CN105648647A - Flat knitting machine and handpiece positioning method thereof - Google Patents
Flat knitting machine and handpiece positioning method thereof Download PDFInfo
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- CN105648647A CN105648647A CN201610093951.7A CN201610093951A CN105648647A CN 105648647 A CN105648647 A CN 105648647A CN 201610093951 A CN201610093951 A CN 201610093951A CN 105648647 A CN105648647 A CN 105648647A
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- needle
- knitting needle
- head
- knitting
- bar
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B7/00—Flat-bed knitting machines with independently-movable needles
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements
- D04B15/68—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used
- D04B15/70—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used in flat-bed knitting machines
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements
- D04B15/68—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used
- D04B15/78—Electrical devices
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Knitting Machines (AREA)
Abstract
The invention discloses a flat knitting machine handpiece positioning method. A flat knitting machine comprises a needle bed, a knitting needle sequence, a handpiece, a knitting needle read head and an encoder, in the process of moving the handpiece relative to the needle bed, the knitting needle read head sequentially recognizes knitting needles and outputs knitting needle detection pulses each time the knitting needle read head recognizes the knitting needles, and the encoder is used for conducting primary positioning on the handpiece relative to the needle bed and outputs encoding signals. The method includes the steps that each time the knitting needle read head outputs the knitting needle detection pulses, and the serial number, in the knitting needle sequence, of the current knitting needle recognized by the knitting needle read head is judged according to the coded signals of the encoder at current moment; secondary positioning is conducted according to the serial number, in the knitting needle sequence, of the current knitting needle and the position of the knitting needle detection pulses on the handpiece relative to the needle bed. The invention further discloses the flat knitting machine. By means of the mode, the current knitting needle which the handpiece passes through is detected to obtain real-time position information of the handpiece relative to the needle bed through more accurate and reliable positioning.
Description
Technical field
The present invention relates to Knitting Machinery control technology field, particularly relate to a kind of straight-bar machines and head thereofLocalization method.
Background technology
Mostly tradition multistage needle selection type computer flat-knitting machine head location is to use the encoder of main servo motorRealize, but this mode is because through repeatedly transmission and driving belt and the gear of machineryGap etc. and produced larger error, cannot meet the accurately requirement timely of unistage type needle selection.
For example, a kind of mode of prior art is to adopt encoded servo device to realize location, this sideWhat the drawback of formula was the reflection of encoded servo device is the distance that motor shaft end turns over. Motor belt andThe retractility of transmission mechanism and the gap of transmission mechanism (backhaul is poor) such as head belt, it is fixed to causePosition inaccurate. The another kind of mode of prior art is to adopt photoelectric encoder to read tooth bar, oneThe corresponding pin of tooth. It is high that but this mode requires assembly precision, and use procedure easily producesDust and tiny knitting wool block optical signal and cause locating bias, and the different machinery requirement of needle gage is takenJoin the tooth bar of different tooth pitches and the facewidth, change loaded down with trivial details.
Therefore, need to provide a kind of straight-bar machines and machine head positioning method thereof, to address the above problem.
Summary of the invention
The embodiment of the present invention provides a kind of straight-bar machines and machine head positioning method thereof, to solve prior artThe technical problem that head location is inaccurate and machine head positioning method is had relatively high expectations to equipment assembly precision.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of horizontalThe machine head positioning method of machine, this straight-bar machines comprises needle-bar, be arranged on needle-bar and comprise and being arranged in orderThe knitting needle sequence of multiple knitting needles, the head moving with respect to needle-bar, the knitting needle being arranged on head are readHead and the encoder servo-actuated with head, wherein in the motion process of the relative needle-bar of head, knitting needleRead head is identified knitting needle successively, and in the time recognizing knitting needle, exports knitting needle at every turn and detect pulse, encoderFor head is carried out to one-time positioning with respect to the position of needle-bar, and outupt coded signal, the methodComprise: in the time that each knitting needle read head output knitting needle detects pulse, according to encoder at current timeCode signal judges current knitting needle that knitting needle read head the identifies sequence number in knitting needle sequence; According to working asThe sequence number of front knitting needle in knitting needle sequence and knitting needle detect pulse to head the position with respect to needle-barCarry out secondary location.
Wherein, by by encoder at the code signal of current time with pre-stored and corresponding respectivelyCompare to judge that in multiple a reference values of different knitting needles current that knitting needle read head is identified knitThe sequence number of pin in knitting needle sequence.
Wherein, encoder with the servomechanism process of head in continue output encoder pulse, by compilingThe coded pulse of code device output is counted, and by encoder in the count value of current time with in advanceMultiple reference count values of storing and corresponding respectively to different knitting needles compare to judge knitting needleThe sequence number of the current knitting needle that read head is identified in knitting needle sequence.
Wherein, multiple reference count values are by head is knitted in the moving process with respect to needle-barWhen pin read head is exported knitting needle detection pulse at every turn, the count value of the coded pulse of encoder output is carried outPre-stored and obtain.
