CN113091810A - Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof - Google Patents
Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof Download PDFInfo
- Publication number
- CN113091810A CN113091810A CN202110338636.7A CN202110338636A CN113091810A CN 113091810 A CN113091810 A CN 113091810A CN 202110338636 A CN202110338636 A CN 202110338636A CN 113091810 A CN113091810 A CN 113091810A
- Authority
- CN
- China
- Prior art keywords
- knitting needle
- permanent magnet
- knitting
- displacement sensor
- displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B35/00—Details of, or auxiliary devices incorporated in, knitting machines, not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Automation & Control Theory (AREA)
- Knitting Machines (AREA)
Abstract
A force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine comprises a motion seat, permanent magnet knitting needles, sinker meters and a displacement sensor, wherein the motion seat is respectively connected with a stepping motor and a linear guide rail, a plurality of knitting needle guide cylinders are uniformly inserted in the motion seat along the horizontal direction, the permanent magnet knitting needles are inserted in the knitting needle guide cylinders, an electromagnetic coil is arranged under each knitting needle guide cylinder, the electromagnetic coil is arranged on a coil mounting seat, the coil mounting seat is arranged on a sliding block of a servo motor module, a sinker meter mounting seat is arranged on the motion seat, the sinker meters are uniformly arranged on the sinker meter mounting seat along the horizontal direction, measuring heads of the sinker meters are in contact with heads of the permanent magnet knitting needles, the displacement sensor is positioned right above the permanent magnet knitting needles, and the displacement sensor is arranged on the displacement sensor mounting seat. The design not only improves the accuracy of the electromagnetic array driving structure design of the flat knitting machine and the knitting needle driving efficiency of the flat knitting machine, but also has convenient operation and high measuring precision.
Description
Technical Field
The invention relates to the technical field of textile, in particular to a force-displacement measuring device in a flat knitting machine electromagnetic array driving structure and a control method thereof, which are mainly suitable for improving the accuracy of the design of the flat knitting machine electromagnetic array driving structure.
Background
In the field of textile machines, circular jacquard machines weave patterns on a fabric to produce various designs and designs. The existing electronic needle selection device of the knitting needle computer jacquard circular knitting machine is mainly electromagnetic and piezoelectric, and realizes needle selection by utilizing mechanical parts such as a cam, a jacquard sheet, a needle jack and the like. With the continuous improvement of the rotating speed of the knitting machine, the requirements on the performances of the knitting needle and the cam are higher, and when the strength, the wear resistance and the like of the knitting needle and the cam reach the limit degree, the further improvement of the rotating speed is limited. In order to improve the transmission efficiency and overcome the transmission friction, a novel electromagnetic driving mode of the flat knitting machine is designed, and electromagnetic driving force is generated on a permanent magnet knitting needle according to the interaction of an electromagnetic field generated by a power-on coil and a magnetic field of the permanent magnet knitting needle, so that the knitting needle completes the knitting action. In order to improve the design efficiency and the knitting requirements of the flat knitting machine, the accuracy of the electromagnetic driving structure design of the flat knitting machine is analyzed through the needle position detection and the electromagnetic driving force measurement.
Disclosure of Invention
The invention aims to overcome the defect and the problem of low design accuracy of an electromagnetic array driving structure of a flat knitting machine in the prior art, and provides a force-displacement measuring device in the electromagnetic array driving structure of the flat knitting machine and a control method thereof, wherein the force-displacement measuring device improves the design accuracy.
In order to achieve the above purpose, the technical solution of the invention is as follows: a force-displacement measuring device in a flat knitting machine electromagnetic array driving structure comprises a motion seat, a permanent magnet knitting needle, a sinker meter and a displacement sensor, wherein the motion seat is connected with a stepping motor slide block, the stepping motor slide block is connected with a stepping motor, the stepping motor is arranged on a hanging plate, the hanging plate is arranged on a cross beam of a profile frame, the motion seat is connected with a linear guide rail slide block, the linear guide rail slide block is arranged on a linear guide rail, the linear guide rail is vertically arranged on the hanging plate, a plurality of knitting needle guide cylinders are uniformly inserted in the motion seat along the horizontal direction, the permanent magnet knitting needle is inserted in the knitting needle guide cylinders, an electromagnetic coil is arranged right below the knitting needle guide cylinders, the electromagnetic coil is arranged on a coil mounting seat, the coil mounting seat is arranged on a slide block of a servo motor module, the servo motor module is horizontally arranged on the hanging plate, the sinker meter mounting seat, the displacement sensor is arranged on the displacement sensor mounting seat, and the displacement sensor mounting seat is arranged on an upper beam of the section bar frame.
