CN110217642B - Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth - Google Patents
Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth Download PDFInfo
- Publication number
- CN110217642B CN110217642B CN201910441636.2A CN201910441636A CN110217642B CN 110217642 B CN110217642 B CN 110217642B CN 201910441636 A CN201910441636 A CN 201910441636A CN 110217642 B CN110217642 B CN 110217642B
- Authority
- CN
- China
- Prior art keywords
- linen
- chuck
- weight
- force
- cloth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H47/00—Unfolding thin limp material
Landscapes
- Treatment Of Fiber Materials (AREA)
Abstract
The application discloses a method for controlling spreading. The method comprises the steps of obtaining a real-time position of the linen, and controlling the linen to move to a first target position according to the real-time position; controlling the linen to be unfolded after detecting that the linen moves to the first target position. The application also provides a device for controlling the spreading, which is used for implementing the method for controlling the spreading. The cloth spreading machine solves the technical problem that cloth grass often drops when the cloth grass is spread due to the reasons of overlarge pulling force or too high speed and the like when the cloth grass is spread in the cloth spreading machine in the related technology.
Description
Technical Field
The application relates to the field of industrial washing equipment calculation, in particular to a method and a device for controlling cloth spreading, determining guiding force of cloth lifting and stretching force of the cloth spreading.
Background
The industrial linen products comprise bed sheets, bedspreads, large and small towels and other various linen, clothes such as robes and the like. The linen is required to be washed, ironed and folded and then distributed to hotels, hospitals and the like. The linen is fed into the assembly line through the charging machine, in the automatic assembly line, the linen is loaded on the charging conveyer and automatically unfolded, the unfolded linen is fed into the conveying conveyer from the front end part, and then the linen can be conveyed to the processing procedures such as ironing and the like in the unfolded state. The cloth spreading machine in the related art often has the condition that the cloth grass falls or tears when spreading the cloth grass because of reasons such as too big pulling force or too fast when spreading.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The present application is directed to a method and apparatus for controlling a spread, determining a guiding force of a lifting cloth, and a pulling force of the spread, so as to solve at least one of the above problems.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of controlling spread, the method including: the method comprises the steps of obtaining a linen real-time position, and controlling the linen to move to a first target position according to the real-time position; controlling the linen to be unfolded after detecting that the linen moves to the first target position.
Further, as the method, the controlling the linen to be unfolded comprises: controlling the linen to be unfolded at a first preset speed; and after the linen is detected to be unfolded to a second target position, controlling the linen to be unfolded at a second preset speed, wherein the second preset speed is lower than the first preset speed.
Further, as the foregoing method, the acquiring a real-time position of the linen, and controlling the linen to move to the first target position according to the real-time position includes: s11, acquiring a real-time position of the linen, and determining a sub-target position of the linen according to the real-time position, wherein the sub-target position is between the real-time position and the first target position along a movement path of the linen; s12, providing a guiding force for a chuck for clamping the linen, controlling the chuck to move upwards along an arc-shaped guide rail, and conveying the linen to the sub-target position; s13, repeating S11-S12 until the real-time position is the first target position.
Further, as the method, the controlling the linen to be spread according to the preset speed comprises: and providing tension for the chuck, controlling the chuck to move along a horizontal guide rail connected with the arc-shaped guide rail according to the preset speed, and unfolding the linen according to the preset speed.
In order to achieve the above object, according to another aspect of the present application, there is provided an apparatus for controlling spread, the apparatus including a position detecting unit and a motion controlling unit, wherein: the position detection unit is used for acquiring a linen real-time position; the motion control unit is used for controlling the linen to move to a first target position according to the real-time position; the movement control unit is further used for controlling the linen to be unfolded after the movement of the linen to the first target position is detected; the motion control unit is also used for controlling the linen to be unfolded at a first preset speed; the motion control unit is further configured to control the linen to be unfolded at a second preset speed after the linen is detected to be unfolded to a second target position, wherein the second preset speed is lower than the first preset speed.
