Intelligent tension control method and system for three-dimensional weaving machine

Abstract

The invention provides an intelligent tension control method and system for a three-dimensional weaving machine, and the method comprises the steps: determining the standard tension ranges of the three-dimensional weaving machine in weft releasing, weft insertion and beating-up processes based on weaving process parameters in combination with the acceptance standard of a three-dimensional braided fabric; based on a visual sensor and a tension sensor, tension monitoring is carried out on the track processes of the weft releasing track, the weft insertion track and the beating-up track, and the tension which does not conform to the standard tension range and the corresponding target track are determined; based on the intelligent adjustment rule, the tension and the corresponding target track are combined, the adjustment parameters of the weft motor are intelligently output, the weft motor is intelligently adjusted according to the adjustment parameters, the tension of the three-dimensional weaving machine in the working process all the time meets the requirement, and the quality of the finally generated three-dimensional weaving composite material is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a three-dimensional loom tension intelligent control method and system. Background Art

[0002] Three-dimensional braided composites boast significantly higher specific stiffness, strength, and modulus than steel. They also offer excellent properties such as wear resistance, heat resistance, fatigue resistance, creep resistance, noise reduction, electrical insulation, and strong designability. They are widely used in aerospace, rail transit, wind power generation, and other fields. Two-dimensional structural composites are among the most widely used composite structures due to their ease of fabrication and mature forming processes and equipment.

[0003] The weaving part of the production process of three-dimensional woven composite materials is obtained by weaving on the main three-dimensional loom. The operations on the weft yarn include releasing the weft, inserting the weft and beating the weft. The stability of the tension control of the weft yarn operation is directly related to the quality of the slit products. If the tension is insufficient, the weft yarn will drift during operation, and the finished product will wrinkle after slitting and rewinding; if the tension is too large, the weft yarn will be easily broken, resulting in an increase in the number of broken ends of the finished product after slitting and rewinding, which will ultimately lead to the generation of unqualified three-dimensional woven composite materials and quality problems. Summary of the Invention

[0004] The present invention provides a three-dimensional loom tension intelligent control method and system, which are used to solve the problems raised in the background technology.

[0005] A three-dimensional loom tension intelligent control method, comprising:

[0006] S1: determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn;

[0007] S2: Based on the weaving process parameters and the acceptance criteria for 3D braided fabrics, determine the standard tension ranges for the 3D loom during weft release, weft insertion, and beating-up.

[0008] S3: Based on the visual sensor and tension sensor, the tension of the weft release track, weft insertion track and weft beating track is monitored, and the tension that does not meet the standard tension range and its corresponding target track are determined;

[0009] S4: Based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters.

[0010] Preferably, in S1, the step of determining the movement of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric includes:

[0011] Based on parameter types, the braiding process parameters of the three-dimensional braided fabric are divided into multiple parameter groups;

[0012] Based on each parameter group and parameter characteristic, determining a motion characteristic of the weft yarn under the parameter group;

[0013] Based on the movement characteristics of the weft yarn in all parameter groups, the movement steps of the weft yarn are determined.

[0014] Preferably, in said S1, based on the movement steps of the weft yarn, determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom includes:

[0015] Based on the spatial position, the movement steps of the weft yarn are divided into a weft release step, a weft insertion step and a weft beating step, and the spatial areas corresponding to the weft release step, the weft insertion step and the weft beating step are determined;

[0016] Establishing initial spatial coordinate systems for the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step, respectively, and fusing the initial spatial coordinate systems corresponding to the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step based on the relative positional relationship between the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step to obtain a target spatial coordinate system;

[0017] The trajectory features in the motion steps are digitally concretized in the target space coordinate system to obtain the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the three-dimensional loom operation.

[0018] Preferably, in said S2, based on the weaving process parameters and in combination with the acceptance criteria of the three-dimensional braided fabric, the standard tension ranges of the three-dimensional loom in the weft release, weft insertion and weft beating processes are determined, including:

[0019] Based on the weft yarn operating parameters in the weaving process parameters, the initial tension range of the three-dimensional loom is determined, and the weft release process parameters, weft insertion process parameters and weft beating process parameters are obtained from the weaving process parameters;

[0020] obtaining first parameter differences between a weft placing process parameter, a weft insertion process parameter, and a weft beating process parameter, respectively obtaining first parameter differences between the weft placing process parameter, the weft insertion process parameter, and the weft beating process parameter and a weft operation parameter, determining first tension weights for the weft placing, the weft insertion, and the beating-up based on the first parameter differences, and determining second tension weights for the weft placing, the weft insertion, and the beating-up based on the second parameter differences;

[0021] Based on the first tension weight and the second tension weight, the standard tension range is weightedly calculated to obtain weighted tension ranges for weft release, weft insertion and beating-up respectively;