The motion seat includes a diaphragm and a riser of perpendicular connection, evenly seted up a plurality of knitting needle guide mounting holes along the horizontal direction on the diaphragm, seted up the survey meter mount pad mounting hole on the diaphragm, a riser is connected with step motor slider, linear guide slider respectively, is connected with the supporting shoe between a riser and the diaphragm.
The knitting needle guide cylinder comprises a cylinder body, an end cover and a bottom plate, the cylinder body is inserted on the motion seat, one end of the cylinder body is connected with the bottom plate, the other end of the cylinder body is inserted in the end cover, the bottom surface of the end cover is attached to the top surface of the motion seat, the permanent magnet knitting needle comprises a knitting needle, a knitting needle fixing seat and a permanent magnet, one end of the knitting needle is in contact with a measuring head of a micrometer, the other end of the knitting needle penetrates through the end cover and then is connected with the top surface of the knitting needle fixing seat, and the bottom surface of.
The end cover is provided with a guide hole, the knitting needle passes through the guide hole and then contacts with a measuring head of the dynamometer, the end cover is provided with an entry hole, and laser of the displacement sensor is aligned to the top surface of the knitting needle fixing seat after entering the entry hole.
The entry hole is of a semicircular structure.
The electromagnetic coil is sleeved on the coil framework, the coil framework is a hollow aluminum pipe, and the coil framework is inserted on the coil mounting seat.
The coil mounting seat comprises a mounting plate and a plurality of mounting columns vertically connected with the mounting plate, the mounting plate is connected with a sliding block of the servo motor module, a framework mounting hole is formed in the middle of each mounting column, and the coil framework is inserted into the framework mounting hole.
Survey gram meter mount pad includes No. two diaphragms and No. two risers of perpendicular connection, No. two diaphragms are connected with the motion seat, are connected with the polylith baffle between No. two diaphragms and No. two risers perpendicularly, and the polylith baffle is parallel to each other and evenly arranges along the horizontal direction, the open slot has been seted up at the position that lies in between two adjacent baffles on No. two risers, survey gram meter and install in the survey gram meter mounting groove that constitutes by No. two risers and two adjacent baffles, the gauge head of surveying gram meter contacts with the permanent magnetism knitting needle after passing the open slot.
A control method of a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine, the control method comprising the steps of:
s1, statically calibrating the displacement of the permanent magnet knitting needle in the Z-axis direction and the electromagnetic driving force borne by the permanent magnet knitting needle in the rising process through a displacement sensor and a dynamometer, and storing initial state data in an upper computer;
s2, setting a three-station weaving process current according to the process;
s3, respectively introducing driving currents for driving the permanent magnet knitting needles to the initial position points into the electromagnetic coils;
s4, judging whether each permanent magnet knitting needle reaches the initial set height through the position data of the permanent magnet knitting needle detected by the displacement sensor; if the permanent magnet knitting needles reach the initial set height, the upper computer controls the current driver to respectively load three-position driving current to each permanent magnet knitting needle; if the permanent magnet knitting needle does not reach the initial set height, the permanent magnet knitting needle is transmitted to a data control current driver of an upper computer through a displacement sensor to be adjusted;
s5, judging whether each permanent magnet knitting needle reaches the set process height through the position data of the permanent magnet knitting needle detected by the displacement sensor; if the permanent magnet knitting needle does not reach the set process height, the permanent magnet knitting needle is transmitted to a data control current driver of an upper computer through a displacement sensor to be adjusted;
s6, if each permanent magnet knitting needle completes the corresponding process requirement and process height, the upper computer outputs a return origin point signal, the current driver loads corresponding current to each electromagnetic coil, the permanent magnet knitting needles return to the origin points, and then the steps S1 to S5 are repeated.
