CN109137245B - Glove knitting machine head control method, device, equipment and storage medium - Google Patents
Glove knitting machine head control method, device, equipment and storage medium Download PDFInfo
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- CN109137245B CN109137245B CN201811129804.6A CN201811129804A CN109137245B CN 109137245 B CN109137245 B CN 109137245B CN 201811129804 A CN201811129804 A CN 201811129804A CN 109137245 B CN109137245 B CN 109137245B
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- head
- deceleration
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- motion
- speed
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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
- D04B15/665—Driving-gear for programme or pattern devices
Abstract
The embodiment of the present invention provides a kind of glove knitting machine head control method, device, equipment and storage medium characterized by comprising obtains woven extent, wherein woven extent is finger domain or palm domain；According to woven extent, determine that the head motion range of the corresponding glove knitting machine of woven extent, head motion range are the range between positive target endpoint and reversed target endpoint；According to head motion range, the offset of head is obtained, offset is used to indicate Forward to slow down position and reversed deceleration position；According to offset, head is controlled at Forward to slow down position and reversed deceleration position and is slowed down.To guarantee that head can reach designated position when carrying out weaving operation, improve weaving quality.
Description
Technical field
The present invention relates to automatic control technology more particularly to a kind of glove knitting machine head control method, device, equipment and storages
Medium.
Background technique
Glove knitting machine is the textile machinery for knitted glove, and wherein head is the important component of glove knitting machine, head
Operating status determines the quality and efficiency of gloves braiding.
For glove knitting machine common at present when carrying out gloves braiding, head moves back and forth the shaking that will lead to head,
Glove knitting machine needs to guarantee that head reaches specific position when carrying out operation, thus guarantee the quality of braiding, the error allowed
Very little.
Common glove knitting machine is difficult to ensure that glove knitting machine head reaches designated position and do not shake in the weaving process,
So as to cause weaving quality reduction.
Summary of the invention
The embodiment of the present invention provides a kind of glove knitting machine head control method, device, equipment and storage medium, to guarantee gloves
Head accurately reaches designated position to machine in the weaving process, to improve weaving quality.
The embodiment of the present invention provides a kind of glove knitting machine head control method, comprising:
Obtain woven extent, wherein the woven extent is finger domain or palm domain；
According to the woven extent, the head motion range of the corresponding glove knitting machine of the woven extent, the head are determined
Motion range is the range between positive target endpoint and reversed target endpoint；
According to the head motion range, the offset of the head is obtained, the offset is used to indicate Forward to slow down
Position and reversed deceleration position；
According to the offset, the head is controlled at the Forward to slow down position and the reversed deceleration position and is carried out
Slow down.
In one possible implementation, the distance between the Forward to slow down position and the reversed target endpoint are
The distance that deceleration is moved needed for being 0 when the head forward motion to reversed target endpoint；
The distance between the reversed deceleration position and the positive target endpoint are the head counter motion to forward direction
The distance that deceleration is moved needed for being 0 when target endpoint.
In one possible implementation, described according to the head motion range, obtain the offset of the head
Include:
The deceleration curve of the head and the speed of service of the head are obtained, according to the position of the reversed target endpoint
It sets, the speed of service of the deceleration curve and the head, obtains the Forward to slow down position；
The deceleration curve of the head and the speed of service of the head are obtained, according to the position of the positive target endpoint
It sets, the speed of service of the deceleration curve and the head, obtains the reversed deceleration position；
According to the Forward to slow down position and the reversed deceleration position, the offset is determined.
In one possible implementation, described according to the offset, the machine is controlled at the deceleration position
Head slows down, comprising:
Obtain the direction of motion and the current location of the head；
Deceleration position is determined according to the direction of motion of the head, judges whether the current location is the deceleration position
It sets；
Slow down if so, controlling the head；
Continue to move if it is not, then controlling the head.
Second aspect, the embodiment of the present invention provide a kind of glove knitting machine head control equipment, comprising:
Module is obtained, for obtaining woven extent, wherein the woven extent is finger domain or palm domain；
Determining module, for determining the head motion of the corresponding glove knitting machine of the woven extent according to the woven extent
Range, the head motion range are the range between positive target endpoint and reversed target endpoint；
The acquisition module is also used to, and according to the head motion range, obtains the offset of the head, the compensation
Value is used to indicate Forward to slow down position and reversed deceleration position；
Slowdown module is used for according to the offset, in the Forward to slow down position and the reversed deceleration position time control
The head is made to slow down.