[0022] Determine the overall acceptance criteria for three-dimensional braided fabrics, as well as the weft release criteria, weft insertion criteria and weft beating criteria from the acceptance criteria for three-dimensional braided fabrics;

[0023] Based on the weft release standard, weft insertion standard and weft beating standard, the weighted tension ranges of weft release, weft insertion and weft beating are verified respectively to determine whether the weighted tension ranges meet the corresponding standards;

[0024] If so, determine whether the weighted tension range meets the local acceptance criteria;

[0025] Otherwise, determining that the weighted tension range does not meet the local acceptance criteria, and adjusting the weighted tension range based on the local acceptance criteria;

[0026] After determining that the weighted tension range meets the local acceptance criteria, determining whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric;

[0027] If so, determine the weighted tension range as the standard tension range;

[0028] Otherwise, the weighted tension range is adjusted based on the overall acceptance criteria to obtain the standard tension range.

[0029] Preferably, the determining whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric includes:

[0030] Based on the weighted tension ranges of weft release, weft insertion and beating-up, a three-dimensional weaving model is used to simulate weft yarn weaving to obtain a simulated three-dimensional braided fabric;

[0031] Based on the three-dimensional braided fabric features detected by the overall acceptance criteria, the target acceptance features are obtained by extracting features from the simulated three-dimensional braided fabric;

[0032] The target acceptance feature is verified based on the overall acceptance criteria. If the verification passes, it indicates that the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric. Otherwise, it indicates that the weighted tension range does not meet the overall acceptance criteria of the three-dimensional braided fabric.

[0033] Preferably, in said S3, the tension of the weft release track, the weft insertion track and the weft beating track is monitored based on a visual sensor and a tension sensor, and the tension that does not meet the standard tension range and its corresponding target track are determined, including:

[0034] Based on the visual sensor, the trajectory process of weft release, weft insertion and beating-up is monitored to determine the trajectory characteristics of the three-dimensional loom at each moment;

[0035] Based on the tension sensor, the tension characteristics of the 3D loom at each moment are collected;

[0036] Based on the time feature, the trajectory feature and the tension feature are matched to determine the tension corresponding to the trajectory;

[0037] Determine whether the tension corresponding to the trajectory is within the standard tension range corresponding to the trajectory;

[0038] If so, determine that the tension corresponding to the trajectory is normal;

[0039] Otherwise, it is determined that the tension corresponding to the trajectory is abnormal, and the tension magnitude that does not meet the standard tension range and its corresponding target trajectory are determined.

[0040] Preferably, in S4, based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, including:

[0041] Obtaining an average tension difference between the tension magnitude and the standard tension range, determining an operation node where the three-dimensional loom tension becomes abnormal based on a target trajectory corresponding to the tension magnitude, and obtaining an operation feature at the operation node;

[0042] Obtaining a first adjustment rule that matches the operation node from the intelligent adjustment rules, obtaining an adjustment plan corresponding to each tension difference level from the first adjustment rule, and determining an initial adjustment plan from all the adjustment plans based on the average tension difference;

[0043] comparing the operating characteristic with a standard operating characteristic to determine an operating characteristic difference, and determining a first adjustment weight based on the operating characteristic difference; determining a dynamic performance characteristic of the three-dimensional loom motor based on the average tension difference, and determining a second adjustment weight based on the dynamic performance characteristic;

[0044] Acquire a first parameter type related to the operation feature from the initial adjustment scheme, and adjust a parameter corresponding to the first parameter type based on a first adjustment weight to obtain a first adjustment parameter;

[0045] Obtaining a second parameter type related to the dynamic performance characteristics from the initial adjustment scheme, and adjusting a parameter corresponding to the second parameter type based on a second adjustment weight to obtain a second adjustment parameter;

[0046] Adjusting the initial adjustment plan based on the first adjustment parameter and the second adjustment parameter to obtain a target adjustment plan;

[0047] The initial adjustment parameters of the weft motor determined by the target adjustment scheme are input into the weft motor working model to predict the theoretical tension of the weft motor.

[0048] Determining whether the theoretical tension is within a standard tension range;

[0049] If so, determining adjustment parameters for the weft motor based on the target adjustment plan;

[0050] Otherwise, continue to adjust the target adjustment plan until the theoretical tension is within the standard tension range.

[0051] Preferably, in S4, intelligently adjusting the weft motor according to the adjustment parameters includes:

[0052] generating a control instruction for the weft motor based on the adjustment parameters;

[0053] The control command is transmitted to the controller of the weft motor, and the controller of the weft motor analyzes the control command to obtain control parameters;

[0054] Intelligent adjustment of the weft motor based on control parameters.

