CN117512857B - Full-automatic bionic ligament braiding machine - Google Patents
Full-automatic bionic ligament braiding machine Download PDFInfo
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- CN117512857B CN117512857B CN202410016706.0A CN202410016706A CN117512857B CN 117512857 B CN117512857 B CN 117512857B CN 202410016706 A CN202410016706 A CN 202410016706A CN 117512857 B CN117512857 B CN 117512857B
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- 238000009954 braiding Methods 0.000 title claims abstract description 73
- 210000003041 ligament Anatomy 0.000 title claims abstract description 36
- 239000011664 nicotinic acid Substances 0.000 title abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 239000004744 fabric Substances 0.000 claims abstract description 11
- 238000009987 spinning Methods 0.000 claims abstract description 10
- 230000004044 response Effects 0.000 claims abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000009940 knitting Methods 0.000 claims description 41
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 16
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 16
- 241001330002 Bambuseae Species 0.000 claims description 16
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 16
- 239000011425 bamboo Substances 0.000 claims description 16
- 239000000835 fiber Substances 0.000 claims description 16
- 210000000078 claw Anatomy 0.000 claims description 12
- 238000002347 injection Methods 0.000 claims description 7
- 239000007924 injection Substances 0.000 claims description 7
- 238000013329 compounding Methods 0.000 claims description 6
- 230000003592 biomimetic effect Effects 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 238000005507 spraying Methods 0.000 abstract description 7
- 238000009941 weaving Methods 0.000 description 23
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 14
- 230000008859 change Effects 0.000 description 9
- 238000004804 winding Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 239000002994 raw material Substances 0.000 description 7
- 238000007599 discharging Methods 0.000 description 6
- 239000004698 Polyethylene Substances 0.000 description 5
- 239000000306 component Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- -1 polyethylene Polymers 0.000 description 5
- 229920000573 polyethylene Polymers 0.000 description 5
- 230000006399 behavior Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 210000002435 tendon Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 239000002759 woven fabric Substances 0.000 description 2
- 208000023178 Musculoskeletal disease Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000017105 transposition Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D47/00—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms
- D03D47/28—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms wherein the weft itself is projected into the shed
- D03D47/30—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms wherein the weft itself is projected into the shed by gas jet
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D47/00—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms
- D03D47/27—Drive or guide mechanisms for weft inserting
- D03D47/277—Guide mechanisms
- D03D47/278—Guide mechanisms for pneumatic looms
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D47/00—Looms in which bulk supply of weft does not pass through shed, e.g. shuttleless looms, gripper shuttle looms, dummy shuttle looms
- D03D47/34—Handling the weft between bulk storage and weft-inserting means
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D49/00—Details or constructional features not specially adapted for looms of a particular type
- D03D49/04—Control of the tension in warp or cloth
- D03D49/06—Warp let-off mechanisms
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D49/00—Details or constructional features not specially adapted for looms of a particular type
- D03D49/04—Control of the tension in warp or cloth
- D03D49/12—Controlling warp tension by means other than let-off mechanisms
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
-
- D—TEXTILES; PAPER
- D03—WEAVING
- D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
- D03D51/00—Driving, starting, or stopping arrangements; Automatic stop motions
- D03D51/02—General arrangements of driving mechanism
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
Abstract
The invention provides a full-automatic bionic ligament braiding machine, which comprises a braiding machine frame, a wire production machine frame, a rotating support, a mixing cylinder, a mixer, a discharge cylinder, a wire spraying interface, a braiding cylinder shell, a weft support frame, a spinning cylinder, a heald frame, a heald wire, a cloth rod, a singlechip, a wire cylinder loading and unloading mechanism, a multi-rail changing mechanism, a shuttle nozzle mechanism, a detection response mechanism, a tension control mechanism and a tension executing mechanism.
Description
Technical Field
The invention relates to the technical field related to bionic ligaments, in particular to a full-automatic bionic ligament braiding machine.
Background
With the increasing diagnosis of musculoskeletal diseases, however, the diagnosis of joints is critical, the preliminary evaluation of joint looseness is manually estimated by doctors through actual operations of relatively healthy limbs and injured limbs, which depends largely on the experience and proficiency of doctors, which are usually obtained by limited practices of anatomic models in medical education courses or treatment of injured patients in limited working time, commercially available synthetic models mainly replicate geometrical features, very little reproduce biological real behaviors of human tissues and joints, manufacturing of highly realistic synthetic models is still a challenge, which requires copying of bone geometries, mechanical properties of soft tissues (especially ligaments and tendons), articles Reproduction of the mechanical behavior of ligament and tendon for artificial joint using bioinspired db fiber of Ren Lei propose bionic 3D fibers woven by polyethylene fishing lines for reproducing controlled nonlinear behaviors of ligaments and tendons, the commercially available synthetic models mainly replicate geometrical features, very little reproduce biological real behaviors of human tissues and joints, the current weaving stays in the bionic weaving stage, has low economic and practical reduction effect of the same artificial ligament, has great economic and economic reduction effect, has great practical advantages due to the fact that the artificial weaving is not only needed to replicate the geometrical shapes, but also provides great economic reduction effect of the artificial ligament and the like, designing a braiding machine that solves the above problems has an accelerating effect on the medical field and the scientific research field, and in the process of use, the conventional braiding machine may face challenges when processing ligament braiding, because the ligament generally needs a special braiding structure and technology, the ligament generally needs to have high strength and wear resistance, and the conventional braiding machine may not meet these requirements, so a fully automatic bionic ligament braiding machine specifically designed for a bionic ligament is particularly needed.
