CN109576872B

CN109576872B - Operation method of three-dimensional automatic weaving equipment

Info

Publication number: CN109576872B
Application number: CN201811430626.0A
Authority: CN
Inventors: 李静; 李姗姗; 雷同宝
Original assignee: China Textile Academy
Current assignee: China Textile Academy
Priority date: 2018-11-28
Filing date: 2018-11-28
Publication date: 2020-07-31
Anticipated expiration: 2038-11-28
Also published as: CN109576872A

Abstract

The invention belongs to the field of operation methods of weaving equipment, and relates to an operation method of three-dimensional automatic weaving equipment, wherein the three-dimensional automatic weaving equipment comprises a plurality of yarn storages and a plurality of weaving stations, the weaving stations are arranged in an array mode, each weaving station comprises a main body section and a clamp section, the clamp sections are arranged on the main body section and can rotate relative to the axis of the main body section, each clamp section is provided with a plurality of clamps for clamping the yarn storages, and the yarn storages are arranged around the weaving stations and are opposite to the clamps; the three-dimensional automatic weaving equipment controls the clamp sections to extend out of at least one clamp to clamp the yarn storage device opposite to the clamp sections, the clamp sections rotate to drive the yarn storage device to rotate around the circumference of the yarn storage device for a certain angle and then stop, the clamp is retracted, and the three-dimensional automatic weaving equipment controls the plurality of clamp sections to sequentially repeat the process according to a weaving program, so that the yarns are interwoven to obtain the three-dimensional woven fabric. The invention clamps the yarn storage device through the clamps of the clamp sections and drives the yarn storage device to rotate relative to the main body section, thereby realizing the interweaving of yarns to obtain the three-dimensional woven fabric.

Description

Operation method of three-dimensional automatic weaving equipment

Technical Field

The invention belongs to the field of operation methods of weaving equipment, and particularly relates to an operation method of three-dimensional automatic weaving equipment.

Background

The three-dimensional knitting is a three-dimensional knitting forming process, and ropes, belts, nets, plates, pipes, special-shaped three-dimensional knitting and the like can be knitted by using high-performance fibers through the three-dimensional knitting process, the three-dimensional knitting has unique structure and function and has the characteristics of high strength, high modulus, high reliability, high pressure resistance, wear resistance, accurate and controllable elongation and the like, and automatic three-dimensional knitting equipment is a key for industrialization of a three-dimensional knitting technology.

Chinese patent publication nos. CN204644597U and CN1312408A, however, the disclosed three-dimensional automatic knitting machine is only suitable for knitting a certain specific, single-structure three-dimensional knitted fabric, and increases the equipment cost of three-dimensional knitting; the development and trial weaving of a new three-dimensional weaving process cannot be carried out, and the development of a three-dimensional weaving technology is not facilitated; the requirements of strong designability and structural diversification of a three-dimensional weaving process can not be met, the application of the three-dimensional weaving technology in the field of composite materials is limited, and three-dimensional automatic weaving equipment and a running mode matched with the equipment are designed, so that the requirement of fabric weaving is met and a problem to be solved urgently is solved.

The present invention has been made in view of this situation.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a running method of three-dimensional automatic weaving equipment, the three-dimensional automatic weaving equipment comprises a clamp section which can rotate relative to a main body section, a clamp which can clamp a yarn storage device is arranged on the clamp section, the yarn storage device is clamped by the clamp of the clamp section, the clamp section rotates to drive the yarn storage device to rotate relative to the main body section, the clamp retracts, the yarn storage device is prevented from moving, the three-dimensional automatic weaving equipment controls a plurality of clamp sections to repeat the processes in sequence according to a weaving program, and the yarns are interwoven to obtain a three-dimensional woven fabric.

In order to solve the technical problems, the invention adopts the technical scheme that:

a running method of three-dimensional automatic knitting equipment comprises a plurality of yarn storages and a plurality of knitting stations, wherein the knitting stations are arranged in an array mode and comprise a main body section and clamp sections, the clamp sections are arranged on the main body section and can rotate relative to the axis of the main body section, a plurality of clamps used for clamping the yarn storages are arranged on each clamp section, and the yarn storages are arranged around the knitting stations and are opposite to the clamps;

the three-dimensional automatic weaving equipment controls the clamp section to extend out of at least one clamp to clamp the yarn storage device opposite to the clamp section, the clamp section rotates to drive the yarn storage device to rotate around the circumference by a certain angle and then stops, the clamp retracts, the three-dimensional automatic weaving equipment controls the plurality of clamp sections to sequentially repeat the process according to a weaving program, and the yarns are interwoven to obtain the three-dimensional woven fabric.

The three-dimensional automatic weaving equipment controls the clamps of two adjacent clamp sections to sequentially clamp the same yarn storage device and respectively rotate around the circumferential direction of each weaving station, so that the yarn storage device is transferred between the two weaving stations;

preferably, the three-dimensional automatic weaving equipment controls one clamp section to extend out of the clamp clamping yarn storage device and stop after rotating for a certain angle, and the clamp retracts; controlling another adjacent clamp section to extend out of the clamp to clamp the yarn storage device and stop after rotating for a certain angle, and retracting the clamp to realize the transmission of the yarn storage device between two weaving stations;

preferably, the rotation angle is n × 90 ° (n is an integer, n ═ 4 to + 4).

The three-dimensional automatic weaving equipment also comprises an annular track surrounding each weaving station, the yarn storage device is arranged in the annular track and can move along the annular track, a shared nest is formed at the tangent position of two adjacent annular tracks,

the three-dimensional automatic weaving equipment controls one clamp section to extend out of the clamp to clamp the yarn storage device and stop after rotating to the sharing nest, the clamp retracts, controls the other clamp section of the sharing nest to extend out of the clamp to clamp the yarn storage device and stop after rotating for a certain angle, and the clamp retracts to realize the transmission of the yarn storage device between two weaving stations;

preferably, the transfer of the yarn store between the two knitting stations comprises the following steps:

(1) one weaving station moves the yarn storage device to a shared nest of two adjacent weaving stations;

(2) the clamp of the weaving station retracts to complete the action of the yarn delivering and storing device;

(3) the clips on the adjacent weaving stations extend out to clamp the yarn storage devices in the sharing nest;

(4) the adjacent weaving stations rotate to drive the yarn storage device clamped by the clamp to move around the circumferential direction of the weaving stations;

(5) when the yarn storage device reaches the designated position, the clamp is retracted, and the movement of the yarn storage device between the adjacent weaving stations is completed.

The three-dimensional automatic weaving equipment controls the clamps of the same clamp section to clamp the same yarn storage device in sequence and stop after moving for a certain angle around the weaving station in the circumferential direction, and the clamps are retracted to realize the movement of the yarn storage device on the same weaving station;

preferably, the three-dimensional automatic weaving equipment controls the clamp sections to extend out of the clamps to clamp the yarn storage devices and then retract the clamps after moving for a certain angle along the annular track, and then controls the clamp sections to extend out of the same clamp or the other clamp to clamp the same yarn storage device and move for a certain angle along the same annular track, so that the yarn storage devices move on the same weaving station;

more preferably, the method comprises the following steps:

(1) the clamp of one clamp section clamps the yarn storage device and moves to a designated position;

(2) the clamps of the same clamp section extend out to clamp the yarn storage device;

(3) the clamp section rotates to drive the yarn storage device clamped by the clamp to move around the circumferential direction of the weaving station;

(4) when the yarn storage device reaches the designated position, the clamp is retracted, and the movement of the yarn storage device on the same knitting station is completed.

The three-dimensional automatic weaving equipment also comprises a rotary positioning system, the rotary positioning system detects the rotation angle of the clamp section and positions the position of the clamp section, and the three-dimensional automatic weaving equipment controls the clamp section to stop according to the detection and positioning results of the rotary positioning system.

The rotary positioning system comprises a rotary coded disc and a rotary positioning sensor, the rotary coded disc comprises a circular positioning coded disc, the positioning coded disc and the clip section are coaxially arranged and rotate at the same angle, a positioning hole is arranged on the positioning coded disc, the rotary positioning sensor comprises a positioning sensor,

and the three-dimensional automatic weaving equipment judges whether the clamp section rotates to a specified position according to whether the positioning sensor detects the positioning hole, and if so, the clamp section is controlled to stop rotating.