[0055] Preferably, after intelligently adjusting the weft motor based on the control parameters, the method further includes:

[0056] The tension of the weft release track, weft insertion track and weft beating track is monitored again to obtain the actual tension;

[0057] If the actual tension is within the standard tension range, it is determined that the weft motor is operating normally after intelligent adjustment;

[0058] Otherwise, it is determined that there is abnormality in the operation after the weft motor is intelligently adjusted, and an alarm is issued.

[0059] A three-dimensional loom tension intelligent control system, comprising:

[0060] a trajectory determination module for determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn;

[0061] A standard tension determination module is used to determine the standard tension range of the 3D loom during the weft release, weft insertion and beating-up processes based on the weaving process parameters and the acceptance criteria of the 3D braided fabric;

[0062] The tension monitoring module is used to monitor the tension of the weft release track, weft insertion track and weft beating track based on the visual sensor and the tension sensor, and determine the tension that does not meet the standard tension range and its corresponding target track;

[0063] The parameter adjustment module is used to intelligently output the adjustment parameters of the weft motor based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, and intelligently adjust the weft motor according to the adjustment parameters.

[0064] Compared with the prior art, the present invention has achieved the following beneficial effects:

[0065] Based on the weaving process parameters of the three-dimensional braided fabric, the movement steps of the weft yarn are determined. Based on the movement steps of the weft yarn, the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the three-dimensional loom operation are determined. The characteristics of the three-dimensional loom under different operations are determined, which provides a basis for classifying and determining the standard tension range and classifying monitoring and adjustment. Based on the weaving process parameters and combined with the acceptance criteria of the three-dimensional braided fabric, the standard tension range of the three-dimensional loom in the weft release, weft insertion and beating processes is determined to ensure the accuracy of the obtained standard tension range, providing a basis for tension parameter adjustment. Based on the visual sensor and the tension sensor, the trajectory process of the weft release trajectory, weft insertion trajectory and beating trajectory is monitored for tension, and the tension size that does not meet the standard tension range and its corresponding target trajectory are determined. Based on the intelligent adjustment rule, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters, realizing intelligent adjustment of the weft motor, ensuring that the tension of the three-dimensional loom always meets the requirements during operation, and ensuring the quality of the final three-dimensional braided composite material.

[0066] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0067] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0069] Figure 1 This is a flow chart of a three-dimensional loom tension intelligent control method according to an embodiment of the present invention;

[0070] Figure 2 A flow chart of steps for determining the movement of a weft yarn in an embodiment of the present invention;

[0071] Figure 3 This is a structural diagram of a three-dimensional loom tension intelligent control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0072] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0073] Example 1:

[0074] The embodiment of the present invention provides a three-dimensional loom tension intelligent control method, such as Figure 1 Shown, including:

[0075] S1: determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn;

[0076] S2: Based on the weaving process parameters and the acceptance criteria for 3D braided fabrics, determine the standard tension ranges for the 3D loom during weft release, weft insertion, and beating-up.

[0077] S3: Based on the visual sensor and tension sensor, the tension of the weft release track, weft insertion track and weft beating track is monitored, and the tension that does not meet the standard tension range and its corresponding target track are determined;

[0078] S4: Based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters.

[0079] In this embodiment, the visual sensor is used to locate the weft release track, weft insertion track and weft beating track of the three-dimensional loom, and the tension sensor is used to determine the tension of the three-dimensional loom under the current track.

[0080] In this embodiment, weft placing, weft insertion and weft beating are completed by driving a weft motor.

[0081] In this embodiment, the intelligent adjustment rules are pre-set based on historical experience.

[0082] In this embodiment, the adjustment parameters of the weft motor include parameters such as motor speed, adjustment time period, and adjustment time node.

[0083] In this embodiment, the acceptance criteria for the three-dimensional braided fabric are predetermined according to the intended use.

[0084] The beneficial effects of the above design scheme are as follows: by determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and based on the movement steps of the weft yarn, determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom, the characteristics of the three-dimensional loom under different operations are determined, providing a basis for classifying and determining the standard tension range and classifying monitoring and adjustment; based on the weaving process parameters and in combination with the acceptance criteria of the three-dimensional braided fabric, the standard tension range of the three-dimensional loom in the weft release, weft insertion and weft beating processes is determined, the accuracy of the obtained standard tension range is ensured, and a basis for tension parameter adjustment is provided; based on the visual sensor and the tension sensor, the trajectory process of the weft release trajectory, weft insertion trajectory and weft beating trajectory is monitored for tension, and the tension size that does not meet the standard tension range and its corresponding target trajectory are determined; based on the intelligent adjustment rule, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters, thereby realizing intelligent adjustment of the weft motor, ensuring that the tension of the three-dimensional loom always meets the requirements during operation, and ensuring the quality of the final three-dimensional braided composite material.

