Automatic fiber placement track design method for paving edges of large-thickness product layers

Abstract

The invention belongs to the technical field of carbon fiber composite material production, and provides an automatic fiber laying track design method for laying large-thickness product laying layer edges, which comprises the following operation steps: dividing product laying layers into a plurality of groups; calculating to obtain the gradient of the stepped slope on the edge of the product and the outline of each paving layer, and planning the outline of each paving layer; performing fiber placement track design on each group of laying layers, and providing a laying track planning method for the condition that the edges of the laying layers are variable-thickness areas: adjusting the center line of the fiber placement track and the position of a yarn outlet tow aiming at the position where the edge contour of the laying layers is parallel to the laying angle direction; and according to the non-vertical and non-parallel position of the edge contour of the laying layer and the laying angle direction, the starting point and the ending point of the fiber laying track are adjusted. When large-thickness products are automatically paved, the problem of paving collision of the edges of the silk ribbons can be effectively solved, and the problems that when the edges of paving layers are variable-thickness areas, pressure is insufficient, pressing rollers are separated from paving molded surfaces, the silk ribbons are bent, wrinkled and overlapped, gaps are too large and the like can be effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of carbon fiber composite material production, and in particular relates to an automatic wire laying trajectory design method for laying the edge of a layer of a thick product. Background Art

[0002] Carbon fiber composite materials have the advantages of excellent mechanical properties and strong designability. They have been widely used in recent years. The common laying method for composite materials is manual laying, but the quality stability of manual laid products is poor. Using automated equipment to replace manual laying of composite materials is one of the important directions for the development of composite materials. Using automatic wire laying technology to complete the laying of composite material products has become an inevitable trend of development.

[0003] As a process that uses automated equipment to perform laying, the trajectory design of the laying layer is directly related to the product performance. It is more advantageous to use the automatic laying process to lay large-size products. At present, the structures of the front-end wire outlet position of the wire laying machines at home and abroad are similar, and the laying and compaction of the ribbon are completed by a cylindrical pressure roller. Since the diameter of the pressure roller on the equipment is usually fixed, if a thick product is laid, the thickness of the "step" spanned by the pressure roller of the laying head from the mold plane to the laying plane becomes larger and larger during laying, and there will be defects such as delamination and wrinkles caused by the collision between the pressure roller and the edge of the "step". At present, the stepped slope method is generally used to avoid this problem. However, after using the stepped slope method, problems such as insufficient pressure on the ribbon, ribbon buckling, wrinkles, overlap, and excessive gaps will occur, affecting the laying quality of the product. Benli provides a laying trajectory design method for the variable thickness area of ​​the layer edge when laying thick products with an automatic laying process, which can solve the above-mentioned quality problems when using the stepped slope method. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic wire laying trajectory design method for paving the edge of a thick product layer to solve the above-mentioned problem, so as to effectively solve the problem of ribbon edge paving collision when paving thick products using an automatic wire laying process. By specifically designing different trajectories involved in the layer edge, it is possible to effectively avoid problems such as insufficient pressure, pressure roller detachment from the paving surface, ribbon buckling, wrinkling, overlap, and excessive gaps when the layer edge is a variable thickness area.

[0005] To achieve the above object, the present invention provides the following solution: a method for designing an automatic wire laying trajectory for laying the edge of a thick product layer, the operation steps comprising:

[0006] Divide the layers and divide the product layers from the first layer to the last layer into several groups;

[0007] Design the profile, by calculating the slope gradient of the stepped slope of the product edge and the profile of each ply, and planning the profiles of several groups of plies;

[0008] The laying trajectory is designed for each group of plies, and the laying trajectory planning method is given for the following situations where the edge of the ply is a variable thickness area: for the position where the edge contour of the ply is parallel to the laying angle direction, the center line of the laying trajectory and the yarn outlet position are adjusted to solve the problem of insufficient pressure on the edge trajectory yarn bundle and the problem of the pressure roller detaching from the laying surface; for the position where the edge contour of the ply is not perpendicular or parallel to the laying angle direction, the starting point and end point of the laying trajectory are adjusted to solve the problems of ribbon buckling, wrinkling, overlapping and excessive gap within the ply contour.

