A helical winding linear design method, apparatus, medium, and device

Abstract

The application discloses a spiral winding linear design method, device, medium and equipment, and relates to the technical field of spiral winding. The application determines the winding line of the first cycle in the target arc length integral interval determined based on the geometric features of the mandrel shape by using the trial winding method, and determines the preferred number of cutting points and the skip tooth division. The overall winding angle will not deviate from the design value too much, and the overall line type can be maximally close to the geodesic line path, and the trajectory continuity is good. Since the recommended number of cutting points and the skip tooth division are calculated and estimated according to the winding data obtained by the trial winding method, the phase itself is very close to the initial phase when the path returns. At this time, even if the line type is changed, it will not cause a large change in the path, and the path uniformity, stability and adaptability of the spiral winding linear design are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spiral winding, in particular to a spiral winding linear design method, device, medium and equipment. BACKGROUND

[0002] At present, spiral winding is a common fiber winding method. According to the different winding paths of fibers, it can be divided into geodesic winding and non-geodesic winding.

[0003] Geodesic winding refers to winding fibers along the geodesic path on the curved surface. The geodesic is the shortest path between two points on the curved surface, so this winding method has stability and does not require external force to avoid fiber sliding. Although geodesic winding is the most stable winding method in a certain theory, and is the most ideal method for designing the winding line of composite fibers, the winding trajectory of geodesic winding depends on the structure and size of the winding body. Once the initial winding conditions are determined, the entire winding trajectory is determined. However, for most core molds with complex geometric shapes, this fixed winding path cannot adapt to the complex geometric shape and performance requirements. For core molds with complex heads, the winding effect is good in the middle section, but at the transition between the head and the barrel, geodesic winding can cause sudden changes in winding angle, which can easily cause the yarn to slip. Geodesic winding is also prone to fiber accumulation, which affects the winding quality. Therefore, geodesic winding cannot be used for spiral winding for most core molds.

[0004] Non-geodesic winding refers to winding fibers along any path on the curved surface. These paths are not necessarily geodesics. This winding method is more flexible in practical applications, but the friction between the fiber and the surface of the core mold needs to be considered to ensure stability. This friction coefficient is usually valued by experience, and the controllability of winding is very poor.

[0005] In the prior art, there are mainly two methods to solve the problem of insufficient designability of spiral winding of core molds. The first method is to use two or more different winding angles in the barrel section and the front and rear heads respectively, so as to make the winding angle at the connection between the barrel section and the front and rear heads as continuous as possible. By adjusting the winding angle, the strength of the fiber winding tube is uniformly distributed along the wall thickness, the local strength is enhanced, the geometric shape of the barrel section and the head is better adapted, the fiber accumulation is reduced, and the fiber is more evenly distributed on the surface of the core mold, thereby improving the surface quality and overall quality of the product.

[0006] The second is to adjust the winding angle as a whole (to adjust the winding angle by aiming within a limited angle adjustment range) to keep the winding angle at the connection between the cylinder section and the front and rear heads as continuous as possible. This can optimize the mechanical properties, make the stress distribution more uniform, enhance the local strength, improve the product quality, reduce fiber accumulation, improve the surface quality, and better adapt to the geometric shape changes.

[0007] Although these two methods can alleviate the angle mutation to some extent, reduce stress concentration, and improve winding efficiency, the first strategy attempts to use the trajectory of the turnaround area to cater to the winding starting point of the middle section to achieve a smoother linear transition when adjusting the angle of the turnaround area. However, when certain conditions cannot be met, if the angle is twisted forcibly, there will be a significant angle mutation, leading to discontinuity of the fiber path and stress concentration, affecting the mechanical properties of the product, and even causing the yarn to slip. The second strategy adjusts the winding angle as a whole to keep the winding angle at the connection between the cylinder section and the front and rear heads as continuous as possible. Although this method can alleviate the angle mutation, the adjustment of the winding angle will deviate from the original design angle, which may affect the overall fiber arrangement and mechanical properties, and cannot guarantee the consistency and accuracy of the design. In summary, the existing spiral winding linear design has poor path uniformity, stability, and adaptability. SUMMARY

[0008] Therefore, it is necessary to provide a spiral winding linear design method, device, medium, and equipment to solve the above technical problems.

[0009] The present application adopts the following technical solutions:

[0010] The present application provides a spiral winding linear design method. The present application first constructs the core mold shape change relationship between the surface position of the core mold and the cross-sectional radius of the surface position by curve fitting; then determines the geometric characteristics of the core mold shape according to the maximum cross-sectional radius of the core mold and the extension length of the core mold on both sides of the head to determine the target arc length integral interval of winding one turn over the core mold on both sides of the head; and then solves the geodesic equation in the target arc length integral interval based on the arc length constraint and the angular momentum constraint according to the preset starting surface position, the starting winding angle, and the core mold shape change relationship, until the deviation between the winding angle and the starting winding angle during the winding process is less than the preset threshold, to obtain the initial winding path and determine the ending winding angle; determines the preferred number of tangent points of the spiral winding according to the multiple relationship between the angle difference between the starting winding angle and the ending winding angle of the initial winding path and the circumference, and determines the corresponding tooth skipping division according to the angle difference and the preferred number of tangent points; and finally extends the initial winding path according to the preferred number of tangent points and the tooth skipping division to obtain the final linear design of the spiral winding.

