类回转预制体针刺机器人系统设计  

Design of needling robot system for quasi-rotary preforms

作　　者：李皎[1,2] 陈利[1,2] 姚天磊 陈小明[1,2,3] LI Jiao;CHEN Li;YAO Tianlei;CHEN Xiaoming(School of Textile Science and Engineering,Tiangong University,Tianjin 300387,China;Key Laboratory of Advanced Textile Composite Materials of Ministry of Education,Tiangong University,Tianjin 300387,China;School of Mechanical Engineering,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学纺织科学与工程学院,天津300387 [2]天津工业大学先进纺织复合材料教育部重点实验室,天津300387 [3]天津工业大学机械工程学院,天津300387

出　　处：《纺织学报》2023年第7期207-213,共7页Journal of Textile Research

基　　金：天津市教委科研计划项目(2018ZD13);先进功能复合材料技术重点实验室基金项目(6142906210406);天津市自然科学基金项目(19JCYBJC18300)。

摘　　要：类回转复合材料预制体外形结构复杂,目前的4轴针刺系统和6关节机器人针刺成型系统难以满足其成型织造要求,提出一种基于机器人平台的7轴联动针刺成型系统,用于类回转预制体的针刺成型。开展了7轴针刺成型系统的机械结构设计、控制系统设计,以及针刺轨迹规划方法研究,并通过运动仿真和实验验证系统的可行性。结果表明:针刺实验轨迹和理论设计轨迹高度一致,针迹均匀,预制体表面平整,7轴联动针刺成型系统成功实现了类回转预制体的高质量针刺成型;采用Powershape和Powermill软件成功实现了连续轨迹线设计和针刺机器人6轴程序输出;自主开发的6轴程序转换成7轴程序的算法是可靠的,基于Python和QT Designer开发的7轴针刺机器人程序后处理软件成功实现了7轴针刺机器人可执行程序的高精确输出。本文系统可用于高速飞行器天线罩、舱段等复合材料预制体的高质量针刺成型。Objective Quasi-rotary composite preforms are increasingly used in high-speed aircrafts.The shape and structure of the quasi-rotary composite preform are complex,and the current 4-axis needling system and 6-joint robot needling system cannot meet its weaving requirements.A 7-axis linkage needling system based on a robot platform was proposed for needling of the quasi-rotary preforms.Method The mechanical structure design,control system design,and needling trajectory planning method of the 7-axis needling system were carried out,and the feasibility of the system was verified by motion simulation and experiment.The needling end-effector adopted apneumatic actuator,which had simple structure,easy maintenance,and light weight.Considering the high-quality needling requirements of large size preform components,a computer numerical control(CNC)rotary table with large load capacity and high accuracy was selected.The needling trajectory planning software was developed to facilitate the generation of the control program of the quasi-rotary preform needling robot.Results The quasi-rotary composite preform needling robot was composed of a 6-joint mechanical arm,a needling end-effector,and a CNC rotary table.A Kawasaki RS050N mechanical arm was adopted for 6-joint mechanical arm,with end load of 50 kg.Universal TK13250Q CNC vertical and horizontal rotary table was selected as the rotary table.The reduction ratio was 90,and the maximum allowable inertia was 1.2 kg/m2,which meet the system operation requirements.The continuous milling program development function of Powershape and Powermill was adopted to design the needling trajectory and output the position and posture information of continuous points on the trajectory.Based on Python language and QT Designer,the post-processing software of 7-axis linkage needling robot program was developed(Fig.7).Through the simple user interface,the 7-axis needling program was designed,which reduced the workload and the human error caused by the tedious generation process.The main work of

关 键 词：类回转预制体 针刺机器人 系统设计 三维针刺复合材料 结构设计 

分 类 号：TB332[一般工业技术—材料科学与工程]