CN110883281B - Automatic forming method of cable net structure for supporting convergence surface - Google Patents

Automatic forming method of cable net structure for supporting convergence surface Download PDF

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CN110883281B
CN110883281B CN201911178511.1A CN201911178511A CN110883281B CN 110883281 B CN110883281 B CN 110883281B CN 201911178511 A CN201911178511 A CN 201911178511A CN 110883281 B CN110883281 B CN 110883281B
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weaving
path
nozzle
rope
cable net
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CN110883281A (en
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郑飞
张锋斌
牛魁
郑涛
芮喜
颜立德
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Xidian University
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Xidian University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor

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Abstract

The invention provides an automatic molding method of a cable net structure for supporting a convergence surface, which is used for solving the problem of lower molding efficiency and precision of the cable net structureThe method comprises the following implementation steps: arranging a cable net structure to be formed; determining the number and the layout of cylindrical convex bodies on the auxiliary netting disc; determining the structure of the connecting node and installing; calculating the falling length S of each falling hole in the auxiliary mesh diski(ii) a Planning a mesh weaving path of the mesh weaving spray head; writing a control program and importing the control program into a programmable controller; obtaining a forming result of the cable net structure; the method is smart, the large-size cable net structure is stored on the small-size netting platform in a high storage rate state, the method is suitable for forming the cable net structure with multiple shapes and large sizes, and the method has the advantages of high forming efficiency and high precision.

Description

Automatic forming method of cable net structure for supporting convergence surface
Technical Field
The invention belongs to the technical field of cable net structures, and particularly relates to an automatic forming method of a cable net structure for supporting a convergence surface.
Background
The cable net structure has the advantages of light weight, low material cost, diversified shapes and the like, and is widely applied to the fields of civil and architectural engineering, fishery production, cable net reflecting surfaces and the like. The shaping of traditional cable net structure is mainly carried out the rope concatenation with the manual work more, cuts out every adjacent connected node's rope length through the manual work, and is fixed with every section rope and connected node again, splices gradually into the cable net structure of design, has when cable net structure size is great that the preparation is complicated, the degree of difficulty is high, defects such as cycle length.
In order to improve the forming efficiency of the cable net structure, research and development personnel provide a method for realizing the forming of the cable net structure through manual assistance, for example, the invention patent which is entitled as a cable net antenna wire cutting machine and is entitled as CN104444534B discloses a semi-automatic cable net structure forming method. The invention improves the forming precision and efficiency of the cable net structure to a certain extent, but has the defect that each cut rope is still connected and fixed with the connecting node manually during rope connection, and the automation degree is still very low.
And like the luo qing of the university of science and technology in 2017, a method for forming a cable net structure with high automation degree is disclosed in a master's paper entitled design and analysis of cable segment precision measurement and control and automatic connection equipment. The method finishes the cutting and the connection of the ropes in one process, solves the problem of huge workload when the formed rope sections of the rope net structure are cut and connected, and realizes better control of the length and the tension of each rope section. However, there are two problems, the first is that only one pair of nodes can be connected at a time when the cable net structure is formed, and when the caliber is large and the number of loops is large, the forming efficiency is still not high, and the second is that the equipment structure required for cutting and connecting the rope in the method is complex and the forming cost is too high.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides an automatic molding method of a cable net structure for supporting a convergence surface, which is used for solving the technical problems of low molding efficiency and low precision of the cable net structure in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic forming method of a cable net structure for supporting a convergence surface is realized by an automatic forming device, and comprises an auxiliary net weaving disc and a net weaving platform; the auxiliary mesh disk adopts a plate-shaped structure with a regular geometric shape, a plurality of cylindrical convex bodies for installing connecting nodes are arranged on one side surface of the auxiliary mesh disk, and line falling holes penetrating through two side surfaces of the auxiliary mesh disk are arranged in the