Universal fiber reinforced composite material winding machine tool motion trail global search and optimization method

Abstract

The invention relates to the technical field of automatic forming of fiber reinforced composite materials, in particular to a universal winding machine tool motion trail global search and optimization method, which ensures the globality and completeness of trail search through a global search inverse solution strategy of first global search of a solution domain and then preferential selection. According to the device, the stroke of each moving shaft of a machine tool is fully utilized, the device is particularly suitable for winding design requirements of complex special-shaped workpieces, the device has globality, safety and optimization, and an efficient and reliable solution is provided for the fiber winding process in actual production.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic forming of fiber reinforced composite materials, and in particular to a universal global search and optimization method for the motion trajectory of a winding machine tool. The method is particularly suitable for the efficient winding design of complex and special-shaped workpieces, and aims to improve the winding accuracy, optimize the winding path, and extend the service life of the machine tool. Background Art

[0002] In the field of composite material molding, filament winding technology is one of the earliest and most important molding technologies. With its significant advantages such as high molding precision, flexible design, high efficiency and low cost, this technology has been widely used in high-end fields such as aerospace and defense equipment since its introduction in the 1940s, and has gradually expanded to multiple industries such as civil industry and sports equipment.

[0003] Fiber winding design mainly includes two key stages. The first stage is to generate the fiber drop point path according to the geometric surface of the workpiece; the second stage is to reverse the coordinates of each motion axis of the winding machine based on the drop point path, that is, the machine tool trajectory planning. Reasonable machine tool trajectory planning is not only the basis for accurate execution of the drop path, but also directly affects the motion stability and service life of the machine tool. At present, a large number of studies mainly focus on the generation method of the drop path, and relatively few studies on machine tool trajectory planning, which to a certain extent leads to a lack of in-depth exploration and continuous innovation in this field.

[0004] The existing machine tool trajectory planning methods are mainly based on the theory of spatial analytic geometry to derive the coordinates of each motion axis of the machine tool. These methods usually limit the yarn outlet point of the machine tool to the intersection of a specific envelope surface and the Z plane by introducing motion constraints (such as open cylindrical envelope, closed cylindrical envelope, core mold contour envelope, etc.). Although this processing method simplifies the difficulty of solving the spatial analytic geometry equations to a certain extent, it also significantly reduces the scope of understanding the space (in essence, it reduces the dimension of understanding the space). This leads to two problems in the existing methods: first, it may cause the solution that should exist to be missed, especially when approaching the limit of the machine tool motion axis; second, the obtained solution is only a single solution, which is difficult to meet the trajectory optimization requirements. Therefore, the existing solution strategy of "first introducing motion constraints-then finding a single solution" has significant limitations of missing solutions and being unable to support trajectory optimization.

[0005] It should be noted that the information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or suggestion in any form that the information constitutes the prior art known to those skilled in the art. Summary of the invention

[0006] The present invention aims to provide a universal global search and optimization method for the motion trajectory of winding machine tools in response to the deficiencies of the above-mentioned prior arts. This method ensures the globality and completeness of the trajectory search through the strategy of "global search of the solution domain first - then optimal selection", which can increase the utilization rate of the machine tool stroke to 100%, providing a solid foundation for trajectory optimization. While fully tapping the potential of the hardware, the smoothness of the machine tool movement is taken into account, thereby effectively extending the service life of the machine tool. This method is not only applicable to common rotating workpieces, but also shows significant advantages in the winding design of special-shaped workpieces (such as bent pipes, S-shaped air inlets, etc.), further expanding the scope of application of fiber winding technology.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] Step S1: Determine the permissible phase interval [γ d ,γ u ];

[0009] Step S2: In the permitted phase interval [γ d ,γ u ], establish the phase angle γ and the corresponding hanging yarn length interval [λ s ,λ l ]’s mapping relationship;

[0010] Step S3: Determine the yarn drop phase interval under collision avoidance conditions through interference checking And the corresponding hanging yarn length

[0011] Step S4: Determination of entanglement. Through the processing of steps S1 to S3, the globality and completeness of the trajectory search are ensured. If the calculated yarn drop phase interval And the corresponding hanging yarn length interval If all are not empty, it means that the set yarn dropping path can be smoothly executed within the travel range of the current winding machine, thus entering the subsequent trajectory optimization steps S5 to S8. Otherwise, it is necessary to expand the travel range of the machine tool motion axis and re-enter S1;

[0012] Step S5: define trajectory optimization objectives;

[0013] Step S6: Establishing a control equation according to the optimization target;

[0014] Step S7: Optimization solution;

[0015] Step S8: According to the CNC code format of a specific machine tool, the motion parameters of each motion axis obtained by optimization are converted into G codes for execution by the winding machine tool to realize automated winding operations.

