A three-dimensional weaving active control method and system for eliminating local wrinkles in fabrics

Abstract

The present invention relates to the field of intelligent weaving technology, specifically a three-dimensional weaving active control method and system for eliminating local wrinkles in fabrics, the method comprising the following steps: obtaining a core mold centerline based on the core shaft surface, and obtaining a core mold surface triangular patch in combination with the core mold centerline and the outer contour; dividing the core mold surface triangular patch based on the product's expected weaving angle distribution and obtaining the expected weaving angle direction vector; obtaining the expected yarn trajectory based on the expected weaving angle direction vector and fabric uniformity; analyzing any discrete point on the core mold centerline based on the expected yarn trajectory and a guide ring, and obtaining a first control parameter result and a second control parameter result for the discrete point. The present invention accurately solves the control parameters based on the uniformity of yarn distribution and the interaction between yarns to ensure the continuity and stability of weaving, thereby ensuring the weaving accuracy of large-scale complex structure core molds.

Description

Technical Field

[0001] The present invention relates to the field of intelligent weaving technology, and in particular to a three-dimensional weaving active control method and system for eliminating local wrinkles in fabrics. Background Art

[0002] Fiber-reinforced composites, with their lightweight and excellent damage tolerance, are gradually replacing traditional metal materials. Carbon fiber composites are particularly popular in the manufacture of large, special-shaped structural parts. Weaving, a key manufacturing process for these structural parts, imparts a highly interwoven fiber structure to the composite, resulting in excellent mechanical properties after curing the resin or carbon matrix. The accuracy of the robot's operation during the weaving process is directly related to the braiding angle and coverage of the molded part, which in turn directly affects the practical performance of the final product.

[0003] Weaving large and complex heavy mandrels faces technical challenges. First, it is difficult to solve the weaving control parameters of complex-shaped mandrels, especially in areas with variable cross-sections and bends, where problems such as uneven fabric distribution and stacking often occur. Secondly, the weight of the mandrel itself and the tension generated by the numerous yarns required for weaving together constitute a huge resistance to the mandrel, making it easy for the robot to overload the joints when holding the mandrel. The above factors make it difficult for the braided preforms of large-sized and complex-structured mandrels to meet the target quality requirements, thereby affecting the overall performance of the finished composite material. Therefore, in the weaving process of large-sized and complex-shaped mandrels, it is particularly urgent to realize high-precision automated weaving of multi-robot collaborative mandrels. Summary of the Invention

[0004] In response to the defects of existing methods and the shortcomings of practical applications, the first aspect of the present invention provides a three-dimensional weaving active control method for eliminating local wrinkles in fabrics, which includes the following steps: obtaining the center line of the core mold according to the core shaft surface, and obtaining the triangular facets of the core shaft surface in combination with the center line of the core mold and the outer contour; dividing the triangular facets of the core shaft surface based on the expected weaving angle distribution of the product, and obtaining the expected weaving angle direction vector; obtaining the expected yarn trajectory according to the expected weaving angle direction vector and fabric uniformity; analyzing any discrete point on the center line of the core mold based on the expected yarn trajectory and the guide ring, and obtaining the first control parameter result and the second control parameter result of the discrete point. The present invention can accurately describe the geometric shape of the core shaft, ensure that the weaving process is carried out according to the predetermined design, ensure uniform yarn distribution, and realize high-precision weaving of large-scale complex structure core molds by solving the control parameters.

[0005] Optionally, obtaining the core mold centerline based on the mandrel surface includes: extracting features and remodeling the mandrel surface; and obtaining the core mold centerline based on the feature extraction and modeling results. The present invention obtains the core mold centerline by extracting features and remodeling the mandrel surface, which can improve the accuracy and reliability of the centerline and provide strong support for subsequent braiding parameter analysis.

[0006] Optionally, obtaining the mandrel surface triangular patch by combining the mandrel centerline and the outer contour includes: obtaining an equidistant key section based on the mandrel centerline and the outer contour; and obtaining the mandrel surface triangular patch based on the equidistant key section. The method of obtaining the mandrel surface triangular patch by combining the mandrel centerline and the outer contour of the present invention helps to obtain a high-quality mandrel surface model.

