置包括凸轮分割器、固定架和针线架；所述凸轮分割器安装在固定架底部，固定架两侧设置针线架，针线架顶部设置双头缝合针、底部设置夹线器；所述双头缝合针上穿有纱线，纱线的尾部由夹线器固定。本发明还包括使用上述设备的缝合方法。本发明采用双机器人协同自动化缝合，自动化程度高且缝合点位置精度高，缝合质量好、效率高。
The present invention relates to a dual-robot collaborative suturing device for fiber preforms, comprising a first industrial robot, a second industrial robot, a loading device and a workbench; a first suturing end effector is installed on the sixth joint of the first industrial robot, and a second suturing end effector is installed on the sixth joint of the second industrial robot; the first industrial robot and the second industrial robot are respectively placed on both sides of the workbench, and a loading device is provided on one side of the first industrial robot; the loading device comprises a cam divider, a fixing frame and a needle and thread frame; the cam divider is installed at the bottom of the fixing frame, and needle and thread frames are provided on both sides of the fixing frame, a double-headed suturing needle is provided on the top of the needle and thread frame, and a thread clamp is provided at the bottom; yarn is threaded on the double-headed suturing needle, and the tail of the yarn is fixed by a thread clamp. The present invention also includes a suturing method using the above-mentioned device. The present invention adopts dual-robot collaborative automated suturing, which has a high degree of automation and high precision in the position of the suturing points, good suturing quality and high efficiency.
Description
Technical Field
The invention belongs to the technical field of three-dimensional textile composite material prefabricated part stitching equipment, and particularly relates to fiber prefabricated body double-robot cooperative stitching equipment and a stitching method, which are used for preparing a three-dimensional textile composite material prefabricated part.
Background
The development of aerospace technology puts higher demands on the performance of materials, and high-performance fiber reinforced composite materials gradually replace traditional metal materials on a plurality of key parts due to higher specific strength and specific modulus. However, it has been found that fibers can enhance the interlaminar or thickness-wise strength of a composite material, but have limited improvement in strength in the two-dimensional plane direction, and are prone to delamination failure when subjected to impact. In order to improve the interlayer performance of the material, advanced textile technologies such as three-dimensional weaving, braiding, knitting, sewing and the like are adopted to prepare the novel textile composite material. The stitching technology is used as a low-cost laminated fabric thickness reinforcement technology, and is suitable for processing special-shaped parts with complex curved surface characteristics or high-curvature structures. The literature robot-assisted stitching path planning of large-size irregular flat-plate prefabricated bodies provides an N-type stitching technology, a robot is used for stitching point positioning, manual needle threading is used for stitching forming, however, manual stitching has the defects of difficult stitching yarn tension control, uneven stitching quality and low stitching efficiency, and cannot meet the high-quality and high-efficiency stitching requirements of diversified prefabricated bodies. It is therefore desirable to design a suturing device that is more automated.
Disclosure of Invention
The invention provides a fiber preform double-robot cooperative sewing device and a sewing method for solving the technical problems in the prior art, and has the advantages of high automation degree, high precision of sewing points, good sewing quality and high efficiency.
The invention comprises the following technical scheme that the fiber preform double-robot collaborative sewing equipment comprises a first industrial robot, a second industrial robot, a feeding device and a workbench, wherein a first sewing end effector is arranged on a sixth joint of the first industrial robot, and a second sewing end effector is arranged on a sixth joint of the second industrial robot;
The first stitching end effector and the second stitching end effector both comprise a triaxial cylinder, a pneumatic chuck, a three-dimensional force sensor and an L-shaped fixing plate, wherein one side of a long side part of the L-shaped fixing plate is fixedly provided with a flange, the other side of the long side part of the L-shaped fixing plate is fixedly provided with the triaxial cylinder, the short side part of the L-shaped fixing plate is fixedly provided with the three-dimensional force sensor, the triaxial cylinder is connected with the pneumatic chuck, a double-ended pointed stitching needle is grabbed by the pneumatic chuck, a finger cylinder connecting plate and a finger cylinder are fixedly arranged on the outer side of the three-dimensional force sensor, yarns are clamped by the finger cylinder, the first stitching end effector also comprises a pen-shaped cylinder and a pneumatic scissors, and the pneumatic scissors are connected with the front end of the pen-shaped cylinder;
The feeding device comprises a cam divider, a fixing frame and a needle thread rack, wherein the cam divider is arranged at the bottom of the fixing frame, the needle thread racks are arranged on two sides of the fixing frame, a double-end suture needle is arranged at the top of the needle thread rack, a thread clamping device is arranged at the bottom of the needle thread rack, yarns penetrate through the double-end suture needle, and the tail parts of the yarns are fixed by the thread clamping device.