[0011] The application provides a helically wound linear design device, comprising:

[0012] A mandrel modeling module is configured to build a mandrel shape change relationship between a surface position of the mandrel and a cross-section radius of a position above the surface by curve fitting;

[0013] An interval determination module is configured to determine a geometric feature of the mandrel shape according to a maximum cross-section radius of the mandrel and an extension length of a head on each side of the mandrel, so as to determine a target arc length integral interval of a winding around the head on each side of the mandrel;

[0014] An initial path determination module is configured to solve a geodesic equation in the target arc length integral interval based on an arc length constraint and an angular momentum constraint according to a preset starting surface position, a starting winding angle and the mandrel shape change relationship of the helical winding, until a deviation between the winding angle and the starting winding angle in the winding process is less than a preset threshold, so as to obtain an initial winding path and determine an ending winding angle;

[0015] A parameter optimization module is configured to determine an optimal number of tangent points of the helical winding according to a multiple relationship between an angle difference between the starting winding angle and the ending winding angle of the initial winding path and a circumference, and determine a corresponding tooth skipping division according to the angle difference and the optimal number of tangent points;

[0016] A linear design module is configured to extend the initial winding path according to the optimal number of tangent points and the tooth skipping division, so as to obtain a final linear design of the helical winding.

[0017] The application provides a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to realize the helical winding linear design method.

[0018] The application provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor realizes the helical winding linear design method when executing the program.

[0019] The above at least one technical scheme adopted by the application can achieve the following beneficial effects:

[0020] The application determines the winding line of the first cycle in the target arc length integral interval determined based on the geometric features of the mandrel shape, determines the preferred number of cut points and the skip tooth division, and the overall winding angle will not deviate from the design value too much, and the overall line type can also be maximized to approach the geodesic line path, and the trajectory continuity is good. Since the recommended number of cut points and the skip tooth division calculated and estimated based on the winding data obtained by the trial winding method, the phase itself is very close to the initial phase when the path returns, at this time, even if the line type is changed, it will not cause a large change in the path, and the path uniformity, stability and adaptability of the spiral winding line design are improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 An angle mutation diagram for forcibly performing angle twisting in winding provided by the present application;

[0023] Figure 2 A winding diagram for overall fine-tuning of winding angle provided by the present application;

[0024] Figure 3 A flowchart of a spiral winding line design method provided by the present application;

[0025] Figure 4 An arc length ratio method diagram provided by the present application;

[0026] Figure 5 A spiral winding line design device diagram provided by the present application. DETAILED DESCRIPTION

[0027] To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below in combination with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] At present, two winding strategies include strategy A1 and strategy A2.

[0029] A1: Use two or more different winding angles in the cylindrical section and the front and rear heads respectively, and try to keep the winding angles at the junctions of the cylindrical section and the front and rear heads continuous. By adjusting the winding angle, the strength of the fiber-wound pipe is evenly distributed along the wall thickness, the local strength is enhanced, the geometry of the cylindrical section and the head is better adapted, the fiber accumulation is reduced, and the fiber is more evenly distributed on the surface of the core mold, thereby improving the surface quality and overall quality of the product. However, this method increases the process complexity, requires more precise equipment control and adjustment, resulting in increased equipment cost; reduces winding efficiency, as frequent adjustment of winding angle increases equipment adjustment time and operation time; and can cause inconsistencies in mechanical properties, such as local stress concentration and uneven strength distribution.

[0030] A2: By the method of overall fine-tuning of winding angle (fine-tuning within a limited angle adjustment range by targeting method), try to keep the winding angles at the junctions of the cylindrical section and the front and rear heads continuous. This can optimize the mechanical properties, make the stress distribution more uniform, enhance the local strength, improve the product quality, reduce the fiber accumulation, improve the surface quality, and better adapt to the change in geometry. However, this method also has some drawbacks, such as increased process complexity and operation difficulty, the need for high-precision equipment to achieve accurate control of the angle, which can increase equipment cost and reduce winding efficiency. In addition, although overall fine-tuning can reduce fiber accumulation, local stress concentration may still occur in some areas, resulting in uneven strength distribution.

[0031] Strategies A1 and A2 both use geodesic paths for winding in the middle section. The geodesic path can be represented by the Clairaut relation in differential geometry, and the path planning is relatively simple. The Clairaut relation is: Rsin α = constant.

[0032] Where R is the radius of the core mold and a is the winding angle.

[0033] Geodesic equation: .

[0034] In spiral winding, the geodesic winding trajectory is (equal diameter revolution ), the path of geodesic winding is uniquely determined after the initial conditions are determined, and the entire trajectory is fixed and unchanged. This feature makes it difficult to optimize fiber distribution by adjusting the path when facing complex geometry of the core mold, thereby limiting its flexibility and universality in practical applications. Therefore, for most core molds, relying solely on geodesic winding often fails to achieve the desired winding effect, especially when dealing with complex geometry, the uniformity and adaptability of fiber distribution cannot be improved by adjusting the path.

