CN111350021A - Bilateral stitch control method of full-automatic computerized flat knitting machine - Google Patents
Bilateral stitch control method of full-automatic computerized flat knitting machine Download PDFInfo
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- CN111350021A CN111350021A CN202010159465.7A CN202010159465A CN111350021A CN 111350021 A CN111350021 A CN 111350021A CN 202010159465 A CN202010159465 A CN 202010159465A CN 111350021 A CN111350021 A CN 111350021A
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/32—Cam systems or assemblies for operating knitting instruments
- D04B15/36—Cam systems or assemblies for operating knitting instruments for flat-bed knitting machines
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Abstract
The invention discloses a bilateral stitch control method of a full-automatic computerized flat knitting machine, which sets the stitch change target position requirement of woven clothes as follows: for the same row of woven clothes, reducing the stitch value of the positions of two sides of the row and the woven section at least 1 needle away from the row by at least 2 character codes relative to the preset stitch value of the row of woven clothes, and pre-inputting the stitch change target position requirement of the woven clothes into a machine head main MCU control chip; the stitch motor driving chip outputs a stitch motor motion curve according to the driving signal, reduces the double-edge stitch value of the woven clothes in the movement process of the machine head, and is used for eliminating the problem that the double edges of the woven clothes are elongated; meanwhile, the control current of the stitch motor is calculated and determined according to a reference voltage PWM signal output by a machine head main MCU control chip; the invention reliably eliminates the problem that the two sides of the woven clothes are lengthened due to the roller traction effect of the computerized flat knitting machine by reducing the mesh value of the two sides of the woven clothes.
Description
Technical Field
The invention relates to a control technology of a full-automatic computerized flat knitting machine, in particular to a bilateral stitch control method of the full-automatic computerized flat knitting machine.
Background
The working principle of the full-automatic computerized flat knitting machine is that the pattern file is designed through control software to achieve mechanical equipment for automatically knitting clothes.
During the weaving process of the full-automatic computerized flat knitting machine, when the roller is required to draw and weave clothes, however, because the roller always draws and simultaneously the weaving yarn rotates at the positions of two sides of the woven clothes, both sides of the woven clothes are slightly longer than the middle of the woven clothes, and the problem is difficult to solve in the traditional full-automatic computerized flat knitting machine. At present, the problem is basically relieved by reducing the knitting speed and adjusting the yarn tension, so that the control process is complex, and more importantly, the method cannot effectively avoid the problem.
To this end, the applicant wishes to seek technical solutions to solve this technical problem.
Disclosure of Invention
In view of the above, the present invention is directed to provide a method for controlling double-side stitch of a full-automatic computerized flat knitting machine, which creatively reduces stitch values of double sides of knitted clothes, reliably eliminates the problem that the double sides of the knitted clothes are lengthened due to a roller traction effect of the computerized flat knitting machine, and does not cause high control cost.
Before the technical scheme of the invention is provided, the applicant creatively provides a method for controlling the bilateral degree to eliminate the problem that the bilateral sides of the woven clothes are lengthened by adopting a bilateral degree control method after the technical difficulty that the bilateral sides of the woven clothes of the existing full-automatic computerized flat knitting machine are lengthened is deeply researched and analyzed. The stitch control means that the stitch position of a stitch slider of the full-automatic computerized flat knitting machine is adjusted in the running process of the full-automatic computerized flat knitting machine, so that the effect of adjusting the size of a coil of the knitted clothes is achieved, and finally the density and tightness of the fabric are adjusted.
However, the working principle of the stitch control method of the full-automatic computerized flat knitting machine is that in the process of reciprocating knitting movement of the machine head, when the machine head is reversed, the control system of the full-automatic computerized flat knitting machine presets a target according to the size of a stitch value required by knitting clothes patterns to adjust the stitch pressing position of the stitch slider, the stitch slider moves to the target required stitch pressing position when the machine head is reversed, the stitch slider does not move in the whole knitting process, and until the next time the machine head is reversed, the corresponding stitch slider moves again according to the target required stitch pressing position. In the existing stitch control method, the stitch value of each row of control fabric coils is fixed, the stitch pressing position of a stitch slider is fixed, and the knitting coils of the row are fixed, so that bilateral stitch adjustment control cannot be realized. Therefore, to realize bilateral mesh adjustment control, new technical difficulties are faced: the machine head running speed is as high as 1.7m/s, for the conventional clothes weaving pattern requirement, in the same-row weaving process, the shortest length of two meshes to be realized is only about 1 inch and is approximately equal to 2.54cm, the time of the mesh slide block passing through the section interval is only about 15ms, the technical problem of accurate driving of a mesh motor is solved for realizing dynamic adjustment of the meshes in such a short time, in addition, the needle pressing amplitude of the mesh slide block is adjusted in the machine head moving process and the needle pressing amplitude of the mesh slide block is adjusted in the machine head reversing process, the relative speed of a needle plate is different, the higher relative speed of the mesh slide block is required for adjusting the needle pressing amplitude of the mesh slide block in the machine head moving process, and therefore, the larger mesh slide block needle pressing resistance is met in the adjusting process.