Further, the device as described above, the motion control unit is further configured to determine a sub-target position of the linen according to the real-time position, wherein the sub-target position is between the real-time position and the first target position along the motion path of the linen; the motion control unit is also used for providing a guiding force for a chuck for clamping the linen, controlling the chuck to move upwards along an arc-shaped guide rail and conveying the linen to the sub-target position; the motion control unit is further used for providing tension for the chuck, controlling the chuck to move along a horizontal guide rail connected with the arc-shaped guide rail according to the preset speed, and enabling the linen to be unfolded according to the preset speed.
In order to achieve the above object, according to another aspect of the present application, there is provided a method of determining a guide force of a cloth lifting, the method including: acquiring the weight of linen and the weight of a chuck for clamping the linen; determining the weight of the linen and a coefficient between the weight of the chuck and a guiding force for lifting the linen; and obtaining the guiding force according to the weight of the linen, the weight of the chuck and the coefficient.
In order to achieve the above object, according to another aspect of the present application, there is provided an apparatus for determining a guiding force of a cloth lifting, the apparatus including a parameter acquisition unit, a parameter determination unit, and a calculation unit, wherein: the parameter acquisition unit is used for acquiring the weight of linen and the weight of a chuck for clamping the linen; the parameter determining unit is used for determining the weight of the linen and the coefficient between the weight of the chuck and the guiding force for lifting the linen; the calculating unit is used for obtaining the guiding force according to the weight of the linen, the weight of the chuck and the coefficient.
To achieve the above object, according to another aspect of the present application, there is provided a method of determining a tensile force of a spread, the method including: acquiring the weight of the linen; acquiring the weight of a chuck for clamping the linen, and determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located; determining the weight of the linen and the coefficient between the friction force and the pulling force required for unfolding the linen; and obtaining the tension according to the weight of the linen, the friction force and the coefficient.
In order to achieve the above object, according to another aspect of the present application, there is provided an apparatus for determining a tensile force of a spread, the apparatus including a parameter acquisition unit, a parameter determination unit, and a calculation unit, wherein: the parameter acquisition unit is used for acquiring the weight of the linen; the parameter acquisition unit is also used for acquiring the weight of a chuck for clamping the linen; the parameter determining unit is used for determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located; the parameter determining unit is also used for determining the weight of the linen and the coefficient between the friction force and the pulling force required by unfolding the linen; the calculating unit is used for obtaining the tension according to the weight of the linen, the friction force and the coefficient.
In the embodiment of the application, the mode of obtaining the real-time position of the linen is adopted, the linen is controlled to move to the first target position according to the real-time position, the linen is detected to move to the first target position, the linen is controlled to be unfolded, the control mode is changed at the specific position in the process of lifting the whole linen, the purpose of reducing the unfolding speed is achieved, the technical effect of avoiding the too fast unfolding speed of the linen is achieved, and the technical problem that the linen often drops when the linen is unfolded due to the too fast unfolding speed of the cloth unfolding machine in the related art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic flow chart diagram of a method for controlling a spread according to one embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a method for controlling a spread according to one embodiment of the present application;
FIG. 3 is a schematic flow chart diagram of a method for controlling a spread according to one embodiment of the present application;
FIG. 4 is a schematic diagram of an apparatus for controlling a spread according to an embodiment of the present application;
FIG. 5 is a flow diagram of a method of determining boot force for a lift provided by an embodiment of the present application;
FIG. 6 is a schematic structural diagram of an apparatus for determining a guiding force of a grass lifter according to an embodiment of the present application;
FIG. 7 is a schematic flow chart diagram of a method for determining the tension of a spread provided by one embodiment of the present application; and
fig. 8 is a schematic structural diagram of an apparatus for determining a tension of a display according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
According to an embodiment of the present invention, there is provided a method of controlling spread, as shown in fig. 1 to 3, the method including the steps of:
s1, acquiring a linen real-time position, and controlling the linen to move to a first target position according to the real-time position;
further, the S1 further includes:
s11, acquiring a real-time position of the linen, and determining a sub-target position of the linen according to the real-time position, wherein the sub-target position is between the real-time position and the first target position along a movement path of the linen;
s12, providing a guiding force for a chuck for clamping the linen, controlling the chuck to move upwards along an arc-shaped guide rail, and conveying the linen to the sub-target position; specifically, a plurality of stations such as two, three, four and the like can be used for clamping and lifting the linen as required, for example, two groups of stations are used on a track-shaped oblong track, each group comprises two lifting stations, when one group of stations clamps the exhibition cloth and moves upwards, the other group of stations are positioned at positions symmetrical to the positions of the stations of the working group about the center of the track, therefore, when the working group lifts the exhibition cloth to the exhibition station and unloads the exhibition cloth, the other group of stations just move to the lowest point of the track to wait for the next exhibition cloth to be accessed, and the two groups of lifting stations are not interfered with each other and improve the efficiency.
