Robotic filament winding method, apparatus, medium, and product for pressure vessels

Abstract

The application discloses a robot fiber winding method, device, medium and product for a pressure container, relates to the technical field of fiber winding, and comprises the following steps: determining the doffing parameters of each doffing point on the pressure container based on a geometric model, an angle calculation equation group and a pose calculation equation group of a robot winding system; determining the positions of equal-contour trajectory points corresponding to each doffing point based on the positions and tangent vectors of the doffing points; projecting each equal-contour trajectory point to an xoy plane of a pressure container coordinate system respectively to obtain the positions of corresponding projection points; calculating the center turning angles of each equal-contour trajectory point based on the positions of the projection points and the position of a first equal-contour trajectory point; determining the equal-contour winding paths of the robot based on the pose matrices of each doffing point and the center turning angles of the corresponding equal-contour trajectory points; and winding fibers on the pressure container based on the equal-contour winding paths. The application improves the forming quality and manufacturing efficiency of a fiber winding composite pressure container.

Description

Technical Field

[0001] This application relates to the field of fiber winding technology, and in particular to a robotic fiber winding method, apparatus, medium and product for pressure vessels. Background Technology

[0002] Robotics technology is advancing at a pace beyond most people's expectations. The widespread application of industrial robots has not only greatly improved production efficiency but also significantly enhanced product processing precision and quality. It can be said that the application of industrial robots has played a tremendous role in promoting industrial development. There are two main ways robots are used: one is the production line with robots, and the other is the robotic work cell. The latter is a relatively independent automated production system centered around an industrial robot, used to produce or process a specific product. In this case, a robotic winding unit is used to produce pressure vessels.

[0003] As people's performance requirements for products in specific environments gradually increase, the application of composite materials in engineering practice is becoming more and more widespread. Composite material pressure vessels have a good strength-to-weight ratio and high corrosion resistance in harsh environments, so they are widely used in gas storage and transportation. Composite material pressure vessels are mainly processed and formed by uniformly distributing fibers on the inner liner surface through specialized winding or laying equipment. Currently, most equipment still uses four-degree-of-freedom horizontal or gantry machine tools. These traditional machines have disadvantages such as large footprint, low flexibility, and limitations on the variety of products produced and production efficiency. Summary of the Invention

[0004] The purpose of this application is to provide a robotic fiber winding method, apparatus, medium, and product for pressure vessels, thereby improving the molding quality and manufacturing efficiency of fiber-wound composite pressure vessels.

[0005] To achieve the above objectives, this application provides the following solution:

[0006] In a first aspect, this application provides a robotic fiber winding method for pressure vessels, comprising:

[0007] Obtain the geometric dimensional parameters of the robot winding system; the robot winding system includes: a robot, an external shaft, and a pressure vessel, the pressure vessel includes: a cylindrical body section and ellipsoidal end cap sections at both ends; the pressure vessel is mounted on the external shaft; the geometric dimensional parameters include: the minor semi-axis of the ellipsoidal end cap section, the polar hole radius, the length of the cylindrical body section, and the radius of the cylindrical body section;

[0008] Based on the aforementioned geometric dimensional parameters, a geometric model of the robot winding system is established;

[0009] Based on the geometric model, angle calculation equations, and pose calculation equations, the yarn dropping parameters at each yarn dropping point on the pressure vessel are determined. The angle calculation equations include: the equations for the center rotation angle of the end cap section, the center rotation angle of the cylindrical section, the winding angle of the end cap section, and the winding angle of the cylindrical section. The pose calculation equations include: the equations for the normal vector, the equations for the tangent vector, and the equations for the secondary normal vector. Yarn dropping points are located on the cylindrical section and each of the ellipsoidal end cap sections. The yarn dropping parameters include: the center rotation angle, the winding angle, and the pose matrix. The pose matrix includes: the normal vector, the tangent vector, and the secondary normal vector.

[0010] Based on the position and tangent vector of each doffing point, determine the position of the corresponding contour trajectory point of each doffing point;

[0011] Each contour trajectory point is projected onto the xoy plane of the pressure vessel coordinate system to obtain the position of the corresponding projection point; the origin of the pressure vessel coordinate system is located at a set position on the pressure vessel.

[0012] Based on the positions of each projection point and the first contour trajectory point, calculate the center turning angle of each contour trajectory point; the first contour trajectory point is the first contour trajectory point among the contour trajectory points sorted in a preset order.