[0016] Furthermore, in step S1, the permitted phase interval [γ d ,γ u ], specifically including the following steps:

[0017] S11 defines a ray according to the coordinates of the path point P and its tangent T, the coordinates of the path point P and its tangent T are known quantities, and the ray is rotated 360° around the main axis to obtain a rotation surface;

[0018] S12 determines whether the rotation surface intersects with the reachable space of the yarn exit point. If the rotation angle γ∈[γ d ,γ u ], it is determined that the ray intersects with the reachable space of the yarn outlet point, and the corresponding permissible yarn dropping phase interval [γ d ,γ u ]; If they do not intersect, it means that the travel range of the winding machine is insufficient and the winding of P cannot be achieved. At this time, the travel range of the machine tool motion axis should be expanded according to actual needs;

[0019] Among them, the path point P is defined as the tangent point between the suspended yarn and the core mold surface, the yarn outlet point is defined as the tangent point between the suspended yarn and the yarn outlet roller, and the reachable space of the yarn outlet point is defined as: the set of all positions that the yarn outlet point can reach within the travel range of each moving axis of the winding machine.

[0020] Furthermore, in step S2, the mapping relationship can be established in the following manner:

[0021] S21 When the rotation angle γ∈[γ d ,γ u ], the intersection of the ray and the space reachable by the yarn exit point is calculated, and there are two intersection points. The intersection point closer to P is called the near yarn exit point, and the intersection point farther from P is called the far yarn exit point.

[0022] S22 calculates the distance between the yarn exit point and P as the hanging yarn length λ according to spatial analytic geometry s , the distance between the far yarn point and P is the hanging yarn length λ l , then the permissible hanging yarn length interval is [λ s ,λ l ]; when the near yarn exit point coincides with the far yarn exit point, λ s =λ l .

[0023] Furthermore, the interference detection in step S3 is specifically implemented by the following steps:

[0024] S31 divides the geometric model of the base, connecting rods and workpiece of the winding machine tool into triangular meshes, and establishes a hierarchical binary tree of triangular meshes;

[0025] S32 uses AABB bounding boxes for rough collision detection, and then uses triangle patches for precise collision detection; for γ∈[γ d ,γ u ] and the corresponding hanging yarn length interval [λ s ,λ l ], usually the longer the hanging yarn length is, the less likely the machine tool will collide with the workpiece, but the joints and base of the machine tool itself may still collide, so the entire interval [λ s ,λ l ] should perform collision detection.

[0026] S33 determines the actually available permissible yarn dropping phase interval under collision avoidance conditions after collision detection screening and hanging yarn length interval

[0027] Furthermore, in step S5, common trajectory optimization objectives include but are not limited to the shortest hanging yarn length, the shortest winding time, the constant core mold speed, the constant yarn output speed, etc. After determining the optimization objectives, the corresponding control equations are established according to the optimization objectives. The independent variables include the yarn dropping phase angle of each yarn dropping point and allowable hanging yarn length Its definition domain has been clarified in step S3. If the optimization goal is related to time, the independent variables also need to include the speed and acceleration of each motion axis of the machine tool {v i ,a i} j , where j = 1, 2, ..., n, and n represents the number of motion axes of the machine tool. The speed and acceleration range of each motion axis is determined according to the hardware parameters of the machine tool.

[0028] Furthermore, the optimization of the shortest hanging yarn length directly selects the hanging yarn length The shortest winding time can be solved by using gradient descent method, quadratic programming (QP) or trust region optimization method; for a constant core mold speed, except for the core mold acceleration and deceleration stage, the corresponding motion axis speed v i It can be set as a constant value; for a constant yarn delivery speed, the time interval between two adjacent winding points can be calculated based on the specified yarn delivery speed and the distance between adjacent yarn dropping points, and then the speed and acceleration of each axis can be further determined based on the S-shaped speed curve to achieve smooth operation of the machine tool.

[0029] Furthermore, in step S8, according to the CNC code format of the specific machine tool, the motion parameters of each motion axis obtained by the optimization solution are converted into CNC codes for execution by the winding machine tool to realize the automated winding operation.