[0009] Preferably, the calculation formula for the slope gradient α of the stepped slope formed by the edge of the product is:

[0010]

[0011] Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, and Y is the compression amount of the roller;

[0012] In applications, the slope angle α is less than or equal to the calculated value of the above formula.

[0013] Preferably, the calculation formula between the thickness H of the ply and the corresponding increased side length X of the bottom is:

[0014]

[0015] Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, Y is the compression amount of the roller, and α is the slope angle;

[0016] In the application, the increased side length of the stepped slope and the thickness H of each step layer can be calculated according to the value of the slope gradient α, and finally the profile of each step layer can be obtained.

[0017] Preferably, when the laying machine lays wire along an angle parallel to the edge of the layer contour, the yarn bundle output from the laying head and the center line position of the laying trajectory are adjusted so that the outer end point of the pressure roller of the laying head of the laying machine coincides with the boundary between the variable thickness area and the equal thickness area, so that the pressure roller is always located in the equal thickness area when laying on one side of the equal thickness area.

[0018] Preferably, when the profile of the ply includes a variable thickness area and a constant thickness area, the ply needs to be laid on the stepped slope of the edge of the product and on the constant thickness plane. At this time, the track is split according to the boundary between the variable thickness area and the constant thickness area, and the two sides are laid separately.

[0019] Preferably, when the laying angle of the wire laying machine is not perpendicular or parallel to the edge of the layer contour, and the boundary of the variable thickness area and the equal thickness area is the layer contour, for the laying track length greater than or equal to the shortest wire output distance, the serrated edge control strategy of the starting point and the end point is selected to be all within the contour;

[0020] For laying tracks whose length is less than the shortest wire-out distance, the track length should be extended so that one of the starting point and the end point is located in the bottom equal thickness area of ​​the variable thickness area, and the other is located in the bottom equal thickness area or the top equal thickness area of ​​the variable thickness area. That is, by adjusting the track length and the serrated edge control strategy, the starting point and the end point cannot be located in the variable thickness area.

[0021] Preferably, for the case where the edge profile of the ply is a corner where the length of the paving track is less than the shortest wire distance, the track is split along the direction of the ply angle with a straight line passing through the vertex of the above-mentioned angle, and the two sides are paved separately.

[0022] Compared with the prior art, the present invention has the following advantages and technical effects:

[0023] 1. By utilizing the paving design method of the present invention, when paving thick products, a stepped slope treatment method is adopted for the edge, which effectively solves the problem of collision between the pressure roller of the wire laying machine and the edge of the ribbon during paving.

[0024] 2. At the same time, for the step-type slope processing method, the present invention solves the problems of overlap, bending, poor pressing, wire slippage, etc. in various edge situations when using the step-type slope processing method by adjusting the trajectory planning scheme such as the wire outlet starting point and the center line of the pressure roller trajectory. It provides a method and reference for the application of automatic wire laying technology on thick products. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of dividing the edge of a product into multiple steps according to the present invention;

[0027] Figure 2 It is a schematic diagram of the edge state of the ply when the wire is automatically laid at 45 degrees according to the present invention;

[0028] Figure 3 This is a schematic diagram of the position of the lugs when the wire is automatically laid at 45 degrees according to the present invention;

[0029] Figure 4It is a schematic diagram comparing the pressure roller position and the yarn outlet position before and after optimization when laying the yarn at 0 degrees to the edge of the product according to the present invention;

[0030] Figure 5 It is a schematic diagram comparing the pressure roller and the product edge before and after optimization when laying the wire at 90 degrees to the product edge according to the present invention;

[0031] Figure 6 This is a schematic diagram of step slope variables of the present invention;

[0032] Figure 7 It is a schematic diagram of the climbing direction of the pressure roller of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Embodiment 1:

[0036] Reference Figure 1-Figure 7 The present invention provides a method for designing an automatic wire laying trajectory for laying the edge of a thick product layer, and the operation steps include:

[0037] Divide the layers and divide the product layers from the first layer to the last layer into several groups;

[0038] Design the profile, by calculating the slope gradient of the stepped slope of the product edge and the profile of each ply, and planning the profiles of several groups of plies;

[0039] The laying trajectory is designed for each group of plies, and the laying trajectory planning method is given for the following situations where the edge of the ply is a variable thickness area: for the position where the edge contour of the ply is parallel to the laying angle direction, the center line of the laying trajectory and the yarn outlet position are adjusted to solve the problem of insufficient pressure on the edge trajectory yarn bundle and the problem of the pressure roller detaching from the laying surface; for the position where the edge contour of the ply is not perpendicular or parallel to the laying angle direction, the starting point and end point of the laying trajectory are adjusted to solve the problems of ribbon buckling, wrinkling, overlapping and excessive gap within the ply contour.