S13, repeating S11-S12 until the real-time position is the first target position.
Specifically, after a clamping head for fixing the linen on a station of the cloth spreading machine clamps the linen, a station photoelectric sensor detects the linen, the station starts to lift the linen by controlling a motor connected with the clamping head, the photoelectric sensor detects the position of the upper edge of the linen at a certain frequency, and the next target position is determined according to the detected position until the linen is lifted to an X axis for spreading the linen.
Specifically, the cloth grass can be lifted by the workstation of the cloth spreading machine in two control modes: motor lifting and servo lifting. In the motor lifting mode, a driving shaft is directly installed in a hollow shaft of a motor, a chuck for clamping the linen on a station operates in a closed manner in an oblong closed guide rail groove, and a closed-loop control mode is adopted; in the servo lifting mode, the installation mode is a synchronous belt or chain, or a coupler, or a hollow shaft of a servo motor, the synchronous belt or chain guides the station chuck to rotate through the transmission force of the synchronous belt/chain, the coupler is a mechanical object of a driving shaft of a servo or motor and a driving shaft of the station chuck, the hollow shaft of the servo motor and the hollow shaft of the motor are in the same mode, and the purpose of the hollow shaft of the servo motor is to transmit the force to enable the station chuck to rotate circumferentially in the long circular closed guide rail groove in the station lifting box.
S2, after the linen is detected to move to the first target position, controlling the linen to be unfolded.
Further, the S2 further includes:
s21, controlling the linen to be unfolded at a first preset speed;
further, the S21 further includes:
s211, providing tension for the chuck, controlling the chuck to move along a horizontal guide rail connected with the arc-shaped guide rail at the first preset speed, and enabling the linen to be unfolded at the first preset speed.
S22, after the fact that the linen is unfolded to a second target position is detected, the linen is controlled to be unfolded at a second preset speed, wherein the second preset speed is lower than the first preset speed.
Further, the S22 further includes:
s221, after the linen is detected to be unfolded to a second target position, providing tension for the chuck, controlling the chuck to move along a horizontal guide rail connected with the arc-shaped guide rail at a second preset speed, and enabling the linen to be unfolded at the second preset speed, wherein the second preset speed is lower than the first preset speed.
Specifically, the process of unfolding the linen by the X-shaped chuck in the X axis is as follows: when the X chuck is unfolded, the linen is firstly positioned in the center and then is unfolded in the center, and the speed is lower than the speed of the center positioning. When the low photoelectric switch detects linen, the positioning target value is changed, when the high photoelectric switch detects linen, the cloth spreading machine is converted from positioning control to a torque limiting speed control mode, the cloth spreading machine rapidly spreads to a first target position according to a set first preset speed, the cloth spreading machine slows down the spreading speed, and the cloth spreading machine flatly spreads the cloth at a second preset speed under the condition that the cloth is not torn. Or the whole positioning mode is adopted for unfolding: the positioning is performed in the middle, then the positioning is performed, and the speed is lower than that of the positioning in the middle. When the photoelectric switch is blocked, the length of the linen is calculated, the positioning target value is changed, then the speed is reduced again when the speed is up to the target value, then the positioning control is converted into a torque limiting speed control mode, and when the preset torque is reached, the linen is unfolded.