The rotary coded disc also comprises a ring-shaped counting coded disc which is coaxially arranged with the clip section and rotates at the same angle, a plurality of counting holes which are uniformly distributed along the circumferential direction are arranged on the counting coded disc, the rotary positioning sensor also comprises a counting sensor,

the counting sensor detects the number of counting holes passing through the detection end of the counting code disc in the rotating process, the three-dimensional automatic weaving equipment judges whether the clamp section rotates to a preset angle or not according to the number of counting holes detected by the counting sensor, and if so, the weaving station is controlled to decelerate;

preferably, the preset angle is smaller than the angle swept by the yarn storage from the initial position to the specified position.

The three-dimensional automatic weaving equipment judges whether the number of counting holes detected by the counting sensor is equal to a preset value or not, if so, the clamp section is judged to rotate to a preset angle, the speed of the weaving station is controlled, and then whether the clamp section rotates to a specified position or not is judged according to whether the positioning holes are detected by the positioning sensor or not, and if so, the clamp section is controlled to stop rotating;

preferably, the preset value is smaller than the number of counting holes swept by the yarn storage device when the yarn storage device rotates from the initial position to the specified position.

The three-dimensional automatic weaving equipment further comprises a yarn breakage detection system for detecting yarn breakage, and the three-dimensional automatic weaving equipment judges whether the yarn on the yarn storage device is broken according to the detection result of the yarn breakage detection system.

The broken yarn detection system comprises a broken yarn detection piece, and the broken yarn detection piece is arranged on the yarns of the yarn storage device;

a proximity sensor arranged on the knitting station, wherein the broken yarn detection piece is positioned in the detection range of the proximity sensor when the yarn is broken,

the proximity sensor detects whether the broken yarn detection piece is in the sensing area of the proximity sensor, and the three-dimensional automatic weaving equipment judges whether the yarn is broken according to the detection result of the proximity sensor.

After adopting the technical scheme, compared with the prior art, the invention has the following beneficial effects:

1. the three-dimensional automatic weaving equipment comprises a clamp section which can rotate relative to a main body section, a clamp which can clamp a yarn storage device is arranged on the clamp section, the yarn storage device is clamped by the clamp of the clamp section, and the clamp section rotates to drive the yarn storage device to rotate relative to the main body section by a certain angle and then retracts to avoid blocking the movement of the yarn storage device; 2. the three-dimensional automatic weaving equipment controls the clamps of two adjacent clamp sections to sequentially clamp the same yarn storage device and respectively rotate around the circumferential direction of each weaving station, so that the yarn storage device is transferred between the two weaving stations, and the fabric is extended in the transverse direction and the longitudinal direction; 3. the three-dimensional automatic weaving equipment controls the clamps of the same clamp section to clamp the same yarn storage device in sequence and stop after moving for a certain angle around the weaving station in the circumferential direction, and the clamps are retracted to realize the movement of the yarn storage device on the same weaving station and the interweaving of yarns; 4. by arranging the positioning code disc and the positioning sensor, the three-dimensional automatic knitting equipment adopts the positioning sensor to detect the positioning code disc to control the yarn storage device to stop, so that the stop position of the yarn storage device is more accurate; 5. through setting up count code wheel and count sensor, three-dimensional automatic equipment of weaving adopts count sensor to calculate the count code wheel and rotates the quantity of the count hole that the in-process rotated, stores up the yarn ware speed reduction according to the quantity control in count hole, reduces because the rocking that the too big brought of yarn ware velocity of motion of storing up, makes and stores up yarn ware steady stop.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic structural diagram of a three-dimensional automatic knitting apparatus according to an embodiment of the present invention;

FIG. 2 is a front view of a yarn storage device in an embodiment of the present invention;

FIG. 3 is a side view of a yarn storage device in an embodiment of the present invention;

FIG. 4 is a rear view of a yarn storage in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a three-dimensional automatic knitting device in an embodiment of the present invention when a yarn break occurs;

FIG. 6 is a schematic diagram of a proximity sensor in an embodiment of the present invention;

FIG. 7 is a schematic diagram of the distribution of proximity sensors in an embodiment of the present invention;

FIG. 8 is a schematic view of the distribution of proximity sensors in another embodiment of the present invention;

FIG. 9 is a schematic view of the distribution of proximity sensors in yet another embodiment of the present invention;

FIG. 10 is a schematic diagram of a rotational positioning system in accordance with an embodiment of the present invention;

FIG. 11 is a schematic diagram of the internal structure of a rotational positioning system in an embodiment of the present invention;

FIG. 12 is a structural schematic diagram of a positioning code wheel in an embodiment of the invention;

FIG. 13 is a schematic diagram of a count code disk according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of a rotary position sensor in an embodiment of the present invention;

FIG. 15 is a schematic diagram of a distribution of rotational positioning sensors in an embodiment of the invention;

FIG. 16 is a schematic view of the distribution of rotational position sensors in another embodiment of the present invention;

FIG. 17 is a schematic view of a rotational position sensor arrangement according to yet another embodiment of the present invention;

FIG. 18 is a schematic structural view of a knitting station in an embodiment of the present invention;

FIG. 19 is a schematic diagram of a clamp segment according to an embodiment of the present invention

Fig. 20 is a flow chart of the method of operation of the three-dimensional automatic knitting machine of the present invention.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

Example one

As shown in fig. 1, the present embodiment describes a three-dimensional automated knitting apparatus 1000, the three-dimensional automated knitting apparatus 1000 including a frame 900, a plurality of yarn stores 100, and a plurality of knitting stations 800, the knitting stations 800 being disposed within a hollow interior of the frame 900 and organized in an array within the frame 900. During knitting, the knitting station 800 rotates circumferentially around the axis of the knitting station 800, and each yarn storage 100 moves on the end surface of the frame 900 near the knitting surface around the periphery of the knitting station 800 under the clamping action of the knitting station 800, so that the yarns carried by each yarn storage 100 are knitted with each other to form a three-dimensional knit at the knitting surface.

In this embodiment, a supporting plate 901 is disposed at one end of the frame 900 close to the knitting surface, the supporting plate 901 is used for supporting the yarn storage device 100, the supporting plate 901 is perpendicular to the axis of the knitting station 800, and the yarn storage device 100 is placed at one end of the supporting plate 901 close to the knitting surface.

In this embodiment, one end of each knitting station 800 close to the knitting surface is provided with a track disc 200, the track discs 200 and the knitting stations 800 are coaxially arranged, the supporting plate 901 is provided with circular hollowed-out portions 903 equal to the number of the track discs 200, the track discs 200 are placed in the hollowed-out portions 903, the diameter of the hollowed-out portions 903 is larger than that of the track discs 200 to form an annular track 904, and the yarn storage device 100 moves around the periphery of the track discs 200 in the annular track 904.

In this embodiment, the track disc 200 is shaped like a circular cake and is coaxially disposed with the hollow portion 903, and the track disc 200 is disposed flush with the support disc 901.

In this embodiment, adjacent hollows 903 are arranged in an intersecting manner, the intersecting positions form shared nests of adjacent knitting stations 800, each knitting station 800 is provided with 4 shared nests which are spaced at 90 ° angles around the axis of the knitting station 800 and are common to the adjacent knitting stations 800, and the yarn storage 100 moves onto the adjacent endless track 904 through the shared nests and then moves circumferentially around the track disc 200 of the adjacent knitting station 800.

Example two

As shown in fig. 1, in the present embodiment, the yarn storage device 100 includes a base plate column 107 and a base 101, the base 101 and the base plate column 107 both extend along an axial direction of the knitting station 800, the base plate column 107 is disposed at an end of the yarn storage device 100 far away from the knitting surface, the base 101 is disposed at an end of the yarn storage device 100 far away from the knitting surface, the base plate column 107 and the base 101 are fixedly disposed, a diameter of the base 101 is much larger than a diameter of the base plate column 107, and the base plate column 107 and the base 101 are coaxially disposed.

In this embodiment, the base 101 rests on the support plate 901, the base disc column 107 extends into the frame 900 through the circular track 904, and the knitting station 800 grips the base disc column 107 and rotates circumferentially to drive the yarn storage 100 to move around the periphery of the track disc 200 within the circular track 904.

In this embodiment, the knitting station 800 includes a clamp section 801, the clamp section 801 is disposed on a side of the rail disc 200 away from the knitting surface and can rotate circumferentially around an axis of the knitting station 800, a clamp 8011 is disposed on the clamp section 801, and the clamp 8011 clamps the base disc seat 107 to drive the yarn storage device 100 to move around the outer periphery of the rail disc 200 in the annular rail 904.

In this embodiment, the three-dimensional automatic knitting apparatus 1000 further includes a motor 902, and the motor 902 is used for driving the knitting station 800 to rotate clockwise and counterclockwise in the circumferential direction.