middle of the connecting line of the adjacent cylindrical convex bodies; the net weaving platform comprises an X-direction movement mechanism, a Y-direction movement mechanism, a Z-direction movement mechanism, a programmable controller and a net weaving spray head; the X-direction movement mechanism is used for driving the mesh weaving spray head to move along the X-axis direction; the Y-direction movement mechanism is used for driving the X-direction movement mechanism to move along the Y-axis direction; the Z-direction movement mechanism is used for driving the auxiliary net weaving disc to move along the Z-axis direction; the netting nozzle is used for conveying ropes and adhesives; the programmable controller is used for controlling the motion of the X, Y, Z-direction motion mechanism and controlling the conveying amount of ropes and adhesives conveyed by the netting nozzle; the specific forming method comprises the following steps:
(1) setting a cable net structure to be formed:
the method comprises the steps that M projections are connected through ropes and the number of split rings is n to form a cable net structure, wherein the M projections are in quasi-geodesic grid node distribution or three-way grid node distribution, the adjacent connection nodes are connected through ropes, and the M is 3n2+3n +1, n is a positive integer;
(2) determining the number and the layout of the cylindrical convex bodies on the auxiliary netting disc:
setting the number of cylindrical convex bodies arranged on one side surface of the auxiliary netting disc to be equal to the number M of connecting nodes in a cable net structure to be formed, wherein the M cylindrical convex bodies are arranged in a three-way grid node mode, and sequentially marking the cylindrical convex bodies at 6 top points on the outermost side as A1, A2, A3, A4, A5 and A6 in the clockwise direction;
(3) determining the structure of the connecting node and installing:
(3a) the connecting node adopts a disc-shaped structure, the center of the connecting node is provided with a through hole, the diameter of the through hole is equal to the diameter of the cylindrical convex body on the auxiliary netting disc, one side surface of the connecting node is provided with two mutually nested circular protrusions which are concentric with the through hole on the disc-shaped structure, and the outer circular protrusion is provided with 6 rectangular notches which are uniformly distributed in the circumferential direction and are opposite to the circle center; the width of the rectangular notch, and the difference between the radius of the inner wall of the outer circular protrusion and the radius of the outer wall of the inner circular protrusion are equal to the diameter of the rope;
(3b) fixing the connecting node on the cylindrical convex body on the auxiliary mesh weaving disc through the through hole on the disc-shaped structure, wherein one side of each of the two circular annular convex bodies on the disc-shaped structure points to the positive direction of the Y axis, and any one of 6 rectangular notches arranged on the outer circular annular convex body is aligned with any one of the line falling holes adjacent to the cylindrical convex body of the fixed connecting node;
(4) calculating the falling length S of each falling hole in the auxiliary mesh diski：
(4a) Calculating the rope tension F between the connecting nodes of the formed cable net structure by adopting a static form finding methodiAnd the length L of each ropeiAnd according to FiAnd LiCalculating the length L of each rope in the loose state of the cable net structureIgen：
Figure GDA0002775163210000031
Wherein E is the elastic modulus of the rope, a is the cross-sectional area of the rope, i is 1, 2.
(4b) By the length L of each rope in the relaxed state of the cable net structureIgenThe distance u between adjacent cylindrical convex bodies and the diameter d of each line falling hole are calculated, and the line falling length S of each line falling hole in the auxiliary mesh weaving disc is calculatedi：
Si＝LIgen-(u-d)；
(5) Planning a mesh weaving path of the mesh weaving nozzle:
(5a) forward and backward scanning is performed a times line by line in the direction A1 → A2 with the cylindrical convex body A1 as the scanning starting point to obtain the scanning path in the direction A1 → A2 with the cylindrical convex body A4 as the scanning end point, and forward and backward scanning is performed line by line in the direction A4 → A3 with the A4 as the scanning starting pointa, obtaining a scanning path in the A4 → A3 direction with a scanning end point of A1 and 60 degrees counterclockwise with respect to the scanning path in the A1 → A2 direction, then moving the scanning point from the A1 point to the A2 point, performing forward and backward scanning a times line by line in the forward direction of the A2 → A3 with the A2 point as the scanning start point, obtaining a scanning path in the A2 → A3 direction with a scanning end point of A5 and 120 degrees counterclockwise with respect to the scanning path in the A1 → A2 direction, and taking the scanning paths in the three directions as the scanning paths of the mesh weaving head, wherein the number of cylindrical protrusions passing through each scanning in the scanning paths in the three directions is b, and a is 2n +1,
Figure GDA0002775163210000032