[0007] Optionally, dividing the triangular facets on the mandrel surface based on the desired braiding angle distribution of the product and obtaining the desired braiding angle direction vectors includes: setting a desired braiding angle direction vector within each region of the triangular facets on the mandrel surface based on the desired braiding angle distribution of the product, wherein the desired braiding angle direction vectors include clockwise yarns and counterclockwise yarns. The present invention uses the desired braiding angle direction vectors to precisely control the distribution and movement direction of the yarns on the mandrel surface, thereby ensuring that the braiding process is carried out in accordance with product requirements, which is beneficial for ensuring the performance and appearance quality of the woven product.

[0008] Optionally, obtaining a desired yarn trajectory based on the desired braiding angle direction vector and fabric uniformity includes: obtaining a target reference line based on the desired braiding angle direction vector and fabric uniformity; obtaining a cross-section initial point of the equidistant key cross section based on the target reference line and the equidistant key cross section; and obtaining a desired yarn trajectory for the equidistant key cross section by combining a contour line and the cross-section initial point. The present invention obtains the desired yarn trajectory by combining the contour line and the cross-section initial point, comprehensively considering the core shaft profile and cross-sectional shape, ensuring that the yarn can travel along the desired trajectory during the braiding process, and facilitating continuous and smooth yarn braiding.

[0009] Optionally, analyzing any discrete point on the centerline of the core mold based on the expected yarn trajectory and the guide ring to obtain a first control parameter result and a second control parameter result for the discrete point includes: obtaining an extension line of the trajectory of any discrete point on the centerline of the core mold along the yarn direction based on the expected yarn trajectory. The present invention obtains an extension line of the trajectory of the discrete point along the yarn direction based on the expected yarn trajectory, which helps improve weaving accuracy, continuity, and operating efficiency.

[0010] Optionally, analyzing any discrete point on the centerline of the core mold based on the desired yarn trajectory and the guide ring to obtain first and second control parameter results for the discrete point includes obtaining the first control parameter result for any discrete point on the centerline of the core mold based on an extension line of the trajectory along the yarn direction and the guide ring. The present invention obtains control parameter results based on the trajectory of the desired yarn trajectory along an extension line of the yarn direction and the guide ring, thereby helping to improve the stability of the weaving process.

[0011] Optionally, analyzing any discrete point on the core mold centerline based on the desired yarn trajectory and the guide ring includes obtaining a cylinder radius and a tangent vector of any discrete point on the core mold centerline based on the guide ring. The present invention analyzes the motion state of discrete points on the core mold centerline based on the guide ring, which is beneficial to improving weaving accuracy.

[0012] Optionally, analyzing any discrete point on the centerline of the mandrel based on the desired yarn trajectory and the guide ring to obtain first and second control parameter results for the discrete point includes obtaining the second control parameter result for any discrete point on the centerline of the mandrel based on the cylinder radius, the tangent vector, and the geometric relationship. The present invention obtains control parameter results for discrete points based on the cylinder radius, the tangent vector, and the geometric relationship, which helps improve weaving precision and stability, and provides strong support for the production of high-quality composite materials.

[0013] In a second aspect, the present invention further provides a three-dimensional weaving active control system for eliminating local wrinkles in fabrics, which can efficiently execute a three-dimensional weaving active control method for eliminating local wrinkles in fabrics provided by the present invention. The system includes an input device, a processor, an output device, and a memory, wherein the input device, processor, output device, and memory are interconnected, and the memory includes a computer-readable storage medium as described in the first aspect of the present invention. The memory is used to store a computer program, and the computer program includes program instructions. The processor is configured to call the program instructions. The system provided by the present invention has a compact structure, strong applicability, and greatly improves operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flow chart of the three-dimensional weaving active control method for eliminating local wrinkles in fabrics according to the present invention;

[0015] Figure 2 Schematic diagram of the core mold model reconstruction process of the three-dimensional weaving active control method for eliminating local wrinkles of the fabric according to the present invention;

[0016] Figure 3 Schematic diagram of the yarn trajectory point supplement process of the three-dimensional weaving active control method for eliminating local wrinkles of the fabric according to the present invention;

[0017] Figure 4 A schematic diagram of generating a desired trajectory for the three-dimensional weaving active control method for eliminating local wrinkles in the fabric according to the present invention;

[0018] Figure 5 Schematic diagram of the structure of the three-dimensional weaving active control system for eliminating local wrinkles in fabric according to the present invention. DETAILED DESCRIPTION DETAILED DESCRIPTION

[0020] Specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the present invention. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that these specific details are not necessarily required to practice the present invention. In other instances, well-known circuits, software, or methods are not specifically described to avoid obscuring the present invention.

