双工位针刺机器人系统设计  

Design of double-station needling robot system

作　　者：李皎[1,2] 辛世纪 陈利[1,2] 陈小明[1,2,3] LI Jiao;XIN Shiji;CHEN Li;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》2024年第7期204-212,共9页Journal of Textile Research

基　　金：天津市自然科学基金项目(19JCYBJC18300);先进功能复合材料技术重点实验室基金项目(6142906210406)。

摘　　要：针对单工位针刺成型系统中人和机器无法高效协同生产,预制体生产效率较低;现有的直线型双工位针刺机器人设备需要2个外部回转轴带动双工位参与织物针刺,系统编程难度较高,且工位切换时需要占据的空间大的问题。提出一种混合切换双工位针刺机器人系统,并开展了双工位针刺成形系统的机械结构设计、异型预制体模具和针刺工艺设计、控制系统设计、运动仿真以及预制体制备的实验验证。结果表明:系统成功实现了大尺寸异型曲面预制体的高效针刺成形,直线/旋转混合切换的双工位使得实现预制体的自动换装的同时又能保证系统空间占用量小;双工位中只有针刺工位上的外部回转轴与6关节机械臂联动,系统较为简单,编程方便;同时提高了数控回转工作台的承载力且将针刺末端执行器的布针数量增加至25针,满足了大尺寸预制体的针刺成形,并使得针刺成形效率直接提高2倍。本文系统可应用于批量化制备大尺寸异型曲面复材预制体。Objective The single-station needling machine has low preform production efficiency.The existing linear double-station needling robot equipment occupies a large space,and both double stations are equipped with external rotary axes,ausing system programming difficult.A linear/rotary hybrid switching double-station needling robot system was proposed,with the function of automatic preform changing for efficient needling of large-size quasi-rotary composite preforms.The design of the double-station needling robot is aimed at automatic change of preforms while ensuring that the equipment occupies a small space with the reduced use of external rotary axes to ensure convenient programming of the system.Method The mechanical structure design,design of quasi-rotary preforms mold and needling process,control system design,motion simulation and experimental verification of the double-station needling robot system were carried out.The double-station involved needling station and a layup station.The motor on the needling station was linked to a 6-joint mechanical arm,and system had only one external rotation axis.Within the rated load range of the robot arm,the number of needles of the needling robot effector was increased and the carrying capacity of the CNC rotary table was further improved to meet the needling molding of large-size preforms.Results The double-station needling robot consisted of a 6-joint mechanical arm,a needling robot effector,and a double-station working platform.The robot arm controller model was Kawasaki E02/7.5 kW with rated end load of 50 kg.The needling robot effector had 25 needles using a TK13500EL CNC rotary table with a maximum allowable inertia of 19 kg/m 2 and a maximum allowable driving torque of 1430 N·m.The experimental results demonstrated that the double-station needling robot system was able to fabricate successfully quasi-rotary composite preforms.The actual needling trajectories in the experiment were highly consistent with the simulated needling trajectories.In the system,the bearing

关 键 词：双工位 预制体 机器人 针刺技术 异型曲面复合材料 

分 类 号：TB332[一般工业技术—材料科学与工程]