In the three-dimensional weaving process, the process of driving the yarn storage device by the weaving station is as follows:

(1) driving a clamp of a certain weaving station to move to the position of a designated yarn storage device;

(2) the clamp extends out to clamp the base plate column of the yarn storage device;

(3) the weaving station rotates, the clamp rotates along with the weaving station, and the yarn storage device clamped by the clamp is driven to rotate;

(4) when the yarn storage device reaches the designated position, the clamp is retracted, and the movement of the yarn storage device is completed.

EXAMPLE III

As shown in fig. 2 to 4, the present embodiment describes a large-capacity yarn storage 100 for a three-dimensional knitting apparatus 1000, the large-capacity yarn storage 100 includes a yarn storage tube 108, a yarn transfer unit 500, and a tension adjusting unit 600, the yarn transfer unit 500 is used for transferring the yarn on the yarn storage tube 100 from the yarn storage tube 100 to a knitting surface, and the tension adjusting unit 600 is used for adjusting the tension of the yarn during the yarn transfer process, so that the yarn is unwound under tension. By providing a yarn transfer unit and a tension adjustment unit,

in this embodiment, the yarn transfer unit 500 includes an upper yarn passing wheel 104 and a lower yarn passing wheel 105, the upper yarn passing wheel 104 is disposed at one end of the yarn storage 100 close to the knitting surface, the lower yarn passing wheel 105 is disposed at one end of the yarn storage 100 far from the knitting surface, and the yarn is transferred from the yarn storage tube 108 to the knitting surface through the upper yarn passing wheel 104 and the lower yarn passing wheel 105.

In this embodiment, the yarn storage device 100 further includes a base 101 for fixedly mounting the yarn storage tube 108, the yarn transmission unit 500 and the tension adjustment unit 600, the base 101 extends towards two ends along the axial direction of the yarn storage device 100, the interior of the base 101 is hollow to form a hollow interior 110, the yarn storage tube 108 is disposed in the hollow interior 110 of the base 101 and is coaxial with the base 101, the upper yarn passing wheel 104 is disposed at one end, close to the weaving surface, of the hollow interior 110 of the base 101, and the lower yarn passing wheel 105 is disposed at one end, far away from the weaving surface, of the hollow interior 110 of the base 101.

In this embodiment, the base 101 is cylindrical, the hollow interior 110 of the base 101 penetrates through the first side 111 and the corresponding second side of the base 101 and is communicated with the external space of the yarn storage 100 to form a penetrating part 1111 on the first side 111, the penetrating part 1111 is a rectangular bent smooth curved surface, and the upper yarn guide wheel 104 is arranged on the penetrating part 1111 on the first side 111 of the base 101 and is located at one end close to the knitting surface; the lower wire guide wheel 105 is disposed on the penetrating portion 1111 of the first side surface 111 of the base 101.

In this embodiment, an upper yarn passing wheel fixing block 1041 is fixedly disposed at one end of the hollow interior 110 of the base 101, which is close to the weaving surface, one end of the upper yarn passing wheel fixing block 1041 is fixedly connected with one end of the hollow interior 110 of the base 101, which is close to the weaving surface, the other end of the upper yarn passing wheel fixing block 1041 extends towards one end far away from the weaving surface along the axial direction of the base 101, and the upper yarn passing wheel 104 is mounted on one side of the upper yarn passing wheel fixing block 1041, which faces the outside of the yarn storage 100, so as.

In this embodiment, a slider 1051 and a slider linear bearing 106 matching with the slider 1-51 are fixedly disposed at one end of the hollow interior 110 of the base 101, which is far from the woven surface, the slider 1051 and the slider linear bearing 106 are both disposed on the penetrating portion 1111 of the first side 111 of the base 101, and both extend along the circumferential direction of the base 101 and are in smooth transition with the part which is not penetrated on the first side surface of the base 101, a slide block 1051 is fixedly connected with one end of a slide block linear bearing 106 close to the weaving surface, a lower wire guide wheel 104 is arranged on the slide block 1051, a lower wire guide wheel 105 can slide towards one end of the weaving surface under the action of yarn tension, because the lower thread guide wheel 105, the sliding block 1051 and the sliding block linear bearing 106 are fixedly connected with each other, when the lower thread guide wheel 105 slides towards one end of the weaving surface under the action of yarn tension, the slider 1051 and the slider linear bearing 106 also slide together toward one end of the woven surface.

Example four

As shown in fig. 2 to 4, in the present embodiment, the yarn transfer unit 500 includes a plurality of upper yarn guide wheels 104 and a plurality of lower yarn guide wheels 105, each upper yarn guide wheel 104 is distributed at intervals along the circumferential direction of the base 101 at an end of the hollow interior 110 of the base 101 close to the knitting surface, each lower yarn guide wheel 105 is distributed at intervals along the circumferential direction of the base 101 at an end of the hollow interior 110 of the base 101 far from the knitting surface, and projections of each upper yarn guide wheel 104 and each lower yarn guide wheel 105 on the central axis surface are arranged at intervals in a staggered manner.

In this embodiment, the upper wire guide wheels 104 are distributed at intervals along the circumferential direction of the base 101 on the penetrating portion 1111 of the first side surface 111 of the base 101, and the upper wire guide wheels 104 are located on the same radial surface and located on the same smooth curved surface as the non-penetrating portion of the first side surface 111.

In this embodiment, the lower wire guide wheels 105 are distributed at intervals along the circumferential direction of the base 101 on the penetrating portions 1111 of the first side surface 111 of the base 101, and the lower wire guide wheels 105 are located on the same radial surface and located on the same smooth curved surface as the non-penetrating portions of the first side surface 111.

In this embodiment, the yarn passes from the yarn storage tube 108 to each of the upper and lower

yarn guide wheels

104 and 105, where the yarn forms a serpentine pattern.

EXAMPLE five

As shown in fig. 5 to 6, the present embodiment describes a thread breakage detecting system 300 for a three-dimensional automatic knitting apparatus 1000, the thread breakage detecting system 300 includes a thread breakage detecting piece 301 and a proximity sensor 302, the thread breakage detecting piece 301 is disposed on a yarn storage 100 of the three-dimensional automatic knitting apparatus 1000, and the proximity sensor 302 is disposed on a track plate 200 of the three-dimensional automatic knitting apparatus 1000; during the knitting process, the broken yarn detecting piece 301 leaves the sensing area of the proximity sensor 302 under the action of the yarn, when the yarn storage device 100 is broken, the broken yarn detecting piece 301 falls into the sensing area of the proximity sensor 302, the proximity sensor 302 senses the broken yarn detecting piece 301, and the three-dimensional automatic knitting device 1000 is judged to be broken. The three-dimensional automatic weaving equipment can realize the real-time broken yarn detection function by arranging the broken yarn detection system on the three-dimensional automatic weaving equipment, and in the weaving process, as long as any yarn storage device has the broken yarn condition, the broken yarn detection system can detect the broken yarn condition, so that the automatic three-dimensional weaving equipment can stop running and give an alarm.

In this embodiment, in the knitting process, the yarn storage 100 can move along the periphery of the track disc 200 under the action of the motor, and meanwhile, the broken yarn detection piece 301 can be lifted to one side of the knitting surface along the axial direction of the yarn storage 100 under the action of the yarn, and the broken yarn detection piece 301 and the proximity sensor 302 are located on the same side of the track disc 302; in the normal weaving process, the broken yarn detection piece 301 is lifted to one side of the weaving surface under the action of the yarn and completely leaves the sensing area of the proximity sensor 302, at the moment, the proximity sensor 302 cannot detect the broken yarn detection piece 301, and the three-dimensional automatic weaving equipment 1000 normally runs; when the yarn storage device 100 is broken, the broken yarn detection sheet 301 falls back to the original position under the action of self gravity and falls into the sensing area of the proximity sensor 302, and at the moment, the proximity sensor 302 senses the broken yarn detection sheet 301 and judges that the three-dimensional automatic knitting equipment 1000 is broken.

In this embodiment, the yarn storage device 100 includes a base 101 and a base lower disc 103, the base 101 extends to two ends along the axial direction of the yarn storage device 100, and is hollow to form a supporting framework of the yarn storage device 100, so as to fix the yarn storage tube 108, the upper yarn passing wheel 104, the lower yarn passing wheel 105, and the like of the yarn storage device 100, the base lower disc 103 is disposed on one side of the base 101, which is far away from the weaving surface, the base disc column 107 vertically passes through the base lower disc 103, and one end of the end portion of the base 101, which is far away from the weaving surface, is fixedly connected to fix the base lower disc 103.