However, there are many disadvantages of the existing braiding machine, such as a strong-stability wire braiding machine and a wire braiding method of chinese patent publication No. CN108305721a, where the "strong-stability wire braiding machine is fixedly connected with a second motor through the bottom of the inner wall of the outer frame, one end of the output shaft of the second motor is fixedly connected with a first belt pulley, the surface of the first belt pulley is connected with a second belt pulley through belt transmission, the back of the second belt pulley is fixedly connected with a winding roller, the axis of the winding roller is fixedly connected with the right side of the inner wall of the outer frame through a support rod, so that the braided wire is convenient to be coiled", and the winding roller is fixedly connected with the inner wall of the outer frame through the support rod, which may cause uneven tension of the wire in the coiling process. This may negatively affect the quality of the wire and the weaving effect, which may cause vibration and noise problems of the device due to the fixed connection of the second motor and the winding roller. This may affect the stability and operational effectiveness of the device.
The Chinese patent with publication number of CN115961420A is a knitting mechanism suitable for a specific knitting method, which can complete a knitting operation part of the specific knitting method, provides possibility for mechanically knitting the bionic joint ligament, but also needs manual operation, has lower production efficiency, and the manual operation part may influence the accuracy and stability of the knitting bionic joint ligament.
Disclosure of Invention
The invention aims to provide a full-automatic bionic ligament braiding machine, solve the problems of the prior braiding machine in the background art, provide a solution for realizing efficient braiding of bionic ligaments, and realize full-automatic braiding production in the use process.
In order to achieve the above purpose, the invention provides a full-automatic bionic ligament braiding machine, which comprises a braiding machine frame and a wire producing machine frame, wherein one end of the braiding machine frame is fixedly connected with the wire producing machine frame, the top surface of the wire producing machine frame is fixedly connected with a rotary support, the inner side surface of the rotary support is rotationally connected with a mixing cylinder, the inner side surface of the mixing cylinder is fixedly connected with a mixer, the bottom of the mixing cylinder is fixedly connected with a discharging cylinder, one end of the discharging cylinder is fixedly connected with a wire spraying interface, the inner side surface of the braiding machine frame is fixedly connected with a braiding machine shell, the outer side surface of the braiding machine shell is fixedly connected with a weft support frame, the outer side surface of the braiding machine shell is rotationally connected with a spinning cylinder, the inner side surface of the braiding machine shell is fixedly connected with a heald frame, the outer side surface of the heald frame is fixedly connected with a heald wire, one end of the braiding machine shell is provided with a cloth rod, the outer side surface of the braiding machine frame is fixedly connected with a singlechip, the outer side surface of the braiding machine frame is provided with a wire cylinder loading and unloading mechanism, the outer side surface of the braiding machine frame is fixedly connected with a multi-rail mechanism, the outer side surface of the braiding machine frame is provided with a multi-rail mechanism, the inner side rail mechanism is provided with a weft change mechanism, the outer side surface tension control mechanism is provided with a weft change mechanism, and the outer side surface tension control mechanism is provided with a weft change mechanism.
Preferably, the bobbin loading and unloading mechanism comprises a mechanical arm controller, a mechanical arm base, a spherical joint, a telescopic arm, a rotating arm and a mechanical claw, wherein the mechanical arm controller is fixedly connected with the outer side surface of the braiding machine frame, the mechanical arm base is fixedly connected with the outer side surface of the mechanical arm controller, one end of the mechanical arm base is fixedly connected with the spherical joint, one end of the spherical joint is fixedly connected with the telescopic arm, one end of the telescopic arm is fixedly connected with the rotating arm, and one end of the rotating arm is fixedly connected with the mechanical claw.
Preferably, the number of the spherical joints is two, the number of the telescopic arms is two, the number of the rotating arms is two, and the mechanical arm controller is electrically connected with the single chip.
Preferably, the multi-rail changing mechanism comprises a guide rail supporting frame, a sliding guide rail, a guide rail clamp, a guide rail shell, a small motor, a small gear and a connecting side plate, wherein the guide rail supporting frame is fixedly connected with the inner side surface of the braiding machine frame, the sliding guide rail is fixedly connected with the outer side surface of the guide rail supporting frame, the guide rail clamp is fixedly connected with the outer side surface of the sliding guide rail in a clamping manner, the guide rail shell is fixedly connected with the top surface of the guide rail clamp, the small motor is fixedly connected with the top surface of the guide rail shell, the small gear is fixedly connected with the output end of the small motor, and one end of the small gear is fixedly connected with the connecting side plate.
Preferably, the number of the sliding guide rails is four and the sliding guide rails are distributed at equal intervals, the small gears are meshed with each other, the connecting side plates are rotationally connected with the guide rail shell, the number of the guide rail clamps is two, and the number of the connecting side plates is two.
Preferably, the shuttle nozzle mechanism comprises a rotating base, an air injection nozzle and a rotating supporting frame, wherein the inner side surface of the connecting side plate is rotationally connected with the rotating base, the bottom of the rotating base is fixedly connected with the air injection nozzle, and the outer side surface of the rotating base is fixedly connected with the rotating supporting frame.
Preferably, the number of the air injection nozzles is three and the air injection nozzles are distributed at equal intervals, and both sides of the rotating support frame are rotationally connected with the connecting side plates.