Further, the first end effector is connected to the first industrial robot via a flange, and the second end effector is connected to the second industrial robot via a flange.
Further, the triaxial cylinder is fixed at the lower end of the L-shaped fixing plate through a bolt, and the air chuck is connected with the triaxial cylinder through a bolt.
Further, the three-dimensional force sensor is connected with the front end of the L-shaped fixing plate and the finger cylinder connecting plate through bolts.
Further, the workbench comprises a sewing table support and a sewing tool, and the middle part of the top surface of the sewing table support is fixedly provided with the sewing tool.
Furthermore, a prefabricated body is arranged in the middle of the stitching tool, pressing plates are detachably arranged on two sides of the prefabricated body, and a wire passing groove is formed in the pressing plates. The wire passing grooves are horizontally arranged and uniformly distributed on the pressing plate.
Furthermore, one end of the double-end suture needle is inserted into a needle inserting preformed hole at the top of the needle thread rack, a thread passing hole is formed in the middle of the double-end suture needle and penetrates through the nylon thread, the nylon thread is connected with the yarns, when the nylon thread is too short and is smaller than the 1/2 length of the double-end suture needle, the abrasion degree of the yarns is obviously increased, and the length of the nylon thread is kept to be larger than the 1/2 length of the double-end suture needle and smaller than 1 time of the length of the double-end suture needle by controlling the relation between the length of the nylon thread and the length of the double-end needle suture needle, so that the abrasion of the yarns can be effectively reduced.
Further, the middle part of the needle thread rack is provided with a plurality of rows of passing coils, the middle part of the yarn passes through the passing coils, and the yarn is parallel to the long side of the needle thread rack.
Furthermore, the fixing frame is connected with the cam divider through bolts, and the thread clamp and the thread passing coil are arranged on two sides of the needle thread rack through bolts.
S1, preparing a suture, namely installing a preform in a suture tool, connecting and fixing two groups of yarns with corresponding double-end pointed suture needles through nylon wires and sequentially passing through loops, inserting the double-end pointed suture needles into reserved holes of a needle thread frame, and fixing the tail parts of the yarns by a thread clamp;
S2, performing a stitching action process, wherein a first industrial robot drives a first stitching end effector to be positioned at a first needle of a feeding device, a three-axis air cylinder stretches forwards, an air chuck grabs the tail end of a first double-end pointed stitching needle, the three-axis air cylinder withdraws, the double-end pointed stitching needle is taken out, a finger air cylinder is closed to clamp yarns, the first industrial robot drives the first stitching end effector to be positioned at a first needle of a workbench stitching first needle, a finger air cylinder stretches to loosen yarns, the air chuck grabs the double-end pointed stitching needle to be inserted into a stitching prefabricated body, the front end of the double-end pointed stitching needle penetrates through the stitching prefabricated body, the air chuck stretches to release the double-end pointed stitching needle, the three-axis air chuck withdraws, the air chuck grabs the front end of the first double-end pointed stitching needle, the three-axis air chuck withdraws, pulls the double-end pointed stitching needle out of the stitching prefabricated body and brings yarns out, the fingers are closed to clamp yarns, the second industrial robot drives the second stitching end effector to move backwards, and when a three-dimensional force sensor detects that a set tensile force reaches a preset threshold value, the second industrial robot stops moving backwards and drives the second stitching end effector to move to the second stitching end effector to stretch into the workbench stitching prefabricated needle, the double-end pointed stitching needle stretches to stretch, and the double-end pointed stitching needle stretches to stretch upwards, and the double-end pointed stitching needle stretches to be stretched to the second stitching needle, and stretches to the double-end of the stitching needle is stretched to stretch to the stitching prefabricated needle;
S3, repeating the sewing action in the step S2, after the set number of needles are sewn along the thread passing groove, extending a pen-shaped cylinder in the first sewing end effector forwards to drive the pneumatic scissors to a shearing position, closing the pneumatic scissors, shearing yarns to finish shearing, driving the first sewing end effector to move to the first needle of the feeding device by the first industrial robot, extending the triaxial cylinder forwards, and opening the pneumatic chuck to release the double-ended pointed sewing needle;
S4, then the first industrial robot drives the first sewing end effector to move to the second needle of the feeding device to start the sewing cycle of the second needle, the cam divider drives the fixing frame to rotate 180 degrees when the sewing cycle of all the double-end pointed sewing needles on the needle thread rack on one side is finished, the needle thread rack on the other side faces the working area, and the first industrial robot drives the first sewing end effector to move to the first needle of the feeding device to start the sewing of the next cycle.