For solving the problems of the technologies described above, another technical solution used in the present invention is: provide a kind ofStraight-bar machines, this straight-bar machines comprises: needle-bar, be arranged on needle-bar and comprise multiple knitting needles of being arranged in orderKnitting needle sequence, with respect to the head of needle-bar motion, be arranged on knitting needle read head and head on headServo-actuated encoder and processor, wherein, in the motion process of the relative needle-bar of head, knitting needle is readHead is identified knitting needle successively, and in the time recognizing knitting needle, exports knitting needle at every turn and detect pulse, encoder pairHead carries out one-time positioning with respect to the position of needle-bar, and outupt coded signal, and processor is at every turnWhen knitting needle read head output knitting needle detects pulse, the code signal judgement according to encoder at current timeThe sequence number of the current knitting needle that knitting needle read head is identified in knitting needle sequence, and knitting according to current knitting needleSequence number in pin sequence and knitting needle detection pulse are carried out secondary to head with respect to the position of needle-bar and are determinedPosition.
Wherein, straight-bar machines further comprises memory, memory is pre-stored correspond respectively to differentMultiple a reference values of knitting needle, processor by by encoder at the code signal of current time and multipleA reference value compares to judge current knitting needle that knitting needle read head the identifies order in knitting needle sequenceNumber.
Wherein, multiple a reference values are the multiple reference count values that correspond respectively to different knitting needles, horizontal strokeMachine further comprises counter, encoder with the servomechanism process of head in continue output encoder arteries and veinsPunching, counter is counted the coded pulse of encoder output, processor by encoder currentThe count value in moment and multiple reference count value compare to judge working as that knitting needle read head identifiesThe sequence number of front knitting needle in knitting needle sequence.
Wherein, multiple reference count values are by head is knitted in the moving process with respect to needle-barPin read head is exported the meter of the coded pulse of knitting needle detection pulse hour counter to encoder output at every turnNumerical value pre-stored in memory and obtain.
Wherein, knitting needle read head is Hall element.
Wherein, encoder carries out transmission by head.
By such scheme, the invention has the beneficial effects as follows: the present invention is by knitting needle read head and knitting needleSequence matching coding device uses, thereby by head is carried out to one-time positioning with respect to the position of needle-barAnd secondary location, and then can make the head that detection obtains believe with respect to the real time position of needle-barBreath more accurately and reliably.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, will retouch embodiment belowIn stating, the accompanying drawing of required use is briefly described, apparently, and the accompanying drawing in the following describesBe only some embodiments of the present invention, for those of ordinary skill in the art, do not payingUnder the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing. Wherein:
Fig. 1 is the flow chart of machine head positioning method first embodiment of straight-bar machines of the present invention;
Fig. 2 is the flow chart of machine head positioning method second embodiment of straight-bar machines of the present invention;
Fig. 3 is the flow chart of machine head positioning method the 3rd embodiment of straight-bar machines of the present invention;
Fig. 4 is the flow chart of machine head positioning method the 4th embodiment of straight-bar machines of the present invention;
Fig. 5 is the flow chart of machine head positioning method the 5th embodiment of straight-bar machines of the present invention;
Fig. 6 is the flow chart of machine head positioning method the 6th embodiment of straight-bar machines of the present invention;
Fig. 7 is the module diagram of the head navigation system preferred embodiment of straight-bar machines of the present invention;
Fig. 8 is the structural representation of straight-bar machines the first embodiment of the present invention;
Fig. 9 is the flow chart of machine head positioning method the 7th embodiment of straight-bar machines of the present invention;
Figure 10 is the structural representation of straight-bar machines the second embodiment of the present invention;
Figure 11 is the flow chart that the head of straight-bar machines of the present invention clashes into detection method preferred embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present inventionBe clearly and completely described, obviously, described embodiment is only that the present invention's part is realExecute example, instead of whole embodiment. Based on the embodiment in the present invention, ordinary skill peopleMember is not making the every other embodiment obtaining under performing creative labour prerequisite, all belongs to thisThe scope of invention protection.
Refer to Fig. 1, Fig. 1 is the flow process of machine head positioning method first embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises executing agency, needle-bar and the machine with respect to needle-bar motionHead, the machine head positioning method of straight-bar machines comprises the following steps:
Step S11: detect the real-time position information of head with respect to needle-bar.
In step S11, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information. Wherein, this position sensor is preferably disposed on head, and establishes by detectionThe marker of putting on needle-bar is determined the real-time position information of head with respect to needle-bar. Particular locationSensor can be magnetic grid structure described below or read pin structure, but be not limited to this.
Step S12: the duty that changes executing agency according to real-time position information.
In step S12, for example, utilize the controller of straight-bar machines to change and carry out according to real-time position informationThe duty of mechanism, wherein executing agency can comprise roller mechanism, Qi Di mechanism, degree order machineAt least one in structure, cam mechanism, frame head transmission mechanism and Yarn-feeding mechanism or combination. Specifically pleaseConsult following description.
Refer to Fig. 2, Fig. 2 is the flow process of machine head positioning method second embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises needle-bar, moves with respect to needle-bar head and execution machineStructure, executing agency is preferably roller mechanism or Qi Di mechanism, the machine head positioning method of straight-bar machines comprise withLower step:
Step S21: detect the real-time position information of head with respect to needle-bar.
