CN111321504B

CN111321504B - Control method and device for circular weaving machine and storage medium

Info

Publication number: CN111321504B
Application number: CN202010188866.5A
Authority: CN
Inventors: 许斌
Original assignee: Suzhou Anchi Control System Co ltd
Current assignee: Suzhou Anchi Control System Co ltd
Priority date: 2020-03-17
Filing date: 2020-03-17
Publication date: 2022-07-22
Anticipated expiration: 2040-03-17
Also published as: CN111321504A

Abstract

The invention discloses a control method of a circular weaving machine, which is executed by a circular weaving machine integrated control device, the circular weaving machine integrated control device is used for carrying out integrated control on a plurality of motors in the circular weaving machine, the plurality of motors in the circular weaving machine at least comprise a main driving motor, a cloth lifting motor and a let-off motor, and the method comprises the following steps: acquiring the frequency of a main driving motor; calculating to obtain the target frequency of the cloth lifting motor according to the frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so that the cloth lifting motor can run in a manner of being matched with the main driving motor; the method comprises the steps of obtaining a warp tension value, calculating and obtaining a target frequency of a let-off motor according to the warp tension value and at least one of a main driving motor frequency and a cloth lifting motor target frequency, outputting a driving signal corresponding to the target frequency of the let-off motor to the let-off motor, and driving the let-off motor to run in a manner of being matched with the main driving motor.

Description

Control method and device for circular weaving machine and storage medium

Technical Field

The present application relates to the field of integrated control of circular looms, and in particular, to a method and an apparatus for controlling a circular loom, and a storage medium.

Background

A circular weaving machine, which is called a plastic circular weaving machine, is used for weaving plastic drawn wires into circular fabrics. Circular looms are classified into woven bag circular looms and mesh bag circular looms. In the prior art, the control of the motor in the circular weaving machine is relatively distributed, so that the connection relationship between the components is relatively complex, and the reliability of the system is reduced, and therefore a scheme capable of solving the technical problem is required.

Disclosure of Invention

The technical problem mainly solved by the application is to provide a control method and device of a circular weaving machine and a storage medium, which can realize integrated control with high reliability on a plurality of motors in the circular weaving machine.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided a method for controlling a circular knitting machine, the method being performed by a circular knitting machine integrated-control apparatus for integrally controlling a plurality of motors in a circular knitting machine, the plurality of motors in the circular knitting machine including at least a main drive motor, a cloth lifting motor, and a let-off motor, the method comprising:

acquiring the frequency of the main driving motor;

calculating to obtain the target frequency of the cloth lifting motor according to the frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so as to enable the cloth lifting motor to operate in a manner of being matched with the main driving motor;

the warp tension value is obtained, the target frequency of the let-off motor is obtained through calculation according to the warp tension value and at least one of the main driving motor frequency and the jacquard cloth motor target frequency, and a driving signal corresponding to the target frequency of the let-off motor is output to the let-off motor to drive the let-off motor to be matched with the main driving motor to operate.

In order to solve the technical problem, the other technical scheme adopted by the application is as follows: provided is a circular weaving machine integrated control device, comprising: the processor is coupled with the memory and the driving circuit, the driving circuit outputs a driving signal required by a control instruction to a motor in the circular weaving machine when receiving the control instruction of the processor so as to drive the motor to operate according to the control instruction, and the processor executes the program data when working so as to complete the method.

In order to solve the above technical problem, the present application adopts another technical solution: there is provided a storage medium storing program data executable by a processor for implementing the method as described above.

According to the scheme, the frequency of a main driving motor in the circular weaving machine is obtained through a circular weaving machine integrated control device, the target frequency of a cloth lifting motor is obtained through calculation according to the frequency of the main driving motor, a driving signal corresponding to the target frequency of the cloth lifting motor is output to the cloth lifting motor, the cloth lifting motor is controlled to run at the frequency matched with the frequency of the main driving motor, meanwhile, the target frequency of a let-off motor is determined according to the warp tension value and at least one of the frequency of the main driving motor and the target frequency of the cloth lifting motor through obtaining a warp tension value, the let-off motor is controlled to run matched with the main driving motor, high-integration control over each motor in the circular weaving machine is achieved in the process, more accurate control over each motor in the circular weaving machine is achieved, and reliability of integrated control over each motor in the circular weaving machine is improved.

Drawings

Fig. 1 is a schematic structural view of a circular knitting machine controlled by the present application in one embodiment;

FIG. 2 is a schematic flow chart of an embodiment of a control method for a circular knitting machine according to the present application;

fig. 3 is a schematic flow chart of another embodiment of a control method of a circular knitting machine according to the present application;

fig. 4 is a schematic flowchart of another embodiment of a control method of a circular knitting machine according to the present application;

fig. 5 is a schematic flowchart of a control method of a circular knitting machine according to still another embodiment of the present application;

FIG. 6 is a schematic structural diagram of an embodiment of an integrated control device for a circular knitting machine according to the present application;

FIG. 7 is a schematic structural diagram of another embodiment of an integrated control device of a circular weaving machine according to the present application;

FIG. 8 is a schematic structural diagram of an embodiment of a storage medium according to the present application;

FIG. 9 is a schematic structural view of an integrated control device of a circular knitting machine according to the present application in one embodiment;

fig. 10 is a schematic structural view of an integrated control device of the circular weaving machine of the present application in another embodiment;

FIG. 11 is a schematic configuration diagram of an integrated control device of the circular knitting machine of the present application in a further embodiment;

fig. 12 is a schematic structural view of an integrated control device of the circular weaving machine of the present application in another embodiment;

fig. 13 is a schematic structural view of an integrated control device of the circular knitting machine of the present application in a further embodiment;

FIG. 14 is a schematic structural view of an integrated control device of the circular knitting machine of the present application in a further embodiment;

FIG. 15 is a schematic configuration diagram of an integrated control device of the circular knitting machine of the present application in another embodiment;

fig. 16 is a schematic structural view of an integrated control device of the circular knitting machine of the present application in a further embodiment;

FIG. 17 is a schematic view of the configuration of the main ports in the first processing chip of the integrated control device of the circular knitting machine of the present application;

fig. 18 is a schematic structural diagram of an integrated control device of the circular weaving machine of the present application in a further embodiment.

Detailed Description

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. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The circular weaving machine controlled by the application is a machine for weaving tubular fabric, a plurality of warp spindles are arranged on a warp frame of the circular weaving machine, according to the width and flat filament span of the tubular fabric to be woven, warps in a specified range are used, before the warps enter the circular weaving machine, the warps are subjected to cross opening by a palm frame of the warps, and weft shuttles do circular motion in the cross opening to penetrate the warps to weave the tubular fabric. The warp feeding speed can be directly controlled by a warp feeding motor, the warp weaving speed is controlled by a cloth lifting motor, the weft weaving speed is directly controlled by a main driving motor, the warp and the weft are alternately woven into the tubular cloth, and the woven tubular cloth can be rolled and stored through a rolling motor. The quality of the tubular fabric is directly determined by the coordination of the cross weaving of the warp and the weft, and the quality is reflected by the comprehensive performance of the circular weaving machine. Therefore, the cloth lifting motor is required to have good pulse following characteristics for the main driving motor, and also required to keep the warp yarn in a set tension state.

Specifically, the circular weaving machine has a main driving motor, a cloth lifting motor, two winding motors and two let-off motors as power devices, and in the prior art, each motor is provided with a special frequency converter for driving control. Because of the production technology requirement of circular loom, carry the cloth motor and need have better pulse following characteristic to main driving motor, then need to transmit main driving motor's speed to carrying cloth motor converter through the communication between the different converters of wire among the prior art, and then realize the interaction of two motor parameters, still simultaneously because the communication real-time between the converter is lower, and then make and carry the cloth motor to be difficult to follow main driving motor in real time, and the interaction of other motor parameters among the circular loom also can realize through the communication between converter and the converter, and then just also cause each structural connection relation relatively comparatively complicated among the circular loom, and then just also can make the control reliability to the circular loom lower, and the technical scheme that this application provided then can solve above-mentioned technical problem under the condition that does not additionally increase the hardware cost.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a circular loom controlled by the present application in one embodiment.