[0035] When strategy A1 is selected, when adjusting the angle of the turning zone, the trajectory of the turning zone is tried to meet the winding starting point of the middle section to achieve a smoother linear transition. However, when this condition cannot be met in some cases, if the angle is forcibly twisted, a significant angle mutation will occur, resulting in discontinuity and stress concentration in the fiber path, affecting the mechanical properties of the product, and even causing yarn slippage, such as Figure 1 As shown, Figure 1 This is a schematic diagram of an angle mutation in which an angle twist is forcibly performed during winding in the present invention.

[0036] When strategy A2 is selected, the winding angle is fine-tuned as a whole to keep the winding angle at the connection between the barrel section and the front and rear heads as continuous as possible. Although this method can alleviate the sudden change of the angle, the adjustment of the winding angle will deviate from the original design angle, which may affect the overall fiber arrangement and mechanical properties, and cannot guarantee the consistency and accuracy of the design. Figure 2 It is a schematic diagram of winding for fine-tuning the winding angle as a whole in the present invention.

[0037] The technical solutions provided by various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] Figure 3 The figure is a flow chart of a method for designing a spiral winding line in the present invention, which specifically includes the following steps:

[0039] S101: Constructing a core mold shape change relationship between a surface position of the core mold and a cross-sectional radius passing through the surface position through curve fitting.

[0040] S102: Determine the geometric features of the core mold shape according to the maximum cross-sectional radius of the core mold and the extension length of the heads on both sides of the core mold, so as to determine a target arc length integral interval for wrapping around the heads on both sides of the core mold.

[0041] S103: According to the preset starting surface position, starting winding angle and core mold shape change relationship of the spiral winding, the geodesic equation is solved within the target arc length integral interval based on the arc length constraint and angular momentum constraint until the deviation between the winding angle and the starting winding angle during the winding process is less than the preset threshold, and the initial winding path is obtained and the ending winding angle is determined.

[0042] S104: Determine the preferred number of tangent points for spiral winding based on the relationship between the angle difference between the starting winding angle and the ending winding angle of the initial winding path and the multiple of the circumference, and determine the corresponding tooth skipping index based on the angle difference and the preferred number of tangent points.

[0043] S105: Expanding the initial winding path according to the optimal number of tangent points and the tooth skipping index to obtain a final linear design of the spiral winding.

[0044] The server mentioned in the present invention can be a server set up on a business platform, or a device such as a desktop computer, a notebook computer, etc. that can execute the solution of the present invention. For the sake of convenience, the following description will only be made with the server as the execution subject.

[0045] The present invention mainly conducts trial winding based on the geodesic equation (a geodesic is the shortest path between two points on a surface. The fiber moves along the geodesic path, which can ensure the stability and shortest path). At the same time, it combines the arc length and angular momentum conservation to impose constraints:

[0046] Geodesic equation:

[0047] .

[0048] Arc length constraint expression:

[0049] .

[0050] Angular momentum formula:

[0051] .

[0052] Arc length constraints and conservation of angular momentum work together to ensure that the fiber's winding path on the mandrel surface is the shortest and conforms to physical laws. If the arc length constraint is not met, the fiber's motion path may be too long or too short. If angular momentum is not conserved, the fiber's rotational speed may be abnormal, resulting in an unexpected winding line shape.

[0053] In the calculation process of spiral winding, the core mold data is first processed. Since the shape of the core mold may be irregular and its radius will change with the coordinate position, mathematical methods are needed to accurately describe this changing relationship. In one or more embodiments of the present invention, a cubic spline curve can be used to fit the coordinate and radius relationship of the core mold. The cubic spline curve is composed of a series of cubic polynomials. At the splicing point, the curve is not only continuous, but its first-order derivative and second-order derivative are also continuous. This makes the curve extremely smooth and can well approximate various complex shapes.

[0054] Specifically, the server first obtains the mandrel's measurement data. Based on this data, a cubic spline curve is fitted to construct a relationship between the mandrel's surface position and the cross-sectional radius at that location. This fitting process yields a mandrel shape variation function. Given the coordinates of a surface location, the cross-sectional radius of the mandrel at that location can be calculated. This step is crucial, as subsequent calculations, including those related to the winding trajectory, rely on an accurate understanding of the mandrel's shape.

[0055] After completing the core model data processing, it is necessary to determine the initial conditions ( and The winding starting position can be customized and the coordinates of the starting position can be set as From the perspective of mathematical and practical convenience, set the initial angle (The angle between the initial motion direction and the positive direction of the y-axis in the core model coordinate system) is 90 degrees, which is converted into radians for subsequent calculations. The angle between the initial motion direction and the y-axis is recorded as , and let = equal to the negative of the winding angle. Based on these given conditions, using mathematical relationships, we can calculate the initial derivative of y with respect to arc length s This is based on the principle of velocity decomposition. In the right triangle formed by the initial motion direction and the y-axis, the proportion of the velocity component in the y-direction to the total velocity is , and the arc length s can be approximately regarded as the accumulation of the resultant velocity over time, so this result is obtained. Initial derivative with respect to arc length s , here It is obtained by fitting the function at the starting position. The derivation of this formula involves the relationship between angular displacement and linear displacement and the knowledge of circular motion. When the fiber is wound on the surface of the core mold, its tangential velocity will cause the angle to change. At the initial moment, the angle change rate is related to the tangential velocity (affected by At the same time, according to the principle of conservation of angular momentum (calculation of angular momentum ), during the winding process, if the fiber and core are considered as a system, in the absence of external torque, the system's angular momentum remains constant. At the initial moment, the initial angular momentum can be determined by the position radius and the rate of change of the angle.

