TWI772991B - Braiding path generation method and device, and dynamic correction method and braiding system - Google Patents

Abstract

A braiding path generation method includes the following steps. Firstly, a kernel model is received. Then, one of an outer diameter of the kernel model is obtained. Then, a target braiding angle is obtained according to a target coverage and the outer diameter of the kernel model. Then, a braiding simulation path is generated according to the target braiding angle.

Description

Knitting path generation method and device, dynamic correction method and knitting system

The present disclosure relates to a path generation method, a path generation device using the same, a dynamic correction method, and a system using the same, and more particularly, to a knitting path generation method, a knitting path generation device using the same, and a knitting dynamic correction method and system. Apply its knitting system.

The braiding system is woven on the inner core with wires, so that the outer surface of the inner core is covered with wires, so as to make braided products or increase the strength of the products. However, for the core with variable cross-section, it is usually difficult to control the coverage of the wire within an expected range, which may lead to the problem of uneven strength of the final product. Therefore, how to propose a technology that can improve the aforementioned poor control of wire coverage is one of the goals of those skilled in the art.

The present disclosure relates to a knitting path generation method and a knitting path generation device using the same, a knitting dynamic correction method and a knitting system using the same, which can improve the above-mentioned conventional problems.

An embodiment of the present disclosure provides a method for generating a weaving path. The method for generating a knitting path includes the following steps: receiving a kernel model; obtaining an outer diameter of the kernel model; obtaining a target knitting angle according to a target coverage ratio and the outer diameter of the kernel model; and generating a knitting simulation according to the target knitting angle path.

Another embodiment of the present disclosure provides a knitting dynamic correction method. The weaving dynamic correction method includes the following steps: according to one of the aforementioned weaving simulation paths, driving a core to move with a first operation parameter; according to the weaving simulation path, driving a plurality of wires to weave on a core with a second operation parameter; obtaining the weaving an actual coverage of the wires on the core; determine whether the actual coverage meets a target coverage; when the actual coverage does not meet the target coverage, obtain an actual braiding angle of the wires according to the actual coverage; The actual braiding angle is obtained by obtaining the adjusted first operation parameter and the second operation parameter; using the adjusted first operation parameter to drive a core to move; and using the adjusted second operation parameter to drive the wires to weave on the core.

Another embodiment of the present disclosure provides an apparatus for generating a knitting path. The weaving path generating device includes a kernel model receiver and a path generator. The kernel model receiver is used for receiving a kernel model. The path generator is used for: obtaining an outer diameter of the kernel model; obtaining a target weaving angle according to a target coverage ratio and the outer diameter of the kernel model; and generating a weaving simulation path according to the target weaving angle.

Another embodiment of the present disclosure provides a knitting system. The knitting system includes a driving device and a controller. The driving device is used for: driving a core to move with a first operation parameter according to a weaving simulation path; and driving a plurality of wires to weave on the core with a second operation parameter according to the weaving simulation path. The controller is used for: obtaining an actual coverage of the wires braided on the core; judging whether the actual coverage meets a target coverage; when the actual coverage does not meet the target coverage, obtain the actual coverage of the wires according to the actual coverage. an actual knitting angle; and, according to the actual knitting angle, obtaining the adjusted first operation parameter and the second operation parameter. The driving device is further used for: driving the inner core to move with the adjusted first operating parameter; and driving the wires to weave on the inner core with the adjusted second operating parameter.

In order to have a better understanding of the above-mentioned and other aspects of the present disclosure, the following embodiments are given and described in detail with the accompanying drawings as follows:

Please refer to FIGS. 1 to 2. FIG. 1 illustrates a schematic diagram of a braiding path generating apparatus 100 according to an embodiment of the present disclosure, and FIG. 2 illustrates braiding according to an embodiment of the disclosure using a wire process. A partial schematic diagram of system 200 .