Specifically, the cloth spreading machine adopts a PLC program control mode, a Mitsubishi Q02UPLC is used for compiling a PLC program, x is input and y is output by means of auxiliary contacts such as M, B, T, H in the PLC, and the running state of the cloth spreading machine is judged by inputting x so as to control the output y of the cloth spreading machine and a servo driving module to achieve the purpose of spreading the linen. The writing mode of the PLC program mainly takes a ladder diagram as a main mode, each action is independently written and executed, then the PLC program is called through logic operation, and the motion control module is used for controlling the servo motor so as to realize the mutual conversion among the position, the speed and the torque when the cloth spreading machine is unfolded.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided a device for controlling a spread, for implementing the method for controlling a spread, as shown in fig. 4, the device including a position detection unit and a motion control unit, wherein:
the position detection unit is used for acquiring a linen real-time position;
the motion control unit is used for controlling the linen to move to a first target position according to the real-time position;
the movement control unit is further used for controlling the linen to be unfolded after the movement of the linen to the first target position is detected;
the motion control unit is also used for controlling the linen to be unfolded at a first preset speed;
the motion control unit is further configured to control the linen to be unfolded at a second preset speed after the linen is detected to be unfolded to a second target position, wherein the second preset speed is lower than the first preset speed.
Further, the motion control unit is further configured to determine a sub-target position of the linen according to the real-time position, wherein the sub-target position is lower than the first target position;
the motion control unit is also used for providing a guiding force for a chuck for clamping the linen, controlling the chuck to move upwards along an arc-shaped guide rail and conveying the linen to the sub-target position; specifically, a plurality of stations such as two, three, four and the like can be used for clamping and lifting the linen as required, for example, two groups of stations are used on a track-shaped oblong track, each group comprises two lifting stations, when one group of stations clamps the exhibition cloth and moves upwards, the other group of stations are positioned at positions symmetrical to the positions of the stations of the working group about the center of the track, therefore, when the working group lifts the exhibition cloth to the exhibition station and unloads the exhibition cloth, the other group of stations just move to the lowest point of the track to wait for the next exhibition cloth to be accessed, and the two groups of lifting stations are not interfered with each other and improve the efficiency.
The motion control unit is further used for providing tension for the chuck, controlling the chuck to move along a horizontal guide rail connected with the arc-shaped guide rail according to the preset speed, and enabling the linen to be unfolded according to the preset speed.
Specifically, after the clamping head for fixing the linen on the station of the cloth spreading machine clamps the linen, the position detection unit, such as a photoelectric sensor, detects the linen, the motion control unit starts to lift the linen by controlling a motor connected with the clamping head, the photoelectric sensor detects the position of the upper edge of the linen at a certain frequency, and the next target position is determined according to the detected position until the linen is lifted to the X axis for spreading the linen.
Specifically, the movement control unit can take two control modes for lifting the linen: motor lifting and servo lifting. In the motor lifting mode, a driving shaft is directly installed in a hollow shaft of a motor, a chuck for clamping the linen on a station operates in a closed manner in an oblong closed guide rail groove, and a closed-loop control mode is adopted; in the servo lifting mode, the installation mode is a synchronous cog belt or chain, or a coupler, or a hollow shaft of a servo motor, the synchronous cog belt or chain guides the station chuck to rotate through the transmission force of the synchronous cog belt or chain, the coupler is a mechanical object of which a driving shaft of a servo or motor is connected with a driving shaft of the station chuck, the hollow shaft of the servo motor and the hollow shaft of the motor are in the same mode, and the purpose of the hollow shaft of the servo motor and the hollow shaft of the motor is to transmit the force to enable the station chuck to rotate circularly in a long circular closed guide rail groove in the station lifting box.