[0030] The present invention achieves the following beneficial effects by proposing a solution method of "globally searching the solution domain first and then selecting the best one":

[0031] 1. The winding machine tool trajectory planning method of the present invention adopts a global search inverse solution strategy, which ensures the globality and completeness of the trajectory search, fully utilizes the travel of each motion axis of the machine tool, and is particularly suitable for the winding design requirements of complex and special-shaped workpieces.

[0032] 2. While globally searching for the inverse solution, the present invention performs collision detection on the components of the "winding machine tool-workpiece" system to ensure that the final machine tool trajectory is safe and collision-free, can be directly applied to actual production, and improves the reliability of the process.

[0033] 3. The global search inverse solution lays a solid foundation for trajectory optimization and can achieve multiple optimization goals, such as the shortest winding time, the shortest hanging yarn length, the constant core mold speed and the constant yarn output speed, providing support for efficient and stable winding production.

[0034] 4. The machine tool trajectory planning method proposed in the present invention adopts an analytical solution method, does not need to rely on iterative calculation, has high efficiency and robustness, and can better meet the complex requirements of the actual winding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 According to some embodiments of the present invention, a flowchart of a general method for global search and optimization of the motion trajectory of a winding machine tool is shown, showing the complete process from calculation of the permissible yarn dropping interval to trajectory optimization and CNC code generation;

[0036] Figure 2 According to some embodiments of the present invention, a schematic diagram of a fiber winding process is shown, showing the various moving axes of a winding machine and the workpiece rotating around the main axis, as well as the positions of a hanging yarn 2, a yarn outlet point 4, a yarn drop point 5, etc.;

[0037] Figure 3 According to some embodiments of the present invention, a schematic diagram of the allowable yarn dropping interval 16 and the hanging yarn length interval is shown. DETAILED DESCRIPTION

[0038] The technical features and advantages of the present invention are described in more detail below in conjunction with the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0039] See also Figure 1 , is a flow chart of a general method for global search and optimization of winding machine tool motion trajectory provided by an embodiment of the present invention, the method comprising the following steps:

[0040] Step S1: Determine the permissible phase interval [γ d ,γ u ].

[0041] Step S2: In the permitted phase interval [γ d ,γ u ], establish the phase angle γ and the corresponding hanging yarn length interval [λ s ,λ l ]’s mapping relationship.

[0042] Step S3: Determine the yarn drop phase interval under collision avoidance conditions through interference checking And the corresponding hanging yarn length

[0043] Step S4: Determination of entanglement. Through the processing of steps S1 to S3, the globality and completeness of the trajectory search are ensured. If the calculated yarn drop phase interval And the corresponding hanging yarn length interval If all are non-empty, it indicates that the set doffing path can be smoothly executed within the travel range of the current winding machine, thus entering the subsequent trajectory optimization steps S5 to S8. Otherwise, it is necessary to expand the travel range of the machine tool motion axis and re-enter S1.

[0044] Step S5: Define trajectory optimization objectives.

[0045] Step S6: Establish control equations according to the optimization target.

[0046] Step S7: Optimization solution.

[0047] Step S8: According to the CNC code format of a specific machine tool, the motion parameters of each motion axis obtained by optimization are converted into G codes for execution by the winding machine tool to realize automated winding operations.

[0048] The technical solution of the present invention is specifically described below in conjunction with a detailed embodiment.

[0049] like Figure 2 As shown, the fiber winding machine used in the embodiment of the present invention is a six-axis gantry configuration, with three translation axes: Y axis (trolley), X axis (extended arm), Z axis (vertical axis); and three rotation axes: C axis (yaw axis), A axis (flip axis) and S axis (spindle). Among them, the five motion axes X, Y, Z, A, and C constitute the operating arm part of the winding machine, which is used to control the position and posture of the yarn outlet roller 1; the S axis is used to control the rotation of the core mold 2. The fiber yarn 3 (or suspended yarn) reaches the surface of the core mold 2 after passing through the yarn outlet roller 1 to achieve the laying of the fiber. The tangent point of the suspended yarn 3 and the yarn outlet roller 1 is called the yarn outlet point 4, and the tangent point of the suspended yarn 3 and the surface of the core mold 2 is called the yarn drop point 5.