The weaving path generating apparatus 100 includes a kernel model receiver 110 and a path generator 120 . The kernel model receiver 110 and/or the path generator 120 is, for example, a physical circuit formed by a semiconductor process, such as a semiconductor chip, a semiconductor package or other types of circuit elements. In one embodiment, the kernel model receiver 110 and the path generator 120 may be integrated into a single component, or at least one of the kernel model receiver 110 and the path generator 120 may be integrated into a processor or controller, The controller 220 of the knitting system 200 shown in FIG. 2 is shown. In one embodiment, the kernel model receiver 110 is, for example, a Universal Serial Bus (USB); or, the kernel model receiver 110 is, for example, a wireless communication unit that uses wireless communication technology to receive the kernel model 10A.

As shown in FIG. 2 , the knitting system 200 includes a driving device 210 , a controller 220 and a coverage detector 230 . The controller 220 is, for example, a circuit structure covered by a semiconductor process, such as a semiconductor chip, a semiconductor package or other types of circuit components. The coverage detector 230 is, for example, a camera.

。機械手臂214以第一運轉參數S1動內核10B運動，可使線材20編織於內核10B的不同區域上。此外，機械手臂214例如是具有六個自由度，例如沿X、Y、Z軸向平移及繞X、Y、Z軸向轉動等六個自由度。多個自由度的機械手臂214可驅動不同幾何形狀或幾何形狀複雜的內核10B運動，以增加最終編織成品的多樣性 As shown in FIG. 2 , the driving device 210 includes an outer ring 211 , several transmission gears 212 , several bobbins 213 and a robotic arm 214 . The transmission gear 212 is arranged on the inner surface of the outer ring 211 so as to be rotatable. Each bobbin 213 is wound with a wire 20, and the wire 20 can be used for braiding the inner core 10B. The wire 20 is formed by winding several strands (not shown). The spool 213 is engaged with the transmission gear 212 . When the transmission gear 212 rotates, it can drive all the spools 213 to revolve, for example, to revolve around the Z-axis. During the revolving process of the bobbin 213, the wire 20 is pulled and woven on the inner core 10B. The driving device 210 is used to: (1) drive a core 10B to move with the first operating parameter S1; and (2). use the second operating parameter S2 to drive the wire 20 to be woven on the core 10B. In one embodiment, the first operating parameter S1 is, for example, the feed speed V of the core 10B, for example, the speed along the Z-axis, and the second operating parameter S2 is, for example, the rotational speed of the transmission gear 212 .

. The robotic arm 214 moves the inner core 10B with the first operating parameter S1, so that the wire 20 can be woven on different regions of the inner core 10B. In addition, the robotic arm 214 has, for example, six degrees of freedom, such as translation along the X, Y, and Z axes and rotation around the X, Y, and Z axes. The multi-degree-of-freedom robotic arm 214 can drive the movement of the kernels 10B with different or complex geometries to increase the variety of the final knitted product

；(4).  依據目標編織角度

，生成一編織模擬路徑P1。本揭露實施例以目標覆蓋率K做為編織目標決定目標編織角度

，而生成編織模擬路徑P1，使最終編織成品的實際覆蓋率符合要求，例如是符合目標覆蓋率K。 Referring to FIG. 1, the kernel model receiver 110 is used for receiving the kernel model 10A. The kernel model 10A is, for example, a digital model created by a three-dimensional drawing software. The path generator 120 is used to: (1) receive a kernel model 10A; (2) obtain the outer diameter information D(s) of the kernel model 10A; (3). Path information D(s), get a target weaving angle

; (4). According to the target weaving angle

, generate a weaving simulation path P1. In the embodiment of the present disclosure, the target coverage rate K is used as the knitting target to determine the target knitting angle

, and generate the weaving simulation path P1, so that the actual coverage of the final braided product meets the requirements, for example, the target coverage K.

After the knitting simulation path P1 is generated, the path generator 120 may output the knitting simulation path P1 to the knitting system 200 . The knitting system 200 knits the inner core 10B according to the knitting simulation path P1 to form the final knitted product.