The circular weaving machine 2000 comprises a main driving motor 2012 for driving a weaving structure 2011, a let-off motor 2017 for driving a let-off guide wheel 2015, a let-off motor 2020 for driving a let-off guide wheel 2018, a cloth lifting motor 2014 for driving a cloth lifting guide wheel 2013, a winding motor 2023 for driving a winding guide wheel 2024, and a winding motor 2025 for driving a winding guide wheel 2026. It should be noted that the present application provides an integrated control device 1000 for a circular knitting machine, which is used to control any number of motors in a plurality of motors in the circular knitting machine 2000. Specifically, the device may be any or all of the main drive motor 2012, the cloth lifting motor 2014, the let-off motor 2017, the let-off motor 2020, the winding motor 2023 and the winding motor 2025. In addition, in order to keep the circular weaving machine 2000 capable of normally weaving the tubular fabric, the circular weaving machine 2000 further comprises a tension sensor 2027 and a tension sensor 2028 for detecting the tension in the tubular fabric to be wound, a tension sensor 2022 and a tension sensor 2021 for detecting the tension in the left and right warp threads, and the circular weaving machine 2000 further comprises a warp spindle 2016 and a warp spindle 2019.

The number of warp spindles included in a circular knitting machine is not limited herein. It should be noted that the warp spindles are wound with the warp to be delivered, and the number of the warp spindles can be set according to the parameters of the required woven fabric.

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a control method of a circular knitting machine according to an embodiment of the present disclosure. It should be noted that the method provided by the present application is executed by an integrated control device of a circular weaving machine.

In the current embodiment, the method provided by the present application includes:

s210: and acquiring the frequency of the main driving motor.

Wherein the main drive motor frequency is the frequency of rotation of the main drive motor. Specifically, in step S110, the real-time frequency of the main driving motor may be obtained, or the target frequency of the main driving motor may be obtained. The target frequency of the main driving motor is the frequency which is set by a user and is expected to rotate by the main driving motor, and the real-time frequency of the main driving motor is the frequency which is detected by the current time and rotates by the main driving motor.

S220: and calculating to obtain the target frequency of the cloth lifting motor according to the frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so that the cloth lifting motor is matched with the main driving motor to operate.

In the circular weaving machine, the cloth lifting motor is used for extracting weft, and then the tubular cloth woven by the weaving structure can be timely improved by the cloth lifting guide wheel, so that the abnormal phenomenon that the tubular cloth is wound is avoided, and therefore when the main driving motor is started or the frequency is adjusted, the frequency of the cloth lifting motor following the main driving motor needs to be set, wherein the cloth lifting guide wheel is driven by the cloth lifting motor and is used for extracting the tubular cloth woven by the weaving structure driven by the main driving motor. Specifically, after the main driving motor frequency is obtained, the target frequency of the cloth lifting motor is calculated according to the obtained main driving motor frequency.

The target frequency of the cloth lifting motor is set or adjusted to enable the cloth lifting motor to follow the frequency of the main driving motor.

After the target frequency of the cloth lifting motor is obtained through calculation, the integrated control device of the circular weaving machine can further output a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor, and therefore the cloth lifting motor is matched with the main driving motor to operate.

Compare among the prior art mostly through set up the encoder and acquire main driving motor's rotational frequency on main driving motor, feed back again to carrying cloth motor converter department, the technical scheme that this application provided controls main driving motor and carrying cloth motor through a circular loom integrated control device is unified, carry out data interaction promptly through the chip inside and can realize carrying cloth motor to more accurate pulse following between the main driving motor, and then improved the reliability of system, also reduced the cost of system.

S230: and acquiring a warp tension value, calculating to obtain a let-off motor target frequency according to the warp tension value and at least one of the main drive motor frequency and the cloth lifting motor target frequency, and outputting a drive signal corresponding to the let-off motor target frequency to the let-off motor so as to drive the let-off motor to run in a manner of matching with the main drive motor.

In the process of operation of the circular weaving machine, as the weft needs to be threaded and wound in the warp, the warp needs to be guaranteed to be in a certain tension state, the warp tension can be further acquired in the control process of the circular weaving machine, the warp is controlled to be kept in a set tension state, and the situation that the warp and the weft are wound due to the fact that the warp is too loose is avoided, or the warp is broken due to the fact that the warp is too tight. Wherein the warp tension value is a value reflecting the tension of the warp threads that are input into the woven structure. In the current embodiment, the let-off motor is used for driving the let-off guide wheel to rotate, so that warp threads required by weaving the tubular fabric are fed into a weaving structure, and weaving of the tubular fabric is completed.

Further, after the warp tension value is obtained, calculating to obtain the target frequency of the let-off motor according to at least one of the warp tension value, the frequency of the main driving motor and the target frequency of the cloth lifting motor. When the circular weaving machine is just started, in step S230, the target frequency of the let-off motor is determined according to at least one of the warp tension value, the target frequency of the main driving motor and the target frequency of the cloth lifting motor.

In one embodiment, in step S230, a target frequency of the let-off motor is calculated according to the warp tension value, the warp tension value and the frequency of the main driving motor, so that the frequency of the let-off motor matches the frequency of the main driving motor. In another embodiment, since the frequency of the cloth lifting motor follows the frequency of the main driving motor, the target frequency of the let-off motor matching the cloth lifting motor may be calculated in step S230 according to the warp tension value and the target frequency of the cloth lifting motor, and since the target frequency of the cloth lifting motor follows and matches the frequency of the main driving motor, the target frequency of the let-off motor matching the cloth lifting motor may also match the frequency of the main driving motor.

The method provided in the corresponding embodiment of fig. 2 obtains the frequency of the main driving motor in the circular weaving machine through an integrated control device of the circular weaving machine, and according to the frequency of the main driving motor, calculating to obtain the target frequency of the cloth lifting motor and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the position of the cloth lifting motor, so as to control the cloth lifting motor to run at a frequency matched with the frequency of the main driving motor, and simultaneously, by obtaining the warp tension value, determining the target frequency of the let-off motor according to the warp tension value and at least one of the frequency of the main driving motor and the target frequency of the cloth lifting motor, realizing the control of the let-off motor to match the main driving motor for operation, in the process, highly integrated control of each motor in the circular weaving machine is realized, more accurate control of each motor in the circular weaving machine is realized, and the reliability of the integrated control of each motor in the circular weaving machine is improved.

Referring to fig. 3, fig. 3 is a schematic flow chart of another embodiment of a control method of a circular weaving machine according to the present application. In the current embodiment, the method provided by the present application includes:

s301: and acquiring the target frequency of the main driving motor input by a user.

In the current embodiment, the target frequency of the main driving motor is determined by a user according to actual production requirements, and the target frequency of the main driving motor input by the user through a display screen or a human-home interaction interface is obtained.

S302: and outputting a driving signal corresponding to the target frequency of the main driving motor to the main driving motor, and then driving the main driving motor to start to weave warps and wefts to obtain the tubular fabric.

After the target frequency of the main driving motor input by a user is obtained, a driving signal corresponding to the target frequency of the main driving motor is further output to the main driving motor, so that the main driving motor is driven to start, the weaving structure is driven to weave warps and wefts, and the tubular cloth is obtained.

In the present embodiment, the step S210 of fig. 2 to acquire the main driving motor frequency includes a step S303.

S303: and acquiring the real-time frequency of the main driving motor.

In the current embodiment, the real-time frequency of the main driving motor is obtained, the cloth lifting motor, the let-off motor and the like are monitored in real time according to the real-time frequency of the main driving motor, whether the operation of the cloth lifting motor and the let-off motor can be matched with the operation frequency of the main driving motor is judged, and when the operation of the cloth lifting motor and/or the let-off motor is not matched with the main driving motor, the operation frequency of the cloth lifting motor and/or the let-off motor is adjusted, so that the operation of the cloth lifting motor and/or the let-off motor can better follow the main driving motor.