[0085] Example 2:

[0086] Based on Example 1, the present invention provides a three-dimensional loom tension intelligent control method, such as Figure 2 As shown, in S1, based on the knitting process parameters of the three-dimensional braided fabric, the steps of determining the movement of the weft yarn include:

[0087] Based on parameter types, the braiding process parameters of the three-dimensional braided fabric are divided into multiple parameter groups;

[0088] Based on each parameter group and parameter characteristic, determining a motion characteristic of the weft yarn under the parameter group;

[0089] Based on the movement characteristics of the weft yarn in all parameter groups, the movement steps of the weft yarn are determined.

[0090] The beneficial effect of the above design scheme is: by dividing the weaving process parameters of the three-dimensional braided fabric into multiple parameter groups, the movement characteristics of the weft yarn are the same in the same parameter group, and based on the movement characteristics of the weft yarn in all parameter groups, the movement steps of the weft yarn are determined, and the division of the weft yarn movement is realized, which provides a basis for the subsequent determination of different trajectories of the weft yarn under the operation of the three-dimensional loom.

[0091] Example 3:

[0092] Based on Example 1, the present invention provides a method for intelligently controlling the tension of a three-dimensional loom. In S1, based on the movement steps of the weft yarn, the weft release trajectory, weft insertion trajectory, and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom are determined, including:

[0093] Based on the spatial position, the movement steps of the weft yarn are divided into a weft release step, a weft insertion step and a weft beating step, and the spatial areas corresponding to the weft release step, the weft insertion step and the weft beating step are determined;

[0094] Establishing initial spatial coordinate systems for the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step, respectively, and fusing the initial spatial coordinate systems corresponding to the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step based on the relative positional relationship between the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step to obtain a target spatial coordinate system;

[0095] The trajectory features in the motion steps are digitally concretized in the target space coordinate system to obtain the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the three-dimensional loom operation.

[0096] Example 4:

[0097] Based on Example 1, the present invention provides a method for intelligently controlling the tension of a three-dimensional loom. In S2, based on the weaving process parameters and in combination with the acceptance criteria for the three-dimensional braided fabric, the standard tension ranges of the three-dimensional loom during weft release, weft insertion, and beating-up are determined, including:

[0098] Based on the weft yarn operating parameters in the weaving process parameters, the initial tension range of the three-dimensional loom is determined, and the weft release process parameters, weft insertion process parameters and weft beating process parameters are obtained from the weaving process parameters;

[0099] obtaining first parameter differences between a weft placing process parameter, a weft insertion process parameter, and a weft beating process parameter, respectively obtaining first parameter differences between the weft placing process parameter, the weft insertion process parameter, and the weft beating process parameter and a weft operation parameter, determining first tension weights for the weft placing, the weft insertion, and the beating-up based on the first parameter differences, and determining second tension weights for the weft placing, the weft insertion, and the beating-up based on the second parameter differences;

[0100] Based on the first tension weight and the second tension weight, the standard tension range is weightedly calculated to obtain weighted tension ranges for weft release, weft insertion and beating-up respectively;

[0101] Determine the overall acceptance criteria for three-dimensional braided fabrics, as well as the weft release criteria, weft insertion criteria and weft beating criteria from the acceptance criteria for three-dimensional braided fabrics;

[0102] Based on the weft release standard, weft insertion standard and weft beating standard, the weighted tension ranges of weft release, weft insertion and weft beating are verified respectively to determine whether the weighted tension ranges meet the corresponding standards;

[0103] If so, determine whether the weighted tension range meets the local acceptance criteria;

[0104] Otherwise, determining that the weighted tension range does not meet the local acceptance criteria, and adjusting the weighted tension range based on the local acceptance criteria;

[0105] After determining that the weighted tension range meets the local acceptance criteria, determining whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric;

[0106] If so, determine the weighted tension range as the standard tension range;

[0107] Otherwise, the weighted tension range is adjusted based on the overall acceptance criteria to obtain the standard tension range.

[0108] The beneficial effect of the above design scheme is: by obtaining the first parameter difference between the weft release process parameters, the weft insertion process parameters and the weft beating process parameters, the first parameter difference between the weft release process parameters, the weft insertion process parameters and the weft beating process parameters and the weft yarn operation parameters is obtained respectively, based on the first parameter difference, the first tension weight for weft release, weft insertion and beating is determined, based on the second parameter difference, the second tension weight for weft release, weft insertion and beating is determined, based on the first tension weight and the second tension weight, the standard tension range is weightedly calculated to obtain the weighted tension range for weft release, weft insertion and beating respectively, to realize the design of different tension ranges for different stages, to avoid the problem of inaccurate tension control of three-dimensional looms caused by using a unified tension range, and then, the tension range is verified and adjusted based on the local acceptance standard and the overall acceptance standard to further ensure the accuracy of the obtained standard tension range, and provide a reliable basis for tension monitoring and judgment.

