Multi-bundle fiber winding linear trajectory planning method, equipment and medium

Abstract

The invention discloses a multi-bundle fiber winding linear trajectory planning method and device and a medium, and relates to the technical field of fiber winding, and the method comprises the steps: determining a total center corner corresponding to an initial fiber winding linear trajectory according to a core model and initial winding parameters; setting a deviation range of a total central rotation angle, and determining a value range of the number of revolutions of a mandrel of the corresponding mandrel; setting a deviation range of the width of the fiber yarn tape, and determining a plurality of values of the number of circulation turns to obtain a plurality of mandrel rotation number values; according to the continuous fraction theory, the winding line type track tangent point number corresponding to each core mold mandrel revolution number value is calculated; screening out a plurality of winding line type tracks corresponding to the core mold and core shaft revolution number values meeting the tangent point number requirement and the coverage degree requirement; and screening out a fiber winding linear track meeting the multi-bundle winding requirement from the winding linear tracks meeting the tangent point number requirement and the coverage requirement. The scheme can be used for designing and planning a multi-bundle fiber winding linear track.

Description

Technical Field

[0001] The present application relates to the technical field of fiber winding, and in particular to a method, device and medium for planning linear trajectories for multi-bundle fiber winding. Background Art

[0002] In the traditional fiber winding process, single-filament nozzle winding is generally used. When the core mold size is large, the fiber yarn width is small, and the number of winding line cycles is large, the molding time of the composite shell fiber winding is long. Moreover, in the actual winding process, due to the introduction of the slip coefficient, multiple winding adjustments are often required to find a winding line that meets the product performance and aesthetic requirements. Single-bundle fiber winding has problems such as a single source of wire, few linear degrees of freedom, and low fiber strength. The cross-over fluctuations of the fiber bundles lead to local stress concentration in the structure, which has a great impact on the fatigue performance of the molded product. Multi-bundle fiber synchronous winding is a new winding mode developed based on the traditional single-bundle fiber winding. Compared with single-bundle winding, it can effectively avoid fiber stacking and crossing, and has the advantages of high winding efficiency and good mechanical properties of products.

[0003] However, the existing multi-bundle fiber synchronous winding can generally only perform fiber winding according to the winding linear trajectory pre-set by the winding machine tool and cannot be flexibly adjusted; moreover, there is currently a lack of a public design and planning method for the multi-bundle fiber winding linear trajectory. Summary of the invention

[0004] The purpose of the present application is to provide a method, device and medium for planning a linear trajectory of a multi-bundle fiber winding, which can be used for designing and planning a linear trajectory of a multi-bundle fiber winding.

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

[0006] In a first aspect, the present application provides a multi-bundle fiber winding linear trajectory planning method, comprising:

[0007] According to the core mold model and the initial winding parameters corresponding to the core mold model, the non-geodesic winding angle equation and the center angle differential equation are used to determine the total center angle corresponding to the initial fiber winding linear trajectory; the initial fiber winding linear trajectory is the fiber winding linear trajectory corresponding to the initial winding parameters.

[0008] The deviation range of the total center angle is set, and the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center angle is determined; the core mold mandrel rotation number is the number of turns of the core mold mandrel corresponding to a single fiber winding linear trajectory.

[0009] The deviation range of the fiber tape width is set, and several values ​​of the number of loops within the deviation range of the fiber tape width are determined; the number of loops is the number of fiber winding linear trajectories required to just cover the entire core mold.

[0010] According to the value of each cycle number, several values ​​of the core mold mandrel rotation number within the value range of the core mold mandrel rotation number are determined.

[0011] According to the theory of continued fractions, the number of tangent points of the winding linear trajectory corresponding to the number of revolutions of each core mold mandrel is calculated;

[0012] Determine the winding linear trajectory corresponding to each core mold mandrel rotation number value, and screen out the winding linear trajectory that meets the requirements of the number of tangent points and the coverage from the winding linear trajectory corresponding to all the core mold mandrel rotation number values.

[0013] Determine the number of wire nozzles, and when there is a fiber winding linear trajectory that meets the multi-bundle winding requirements among the winding linear trajectories that meet the tangent point number requirements and the coverage requirements, retain the fiber winding linear trajectory that meets the multi-bundle winding requirements; the multi-bundle winding requirements are determined based on the number of wire nozzles.

[0014] In a second aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-bundle fiber winding linear trajectory planning method described in the first aspect.