[0013] Based on the pose matrix of each doffing point and the center rotation angle of the corresponding contour trajectory point, the contour winding path of the robot is determined.

[0014] The robot winds fibers onto the pressure vessel based on the uniform contour winding path.

[0015] Optionally, the equation for the center rotation angle of the head segment includes:

[0016]

[0017] Where, θ A θ is the center rotation angle of the yarn drop point of the ellipsoidal head section; z is the z-axis coordinate of the yarn drop point of the ellipsoidal head section in the pressure vessel coordinate system; r' A The radius r of the parallel circle at the yarn drop point of the ellipsoidal head section. A The first derivative with respect to the z-axis; α A The wrapping angle at the yarn drop point of the ellipsoidal head section;

[0018] The equation for the center rotation angle of the cylinder section includes:

[0019]

[0020] Where, θ B α is the center angle of the doffing point of the cylindrical section; L is the production length of the cylindrical section; BR is the winding angle at the yarn drop point of the cylindrical section; R is the radius of the cylindrical section.

[0021] The equation for the winding angle of the end cap segment includes:

[0022]

[0023] Where λ is the slip coefficient; r” A The radius r of the parallel circle at the yarn drop point of the ellipsoidal head section. A The second derivative with respect to the z-axis;

[0024] The equation for the winding angle of the cylinder section includes:

[0025]

[0026] Where r0 is the radius of the polar hole.

[0027] Optionally, the normal vector equation includes:

[0028]

[0029] in, The normal vector of the yarn drop point; for First-order partial derivative with respect to θ; for First-order partial derivative with respect to the z-axis; When the yarn drop point is located at the end of the ellipsoid, r = r A When the yarn drop point is located on the cylindrical section, r = R; θ is the center rotation angle of the yarn drop point; when the yarn drop point is located on the ellipsoidal head section, θ = θ A When the yarn drop point is located on the cylindrical section, θ = θ B ;

[0030] The tangent vector equation includes:

[0031]

[0032] in, θ' is the tangent vector at the yarn drop point; θ' is the first derivative of the center rotation angle θ at the yarn drop point with respect to the z-axis.

[0033] The equation of the binormal vector includes:

[0034]

[0035] in, It is the binormal vector of the yarn drop point.

[0036] Optionally, based on the position and tangent vector of each doffing point, the position of the corresponding contour trajectory point of each doffing point is determined, including:

[0037] Obtain the polar aperture radius and preset safety distance;

[0038] Set any doffing point as the current doffing point;

[0039] The conversion coefficient of the current doffing point is determined based on the current doffing point position, the radius of the pole hole, and the preset safety distance;

[0040] Based on the current doffing point position and conversion coefficient, determine the position of the corresponding contour trajectory point.

[0041] Optionally, based on the positions of each projection point and the positions of the first contour trajectory points, the center rotation angle of each contour trajectory point is calculated, including:

[0042] Define any point on the contour trajectory as the current point on the contour trajectory.

[0043] Determine whether the current contour trajectory point is a first contour trajectory point;

[0044] If not, then calculate the angle between the current contour trajectory point and the next contour trajectory point based on the position of the projection point corresponding to the current contour trajectory point and the position of the projection point corresponding to the next contour trajectory point.

[0045] All contour points that are in the order preceding the current contour point, as well as the current contour point, are identified as the target contour point.

[0046] Calculate the center angle of the current contour trajectory point based on all included angles corresponding to all target contour trajectory points and the center angle of the first contour trajectory point.

[0047] If so, then calculate the center turning angle of the current contour trajectory point based on the position of the first contour trajectory point.

[0048] Optionally, based on the pose matrix of each yarn dotting point and the center rotation angle of the corresponding contour trajectory point, the robot's contour winding path is determined, including:

[0049] Based on the center turning angle of each contour trajectory point, determine the turning angle matrix of the corresponding contour trajectory point;

[0050] According to the preset order, the pose matrix of each yarn drop point is multiplied by the rotation matrix of the corresponding contour trajectory point to obtain the contour winding path of the robot.

[0051] In a second aspect, this application provides a computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the robotic fiber winding method for pressure vessels as described in any of the preceding claims.

[0052] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the robotic fiber winding method for pressure vessels described in any of the preceding claims.

[0053] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the robotic fiber winding method for pressure vessels described in any of the preceding claims.