Specifically, the process of unfolding the linen by the X-shaped chuck in the X axis is as follows: when the X chuck is unfolded, the linen is firstly positioned in the center and then is unfolded in the center, and the speed is lower than the speed of the center positioning. When the low photoelectric switch detects linen, the positioning target value is changed, when the high photoelectric switch detects linen, the cloth spreading machine is converted from positioning control to a torque limiting speed control mode, the cloth spreading machine rapidly spreads to a first target position according to a set first preset speed, the cloth spreading machine slows down the spreading speed, and the cloth spreading machine flatly spreads the cloth at a second preset speed under the condition that the cloth is not torn. Or the whole positioning mode is adopted for unfolding: the positioning is performed in the middle, then the positioning is performed, and the speed is lower than that of the positioning in the middle. When the photoelectric switch is blocked, the length of the linen is calculated, the positioning target value is changed, then the speed is reduced again when the speed is up to the target value, then the positioning control is converted into a torque limiting speed control mode, and when the preset torque is reached, the linen is unfolded.
Specifically, the motion control unit adopts a PLC program control mode, uses Mitsubishi Q02UPLC to compile a PLC program, inputs x and outputs y by means of PLC internal auxiliary contacts such as M, B, T, H, and judges the running state of the cloth spreading machine by inputting x so as to control the output y of the cloth spreading machine and a servo driving module to realize the purpose of spreading the cloth grass. The writing mode of the PLC program mainly takes a ladder diagram as a main mode, each action is independently written and executed, then the PLC program is called through logic operation, and the motion control module is used for controlling the servo motor so as to realize the mutual conversion among the position, the speed and the torque when the cloth spreading machine is unfolded.
According to an embodiment of the present invention, there is provided a method for determining a guide force of a lifting cloth, as shown in fig. 5, the method including the steps of:
A1. acquiring the weight of linen and the weight of a chuck for clamping the linen; specifically, a plurality of stations such as two, three, four and the like can be used for clamping and lifting the linen as required, for example, two groups of stations are used on a track-shaped oblong track, each group comprises two lifting stations, when one group of stations clamps the exhibition cloth and moves upwards, the other group of stations are positioned at positions symmetrical to the positions of the stations of the working group about the center of the track, therefore, when the working group lifts the exhibition cloth to the exhibition station and unloads the exhibition cloth, the other group of stations just move to the lowest point of the track to wait for the next exhibition cloth to be accessed, and the two groups of lifting stations are not interfered with each other and improve the efficiency.
A2. Determining the weight of the linen and a coefficient between the weight of the chuck and a guiding force for lifting the linen;
A3. and obtaining the guiding force according to the weight of the linen, the weight of the chuck and the coefficient.
In particular, both servo and motor lifting systems require a guiding force, i.e. a clamping head for clamping the linen at a station makes a driving force of circumferential rotation in an oblong closed guide rail groove in the lifting box. This guiding force calculation method: the friction force is the friction force between the station chuck and the guide rail and the friction force between the chain and the chain guide rail/the toothed belt, and the friction force is not too large because the station chuck runs in the guide rail through twice roller sliding of the station chuck. The friction between the chain and the chain guide is likewise small, and if a toothed belt is used, the friction is likewise small. The method of determining the guiding force can therefore also be written as: the guide force is defined as (weight of the station chuck + weight of the linen) × coefficient + friction force, or the guide force is defined as (weight of the station chuck + weight of the linen) × coefficient. The coefficients can be obtained experimentally, relating to factors such as the station chuck. According to the determined guiding force, a stepping motor or a combination control of the servo motor and a speed reducer can be selected, or a servo motor with small torque or a combination control of the stepping motor and the speed reducer with large reduction ratio can be selected, or a servo/motor with large torque and the speed reducer with small reduction ratio can be used for combination control, or the servo motor or the stepping motor is directly driven without using the speed reducer, and the torque is increased through large and small wheels, namely a small wheel is used at the end of the servo motor and a large wheel is used at the end of a driving shaft.