In step S21, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information.
Step S22: current to straight-bar machines according to real-time position information change roller mechanism or Qi Di mechanismThe pulling force of the pieces of cloth of braiding.
In step S22, for example, utilize the controller of straight-bar machines to change roller according to real-time position informationThe pulling force of mechanism or the Qi Di mechanism pieces of cloth to the current braiding of straight-bar machines. For example,, when head is positioned at needle-barEffective woven extent in and the closer to effective woven extent edge of needle-bar, roller mechanism or rise at the endThe pulling force of the pieces of cloth of mechanism to the current braiding of straight-bar machines is larger or less. Or, when head has shifted outAfter effect woven extent, control roller mechanism or Qi Di mechanism and stop roller or play end action or reduce to drawPower and before head moves into effective woven extent, control roller mechanism or Qi Di mechanism start roller orPlay end action or increase pulling force. The present embodiment is the real-time position with respect to needle-bar according to the head detectingPut the pulling force that information changes roller mechanism or the pieces of cloth of Qi Di mechanism to the current braiding of straight-bar machines, Qi ZhonggenAdjust pulling force according to head in the position of effective woven extent and can make the pieces of cloth density ratio knitting outCompared with uniformity, and after head shifts out effective woven extent, stop or reducing pulling force and enter at headWhile entering effective woven extent, start pulling force action or increase the power consumption that pulling force can reduce straight-bar machines to closeReason utilize resource.
Refer to Fig. 3, Fig. 3 is the flow process of machine head positioning method the 3rd embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises needle-bar, moves with respect to needle-bar head and execution machineStructure, executing agency is preferably Du Mu mechanism, and the machine head positioning method of straight-bar machines comprises the following steps:
Step S31: detect the real-time position information of head with respect to needle-bar.
In step S31, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information.
Step S32: change the degree order slide position in Du Mu mechanism according to real-time position information.
In step S32, for example, utilize the controller of straight-bar machines according to real-time position information change degree orderDegree order slide position in mechanism. For example,, when head is positioned at effective woven extent of needle-bar and gets overNear effective woven extent edge of needle-bar, the knitting needle that Du Mu mechanism controls eat the yarn degree of depth larger orPerson is less, thereby can make the pieces of cloth consistent in density knitting out, and promotes the matter of the pieces of cloth that knit outAmount, specifically controlling knitting needle, to eat the yarn degree of depth larger still less, depends on concrete straight-bar machines type,Therefore the present embodiment does not limit this. Or, participating in having of needle-bar according to real-time position informationAfter the availability order slide block of the braid movement of effect in woven extent leaves effective woven extent but headWhen part remains in effective woven extent, control availability order slide block and start to carry out from operating positionMove to the action of zero-bit, and preferably, availability order slide block shifts out effective braiding completely at headBefore region, complete availability order slide block and move to the action of zero-bit from operating position, thus canMake after head shifts out effective woven extent completely, availability order slide block has moved to zero-bit,And then the yarn that can avoid having woven is torn or the pieces of cloth of non-effective woven extent are compiledKnit and produce broken hole, avoiding the generation of the useless sheet of fabric. Further, according to real-time position information notThe idle degree order slide block of the braid movement in effective woven extent of the current line of participation needle-bar leavesEffectively after woven extent and before head commutation, control idle degree order slide block and complete to carry out and move from zero-bitTo the action in the precalculated position between zero-bit and operating position, and further rear and empty in head commutationSpare time degree order slide block move to control before effective woven extent of next line idle degree order slide block complete fromPrecalculated position moves to the action of operating position, and then can make head commutate afterwards and idle degree orderBefore slide block enters effective woven extent of next line, in advance idle degree order slide block is moved to and establishedThe operating position that fixed degree order value is corresponding or move to the position close to operating position, thus makeIdle degree order slide block can arrive faster in the effective woven extent that enters next line time withDefault operating position corresponding to degree order value, and then can reduce the run duration of head, thus energyEnough promote cross machine knitting efficiency.
Refer to Fig. 4, Fig. 4 is the flow process of machine head positioning method the 4th embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises needle-bar, moves with respect to needle-bar head and execution machineStructure, executing agency is preferably frame head transmission mechanism, and the machine head positioning method of straight-bar machines comprises the following steps:
Step S41: detect the real-time position information of head with respect to needle-bar.
In step S41, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information.
Step S42: change the transmission speed of frame head transmission mechanism to head according to real-time position information.
In step S41, for example, utilize the controller of straight-bar machines to change head according to real-time position informationThe transmission speed of transmission mechanism to head. For example, head is the closer to effective woven extent edge, machineThe speed of transmission mechanism head motion is larger or less. Or, when participating in the effective of needle-barEffective unit of the braid movement in woven extent (for example, availability order slide block, cam block orEffective system head) leave effective woven extent after but head section remain in effective woven extentTime, control head and carry out commutation action.