[0054] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0055] This application discloses a robotic fiber winding method, apparatus, medium, and product for pressure vessels. First, the geometric dimensions of the robotic winding system are obtained. Based on these parameters, a geometric model of the robotic winding system is established. Second, based on the geometric model, angle calculation equations, and pose calculation equations, the yarn dropping parameters at each yarn dropping point on the pressure vessel are determined. These parameters include a center rotation angle, winding angle, and pose matrix. The pose matrix includes a normal vector, a tangent vector, and a sub-normal vector. Third, based on the position and tangent vector of each yarn dropping point, the position of the corresponding iso-contour trajectory point is determined. Each iso-contour trajectory point is projected onto the xoy plane of the pressure vessel coordinate system to obtain the position of the corresponding projection point. Based on the positions of the projection points and the position of the first iso-contour trajectory point, the center rotation angle of each iso-contour trajectory point is calculated. The first iso-contour trajectory point is the first iso-contour trajectory point in a preset order. Based on the pose matrix of each yarn dropping point and the center rotation angle of the corresponding iso-contour trajectory point, the iso-contour winding path of the robot is determined. Finally, the robot winds fibers on the pressure vessel based on the iso-contour winding path. This application improves the molding quality and manufacturing efficiency of fiber-wound composite pressure vessels by modeling the robot winding system and automatically planning the robot's contour winding path. It helps to promote the fiber winding molding design and manufacturing of complex products and expand the application fields of fiber winding technology. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A schematic flowchart of a robotic fiber winding method for a pressure vessel provided in an embodiment of this application;

[0058] Figure 2 This is a schematic diagram of a robotic fiber winding method for pressure vessels.

[0059] Figure 3 This is a geometric model diagram of a robot winding system;

[0060] Figure 4 This is a geometric model diagram of the ellipsoidal head segment;

[0061] Figure 5 This is a diagram showing the unfolded shape of the cylindrical section.

[0062] Figure 6 A schematic diagram for solving the coordinates of points on a contour trajectory;

[0063] Figure 7 This is a schematic diagram of a pressure vessel model;

[0064] Figure 8 A diagram showing the trajectory of fiber doffing points in a pressure vessel.

[0065] Figure 9 A diagram showing the fiber doffing point position for one cycle in a pressure vessel.

[0066] Figure 10 This is a diagram showing the position of the winding head's movement trajectory;

[0067] Figure 11 This is a diagram showing the motion trajectory and attitude of the winding head.

[0068] Figure 12 First simulation image for visualizing fiber winding in a robot;

[0069] Figure 13 A second simulation image for visualizing robot fiber winding;

[0070] Figure 14 A third simulation image for visualizing fiber winding in a robot;

[0071] Figure 15 The fourth simulation image for visualizing robot fiber winding;

[0072] Figure 16 The fifth simulation image for visualizing robot fiber winding;

[0073] Figure 17 The sixth simulation image for visualizing robot fiber winding;

[0074] Figure 18 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0076] The purpose of this application is to provide a robotic fiber winding method, apparatus, medium, and product for pressure vessels, aiming to improve the molding quality and manufacturing efficiency of fiber-wound composite pressure vessels.

[0077] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0078] In one exemplary embodiment, such as Figure 1 and Figure 2 As shown, the robotic fiber winding method for pressure vessels in this embodiment includes:

[0079] Step 1: Obtain the geometric parameters of the robot winding system.

[0080] The robot winding system includes a robot, an external shaft, and a pressure vessel. The pressure vessel includes a cylindrical body and ellipsoidal end caps at both ends. The pressure vessel is mounted on the external shaft. The geometric parameters include the minor axis of the ellipsoidal end caps, the radius of the polar hole, the length of the cylindrical body, and the radius of the cylindrical body.

[0081] Step 2: Establish the geometric model of the robot winding system based on the geometric dimension parameters.

[0082] Specifically, based on the geometric parameters of the robot winding system, a system is established using SolidWorks, such as... Figure 3 The geometric model of the robot winding system is shown, and it is converted to urdf format and imported into MATLAB.

[0083] Step 3: Based on the geometric model, angle calculation equations, and pose calculation equations, determine the yarn doffing parameters at each doffing point on the pressure vessel.

[0084] The angle calculation equations include: the center rotation angle equation of the head section, the center rotation angle equation of the cylinder section, the winding angle equation of the head section, and the winding angle equation of the cylinder section. The pose calculation equations include: the normal vector equation, the tangent vector equation, and the subnormal vector equation. There are yarn dropping points on the cylindrical cylinder section and each ellipsoidal head section. The yarn dropping parameters include: the center rotation angle, the winding angle, and the pose matrix. The pose matrix includes: the normal vector, the tangent vector, and the subnormal vector.