Further, in another embodiment, the step S210 of acquiring the frequency of the main driving motor includes: and acquiring the target frequency of the main driving motor. The target frequency of the main driving motor is the frequency of the expected operation of the main driving motor input by a user when the circular weaving machine is started according to the actual production requirement. In the present embodiment, when the user inputs the target frequency of the main driving motor, the user may simultaneously input the frequency change rate of the main driving motor per unit time, so as to define the acceleration of the main driving motor from a standstill to when the main driving motor operates at the target frequency desired by the user. According to the actual weaving process requirement of the tubular fabric, the running frequency of the cloth lifting motor needs to follow the running frequency of the main driving motor, so when a user inputs the frequency change rate of the main driving motor in unit time, the frequency change rate of the cloth lifting motor matched with the frequency change rate of the main driving motor can be further calculated in the technical scheme provided by the application, the starting process of the cloth lifting motor can be matched with the starting process of the main driving motor at the beginning of starting of the circular weaving machine, and the motors in the circular weaving machine can be controlled more accurately.

The frequency change rate of the cloth lifting motor is correspondingly matched with the frequency change rate of the main driving motor, and the matching adjustment is carried out according to an empirical value.

Although step S302 is executed first and step S303 is executed second in the flowchart illustrated in fig. 3, it should be noted that step S202 is executed first and then step S303 and step S304 are not limited to be executed first in other embodiments, and step S302, step S303 and step S304 are not limited to be executed first in other embodiments, so step S302, step S303 and step S304 may be executed synchronously in some embodiments.

S304: and calculating to obtain the target frequency of the cloth lifting motor according to the real-time frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so that the cloth lifting motor is matched with the main driving motor to operate.

And calculating to obtain the target frequency of the cloth lifting motor according to the acquired real-time frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so that the cloth lifting motor is matched with the main driving motor to operate. Further, in another embodiment, when the frequency change rate of the cloth lifting motor is controlled to match the frequency change rate of the main driving motor, the method provided by the application outputs a signal for controlling the frequency change rate of the cloth lifting motor when the driving signal corresponding to the target frequency of the cloth lifting motor is output to the cloth lifting motor, so that the frequency change rate of the cloth lifting motor matches the frequency change rate of the main driving motor.

S305: the warp tension value is obtained, the target frequency of the let-off motor is obtained through calculation according to the warp tension value and at least one of the real-time frequency of the main driving motor and the target frequency of the cloth lifting motor, and a driving signal corresponding to the target frequency of the let-off motor is output to the let-off motor so as to drive the let-off motor to be matched with the main driving motor to operate.

Wherein the warp tension value is the tension value in the warp. And after the warp tension value is obtained, calculating to obtain the target frequency of the let-off motor according to the warp tension value and at least one of the real-time frequency of the main driving motor and the target frequency of the cloth lifting motor. And after the target frequency of the let-off motor is obtained through calculation, a driving signal corresponding to the target frequency of the let-off motor is further output to the let-off motor, so that the driving motor is matched with the main driving motor to operate.

Step S304 and step S305 are similar to step S220 and step S230, and may also refer to the description of the corresponding parts above, which is not repeated herein.

In the present embodiment, in the technical scheme provided by the present application, a speed Sensorless Vector Control (SVC) method may be adopted for both the main drive motor and the let-off motor, and a speed sensored vector control (FVC) method may be adopted for the cloth lifting motor. In other embodiments, a constant voltage frequency ratio control (VF) method may also be used for the cloth lifting motor.

Referring to fig. 4, fig. 4 is a schematic flow chart of another embodiment of the control method of the circular weaving machine according to the present application. In another embodiment, when the plurality of motors in the circular weaving machine further include a winding motor, and the integrated control device of the circular weaving machine is further configured to perform integrated control on the winding motor in the circular weaving machine, the method provided by the present application further includes:

s401: and acquiring a real-time tension value in the cylindrical cloth.

When the integrated control device of the circular weaving machine is further used for performing integrated control on the winding motor, the method provided by the application in the current embodiment further comprises the following steps: and acquiring a real-time tension value in the cylindrical cloth. Wherein the real-time tension value in the tube cloth can feed back whether the speed of the winding tube cloth of the winding wheel is matched with the weaving speed of the tube cloth.

S402: and calculating the target frequency of the winding motor according to the real-time tension value in the cylindrical cloth.

And calculating to obtain the target frequency of the winding motor according to the acquired real-time tension value in the tubular cloth. And the target frequency of the winding motor is the frequency of the winding motor which needs to be expected to rotate.

Further, in an embodiment, when the circular weaving machine includes two winding motors and each winding motor is used for controlling one winding guide wheel, two tension sensors are correspondingly arranged for detecting tension of the two winding wheels in winding the tubular cloth, correspondingly, in step S301, a real-time tension value in the tubular cloth corresponding to the two winding guide wheels is obtained, in step S302, two winding motor target frequencies are respectively calculated according to the real-time tension value in the tubular cloth, so that the winding motor target frequency is obtained through calculation according to the tension in the tubular cloth, and the winding motor frequency is correspondingly adaptively adjusted, so that the operation of the winding motors can be matched with the frequencies of the main driving motor, the cloth lifting motor and the like.

Further, in another embodiment, before the step S402 calculates the target frequency of the winding motor according to the real-time tension value in the drum cloth, the method provided by the present application further includes: and judging whether the real-time tension value of the tubular cloth is larger than or smaller than a first preset range.

And when the real-time tension value of the tubular fabric is judged to be larger than or smaller than the first preset range, executing step S402 to calculate the target frequency of the winding motor according to the real-time tension value of the tubular fabric.

Otherwise, if the winding motor frequency is kept unchanged, step S402 will not be executed.

Namely, when the real-time tension value in the tubular cloth is judged to be just within the first preset range value, the current winding motor frequency can be well matched with the operation frequency of the main driving motor and/or the cloth lifting motor, so that the current winding motor operation frequency can be kept unchanged.

The first preset range may include only one point value, or may include a range of values, and the specific requirement is determined according to the actual production requirement, which is not set forth herein.

S403: and outputting a driving signal corresponding to the target frequency of the winding motor to the winding motor so that the running speed of the winding motor is matched with the weaving speed of the tubular cloth.

After the target frequency of the winding motor is obtained through calculation, the circular weaving machine integrated control device correspondingly outputs a driving signal corresponding to the target frequency of the winding motor to the winding motor, and therefore the running speed of the winding motor can be well matched with the weaving speed of the tubular cloth.

Before calculating the target frequency of the let-off motor according to the warp tension value and at least one of the main driving motor frequency and the target frequency of the jacquard motor in the step S230, the method provided by the present application further includes: and judging whether the warp tension value is larger than or smaller than a second preset range. In the current embodiment, after the warp tension value is obtained, the warp feeding motor target frequency may also be calculated and obtained by further determining whether the warp tension value is greater than or less than the second preset range, and then determining whether to execute at least one of the main driving motor frequency and the cloth lifting motor target frequency according to the warp tension value in step S230 according to the determination result.

And when the warp tension value is judged to be larger than or smaller than a second preset range, calculating to obtain the target frequency of the let-off motor according to the warp tension value and at least one of the main driving motor frequency and the target frequency of the cloth lifting motor.

On the contrary, when the warp tension value obtained by judgment belongs to the second preset range or is equal to the second preset range, the warp can be guaranteed to be conveyed for the weaving structure in the circular weaving machine by judging the tension value in the current warp, and the frequency of the warp feeding motor does not need to be adjusted. The second preset range may include only one point value, or may include a range of values, which is specifically set according to actual production needs. For example, in one embodiment, the second predetermined range may be 50N; in another embodiment, the second predetermined range may be 40N to 50N.

Still further, please refer to fig. 5, fig. 5 is a schematic flowchart of a control method of a circular weaving machine according to another embodiment of the present application. In an embodiment corresponding to fig. 5, the method for controlling a circular knitting machine according to the present application, after obtaining the warp tension value, further includes:

s501: and judging whether the warp tension value is greater than a first set value and is less than a second set value.