In terms of product categories, the core 10B is, for example, components of transportation devices (such as aircraft racks, vehicle racks, bicycle racks, etc.), components of sports equipment (such as badminton rackets, hockey handles, rafting paddles, etc.), and livelihood products. Parts of supplies (such as liquefied petroleum gas cylinders, hydrogen cylinders, oxygen cylinders, high-pressure barriers and high-pressure pipes) require high-strength (but not limited) products. The wire 20 is, for example, a composite material, such as carbon fiber, glass fiber and other light-weight and high-strength wires. After the wire braiding operation of the inner core 10B is completed, the inner core 10B of the braided wire 20 may be baked at a high temperature. The wire 20 is composed of a wire body (branch) and a resin (substrate). After the wire 20 is coated on the inner core 10B, it needs to be baked at a high temperature to melt the resin first, and then combine with the wire body to form a composite with high stress resistance. Material.

Please refer to FIGS. 3 to 5. FIG. 3 shows a flowchart of a knitting path generating method of the knitting path generating apparatus 100 of FIG. 1, FIG. 4 shows a schematic diagram of a kernel model 10A according to another embodiment of the present disclosure, and FIG. 5 is a schematic diagram of a kernel model 10A according to another embodiment of the present disclosure. The method for generating the knitting simulation path P1 will be further described below with reference to the flowchart of FIG. 3 .

In step S110, the kernel model receiver 110 receives the kernel model 10A. The kernel model 10A is, for example, a digital model (3D digital electronic file) created by a three-dimensional drawing software.

In step S120, the path generator 120 analyzes the kernel model 10A to obtain the outer diameter information D(s) of the kernel model 10A. D(s) contains the value of the outer diameter of the kernel model 10A that varies in the direction of s, where s is the extension direction of the kernel 10B. For example, as shown in FIG. 4, the cross section of the inner core model 10A can be changed along the extension direction s of the inner core model 10A, wherein the extension direction s is a linear direction. The inner core 10B has a first outer diameter D1 and a second outer diameter D2, and the first outer diameter D1 and the second outer diameter D2 are different. In another embodiment, as shown in FIG. 5, the cross section of the inner core model 10A' is changeable along the extension direction s of the inner core model 10A', wherein the extension direction s is a curvilinear direction. The aforementioned curve is, for example, a circular arc, an ellipse, or a combination of a straight line and a curved line. The inner core model 10A' has a first outer diameter D1' and a second outer diameter D2', the second outer diameter D2' is the outer diameter of the turning point of the inner core model 10A', and the first outer diameter D1' is the outer diameter of the inner core model 10A' The outer diameter of the bent portion 10A1', wherein the second outer diameter D2' is larger than the first outer diameter D1'. The geometry of the kernel model of the disclosed embodiment is not limited by FIGS. 4 and 5 .

。 In step S130, the path generator 120 obtains the target weaving angle according to the target coverage K and the outer diameter information D(s) of the kernel model 10A

.

依據下式(1)完成，其中d為線材20之絲束的線徑d，C為線軸213的數量，N為一條線材20之數條絲束的數量，K為目標覆蓋率，

為傳輸齒輪212的轉速。 In one embodiment, the target braid angle

It is completed according to the following formula (1), wherein d is the wire diameter d of the tow of the wire rod 20, C is the number of spools 213, N is the number of tow of a wire rod 20, and K is the target coverage rate,

is the rotational speed of the transmission gear 212 .

，目標編織角度

可能隨s的位置而變。 It can be seen from equation (1) that the path generator 120 obtains the braiding of the wire 20 according to the target coverage K, the outer diameter information D(s) of the kernel model 10A, the number of tows N, the number of spools C, and the diameter d of the tow. Target weave angle on core 10B

, the target braiding angle

May vary with the position of s.

，計算滿足目標編織角度

所需的第一運轉參數S1及第二運轉參數S2。例如，路徑生成器120可依據下式(2)決定內核的進給速度V(第一運轉參數)及傳輸齒輪212的轉速

，其中進給速度V及傳輸齒輪212的轉速

可能隨s的位置而變。 Then, the path generator 120 according to the target knitting angle

, calculate to meet the target weaving angle

Required first operating parameter S1 and second operating parameter S2. For example, the path generator 120 may determine the feed speed V (the first operating parameter) of the core and the rotational speed of the transmission gear 212 according to the following formula (2).