Preferably, the detection response mechanism comprises a trigger, a fiber detector and a buzzer, wherein the trigger is fixedly connected with the outer side surface of the heald frame, the fiber detector is fixedly connected with the bottom of the trigger, and the buzzer is fixedly connected with the top surface of the braiding machine frame.
Preferably, the tension control mechanism comprises a fixing frame, a servo motor, a servo controller, a rotating shaft, a driving gear, a rack and a driven gear, wherein the fixing frame is fixedly connected with the outer side surface of the braiding machine frame, the servo motor is fixedly connected with the outer side surface of the fixing frame, the servo controller is fixedly connected with the outer side surface of the fixing frame, the rotating shaft is fixedly connected with the output end of the servo motor, the driving gear is fixedly connected with the outer side surface of the rotating shaft, the rack is meshed with the outer side surface of the driving gear, and the driven gear is meshed with the inner side surface of the rack.
Preferably, the tension actuating mechanism comprises a tension sensor, a rotating shell, a control clamp and a fixed shell, wherein the tension sensor is fixedly connected with the inner side surface of the cloth rod, the rotating shell is fixedly connected with the inner side surface of the driven gear, the control clamp is slidingly connected with the inner side surface of the rotating shell, and the fixed shell is rotationally connected with one side surface of the rotating shell.
Preferably, the number of the control clamps is six and the control clamps are distributed in a ring shape, the control clamps are connected with the inner side surface of the rotating shell in a sliding manner, and the fixed shell is fixedly connected with the inner side surface of the braiding machine frame.
Compared with the prior art, the invention has the beneficial effects that:
1. the full-automatic bionic ligament braiding machine is specially designed for braiding highly-reduced bionic ligaments, and can realize efficient and rapid braiding of the bionic ligaments from the production of braiding raw materials to the braiding of the ligament mechanisms in the specific form, and can well reproduce the biological performance of joints.
2. The automatic design of the bobbin loading and unloading mechanism greatly improves the operation efficiency, reduces the labor cost, improves the production continuity at the same time, and realizes the real automatic production from the production of bionic ligaments to the braiding.
3. The design of the robotic arm (including the ball joint, telescoping arm and swivel arm) provides extremely high operational flexibility, enabling precise operation of the mechanism in confined or complex spaces.
4. The fiber detection and automatic response system is designed, so that the breakage or supply interruption of the bionic fiber can be timely detected, and a warning is sent out, so that the material waste is reduced, and the production continuity is ensured.
5. The tension mechanism adopting the iris structure is composed of the servo motor, the controller, the gear, the sensor and the like, the common problems of the existing braiding machine are solved, the tension in the braiding process is precisely controlled to ensure the braiding quality and consistency, and simultaneously, the tension is allowed to be adjusted in multiple directions to ensure the balanced distribution of the tension, so that the integral quality of the braided fabric is improved.
6. The intelligent control system with the singlechip as a core is adopted, and the design of the multi-rail changing mechanism enables the shuttle nozzle mechanism to flexibly change among different rails, so that the diversity of knitting modes is realized.
Drawings
FIG. 1 is a schematic side view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the knitting machine frame and heald frame of the present invention;
FIG. 3 is a schematic diagram of the structure of the frame and the line spraying interface of the line machine according to the present invention;
FIG. 4 is a schematic diagram of the mutual cooperation structure of the knitting cylinder shell and the weft support frame;
FIG. 5 is a schematic diagram of the co-operation of the frame and the arm controller of the knitting machine according to the present invention;
FIG. 6 is a schematic view of the mutually cooperating components of the spool attachment and detachment mechanism of the present invention;
FIG. 7 is a schematic side view of the overall structure of the spherical joint of the present invention;
FIG. 8 is a schematic view of the co-operation of the slide rail and rail clip of the present invention;
FIG. 9 is a schematic view of the structure of the connecting side plate and the rotating base of the present invention;
FIG. 10 is a schematic view of the interaction structure of the rotating base and the air injection nozzle of the present invention;
FIG. 11 is a schematic view of the structure of the heald frame and fiber detector of the present invention;
FIG. 12 is a schematic view of the structure of the knitting machine frame and buzzer of the present invention;
FIG. 13 is a schematic diagram showing the interaction structure of the fixing frame and the servo motor;
FIG. 14 is a schematic view of the interaction structure of the driving gear and the rack of the present invention;
FIG. 15 is a schematic view showing the interaction structure of the control clamp and the fixed housing of the present invention.