In this embodiment, the track disc 200 is partially clamped between the base 101 and the base lower disc 103, the yarn storage device 100 can rotate around the periphery of the track disc 200, the broken yarn detection sheet 301 is arranged inside the base 101 of the yarn storage device 100 and located at one end of the base 101 far away from the weaving surface, and the proximity sensor 302 is arranged in an unclamped area of the track disc 200 and located at one end of the track disc 200 close to the weaving surface.

In this embodiment, a base plate 102 is arranged at one end of the base plate 101, which is far away from the weaving surface, the base plate 102 is used for supporting and fixing the base plate 101, the base plate 102 and the base plate 101 are fixedly connected and coaxially arranged, the base plate 101 is in a hollow cylindrical shape, the base plate 102, the base lower plate 103 and the track plate 200 are all in a circular cake shape, the diameters of the base plate 101 and the base plate 102 are equal, the base plate 101, the base plate 102, the track plate 200 and the base lower plate 103 are arranged in parallel, the base plate 101 and the base lower plate 103 are respectively arranged at two sides of the base plate 102, the base plate column 107 vertically penetrates through the center of the base lower plate 103 and is fixed with one end of the base plate 102, which is far away from the weaving surface, and one end of the base plate 102, which is; the rail plate 200 is partially sandwiched between the base plate 102 and the base lower plate 103.

EXAMPLE six

As shown in fig. 5 to 6, in this embodiment, the yarn storage 100 further includes an upper yarn passing wheel 104 and a lower yarn passing wheel 105, the upper yarn passing wheel 104 and the lower yarn passing wheel 105 are used for transmitting the yarn in the yarn storage 100 to the knitting surface under the driving of the motor 109, both the upper yarn passing wheel 104 and the lower yarn passing wheel 105 are disposed inside the hollow portion of the base 101, the upper yarn passing wheel 104 is disposed inside the base 101 at an end close to the knitting surface, the lower yarn passing wheel 105 is disposed inside the base 101 at an end far from the knitting surface, and the yarn is respectively wound on each upper yarn passing wheel 104 and each lower yarn passing wheel 105 in a wavy manner, so that the yarn can be unwound under the action of tension.

In this embodiment, the thread breakage detecting piece 301 is disposed inside the hollow portion of the base 101 and located at one end of the base 101 far from the knitting surface, and is located at one side of the upper thread passing wheel 104 far from the knitting surface, the lower thread passing wheel 105 is fixed at one end of the thread breakage detecting piece 301 close to the knitting surface, the lower thread passing wheel 301 is disposed at one end of the thread breakage detecting piece 301 close to the knitting surface, and one end correspondingly far from the knitting surface contacts with the inside of the base 101; in the normal knitting process, the breakage detecting piece 301 is lifted up to the upper yarn passing wheel 104 side, that is, to the knitting surface side along the axial direction of the yarn storage by the yarn wound around the upper yarn passing wheel 104 and the lower yarn passing wheel 105 in this order.

In this embodiment, the wire breakage detecting piece 301, the upper wire passing wheel 104, and the lower wire passing wheel 105 are all located on the peripheral curved surface of the base 101, smoothly transition with the peripheral curved surface of the base 101, and extend along the circumferential direction of the base 101.

In this embodiment, the yarn breakage detecting piece 301 and the upper yarn guide wheel 104 may be disposed on different sides of the outer peripheral curved surface of the base 101, and preferably, the yarn breakage detecting piece 301, the upper yarn guide wheel 104 and the lower yarn guide wheel 105 are disposed coaxially, and the axis thereof is parallel to the axis of the yarn storage 1000.

In this embodiment, one end of the broken line detection piece 301 close to the weaving surface is provided with a slider linear bearing 106 for fixedly mounting the lower wire passing wheel 105, one end of the slider linear bearing 106 far away from the weaving surface is fixedly connected with the broken line detection piece 301, and the end corresponding to the end close to the weaving surface is fixedly connected with the lower wire passing wheel 105; the broken line detection piece 301, the slider linear bearing 106, the upper wire passing wheel 104 and the lower wire passing wheel 105 are all positioned on the peripheral curved surface of the base 101 and extend along the circumferential direction of the base 101; preferably, the thread breakage detecting piece 301, the slider linear bearing 106, the upper thread guiding wheel 104 and the lower thread guiding wheel 105 are coaxially arranged, and the axis of the thread breakage detecting piece is parallel to the axis of the yarn storage 1000.

EXAMPLE seven

As shown in fig. 5 to 6, in the present embodiment, the proximity sensor 302 is disposed in the unclamped region of the track plate 200, one end of the proximity sensor 302 is fixedly connected to the track plate 200, the other end extends toward the weaving surface side in the direction perpendicular to the track plate 200, the proximity sensor 302 is provided with a working surface 3021 for detecting the disconnection detecting piece 301 toward one end of the disconnection detecting piece 301, and the working surface 3021 is disposed perpendicular to the track plate 200.

In this embodiment, one end of the working surface 3021, which is away from the knitting surface, is flush with one end of the broken line detection sheet 301, which is away from the knitting surface, and the linear distance between the working surface 3021 and the broken line detection sheet 301 is within the sensing range of the working surface 3021; during the normal knitting process, the broken thread detection piece 301 is lifted towards one side of the knitting surface under the action of the yarn, and one end, far away from the knitting surface, of the broken thread detection piece 301 is higher than one end, close to the knitting surface, of the working surface 3021.

In this embodiment, a plurality of proximity sensors 302 are disposed on the track disk 200, and each proximity sensor 302 is disposed around the periphery of the track disk 200 and symmetrically disposed about the center of the track disk 200.

In this embodiment, the track disc 200 is further provided with a proximity sensor seat, the proximity sensor seat is fixedly connected with the track disc 200 through a screw structure, and the proximity sensor 200 is mounted on the proximity sensor seat and fixedly connected with the proximity sensor seat through a screw structure, so that the proximity sensor 200 is fixed on the track disc 200.

Example eight

As shown in fig. 7, in the present embodiment, two proximity sensors 302 are disposed on the track disk 200, and the two proximity sensors 302 are disposed on the same diameter of the track disk 200 and are symmetrical with respect to the center of the track disk 200.

Example nine

As shown in fig. 8, in the present embodiment, three proximity sensors 302 are disposed on the track disk 200, and the intervals between the proximity sensors 302 are 120 ° and are symmetrical with respect to the center of the track disk 200.

Example ten

As shown in fig. 9, in the present embodiment, four proximity sensors 302 are disposed on the track disk 200, and the sensors 302 are disposed at an interval of 90 ° and are symmetrical with respect to the center of the track disk 200.

EXAMPLE eleven

As shown in fig. 5 to 9, in the present embodiment, during normal knitting, the broken yarn detecting piece 301 is lifted toward the knitting surface side by the yarn, an end of the broken yarn detecting piece 301 away from the knitting surface is higher than an end of the working surface 3021 close to the knitting surface of the proximity sensor 302, the broken yarn detecting piece 301 is away from the sensing area of the proximity sensor 302, the proximity sensor 302 does not detect the broken yarn detecting piece 301, and the three-dimensional automatic knitting apparatus 1000 normally operates.

In this embodiment, when the yarn storage device 100 breaks, the yarn breakage detection piece 301 falls back to the original position under the action of its own gravity and falls into the sensing area of the proximity sensor 302, one end of the yarn breakage detection piece 301, which is far away from the knitting surface, is flush with one end of the knitting surface, which is far away from the working surface 3021 of the proximity sensor 302, the proximity sensor 302 senses the yarn breakage detection piece 301 and generates a yarn breakage signal, the single chip microcomputer of the three-dimensional automatic knitting device 1000 collects the yarn breakage signal and sends the yarn breakage signal to the upper computer of the three-dimensional automatic knitting device 1000, the upper computer stops sending the knitting instruction and sends an alarm to prompt the three-dimensional automatic knitting device 1000 to break the yarn.

Example twelve

As shown in fig. 10 to 14, the present embodiment describes a rotational positioning system 700 for a three-dimensional automatic knitting apparatus, the rotational positioning system 700 includes a rotary encoder 705 and a rotary positioning sensor 706, the rotary encoder 705 is circumferentially and rotatably disposed on a knitting station of the three-dimensional automatic knitting apparatus, the rotary positioning sensor 706 is fixedly disposed on the knitting station of the three-dimensional automatic knitting apparatus, during knitting, the rotary encoder 705 rotates circumferentially around an axis of the knitting station together with the knitting station, the rotary positioning sensor 706 detects an angle of rotation of the rotary encoder 705 to determine a knitting station rotation angle, and when the rotary positioning sensor 706 detects the set rotation angle, the three-dimensional automatic knitting apparatus controls the knitting station to stop rotating.