[0085] As an optional implementation, the equation for the center rotation angle of the end cap segment includes:

[0086]

[0087] Where, θ A θ is the center rotation angle of the yarn drop point of the ellipsoidal head section; z is the z-axis coordinate of the yarn drop point of the ellipsoidal head section in the pressure vessel coordinate system; r' A The radius r of the parallel circle at the yarn drop point of the ellipsoidal head section. A The first derivative with respect to the z-axis; α A The wrapping angle is the yarn drop point of the ellipsoidal head section.

[0088] The equation for the center rotation angle of the cylinder section includes:

[0089]

[0090] Where, θ B α is the center angle of the doffing point of the cylindrical section; L is the production length of the cylindrical section; B R is the winding angle at the yarn drop point of the cylindrical section; R is the radius of the cylindrical section.

[0091] The equation for the winding angle of the end cap segment includes:

[0092]

[0093] Where λ is the slip coefficient; r” A The radius r of the parallel circle at the yarn drop point of the ellipsoidal head section. A The second derivative with respect to the z-axis.

[0094] The equation for the winding angle of the cylinder section includes:

[0095]

[0096] Where r0 is the radius of the polar hole.

[0097] As an optional implementation, the normal vector equation includes:

[0098]

[0099] in, The normal vector of the yarn drop point; for First-order partial derivative with respect to θ; for First-order partial derivative with respect to the z-axis; When the yarn drop point is located at the end of the ellipsoid, r = r A When the yarn drop point is located on the cylindrical section, r = R; θ is the center rotation angle of the yarn drop point; when the yarn drop point is located on the ellipsoidal head section, θ = θA When the yarn drop point is located on the cylindrical section, θ = θ B .

[0100] Tangent vector equations, including:

[0101]

[0102] in, θ' is the tangent vector at the yarn drop point; θ' is the first derivative of the center rotation angle θ at the yarn drop point with respect to the z-axis.

[0103] The equations for the binormal vector include:

[0104]

[0105] in, It is the binormal vector of the yarn drop point.

[0106] Specifically, for shell structures, especially ellipsoidal head sections, the linear path often involves changes in radius and angle, therefore it is necessary to establish, for example... Figure 4 The geometric model of the ellipsoidal head segment shown is analyzed using differential geometric relationships to determine the central rotation angle of the ellipsoidal head segment.

[0107] Let the winding angle of the yarn drop point P1 on the ellipsoidal head segment be α = α1, the central rotation angle be θ = θ1, and the radius of the parallel circle be r = r1. Then the winding angle of the next yarn drop point P2 after P1 is α1 + dα. According to differential geometry, the following relationship can be obtained:

[0108]

[0109] Where dθ is the difference between the center angle of the yarn doffing point P1 and the center angle of the yarn doffing point P2; ds is an intermediate quantity. dz is the difference between the z-coordinate of the yarn drop point P1 and the z-coordinate of the yarn drop point P2; dr is the difference between the radius of the parallel circle of the yarn drop point P1 and the radius of the parallel circle of the yarn drop point P2.

[0110] Furthermore, ignoring higher-order infinitesimals, we obtain the equation for the center rotation angle of the head segment, namely equation (1).

[0111] Cylindrical sections typically employ geodesic design for their alignment, maintaining a constant winding angle and radius. Therefore, according to... Figure 5 Thus, the equation for the center rotation angle of the cylinder section is obtained, namely equation (2).

[0112] The winding angle refers to the angle between the axial direction of the fiber in the mandrel (pressure vessel) and the tangent direction of the mandrel's meridian or generatrix. The center rotation angle, also known as the mandrel rotation angle, refers to the angle of rotation of the mandrel when it completes one round-trip winding during the fiber winding process.

[0113] Let the equation of the spatial surface of revolution S(z,θ) be:

[0114]

[0115] The equation of the normal vector can be obtained from the equation of the spatial surface of revolution S(z,θ), namely equation (5).

[0116] Based on the knowledge of differential geometry, its first fundamental quantity Ι and second fundamental quantity Π have the following forms:

[0117]

[0118] Among them, E, F, G, H, M and N are all intermediate quantities;

[0119] for Second-order partial derivative with respect to θ; for Second-order partial derivatives with respect to the θ and z axes.