In the figure: 1. a braiding machine frame; 2. a line machine frame; 3. rotating the bracket; 4. a mixing cylinder; 5. a mixer; 6. a discharging cylinder; 7. a wire spraying interface; 8. a braiding barrel housing; 9. weft shaft supporting frames; 10. spinning tube; 11. a heald frame; 12. heddles; 13. a cloth stick; 14. a single chip microcomputer; 15. a wire barrel loading and unloading mechanism; 1501. a robotic arm controller; 1502. a mechanical arm base; 1503. a spherical joint; 1504. a telescoping arm; 1505. a rotating arm; 1506. a mechanical claw; 16. a multi-rail changing mechanism; 1601. a guide rail support; 1602. a sliding guide rail; 1603. a guide rail clip; 1604. a guide rail housing; 1605. a small motor; 1606. a small gear; 1607. connecting side plates; 17. a shuttle nozzle mechanism; 1701. rotating the base; 1702. a jet nozzle; 1703. rotating the support frame; 18. a detection response mechanism; 1801. a trigger; 1802. a fiber detector; 1803. a buzzer; 19. a tension control mechanism; 1901. a fixing frame; 1902. a servo motor; 1903. a servo controller; 1904. a rotating shaft; 1905. a drive gear; 1906. a rack; 1907. a driven gear; 20. a tension actuator; 2001. a tension sensor; 2002. rotating the housing; 2003. controlling the clamp; 2004. the housing is fixed.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-15, the invention provides a full-automatic bionic ligament braiding machine, which comprises a braiding machine frame 1, wherein one end of the braiding machine frame is fixedly connected with a line production machine frame 2, and the firm design of the full-automatic bionic ligament braiding machine provides structural support for the whole braiding machine, so that all components are ensured to be installed correctly and run stably. The top surface fixedly connected with of line frame 2 rotates support 3, rotates the inboard surface rotation of support 3 and is connected with compounding section of thick bamboo 4, and the inboard surface fixedly connected with blender 5 of compounding section of thick bamboo 4. The bottom fixedly connected with ejection of compact section of thick bamboo 6 of compounding section of thick bamboo 4, the one end fixedly connected with of ejection of compact section of thick bamboo 6 spouts line interface 7, ensures the even output of polyethylene wire rod through high accuracy's control system, has increased the variety of product. The inside surface fixedly connected with of braiding machine frame 1 weaves a section of thick bamboo shell 8, the outside surface fixedly connected with weft support frame 9 of weaving a section of thick bamboo shell 8, the outside surface rotation of weaving a section of thick bamboo shell 8 is connected with spinning section of thick bamboo 10, the inside surface fixedly connected with heald frame 11 of weaving a section of thick bamboo shell 8, the outside surface fixedly connected with heald wire 12 of heald frame 11, cloth rod 13 is installed to the one end of weaving a section of thick bamboo shell 8, the outside surface fixedly connected with singlechip 14 of braiding machine frame 1 provides intelligent control for whole braiding machine, has improved production efficiency and accuracy. The outer side surface of the knitting machine frame 1 is provided with a bobbin loading and unloading mechanism 15 for automatically loading and replacing the winding barrels, improving the operation efficiency and reducing the labor cost. The outside surface of knitting machine frame 1 is provided with multitrack rail change mechanism 16, and the inside surface of multitrack rail change mechanism 16 is provided with shuttle nozzle mechanism 17, has provided nimble mode of weaving, has increased the variety of product. The outer side surface of the heald frame 11 is provided with a detection response mechanism 18, so that the production process is monitored in time, and the product quality is ensured. The outer side surface of the knitting machine frame 1 is provided with a tension control mechanism 19, the inner side surface of the tension control mechanism 19 is provided with a tension actuator 20, it is ensured that the tension of the warp yarns and the weft yarns is kept constant, the knitting machine frame 1 provides structural support for the whole knitting machine during use, it is ensured that all the components are correctly mounted and stably run, the production device comprised by the line producing machine frame 2 provides the knitting machine with the raw materials required for knitting, the knitting tube housing 8 is provided with a plurality of fine-slit plates, it is ensured that it is flat and moves according to a predetermined path, the weft support frame 9 is used for supporting the weft shaft, the spinning tube 10 is winded with polyethylene lines to be knitted, which can be exchanged by the tube handling mechanism 15, the heald frame 11 comprises a series of healds 12 for guiding the warp yarns and forming the space through which the weft yarns pass, the healds 12 are elongated lines each having one hole, and the warp yarns pass through the holes. They can reciprocate to control the position of warp, cloth rod 13 is used for collecting the cloth that has woven and accomplishes, singlechip 14 is used for adjusting and controlling whole braider, bobbin handling mechanism 15 is automatic to load and change the winding bucket, but set up a multi freedom 360 rotatory clamping device, take and change the apparatus wire winding of will producing, the rail mechanism 16 is the rail track that is more, can drive the shuttle and remove and transposition, by motor drive, shuttle nozzle mechanism 17 is used for conveying the woof between warp, wherein jet nozzle 1702 carries the raw materials that generates, through optimizing air current route and pressure, yarn fracture in the reduction weaving process improves the overall quality of bionical ligament weave. The tension control mechanism 19 and the tension actuator 20 ensure that the tension of the warp and weft yarns remains constant.