[0021] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "in one embodiment," "in an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combinations and / or subcombinations in one or more embodiments or examples. Furthermore, those of ordinary skill in the art will appreciate that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0022] See Figure 1 In the process of weaving large-scale complex structure core molds, in order to ensure the smoothness and stability of the entire weaving process, the present invention calculates and analyzes the mechanical control parameters based on the uniformity of yarn distribution and their interaction relationship. This not only ensures the accuracy of the core mold, but also significantly improves the quality and practical performance of the woven product, thereby better meeting the production needs of complex structure core molds. The present invention provides a three-dimensional weaving active control method for eliminating local wrinkles in fabrics, and the three-dimensional weaving active control method for eliminating local wrinkles in fabrics includes the following steps:

[0023] S1. Obtain the centerline of the core mold based on the core shaft surface, and combine the centerline of the core mold and the outer contour to obtain the triangular facets of the core shaft surface. The specific implementation steps and related content are as follows:

[0024] The core shaft surface is feature extracted and remodeled, and the core mold centerline is obtained based on the feature extraction and modeling results. The specific implementation content is as follows:

[0025] In this embodiment, the knitting machine guide ring is set as the external tool coordinate system of the knitting robot to better control the movement trajectory of the yarn. At the same time, in order to determine the position and posture of the core shaft, the core shaft end face coordinate system is set as a fixed coordinate system. The above fixed coordinate system is specifically set as During the braiding preparation stage, the core shaft surface is feature extracted and remodeled based on existing algorithms. This allows the center line of the core mold to be accurately extracted. The center line represents the basic shape and direction of the core shaft. Through feature extraction and remodeling, a more accurate and easier-to-process core shaft model can be obtained, providing a solid foundation for the subsequent braiding process.

[0026] Subsequently, an equidistant key section is obtained based on the centerline and outer contour of the core mold, and a triangular facet of the core shaft surface is obtained based on the equidistant key section. The specific implementation content is as follows:

[0027] In the embodiment, a series of equidistant key sections are accurately generated based on the center line and outer contour of the mandrel. The above sections not only reflect the geometric characteristics of the mandrel, but also provide key reference points for the subsequent weaving process. Then, the surface triangular facets are regenerated based on the equidistant key sections to construct a more accurate and continuous mandrel surface model. The above mandrel surface triangular facets ensure the smoothness and integrity of the mandrel surface and provide strong support for subsequent weaving operations. For the specific generation process of the mandrel surface triangular facets, please refer to Figure 2 .

[0028] based on Figure 2 It can be seen that the reconstruction process of the core mold model can be summarized into the following key steps: First, the original information of the core rod is extracted. The above information is the basic data for building the model. In order to adapt to subsequent network processing, the above information needs to be converted from the original model format to the network format. After the conversion is completed, the nodes of the network format data are reconstructed to ensure the accuracy and completeness of the data.

[0029] Next, centerline extraction and cross-sectional profile extraction are performed. These two steps are crucial for understanding the structure and morphology of the core rod, and can provide the basic skeleton and cross-sectional shape information of the core rod in space.

[0030] Then, the model is reconstructed based on the extracted information. In this embodiment, existing data and algorithms are used to reconstruct a model that can reflect the actual characteristics of the core rod.

[0031] In order to simulate or optimize the performance of the mandrel, different ideal braiding angles are set, wherein the ideal braiding angles include but are not limited to ,Different braiding angles represent the possible shapes or performances of the mandrel under different conditions.

[0032] Finally, the core mold model is reconstructed using a regional division technique. This step comprehensively considers the core rod's structural characteristics and performance requirements, further optimizing and adjusting the model to more closely resemble actual usage. Therefore, in this embodiment, through a series of conversion, extraction, reconstruction, and optimization steps, a core mold model is ultimately obtained that reflects the core rod's actual characteristics and meets specific requirements.

[0033] Furthermore, in this embodiment, the method for generating surface triangular patches is only an optional condition of the present invention. In one or some other embodiments, the method for generating surface triangular patches can be flexibly replaced according to the product weaving requirements and actual mechanical conditions, which can reduce mechanical failures and errors, improve weaving efficiency and stability, and make the present invention have a broader application prospect and higher practical value.