[0109] Example 5:

[0110] Based on Example 4, this embodiment of the present invention provides a method for intelligently controlling tension of a three-dimensional loom, wherein the method of determining whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric includes:

[0111] Based on the weighted tension ranges of weft release, weft insertion and beating-up, a three-dimensional weaving model is used to simulate weft yarn weaving to obtain a simulated three-dimensional braided fabric;

[0112] Based on the three-dimensional braided fabric features detected by the overall acceptance criteria, the target acceptance features are obtained by extracting features from the simulated three-dimensional braided fabric;

[0113] The target acceptance feature is verified based on the overall acceptance criteria. If the verification passes, it indicates that the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric. Otherwise, it indicates that the weighted tension range does not meet the overall acceptance criteria of the three-dimensional braided fabric.

[0114] The beneficial effects of the above design scheme are as follows: by detecting the three-dimensional braided fabric features based on the overall acceptance criteria, the target acceptance features are extracted from the simulated three-dimensional braided fabric; the target acceptance features are verified based on the overall acceptance criteria. If the verification passes, it indicates that the weighted tension range meets the overall acceptance criteria for the three-dimensional braided fabric; otherwise, it indicates that the weighted tension range does not meet the overall acceptance criteria for the three-dimensional braided fabric, thereby achieving an overall acceptance judgment of the three-dimensional braided fabric.

[0115] Example 6:

[0116] Based on Example 1, the embodiment of the present invention provides a three-dimensional loom tension intelligent control method. In S3, the tension of the weft release trajectory, the weft insertion trajectory, and the weft beating trajectory is monitored based on a visual sensor and a tension sensor, and the tension that does not meet the standard tension range and its corresponding target trajectory are determined, including:

[0117] Based on the visual sensor, the trajectory process of weft release, weft insertion and beating-up is monitored to determine the trajectory characteristics of the three-dimensional loom at each moment;

[0118] Based on the tension sensor, the tension characteristics of the 3D loom at each moment are collected;

[0119] Based on the time feature, the trajectory feature and the tension feature are matched to determine the tension corresponding to the trajectory;

[0120] Determine whether the tension corresponding to the trajectory is within the standard tension range corresponding to the trajectory;

[0121] If so, determine that the tension corresponding to the trajectory is normal;

[0122] Otherwise, it is determined that the tension corresponding to the trajectory is abnormal, and the tension magnitude that does not meet the standard tension range and its corresponding target trajectory are determined.

[0123] The beneficial effect of the above design scheme is: by monitoring the tension of the weft release track, weft insertion track and weft beating track based on visual sensors and tension sensors, the tension of different tracks can be monitored and recorded, and the tension size that does not meet the standard tension range and its corresponding target track can be determined, providing a detailed information basis for further tension adjustment.

[0124] Example 7:

[0125] Based on Example 1, an embodiment of the present invention provides a three-dimensional loom tension intelligent control method, characterized in that in S4, based on intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, intelligently output adjustment parameters for the weft motor, including:

[0126] Obtaining an average tension difference between the tension magnitude and the standard tension range, determining an operation node where the three-dimensional loom tension becomes abnormal based on a target trajectory corresponding to the tension magnitude, and obtaining an operation feature at the operation node;

[0127] Obtaining a first adjustment rule that matches the operation node from the intelligent adjustment rules, obtaining an adjustment plan corresponding to each tension difference level from the first adjustment rule, and determining an initial adjustment plan from all the adjustment plans based on the average tension difference;

[0128] comparing the operating characteristic with a standard operating characteristic to determine an operating characteristic difference, and determining a first adjustment weight based on the operating characteristic difference; determining a dynamic performance characteristic of the three-dimensional loom motor based on the average tension difference, and determining a second adjustment weight based on the dynamic performance characteristic;

[0129] Acquire a first parameter type related to the operation feature from the initial adjustment scheme, and adjust a parameter corresponding to the first parameter type based on a first adjustment weight to obtain a first adjustment parameter;

[0130] Obtaining a second parameter type related to the dynamic performance characteristics from the initial adjustment scheme, and adjusting a parameter corresponding to the second parameter type based on a second adjustment weight to obtain a second adjustment parameter;

[0131] Adjusting the initial adjustment plan based on the first adjustment parameter and the second adjustment parameter to obtain a target adjustment plan;

[0132] The initial adjustment parameters of the weft motor determined by the target adjustment scheme are input into the weft motor working model to predict the theoretical tension of the weft motor.

[0133] Determining whether the theoretical tension is within a standard tension range;

[0134] If so, determining adjustment parameters for the weft motor based on the target adjustment plan;

[0135] Otherwise, continue to adjust the target adjustment plan until the theoretical tension is within the standard tension range.