[0056] Subsequently, to ensure that the next winding cycle after each one ends can begin at the starting position of the previous winding (target shooting method), winding usually begins at the end cap on one side of the mandrel and is constrained by defining two event functions: one event function is used to detect whether the winding has returned to the starting position (for example, whether the deviation between the winding angle during the winding process and the starting winding angle is less than a preset threshold), and the other is used to detect whether the starting position of the specific rear rotation zone has been reached (determining whether the current winding has passed the end cap on the other side of the mandrel, that is, limiting the current winding to one complete loop around the ends on both sides of the mandrel). These two events are also important factors in determining the recommended number of tangent points K and the tooth jump index.

[0057] When solving the winding trajectory, determining the target arc length integration interval is a key step. The following is the detailed process of determining the target arc length integration interval:

[0058] 1>Calculate the maximum radius related value:

[0059] First, some key parameters of the mandrel need to be considered. The maximum diameter of the mandrel is denoted as , the extension length of the left and right sides of the mandrel are denoted as and , respectively. The half perimeter of the maximum cross section of the mandrel is calculated as . Then, the maximum value is taken from the three values , , , and denoted as , i.e., the geometric characteristics of the mandrel are determined according to the maximum cross-sectional radius of the mandrel, the extension length of the two sides of the mandrel, by the following formula: .

[0060] This value will be used in subsequent calculations, which takes into account the maximum cross-sectional size of the mandrel and the extension length of the two sides of the head, reflecting an important parameter of the maximum range that may be involved in the winding process.

[0061] 2> Estimate the winding length of a single cycle:

[0062] Let the length of the mandrel be L , and the initial winding angle be (the winding angle here is the angle between the fiber winding direction and the axial direction of the mandrel). In order to estimate the winding length of a single cycle, the lengths of the main body part and the two side head parts of the mandrel need to be considered.

[0063] For the main body part of the mandrel, due to the presence of the winding angle, the actual length traveled by the fiber is related to the length of the mandrel and the winding angle. According to the trigonometric relationship, the length traveled by the fiber in the main body part of the mandrel is .

[0064] For the two side head parts of the mandrel, it is approximately considered that the length is related to the circumference of a circle with a radius of , and the total length of the two curved parts is .

[0065] Then, according to the length of the mandrel, the initial winding angle preset for the spiral winding, and the geometric characteristics of the mandrel, the preset target arc length integration interval, i.e., the winding length of a single cycle, can be determined by the following formula: .

[0066] This formula takes into account the length of the mandrel, the winding angle, and the possible bending of the two ends of the mandrel, and obtains a reasonable estimate of the winding length of a single cycle.

[0067] 3> Define the initial target arc length integration interval:

[0068] The single-cycle winding length estimation obtained based on the above calculation , the initial target arc length integral interval is defined as from arc length s=0 to s= , which is expressed as [0, ]. This interval is the range set when solving the winding trajectory differential equation, which covers the estimated single-cycle fiber arc length.

[0069] 4) Adaptive adjustment of the target arc length integral interval:

[0070] Since only the target arc length integral interval is estimated, there may be inaccurate estimations, resulting in the inability to obtain complete single-cycle winding trajectory data within the initial target arc length integral interval. Therefore, a method for adaptively adjusting the target arc length integral interval is needed.

[0071] In one or more embodiments of the present application, to avoid the case where a single winding satisfies the two aforementioned event constraints but does not complete a complete winding cycle, the present application can also solve the geodesic equation within the target arc length integral interval based on the arc length constraint and the angular momentum constraint until the number of occurrences of the target event reaches the preset number, obtaining the initial winding path; the target event here is that the deviation between the winding angle during winding and the starting winding angle is less than the preset threshold, and of course it can also be combined with the event criterion of whether it has passed through the two side heads.

[0072] For example, assuming that the number of times a certain event related to the winding cycle (such as the deviation between the winding angle during winding and the starting winding angle being less than a preset threshold) is triggered is at least n times (taking n=3 as an example), to determine whether complete cycle data is obtained.

[0073] After solving the geodesic differential equation within the current target arc length integral interval [0, ], the number of times the event is triggered N is counted. If N is less than the preset number n=3, it means that the current target arc length integral interval is not enough and the complete solution of the single cycle has not been found. That is, if the number of occurrences of the target event is less than the preset number and the target arc length integral interval is solved, the target arc length integral interval length is expanded at this time, and the new target arc length integral interval length is k times the original (taking k=1.5 as an example), that is, the target arc length integral interval is adaptively updated by the following formula:

[0074] Then, the new target arc length integral interval Solve the differential equation of the bottom line again, and repeat the above judgment process. If after a certain number of adjustments (set as m times, here m=20 is taken as an example), it still cannot meet the requirements of the number of event triggers (i.e. N<n), it means that there may be problems with the initial conditions, etc., which need to be checked and adjusted.