The first set value is a critical tension value and is used for representing an upper limit value of the tension which can be borne by the warp in the system, and when the tension value of the warp is greater than the first set value, the warp can be broken due to excessive tension; the second set value is a smaller tension value and is used for representing a lower limit value of the tension which can be born in the circular weaving machine, when the tension value in the warp is smaller than the second set value, the output length of the warp is larger than the length of the warp which is required by the weaving structure at present, and when the tension value in the warp is smaller than the second set value or the tension values in more warps are smaller than the second set value, the abnormal phenomenon that the current warp is wound or broken possibly occurs, or the warp spindles or the warp feeding guide wheels fall and are damaged and the like is represented.

S502: if the warp tension value is larger than the first set value or smaller than the second set value, at least one of the warp, the warp spindle or the warp feeding guide wheel is judged to be abnormal.

As described above, when the determined warp tension value is greater than the first set value or the warp tension value is less than the second set value, it may be determined that at least one of the obtained warp, the warp spindle, or the let-off guide wheel is abnormal, and at this time, the circular weaving machine needs to be stopped, or a user needs to be informed to solve the abnormal condition.

S503: and sending an alarm command to inform a user of abnormality of at least one of the warp threads, the warp thread spindles or the let-off guide wheels, and/or outputting an emergency stop command to a main driving motor, a cloth lifting motor, a let-off motor and a winding motor so as to pause the operation of the circular weaving machine.

When at least one of the warp threads, the warp thread spindles or the warp feeding guide wheels is judged to be abnormal, the integrated control device of the circular weaving machine sends an alarm instruction to inform a user of the abnormality, and the user can further handle the abnormality.

Further, when at least one of the warps, the warp spindles or the warp feeding wheel is judged to be abnormal, the circular weaving machine integrated control device can also output an emergency stop instruction to the main driving motor, the cloth lifting motor, the warp feeding motor and the winding motor so as to pause the operation of the circular weaving machine.

Still further, in another embodiment, when the foregoing abnormality is determined, the technical solution provided by the present application further includes: and displaying the labels of the warp spindles or the warp guide wheels with warp winding on a display screen or a human-computer interaction window to inform a user of the warp spindle or the warp guide wheel at which position the warp spindle or the warp guide wheel corresponds to the warp is abnormal, so that the corresponding warp spindle and the corresponding warp guide wheel can be found as soon as possible for maintenance and adjustment.

The technical scheme that this application provided can realize realizing the data interaction between the different motors under the condition of no encoder through carrying out the data interaction in that circular weaving machine integrated control device is inside, and then realizes carrying the pulse of cloth motor to the high real-time between the main drive motor and follows, and then improves the reliability to circular weaving machine control effectively, has also improved circular weaving machine's production efficiency.

Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of an integrated control device of a circular weaving machine according to the present application. In the present embodiment, the present application provides a circular loom integrated control apparatus 600 including: a processor 610, a driver circuit 630, a memory 620, and program data stored on the memory 620.

The processor 610 is coupled to the memory 620 and the driving circuit 630, the driving circuit 630 outputs a driving signal required by the control command to a motor (not shown) in the circular weaving machine when receiving the control command from the processor 610, so as to drive the motor to operate according to the control command, and the processor 610 executes the program data when operating, so as to complete the method as described in any one of fig. 1 to fig. 5 and the corresponding embodiment.

Further, please refer to fig. 7, wherein fig. 7 is a schematic structural diagram of another embodiment of the integrated control device for a circular weaving machine according to the present application. In the current embodiment, the integrated control device 700 for circular knitting machines provided by the present application further includes at least one set of sensor assembly 740.

The detection end of the sensing component 740 is connected to the warp threads conveyed by the let-off motor in the circular weaving machine, and the output end of the sensing component 740 is connected to the processor 710, so as to feed back the detection value to the processor 710, so that the processor 710 can determine whether to adjust the operating frequency of the motor according to the detection value.

Further, the sensing assembly 740 may include a plurality of tension sensors, and one of the plurality of tension sensors may be configured to detect tension in the warp thread and feed back the detected warp thread tension value to the processor 710, so that the processor 710 runs the program data stored in the memory 720, calculates a target frequency of the let-off motor according to the warp thread tension value, and then sends a control command to the driving circuit 730 to control the frequency of the let-off motor. The tension sensor can also be used for detecting tension in the to-be-wound roll cloth and feeding back the detected tension value in the to-be-wound roll cloth to the processor 710, so that the processor 710 controls the operating frequency of the winding motor according to the tension value in the to-be-wound roll cloth fed back by the tension sensor.

Further, the sensing assembly 740 includes a tension sensor for detecting real-time tension in the warp threads and/or an optical sensor for detecting whether the winding wheel for the winding drum cloth needs to be rewound and feeding back the detection result to the processor 710.

Please refer to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of a storage medium according to the present application. The storage medium 800 provided by the present application stores program data 801 that can be executed by a processor, and the program data 801 is used for implementing the control method of the circular knitting machine as described in fig. 1 to 5 and any corresponding embodiment thereof. Specifically, the storage medium 800 may be one of a memory of a terminal device, a personal computer, a server, a network device, or a usb flash drive, and is not limited herein.

Referring to fig. 9 to 18, the circular loom integrated control device provided in any one of fig. 9 to 18 of the present application may perform the method described in any one of the embodiments of fig. 2 to 5 and corresponding embodiments thereof for the hardware circuit structure in different embodiments of the circular loom integrated control device provided in the present application. The technical solution provided by the present application will be described below in conjunction with a hardware circuit structure of an integrated control device of a circular weaving machine. In the prior art, a frequency converter, an encoder and a PLC are often used to cooperate with each other on hardware to control a plurality of motors in a circular weaving machine, that is, a frequency converter is used to control and drive a motor individually, and a PLC (programmable Logic controller) is used to realize communication between frequency converters for controlling the motors, or to indirectly control each motor, so that if it is necessary to control all the motors in the circular weaving machine simultaneously, a plurality of frequency converters and at least one PLC are required, if a circular weaving machine includes six motors, it is necessary to include six frequency converters and one PLC to realize control of the circular weaving machine, and thus it is necessary to construct a complicated wire connection relationship between the frequency converters corresponding to different motors and the PLC, because the circuit structure is complicated, the installation difficulty is large, and it also brings a certain difficulty for debugging and maintenance, the technical scheme provided by the application can solve the technical problem and realize integrated control on a set number of motors in the circular weaving machine.

As described above, in the working process of the circular weaving machine, the plastic thread of the woven tubular fabric needs to be kept from being broken due to too large tension in the plastic thread, and the plastic thread is also kept from being wound due to too small tension in the plastic thread.

As described above, the present application provides an integrated control apparatus for a circular knitting machine, which is used to control at least one of a set number of motors in the circular knitting machine. Specifically, the integrated control device of the circular weaving machine is used for sending a driving signal to a motor in the circular weaving machine to drive a corresponding motor to rotate according to a process requirement, and is also used for detecting or monitoring the operation state of the corresponding motor of each station in the circular weaving machine, or sending other related instructions to the motor in the circular weaving machine or other devices for detecting the state of the circular weaving machine to complete certain operation. Compared with the prior art, the integrated control device of the circular weaving machine, provided by the application, can realize that a plurality of motors in the circular weaving machine are subjected to integrated control through a processing chip, reduces the size of the integrated control device of the circular weaving machine compared with the control of the motors by utilizing an independent frequency converter in the prior art, simplifies the external interface of the integrated control device of the circular weaving machine, and is convenient for a user to install and dismantle.

As described above for fig. 1: the circular weaving machine controlled by the integrated control device of the circular weaving machine provided by the application comprises at least one of a main motor, a cloth lifting motor, a winding motor and a let-off motor in a set number, and the circular weaving machine can comprise more than one winding motor and more than one let-off motor according to the actual production requirement. The main motor is used for driving the cam part used for weaving in the circular weaving machine to rotate, so that the weft shuttle is driven to rotate, and the upper and lower openings of warps are realized. The cloth lifting motor is used for driving the cloth lifting structure to lift the woven cylindrical cloth, and the cloth lifting speed needs to be matched with the rotating speed of the main motor. The winding motor is used for winding woven tubular cloth and is also used for realizing tension closed-loop control according to tension data fed back by the tension detection structure, and then constant tension winding of the winding part is guaranteed. The let-off motor is used for conveying warps to the cam part for weaving and is also used for realizing constant-tension let-off so as to ensure the normal operation of the circular weaving machine.

