CN117306088A - Braiding machine and braiding method for special-shaped component - Google Patents

Abstract

The invention provides a braiding machine and a braiding method for special-shaped components, belongs to the technical field of braiding machinery, and is used for solving the problems that the number of layers of the components braided by the braiding machine for the special-shaped components in the prior art is small, the layers are not related, the mechanical properties are poor, and meanwhile, braiding equipment is small, so that large-sized three-dimensional special-shaped components are difficult to braid; comprising the following steps: base member, rotating ring, first connecting piece, second connecting piece, actuating mechanism, unwrapping wire mechanism, slide rail, removal base and robotic arm. The base member includes a plurality of arc, and an annular body that arc head and tail spliced in proper order forms has set firmly inlayer ring and outer ring on the annular body, has seted up a plurality of arc draw-in grooves on the annular body, because whole annular body adopts the concatenation to form, easily processing. Meanwhile, the dependence on the annular guide rail is eliminated, and the processing and the installation are convenient. The yarn spindles are switched back and forth between the odd and even loops in the radial direction, so that the woven profiled element layers are interrelated to each other.

Description

Braiding machine and braiding method for special-shaped component

Technical Field

The invention belongs to the technical field of braiding machines, and particularly relates to a braiding machine and a braiding method for a special-shaped member.

Background

The three-dimensional braiding machine can weave three-dimensional braiding reinforcement through the reciprocating motion of the spindle shaft in the plane, can be used for manufacturing various braiding composite material lightweight components, and is widely applied in the fields of national defense, aerospace, ocean engineering and the like; the special-shaped component can be woven by a part of three-dimensional braiding machine, however, the number of layers of the component woven by the special-shaped component three-dimensional braiding machine in the current market is small, generally two layers are arranged, no relation exists between the layers, and the mechanical property is poor; meanwhile, as the three-dimensional braiding machine generally adopts the annular track, when a large-sized component is required to be braided, the large-sized braiding machine is required, and the diameter of a body reaches more than 6 meters, at the moment, the annular track matched with the large-sized braiding machine is difficult to find in the market, so that braiding equipment is generally smaller, and the large-sized three-dimensional special-shaped component is difficult to braid.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a braiding machine for special-shaped members and a braiding method, which are used for solving the problems that the braiding machine for special-shaped members in the prior art has fewer layers of members, no correlation between layers, poor mechanical properties, smaller braiding equipment and difficulty in braiding large three-dimensional special-shaped members.

To achieve the above and other related objects, the present invention provides a profiled member knitting machine, comprising a base body, a movable ring, a first connecting piece, a second connecting piece, a driving mechanism, a paying-off mechanism, a slide rail, a moving base and a mechanical arm.

The base body comprises a plurality of arc-shaped plates, the arc-shaped plates are spliced end to form an annular body, an inner layer ring and an outer layer ring are fixedly arranged on the annular body, and the inner layer ring and the outer layer ring are concentrically arranged in the same plane; the annular body is provided with a plurality of arc-shaped clamping grooves. A plurality of moving rings with sequentially increasing diameters are concentrically arranged in the same plane, and the moving rings are arranged between the inner layer ring and the outer layer ring; each movable ring is sequentially numbered along the radial direction, wherein the number is an odd number and an even number. All odd rings are fixedly connected with the first connecting pieces, a plurality of first connecting pieces are annularly arranged, and the first connecting pieces are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves. All the even rings are fixedly connected with the second connecting pieces, a plurality of the second connecting pieces are annularly arranged, and the second connecting pieces are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves; the driving mechanism is fixedly arranged on the base body, and the first connecting piece and the second connecting piece are driven to slide in opposite directions through the driving mechanism.

The paying-off mechanism comprises a radial driving assembly, radial sliding blocks and a yarn spindle, a plurality of radial sliding grooves are formed in the inner layer ring, all the movable rings and the outer layer ring in sequence along the radial direction, the radial sliding blocks are arranged in the sliding grooves, the sliding blocks are in sliding fit with the sliding grooves, and the yarn spindle is fixedly connected with the radial sliding blocks; the driving assembly drives the sliding block to move along the sliding groove; the axes of the sliding rail and the moving ring are parallel; the movable base is slidably mounted on the sliding rail; the mechanical arm is fixedly connected with the movable base and used for clamping the core mold.

Optionally, remove the base and include first motor, first lead screw and sliding seat, the sliding seat with slide rail sliding fit, first motor with slide rail fixed connection, first lead screw with slide rail rotates to be connected, first lead screw with first motor drive connects, first lead screw with sliding seat screw fit, robotic arm with remove seat fixed connection, robotic arm is six mechanical arms.

Optionally, the special-shaped member knitting machine further comprises a foundation pit and a moving platform, wherein the base body is fixedly installed in the foundation pit, the moving platform is a multi-layer platform, and the moving platforms are arranged on two sides of the base body.

Optionally, the driving mechanism comprises a second motor, a second screw rod, a linkage sliding block, a linear guide rail, a first connecting rod, a second connecting rod, a first swing rod and a second swing rod; the second motor is fixedly connected with the base body, the second screw rod is rotationally connected with the base body, the second motor is in transmission connection with the second screw rod, and the linkage sliding block is in threaded fit with the second screw rod; the linear guide rail is fixedly connected with the base body, the second screw rod is parallel to the linear guide rail, and the linkage slide block is in sliding fit with the linear guide rail; one end of the first swing rod is rotationally connected with the base body, the other end of the first swing rod is hinged with one end of the first connecting rod, and the other end of the first connecting rod is rotationally connected with the linkage sliding block; one end of the second swing rod is rotationally connected with the base body, the other end of the second swing rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected with the linkage sliding block; the first swing rod and the second swing rod are symmetrically arranged, and the first connecting rod and the second connecting rod are symmetrically arranged; the first swing rod is provided with a first sliding groove, the second swing rod is provided with a second sliding groove, the first connecting piece is fixedly provided with a first sliding piece, the second connecting piece is fixedly provided with a second sliding piece, the first sliding piece is in sliding fit with the first sliding groove, and the second sliding piece is in sliding fit with the second sliding groove.

Optionally, the first connecting piece with be provided with radial bearing and axial bearing on the second connecting piece, radial bearing with axial bearing mutually perpendicular, the arc draw-in groove includes radial draw-in groove and axial draw-in groove, radial bearing with radial draw-in groove rolling fit, axial bearing with axial draw-in groove rolling fit.