The invention has the advantages and positive effects that:
1. The invention adopts the double robots to cooperate with automatic stitching, replaces manual operation, reduces manual participation, greatly improves the production efficiency and reduces the production cost of the prefabricated body.
2. The invention adopts the first stitching end effector and the second stitching end effector to mutually cooperate to realize automatic stitching, and the stitching point position has high precision, uniform and adjustable spacing and convenient use.
3. The suture end effector adopted by the invention has small size, light weight and simple structure, is connected with the industrial robot through the flange, and is convenient to install and maintain.
4. The novel double-ended pointed suture needle is adopted, the suture needle does not need to change the direction back and forth in the suture process, the suture action is simplified, the suture efficiency is improved, the robot control program is simplified, and the stability of the system is improved.
5. The invention effectively reduces the abrasion of yarns by controlling the relation between the length of the nylon thread and the length of the double-end pointed suture needle.
6. The strip-shaped wire passing grooves are reserved on the pressing plates at the two sides of the sewing tool, so that the whole body can be sewn by one-time clamping, the uniformity of a sewing track is ensured, and the whole quality of the prefabricated body is improved.
7. According to the invention, an automatic feeding device is adopted, and the feeding device rotates the fixing frame and the needle and thread frame through the cam divider to realize an automatic needle and thread replacing function, so that the efficiency of sewing the preform is effectively improved, and the manual replacement burden is reduced.
8. The feeding device adopts a double-sided needle thread rack design, the needle thread can be detachably arranged on the other side when one side works, the needle thread rack can accommodate a plurality of groups of needle threads at one time, the sewing continuity is ensured under the condition of no shutdown, and the production efficiency is improved.
9. According to the invention, the yarn tension detection function is integrated, the tension of the yarn is detected through the three-dimensional force sensor, the tension reaches a preset value, the mechanical arm stops moving, the tension of the stitching yarn is uniform and controllable, and the consistency of the interlayer density of the preform is ensured.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention;
FIG. 2 is a schematic view of a first suturing end effector and its mounting structure of the present invention;
FIG. 3 is a schematic view of a second suturing end effector and its mounting structure of the present invention;
FIG. 4 is a perspective view of a table and stitching tool of the present invention;
FIG. 5 is a schematic view of a partial enlarged structure at I in FIG. 4;
FIG. 6 is a schematic view of a loading device and its mounting structure according to the present invention;
FIG. 7 is a schematic view of the structure of the present invention shown in FIG. 6, partially enlarged at II;
FIG. 8 is a schematic view of the structure of the present invention shown in FIG. 6 in partial enlarged form at III;
FIG. 9 is a schematic view of a partially enlarged construction of the invention at IV in FIG. 6;
FIG. 10 is a schematic representation of the relationship of yarns, nylon threads, and double pointed suture needles in accordance with the present invention;
FIG. 11 is a schematic view of a first needle flow path for suturing in accordance with the present invention;
FIG. 12 is a schematic view of a second needle flow path for suturing in accordance with the present invention;
FIG. 13 is a schematic view of the stitching tool of the present invention with the platen removed and the preform installed;
in the figure, a first industrial robot, a second industrial robot, a first 3-stitching end effector, a first 4-stitching end effector, a 5-feeding device, a 6-workbench, a 7-triaxial cylinder, an 8-pneumatic chuck, a 9-three-dimensional force sensor, a 10-finger cylinder, a 11-pen-type cylinder and 12-pneumatic scissors are arranged;
13-flange, 14-L-shaped fixing plate, 15-cylinder bracket, 16-finger cylinder connecting plate, 17-cam divider, 18-fixing frame, 19-needle thread rack, 20-thread clamp, 21-passing coil, 22-double-end pointed suture needle, 23-yarn, 24-suture table bracket, 25-suture tool, 26-nylon thread, 27-passing thread groove, 28-preform and 29-pressing plate.