[0120] The normal curvature K can be obtained from the above quantities. n :

[0121]

[0122] Substituting equation (1) into equation (11) and simplifying, we get:

[0123]

[0124] The geodesic curvature K can be obtained using the Leuville formula. g :

[0125]

[0126] From the force analysis of the curved surface, it is easy to know that the slip coefficient λ is equal to the geodesic curvature K. g With normal curvature K n The ratio, that is:

[0127]

[0128] Substituting equations (12) and (13) into equation (14), and rearranging, we obtain the equation for the winding angle of the end cap segment, namely equation (3).

[0129] Since the equations are a system of differential equations, analytical solutions cannot be obtained directly; numerical iterative solutions are required. Given the slip coefficient λ and the equations for angle calculation, the non-geodetic equations are solved using the Runge-Kutta method to obtain the positions of each yarn drop point.

[0130] The cylindrical section uses geodesics, so its winding angle is fixed. The winding angle equation of the cylindrical section is obtained according to Claylow's equation, namely equation (4).

[0131] Based on equation (5), the equation of the tangent vector at the yarn drop point is obtained, i.e., equation (6), and further, the equation of the binormal vector at the yarn drop point is obtained, i.e., equation (7).

[0132] Furthermore, the pose matrix of the yarn dotting point is obtained as follows: p represents the position of the yarn doffing point.

[0133] Step 4: Based on the position and tangent vector of each doffing point, determine the position of the corresponding contour trajectory point of each doffing point.

[0134] As an optional implementation, step 4 includes:

[0135] Step 41: Obtain the polar hole radius and preset safety distance.

[0136] Step 42: Determine any doffing point as the current doffing point.

[0137] Step 43: Determine the conversion coefficient of the current doffing point based on the current doffing point position, the radius of the pole hole, and the preset safety distance.

[0138] Step 44: Based on the position of the current doffing point and the conversion coefficient, determine the position of the contour trajectory point corresponding to the current doffing point.

[0139] Specifically, the intersection of the tangent line at the yarn drop point and the robot's envelope motion plane. For example... Figure 6 As shown, let any doffing point be point P, with position (x, y, z), and its corresponding contour point be point P', with position (X, Y, Z). Let the length of line segment PP' be l. According to the basic principle of fiber winding, PP' is along the tangent direction of the winding path passing through point P. The tangent vector of the winding path at point P is... The formula for calculating point P' of the contour trajectory is:

[0140]

[0141] Where l is the conversion coefficient, and the value of l depends on the shape of the envelope motion plane and the preset safety distance e.

[0142] When the yarn drop point is located at the end section of the ellipsoid, the equation for solving l, i.e., the ellipsoidal profile constraint equation, is:

[0143]

[0144] When the yarn drop point is located in the cylindrical section, the equation for solving l, i.e., the cylindrical profile constraint equation, is:

[0145] (x+lt x ) 2 +(y+lt y ) 2 =(R+d) 2 ,0≤z≤L (18)

[0146] The l value corresponding to each doffing point can be obtained from equations (17) and (18), and the coordinates of the contour trajectory points corresponding to each doffing point can be obtained. The posture of the contour trajectory points is the same as that of the doffing points.

[0147] Step 5: Project each contour trajectory point onto the xoy plane of the pressure vessel coordinate system to obtain the position of the corresponding projection point.

[0148] The origin of the pressure vessel coordinate system is located at the designated position on the pressure vessel.

[0149] Step 6: Based on the positions of each projection point and the positions of the first contour trajectory points, calculate the center rotation angle of each contour trajectory point.

[0150] Among them, the first contour trajectory point is the first contour trajectory point among all contour trajectory points sorted in a preset order.

[0151] As an optional implementation, step 6 includes:

[0152] Step 61: Determine any contour trajectory point as the current contour trajectory point.

[0153] Step 62: Determine whether the current contour trajectory point is the first contour trajectory point.

[0154] Step 63: If not, calculate the angle between the current contour trajectory point and the next contour trajectory point based on the position of the projection point corresponding to the current contour trajectory point and the position of the projection point corresponding to the next contour trajectory point.

[0155] Step 64: Determine all contour points that are in sequence before the current contour point and the current contour point as the target contour point.

[0156] Step 65: Calculate the center angle of the current contour trajectory point based on all included angles corresponding to all target contour trajectory points and the center angle of the first contour trajectory point.

[0157] Step 66: If so, calculate the center rotation angle of the current contour trajectory point based on the position of the first contour trajectory point.

[0158] Step 7: Based on the pose matrix of each yarn drop point and the center rotation angle of the corresponding contour trajectory point, determine the contour winding path of the robot.