Please refer to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of an integrated control device of a circular weaving machine according to the present application. In an embodiment corresponding to fig. 9, the integrated control device 1000 of the circular knitting machine provided by the present application includes a control circuit 100 and a driving circuit 200 connected to the control circuit 100, where the control circuit 100 is at least configured to obtain a main driving motor frequency, and after obtaining a target frequency of a cloth lifting motor according to the main driving motor frequency, output a control instruction corresponding to the target frequency of the cloth lifting motor to the driving circuit 200, so that the driving circuit 200 can output a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor, so that the cloth lifting motor matches with the main driving motor to operate, and thereby completing a process flow of knitting a tubular cloth. Specifically, the control instruction issued by the control circuit 100 is at least embodied as a pulse control instruction hereinafter.

Referring to fig. 10, fig. 10 is a schematic structural diagram of another embodiment of an integrated control device of a circular weaving machine according to the present application. Wherein, the control circuit 100 includes: a first processing chip 10. The first processing chip 10 includes a set number of pulse width modulation ports, such as the pulse width modulation port PWM1, the pulse width modulation port PWM2 and the pulse width modulation port PWM3 illustrated in fig. 10, which are respectively connected to corresponding driving units in a driving circuit (not identified in fig. 10) to respectively output pulse control instructions to the driving circuit. It should be noted that pulse control commands output by the pulse width modulation ports are respectively output to different units in the driving circuit, so as to drive different motors, which is specifically referred to below and not described in detail herein.

Further, the first processing chip 10 at least includes a dsp (digital Signal processing) processing chip, and at least some of the ports (not shown in fig. 10) in the first processing chip 10 are ports that can be adjusted and set to different types according to actual needs. It is understood that the first processing chip 10 may also include other types of processing chips, which are not listed here.

Referring to fig. 10, the driving circuit includes a first sub-driving circuit 20, the first sub-driving circuit 20 includes a set number of driving units, specifically, in the embodiment illustrated in fig. 10, the first sub-driving circuit 20 includes a driving unit 21, a driving unit 22, a driving unit 23, and a driving unit 24, the set number of driving units are integrated on the same circuit board, and are respectively connected to different motors, and are configured to output driving signals to the motors connected thereto, so as to drive the motors to rotate to complete a process flow of weaving the tubular fabric or to complete a part of the process flow of weaving the tubular fabric.

Further, each driving unit is correspondingly connected to one pwm port of the first processing chip 10, and is configured to, when receiving a pulse control command output by the connected pwm port, respectively output a driving signal corresponding to the pulse control command to a corresponding motor of the circular knitting machine, and further drive the motor to rotate at a speed corresponding to the driving signal.

Specifically, the first sub-drive circuit 20 illustrated in fig. 10 includes a drive unit 21, a drive unit 22, a drive unit 23, and a drive unit 24. Wherein, the instruction input end of the driving unit 21 is connected with the pulse width modulation port PWM1 in the first processing chip 10, and the output end of the driving unit 21 is connected with the motor M1; the instruction input end of the driving unit 22 is connected with the pulse width modulation port PWM2 in the first processing chip 10, and the output end of the driving unit 22 is connected with the motor M2; an instruction input end of the driving unit 23 is connected to the pulse width modulation port PWM3 in the first processing chip 10, an output end of the driving unit 23 is connected to the motor M3, an instruction input end of the driving unit 24 is connected to the pulse width modulation port PWM4 in the first processing chip 10, and an output end of the driving unit 24 is connected to the motor M4, so as to drive the corresponding motors respectively and independently under the control of the first processing chip 10.

The pulse control instruction is a control instruction obtained by calculating according to a set control program, an operation requirement input by a user and a required product parameter by the first processing chip 10, and is used for controlling one or more driving units to output at least one driving signal corresponding to a rotating speed, so as to control a motor connected with the driving unit to rotate according to the rotating speed corresponding to the driving signal.

In the embodiment corresponding to fig. 9 of the present application, by providing an integrated control device for a circular weaving machine, which includes a control circuit and a driving circuit, and where the control circuit includes a first processing chip, the first processing chip includes a set number of pulse width modulation ports, and the set number of pulse width modulation ports are respectively connected to driving units in the driving circuit, and then a pulse control instruction can be output to a corresponding driving unit according to actual process requirements of the circular weaving machine, so that the driving unit outputs a driving signal corresponding to the pulse control instruction to a motor connected to the driving unit, and thus, fast and sensitive integrated control of multiple motors in the circular weaving machine can be better achieved.

In addition, compare choose a plurality of converters for use among the prior art to carry out the independent control to every motor, only one control circuit among the integrated control device of circular loom that this application provided to will set for a plurality of drive unit integration to same circuit board in quantity, greatly simplified the controlling means total volume that is arranged in controlling each motor in the circular loom, also simplified circuit structure, reduced external port, make the installation more simple and convenient while, reduced the degree of difficulty of circular loom equipment overall arrangement. In addition, the integrated control device of the circular weaving machine provided by the application can realize communication in the same integrated control device to acquire or send control data parameters of different motors, so that internal communication is realized.

With continuing reference to fig. 10, further, in the present embodiment, each of the driving units includes: IGBT driver chip and IGBT group that interconnect.

An input end of the IGBT driving chip 211 (taking the IGBT driving chip 211 as an example) is connected to a pulse width modulation port PWM1 in the control circuit 100, an output end of the IGBT driving chip 211 is connected to the IGBT group 212, and the IGBT driving chip 211 is configured to generate a driving instruction according to a pulse control instruction output by the pulse width modulation port PWM1, output the generated driving instruction to the IGBT group 212, and further control the IGBT group 212 to output a driving signal corresponding to the driving instruction to the motor M1 connected thereto. That is, the input end of the IGBT group 212 is connected to the output end of the IGBT driver chip 211, and the output end of the IGBT group 212 is connected to one M1 of the set number of motors, so that the driving motor M1 rotates according to the driving instruction output by the IGBT driver chip 211. The specific structure of the IGBT group in each drive unit is related to the type of the motor that needs to be driven and controlled, and is not limited herein.

With continued reference to fig. 10, in the embodiment illustrated in fig. 10, the driving unit 21 includes an IGBT driving chip 211 and an IGBT group 212 connected to each other, the driving unit 22 includes an IGBT driving chip 221 and an IGBT group 222 connected to each other, the driving unit 23 includes an IGBT driving chip 231 and an IGBT group 232 connected to each other, and the driving unit 24 includes an IGBT driving chip 241 and an IGBT group 242 connected to each other. It should be noted that fig. 10 only shows the connection relationship between the first sub-driving circuit 20 and the outside according to the signal command trend, so as to simplify the structure of other parts, and in other embodiments, when the circuit structure is shown with other angles as the emphasis, the first sub-driving circuit may have a different connection relationship from the embodiment illustrated in fig. 10.

Referring to fig. 11, fig. 11 is a schematic structural diagram of another embodiment of an integrated control device of a circular knitting machine according to the present application. In the current embodiment, the IGBT group 212 includes three groups of IGBT legs, that is, as illustrated in fig. 11, the IGBT group 212 includes an IGBT leg 2121, an IGBT leg 2122, and an IGBT leg 2123 that are arranged in parallel, and the IGBT leg 2121, the IGBT leg 2122, and the IGBT leg 2123 are configured to cooperatively convert the first electrical signal according to the received driving instruction to generate a driving signal, so as to output the driving signal to the motor M1 connected thereto, and further drive the motor M1 to rotate according to the process requirement. The first electrical signal refers to a dc electrical signal output by the rectifying circuit 30 and input to the driving unit 212, and electrical parameters of the first electrical signal are specifically determined according to product specifications in practical applications and field process requirements, which are not described in detail herein. It should be noted that other IGBT groups may also include three groups of IGBT bridge arms arranged in parallel as illustrated in fig. 11, or two groups of IGBT bridge arms arranged in parallel according to a driving requirement or a product requirement of a motor to be driven, which is not described herein again specifically.