The applicant determines to creatively design the driving of the stitch motor based on years of concentrated research and development experience and accumulated rich experience in the field, and firstly, reduces the stitch value of the two sides of the row and the position of the knitting section at least 1 needle away from the two sides of the row by at least 2 words relative to the preset stitch value of the row for knitting clothes as the preset stitch change target position requirement of the knitted clothes; secondly, considering the time required by the response and the position change of the stitch motor, the stitch motor is corrected in advance based on the machine head position signal, the bilateral stitch adjustment is carried out on the stitch motor driving stitch slider pressing pin at the machine head position point needing stitch adjustment, the stitch motor is driven accurately in cooperation with the machine head position, and finally the current of the stitch motor is adjusted and controlled, and the stitch motor is ensured to output proper motor torque.
The technical scheme adopted by the invention is as follows:
the full-automatic computerized flat knitting machine comprises a machine head main MCU control chip and a stitch motor driving chip, wherein the stitch motor is adopted to realize the adjustment of the needle pressing amplitude on a needle plate by driving a stitch slider to move, so as to realize the adjustment of the size of a knitted clothes coil, and the full-automatic computerized flat knitting machine is characterized in that the stitch change target position demand of the knitted clothes is set as: for the same row of woven clothes, reducing the stitch value of the positions of two sides of the row and the woven section at least 1 needle away from the row by at least 2 character codes relative to the preset stitch value of the row of woven clothes, and pre-inputting the stitch change target position requirement of the woven clothes into the machine head main MCU control chip;
the machine head main MCU control chip carries out advanced response correction according to the demand of the target position of stitch change and based on a machine head position signal and outputs a driving signal to a stitch motor driving chip, the stitch motor driving chip outputs a stitch motor motion curve according to the driving signal, and a stitch motor executes motion by taking the operation curve as an instruction, so that when the machine head moves to the target position of stitch change, the stitch motor drives a stitch slider to synchronously reach and change the stitch pressing amplitude on a needle plate, the double-stitch value of the woven clothes is reduced in the machine head motion process, and the problem that the double sides of the woven clothes are stretched is solved; meanwhile, the control current of the mesh motor is calculated and determined according to a reference voltage PWM signal output by a machine head main MCU control chip, and the dynamic real-time adjustment of the control current of the mesh motor is realized by adjusting the reference voltage PWM signal, so that the output torque of the mesh motor can meet the driving requirement of the mesh sliding block.
Preferably, the stitch values of both sides of the row and the position of the knitting section spaced from the position of 2-3 needles thereof are reduced by 5-12 character codes with respect to a preset stitch value for knitting the clothing of the row.
Preferably, the stitch values of both sides of the row and the position of the knitting section spaced from the position of 2-3 needles thereof are reduced by 10 codes with respect to the preset stitch value of the row for knitting the clothes.
Preferably, the preset stitch value range of the woven clothes is 15-100 character codes.
Preferably, the handpiece main MCU control chip outputs a reference voltage PWM signal, and the reference voltage PWM signal is calculated and determined according to the requirement of the target position of the degree change; and then converting the reference voltage regulation PWM signal into a reference voltage value VREF-HX input to the mesh motor driving chip, wherein the mesh motor control current is calculated and determined based on the reference voltage value VREF-HX and the sampling resistor.
Preferably, the driving signal comprises a motor rotating speed signal and a motor steering signal; the range of the reference voltage value VREF-HX is 3-3.2V, and the range of the output torque of the mesh motor is 0.4-0.45 Nm.
Preferably, the mesh motor is a high-speed response stepping motor, and the high-speed response stepping motor is controlled by adopting 1/4 subdivision mode.
Preferably, the handpiece main MCU control chip adopts an R32M chip STM2F103ZE, the mesh motor driving chip adopts a DRV8818 driving chip, an input pin of the mesh motor driving chip respectively inputs a reference voltage value VREF-HX signal, a motor speed signal and a motor steering signal, and an isana port and an ISENB port of the mesh motor driving chip are respectively connected with an a-phase current sampling resistor R32 and a B-phase current sampling resistor R35; and the output pin of the mesh motor driving chip respectively outputs A-phase mesh motor control current and B-phase mesh motor control current.
Preferably, the target position requirement of the degree change is sent to the machine head main MCU control chip by an upper computer in a communication mode, the machine head position signal is output by a position sensor arranged on the machine head, and the machine head position signal is input to the machine head main MCU control chip by a control main board.
