A composite material loom large capacity fiber bundle opening system and a design method thereof

Abstract

The application provides a large-capacity fiber bundle opening system of a composite material loom and a design method thereof, and belongs to the technical field of automatic shaping of composite materials. The system comprises a connecting rod transmission system, a motor box, a support platform and a heald frame. The motor box is symmetrically installed on the support platform in an upper placement mode, and is internally provided with eighty servo motors. Eighty heald frames are driven to reciprocate through a plurality of connecting rod mechanisms, i.e. a double rocker, a reverse parallel four-connecting rod and a rocker slider mechanism. The design method fits a linear relationship between the motor rotation angle and the heald frame stroke through gradient distribution of the heald frame stroke and optimization of the connecting rod mechanism parameters. The application greatly saves the installation space. The servo motor variable speed movement and the driving of the connecting rod mechanism ensure the heald frame lifting synchronization, the heald frame static time and the heald frame movement stability, so that the warp opening is stable, and the fabric defects are reduced. The heald frame stroke can be flexibly adjusted, the lifting timing can be accurately controlled, and the synchronous conveying and opening weaving requirements of complex fabric structure and high modulus and large-capacity fiber bundles can be met.

Description

Technical Field

[0001] This invention belongs to the field of automatic shaping technology of composite materials, and in particular relates to a large-capacity fiber bundle opening system for composite material looms and its design method. Background Technology

[0002] High-performance fiber composite materials are core strategic and fundamental materials in my country, widely used in aerospace, transportation, new energy, and other fields. Composite material components are constantly developing towards larger sizes, more integrated structures, and greater complexity. Bottlenecks such as high defect rates and slow automation in the manufacturing of large composite material components in China make it difficult to meet industry demands in terms of production efficiency and quality.

[0003] The existing three-dimensional loom shedding system has the following shortcomings in meeting the core characteristics of composite materials such as large capacity, high modulus, and multiple layers: (1) the shedding stroke (heald frame shedding height) is not suitable for the use requirements of thick fabrics for large stroke; (2) the shedding mechanism is driven by mechanical cam linkage, the shedding stroke adjustment process is complicated, and the adaptability to composite materials with different fabric structures is poor; (3) the composite material components have insufficient flexible weaving capability for multiple varieties and small batches, and it is necessary to adjust the mechanical system configuration to meet the shedding process requirements, and it is impossible to achieve convenient adaptation and precise control of different fabric shed parameters.

[0004] To address the aforementioned issues, it is essential to design a high-capacity shedding system and control method for composite material looms. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a high-capacity fiber bundle opening system for composite material looms that is independently driven, meets the requirements of large stroke and has excellent process flexibility, and the design method thereof.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a large-capacity fiber bundle opening system for a composite material loom, comprising a linkage transmission system, a motor housing, a support platform, and a heald frame. Two motor housings are provided, symmetrically mounted on the support platform. The linkage transmission system is connected to a servo motor in the motor housing via the support platform. This linkage transmission system is directly connected to the heald frame and drives its reciprocating motion. Each motor housing includes a left housing and a right housing, symmetrically mounted on the support platform III. The left and right housings are arranged in a stepped layout, with two servo motors installed on each step from top to bottom. The linkage transmission system includes a rocker arm, a first connecting rod, a three-arm rod, a second connecting rod, a two-arm rod, a third connecting rod, a fourth connecting rod, and a servo motor. The system includes a servo motor and a reducer. The servo motor drives a rocker arm to reciprocate via the reducer. The rocker arm drives a third link to reciprocate linearly via a first link and a three-arm linkage. The third link is connected to the heald frame. Simultaneously, the three-arm linkage drives a second link to reciprocate in the opposite direction via a second link and is connected to the heald frame via a fourth link. The third and fourth links are respectively connected to the heald frame and drive it to reciprocate linearly, realizing the lifting and lowering motion of the heald frame and meeting the requirements for different opening strokes and stationary times. The rocker arm, the first link, and the first swing arm of the three-arm linkage constitute a double rocker mechanism. The third swing arm of the three-arm linkage, the second link, and the fourth swing arm of the two-arm linkage constitute an anti-parallel four-bar linkage mechanism with a transmission ratio approximately -1. The second swing arm of the three-arm linkage, the fifth swing arm of the two-arm linkage, the third link, the fourth link, and the heald frame constitute two rocker-slider mechanisms.