[0050] See also Figure 3 In the embodiment of the present invention, a path point 8 on the surface of the bent pipe workpiece is used as the path point P to be processed. The coordinates of the path point 8 in the world coordinate system 6 are (Px ,P y ,P z ). Since the winding machine tool motion trajectory planning method proposed in the present invention uses the path points on the workpiece surface as input parameters, this embodiment only describes the geometric information of the path points 8, and there is no need to limit the shape of the core mold 2.

[0051] Step S1: Calculate the permissible yarn dropping phase interval [γ u ,γ d ].

[0052] Driven by the three translation axes XYZ, a reachable space 15 of the yarn outlet point 4 is formed. When the winding machine is located at the mechanical origin, the coordinates of the yarn outlet point 4 in the world coordinate system 6 are expressed as The travel of the three axes XYZ is expressed as: - ,X + ],[Y - ,Y + ],[Z - ,Z + ]. Then the motion range of the yarn outlet point 4 in the X direction is in, Similarly, the motion range of the yarn outlet point 4 in the Y and Z directions can be obtained. Then the reachable space 15 can be expressed as:

[0053]

[0054] The tangent direction 9 of path point 8 is recorded as vector Next, follow the attached Figure 1 The flowchart shown in the figure shows the machine tool trajectory planning in steps:

[0055] With path point 8 as the starting point and tangent 9 as the direction, a ray 10 is defined. Ray 10 can be expressed as:

[0056]

[0057] Where λ≥0, M represents any point on ray 10, and the coordinates of M can be expressed as:

[0058]

[0059] Let ray 10 revolve around the y coordinate of world coordinate system 6 w The axis rotates by angle θ, and the rotation matrix can be expressed as:

[0060]

[0061] Point M is rotated to reach position M', and the coordinates of M' can be written as:

[0062]

[0063] When point M' falls within the reachable space 15, point M' can become the yarn exit point. When ray 10 rotates to intersect with the upper boundary 11 of the reachable space 15, and M' is the intersection point, then M' is called the upper yarn exit point, and the coordinates of M' must satisfy:

[0064]

[0065] Solving the simultaneous equations (3), (5), and (6) yields the values ​​of θ and λ, which are denoted as θ and u With λ u , and then determine the coordinates of the intersection point M'. At this time, the starting point P' of ray 10 (path point P around y w The position after rotating by angle θ) becomes the permissible yarn dropping point. At this time, point P′ is at x w z w The phase angle of yarn dropping in the plane can be expressed as:

[0066] γ u = atan(P z ,P x )+θ u (7)

[0067] Similarly, the yarn dropping phase angle γ corresponding to the lower boundary 12 can be obtained according to the above method. d The permissible doffing phase interval of point P can be written as [γ u ,γ d ].for Figure 3 For path point 8 in the example, the permissible doffing phase interval [γ u ,γ d ] is not empty, go to the next step S2.

[0068] Step S2: Establishing a mapping relationship between the permitted yarn dropping phase and the hanging yarn length interval.

[0069] For the permissible doffing interval [γ d ,γ u Any phase angle γ′ within ] can be calculated according to Figure 3 Calculate the intersection position of ray 10 and reachable space 15. The specific calculation method is as follows:

[0070] According to formula (7), the rotation angle θ′ of P′ can be obtained:

[0071] θ′=γ′-atan(P z ,P x ) (8)

[0072] Substituting equation (8) into equation (5) we can obtain the position of point M′ after ray 10 is rotated:

[0073]

[0074] When point M′ falls on When it is in the plane, it is called the yarn exit point 13, and M′ in equation (9) is x equal By connecting equations (8) and (3) in parallel, we can obtain the corresponding λ value, denoted as λ s ,λ s is a function of γ′λ s =f s (γ′), and λ s Indicates the shortest hanging yarn length under the current yarn dropping phase angle. Similarly, the longest hanging yarn length λ corresponding to the far yarn exit point 14 can be obtained l , and the corresponding function λ l =f l (γ′). In summary, the permissible hanging yarn length interval can be expressed as [λ s ,λ l ].