Preferably, the invention also preferably provides a bilateral stitch adjusting control structure of the full-automatic computerized flat knitting machine, which comprises a machine head main MCU control chip, a stitch motor driving chip and a stitch motor which are electrically connected in sequence;
the machine head main MCU control chip outputs a driving signal to the mesh motor driving chip, the mesh motor driving chip is in communication connection with the control main board and is used for inputting a machine head position signal, and is also in communication connection with an upper computer and is used for inputting a mesh change target position requirement, and the upper computer adopts a man-machine interaction operation interface for manually inputting the mesh change target position requirement;
a digital-to-analog conversion chip is arranged between the handpiece main MCU control chip and the mesh motor driving chip, the mesh motor driving chip is connected with a current sampling resistor for calculating the mesh motor control current, the handpiece main MCU control chip is used for outputting a reference voltage PWM signal, and the reference voltage PWM signal is converted into a reference voltage value VREF-HX input to the mesh motor driving chip through the digital-to-analog conversion chip;
the mesh motor is a high-speed response stepping motor, a mesh motor driving chip is respectively provided with a MODEL0 input pin and a MODEL1 input pin which are used for controlling a subdivision mode, the MODEL0 input pin and the MODEL1 input pin are respectively connected into a subdivision mode control working power supply, one path of the subdivision mode control working power supply is connected into the MODEL0 input pin after passing through a first current-limiting resistor, and the other path of the subdivision mode control working power supply is connected into the MODEL1 input pin after passing through a second current-limiting resistor.
Preferably, the MODEL0 input pin and the MODEL1 input pin are controlled by a 1/4 subdivision mode.
Preferably, the voltage of the working power supply controlled by the subdivision mode is 5V, and the first current-limiting resistor and the second current-limiting resistor are both 800-1500 Ω.
Preferably, the first current limiting resistor and the second current limiting resistor are both 1000 Ω.
Preferably, the handpiece main MCU control chip adopts an R32M chip STM2F103ZE, the mesh motor driving chip adopts a DRV8818 driving chip, and the digital-to-analog conversion chip adopts an LMV358 chip.
The invention also preferably provides a mesh motor current regulation control circuit for bilateral mesh regulation control, which comprises a machine head main MCU control chip, a mesh motor driving chip and a mesh motor which are electrically connected in sequence, wherein the current regulation control circuit is arranged between the machine head main MCU control chip and the mesh motor driving chip; the current regulation control circuit comprises a digital-to-analog conversion chip provided with a comparator, a positive phase input pin of the comparator is connected with a reference voltage PWM signal output by the handpiece main MCU control chip, one output pin of the comparator is connected with a negative phase input pin of the comparator, the other output pin of the comparator outputs a reference voltage value VREF-HX and is connected with the mesh motor driving chip, the mesh motor driving chip is connected with a current sampling resistor used for calculating mesh motor control current, and meanwhile, the output pin of the mesh motor driving chip outputs the mesh motor control current to the mesh motor; the normal phase input pin of the comparator is electrically connected with a current limiting and filtering module, and the current limiting and filtering module is used for connecting the reference voltage PWM signal to the normal phase input pin of the comparator after current limiting and filtering protection.
Preferably, the current-limiting filtering module includes a third current-limiting resistor, a fourth current-limiting resistor, and a fifth current-limiting resistor connected in series, where the other end of the third current-limiting resistor is grounded, and the other end of the fifth current-limiting resistor is connected to a positive-phase input pin of the comparator; the reference voltage PWM signal is connected to a connection point between the third current-limiting resistor and the fourth current-limiting resistor, a connection point between the fourth current-limiting resistor and the fifth current-limiting resistor and a connection point between the fifth current-limiting resistor and a positive input pin of the comparator are respectively connected with the first filter capacitor and the second filter capacitor, and the other ends of the first filter capacitor and the second filter capacitor are respectively grounded.
Preferably, the third current-limiting resistor, the fourth current-limiting resistor and the fifth current-limiting resistor have equal resistance values, and the resistance value range is 800-.
Preferably, the handpiece main MCU control chip adopts an R32M chip STM2F103ZE, the mesh motor driving chip adopts a DRV8818 driving chip, the digital-to-analog conversion chip adopts an LMV358 chip, and the power supply voltage of the digital-to-analog conversion chip is 5V.
Preferably, an isana port and an ISENB port of the dutch motor driving chip are respectively connected with an a-phase current sampling resistor R32 and a B-phase current sampling resistor R35; and the output pin of the mesh motor driving chip outputs A-phase mesh motor control current and B-phase mesh motor control current to the mesh motor respectively.
Preferably, the reference voltage value VREF-HX ranges from 3V to 3.2V; the A-phase current sampling resistor R32 is equal to the B-phase current sampling resistor R35, and the resistance range of the A-phase current sampling resistor R32 and the B-phase current sampling resistor R35 is 0.1-0.3 omega.
It should be noted that the stitch motor, the stitch slider, and the mounting and matching relationship between the stitch slider and the presser pins on the needle plate, which are related to the present application, belong to the common knowledge in the art, and the present application is not specifically explained; the high-speed response stepping motor is characterized in that the output torque of the motor can still be kept to be not lower than 300mN.m under the condition that the motion frequency is as high as 1500pps (namely, the number of pulses per second).