(5b) replacing a scanning path between two opposite rectangular notches in the scanning path of the netting nozzle by a semicircular arc path between an inner circular protrusion and an outer circular protrusion of a connecting node fixed on each cylindrical convex body in the auxiliary netting disc to obtain a netting path of the netting nozzle;
(6) writing a control program and importing the control program into a programmable controller:
(6a) dispersing the weaving path of the weaving nozzle into c coordinate points Hc(xc,yc,zc) Recording the number of discrete points on a path between two adjacent line-falling holes as w, and taking a positive integer as c;
(6b) according to the sequence of the falling line holes on the weaving path from front to back, the falling line length S of each falling line holeiSorting is carried out and is sequentially marked as Ui；
(6c) According to Hc(xc,yc,zc) W and UiThe value of (a) is calculated, and the wire feeding length K of each coordinate point in the net weaving process of the net weaving spray head is calculatedc：
Figure GDA0002775163210000041
(6d) According to c coordinate points H on the weaving pathc(xc,yc,zc) In the order from front to back, pair Hc(xc,yc,zc) And its corresponding wire feeding length KcSequencing to obtain control data information, and importing the control data information into the programmable controller according to a G code format;
(7) obtaining a forming result of the cable net structure:
(7a) x, Y, Z the directional movement mechanism moves the outlet nozzle of the mesh nozzle to the A1 position connecting node through the control of the programmable controller;
(7b) the netting nozzle sprays the rope into an arc-shaped clamping groove between a rectangular notch at the driving-in end and a rectangular notch at the driving-out end of the connecting node according to a netting path under the control of a programmable controller to realize winding; moving the wire outlet nozzle to the first wire falling hole position of the mesh weaving path to realize first wiring; then the S isiThe rope with the length is sprayed into the first wire falling hole to realize wire falling; finally, moving to a connecting node adjacent to the position A1 on the mesh path to realize second routing;
(7c) according to the step (7b), by analogy, winding, first routing, dropping and second routing from a connecting node adjacent to the A1 position on the weaving path to a connecting node at the A5 position are realized, and the weaving process is realized;
(7d) the X, Y, Z direction movement mechanism moves the glue outlet nozzle of the netting nozzle to the A1 position connecting node under the control of the programmable controller, and sprays the adhesive into the circular arc-shaped clamping groove of each connecting node according to the netting path, so as to fix the connecting node and the rope;
(7e) and taking down each connecting node from the cylindrical convex body on the auxiliary netting disc to obtain the formed cable net structure.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, under the control of the programmable controller, the relative movement of the X, Y, Z-direction movement mechanism realizes that the netting nozzle automatically winds, drops and walks on the auxiliary netting disc along the planned netting path, and then the netting nozzle realizes the fixation of the woven network and the connecting node, so that the manual auxiliary link is omitted, the automation degree is high, and compared with the prior art, the efficiency and the precision of the forming of the cable net structure are effectively improved;
2. the invention adopts the programmable controller to control the three-direction movement mechanism of the netting platform and the netting nozzle, the control data information obtained in the programming control program directly influences the routing, winding and dropping precision of the netting nozzle, thereby influencing the forming precision, and the accuracy of the rope length between adjacent connecting nodes is realized by accurately adjusting the winding, dropping and routing processes by modifying the control program.
Drawings
FIG. 1 is a schematic structural view of an automatic molding apparatus embodying the present invention;
FIG. 2 is a schematic structural view of a web platform of the present invention;
FIG. 3 is a schematic view of an auxiliary mesh tray according to the present invention;
FIG. 4 is a flow chart of an implementation of the present invention;
FIG. 5 is a schematic view of a cable net structure to be formed according to the present invention;
FIG. 6 is a schematic structural diagram of a connection node of the present invention;
FIG. 7 is a schematic view of the scan path of the present invention;
FIG. 8 is an alternate schematic of the path of the present invention;
FIG. 9 is a schematic diagram of a connecting node networking process of the present invention;
FIG. 10 is a schematic view of the resulting cable net structure of the present invention;
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples:
the invention is realized by an automatic forming device as shown in figure 1, which comprises a netting platform 1 and an auxiliary netting disc 2;
setting the direction vertical to the ground as Y direction, the left-right direction as X direction, and the direction forming 90 degrees with the X direction and the Y direction as Z direction; as shown in fig. 2, the mesh platform comprises an X-direction movement mechanism 11, a Y-direction movement mechanism 12, a Z-direction movement mechanism 13, a mesh nozzle 14 and a programmable controller 15; the Z-direction movement mechanism 12 comprises two guide rail frames parallel to the Y direction, and a lead screw and a motor which drive the X-direction movement mechanism to move in the Y direction; the X-direction movement mechanism 11 comprises a guide rail frame fixed on the Z-direction movement mechanism and a motor for driving the mesh-weaving spray head to realize X-direction movement; the Y-direction movement mechanism 13 comprises a tray capable of sliding on two sliding shafts arranged in parallel and a motor for realizing Z-direction movement by driving the tray fixedly connected with a synchronous belt through the synchronous belt; the netting nozzle comprises a nozzle for spraying the rope and the adhesive and a motor for driving the conveying wheel to convey the rope;
as shown in fig. 3, the auxiliary mesh disk is of a plate-shaped structure with a regular circular shape, one side surface of the auxiliary mesh disk is provided with a plurality of cylindrical convex bodies 22 with the diameter of 3mm for installing connecting nodes, the distance between every two adjacent cylindrical convex bodies is 16mm, and the middle position of the connecting line of the adjacent cylindrical convex bodies is provided with a line falling hole 21 penetrating through two side surfaces of the auxiliary mesh disk, and the diameter of the line falling hole is 10 mm;
referring to fig. 4, the present invention includes the steps of:
1) the cable net structure to be formed is provided as shown in fig. 5:
the method comprises the steps that M connecting nodes with projections in the distribution of quasi-geodesic grid nodes or in the distribution of three-direction grid nodes and a cable net structure which is connected between adjacent connecting nodes through ropes and is to be molded, wherein the number of the sub-rings is n. In order to have better profile precision, the parabolic cable net structure usually adopts a cable net structure form that the projection of connecting nodes is in a quasi geodesic grid distribution or three-way grid distribution form, the number of quasi geodesic grids with the same ring number and three-way grid nodes is the same, and the cable segment lengths between adjacent connecting nodes are different. M is 3n2+3n +1, n is a positive integer, the cable net structure to be molded is in a parabolic shape, projections of all connecting nodes in the cable net structure are in distribution of quasi geodesic grid nodes, n is a larger value in practice, the advantages of the cable net structure can be further embodied, for convenience in description, the caliber of the example is 1.5M, n is 4, M is 61, and for ensuring the bearing strength of the cable net structure, a Kevlar wire with the diameter of 1.5mm is selected as the rope;
2) determining the number and the layout of the cylindrical convex bodies on the auxiliary netting disc:
according to the quantity of connected nodes in the cable net structure, 61 cylindrical protrusions are arranged on one side face of the auxiliary net weaving disc, and the 61 cylindrical protrusions are arranged in a three-way grid node mode. Connecting the bulges at one circle on the outermost side to obtain a regular hexagon, and sequentially marking the cylindrical bulges at 6 vertexes of the regular hexagon as A1, A2, A3, A4, A5 and A6 along the clockwise direction;
3) determining the structure of the connecting node and installing:
(3a) the structure of the connecting node is as shown in fig. 6, a disc-shaped structure with a through hole at the center, the diameter of the through hole is equal to the diameter of the cylindrical convex body on the auxiliary netting disc, two mutually nested circular-ring-shaped bulges are arranged on one side surface of the disc-shaped structure, the two circular-ring-shaped bulges are concentric with the through hole on the disc-shaped structure, and 6 rectangular notches which are uniformly distributed in the circumferential direction and are opposite to the circle center are arranged on the outer circular-ring-shaped bulge; the width of the rectangular notch, the difference between the radius of the inner wall of the outer circular ring protrusion and the radius of the outer wall of the inner circular ring protrusion are equal to the diameter of the rope, in order to reduce the mass of the cable net structure, the radius r of the outer wall of the outer circular ring protrusion of the connecting node is set to be 6mm, the diameter of the through hole is 3mm, and in order to ensure the strength of the connecting node, PEEK is selected as a material;
(3b) fixing the connecting node on the cylindrical convex body on the auxiliary mesh weaving disc through the through hole on the disc-shaped structure, wherein one side of each of the two circular annular convex bodies on the disc-shaped structure points to the positive direction of the Z axis, and any one of 6 rectangular notches arranged on the outer circular annular convex body is aligned with any one of the line falling holes adjacent to the cylindrical convex body of the fixed connecting node;
4) calculating the falling length S of each falling hole in the auxiliary mesh diski：
4a) Calculating the rope tension F between the connecting nodes of the formed cable net structure by adopting a static form finding methodiAnd the length L of each ropeiAnd according to FiAnd LiCalculating the length L of each rope in the loose state of the cable net structureIgen：
Figure GDA0002775163210000071
Wherein E is the elastic modulus of the rope, a is the cross-sectional area of the rope, i is 1, 2.
4b) By the length L of each rope in the relaxed state of the cable net structureIgenThe distance u between adjacent cylindrical convex bodies and the diameter d of each line falling hole are calculated, and the line falling length S of each line falling hole in the auxiliary mesh weaving disc is calculatedi：
Si＝LIgen-6；
5) Planning a mesh weaving path of the mesh weaving nozzle:
5a) the scanning path of the mesh head in the direction of a1 → a2 shown in fig. 7(a) is planned. Taking the cylindrical convex body A1 as a scanning starting point, carrying out forward and backward scanning for 9 times line by line along the direction of A1 → A2 as a positive direction, and obtaining a scanning path of the A1 → A2 direction with the scanning end point of the cylindrical convex body A4;
the scanning path of the mesh head in the direction of a4 → A3 as shown in fig. 7(b) is planned. Taking A4 as a scanning starting point, scanning forward and backward for 9 times line by line along the direction of A4 → A3 as a positive direction, and obtaining a scanning path in the direction of A4 → A3, wherein the scanning end point is A1, and the scanning path is 60 degrees counterclockwise from the scanning path in the direction of A1 → A2;
the scanning path of the mesh head of A2 → A3 as shown in FIG. 7(c) is planned. Then, the scanning point is moved from the point a1 to the point a2, and forward and backward scanning is performed 9 times line by line in the forward direction of the direction a2 → A3 with the point a2 as the scanning starting point, so as to obtain a scanning path of the direction a2 → A3 with the scanning end point a5 and 120 degrees counterclockwise from the scanning path of the direction a1 → a 2.
Taking the scanning paths in the three directions as scanning paths of the mesh nozzle, wherein the number of cylindrical convex bodies passing through each scanning in the scanning paths in the three directions is b, and a is 1, 2, 9,
Figure GDA0002775163210000081
5b) replacing the scanning path between two opposite rectangular notches in the scanning path of the netting nozzle shown in fig. 8(a) by a semicircular arc path between the inner circular protrusion and the outer circular protrusion of the connecting node fixed on each cylindrical protrusion in the auxiliary netting disc, so as to obtain the netting path of the netting nozzle shown in fig. 8 (b);
6) writing a control program and importing the control program into a programmable controller:
6a) dispersing the weaving path of the weaving nozzle into c coordinate points Hc(xc,yc,zc) Recording the number of discrete points on a path between two adjacent line-falling holes as w, and taking a positive integer as c;
6b) according to the sequence of the falling line holes on the weaving path from front to back, the falling line length S of each falling line holeiSorting is carried out and is sequentially marked as Ui；
6c) According to Hc(xc,yc,zc) W and UiThe value of (a) is calculated, and the wire feeding length K of each coordinate point in the net weaving process of the net weaving spray head is calculatedc：
Figure GDA0002775163210000082
(6d) According to c coordinate points H on the weaving pathc(xc,yc,zc) In the order from front to back, pair Hc(xc,yc,zc) And its corresponding wire feeding length KcSequencing to obtain control data information, and importing the control data information into the programmable controller according to a G code format;
7) obtaining a forming result of the cable net structure:
7a) the X, Y, Z directional movement mechanism moves the wire outlet nozzle of the mesh weaving spray head to the A1 position connection node through the control of the programmable controller and the mutual coordination movement;
7b) the netting nozzle sprays the rope into an arc-shaped clamping groove between a rectangular notch at the driving-in end and a rectangular notch at the driving-out end of the connecting node according to a netting path as shown in fig. 9 under the control of the programmable controller to realize winding; then the outlet nozzle is moved to the first drop of the net weaving pathThe wire hole position realizes the first wiring; then the S isiThe rope with the length is sprayed into the first wire falling hole to realize the wire falling S1(ii) a Finally, moving to a connecting node adjacent to the position A1 on the mesh path to realize second routing;
7c) according to the step (7b), by analogy, winding, first routing, dropping and second routing from a connecting node adjacent to the A1 position on the weaving path to a connecting node at the A5 position are realized, and the weaving process is realized;
in order to ensure that the mesh path is uninterrupted in the process, a path starting point switching process exists, when the weaving in the A4 → A3 direction is completed, the outlet nozzle of the mesh nozzle needs to move from the connecting node at the A1 position to the connecting node at the A2 position, only the routing process from A1 to A2 is carried out in the process, and the weaving in the A2 → A3 direction is carried out after the direction switching is completed;
7d) the X, Y, Z direction movement mechanism moves the glue outlet nozzle of the netting nozzle to the connection node at the A1 position through the control of the programmable controller and the mutual coordinated movement, and sprays the adhesive into the circular arc-shaped clamping groove of each connection node according to the netting path to realize the fixation of the connection node and the rope;
7e) each connecting node is taken off from the cylindrical convex body on the auxiliary mesh disk, the formed cable net structure is obtained as shown in fig. 10(a), and the cable net structure is unfolded to obtain the same cable net structure as the structure to be formed, as shown in fig. 10 (b).

Claims (2)

1.一种用于支撑汇聚面的索网结构的自动成型方法，其特征在于，是通过自动成型装置实现的，包括辅助织网盘和织网平台；所述辅助织网盘采用外形为规整几何形状的板状结构，其一个侧面上设置有多个用于安装连接节点的圆柱状凸体，相邻圆柱状凸体连线的中间位置设置有贯穿辅助织网盘两个侧面的落线孔；所述织网平台包括X方向运动机构、Y方向运动机构、Z方向运动机构、可编程控制器和织网喷头；所述X方向运动机构，用于带动织网喷头沿X轴方向移动；所述Y方向运动机构，用于带动X方向运动机构沿Y轴方向移动；所述Z方向运动机构，用于带动辅助织网盘沿Z轴方向移动；所述织网喷头，用于输送绳索和黏合剂；所述可编程控制器，用于实现对X、Y、Z方向运动机构运动的控制，同时实现对织网喷头所输送的绳索和黏合剂输送量的控制；具体成型方法包括如下步骤：1. an automatic forming method for supporting the cable net structure of the converging surface, is characterized in that, is realized by automatic forming device, comprises auxiliary weaving disc and weaving platform; Described auxiliary weaving disc adopts shape to be regular. The geometric shape of the plate-like structure, one side of which is provided with a plurality of cylindrical convex bodies for installing connecting nodes, and the middle position of the connecting line of the adjacent cylindrical convex bodies is provided with a drop line running through the two sides of the auxiliary mesh disk hole; the weaving platform includes an X-direction motion mechanism, a Y-direction motion mechanism, a Z-direction motion mechanism, a programmable controller and a weaving nozzle; the X-direction motion mechanism is used to drive the weaving nozzle to move along the X-axis direction The Y-direction motion mechanism is used to drive the X-direction motion mechanism to move along the Y-axis direction; the Z-direction motion mechanism is used to drive the auxiliary weaving disc to move along the Z-axis direction; the weaving nozzle is used to convey A rope and an adhesive; the programmable controller is used to control the movement of the motion mechanism in the X, Y, and Z directions, and at the same time realize the control of the rope and the amount of adhesive conveyed by the weaving nozzle; the specific molding method includes: Follow the steps below: (1)设置待成型的索网结构：(1) Set the cable net structure to be formed: 设置包括M个投影为准测地线网格节点分布或三向网格节点分布的连接节点、相邻连接节点之间通过绳索连接且分环数为n待成型的索网结构，M＝3n2+3n+1，n取正整数；Setting includes M connection nodes with quasi-geodetic grid node distribution or three-way grid node distribution, adjacent connection nodes are connected by ropes and the number of sub-rings is n to form a cable network structure, M=3n 2 +3n+1, n is a positive integer; (2)确定辅助织网盘上圆柱状凸体的数量和布局：(2) Determine the number and layout of cylindrical protrusions on the auxiliary mesh disk: 设定辅助织网盘一个侧面上设置的圆柱状凸体的数量与待成型的索网结构中连接节点的数量M相等，M个圆柱状凸体为三向网格节点形式排布，并将最外侧6个顶点处的圆柱状凸体沿顺时针方向依次记为A1、A2、A3、A4、A5和A6；It is set that the number of cylindrical convex bodies set on one side of the auxiliary mesh disk is equal to the number M of connecting nodes in the cable net structure to be formed, and the M cylindrical convex bodies are arranged in the form of three-way grid nodes, and the The cylindrical convex bodies at the outermost 6 vertices are denoted as A1, A2, A3, A4, A5 and A6 in the clockwise direction; (3)确定连接节点的结构并安装：(3) Determine the structure of the connection node and install it: (3a)连接节点采用中心设置有直径与辅助织网盘上圆柱状凸体直径尺寸相等的通孔的盘状结构，其一个侧面上设置有两个相互嵌套的圆环形凸起，该两个圆环形凸起与盘状结构上的通孔同心，其中外圆环形凸起上设置有呈周向均匀排布且正对圆心的6个矩形槽口；所述矩形槽口的宽度，以及外圆环形凸起内壁的半径与内圆环形凸起外壁的半径的差与绳索的直径相等；(3a) The connecting node adopts a disk-shaped structure with a through hole having a diameter equal to the diameter of the cylindrical protrusion on the auxiliary mesh disk in the center, and two annular protrusions nested with each other are provided on one side thereof. The two annular protrusions are concentric with the through holes on the disk-shaped structure, and the outer annular protrusion is provided with 6 rectangular slots that are evenly arranged in the circumferential direction and face the center of the circle; width, and the difference between the radius of the inner wall of the outer annular protrusion and the radius of the outer wall of the inner annular protrusion is equal to the diameter of the rope; (3b)将连接节点通过盘状结构上的通孔固定在辅助织网盘上的圆柱状凸体，盘状结构上的两个圆环形凸起的一侧指向Y轴的正方向，且外圆环形凸起上设置的6个矩形槽口中的任意一个与固定连接节点的圆柱状凸体邻近的任意一个落线孔对齐；(3b) Fix the connecting node on the cylindrical protrusion on the auxiliary mesh disk through the through hole on the disk-shaped structure, and one side of the two annular protrusions on the disk-shaped structure points to the positive direction of the Y-axis, and Any one of the 6 rectangular notches set on the outer annular protrusion is aligned with any one of the drop holes adjacent to the cylindrical protrusion of the fixed connection node; (4)计算辅助织网盘中每个落线孔的落线长度Si：(4) Calculate the drop length Si of each drop hole in the auxiliary weaving disc: (4a)采用静态找形方法计算所成型的索网结构各连接节点之间的绳索拉力Fi和每根绳索的长度Li，并根据Fi和Li计算索网结构松弛状态下每根绳索的长度Li原：(4a) The static form-finding method is used to calculate the rope tension F i between the connecting nodes of the formed cable net structure and the length Li of each rope, and calculate each rope under the relaxed state of the cable net structure according to F i and Li The length Li of the rope is originally :
Figure FDA0002775163200000021
Figure FDA0002775163200000021
 其中，E为绳索的弹性模量，A为绳索的横截面积，i＝1，2，...,18·n-6；Among them, E is the elastic modulus of the rope, A is the cross-sectional area of the rope, i=1, 2, ..., 18·n-6; (4b)通过索网结构松弛状态下每根绳索的长度Li原、相邻圆柱状凸体之间的距离u和落线孔的直径d，计算辅助织网盘中每个落线孔的落线长度Si：(4b) According to the length Li of each rope in the relaxed state of the cable net structure, the distance u between the adjacent cylindrical protrusions and the diameter d of the drop hole, calculate the diameter of each drop hole in the auxiliary netting disc. Drop line length S i : Si＝Li原-(u-d)；S i =Li original- (ud); (5)规划织网喷头的织网路径：(5) Planning the weaving path of the weaving nozzle: (5a)以圆柱状凸体A1为扫描起点，沿以A1→A2的方向为正方向逐行正反扫描a次，得到扫描终点为圆柱状凸体A4的A1→A2方向的扫描路径，再以A4为扫描起点，沿以A4→A3的方向为正方向逐行正反扫描a次，得到扫描终点为A1，且与A1→A2方向的扫描路径逆时针成60度的A4→A3方向的扫描路径，然后将扫描点从A1点移动至A2点,以A2为扫描起点,沿以A2→A3的方向为正方向逐行正反扫描a次，得到扫描终点为A5,且与A1→A2方向的扫描路径逆时针成120度的A2→A3方向的扫描路径，并将上述三个方向的扫描路径作为织网喷头的扫描路径，其中，三个方向的扫描路径中每次扫描所经过的圆柱状凸体个数均为b，a＝2n+1，
Figure FDA0002775163200000022
(5a) Taking the cylindrical convex body A1 as the scanning starting point, scan forward and backward a times along the positive direction with the direction A1→A2 as the positive direction, and obtain the scanning path whose scanning end point is the A1→A2 direction of the cylindrical convex body A4, and then Taking A4 as the scanning starting point, scan forward and backward a times along the positive direction with the direction A4→A3 as the positive direction, and obtain the scanning end point A1, and the scanning path in the A1→A2 direction is 60 degrees counterclockwise in the A4→A3 direction. Scan the path, then move the scanning point from A1 to A2, take A2 as the scanning starting point, and scan forward and backward a times along the positive direction with A2→A3 as the positive direction, and obtain the scanning end point as A5, which is the same as A1→A2 The scanning path of the direction is the scanning path of the A2→A3 direction of 120 degrees counterclockwise, and the scanning path of the above three directions is used as the scanning path of the weaving nozzle. The number of cylindrical convex bodies is b, a=2n+1,
Figure FDA0002775163200000022
 (5b)通过辅助织网盘中每个圆柱状凸体上所固定的连接节点的内圆环形凸起与外圆环形凸起之间的半圆弧路径，替换织网喷头的扫描路径中两个相对的矩形槽口之间的扫描路径，得到织网喷头的织网路径；(5b) Replace the scanning path of the weaving nozzle through the semi-circular arc path between the inner annular protrusion and the outer annular protrusion of the connecting node fixed on each cylindrical protrusion in the auxiliary weaving disk The scanning path between the two opposite rectangular notches in the middle is obtained, and the weaving path of the weaving nozzle is obtained; (6)编写控制程序并导入可编程控制器：(6) Write the control program and import the programmable controller: (6a)将织网喷头的织网路径离散为c个坐标点Hc(xc,yc,zc)，并将两相邻落线孔之间路径上的离散点的个数记为w，c取正整数；(6a) Discrete the weaving path of the weaving nozzle into c coordinate points H c (x c , y c , z c ), and record the number of discrete points on the path between two adjacent drop holes as w, c are positive integers; (6b)按照织网路径上的落线孔从前到后的顺序，对每个落线孔的落线长度Si进行排序，并将其依次记为Ui；(6b) according to the order of the drop holes on the weaving path from front to back, sort the drop length Si of each drop hole , and record it as U i in turn; (6c)根据Hc(xc,yc,zc)、w和Ui的值，计算织网喷头织网过程中每个坐标点的送线长度Kc：(6c) According to the values of H c (x c , y c , z c ), w and U i , calculate the wire feeding length K c of each coordinate point during the weaving process of the weaving nozzle:
Figure FDA0002775163200000031
Figure FDA0002775163200000031
 (6d)按照织网路径上c个坐标点Hc(xc,yc,zc)从前到后的顺序，对Hc(xc,yc,zc)及其对应的送线长度Kc进行排序，得到控制数据信息，并按照G代码格式将控制数据信息导入可编程控制器中；(6d) According to the order of c coordinate points H c (x c , y c , z c ) on the weaving path from front to back, for H c (x c , y c , z c ) and their corresponding wire feeding lengths K c is sorted to obtain the control data information, and the control data information is imported into the programmable controller according to the G code format; (7)获取索网结构的成型结果：(7) Obtain the forming result of the cable net structure: (7a)X、Y、Z方向运动机构通过可编程控制器的控制，将织网喷头的出线嘴移动至A1位置连接节点；(7a) The movement mechanism in the X, Y and Z directions is controlled by the programmable controller to move the outlet nozzle of the weaving nozzle to the connection node at the A1 position; (7b)织网喷头通过可编程控制器的控制，按照织网路径，将绳索喷入连接节点驶入端的矩形槽口与驶出端的矩形槽口之间的圆弧形卡槽内，实现绕线；再将出线嘴移动至织网路径的第一个落线孔位置，实现第一次走线；然后将Si长度的绳索喷入第一个落线孔，实现落线；最后移动至织网路径上与A1位置相邻的连接节点处，实现第二次走线；(7b) The weaving nozzle is controlled by the programmable controller, and according to the weaving path, the rope is sprayed into the arc-shaped slot between the rectangular slot at the driving end of the connection node and the rectangular slot at the driving end to realize winding Then move the outlet nozzle to the position of the first drop hole of the weaving net path to realize the first line routing; then spray the rope of S i length into the first drop hole to realize the drop; finally move to At the connection node adjacent to the A1 position on the weaving path, the second routing is realized; (7c)按照步骤(7b)，依次类推，实现从织网路径上与A1位置相邻的连接节点处到A5位置连接节点的绕线、第一次走线、落线和第二次走线，实现织网过程；(7c) According to step (7b), and so on, realize the winding, the first routing, the dropping and the second routing from the connection node adjacent to the A1 position on the weaving path to the connection node at the A5 position , to realize the weaving process; (7d)X、Y、Z方向运动机构通过可编程控制器的控制，将织网喷头的出胶嘴移动至A1位置连接节点，并按照织网路径，将黏合剂喷涂到每个连接节点圆弧形卡槽内，实现连接节点与绳索的固定；(7d) The movement mechanism in X, Y and Z directions is controlled by the programmable controller to move the glue nozzle of the weaving nozzle to the connection node at the A1 position, and spray the adhesive to each connection node circle according to the weaving path. In the arc-shaped card slot, the connection node and the rope are fixed; (7e)将每个连接节点从辅助织网盘上的圆柱状凸体上取下，得到所成型的索网结构。(7e) Remove each connection node from the cylindrical protrusion on the auxiliary mesh disc to obtain the formed cable mesh structure. 2.根据权利要求1所述的一种用于支撑汇聚面的索网结构的自动成型方法，其特征在于，步骤(7c)中所述的织网过程，当完成A4→A3方向的织网后，织网喷头的出线嘴从A1位置连接节点移动至A2位置连接节点的过程，只进行A1至A2的走线过程。2. a kind of automatic forming method for supporting the cable net structure of the convergent surface according to claim 1, is characterized in that, the weaving process described in step (7c), when completing the weaving of A4→A3 direction After that, the process of moving the outlet nozzle of the weaving nozzle from the connection node at the A1 position to the connection node at the A2 position, only the wiring process from A1 to A2 is performed.
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