Compared with the prior art, the invention has the beneficial effects that:
1. in the force-displacement measuring device in the electromagnetic array driving structure of the flat knitting machine and the control method thereof, the motion seat is connected with the stepping motor slide block, the stepping motor slide block is connected with the stepping motor, the motion seat is connected with the linear guide rail slide block, the linear guide rail slide block is arranged on the linear guide rail, and the motion seat moves along with the motion of the stepping motor, so that the initial distance of an air gap between a permanent magnet knitting needle and an electromagnetic coil is adjustable; the permanent magnet knitting needle is inserted into the knitting needle guide cylinder, the electromagnetic coil is arranged right below the knitting needle guide cylinder, the electromagnetic coil is installed on the coil installation seat, the coil installation seat is installed on a sliding block of the servo motor module, a plurality of sinker meters are evenly installed on the sinker meter installation seat along the horizontal direction, measuring heads of the sinker meters are in contact with the head of the permanent magnet knitting needle, and the displacement sensor is located right above the permanent magnet knitting needle. Therefore, the invention not only improves the accuracy of the electromagnetic array driving structure design of the flat knitting machine and the knitting needle driving efficiency of the flat knitting machine, but also has convenient operation and high measuring precision.
2. In the force-displacement measuring device in the electromagnetic array driving structure of the flat knitting machine and the control method thereof, a motion base comprises a first transverse plate and a first vertical plate which are vertically connected, a plurality of knitting needle guide cylinder mounting holes are uniformly formed in the first transverse plate along the horizontal direction, a sinker meter mounting base mounting hole is formed in the first transverse plate, the first vertical plate is respectively connected with a stepping motor sliding block and a linear guide rail sliding block, and a supporting block is connected between the first vertical plate and the first transverse plate; the motion seat with the structure has high structural strength and is convenient for the installation and the disassembly of each part. Therefore, the invention has high structural strength and simple and convenient assembly and disassembly.
3. The invention relates to a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine and a control method thereof.A cylinder body is inserted on a moving seat, one end of the cylinder body is connected with a bottom plate, the other end of the cylinder body is inserted in an end cover, the bottom surface of the end cover is attached to the top surface of the moving seat, one end of a knitting needle is contacted with a measuring head of a dynamometer, the other end of the knitting needle passes through the end cover and then is connected with the top surface of a knitting needle fixing seat, the bottom surface of the knitting needle fixing seat is connected with a permanent magnet, and the permanent magnet knitting needle and a knitting needle guide cylinder of the structure are simple and convenient to mount and dismount; the end cover is provided with a guide hole, a knitting needle passes through the guide hole and then contacts with a measuring head of the dynamometer, the end cover is provided with an entry hole which is of a semicircular structure, laser of the displacement sensor is aligned to the top surface of the knitting needle fixing seat after passing through the entry hole, and the end cover with the structure can not only ensure the movement direction of the knitting needle, but also ensure that the displacement sensor can reliably measure the displacement of the knitting needle. Therefore, the invention has simple and convenient installation and disassembly and high reliability.
4. The invention relates to a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine and a control method thereof.A solenoid coil is sleeved on a coil framework, the coil framework is a hollow aluminum pipe, a coil mounting seat comprises a mounting plate and a plurality of mounting columns vertically connected with the mounting plate, the mounting plate is connected with a slide block of a servo motor module, the middle part of each mounting column is provided with a framework mounting hole, and the coil framework is inserted in the framework mounting hole. Therefore, the invention has simple and convenient installation and disassembly and high reliability.
5. The invention relates to a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine and a control method thereof.A sinker meter mounting seat comprises a second transverse plate and a second vertical plate which are vertically connected, a plurality of baffle plates are vertically connected between the second transverse plate and the second vertical plate, an open slot is arranged on the position, positioned between two adjacent baffle plates, of the second vertical plate, a sinker meter is arranged in a sinker meter mounting groove formed by the second vertical plate and the two adjacent baffle plates, and a measuring head of the sinker meter is contacted with a permanent magnet knitting needle after penetrating through the open slot. Therefore, the invention has simple and convenient installation and disassembly and high reliability.