[0015] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the multi-bundle fiber winding linear trajectory planning method described in the first aspect.

[0016] According to the specific embodiments provided in this application, this application has the following technical effects:

[0017] The present application provides a method, device and medium for planning the linear trajectory of multi-bundle fiber winding, the method comprising: first, according to the core mold model and the initial winding parameters, the total center angle corresponding to the initial fiber winding linear trajectory is determined by using the non-geodesic winding angle equation and the center angle differential equation; then, the deviation range of the total center angle is set, and the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center angle is determined; and the deviation range of the fiber yarn tape width is set, and several values ​​of the number of cycles within the deviation range of the fiber yarn tape width are determined; then, according to the value of each number of cycles, the total center angle deviation range is determined. Several core mold mandrel rotation values ​​are within the range of the core mold mandrel rotation value, and according to the continued fraction theory, the number of tangent points of the winding linear trajectory corresponding to each core mold mandrel rotation value is calculated, the winding linear trajectory corresponding to each core mold mandrel rotation value is determined, and the winding linear trajectory corresponding to several core mold mandrel rotation values ​​that meet the tangent point number requirements and coverage requirements are screened out; finally, according to the number of wire mouths, when there is a fiber winding linear trajectory that meets the multi-bundle winding requirements among the winding linear trajectories that meet the tangent point number requirements and the coverage requirements, the fiber winding linear trajectory that meets the multi-bundle winding requirements is retained. The above-mentioned scheme of the present application, after obtaining the initial winding linear trajectory, first obtains multiple core mold mandrel rotation values ​​by setting the deviation range of the total center rotation angle and the deviation range of the fiber yarn tape width, and then screens the winding linear trajectories corresponding to different core mold mandrel rotation values ​​twice, which can effectively ensure the design accuracy of the fiber winding linear trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a flow chart of a multi-bundle fiber winding linear trajectory planning method provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a flow chart of another multi-bundle fiber winding linear trajectory planning method provided in an embodiment of the present application;

[0021] Figure 3 A two-dimensional schematic diagram of a core mold model of an elliptical head provided in one embodiment of the present application;

[0022] Figure 4 A three-dimensional schematic diagram of a core mold model of an elliptical head provided in one embodiment of the present application;

[0023] Figure 5A three-dimensional schematic diagram of a core mold model of another elliptical head provided in one embodiment of the present application;

[0024] Figure 6 A schematic diagram of the tangent points of the fiber winding trajectory provided in one embodiment of the present application; Figure 6 (a) is a schematic diagram of a single tangent point of the fiber winding trajectory; Figure 6 (b) is a schematic diagram showing multiple tangent points of the fiber winding trajectory;

[0025] Figure 7 A schematic diagram of the doffing trajectory of a core mold model that meets the requirements of double-wire nozzle winding provided in one embodiment of the present application;

[0026] Figure 8 A schematic diagram of the doffing trajectory of a core mold model that meets the three-wire nozzle winding requirements provided in one embodiment of the present application;

[0027] Fig. 9 A schematic diagram of the doffing trajectory of a core mold model that meets the eight-wire nozzle winding requirements provided in one embodiment of the present application;

[0028] Fig.10 A schematic diagram of the spatial position of a double nozzle provided in an embodiment of the present application;

[0029] Fig.11 A motion simulation planning diagram of a core mold model for double-wire nozzle winding provided in an embodiment of the present application;

[0030] Fig.12 A schematic diagram of the spatial position of a three-wire nozzle provided in an embodiment of the present application;

[0031] Fig.13 A motion simulation planning diagram of a core mold model for three-wire nozzle winding provided in an embodiment of the present application;

[0032] Fig.14 A schematic diagram of the spatial position of a three-wire nozzle provided in an embodiment of the present application;

[0033] Fig.15 A motion simulation planning diagram of a core mold model for three-wire nozzle winding provided in an embodiment of the present application;

[0034] Fig.16 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The synchronous winding of multiple fiber bundles (such as carbon fiber) is a new winding mode developed based on the traditional single-bundle fiber winding. Compared with single-bundle winding, it can effectively avoid fiber stacking and crossing, and has the advantages of high winding efficiency and good mechanical properties of products. It is one of the key scientific issues in the study of non-geodesic trajectory coupling design.