Refer to Fig. 5, Fig. 5 is the flow process of machine head positioning method the 5th embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises needle-bar, moves with respect to needle-bar head and execution machineStructure, executing agency is preferably cam mechanism, and the machine head positioning method of straight-bar machines comprises the following steps:
Step S51: detect the real-time position information of head with respect to needle-bar.
In step S51, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information.
Step S52: the position that changes the cam block of cam mechanism according to real-time position information.
In step S52, for example, utilize the controller of straight-bar machines to change triangle according to real-time position informationThe position of the cam block of mechanism. For example, the effective volume at participation needle-bar according to real-time position informationAfter effective cam block of the braid movement in tissue region leaves effective woven extent but head sectionWhile remaining in effective woven extent, control effective cam block and start to carry out and move from operating positionTo the action of zero-bit. Effectively cam block, before head shifts out effective woven extent completely, completesEffectively cam block moves to the action of zero-bit from operating position, thereby can make head move completelyAfter going out effective woven extent, effectively cam block has moved to zero-bit, and then can avoidYarn through braiding is torn or the pieces of cloth of non-effective woven extent are woven and produce broken hole, keeps awayExempt from the generation of the useless sheet of fabric. Or, do not participating in the current line of needle-bar according to real-time position informationAfter effectively the idle cam block of the braid movement in woven extent leaves effective woven extent and machineBefore head commutation, control idle cam block complete carry out from zero-bit move to zero-bit and operating position itBetween the action in precalculated position, and further after head commutation and idle cam block move to nextBefore effective woven extent of row, the idle cam block of control completes from precalculated position and moves to working positionThe action of putting, so after can making head commutation and idle cam block enter next line effectivelyBefore woven extent, in advance idle cam block is moved to operating position or moves to workThe position that position is close, thus make idle cam block enter effective woven extent of next lineWhen interior, operating position can be arrived faster, and then the run duration of head can be reduced, thus energyEnough promote cross machine knitting efficiency. In addition, can also, according to the real-time position information of head, control threeThe action of the zones of different of angle mechanism in effective woven extent, and then make cam mechanism in effective volumeThe defined needle track difference of zones of different in tissue region.
Refer to Fig. 6, Fig. 6 is the flow process of machine head positioning method the 6th embodiment of straight-bar machines of the present inventionFigure. In the present embodiment, straight-bar machines comprises needle-bar, moves with respect to needle-bar head and execution machineStructure, executing agency is preferably Yarn-feeding mechanism, and the machine head positioning method of straight-bar machines comprises the following steps:
Step S61: detect the real-time position information of head with respect to needle-bar.
In step S61, for example, utilize the position sensor of straight-bar machines to detect head with respect to needle-barReal-time position information.
Step S62: the tension force of the yarn of controlling according to real-time position information change Yarn-feeding mechanism.
In step S62, for example, utilize the controller of straight-bar machines to change and send yarn according to real-time position informationThe tension force of the yarn that mechanism controls. For example, head, the closer to effective woven extent edge, send yarnThe tension force of the yarn that mechanism controls is larger or less, shifts out after effective woven extent at head,Controlling Yarn-feeding mechanism stops sending yarn action or reduces tension force and before head moves into effective woven extentControl Yarn-feeding mechanism and start to send yarn action or increase tension force, thereby can not need yarn tensionTime, stop sending yarn action or reduce tension force, and then can reduce power consumption, reasonable distribution resource.
It should be noted that in first to the 6th embodiment of machine head positioning method of above-mentioned straight-bar machinesArbitrarily several embodiment can be combined to form new embodiment mutually, detect head with respect toCan be according to the two or more differences of real-time position information control after the real-time position information of needle-barThe executing agency of type carries out corresponding action, coordinates the accurate braiding task that realizes.
Refer to Fig. 7, Fig. 7 is the module of the head navigation system preferred embodiment of straight-bar machines of the present inventionSchematic diagram. In the present embodiment, straight-bar machines comprise needle-bar, with respect to the head of needle-bar motion and holdRow mechanism, the head navigation system of straight-bar machines comprises: position sensor 11 and controller 12, this positionPut sensor 11 for detection of head the real-time position information with respect to needle-bar. 12 of this controllersThe duty that changes executing agency according to real-time position information, wherein executing agency comprises roller machineIn structure, Qi Di mechanism, Du Mu mechanism, cam mechanism, frame head transmission mechanism and Yarn-feeding mechanism extremelyFew a kind of or combination.
If executing agency is roller mechanism or Qi Di mechanism, controller changes according to real-time position informationThe pulling force of roller mechanism or the Qi Di mechanism pieces of cloth to the current braiding of straight-bar machines. For example,, when head is positioned atIn effective woven extent of needle-bar and the closer to effective woven extent edge of needle-bar, roller mechanism orThe pulling force of the pieces of cloth of Qi Di mechanism to the current braiding of straight-bar machines is larger or less, shifts out effectively at headAfter woven extent, control roller mechanism or Qi Di mechanism and stop roller or play end action or reduce pulling forceAnd before head moves into effective woven extent, controlling roller mechanism or Qi Di mechanism starts roller or risesEnd action or increase pulling force.