According to an embodiment of the present invention, there is also provided an apparatus for determining a guiding force of a lifting cloth, for implementing the above method for determining a guiding force of a lifting cloth, as shown in fig. 6, the apparatus including a parameter obtaining unit, a parameter determining unit, and a calculating unit, wherein:
the parameter acquisition unit is used for acquiring the weight of linen and the weight of a chuck for clamping the linen; specifically, a plurality of stations such as two, three, four and the like can be used for clamping and lifting the linen as required, for example, two groups of stations are used on a track-shaped oblong track, each group comprises two lifting stations, when one group of stations clamps the exhibition cloth and moves upwards, the other group of stations are positioned at positions symmetrical to the positions of the stations of the working group about the center of the track, therefore, when the working group lifts the exhibition cloth to the exhibition station and unloads the exhibition cloth, the other group of stations just move to the lowest point of the track to wait for the next exhibition cloth to be accessed, and the two groups of lifting stations are not interfered with each other and improve the efficiency.
The parameter determining unit is used for determining the weight of the linen and the coefficient between the weight of the chuck and the guiding force for lifting the linen;
the calculating unit is used for obtaining the guiding force according to the weight of the linen, the weight of the chuck and the coefficient.
In particular, both servo and motor lifting systems require a guiding force, i.e. a clamping head for clamping the linen at a station makes a driving force of circumferential rotation in an oblong closed guide rail groove in the lifting box. This guiding force calculation method: the friction force is the friction force between the station chuck and the guide rail and the friction force between the chain and the chain guide rail/the toothed belt, and the friction force is not too large because the station chuck runs in the guide rail through twice roller sliding of the station chuck. The friction between the chain and the chain guide rail is also small, and if a toothed belt is adopted, the friction is uniform and small. The method of determining the guiding force can therefore also be written as: the guide force is defined as (weight of the station chuck + weight of the linen) × coefficient + friction force, or the guide force is defined as (weight of the station chuck + weight of the linen) × coefficient. The coefficients can be obtained experimentally, relating to factors such as the station chuck. According to the determined guiding force, a stepping motor or a combination control of the servo motor and a speed reducer can be selected, or a servo motor with small torque or a combination control of the stepping motor and the speed reducer with large reduction ratio can be selected, or a servo/motor with large torque and the speed reducer with small reduction ratio can be used for combination control, or the servo motor or the stepping motor is directly driven without using the speed reducer, and the torque is increased through large and small wheels, namely a small wheel is used at the end of the servo motor and a large wheel is used at the end of a driving shaft.
According to an embodiment of the present invention, there is provided a method of determining a tensile force of a spread, as shown in fig. 7, the method including the steps of:
B1. acquiring the weight of the linen;
B2. acquiring the weight of a chuck for clamping the linen, and determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located; specifically, a plurality of clamping heads such as two, three, four and the like can be adopted to clamp the linen according to needs, and the friction coefficient is related to the materials and the smoothness degree of the guide rail and the clamping heads.
B3. Determining the weight of the linen and the coefficient between the friction force and the pulling force required for unfolding the linen; specifically, the coefficients may be obtained experimentally, relating to factors such as the station chuck.
B4. And obtaining the tension according to the weight of the linen, the friction force and the coefficient. Specifically, the pulling force is [ the friction force between the chuck and the guide rail (i.e., the chuck weight × the friction coefficient) + the linen weight ] × the expansion force coefficient, and the stepping motor or the servo motor and the reducer can be selected for combined control according to the determined pulling force, or the servo motor with small torque or the stepping motor and the reducer with large reduction ratio can be selected for combined control, or the servo motor with large torque or the servo motor with small reduction ratio can be used for combined control, or the servo motor or the stepping motor is directly driven, and the reducer is not used, and the torque is increased through a large wheel and a small wheel, i.e., the small wheel is used at the end of the servo motor, and the large wheel is used at the end of the driving shaft. .