[0037] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0038] In an exemplary embodiment, see Figure 1 and Figure 2 The present application provides a multi-bundle fiber winding linear trajectory planning method, which is executed by a computer device, specifically, it can be executed by a computer device such as a terminal or a server alone, or it can be executed by a terminal and a server together. In the embodiment of the present application, the method is applied to a server as an example for explanation, including the following steps 101 to 108. Among them:

[0039] Step 101: According to the core mold model and the initial winding parameters of the core mold model, the total center angle corresponding to the initial fiber winding linear trajectory is determined by using the non-geodesic winding angle equation and the center angle differential equation; the initial fiber winding linear trajectory is the fiber winding linear trajectory corresponding to the initial winding parameters.

[0040] In some embodiments, according to the geometric dimensions of the core mold model, the initial fiber doffing trajectory is determined by performing winding line simulation design on the core mold model.

[0041] Step 102: Set the deviation range of the total center angle, and determine the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center angle; the core mold mandrel rotation number is the number of turns of the core mold mandrel corresponding to a single fiber winding linear trajectory.

[0042] Step 103: setting a deviation range of the fiber tape width, and determining several values ​​of the number of loops within the deviation range of the fiber tape width; the number of loops is the number of fiber winding linear trajectories required to just cover the entire core mold.

[0043] Step 104: according to the value of each cycle number, a plurality of core mold mandrel rotation number values ​​within the value range of the core mold mandrel rotation number are determined.

[0044] Step 105: According to the continued fraction theory, the number of tangent points of the winding linear trajectory corresponding to the number of rotations of each core mold mandrel is calculated.

[0045] Step 106: Determine the winding linear trajectory corresponding to each core mold mandrel rotation number value, and select the winding linear trajectory that meets the requirements of the number of tangent points and the coverage from the winding linear trajectory corresponding to all the core mold mandrel rotation number values.

[0046] Step 107: Determine the number of wire nozzles, and when there is a fiber winding linear trajectory that meets the multi-bundle winding requirements among the winding linear trajectories that meet the tangent point number requirements and the coverage requirements, retain the fiber winding linear trajectory that meets the multi-bundle winding requirements; the multi-bundle winding requirements are determined based on the number of wire nozzles.

[0047] In this article, the fiber winding linear trajectory is also called yarn doffing trajectory, trajectory or linear.

[0048] For the winding linear trajectory corresponding to each core mold mandrel rotation number value, the slip coefficient corresponding to each core mold mandrel rotation number value can be obtained by the method of inverse optimization of the slip coefficient, and then the linear trajectory corresponding to each slip coefficient can be determined.

[0049] That is to say, in the present application, after a slip coefficient is initially determined and a (total) center angle (core mold core shaft speed) is thereby determined, a plurality of different core mold core shaft speed values ​​and corresponding center angles are obtained by setting a corresponding range. The method of inverse optimization of the slip coefficient can be used to obtain a slip coefficient different from the original one, and different slip coefficients correspond to different linear trajectories.

[0050] In another exemplary embodiment of the present application, refer to Figure 3-Figure 5 The core mold model includes a head section (referred to as head) and a barrel section (referred to as barrel); the head section is located on both sides of the barrel section, the head section on the left side of the barrel section is called the left head section, and the head section on the right side of the barrel section is called the right head section; a pole hole is provided on the side of the head section away from the barrel section, the pole hole on the left head section is called the left pole hole, and the pole hole on the right head section is called the right pole hole.

[0051] The initial winding parameters include the winding angle at the pole hole of the head section, the slip coefficient of the head section, the winding angle of the barrel section, the slip coefficient of the barrel section and the fiber yarn tape width (referred to as yarn tape width).

[0052] As an optional implementation, the winding angle at the pole hole of the head section is 90°.

[0053] There are two algorithms for calculating the yarn drop trajectory: one is to cut the pole holes at both ends of the head, and this winding angle (i.e., the head section) is obtained by solving the optimization; the second is to fix the winding angle, and solve the yarn drop trajectory by setting the winding angle of the barrel.

[0054] In this embodiment, the ends of the core mold profile are elliptical and the barrel is cylindrical; the parameter curve of the elliptical shape is as follows: Figure 3 As shown in the figure, in the head section, the ellipse equation is the contour parameter of the core mold.

[0055] In another exemplary embodiment of the present application, the process of constructing the core mold model includes: setting core mold parameters, and establishing the core mold model according to the core mold parameters. Specifically, setting core mold parameters, and using OpenGL drawing functions to establish the core mold model based on the core mold parameters; wherein the core mold parameters include the length of the left end cap short semi-axis, the length of the barrel, the length of the right end cap short semi-axis, the left pole hole radius, the barrel radius, and the right pole hole radius of the core mold.