, where the feed speed V and the rotational speed of the transmission gear 212

May vary with the position of s.

、第一運轉參數S1及第二運轉參數S2，模擬編織製程，並生成編織模擬路徑P1。 In step S140, the path generator 120 according to the target knitting angle

, the first operation parameter S1 and the second operation parameter S2, simulate the knitting process, and generate a knitting simulation path P1.

，因此適用於一變截面之內核模型，如第4圖所示之內核模型10A、第5圖所示之內核模型10A’或其它幾何型態之變截面內核模型。本文的「變截面」意指內核10B的數個橫截面的數個外徑彼此相異。 Since the knitting system 200 of the disclosed embodiment takes the target coverage K as the knitting target, the target knitting angle is determined

, so it is suitable for a variable-section kernel model, such as the kernel model 10A shown in Fig. 4, the kernel model 10A' shown in Fig. 5, or a variable-section kernel model of other geometric types. "Variable cross-section" herein means that the several outer diameters of several cross-sections of the inner core 10B are different from each other.

Please refer to FIG. 6 , which shows a flow chart of the dynamic correction method of the knitting system 200 of FIG. 2 . In the actual weaving process, the weaving system 200 can monitor the weaving condition and dynamically correct the coverage rate that is not as expected, so that the coverage rate of the final product is relatively average.

In step S210, as shown in FIG. 2, the controller 220 controls the driving device 210 to drive the core 10B to move with a first operating parameter S1. For example, the controller 220 controls the robot arm 214 of the driving device 210 to drive the core 10B to move at a position s1 of the core 10B along the extending direction s with a first operating parameter S1 (eg, the feed speed V of the core 10B). The present disclosure does not limit the specific position of the position s1, which can be any position along the extension direction s to be analyzed.

)驅動數條線材20編織於內核10B上，例如是編織於內核10B沿延伸方向s的位置s1。 In step S220 , as shown in FIG. 2 , the controller 220 controls the driving device 210 to drive the plurality of wires 20 to weave on the inner core 10B with a second operating parameter S2 . For example, the controller 220 controls the transmission gear 212 of the driving device 210 to have a second operating parameter S2 (eg, the rotational speed

) to drive several wires 20 to be braided on the inner core 10B, for example, at the position s1 of the inner core 10B along the extending direction s.

In step S230, the actual coverage K' of the wires 20 braided on the inner core 10B is obtained. For example, the actual coverage K' of the wire 20 braided at the position s1 of the inner core 10B is obtained. One of the methods for obtaining the actual coverage K′ is, for example, the coverage detector 230 captures the braided image M1 of the core 10B, and then the controller 220 analyzes the braided image M1 to obtain the wire 20 woven on the core 10B in the braided image M1 The actual coverage K'. As shown in the enlarged view of FIG. 2 , the coverage can be defined as the ratio of the area of a region R1 of the inner core 10B to the mesh area covered by the wire 20 . The controller 220 can use the image analysis technology to analyze the ratio of the area of the inner core 10B in the area R1 of the woven image M1 to the area of the mesh not covered by the wire 20 in the area to obtain the actual coverage rate K'.

In step S240, the controller 220 determines whether the actual coverage rate K' meets the target coverage rate K. When the actual coverage ratio K' does not meet the target coverage ratio K, the process proceeds to step S250; when the actual coverage ratio K' meets the target coverage ratio K, the process returns to step S210, and the braiding system 200 continues to drive the wire 20 to weave in the braiding simulation path P1 according to the braiding simulation path P1. At the next position along the extension direction s in the inner core 10B.

In one embodiment, when the error between the actual coverage rate K' and the target coverage rate K is greater than a predetermined error, the controller 220 determines that the actual coverage rate K' does not meet the target coverage rate K. Conversely, when the error between the actual coverage rate K' and the target coverage rate K is not greater than the preset error, the controller 220 determines that the actual coverage rate K' conforms to the target coverage rate K.