[0075] Through the above steps, the target arc length integral interval can be reasonably determined, and adaptive adjustment can be made as necessary to meet the needs of solving the winding trajectory differential equation, so as to obtain more accurate information of the winding trajectory.

[0076] After solving the winding trajectory differential equation in the determined integral interval, a series of data (here referring to y values and y against arc length s, that is, the information of the winding trajectory) will be obtained. At this time, these data need to be checked to confirm the accuracy of the winding trajectory. This includes checking whether the starting position has really returned to the starting position, that is, checking whether the y value and the derivative of y against arc length s at the end point are close to the initial value. This is because in an ideal winding cycle, after a complete cycle, the winding position and motion state should be consistent with the initial state. If this condition is met, the winding trajectory of the first cycle, that is, the initial winding path, can be determined. Then, according to the conversion formulas between polar coordinates and Cartesian coordinates, and , the x and z values in Cartesian coordinates can be calculated. Here, is the radius corresponding to the y position obtained through the fitting function, is the angle obtained by solving. The conversion between polar coordinates and Cartesian coordinates is based on the trigonometric relationship. In the coordinate system with the center axis of the core as the y axis, the coordinates of any point on the plane in the Cartesian coordinate system can be determined through the radius and angle. Save these winding mode data of the first cycle, including x, y, z, θ, dsdy and L. These data are the basis for subsequent analysis and extension of the winding mode.

[0077] After obtaining the winding trajectory of the first cycle through the trial winding method, the preferred number of tangent points N and the pitch division K are calculated according to the obtained data:

[0078] Cut point number: represents the number of winding cycles (turns) of the fiber (or tape material) before returning to the immediately preceding yarn tape. Its main functions include: uniformity control, the more the cut point number, the more uniform the fiber distribution, which can reduce local stress concentration and improve the mechanical properties of the product (such as compression and torsional strength). For example, in high-pressure container or pipeline winding, high cut point number can ensure uniform fiber coverage and avoid weak areas; interlayer bonding, multiple cut point design can stagger the arrangement of adjacent winding layers, enhance the interlayer bonding force, and prevent delamination; affect process complexity, increasing the cut point number will result in a more complex winding path, higher precision requirements for equipment motion control, and possibly lower production efficiency.

[0079] Skip indexing: refers to adjusting the number or position of the indexing disc to change the expansion winding angle or position of the fiber winding, thereby avoiding repeated coverage of the same path, representing the degree of offset of the winding angle relative to the cut point number. Its functions include: avoiding overlapping defects, if the winding angle is fixed and there is no skip indexing, the fiber may repeatedly cover the same path in each layer, resulting in local over-thickness or stress concentration. Skip indexing disperses the winding trajectory by offsetting the starting point, improving structural uniformity; optimizing fiber path, in spiral winding, skip indexing can adjust the spiral angle of the fiber to adapt to different stress requirements (such as the balance between axial and circumferential strength); affecting production efficiency and cost, reasonable skip indexing can reduce the time for frequent equipment adjustments, but excessive skip indexing may increase control complexity, which needs to be weighed according to specific needs.

[0080] Therefore, the cut point number N and the skip indexing K are two extremely important data for the spiral winding trajectory.

[0081] In one or more embodiments of the present application, the server can search for each cut point number within a preset cut point number search range, and determine the angle deviation after expansion winding of the initial winding path based on the cut point number through the following formula according to the angle difference between the initial winding angle and the end winding angle of the initial winding path: ;

[0082] If <degree_range, the cut point number is determined as the preferred cut point number, and the remaining angle deviation is determined as remain_degree = ; or, if <degree_range, the cut point number is determined as the preferred cut point number, and the remaining angle deviation is determined as remain_degree = ;

[0083] According to whether the remaining angle deviation is greater than zero, the winding direction of the spiral winding is determined; if yes, the winding direction is determined as positive yarn laying; if not, the winding direction is determined as negative yarn laying;

[0084] wherein, is the angle difference between the start winding angle and the end winding angle of the initial winding path, is the angle deviation after the extended winding based on the number of traversed cut points, j is the number of traversed cut points, degree_range is the preset angle deviation range, and remain_degree is the remaining angle deviation between the end angle and the start angle after the extended winding based on the number of traversed cut points.

[0085] For example, the recommended number of cut points N and the skip tooth division K can be calculated as follows:

[0086] 1> Calculate the angle difference of the first cycle :

[0087] 1) Extract the start angle and the end angle from the first trial winding.

[0088] 2) Normalize the angles to ensure that the angle values are within the range [0, 2 π ], the formula is:

[0089] ,

[0090] .

[0091] 3) Calculate the angle difference , also normalize it:

[0092] .

[0093] 4) Convert the angle difference to degrees, and calculate :

[0094] , degree = π / 180°.

[0095] 2> Find the appropriate number of cut points N :

[0096] 1) Set a maximum number of cut points (the default can be 100) and an angle deviation range (the default can be 5°).