[0159] Specifically, the angle between the first-order contour trajectory point and the yoz plane is equal to the center rotation angle of the first-order contour trajectory point. The formula for calculating the center rotation angle of the first-order contour trajectory point is:

[0160] θ1=arctan(X1 / Y1) (19)

[0161] Where θ1 is the center turning angle of the first contour trajectory point; X1 is the x-axis coordinate of the first contour trajectory point; and Y1 is the y-axis coordinate of the first contour trajectory point.

[0162] For two adjacent points with the same contour, such as the angle between the i-th point and the (i+1)-th point with the same contour, the angle is:

[0163]

[0164] in, Let be the angle between the i-th contour trajectory point and the (i+1)-th contour trajectory point; Let P be the projection point corresponding to the origin O and the i-th contour trajectory point. i The length of the vector formed; Let P be the projection point corresponding to the origin O and the (i+1)th contour trajectory point. i+1 The length of the vector formed; Let P be the projection point corresponding to the i-th contour trajectory point. i "The projection point P corresponding to the (i+1)th contour trajectory point" i+1 The length of the vector formed.

[0165] The formula for calculating the center rotation angle of the (i+1)th contour point is:

[0166]

[0167] Where, θ i+1 The center turning angle of the (i+1)th contour trajectory point; Let be the angle between the j-th contour point and the (j+1)-th contour point.

[0168] As an optional implementation, step 7 includes:

[0169] Step 71: Determine the rotation angle matrix of each contour trajectory point based on the center rotation angle of each contour trajectory point.

[0170] Specifically, the rotation matrix Roz(θ) of the i-th contour trajectory point. i The formula for calculating ) is:

[0171]

[0172] Step 72: In a preset order, multiply the pose matrix of each yarn drop point by the rotation matrix of the corresponding contour trajectory point to obtain the contour winding path of the robot.

[0173] Specifically, the formula for calculating the i-th winding path point on the robot's contour winding path, i.e., the robot's task coordinate system, is as follows:

[0174]

[0175] in, Let i be the i-th winding path point on the contour winding path of the robot; Let be the normal vector of the i-th yarn drop point; Let be the binormal vector of the i-th yarn drop point; p is the tangent vector at the i-th yarn drop point; i Let be the position of the i-th yarn drop point.

[0176] Furthermore, when a total of I doffing points are set, the robot's contour winding path is:

[0177]

[0178] in, This is the first winding path point on the robot's contour winding path; Let be the i-th winding path point on the robot's contour winding path.

[0179] Step 8: The robot winds fibers onto the pressure vessel based on a uniform contour winding path.

[0180] Specifically, a kinematic model of the robot winding system is constructed. Based on the robot's contour-enveloping winding path, inverse kinematics is solved for each corresponding coordinate system of the robot's end-effector tool. The rotation angles of each joint and the external axis of the robot at each winding path point are calculated. The robot fiber winding visualization simulation is completed using MATLAB. The robot and the winding system move in tandem to complete the forming of the robot fiber winding pressure vessel.

[0181] The robotic fiber winding system comprises two motion mechanisms: first, the pose of the end-effector is manipulated through the motion of the industrial robot; second, the pose of the mandrel is manipulated through the motion of an external axis. Assuming the kinematic models of the robot and the external axis are known, the drive joint coordinates, depending on their output space pose, are q... ri and q p This allows us to construct a kinematic model of a closed-loop system consisting of an industrial robot, a core mold, and an external shaft.

[0182] To obtain the kinematic model of the entire system, the relationship between the pose coordinate system of the robot's end effector nozzle and the task pose coordinate system must conform to certain rules: First, the origin of the nozzle coordinate system and the task coordinate system T... Task The first rule is that the coordinates of the screw thread nozzle and the robot's task coordinate system are aligned; the second rule is that their orientations are opposite. Based on these rules, the inverse kinematics of the screw thread nozzle coordinate system is solved to obtain the rotation angles q of each robot joint corresponding to the winding path points. ri .