Further, the bobbin handling mechanism 15 includes a mechanical arm controller 1501, a mechanical arm base 1502, a spherical joint 1503, a telescopic arm 1504, a rotating arm 1505 and a mechanical claw 1506, the mechanical arm controller 1501 is fixedly connected to the outer surface of the braiding machine frame 1, the mechanical arm base 1502 is fixedly connected to the outer surface of the mechanical arm controller 1501, one end of the mechanical arm base 1502 is fixedly connected to the spherical joint 1503, one end of the spherical joint 1503 is fixedly connected to the telescopic arm 1504, one end of the telescopic arm 1504 is fixedly connected to the rotating arm 1505, one end of the rotating arm 1505 is fixedly connected to the mechanical claw 1506, the mechanical arm controller 1501, the mechanical arm base 1502, the spherical joint 1503, the telescopic arm 1504, the rotating arm 1505 and the mechanical claw 1506 are arranged through the mechanical arm controller 1501, the mechanical arm controller 1501 receives control signals of the single chip microcomputer 14, the whole mechanical arm consists of the mechanical arm base 1502, the spherical joint 1503, the telescopic arm 1504, the rotating arm 1505 and the mechanical claw 1506, each joint can be independently controlled, the spherical joint 1503 uses the spherical joint 1503 and the rotating mechanism at a key position, the whole mechanical arm 1504 is fixedly connected to the rotating arm 1505, the whole motor can be controlled in a narrow space or a large flexible degree of accuracy and can not be provided, the rotating mechanism can be controlled in a large flexible degree, the rotating mechanism can be controlled in a narrow space or a large flexible degree, and the rotating mechanism can be controlled in a large flexible degree, and the rotating mechanism can be driven in a large flexible range, and the rotating mechanism can be controlled in the accurate space can be controlled, and the rotating mechanism can be controlled. The spinning cylinder 10 is clamped and replaced by the mechanical claw 1506, the clamping device capable of rotating by 360 degrees is used for taking and replacing raw materials wound by a production device, polyethylene wires are correctly guided and distributed to ensure that the raw materials are uniformly input into a weaving area, the raw materials in the mixing cylinder 4 are stirred and mixed by the mixer 5 and then are led out from the discharging cylinder 6, the mixed yarns are led into the weaving cylinder through the wire spraying interface 7, and wefts are wound on the heald frame 11 from the weft support frame 9 and then pass through the opening of the weaving cylinder. The warp threads are woven through the openings of the heddles 12 via warp beams. The singlechip 14 controls the operation of the braiding machine, controls the movement and operation of related parts according to the braiding mode and parameters, completes the braiding work and generates the required braiding. The highly automated and integrated design of the spool handling mechanism 15 significantly improves production efficiency, and automation of complex operations is achieved through the cooperative work of the above components.
Further, the number of the spherical joints 1503 is two, the number of the telescopic arms 1504 is two, the number of the rotating arms 1505 is two, the mechanical arm controller 1501 is electrically connected with the single-chip microcomputer 14, and the plurality of spherical joints 1503, the telescopic arms 1504 and the rotating arms 1505 are arranged, so that each joint can be independently controlled. The design can enable the mechanical arm to move in more dimensions, and a complex knitting mode is realized.
Further, the multi-rail change mechanism 16 comprises a rail support frame 1601, a sliding rail 1602, a rail clamp 1603, a rail housing 1604, a small motor 1605, a small gear 1606 and a connecting side plate 1607, wherein the inside surface of the knitting machine frame 1 is fixedly connected with the rail support frame 1601, the outside surface of the rail support frame 1601 is fixedly connected with the sliding rail 1602, the outside surface of the sliding rail 1602 is clamped with the rail clamp 1603, the top surface of the rail clamp 1603 is fixedly connected with the rail housing 1604, the top surface of the rail housing 1604 is fixedly connected with the small motor 1605, the output end of the small motor 1605 is fixedly connected with the small gear 1606, one end of the small gear 1605 is fixedly connected with the connecting side plate 1607, through the arrangement of the rail support frame 1601, the sliding rail 1602, the rail clamp 1603, the rail housing 1604, the small motor 1605, the small gear 1603 and the connecting side plate 1607, in a rotating manner, the small gear 1607 is connected with the other side plate 1607 through the rotation of the small gear clamp 1603, the small gear 1607 is rotatably connected with the small gear 1603 through the other side plate 1605 through the control of the rotating connection of the small gear clamp 1603, the small gear 1607 is rotatably connected with the small gear 1607 through the other side plate 1605, and the other side plate 1607 is rotatably connected with the small gear 1607 through the control of the small gear clamp. The connection side plate 1607 is turned down after turning.
Further, the number of sliding guide rails 1602 is four and is equidistantly distributed, the small gears 1606 are meshed with each other, the connecting side plates 1607 are rotationally connected with the guide rail housing 1604, the number of the guide rail clips 1603 is two, the number of the connecting side plates 1607 is two, the plurality of sliding guide rails 1602 are used for multi-rail changing of the shuttle nozzle mechanism 17, the connecting side plates 1607 are rotationally connected with the guide rail clips 1603, and the angles of the guide rail clips 1603 and the rotating base 1701 are always ensured to be unchanged during rail changing.
Further, the shuttle nozzle mechanism 17 includes a rotating base 1701, a jet nozzle 1702 and a rotating support frame 1703, the inner side surface of the connecting side plate 1607 is rotatably connected with the rotating base 1701, the bottom of the rotating base 1701 is fixedly connected with the jet nozzle 1702, the outer side surface of the rotating base 1701 is fixedly connected with the rotating support frame 1703, the jet nozzle 1702 is mounted on the rotating base 1701 through the arrangement of the rotating base 1701, the jet nozzle 1702 and the rotating support frame 1703 for conveying weft yarns between warp yarns in the use process, the rotating support frame 1703 is reinforced and rotatably connected with the connecting side plate 1607, and the surface of the rotating base 1701 where the jet nozzle 1702 is located is always kept downward when the connecting side plate 1607 rotates.