[0007] Furthermore, the support platform is kept horizontal by adjustable supports.

[0008] Furthermore, each motor housing is equipped with forty servo motors, and two symmetrical motor housings are equipped with eighty servo motors. The eighty servo motors correspond to eighty heddle frames and eighty sets of linkage transmission systems.

[0009] Furthermore, in the eighty sets of linkage transmission systems, the left and right servo motors are alternately configured every two sets of linkage transmission systems, and the layout of the left and right servo motors is alternating.

[0010] This invention also provides a design method for a large-capacity fiber bundle opening system for composite material looms, comprising the following steps: S1. Design of the heald frame travel: First, determine the minimum necessary opening height of the first heald frame and the maximum opening height of the last heald frame, and construct the boundary constraint parameters for stroke allocation; then, reserve a reasonable spacing between adjacent heald frames, and the function for heald frame stroke is: ; In the formula: S is the stroke of the frame. A 1 represents the stroke coefficient.n The sequence number is the frame number. B 1 is a constant term; S2. Design of the rocker-slider mechanism: The stroke calculated using the stroke calculation function in step S1 is the slider displacement of the rocker-slider mechanism; using the calculation function for the rocker-slider mechanism, the second swing arm of the three-arm lever can be calculated. O 2 D 0 (pole length) l 4) Swing angle The calculation function for the rocker-slider mechanism is: ; In the formula: ; ; ; ; ;l 4b The length of the second swing arm in a three-arm system; l5 The length of the third link; S Let the frame be the motion path; O 2 is the origin of the coordinate system. D 0 ( D 0x, D 0y); E 0 ( E0x , E 0y); S3. Design of an anti-parallel four-bar linkage: The length of the second link is calculated, and the angles between the two rockers of the three-arm third swing arm and the two-arm fourth swing arm and the vertical line are determined as the initial angles. α Calculated in α With an initial angle of 10.82°, within a swing range of 30°, the transmission ratio of the anti-parallel four-bar linkage is approximately -1. Then the length of the second link l 7 The length calculation function is: ; In the formula: a The center distance, r It refers to the length of the third swing arm in a three-arm rod or the fourth swing arm in a two-arm rod.

[0011] Initial angle calculation process: Let O If 2 is the origin of the coordinate system, then O 3( a ,0), C ( x 1, y 1), F( x 2, y 2),l 6= r , l 8 = r , CF= l 7. The formula for calculating the initial angle can be obtained: ; S4. Design of the dual-rocker mechanism: The swing angle of the second swing arm of the three-arm rod is the same as that of the first swing arm. O 2 B 0 (pole length) l 3) The swing angle; using the calculation function of the double rocker mechanism, the swing angle of the rocker can be further obtained. θ, Its calculation function is: ; In the formula: , , , l 3 represents the length of the first swing arm in a three-arm system. l 1 Let be the length of the joystick. l 2 is the length of the first link. X for O 1 O 2. Horizontal distance; Y for O 1 O 2. Vertical distance; S5. Design of multiple independently driven heald frame units: The stroke of the main frame and the motor rotation angle exhibit a linear relationship, and the fitted function is: ; In the formula: y To fit the dynamic range of the frame, A 2 This is the stroke angle coefficient. x For the motor rotation angle, B 2 This is a constant term.

[0012] By adopting the above technical solution, the present invention has the following beneficial effects: (1) High space utilization: The top-mounted symmetrical motor layout and stepped box design greatly save installation space. Eighty heddle frames only require ten sets of connecting rods of different lengths, reducing the workload of design, production and installation.