Drawings
FIG. 1 is an overall assembly diagram of the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
FIG. 3 is a schematic view of the assembled structure of the dynamometer of the present invention.
Fig. 4 is a schematic view of an assembly structure of the displacement sensor of the present invention.
Fig. 5 is a schematic structural view of the kinematic seat in fig. 2.
Fig. 6 is a schematic view of the structure of the needle cylinder of fig. 2.
Fig. 7 is a schematic view of the construction of the permanent-magnet needle of fig. 2.
Fig. 8 is a schematic view of the end cap of fig. 6.
Fig. 9 is a schematic view of the mounting structure of the solenoid coil of fig. 2.
Fig. 10 is a schematic view of the structure of the coil mount of fig. 2.
Fig. 11 is a schematic structural view of the mounting base of the dynamometer of fig. 2.
Fig. 12 is a control schematic of the present invention.
FIG. 13 is a flow chart of the three-position control of the knitting needle of the present invention.
Fig. 14 is a diagram of a knitting motion locus of an electromagnetically driven needle of the flat knitting machine.
Fig. 15 is a process diagram of the knitting of the electromagnetic driving knitting needle of the flat knitting machine.
In the figure: the section bar frame 1, the hanging plate 2, the motion seat 3, a first transverse plate 31, a knitting needle guide tube mounting hole 311, a sinker meter mounting seat mounting hole 312, a first vertical plate 32, a supporting block 33, a permanent magnet knitting needle 4, a knitting needle 41, a knitting needle fixing seat 42, a permanent magnet 43, a sinker meter 5, a displacement sensor 6, a stepping motor 7, a linear guide rail 8, a knitting needle guide tube 9, a barrel 91, an end cover 92, a guide hole 921, an incidence hole 922, a bottom plate 93, an electromagnetic coil 10, a coil mounting seat 11, a mounting plate 111, a mounting column 112, a framework mounting hole 113, a servo motor module 12, a sinker meter mounting seat 13, a second transverse plate 131, a second vertical plate 132, a baffle plate 133, an open slot 134, a displacement sensor mounting seat 14 and a coil framework 15.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 15, a force-displacement measuring device in a flat knitting machine electromagnetic array driving structure comprises a motion base 3, permanent magnet knitting needles 4, a dynamometer 5 and a displacement sensor 6, wherein the motion base 3 is connected with a stepping motor slider, the stepping motor slider is connected with a stepping motor 7, the stepping motor 7 is installed on a hanging plate 2, the hanging plate 2 is installed on a cross beam of a section bar frame 1, the motion base 3 is connected with a linear guide rail slider, the linear guide rail slider is installed on a linear guide rail 8, the linear guide rail 8 is vertically installed on the hanging plate 2, a plurality of knitting needle guide cylinders 9 are uniformly inserted on the motion base 3 along the horizontal direction, the permanent magnet knitting needles 4 are inserted in the knitting needle guide cylinders 9, an electromagnetic coil 10 is arranged right below the knitting needle guide cylinders 9, the electromagnetic coil 10 is installed on a coil installation base 11, and the coil installation base 11 is installed on a slider of a servo motor module 12, servo motor module 12 horizontal installation is on link plate 2, install on the motion seat 3 and survey the gram meter mount pad 13, evenly install a plurality of grams meters 5 along the horizontal direction on surveying the gram meter mount pad 13, the gauge head of survey the gram meter 5 contacts with the head of permanent magnetism knitting needle 4, displacement sensor 6 is located permanent magnetism knitting needle 4 directly over, and displacement sensor 6 installs on displacement sensor mount pad 14, and displacement sensor mount pad 14 is installed on the upper beam of section bar frame 1.
The motion seat 3 comprises a first transverse plate 31 and a first vertical plate 32 which are vertically connected, a plurality of knitting needle guide cylinder mounting holes 311 are uniformly formed in the first transverse plate 31 in the horizontal direction, a sinker meter mounting seat mounting hole 312 is formed in the first transverse plate 31, the first vertical plate 32 is respectively connected with a stepping motor sliding block and a linear guide rail sliding block, and a supporting block 33 is connected between the first vertical plate 32 and the first transverse plate 31.