In this embodiment, the rotary encoder 705 is provided with an opening, and the rotary position sensor 706 detects the opening to determine the angle of rotation of the rotary encoder 705 during the rotation of the rotary encoder around the axis of the knitting station, so as to control the knitting station and the rotary encoder 705 to stop rotating. The rotational position sensor 706 may be a photoelectric sensor or other sensor capable of detecting an opening.

EXAMPLE thirteen

As shown in fig. 10 to 14, in the present embodiment, the rotary encoder 705 includes a ring-shaped positioning encoder 7051, the positioning encoder 7051 is disposed coaxially with the knitting station, the rotary positioning sensor 706 includes a positioning sensor 7061, a positioning hole 7054 is disposed on the positioning encoder 7051, the positioning encoder 7051 rotates circumferentially around the axis of the positioning encoder 7051 together with the knitting station during the knitting process, and the three-dimensional automatic knitting apparatus controls the knitting station to stop rotating when the positioning sensor 7061 detects the positioning hole 7054 of the positioning encoder 7051.

In this embodiment, the positioning sensor 7061 is disposed inside the positioning code wheel 7051, two positioning operating portions 7065 are disposed on the positioning sensor 7061, the two positioning operating portions 7065 are disposed opposite to each other in the vertical direction, the positioning code wheel 7051 is disposed in the vertical gap between the two positioning operating portions 7065, and the two positioning operating portions 7065 are engaged with each other to detect the positioning hole 7054 on the positioning code wheel 7051. When the positioning sensor 7061 detects the positioning hole 7054, the positioning sensor 7061 judges that the knitting station rotates in place, and the three-dimensional automatic knitting equipment controls the knitting station to stop rotating.

In this embodiment, the positioning sensor 7061 is a horizontally disposed U-shaped structure, the opening of the U-shaped positioning sensor 7061 faces the positioning code wheel 7051 horizontally, the two positioning operating portions 7065 are both disposed at the opening end of the U-shaped positioning sensor 7061, the two positioning operating portions 7065 are disposed opposite to each other vertically, an upper gap and a lower gap between the two positioning operating portions 7065 form the opening of the U-shaped positioning sensor 7061, and the positioning code wheel 7051 is disposed in the opening of the U-shaped positioning sensor 7061.

In the embodiment, the length range of the positioning hole 7054 on the positioning code wheel 7051 is 1-4mm, and the width range is 0.5-2 mm.

In this embodiment, the rotational positioning system 700 further includes a detecting bottom plate 704 and a code wheel spacer 702 for fixedly mounting the positioning code wheel 7051 and the positioning sensor 7061, the detecting bottom plate 704 is disposed perpendicular to the axis of the knitting station, the code wheel spacer 702 is cylindrical, the code wheel spacer 702 is hollow and the hollow interior thereof penetrates through the upper and lower side surfaces of the code wheel spacer 702, the code wheel spacer 702 is disposed coaxially with the knitting station and above the detecting bottom plate 704, the positioning code wheel 7051 is disposed in the hollow interior of the code wheel spacer 702, the positioning code wheel 7051 is fixedly connected to the code wheel spacer 702 and coaxially with the code wheel spacer 702, and the bottom of the positioning sensor 7061 is fixedly connected to the detecting bottom plate 704.

In this embodiment, the detection bottom plate 704 is provided with a positioning sensor base 7063, and the positioning sensor base 7063 is respectively and fixedly connected with the detection bottom plate and the positioning sensor 7061, so that the positioning sensor 7063 is fixed on the detection bottom plate 704.

In this embodiment, the axes of the weaving stations are in a vertical orientation with the probe base 704 lying horizontally.

In this embodiment, a code wheel support lower ring 703 with the same diameter is arranged below the code wheel isolation ring 702, the code wheel support lower ring 703 is in a ring shape and is coaxially connected with the code wheel isolation ring 702, and the lower end of the code wheel support lower ring 703 is placed on the detection bottom plate 704.

In the embodiment, a coded disc support upper cover 701 with the same diameter is arranged above the coded disc isolating ring 702, the lower end of the coded disc support upper cover 701 is coaxially connected with the coded disc isolating ring 702, a coded disc support 7053 is further arranged inside the coded disc isolating ring 702, and the coded disc support 7053 is fixedly connected with the inner periphery of the coded disc isolating ring 702 and the positioning coded disc 7051 respectively.

In this embodiment, the upper cover 701 of the code wheel bracket and the detecting bottom plate 704 are respectively provided with a corresponding through hole for installing a rotating shaft, the through holes and the weaving station are coaxially arranged, and the rotating shaft rotates to drive the upper cover 701 of the code wheel bracket, the code wheel isolating ring 702, the lower ring 703 of the code wheel bracket and the positioning code wheel 7051 to rotate together.

Example fourteen

As shown in fig. 10 to 14, in this embodiment, the rotary code disc 705 further includes a circular ring-shaped counting code disc 7052, the rotary positioning sensor 706 further includes a counting sensor 7062, and a plurality of counting holes 7055 uniformly distributed along the circumferential direction are provided on the counting code disc 7052. During weaving, the counting code discs 7052 rotate circumferentially around the axis of the weaving station along with the weaving station, and when the counting sensor 7062 detects a set number of counting holes 7055 of the counting code discs 7052, the three-dimensional automatic weaving equipment controls the rotation speed of the weaving station to be reduced.

In this embodiment, the count sensor 7062 is arranged on the inner side of the count code disc 7052, two count working parts 7066 are arranged on the count sensor 7062, the two count working parts 7066 are arranged up and down relatively, the count code disc 7052 is arranged in an upper gap and a lower gap of the two count working parts 7066, and the two count working parts 7066 are mutually matched to detect the number of the count holes 7055 on the count code disc 7052. When the count sensor 7062 detects the set number of count holes 7055, the count sensor 7062 determines that the knitting station rotates by a specified angle, and the three-dimensional automatic knitting apparatus controls the knitting station to decrease in rotation speed.

In this embodiment, the count sensor 7062 is the U type structure of horizontal placement, the opening level of U type count sensor 7062 is towards count code disc 7052, two count work portions 7066 all set up the open end at U type count sensor 7062, two count work portions 7066 set up relatively from top to bottom, the upper and lower clearance between two count work portions 7066 has constituted U type count sensor 7062's opening, count code disc 7052 is located U type count sensor 7062's opening.

In this embodiment, the counting hole 7055 on the counting code disk 7052 has a length range of 1-4mm and a width range of 0.5-2 mm.

In the embodiment, the counting code disc 7052 is coaxially arranged in the hollow inner part of the code disc isolating ring 702 and is positioned above the positioning code disc 7051, the diameters of the counting code disc 7052 and the positioning code disc 7051 are equal, the counting code disc 7052 is higher than the topmost end of the positioning working part 7065 of the positioning sensor 7061, and the positioning code disc 7051 is lower than the bottommost end of the counting working part 7066 of the positioning sensor 7062.

In this embodiment, the bottom of the counting sensor 7062 is fixedly connected to the detection base plate 704, and the counting code plate 7052 is fixedly connected to the inner periphery of the code plate spacer 702 via a code plate holder 7053.

In this embodiment, the detection base plate 704 is provided with a counting sensor base 7064, and the counting sensor base 7064 is fixedly connected to the detection base plate 704 and the counting sensor 7062, respectively, so as to fix the counting sensor 7062 to the detection base plate 704.

In this embodiment, the rotary position sensor 706 includes a plurality of position sensors 7061 and a count sensor 7062, each position sensor 7061 is circumferentially spaced within the code wheel spacer 702, and the count sensor 7062 can be disposed between any two position sensors 7061.

Example fifteen

As shown in fig. 15, in the present embodiment, two positioning sensors 7061 are disposed on the detection base 704, and the two positioning sensors 7061 are disposed on the same diameter of the detection base 704 and are symmetrical with respect to the center of the detection base 704.

In the present embodiment, the count sensor 7062 is disposed between two positioning sensors 7061.

Example sixteen

As shown in fig. 16, in the present embodiment, three positioning sensors 7061 are disposed on the detection substrate 704, and the positioning sensors 7061 are disposed at an interval of 120 ° and are symmetrical with respect to the detection substrate 704.

In the present embodiment, the count sensor 7062 is provided between any two of the positioning sensors 7061.

Example seventeen

As shown in fig. 17, in the present embodiment, four positioning sensors 7061 are disposed on the detection substrate 704, and the positioning sensors 7061 are disposed at an interval of 90 ° and are symmetrical with respect to the detection substrate 704.