[0056] In another exemplary embodiment of the present application, the mathematical expression of the non-geodesic winding angle equation is as follows:

[0057]

[0058] The mathematical expression of the central angle differential equation is as follows:

[0059]

[0060] Among them, f(z), f′(z) and f″(z) are the core mold contour curve, the first-order derivative of the core mold contour curve and the second-order derivative of the core mold contour curve respectively; α represents the winding angle; θ represents the center rotation angle; λ represents the slip coefficient.

[0061] In another exemplary embodiment of the present application, step 101 specifically includes:

[0062] According to the core mold model and the initial winding parameters corresponding to the core mold model, the non-geodesic winding angle equation and the center angle equation are used to calculate the center angle θ1 corresponding to the head section (that is, the center angle of the head corresponding to the one-way motion of the wire nozzle) and the center angle θ2 corresponding to the barrel section (the center angle of the barrel section corresponding to the one-way motion of the wire nozzle).

[0063] According to the central rotation angle θ1 corresponding to the head section and the central rotation angle θ2 corresponding to the barrel section, the total central rotation angle corresponding to the initial fiber winding linear trajectory is determined.

[0064] As an optional implementation, according to the size of the core mold model and the initial winding parameters, the fourth-order Runge-Kutta method is used to solve the winding angle and center rotation angle of the yarn drop trajectory point for the non-geodesic winding angle equation and the center rotation angle differential equation. Through the above process, the winding angle and center rotation angle θ1 corresponding to the head section and the center rotation angle θ2 corresponding to the barrel section can be solved.

[0065] In another exemplary embodiment of the present application, in step 102, determining the value range of the core mold core shaft rotation number corresponding to the deviation range of the total center rotation angle specifically includes:

[0066] According to the relationship between the total center angle and the number of revolutions of the core mold mandrel, the value range of the number of revolutions of the core mold mandrel corresponding to the deviation range of the total center angle is determined; the relationship between the total center angle and the number of revolutions of the core mold mandrel is:

[0067]

[0068] Among them, ∑θ represents the total center angle, that is, the total center angle required for the trolley (winding machine tool) to wind one round trip (one track); r c Indicates the number of revolutions of the mandrel of the core mold, the number of turns the trolley makes when wrapping around the core mold; w represents the integer part of the number of revolutions of the mandrel of the core mold, that is, the integer number of revolutions that the trolley makes when it wraps around the mandrel for one round trip; It represents the remainder of the number of revolutions of the core mold and the expression becomes an irreducible true fraction form; d is represented as the spacing between two adjacent laying fiber tapes on the end face of the head, with the width of the tape as the unit standard; N is the number of loops, which is represented as the number (integer) of equally divided large circle circumferences based on the tape width on the end face of the head. The end face of the head refers to the intersection of the head and the barrel, and the large circle circumference refers to the circumference of the corresponding circle of the barrel cross section. The number of loops is the total number of windings required to evenly spread the fibers, that is, the number of linear layings.

[0069] Among them, ∑θ=4θ1+2θ2, that is, the trolley passes through the head section four times and the barrel section twice in one winding back and forth; the trolley completes the laying of the fiber yarn tape along a trajectory in one winding back and forth.

[0070] Setting the deviation range of the total center angle, such as setting the center angle deviation angle Δθ, is mainly used to optimize the winding linear trajectory. Because step 101 solves only one fixed center angle, but the line type obtained according to this center angle may not meet the actual aesthetics and tangent point number requirements, we optimize the number of line types according to the set center angle deviation angle to obtain more line types to meet the actual winding needs.

[0071] In another exemplary embodiment of the present application, in step 103, determining several values ​​of the number of cycles within the deviation range of the fiber yarn tape width specifically includes:

[0072] According to the relationship between the fiber yarn tape width and the number of cycles, several values ​​of the number of cycles within the deviation range of the fiber yarn tape width are determined; the relationship between the fiber yarn tape width and the number of cycles is:

[0073]

[0074] Among them, N is the number of cycles; b is the width of the fiber yarn; D is the circumferential diameter corresponding to the cross-section of the barrel section; α is the winding angle of the barrel section.