[0040] By dividing the plies into several groups, during the actual wire laying process, the ply contour gradually shrinks between adjacent groups, thus forming a stepped slope, which facilitates the climbing of the pressure roller and utilizes the thin thickness of each layer to effectively avoid strong collisions between the pressure roller and the edge of the ply.

[0041] As a further optimization scheme, the trajectory design method of the present invention is not only applicable to the entire ply, but also to the sub-ply within the product.

[0042] Further optimization scheme, the calculation formula of the slope gradient α of the stepped slope formed by the edge of the product is:

[0043]

[0044] Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, and Y is the compression amount of the roller;

[0045] In applications, the slope angle α is less than or equal to the calculated value of the above formula.

[0046] like Figure 6 and Figure 7 As shown, the above calculation formula is applicable to the laying track at any angle to the edge contour of the product.

[0047] To further optimize the solution, the calculation formula between the thickness H of a ply and the corresponding increased side length X of the bottom is:

[0048]

[0049] Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, Y is the compression amount of the roller, and α is the slope angle;

[0050] In the application, the increased side length of the stepped slope and the thickness H of each step layer can be calculated according to the value of the slope gradient α, and finally the profile of each step layer can be obtained.

[0051] like Figure 1 As shown in the figure, when the step slope method is used to process the edge, the total thickness is divided into n steps according to the needs, and one or more plies are used as a step. n You can calculate an X n , thus forming a step-like slope on the edge of the product.

[0052] The product layers are divided into several groups from the first layer to the last layer. The number of layers in each group, i.e., the number of layers, combined with the thickness of a single layer is the thickness H of the step of the group. The corresponding formula (2) can be used to obtain the increased side length X, that is, the distance that the outline of the group expands outward.

[0053] like Figure 1 As shown, according to equations (1) and (2), the vertices of the steps at the edge of the ply can be kept on a straight line. As long as the thickness of each group of plies does not exceed the level where the collision problem occurs, various thicknesses of each step are allowed to ensure the flexibility of trajectory planning.

[0054] For products that have quality requirements on slope areas, such as covering the entire ply on the slope, the thickness of each group should be as small as possible, and even one or both sides of the ply can be used as a step.

[0055] To further optimize the solution, when the wire laying machine lays the wire at 90 degrees to the edge of the product contour, Figure 5 As shown in the figure, the position where the laying direction of the ply is 90 degrees to the edge is usually located at the starting point and the ending point of the ply trajectory. When the laying head moves at 90 degrees to the edge, a stepped slope treatment scheme is used to create a slope, which allows the pressure roller to complete the transition from the mold plane to the laying plane through the slope, avoiding the increasing thickness of the "step" crossed by the pressure roller in the traditional process, which will cause the starting point of the ribbon to move backward, the sharp corners of the "step" to collapse, and the side of the laid ply to be impacted and delaminated, wrinkled and other defects.

[0056] To further optimize the solution, when the laying machine lays wire along an angle parallel to the edge of the layer contour, the yarn bundle output from the laying head and the center line position of the laying trajectory are adjusted so that the outer end point of the pressure roller of the laying head of the laying machine coincides with the boundary between the variable thickness area and the equal thickness area, so that the pressure roller is always located in the equal thickness area when laying on one side of the equal thickness area.