[0013] (2) Excellent motion stability: The multi-link linkage mechanism driven by the servo motor, combined with the synchronization characteristics of the anti-parallel four-bar linkage mechanism, ensures the synchronization of the heald frame lifting and the smoothness of the motion. The acceleration curve is continuous without sudden changes, and there is no rigid impact, which reduces fabric defects.

[0014] (3) High process flexibility: The heald frame stroke can be flexibly adjusted, and the lifting and lowering sequence of each heald frame can be precisely controlled by an independent servo motor. It can adapt to high modulus, large capacity fiber bundles and complex fabric structures, and meet the needs of flexible weaving of multiple varieties and small batches.

[0015] (4) High control precision: The motor rotation angle and the heald frame stroke are linearly related, and the heald frame stroke can be precisely controlled directly by the motor rotation angle, thus expanding the range of fabrics that the equipment can adapt to.

[0016] In summary, this invention adopts a top-mounted symmetrical motor layout, which significantly saves installation space and reduces the workload of design, production, and installation. The servo motor speed-changing motion and driving linkage mechanism ensure the synchronicity of heald frame lifting and lowering, the heald frame stationary time, and the smoothness of heald frame movement, thereby stabilizing the warp yarn opening and reducing fabric defects. The heald frame stroke can be flexibly adjusted, and the lifting and lowering sequence can be precisely controlled to adapt to the needs of synchronous conveying and opening weaving of complex fabric structures and high-modulus, large-capacity fiber bundles. Attached Figure Description

[0017] The present invention will be described in detail below with reference to the accompanying drawings and examples. The advantages and implementation methods of the present invention will become more apparent from this description. The accompanying drawings are for illustrative purposes only and do not constitute any limitation on the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the opening system of the present invention.

[0018] Figure 2 This is a front view of the opening system of the present invention.

[0019] Figure 3 This is a front view of the linkage transmission system of the present invention.

[0020] Figure 4 This is a schematic diagram illustrating the mechanism principle and limit positions of the opening system of the present invention.

[0021] Figure 5 This is the three limit position diagram of the hexagonal frame of the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of the motor housing of the present invention.

[0023] Figure 7 This is a layout diagram of the servo motor on the left side of the present invention.

[0024] Figure 8 This is a layout diagram of the servo motor on the right side of the present invention.

[0025] Figure 9 This is a top-view projection diagram of the servo motor position of the present invention.

[0026] Figure 10 This is a schematic diagram of the rocker-slider mechanism in this invention.

[0027] Figure 11 This is a schematic diagram of the anti-parallel four-bar linkage in this invention.

[0028] Figure 12 This is a schematic diagram of the dual rocker mechanism in this invention.

[0029] Figure 13 This is a diagram showing the relationship between the stroke of the frame and the motor rotation angle in this invention.

[0030] Figure 14 This is a functional kinematic characteristic diagram of the cycloidal motor of the present invention.

[0031] Figure 15 This is a kinematic characteristic diagram of the heald frame of the present invention.

[0032] In the picture: Ⅰ. Linkage transmission system; Ⅱ. Motor housing; Ⅲ. Support platform; Ⅳ. Helical frame; 1. Joystick; 2. First link; 3. Three-arm lever; 4. Second link; 5. Two-arm lever; 6. Third link; 7. Servo motor; 8. Reducer; 9. Left housing; 10. Right housing; 11. Fourth link. Detailed Implementation

[0033] like Figure 1 As shown, the present invention discloses a high-capacity fiber bundle opening system for a composite material loom, comprising a linkage transmission system I, a motor housing II, a support platform III, and a heald frame IV. Two motor housings II are provided, symmetrically mounted on the support platform III. The linkage transmission system I is connected to a servo motor 7 in the motor housing II via the support platform III. The linkage transmission system I is directly connected to the heald frame IV and drives its reciprocating motion. The support platform III is kept horizontal by an adjustable support.