[0097] 2) Traverse all possible cut points from 1 to the maximum number of cut points j .

[0098] For each j , calculate the angle deviation after j cycles :

[0099] .

[0100] 3) Check if one of the following conditions is met:

[0101] if <degree_range, record the current j as the number of cut points N and calculate the remaining angle remain_degree= .

[0102] Or, if <degree_range, record the current j as the number of cut points N and calculate the remaining angle remain_degree= .

[0103] 4) If all possible cut point numbers are traversed and no suitable result is found, i.e. j the condition is still not met when the maximum number of cut points is reached, an exception is thrown, indicating that a suitable number of cut points is not found.

[0104] 3> Determine the winding direction:

[0105] Determine the winding direction according to the positive and negative of the remaining angle remain_degree:

[0106] If remain_degree≥0, the winding direction is positive yarn arrangement, and if remain_degree<0, the winding direction is negative yarn arrangement.

[0107] 4> Calculate the number of jumps K :

[0108] Calculate the number of jumps K according to the number of cut points N and the angle difference of the first loop :

[0109] .

[0110] Finally, use the estimated number of cut points N and the jump index K calculated to extend the winding pattern obtained by the trial winding method to the complete pattern of the entire winding process. In the extension process, the pattern of the first loop will be repeated, and adjustments will be made according to boundary conditions, phase differences, etc. (the main adjustment method is the targeting method). The phase difference of the first loop will be calculated, and then in each loop, the starting winding angle of the first loop will be added to (i represents the number of loops), thus obtaining a complete winding angle sequence. Similar rules apply to other parameters such as coordinates. By adjusting the phase difference, the winding pattern of the first loop is expanded to form the complete pattern of the entire winding process. While maintaining the same basic shape, the trajectory of each loop is offset in space, forming a continuous and complete winding effect.

[0111] When determining the number of tangent points and the tooth skipping index, in one or more embodiments of the present invention, a trial winding calculation can be performed to determine the winding profile of the first cycle. Based on the estimated angle of the profile returning to the initial point, a recommended number of tangent points N and tooth skipping index K are provided (for example, the number of tangent points and tooth skipping index when the angle between the returned phase and the initial phase is less than 5°). The recommended number of tangent points and tooth skipping index are then used for subsequent extended winding, which is equivalent to expanding the winding pattern of the first turn into a complete pattern for the entire winding process. By adjusting the phase difference, the trajectory of each turn is spatially offset while maintaining a similar basic shape, thereby forming a continuous and complete winding effect.

[0112] In addition, in one or more embodiments of the present invention, the arc length ratio method can also be used to determine the preferred number of tangent points and the corresponding tooth skipping index, such as Figure 4 As shown, Figure 4 This is a schematic diagram of an arc length ratio method in the present invention, assuming that the cross section of the core mold is circular. Figure 4 The left side of the mid-circumference is the starting point for winding, and the right side is the ending point for winding. During the winding operation, a trial winding is first performed to determine the starting and ending points. The angular difference between the starting and ending winding angles of the initial winding path is then determined, and the angular difference between this angular difference and the circumference is determined. The approximate integer ratio of this angular difference to the angular difference is then determined. The denominator of this approximate integer ratio is used as the preferred tangent point number, and the numerator of this approximate integer ratio is used as the skip tooth index corresponding to the preferred tangent point number.

[0113] That is, try winding to determine if there is a phase angle deviation between the starting point and the end point of the winding. Assume that the two points are placed on the same circle (the research is mainly based on a uniform body of revolution with equal diameter), and the two points divide the circumference into two arcs: a small arc and a large arc. The goal is to calculate the ratio between the circumferential angle corresponding to the small arc and the circumferential angle corresponding to the large arc. This ratio can be expressed as a fraction, where the numerator represents the circumferential angle of the small arc and the denominator represents the circumferential angle of the large arc. Next, you need to find the integer ratio form closest to this fraction. The numerator of this integer ratio will correspond to the tooth jump index, and the denominator will correspond to the number of tangent points. In this way, the recommended number of tangent points can also be obtained. N and jump tooth indexing K .

[0114] Based on Figure 3 The spiral winding linear design method shown in the figure, by means of the trial winding method, the deviation between the winding angle in the winding process and the starting winding angle is less than the preset threshold value as the end constraint of the trial winding, the winding linear of the first cycle is calculated in the target arc length integral interval determined based on the geometric characteristics of the mandrel shape, the preferred tangent point number and the skip tooth division are determined, and the overall winding angle will not deviate from the design value too much, and at the same time, the overall linear can be made to approach the geodesic line path to the greatest extent, and the trajectory continuity is good. Since the recommended tangent point number and the skip tooth division calculated and estimated according to the winding data obtained by the trial winding method, the phase itself is very close to the initial phase when the path returns, and even if the linear is changed at this time, it will not cause a large change in the path, thereby improving the path uniformity, stability and adaptability of the spiral winding linear design.

[0115] In the application of the spiral winding linear design method provided by the present application, the spiral winding linear design method provided by the present application can not be executed according to Figure 3 The order of execution of each step shown in the figure can be determined as needed, and the present application does not limit this.