[0057] When the wire laying machine lays the wire at an angle that is not perpendicular or parallel to the edge of the product contour, due to the influence of the shortest wire outlet distance, the wire has ears at the edge of the product contour, such as Figure 2 As shown in the figure, taking 45 degrees as an example, the edge coverage methods from left to right are: the upper end of the short side of the ribbon is located on the contour line of the edge of the ply, the midpoint of the short side of the ribbon is located on the contour line of the edge of the ply, and the lower end of the ribbon is located on the contour line of the edge of the ply. For thick products using stepped slope ply, you should choose Figure 2 The short end of the rightmost ribbon is located on the edge contour line of the ply, ensuring that the ribbon falls on a flat surface rather than a slope. If the other two methods are selected, the corner of each ribbon close to the slope will first contact the slope during the climbing process of the laying head, resulting in overlap and bending of the laid ribbon, affecting product quality.

[0058] To further optimize the solution, when the contour of the ply includes variable thickness areas and equal thickness areas, the ply needs to be laid on the stepped slope of the product edge and on the equal thickness plane. At this time, the trajectory is split according to the boundary between the variable thickness area and the equal thickness area, and the two sides are laid separately.

[0059] In the planning of the wire laying trajectory, by separating the variable thickness area and the equal thickness area and laying them separately, it is possible to effectively avoid defects in the wire laying caused by the height difference of the ribbon on the trajectory.

[0060] Further optimization scheme, when the laying angle of the wire laying machine is not perpendicular or parallel to the edge of the layer contour, and the boundary of the variable thickness area and the equal thickness area is the layer contour, for the laying track length greater than or equal to the shortest wire output distance, the serrated edge control strategy of the starting point and the end point is selected to be all within the contour;

[0061] For laying tracks whose length is less than the shortest wire-out distance, the track length should be extended so that one of the starting point and the end point is located in the bottom equal thickness area of ​​the variable thickness area, and the other is located in the bottom equal thickness area or the top equal thickness area of ​​the variable thickness area. That is, by adjusting the track length and the serrated edge control strategy, the starting point and the end point cannot be located in the variable thickness area.

[0062] like Figure 3 As shown, when the wire laying machine lays wire along an angle that is not perpendicular or parallel to the edge of the product contour, when laying wire at the end corner of the product edge, the wire laying machine controls the end of the ribbon to be on the platform to avoid the starting point of the ribbon being on a stepped slope.

[0063] Specifically, taking the laying at a 45-degree angle as an example, due to the limitation of the shortest wire-out distance, there will be two situations: the ribbon is laid across the slope on the mold, and the starting point of the ribbon is located on the inclined laying. For the situation where the starting point of the ribbon is located on the inclined laying, the trajectory of the wire laying machine should be controlled, and the wire feeding starting point of the ribbon should be actively extended so that the starting point of the ribbon is located on the mold platform to avoid overlapping, bending, and loose pressing caused by the starting point being located on the slope. At the same time, for the situation where the starting point is located on the mold platform and the ribbon is laid across the slope, the wire feeding starting point should be extended. The extension distance should take into account the width of the pressure roller and the uphill angle to avoid the situation where one end of the pressure roller is pressed onto the slope first when moving forward, causing a bridge between the pressure roller and the slope. There is an obvious gap between the pressure roller and the mold plane, which causes the ribbon to be unable to be pressed onto the platform by the pressure roller when the wire is coming out, resulting in slippage.

[0064] To further optimize the solution, when the wire laying machine is laying the wire at an angle of 0 degrees to the edge of the product contour, the pressure roller of the wire laying machine needs to be kept on the inside of the edge of the product contour.

[0065] like Figure 4 As shown in the figure, when laying the edge track at 0 degrees with the edge, the roller may cross the edge contour. In this state, within the width range of the same laying track, the paved surface is not a flat surface, and there is a height difference. The wider the roller width, the greater the impact.

[0066] For example, when using the VCP programming tool to program the trajectory of the wire laying machine, the VCP programming tool can accumulate and calculate the shapes of the previous layers, and adjust the layers to be compiled in the next step based on the calculated shapes. This means that when using a stepped slope laying method for thicker products, the wire laying head will be tilted to apply pressure to the slope. Taking a wire laying head with 16 bundles of 12.7 mm as an example, the width of the pressure roller reaches 203.2 mm, which may lead to problems such as insufficient pressure within the contour and the inability to lay wire due to the far end detaching from the laying surface.