If executing agency is Du Mu mechanism, controller changes in Du Mu mechanism according to real-time position informationDegree order slide position. For example,, when head is positioned at effective woven extent of needle-bar and the closer to pinEffective woven extent edge of bed, the knitting needle that Du Mu mechanism controls is eaten the yarn degree of depth more greatly or moreLittle. The availability of the braid movement according to real-time position information in the effective woven extent that participates in needle-barAfter order slide block leaves effective woven extent but head section while remaining in effective woven extent controlAvailability order slide block starts to carry out the action that moves to zero-bit from operating position. Or, according in real timeThe free time of the braid movement of positional information in the effective woven extent of current line that does not participate in needle-barAfter degree order slide block leaves effective woven extent and before head commutation, control idle degree order slide block and complete and holdRow moves to the action in the precalculated position between zero-bit and operating position from zero-bit, and further at machineAfter head commutation and idle degree order slide block control idle degree before moving to effective woven extent of next lineOrder slide block completes the action that moves to operating position from precalculated position.
If executing agency is frame head transmission mechanism, controller changes head according to real-time position information and passesThe transmission speed of actuation mechanism to head. For example,, when head is the closer to effective woven extent edge, machineThe speed of transmission mechanism head motion is larger or less.
If executing agency is cam mechanism, controller changes cam mechanism according to real-time position informationThe position of cam block. For example, the zones of different in effective woven extent, cam mechanism is determinedThe needle track difference of justice, or, according to real-time position information participating in effective woven extent of needle-barEffective cam block of braid movement leave effective woven extent after but head section remained onIn effect woven extent time, control effective cam block and start to carry out and move to zero-bit from operating positionAction, or, do not participating in effective woven extent of current line of needle-bar according to real-time position informationAfter the idle cam block of interior braid movement leaves effective woven extent and before head commutation, controlIdle cam block completes to carry out and moves to the precalculated position between zero-bit and operating position from zero-bitAction, and further after head commutation and idle cam block move to effective braiding of next lineBefore region, control idle cam block and complete the action that moves to operating position from precalculated position.
If executing agency is Yarn-feeding mechanism, controller changes Yarn-feeding mechanism institute according to real-time position informationThe tension force of the yarn of controlling. Preferably, when head is the closer to effective woven extent edge, send yarn machineThe tension force of the yarn that structure is controlled is larger or less. Further, shift out effective knitting zone at headBehind territory, control Yarn-feeding mechanism and stop sending yarn action or reduce tension force and move into effective knitting zone at headBefore territory, controlling Yarn-feeding mechanism starts to send yarn action or increases tension force.
According to the present invention, the head navigation system preferred embodiment of straight-bar machines further provides a kind of straight-bar machinesEmbodiment. Refer to Fig. 8, Fig. 8 is the structural representation of straight-bar machines the first embodiment of the present invention.In the present embodiment, straight-bar machines comprises needle-bar 20, magnetic grid read head 211 and magnetic railings ruler 201, controller(not shown), executing agency's (not shown) and the head 21 moving with respect to needle-bar 20.
Wherein, magnetic grid read head 211 and magnetic railings ruler 201 form position sensor. Magnetic railings ruler 201 is establishedBe placed on needle-bar 20, magnetic grid read head 211 is arranged on head 21, and magnetic railings ruler 201 is carried outRead. Controller determines that according to the read signal of magnetic grid read head 211 head 21 is with respect to needle-bar 20Real-time position information.
Preferably, controller changes the duty of executing agency according to real-time position information, whereinExecuting agency comprises roller mechanism, Qi Di mechanism, Du Mu mechanism, cam mechanism, head driverAt least one in structure and Yarn-feeding mechanism or combination.
If executing agency is roller mechanism or Qi Di mechanism, controller changes according to real-time position informationThe pulling force of roller mechanism or the Qi Di mechanism pieces of cloth to the current braiding of straight-bar machines. For example,, when head is positioned atIn effective woven extent of needle-bar and the closer to effective woven extent edge of needle-bar, roller mechanism orThe pulling force of the pieces of cloth of Qi Di mechanism to the current braiding of straight-bar machines is larger or less, shifts out effectively at headAfter woven extent, control roller mechanism or Qi Di mechanism and stop roller or play end action or reduce pulling forceAnd before head moves into effective woven extent, controlling roller mechanism or Qi Di mechanism starts roller or risesEnd action or increase pulling force.
If executing agency is Du Mu mechanism, controller changes in Du Mu mechanism according to real-time position informationDegree order slide position. For example,, when head is positioned at effective woven extent of needle-bar and the closer to pinEffective woven extent edge of bed, the knitting needle that Du Mu mechanism controls is eaten the yarn degree of depth more greatly or moreLittle, or, the braid movement according to real-time position information in the effective woven extent that participates in needle-barAvailability order slide block leave effective woven extent after but head section remains on effective woven extentWhen interior, control availability order slide block and start to carry out the action that moves to zero-bit from operating position. According toThe braid movement of real-time position information in the effective woven extent of current line that does not participate in needle-barAfter free time, degree order slide block left effective woven extent and before head commutation, control idle degree order slide block completeBecome to carry out the action that moves to the precalculated position between zero-bit and operating position from zero-bit, and furtherAfter head commutation and idle degree order slide block move to control before effective woven extent of next line emptySpare time degree order slide block completes the action that moves to operating position from precalculated position.