[0136] In this embodiment, the average tension difference between the tension magnitude and the standard tension range is related to the boundary value of the standard tension range.

[0137] In this embodiment, the tension of the three-dimensional loom may vary due to operational errors and errors between theoretical tension and actual tension caused by the performance of the three-dimensional loom motor. The influence of these two factors must be considered during adjustment.

[0138] The beneficial effects of the above design scheme are: through intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, the influence of operational errors and the error between theoretical tension and actual tension caused by the performance of the three-dimensional loom motor is considered in the process of determining the adjustment parameters, so as to adjust the determination scheme until the final target adjustment scheme is reached, thereby ensuring the accuracy of the final adjustment parameters for the weft motor and the specificity for the three-dimensional loom, and providing a basis for ensuring that the tension control is within the standard range.

[0139] Example 8:

[0140] Based on Example 1, this embodiment of the present invention provides a method for intelligently controlling tension of a three-dimensional loom. In S4, the weft motor is intelligently adjusted according to the adjustment parameters, including:

[0141] generating a control instruction for the weft motor based on the adjustment parameters;

[0142] The control command is transmitted to the controller of the weft motor, and the controller of the weft motor analyzes the control command to obtain control parameters;

[0143] Intelligent adjustment of the weft motor based on control parameters.

[0144] The beneficial effect of the above design scheme is: by transmitting the control instructions to the controller of the weft yarn motor, the controller of the weft yarn motor parses the control instructions to obtain control parameters, and intelligently adjusts the weft yarn motor based on the control parameters, thereby realizing intelligent adjustment of the weft yarn motor and ensuring the accuracy of the three-dimensional loom tension.

[0145] Example 9:

[0146] Based on Example 8, this embodiment of the present invention provides a method for intelligently controlling tension of a three-dimensional loom. After intelligently adjusting the weft motor based on the control parameters, the method further includes:

[0147] The tension of the weft release track, weft insertion track and weft beating track is monitored again to obtain the actual tension;

[0148] If the actual tension is within the standard tension range, it is determined that the weft motor is operating normally after intelligent adjustment;

[0149] Otherwise, it is determined that there is abnormality in the operation after the weft motor is intelligently adjusted, and an alarm is issued.

[0150] The beneficial effect of the above design scheme is: after the weft motor is intelligently adjusted based on the control parameters, the tension of the weft release trajectory, weft insertion trajectory and weft beating trajectory is monitored again to obtain the actual tension, realize the tension monitoring after intelligent adjustment, ensure the accuracy of the three-dimensional loom tension after the weft motor is intelligently adjusted, and if there is an abnormality in the operation after the weft motor is intelligently adjusted, an alarm reminder will be issued to remind the staff to check and intervene in time to ensure the weaving quality.

[0151] Example 10:

[0152] The embodiment of the present invention provides a three-dimensional loom tension intelligent control system, such as Figure 3 Shown, including:

[0153] a trajectory determination module for determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn;

[0154] A standard tension determination module is used to determine the standard tension range of the 3D loom during the weft release, weft insertion and beating-up processes based on the weaving process parameters and the acceptance criteria of the 3D braided fabric;

[0155] The tension monitoring module is used to monitor the tension of the weft release track, weft insertion track and weft beating track based on the visual sensor and the tension sensor, and determine the tension that does not meet the standard tension range and its corresponding target track;

[0156] The parameter adjustment module is used to intelligently output the adjustment parameters of the weft motor based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, and intelligently adjust the weft motor according to the adjustment parameters.

[0157] In this embodiment, the visual sensor is used to locate the weft release track, weft insertion track and weft beating track of the three-dimensional loom, and the tension sensor is used to determine the tension of the three-dimensional loom under the current track.

[0158] In this embodiment, weft placing, weft insertion and weft beating are completed by driving a weft motor.

[0159] In this embodiment, the intelligent adjustment rules are pre-set based on historical experience.

[0160] In this embodiment, the adjustment parameters of the weft motor include parameters such as motor speed, adjustment time period, and adjustment time node.

[0161] In this embodiment, the acceptance criteria for the three-dimensional braided fabric are predetermined according to the intended use.

[0162] The beneficial effects of the above design scheme are as follows: by determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and based on the movement steps of the weft yarn, determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom, the characteristics of the three-dimensional loom under different operations are determined, providing a basis for classifying and determining the standard tension range and classifying monitoring and adjustment; based on the weaving process parameters and in combination with the acceptance criteria of the three-dimensional braided fabric, the standard tension range of the three-dimensional loom in the weft release, weft insertion and weft beating processes is determined, the accuracy of the obtained standard tension range is ensured, and a basis for tension parameter adjustment is provided; based on the visual sensor and the tension sensor, the trajectory process of the weft release trajectory, weft insertion trajectory and weft beating trajectory is monitored for tension, and the tension size that does not meet the standard tension range and its corresponding target trajectory are determined; based on the intelligent adjustment rule, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters, thereby realizing intelligent adjustment of the weft motor, ensuring that the tension of the three-dimensional loom always meets the requirements during operation, and ensuring the quality of the final three-dimensional braided composite material.