[0067] Therefore, when programming the yarn outlet position of the laying head, the laying layer is adjusted by adjusting the yarn outlet position of the laying head, the center line position of the laying trajectory, etc., to avoid problems such as insufficient pressure within the above-mentioned contour and the far end detaching from the laying surface and being unable to lay the wire due to the pressure roller crossing the contour line during laying.

[0068] A further optimization plan is to split the trajectory along the direction of the laying angle and pass through the vertex of the above-mentioned angle for the corner where the edge contour of the layer is less than the shortest wire output distance. The two sides are laid separately, and the position design method of the starting point and end point on both sides conforms to the above-mentioned design method when the laying angle of the wire laying machine is not perpendicular or parallel to the edge of the layer contour, and the boundary between the variable thickness area and the equal thickness area is the layer contour.

[0069] Specifically, when ply layers are required on both the stepped slope of the edge of the product and the flat surface of the product, the ply layers on the stepped slope are separated from the flat surface ply layers and are laid separately.

[0070] If it is necessary to lay plies on an inclined surface, the plies on the inclined surface can be separated from the plies on the flat surface and laid separately. This can effectively avoid the situation where the ribbon is affected by the height difference on the trajectory, resulting in defects in the laying of the ribbon. The plies on the inclined surface can be laid separately from the flat surface.

[0071] Further optimization scheme, such as Figure 1 As shown, the number of divided groups is set according to the actual production situation, and the number of layers in each group is as consistent as possible, so that the thickness of each layer will not be too thick, thereby ensuring that the pressure roller can smoothly transition from the mold surface to the paving plane, avoiding stratification and wrinkling defects on the paving side due to the impact of the pressure roller.

[0072] Embodiment 2:

[0073] An automatic wire laying process using an automatic wire laying machine and based on an automatic wire laying trajectory design method for laying the edge of a thick product layer, comprising the following steps:

[0074] Divide the product layers into several groups from the first layer to the last layer;

[0075] The wire laying trajectory of the wire laying machine is planned. After laying one group of layers, the wire laying machine controls the laying position of the ribbon at the edge of the layers when laying the next group of layers, so that the outer contour of each group of layers is smaller than the contour of the lower group of layers. From bottom to top of the product edge, the contour margin of each group of layers gradually decreases, forming a stepped slope at the edge of the product, thereby forming the layer contour.

[0076] Specifically, when the wire laying machine lays the wire at 90 degrees to the edge of the product contour, it is usually located at the starting point and the end point of the laying trajectory, such as Figure 5 As shown, the use of a stepped slope treatment solution to manufacture the slope allows the pressure roller to complete the transition from the mold plane to the paving plane by means of the slope, avoiding the increasing thickness of the "step" crossed by the pressure roller in the traditional process, which will cause the starting point of the ribbon to move backward, the sharp corners of the "step" to collapse, and the side of the laid layer to be impacted and delaminated, wrinkled and other defects.

[0077] When the wire laying machine lays the wire at an angle that is not perpendicular or parallel to the edge of the product contour, there will be ears on the edge of the product contour, such as Figure 2 As shown, it should be Figure 2 The short side of the rightmost ribbon is laid on the edge contour line of the ply to ensure that the ribbon falls on a flat surface rather than a slope. At the same time, due to the shortest wire distance, the ribbon may be laid on the mold across the slope or the starting point of the ribbon may be on the inclined surface.

[0078] If the laying track length is less than the shortest wire-out distance, the track length should be extended. Since the outline of the laying layer includes a variable thickness area and an equal thickness area, one of the starting point and the end point should be located in the equal thickness area at the bottom of the variable thickness area, and the other should be located in the equal thickness area at the bottom of the variable thickness area or the equal thickness area at the top. Figure 3 As shown, when the wire laying machine lays wire along an angle that is not perpendicular or parallel to the edge of the product contour, when laying wire at the end corner of the product edge, the wire laying machine controls the end of the ribbon to be on the platform to avoid the starting point of the ribbon being on a stepped slope.