Detailed Description
In order to further disclose the inventive aspects, features and advantages of the present invention, the following examples are set forth in detail in connection with the accompanying drawings. In the description of the embodiments below, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for purposes of describing the present patent and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present patent.
In the description of the embodiments below, it should be noted that the terms "mounted," "connected," and "disposed" are to be construed broadly, and may be fixedly connected, disposed, detachably connected, disposed, or integrally connected, disposed, for example, unless otherwise specifically indicated and defined. The specific meaning of the terms in this patent will be understood by those of ordinary skill in the art as the case may be.
Referring to fig. 1-12, the fiber preform double-robot collaborative stitching equipment comprises a first industrial robot 1, a second industrial robot 2, a feeding device 5 and a workbench 6, wherein KAWASAKI RS N robots are selected from the first industrial robot 1 and the second industrial robot 2. As shown in fig. 4-5. The workbench 6 comprises a sewing table support 24 and a sewing tool 25, and the middle part of the top surface of the sewing table support 24 is fixedly provided with the sewing tool 25. The middle part of the stitching tool 25 is provided with a prefabricated body 28, two sides of the prefabricated body 28 are detachably provided with pressing plates 29, and the pressing plates 29 are provided with wire passing grooves 27. The wire passing grooves 27 are horizontally arranged and uniformly distributed on the pressing plate 29. The first end effector 3 is installed on the sixth joint of the first industrial robot 1, the second end effector 4 is installed on the sixth joint of the second industrial robot 2, the first industrial robot 1 and the second industrial robot 2 are respectively arranged on two sides of the workbench 6, the feeding device 5 is arranged on one side of the first industrial robot 1, the first end effector 3 is connected with the first industrial robot 1 through the flange 13, and the second end effector 4 is connected with the second industrial robot 2 through the flange 13.
As shown in fig. 2-3, the first stitching end effector 3 and the second stitching end effector 4 respectively comprise a triaxial air cylinder 7, an air chuck 8, a three-dimensional force sensor 9 and an L-shaped fixing plate 14, wherein the triaxial air cylinder 7 is AIRTAC, the TCL12 is multiplied by 90 air cylinders, the air chuck 8 is a DeRui DAS-MT8 air chuck, the three-dimensional force sensor 9 is a Szechwan SBT301-40 sensor, one side of the long side part of the L-shaped fixing plate 14 is fixedly provided with a flange 13, the other side of the long side part of the L-shaped fixing plate 14 is fixedly provided with the triaxial air cylinder 7, the triaxial air cylinder 7 is fixed at the lower end of the L-shaped fixing plate 14 through bolts, and the air chuck 8 is connected with the triaxial air cylinder 7 through bolts. The three-dimensional force sensor 9 is fixedly arranged on the short side part of the L-shaped fixing plate 14, and the three-dimensional force sensor 9 is connected with the front end of the L-shaped fixing plate 14 and the finger cylinder connecting plate 16 through bolts. The three-axis air cylinder 7 is connected with the air chuck 8, a double-end pointed suture needle 22 is grabbed through the air chuck 8, a finger air cylinder connecting plate 16 and a finger air cylinder 10 are fixedly arranged on the outer side of the three-dimensional force sensor 9, the finger air cylinder 10 is AIRTAC, an HFR16 air cylinder is used, yarns 23 are clamped through the finger air cylinder 10, the first suture end effector 3 further comprises a pen-shaped air cylinder 11 and an air scissors 12, the pen-shaped air cylinder 11 is AIRTAC, a PB 12X 50 air cylinder is used, the air scissors 12 are N MP10-M15-2 air scissors, the air scissors 12 are connected with the front end of the pen-shaped air cylinder 11, and the pen-shaped air cylinder 11 is fixed on an air cylinder bracket 15 and connected with the finger air cylinder connecting plate 16;
As shown in fig. 6-9, the feeding device 5 comprises a cam divider 17, a fixing frame 18 and a needle thread rack 19, wherein the cam divider 17 is an ER-140DT divider, the cam divider 17 is arranged at the bottom of the fixing frame 18, the needle thread racks 19 are arranged at two sides of the fixing frame 18, double-end stitching needles 22 are arranged at the top of the needle thread rack 19, thread clamps 20 are arranged at the bottom of the needle thread rack 19, a plurality of rows of thread passing coils 21 are arranged at the middle part of the needle thread rack 19, the middle part of a thread 23 passes through the thread passing coils 21, and the thread 23 is parallel to the long side of the needle thread rack 19. The fixing frame 18 is connected with the cam divider 17 through bolts, and the thread clamp 20 and the thread passing coil 21 are arranged on two sides of the needle thread rack 19 through bolts.
As shown in fig. 10, the double-ended suture needle 22 is threaded with a yarn 23, and the tail of the yarn 23 is fixed by the thread clamp 20. The middle part of the double-end sewing needle 22 is provided with a thread passing hole and penetrates through a nylon thread 26, the nylon thread 26 is connected with a yarn 23, when the nylon thread 26 is too short and is smaller than the length of the 1/2 double-end sewing needle 22, the abrasion degree of the yarn 23 is obviously increased, and the length of the nylon thread 26 is kept to be larger than the length of the 1/2 double-end sewing needle 22 and smaller than the length of the 1 double-end sewing needle 22 by controlling the relation between the length of the nylon thread 26 and the length of the double-end pointed sewing needle 22, so that the abrasion of the yarn 23 can be effectively reduced.
As shown in fig. 11-12, a suturing method, using the above suturing apparatus, comprises the steps of:
s1, preparing a suture, namely installing a preform in a suture tool 25, taking 18 yarns 23 in two groups, connecting and fixing the yarns with corresponding double-ended pointed suture needles 22 through nylon threads 26, sequentially penetrating through a coil 21, inserting the double-ended pointed suture needles 22 into reserved holes of a needle thread rack 19, and fixing the tail parts of the yarns 23 by a thread clamp 20;
S2, performing a stitching action process: the first industrial robot 1 drives the first sewing end effector 3 to be positioned at the first needle of the feeding device 5, the three-axis air cylinder 7 stretches forwards, the air chuck 8 grabs the tail end of the first double-ended pointed sewing needle 22, the three-axis air cylinder 7 withdraws, the double-ended pointed sewing needle 22 is taken out, the finger air cylinder 10 is closed to clamp the yarn 23, the first industrial robot 1 drives the first sewing end effector 3 to be positioned at the first needle of the workbench 6 to stitch, the finger air cylinder 10 stretches to loosen the yarn 23, the three-axis air cylinder 7 stretches forwards, the air chuck 8 grabs the double-ended pointed sewing needle 22 to penetrate into the sewing preform, the front end of the double-ended pointed sewing needle 22 penetrates through the sewing preform, the air chuck 8 stretches to release the double-ended pointed sewing needle 22, the three-axis air cylinder 7 withdraws, the second industrial robot 2 drives the second sewing end effector 4 to be positioned at the first needle, the three-axis air cylinder 7 stretches forwards, the air chuck 8 grabs the front end of the first double-ended pointed suture needle 22, the triaxial cylinder 7 is retracted, the double-ended pointed suture needle 22 is pulled out of the suture preform and the yarn 23 is brought along, the finger cylinder 10 is closed to clamp the yarn 23, the second industrial robot 2 drives the second suture end effector 4 to move backwards, when the three-dimensional force sensor 9 detects that the tension of the yarn 23 reaches a set threshold value, the second industrial robot 2 stops moving backwards and drives the second suture end effector 4 to move to the position where the workbench 6 is used for suture of the second needle, the finger cylinder 10 is opened to loosen the yarn 23, the triaxial cylinder 7 extends forwards, the air chuck 8 grabs the double-ended pointed suture needle 22 to pierce the suture preform, the tail end of the double-ended pointed suture needle 22 penetrates the suture preform, the air chuck 8 is opened to release the double-ended pointed suture needle 22, the triaxial cylinder 7 is retracted, the first industrial robot 1 drives the first sewing end effector 2 to move to the position where the workbench 6 sews the second needle;
s3, repeating the sewing action in the step S2, after the set needle number is sewn, extending a pen-shaped air cylinder 11 in the first sewing end effector 3 forwards to drive the pneumatic scissors 12 to a shearing position, closing the pneumatic scissors 12, shearing the yarns 23 to finish shearing, driving the first sewing end effector 2 to move to the first needle of the feeding device 5 by the first industrial robot 1, extending a triaxial air cylinder 7 forwards, and opening the pneumatic chuck 8 to release a double-ended pointed sewing needle 22;
S4, then the first industrial robot 1 drives the first stitching end effector 2 to move to the second needle of the feeding device 5 to start the stitching period of the second needle, when the stitching period of 18 needles is finished, the cam divider 17 drives the fixing frame 18 to rotate 180 degrees, the needle thread frame 19 on the other side faces the working area, and the first industrial robot 1 drives the first stitching end effector 2 to move to the first needle of the feeding device 5 to start the stitching of the next period.
Although the preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the appended claims. All of which are within the scope of the present invention.
Claims (10)
1. A fiber preform double-robot collaborative stitching device is characterized by comprising a first industrial robot, a second industrial robot, a feeding device and a workbench, wherein a first stitching end effector is installed on a sixth joint of the first industrial robot, a second stitching end effector is installed on a sixth joint of the second industrial robot, the first industrial robot and the second industrial robot are respectively arranged on two sides of the workbench, the feeding device is arranged on one side of the first industrial robot, the first stitching end effector and the second stitching end effector respectively comprise a triaxial cylinder, a pneumatic chuck, a three-dimensional force sensor and an L-shaped fixing plate, a flange is fixedly installed on one side of a long side portion of the L-shaped fixing plate, a triaxial cylinder is fixedly installed on the other side of the long side portion of the L-shaped fixing plate, the three-dimensional force sensor is fixedly installed on a short side portion of the L-shaped fixing plate, the triaxial cylinder is connected with a pneumatic chuck, a finger cylinder connecting plate and a pneumatic scissor cylinder are fixedly installed on the outer side of the three-dimensional force sensor, yarns are clamped through the finger cylinder, the first stitching end effector further comprises a triaxial cylinder, the pneumatic scissor cylinder and the scissor cylinder is fixedly connected with the scissor cylinder, the two-shaped pen needle wire clamping frame and the two-shaped needle wire clamping frame are fixedly arranged on the two sides of the needle frame, and the two-shaped needle wire clamping frame and the two-shaped needle clamping frame are fixedly arranged on the two sides of the needle frame.
2. The dual robot co-stitching instrument of claim 1, wherein the first stitching end effector is flanged to a first industrial robot and the second stitching end effector is flanged to a second industrial robot.
3. The dual robot collaborative sewing apparatus for fiber preforms of claim 1, wherein the triaxial cylinder is fixed at the lower end of the L-shaped fixing plate by a bolt, and the air chuck is connected with the triaxial cylinder by a bolt.
4. The fiber preform dual-robot collaborative stitching device according to claim 1, wherein the three-dimensional force sensor is connected with the front end of the L-shaped fixing plate and the finger cylinder connecting plate through bolts.
5. The dual-robot collaborative sewing device for fiber preforms of claim 1 wherein the workbench comprises a sewing table support and a sewing tool, wherein the middle part of the top surface of the sewing table support is fixedly provided with the sewing tool.
6. The fiber preform double-robot cooperative sewing device of claim 5, wherein the preform is installed in the middle of the sewing tool, pressing plates are detachably installed on two sides of the preform, and a wire passing groove is formed in the pressing plates.