[0183] The external axis rotation angle q corresponding to the winding path point pi Then the center rotation angle θ corresponding to the contour trajectory points obtained in equation (21) is respectively i Consistent. Finally, MATLAB was used to complete the visualization simulation of robot fiber winding, and the robot winding system coordinated its motion to complete the forming of the robot fiber winding pressure vessel. Specific Implementation

[0185] The method of this application is verified based on specific embodiments, including:

[0186] Step A: Based on the geometric parameters of the robot winding system, create geometric models of the pressure vessel, robot, and external shaft using SolidWorks; then convert them to URDF format and import them into MATLAB, such as... Figure 3 As shown. Simultaneously, a geometric model of the pressure vessel is established in MATLAB for line design, such as... Figure 7 The geometric dimensions of the pressure vessel shown include: the minor axis of the ellipsoidal head section is 100 mm, the radius of the polar hole is 80 mm, the length of the cylindrical body section is 650 mm, and the radius of the cylindrical body section is 167.5 mm.

[0187] Step B: The head section of the shell adopts a standard ellipsoidal head, and its meridian equation is:

[0188]

[0189] Where 'a' is the semi-major axis of the ellipsoidal head segment.

[0190] Taking the slip coefficient λ = 0.01, substituting equation (25) into equations (1) and (3) respectively, we can obtain the winding angle equation and the center rotation angle equation of the ellipsoidal head section. Solving the winding angle equation and the center rotation angle equation of the head section using the MATLAB ode45 function yields the corresponding winding angle and center rotation angle of the head section. The winding of the cylindrical body section uses geodesics, and the center rotation angle and winding angle are obtained using equations (2) and (4) respectively. Subsequently, the trajectory is calculated and plotted using MATLAB. The obtained winding trajectory is as follows: Figure 8 As shown. The pose matrix of the doffing point is obtained through equations (5), (6), and (7). The pose of the doffing point in one cycle of winding is as follows. Figure 9 As shown.

[0191] Step C: Given a safe distance of 120mm between the nozzle and the mandrel, substitute the yarn drop point position obtained in Step B into equations (17) and (18) to obtain the corresponding l value. Substitute the l value into equation (15) to obtain the corresponding contour trajectory point. Based on the obtained position of the contour trajectory point, the center rotation angle corresponding to the contour trajectory point can be obtained by equations (19), (20), and (21). Then, multiply the obtained contour trajectory point poses by the rotation matrix to the left to complete the robot's contour envelope winding path planning, such as... Figure 10 and Figure 11 As shown.

[0192] Step D: To complete the robot fiber winding of the pressure vessel, the relationship between the robot end effector nozzle's pose coordinate system and the task pose coordinate system must conform to certain rules: First, the origin of the nozzle coordinate system coincides with the task coordinate system; second, the x-axis, y-axis, and Z-axis directions of the nozzle coordinate system and the task coordinate system are opposite. Based on the above rules, inverse kinematics is performed on the nozzle coordinate system to obtain the robot joint rotation angles corresponding to the task trajectory points. The external axis rotation angles corresponding to the task trajectory points are consistent with the center rotation angles corresponding to the isocontour trajectory points obtained in equation (19). The robot fiber winding visualization simulation is as follows: Figures 12-17 As shown.

[0193] In one exemplary embodiment, a computer device is provided, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement a robotic fiber winding method for a pressure vessel.

[0194] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements a robotic fiber winding method for a pressure vessel.

[0195] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements a robotic fiber winding method for a pressure vessel.

[0196] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 18As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a robotic fiber winding method for pressure vessels.