[0034] like Figure 6 As shown, each motor housing II includes a left housing 9 and a right housing 10. The left housing 9 and the right housing 10 are symmetrically installed on the support platform III. The left housing 9 and the right housing 10 are arranged in a stepped layout, each divided into ten steps. Two servo motors 7 can be installed from top to bottom on each step. Each servo motor 7 has a reducer 8 installed at its output end. The motor housing II has a total of forty servo motors 7 and forty reducers 8 installed.

[0035] like Figure 2As shown, each motor housing II can install up to forty sets of linkage transmission systems I and heald frames IV. The top-mounted installation layout of the shedding system allows the heald frames IV to be changed from the traditional bottom-pull type to the current top-traction type. During movement, the heald frames IV have higher synchronicity in left and right and up and down, the warp shedding is stable, and fabric defects caused by the shaking of the heald frames IV are greatly reduced. The shedding stroke of the heald frames IV can be flexibly adjusted, and the drive system (such as electronic cam, servo motor 7) can precisely control the lifting and lowering sequence of each heald frame IV, easily realizing the weaving of complex patterns, expanding the fabric adaptability range of the equipment, and also saving space.

[0036] like Figure 3 As shown, the linkage transmission system I is connected to the heald frame IV and drives the heald frame IV to reciprocate. The linkage transmission system I includes a rocker arm 1, a first link 2, a three-arm link 3, a second link 4, a two-arm link 5, a third link 6, a fourth link 11, a servo motor 7, and a reducer 8. The servo motor 7 drives the rocker arm 1 to reciprocate via the reducer 8. The rocker arm 1 drives the third link 6 to reciprocate linearly via the first link 2 and the three-arm link 3. The third link 6 is connected to the heald frame IV. At the same time, the three-arm link 3 drives the two-arm link 5 to reciprocate in the opposite direction via the second link 4 and is connected to the heald frame IV via the fourth link 11. The third link 6 and the fourth link 11 are respectively connected to the heald frame IV and drive it to reciprocate linearly, realizing the lifting and lowering movement of the heald frame IV and meeting the requirements of different opening strokes and stationary times.

[0037] like Figure 4 As shown, the servo motor 7 is driven by the reducer 8. O Drive the joystick at point 1 O 1 A 0 (pole length) l 1 The rocker arm 1 swings back and forth, and the rocker arm 1 is connected to the first connecting rod 2 (rod length) l 2) Drive the three-arm lever 3 to swing back and forth around point O2. θ The angle that each servo motor 7 should swing at, as calculated.  The swing angle of the three-arm lever 3; the first swing arm of the three-arm lever 3 O 2 B 0 (pole length) l 3) Three-arm rod 3 second swing arm O 2 D 0 (pole length) l 4) and the third swing arm of the three-arm rod 3 O 2 C 0 (pole length) l 6) Fixed as a three-arm rod; the third swing arm of the three-arm rod 3 O 2 C 0 (pole length) l 6) Passing through the second link 4 (link length) l7) Drive the second arm 5 to swing back and forth around point O3, the fourth swing arm of the second arm 5 O 3 F 0 (pole length) l 8) and the fifth swing arm of the second boom 5 O 3 G 0 (pole length) l 9) Fixed as a two-arm rod; the second swing arm of the three-arm rod 3 O 2 D 0 (pole length) l 4) With the second arm 5, fifth swing arm O 3 G 0 (pole length) l 9) Via the third link 6 (link length) l 5) and the fourth link 11 (link length) l 10 Each of them is connected to the heald frame IV, and together they drive the reciprocating linear motion of the heald frame IV.

[0038] A 0 B 0 D 0 E 0 ( A 0 B 0 C 0 F 0 G 0 E 0) indicates that the heald frame IV is in the heald level position. A 1 B 1 D 1 E 1 ( A 1 B 1 C 1 F 1 G 1 E 1) with A 2 B 2 D 2 E 2 ( A 2 B 2 C 2 F 2 G 2 E 2) This indicates that the heald frame IV is in two extreme positions. The strokes of the heald frame IV corresponding to the movement from the flat position to the two extreme positions are respectively S 11 and S 12 ,and S 11 = S 12 Joystick 1, First Link 2, Three-Arm Linkage 3, First Swing Arm O 2B 0 (pole length) l 3) Constructs a double rocker mechanism; the third swing arm of the three-arm mechanism. O 2 C 0 (pole length) l 6) Second link 4, second arm 5, fourth swing arm O 3 F 0 (pole length) l 8) It forms an anti-parallel four-bar linkage with a transmission ratio approximately -1; the second swing arm of the three-arm linkage 3 O 2 D 0 (pole length) l 4) Two-arm pole, five-arm swing arm O 3 G 0 (pole length) l 9) The third link 6, the fourth link 11, and the frame IV constitute two rocker-slider mechanisms.

[0039] like Figure 5 As shown, from left to right, these are the instantaneous states of the composite frame IV in the low position, the average position, and the high position.

[0040] like Figures 7 to 9 As shown, Dk Indicates the first k One motor ( k =1,2,...,80), such as D 3 indicates the third motor. Figure 7 In D 1 and Figure 9 In D 1. Both are the first motors D Different views of 1 Figure 8 In D 3 and Figure 9 In D 3 are the third motors D The different views in section 3 are similar for other motors.

[0041] First Motor D 1 and 2 motors D 2. Adopt Figure 7 Mechanical structure, third motor D 3 and 4 motors D 4. Adopt Figure 8 The mechanical mechanism is arranged in a centrally symmetrical structure with two components; the first motor D 1 and 2 motors D 2 also shows a symmetrical distribution.

[0042] like Figure 9 As shown, the layout of the present invention includes eighty heald frames IV, with eighty servo motors 7 corresponding to the eighty heald frames IV. The servo motors 7 are symmetrically distributed on both sides, with forty on each side, and arranged vertically symmetrically on one side. The left side is the first motor.D 1 and 2 motors D 2. The third motor is on the right. D 3 and 4 motors D 4. And so on, with the left and right motors corresponding one to one.

[0043] First Motor D 1 and the fifth motor D The distance between the 5th link is 2 (link length) of the first link in each group. l 2) The length increment L is set as the minimum allowable value for the double rocker mechanism to avoid collision with the motor housing II during reciprocating swing. First motor D 1 and the 77th motor D 77 are symmetrically distributed front and back, the third motor D 3 and the 79th motor D 79 are distributed symmetrically front and back.

[0044] First Motor D 1 and the 77th motor D 77's projection in the main view coincides, and the first link 2 used (link length) l 2) The lengths are equal, and each servo motor 7 has a corresponding servo motor 7 whose projection in the main view coincides. Due to the symmetrical design of the entire system, the link lengths in the left and right motor layouts are the same, thus reducing the required number of links by half. The front and rear structures of each type of motor layout are also symmetrically distributed, further reducing the required number of links by half. Each pair of servo motors 7 is symmetrically distributed vertically, therefore the required link lengths are equal, further reducing the required number of links by half. Ultimately, the eighty heddle frames IV only require ten sets of links of different lengths to meet the motion control requirements. The symmetrical layout of this invention greatly reduces the workload of design, production, and installation.

[0045] Based on the motor layout characteristics, the eighty heddle frames IV correspond to eighty sets of linkage transmission systems I. In these eighty sets of linkage transmission systems I, the left and right motor layouts are alternately configured every two sets of linkage transmission systems I. The left and right motor layouts are arranged alternately to form an orderly staggered arrangement pattern.

[0046] This invention also provides a design method for a large-capacity fiber bundle opening system for composite material looms, comprising the following steps: S1, Design of the heald frame IV's stroke: Due to the large number of yarns, the yarns must not come into contact or rub against each other while ensuring that the weft-beating process is met. Direct contact between the yarns is avoided by controlling the stroke of each heald frame IV. When calculating the heald frame IV's stroke: the stroke allocation of heald frame IV follows the core logic of "boundary definition, intermediate adaptation, and overall planning": First, the minimum necessary opening height of the first heald frame IV and the maximum opening height of the last heald frame IV are determined, constructing the boundary constraint parameters for stroke allocation; then, a reasonable spacing is reserved between adjacent heald frames IV; finally, combining the overall layout requirements of eighty heald frames IV and the characteristics of the transmission system, the gradient allocation of the stroke of the entire series of heald frames is completed. The function for calculating the heald frame stroke in this invention is:

[0047] In the formula: S is the stroke of the frame. A 1 represents the stroke coefficient. n The sequence number is the frame number. B 1 is a constant term.

[0048] S2. Design of the rocker-slider mechanism: like Figure 10 As shown, the stroke calculated by the stroke calculation function in step S1 is the slider displacement of the rocker-slider mechanism; using the calculation function of the rocker-slider mechanism, the second swing arm of the three-arm 3 can be calculated. O 2 D 0 (pole length) l 4) Swing angle The calculation function for the rocker-slider mechanism is:

[0049] In the formula: ; ; ; ; ;l 4b The length of the second swing arm in a three-arm system; l5 The length of the third link; S Let the frame be the motion path; O 2 is the origin of the coordinate system. D 0 ( D 0x, D 0y); E 0 ( E0x , E 0y).

[0050] S3. Design of an anti-parallel four-bar linkage: like Figure 11 As shown, under normal circumstances, the transmission ratio of the anti-parallel four-bar linkage is not a constant value. In order to ensure that the heald frame IV can rise or fall vertically and smoothly in the guide rail, the rocker-slider mechanisms on the left and right sides of the heald frame IV must move synchronously, that is, the transmission ratio of the anti-parallel four-bar linkage is -1.

[0051] The length of the second link 4 is calculated based on the formula.l 7 ) Length, determine the third swing arm of the three-arm rod 3 O 2 C 0 (pole length) l 6) and the second arm 5 fourth swing arm O 3 F 0 (pole length) l 8) The angle between the two joysticks and the vertical line is the initial angle. α Calculated in α With an initial angle of 10.82°, within a swing range of 30°, the transmission ratio of the anti-parallel four-bar linkage is approximately -1. Then the second link 4 (link length) l 7 The length calculation function is:

[0052] In the formula: a The center distance, r The third swing arm of the three-arm system O 2 C 0 (Second arm, fourth swing arm) O 3 F 0) Length.

[0053] Initial angle calculation process: as follows Figure 11 As shown, let O If 2 is the origin of the coordinate system, then O 3( a ,0), C ( x 1, y 1), F( x 2, y 2), l 6= r , l 8 = r , CF= l 7. The formula for calculating the initial angle can be obtained: .

[0054] S4. Design of the dual-rocker mechanism: like Figure 12 As shown, the second swing arm of the three-arm lever 3 O 2 D 0 (pole length) l 4) With the first swing arm of the three-arm rod 3 O 2 B 0 (pole length) l 3) Since they are fixedly connected, the two swing angles are the same, i.e., the second swing of the three-arm rod 3. O 2 D 0 (pole length)l 4) The swing angle is equivalent to the first swing arm of the three-arm rod 3. O 2 B 0 (pole length) l 3) The swing angle; using the calculation function of the double rocker mechanism, the length of rocker 1 can be further obtained. l 1 ) swing angle θ, Its calculation function is:

[0055] In the formula: , , , X for O 1 O 2. Horizontal distance; Y for O 1 O 2. Vertical distance.

[0056] S5. Design of multiple independently driven heald frame units: Given the stroke of each heald frame, the second swing arm of the three-arm lever 3 in the rocker-slider mechanism is calculated. O 2 D 0 (pole length) l 4) Swing angle The swing angle of rocker arm 1 in the dual-rocker mechanism was further calculated. θ , θ This refers to the motor rotation angle; the motor rotation angle is calculated. θ By fitting the relationship between the helical frame stroke and the motor rotation angle, a function can be directly obtained. θ It achieves precise control over the movement of the heald frame, eliminating the need for cumbersome calculations by intermediate mechanisms.

[0057] like Figure 13 As shown, after fitting the relevant data of the eighty heald frames IV, it was found that the heald frame stroke and the motor rotation angle showed a significant linear relationship.

[0058] A linear function was fitted, and the fitting effect was verified to be excellent. The fitted function is:

[0059] In the formula: y To fit the dynamic range of the frame, A 2 This is the stroke angle coefficient. x For the motor rotation angle, B 2 This is a constant term.

[0060] Work process: Servo motor 7 drives the dual rocker mechanism at a preset rotation angle, transmitting power through the rocker slider mechanism and the anti-parallel four-bar linkage, thus smoothly switching the heald frame IV between low, level, and high positions (e.g., ...). Figure 6 As shown in the figure, the weaving process requirements of the new composite material large-capacity fiber body are met through the coordinated control of eighty independent servo motors 7.

[0061] Taking the 78th heald frame IV opening system as the research object, an electronic cam drive method is used to realize the motion control of heald frame IV. Based on this, the displacement, velocity, and acceleration of the actuator, heald frame IV, in the system are calculated and analyzed. The results are as follows: Figure 14 , Figure 15 As shown, it can be seen that there are no sudden spikes in the velocity and acceleration of heald frame IV: the acceleration curve is a continuous sinusoidal fluctuation, and the motion has no rigid impact, which is suitable for scenarios with high requirements for stability; the displacement of heald frame IV meets the requirements; the resting time of heald frame IV can be adjusted according to process requirements, which meets the design expectations.

[0062] Example: Calculation of key parameters: According to the formula, the anti-parallel four-bar linkage Calculate, when a =1065mm r When =100mm, l 7=1046.05mm, initial angle α=10.82°, the transmission ratio is stable within a 30° swing range; The movement of the hexagonal frame is according to the formula Calculate, if A 1 = 2.13 B 1=56mm, serial number n =40 heald frame travel S=139.06mm, which meets the requirements for multiple yarn openings; Relationship function between motor rotation angle and heald frame stroke When the motor rotates at an angle x =31.97° A2 =4.22、 B2 When the radius is 3.47mm, the heald frame travel is... y =138.38mm, fitting error ≤0.68mm, high control accuracy.

[0063] Initial angle calculation: O 2 At the origin, O 3(1065,0), C ( x 1, y 1), O 2 C = l 6 = 100mm F ( x 2,y 2), O 3 F = l 3 = 100mm CF = l 7 =1046.05mm, therefore:

[0064] The initial angle α is calculated to be 10.82°.

[0065] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A high-capacity fiber bundle opening system for a composite material loom, characterized in that: The system includes a linkage transmission system, a motor housing, a support platform, and a heald frame. Two motor housings are symmetrically mounted on the support platform. The linkage transmission system is connected to a servo motor within the motor housing via the support platform. This linkage transmission system is directly connected to and drives the heald frame in its reciprocating motion. Each motor housing includes a left housing and a right housing, symmetrically mounted on the support platform in a stepped arrangement. Each step can accommodate two servo motors from top to bottom. The linkage transmission system includes a rocker arm, a first link, a three-arm lever, a second link, a two-arm lever, a third link, a fourth link, a servo motor, and a reducer. The servo motor drives the rocker arm to reciprocate via a reducer. The rocker arm drives the third link to reciprocate linearly via a first link and a three-arm link. The third link is connected to the heald frame. Simultaneously, the three-arm link drives the second arm to reciprocate in the opposite direction via a second link and is connected to the heald frame via a fourth link. The third and fourth links are respectively connected to the heald frame and drive it to reciprocate linearly, realizing the lifting and lowering movement of the heald frame. The rocker arm, the first link, and the first swing arm of the three-arm link constitute a double rocker arm mechanism. The third swing arm of the three-arm link, the second link, and the fourth swing arm of the two-arm link constitute an anti-parallel four-bar linkage mechanism. The second swing arm of the three-arm link, the fifth swing arm of the two-arm link, the third link, the fourth link, and the heald frame constitute two rocker-slider mechanisms.

2. The high-capacity fiber bundle opening system for composite material looms according to claim 1, characterized in that: The support platform is kept horizontal by adjustable supports.

3. The high-capacity fiber bundle opening system for composite material looms according to claim 1, characterized in that: Each motor housing is equipped with forty servo motors, and the two symmetrical motor housings are equipped with a total of eighty servo motors. The eighty servo motors correspond to eighty heddle frames and eighty sets of linkage transmission systems.

4. The high-capacity fiber bundle opening system for composite material looms according to claim 3, characterized in that: In the eighty sets of linkage transmission systems, the left and right servo motors are alternately configured every two sets of linkage transmission systems, and the layout of the left and right servo motors is alternating.

5. A design method for a high-capacity fiber bundle opening system for a composite material loom, used to implement the high-capacity fiber bundle opening system for a composite material loom as described in any one of claims 1 to 4, characterized in that: Includes the following steps: S1. Design of the heald frame travel: First, determine the minimum necessary opening height of the first heald frame and the maximum opening height of the last heald frame, and construct the boundary constraint parameters for stroke allocation; then, reserve a reasonable spacing between adjacent heald frames, and the function for heald frame stroke is: ； In the formula: S is the stroke of the frame. A 1 represents the stroke coefficient. n The sequence number is the frame number. B 1 is a constant term; S2. Design of the rocker-slider mechanism: The stroke calculated using the stroke calculation function in step S1 is the slider displacement of the rocker-slider mechanism; using the calculation function for the rocker-slider mechanism, the swing angle of the second swing arm of the three-arm lever can be calculated. The calculation function for the rocker-slider mechanism is: ； In the formula: ; ; ; ; ;l 4b The length of the second swing arm in a three-arm system; l5 The length of the third link; S Let the frame be the motion path; O 2 is the origin of the coordinate system. D 0 ( D 0x, D 0y); E 0 ( E0x , E 0y); S3. Design of an anti-parallel four-bar linkage: The length of the second link was calculated, and the angle between the two rockers of the three-arm third swing arm and the two-arm fourth swing arm and the vertical line was determined as the initial angle α. It was calculated that under the initial angle condition of α=10.82°, the transmission ratio of the anti-parallel four-bar linkage is approximately -1 within the swing range of 30°. Then the length of the second link l 7. The length calculation function is: ； In the formula: a The center distance, r The length of the third swing arm in a three-arm rod or the fourth swing arm in a two-arm rod; Initial angle calculation process: Let O If 2 is the origin of the coordinate system, then O 3( a ,0), C ( x 1, y 1), F( x 2, y 2), l 6= r , l 8 = r , CF= l 7. The formula for calculating the initial angle can be obtained: ； S4. Design of the dual-rocker mechanism: The swing angle of the second swing arm in a three-arm mechanism is equal to the swing angle of the first swing arm; using the calculation function of the double rocker mechanism, the swing angle of the rocker arm can be further obtained. θ, Its calculation function is: ； In the formula: , , ， l 3 represents the length of the first swing arm in a three-arm system. l 1 Let be the length of the joystick. l 2 is the length of the first link. X for O 1 O 2. Horizontal distance; Y for O 1 O 2. Vertical distance; S5. Design of multiple independently driven heald frame units: The stroke of the main frame and the motor rotation angle exhibit a linear relationship, and the fitted function is: ； In the formula: y To fit the trajectory of the frame, A 2 This is the stroke angle coefficient. x For the motor rotation angle, B 2 This is a constant term.

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