EXAMPLE eighteen

As shown in fig. 10 to 14, in the embodiment, during the knitting process, the knitting station rotates circumferentially around the axis of the knitting station under the control of the clutch control system, and the positioning code wheel 7051 and the counting code wheel 7052 rotate circumferentially around the axis of the knitting station together with the knitting station, and the rotation speeds of the three are the same.

In this embodiment, during the rotation, the counting sensor 7062 detects the counting holes 7055 of the counting dial 7052 passing through the counting operation portion 7065 of the counting sensor 7062, and when the counting sensor 7062 detects a set number of the counting holes 7055, it is determined that the weaving station has rotated by a set angle, the counting sensor 7062 sends a signal to the single chip microcomputer, and the single chip microcomputer controls the rotation speed of the weaving station to be reduced.

In this embodiment, when the rotation speed of the knitting station is reduced, the positioning code wheel 7051 is also reduced in speed, the positioning sensor 7061 detects the positioning hole 7054 of the positioning code wheel 7051 passing through the positioning working portion 7065 of the positioning sensor 7061, and when the set positioning sensor 7061 detects the positioning hole 7054, the positioning sensor 7061 sends a signal to the single chip microcomputer, and the single chip microcomputer determines that the knitting station is rotated in place and controls the knitting station to stop rotating.

As shown in fig. 18 to 19, the present embodiment describes a knitting station 800 for a three-dimensional automatic knitting apparatus 1000, the knitting station 800 includes a clamp section 801 and a rotational positioning system 700, a clamp 8011 for clamping a yarn storage device 100 of the three-dimensional automatic knitting apparatus 1000 is provided on the clamp section 801, the clamp 8011 is rotatable circumferentially around an axis of the knitting station 800 together with the clamp section 801, and the rotational positioning system 700 is used for controlling the clamp section 801 to rotate to a designated position.

In this embodiment, the clamp section 801 and the rotational positioning system 700 are coaxially disposed with the knitting station 800, the clamp 8011 clamps the yarn storage device 100 to rotate circumferentially during knitting, and when the rotational positioning system 700 determines that the clamp 8011 rotates to a specific position, the clamp 8011 stops rotating.

In this embodiment, the knitting station 800 further includes a rotating shaft 802, the rotating shaft 802 is located at the center of the knitting station 800 and extends to two ends along the axial direction of the knitting station 800, the rotating shaft 802 respectively passes through the clamp section 801 and the rotating positioning system 700, the clutch control system 805 controls the rotating shaft 802 to circumferentially rotate clockwise, counterclockwise and stop rotating, and the rotating shaft 802 drives the clamp section 801 and the rotating positioning system 700 to circumferentially rotate.

In this embodiment, the rotating shaft 802 sequentially passes through the clamp section 801 and the rotational positioning system 700 from the end close to the weaving surface to the end far from the weaving surface, the rotating shaft 802 can circumferentially rotate clockwise, rotate counterclockwise and stop rotating, and the rotating shaft 802 drives the clamp 8011 and the rotational positioning system 700 to circumferentially rotate.

In this embodiment, an umbrella tooth 807 is disposed at an end of the rotating shaft 802 away from the knitting surface.

Example nineteen

As shown in fig. 18 to 19, in the present embodiment, the clip section 801 includes a clip mounting plate 8012, the clip mounting plate 8012 is disposed perpendicular to an axis of the knitting station 800, the clip 8011 is fixedly mounted on the clip mounting plate 8012, and the rotating shaft 802 passes through the center of the clip mounting plate 8012 and drives the clip mounting plate 8012 to rotate clockwise and counterclockwise.

In this embodiment, the clamp 8011 is fixed to the clamp mounting plate 8012 in the radial direction of the knitting station 800 and is retractable in the radial direction of the knitting station 800, and when the clamp 8011 extends outward in the radial direction of the knitting station 800, it holds the yarn storage device 100 and rotates together with the yarn storage device 100 in the circumferential direction of the knitting station 800; when clip 8011 is retracted radially inward of knitting station 800, yarn storage 100 is released and circumferential rotation is stopped.

In this embodiment, the rotating shaft 802 drives the clip mounting plate 8012 to rotate, and the clip is fixedly mounted on the clip mounting plate 8012 and rotates together with the clip mounting plate 8012. When the rotating shaft 802 starts to rotate, the clamp 8011 and the clamp mounting plate 8012 rotate together with the rotating shaft 802 in the circumferential direction, and the clamp 8011 extends outwards in the radial direction of the weaving station 800, clamps the yarn storage device 100 and carries the yarn storage device 100 to rotate together in the circumferential direction of the weaving station 800; when the rotation shaft 802 stops rotating, the clip 8011 and the clip mounting plate 8012 stop rotating circumferentially, and the clip 8011 releases the yarn storage 100 and retracts inward in the radial direction of the knitting station 800.

In this embodiment, a knitting station motor 804 is disposed at an end of the clip section 801 away from the knitting surface, and the knitting station motor 804 controls the radial expansion and contraction of the clip 8011. Rack gears 8013 extending along the radial direction of the knitting station 800 are arranged on the clamp 8011, a clamp gear 8014 arranged in cooperation with the rack gears 8013 is further arranged on the clamp mounting plate 8012, the clamp gear 8014 and the rack gears 8013 are matched to control the radial expansion and contraction of the clamp 8011, and the motor 804 of the knitting station controls the radial expansion and contraction of the clamp 8011 through controlling the clamp gear 8014.

In this embodiment, clip section 801 also includes a micro-switch that indicates the end point of extension and retraction of clip 8011.

In this embodiment, the clip section 801 is provided with a plurality of clips 8011, and the clips 8011 are circumferentially distributed at equal angles; preferably, four clips 8011 are disposed on the clip segment 801, and the clips 8011 are disposed at an interval of 90 ° and are symmetrically disposed about the rotation axis 802.

Example twenty

As shown in fig. 18 to 19, in the present embodiment, the knitting station 800 includes a clutch control system 805, and the clutch control system 805 includes the following three states:

(1) is connected with a motor of the three-dimensional automatic weaving device 1000 and controls the rotating shaft 802 to rotate clockwise in the circumferential direction;

(2) is connected with a motor of the three-dimensional automatic weaving device 1000 and controls the rotating shaft 802 to rotate anticlockwise in the circumferential direction;

(3) and is disconnected from the motor of the three-dimensional automatic weaving apparatus 1000, and the rotation shaft 802 is controlled to stop rotating.

Example twenty one

As shown in fig. 18 to 19, in the present embodiment, the knitting station 800 includes a power control system including three states:

(1) controlling the rotating shaft 802 to rotate clockwise in the circumferential direction;

(2) controlling the rotating shaft 802 to rotate circumferentially counterclockwise;

(3) the rotation shaft 802 is controlled to stop rotating.

Example twenty two

As shown in fig. 18 to 19, in the present embodiment, the knitting station 800 further includes a track disc 200, the track disc 200 is located at one end of the knitting station 800 close to the knitting surface, one end of the track disc 200 close to the knitting surface is provided with a proximity sensor 302 for detecting the thread breakage of the yarn storage 100, and one end of the track disc 200 far from the knitting surface is provided with a position detection sensor 402 for detecting the in-place movement of the yarn storage 100;

in this embodiment, a lifting ring 803 is provided at the center of the track disk 200 near the knitting surface, and the lifting ring 803 extends along the axial direction of the knitting station 800 for lifting and placing the knitting station 800 during maintenance.

In this embodiment, the braiding station 800 further comprises a conductive slip ring 806, one end of the conductive slip ring 806 is fixedly connected with the rotary positioning system 804, and the other end of the conductive slip ring 806 extends along the axial direction of the braiding station and is fixedly connected with the clutch control system 805, and is used for supplying power to the rotating shaft 802, the clamp section 801 and the rotary positioning system 804.

Example twenty three

As shown in fig. 1 to 19, a method of operating a three-dimensional automatic knitting apparatus 1000, the three-dimensional automatic knitting apparatus 1000 includes a plurality of yarn storages 100 and a plurality of knitting stations 800, the knitting stations 800 are arranged in an array, the knitting stations 800 include a main body section 10 and a clamp section 801, the clamp section 801 is disposed on the main body section 10 and can rotate relative to an axis of the main body section 10, a plurality of clamps 8011 for clamping the yarn storages 100 are disposed on each clamp section 801, and the yarn storages 100 are disposed around the knitting stations 800 and are opposite to the clamps 8011;

the three-dimensional automatic knitting equipment 1000 controls the clamp sections 801 to extend out of at least one clamp 8011 to clamp the yarn storage device 100 opposite to the clamp sections, the clamp sections 801 rotate to drive the yarn storage device 100 to rotate around the circumference by a certain angle and then stop, the clamp 8011 is retracted, the three-dimensional automatic knitting equipment 1000 controls the plurality of clamp sections 801 to repeat the processes in sequence according to a knitting program, and the yarns are interwoven to obtain the three-dimensional knitted fabric.