Still further, each IGBT leg includes two IGBT switches arranged in series. Specifically, as illustrated in fig. 11, the IGBT leg 2121 includes an IGBT switch T1 and an IGBT switch T2 arranged in series. It should be noted that other IGBT legs and IGBT legs in other IGBT groups also include two series-connected IGBT switches, which is not described herein again.

Further, the driving circuit 200 further includes a rectifying circuit 30 for converting the ac electrical signal output from the external power supply terminal 1001. The output terminal of the rectifying circuit 30 is connected to the power terminal of the first sub-driving circuit 20 for outputting the first electrical signal to the first sub-driving circuit 20. Specifically, the input terminal of the rectifying circuit 30 is connected to the external power supply terminal 1001, and is configured to convert the ac signal output from the external power supply terminal 1001 into a first electrical signal and output the first electrical signal to the first driving sub-circuit 20.

Further, in one embodiment, the rectifier circuit 30 includes three sets of diode legs (not identified) or three sets of IGBT legs arranged in parallel. When the rectifying circuit 30 includes three groups of diode bridge arms connected in parallel, each diode bridge arm includes two diodes connected in series; when the rectifier circuit 30 includes three sets of IGBT legs arranged in parallel, each IGBT leg includes two IGBT switches arranged in series. As illustrated in fig. 11, the rectifier circuit 30 includes three sets of diode bridge arms arranged in parallel, and specifically includes: a diode leg formed by series connection of diode D1 and diode D2, a diode leg formed by series connection of diode D3 and diode D4, and a diode leg formed by series connection of diode D5 and diode D6. The specific parameters of the diodes constituting the diode bridge arm are selectively set according to the driving requirements, and are not limited herein. Note that, when the rectifier circuit 30 includes three sets of IGBT legs arranged in parallel, the IGBT legs arranged in parallel here function to convert an ac signal input from the external power supply terminal 1001 into a dc signal, and function is completely different from the IGBT set in the drive unit.

Further, please refer to fig. 12, fig. 12 is a schematic structural diagram of another embodiment of an integrated control device of a circular weaving machine according to the present application. In the present embodiment, the set number of motors may include let-off motors. That is, when the integrated control device 1000 of the circular weaving machine is also used for controlling the let-off motor in the circular weaving machine, the control circuit 100 further includes the adapter board 50 and at least one second processing chip 60, and the driving circuit 200 further includes at least one second sub-driving circuit 80. Wherein the second sub-driving circuit 80 comprises at least one driving unit (not identified in the figure).

The first processing chip 10 includes an expansion port P1, and the second processing chip 60 is connected to the expansion port P1 through the adapter board 50, so as to communicate with the first processing chip 10. Specifically, the second processing chip 60 may receive the control parameters of the other motors in the circular knitting machine or the acquired state parameters of the other motors or the tension parameters in the yarn fed back by the first processing chip 10 through the adapter board 50, and similarly, the control parameters of the yarn feeding motor may also be fed back to the first processing chip 10 through the adapter board 50 and the expansion port P1 according to the actual product requirements.

Further, in another embodiment, when it is necessary to simultaneously perform integrated control on the main motor, the lifting cloth motor and the two winding motors, and also to perform integrated control on the two let-off motors, the control circuit further includes an adapter board connected to the expansion port P1, two second processing chips, and two second sub-driving circuits. The second processing chip can be connected with a second sub-driving circuit, and the output end of the second sub-driving circuit is connected to a let-off motor and used for outputting a control instruction to the second sub-driving circuit, so that the second sub-driving circuit outputs a driving signal corresponding to the control instruction to the connected motor. That is, as illustrated in fig. 12, when it is necessary to integrally control the two let-off motors M5 and M6, the second processing chip 60 and the second sub-driving circuit 80 connected to the second processing chip 60 are provided for driving the let-off motor M5, and the second processing chip 70 and the second sub-driving circuit 90 connected to the second processing chip 70 are provided for driving the let-off motor M6. The second sub-driving circuit 80 and the second sub-driving circuit 90 each include at least one driving unit (not shown), where the driving unit in the second sub-driving circuit 80 includes an IGBT driving chip 81 and an IGBT group 82 connected to the IGBT driving chip 81, and the driving unit in the second sub-driving circuit 90 includes an IGBT driving chip 91 and an IGBT group 92 connected to the IGBT driving chip 91.

The second processing chip 60 and/or the second processing chip 70 may be a single-core processing chip. Referring to fig. 13, fig. 13 is a schematic flowchart of another embodiment of the integrated control device of the circular weaving machine according to the present application. In the present embodiment, when the integrated control apparatus 1000 of the circular knitting machine includes two second

sub-driving circuits

80 and 90, the power input terminal of the second sub-driving circuit 80 is connected to the external power source terminal 1001, and the command input terminal of the second sub-driving circuit 80 is connected to the output terminal of the second processing chip 60, so as to convert the second electrical signal output from the rectifying circuit 83 according to the command output from the second processing chip 60 and output the second electrical signal to the let-off motor M5; the power input end of the second sub-driving circuit 90 is connected to the external power end 1001, and the command input end of the second sub-driving circuit 90 is connected to the output end of the second processing chip 70, so as to convert the second electrical signal output by the rectifying circuit 93 according to the command output by the second processing chip 70 and output the second electrical signal to the let-off motor M6. The second electrical signal is a signal output to the second sub-driving circuit by the rectifying circuit 83 or the rectifying circuit 30, and when the second electrical signal is a signal output to the second sub-driving circuit by the rectifying circuit 30, the first electrical signal and the second electrical signal may be the same electrical signal.

Further, in the embodiment illustrated in fig. 13, the second sub-driving circuit 80 includes a rectifying circuit 83, a buffer circuit 84, an IGBT driving chip 81, and an IGBT group 82, specifically, an input terminal of the rectifying circuit 83 is connected to the external power supply terminal 1001, an output terminal of the rectifying circuit 83 is connected to the buffer circuit 84, an output terminal of the buffer circuit 83 is connected to a power supply signal (power supply signal is the second electrical signal) input terminal of the IGBT group 82, the IGBT driving chip 81 is connected to the second processing chip 60, and an output terminal of the IGBT driving chip 81 is connected to a command input terminal of the IGBT group 82, and is configured to output a driving signal to the let-off motor M5 under the control of the second processing chip 60. Similarly, the second sub-driving circuit 90 includes a rectifying circuit 93, a buffer circuit 94, an IGBT driving chip, and an IGBT group. The input end of the rectifying circuit 93 is connected with an external power supply end 1001, the output end of the rectifying circuit 93 is connected with the buffer circuit 91, the buffer circuit 94 is connected to the IGBT group 92, the input end of the IGBT driving chip 91 is connected with the second processing chip 70, the output end of the IGBT driving chip 91 is connected with the instruction input end of the IGBT group 92, and the output end of the IGBT group 92 is connected with the let-off motor M6 and is used for outputting a driving signal to the let-off motor M6 under the control of the second processing chip 70.

Further, please refer to fig. 14, wherein fig. 14 is a schematic structural diagram of another embodiment of the integrated control device of the circular weaving machine according to the present application. In the embodiment illustrated in fig. 14, the power input terminals of the second sub-driver circuit 80 and the second sub-driver circuit 90 are respectively connected to the output terminal of the buffer circuit 40, the command input terminal of the second sub-driver circuit 80 is connected to the output terminal of the second processing chip 60, the command input terminal of the second sub-driver circuit 90 is connected to the output terminal of the second processing chip 70, and the second processing chip 60 or the second processing chip 70 is configured to output a control command to the second sub-driver circuit 80 or the second sub-driver circuit 90, so that the second sub-driver circuit 80 or the second sub-driver circuit 90 converts the second electrical signal output by the sequential rectifying circuit 30 and the buffer circuit 40 according to the corresponding control command and outputs the second electrical signal to the motor M5 or M6. In the current embodiment, the second electrical signals input to the first sub-driving circuit 20 and to the second sub-driving circuit 80 or the second sub-driving circuit 90 are the same signal.