。由於覆蓋率與編織角度係一對一的對應關係，因此若實際覆蓋率K’未符合目標覆蓋率K，表示實際編織角度

也未符合目標編織角度

，對應地實際編織角度

需要加以調整，以儘可能地將實際編織角度

修正至對應的目標編織角度

。實際編織角度

未符合目標編織角度的原因可能是：機械手臂214實際施以的第一運轉參數S1與編織模擬路徑P1中對應的第一運轉參數S1的差異大於一誤差範圍且/或傳輸齒輪212實際施以的第二運轉參數S2與編織模擬路徑P1中對應的第二運轉參數S2的差異大於一誤差範圍。因此，只要取得目標覆蓋率

所對應的第一運轉參數S1及第二運轉參數S2，並據以控制驅動裝置210，便能即時動態修正不符預期的覆蓋率。 In step S250, the controller 220 obtains an actual braiding angle of the wires 20 according to the actual coverage ratio K'

. Since there is a one-to-one correspondence between the coverage ratio and the knitting angle, if the actual coverage ratio K' does not meet the target coverage ratio K, it means the actual knitting angle

Also does not meet the target weave angle

, corresponding to the actual weaving angle

need to be adjusted to match the actual braid angle as closely as possible

Corrected to the corresponding target weaving angle

. Actual weaving angle

The reason for not meeting the target knitting angle may be: the difference between the first operation parameter S1 actually applied by the robot arm 214 and the corresponding first operation parameter S1 in the knitting simulation path P1 is greater than an error range and/or the transmission gear 212 actually applies The difference between the second operation parameter S2 of , and the corresponding second operation parameter S2 in the knitting simulation path P1 is greater than an error range. Therefore, as long as the target coverage is achieved

The corresponding first operation parameter S1 and the second operation parameter S2 are controlled accordingly, and the driving device 210 can be controlled accordingly, so that the coverage ratio that does not meet the expectations can be dynamically corrected in real time.

，取得調整後之第一運轉參數S1及第二運轉參數S2。取得方法例如是，控制器220可查詢來自於編織路徑生成裝置100的編織模擬路徑P1中對應位置s1的第一運轉參數S1及第二運轉參數S2，並以所查之第一運轉參數S1及第二運轉參數S2分別做為調整後之第一運轉參數S1’及第二運轉參數S2’。 In step S260, the controller 220 according to the actual knitting angle

, and obtain the adjusted first operation parameter S1 and second operation parameter S2. The obtaining method is, for example, that the controller 220 can query the first operation parameter S1 and the second operation parameter S2 of the corresponding position s1 in the knitting simulation path P1 from the knitting path generation device 100, and use the checked first operation parameter S1 and the second operation parameter S2. The second operation parameter S2 is used as the adjusted first operation parameter S1' and the second operation parameter S2', respectively.

In step S270, the controller 220 drives the core 10B to move according to the adjusted first operating parameter S1'.

In step S280, the controller 220 drives the wires 20 to weave on the inner core 10B with the adjusted second operating parameter S2'.

Then, the process returns to step S230, and the knitting system 200 continues to monitor and dynamically correct the knitting abnormality of the core 10B in the actual knitting process.

To sum up, although the present disclosure has been disclosed above with embodiments, it is not intended to limit the present disclosure. Those with ordinary knowledge in the technical field to which the present disclosure pertains can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the scope of protection of the present disclosure should be determined by the scope of the appended patent application.

: 轉速

: 目標編織角度

: 實際編織角度 10A, 10A' : Kernel Model 10A1' : Bend 10B : Kernel 20 : Wire 100 : Braided Path Generation Device 110 : Kernel Model Receiver 120 : Path Generator 200 : Braided System 210 : Drive Device 211 : Outer Ring 212 : Transmission Gear 213: Spool 214: Robot Arm 220: Controller 230: Coverage Detector C: Number of Spools d: Wire Diameter D(s): Outer Diameter Information D1, D1' : First Outer Diameter D2, D2' : No. 1 2. Outer diameter N: Number of tows K: Target coverage K' : Actual coverage P1: Weaving simulation path S1: First operation parameter S2: Second operation parameter s: Extension direction s1: Position R1: Area S110~S140, S210~S280: Step V: Feed rate

: Rotating speed

: Target knitting angle

: Actual knitting angle

FIG. 1 is a schematic diagram of a knitting path generating apparatus according to an embodiment of the present disclosure. FIG. 2 is a partial schematic diagram of a braiding system using a wire process according to an embodiment of the present disclosure. FIG. 3 is a flowchart of a method for generating a knitting path of the knitting path generating device of FIG. 1 . FIG. 4 is a schematic diagram of a kernel model according to another embodiment of the present disclosure. FIG. 5 is a schematic diagram of a kernel model according to another embodiment of the present disclosure. FIG. 6 is a flow chart of the dynamic correction method of the knitting system of FIG. 2 .