[0075] for The precise value of N can be obtained based on the input winding angle and yarn width, but in order to improve the designability of the winding line type, it is necessary to select a range of values ​​for N.

[0076] Through Lianli According to r c The value range of and each value of N can give the value range of d, that is, several values ​​of d.

[0077] Then, for each core mold mandrel rotation number value corresponding to The number of tangent points of the corresponding winding linear trajectory is determined by the theory of continued fractions. Specifically,

[0078] Through the theory of continued fractions Simplifying, we get:

[0079]

[0080] assumed According to the general formula of the Euclidean algorithm in the theory of continued fractions

[0081] We can find q k-1 The value of q in this embodiment can be obtained accordingly. n-1 , which is the number of tangent points. Then, the center angle of the trolley winding one round trip that satisfies the uniform distribution condition (i.e., the coverage requirement) is calculated based on 360 (w+d / N), thereby obtaining the fiber winding yarn drop trajectory line shape that satisfies the uniform distribution.

[0082] See also Figure 6, the number of tangent points is the number of times the fiber intersects with the pole hole after completing a complete winding cycle (referred to as the cycle). The number of tangent points is the key feature to distinguish different winding line types and has a significant impact on the line type design. It is divided into single tangent point line type and multi-tangent point line type. Single tangent point line type means that in a complete cycle, the fiber and the pole hole have only one intersection. The single tangent point line type is more concentrated at the pole hole, which will cause serious fiber accumulation at the pole hole. Correspondingly, the multi-tangent point line type means that in a complete winding cycle, the fiber and the pole hole have two or more intersections. The multi-tangent point line type is relatively dispersed at the pole hole, so there are more intersections between the fibers, which may cause the fibers to be suspended. When designing the line type, if the number of winding layers is relatively large, try to avoid the single tangent point line type. At the same time, in order to prevent fiber suspension, line types with a large number of tangent points cannot be selected.

[0083] In another exemplary embodiment of the present application, the multi-bundle filament winding linear trajectory planning method further includes:

[0084] Step 108: When there is no fiber winding linear trajectory that meets the requirements of multi-bundle winding in the winding linear trajectory that meets the requirements of the number of tangent points and the coverage, a new deviation range of the total center angle and a new deviation range of the fiber tape width are set, and the deviation range of the total center angle is updated to the new deviation range of the total center angle, and the deviation range of the fiber tape width is updated to the new deviation range of the fiber tape width, and the process returns to the step of "setting the deviation range of the total center angle, and determining the value range of the core mold core shaft rotation number corresponding to the deviation range of the total center angle".

[0085] In another exemplary embodiment of the present application, the multi-bundle winding requirement is that the number of cycles corresponding to the fiber winding linear trajectory is an integer multiple of the number of the wire nozzles.

[0086] During the winding process, due to the particularity of multi-bundle winding, the stroke and number of loops of each wire mouth before winding is completed must be the same. Therefore, the total number of loops (i.e. N) for evenly winding the fibers must meet certain conditions: the number of loops N must be a multiple of the number of wire mouths k. That is, when the number of wire mouths is k, the even filling requirement of the core mold can be met only when and only when the number of loops of the fiber winding yarn trajectory satisfies N=kn.

[0087] In another exemplary embodiment of the present application, the three-dimensional position coordinate point of the wire nozzle relative to the origin of the winding machine is obtained according to the number of wire nozzles, and the machine tool coordinate point of the wire nozzle is obtained through the trajectory planning method based on the fiber winding yarn dropping trajectory obtained by the final optimization screening, and the motion simulation diagram of the multi-beam winding is obtained through the OpenGL function.

[0088] According to the method provided in the present application, a multi-bundle fiber winding linear trajectory planning method for a composite pressure vessel that is suitable for designing a fiber winding system that meets actual fiber winding requirements can be generated according to the number of wire nozzles modified by the machine tool during the winding process to meet the needs of multiple bundles of yarn dropping trajectories, and motion trajectory planning for multiple bundle winding can be achieved, thereby reducing the winding process time and improving the actual winding efficiency of the product.