[0197] Those skilled in the art will understand that Figure 18 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0198] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0199] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0200] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0201] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0202] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robotic fiber winding method for pressure vessels, characterized in that, The robotic fiber winding method for forming pressure vessel devices includes: Obtain the geometric dimensional parameters of the robot winding system; the robot winding system includes: a robot, an external shaft, and a pressure vessel, the pressure vessel includes: a cylindrical body section and ellipsoidal end cap sections at both ends; the pressure vessel is mounted on the external shaft; the geometric dimensional parameters include: the minor semi-axis of the ellipsoidal end cap section, the radius of the polar hole, the length of the cylindrical body section, and the radius of the cylindrical body section; Based on the aforementioned geometric dimensional parameters, a geometric model of the robot winding system is established; Based on the geometric model, the angle calculation equation set, and the pose calculation equation set, the yarn dropping parameters at each yarn dropping point on the pressure vessel are determined. The angle calculation equation set includes: the center rotation angle equation of the head section, the center rotation angle equation of the cylinder section, the winding angle equation of the head section, and the winding angle equation of the cylinder section. The pose calculation equation set includes: the normal vector equation, the tangent vector equation, and the subnormal vector equation. There are yarn dropping points on the cylindrical cylinder section and each of the ellipsoidal head sections. The yarn dropping parameters include: the center rotation angle, the winding angle, and the pose matrix. The pose matrix includes: the normal vector, the tangent vector, and the subnormal vector. Based on the position and tangent vector of each doffing point, determine the position of the corresponding contour trajectory point of each doffing point; Each contour trajectory point is projected onto the xoy plane of the pressure vessel coordinate system to obtain the position of the corresponding projection point; the origin of the pressure vessel coordinate system is located at a set position on the pressure vessel. Based on the positions of each projection point and the first contour trajectory point, calculate the center turning angle of each contour trajectory point; the first contour trajectory point is the first contour trajectory point among the contour trajectory points sorted in a preset order. Based on the pose matrix of each doffing point and the center rotation angle of the corresponding contour trajectory point, the contour winding path of the robot is determined. The robot performs fiber winding on the pressure vessel based on the equal contour winding path; Based on the position and tangent vector of each doffing point, determine the position of the corresponding contour trajectory point of each doffing point, including: Obtain the polar aperture radius and preset safety distance; Set any doffing point as the current doffing point; The conversion coefficient of the current doffing point is determined based on the current doffing point position, the radius of the pole hole, and the preset safety distance; Based on the current doffing point position and conversion coefficient, determine the position of the corresponding contour trajectory point; Based on the positions of each projection point and the positions of the first contour trajectory points, calculate the center rotation angle of each contour trajectory point, including: Define any point on the contour trajectory as the current point on the contour trajectory. Determine whether the current contour trajectory point is a first contour trajectory point; If not, then calculate the angle between the current contour trajectory point and the next contour trajectory point based on the position of the projection point corresponding to the current contour trajectory point and the position of the projection point corresponding to the next contour trajectory point. All contour points that are in the order preceding the current contour point, as well as the current contour point, are identified as the target contour point. Calculate the center angle of the current contour trajectory point based on all included angles corresponding to all target contour trajectory points and the center angle of the first contour trajectory point. If so, then calculate the center turning angle of the current contour trajectory point based on the position of the first contour trajectory point.

2. The robotic fiber winding method for pressure vessels according to claim 1, characterized in that, The equation for the center rotation angle of the head segment includes: ； in, The central angle of the yarn drop point of the ellipsoidal head section; Let z be the z-axis coordinate of the yarn drop point of the ellipsoidal head section in the pressure vessel coordinate system; The radius of the parallel circle at the yarn drop point of the ellipsoidal head section. The first derivative with respect to the z-axis; The wrapping angle at the yarn drop point of the ellipsoidal head section; The equation for the center rotation angle of the cylinder section includes: ； in, The center angle of the yarn doffing point of the cylindrical section; The production length of the cylindrical section; The winding angle at the yarn drop point of the cylindrical section; The radius of the cylindrical section; The equation for the winding angle of the end cap segment includes: ； in, The slip coefficient; The radius of the parallel circle at the yarn drop point of the ellipsoidal head section. The second derivative with respect to the z-axis; The equation for the winding angle of the cylinder section includes: ； in, The radius of the polar aperture is denoted as .

3. The robotic fiber winding method for pressure vessels according to claim 2, characterized in that, The normal vector equation includes: ； in, The normal vector of the yarn drop point; for right The first-order partial derivative; for First-order partial derivative with respect to the z-axis; When the yarn drop point is located at the ellipsoidal end cap section, When the yarn doffing point is located on the cylindrical section, ; The center angle of the yarn doffing point; when the yarn doffing point is located at the ellipsoidal end cap section. When the yarn doffing point is located on the cylindrical section, ; The tangent vector equation includes: ； in, The tangent vector at the yarn drop point; The center angle of the doffing point The first derivative with respect to the z-axis; The equation of the binormal vector includes: ； in, It is the binormal vector of the yarn dotting point.

4. The robotic fiber winding method for pressure vessels according to claim 1, characterized in that, Based on the pose matrix of each yarn dotting point and the center rotation angle of the corresponding contour trajectory point, the contour winding path of the robot is determined, including: Based on the center turning angle of each contour trajectory point, determine the turning angle matrix of the corresponding contour trajectory point; According to the preset order, the pose matrix of each yarn drop point is multiplied by the rotation matrix of the corresponding contour trajectory point to obtain the contour winding path of the robot.

5. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the computer program to implement the robotic fiber winding method for a pressure vessel as described in any one of claims 1-4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the robotic fiber winding method for pressure vessels as described in any one of claims 1-4.

7. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the robotic fiber winding method for pressure vessels as described in any one of claims 1-4.

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