[0034] S2. Divide the triangular facets on the mandrel surface based on the desired braiding angle distribution of the product and obtain the desired braiding angle direction vector. The specific implementation steps and related content are as follows:

[0035] The desired braiding angle distribution of the product is set in each area of ​​the triangular facet on the core shaft surface. The desired braiding angle direction vector is set in each area of ​​the triangular facet on the core shaft surface. In the embodiment, the above-mentioned desired braiding angle direction vector includes clockwise yarn and counterclockwise yarn. The specific implementation content is as follows:

[0036] The uniform distribution of triangular facets on the surface of the core mold reconstruction model ensures the uniformity and stability of the yarn during the weaving process and is also the basis for achieving high-quality weaving. In response to the unique requirements of different products for the distribution of weaving angles, the triangular facets on the core shaft surface are finely divided. In an optional embodiment, the desired weaving angle direction vector is set specifically for each area. The above vector not only includes the direction of the clockwise yarn, but also takes into account the direction of the counterclockwise yarn. Based on this, it not only improves the accuracy of weaving, but also helps to meet the weaving needs of diverse products.

[0037] The uniform distribution of triangular facets on the core mold's reconstructed surface helps reduce yarn tension fluctuations and distortion during the weaving process, thereby improving the overall quality and reliability of the woven product. Furthermore, the even distribution of triangular facets better adapts to complex core mold shapes, ensuring that the woven product fits closely to the core mold surface, improving the structural integrity and quality of the woven product.

[0038] In the embodiment, the braiding angle distribution is set based on different products, and the triangular patches on the core shaft surface are finely divided, which is conducive to more precise control of the braiding trajectory of the yarn on the core shaft surface, improving the accuracy and flexibility of braiding, and enabling the braided products to better meet diverse product design and performance requirements.

[0039] On the other hand, the desired weaving angle direction vector is set for each area, which not only takes into account the direction of the clockwise yarn, but also the direction of the counterclockwise yarn. It can more comprehensively control the weaving direction of the yarn, further improve the accuracy and stability of weaving, and at the same time help reduce the crossing or overlapping of yarns during the weaving process, thereby improving the quality and structural performance of the woven product.

[0040] Furthermore, in this embodiment, the method for obtaining the desired weaving angle direction vector is only an optional condition of the present invention. In one or some other embodiments, the method for obtaining the desired weaving angle direction vector can be changed according to the actual weaving situation and product requirements, which can ensure that the woven product is more in line with the design requirements and performance standards. By flexibly adjusting the acquisition method, the weaving direction and angle of the yarn can be more accurately controlled, thereby meeting the diverse needs of the product.

[0041] S3. Obtaining the desired yarn trajectory based on the desired braiding angle direction vector and fabric uniformity. The specific implementation steps and related content are as follows:

[0042] First, the target baseline is obtained by the desired braiding angle direction vector sum and fabric uniformity. The specific implementation is as follows:

[0043] Based on the uniformity of the fabric, it can be known that in the process of weaving a complex-shaped core shaft, especially in its curved part, if the same weaving angle is used on the inside and outside, the inner yarn spacing will be too dense, while the outer yarn spacing will be too sparse. This uneven yarn distribution will cause the woven fabric to be piled up and sparse at the bend, seriously affecting the product quality and appearance. In order to overcome the above problems, the present invention introduces a desired weaving angle direction vector and uses it as a constraint. In an optional embodiment, a reference line is generated according to the desired weaving angle direction vector on the triangular facet. The reference line not only takes into account the degree of curvature of the core shaft, but also integrates the distribution requirements of the yarn in different areas. Based on this, the distribution of the yarn on the core shaft surface is more uniform, thereby effectively avoiding the problem of accumulation and sparseness of the fabric at the bend.

[0044] In this embodiment, the braiding angle is used as a constraint condition, and the direction vector of the triangular facet is combined to generate a reference line to optimize the distribution of the yarn on the complex-shaped core shaft to ensure the high quality of the braided product.

[0045] Then, the section initial point of the equidistant key section is obtained according to the target baseline and the equidistant key section. The specific implementation content is as follows:

[0046] To obtain more precise braiding control parameters during the braiding path determination process, the embodiment extracts the intersection of the target reference line and the equally spaced key sections of the core mold, using these intersections as the starting points for each key section. This helps ensure that the yarn follows the intended trajectory during the braiding process, thereby achieving precise coverage of the core mold surface. In this embodiment, by analyzing the intersection of the target reference line and the equally spaced key sections, the starting braiding position for each section is determined, providing a key control point for subsequent braiding operations.