S110~S140: Steps

Claims (12)

A knitting path generation method, comprising: receive a kernel model; obtain information on an outer diameter of the kernel model; obtaining a target braiding angle according to a target coverage and the outer diameter information of the kernel model; and According to the target knitting angle, a knitting simulation path is generated. The method for generating a knitting path according to claim 1, wherein in the step of obtaining the target knitting angle, the target knitting angle is completed according to the following formula:

; wherein, N is the number of a plurality of tows of a single wire, d is the wire diameter of each tow, C is the number of a plurality of spools of the braiding system, and each of the spools is wound with one of the wires,

For the target weaving angle, K is the target coverage, and D(s) is the outer diameter information of the kernel model as a function of s, where s is the extension direction of the kernel model. The weaving path generation method as claimed in claim 1, wherein the kernel model is a variable-section kernel model. A weaving dynamic correction method, comprising: driving a kernel to move with a first operating parameter according to a weaving simulation path; According to the weaving simulation path, a second operation parameter is used to drive a plurality of wires to weave on the core; obtaining an actual coverage of the wires braided on the core; Determine whether the actual coverage rate complies with a target coverage rate; When the actual coverage does not meet the target coverage, obtain an actual braiding angle of the wires according to the actual coverage; obtaining the adjusted first operation parameter and the second operation parameter according to the actual knitting angle; driving the core to move with the adjusted first operating parameter; and Using the adjusted second operating parameter, the wires are driven to be braided on the inner core. The dynamic correction method of claim 4, wherein the kernel is a variable section kernel. The dynamic correction method as described in claim 4, further comprising: capturing a braided image of the wires braided on the core; Wherein, the step of obtaining the actual coverage of the wires braided on the inner core includes: obtaining the actual coverage by analyzing the braided image. A weaving path generating device, comprising a kernel model receiver for: receiving a kernel model; A path generator to: obtain information on an outer diameter of the kernel model; obtaining a target braiding angle according to a target coverage and the outer diameter information of the kernel model; and According to the target knitting angle, a knitting simulation path is generated. The knitting path generating device according to claim 7, wherein the path generator is further configured to: obtain the target knitting angle according to the following formula;

; wherein, N is the number of a plurality of tows of a single wire, d is the wire diameter of each tow, C is the number of a plurality of spools of the braiding system, and each of the spools is wound with one of the wires,

For the target weaving angle, K is the target coverage, and D(s) is the outer diameter information of the kernel model as a function of s, where s is the extension direction of the kernel model. The weaving path generating apparatus of claim 7, wherein the kernel model is a variable-section kernel model. A braiding system comprising: a drive means for: driving a core motion with a first operating parameter according to a weaving simulation path; and According to the weaving simulation path, a second operation parameter is used to drive a plurality of wires to weave on the core; a controller to: obtaining an actual coverage of the wires braided on the core; Determine whether the actual coverage rate complies with a target coverage rate; When the actual coverage does not meet the target coverage, obtain an actual braiding angle of the wires according to the actual coverage; and obtaining the adjusted first operation parameter and the second operation parameter according to the actual knitting angle; Among them, the driving device is further used for: driving the inner core to move with the adjusted first operating parameter; and Using the adjusted second operating parameter, the wires are driven to be braided on the inner core. The braiding system of claim 10, wherein the core is a variable cross-section core. The weaving system as claimed in claim 10, further comprising: a coverage detector for: capturing a braided image of the wires braided on the core; Wherein, the controller is further used for obtaining the actual coverage by analyzing the woven image.

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