It is understood that, in other embodiments, the second sub-driving circuit may include a plurality of driving units according to the number of motors to be controlled, or the second sub-driving circuit in the current embodiment as described above shares a rectifying circuit and a buffer circuit with the first sub-driving circuit, so that the integrated control of a plurality of motors can be realized at the same time while simplifying the circuit structure.

It is understood that, in other embodiments, when the circular knitting machine includes two let-off motors, the integrated control device of the circular knitting machine provided in the present application may also include a second processing chip and two second sub-driving circuits, the second processing chip in the present embodiment includes at least two pulse width modulation output ports, and the command input terminals of the second sub-driving circuits are respectively connected to one pulse width modulation output port in the second processing chip to receive the control command output by the second processing chip. It should be noted that, in the current embodiment, the second processing chip is a multi-core processing chip, and can simultaneously output a plurality of pulse width modulated control instructions.

Further, the adapter plate 50 may also be directly connected to a part of the tension detecting component for detecting tension, so as to feed back tension data detected by the tension detecting component (not shown) to the first processing chip 10 or the second processing chip 60 or the second processing chip 70, for example, the adapter plate 50 may include a warp feeding load cell input port connected to a load cell on the warp wheel, and respectively feed back real-time quality of remaining warps on the warp wheel driven by the motor to the first processing chip 10 and/or the second processing chip 60 or the second processing chip 70, thereby determining whether the current warps are about to be consumed and whether the warp wheel needs to be replaced. When the let-off motor comprises a left let-off motor and a right let-off motor, the left let-off motor and the right let-off motor correspond to each other, the adapter plate 50 comprises a left let-off weighing sensor input port and a right let-off weighing sensor input port, the left let-off weighing sensor input port is connected with a weighing sensor on a warp wheel driven by the left let-off motor, the right let-off weighing sensor input port is connected with a weighing sensor on a warp wheel driven by the right let-off motor, so that the quality of the corresponding warp on the warp wheel is fed back to the first processing chip 10 or the second processing chip 60 or the second processing chip 70 respectively, and then the user is reminded of timely replacing the warp wheel after the warp is judged to be consumed, or the warp wheel replacing device is started to replace the warp wheel. Further, the adapter plate 50 may also be provided with a command output port for controlling a rack top fan, a winding fan, a cloth lifting motor fan, and an LED lamp for machine illumination, and is configured to control the rack top fan, the winding fan, and the cloth lifting motor fan to turn on or adjust the rotation speed and control the LED lamp to turn on or off under the control of the first processing chip 10, the second processing chip 60, or the second processing chip 70, and the adapter plate 50 is further provided with a port for connecting with other structures on the console or other related structures on the winding motor, or a port for obtaining other related parameters. It is understood that in other embodiments, other ports may be disposed on the interposer 50, which is not illustrated herein.

Referring to fig. 13, the output terminal of the buffer circuit 40 is connected to the power terminal of the first sub-driving circuit 20 for outputting the first electrical signal to the first sub-driving circuit 20. Specifically, since the first sub-driving circuit 20 includes a set number of driving units, the output end of the rectifying circuit 30 is connected to each driving unit, so as to output the first electrical signal to each driving unit, and further enable the corresponding driving unit to output the driving signal to the corresponding motor under the control of the pulse control command output by the first processing chip 10. As in the embodiment illustrated in fig. 13, the first sub-driving circuit 20 includes a driving unit 21, a driving unit 22, a driving unit 23, and a driving unit 24, and the output end of the buffer circuit 40 is connected to the driving unit 21, the driving unit 22, the driving unit 23, and the driving unit 24, respectively, so that the driving unit 21, the driving unit 22, the driving unit 23, and the driving unit 24 output corresponding driving signals to the motor M1, the motor M2, the motor M3, and the motor M4, respectively, to which they are connected.

Further, when the second sub-driving circuit 80 includes the rectifying circuit 83, or when the second sub-driving circuit 90 includes the rectifying circuit 93, the rectifying circuit 83 or the rectifying circuit 93 includes two sets of diode bridge arms or IGBT bridge arms arranged in parallel.

With reference to fig. 13, the first sub-driving circuit and the second sub-driving circuit respectively include a buffer circuit 40, a buffer circuit 84 and a buffer circuit 94, the buffer circuit 40 is connected to the output end of the rectifying circuit 30, and the output end of the buffer circuit 30 is connected to the IGBT group 212, the IGBT group 222, the IGBT group 232 and the IGBT group 242; the output end of the rectifying circuit 83 is connected with the buffer circuit 84, and the output end of the buffer circuit 84 is connected with the IGBT group 82; the output end of the rectifying circuit 93 is connected to the buffer circuit 94, and the output end of the buffer circuit 94 is connected to the IGBT group 92.

Please refer to fig. 15 in combination with fig. 10, wherein fig. 15 is a schematic structural diagram of another embodiment of an integrated control device of a circular knitting machine according to the present application. In one embodiment, the buffer circuit 40 (buffer circuit 84 and buffer circuit 94) includes a tank filter circuit 41, a switch circuit 43, and a protection circuit 42. In an embodiment, a first end of the tank filter circuit 41 is connected to the output end of the rectifying circuit 30, a second end of the tank filter circuit 41 is connected to the input end of the switch circuit 43 and the protection circuit 42, respectively, and the output end of the switch circuit 43 is connected to the negative bus terminal CD. Specifically, in the current embodiment, the tank filter circuit 41 may include a capacitor C1, the switch circuit 43 may include an IGBT switch K2, and the protection circuit 42 may include a current limiting resistor R4 and/or a diode D7. Further, in other embodiments, the protection circuit 42 may include a plurality of diodes arranged in parallel. In the present embodiment, the switch circuit 43 and the IGBT group 212 are both disposed in close proximity to the cooling structure for cooling, so that the cooling output of the snubber circuit can be better achieved compared to the prior art in which a snubber of a relay is additionally added. In addition, in the technical scheme provided by the application, the buffer circuit can be shared by a plurality of driving units, and compared with the technical scheme that the buffer circuit needs to be added to each driving unit in the prior art, the integrated control device of the circular weaving machine provided by the application has the advantage that the circuit structure is better simplified.

Referring to fig. 16, fig. 16 is a schematic structural diagram of another embodiment of an integrated control device of a circular weaving machine according to the present application. In the present embodiment, the buffer circuit 40 includes a tank filter circuit 41, a switch circuit 43, a protection circuit 42 and a voltage-sharing circuit 44, the tank filter circuit 41 includes two capacitors C1 and C2 arranged in series, the voltage-sharing circuit 44 includes two resistors R1 and R2 arranged in series and having equal resistance values, a first end of the voltage-sharing circuit 44 and a first end of the tank filter circuit 41 are respectively connected to the positive bus terminal AB, a second end of the voltage-sharing circuit 44 is connected to a connection of the two capacitors C1 and C2 arranged in series, a third end of the voltage-sharing circuit 44 is connected to a second end of the tank filter circuit 41, one ends of the protection circuit 42 and the switch circuit 43 are both connected to the second end of the tank filter circuit 41, and the other ends of the protection circuit 42 and the switch circuit 43 are both connected to the negative bus terminal CD.

Referring to fig. 17 and 18, fig. 17 is a schematic structural diagram of a main port in a first processing chip of an integrated control device of a circular knitting machine according to the present application, and fig. 18 is a schematic structural diagram of a portion of another embodiment of the integrated control device of the circular knitting machine according to the present application.

The ports of the part of the first processing chip are shown in fig. 17. Specifically, the first processing chip includes at least: a port for feeding back to the first processing chip 10 whether the warps on the left and right sides are consumed: a left finished signal input port P2 and a right finished signal input port P3; an emergency stop signal input port P4 for inputting an emergency stop signal when an abnormality occurs or the machine is required to be suspended, a length counting signal input port P5 for counting the length of the woven tubular fabric, a cut width signal input port P6 for obtaining the cut width selection of the tubular fabric, a positioning signal input port P7, a weft completion signal input port P8 for inputting the absence of weft when the weft is used up, a man-machine port P9 connected with the man-machine circuit 101 and used for man-machine interaction, an expansion port P1 as described in the above embodiments, a tension detection port P10 connected with the tension detection component 1005 and used for feeding back tension data to the first processing chip, analog quantity sampling ports P11, P12 and P13 for acquiring driving signals output to the motor, and an increment encoder detection port P14 connected with the increment encoder detection card 1004. It should be noted that the first processing chip 10 further includes other types of ports, which are not listed here, and the setting and adjustment can be specifically performed according to actual needs.

Further, in the embodiment illustrated in fig. 17 and 18, the integrated control device 1000 of the circular knitting machine further includes a human-computer interaction circuit 101, and the human-computer interaction circuit 101 is connected to the first processing chip 10 through a switch board (not shown) or directly connected to the first processing chip 10. When the number of the external ports in the first processing chip 10 is insufficient, the human-computer interaction circuit 101 may be connected to the first processing chip 10 through the patch board and the expansion port P1 according to actual needs.

The human-computer interaction circuit 101 comprises a third processing chip 1024 and a PHY chip 1021 and/or a wireless chip 1018 connected to the third processing chip 1024, wherein the PHY chip 1021 is used for providing a communication port for the external terminal to communicate with the human-computer interaction circuit 101, and the wireless chip 1018 is also used for the human-computer interaction circuit 101 to communicate with the external terminal (not shown).

With continued reference to fig. 18, the human-computer interaction circuit 101 further includes a FLASH chip 1019, a battery 1020, a key 1012, an RS485 interface 1013,

RJ45 ports

1014 and 1023, a network transformer 1022, and a display screen 1011. Specifically, an output end of the PHY chip 1021 is sequentially connected to a network transformer 1022 and an RJ45 communication interface 1023. The PHY chip 1021 is used for data exchange between the switch and the integrated control apparatus 1000 of the circular knitting machine. In the present embodiment, there are 9 keys 1012 for the user to input other related instructions to the human-computer interaction circuit 101 through the keys 1012, and the instructions are converted and output to the first processing chip 10 by the human-computer interaction circuit 101 or directly processed and fed back by the human-computer interaction circuit 101.

The human-computer interaction circuit 101 further comprises a main crystal 1015, an RTC crystal 1016 and a USB interface 1017. Therein, a master crystal 1015 and an RTC crystal 1016 are used to clock the integrated control device of the circular weaving machine. The USB interface 1017 is used to provide a compatible interface when a user needs to load relevant data into the device through the means of the USB interface 1017.

The integrated control device of the circular weaving machine further comprises a set number of sampling circuits, each sampling circuit is connected with the output end of the corresponding driving unit, and the output ends of the sampling circuits are connected with the first processing chip and used for detecting the actual value of the driving signal output to the motor and feeding the actual value back to the first processing chip. In the embodiment corresponding to fig. 15, when the integrated control apparatus 1000 of the circular knitting machine is used to integrally control the two motors M1 and M2, the integrated control apparatus 1000 of the circular knitting machine includes a sampling circuit 1002 and a sampling circuit 1003 for detecting driving signals output to the motor M1 and the motor M2, respectively.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A method for controlling a circular knitting machine, the method being performed by a circular knitting machine integrated-control apparatus for integrally controlling a plurality of motors in a circular knitting machine, the plurality of motors in the circular knitting machine including at least a main drive motor, a cloth lifting motor, and a let-off motor, the method comprising:

acquiring the frequency of the main driving motor;

calculating to obtain the target frequency of the cloth lifting motor according to the frequency of the main driving motor, and outputting a driving signal corresponding to the target frequency of the cloth lifting motor to the cloth lifting motor so as to enable the cloth lifting motor to be matched with the main driving motor to operate;

and acquiring a warp tension value, calculating and acquiring the target frequency of the let-off motor according to the warp tension value, the main driving motor frequency and the cloth lifting motor target frequency, and outputting a driving signal corresponding to the target frequency of the let-off motor to the let-off motor so as to drive the let-off motor to match the main driving motor to operate.

2. The method of controlling a circular knitting machine according to claim 1, wherein before said obtaining of the main drive motor frequency, the method further comprises:

acquiring the target frequency of the main driving motor input by a user;

and outputting a driving signal corresponding to the target frequency of the main driving motor to the main driving motor, and further driving the main driving motor to start to weave warps and wefts to obtain the tubular fabric.

3. The method of controlling a circular knitting machine according to claim 2, wherein said obtaining the main drive motor frequency includes:

and acquiring the real-time frequency of the main driving motor, or acquiring the target frequency of the main driving motor.

4. The method of controlling a circular knitting machine according to claim 2, wherein the plurality of motors in the circular knitting machine further include a take-up motor;

the method further comprises the following steps:

acquiring a real-time tension value in the tubular cloth;

calculating the target frequency of the winding motor according to the real-time tension value in the drum cloth;

and outputting a driving signal corresponding to the target frequency of the winding motor to the winding motor so that the running speed of the winding motor is matched with the weaving speed of the tubular fabric.

5. The method for controlling a circular knitting machine according to claim 4, wherein before calculating the target frequency of the winding motor according to the real-time tension value of the tubular fabric, the method further comprises:

judging whether the real-time tension value of the tubular cloth is larger than or smaller than a first preset range;

when the real-time tension value of the tubular cloth is judged to be larger than or smaller than the first preset range, executing the calculation of the target frequency of the winding motor according to the real-time tension value of the tubular cloth;

and otherwise, keeping the frequency of the winding motor unchanged.

6. The method for controlling a circular knitting machine according to claim 1, wherein before calculating the target let-off motor frequency based on the warp thread tension value, the main drive motor frequency and the target pick-up motor frequency, the method further comprises:

judging whether the warp tension value is larger than or smaller than a second preset range;

and when the warp tension value is judged to be larger than or smaller than the second preset range, calculating to obtain the target frequency of the let-off motor according to the warp tension value, the main driving motor frequency and the target frequency of the cloth lifting motor.

7. The method of controlling a circular knitting machine according to claim 1, wherein after said obtaining a warp tension value, said method further comprises:

judging whether the warp tension value is greater than a first set value and is less than a second set value;

if the warp tension value is judged to be larger than a first set value or smaller than a second set value, judging that at least one of the warp, the warp spindle or the let-off guide wheel is abnormal;

sending an alarm command to inform a user of abnormality of at least one of the warp threads, the warp thread spindles or the let-off guide wheel, and/or outputting an emergency stop command to the main driving motor, the cloth lifting motor, the let-off motor and the winding motor so as to pause the operation of the circular weaving machine.

8. An integrated control device for a circular weaving machine, the device comprising: a processor, a driving circuit, a memory and program data stored in the memory, wherein the processor is coupled with the memory and the driving circuit, the driving circuit outputs a driving signal required by a control instruction to a motor in the circular weaving machine when receiving the control instruction of the processor so as to drive the motor to operate according to the control instruction, and the processor executes the program data when in operation so as to complete the method of any one of claims 1 to 7.

9. The control device of claim 8, wherein the integrated control device of the circular weaving machine further comprises a sensing component, a detection end of the sensing component is connected with a warp thread position conveyed by a warp feeding motor in the circular weaving machine, and an output end of the sensing component is connected with the processor to feed a detection value back to the processor, so that the processor judges whether the operating frequency of the motor needs to be adjusted according to the detection value;

the sensing assembly comprises a tension sensor and/or an optical sensor, the tension sensor is used for detecting real-time tension in warp threads, and the optical sensor is used for detecting whether the winding wheel needs to be changed.

10. A storage medium, characterized in that the storage medium stores program data executable by a processor, the program data being for implementing the method of any one of claims 1-7.