[0163] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of this application document and its equivalents, the present invention is intended to include these modifications and variations.

Claims

1. A three-dimensional loom tension intelligent control method, characterized in that: include: S1: determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn; S2: Based on the weaving process parameters and the acceptance criteria for 3D braided fabrics, determine the standard tension ranges for the 3D loom during weft release, weft insertion, and beating-up. S3: Based on the visual sensor and tension sensor, the tension of the weft release track, weft insertion track and weft beating track is monitored, and the tension that does not meet the standard tension range and its corresponding target track are determined; S4: Based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, and the weft motor is intelligently adjusted according to the adjustment parameters.

2. A three-dimensional loom tension intelligent control method according to claim 1, characterized in that: In S1, based on the knitting process parameters of the three-dimensional braided fabric, the steps of moving the weft yarn are determined, including: Based on parameter types, the braiding process parameters of the three-dimensional braided fabric are divided into multiple parameter groups; Based on each parameter group and parameter characteristic, determining a motion characteristic of the weft yarn under the parameter group; Based on the movement characteristics of the weft yarn in all parameter groups, the movement steps of the weft yarn are determined.

3. The intelligent tension control method for a three-dimensional loom according to claim 1, characterized in that: In S1, based on the movement steps of the weft yarn, determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the three-dimensional loom operation includes: Based on the spatial position, the movement steps of the weft yarn are divided into a weft release step, a weft insertion step and a weft beating step, and the spatial areas corresponding to the weft release step, the weft insertion step and the weft beating step are determined; Establishing initial spatial coordinate systems for the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step, respectively, and fusing the initial spatial coordinate systems corresponding to the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step based on the relative positional relationship between the spatial regions corresponding to the weft placing step, the weft insertion step, and the weft beating step to obtain a target spatial coordinate system; The trajectory features in the motion steps are digitally concretized in the target space coordinate system to obtain the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the three-dimensional loom operation.

4. The intelligent tension control method for a three-dimensional loom according to claim 1, characterized in that: In S2, based on the weaving process parameters and in combination with the acceptance criteria for the three-dimensional braided fabric, the standard tension ranges of the three-dimensional loom during the weft release, weft insertion, and weft beating processes are determined, including: Based on the weft yarn operating parameters in the weaving process parameters, the initial tension range of the three-dimensional loom is determined, and the weft release process parameters, weft insertion process parameters and weft beating process parameters are obtained from the weaving process parameters; obtaining first parameter differences between a weft placing process parameter, a weft insertion process parameter, and a weft beating process parameter, respectively obtaining first parameter differences between the weft placing process parameter, the weft insertion process parameter, and the weft beating process parameter and a weft operation parameter, determining first tension weights for the weft placing, the weft insertion, and the beating-up based on the first parameter differences, and determining second tension weights for the weft placing, the weft insertion, and the beating-up based on the second parameter differences; Based on the first tension weight and the second tension weight, the standard tension range is weightedly calculated to obtain weighted tension ranges for weft release, weft insertion and beating-up respectively; Determine the overall acceptance criteria for three-dimensional braided fabrics, as well as the weft release criteria, weft insertion criteria and weft beating criteria from the acceptance criteria for three-dimensional braided fabrics; Based on the weft release standard, weft insertion standard and weft beating standard, the weighted tension ranges of weft release, weft insertion and weft beating are verified respectively to determine whether the weighted tension ranges meet the corresponding standards; If so, determine whether the weighted tension range meets the local acceptance criteria; Otherwise, determining that the weighted tension range does not meet the local acceptance criteria, and adjusting the weighted tension range based on the local acceptance criteria; After determining that the weighted tension range meets the local acceptance criteria, determining whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric; If so, determine the weighted tension range as the standard tension range; Otherwise, the weighted tension range is adjusted based on the overall acceptance criteria to obtain the standard tension range.

5. The intelligent tension control method for a three-dimensional loom according to claim 4, characterized in that: The determination of whether the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric includes: Based on the weighted tension ranges of weft release, weft insertion and beating-up, a three-dimensional weaving model is used to simulate weft yarn weaving to obtain a simulated three-dimensional braided fabric; Based on the three-dimensional braided fabric features detected by the overall acceptance criteria, the target acceptance features are obtained by extracting features from the simulated three-dimensional braided fabric; The target acceptance feature is verified based on the overall acceptance criteria. If the verification passes, it indicates that the weighted tension range meets the overall acceptance criteria of the three-dimensional braided fabric. Otherwise, it indicates that the weighted tension range does not meet the overall acceptance criteria of the three-dimensional braided fabric.