[0079] Specifically, taking the laying at a 45-degree angle as an example, if the starting point of the ribbon is on the inclined laying, the trajectory of the wire laying machine should be controlled, and the starting point of the ribbon should be actively extended so that the starting point of the ribbon is on the mold platform to avoid overlapping, bending, and loose pressing caused by the starting point being on the slope. At the same time, for the situation where the starting point is on the mold platform and the ribbon is laid across the slope, the starting point of the wire feeding should be extended. The extension distance should take into account the width of the pressure roller and the uphill angle to avoid the situation where one end of the pressure roller is pressed on the slope first when it moves forward, causing a bridge between the pressure roller and the slope. There is an obvious gap between the pressure roller and the mold plane, which causes the ribbon to be unable to be pressed on the platform by the pressure roller when it comes out, resulting in slippage.

[0080] When the wire laying machine is laying wire at an angle of 0 degrees to the edge of the product contour, the pressure roller of the wire laying machine needs to be kept inside the edge of the product contour, and the laying layer is adjusted by adjusting the yarn outlet position of the wire laying head, the center line position of the wire laying trajectory, etc., to avoid the pressure roller crossing the contour line during laying, resulting in insufficient pressure within the contour, the far end detaching from the laying surface and inability to lay wire, and other problems.

[0081] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0082] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A method for designing an automatic wire laying trajectory for laying the edge of a thick product layer, characterized in that: The steps include: Divide the layers and divide the product layers from the first layer to the last layer into several groups; Design the profile, by calculating the slope gradient of the stepped slope of the product edge and the profile of each ply, and planning the profiles of several groups of plies; The laying trajectory is designed for each group of plies, and the laying trajectory planning method is given for the following situations where the edge of the ply is a variable thickness area: for the position where the edge contour of the ply is parallel to the laying angle direction, the center line of the laying trajectory and the yarn outlet position are adjusted to solve the problem of insufficient pressure on the edge trajectory yarn bundle and the problem of the pressure roller detaching from the laying surface; for the position where the edge contour of the ply is not perpendicular or parallel to the laying angle direction, the starting point and end point of the laying trajectory are adjusted to solve the problems of ribbon buckling, wrinkling, overlapping and excessive gap within the ply contour.

2. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 1, characterized in that: The calculation formula for the slope gradient α of the stepped slope formed by the edge of the product is: Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, and Y is the compression amount of the roller; In applications, the slope angle α is less than or equal to the calculated value of the above formula.

3. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 2, characterized in that: The calculation formula between the thickness H of the ply and the corresponding increased side length X of the bottom is: Where L is the width of the roller, β is the angle between the trajectory direction and the vertical line of the product profile, Y is the compression amount of the roller, and α is the slope angle; In the application, the increased side length of the stepped slope and the thickness H of each step layer can be calculated according to the value of the slope gradient α, and finally the profile of each step layer can be obtained.

4. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 1, characterized in that: When the laying machine lays wire along an angle parallel to the edge of the layer contour, the yarn bundle output from the laying head and the center line position of the laying trajectory are adjusted so that the outer end point of the pressure roller of the laying head of the laying machine coincides with the boundary between the variable thickness area and the equal thickness area, so that the pressure roller is always located in the equal thickness area when laying on one side of the equal thickness area.

5. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 4, characterized in that: When the profile of the ply includes a variable thickness area and a constant thickness area, the ply needs to be laid on the stepped slope of the edge of the product and on the constant thickness plane. At this time, the track is split according to the boundary between the variable thickness area and the constant thickness area, and the two sides are laid separately.

6. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 5, characterized in that: When the laying angle of the wire laying machine is not perpendicular or parallel to the edge of the layer contour, and the boundary of the variable thickness area and the equal thickness area is the layer contour, for the laying track length greater than or equal to the shortest wire output distance, the serrated edge control strategy of the starting point and the end point is selected to be all within the contour; For laying tracks whose length is less than the shortest wire delivery distance, the track length should be extended so that one of the starting point and the end point is located in the bottom equal thickness area of ​​the variable thickness area, and the other is located in the bottom equal thickness area or the top equal thickness area of ​​the variable thickness area, that is, by adjusting the track length and the serrated edge control strategy, the starting point and the end point cannot be located in the variable thickness area.

7. The method for designing an automatic wire laying trajectory for laying the edge of a thick product layer according to claim 6, characterized in that: For the case where the edge profile of the ply is a corner where the length of the paving track is less than the shortest wire distance, the track is split along the direction of the ply angle with a straight line passing through the vertex of the above-mentioned angle, and the two sides are paved separately.

Images