7. The fiber preform dual-robot cooperative sewing device of claim 1, wherein one end of the double-ended sewing needle is inserted into a needle inserting preformed hole at the top of the needle thread rack, and a thread passing hole is formed in the middle of the double-ended sewing needle and penetrates through a nylon thread to connect yarns.
8. The apparatus of claim 1, wherein the middle part of the needle thread rack is provided with a plurality of rows of passing loops, the middle part of the yarn passes the loops, and the yarn is parallel to the long side of the needle thread rack.
9. The dual robot cooperative sewing machine for fiber preforms of claim 1, wherein the fixing frame is connected with the cam divider through bolts, and the thread clamp and the thread passing coil are arranged at two sides of the needle thread rack through bolts.
10. A stitching method using a fiber preform dual robot co-stitching device according to any one of claims 1-9, comprising the steps of:
S1, preparing a suture, namely installing a preform in a suture tool, connecting and fixing two groups of yarns with corresponding double-end pointed suture needles through nylon wires, sequentially passing through loops, inserting the double-end pointed suture needles into reserved holes of a needle thread rack, and fixing the tail parts of the yarns by a thread clamp;
S2, performing a stitching action process, wherein a first industrial robot drives a first stitching end effector to be positioned at a first needle of a feeding device, a three-axis air cylinder stretches forwards, an air chuck grabs the tail end of a first double-end pointed stitching needle, the three-axis air cylinder withdraws, the double-end pointed stitching needle is taken out, a finger air cylinder is closed to clamp yarns, the first industrial robot drives the first stitching end effector to be positioned at a first needle of a workbench stitching first needle, a finger air cylinder stretches to loosen yarns, the air chuck grabs the double-end pointed stitching needle to be inserted into a stitching prefabricated body, the front end of the double-end pointed stitching needle penetrates through the stitching prefabricated body, the air chuck stretches to release the double-end pointed stitching needle, the three-axis air chuck withdraws, the air chuck grabs the front end of the first double-end pointed stitching needle, the three-axis air chuck withdraws, pulls the double-end pointed stitching needle out of the stitching prefabricated body and brings yarns out, the fingers are closed to clamp yarns, the second industrial robot drives the second stitching end effector to move backwards, and when a three-dimensional force sensor detects that a set tensile force reaches a preset threshold value, the second industrial robot stops moving backwards and drives the second stitching end effector to move to the second stitching end effector to stretch into the workbench stitching prefabricated needle, the double-end pointed stitching needle stretches to stretch, and the double-end pointed stitching needle stretches to stretch upwards, and the double-end pointed stitching needle stretches to be stretched to the second stitching needle, and stretches to the double-end of the stitching needle is stretched to stretch to the stitching prefabricated needle;
S3, repeating the sewing action in the step S2, after the set number of needles are sewn along the thread passing groove, extending a pen-shaped cylinder in the first sewing end effector forwards to drive the pneumatic scissors to a shearing position, closing the pneumatic scissors, shearing yarns to finish shearing, driving the first sewing end effector to move to the first needle of the feeding device by the first industrial robot, extending the triaxial cylinder forwards, and opening the pneumatic chuck to release the double-ended pointed sewing needle;
S4, then the first industrial robot drives the first sewing end effector to move to the second needle of the feeding device to start the sewing cycle of the second needle, the cam divider drives the fixing frame to rotate 180 degrees when the sewing cycle of all the double-end pointed sewing needles on the needle thread rack on one side is finished, the needle thread rack on the other side faces the working area, and the first industrial robot drives the first sewing end effector to move to the first needle of the feeding device to start the sewing of the next cycle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510884272.0A CN120588391A (en) | 2025-06-30 | 2025-06-30 | A fiber preform dual-robot collaborative suturing device and suturing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510884272.0A CN120588391A (en) | 2025-06-30 | 2025-06-30 | A fiber preform dual-robot collaborative suturing device and suturing method |
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| CN202510884272.0A Pending CN120588391A (en) | 2025-06-30 | 2025-06-30 | A fiber preform dual-robot collaborative suturing device and suturing method |
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