[0075] Step S3: Interference check, determine the yarn drop phase and yarn hanging length range under collision avoidance conditions. In the actual winding process, it is necessary to ensure that there is no collision between the joints, connecting rods, wire nozzles, workpieces and tooling of the winding machine. The specific interference check method can be described as follows: the geometric model of the base of the winding machine, each connecting rod and the workpiece ( Figure 2 The entities shown in the figure are triangulated, a hierarchical binary tree of triangulated meshes is established, AABB bounding boxes are used for rough collision detection, and finally triangular facets are used for precise collision detection. The interference detection method described above is a mature technical means and is not the protection content of the present invention. The specific operation process can be referred to in relevant materials and will not be described in detail here. The interference check further defines the permitted yarn dropping interval and the hanging yarn length interval to obtain a collision-free yarn dropping interval. And the corresponding collision-free hanging yarn length interval Likewise, and It can be expressed as Function:

[0076]

[0077] Step S4: Determination of entanglement. Steps S1 to S3 ensure the globality and feasibility of trajectory search. There is a non-empty doffing phase interval at path point 8. And the length range of hanging yarn This means that within the current machine tool travel, the path point 8 can be wound smoothly, and the subsequent machine tool trajectory optimization steps S5 to S8 are performed.

[0078] Step S5: define the trajectory optimization target. In this embodiment, the shortest hanging yarn length is used as the optimization target (in the actual winding process, shortening the hanging yarn is beneficial to improving the winding accuracy and stability). According to the optimization target, the optimization function is established as follows:

[0079]

[0080] The optimization goal is to find the minimum value of Φ.

[0081] Step S6: Solve the coordinates of each moving axis of the winding machine. In order to solve the minimum value of Φ and obtain the shortest hanging yarn length and the corresponding doffing phase angle The specific solution method is: The derivative of is equal to 0, that is The extreme value can be obtained like Then the minimum value of Φ is:

[0082]

[0083] like Then the minimum value of Φ is:

[0084]

[0085] The minimum value of Φ corresponds to and Substituting into equation (8) and (5), we can obtain the coordinates of M′ (M′ x ,M′ y ,M′ z ), which can be used as the coordinate of the yarn outlet point 4.

[0086] The posture of yarn outlet point 4 can be expressed by the following rotation matrix:

[0087]

[0088] in, Represents the normal vector of path point P on core mold 2.

[0089] According to the coordinates of M′ (M′ x ,M′ y ,M′ z ) and its posture R M′ , combined with the follow-up rotation angle degree of freedom of the yarn outlet roller 1, the coordinates of the five motion axes XYZAC on the operating arm side can be obtained according to the robot inverse kinematics. The inverse solution algorithm used belongs to the mature theory of robot inverse kinematics and is not the protection content of the present invention. The specific operation process can be referred to relevant materials and will not be described in detail here.

[0090] The rotation angle of the main axis S needs to be determined in combination with the main axis rotation angle of the previous path point. Suppose the current path point P i The yarn dropping phase angle is Predecessor path point P i-1 The yarn dropping phase angle is Waypoint P i-1 The principal axis coordinate is S i-1 ,but:

[0091]

[0092] At this point, the machine tool trajectory planning of the path point P is completed, and the coordinates of the six motion axes XYZACS of the machine tool are obtained.

[0093] Step S7: According to the CNC code format of the machine tool, the motion parameters of each motion axis are converted into CNC codes, which can be used for automated winding operations. i For example, the calculated coordinate values ​​of each motion axis are expressed as X i , Y i , Z i , A i , C i , S i If P is wound i The required CNC code can be expressed as:

[0094] N{num}G01 X=X i Y=Y i Z=Z i A=A i C=C i S=S i F{feed}

[0095] Among them, {num} represents the line number, G01 represents linear interpolation, and {feed} represents the feed speed.

[0096] In summary, the present invention provides an innovative and practical winding machine trajectory planning method, which is global, safe and optimized, and provides an efficient and reliable solution for the fiber winding process in actual production.

[0097] In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "top", "bottom", "inside", "outside", "inner side", "outer side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Among them, "inside" refers to an internal or enclosed area or space. "Periphery" refers to the area surrounding a specific component or a specific area.

[0098] In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", "third", and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0099] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "assemble" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0100] In the description of the embodiments of the present invention, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0101] In the description of the embodiments of the present invention, it is to be understood that "-" and "~" represent the range between two values, and the range includes the endpoints. For example: "AB" represents a range greater than or equal to A and less than or equal to B. "A~B" represents a range greater than or equal to A and less than or equal to B.

[0102] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " herein generally indicates that the associated objects before and after are in an "or" relationship.