[0116] The spiral winding linear design method provided by one or more embodiments of the present application is based on the same idea, and the present application also provides a corresponding spiral winding linear design device, as shown in Figure 5 .

[0117] Figure 5 A spiral winding linear design device provided by the present application is shown in the figure, which comprises:

[0118] The mandrel modeling module 201 is used to construct the mandrel shape change relationship between the surface position of the mandrel and the cross-sectional radius of the surface position by curve fitting;

[0119] The interval determination module 202 is used to determine the geometric characteristics of the mandrel shape according to the maximum cross-sectional radius of the mandrel and the extension length of the two side heads of the mandrel, so as to determine the target arc length integral interval of winding one cycle through the two side heads of the mandrel;

[0120] The initial path determination module 203 is used to solve the geodesic line equation in the target arc length integral interval based on the arc length constraint and the angular momentum constraint according to the preset starting surface position, the starting winding angle and the mandrel shape change relationship of the spiral winding, until the deviation between the winding angle in the winding process and the starting winding angle is less than the preset threshold value, to obtain the initial winding path and determine the end winding angle;

[0121] The parameter optimization module 204 is configured to determine the preferred number of cut points of the spiral winding according to the multiple relationship between the angle difference between the start winding angle and the end winding angle of the initial winding path and the circumference, and determine the corresponding skip tooth division according to the angle difference and the preferred number of cut points.

[0122] The linear design module 205 is configured to extend the initial winding path according to the preferred number of cut points and the skip tooth division to obtain the final linear design of the spiral winding.

[0123] The specific definitions of the linear design device of the spiral winding can refer to the definitions of the linear design method of the spiral winding in the above, and will not be repeated here. The above-mentioned various modules in the linear design device of the spiral winding can be realized by software, hardware and combinations thereof. The above-mentioned various modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the corresponding operations of the above-mentioned various modules.

[0124] The present application also provides a computer readable storage medium, which stores a computer program, and the computer program can be used to execute the above-mentioned Figure 3 The spiral winding linear design method.

[0125] The present application also provides a computer device, which comprises a processor, an internal bus, a network interface, a memory and a non-volatile memory at the hardware level, and of course can also comprise other hardware required by the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to realize the above-mentioned Figure 3 The spiral winding linear design method.

[0126] 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. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments of the methods. In the embodiments of the present application, any reference to memory, storage, database or other medium 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 or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0127] The technical features of the above embodiments can be combined in any way. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

Claims

1. A method for designing a spiral winding line, characterized in that: include: The relationship between the surface position of the mandrel and the radius of the cross section passing through the surface position is constructed by curve fitting; According to the maximum cross-sectional radius of the core mold and the extension length of the heads on both sides of the core mold, the geometric characteristics of the core mold shape are determined to determine the target arc length integral interval of winding around the heads on both sides of the core mold; According to the relationship between the preset starting surface position, starting winding angle, and core mold shape change of the spiral winding, the geodesic equation is solved within the target arc length integration interval based on arc length constraints and angular momentum constraints until the deviation between the winding angle during the winding process and the starting winding angle is less than a preset threshold, thereby obtaining the initial winding path and determining the ending winding angle; Determine the preferred number of tangent points for spiral winding based on the relationship between the angle difference between the starting winding angle and the ending winding angle of the initial winding path and the multiple of the circumference, and determine the corresponding tooth skipping index based on the angle difference and the preferred number of tangent points; The initial winding path is extended and wound according to the optimal number of tangent points and tooth skipping index to obtain the final linear design of the spiral winding; The method of determining the preferred number of tangent points for spiral winding based on the relationship between the angle difference between the starting winding angle and the ending winding angle of the initial winding path and the multiple of the circumference includes: For each tangent point number within the preset tangent point search range, the angle deviation after multiple rounds of extended winding of the initial winding path based on the tangent point number is determined according to the angle difference between the starting winding angle and the ending winding angle of the initial winding path using the following formula: ; like < degree_range, then the number of tangent points is taken as the preferred number of tangent points and the remaining angle deviation is determined: remaining_degree = or, if < degree_range, then the number of tangent points is taken as the preferred number of tangent points and the remaining angle deviation is determined: remaining_degree = ; The winding direction of the spiral winding is determined according to whether the residual angle deviation is greater than zero; if so, the winding direction is determined to be positive yarn arrangement; if not, the winding direction is determined to be negative yarn arrangement; in, is the angle difference between the starting winding angle and the ending winding angle of the initial winding path, is the angle deviation after multiple rounds of extended winding based on the number of tangent points traversed, j is the number of tangent points currently traversed, degree_range is the preset angle deviation range, and remain_degree is the remaining angle deviation between the ending angle and the starting angle after multiple rounds of extended winding of the tangent points traversed; or, Determining an angle difference between a starting winding angle and an ending winding angle of an initial winding path, and determining an angle difference between the angle difference and a circumference; An approximate integer ratio of the angle difference to the angle difference value is determined, and the denominator of the approximate integer ratio is used as the preferred tangent point number.