6. The intelligent tension control method for a three-dimensional loom according to claim 1, characterized in that: In S3, the tension of the weft release track, the weft insertion track, and the weft beating track is monitored based on the visual sensor and the tension sensor, and the tension that does not meet the standard tension range and the corresponding target track are determined, including: Based on the visual sensor, the trajectory process of weft release, weft insertion and beating-up is monitored to determine the trajectory characteristics of the three-dimensional loom at each moment; Based on the tension sensor, the tension characteristics of the 3D loom at each moment are collected; Based on the time feature, the trajectory feature and the tension feature are matched to determine the tension corresponding to the trajectory; Determine whether the tension corresponding to the trajectory is within the standard tension range corresponding to the trajectory; If so, determine that the tension corresponding to the trajectory is normal; Otherwise, it is determined that the tension corresponding to the trajectory is abnormal, and the tension magnitude that does not meet the standard tension range and its corresponding target trajectory are determined.

7. The intelligent tension control method for a three-dimensional loom according to claim 1, characterized in that: In S4, based on the intelligent adjustment rules, combined with the tension and its corresponding target trajectory, the adjustment parameters of the weft motor are intelligently output, including: Obtaining an average tension difference between the tension magnitude and the standard tension range, determining an operation node where the three-dimensional loom tension becomes abnormal based on a target trajectory corresponding to the tension magnitude, and obtaining an operation feature at the operation node; Obtaining a first adjustment rule that matches the operation node from the intelligent adjustment rules, obtaining an adjustment plan corresponding to each tension difference level from the first adjustment rule, and determining an initial adjustment plan from all the adjustment plans based on the average tension difference; comparing the operating characteristic with a standard operating characteristic to determine an operating characteristic difference, and determining a first adjustment weight based on the operating characteristic difference; determining a dynamic performance characteristic of the three-dimensional loom motor based on the average tension difference, and determining a second adjustment weight based on the dynamic performance characteristic; Acquire a first parameter type related to the operation feature from the initial adjustment scheme, and adjust a parameter corresponding to the first parameter type based on a first adjustment weight to obtain a first adjustment parameter; Obtaining a second parameter type related to the dynamic performance characteristics from the initial adjustment scheme, and adjusting a parameter corresponding to the second parameter type based on a second adjustment weight to obtain a second adjustment parameter; Adjusting the initial adjustment plan based on the first adjustment parameter and the second adjustment parameter to obtain a target adjustment plan; The initial adjustment parameters of the weft motor determined by the target adjustment scheme are input into the weft motor working model to predict the theoretical tension of the weft motor. Determining whether the theoretical tension is within a standard tension range; If so, determining adjustment parameters for the weft motor based on the target adjustment plan; Otherwise, continue to adjust the target adjustment plan until the theoretical tension is within the standard tension range.

8. The intelligent tension control method for a three-dimensional loom according to claim 1, characterized in that: In S4, the weft motor is intelligently adjusted according to the adjustment parameters, including: generating a control instruction for the weft motor based on the adjustment parameters; The control command is transmitted to the controller of the weft motor, and the controller of the weft motor analyzes the control command to obtain control parameters; Intelligent adjustment of the weft motor based on control parameters.

9. The intelligent tension control method for a three-dimensional loom according to claim 8, characterized in that: After intelligent adjustment of the weft motor based on the control parameters, it also includes: The tension of the weft release track, weft insertion track and weft beating track is monitored again to obtain the actual tension; If the actual tension is within the standard tension range, it is determined that the weft motor is operating normally after intelligent adjustment; Otherwise, it is determined that there is abnormality in the operation after the weft motor is intelligently adjusted, and an alarm is issued.

10. A three-dimensional loom tension intelligent control system, characterized in that: include: a trajectory determination module for determining the movement steps of the weft yarn based on the weaving process parameters of the three-dimensional braided fabric, and determining the weft release trajectory, weft insertion trajectory and weft beating trajectory of the weft yarn under the operation of the three-dimensional loom based on the movement steps of the weft yarn; A standard tension determination module is used to determine the standard tension range of the 3D loom during the weft release, weft insertion and beating-up processes based on the weaving process parameters and the acceptance criteria of the 3D braided fabric; The tension monitoring module is used to monitor the tension of the weft release track, weft insertion track and weft beating track based on the visual sensor and the tension sensor, and determine the tension that does not meet the standard tension range and its corresponding target track; The parameter adjustment module is used to intelligently output the adjustment parameters of the weft motor based on the intelligent adjustment rules, combined with the tension size and its corresponding target trajectory, and intelligently adjust the weft motor according to the adjustment parameters.

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