The present embodiment is an operation method of any one of the three-dimensional automatic knitting apparatuses 1000 described in the first to twenty-second embodiments.

In a specific scheme, the three-dimensional automatic weaving device 1000 controls the clamps 8011 of two adjacent clamp sections 801 to sequentially clamp the same yarn storage device 100 and respectively rotate around the circumferential direction of each weaving station 800, so that the yarn storage device 100 is transferred between the two weaving stations 800.

Specifically, the three-dimensional automatic knitting device 1000 controls one clamp section 801 to extend out of the clamp 8011 to clamp the yarn storage device 100 and stop after rotating for a certain angle, and the clamp 8011 retracts; the other adjacent clamp section 801 is controlled to extend out of the clamp 8011 to clamp the yarn storage device 100 and stop rotating for a certain angle, and the clamp 8011 is retracted to realize the transfer of the yarn storage device 100 between the two weaving stations 800.

In a further aspect, the three-dimensional automatic knitting apparatus 1000 further includes an annular rail 904 surrounding each knitting station 800, the yarn storage 100 is disposed in the annular rail 904 and can move along the annular rail 904, a shared nest is formed at the tangent of two adjacent annular rails 904,

the three-dimensional automatic weaving device 1000 controls one clamp section 801 to extend out of a clamp 8011 to clamp the yarn storage device 100 and stop rotating to a shared nest, retracts the clamp 8011, controls another clamp section 801 adjacent to the clamp section to extend out of the clamp 8011 to clamp the yarn storage device 100 and stop rotating for a certain angle, retracts the clamp 8011, and realizes the transfer of the yarn storage device 100 between two weaving stations 800;

the clamp sections 801 may be rotated in the forward direction or in the reverse direction, and since the knitting station 800 is arranged in an array, in general, the clamp 8011 of the clamp section 801 drives the yarn storage 100 to rotate by an integral multiple of 90 °, i.e., the rotation angle is n × 90 ° (n is an integer, n is-4 to +4), i.e., the forward rotation is represented by 90 °, 180 °, 270 °, 360 °, and the reverse rotation is represented by-90 °, -180 °, -270 °, 360 °.

Further, the three-dimensional automatic knitting device 1000 controls the clamps 8011 of the same clamp section 801 to clamp the same yarn storage device 100 in sequence, stops after moving for a certain angle around the circumference of the knitting station 800, retracts the clamps 8011, and realizes the movement of the yarn storage device 100 on the same knitting station 800.

Preferably, the three-dimensional automatic knitting machine 1000 controls the clamp section 801 to extend out of the clamp 8011 to clamp the yarn storage device 100 and retract into the clamp 8011 after moving along the circular track 904 for a certain angle, and then controls the clamp section 801 to extend out of the same/another clamp 8011 to clamp the same yarn storage device 100 and move along the same circular track 904 for a certain angle, so as to realize the movement of the yarn storage device 100 on the same knitting station 800.

The movement of the yarn storage device 100 on the same weaving station 800 and the transmission of the yarn storage device 100 on two adjacent weaving stations 800 are realized, the yarn storage device 100 drives the yarns to move, the yarns are interwoven on the weaving surface (weaving port) to finally obtain the three-dimensional woven fabric.

In a further aspect, the three-dimensional automatic knitting device 1000 further includes a rotation positioning system 700, the rotation positioning system 700 detects a rotation angle of the clamp section 801 and positions the position of the clamp section 801, and the three-dimensional automatic knitting device 1000 controls the clamp section 801 to stop according to the detection and positioning result of the rotation positioning system 700.

In a further scheme, the rotary positioning system 700 comprises a rotary coded disc 705 and a rotary positioning sensor 706, the rotary coded disc 705 comprises an annular positioning coded disc 7051, the positioning coded disc 7051 and the clip section 801 are coaxially arranged and rotate at the same angle, a positioning hole 7054 is arranged on the positioning coded disc 7051, the rotary positioning sensor 706 comprises a positioning sensor 7061,

the three-dimensional automatic knitting equipment 1000 judges whether the clamp segment 801 rotates to a specified position according to whether the positioning sensor 7061 detects the positioning hole 7054, and if so, controls the clamp segment 801 to stop rotating.

In a further scheme, the rotary code disc 705 further comprises a circular counting code disc 7052, the counting code disc 7052 and the clip section 801 are coaxially arranged and rotate at the same angle, a plurality of counting holes 7055 uniformly distributed along the circumferential direction are formed in the counting code disc 7052, the rotary positioning sensor 706 further comprises a counting sensor 7062,

the counting sensor 7062 detects the number of counting holes 7055 passing through the detection end of the counting code disc 7052 in the rotating process, the three-dimensional automatic weaving device 1000 judges whether the clamp section 801 rotates to a preset angle according to the number of counting holes 7055 detected by the counting sensor 7062, and if so, the weaving station 800 is controlled to decelerate.

Preferably, the preset angle is smaller than the angle swept by the yarn storage 100 from the initial position to the specified position.

If only the positioning sensor 7061 is arranged, the clamp segment 801 has a certain rotating speed in the rotating process, the positioning effect is poor, the rotating speed of the clamp segment 801 is reduced when the clamp segment approaches a preset angle by arranging the counting sensor 7062 and the counting code disc 7052, and then the positioning is realized through the positioning sensor 7061 and the positioning hole 7054, so that the positioning effect is better.

In a further scheme, the three-dimensional automatic weaving device 1000 judges whether the number of the counting holes 7055 detected by the counting sensor 7062 is equal to a preset value, if so, judges that the clamp segment 801 rotates to a preset angle, controls the speed reduction of the weaving station 800, judges whether the clamp segment 801 rotates to a specified position according to whether the positioning sensor 7061 detects the positioning hole 7054, and if so, controls the clamp segment 801 to stop rotating.

Generally, the preset value is smaller than the number of counting holes 7055 swept by the yarn storage 100 when it rotates from the initial position to the specified position.

In a further aspect, the three-dimensional automatic knitting device 1000 further includes a yarn breakage detection system for detecting yarn breakage, and the three-dimensional automatic knitting device 1000 determines whether the yarn on the yarn storage 100 is broken according to a detection result of the yarn breakage detection system.

In a further aspect, the yarn breakage detection system includes a yarn breakage detection piece disposed on the yarn of the yarn storage 100;

a proximity sensor provided on the knitting station 800, the yarn breakage detecting piece being located within a detection range of the proximity sensor after the yarn breakage,

the proximity sensor detects whether the broken yarn detection piece is in the sensing area, and the three-dimensional automatic knitting equipment 1000 judges whether the yarn is broken according to the detection result of the proximity sensor.

Example twenty-four

The embodiment is a three-dimensional automatic knitting device 1000 and an operation method thereof according to twenty-third embodiment, and the specific steps are as follows:

1. selecting q × p weaving stations 800, the plurality of weaving stations 800 arranged in an array of q × p weaving stations 800;

2. selecting t ═ q +1) × (p +1) -1 yarn storages 100;

3. the initial position of yarn storage 100 is arranged according to the knitting program, yarn storage 100 being arranged around knitting station 800 and opposite to clamp 8011;

4. initializing a three-dimensional automatic knitting machine;

5. the weaving station 800 extends m clips 8011, m being 0x1 to 0xF (4 clips 8011 have 0-15 extension modes in total);

6. the extended gripper 8011 grips the yarn storage 100 corresponding thereto for n × 90 ° (n ═ 4- + 4);

7. the knitting station 800 is controlled to move the yarn storage device 100 in sequence according to the knitting program, so that the yarns are interwoven, a three-dimensional knitted fabric is finally formed at the knitting opening, and the purpose of trial knitting of a new process is achieved.

In step 5, the manner in which the weaving station 800 extends the m-clamps 8011 includes: each weaving station 800 includes four clips 8011, with four clips 8011 arranged at 90 ° to one another, with 1 mode of extending 4 clips 8011, 4 modes of extending 3 clips 8011, 6 modes of extending two clips 8011, and 4 modes of extending one clip 8011, for a total of 15 modes.