2. The method for designing a spiral winding line according to claim 1, wherein: The method of determining the geometric characteristics of the core mold shape based on the maximum cross-sectional radius of the core mold and the extension length of the heads on both sides of the core mold to determine the target arc length integral interval of winding around the heads on both sides of the core mold specifically includes: According to the maximum cross-sectional radius of the core mold and the extension length of the heads on both sides of the core mold, the geometric characteristics of the core mold are determined by the following formula: ； According to the length of the core mold, the preset starting winding angle of the spiral winding, and the geometric characteristics of the core mold, the preset target arc length integration interval is determined by the following formula: ； in, is the geometrical feature of the core mold, is the maximum cross-sectional radius of the core mold, is the extension length of the left side head of the core mold, is the extension length of the right side head of the core mold, is the target arc length integration interval, is the length of the core mold, is the starting winding angle.

3. The method for designing a spiral winding line according to claim 2, wherein: Solving the geodesic equation within the target arc length integral interval based on the arc length constraint and the angular momentum constraint until the deviation between the winding angle during the winding process and the starting winding angle is less than a preset threshold, thereby obtaining an initial winding path, specifically includes: Solve the geodesic equation within the target arc length integral interval based on the arc length constraint and the angular momentum constraint until the number of occurrences of the target event reaches a preset number, thereby obtaining an initial winding path; the target event is when the deviation between the winding angle during the winding process and the starting winding angle is less than a preset threshold; If the number of occurrences of the target event is less than the preset number and the target arc length integration interval is solved, the target arc length integration interval is adaptively updated using the following formula: ； in, is the updated target arc length integration interval, is the preset expansion factor.

4. The method for designing a spiral winding line according to claim 1, wherein: Determining the corresponding tooth skipping index according to the angle difference and the preferred number of tangent points specifically includes: The corresponding skip tooth indexing is determined according to the angle difference and the preferred number of tangent points using the following formula: ； in, K is the skip tooth index corresponding to the optimal number of tangent points, is the angle difference between the starting winding angle and the ending winding angle of the initial winding path, N is the number of preferred tangent points, and round() indicates rounding the calculation result.

5. The method for designing a spiral winding line according to claim 1, wherein: Determining the corresponding tooth skipping index according to the angle difference and the preferred number of tangent points specifically includes: Determining an angle difference between a starting winding angle and an ending winding angle of an initial winding path, and determining an angle difference between the angle difference and a circumference; An approximate integer ratio of the angle difference to the angle difference value is determined, and the numerator of the approximate integer ratio is used as the skip tooth index corresponding to the preferred number of tangent points.

6. The method for designing a spiral winding line according to claim 1, wherein: The method of constructing the relationship between the surface position of the mandrel and the radius of the cross-section passing through the surface position by curve fitting specifically includes: Obtaining measurement data of the core mold; According to the measurement data of the core mold, the relationship between the surface position of the core mold and the cross-section radius passing through the surface position is constructed by cubic spline curve fitting.

7. A spirally wound linear design device, characterized in that: include: A core mold modeling module is used to construct a core mold shape change relationship between the surface position of the core mold and the cross-section radius passing through the surface position through curve fitting; An interval determination module is used to determine the geometric characteristics of the core mold shape based on the maximum cross-sectional radius of the core mold and the extension length of the heads on both sides of the core mold, so as to determine the target arc length integral interval of a circle wrapped around the heads on both sides of the core mold; An initial path determination module is used to solve the geodesic equation within the target arc length integral interval based on the preset starting surface position, starting winding angle, and core mold shape change relationship of the spiral winding, based on arc length constraints and angular momentum constraints, until the deviation between the winding angle during the winding process and the starting winding angle is less than a preset threshold, thereby obtaining the initial winding path and determining the ending winding angle; The parameter optimization module is used to determine the angle deviation after multiple rounds of extended winding of the initial winding path based on the number of tangent points for each tangent point number within the preset tangent point number search range according to the angle difference between the starting winding angle and the ending winding angle of the initial winding path using the following formula: ;like < degree_range, then the number of tangent points is taken as the preferred number of tangent points and the remaining angle deviation is determined: remaining_degree = ; or, if < degree_range, then the number of tangent points is taken as the preferred number of tangent points and the remaining angle deviation is determined: remaining_degree = ; According to whether the residual angle deviation is greater than zero, the winding direction of the spiral winding is determined; if so, the winding direction is determined to be positive yarn arrangement; if not, the winding direction is determined to be negative yarn arrangement; or, Determining an angle difference between a starting winding angle and an ending winding angle of an initial winding path, and determining an angle difference between the angle difference and a circumference; determining an approximate integer ratio of the angle difference to the angle difference, and using the denominator of the approximate integer ratio as a preferred number of tangent points; and determining the corresponding skip tooth indexing according to the angle difference and the preferred number of tangent points; The linear design module is used to expand the initial winding path according to the optimal number of tangent points and tooth skipping indexing to obtain the final linear design of the spiral winding; in, is the angle difference between the starting winding angle and the ending winding angle of the initial winding path, is the angle deviation after multiple rounds of extended winding based on the number of tangent points traversed, j is the number of tangent points currently traversed, degree_range is the preset angle deviation range, and remain_degree is the remaining angle deviation between the ending angle and the starting angle after multiple rounds of expansion and winding of the traversed tangent points.

8. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the program.

Images