[0089] The present application also provides an application scenario, which applies the above-mentioned multi-beam fiber winding linear trajectory planning method. Specifically: The multi-beam fiber winding linear trajectory planning method provided in this embodiment can be applied in the multi-beam fiber winding scenario. The multi-beam carbon fiber winding scenario includes a multi-beam fiber winding linear trajectory planning link and a multi-beam fiber winding link. The multi-beam fiber winding linear trajectory planning method provided in this embodiment belongs to the multi-beam fiber winding linear trajectory planning link. Specifically, the total center angle corresponding to the initial fiber winding linear trajectory is determined by using the non-geodesic winding angle equation and the center angle differential equation; the deviation range of the total center angle is set, and the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center angle is determined; and the deviation range of the fiber yarn tape width is set, and several values ​​of the number of cycles within the deviation range of the fiber yarn tape width are determined; according to the value of each number of cycles, several core mold mandrel rotation number values ​​within the value range of the core mold mandrel rotation number are determined; according to the continued fraction theory, the number of tangent points of the winding linear trajectory corresponding to each core mold mandrel rotation number value is calculated; the winding linear trajectory corresponding to each core mold mandrel rotation number value is determined, and the winding linear trajectory corresponding to several core mold mandrel rotation number values ​​that meet the tangent point number requirements and coverage requirements are screened out; according to the number of wire nozzles, when there is a fiber winding linear trajectory that meets the multi-bundle winding requirements among the winding linear trajectories that meet the tangent point number requirements and the coverage requirements, the fiber winding linear trajectory that meets the multi-bundle winding requirements is retained. Then, in the multi-beam fiber winding process, the winding machine winds the core mold based on the fiber winding linear trajectory that meets the multi-beam winding requirements.

[0090] In a specific example, the multi-bundle fiber winding linear trajectory planning method includes:

[0091] 1) Establish a core mold model according to the core mold parameters.

[0092] Specifically, the core mold parameters are obtained, and the core mold model is established according to the OpenGL drawing function.

[0093] Establish the core mold model according to the geometric dimensions of the core mold model, such as Figure 3 As shown in the figure, the selected core mold parameters are: the length of the short semi-axis of the left head is 42mm, the length of the barrel is 412mm, the length of the short semi-axis of the right head is 42mm, the radius of the left pole hole is 15mm, the radius of the barrel is 72mm, and the radius of the right pole hole is 15mm. The head is an elliptical head and the barrel is a cylindrical barrel.

[0094] 2) Set the winding parameters such as winding angle, yarn width, slip coefficient, etc., and solve the winding angle and center rotation angle of the yarn dropping trajectory points through the non-geodesic equation and the center rotation angle equation by the fourth-order Runge-Kutta method. Design the number of tangent points and the number of loops according to the continued fraction theory, and optimize the fiber winding yarn dropping trajectory that can be evenly distributed.

[0095] The reference winding parameters are: winding angle of 15° (barrel body), number of head frames of 20, number of barrel frames of 20, tape width of 10mm, barrel slip coefficient of 0, and head slip coefficient of 0.1.

[0096] The following is an explanation of the various winding parameters.

[0097] The barrel winding angle is 15°: the angle between the fiber doffing and the main line on the core mold is 15°. The number of head frames is 20: the elliptical head segment is divided into 20 segments to solve the trajectory, and the coordinates of the 20 doffing points are solved. The yarn tape width is the width of the fiber. The barrel slip coefficient indicates that the cylindrical barrel segment is a geodesic trajectory, and the slip coefficient is 0. The slip coefficient of the heads at both ends is 0.1: it means that the slip coefficient given by the head segment is 0.1, and the actual slip coefficient obtained by optimizing the non-geodesic equation will be between ±0.1. If the slip coefficient is 0, it means that the trajectory is determined, and a range of slip coefficients is given before linear design can be performed.

[0098] 3) Assuming that the number of wire mouths is 2, the yarn doffing trajectory diagram obtained by optimizing the design according to the continued fraction theory is as follows: Figure 7 As shown in the figure, the number of tangent points is 3 and the number of loops is 44.

[0099] Assuming that the number of wire mouths is 3, the yarn doffing trajectory obtained by optimizing the design based on the continued fraction theory is as follows: Figure 8 As shown in the figure, the number of tangent points is 14 and the number of loops is 45.

[0100] Assuming that the number of wire mouths is 8, the yarn doffing trajectory obtained by optimizing the design based on the continued fraction theory is as follows: Fig. 9 As shown in the figure, the number of tangent points is 23 and the number of loops is 72.

[0101] When the number of wire mouths is k, the uniform filling requirement of the core mold can be met if and only if the total number of cycles of the fiber winding yarn drop trajectory satisfies N=kn.