[0047] Finally, the desired trajectory of the yarn at the equidistant key sections is obtained by combining the contour line with the initial point of the section. The specific implementation content is as follows:

[0048] To ensure that the yarns evenly and precisely cover the core mold surface, the embodiment divides the contour line into equal parts based on the number of yarns and the perimeter of each critical section. This process generates yarn trajectory points at each critical section; these points are then connected to generate the desired yarn trajectory. This approach not only ensures uniform yarn distribution but also improves weaving precision and efficiency, thereby ensuring the quality of the final product.

[0049] In this embodiment, the process of generating the desired yarn trajectory is described in detail in Figure 3 , Figure 4 .

[0050] Figure 3 The process of supplementing yarn trajectory points is shown. This process is mainly determined based on the direction vector, starting point and final end point on the triangle patch. For the desired trajectory, Indicates that they are on the same plane. On the basis of meeting the desired weaving angle and uniformity, in order to further improve the yarn trajectory, the weaving angle is appropriately reduced to make it close to the compensation reference line, further ensuring that the supplementary results of the yarn trajectory points are more accurate and reasonable, thereby ensuring the stability and quality of the yarn during the weaving process.

[0051] based on Figure 3 It can be seen that when two points in the yarn trajectory are located on different surfaces, the yarn crosses different triangular patches during the weaving process. In order to ensure the continuity and accuracy of the yarn trajectory, the triangular patches are reduced in dimensionality, simplified into planes, and corresponding trajectory points are added when necessary, thereby ensuring a smooth transition of the yarn between different patches and avoiding breakage or dislocation of the yarn trajectory.

[0052] By solving control parameters based on the optimized yarn trajectory, we can more precisely control the fabric coverage and fiber volume fraction on the inner and outer sides of the mandrel bend. Fabric coverage and fiber volume fraction are important indicators of composite material performance and are directly related to the overall mechanical properties of the finished composite material. By optimizing the desired yarn trajectory and control parameters, we can ensure uniform fabric distribution and dense fiber arrangement in the bend of the mandrel, thereby improving the strength and toughness of the composite material to meet the needs of various application scenarios.

[0053] Figure 4 The expected trajectory of the yarn at equally spaced critical sections is shown, where represents the wave-carrying track, represents an orbital ring, Indicates the The midpoint of the first guide ring and the The distance between the midpoints of the guide rings, Indicated on the knitting machine chassis The corresponding angular position, Indicated on the knitting machine chassis The corresponding angular position, Indicates the chassis of the knitting machine The position of the carrier, Indicates the chassis of the knitting machine The position of the carrier, Represents discrete points , Represents discrete points , Represents a fixed coordinate system.

[0054] Furthermore, the yarn trajectory generation method in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the yarn trajectory generation method can be optimized according to the product preparation requirements and actual conditions, and the yarn trajectory generation method can be selected or adjusted to meet the product's specific requirements for yarn distribution, density and texture, etc., which helps to improve the quality and performance of the product and enable it to better meet market demand.

[0055] S4. Analyze any discrete point on the centerline of the core mold based on the desired yarn trajectory and the guide ring, and obtain the first control parameter result and the second control parameter result of the discrete point. The specific implementation steps and related contents are as follows:

[0056] Based on the expected trajectory of the yarn, the trajectory of any discrete point is extended along the yarn direction. According to the extended trajectory along the yarn direction and the guide ring, the first control parameter result of the first discrete point is obtained. The specific implementation content is as follows:

[0057] In an optional embodiment, an in-depth analysis is performed on any discrete point on the center line of the core shaft. In order to determine the precise path of the yarn during the weaving process, the expected trajectory of the yarn on the triangular facet of the core shaft surface closest to the discrete point is selected and extended along the direction of the yarn. The above-mentioned extended trajectory intersects with the discrete point on the cylindrical surface where the guide ring is located, and the intersection is the first control parameter result of the above-mentioned discrete point. On the other hand, in this embodiment, it is clear that the radius of the cylinder is equivalent to the radius of the guide ring, and the center line direction of the cylinder is determined by the tangent vector of any discrete point on the center line of the core shaft. When based on the center line direction of the cylinder, the tangent vector at any discrete point is actually referenced.