Optionally, the radial drive assembly includes first extensible member and second extensible member, first extensible member with the second extensible member all with base member fixed connection, first extensible member with the second extensible member is in opposite setting respectively radial spout's both ends.

Optionally, the yarn spindle comprises a yarn winding module, a yarn passing module, a yarn discharging module and an adjusting control module, wherein yarn is led out from the yarn winding module, passes through the yarn passing module and is finally led out from the yarn discharging module; the yarn winding module comprises a yarn tube, a mandrel and a yarn winding rotating base group, wherein the yarn tube is sleeved on the mandrel, and the yarn tube is rotatably arranged on the yarn winding rotating base group; the yarn passing module is arranged on one side of the yarn winding module and comprises a yarn guide plate and a yarn guide wheel set, and yarns sequentially pass through the yarn guide plate and the yarn guide wheel set;

The yarn outlet module is arranged at the top of the yarn winding module and comprises an upper cantilever mounting block, a yarn passing cylinder and a swinging assembly, the upper cantilever mounting block is fixed on the adjustment control module, the swinging assembly comprises a swinging fixing seat and a swinging rotating seat, the swinging fixing seat is fixed on the upper cantilever mounting block through the yarn passing cylinder, the swinging rotating seat is rotatably arranged on the swinging fixing seat, a yarn outlet porcelain eye is arranged on the swinging rotating seat, and yarns are led out from the yarn outlet porcelain eye;

the yarn winding module is used for winding yarn on the yarn tube, and the yarn winding module is used for winding yarn on the yarn tube; the spool all is equipped with the mounting disc along length direction's both ends, be equipped with core hole and a plurality of rotation stopping hole in the mounting disc, the core hole with the spool is coaxial and intercommunication each other, and each rotation stopping hole circumference is arranged the outside of core hole.

The yarn winding rotating base group comprises a yarn winding rotating seat and a base, and the base is fixedly connected with the radial sliding block; the yarn winding rotary seat is of a rotary body structure, a rotary fit hole is formed in the center of the yarn winding rotary seat, a plurality of rotation stopping bosses are arranged on the surface of the yarn winding rotary seat, the rotation stopping bosses are circumferentially arranged on the periphery of the rotary fit hole, the rotation stopping bosses are in insertion fit with the rotation stopping holes, the yarn tube is rotatably mounted on the base through the yarn winding rotary seat, a fixed cylinder is arranged on the base, and the yarn winding rotary seat is in rotary fit with the fixed cylinder through a bearing.

The yarn guide plate comprises a yarn guide part and a mounting part; the surface of the yarn guide part is an arc bending surface, and a wear-resistant layer is arranged on the surface of the yarn guide part; the installation department is the straight plate structure, be equipped with the yarn mounting hole on the installation department, the installation department is installed on the base.

Optionally, the adjustment control module comprises a fixed connecting block, a guide rod, a lifting frame and a locking assembly; the top of fixed link piece with go up cantilever installation piece and connect, the bottom of fixed link piece is equipped with first connecting hole and second connecting hole, be provided with tension spring in the second connecting hole, the top of guide arm is fixed in through the jackscrew in the first connecting hole, the bottom of guide arm is through leading fixed block fixed mounting on the base, the top of dabber with fixed link piece passes through the fixed cover and connects, the bottom of dabber is fixed the inside of fixed cylinder.

The lifting frame is slidably mounted on the guide rod, an upper ejector block is arranged at the top of the lifting frame, an upper guide hole is formed in the upper ejector block, a lower connecting block is arranged at the bottom of the lifting frame, a lower guide hole is formed in the lower connecting block, the upper guide hole and the lower guide hole are coaxially arranged, the guide rod slidably passes through the upper guide hole and the lower guide hole, a compression spring is further arranged at the top of the guide rod, the compression spring is wound on the guide rod, and the bottom end of the compression spring is fixed in the hole wall of the upper guide hole.

The clamping and locking assembly is arranged between the lifting frame and the base, and the lifting frame drives the clamping and locking assembly to control the rotation of the yarn winding rotary seat; the yarn guiding wheel set comprises a fixed yarn guiding wheel and a lifting yarn guiding wheel, the adjusting control module is further provided with a switching block and a lower cantilever mounting block, the switching block is fixedly mounted on the fixed connecting block, the fixed yarn guiding wheel is rotatably mounted on the switching block, the lower cantilever mounting block is arranged on the lifting frame, the lifting yarn guiding wheel is rotatably mounted on the lower cantilever mounting block, and when the lifting yarn guiding wheel receives yarn lifting tension, the lower cantilever mounting block drives the lifting frame to lift along the guide rod.

Optionally, the locking assembly includes a locking piece and a plurality of locking tooth grooves, the locking piece is mounted on one side of the lower connecting block, which is close to the base, the locking tooth grooves are arranged on the yarn winding rotating seat, each locking tooth groove is circumferentially arranged on the outer side of the yarn winding rotating seat, and when the locking piece is locked in the locking tooth groove, the yarn winding rotating seat is locked to rotate; when the lifting frame rises to drive the clamping piece to move upwards, the clamping piece is clamped out of the clamping tooth groove, and the yarn winding rotary seat can rotate.

The invention provides a braiding method of a special-shaped member, which comprises the following steps:

and (3) yarn releasing:

s1, in the yarn spindle yarn placing process, a second motor drives a second screw rod to rotate, the second screw rod rotates to drive a linkage sliding block to slide, in the linkage sliding block sliding process, a first swing rod and a second swing rod are driven to swing in opposite directions, and the first swing rod and the second swing rod respectively drive an odd ring and an even ring to rotate in different directions;

s2, when the odd-numbered rings and the even-numbered rings stop rotating, a radial driving assembly drives a radial sliding block to move in a radial sliding groove, and pushes the radial sliding block in the odd-numbered rings into the even-numbered rings, and the radial sliding block in the even-numbered rings is pushed into the odd-numbered rings;

s3, the second motor rotates reversely, the linkage sliding block slides in the opposite direction to the step S1, and the odd ring and the even ring rotate in the opposite direction to the step S1;

s4, the radial driving assembly drives the radial sliding block to slide in the radial sliding groove in the direction opposite to the direction of the step S2;

s5, repeating the steps from S1 to S4 until the weaving is finished;

braiding:

In the yarn placing process of the yarn spindle, the mechanical arm clamps the core mould to move on the sliding rail, and the weaving part of the core mould is controlled to face the center of the movable ring at any time.