During the three-dimensional knitting process, the steps of the movement of the yarn store 100 on the same knitting station 800 are as follows:

(1) a clamp 8011 of one weaving station 800 holds the yarn storage 100 moving to a specified position;

(2) the gripper 8011 of the same knitting station 800 is extended to grip the yarn storage 100;

(3) the knitting station 800 rotates to drive the yarn storage device 100 clamped by the clamp 8011 to move around the circumference of the knitting station 800;

(4) when the storage 100 reaches the designated position, the clamp 8011 is retracted, completing the movement of the storage 100 on the same knitting station 800.

When any yarn storage device 100 is in the nest sharing position, the two adjacent weaving stations 800 of the yarn storage device 100 can drive the yarn storage device 100 to move, and the yarn storage device 100 is transferred between the adjacent weaving stations 800.

During the three-dimensional knitting process, the steps of moving the yarn storage 100 between adjacent knitting stations 800 are as follows:

(1) one weaving station 800 moves the yarn storage 100 into a shared nest of two adjacent weaving stations 800;

(2) the gripper 8011 of the weaving station 800 retracts, completing the delivery accumulator 100 action;

(3) the gripper 8011 on the adjacent weaving station 800 projects, gripping the yarn storage 100 in the shared nest;

(4) the adjacent knitting station 800 rotates to drive the yarn storage device 100 clamped by the clamp 8011 to move around the circumference of the knitting station 800;

(5) when the storage 100 reaches the designated position, the clamp 8011 is retracted, completing the movement of the storage 100 between adjacent knitting stations 800.

As shown in fig. 20, a more specific operation method of the three-dimensional automatic knitting apparatus 1000, which finally obtains a three-dimensional knitted product, includes the following steps:

1. taking 4 operating weaving stations 800, arranging into an array of weaving stations 800 of 2 × 2, the 4 weaving stations 800 are respectively named as (1,1), (1,2), (2,1), (2,2), as shown in I1 in fig. 20, I1, east and west are the transverse direction of the array of weaving stations 800, north and south are the longitudinal direction of the array of weaving stations 800.

2. Selecting t3 × 3-1 8 yarn storage devices 100;

3. the initial position of the yarn storage 100 is arranged according to the process, as shown by I1 in FIG. 20;

4. initializing the three-dimensional automatic knitting machine so that north clamp 8011 of each knitting station 800 faces the north position of the knitting machine;

5. according to the process telescopic clamp 8011, the clamp 8011 clamps the corresponding yarn storage device 100 to move, so that yarns are interwoven, and finally a three-dimensional braided fabric is formed at a weaving opening, and the method comprises the following specific steps:

in the above table, m-8 denotes the clamp 8011 in the north direction of the knitting station 800 in I1 in fig. 20, e.g., the clamp 8011 on the left side of the knitting station 800(1,2), m-4 denotes the clamp 8011 in the east direction of the knitting station 800 in I1 in fig. 20, e.g., the clamp 8011 on the right side of the knitting station 800(1,2), m-2 denotes the clamp 8011 in the south direction of the knitting station 800 in I1 in fig. 20, e.g., the clamp 8011 on the right side of the knitting station 800(1,2), m-1 denotes the clamp 8011 in the west direction of the knitting station 800 in I1 in fig. 20, e.g., the clamp 8011 on the left side of the knitting station 800(1, 2). The beat in the table represents the operation steps of the three-dimensional automatic knitting equipment, and is explained by taking a beat 1 as an example:

	beat of sound
		(1,1) the knitting station stretches out m clips, m is 4	1
(2,2) the knitting station stretches out m clips, m is 1	1

Beat 1 indicates that, the three-dimensional automatic knitting apparatus controls, (1,1) the knitting station 800 projects its east clamp 8011 to hold the yarn storage 100 between (1,1) and (1,2), while, (2,2) the knitting station 800 projects its west clamp 8011 to hold the yarn storage 100 between (2,1) and (2, 2).

In FIG. 20, I1 shows the initial position of the yarn storage device 100, I2 shows the position of the yarn storage device 100 after the first step is completed, I3 shows the position of the yarn storage device 100 after the second step is completed, I4 shows the position of the yarn storage device 100 after the third step is completed, and I5 shows the position of the yarn storage device 100 after the fourth step is completed.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The operation method of the three-dimensional automatic weaving equipment is characterized in that the three-dimensional automatic weaving equipment comprises a plurality of yarn storages and a plurality of weaving stations, the weaving stations are arranged in an array mode, each weaving station comprises a main body section and a clamp section, the clamp sections are arranged on the main body section and can rotate relative to the axis of the main body section, a plurality of clamps used for clamping the yarn storages are arranged on each clamp section, and the yarn storages are arranged around the weaving stations and are opposite to the clamps;

the three-dimensional automatic weaving equipment controls the clamp sections to extend out of at least one clamp to clamp the yarn storage device opposite to the clamp sections, the clamp sections rotate to drive the yarn storage device to rotate for a certain angle around the circumferential direction of the yarn storage device and then stop, the clamp is retracted, the three-dimensional automatic weaving equipment controls the plurality of clamp sections to sequentially repeat the process according to a weaving program, and the yarns are interwoven to obtain a three-dimensional woven fabric;

the three-dimensional automatic weaving equipment also comprises a rotary positioning system, the rotary positioning system detects the rotation angle of the clamp section and positions the position of the clamp section, and the three-dimensional automatic weaving equipment controls the clamp section to stop according to the detection and positioning results of the rotary positioning system;

2. The operating method according to claim 1, wherein the three-dimensional automatic knitting machine controls the grippers of two adjacent gripper segments to sequentially grip the same yarn storage and respectively rotate around the circumferential direction of each knitting station, so that the yarn storage is transferred between the two knitting stations.

3. The operation method according to claim 2, wherein the three-dimensional automatic knitting equipment controls a clip segment to extend out of the clip to clip the yarn storage device and stop after rotating for a certain angle, and the clip retracts; and controlling another adjacent clamp section to extend out of the clamp to clamp the yarn storage device, stopping rotating the yarn storage device for a certain angle, and retracting the clamp to realize the transfer of the yarn storage device between the two weaving stations.

4. The operating method according to claim 2, characterized in that the rotation angle is n × 90 °, n being an integer, n being-4 to + 4.

5. The method of claim 2, wherein the three-dimensional automatic knitting apparatus further comprises an endless track surrounding each of the knitting stations, the yarn accumulator is disposed in the endless track and movable along the endless track, a shared nest is formed at a tangent of two adjacent endless tracks,

the three-dimensional automatic weaving equipment controls one clamp section to extend out of the clamp to clamp the yarn storage device and stop after rotating to the sharing nest, the clamp retracts, the other clamp section of the sharing nest is controlled to extend out of the clamp to clamp the yarn storage device and stop after rotating for a certain angle, and the clamp retracts, so that the yarn storage device is transferred between two weaving stations.

6. Method of operation according to claim 5, characterised in that the transfer of the yarn store between two weaving stations comprises the following steps:

7. The operating method according to any one of claims 1 to 6, wherein the three-dimensional automatic knitting equipment controls the clamps of the same clamp section to clamp the same yarn storage device in sequence, stops after moving for a certain angle around the circumference of the knitting station, retracts the clamps, and realizes the movement of the yarn storage device on the same knitting station.

8. The method according to claim 7, wherein the three-dimensional automatic knitting equipment controls the clamp segment to extend out of the clamp to clamp the yarn storage device and retract the clamp after moving for a certain angle along the circular track, and controls the clamp segment to extend out of the same/another clamp to clamp the same yarn storage device and move for a certain angle along the same circular track, so that the yarn storage device moves on the same knitting station.

9. The method of operation of claim 7, comprising the steps of:

10. The operation method according to any one of claims 1 to 6, wherein the rotary code disc further comprises a counting code disc in a circular ring shape, the counting code disc and the clip segment are coaxially arranged and rotate at the same angle, a plurality of counting holes are uniformly distributed along the circumferential direction on the counting code disc, the rotary positioning sensor further comprises a counting sensor,

count sensor detects count sign indicating number dish and rotates the quantity in the count hole of its sense terminal, and three-dimensional automatic equipment of weaving is according to the quantity in the count hole that count sensor detected, judges whether rotatory to predetermineeing the angle of clip section, if yes, and the station speed reduction is woven in the control.

11. The operating method according to claim 10, characterized in that the predetermined angle is smaller than the angle swept by the yarn store from the initial position to the specified position.

12. The operating method according to claim 10, wherein the three-dimensional automatic knitting apparatus determines whether the number of counting holes detected by the counting sensor is equal to a preset value, and if so, determines that the gripper segment rotates to a preset angle, controls the speed of the knitting station to be reduced, determines whether the gripper segment rotates to a designated position according to whether the positioning sensor detects the positioning hole, and if so, controls the gripper segment to stop rotating.