If executing agency is frame head transmission mechanism, controller changes head according to real-time position information and passesThe transmission speed of actuation mechanism to head. For example, at head the closer to effective woven extent edge, machineThe speed of transmission mechanism head motion is larger or less.
If executing agency is cam mechanism, controller changes cam mechanism according to real-time position informationThe position of cam block. For example, the zones of different in effective woven extent, cam mechanism is determinedThe needle track difference of justice, or, according to real-time position information participating in effective woven extent of needle-barEffective cam block of braid movement leave effective woven extent after but head section remained onIn effect woven extent time, control effective cam block and start to carry out and move to zero-bit from operating positionAction, or, do not participating in effective woven extent of current line of needle-bar according to real-time position informationAfter the idle cam block of interior braid movement leaves effective woven extent and before head commutation, controlIdle cam block completes to carry out and moves to the precalculated position between zero-bit and operating position from zero-bitAction, and further after head commutation and idle cam block move to effective braiding of next lineBefore region, control idle cam block and complete the action that moves to operating position from precalculated position.
If executing agency is Yarn-feeding mechanism, controller changes Yarn-feeding mechanism institute according to real-time position informationThe tension force of the yarn of controlling. For example, at head the closer to effective woven extent edge, Yarn-feeding mechanismThe tension force of the yarn of controlling is larger or less, or, shift out after effective woven extent at head,Controlling Yarn-feeding mechanism stops sending yarn action or reduces tension force and before head moves into effective woven extentControlling Yarn-feeding mechanism starts to send yarn action or increases tension force.
See also Fig. 9 and Figure 10, Fig. 9 is that the machine head positioning method the 7th of straight-bar machines of the present invention is realExecute routine flow chart, Figure 10 is the structural representation of the second embodiment of straight-bar machines of the present invention. In this realityExecute in example, straight-bar machines comprises needle-bar 30, knitting needle sequence 31, head 32, knitting needle read head 321, codingDevice 33, processor (not shown), counter (not shown) and memory (not shown), knitPin sequence 31 is arranged on needle-bar 30 and comprises the multiple knitting needles 311,312,313 that are arranged in order,Head 32 moves with respect to needle-bar 30, and knitting needle read head 321 is arranged on head 32, encoder 33Servo-actuated with head 32, wherein in the motion process of head 32 relative needle-bars 30, knitting needle read head321 identify knitting needle 311,312,313 successively, and are recognizing knitting needle 311,312 or 313 at every turnTime export knitting needle detect pulse, encoder 33 is for entering with respect to the position of needle-bar 30 head 32Row one-time positioning, and outupt coded signal, preferably, knitting needle read head 321 is Hall element 321,Encoder 33 carries out transmission by head 32. The machine head positioning method of straight-bar machines comprises the following steps:
Step S71: in the time that each knitting needle read head output knitting needle detects pulse, working as according to encoderThe code signal in front moment judges current knitting needle that knitting needle read head the identifies order in knitting needle sequenceNumber.
In step S71, for example, utilize the processor of straight-bar machines to export at each knitting needle read head 321When knitting needle detects pulse, judge knitting needle read head according to encoder 33 at the code signal of current timeThe sequence number of the 321 current knitting needles of identifying in knitting needle sequence 31. Preferably, processor is by inciting somebody to actionEncoder 33 at the code signal of current time from pre-stored and correspond respectively to different knitting needlesMultiple a reference values compare to judge that current knitting needle that knitting needle read head 321 identifies is in knitting needle order31 sequence number in row. Encoder 33 with the servomechanism process of head 32 in continue output encoder pulse,The pre-stored multiple a reference values that correspond respectively to different knitting needles of memory. By to encoder 33The coded pulse of output is counted, and by encoder 33 the count value of current time with deposit in advanceStorage and the multiple reference count values that correspond respectively to different knitting needles compare to judge that knitting needle readsThe sequence number of the 321 current knitting needles of identifying in knitting needle sequence. Counter is used for encoder 33The coded pulse of output is counted. Preferably, multiple reference count values are by by head 32When in the moving process with respect to needle-bar, the each output knitting needle of knitting needle read head 321 detects pulse, encodeThe count value of the coded pulse that device 33 is exported carry out pre-stored and obtain. This count value is deposited in advanceStorage is in memory.
Step S72: the sequence number according to current knitting needle in knitting needle sequence and knitting needle detect pulse to machineHead carries out secondary location with respect to the position of needle-bar.
In step S72, for example, the processor that utilizes straight-bar machines according to current knitting needle in knitting needle sequenceIn sequence number and knitting needle detect pulse head 32 is carried out to secondary location with respect to the position of needle-bar 30.In the present embodiment, head 32 being carried out to secondary positioning instant with respect to the position of needle-bar 30 has obtainedHead 32 is with respect to the real-time position information of needle-bar 30, therefore step S11 in above-described embodiment,Step S21, step S31, step S41, step S51, step S61 all can specifically comprise this realityExecute step S71 and S72 in example, obtain the real-time position of head 32 with respect to needle-bar 30 thereby realizePut information, that is to say, position sensing in the preferred embodiment of the head navigation system of above-mentioned straight-bar machinesDevice can be for to be made up of encoder 33, knitting needle read head 321 and knitting needle sequence 31, encoder 33And knitting needle read head 321 and knitting needle sequence 31 be used in conjunction with realize position sensor 11 for detection ofHead is with respect to the function of the real-time position information of needle-bar.
In the present embodiment, for utilizing separately encoder 33 in detecting head 32 positionsBecause the transmission mechanisms such as belt loosening may cause the real time position of the head 32 that encoder detectsInformation is inaccurate, adopts knitting needle read head 321 and knitting needle sequence 31 matching coding devices 33 to use, fromAnd by head 32 is carried out to one-time positioning and secondary location with respect to the position of needle-bar 30, enterAnd it is more accurate with respect to the real-time position information of needle-bar 30 to make to detect the head 32 obtainingReliably.
Refer to Figure 11, Figure 11 is that the head of straight-bar machines of the present invention clashes into detection method preferred embodimentFlow chart. Incorporated by reference to consulting Figure 10 and Figure 11, in the present embodiment, straight-bar machines comprises encoder33, processor, needle-bar 30, be arranged on mark 31 on needle-bar 30, transport with respect to needle-bar 30Moving head 32, be arranged at the sensor 321 on head 32. The head of straight-bar machines clashes into detection methodComprise the following steps:
Step S81: in the motion process at head with respect to needle-bar, utilize sensor to read mark,And then obtain the real-time position information of head with respect to needle-bar.
In step S81, for example, the processor that utilizes straight-bar machines at head 32 with respect to needle-bar 30Motion process in utilize sensor 321 to read mark 31, and then obtain head 32 with respect toThe real-time position information of needle-bar 30. Preferably, in the present embodiment, mark 31 is for being arranged atOn needle-bar 30 and comprise the knitting needle sequence 31 of the multiple knitting needles 311,312,313 that are arranged in order, rightThe sensor 321 of answering is preferably the knitting needle read head 321 being arranged on head 32. Relative at head 32In the motion process of needle-bar 30, knitting needle read head 321 is identified knitting needle successively, and is recognizing and knitting at every turnWhen pin, export knitting needle and detect pulse, encoder 33 is for the position with respect to needle-bar 30 to head 32Carry out one-time positioning, and outupt coded signal, in the present embodiment, at head 32 with respect to needle-barIn 30 motion process, utilize sensor 321 to read mark 31, and then it is relative to obtain head 32Be preferably and comprise in the step of the real-time position information of needle-bar 30: export at each knitting needle read head 321When knitting needle detects pulse, judge knitting needle read head according to encoder 33 at the code signal of current timeThe sequence number of the 321 current knitting needles of identifying in knitting needle sequence; According to current knitting needle in knitting needle sequenceIn sequence number and knitting needle detect pulse head 32 is carried out to secondary location with respect to the position of needle-bar 30,And then obtain the real-time position information of head 32 with respect to needle-bar 30, specifically refer to above-mentioned and send outDescription and the explanation of step S71 and step S72 in the machine head positioning method of bright straight-bar machines the 7th embodiment.Certainly in other embodiments, please again consult Fig. 8, sensor can be also magnetic grid read head 211,Correspondingly, mark can be also magnetic railings ruler 201, and magnetic railings ruler 201 is arranged on needle-bar 20, magneticGrid read head 211 is arranged on head 21, and magnetic railings ruler 201 is read. Controller is according to magneticThe read signal of grid read head 211 is determined the real-time position information of head 21 with respect to needle-bar 20, toolBody refers to the description of straight-bar machines the first embodiment of the present invention.
Step S82: calculate the velocity variable of head with respect to needle-bar according to real-time position information.
In step S82, for example, utilize the processor of straight-bar machines to calculate head according to real-time position information32 velocity variables with respect to needle-bar 30, for example, can head 32 phases in the unit of account timeFor the velocity variable of needle-bar 30, i.e. acceleration.
Step S83: if velocity variable exceedes predetermined threshold value, send alarm signal.
In step S83, for example utilize the processor of straight-bar machines to exceed predetermined threshold value at velocity variable,Send alarm signal, for example, compare according to the acceleration and the predetermined threshold value that calculate, ifExceed predetermined threshold value and can judge that head 32 is to bump concurrent with knitting needle or other objectsGo out alarm signal. Preferably, needle-bar 30 is divided into multiple regions, and when head 32 is in manyIn presumptive area in individual region time, velocity variable exceedes predetermined threshold value, sends alarm signal,In the time that head 32 is in presumptive area other regions in addition, velocity variable exceedes default thresholdValue, does not send alarm signal. Preferably, presumptive area is the effective knitting zone of current line of needle-bar 30Territory.
The present embodiment, by detecting accurately the position of head, can calculate handpiece speed and changeMeasure and in the time that velocity variable exceedes predetermined threshold value, send alarm signal, thereby can examine accuratelyWhether the executive component of surveying on head or head bumps with other objects.
Be different from prior art, the present invention makes by knitting needle read head and knitting needle sequence matching coding deviceWith, thereby by head is carried out to one-time positioning and secondary location with respect to the position of needle-bar, enterAnd can make to detect the head that obtains with respect to the real-time position information of needle-bar more accurately and reliably.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention,Every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention and accompanying drawing content to do, orDirectly or indirectly be used in other relevant technical fields, be all in like manner included in patent of the present invention and protectProtect in scope.
Claims (10)
1. a machine head positioning method for straight-bar machines, is characterized in that, described straight-bar machines comprises needle-bar, establishesBe placed on described needle-bar and comprise the knitting needle sequence of the multiple knitting needles that are arranged in order, with respect to described pinThe head of bed motion, be arranged on knitting needle read head on described head and the volume servo-actuated with described headCode device, wherein, in the motion process of the relatively described needle-bar of described head, described knitting needle read head successivelyIdentify described knitting needle, and in the time recognizing described knitting needle, export knitting needle at every turn and detect pulse, described volumeCode device is for described head is carried out to one-time positioning with respect to the position of described needle-bar, and output encoderSignal, described method comprises:
In the time that each described knitting needle read head is exported described knitting needle detection pulse, exist according to described encoderThe code signal of current time judges that current knitting needle that described knitting needle read head identifies is at described knitting needleSequence number in sequence;
Sequence number according to described current knitting needle in described knitting needle sequence and described knitting needle detect pulseDescribed head is carried out to secondary location with respect to the position of described needle-bar.
2. method according to claim 1, is characterized in that, by described encoder is existedThe code signal of current time is from pre-stored and correspond respectively to the multiple of different described knitting needlesA reference value compares to judge that current knitting needle that described knitting needle read head identifies is in described knitting needle orderSequence number in row.
3. method according to claim 2, is characterized in that, described encoder is with describedIn the servomechanism process of head, continue output encoder pulse, by the coding arteries and veins to described encoder outputRush in row counting, and by described encoder in the count value of current time and pre-stored and right respectivelyShould compare to judge described knitting needle read head in multiple reference count values of different described knitting needlesThe sequence number of the current knitting needle of identifying in described knitting needle sequence.
4. method according to claim 3, is characterized in that, described multiple reference count valuesBy described head is each at knitting needle read head described in the moving process with respect to described needle-barDescribed in while exporting described knitting needle detection pulse, the count value of the coded pulse of encoder output is carried out in advanceFirst store and obtain.
5. a straight-bar machines, is characterized in that, described straight-bar machines comprises: needle-bar, be arranged at described needle-barUpper and comprise the knitting needle sequence of the multiple knitting needles that are arranged in order, move with respect to described needle-bar machineHead, be arranged on knitting needle read head on described head, encoder and the processing servo-actuated with described headDevice, wherein, in the motion process of the relatively described needle-bar of described head, described knitting needle read head is known successivelyNot not described knitting needle, and in the time recognizing described knitting needle, export knitting needle at every turn and detect pulse, described codingDevice carries out one-time positioning to described head with respect to the position of described needle-bar, and outupt coded signal,When described processor is exported described knitting needle detection pulse at each described knitting needle read head, according to described volumeCode device judges that at the code signal of current time current knitting needle that described knitting needle read head identifies is in instituteState the sequence number in knitting needle sequence, and according to described current knitting needle the sequence number in described knitting needle sequence andDescribed knitting needle detects pulse described head is carried out to secondary location with respect to the position of described needle-bar.
6. straight-bar machines according to claim 5, is characterized in that, described straight-bar machines further comprisesMemory, the pre-stored multiple benchmark that correspond respectively to different described knitting needles of described memoryValue, described processor is by code signal and the described multiple base at current time by described encoderAccurate value compares to judge that current knitting needle that described knitting needle read head identifies is in described knitting needle sequenceIn sequence number.
7. straight-bar machines according to claim 6, is characterized in that, described multiple a reference values are for dividing, corresponding to multiple reference count values of different described knitting needles, described straight-bar machines does not further comprise countingDevice, described encoder with the servomechanism process of described head in continue output encoder pulse, described meterNumber device is counted the coded pulse of described encoder output, and described processor is by described encoderCount value and described multiple reference count value at current time compare to judge described knitting needleThe sequence number of the current knitting needle that read head is identified in described knitting needle sequence.
8. straight-bar machines according to claim 7, is characterized in that, described multiple reference count valuesBy described head is each at knitting needle read head described in the moving process with respect to described needle-barThe coded pulse that described in while exporting described knitting needle detection pulse, counter is exported described encoderCount value pre-stored in described memory and obtain.
9. straight-bar machines according to claim 5, is characterized in that, described knitting needle read head is HallSensor.
10. straight-bar machines according to claim 5, is characterized in that, described encoder is by describedHead carries out transmission.
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