In one possible implementation, the distance between the Forward to slow down position and the reversed target endpoint are
The distance that deceleration is moved needed for being 0 when the head forward motion to reversed target endpoint；
The distance between the reversed deceleration position and the positive target endpoint are the head counter motion to forward direction
The distance that deceleration is moved needed for being 0 when target endpoint.
In one possible implementation, the acquisition module is specifically used for:
The deceleration curve of the head and the speed of service of the head are obtained, according to the position of the reversed target endpoint
It sets, the speed of service of the deceleration curve and the head, obtains the Forward to slow down position；
The deceleration curve of the head and the speed of service of the head are obtained, according to the position of the positive target endpoint
It sets, the speed of service of the deceleration curve and the head, obtains the reversed deceleration position；
According to the Forward to slow down position and the reversed deceleration position, the offset is determined.
In one possible implementation, the slowdown module is specifically used for:
Obtain the direction of motion and the current location of the head；
Deceleration position is determined according to the direction of motion of the head, judges whether the current location is the deceleration position
It sets；
Slow down if so, controlling the head；
Continue to move if it is not, then controlling the head.
The third aspect, the embodiment of the present invention provide a kind of glove knitting machine head control equipment, comprising:
Memory, for storing program；
Controller, for executing the described program of memory storage, when described program is performed, the controller
For executing any method in the various possible designs of first aspect and first aspect as above.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, including instruction, when instruction is calculating
When being run on machine, so that computer executes any side in the various possible designs of first aspect and first aspect as above
Method.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the glove knitting machine schematic diagram of glove knitting machine head control method provided in an embodiment of the present invention；
Fig. 2 is the flow chart one of glove knitting machine head control method provided in an embodiment of the present invention；
Fig. 3 is the flowchart 2 of glove knitting machine head control method provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of the deceleration curve of head provided in an embodiment of the present invention；
Fig. 5 is the flow chart 3 of glove knitting machine head control method provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of glove knitting machine head control device provided in an embodiment of the present invention；
Fig. 7 is the hardware structural diagram that glove knitting machine head provided in an embodiment of the present invention controls equipment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the glove knitting machine schematic diagram of glove knitting machine head control method provided in an embodiment of the present invention, as shown in Figure 1, this
The glove knitting machine that inventive embodiments provide includes: head, crossbeam, fuselage, controller, encoder etc..
Wherein head is the important component of glove knitting machine, and specific braid movement is completed by head, and head is set
It sets on crossbeam, when glove knitting machine carries out weaving operation, the movement of motor driven crossbeam is to drive head to complete specific braiding
Operation, middle cross beam can be one can for or more, it is the case where Fig. 1 illustratively gives a crossbeam, more
The case where root crossbeam, is similar, and details are not described herein again.
Wherein, fuselage can provide job platform for specific knitting, and fuselage can also include multiple components, such as
It may include the controller of glove knitting machine, controller is for realizing various controls such as logic control, the electricity controls of gloves machine operation
Function, fuselage can also include for example encoder, and encoder is the sensor for information such as measuring speed, position, angles, can
To be used cooperatively with motor.
Glove knitting machine, due to gloves and the particularity of braiding, is needed by controller control during carrying out weaving operation
Motor work processed, and control to measure and head is driven to carry out back and forth reciprocal movement, as shown in Figure 1, a direction can be determined
Control motor reaches target point by starting point afterwards, and after reaching target point, head needs again from target point to the side of starting point
To movement, so repeat to complete the braiding of a gloves.The braiding track of the head provided in Fig. 1 is one exemplary
Track, the embodiment of the present invention is not particularly limited the motion profile of head during weaving operation.
The head of glove knitting machine is the important component of glove knitting machine, glove knitting machine head controlling party provided in an embodiment of the present invention
Method can the glove knitting machine head to meaning shown in Fig. 1 control, below with reference to Fig. 2 to glove knitting machine provided in an embodiment of the present invention
Head control method describes in detail, and Fig. 2 is the flow chart one of glove knitting machine head control method provided in an embodiment of the present invention,
As shown in Fig. 2, this method comprises:
S201, woven extent is obtained, wherein woven extent is finger domain or palm domain.
Because of the particularity of glove structure, woven extent can be divided into finger domain and palm in weaving operation by glove knitting machine
Domain, wherein finger domain may include thumb area, forefinger area, middle finger region, nameless region and little finger region, hand
Slapping domain for example may include four fingers and palms regions and five fingers and palms regions, and four fingers and palms refer to and index finger, middle finger, the third finger, little finger phase
Palm portion even, five fingers and palms refer to the palm portion being connected with all fingers.
Current woven extent is obtained first, and at a time, the woven extent of head is in finger domain or palm domain
Some.
S202, according to woven extent, determine the head motion range of the corresponding glove knitting machine of woven extent, head motion range
For the range between positive target endpoint and reversed target endpoint.
In embodiments of the present invention, null pick-up is provided on glove knitting machine, null pick-up is used to detect current head
Whether zero-bit is in, wherein the zero-bit of head refers to glove knitting machine the location of head, In when not starting to carry out weaving operation
Glove knitting machine takes up one's knitting before operation, first has to the correction for carrying out head zero-bit, guarantees the accuracy of weaving operation.
After getting the woven extent of head, it is first determined the head motion model of the corresponding glove knitting machine of woven extent
It encloses, wherein head motion range refers to when current region is woven, the range that head can reach, and specific numerical value is
It is indicated based on the position of null pick-up, such as the location position for having null pick-up is to get current at 0 millimeter
The corresponding head motion range of woven extent is also to mean that the corresponding head of current woven extent at 15 millimeters to 140 millimeters
Motion range is apart from 15 millimeters of head zero-bit at extremely at 140 millimeters of head zero-bit, and above is exemplary and gives
One range, the embodiment of the present invention are not particularly limited head motion range.
The braiding length, weave dimension etc. of each region are different from the structure of gloves, therefore different woven extents
There is corresponding head motion range.
Because glove knitting machine is when carrying out weaving operation, head moves back and forth the braiding that could complete a region, because
The movement of head can be divided into forward motion and counter motion by this, and the embodiment of the present invention is to head forward motion and reversed fortune
Dynamic specific direction is not specially limited, such as can determine that any one direction is forward direction, correspondingly the side opposite with forward direction
To as reversely, because the movement of head includes forward motion and counter motion, head motion range contains positive mesh
Endpoint and direction target endpoint, i.e. the two of head motion range endpoint are marked, positive target endpoint is going out for head forward motion
Point is sent out, reversed target endpoint is the starting point of head counter motion campaign.
S203, according to head motion range, obtain the offset of head, offset is used to indicate Forward to slow down position and anti-
To deceleration position.
After obtaining head motion range, the offset of head is obtained.During glove knitting machine carries out operation, just
Successively alternately to movement and counter motion, head controls head from positive target when carrying out forward motion first
Endpoint is set out with speed for 0, is then controlled speed and is increased, and is controlled head when speed increases to default braiding speed and is at the uniform velocity advanced
Woven, wherein default braiding speed be the glove knitting machine of setting in the weaving process, head keeps stablizing advancing and be woven
Speed, the specific value of default braiding speed can rule of thumb or actual measurement obtains, and the embodiment of the present invention is to default braiding
The numerical value of speed is not particularly limited, and when that will reach reversed target endpoint, head needs to control head deceleration, after being decelerated to 0
Counter motion is carried out again.
Because the accuracy that gloves braiding requires is higher, it is therefore desirable to guarantee to reach just when handpiece speed is 0 reversed
Target endpoint, that is just it needs to be determined that a deceleration position that can guarantee to reach reversed target endpoint just when handpiece speed is 0
It sets, offset is exactly to be used to refer to Forward to slow down position and reversed deceleration position, when head carries out forward motion, controls machine
Head reduces speed now in Forward to slow down position, it can be ensured that head reaches reversed deceleration position when speed is 0 just, guarantees head
The accuracy of position, so as to guarantee gloves Compilation Quality, wherein the determination of handpiece speed and position can pass through Fig. 1 intermediary
The encoder to continue is completed, and can also be realized by the function of corresponding module in controller in Fig. 1.
When head carries out counter motion, implementation and principle are similar when carrying out forward motion with head, herein not
It repeats again.
S204, according to offset, control head at Forward to slow down position and reversed deceleration position and slow down.
After getting offset, head motion is controlled according to the instruction of offset, it is assumed that current head is carrying out just
To movement, head is 0 from positive target endpoint with speed, and the speed for advancing up to head is accelerated to reach default braiding speed
Degree, head carry out weaving operation so that default braiding speed is mobile, control machine when reaching the Forward to slow down position of offset instruction
Head slows down, and reversed target endpoint is reached just when it is 0 that head, which slows down, so as to complete the forward motion of a head.
Head forward motion and counter motion successively alternately, therefore reach reversed target endpoint simultaneously when weaving operation
And after speed is 0, it is immediately 0 from reversed target endpoint with speed, accelerates the speed for advancing up to head to reach default
Speed is woven, head carries out weaving operation so that default braiding speed is mobile, when reaching the reversed deceleration position of offset instruction
It controls head to slow down, reaches positive target endpoint, just when it is 0 that head, which slows down, so as to complete the reversed fortune of a head
It is dynamic.
Forward motion and counter motion successively alternately, and between forward motion and counter motion without interval or
It pauses, to guarantee the continuity and efficiency of weaving operation, is 0 reaching positive target endpoint speed, carries out immediately at this time
Counter motion similarly carries out forward motion when reaching reversed target endpoint immediately, avoids the time that head is 0 in speed
It is too long to influencing braid efficiency.
Glove knitting machine head control method provided in an embodiment of the present invention, comprising: obtain woven extent, wherein woven extent
For finger domain or palm domain；According to woven extent, the head motion range of the corresponding glove knitting machine of woven extent, head motion are determined
Range is the range between positive target endpoint and reversed target endpoint；According to head motion range, the offset of head is obtained,
Offset is used to indicate Forward to slow down position and reversed deceleration position；According to offset, in Forward to slow down position and reversed deceleration
Head is controlled when position to slow down.The braiding of gloves can be efficiently accomplished, and can guarantee head by the way that offset is arranged
Designated position is accurately reached during carrying out weaving operation, to improve weaving quality and efficiency.
On the basis of the above embodiments, the distance between Forward to slow down position and reversed target endpoint are head forward direction fortune
Slow down when moving to reversed target endpoint be 0 needed for the distance that moves；
The distance between reversed deceleration position and positive target endpoint subtract when being head counter motion to positive target endpoint
The distance that speed moves needed for being 0.
Specifically, needing to guarantee to reach just when being decelerated to 0 when carrying out weaving operation by taking head forward motion as an example
Reversed target endpoint will lead to when head is decelerated to 0 if the time that control head slows down is too early and not reach reversed target side
Point, if the time that control head slows down is too late, will lead to head has been more than reversed target side the location of when being decelerated to 0
Point all can cause head motion that can not reach designated position, influence weaving quality.
Therefore offset is arranged in the embodiment of the present invention, is used to indicate Forward to slow down position and reversed deceleration position, works as head
When forward motion, control head reduces speed now in the Forward to slow down position that offset indicates, can guarantee that head is proper when slowing down is 0
Reversed target endpoint is reached well, and slowing down when wherein the specific value of offset is head forward motion to reversed target endpoint is 0
The distance of required movement, i.e. the distance between Forward to slow down position and reversed target endpoint, therefore Forward to slow down position and reversed
The distance that deceleration is moved needed for being 0 when the distance between target endpoint is head forward motion to reversed target endpoint, thus really
Guarantor reduces speed now in Forward to slow down position, can reach reversed target endpoint just when being decelerated to speed and being 0, improve weaving quality
And efficiency.
When head carries out counter motion, implementation and principle are similar with forward motion, and details are not described herein again.
Offset is the numerical value for being used to indicate Forward to slow down position and reversed deceleration position, controls head according to offset and exists
Forward to slow down position and reversed deceleration position are slowed down, and the acquisition methods of offset and how to be slowed down according to offset
Control is very important link.Glove knitting machine head control method provided in an embodiment of the present invention is carried out below with reference to Fig. 3 detailed
Thin to introduce, Fig. 3 is flowchart 2 provided in an embodiment of the present invention, as shown in figure 3, this method comprises:
S301, woven extent is obtained, wherein woven extent is finger domain or palm domain.
The implementation of the step is similar with the S201 in Fig. 2, and details are not described herein again.
S302, according to woven extent, determine the head motion range of the corresponding glove knitting machine of woven extent, head motion range
For the range between positive target endpoint and reversed target endpoint.
The implementation of the step is similar with the S202 in Fig. 2, and details are not described herein again.
The speed of service of S303, the deceleration curve for obtaining head and head according to the position of reversed target endpoint, are slowed down
The speed of service of curve and head obtains Forward to slow down position.
Wherein, the deceleration curve of head is a control parameter of head, is situated between in detail in conjunction with Fig. 4 to deceleration curve
It continues, Fig. 4 is the schematic diagram of the deceleration curve of head provided in an embodiment of the present invention, as shown in figure 4, when the horizontal axis of deceleration curve is
Between t, the longitudinal axis be head the speed of service V, Fig. 4 shown in V0Represent the current speed of service of head, t0Represent the deceleration of setting
Plot against time, it is specific to indicate to be set in t according to deceleration curve0The speed of service of head can be from V in time00 is dropped to, is subtracted
It is the changing rule of head speed in carrying out moderating process described in fast curve, velocity variations rule for example can be for such as
Described by lower formula one,
F (t)=V0–Kt2Formula one
Wherein f (t) is dependent variable, represents the speed of service of head, i.e. V shown in Fig. 4, t are independent variable, represent head
Runing time, V0The current speed of service of head is represented, K is variation coefficient, wherein V0It is known quantity with K, shown in Fig. 4
Deceleration curve can be seen that independent variable t be t0When, dependent variable V is 0, by t0It is substituted into 0, it can be in the hope of variation coefficient K's
Expression formula, i.e., following formula two,
K=V0/t2Formula two
K described in formula two is substituted into formula one, another expression side of available handpiece speed changing rule
Formula, i.e., described in following formula three,
F (t)=V0–V0/t0 2*t2Formula three
Deceleration curve can be set before head start-up operation, can also be adjusted, bent by adjusting slowing down
Line can control the velocity variations in head operational process, and the embodiment of the present invention does not do special limit to the specific value of deceleration curve
System.
Also climb curve corresponding with deceleration curve, climb curve are equally the control ginsengs of glove knitting machine head
It counts, is the changing rule of head speed during being accelerated described in climb curve, in the process for carrying out acceleration and deceleration
In because speed variation easily lead to head generate shaking, the embodiment of the present invention be arranged climb curve and deceleration curve it is complete
Symmetrically, guarantee that head motion speed is increased to highest movement speed and head motion speed from 0 and reduces from highest movement speed
It is fixed value to the time used in 0, so that the effect for causing head to shake generated in raising speed and down speeding procedure offsets,
To guarantee the smooth motion of head.
In head forward motion, the deceleration curve of head and the speed of service of head are obtained in real time, it is bent according to slowing down
The speed of service of line and current head, it can be determined that go out head when head motion speed is reduced to 0 under the current speed of service and moved
Dynamic distance, specific judgment mode the value of the current speed of service can for example integrate deceleration curve according to, also for example
The area of deceleration curve can be measured according to the current speed of service for measurement, the embodiment of the present invention does not do special limit to judgment mode
System, does the process integrated to deceleration curve to the value according to the current speed of service below according to Fig. 4 and is introduced, as shown in figure 4,
Deceleration curve reflects the rule that speed changes over time, and is V getting the current speed of service of head0Later, according to V0And
The t obtained according to deceleration curve0Deceleration curve is integrated, available current speed of service V0Lower head motion speed is reduced to 0
When the distance that is moved of head.
Wherein head motion speed is reduced to offset when the distance moved when 0 is forward motion under the current speed of service
Size, offset is used to indicate Forward to slow down position, so the size of offset and reversed mesh when further according to forward motion
Forward to slow down position is determined in the position of mark endpoint, and determining mode for example can be to be subtracted just with the position of reversed target endpoint
To the size of offset when movement, the embodiment of the present invention is not particularly limited determining mode.
The speed of service of S304, the deceleration curve for obtaining head and head according to the position of positive target endpoint, are slowed down
The speed of service of curve and head obtains reversed deceleration position.
In head counter motion, the deceleration curve of head and the speed of service of head are obtained in real time, it is bent according to slowing down
The speed of service of line and current head, the size of offset when counter motion can be calculated, calculation and positive fortune
The size calculation of offset is similar when dynamic, and the offset size of forward motion and heterodromous offset size can phases
With can also be different, offset is also used to indicate reversed deceleration position, thus when further according to counter motion offset size with
And reversed deceleration position is determined in the position of positive target endpoint, determining mode is similar when head forward motion, herein not
It repeats again.
Wherein step 303 and the not stringent sequential relationship of step 304.
S305, position of according to Forward to slow down position and reversely slowing down, determine offset.
According to the Forward to slow down position of above-mentioned determination and reversed deceleration position, synthesis determines offset, herein offset
Offset when offset when including forward motion and counter motion.
Optionally, the mode for obtaining offset can also be that offset is set in advance, and determine the corresponding machine of woven extent
Offset is directly acquired after head motion range.Wherein, the offset numerical value being set in advance for example can be by actual measurement
Mode determines, also such as that can be calculated according to deceleration time, head highest movement speed or deceleration curve, at this time
During weaving operation, the numerical value of offset is a fixed value, when weaving operation terminates or suspends, can pass through tune
Whole relevant parameter is adjusted the numerical value of offset, to meet the requirement of braiding precision, improves weaving quality.
After getting offset, need to be located at Forward to slow down position and reversed deceleration position in head according to offset
When control head slow down, specific control process combination Fig. 5 describes in detail, and Fig. 5 is gloves provided in an embodiment of the present invention
The flow chart 3 of machine head control method, as described in Figure 5, this method comprises:
S501, the direction of motion for obtaining head and current location.
After getting offset, head motion is controlled according to offset, specifically, obtaining the movement side of head first
To specifying current head and carrying out forward motion and still carrying out counter motion, while obtaining the current location of head.
S502, deceleration position is determined according to the direction of motion of head, judges whether current location is deceleration position.
S503, slow down if so, controlling head.
S505, continue to move if it is not, then controlling head.
When head carries out forward motion, after getting the current location of head, judge whether current location is benefit
The Forward to slow down position of value instruction is repaid, if current location is the Forward to slow down position of offset instruction, controls head according to subtracting
The setting of fast curve reduces speed now, and is moved to reversed target endpoint just when slowing down is 0, the distance of movement is offset
Corresponding numerical value.
If current location is not the Forward to slow down position of offset instruction, controls head and continue to move along, and continues
The current location of head is detected, whether current location is deceleration position again for judgement, carries out next step behaviour according to judging result later
Make.
Similar when head is when carrying out counter motion, and implementation and principle are with forward motion, details are not described herein again.
Glove knitting machine head control method provided in an embodiment of the present invention, comprising: obtain woven extent, wherein woven extent
For finger domain or palm domain.According to woven extent, the head motion range of the corresponding glove knitting machine of woven extent, head motion are determined
Range is the range between positive target endpoint and reversed target endpoint.Obtain the deceleration curve of head and the operation speed of head
Degree, according to the speed of service of the position of reversed target endpoint, deceleration curve and head, obtains Forward to slow down position；According to just
To deceleration position, offset is determined；And the deceleration curve of head and the speed of service of head are obtained, according to positive target side
The speed of service of the position, deceleration curve and head put, obtains reversed deceleration position；According to reversed deceleration position, determines and mend
Repay value.Obtain the direction of motion and the current location of head.Deceleration position is determined according to the direction of motion of head, judges current location
It whether is deceleration position.If so, control head slows down.Continue to move if it is not, then controlling head.Slowed down by setting bent
Line and climb curve are symmetrical, guarantee head smooth motion, avoid declining because of weaving quality caused by shaking.And it is mended by setting
Value is repaid, guarantees that head can accurately reach designated position, to complete specific braid movement, improves weaving quality.
Fig. 6 is the structural schematic diagram of glove knitting machine head control device provided in an embodiment of the present invention.As shown in fig. 6, the hand
Set machine head control device 60 includes: to obtain module 601, determining module 602 and slowdown module 603.
Module 601 is obtained, for for obtaining woven extent, wherein woven extent is finger domain or palm domain；
Determining module 602, for determining the head motion range of the corresponding glove knitting machine of woven extent according to woven extent,
Head motion range is the range between positive target endpoint and reversed target endpoint；
It obtains module 601 to be also used to, according to head motion range, obtains the offset of head, offset is used to indicate just
To deceleration position and reversed deceleration position；
Slowdown module 603, for controlling head at Forward to slow down position and reversed deceleration position and carrying out according to offset
Slow down.
Optionally, the distance between Forward to slow down position and reversed target endpoint are head forward motion to reversed target side
The distance that deceleration is moved needed for being 0 when point；
The distance between reversed deceleration position and positive target endpoint subtract when being head counter motion to positive target endpoint
The distance that speed moves needed for being 0.
Optionally, module 601 is obtained to be specifically used for:
The deceleration curve of head and the speed of service of head are obtained, according to the position of reversed target endpoint, deceleration curve
And the speed of service of head, obtain Forward to slow down position；
The deceleration curve of head and the speed of service of head are obtained, according to the position of positive target endpoint, deceleration curve
And the speed of service of head, obtain reversed deceleration position；
According to the Forward to slow down position and the reversed deceleration position, the offset is determined.
Optionally, slowdown module 603 is specifically used for:
Obtain the direction of motion and the current location of head；
Deceleration position is determined according to the direction of motion of head, judges whether current location is deceleration position；
If so, control head slows down；
Continue to move if it is not, then controlling head.
Device provided in this embodiment can be used for executing the technical solution of above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein again for the present embodiment.
Fig. 7 is the hardware structural diagram that glove knitting machine head provided in an embodiment of the present invention controls equipment, as shown in fig. 7,
The glove knitting machine head control equipment 70 of the embodiment of the present invention includes: controller 701 and memory 702；Wherein
Memory 702, for storing computer executed instructions；
Controller 701, for executing the computer executed instructions of memory storage, to realize glove knitting machine in above-described embodiment
Each step performed by head control device.It specifically may refer to glove knitting machine head control device in preceding method embodiment
Associated description.
Optionally, memory 702 can also be integrated with to-controller 701 either independent.
When memory 702 is independently arranged, it further includes bus 703 which, which controls equipment, described for connecting
Memory 702 and controller 701.
The embodiment of the present invention also provides a kind of computer readable storage medium, stores in the computer readable storage medium
There are computer executed instructions, when controller executes the computer executed instructions, realizes gloves performed by controller as above
Machine head control method.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, apparatus embodiments described above are merely indicative, for example, the division of the module, only
Only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple modules can combine or
It is desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed it is mutual it
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or module
It connects, can be electrical property, mechanical or other forms.
The above-mentioned integrated module realized in the form of software function module, can store and computer-readable deposit at one
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) or controller (English: processor) execute this Shen
Please each embodiment the method part steps.
It should be understood that above controller can be central processing unit (English: Central Processing Unit, letter
Claim: CPU), can also be other general purpose controllers, digital signal controller (English: Digital Signal Processor,
Referred to as: DSP), specific integrated circuit (English: Application Specific Integrated Circuit, referred to as:
ASIC) etc..General purpose controller can be microcontroller or the controller is also possible to any conventional controller etc..In conjunction with hair
The step of bright disclosed method, can be embodied directly in hardware control and execute completion, or with hardware in controller and soft
Part block combiner executes completion.
Memory may include high speed RAM memory, it is also possible to and it further include non-volatile memories NVM, for example, at least one
Magnetic disk storage can also be USB flash disk, mobile hard disk, read-only memory, disk or CD etc..
Bus can be industry standard architecture (Industry Standard Architecture, ISA) bus, outer
Portion's apparatus interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..Bus can be divided into address bus, data/address bus, control
Bus etc..For convenient for indicating, the bus in illustrations does not limit only a bus or a type of bus.
Above-mentioned storage medium can be by any kind of volatibility or non-volatile memory device or their combination
It realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable
Read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory,
Disk or CD.Storage medium can be any usable medium that general or specialized computer can access.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of glove knitting machine head control method characterized by comprising
Obtain woven extent, wherein the woven extent is finger domain or palm domain；
According to the woven extent, the head motion range of the corresponding glove knitting machine of the woven extent, the head motion are determined
Range is the range between positive target endpoint and reversed target endpoint；
Obtain the deceleration curve of the head and the speed of service of the head, according to the position of the reversed target endpoint,
The speed of service of the deceleration curve and the head obtains Forward to slow down position；
Obtain the deceleration curve of the head and the speed of service of the head, according to the position of the positive target endpoint,
The speed of service of the deceleration curve and the head obtains reversed deceleration position；
The head is controlled at the Forward to slow down position and the reversed deceleration position to slow down；
The distance between the Forward to slow down position and the reversed target endpoint are the head forward motion to reversed target
The distance that deceleration is moved needed for being 0 when endpoint；
The distance between the reversed deceleration position and the positive target endpoint are the head counter motion to positive target
The distance that deceleration is moved needed for being 0 when endpoint.
2. the method according to claim 1, wherein described control the head progress at the deceleration position
Slow down, comprising:
Obtain the direction of motion and the current location of the head；
Deceleration position is determined according to the direction of motion of the head, judges whether the current location is the deceleration position；
Slow down if so, controlling the head；
Continue to move if it is not, then controlling the head.
3. a kind of glove knitting machine head control device characterized by comprising
Module is obtained, for obtaining woven extent, wherein the woven extent is finger domain or palm domain；
Determining module, for determining the head motion range of the corresponding glove knitting machine of the woven extent according to the woven extent,
The head motion range is the range between positive target endpoint and reversed target endpoint；
The acquisition module is also used to obtain the deceleration curve of the head and the speed of service of the head, according to described
The position of reversed target endpoint, the deceleration curve and the head the speed of service, obtain Forward to slow down position；
The acquisition module is also used to obtain the deceleration curve of the head and the speed of service of the head, according to described
The position of positive target endpoint, the deceleration curve and the head the speed of service, obtain reversed deceleration position；
Slowdown module slows down for controlling the head at the Forward to slow down position and the reversed deceleration position；
The distance between the Forward to slow down position and the reversed target endpoint are the head forward motion to reversed target
The distance that deceleration is moved needed for being 0 when endpoint；
The distance between the reversed deceleration position and the positive target endpoint are the head counter motion to positive target
The distance that deceleration is moved needed for being 0 when endpoint.
4. device according to claim 3, which is characterized in that the slowdown module is specifically used for:
Obtain the direction of motion and the current location of the head；
Deceleration position is determined according to the direction of motion of the head, judges whether the current location is the deceleration position；
Slow down if so, controlling the head；
Continue to move if it is not, then controlling the head.
5. a kind of glove knitting machine head controls equipment characterized by comprising
Memory, for storing program；
Controller, for executing the described program of the memory storage, when described program is performed, the controller is used for
Execute the method as described in any in claim 1 to 2.
6. a kind of computer readable storage medium, which is characterized in that including instruction, when described instruction is run on computers,
So that computer executes the method as described in any in claim 1 to 2.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811129804.6A CN109137245B (en) | 2018-09-27 | 2018-09-27 | Glove knitting machine head control method, device, equipment and storage medium |
| CN201910926542.4A CN110644128B (en) | 2018-09-27 | 2018-09-27 | Glove machine head control method, device and equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811129804.6A CN109137245B (en) | 2018-09-27 | 2018-09-27 | Glove knitting machine head control method, device, equipment and storage medium |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910926542.4A Division CN110644128B (en) | 2018-09-27 | 2018-09-27 | Glove machine head control method, device and equipment and storage medium |
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| CN109137245A CN109137245A (en) | 2019-01-04 |
| CN109137245B true CN109137245B (en) | 2019-11-08 |
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| CN201910926542.4A Active CN110644128B (en) | 2018-09-27 | 2018-09-27 | Glove machine head control method, device and equipment and storage medium |
| CN201811129804.6A Active CN109137245B (en) | 2018-09-27 | 2018-09-27 | Glove knitting machine head control method, device, equipment and storage medium |
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| CN113060590A (en) * | 2021-03-19 | 2021-07-02 | 诸暨兴大豪科技开发有限公司 | Control method and device of cloth paving machine and storage medium |
| CN113220207B (en) * | 2021-04-19 | 2023-06-16 | 浙江工业大学 | Teaching method of freely programmable intelligent glove machine motion control system |
| CN114541025B (en) * | 2022-01-30 | 2023-08-15 | 杭州电子科技大学 | Multi-yarn-nozzle movement optimization method in glove plate making process |
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| CN110644128B (en) | 2022-02-22 |
| CN110644128A (en) | 2020-01-03 |
| CN109137245A (en) | 2019-01-04 |
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Address after: 100015 No. 1 East Jiuxianqiao Road, Beijing, Chaoyang District Co-patentee after: Zhuji Xingdahao Science & Technology Development Co., Ltd. Patentee after: Beijing Dahao Technology Co., Ltd. Co-patentee after: Beijing DAHAO industrial sewing Intelligent Control Technology Co., Ltd Address before: 100015 No. 1 East Jiuxianqiao Road, Beijing, Chaoyang District Co-patentee before: Zhuji Xingdahao Science & Technology Development Co., Ltd. Patentee before: Beijing Dahao Technology Co., Ltd. Co-patentee before: BEIJING XINGDAHAO INFORMATION TECHNOLOGY CO., LTD. |