The invention firstly reduces the stitch value of the two sides of the row and the position of the knitting section at least 1 needle away from the row by at least 2 codes relative to the preset stitch value of the row of knitting clothes as the stitch change target position requirement of the knitting clothes pre-input to the main MCU control chip of the machine head, and then further provides an innovative scheme aiming at the technical difficulty existing in the bilateral stitch control, which specifically comprises the following steps: on one hand, the machine head main MCU control chip is used for carrying out advanced response correction according to the requirement of the target position of stitch change and based on a machine head position signal, the corrected signal is used as a driving signal output to a stitch motor driving chip, the bilateral stitch adjustment is ensured to be carried out at the machine head position point needing to adjust the stitch when a stitch motor drives a stitch slider to press a needle, the stitch motor is matched with the machine head position to carry out accurate driving, the problem that the stitch motor generates driving lag due to response and time required by position change is solved, when the bilateral stitch control is actually carried out, the stitch motor driving chip calculates and outputs a stitch motor motion curve according to the driving signal, the stitch motor takes the motion curve as an instruction to carry out motion and is used for ensuring that the stitch motor drives the stitch slider to synchronously reach and change the amplitude of the needle pressing on a needle plate when the machine head moves to the target position needing to change in the stitch, realizing dynamic adjustment of the mesh value in the movement process of the machine head; on the other hand, the machine head main MCU control chip is utilized to output a reference voltage PWM signal which can be timely and flexibly input and adjusted, the reference voltage PWM signal can be determined according to the target position requirement of the degree change input in advance, namely, the corresponding reference voltage PWM signal is determined according to different positions, when the machine head main MCU control chip works actually, the reference voltage PWM signal is directly input to the machine head main MCU control chip to flexibly realize the dynamic and real-time adjustment of the control current of the degree motor, so that the output torque of the degree motor can meet the driving requirement of the degree slider, and the degree motor can output proper motor torque when facing various dynamic adjustment requirements of the degree; according to the invention, the bilateral stitch control of the full-automatic computerized flat knitting machine in the operation process of the machine head is finally realized through the creative specific means, the bilateral stitch values of two sides of the knitted clothes are efficiently and accurately reduced, the knitting defect that the two sides of the knitted clothes are lengthened due to the roller traction effect of the computerized flat knitting machine can be effectively eliminated, and the inherent quality defect that the whole length of the knitted clothes at present is not parallel and consistent is very convenient and effectively solved;
the invention also preferably provides a bilateral stitch regulating and controlling structure of the full-automatic computerized flat knitting machine, a man-machine interaction operation interface is directly adopted to input a stitch change target position requirement to a stitch motor driving chip, and during actual operation, people can flexibly set a stitch change target position according to a pattern type of a weaving obligation as required and can conveniently input the stitch change target position, so that the full-automatic computerized flat knitting machine is convenient for actual operation and use; furthermore, the driving chip of the mesh motor controlled in a subdivision mode further meets the requirements of high-precision, stable and reliable driving when high-frequency bilateral mesh control operation is carried out;
the invention also preferably provides a preferred current regulation control circuit of the mesh motor for bilateral mesh regulation control, and particularly innovatively provides that a comparator of a digital-to-analog conversion chip is used for accurately and quickly converting a reference voltage PWM signal output by a main MCU control chip into a reference voltage value VREF-HX of an access mesh motor driving chip, and finally the mesh motor control current for driving the mesh motor is calculated and determined through a current sampling resistor of the mesh motor driving chip, so that the required device structure is few, the cost is low, meanwhile, the high-precision regulation of the mesh motor control current can be realized, and finally, the mesh motor can be stably and reliably ensured to output proper motor torque; meanwhile, the invention further preferably provides that the reference voltage PWM signal is input into the comparator after being subjected to current-limiting filtering protection in advance through the current-limiting filtering module with simple structure, stability and reliability, so that the overall safety and accuracy of the current regulation control circuit are effectively improved.
It should be noted that the bilateral stitch control according to the present invention is to further eliminate the knitting defect that the bilateral sides of the knitted clothes are stretched due to the roller traction effect of the computerized flat knitting machine by reducing the bilateral stitch value of the knitted clothes under the condition that the stitch value of the knitting position in the same row is fixed.
Drawings
FIG. 1 is a connection diagram of a bilateral stitch adjustment control structure module of the full-automatic computerized flat knitting machine in the specific embodiment of the invention;
FIG. 2 is a graph of frequency and torque of the stitch motor 130 in accordance with an embodiment of the present invention;
FIG. 3 is a circuit diagram of the stitch motor driver chip 120 according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a digital-to-analog conversion chip according to an embodiment of the present invention;
fig. 5 is a circuit diagram of the comparator 162 in the dac chip according to the embodiment of the invention.