[0058] This approach provides a precise and efficient method for determining the yarn path during the weaving process. By analyzing any discrete point on the mandrel centerline, the interaction between the yarn, the mandrel surface, and the guide ring can be accurately captured. Furthermore, the geometric properties of the cylinder are determined using the guide ring radius and the tangent vector at any discrete point on the mandrel centerline. This makes the control parameter solution more concise and clear, improving not only computational efficiency but also the accuracy of the results, providing strong support for precise control of the yarn weaving process.

[0059] Based on the guide ring, the cylinder radius and the tangent vector of the first discrete point are obtained. According to the cylinder radius, the tangent vector and the geometric relationship, the second control parameter result of any discrete point is obtained. The specific implementation content is as follows:

[0060] In another optional embodiment, since the interaction between yarns and the mutual influence between yarns and guide rings are not taken into account, in this embodiment, the yarns are simplified into straight lines, and then the position of the carrier on the knitting machine chassis is directly deduced using geometric relationships and set as the second control parameter result of any discrete point.

[0061] That is, since the yarn is considered a straight line, the yarn path during the weaving process can be determined through geometric calculations based on the known starting and ending points of the yarn and the position and radius of the guide ring. Combined with the mechanical structure and motion laws of the knitting machine, the position of the carrier on the chassis can be deduced to obtain the second control parameter result for any discrete point. This further demonstrates the logical deduction from the yarn path to the carrier position, and also shows the practical application value of the three-dimensional weaving active control method for eliminating local wrinkles in the fabric, providing strong support for the precise control of the weaving process.

[0062] The analysis method of the control parameter results in this embodiment is only an optional condition of the present invention. In one or some other embodiments, the analysis method of the control parameter results can be changed according to the yarn weaving requirements and specific implementation conditions. Whether it is a simple yarn weaving task or a complex and sophisticated weaving requirement, a suitable analysis method is selected according to the specific situation to ensure the accuracy and efficiency of the weaving process.

[0063] Furthermore, according to the three-dimensional weaving active control method for eliminating local wrinkles in the fabric, the first control parameter result and the second control parameter result of any discrete point are obtained, and the traction speed of the robot is solved by combining the above first control parameter result and the second control parameter result. The specific implementation content is as follows:

[0064] In an optional embodiment, the precise positions and posture information of all guide ring midpoints in each desired trajectory are known, and the specific position of the carrier is also clear. Based on the above known conditions, the pulling speed during the weaving process can be further calculated.

[0065] For any yarn, discrete points to During the weaving process of discrete points, the robot's pulling speed can be calculated by a specific formula. The above pulling speed satisfies the following relationship:

[0066]

[0067] in, represents the pulling speed of the robot, Indicates the The midpoint of the first guide ring and the The distance between the midpoints of the guide rings, Indicates carrier and The difference in the corresponding angular position on the braiding machine chassis, Indicates the carrier movement speed.

[0068] Based on the above information and calculation formula, we can derive and solve the pulling speed formula based on information such as the yarn path, the position and radius of the guide ring, and the position of the carrier on the chassis, combined with the robot's kinematic equations and the physical laws of the weaving process. Then, by substituting the relevant parameters into the pulling speed formula, we can determine the robot's pulling speed during the weaving process of the yarn segment. This allows us to precisely control the robot's pulling speed during the weaving process, ensuring a smooth weaving process and stable yarn quality.

[0069] Since the knitting machine operates continuously, all yarns move synchronously. Therefore, in practice, there is only one uniform pulling speed. To accurately calculate the pulling speed during knitting, this embodiment calculates the corresponding clockwise and counterclockwise speeds for any discrete point, performs a weighted sum of these speeds, and finally takes the average value to determine the pulling speed during knitting.

[0070] At the same time, in order to obtain more accurate control parameters, the same method is used to calculate the position of the center of the guide ring and the relevant data of the parameters such as the posture. In this embodiment, in order to more comprehensively analyze the motion state of the guide ring, the guide ring is further calculated in the fixed coordinate system. The above parameters include but are not limited to position , which describes the specific position of the guide ring in the coordinate system; the speed , which reflects the speed of the guide ring's movement; linear acceleration , reveals the speed of the guide ring's change; angular velocity Describes the rotational velocity of the guide ring; and the angular acceleration The rate of change of the guide ring's rotational speed is displayed. Obtaining these parameters not only helps to gain a deeper understanding of the guide ring's motion characteristics but also provides important data support for subsequent braiding process control and optimization. Real-time monitoring and analysis of these parameters allows for timely adjustment of the braiding machine's operating parameters to ensure precise yarn weaving and stable guide ring operation. This further ensures accurate calculation of the pulling speed. Based on these effective and accurate control parameters, the stable operation of the braiding machine and high-quality yarn weaving are guaranteed.