Further, the number of air jets 1702 is three and equally distributed, both sides of the rotating support frame 1703 are rotatably connected to the connecting side plates 1607, and the plurality of air jets 1702 are used for conveying weft yarns between warp yarns, so that the surface of the rotating base 1701 where the air jets 1702 are located is always kept downward when the connecting side plates 1607 rotate. The jet nozzle 1702 reduces yarn breakage during weaving and improves the overall quality of the biomimetic ligament weave by optimizing the airflow path and pressure
Further, the detection response mechanism 18 comprises a trigger 1801, a fiber detector 1802 and a buzzer 1803, the trigger 1801 is fixedly connected to the outer side surface of the heald frame 11, the fiber detector 1802 is fixedly connected to the bottom of the trigger 1801, the buzzer 1803 is fixedly connected to the top surface of the braiding machine frame 1, and in the use process, the fiber detector 1802 can detect breakage or interruption of supply of fibers through the setting of the trigger 1801, the buzzer 1803 is transmitted and triggered to remind restarting replacement through the automatic response of the trigger 1801, so that materials are not wasted.
Further, the tension control mechanism 19 includes a fixing frame 1901, a servo motor 1902, a servo controller 1903, a rotating shaft 1904, a driving gear 1905, a rack 1906 and a driven gear 1907, the fixing frame 1901 is fixedly connected to the outer surface of the knitting machine frame 1, the servo motor 1902 is fixedly connected to the outer surface of the fixing frame 1901, the servo controller 1903 is fixedly connected to the outer surface of the fixing frame 1901, the output end of the servo motor 1902 is fixedly connected to the rotating shaft 1904, the driving gear 1905 is fixedly connected to the outer surface of the rotating shaft 1904, the rack 1906 is meshed to the outer surface of the driving gear 1905, the driven gear 1907 is meshed to the inner surface of the rack 1906, and in the use process, the fixing frame 1901 is provided with the servo motor 1902 and the servo controller 1903, the servo controller 1903 controls the forward and reverse rotation speeds of the servo motor 1902, the servo motor 1902 outputs torque to drive the rotating shaft 1904 to rotate, and the rotating shaft 1904 is matched with the rack 1905 and the rack 1906 to transmit the tension to the driven gear 20 through the fixing frame 1901, the servo motor 1906 and the rack 1907.
Further, the tension actuator 20 includes a tension sensor 2001, a rotating housing 2002, a control clamp 2003 and a fixed housing 2004, the tension sensor 2001 is fixedly connected to the inner surface of the cloth rod 13, the rotating housing 2002 is fixedly connected to the inner surface of the driven gear 1907, the control clamp 2003 is slidingly connected to the inner surface of the rotating housing 2002, one side surface of the rotating housing 2002 is rotatably connected to the fixed housing 2004, the tension sensor 2001, the rotating housing 2002, the control clamp 2003 and the fixed housing 2004 are used to detect the yarn pressure during knitting, the tension sensor 2001 detects the yarn pressure during knitting, the rotating housing 2002, the control clamp 2003 and the fixed housing 2004 form an iris structure, and the yarn passes through the iris structure during knitting, the tension control mechanism 19 drives the driven gear 1907 to open and close during spinning, the control clamp 2003 moves on the fixed housing 2004 simultaneously during rotation, the gaps between the positions of the control clamp 2003 are different, and when the gaps are smaller, the inner part is pressed to prevent providing greater tension, otherwise the tension is reduced, and the tension can be applied at a plurality of angles simultaneously, so that the tension can be balanced by the iris structure.
Further, the number of the control clamps 2003 is six and distributed in a ring shape, the control clamps 2003 are slidably connected with the inner side surface of the rotating shell 2002, the fixed shell 2004 is fixedly connected with the inner side surface of the knitting machine frame 1, and the plurality of control clamps 2003 apply control tension in a plurality of directions, so that the tension is balanced by the iris structure formed.
Working principle: in the using process, the raw materials in the mixing drum 4 are stirred and mixed by a mixer 5 and then are led out from a discharging drum 6, the mixed yarns are led into the weaving drum through a wire spraying interface 7, wefts are wound on a heald frame 11 from a weft shaft supporting frame 9 and then pass through the opening of the weaving drum, warps pass through the opening of a heald wire 12 through a warp beam to form a woven fabric, a singlechip 14 controls the operation of the weaving machine, the movement and the operation of related parts are controlled according to the weaving mode and parameters to complete the weaving work, the required woven fabric is produced, a drum loading and unloading mechanism 15 can rotate by a motor, the spinning drum 10 is clamped and replaced by a mechanical claw 1506, the whole mechanical arm consists of a mechanical arm base 1502, a spherical joint 1503, a telescopic arm 1504, a rotary arm 1505 and a mechanical claw 1506, each joint can be independently controlled, the winding of a production device can be completely taken and replaced, the polyethylene thread is properly guided and distributed to ensure uniform input into the weaving zone, the small motor 1605 of the multi-rail changing mechanism 16 drives the small gear 1606 to rotate, the connecting side plate 1607 is also connected with one small gear 1606, the rotation of the small motor 1605 is driven to the connecting side plate 1607 by the mutual engagement of the small gears 1606, the changing of the track can be realized on the sliding rail 1602 which is transferred to the other side by the rail clamp 1603 which is driven to the other side by the rotating connecting side plate 1607, the shuttle nozzle mechanism 17 mounts the jet nozzle 1702 for transferring weft yarn between warp yarns by the rotating base 1701, the changing of the track is performed for the shuttle nozzle mechanism 17 by the multi-rail changing mechanism 16, the fiber detector 1802 of the detecting responding mechanism 18 can detect the breakage or supply interruption of the fiber, and automatically responds to the warning by the trigger 1801, the buzzer 1803 is transmitted and triggered to remind restarting the changing, in order to avoid wasting materials, the tension control mechanism 19 is provided with a servo motor 1902 and a servo controller 1903 through a fixing frame 1901, the servo controller 1903 controls the forward and reverse rotation and the rotation speed of the servo motor 1902, the servo motor 1902 outputs torque to drive a rotating shaft 1904 to rotate, the rotating shaft 1904 is matched with a driving gear 1905, a rack 1906 and a driven gear 1907 to transmit rotation to the tension executing mechanism 20, the tension executing mechanism 20 detects yarn pressure during knitting through a tension sensor 2001, the rotating housing 2002, a control clamp 2003 and the fixed housing 2004 form an iris structure, spinning passes through the iris structure during knitting, the tension control mechanism 19 drives the driven gear 1907 to rotate to drive the iris structure to open and close, the control clamp 2003 is driven to move on the fixed housing 2004 simultaneously when the rotating housing 2002 rotates, gaps between different middle positions of the control clamp 2003 are different, the inner parts are pressed to prevent the knitting machine from providing larger tension when the gaps are smaller, and otherwise, the design of the full-automatic bionic ligament knitting machine is completed.