According to an embodiment of the present invention, there is also provided an apparatus for determining a tensile force of a spread, for implementing the method for determining a tensile force of a spread, as shown in fig. 8, the apparatus including a parameter obtaining unit, a parameter determining unit, and a calculating unit, wherein:
the parameter acquisition unit is used for acquiring the weight of the linen;
the parameter acquisition unit is also used for acquiring the weight of a chuck for clamping the linen; specifically, a plurality of stations such as two, three, four and the like can be used for clamping and lifting the linen as required, for example, two groups of stations are used on a track-shaped oblong track, each group comprises two lifting stations, when one group of stations clamps the exhibition cloth and moves upwards, the other group of stations are positioned at positions symmetrical to the positions of the stations of the working group about the center of the track, therefore, when the working group lifts the exhibition cloth to the exhibition station and unloads the exhibition cloth, the other group of stations just move to the lowest point of the track to wait for the next exhibition cloth to be accessed, and the two groups of lifting stations are not interfered with each other and improve the efficiency.
The parameter determining unit is used for determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located; specifically, the coefficient of friction is related to the material and smoothness of the rails and the chuck.
The parameter determining unit is also used for determining the weight of the linen and the coefficient between the friction force and the pulling force required by unfolding the linen; specifically, the coefficients may be obtained experimentally, relating to factors such as the station chuck.
The calculating unit is used for obtaining the tension according to the weight of the linen, the friction force and the coefficient. Specifically, the pulling force is [ the friction force between the chuck and the guide rail (i.e., the chuck weight × the friction coefficient) + the linen weight ] × the expansion force coefficient, and the stepping motor or the servo motor and the reducer can be selected for combined control according to the determined pulling force, or the servo motor with small torque or the stepping motor and the reducer with large reduction ratio can be selected for combined control, or the servo motor with large torque or the servo motor with small reduction ratio can be used for combined control, or the servo motor or the stepping motor is directly driven, and the reducer is not used, and the torque is increased through a large wheel and a small wheel, i.e., the small wheel is used at the end of the servo motor, and the large wheel is used at the end of the driving shaft. .
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (2)
1. A method of determining the tension of a spread, comprising:
acquiring the weight of the linen;
acquiring the weight of a chuck for clamping the linen, and determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located;
determining the weight of the linen, the coefficient between the friction force and the pulling force required for unfolding the linen;
and obtaining the tension according to the weight of the linen, the friction force and the coefficient, wherein the tension is (the friction force between the chuck and the guide rail + the weight of the linen) multiplied by a spreading force coefficient, the spreading force coefficient is the coefficient, and the friction force between the chuck and the guide rail is multiplied by the chuck weight multiplied by the friction coefficient.