Detailed Description
The embodiment of the invention discloses a bilateral stitch control method of a full-automatic computerized flat knitting machine, which comprises a machine head main MCU control chip and a stitch motor driving chip, wherein the stitch motor is adopted to realize the adjustment of the needle pressing amplitude on a needle plate by driving a stitch slider to move, the stitch motor is used for realizing the adjustment of the size of a knitted clothes coil, and the stitch change target position requirement of the knitted clothes is set as: for the same row of woven clothes, reducing the stitch value of the positions of two sides of the row and the woven section at least 1 needle away from the row by at least 2 character codes relative to the preset stitch value of the row of woven clothes, and pre-inputting the stitch change target position requirement of the woven clothes into a machine head main MCU control chip; the machine head main MCU control chip carries out advanced response correction according to the requirement of a stitch change target position and based on a machine head position signal and outputs a driving signal to a stitch motor driving chip, the stitch motor driving chip outputs a stitch motor motion curve according to the driving signal, and a stitch motor executes motion by taking the operation curve as an instruction, so that when the machine head moves to the stitch change target position, the stitch motor drives a stitch slider to synchronously reach and change the stitch pressing amplitude on a needle plate, the double-stitch value of the woven clothes is reduced in the machine head motion process, and the problem that the double sides of the woven clothes are stretched is solved; meanwhile, the control current of the stitch motor is calculated and determined according to a reference voltage PWM signal output by a machine head main MCU control chip, and the dynamic real-time adjustment of the control current of the stitch motor is realized by adjusting the reference voltage PWM signal, so that the output torque of the stitch motor can meet the driving requirement of a stitch slider.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and 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 invention.
Referring to fig. 1 in combination with fig. 3, a bilateral stitch adjusting and controlling structure of a full-automatic computerized flat knitting machine includes a machine head main MCU control chip 110, a stitch motor driving chip 120 and a stitch motor 130 electrically connected in sequence, the machine head main MCU control chip 110 outputs a driving signal to the stitch motor driving chip 120, the stitch motor driving chip 120 is in communication connection with a control main board 140 for inputting a machine head position signal, meanwhile, the system is in communication connection with an upper computer and is used for inputting the demand of the target position for the degree change, the upper computer adopts a human-computer interaction operation interface 150 to manually input the demand of the target position for the degree change, certainly, it is common knowledge that the mesh motor 130 is provided with a sensor for feeding back motor operation parameters to the handpiece main MCU control chip 110, so that the handpiece main MCU control chip 110 can calculate and adjust driving signals in real time according to the actual state of the mesh motor 130; preferably, in the present embodiment, the stitch motor driving chip 120 is connected to the control motherboard 140 through a CAN line; the input pins of the graduation motor driving chip 120 respectively input a reference voltage value signal VREF1, a motor speed signal STEP1 and a motor steering signal DIR1, and it should be noted that, it belongs to the driving common knowledge in the field, reset in fig. 3 is a service signal input to the graduation motor driving chip 120, and enable is an enable signal input to the graduation motor driving chip 120;
because the output torque of an ordinary stepping motor is rapidly reduced along with the increase of the rotating speed under the normal condition, once the output torque of the motor is reduced, the torque of the motor is finally reduced rapidly, and the motor is driven by the problems of missing steps, position offset and the like when the motor encounters resistance slightly, preferably, in the embodiment, the stitch motor is a high-speed response stepping motor, and after practical application, the applicant finds that the high-speed response stepping motor still has stable torque output when the motor runs at high speed, so that the high-speed response position can be changed when the stitch motor makes dynamic response, please further refer to fig. 2, and the output torque of the motor can still be kept to be not less than 300mn.m under the condition that the motion frequency of the high-speed response stepping motor adopted in the embodiment is up to 1500pps (namely the number of pulses per second); further preferably, in the embodiment, the handpiece main MCU control chip adopts an R32M chip STM2F103ZE and main frequency 72MHz for operation control, and the calculation is fast and accurate; the mesh motor driving chip adopts a DRV8818 driving chip, and the high-speed response stepping motor adopts 1/4 subdivision mode control, so that the response speed is further improved, and the driving precision level is improved;
in the practical operation of the embodiment, people can flexibly set the mesh change target position according to the pattern type of the obligation woven by the pattern type of the obligation woven by the circuit structure, and the mesh change target position can be conveniently and rapidly input, so that the practical operation and the use are convenient;
referring to fig. 3 and 4 in combination, in this embodiment, a digital-to-analog conversion chip is disposed between the handpiece main MCU control chip 110 and the mesh motor driving chip 120, the mesh motor driving chip 120 is connected to a current sampling resistor for calculating a mesh motor control current, the handpiece main MCU control chip 110 is configured to output a reference voltage PWM signal HXREF, and convert the reference voltage PWM signal into a reference voltage value VREF-HX input to the mesh motor driving chip through the digital-to-analog conversion chip;
in the present embodiment, in order to further improve the driving accuracy level, the motor driver chip 120 is provided with a mode 0 input pin and a mode 1 input pin, respectively, as the subdivision mode control; the MODEL0 input pin and the MODEL1 input pin are respectively connected with a subdivision mode control working power supply, wherein one path of the subdivision mode control working power supply is connected with the MODEL0 input pin after passing through a first current-limiting resistor R24, and the other path of the subdivision mode control working power supply is connected with the MODEL1 input pin after passing through a second current-limiting resistor R18;
preferably, in the present embodiment, the MODEL0 input pin and the MODEL1 input pin are both controlled by 1/4 subdivision mode; the voltage of the working power supply controlled in the subdivision mode is 5V, and the first current limiting resistor R24 and the second current limiting resistor R18 are both 800-1500 omega; particularly preferably, in this embodiment, the first current limiting resistor R24 and the second current limiting resistor R18 are both 1000 Ω;
referring to fig. 3 and 4 directly, the present invention further preferably proposes that a current regulation control circuit 160 for the mesh motor 130 is disposed between the handpiece main MCU control chip 110 and the mesh motor driving chip 120; the current regulation control circuit 160 includes a digital-to-analog conversion chip 161 provided with a comparator 162, and preferably, in this embodiment, the digital-to-analog conversion chip is an LMV358 chip; a positive phase input pin (namely, pin 3) of the comparator 162 is connected with a reference voltage PWM signal HXREF output by the handpiece main MCU control chip 110, one path of an output pin (namely, pin 1) of the comparator 162 is connected with a negative phase input pin (namely, pin 2) of the comparator, the other path of the output pin outputs a reference voltage value VREF-HX serving as a reference voltage value signal VREF1 to be connected with the mesh motor driving chip 120, the mesh motor driving chip 120 is connected with a current sampling resistor for calculating mesh motor control current, and meanwhile, the output pin of the mesh motor driving chip 120 outputs mesh motor control current to the mesh motor;
particularly preferably, in this embodiment, the ISENA port and the ISENB port of the dutch motor driving chip 120 are respectively connected with an a-phase current sampling resistor R32 and a B-phase current sampling resistor R35; an A-phase positive output pin + BJ _ A1 and an A-phase negative output pin-BJ _ A1 of the stitch motor driving chip 120 output A-phase stitch motor control current to the stitch motor 130, and a B-phase positive output pin + BJ _ B1 and a B-phase negative output pin-BJ _ B1 of the stitch motor driving chip 120 output B-phase stitch motor control current to the stitch motor 130; preferably, in the present embodiment, the reference voltage value VREF-HX ranges from 3V to 3.2V; the A-phase current sampling resistor R32 is equal to the B-phase current sampling resistor R35, and the resistance range of the A-phase current sampling resistor R32 and the B-phase current sampling resistor R35 is 0.1-0.3 omega; particularly preferably, in the present embodiment, the resistance values of the a-phase current sampling resistor R32 and the B-phase current sampling resistor R35 are 0.2 Ω;
further preferably, in this embodiment, a positive phase input pin (i.e., pin No. 5) of the comparator 162 is connected to the reference voltage PWM signal HXREF output by the handpiece main MCU control chip 110, one path of an output pin (i.e., pin No. 7) of the comparator is connected to a negative phase input pin (i.e., pin No. 6) thereof, and the other path of the output pin outputs a double-sidedness control reference voltage value VREF-HX as a reference voltage value signal VREF1 to be connected to the motor driving chip 120, wherein the positive phase input pin of the comparator 162 is electrically connected to the current limiting filter module, and the current limiting filter module is connected to the positive phase input pin of the comparator 162 after current limiting and filtering protection is performed on the reference voltage PWM signal HXREF; the current-limiting filtering module comprises a third current-limiting resistor R64, a fourth current-limiting resistor R114 and a fifth current-limiting resistor R116 which are connected in series, the other end of the third current-limiting resistor R64 is grounded, and the other end of the fifth current-limiting resistor R116 is connected to a non-inverting input pin of the comparator 162; a connection point between the third current-limiting resistor R64 and the fourth current-limiting resistor R114 is connected to the reference voltage PWM signal HXREF, a connection point between the fourth current-limiting resistor R114 and the fifth current-limiting resistor R116 and a connection point between the fifth current-limiting resistor R116 and the non-inverting input pin of the comparator 162 are respectively connected to the first filter capacitor C50 and the second filter capacitor C90, and the other ends of the first filter capacitor C50 and the second filter capacitor C90 are respectively grounded.
The current regulation control circuit 160 of the embodiment requires fewer device structures and is low in cost, and meanwhile, the high-precision regulation of the control current of the stitch motor can be realized, so that the stitch motor 130 can be stably and reliably ensured to output proper motor torque; meanwhile, in the embodiment, three series current-limiting resistors with equal resistance values are adopted, and a grounded filter capacitor is further connected to a connection point of the current-limiting resistors, so that the structure is simple, and the comparator 162 can be safely and reliably protected.
In the embodiment, a bilateral stitch control method of a full-automatic computerized flat knitting machine is adopted on the basis of the bilateral stitch regulation control structure and the current regulation control circuit, and a stitch motor is adopted to realize the regulation of the needle pressing amplitude on a needle plate by driving a stitch slider to move so as to realize the regulation of the size of a knitted clothes coil; in the present embodiment, the stitch change target position request for knitting the clothing is set to: for the same row of woven clothes, reducing the stitch value of the positions of two sides of the row and the woven section at least 1 needle away from the row by at least 2 character codes relative to the preset stitch value of the row of woven clothes, and pre-inputting the stitch change target position requirement of the woven clothes into a machine head main MCU control chip; reducing the stitch value of the two sides of the row and the position of the knitting section which is 2-3 needles away from the row by 5-12 character codes relative to the preset stitch value of the row for knitting clothes; preferably, in the present embodiment, the stitch values of both sides of the row and the position of the knitting section 2-3 needles away from the row are reduced by 10 character codes relative to the preset stitch value of the row for knitting the clothes; further preferably, in the present embodiment, the preset stitch value range of the woven clothes is 15-100 character codes;
it should be noted that the stitch distance of the single unit and the unit number size of the stitch value referred to throughout the present application are determined according to the pattern of the woven clothing to be woven, which are common knowledge of those skilled in the art, and this embodiment is not specifically illustrated.
In this embodiment, the machine head main MCU control chip 110 outputs a driving signal to the mesh motor driving chip 120 after performing advanced response and correction according to the mesh change target position requirement and based on the machine head position signal, the mesh motor driving chip 120 outputs a mesh motor motion curve according to the driving signal, the mesh motor 130 executes motion with the operation curve as an instruction, so as to ensure that when the machine head moves to the mesh change target position, the mesh motor 130 drives the mesh slider to synchronously reach and change the stitch pressing amplitude on the needle plate, thereby realizing dynamic adjustment of the mesh value during the machine head motion; meanwhile, the control current of the mesh motor is calculated and determined according to a reference voltage PWM signal HXREF output by the handpiece main MCU control chip 110, and the dynamic real-time adjustment of the control current of the mesh motor is realized by adjusting the reference voltage PWM signal HXREF, so as to ensure that the output torque of the mesh motor 130 meets the driving requirement of a mesh slider; the handpiece main MCU control chip 110 outputs a reference voltage PWM signal HXREF, and the reference voltage PWM signal HXREF is calculated and determined according to the target position requirement of the degree change; then converting the reference voltage regulation PWM signal DMREF into a reference voltage value VREF-HX input to a mesh motor driving chip, and calculating and determining mesh motor control current based on the reference voltage value VREF-HX and a sampling resistor;
preferably, in the present embodiment, the driving signals include a motor speed signal STEP1 and a motor steering signal DIR 1; the range of the reference voltage value VREF-HX is 3-3.2V, and the range of the output torque of the mesh motor 130 is 0.4-0.45 Nm; the calculation formula of the control current of the A-phase mesh motor is as follows: i isBJ_A1VREF-DM/(8 × R32); the calculation formula of the control current of the B-phase mesh motor is as follows: i isBJ_B1VREF-DM/(8R 35), wherein IBJ_A1Controlling current for the motor with phase A, taking VREF-DM as a reference voltage value, and taking R32 as a phase A current sampling resistor; i isBJ_B1Controlling current for a B-phase current motor, taking VREF-DM as a reference voltage value, and taking R35 as a B-phase current sampling resistor;
preferably, in this embodiment, the requirement of the target position of the degree change is sent to the head main MCU control chip 110 by the human-computer interaction interface 150 through the CAN line communication mode, and the head position signal is output by the position sensor installed on the head and is input to the head main MCU control chip 110 through the control motherboard 140.
In this embodiment, the stitch value of the knitting section position between the two sides of the row and the position 2-3 needles away from the row is reduced by 10 words relative to the preset stitch value of the row of knitted clothes, and the stitch value is used as the stitch change target position requirement of the knitted clothes pre-input to the main MCU control chip of the machine head, and then an innovative scheme is further proposed for the technical difficulty existing in the two-sided stitch control, which specifically includes: on one hand, the machine head main MCU control chip 110 is used for carrying out advanced response correction according to the requirement of the target position of stitch change and based on a machine head position signal, the corrected signal is used as a driving signal output to the stitch motor driving chip 120, the stitch motor 130 is used for driving a stitch slider press needle to carry out bilateral stitch adjustment at the machine head position point needing stitch adjustment, the stitch motor 130 is matched with the machine head position to carry out accurate driving, the problem that the driving of the stitch motor 130 lags due to response and position change time is avoided, when the bilateral stitch control is actually carried out, the stitch motor driving chip 120 calculates and outputs a stitch motor motion curve according to the driving signal, the stitch motor 130 carries out motion by taking the motion curve as an instruction, and the stitch motor 130 is used for ensuring that the stitch slider synchronously arrives and changes the needle pressing amplitude on a needle plate when the machine head moves to the target position of stitch change, realizing dynamic adjustment of the mesh value in the movement process of the machine head; on the other hand, the machine head main MCU control chip 110 is utilized to output a reference voltage PWM signal which can be timely and flexibly input and adjusted, the reference voltage PWM signal can be determined according to the target position requirement of degree change input in advance, namely, the corresponding reference voltage PWM signal HXREF is determined according to different positions, when the machine head main MCU control chip works actually, the reference voltage PWM signal HXREF is directly input to the machine head main MCU control chip to flexibly realize the dynamic real-time adjustment of the control current of the degree motor, so as to ensure that the output torque of the degree motor meets the driving requirement of the degree slider, and further ensure that the degree motor can output proper motor torque when facing various dynamic adjustment requirements of degree; according to the embodiment, the bilateral stitch control of the full-automatic computerized flat knitting machine in the machine head running process is finally realized through the creative specific means, the bilateral stitch values of two sides of the knitted clothes are efficiently and accurately reduced, the knitting defect that the two sides of the knitted clothes are lengthened due to the roller traction effect of the computerized flat knitting machine can be effectively eliminated, and the inherent quality defect that the whole length of the knitted clothes is not parallel and level at present is very conveniently and effectively overcome.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. The full-automatic computerized flat knitting machine comprises a machine head main MCU control chip and a stitch motor driving chip, wherein the stitch motor is adopted to realize the adjustment of the needle pressing amplitude on a needle plate by driving a stitch slider to move, so as to realize the adjustment of the size of a knitted clothes coil, and the full-automatic computerized flat knitting machine is characterized in that the stitch change target position demand of the knitted clothes is set as: for the same row of woven clothes, reducing the stitch value of the positions of two sides of the row and the woven section at least 1 needle away from the row by at least 2 character codes relative to the preset stitch value of the row of woven clothes, and pre-inputting the stitch change target position requirement of the woven clothes into the machine head main MCU control chip;
the machine head main MCU control chip carries out advanced response correction according to the demand of the target position of stitch change and based on a machine head position signal and outputs a driving signal to a stitch motor driving chip, the stitch motor driving chip outputs a stitch motor motion curve according to the driving signal, and a stitch motor executes motion by taking the operation curve as an instruction, so that when the machine head moves to the target position of stitch change, the stitch motor drives a stitch slider to synchronously reach and change the stitch pressing amplitude on a needle plate, the double-stitch value of the woven clothes is reduced in the machine head motion process, and the problem that the double sides of the woven clothes are stretched is solved; meanwhile, the control current of the mesh motor is calculated and determined according to a reference voltage PWM signal output by a machine head main MCU control chip, and the dynamic real-time adjustment of the control current of the mesh motor is realized by adjusting the reference voltage PWM signal, so that the output torque of the mesh motor can meet the driving requirement of the mesh sliding block.
2. The method of claim 1, wherein the stitch values of the two sides of the row and the positions of the knitting sections 2-3 needles away from the two sides of the row are reduced by 5-12 codewords with respect to a preset stitch value of the row for knitting the clothes.
3. The method of claim 1, wherein the stitch values of both sides of the row and the positions of the knitting sections spaced from the positions of 2-3 needles are reduced by 10 codes relative to a preset stitch value of the row for knitting the clothes.
4. The method as claimed in claim 1, wherein the preset stitch value of the knitted fabric is 15-100 codes.
5. The method for controlling the bilateral mesh of the full-automatic computerized flat knitting machine according to claim 1, wherein the machine head main MCU control chip outputs a reference voltage PWM signal, and the reference voltage PWM signal is calculated and determined according to the mesh change target position requirement; and then converting the reference voltage regulation PWM signal into a reference voltage value VREF-HX input to the mesh motor driving chip, wherein the mesh motor control current is calculated and determined based on the reference voltage value VREF-HX and the sampling resistor.
6. The method of claim 5, wherein the driving signal comprises a motor speed signal and a motor direction signal; the range of the reference voltage value VREF-HX is 3-3.2V, and the range of the output torque of the mesh motor is 0.4-0.45 Nm.
7. The method of claim 5, wherein the stitch motor is a high speed responsive stepper motor, and the high speed responsive stepper motor is controlled in 1/4 subdivision mode.
8. The method of claim 7, wherein the head main MCU control chip employs an R32M chip STM2F103ZE, the stitch motor driving chip employs a DRV8818 driving chip, an input pin of the stitch motor driving chip respectively inputs a reference voltage value VREF-HX signal, a motor speed signal and a motor steering signal, and an ISENA port and an ISENB port of the stitch motor driving chip are respectively connected with an A-phase current sampling resistor R32 and a B-phase current sampling resistor R35; and the output pin of the mesh motor driving chip respectively outputs A-phase mesh motor control current and B-phase mesh motor control current.
9. The method according to claim 1, wherein the demand for the target position of the stitch change is sent to the main MCU control chip of the machine head by an upper computer through a communication method, and the position signal of the machine head is output by a position sensor mounted on the machine head and is input to the main MCU control chip of the machine head by a control motherboard.
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| EP1026299A2 (en) * | 1995-06-15 | 2000-08-09 | Shima Seiki Manufacturing Limited | Needle selection device for a flat knitting machine |
| CN102002805A (en) * | 2010-11-23 | 2011-04-06 | 丁建军 | Knitting jointing technique |
| CN106149189A (en) * | 2016-08-04 | 2016-11-23 | 浙江巨福科技有限公司 | A kind of novel double group degree mesh control device |
| CN108588991A (en) * | 2018-04-27 | 2018-09-28 | 内蒙古鹿王羊绒有限公司 | The method for highlighting three-dimensional flower pattern pattern by latitude plain colour bar |
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| EP1026299A2 (en) * | 1995-06-15 | 2000-08-09 | Shima Seiki Manufacturing Limited | Needle selection device for a flat knitting machine |
| CN102002805A (en) * | 2010-11-23 | 2011-04-06 | 丁建军 | Knitting jointing technique |
| CN106149189A (en) * | 2016-08-04 | 2016-11-23 | 浙江巨福科技有限公司 | A kind of novel double group degree mesh control device |
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