Integrated track interlocking guide structure and rotary three-dimensional braiding machine having same

Abstract

The present application relates to a kind of integrated track interlocking guide structure, including angle wheel assembly, reversing wheel assembly and carrier assembly;The angle wheel assembly includes angle wheel and angle wheel shaft, and the adjacent arm of angle wheel is connected into arc-shaped edge, and first arc-shaped track groove is integrated at arc-shaped edge;The reversing wheel assembly includes reversing wheel and reversing wheel shaft, and the long side of reversing wheel two sides is the arc-shaped edge that is concave to the center of reversing wheel, and second arc-shaped track groove is integrated at arc-shaped edge;The carrier assembly includes carrier base and carrier body, and carrier base is provided with two upper and lower clamping surfaces parallel to each other in the section perpendicular to the direction of motion of angle wheel and reversing wheel, wherein the lower clamping surface two side edges are respectively provided with arc-shaped protrusion matched with first arc-shaped track groove and second arc-shaped track groove;The two sides of carrier base are respectively interlocked with angle wheel and reversing wheel.The present application also includes a kind of rotary three-dimensional weaving machine.The present application realizes limit and prevents jamming by mechanical interlocking structure.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional weaving equipment technology, and specifically relates to an integrated track interlocking guide structure and a rotary three-dimensional weaving machine having the structure. Background Technology

[0002] Three-dimensional braided composite materials, with their high specific strength, high specific modulus, corrosion resistance, and excellent fatigue resistance, are gradually replacing metallic materials as the preferred material for core structural components of high-end equipment. Their application rate has become one of the indicators of industrial advancement in fields such as aerospace. The rotary three-dimensional braiding machine is the core equipment for forming three-dimensional braided preforms. Its technological level, specifically the structural rationality between the corner wheels, reversing wheels, and yarn carrier base on its chassis, directly determines the quality of the woven product, the stability of equipment operation, and production efficiency.

[0003] Current rotary 3D braiding machine chassis technology has several optimization directions, such as single motor synchronous transmission, modular track, and rolling friction reduction. However, existing technologies still generally suffer from problems such as large cumulative error due to the separate design of the track and core moving parts, and easy jamming at track intersections due to insufficient yarn carrier limiting capability. These issues cannot meet the requirements of high-precision, high-stability, and long-cycle continuous weaving of high-end 3D braided composite material preforms.

[0004] Prior art similar to this invention includes: Prior Art 1: Patent CN114855357B, entitled "Invention Patent for a Chassis Transmission Device of a Rotary Three-Dimensional Knitting Machine." This patent describes a transmission scheme for the chassis of a rotary three-dimensional knitting machine, employing a dual-cavity structure of an inner and outer chassis, with round and arc-shaped shifter areas arranged alternately. Each row of round shifters is driven synchronously by a single motor via spur gear meshing, significantly reducing the number of drive motors and mitigating the risk of step loss in multi-motor drives. Simultaneously, the concave shape of the round and arc-shaped shifters creates a limiting space, thereby constraining the yarn carrier base and reducing vibration during operation.

[0005] Prior art 2: Patent CN116926772A, entitled "Invention Patent for a Modular Rotary Rotary Knitting Device and Rotary Knitting Machine Based on Rolling Contact," describes an optimized solution for the chassis track structure of a three-dimensional knitting machine. It utilizes an upper and lower plate splicing to form a track groove. Conical rollers are installed at the bottom of the yarn carrier, converting the sliding friction between the yarn carrier and the track into rolling friction, thus improving the smoothness of movement. Simultaneously, the modular splicing structure reduces the difficulty of processing large chassis and allows for the splicing of components to form a circular knitting machine.

[0006] However, the aforementioned existing technologies still have the following drawbacks or shortcomings: 1. The existing technology 1 (CN114855357B) has shortcomings, including weak limiting ability and poor anti-jamming effect. This patent lacks a track structure and only forms an open limiting space through the gap between the round and arc-shaped deflectors. Without a direct mechanical interlocking structure, it cannot effectively constrain the yarn carrier. During high-speed operation, the yarn carrier is prone to radial and axial movement due to the gap, leading to jamming and stuck phenomena at track intersections. Because there is no direct mechanical interlocking structure between the round deflector, arc-shaped deflector, and yarn carrier, positional deviations under abnormal conditions will directly cause severe equipment jamming or even damage, resulting in production accidents.

[0007] 2. The shortcomings of existing technology 2 (CN116926772A) are that the track is assembled in separate parts, resulting in high structural complexity and large assembly errors. The track groove is formed by splicing upper and lower plates, and the track function is not integrated into core moving components such as the guide teeth. This results in a large number of parts and assembly steps, making it prone to steps and misalignment at the splicing points, posing a risk of jamming. This patent only uses the guide tooth notch to drive the yarn carrier, lacking a mechanical interlocking and limiting structure. The main problem is the absence of an embedded interlocking structure between the yarn carrier and the guide teeth, making the yarn carrier prone to derailment and shifting at track intersections and plate splicing points.

[0008] In summary, it is necessary to design an integrated track interlocking guide structure to effectively constrain the yarn carrier and reduce assembly errors at the source, so as to meet the requirements of high-precision, high-stability, and long-cycle continuous weaving of high-end three-dimensional braided composite material preforms. Summary of the Invention

[0009] This invention provides an integrated track interlocking guide structure and a rotary three-dimensional knitting machine with the same structure to solve the technical problems existing in the prior art. The track structure integrates the corner wheel, the reversing wheel and the yarn carrier base, which reduces the number of separate parts and assembly errors from the source. The invention also adds a direct mechanical interlocking structure between the corner wheel, the reversing wheel and the yarn carrier base to achieve the function of limiting and preventing jamming, which effectively solves many defects of the prior art.

[0010] This invention includes the following technical solution: an integrated track interlocking guide structure, comprising a corner wheel assembly, a reversing wheel assembly, and a yarn carrier assembly; the corner wheel assembly includes a corner wheel and a corner wheel axle, the corner wheel axle being installed at the center of the corner wheel; the corner wheel is a centrally symmetrical four-pointed star structure, the four arms of the four-pointed star extending radially and uniformly outward from the center of the corner wheel, and adjacent arms connecting to form arc-shaped edges; a first arc-shaped track groove is integrated at the arc-shaped edge; the reversing wheel assembly includes a reversing wheel and a reversing wheel axle, the reversing wheel axle being installed at the center of the reversing wheel; the reversing wheel is an axisymmetric block structure, the two long sides of the block structure being arc-shaped edges concave towards the center of the reversing wheel; a second arc-shaped track groove is integrated at the arc-shaped edge; the yarn carrier assembly includes a yarn carrier. The yarn carrier body is fixed to the base via a connector. The base has two parallel upper and lower clamping surfaces in a cross-section perpendicular to the movement directions of the corner wheel and the reversing wheel. The lower clamping surface has arc-shaped protrusions at its two edges that match the first and second arc-shaped track grooves. The base interlocks with the corner wheel and the reversing wheel on both sides, forming an embedded mechanical interlock structure. The corner wheel and the reversing wheel can rotate in a plane. The arc-shaped protrusions cooperate with the first and second arc-shaped track grooves to cause the base to move in a circular motion. During this motion, at least one arc-shaped protrusion remains within either the first or second arc-shaped track groove.

[0011] Furthermore, the center of the first arc-shaped track groove is the center point of the adjacent reversing wheel, and the center of the second arc-shaped track groove is the center point of the adjacent corner wheel; the inner diameter of the first arc-shaped track groove is smaller than the inner diameter of the second arc-shaped track groove; the groove depths of the first and second arc-shaped track grooves are the same and form a clearance fit with the arc-shaped protrusion. When the corner wheel and the reversing wheel rotate, there is no structural conflict between them, and when they rotate alternately, the switching of the center of the circular motion of the yarn carrier base is smooth.

[0012] Furthermore, guide slopes are provided at the openings at both ends of the first and second arc-shaped track grooves, and at the opening between the two arc-shaped protrusions on the lower clamping surface.

[0013] Furthermore, bearings are installed at both ends of the shaft shoulder; gears are installed on the lower bearing, and the gears on the adjacent corner wheel shafts mesh with each other; the corner wheel shaft and the corner wheel mounting flange are fixed at the center of the corner wheel.

[0014] Furthermore, the bottom end of the corner wheel shaft at the center of the guide structure is connected to the output end of the stepper motor through a second gear, and the stepper motor drives the corresponding corner wheel to rotate through the second gear and the corner wheel shaft.

[0015] Furthermore, a fourth bearing is installed on the shoulder above the reversing wheel shaft, and a first bearing is installed on the shoulder below the shaft. A coupling is installed at the end of the reversing wheel shaft, and the reversing wheel shaft is connected to the output shaft of the rotary cylinder through the coupling to transmit power and drive the reversing wheel to rotate. The angle wheel and the reversing wheel rotate alternately. The reversing wheel shaft and the reversing wheel mounting flange are fixed at the center of the reversing wheel. The rotary cylinder drives the reversing wheel shaft to rotate 180°.

[0016] Furthermore, the guide structure also includes a fixed reversing wheel assembly, which is located at the outer periphery of the guide structure; the fixed reversing wheel assembly includes a fixed reversing wheel and a fixed shaft, and the fixed shaft is mounted at the center of the fixed reversing wheel through a fixed reversing wheel mounting flange seat; the structure of the fixed reversing wheel is the same as that of the reversing wheel, and the fixed reversing wheel assembly maintains the boundary of the yarn carrier's movement trajectory.

[0017] Furthermore, the upper clamping surface of the yarn carrier base is fitted with a dovetail tenon via a base bolt and a fifth locking nut. The base bolt enters the yarn carrier base through the countersunk hole of the dovetail tenon, passes through the upper clamping surface, and passes through its middle and lower clamping surfaces. The fifth locking nut is installed at the bottom of the lower clamping surface. The dovetail tenon mates with the dovetail groove on the yarn carrier body, and the yarn carrier is fixed by screws.

[0018] A rotary three-dimensional knitting machine includes the integrated track interlocking guide structure described above and four support plates. From top to bottom, the support plates consist of a knitting base plate, an intermediate layer, a reversing wheel shaft drive layer, and a corner wheel shaft drive layer. Above the knitting base plate are a corner wheel, a reversing wheel, a fixed reversing wheel, a yarn carrier, and a yarn carrier base. The yarn carrier and the yarn carrier base can respectively perform circular motion with the corner wheel as the center point and the reversing wheel as the center point. A support column is installed at the bottom of the corner wheel shaft drive layer. Sleeves are provided between the knitting base plate and the intermediate layer, between the intermediate layer and the reversing wheel shaft drive layer, and between the reversing wheel shaft drive layer and the corner wheel shaft drive layer to achieve vertical positioning and isolation.

[0019] Furthermore, the corner wheel axle passes vertically through four support plates, and the reversing wheel axle passes vertically through three support plates from top to bottom; the two ends of the corner wheel axle are fixed by the second bearing and the third bearing respectively, which cooperate with the bearing mounting grooves on the braided base plate and the corner wheel axle transmission layer; the two ends of the reversing wheel axle are fixed by the fourth bearing and the first bearing respectively, which cooperate with the bearing mounting grooves on the braided base plate and the intermediate layer; the fixed reversing wheel is located at the outer edge of the guide structure, and a fixed shaft is provided at the center of the fixed reversing wheel, with the bottom of the fixed shaft fixed to the braided base plate.

[0020] Furthermore, the bottom end of the corner wheel shaft (i.e., the active corner wheel shaft) at the center of the guide structure is connected to a stepper motor via a second gear. A second motor bracket is fixed to the top surface of the stepper motor, and the two sides of the second motor bracket are fixed to the bottom of the corner wheel shaft transmission layer via first motor brackets. Several meshing gears are provided above the corner wheel shaft transmission layer, specifically a third gear and several first gears. The active corner wheel shaft drives the four meshing first gears through its bottom third gear to synchronously transmit power to the corresponding passive corner wheel shaft. The four first gears simultaneously transmit power synchronously to the other meshing first gears, thereby driving all corner wheels to complete synchronous fixed-angle rotation.

[0021] Furthermore, the bottom end of the reversing wheel shaft is connected to a 180° rotating rotary cylinder via a coupling, and the rotary cylinder is installed below the reversing wheel shaft transmission layer.

[0022] The advantages and positive effects of this invention are as follows: This invention eliminates assembly errors in split-type tracks at their source, solving the problem of yarn carrier jamming and derailment. By directly integrating track grooves into the main body of the corner wheel and reversing wheel, and forming an embedded mechanical interlocking guide structure with the protrusions on the yarn carrier base, it simultaneously undertakes the dual functions of power transmission and omnidirectional limiting. This reduces track-related parts and assembly steps, solving the problems of yarn carrier detachment and jamming at track intersections under high-speed operation, and improving the stability of continuous equipment operation.

[0023] This invention achieves seamless guidance at track intersections, reducing the impact of reversing at these intersections. The arc-shaped track grooves of the corner wheel and the reversing wheel are joined at the reversing position. The arc-shaped protrusion of the yarn carrier is always within the constraint range of at least one track groove throughout the entire movement, without any suspended or unconstrained phases. Existing technologies generate significant impacts and vibrations at track intersections and reversing points.

[0024] The corner wheel of this invention adopts a centrally symmetrical four-pointed star structure, and the reversing wheel adopts a design with concave arc edges on both sides. The alternating movement of the two can guide the yarn carrier to run continuously along the circumferential track, and the reversing wheel assembly realizes the reversing at the intersection. In particular, the use of a rotary cylinder to drive the reversing wheel shaft to rotate 180° can quickly and accurately switch the movement path of the yarn carrier, thereby meeting the requirements of multi-directional and continuous reversing for complex weaving routes, and has strong adaptability.

[0025] In this invention, adjacent corner wheel shafts mesh with each other through a third gear and are driven by a stepper motor via a second gear, ensuring strict synchronization of movement between multiple corner wheels, high transmission accuracy, and fast response speed; the reversing wheel shaft is directly connected to the rotary cylinder through a coupling, with direct power transmission, rapid and precise reversing action, and stable operation and convenient control of the entire transmission system.

[0026] This invention features dual-limiting design with built-in fault tolerance and self-correction, significantly improving the tolerance for abnormalities. The yarn carrier base employs a dual-limiting structure with vertical limiting on the upper and lower clamping surfaces and horizontal interlocking of arc-shaped protrusions. Guide slopes are provided at the openings at both ends of the first and second arc-shaped track grooves, as well as at the opening between the two arc-shaped protrusions on the lower clamping surface. This design allows for a smooth transition when the yarn carrier enters and exits the interlocked track, effectively reducing entry impact and jamming, lowering operating noise and wear on mating surfaces, and extending the service life of key components. Furthermore, when the yarn carrier experiences slight positional deviations due to external forces such as yarn pulling or equipment vibration, or when there are slight installation deviations in the corner wheels or reversing wheels themselves, the guide slopes of the arc-shaped grooves automatically guide the protrusions back to the correct track, eliminating the need for manual correction by stopping the machine. In contrast, existing open-limiting or single-limiting structures will jam or even become stuck once a positional deviation occurs. This solution significantly improves the equipment's tolerance for abnormalities.

[0027] The guide structure of the present invention is further provided with a fixed reversing wheel assembly at the outer edge of the four sides. The fixed reversing wheel has the same structure as the rotatable reversing wheel but does not participate in active rotation. It can provide stable boundary support and reliable peripheral guidance for the entire guide system, further improve the movement coverage of the yarn carrier in the full circumference range, and enhance the integrity and safety of the system operation.

[0028] This invention features a simplified structure, significantly reducing manufacturing costs, assembly difficulty, and maintenance costs. The integrated design eliminates the need for mold making, machining, and multi-part assembly for individual tracks, lowering overall manufacturing costs. The shaft system employs a modular design with flange seats and independent locking, resulting in short replacement times for individual corner wheels and reversing wheels, eliminating the need to disassemble other components and improving maintenance efficiency. The overall structure contains no complex parts and is directly compatible with the chassis transmission systems of existing mainstream rotary 3D braiding machines; upgrades can be completed simply by replacing the corner wheels, reversing wheels, and yarn carrier base. Attached Figure Description

[0029] Figure 1 This is a bottom view of the assembly of the interlocking guide structure of the present invention. Figure 1 ; Figure 2 This is a bottom view of the assembly of the interlocking guide structure of the present invention. Figure 2 ; Figure 3 This is a perspective view of the corner wheel assembly of the present invention; Figure 4 This is a perspective view of the corner wheel of the present invention; Figure 5 This is a perspective view of the commutator assembly of the present invention; Figure 6 This is a perspective view of the commutator wheel of the present invention; Figure 7 This is a perspective view of the yarn carrier assembly of the present invention; Figure 8 This is a side view of the yarn carrier assembly of the present invention; Figure 9 This is a perspective view of the fixed commutator assembly of the present invention; Figure 10 It is a 3D diagram of the rotating weaving device of a 3D braiding machine; Figure 11 This is a side view of the rotating weaving mechanism of a three-dimensional weaving machine; Figure 12 This is an enlarged 3D view of the end gear structure of the active corner wheel assembly; In the diagram, 1-support column; 2-angle wheel axle transmission layer; 3-sleeve; 4-reversing wheel axle transmission layer; 5-intermediate layer; 6-woven base plate; 7-angle wheel axle; 8-reversing wheel axle; 9-rotary cylinder; 10-first gear; 11-first motor bracket; 12-second gear; 13-second motor bracket; 14-stepper motor; 15-Third locking nut; 16-Third bearing; 17-Third gear; 18-Second bearing; 19-Second locking nut; 20-Angle wheel mounting flange seat; 21-Angle wheel; 22-Coupling; 23-First locking nut; 24-First bearing; 25-Fourth bearing; 26-Fourth locking nut; 27-Reversing wheel mounting flange seat; 28-Reversing wheel; 29-Dovetail tenon; 30-Yarn carrier base; 31-Fifth locking nut; 32-Base bolt; 33-Sixth locking nut; 34-Fixed shaft; 35-Fixed reversing wheel; 36-First arc-shaped track groove; 37-Second arc-shaped track groove; 38-Arch-shaped protrusion; 39-Lower clamping surface; 40-Fixed reversing wheel mounting flange seat. Detailed Implementation

[0030] To further disclose the invention's content, features, and effects, the following examples are provided in conjunction with the accompanying drawings for detailed explanation. In the following description of the embodiments, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing this patent and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this patent.

[0031] In the following description of the embodiments, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0032] Example 1: See Appendix Figure 1-9 An integrated track interlocking guide structure includes a corner wheel assembly, a reversing wheel assembly, and a yarn carrier assembly; such as Figures 3-4 As shown, the corner wheel assembly includes a corner wheel 21 and a corner wheel axle 7, with the axle 7 mounted at the center of the corner wheel 21. The corner wheel 21 is a centrally symmetrical four-pointed star structure, with four arms extending radially and evenly outward from the center of the corner wheel 21, and adjacent arms connected to form an arc-shaped edge. A first arc-shaped track groove 36 is integrated into the arc-shaped edge. The corner wheel 21 has a thickness of 12 mm, and its outline is composed of one circle with a diameter of 96 mm and four circles with a diameter of 60 mm. The center of the four small circles is located at the midpoint of the line connecting the axes of two adjacent corner wheels 21 in the axial direction, which is also the center of the first arc-shaped track groove 36 on the corner wheel 21. The outer diameter of the first arc-shaped track groove 36 is 78.5 mm, the inner diameter is 67.5 mm, and the groove depth is 5 mm. The first arc-shaped track groove 36 is located on the inner circumference of the notch in the body of the corner wheel 21 and is parallel to it. A second bearing 18 is installed on the shoulder of the upper part of the corner wheel shaft 7 via a second locking nut 19, and a third bearing 16 is installed on the shoulder of the lower part of the shaft via a third locking nut 15. A first gear 10 is installed above the third bearing 16, and the first gears 10 on adjacent corner wheel shafts 7 mesh with each other. The corner wheel shaft 7 and the corner wheel mounting flange seat 20 are fixed at the center of the corner wheel 21. The corner wheel assembly located at the center of the guide structure is also the active corner wheel assembly. A third gear 17 is installed above the third bearing 16 in this assembly. The third gear 17 is exactly the same in size and model as the first gear 10. The bottom end of the corner wheel shaft 7 in this assembly is connected to the output end of the stepper motor 14 via a second gear 12. The stepper motor 14 drives the corresponding corner wheel 21 to rotate through the second gear 12 and the corner wheel shaft 7.

[0033] like Figures 5-6As shown, the reversing wheel assembly includes a reversing wheel 28 and a reversing wheel shaft 8, with the reversing wheel shaft 8 installed at the center of the reversing wheel 28. The reversing wheel 28 is an axisymmetric block structure, with its two long sides forming concave arc-shaped edges towards the center of the reversing wheel 28. A second arc-shaped track groove 37 is integrated into the arc-shaped edges. The reversing wheel 28 has a thickness of 12 mm, and its outline is composed of a circle with a diameter of 56 mm and two circles with a diameter of 100 mm. The center of the two large circles is located at the midpoint of the line connecting the axes of two adjacent reversing wheels 28 in the axial direction, which is also the center of the second arc-shaped track groove 37 on the reversing wheel 28. The outer diameter of the second arc-shaped track groove 37 is 118.5 mm, the inner diameter is 107.5 mm, and the groove depth is 5 mm. The second arc-shaped track groove 37 is located inside the circumference of the notch in the reversing wheel 28 body and is parallel to it. A fourth bearing 25 is installed on the shoulder of the reversing wheel shaft 8 via a fourth locking nut 26, and a first bearing 24 is installed on the shoulder of the shaft via a first locking nut 23. A coupling 22 is installed at the end of the reversing wheel shaft 8, and the reversing wheel shaft 8 is connected to the output shaft of the rotary cylinder 9 through the coupling 22 to transmit power and drive the reversing wheel 28 to rotate. The angle wheel 21 and the reversing wheel 28 rotate alternately. The reversing wheel shaft 8 and the reversing wheel mounting flange 27 are fixed at the center of the reversing wheel 28. The rotary cylinder 9 drives the reversing wheel shaft 8 to rotate 180°.

[0034] like Figures 7-8As shown, the yarn carrier assembly includes a yarn carrier base 30 and a yarn carrier body, with the yarn carrier body fixedly mounted on the yarn carrier base 30 via a connector. The yarn carrier base 30 has two parallel upper and lower clamping surfaces 39 in a cross-section perpendicular to the movement directions of the corner wheel 21 and the reversing wheel 28. The upper and lower surfaces of the base 30 respectively form surface contact with the upper and lower surfaces of the corner wheel 21 and the reversing wheel 28, enclosing them to prevent horizontal swaying and restricting vertical movement. The lower clamping surface 39 has two edges with corresponding arc-shaped... The track groove 36 and the second arc-shaped track groove 37 are matched with arc-shaped protrusions 38; the two sides of the yarn carrier base 30 are respectively interlocked with the corner wheel 21 and the reversing wheel 28 to form an embedded mechanical interlock structure; the corner wheel 21 and the reversing wheel 28 can rotate in the plane, and the arc-shaped protrusions 38 can cooperate with the first arc-shaped track groove 36 and the second arc-shaped track groove 37 to make the yarn carrier base 30 perform circular motion. During the movement, at least one arc-shaped protrusion 38 is kept in the first arc-shaped track groove 36 or the second arc-shaped track groove 37. The upper clamping surface of the yarn carrier base 30 is fitted with a dovetail tenon 29 via a base bolt 32 and a fifth locking nut 31. The base bolt 32 enters the yarn carrier base 30 through the countersunk hole of the dovetail tenon 29, passes through the upper clamping surface, and passes through its middle part and the lower clamping surface 39. The fifth locking nut 31 is installed at the bottom of the lower clamping surface 39. The dovetail tenon 29 mates with the dovetail groove on the yarn carrier body and the yarn carrier body is fixed by screws.

[0035] like Figure 4 , Figure 6 and Figure 8 As shown, guide slopes are provided at the openings at both ends of the first arc-shaped track groove 36 and the second arc-shaped track groove 37, and at the opening between the two arc-shaped protrusions 38 on the lower clamping surface 39. Through the guide slopes and the gap fit between the grooves and the protrusions, the diagonal wheel correction amount is estimated to be about 1~2°, and the reversing wheel correction amount is estimated to be about 5°.

[0036] like Figure 9 As shown, the guide structure also includes a fixed reversing wheel assembly, which is located at the outer edge of the guide structure. The fixed reversing wheel assembly includes a fixed reversing wheel 35 and a fixed shaft 34. The fixed shaft 34 is mounted at the center of the fixed reversing wheel 35 via a fixed reversing wheel mounting flange seat 40. The structure of the fixed reversing wheel 35 is the same as that of the reversing wheel 28.

[0037] Working principle: When the corner wheel 21 rotates, driving the yarn carrier base 30 to rotate, the first arc-shaped track groove 36 on one side of the corner wheel 21 and the arc-shaped protrusion 38 on the yarn carrier base 30 form an interlocking engagement, achieving stable power transmission. The second arc-shaped track groove 37 on the adjacent reversing wheel 28 and the arc-shaped protrusion 38 therein form a guide track, causing the yarn carrier base 30 to move in a circle along the guide track with the center point of the corner wheel 21 as the center. Thanks to the constraint of the mechanical interlocking structure, there is no risk of the yarn carrier base 30 falling off from the groove notch during the rotation of the corner wheel 21.

[0038] When the reversing wheel 28 rotates, driving the yarn carrier base 30 to rotate, the second arc-shaped track groove 37 on one side of the reversing wheel 28 and the arc-shaped protrusion of the yarn carrier base 30 interlock to transmit power. The first arc-shaped track groove 36 on one side of the adjacent corner wheel 21 and the arc-shaped protrusion 38 therein serve as guide tracks, causing the yarn carrier base 30 to move in a circle along the guide tracks with the center point of the reversing wheel 28 as the center. The constraint effect of the mechanical interlocking structure ensures that the yarn carrier base 30 has no risk of falling off during the rotation of the reversing wheel 28.

[0039] After the corner wheel 21 and the reversing wheel 28 complete one alternating rotation, the arc-shaped protrusion 38 of the yarn carrier base 30 automatically switches from the track groove of one component to the track groove of the adjacent component (for example, one side of the yarn carrier base 30 was originally located in the first arc-shaped track groove 36 of the corner wheel 21 at the center, and after the corner wheel 21 and the reversing wheel 28 complete one alternating rotation, one side of the yarn carrier base 30 is located in the first arc-shaped track groove 36 of the corner wheel 21 on the right). The entire switching process is always within the constraint range of at least one track groove, with no suspended or unconstrained stage, fundamentally solving the risk of derailment and jamming.

[0040] Example 2: See Appendix Figure 1-12 A rotary three-dimensional knitting machine includes the integrated track interlocking guide structure and four support plates as described in Embodiment 1. The support plates, from top to bottom, consist of a knitting base plate 6, an intermediate layer 5, a reversing wheel shaft transmission layer 4, and a corner wheel shaft transmission layer 2. Above the knitting base plate 6 are a corner wheel 21, a reversing wheel 28, a fixed reversing wheel 35, a yarn carrier, and a yarn carrier base 30. A corner wheel shaft 7 passes vertically through the four support plates, and a reversing wheel shaft 8 passes vertically through three support plates from top to bottom. Four support columns 1 are installed at the bottom of the corner wheel shaft transmission layer 2. Four sleeves 3 are provided between the knitting base plate 6 and the intermediate layer 5, between the intermediate layer 5 and the reversing wheel shaft transmission layer 4, and between the reversing wheel shaft transmission layer 4 and the corner wheel shaft transmission layer 2 to achieve vertical positioning and isolation.

[0041] like Figure 10As shown, the two ends of the angle wheel shaft 7 are fixed by the outer rings of the second bearing 18 and the third bearing 16, respectively, in cooperation with the corresponding bearing mounting grooves on the braided base plate 6 and the angle wheel shaft transmission layer 2. The two ends of the reversing wheel shaft 8 are fixed by the outer rings of the fourth bearing 25 and the first bearing 24, respectively, in cooperation with the corresponding bearing mounting grooves on the braided base plate 6 and the intermediate layer 5. The bottom end of the reversing wheel shaft 8 is connected to a 180° rotating rotary cylinder 9 via a coupling 22. The rotary cylinder 9 is installed below the reversing wheel shaft transmission layer 4. The fixed reversing wheel 35 is located at the outer edge of the guide structure. A fixed shaft 34 is provided at the center of the fixed reversing wheel 35. The bottom of the fixed shaft 34 is fastened to the braided base plate 6 by a sixth locking nut 33 through threads.

[0042] The bottom end of the corner wheel shaft 7 (i.e., the active corner wheel shaft) at the center of the guide structure is connected to the stepper motor 14 via a second gear 12. A second motor bracket 13 is fixed to the top surface of the stepper motor 14, and the two sides of the second motor bracket 13 are fixed to the bottom of the corner wheel shaft transmission layer 2 via first motor brackets 11. Several meshing gears are provided above the corner wheel shaft transmission layer 2, specifically a third gear 17 and several first gears 10. The active corner wheel shaft 7, through its bottom third gear 17, drives the four meshing first gears 10 to synchronously transmit power to the corresponding four passive corner wheel shafts 7. Simultaneously, the four first gears 10 synchronously transmit power to the other meshing first gears 10 (specifically, in this example, four passive corner wheel shafts 7). Figure 10 The first gear 10 located at the four corners drives all the corner wheels 21 to complete synchronous fixed-angle rotation.

[0043] The machine is installed from bottom to top. First, four support columns 1 are installed below the corner wheel shaft transmission layer 2. Then, the reversing wheel shaft transmission layer 4, intermediate layer 5, and braided base plate 6 are installed in sequence. Sleeves 3 are used between each layer to complete the vertical positioning and isolation. Finally, the first motor bracket 11 and the second motor bracket 13 are installed below the corner wheel shaft transmission layer 2. Then, stepper motors 14 are installed on the two motor brackets and gears 12 are connected to their motor output shafts.

[0044] Next, install the integrated track interlocking guide structure. First, install the third bearing 16 on the corner wheel shaft transmission layer 2. Then, install the corner wheel shaft 7 from top to bottom on the inner ring of the third bearing 16. At the same time, fix the first gear 10 and the third gear 17 to their respective corner wheel shafts 7 using keys. Then, use the third locking nut 15 to fix the other side of the inner ring of the third bearing 16 from below. Next, install the second bearing 18 through the corner wheel shaft 7 at the bearing slot of the braided base plate 6. Finally, use the third locking nut 15 to fix the other side of the inner ring of the third bearing 18. The corner wheel mounting flange 20 is fixed to the corner wheel shaft 7 through the uppermost shoulder of the corner wheel shaft 7 and its set screw. The corner wheel 21 body is fixed to the corner wheel mounting flange 20 by four bolts. The rotary cylinder 9 is installed at the corresponding hole in the reversing wheel shaft drive layer 4. The first bearing 24 is installed on the intermediate layer 5, and the reversing wheel shaft 8 is installed from top to bottom on the inner ring of the first bearing 24. The first locking nut 23 is used to fix the other side of the inner ring of the first bearing 24 from below. The fourth bearing 25 is installed through the reversing wheel shaft 8 in the bearing slot of the braided base plate 6. Finally, the fourth locking nut 26 is used to fix the other side of the inner ring of the fourth bearing 25. The reversing wheel mounting flange 27 is fixed to the reversing wheel shaft 8 by the uppermost shoulder of the reversing wheel shaft 8 and its set screw. The reversing wheel 28 body is fixed to the reversing wheel mounting flange 27 by two bolts. Finally, install the four fixed reversing wheels 35. First, install the fixed shaft 34 on the corresponding hole in the braided base plate 6, and then tighten the connection with threads using the sixth locking nut 33. The fixed reversing wheel mounting flange 40 is installed on the uppermost shoulder of the fixed shaft 34 and fixed with set screws. The reversing wheel 28 body is fixed to the fixed reversing wheel mounting flange 40 by two bolts.

[0045] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art, under the guidance of the present invention, can make many other modifications without departing from the spirit and scope of the claims. These modifications all fall within the scope of protection of the present invention.

Claims

1. An integrated track interlocking guide structure, characterized in that: The system includes a corner wheel assembly, a reversing wheel assembly, and a yarn carrier assembly. The corner wheel assembly includes a corner wheel and a corner wheel axle, with the axle mounted at the center of the corner wheel. The corner wheel is a centrally symmetrical four-pointed star structure, with four arms extending radially and evenly outward from the center, and adjacent arms connected to form arc-shaped edges. A first arc-shaped track groove is integrated into the arc-shaped edge. The reversing wheel assembly includes a reversing wheel and a reversing wheel axle, with the axle mounted at the center of the reversing wheel. The reversing wheel is an axisymmetric block structure, with its two long sides forming arc-shaped edges concave towards the center of the reversing wheel. A second arc-shaped track groove is integrated into the arc-shaped edge. The yarn carrier assembly includes a yarn carrier base and a yarn carrier body. The yarn carrier body is fixed to the yarn carrier base via a connector. The yarn carrier base has two parallel upper and lower clamping surfaces in a cross-section perpendicular to the movement direction of the corner wheel and the reversing wheel. The lower clamping surface has arc-shaped protrusions on both sides of its edge that match the first and second arc-shaped track grooves. The two sides of the yarn carrier base are interlocked with the corner wheel and the reversing wheel respectively. The corner wheel and the reversing wheel can rotate in a plane. The arc-shaped protrusions cooperate with the first and second arc-shaped track grooves to make the yarn carrier base perform circular motion. During the motion, at least one arc-shaped protrusion remains in the first or second arc-shaped track groove.

2. The integrated track interlocking guide structure according to claim 1, characterized in that: The center of the first arc-shaped track groove is the center point of the reversing wheel adjacent to it, and the center of the second arc-shaped track groove is the center point of the corner wheel adjacent to it; the inner diameter of the first arc-shaped track groove is smaller than the inner diameter of the second arc-shaped track groove; the groove depth of the first arc-shaped track groove and the second arc-shaped track groove are the same and form a clearance fit with the arc-shaped protrusion.

3. The integrated track interlocking guide structure according to claim 1, characterized in that: Guide slopes are provided at the openings at both ends of the first and second arc-shaped track grooves and at the opening between the two arc-shaped protrusions on the lower clamping surface.

4. The integrated track interlocking guide structure according to claim 1, characterized in that: Bearings are installed at the shoulders of both ends of the angle wheel shaft; gears are installed on the lower bearings, and the gears on adjacent angle wheel shafts mesh with each other; the bottom end of the angle wheel shaft at the center of the guide structure is connected to the output end of the stepper motor; a coupling is installed at the end of the reversing wheel shaft, and the reversing wheel shaft is connected to the output shaft of the rotary cylinder through the coupling.

5. The integrated track interlocking guide structure according to claim 1, characterized in that: The guide structure also includes a fixed reversing wheel assembly, which is located at the outer edge of the guide structure. The fixed reversing wheel assembly includes a fixed reversing wheel and a fixed shaft. The fixed shaft is mounted at the center of the fixed reversing wheel via a fixed reversing wheel mounting flange seat. The structure of the fixed reversing wheel is the same as that of the reversing wheel.

6. The integrated track interlocking guide structure according to claim 1, characterized in that: The upper clamping surface of the yarn carrier base is fitted with a dovetail tenon through a base bolt and a fifth locking nut. The dovetail tenon mates with the dovetail groove on the yarn carrier body and the yarn carrier is fixed by screws.

7. A rotary three-dimensional knitting machine, characterized in that: The system includes an integrated track interlocking guide structure as described in any one of claims 1-6 and a four-layer support plate. The support plate, from top to bottom, comprises a knitting base plate, an intermediate layer, a reversing wheel shaft drive layer, and a corner wheel shaft drive layer. Above the knitting base plate are a corner wheel, a reversing wheel, a fixed reversing wheel, a yarn carrier, and a yarn carrier base. The yarn carrier and the yarn carrier base are capable of circular motion with the corner wheel and the reversing wheel as their respective center points. A support column is installed at the bottom of the corner wheel shaft drive layer. Sleeves are provided between the knitting base plate and the intermediate layer, between the intermediate layer and the reversing wheel shaft drive layer, and between the reversing wheel shaft drive layer and the corner wheel shaft drive layer.

8. A rotary three-dimensional knitting machine according to claim 7, characterized in that: The corner wheel axle passes vertically through four support plates, and the reversing wheel axle passes vertically through three support plates from top to bottom. The two ends of the corner wheel axle are fixed by the second and third bearings respectively, which cooperate with the bearing mounting grooves on the braided base plate and the corner wheel axle transmission layer. The two ends of the reversing wheel axle are fixed by the fourth and first bearings respectively, which cooperate with the bearing mounting grooves on the braided base plate and the intermediate layer. The fixed reversing wheel is located at the outer edge of the guide structure, and a fixed shaft is provided at the center of the fixed reversing wheel. The bottom of the fixed shaft is fixed to the braided base plate.

9. A rotary three-dimensional knitting machine according to claim 7, characterized in that: The bottom end of the corner wheel shaft at the center of the guide structure is connected to a stepper motor via a second gear. A second motor bracket is fixedly mounted on the top surface of the stepper motor, and the two sides of the second motor bracket are fixedly mounted below the corner wheel shaft transmission layer via a first motor bracket. Several meshing gears are provided above the corner wheel shaft transmission layer.

10. A rotary three-dimensional knitting machine according to claim 7, characterized in that: The bottom end of the reversing wheel shaft is connected to a 180° rotating rotary cylinder via a coupling. The rotary cylinder is installed below the reversing wheel shaft transmission layer.

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