The main steps of the full-automatic bionic ligament braiding machine in the braiding process are as follows: the mixed yarn is led into the weaving cylinder from the mixing cylinder 4 and the mixer 5 through the discharging cylinder 6 through the yarn spraying interface 7 to serve as warp yarn, then the weft yarn is wound on the heald frame 11 from the weft shaft supporting frame 9, then passes through the opening of the weaving cylinder and is positioned on one side of the warp yarn to be interwoven with the warp yarn, the inner side surface of the weaving machine frame 1 is fixedly connected with the guide rail supporting frames 1601, the outer side surface of the guide rail supporting frames 1601 is fixedly connected with the sliding guide rails 1602 which are four in number and distributed at equal intervals, the sliding guide rails 1602 are clamped and connected with the guide rail clamps 1603, the top surface of the guide rail clamps 1603 is fixedly connected with the guide rail housing 1604, the stability of the structure is further enhanced, the top surface of the guide rail housing 1604 is fixedly connected with the small motor 1605, the output end of the small motor 1606 is fixedly connected with the small gear 1606, one end of the small gear 1606 is fixedly connected with the connecting side plate 1607, both sides of the connection side plate 1607 are rotatably connected to the rail clip 1603, which allows the rail clip 1603 to be moved to the other side of the sliding rail 1602 upon rotation of the connection side plate 1607, thereby effecting rail changing, the core component of the shuttle nozzle mechanism 17, the jet nozzle 1702, and then starting operation, which rapidly and precisely passes the weft thread through the gap between warp yarns by means of high-speed air flow, the small motor 1605 drives the small gear 1606 to rotate, the rotation of the connection side plate 1607 is controlled by the rotation of the small motor 1605 through the gear transmission mechanism, a small gear 1606 is also connected to the rotation of the connection side plate 1607, the rotation of the small motor 1605 is transmitted to the connection side plate 1607 through the mutual engagement of the small gear 1606, since the connection side plate 1607 is rotatably connected to both the rail clip 1603 and the rotation base 1701, the stable operation of the shuttle nozzle mechanism 17 is ensured after the rotation and the rotation of the connection side plate 1607, in addition, the singlechip 14 controls the coordinated operation of the components, ensures the accuracy and the high efficiency of the knitting process according to the knitting mode and parameters, particularly the control of yarn tension, the tension control mechanism 19 adjusts the rotation of the rotating shaft 1904 through the servo motor 1902 and the servo controller 1903, and further drives the tension executing mechanism 20 through the cooperation of the driving gear 1905, the rack 1906 and the driven gear 1907, and the iris structure (comprising the rotating shell 2002, the control clamp 2003 and the fixed shell 2004) of the tension executing mechanism 20 is opened and closed according to the feedback adjustment of the tension sensor 2001, so that the yarn tension passing through the iris structure is controlled, the uniformity and the stability of the yarn tension in the knitting process are ensured, the weft yarn is tightened and fixed on the other side of the knitting drum after the knitting process is completed with the help of high-speed air flow, the stable knitting structure is formed, the knitting quality is ensured under the control of the whole singlechip 14, and the knitting process is high in the high quality, and the knitting quality is ensured.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a full-automatic bionical ligament braider, includes braider frame (1) and produces line frame (2), its characterized in that: one end fixedly connected with line machine frame (2) of braider frame (1), the top surface fixedly connected with runing rest (3) of line machine frame (2), the inboard surface of runing rest (3) rotates and is connected with compounding section of thick bamboo (4), the inboard surface fixedly connected with blender (5) of compounding section of thick bamboo (4), the bottom fixedly connected with ejection of compact section of thick bamboo (6) of compounding section of thick bamboo (4), the one end fixedly connected with of ejection of compact section of thick bamboo (6) spouts line interface (7), the inboard surface fixedly connected with of braider frame (1) braided tube shell (8), the outside surface fixedly connected with weft axle support frame (9) of braided tube shell (8), the outside surface rotation of braided tube shell (8) is connected with spinning tube (10), the inboard surface fixedly connected with heald frame (11) of braided tube shell (8), the outside surface fixedly connected with heald wire (12) of heald frame (11), cloth rod (13) are installed to the one end of braided tube shell (8), the outside surface fixedly connected with of braider frame (1) spouts line interface (14), braided tube (1) outside surface mounting and dismounting mechanism (16) have, braided tube (1) surface mounting and dismounting mechanism (16), the multi-rail transfer mechanism comprises a multi-rail transfer mechanism (16), wherein a shuttle nozzle mechanism (17) is arranged on the inner side surface of the multi-rail transfer mechanism, a detection response mechanism (18) is arranged on the outer side surface of a heald frame (11), a tension control mechanism (19) is arranged on the outer side surface of a braiding machine frame (1), and a tension executing mechanism (20) is arranged on the inner side surface of the tension control mechanism (19);