2. A device for determining the tension of a spread, comprising a parameter acquisition unit, a parameter determination unit and a calculation unit, wherein:
the parameter acquisition unit is used for acquiring the weight of the linen;
the parameter acquisition unit is also used for acquiring the weight of a chuck for clamping the linen;
the parameter determining unit is used for determining the friction force between the chuck and the guide rail according to the weight of the chuck and the friction coefficient of the guide rail where the chuck is located;
the parameter determining unit is also used for determining the weight of the linen, the coefficient between the friction force and the pulling force required by unfolding the linen;
the calculating unit is configured to obtain the pulling force according to the weight of the linen, the friction force, and the coefficient, specifically, the pulling force is (friction force between the chuck and the guide rail + weight of the linen) x an expansion force coefficient, where the expansion force coefficient is the coefficient, and the friction force between the chuck and the guide rail is (chuck weight x friction coefficient).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441636.2A CN110217642B (en) | 2019-05-24 | 2019-05-24 | Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910441636.2A CN110217642B (en) | 2019-05-24 | 2019-05-24 | Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110217642A CN110217642A (en) | 2019-09-10 |
| CN110217642B true CN110217642B (en) | 2021-08-24 |
Family
ID=67818369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910441636.2A Active CN110217642B (en) | 2019-05-24 | 2019-05-24 | Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110217642B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849940A (en) * | 2021-03-12 | 2021-05-28 | 上海威士机械有限公司 | Suspension conveying system and conveying method for spreading linen |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0754262A (en) * | 1993-08-12 | 1995-02-28 | Tokai:Kk | Device for taking out corner of square packing cloth provided with round scooped part |
| CN103496635A (en) * | 2013-09-26 | 2014-01-08 | 尤洛卡矿业安全工程股份有限公司 | Slope ascending control device and method of monorail crane car |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0620310B1 (en) * | 1993-04-16 | 1997-05-21 | Mitsubishi Jukogyo Kabushiki Kaisha | An apparatus for spreading rectangular cloth |
| CN204057437U (en) * | 2014-08-29 | 2014-12-31 | 上海航星机械(集团)有限公司 | Cloth feed machine extension splint |
| CN106272413A (en) * | 2016-08-26 | 2017-01-04 | 芜湖悠派护理用品科技股份有限公司 | A kind of mechanical hand automatic material taking control system |
-
2019
- 2019-05-24 CN CN201910441636.2A patent/CN110217642B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0754262A (en) * | 1993-08-12 | 1995-02-28 | Tokai:Kk | Device for taking out corner of square packing cloth provided with round scooped part |
| CN103496635A (en) * | 2013-09-26 | 2014-01-08 | 尤洛卡矿业安全工程股份有限公司 | Slope ascending control device and method of monorail crane car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110217642A (en) | 2019-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110217642B (en) | Method and device for controlling spreading, determining guiding force for lifting cloth and stretching force for spreading cloth | |
| EP3162953B1 (en) | Device for processing of object to be processed | |
| CN206088565U (en) | Material system is received in automation of detonator extruder | |
| CN113322648B (en) | Roll over clothing machine | |
| CN216763754U (en) | A cloth levels device for clothing production | |
| CN207958780U (en) | A kind of washing machine | |
| CN103344444B (en) | The automatic tyre mounting device of tyre tester and method | |
| CN104358012A (en) | Device for batching gray fabric of loom | |
| CN106995143A (en) | A kind of grasping mechanism | |
| CN204917460U (en) | Expansion single -end coiling machine | |
| CN209367477U (en) | A kind of big wide cut non-woven fabrics is used for quantity-produced automatic storing device | |
| CN207957337U (en) | A kind of drawing drawing trousers fold mechanism | |
| CN206752156U (en) | A kind of electric clothes hanger | |
| CN217075818U (en) | Automatic guiding device of belt conveyor | |
| CN205347846U (en) | Discharge apparatus in working clothes folder | |
| CN206385365U (en) | One kind changes bar clothes hanger | |
| CN201386204Y (en) | Cloth-feeding automatic width-spreading aligning device of open-width air-current soft drying machine | |
| CN105544172B (en) | Device for discharging in work clothes folding machine | |
| CN208883101U (en) | A kind of nonwoven fabric roll traction device for draping surgery folding machine | |
| CN211077803U (en) | Fiber textile industry is dried and is used cloth continuity conveying mechanism | |
| CN107932472B (en) | Fortune yarn intelligent machine tongs | |
| CN208649663U (en) | Anti- backfin forming machine | |
| CN208828909U (en) | A kind of textile machinery tube device with anti-fold function | |
| CN208666638U (en) | A kind of continuous wrap-up of textile printing and dyeing | |
| CN112520453A (en) | All-round displacement structure of spinning machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |