Wire braiding equipment and wire braiding method

Abstract

The invention discloses wire braiding equipment and a wire braiding method, the wire braiding equipment comprises a braiding system, a substrate and anchor point columns, the wire braiding equipment further comprises a braiding space, the braiding space is formed above the substrate, and the braiding system can move in the braiding space and perform wire braiding; and the anchor point column lifting equipment can enable the anchor point column to ascend and descend relative to the base plate in the vertical direction so as to enter or move out of the weaving space. And the knitting system can perform three-dimensional movement in the knitting space, and yarns are guided and wound on a plurality of anchor point columns in the knitting space to form a three-dimensional structure. The anchor point columns can be lifted into the weaving space through the anchor point column lifting equipment, the anchor point column lifting equipment lifts or descends the different anchor point columns, so that blocks with different density degrees, different functions and different performances can be segmented from a complete textile, directional design is achieved, and then block segmentation of the textile is achieved. The weaving of the special-shaped irregular two-dimensional fabric is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of braiding equipment manufacturing, and in particular to a wire braiding equipment and a wire braiding method. BACKGROUND

[0002] Fiber materials or wire materials have shown good application prospects in civil, military, industrial and other fields due to their flexible braiding and material selection. At present, the manufacturing methods of fiber fabrics are mainly three technologies of weaving, knitting and non-woven, and the principles are respectively interweaving of wires, loop stringing and fixing of randomly dispersed fibers. The fabrics directly obtained by these methods are mainly planar fabrics, and the mechanical properties thereof can be adjusted by fabric structure or material selection during the manufacturing process. However, the current three weaving technologies still have great limitations in the block mechanical regulation of fabrics. In addition, the fabrics obtained by the traditional three weaving technologies are mainly two-dimensional sheet structures. Although some three-dimensional structures can be obtained by adjusting the process, the structures in the thickness direction are relatively single, and the thickness is limited by the steel reed of the weaving machine and the needle bed spacing of the knitting machine. It is often difficult to obtain thick and complex structures, and it is also difficult to divide the fabrics into blocks during weaving. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the defects that the existing fiber fabric manufacturing methods cannot perform complex three-dimensional sheet weaving and are difficult to divide into blocks, and to provide a wire braiding equipment and a wire braiding method.

[0004] The present application solves the above technical problems by the following technical solutions:

[0005] A wire braiding equipment, comprising a braiding system, a base plate and an anchor point column, the wire braiding equipment further comprising:

[0006] a braiding space formed above the base plate, the braiding system being capable of moving in the braiding space and braiding wires;

[0007] an anchor point column lifting device capable of lifting the anchor point column relative to the base plate in the vertical direction to enter or exit the braiding space.

[0008] In the present scheme, the above structure is adopted, and the weaving system can move in three dimensions within the weaving space, guide the yarn to be wound on a plurality of anchor point columns in the weaving space, and form a three-dimensional structure. The anchor point column can be lifted into the weaving space by the anchor point column lifting device. The anchor point column lifting device can lift or lower different anchor point columns to divide different density, different function and different performance blocks in a complete textile, realize directional design, and further realize the block segmentation of the fabric. In addition, through the machine learning algorithm, the irregular shape, the anchor point plane structure and the number of anchor point columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and the system is exported, so as to realize the weaving of irregular two-dimensional fabric.

[0009] Preferably, the weaving system can move along the X-axis, Y-axis and Z-axis of the rectangular coordinate system in the weaving space, respectively.

[0010] In the present scheme, the above structure is adopted, and the weaving system can move in three dimensions within the weaving space, guide the yarn to be wound on a plurality of anchor point columns in the weaving space, and form a three-dimensional structure. The anchor point column can be lifted into the weaving space by the anchor point column lifting device. The anchor point column lifting device can lift or lower different anchor point columns to divide different density, different function and different performance blocks in a complete textile, realize directional design, and further realize the block segmentation of the fabric. In addition, through the machine learning algorithm, the irregular shape, the anchor point plane structure and the number of anchor point columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and the system is exported, so as to realize the weaving of irregular two-dimensional fabric.

[0011] Preferably, the weaving system comprises a motion mechanism and a weaving mechanism, and the motion mechanism comprises a first motion part and a second motion part which can respectively drive the weaving mechanism to move along the X-axis direction and the Y-axis direction.

[0012] The base plate is also provided with a lifting mechanism, which can lift the base plate in the vertical direction to realize the movement of the weaving system in the Z-axis direction relative to the weaving space.

[0013] In the present scheme, the above structure is adopted, and the weaving of the three-dimensional structure is realized by the continuous movement of the position of the weaving mechanism in three dimensions. The weaving system realizes the movement in the X-axis and Y-axis directions through the motion mechanism, and the movement in the Z-axis direction is realized by the overall lifting of the base plate. This structure does not need to add a Z-axis movement structure to the weaving system, can greatly simplify the weaving system, and makes the structure simple and the feeding and guiding of the wire more convenient.

[0014] Preferably, the wire weaving device further comprises a limiting mechanism for fixing the anchor point column in the vertical direction.

[0015] In the present scheme, the above structure is adopted, and the limiting mechanism can fix the anchor point column after the height adjustment of the anchor point column is completed, so that the weaving process is more accurate.

[0016] Preferably, the limiting mechanism comprises a first clamping mechanism and a second clamping mechanism, a plurality of fixed gaps are arranged on the first clamping mechanism and the second clamping mechanism, and the plurality of fixed gaps are used to fix a plurality of anchor point columns arranged on the substrate.

[0017] In this scheme, the above structure is adopted, and the limiting mechanism can fix a plurality of anchor point columns, and the fixing effect is better.

[0018] Preferably, the wire weaving device further comprises a plurality of limiting mechanisms arranged above different columns of the substrate.

[0019] In this scheme, the above structure is adopted, and a plurality of limiting mechanisms can simultaneously fix all the anchor point columns that need to be fixed, and are arranged at intervals, so that they can cover all the anchor point column positions of the substrate.

[0020] Preferably, the wire weaving device further comprises an obstacle avoidance mechanism, the obstacle avoidance mechanism comprises a sensing element and a control element, the sensing element can determine the position of the anchor point column, and the control element is electrically connected to the weaving system and controls the weaving system to avoid the anchor point column when moving.

[0021] In this scheme, the above structure is adopted, and the obstacle avoidance mechanism can sense the position of the anchor point column and the like and monitor the operation of weaving, so as to avoid the situation that the weaving collides with the anchor point column, and the three-dimensional weaving is more reliable.

[0022] Preferably, the anchor point column lifting device can move below different anchor point columns to respectively lift the anchor point columns.

[0023] In this scheme, the above structure is adopted, and the anchor point column lifting device is movably arranged, so that only one anchor point column lifting device is needed to lift all the anchor point columns, and the cost is lower.

[0024] Preferably, the weaving mechanism comprises a wire feeding system, a wire inlet, and a wire guide, the first moving part comprises a first guide rail extending along the Y-axis direction, the weaving mechanism is arranged on the first guide rail and can move along the first guide rail, the second moving part comprises a second guide rail extending along the X-axis direction, and the first guide rail is arranged on the second guide rail and can move along the second guide rail.

[0025] In this scheme, the above structure is adopted, and the weaving system can conveniently realize the free movement of the X-axis and the Y-axis through the cooperation of the weaving mechanism and the moving mechanism.

[0026] A wire weaving method is performed by the wire weaving device as described above, and the method comprises the following steps:

[0027] The input drawing extracts the outer edge, and then determines the anchor column that needs to be lifted according to the coordinate positions of the outer edge pixels on the x-axis and y-axis, and confirms the corresponding Z-axis coordinate;

[0028] The lifting mechanism adjusts the substrate to the specified height position;

[0029] The anchor column lifting device lifts the anchor column at the corresponding coordinate position to the determined Z-axis coordinate position according to the measured x-axis and y-axis coordinates;

[0030] The limiting mechanism fixes the lifted anchor column;

[0031] The weaving system shuttles back and forth between the anchor columns according to the designed straight path in advance, and winds the wire on the anchor columns;

[0032] The obstacle avoidance mechanism monitors the position of the anchor column and controls the weaving system to avoid the anchor column.

[0033] In the present scheme, the above structure is adopted, the lifting mechanism controls the lifting adjustment of the substrate, and cooperates with the motion mechanism in the weaving system, so that free movement in three degrees of freedom of x, y and z in the Cartesian coordinate system can be realized. According to the method, a fine 3D structure designed in advance can be woven. Different density, different function and different performance blocks in a complete textile can be segmented, directional design is realized, and block segmentation of the fabric is realized. In addition, through machine learning algorithm, the irregular shape, anchor plane structure and number of anchor columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and is exported in the system, so that irregular two-dimensional fabric weaving is realized.

[0034] The positive progress effect of the present application is that the present application discloses a wire weaving device and a wire weaving method. The weaving system of the wire weaving device can move in three dimensions in the weaving space, guide the yarn to be wound on a plurality of anchor columns in the weaving space, and form a three-dimensional structure. The anchor columns can be lifted into the weaving space by the anchor column lifting device. The anchor column lifting device can lift or lower different anchor columns to segment different density, different function and different performance blocks in a complete textile, realize directional design, and further realize block segmentation of the fabric. In addition, through machine learning algorithm, the irregular shape, anchor plane structure and number of anchor columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and is exported in the system, so that irregular two-dimensional fabric weaving is realized. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the wire weaving device of the embodiment of the present application.

[0036] Figure 2 Structure diagram of the wire braiding device of the embodiment of the present application.

[0037] Figure 3 Structure diagram of the limiting mechanism of the embodiment of the present application.

[0038] Figure 4 Structure diagram of the braiding system of the embodiment of the present application.

[0039] Figure 5 Flow diagram of the wire braiding method of the embodiment of the present application.

[0040] Explanation of reference signs:

[0041] Base 1

[0042] Anchor point column 2

[0043] Fixed plate 3

[0044] Limiting mechanism 4

[0045] Braiding system 5

[0046] Direction adjusting system 6

[0047] Anchor point column lifting device 7

[0048] Base plate 8

[0049] Lifting mechanism 9

[0050] First clamping mechanism 10

[0051] Second clamping mechanism 11

[0052] Stainless steel fixed end 13

[0053] Wire feeding system 14

[0054] Guide rail 15

[0055] Wire inlet 16

[0056] Wire guide 17

[0057] Obstacle avoidance mechanism 18 DETAILED DESCRIPTION

[0058] The present application will be further described by way of examples without thereby limiting the present application to the described examples.

[0059] As Figure 1 , 2As shown, the embodiment provides a wire weaving device, which includes a weaving system 5, a base plate 8 and anchor point columns 2. The wire weaving device further includes a weaving space formed above the base plate 8 and an anchor point column lifting device 7. The weaving system 5 can move in the weaving space and weave wires. The anchor point column lifting device 7 can lift or lower the anchor point columns 2 relative to the base plate 8 in the vertical direction to enter or exit the weaving space. The weaving system 5 can move in three dimensions in the weaving space, guide the yarn to be wound on a plurality of anchor point columns 2 in the weaving space, and form a three-dimensional structure. The anchor point columns 2 can be lifted into the weaving space by the anchor point column lifting device 7. The anchor point column lifting device 7 can lift or lower different anchor point columns 2 to divide different density, different function and different performance blocks in a complete textile, realize directional design, and further realize block segmentation of the fabric. In addition, through a machine learning algorithm, an irregular shape, an anchor point plane structure and a number of anchor point columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and the best column point is exported in the system, so that the weaving of the irregular two-dimensional fabric is realized.

[0060] Specifically, the wire weaving device includes a base 1, and the base 1 is provided with the base plate 8. The base 1 is a support frame of the whole device, which functions to fix the base plate 8 and provide a support bracket for the operation of the wire weaving device. The base plate 8 has a hole position for installing the anchor point column 2. The anchor point column 2 serves as a weaving base point. During weaving, only one yarn is wound on the anchor point column 2 under the driving of the weaving system 5 to weave into a required shape. The anchor point column 2 is a liftable structure, and the operation of setting the anchor point is realized by lifting. When weaving, the anchor point column 2 to be used is automatically lifted, and the anchor point column 2 that is not lifted does not participate in weaving.

[0061] The weaving system 5 is located above the base plate 8 and the anchor point column 2, and is composed of a wire feeding system 14, a wire inlet 16, a wire guide 17 and a direction adjusting system 6. The direction adjusting system 6 and the guide rail 15 can move to realize the movement of any track parallel to the plane of the base plate 8.

[0062] In the embodiment, as shown in Figure 2 The anchor point column 2 has two forms: the anchor point column 2 is straight, which is convenient for weaving a three-dimensional structure. The anchor point column 2 can also have a structure with a certain curvature, which is convenient for weaving a two-dimensional structure. In the two-dimensional structure, if the structure is still straight, the weaving pattern will be destroyed by the outlet device. The columnar structure with curvature can separate the weaving plane from the pattern plane, ensuring the integrity of the weaving pattern.

[0063] As shown in Figure 1 The anchor point column lifting device 7 can move under different anchor point columns 2 to respectively lift or lower the anchor point columns 2. Specifically, as shown in Figure 1As shown, the anchor column lifting device 7 can be a three-axis movable mechanism, that is, the movement of the X-axis, Y-axis and Z-axis is realized through different guide rails 15, wherein the working part of the anchor column 2 lifting device 7 can be lifted along the Z-axis direction to lift the anchor column 2. The supporting part of the anchor column 2 lifting device 7 can be arranged on the track to move along the X-axis and Y-axis. In other embodiments, the anchor column lifting device 7 can also be arranged as a shuttle structure and the like. The anchor column lifting device 7 is movably arranged, and only one anchor column lifting device 7 is needed to lift all the anchor columns 2, which is lower in cost.

[0064] As shown in Figure 1 、 Figure 4 , the weaving system 5 can move along the X-axis, Y-axis and Z-axis of the rectangular coordinate system in the weaving space respectively. The weaving system 5 has three degrees of freedom in the three axes, and can freely move in the three-dimensional space according to the pre-programmed path during weaving to weave a three-dimensional structure. The weaving system 5 can move in the three axes of the rectangular coordinate system, has high freedom of movement, and can construct the pattern to be woven through the rectangular coordinate. The weaving system 5 can be accurately positioned through the rectangular coordinate points, so that the weaving system 5 can better realize three-dimensional weaving.

[0065] The three-axis movement of the weaving system 5 can be realized by using various movement structures. In the present embodiment, as shown in Figure 1 、 Figure 4 , the weaving system 5 includes a movement mechanism and a weaving mechanism. The movement mechanism includes a first movement part and a second movement part which can respectively drive the weaving mechanism to move along the X-axis direction and the Y-axis direction. The base plate 8 is further provided with a lifting mechanism 9, which can lift the base plate 8 in the vertical direction to realize the movement of the weaving system 5 in the Z-axis direction relative to the weaving space.

[0066] Specifically, the first movement part is a guide rail 15 extending along the X-axis direction, and the weaving mechanism can reciprocate on the guide rail 15. The second movement part is a direction adjusting system 6 arranged at both ends of the guide rail 15 and extending along the Y-axis direction. The direction adjusting system 6 is integrated on the base 1 and is specifically arranged on the top beam of the base 1, which can drive the guide rail 15 of the first movement part to move as a whole along the Y-axis direction. The movement in the Y-axis direction is realized by lifting the base plate 8, thereby realizing the relative Y-axis direction movement of the base plate 8 and the weaving mechanism. The base 1 is provided with a lifting mechanism 9 which can connect the base plate 8 and drive the base plate 8 to reciprocate along the Z-axis direction. The direction adjusting system 6 is located above the base 1, and the rotation of the belt pulley is controlled by the motor to realize the movement of any track parallel to the plane of the base plate 8.

[0067] The three-dimensional structure is achieved by continuously moving the position of the weaving mechanism in three-dimensional direction. Among them, the weaving system 5 realizes the movement in X axis and Y axis direction through the movement mechanism, and the movement in Z axis direction is realized by the overall rising of the base plate 8. This structure does not need to add Z axis movement structure on the weaving system 5, which can greatly simplify the weaving system 5, make the structure simple, and make the wire feeding and leading more convenient.

[0068] As shown in Figures 1 to 3 , the wire weaving equipment also includes a limiting mechanism 4 for fixing the anchor point column 2 in the vertical direction. The limiting mechanism 4 is located above the base plate 8, which fixes the height of the anchor point column 2 protruding on the base plate 8. It is divided into two groups of horizontal and vertical, and each row and each column on the base plate 8 corresponds to a limiting mechanism 4. The limiting mechanism 4 can fix the anchor point column 2 to fix the height of the anchor point column 2 protruding above the base plate 8. The limiting mechanism can fix the anchor point column 2 after the height of the anchor point column 2 is adjusted, so that the weaving process is more accurate.

[0069] As shown in Figure 3 , the limiting mechanism 4 includes a first clamping mechanism 10 and a second clamping mechanism 11. At least one of the first clamping mechanism 10 and the second clamping mechanism 11 is provided with a plurality of fixed gaps arranged at intervals. The plurality of fixed gaps are used to fix a plurality of anchor point columns 2 located on a column of the base plate 8. Specifically, each limiting mechanism 4 is composed of an electromagnet holder, a stainless steel fixed end 13, a first clamping mechanism 10 with anchor point column 2 gaps, and a second clamping mechanism 11. The first clamping mechanism 10 and the second clamping mechanism 11 are oppositely arranged and can be clamped or separated by the electromagnetic holder. The electromagnetic holder and the stainless steel fixed end 13 are respectively located on the two sides of the first clamping mechanism 10 and the second clamping mechanism 11. The electromagnet is fixed on the electromagnet holder, and the electromagnet holder and the stainless steel fixed end 13 are connected by a spring. The opening and closing of the first clamping mechanism 10 and the second clamping mechanism 11 are controlled by the energization and demagnetization of the electromagnet. At least one of the first clamping mechanism 10 and the second clamping mechanism 11 is provided with a fixed gap corresponding to the anchor point column 2. In this embodiment, the first clamping mechanism 10 is an aluminum plate, and the fixed gap is formed on the aluminum plate. The second clamping mechanism 11 is a flat aluminum plate, and no fixed gap is formed on the flat aluminum plate. The limiting structure can fix a plurality of anchor point columns 2 in a column, and the fixing effect is better.

[0070] The wire weaving equipment also includes a plurality of limiting mechanisms 4 arranged side by side above different columns of the base plate 8. In this embodiment, the limiting mechanism 4 is arranged and structured as shown in Figure 1 、 Figure 2 , Figure 1 、 Figure 2Only two limiting mechanisms 4 are shown in the figure, it should be noted that in actual use, the wire weaving equipment includes a plurality of limiting mechanisms 4, and adjacent two limiting mechanisms 4 are arranged staggered up and down, and each row of limiting mechanisms 4 is fixed by the fixed plate 3. The plurality of limiting mechanisms can simultaneously fix all the anchor point columns 2 that need to be fixed, and are arranged at intervals so that they can cover all the positions of the anchor point columns 2 on the base plate 8.

[0071] When the anchor point column 2 is set, the anchor point column lifting equipment 7 is below the base plate 8 to temporarily support the anchor point column 2, lift the anchor point column 2 or stabilize the position of the anchor point column 2. The limiting mechanism 4 is above the base plate 8 to fix the height of the anchor point column 2 protruding on the base plate 8.

[0072] As shown in Figure 1 , the wire weaving equipment further includes an obstacle avoidance mechanism 18, the obstacle avoidance mechanism 18 includes a sensing element and a control element, the sensing element can determine the position of the anchor point column 2, and the control element is electrically connected to the weaving system 5 and controls the weaving system 5 to avoid the anchor point column 2 when moving. The obstacle avoidance mechanism 18 can sense the position of the anchor point column 2 and the like, monitor the operation of weaving, and avoid the situation that the weaving collides with the anchor point column 2, so that the three-dimensional weaving is more reliable. The obstacle avoidance mechanism 18 is located at the uppermost of the wire weaving equipment, and a monitor is used to monitor the operation of the wire guide 17 to avoid the situation that the wire guide 17 collides with the anchor point column 2.

[0073] As shown in Figure 4 , the weaving mechanism includes a wire feeding system 14, a wire inlet 16, and a wire guide 17, a first movement part includes a guide rail 15 extending along the X-axis direction, the weaving mechanism is arranged on the guide rail 15 and can move along the guide rail 15, and a second movement part includes a second guide rail (i.e. a direction adjusting system 6) extending along the Y-axis direction, and the guide rail 15 is arranged on the second guide rail and can move along the second guide rail. Specifically, the wire feeding system 14 is located on the weaving mechanism and functions to control the speed of feeding the wire into the wire guide 17, and the structure is a pair of rollers that can hold and convey the wire, and the wire feeding speed can be adjusted by controlling the rotating speed of the rollers, and the wire feeding and wire withdrawing operations can also be realized. The weaving system 5 can conveniently realize the free movement of the X-axis and the Y-axis through the cooperation of the weaving mechanism and the movement mechanism.

[0074] In the weaving process, the wire is introduced by the weaving system 5, passes through the wire feeding system 14 and enters the wire guide 17, and then the wire guide 17 weaves the wire according to a certain path around the anchor point column 2, and the anchor point column 2 plays a fixing role on the woven wire. The height of the anchor point column 2 at different positions before weaving can be adjusted by the anchor point column lifting equipment 7 to realize the non-weaving operation at the specified position in the space structure.

[0075] As shown in Figure 5As shown, the embodiment also discloses a wire weaving method, which is woven by a wire weaving device, and the method comprises the following steps:

[0076] S1. Input the drawing to extract the outer edge, and then determine the anchor column 2 that needs to be lifted according to the coordinate positions of the outer edge pixels on the x-axis and y-axis, and confirm the corresponding Z-axis coordinate;

[0077] S2. The lifting mechanism 9 adjusts the base plate 8 to the specified height position;

[0078] S3. The anchor column lifting device 7 lifts the anchor column 2 at the corresponding coordinate position to the determined Z-axis coordinate position according to the measured x-axis and y-axis coordinates;

[0079] S4. The limiting mechanism 4 fixes the lifted anchor column 2;

[0080] S5. The weaving system 5 shuttles back and forth between the anchor columns 2 according to the straight writing path designed in advance, and winds the wire around the anchor columns 2;

[0081] S6. The obstacle avoidance mechanism 18 monitors the position of the anchor column 2 and controls the weaving system 5 to avoid the anchor column 2.

[0082] The lifting mechanism 9 controls the lifting adjustment of the base plate 8 and cooperates with the motion mechanism in the weaving system 5 to realize free movement in the x, y, and z three degrees of freedom in the Cartesian coordinate system. Through this structure, the method can weave a fine 3D structure designed in advance. It can also divide different density, different function, different performance blocks in a complete textile, realize directional design, and then realize the block segmentation of the fabric. In addition, through machine learning algorithm, import the irregular shape, anchor point plane structure, and the number of anchor columns that need to be woven, traverse the contour of the irregular shape, find the best column point, and export it in the system, so as to realize the weaving of irregular two-dimensional fabric.

[0083] Specifically, the example applied to specific weaving includes the following steps:

[0084] Step one: input the drawing to extract the outer edge, and then determine the specific coordinates of the anchor column 2 that needs to be lifted according to the coordinate positions of the outer edge pixels on the x-axis and y-axis;

[0085] Step two: the lifting mechanism 9 adjusts the base plate 8 to the specified height position;

[0086] Step three: the anchor column lifting device 7 moves to the anchor column 2 coordinate directly below the closest to the origin;

[0087] Step 4: The two ends of the horizontal and vertical limiting mechanism 4 corresponding to the coordinate point are energized, so that the electromagnet fixed on the electromagnet holder is energized and demagnetized. The limiting mechanism 4, which is connected to the aluminum plate with the gap of the anchor column 2 and the stainless iron connected to the flat aluminum plate, is opened by the elastic force of the spring.

[0088] Step 5: The anchor column lifting device 7 is raised, so that the anchor column 2 is raised to the predetermined height;

[0089] Step 6: De-energize the longitudinal limiting mechanism 4 at the coordinate of the anchor post 2, so that the electromagnet fixed on the electromagnet holder becomes magnetic and attracts the stainless iron through magnetism. The magnetic force drives the limiting mechanism 4 to close, while the transverse Y1 limiting mechanism 4 remains open and is energized, thus fixing the anchor post 2 that has been raised at the coordinate point.

[0090] Step 7: Repeat steps 3 to 6 in a horizontal-then-vertical order, raising and fixing all anchor posts 2 that need to be raised in sequence. After all anchor posts in row y1 that need to be raised are fixed, de-energize the horizontal Y1 limiting mechanism 4, and use magnetic force to close the limiting mechanism 4. Then process the limiting devices in rows y2-yn one by one. It should be noted that this embodiment uses a horizontal-then-vertical order to raise the anchor posts 2, but in other embodiments, a vertical-then-horizontal order can also be used.

[0091] Step 8: The braiding system 5 starts running. The wire is placed on the wire feeding system 14, introduced through the wire inlet 16 and led out through the wire guide 17. It shuttles back and forth between these anchor posts 2 according to the pre-designed straight path (the braiding path of the wire) to wrap and fix the wire on these anchor posts 2.

[0092] Step Nine: During the weaving process, the obstacle avoidance mechanism 18 operates, and a monitor is used to monitor the operation of the wire guide 17 to prevent the wire guide 17 from colliding with the anchor post 2. Because the lifting mechanism 9 controls the lifting and adjustment of the base plate 8 and cooperates with the direction adjustment system 6 in the weaving system, it can move freely in the x, y, and z degrees of freedom in the Cartesian coordinate system. Therefore, it is even possible to construct pre-designed, intricate 3D structures on this wire weaving equipment.

[0093] Furthermore, the yarn braiding equipment and yarn braiding of this application are capable of segmenting into blocks and weaving irregular two-dimensional fabrics during the braiding process. Specifically:

[0094] Block segmentation: refers to the ability to divide a complete textile into blocks with different densities, functions, and performance characteristics, enabling targeted design, which is not possible with ordinary textile equipment.

[0095] The working principle of the irregular two-dimensional fabric weaving: based on the machine learning algorithm, the irregular shape, the anchor point plane structure and the number of anchor point columns to be woven are imported, the contour of the irregular shape is traversed, the best column point is found, and the system is exported.

[0096] The block segmentation and irregular two-dimensional fabric weaving are realized by machine learning. The pattern to be printed, the number of anchor points and the coordinate system where the anchor points are located are imported, and the coordinate point information of the anchor points can be obtained. On the weaving path, the path that the pattern needs to go through during weaving is also automatically generated. In the two-dimensional pattern, it is not necessary to realize by adjusting the anchor point columns of different heights. In the three-dimensional pattern, it is also not necessary to adjust the anchor point columns of different heights to realize, and the change of Z axis is realized directly from the control of the weaving path coordinates of the outlet

[0097] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an example, the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A wire braiding apparatus comprising a braiding system, a base plate and an anchor post, characterized in that, The wire weaving device further comprises: a weaving space formed above the base plate, the weaving system being capable of moving in the weaving space and weaving wires; an anchor column lifting device capable of lifting the anchor columns in the vertical direction relative to the base plate to enter or exit the weaving space.

2. The wire braiding apparatus of claim 1, wherein, The weaving system is capable of moving along the X-axis, Y-axis and Z-axis of the orthogonal coordinate system respectively in the weaving space.

3. The wire weaving device according to claim 2, wherein the weaving system comprises a movement mechanism and a weaving mechanism, the movement mechanism comprising a first movement part and a second movement part capable of driving the weaving mechanism to move along the X-axis direction and Y-axis direction respectively; the base plate is further provided with a lifting mechanism capable of lifting the base plate in the vertical direction to realize the movement of the weaving system in the Z-axis direction relative to the weaving space.

4. The wire braiding apparatus of claim 1, wherein, The wire weaving device further comprises a limiting mechanism for fixing the anchor columns in the vertical direction.

5. The wire braiding apparatus of claim 4, wherein, The limiting mechanism comprises a first clamping mechanism and a second clamping mechanism, at least one of the first clamping mechanism and the second clamping mechanism being provided with a plurality of fixed gaps arranged at intervals, and the plurality of fixed gaps being used for fixing a plurality of anchor columns located in a column of the base plate.

6. The wire braiding apparatus of claim 5, wherein, The wire weaving device further comprises a plurality of limiting mechanisms arranged side by side above different columns of the base plate.

7. The wire braiding apparatus of claim 1, wherein, The wire weaving device further comprises an obstacle avoidance mechanism, the obstacle avoidance mechanism comprising a sensing element and a control element, the sensing element being capable of determining the position of the anchor columns, and the control element being electrically connected to the weaving system and controlling the weaving system to avoid the anchor columns when moving.

8. The wire braiding apparatus of claim 1, wherein, The anchor column lifting device is capable of moving below different anchor columns to lift the anchor columns respectively.

9. The wire braiding apparatus of claim 3, wherein, The weaving mechanism comprises a wire feeding system, a wire inlet and a wire guide, the first movement part comprises a first guide rail extending along the Y-axis direction, the weaving mechanism is arranged on the first guide rail and is capable of moving along the first guide rail, and the second movement part comprises a second guide rail extending along the X-axis direction, the first guide rail being arranged on the second guide rail and being capable of moving along the second guide rail.

10. A wire braiding method characterized by, The wire weaving method is performed by the wire weaving device according to any one of claims 1 to 9, and the method comprises the following steps: inputting a graphic to extract the outer edge, and then determining the anchor columns that need to be lifted according to the coordinate positions of the x-axis and y-axis of the outer edge pixels, and confirming the corresponding Z-axis coordinate; adjusting the base plate to the specified height position by the lifting mechanism; lifting the anchor columns at the corresponding coordinate positions to the determined Z-axis coordinate position according to the measured x-axis and y-axis coordinates by the anchor column lifting device; fixing the lifted anchor columns by the limiting mechanism; weaving the wires back and forth between the anchor columns according to the designed direct writing path in advance, and winding the wires on the anchor columns by the weaving system; monitoring the positions of the anchor columns by the obstacle avoidance mechanism and controlling the weaving system to avoid the anchor columns.

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