[0102] 4) Determine the three-dimensional position coordinates of the wire nozzle relative to the machine tool according to the number of wire nozzles, and perform post-processing trajectory planning for the core mold winding based on the wire nozzle position.

[0103] The three-dimensional space coordinates of the machine tool of the single-wire nozzle 1 are set to X, Y, and Z respectively.

[0104] When the number of wire nozzles is 2, the spatial position diagram of the double wire nozzles is as follows Fig.10 The machine tool positions of the double screw nozzles are placed 180° apart along the circumference, so the three-dimensional spatial coordinates of the screw nozzle 2 are The schematic diagram of the double-wire nozzle fiber winding motion trajectory planning is as follows Fig.11 shown.

[0105] When the number of wire nozzles is 3, the spatial position diagram of the three wire nozzles is as follows Fig.12 The machine tool positions of the three screw nozzles are placed at 120° intervals along the circumference, so the three-dimensional spatial coordinates of the screw nozzle 2 are The three-dimensional space coordinates of the machine tool of the screw nozzle 3 are The schematic diagram of the motion trajectory planning of the three-wire nozzle fiber winding is as follows Fig.13 shown.

[0106] When the number of wire nozzles is 8, the spatial position diagram of the three wire nozzles is as follows Fig.14 The machine tool positions of the eight screw nozzles are placed at 45° intervals along the circumference, so the three-dimensional spatial coordinates of the screw nozzles are Where i∈(0,1,2...7), the schematic diagram of the eight-wire nozzle fiber winding motion trajectory planning is as follows Fig.15 shown.

[0107] By analogy, when the number of wire mouths is k, the spatial position of the wire mouth can also be obtained by the spatial coordinate transformation formula: where i∈(0,1,2...(k-1)).

[0108] The multi-beam fiber winding linear trajectory planning method provided in the present application can be applied to a fiber winding simulation platform. In practice, it can reduce the molding time of fiber winding of a composite shell and improve the product molding efficiency of the winding equipment.

[0109] The multi-bundle fiber winding linear trajectory planning method proposed in the present application can be used for the multi-bundle carbon fiber winding linear trajectory planning of composite pressure vessels, which includes solving the multi-bundle winding fiber yarn dropping trajectory of the pressure vessel by the fourth-order Runge-Kutta method according to the geometric dimensions of the core mold using the non-geodesic equation and the center angle equation; establishing a non-geodesic trajectory coupling design method according to the characteristics of multi-bundle fiber winding, and studying the continuous fraction theory optimization to obtain the trajectory linear shape that satisfies the multi-bundle winding; determining the position of the nozzle relative to the core mold according to the number of nozzles of the winding machine, and performing motion trajectory planning based on the relative position of the nozzle; in the winding process, the number of bundles can be changed (it can be changed between different winding layers) to effectively avoid problems such as fiber stacking and crossing, and has the advantages of high winding efficiency and good mechanical properties of products, etc., providing a theoretical basis and technical support for the research and development of high-performance carbon fiber winding molding processes and equipment, and having important scientific significance and application value for realizing high-performance and flexible winding manufacturing of key structural parts of carbon fiber composite materials.

[0110] In addition, the present application finds a line type suitable for multi-beam winding by optimizing the continued fraction theory, which can be applied to winding simulation CAM software.

[0111] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Fig.16 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as core mold size parameters and winding parameters. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for planning a linear trajectory of multi-bundle fiber winding is implemented.

[0112] Those skilled in the art will understand that Fig.16The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0113] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0114] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0115] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0117] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0118] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0119] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A multi-bundle fiber winding linear trajectory planning method, characterized in that: The multi-bundle carbon fiber winding linear trajectory planning method comprises: According to the core model and the initial winding parameters corresponding to the core model, the total center angle corresponding to the initial fiber winding linear trajectory is determined by using the non-geodesic winding angle equation and the center angle differential equation; the initial fiber winding linear trajectory is the fiber winding linear trajectory corresponding to the initial winding parameters; The deviation range of the total center angle is set, and the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center angle is determined; the core mold mandrel rotation number is the number of turns of the core mold mandrel corresponding to a single fiber winding linear trajectory; Setting a deviation range of the fiber yarn tape width, and determining several values ​​of the number of loops within the deviation range of the fiber yarn tape width; the number of loops is the number of fiber winding linear trajectories required to just cover the entire core mold; According to the value of each cycle number, a plurality of core mold mandrel rotation number values ​​within the value range of the core mold mandrel rotation number are determined; According to the theory of continued fractions, the number of tangent points of the winding linear trajectory corresponding to the number of revolutions of each core mold mandrel is calculated; Determine the winding linear trajectory corresponding to each core mold mandrel rotation number value, and select the winding linear trajectory that meets the requirements of the number of tangent points and the coverage from the winding linear trajectory corresponding to all the core mold mandrel rotation number values; Determine the number of wire nozzles, and when there is a fiber winding linear trajectory that meets the multi-bundle winding requirements among the winding linear trajectories that meet the tangent point number requirements and the coverage requirements, retain the fiber winding linear trajectory that meets the multi-bundle winding requirements; the multi-bundle winding requirements are determined based on the number of wire nozzles.

2. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: The multi-bundle winding requirement is that the number of cycles corresponding to the fiber winding linear trajectory is an integer multiple of the number of the wire nozzles.

3. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: Also includes: When there is no fiber winding linear trajectory that meets the requirements of multi-bundle winding among the winding linear trajectories that meet the requirements of the number of tangent points and the coverage, a new deviation range of the total center angle and a new deviation range of the fiber tape width are set, and the deviation range of the total center angle is updated to the new deviation range of the total center angle, and the deviation range of the fiber tape width is updated to the new deviation range of the fiber tape width, and the process returns to step "setting the deviation range of the total center angle, and determining the value range of the core mold core shaft rotation number corresponding to the deviation range of the total center angle".

4. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: Determining the value range of the core mold mandrel rotation number corresponding to the deviation range of the total center rotation angle specifically includes: According to the relationship between the total center angle and the number of revolutions of the core mold mandrel, the value range of the number of revolutions of the core mold mandrel corresponding to the deviation range of the total center angle is determined; the relationship between the total center angle and the number of revolutions of the core mold mandrel is: <h2 style=";text-align:left;direction:ltr">θ = 360r<h2 style=";text-align:left;direction:ltr"> c <h2 style=";text-align:left;direction:ltr"> ; Among them, ∑θ represents the total center angle; rc represents the number of revolutions of the mandrel of the core mold; w represents the integer part of the number of revolutions of the core mold mandrel, It represents the remainder of the number of revolutions of the mandrel of the core mold. On the end face of the end cap, d represents the spacing between two adjacent layings of the fiber tapes. N is the number of cycles.

5. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: Determine several values ​​of the number of cycles within the deviation range of the fiber yarn tape width, specifically including: According to the relationship between the fiber yarn tape width and the number of cycles, several values ​​of the number of cycles within the deviation range of the fiber yarn tape width are determined; the relationship between the fiber yarn tape width and the number of cycles is: Among them, N is the number of cycles; b is the width of the fiber yarn; D is the diameter of the barrel section; α is the winding angle of the barrel section.

6. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: The core mold model includes a head section and a barrel section; the head section is located on both sides of the barrel section; a pole hole is provided on one side of the head section away from the barrel section; The initial winding parameters include the winding angle at the pole hole of the head section, the slip coefficient of the head section, the winding angle of the barrel section, the slip coefficient of the barrel section and the width of the fiber yarn.

7. The multi-bundle fiber winding linear trajectory planning method according to claim 6, characterized in that: According to the core model and the initial winding parameters corresponding to the core model, the total center angle corresponding to the initial fiber winding linear trajectory is determined by using the non-geodesic winding angle equation and the center angle differential equation, specifically including: According to the core mold model and the initial winding parameters, the non-geodesic winding angle equation and the center angle equation are used to calculate the center angle θ1 corresponding to the head section and the center angle θ2 corresponding to the barrel section; According to the central rotation angle θ1 corresponding to the head section and the central rotation angle θ2 corresponding to the barrel section, the total central rotation angle corresponding to the initial fiber winding linear trajectory is determined.

8. The multi-bundle fiber winding linear trajectory planning method according to claim 1, characterized in that: The mathematical expression of the non-geodesic winding angle equation is as follows: The mathematical expression of the central angle differential equation is as follows: Among them, f(z), f′(z) and f″(z) are the core mold contour curve, the first-order derivative of the core mold contour curve and the second-order derivative of the core mold contour curve respectively; α represents the winding angle; θ represents the center rotation angle; λ represents the slip coefficient.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the multi-bundle fiber winding linear trajectory planning method according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the multi-bundle fiber winding linear trajectory planning method according to any one of claims 1 to 8 is implemented.

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