Drawings

FIG. 1 is a schematic perspective view of a braiding machine for profiled elements according to the present invention;

FIG. 2 shows a top view of the profiled element knitting machine of the invention;

FIG. 3 is a schematic view of the assembly of the moving ring of the present invention;

FIG. 4 shows an enlarged view of part A of FIG. 3 in accordance with the present invention;

FIG. 5 is a schematic view of the assembly of the drive mechanism of the present invention;

FIG. 6 is a schematic perspective view of a four-step three-dimensional braiding apparatus according to the present invention;

FIG. 7 is a schematic perspective view of a yarn spindle according to the present invention;

FIG. 8 is a schematic perspective view of a yarn spindle according to the present invention;

FIG. 9 is a schematic view of the structure of the mandrel and the yarn package of the present invention;

FIG. 10 is a schematic view showing the structural cooperation of the yarn winding rotating base group in the present invention;

FIG. 11 is a schematic view showing the structural cooperation of the yarn passing module according to the present invention;

FIG. 12 is a schematic view showing the structure of the fixing block according to the present invention;

FIG. 13 is a schematic view showing the structure of a lifting frame according to the present invention;

FIG. 14 is a schematic diagram showing the structure of the push-up group according to the present invention;

Fig. 15 is a schematic structural view of the yarn-out module according to the present invention.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

Referring to fig. 1 to 15, the structures, proportions, sizes and the like shown in the drawings are merely for the purpose of understanding and reading the disclosure, and are not intended to limit the applicable limitations of the present invention, so that any structural modification, change of proportions or adjustment of sizes is not technically significant, and thus, without affecting the efficacy and achievement of the present invention, it is intended to fall within the scope of the technical disclosure. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

The following examples are given by way of illustration only. Various embodiments may be combined and are not limited to only what is presented in the following single embodiment.

Referring to fig. 1-6, the present invention provides a braiding machine for profiled elements, comprising: the device comprises a base body, a movable ring 2, a first connecting piece 203, a second connecting piece 204, a driving mechanism 3, a paying-off mechanism 4, a sliding rail 5, a movable base and a mechanical arm 7.

The base member is fixed on support frame 101, and support frame 101 fixed mounting stands up whole base member on ground, and whole base member adopts the concatenation of polylith arc to form, can adopt high strength bolt to splice arc into annular body 1. An inner ring 103 and an outer ring 102 are fixedly arranged on the annular body 1, and the inner ring 103 and the outer ring 102 are arranged concentrically on the same plane; a plurality of arc-shaped clamping grooves are formed in the annular body 1; a plurality of moving rings 2 with sequentially increasing diameters are concentrically arranged in the same plane, and the moving rings 2 are arranged between an inner ring 103 and an outer ring 102; each moving ring 2 is sequentially numbered along the radial direction, the odd numbered rings are odd numbered rings 201, and the even numbered rings 202 are even numbered according to integers 1, 2 and 3 …; all odd rings 201 are fixedly connected with the first connecting pieces 203, and can be fixed by bolts, a plurality of first connecting pieces 203 are annularly arranged, and the first connecting pieces 203 are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves; all even rings 202 are fixedly connected with the second connecting pieces 204, and can be fixed by bolts, a plurality of second connecting pieces 204 are annularly arranged, and the second connecting pieces 204 are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves. The driving mechanism 3 is fixedly arranged on the annular body 1, and the first connecting piece 204 and the second connecting piece 204 are driven to slide in opposite directions through the driving mechanism 3; the paying-off mechanism 4 comprises a radial driving assembly, radial sliding blocks 403 and yarn spindles 40, a plurality of radial sliding grooves 210 are formed in the inner ring 103, all the movable rings 2 and the outer ring 102 in sequence along the radial direction, the radial sliding blocks 403 are arranged in the radial sliding grooves 210, the radial sliding blocks 403 are in sliding fit with the radial sliding grooves 210, one radial sliding block 403 is arranged in each radial sliding groove 210 on each movable ring 2, and each radial sliding block 403 is fixedly connected with one yarn spindle 40. The yarn spindle 40 is fixedly connected to the radial slide 403. The sliding rail 5 is parallel to the axis of the movable ring 2; the movable base is slidably arranged on the slide rail 5; the mechanical arm 7 is fixedly connected with the movable base, and the mechanical arm is used for clamping the core mould.

Because the whole annular body 1 is formed by splicing, the processing is easy, and the large three-dimensional braiding machine body can be processed to be more than 6 meters. Then, an arc-shaped clamping groove is formed in the whole annular body 1, and the first connecting piece 203 and the second connecting piece 204 are arranged in the arc-shaped clamping groove and respectively drive the odd-numbered rings 201 and the even-numbered rings 202 to move. The dependence on the annular guide rail is eliminated, and the processing and the installation are convenient. And the first connecting piece 203 drives all the odd rings 201 to move at the same time, the second connecting piece 204 drives all the even rings 202 to move at the same time, and the first connecting piece 203 and the second connecting piece 204 are driven by one driving mechanism 3, so that the motion coordination among the rings is good, and the quality of three-dimensional weaving is improved. At the same time, yarn spindle 40 switches back and forth between odd loops 201 and even loops 202 in the radial direction, so that the woven profiled element layers are interrelated to each other. And can weave the multilayer according to how many times the number of moving rings 2, weave efficiently.

In this embodiment, referring to fig. 1-6, the moving base includes a first motor 601, a first screw rod 602 and a sliding seat 603, the sliding seat 603 is slidably matched with the sliding rail 5, the first motor 601 is fixedly connected with the sliding rail 5, the first screw rod 602 is rotationally connected with the sliding rail 5, the first screw rod 602 is in transmission connection with the first motor 601, the first screw rod 602 is in threaded fit with the sliding seat 603, the mechanical arm 7 is fixedly connected with the moving seat, and the mechanical arm 7 is a six-axis mechanical arm. The six-axis mechanical arm is flexible and changeable, and no matter what shape the mandrel is, the weaving part of the mandrel can be controlled to be opposite to the center of the movable ring 2.

In this embodiment, referring to fig. 1-6, the braiding machine for special-shaped members further includes a foundation pit 8 and a moving platform 9, the base is fixedly installed in the foundation pit 8, the moving platform 9 is a multi-layer platform, and the two moving platforms 9 are arranged on two sides of the base. The yarn 10 is convenient to replace and the equipment is convenient to overhaul.

In this embodiment, referring to fig. 1 to 6, the driving mechanism 3 includes a second motor 301, a second screw rod 302, a linkage slider 303, a linear guide rail 304, a first connecting rod 306, a second connecting rod 305, a first swing rod 308 and a second swing rod 307; the second motor 301 is fixedly connected with the annular body 1, the second screw rod 302 is rotationally connected with the annular body 1, the second motor 301 is in transmission connection with the second screw rod 302, and the linkage sliding block 303 is in threaded fit with the second screw rod 302; the linear guide rail 304 is fixedly connected with the annular body 1, the second screw rod 302 is parallel to the linear guide rail 304, and the linkage slider 303 is in sliding fit with the linear guide rail 304; one end of a first swing rod 308 is rotationally connected with the annular body 1, the other end of the first swing rod 308 is hinged with one end of a first connecting rod 306, and the other end of the first connecting rod 306 is rotationally connected with a linkage sliding block 303; one end of the second swing rod 307 is rotationally connected with the annular body 1, the other end of the second swing rod 307 is hinged with one end of the second connecting rod 305, and the other end of the second connecting rod 305 is rotationally connected with the linkage sliding block 303; the first swing rod 308 and the second swing rod 307 are symmetrically arranged, and the first connecting rod 306 and the second connecting rod 305 are symmetrically arranged; the first swing rod 308 is provided with a first sliding groove 3081, the second swing rod 307 is provided with a second sliding groove 3071, the first connecting piece 203 is fixedly provided with a first sliding piece 2031, the second connecting piece 204 is fixedly provided with a second sliding piece 2041, the first sliding piece 2031 is in sliding fit with the first sliding groove 3081, and the second sliding piece 2041 is in sliding fit with the second sliding groove 3071.

The second motor 301 drives the linkage sliding block 303 to move on the linear guide rail 304, and the first link 306 and the second link 305 drive the first swing link 308 and the second swing link 307 to swing in opposite directions respectively in the sliding process of the sliding block, and in the swinging process of the first swing link 308 and the second swing link 307, the first sliding piece 2031 on the first connecting piece 203 slides in the first sliding groove 3081 of the first swing link 308, and the second sliding piece 2041 on the second connecting piece 204 slides in the second sliding groove 3071 of the second swing link 307. The first link 203 and the second link 204 are respectively engaged in the grooves to rotate, thereby driving all the odd numbered rings 201 and all the even numbered rings 202 to rotate in opposite directions. The odd ring 201 and the even ring 202 are driven by the second motor 301 to reciprocally rotate on the ring body 1, such as initial: the odd ring 201 rotates 7.5 degrees clockwise and the even ring 202 rotates 7.5 degrees counterclockwise; after the radial switching yarn spindle 40 is switched, the odd ring 201 rotates 7.5 degrees counterclockwise, and the even ring 202 rotates 7.5 degrees clockwise; and thus, reciprocally operates. A second motor 301 drives all the odd rings 201 to rotate synchronously and all the even rings 202 to rotate synchronously. The whole coordination is good, the adjustment is easy, the rotation of the odd ring 201 and the even ring 202 is not easy to make mistakes, and the quality of the woven three-dimensional product is good.

In this embodiment, referring to fig. 1 to 6, the first connecting piece 203 and the second connecting piece 204 are respectively provided with a radial bearing and a radial bearing, the radial bearing and the radial bearing are perpendicular to each other, and the arc-shaped slot comprises a radial slot and an axial slot, the radial bearing and the radial slot are in rolling fit, and the radial bearing and the axial slot are in rolling fit. The radial bearing and the axial bearing are limited in a clamping groove on the annular body 1, so that the connection between the movable ring 2 and the annular body 1 is realized. The radial bearing bears the weight of the moving ring 2 and the axial bearing overcomes the tipping force. The annular body 1 is provided with guide sliding grooves, sliding connectors are fixedly connected to the odd-numbered rings 201 and the even-numbered rings 202, and the sliding connectors on the odd-numbered rings 201 and the even-numbered rings 202 are respectively matched with the different guide sliding grooves in a sliding manner. Thereby enhancing the support of the ring 2.

In this embodiment, referring to fig. 1 to 6, the radial driving assembly includes a first telescopic member 401 and a second telescopic member 402, the first telescopic member 401 and the second telescopic member 402 are fixedly connected with the annular body 1, and the first telescopic member 401 and the second telescopic member 402 are respectively and oppositely disposed at two ends of the radial chute 210. The first telescopic piece 401 and the second telescopic piece 402 are telescopic along the radial sliding groove 210 and push the radial sliding blocks 403 in the radial sliding groove 210 to move, and the radial sliding groove 210 sections in each movable ring 2 are provided with the radial sliding blocks 403; the first telescopic member 401 and the second telescopic member 402 may be a cylinder, an oil cylinder or an electric push rod.

In this embodiment, referring to fig. 5 and 13, the yarn spindle 40 includes a winding module 41, a yarn passing module 42, a yarn discharging module 43 and an adjusting control module 44, and the yarn 10 is led out from the winding module 41, passes through the yarn passing module 42 and is finally led out from the yarn discharging module 43; the yarn winding module 41 comprises a yarn tube 411, a mandrel 412 and a yarn winding rotating base group, wherein the yarn tube 411 is sleeved on the mandrel 412, and the yarn tube 411 is rotatably arranged on the yarn winding rotating base group; the yarn passing module 42 is arranged at one side of the yarn winding module 41, the yarn passing module 42 comprises a yarn guide plate 421 and a yarn guide wheel set, and the yarn 10 sequentially passes through the yarn guide plate 421 and the yarn guide wheel set; the yarn discharging module 43 is arranged at the top of the yarn winding module 41, the yarn discharging module 43 comprises an upper cantilever mounting block 431, a yarn passing cylinder 432 and a swinging assembly, the upper cantilever mounting block 431 is fixed on the adjusting control module 44, the swinging assembly comprises a swinging fixing seat 433 and a swinging rotating seat 434, the swinging fixing seat 433 is fixed on the upper cantilever mounting block 431 through the yarn passing cylinder 432, the swinging rotating seat 434 is rotatably arranged on the swinging fixing seat 433, a yarn discharging porcelain eye 435 is arranged on the swinging rotating seat 434, and the yarn 10 is led out from the yarn discharging porcelain eye 435; the adjustment control module 44 is disposed between the winding module 41 and the yarn outlet module 43, and the adjustment control module 44 is used for controlling the rotation of the bobbin 411 in the winding module 41. The invention is provided with a yarn winding module 41, a yarn passing module 42, a yarn discharging module 43 and an adjusting control module 44, wherein yarn 10 is led out from the yarn winding module 41, sequentially passes through the yarn passing module 42 and is led out from the yarn discharging module 43 to a subsequent processing station. The swing assembly arranged in the yarn discharging module 43 comprises the swing fixing seat 433 and the swing rotating seat 434, the swing rotating seat 434 is rotatably arranged on the swing fixing seat 433, and by adopting the swing and swing yarn discharging structure, the stress direction can be dynamically adjusted in real time no matter in which direction the yarn 10 receives the stress force in the yarn discharging process, and the stress force applied to the yarn 10 in the discharging process can be uniformly distributed on each tow by matching with the yarn discharging porcelain eye 435 on the swing rotating seat 434, so that the stress of each tow is consistent, and the phenomenon of tearing and fuzzing caused by uneven stress is avoided, thereby influencing the product quality.

In this embodiment, referring to fig. 9 and fig. 10, mounting plates 413 are disposed at two ends of the tube 411 along the length direction, a core hole 414 and a plurality of rotation stopping holes 415 are disposed in the mounting plates 413, the core hole 414 and the tube 411 are coaxial and mutually communicated, and the rotation stopping holes 415 are circumferentially arranged outside the core hole 414; the yarn winding rotating base group comprises a yarn winding rotating base 416 and a base 417, and the base 417 is fixedly connected with the radial slide block 403. The yarn winding rotary seat 416 is a rotary body structure, a rotating fit hole 418 is formed in the center of the yarn winding rotary seat 416, a plurality of rotation stopping bosses 419 are formed in the surface of the yarn winding rotary seat 416, the rotation stopping bosses 419 are circumferentially arranged on the periphery of the rotating fit hole 418, the rotation stopping bosses 419 and the rotation stopping holes 415 are in insertion fit, the yarn tube 411 is rotatably mounted on the base 417 through the yarn winding rotary seat 416, and the yarn winding rotary seat 416 and the fixed cylinder 4112 are in rotating fit through a bearing 4110. The rotation stopping holes 415 arranged in the circumferential direction are matched with the rotation stopping bosses 419 arranged in the circumferential direction, so that the bobbin 411 can be rotatably installed, and the rotating yarn releasing process can be further realized. Wherein the mounting disc 413 is provided with a core hole 414, and the core hole 414 and the bobbin 411 are coaxially communicated with each other, so that the insertion and the mounting of the mandrel 412 can be ensured. When the yarn winding rotary seat 416 is matched with the base 417, the outer ring of the bearing 4110 is matched with the rotating matching hole 418, and the inner wall of the bearing 4110 is matched with the outer wall of the fixed cylinder 4112, so that the rotating installation of the two is realized.

In this embodiment, referring to fig. 7 and 11, the yarn board 421 includes a yarn guiding portion 422 and a mounting portion 423; the surface of the yarn guiding part 422 is an arc bending surface, and the surface of the yarn guiding part 422 is provided with a wear-resistant layer; the mounting portion 423 is of a straight plate structure, a yarn guide mounting hole is provided in the mounting portion 423, and the mounting portion 423 is mounted on the base 417. Compared with the traditional straight yarn guide plate 421, the transition is smoother, the stress of the yarn 10 is more uniform when the yarn 10 passes through the yarn guide plate 421, the damage of concentrated stress to the yarn 10 tows is reduced, and meanwhile, the surface of the yarn guide part 422 is a wear-resistant layer, so that the damage to the tearing and fuzzing of the yarn 10 is further reduced.

In this embodiment, referring to fig. 13, a fixing ring 436 is disposed at the top end of the yarn passing barrel 432, and an external thread is disposed at the bottom end of the yarn passing barrel 432; the swinging rotary seat 434 is rotatably installed on the swinging fixed seat 433 through the yarn outlet rotary shaft 437, a fixed matching hole 438 is formed in the swinging fixed seat 433, a yarn passing hole 439 is formed in the upper cantilever mounting block 431, the yarn passing barrel 432 sequentially penetrates through the fixed matching hole 438 and the yarn passing hole 439, the yarn passing barrel 432 presses the fixed swinging fixed seat 433 through a fixing ring 436 at the top end, and the yarn passing barrel 432 is fixed on the upper cantilever mounting block 431 through the matching of external threads and nuts at the bottom end. The swing assembly arranged in the yarn discharging module 43 comprises a swing fixing seat 433 and a swing rotating seat 434, the swing rotating seat 434 is rotatably arranged on the swing fixing seat 433, by adopting the swing and swing yarn discharging structure, the stress direction can be dynamically adjusted in real time no matter in which direction the yarn 10 receives the stress force in the yarn discharging process, and the stress force applied to the yarn 10 in the discharging process can be uniformly distributed on each yarn bundle by matching with the yarn discharging porcelain eye 435 on the swing rotating seat 434, so that the stress of each yarn bundle is consistent, and the phenomenon of tearing and fuzzing caused by uneven stress is avoided, thereby influencing the product quality

In this embodiment, referring to fig. 15, a yarn outlet roller 4310 is further disposed on the yarn spindle 437, the yarn outlet roller 4310 is rotatably mounted on the yarn outlet spindle 437, and the yarn outlet roller 4310 is located below the yarn outlet porcelain eye 435; the matching connection of the swing rotating seat 434 and the yarn outlet rotating shaft 437 is provided with a clamping spring 4311. The motion track of the yarn 10 in the yarn outlet module 43 is guided out from the yarn outlet porcelain eye 435 through the yarn outlet roller 4310 after entering from the yarn passing hole 439 to the yarn passing barrel 432, and the yarn outlet roller 4310 and the clamp spring 4311 are arranged, so that the tension effect can be better stabilized for the transmission of the yarn 10, and the transmission quality of the yarn 10 is ensured.

In this embodiment, referring to fig. 8, 10 and 11, the adjustment control module 44 includes a fixed connection block 441, a guide rod 442, a lifting frame 443 and a latch assembly; the top of the fixed connecting block 441 is connected with the upper cantilever mounting block 431, the bottom of the fixed connecting block 441 is provided with a first connecting hole and a second connecting hole, a tension spring 444 is arranged in the second connecting hole, the top end of a guide rod 442 is fixed in the first connecting hole through a jackscrew 448, the bottom end of the guide rod 442 is fixedly mounted on the base 417 through a guide and fixing block, the top end of a mandrel 412 is connected with the fixed connecting block 441 through a fixed cover 111, and the bottom end of the mandrel 412 is fixed in the fixed cylinder 4112; the lifting frame 443 is slidably mounted on the guide rod 442, an upper jacking block 445 is arranged at the top of the lifting frame 443, an upper guide hole is formed in the upper jacking block 445, a lower connecting block 446 is arranged at the bottom of the lifting frame 443, a lower guide hole is formed in the lower connecting block 446, the upper guide hole and the lower guide hole are coaxially arranged, the guide rod 442 slidably passes through the upper guide hole and the lower guide hole, a compression spring 447 is further arranged at the top of the guide rod 442, the compression spring 447 is wound on the guide rod 442, and the bottom end of the compression spring 447 is fixed in the hole wall of the upper guide hole; the locking assembly is arranged between the lifting frame 443 and the base 417, and the lifting frame 443 drives the locking assembly to control the rotation of the yarn winding rotary seat 416.

In this embodiment, referring to fig. 8 and 11, the yarn set includes a fixed yarn guiding wheel 424 and a lifting yarn guiding wheel 425, the yarn guiding wheel set includes a fixed yarn guiding wheel 424 and a lifting yarn guiding wheel 425, the adjusting control module 44 is further provided with a switching block 449 and a lower cantilever mounting block 4410, the switching block 449 is fixedly mounted on the fixed connecting block 441, the fixed yarn guiding wheel 424 is rotatably mounted on the switching block 449, the lower cantilever mounting block 4410 is disposed on the lifting frame 443, the lifting yarn guiding wheel 425 is rotatably mounted on the lower cantilever mounting block 4410, and when the lifting yarn guiding wheel 425 receives the lifting tension of the yarn 10, the lower cantilever mounting block 4410 drives the lifting frame 443 to rise along the guide rod 442. The yarn 10 passes through the yarn guide plate 421 and then sequentially passes through the lifting yarn guide wheel 425 and the fixed yarn guide wheel 424 to finally enter the yarn outlet module 43, the tension force of the yarn 10 acts on the lifting yarn guide wheel 425, the yarn guide wheel is arranged on the lower cantilever mounting block 4410, the lifting frame 443 can be driven to lift along the guide rod 442, and the compression spring 447 can limit the minimum tension force of the yarn 10.

In this embodiment, the wheel grooves of the fixed yarn guiding wheel 424 and the lifting yarn guiding wheel 425 are both U-shaped grooves. In the invention, the U-shaped wheel grooves are adopted for the wheel grooves of the fixed yarn guide wheel 424 and the lifting yarn guide wheel 425 in the yarn guide wheel group, and compared with the traditional V-shaped wheel groove, the plane stress is applied to the yarn 10 in the yarn passing process, so that the extrusion and friction of the yarn 10 are reduced, and the performance of the yarn 10 is effectively protected.

In this embodiment, referring to fig. 11 and 12, the adjustment control module 44 further includes an upward pushing group, the upward pushing group includes an upward pushing table 4411 and an upward pushing rod 4412, the bottom end of the upward pushing rod 4412 is fixed on the upper surface of the upward pushing table 4411, the upward pushing table 4411 is provided with a through hole, the upward pushing table 4411 is fixedly mounted on the lower connecting block 446, the guide rod 442 slides through the through hole, the lower cantilever mounting block 4410 is fixedly mounted on the upward pushing table 4411, the upward pushing group and the lifting frame 443 are synchronously lifted, and when the upward pushing group is lifted, the upward pushing rod 4412 enters the second connecting hole to be in compression contact with the tension spring 444. By providing the push-up group and the lifting frame 443 to move upward synchronously, the tension control on the yarn 10 can be better realized after the push-up rod 4412 and the tension spring 444 are in extrusion contact during the lifting process. It should be noted that during the lifting of the lifting frame 443 and the push-up set, the compression spring 447 is compressed and stressed first, and then the tension spring 444 is stressed after a certain period of lifting.

In this embodiment, referring to fig. 11 and 12, the latch assembly includes a latch 4413 and a plurality of latch slots 4414, wherein the latch 4413 is mounted on one side of the lower connecting block 446 near the base 417, the latch slots 4414 are disposed on the winding rotary seat 416, and each of the latch slots 4414 is circumferentially arranged on the outer side of the winding rotary seat 416, and when the latch 4413 is snapped into the latch slot 4414, the winding rotary seat 416 is locked for rotation; when the lifting frame 443 is lifted to drive the clamping piece 4413 to move upwards, the clamping piece 4413 is clamped out of the clamping tooth slot 4414, and the winding rotary seat 416 can rotate. According to the invention, the lifting tension force of the yarn 10 in the adjusting control module 44 acts on the lifting yarn guide wheel 425, so that the lifting frame 443 is driven to lift, the compression spring 447 is stressed and compressed, and the clamping piece 4413 is separated from the clamping tooth groove 4414 in the lifting process of the lifting frame 443, so that the yarn can be rotatably discharged around the yarn rotating seat 416 and the yarn tube 411, and therefore, the yarn discharge operation of the spindle structure can be realized only when the tension force of the yarn 10 is enough, and the yarn tube 411 is limited to rotate to stop the yarn discharge when the tension force of the yarn 10 is insufficient, thereby avoiding the influence of the condition of shutdown or insufficient tension force of the yarn 10 on the winding or other processing of the subsequent yarn 10, and ensuring the quality and effect of products.

A control method of a four-step three-dimensional braiding device comprises the following steps:

and (3) yarn releasing:

s1, in the yarn releasing process of the yarn spindle 40, a second motor 301 drives a second screw rod 302 to rotate, the second screw rod 302 rotates to drive a linkage sliding block 303 to slide, in the sliding process of the linkage sliding block 303, a first swing rod 308 and a second swing rod 307 are driven to swing in opposite directions, and the first swing rod 308 and the second swing rod 307 respectively drive an odd ring 201 and an even ring 202 to rotate in different directions;

s2, when the odd ring 201 and the even ring 202 stop rotating, the radial driving assembly drives the radial sliding blocks 403 to move in the radial sliding grooves 210, and pushes the radial sliding blocks 403 in the odd ring 201 into the even ring 202, and the radial sliding blocks 403 in the even ring 202 are pushed into the odd ring 201;

s3, the second motor 301 rotates reversely, the linkage slider 303 slides towards the direction opposite to that in the step S1, and meanwhile, the odd ring 201 and the even ring 202 also rotate towards the direction opposite to that in the step S1;

s4, the radial driving assembly drives the radial sliding block 403 to slide in the radial sliding groove 210 in the direction opposite to the direction of the step S2;

s5, repeating the steps of S1 to S4 until the weaving is finished.

Braiding:

during the yarn releasing process, the mechanical arm 7 clamps the core mould to move on the sliding rail 5, and controls the knitting part of the core mould to face the center of the movable ring 2 at any time.

The thickness of multiple layers can be woven once, even the thickness of more than 7 layers is achieved, and most of conventional three-dimensional braiding machines can only weave 2 layers; the yarns between the layers are crosslinked, the mechanical property of the knitted fabric is high, and the three-dimensional fabric with various shapes can be knitted.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. A profiled member knitting machine, comprising:

the substrate is provided with a plurality of grooves,

the base body comprises a plurality of arc-shaped plates, the arc-shaped plates are spliced end to form an annular body, an inner layer ring and an outer layer ring are fixedly arranged on the annular body, and the inner layer ring and the outer layer ring are concentrically arranged in the same plane; a plurality of arc-shaped clamping grooves are formed in the annular body;

the movable ring is provided with a plurality of movable rings,

a plurality of moving rings with sequentially increasing diameters are concentrically arranged in the same plane, and the moving rings are arranged between the inner layer ring and the outer layer ring; each movable ring is sequentially numbered along the radial direction, wherein the number of each movable ring is an odd number of the movable rings, and the number of each movable ring is an even number of the movable rings;

The first connecting piece is provided with a first connecting piece,

all the odd rings are fixedly connected with the first connecting pieces, a plurality of first connecting pieces are annularly arranged, and the first connecting pieces are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves;

the second connecting piece is provided with a second connecting piece,

all the even rings are fixedly connected with the second connecting pieces, a plurality of the second connecting pieces are annularly arranged, and the second connecting pieces are clamped in the arc-shaped clamping grooves and are in sliding fit with the arc-shaped clamping grooves;

the driving mechanism is used for driving the driving mechanism,

the driving mechanism is fixedly arranged on the annular body, and drives the first connecting piece and the second connecting piece to slide in opposite directions through the driving mechanism;

the paying-off mechanism comprises a paying-off mechanism,

the paying-off mechanism comprises a radial driving assembly, radial sliding blocks and yarn spindles, a plurality of radial sliding grooves are formed in the inner layer ring, all the movable rings and the outer layer ring in sequence along the radial direction, the radial sliding blocks are arranged in the radial sliding grooves, the radial sliding blocks are in sliding fit with the radial sliding grooves, one radial sliding block is arranged in each radial sliding groove of each movable ring, and each radial sliding block is fixedly connected with one yarn spindle; the driving assembly drives the radial sliding block to move along the radial sliding groove;

The sliding rail is provided with a plurality of sliding rails,

the axes of the sliding rail and the moving ring are parallel;

the base is moved to be fixed on the base,

the movable base is slidably mounted on the sliding rail;

the mechanical arm is provided with a plurality of mechanical arms,

the mechanical arm is fixedly connected with the movable base and used for clamping the core mold.

2. The profiled element knitting machine as claimed in claim 1, characterized in that: the movable base comprises a first motor, a first screw rod and a sliding seat, wherein the sliding seat is in sliding fit with the sliding rail, the first motor is fixedly connected with the sliding rail, the first screw rod is in rotary connection with the sliding rail, the first screw rod is in transmission connection with the first motor, the first screw rod is in threaded fit with the sliding seat, the mechanical arm is fixedly connected with the movable seat, and the mechanical arm is a six-axis mechanical arm.

3. The profiled element knitting machine as claimed in claim 1, characterized in that: still include foundation ditch and moving platform, base member fixed mounting is in the foundation ditch, moving platform is the multilayer platform, moving platform arranges the both sides of base member.

4. The profiled element knitting machine as claimed in claim 1, characterized in that: the driving mechanism comprises a second motor, a second screw rod, a linkage sliding block, a linear guide rail, a first connecting rod, a second connecting rod, a first swing rod and a second swing rod;

The second motor is fixedly connected with the base body, the second screw rod is rotationally connected with the base body, the second motor is in transmission connection with the second screw rod, and the linkage sliding block is in threaded fit with the second screw rod;

the linear guide rail is fixedly connected with the base body, the second screw rod is parallel to the linear guide rail, and the linkage slide block is in sliding fit with the linear guide rail;

one end of the first swing rod is rotationally connected with the base body, the other end of the first swing rod is hinged with one end of the first connecting rod, and the other end of the first connecting rod is rotationally connected with the linkage sliding block;

one end of the second swing rod is rotationally connected with the base body, the other end of the second swing rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is rotationally connected with the linkage sliding block;

the first swing rod and the second swing rod are symmetrically arranged, and the first connecting rod and the second connecting rod are symmetrically arranged; the first swing rod is provided with a first sliding groove, the second swing rod is provided with a second sliding groove, the first connecting piece is fixedly provided with a first sliding piece, the second connecting piece is fixedly provided with a second sliding piece, the first sliding piece is in sliding fit with the first sliding groove, and the second sliding piece is in sliding fit with the second sliding groove.

5. The profiled element knitting machine as claimed in claim 1, characterized in that: the first connecting piece with be provided with radial bearing and axial bearing on the second connecting piece, radial bearing with axial bearing mutually perpendicular, the arc draw-in groove includes radial draw-in groove and axial draw-in groove, radial bearing with radial draw-in groove rolling fit, axial bearing with axial draw-in groove rolling fit.

6. The profiled element knitting machine as claimed in claim 1, characterized in that: the radial driving assembly comprises a first telescopic piece and a second telescopic piece, the first telescopic piece and the second telescopic piece are fixedly connected with the base body, and the first telescopic piece and the second telescopic piece are respectively and oppositely arranged at two ends of the radial sliding groove.

7. The profiled element knitting machine as claimed in claim 1, characterized in that: the yarn spindle comprises a yarn winding module, a yarn passing module, a yarn discharging module and an adjusting control module, wherein yarn is led out from the yarn winding module, passes through the yarn passing module and is finally led out from the yarn discharging module;

the yarn winding module comprises a yarn tube, a mandrel and a yarn winding rotating base group, wherein the yarn tube is sleeved on the mandrel, and the yarn tube is rotatably arranged on the yarn winding rotating base group;

The yarn passing module is arranged on one side of the yarn winding module and comprises a yarn guide plate and a yarn guide wheel set, and yarns sequentially pass through the yarn guide plate and the yarn guide wheel set;

the yarn outlet module is arranged at the top of the yarn winding module and comprises an upper cantilever mounting block, a yarn passing cylinder and a swinging assembly, the upper cantilever mounting block is fixed on the adjustment control module, the swinging assembly comprises a swinging fixing seat and a swinging rotating seat, the swinging fixing seat is fixed on the upper cantilever mounting block through the yarn passing cylinder, the swinging rotating seat is rotatably arranged on the swinging fixing seat, a yarn outlet porcelain eye is arranged on the swinging rotating seat, and yarns are led out from the yarn outlet porcelain eye;

the yarn winding module is used for winding yarn on the yarn tube, and the yarn winding module is used for winding yarn on the yarn tube;

the bobbin is characterized in that mounting plates are arranged at two ends of the bobbin in the length direction, a core hole and a plurality of rotation stopping holes are arranged in the mounting plates, the core hole and the bobbin are coaxial and communicated with each other, and the rotation stopping holes are circumferentially arranged at the outer sides of the core hole;

The yarn winding rotating base group comprises a yarn winding rotating seat and a base, and the base is fixedly connected with the radial sliding block; the yarn winding rotary seat is of a rotary body structure, a rotary matching hole is formed in the center of the yarn winding rotary seat, a plurality of rotation stopping bosses are arranged on the surface of the yarn winding rotary seat, the rotation stopping bosses are circumferentially arranged on the periphery of the rotary matching hole, the rotation stopping bosses are in insertion fit with the rotation stopping holes, the yarn tube is rotatably arranged on the base through the yarn winding rotary seat, a fixed cylinder is arranged on the base, and the yarn winding rotary seat and the fixed cylinder are in rotary matching through a bearing;

the yarn guide plate comprises a yarn guide part and a mounting part; the surface of the yarn guide part is an arc bending surface, and a wear-resistant layer is arranged on the surface of the yarn guide part; the installation department is the straight plate structure, be equipped with the yarn mounting hole on the installation department, the installation department is installed on the base.

8. The profiled member braiding machine of claim 7, wherein: the adjusting control module comprises a fixed connecting block, a guide rod, a lifting frame and a locking assembly;

the top of the fixed connecting block is connected with the upper cantilever mounting block, a first connecting hole and a second connecting hole are formed in the bottom of the fixed connecting block, a tension spring is arranged in the second connecting hole, the top end of the guide rod is fixed in the first connecting hole through a jackscrew, the bottom end of the guide rod is fixedly mounted on the base through a guide fixing block, the top end of the mandrel is connected with the fixed connecting block through a fixed cover, and the bottom end of the mandrel is fixed in the fixed cylinder;

The lifting frame is slidably mounted on the guide rod, an upper ejector block is arranged at the top of the lifting frame, an upper guide hole is formed in the upper ejector block, a lower connecting block is arranged at the bottom of the lifting frame, a lower guide hole is formed in the lower connecting block, the upper guide hole and the lower guide hole are coaxially arranged, the guide rod slidably passes through the upper guide hole and the lower guide hole, a compression spring is further arranged at the top of the guide rod, the compression spring is wound on the guide rod, and the bottom end of the compression spring is fixed in the hole wall of the upper guide hole;

the clamping and locking assembly is arranged between the lifting frame and the base, and the lifting frame drives the clamping and locking assembly to control the rotation of the yarn winding rotary seat;

the yarn guiding wheel set comprises a fixed yarn guiding wheel and a lifting yarn guiding wheel, the adjusting control module is further provided with a switching block and a lower cantilever mounting block, the switching block is fixedly mounted on the fixed connecting block, the fixed yarn guiding wheel is rotatably mounted on the switching block, the lower cantilever mounting block is arranged on the lifting frame, the lifting yarn guiding wheel is rotatably mounted on the lower cantilever mounting block, and when the lifting yarn guiding wheel receives yarn lifting tension, the lower cantilever mounting block drives the lifting frame to lift along the guide rod.

9. The profiled member braiding machine of claim 8, wherein: the locking assembly comprises a clamping piece and a plurality of clamping tooth grooves,

the clamping piece is arranged on one side, close to the base, of the lower connecting block, the clamping tooth grooves are arranged on the yarn winding rotary seat, the clamping tooth grooves are circumferentially arranged on the outer side of the yarn winding rotary seat, and when the clamping piece is clamped into the clamping tooth grooves, the yarn winding rotary seat is locked to rotate; when the lifting frame is lifted to drive the clamping piece to move upwards, the clamping piece is separated from the clamping tooth slot.

10. A method of braiding a profiled member, comprising the steps of:

and (3) yarn releasing:

s1, in the yarn spindle yarn placing process, a second motor drives a second screw rod to rotate, the second screw rod rotates to drive a linkage sliding block to slide, in the linkage sliding block sliding process, a first swing rod and a second swing rod are driven to swing in opposite directions, and the first swing rod and the second swing rod respectively drive an odd ring and an even ring to rotate in different directions;

s2, when the odd-numbered rings and the even-numbered rings stop rotating, a radial driving assembly drives a radial sliding block to move in a radial sliding groove, and pushes the radial sliding block in the odd-numbered rings into the even-numbered rings, and the radial sliding block in the even-numbered rings is pushed into the odd-numbered rings;

S3, the second motor rotates reversely, the linkage sliding block slides in the opposite direction to the step S1, and the odd ring and the even ring rotate in the opposite direction to the step S1;

s4, the radial driving assembly drives the radial sliding block to slide in the radial sliding groove in the direction opposite to the direction of the step S2;

s5, repeating the steps from S1 to S4 until the weaving is finished;

braiding:

in the yarn placing process of the yarn spindle, the mechanical arm clamps the core mould to move on the sliding rail, and the weaving part of the core mould is controlled to face the center of the movable ring at any time.