[0103] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A universal global search and optimization method for motion trajectory of a fiber-reinforced composite winding machine tool, characterized in that: The following steps are involved: S1 determines the permissible doffing phase interval [γ d ,γ u ], the path point P is defined as the tangent point between the hanging yarn and the core mold surface; S2 is in the permissible doffing phase interval [γ d ,γ u ], establish the permitted phase γ and the corresponding hanging yarn length interval [λ s ,λ l ]’s mapping relationship: S3 determines the phase interval of yarn drop under collision avoidance conditions through interference check And the corresponding hanging yarn length S4 entanglement determination: If the calculated yarn drop phase interval And the corresponding hanging yarn length If all are not empty, then enter the subsequent trajectory optimization steps S5 to S8. Otherwise, expand the travel range of the machine tool motion axis according to actual needs and return to S1; S5 defines the trajectory optimization goal; S6 establishes a control equation according to the optimization target; S7 optimization solution; S8 sends the parameters obtained by optimization to the winding machine for execution, thus realizing automated winding operation.

2. The method according to claim 1, characterized in that The step S1 specifically includes: S11 defines a ray according to the coordinates of the path point P and its tangent direction T, and rotates the ray 360° around the main axis to obtain a rotation surface; wherein the main axis is defined as the rotation axis of the core mold. S12 determines whether the rotation surface intersects with the reachable space of the yarn exit point. d ,γ u ], the ray intersects with the reachable space of the yarn exit point, and the corresponding permissible yarn dropping phase interval [γ d ,γ u ]; If they do not intersect, it means that the travel range of the winding machine is insufficient and the winding of P cannot be achieved. At this time, the travel range of the machine tool motion axis should be expanded according to actual needs; The yarn outlet point is defined as the tangent point between the suspended yarn and the yarn outlet roller; the reachable space of the yarn outlet point is defined as: the set of all positions that the yarn outlet point can reach within the travel range of each moving axis of the winding machine tool.

3. The method according to claim 2, characterized in that The step S2 specifically includes: S21 When the rotation angle γ∈[γ d ,γ u ], the intersection of the ray and the space reachable by the yarn exit point is calculated, and there are two intersection points. The intersection point closer to P is called the near yarn exit point, and the intersection point farther from P is called the far yarn exit point. S22 calculates the distance between the yarn exit point and P as the hanging yarn length λ according to spatial analytic geometry s , the distance between the far yarn point and P is the hanging yarn length λ l , then the permissible hanging yarn length interval is [λ s ,λ l ]; when the near yarn exit point coincides with the far yarn exit point, λ s =λ l .

4. The method according to claim 1, characterized in that In step S6, when establishing the control equation according to the optimization target, the independent variables include the yarn dropping phase angle of each path point P. and allowable hanging yarn length 5. The method according to claim 1, characterized in that The step S3 specifically includes: S31 performs triangular meshing on the base, connecting rods and workpieces of the winding machine tool, and establishes a hierarchical binary tree of the triangular meshes; S32 uses AABB bounding boxes for rough collision detection, and then uses triangle patches for precise collision detection; S33 determines the permissible yarn dropping phase interval under collision avoidance conditions according to the collision detection result and hanging yarn length interval 6. The method according to claim 1, characterized in that In step S5, the trajectory optimization target can be flexibly set according to actual needs, including but not limited to the shortest hanging yarn length, the shortest winding time, the constant core mold speed, and the constant yarn output speed.

7. The method according to claim 1, characterized in that In step S7, the optimization solution method can be flexibly selected according to the optimization target and the complexity of the control equation, including but not limited to the gradient descent method, quadratic programming (QP), and trust region optimization method.

8. The method according to claim 6, characterized in that Optimization of the shortest hanging yarn length Directly select the hanging yarn length The shortest winding time can be optimized by gradient descent method, quadratic programming (QP) or trust region optimization method. For the optimization of constant core mold speed, in addition to the core mold acceleration and deceleration stages, the corresponding motion axis speed v i It can be set as a constant value; for the optimization solution of constant yarn delivery speed, the time interval between two adjacent winding points can be calculated according to the specified yarn delivery speed, that is, the distance between adjacent yarn dropping points, and then the speed and acceleration of each axis can be further determined according to the S-shaped speed curve to achieve smooth operation of the machine tool.

9. The method according to claim 4, characterized in that In step S6, if the optimization target is related to time, the independent variables also need to include the speed and acceleration of each axis of the machine tool {v i ,a i } j , where j = 1, 2,…, n, and n represents the number of machine tool motion axes.

10. The method according to claim 1, characterized in that In step S8, according to the CNC code format of the specific winding machine tool, the motion parameters of each motion axis obtained by optimization are converted into CNC codes for execution by the winding machine tool.

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