[0071] See Figure 5 In an optional embodiment, in order to efficiently execute the three-dimensional weaving active control method for eliminating local wrinkles of fabrics provided by the present invention, the present invention also provides a three-dimensional weaving active control system for eliminating local wrinkles of fabrics, wherein the three-dimensional weaving active control system for eliminating local wrinkles of fabrics includes a processor, an input device, an output device and a memory, and the processor, input device, output device and memory are interconnected, wherein the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the specific steps of the three-dimensional weaving active control method for eliminating local wrinkles of fabrics and related embodiments provided by the present invention. The three-dimensional weaving active control system for eliminating local wrinkles of fabrics of the present invention has a complete structure and is objectively stable.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A three-dimensional weaving active control method for eliminating local wrinkles in fabrics, characterized in that: The steps include: Obtaining a core mold centerline according to the core shaft surface, and obtaining a triangular facet on the core shaft surface by combining the core mold centerline and the outer contour; Dividing the triangular facets on the mandrel surface based on the desired braiding angle distribution of the product, and obtaining the desired braiding angle direction vector; Obtaining a desired trajectory of the yarn according to the desired braiding angle direction vector and fabric uniformity; Analyze any discrete point on the center line of the core mold based on the desired yarn trajectory and the guide ring, and obtain a first control parameter result and a second control parameter result of the discrete point; The analyzing of any discrete point on the center line of the core mold based on the expected yarn trajectory and the guide ring, and obtaining the first control parameter result and the second control parameter result of the discrete point includes: Based on the expected trajectory of the yarn, an extension line of the trajectory of any discrete point on the center line of the core mold is obtained along the yarn direction; Obtaining a first control parameter result of any discrete point on the center line of the core mold according to the trajectory along the yarn direction extension line and the guide ring; Based on the guide ring, the tangent vector of any discrete point on the cylinder radius and the core mold centerline is obtained; A second control parameter result of any discrete point on the center line of the core mold is obtained based on the cylinder radius, the tangent vector and the geometric relationship.

2. The three-dimensional weaving active control method for eliminating local wrinkles of fabric according to claim 1, characterized in that: The obtaining of the core mold center line according to the core shaft surface comprises: Extracting features and remodeling the mandrel surface; The center line of the core mold is obtained based on the feature extraction results and modeling results.

3. The three-dimensional weaving active control method for eliminating local wrinkles of fabric according to claim 1, characterized in that: The method of obtaining a triangular facet on the mandrel surface by combining the center line and the outer contour of the mandrel mold includes: Obtaining equidistant key sections based on the centerline and outer contour of the core mold; The triangular facets of the core shaft surface are obtained according to the equidistant key sections.

4. The three-dimensional weaving active control method for eliminating local wrinkles of fabric according to claim 1, characterized in that: The dividing of the triangular facets on the mandrel surface based on the expected braiding angle distribution of the product and obtaining the expected braiding angle direction vector includes: A desired braiding angle direction vector is set in each area of ​​the triangular patch on the core shaft surface based on the desired braiding angle distribution of the product, and the desired braiding angle direction vector includes clockwise yarn and counterclockwise yarn.

5. The three-dimensional weaving active control method for eliminating local wrinkles of fabric according to claim 1, characterized in that: The obtaining of the desired yarn trajectory according to the desired braiding angle direction vector and fabric uniformity comprises: obtaining a target reference line based on the desired braid angle direction vector and fabric uniformity; Obtaining a section initial point of the equidistant key section according to the target reference line and the equidistant key section; The desired trajectory of the yarn at the equidistant key sections is obtained by combining the contour line with the cross-section initial point.

6. A three-dimensional weaving active control system for eliminating local wrinkles in fabrics, characterized in that: The system includes a processor, an input device, an output device and a memory, which are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the three-dimensional weaving active control method for eliminating local wrinkles of the fabric as described in any one of claims 1 to 5.

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