the wire barrel loading and unloading mechanism (15) comprises a mechanical arm controller (1501), a mechanical arm base (1502), a spherical joint (1503), a telescopic arm (1504), a rotating arm (1505) and a mechanical claw (1506), wherein the mechanical arm controller (1501) is fixedly connected to the outer side surface of the knitting machine frame (1), the mechanical arm base (1502) is fixedly connected to the outer side surface of the mechanical arm controller (1501), one end of the mechanical arm base (1502) is fixedly connected with the spherical joint (1503), one end of the spherical joint (1503) is fixedly connected with the telescopic arm (1504), one end of the telescopic arm (1504) is fixedly connected with the rotating arm (1505), and one end of the rotating arm (1505) is fixedly connected with the mechanical claw (1506);
the multi-rail changing mechanism (16) comprises a rail supporting frame (1601), a sliding rail (1602), a rail clamp (1603), a rail housing (1604), a small motor (1605), a small gear (1606) and a connecting side plate (1607), wherein the rail supporting frame (1601) is fixedly connected with the inner side surface of the braiding machine frame (1), the sliding rail (1602) is fixedly connected with the outer side surface of the rail supporting frame (1601), the rail clamp (1603) is fixedly connected with the outer side surface of the sliding rail (1602), the rail housing (1604) is fixedly connected with the top surface of the rail clamp (1603), the small motor (1605) is fixedly connected with the top surface of the rail housing (1604), the small gear (1606) is fixedly connected with the output end of the small motor (1605), and one end of the small gear (1606) is fixedly connected with the connecting side plate (1607);
the shuttle nozzle mechanism (17) comprises a rotating base (1701), an air jet nozzle (1702) and a rotating supporting frame (1703), wherein the inner side surface of the connecting side plate (1607) is rotationally connected with the rotating base (1701), the bottom of the rotating base (1701) is fixedly connected with the air jet nozzle (1702), and the outer side surface of the rotating base (1701) is fixedly connected with the rotating supporting frame (1703);
the detection response mechanism (18) comprises a trigger (1801), a fiber detector (1802) and a buzzer (1803), wherein the trigger (1801) is fixedly connected to the outer side surface of the heald frame (11), the fiber detector (1802) is fixedly connected to the bottom of the trigger (1801), and the buzzer (1803) is fixedly connected to the top surface of the braiding machine frame (1);
the tension control mechanism (19) comprises a fixing frame (1901), a servo motor (1902), a servo controller (1903), a rotating shaft (1904), a driving gear (1905), a rack (1906) and a driven gear (1907), wherein the fixing frame (1901) is fixedly connected to the outer side surface of the braiding machine frame (1), the servo motor (1902) is fixedly connected to the outer side surface of the fixing frame (1901), the servo controller (1903) is fixedly connected to the outer side surface of the fixing frame (1901), the rotating shaft (1904) is fixedly connected to the output end of the servo motor (1902), the driving gear (1905) is fixedly connected to the outer side surface of the rotating shaft (1904), the rack (1906) is meshed to the outer side surface of the driving gear (1905), and the driven gear (1907) is meshed to the inner side surface of the rack (1906).
The tension actuating mechanism (20) comprises a tension sensor (2001), a rotating shell (2002), a control clamp (2003) and a fixed shell (2004), wherein the tension sensor (2001) is fixedly connected to the inner side surface of the cloth rod (13), the rotating shell (2002) is fixedly connected to the inner side surface of the driven gear (1907), the control clamp (2003) is slidingly connected to the inner side surface of the rotating shell (2002), and the fixed shell (2004) is rotationally connected to one side surface of the rotating shell (2002).
2. The fully automatic biomimetic ligament braiding machine according to claim 1, wherein: the number of the spherical joints (1503) is two, the number of the telescopic arms (1504) is two, the number of the rotating arms (1505) is two, and the mechanical arm controller (1501) is electrically connected with the single-chip microcomputer (14).
3. The fully automatic biomimetic ligament braiding machine according to claim 1, wherein: the number of the sliding guide rails (1602) is four and the sliding guide rails are distributed at equal intervals, the small gears (1606) are meshed with each other, the connecting side plates (1607) are rotationally connected with the guide rail shell (1604), the number of the guide rail clamps (1603) is two, and the number of the connecting side plates (1607) is two.
4. The fully automatic biomimetic ligament braiding machine according to claim 1, wherein: the number of the air injection nozzles (1702) is three and the air injection nozzles are distributed at equal intervals, and two sides of the rotary supporting frame (1703) are rotationally connected with the connecting side plates (1607).
5. The fully automatic biomimetic ligament braiding machine according to claim 1, wherein: the number of the control clamps (2003) is six and the control clamps are distributed in a ring shape, the control clamps (2003) are connected with the inner side surface of the rotating shell (2002) in a sliding mode, and the fixed shell (2004) is fixedly connected with the inner side surface of the knitting machine frame (1).
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