The knitting needle guide cylinder 9 comprises a cylinder body 91, an end cover 92 and a bottom plate 93, the cylinder body 91 is inserted on the motion seat 3, one end of the cylinder body 91 is connected with the bottom plate 93, the other end of the cylinder body 91 is inserted in the end cover 92, the bottom surface of the end cover 92 is attached to the top surface of the motion seat 3, the permanent magnet knitting needle 4 comprises a knitting needle 41, a knitting needle fixing seat 42 and a permanent magnet 43, one end of the knitting needle 41 is in contact with a measuring head of the dynamometer 5, the other end of the knitting needle 41 penetrates through the end cover 92 and then is connected with the top surface of the knitting needle fixing seat 42, and the bottom surface of the.
The end cover 92 is provided with a guide hole 921, the knitting needle 41 passes through the guide hole 921 and then contacts with a measuring head of the dynamometer 5, the end cover 92 is provided with an entry hole 922, and laser of the displacement sensor 6 aligns with the top surface of the knitting needle fixing seat 42 after passing through the entry hole 922.
The entry hole 922 is of a semicircular structure.
The electromagnetic coil 10 is sleeved on a coil framework 15, the coil framework 15 is a hollow aluminum pipe, and the coil framework 15 is inserted on the coil mounting seat 11.
The coil mounting seat 11 comprises a mounting plate 111 and a plurality of mounting columns 112 vertically connected with the mounting plate 111, the mounting plate 111 is connected with a slide block of the servo motor module 12, a framework mounting hole 113 is formed in the middle of the mounting column 112, and the coil framework 15 is inserted into the framework mounting hole 113.
Survey gram meter mount pad 13 includes No. two diaphragm 131 and No. two risers 132 of perpendicular connection, No. two diaphragm 131 is connected with motion seat 3, is connected with polylith baffle 133 between No. two diaphragm 131 and No. two risers 132 perpendicularly, and polylith baffle 133 is parallel to each other and evenly arranges along the horizontal direction, open slot 134 has been seted up at the position that lies in between two adjacent baffles 133 on No. two risers 132, survey gram meter 5 and install in the survey gram meter mounting groove that constitutes by No. two risers 132 and two adjacent baffles 133, the gauge head of surveying gram meter 5 contacts with permanent magnetism knitting needle 4 after passing open slot 134.
A control method of a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine, the control method comprising the steps of:
s1, statically calibrating the displacement of the permanent magnet knitting needle 4 in the Z-axis direction and the electromagnetic driving force borne by the permanent magnet knitting needle 4 in the ascending process through the displacement sensor 6 and the dynamometer 5, and storing initial state data in an upper computer;
s2, setting a three-station weaving process current according to the process;
s3, respectively supplying driving currents for driving the permanent magnetic knitting needles 4 to the initial position points to the electromagnetic coils 10;
s4, judging whether each permanent magnetic knitting needle 4 reaches the initial set height through the position data of the permanent magnetic knitting needle 4 detected by the displacement sensor 6; if the permanent magnet knitting needles 4 reach the initial set height, the upper computer controls the current driver to load three-position driving current to the permanent magnet knitting needles 4 respectively; if the permanent magnet knitting needle 4 does not reach the initial set height, the data transmitted to the upper computer through the displacement sensor 6 controls the current driver to adjust;
s5, judging whether each permanent magnetic knitting needle 4 reaches the set process height through the position data of the permanent magnetic knitting needle 4 detected by the displacement sensor 6; if the permanent magnet knitting needle 4 does not reach the set process height, the data transmitted to an upper computer through a displacement sensor 6 controls a current driver to adjust;
s6, each permanent magnet knitting needle 4 completes the corresponding process requirement and process height, the upper computer outputs an original point return signal, the current driver loads corresponding current to each electromagnetic coil 10 to enable the permanent magnet knitting needles 4 to return to the original points, and then the steps S1 to S5 are repeated.
The principle of the invention is illustrated as follows:
the dynamometer is arranged in the dynamometer mounting groove in a clearance fit manner; the knitting needle guide cylinder is fixed through interference fit with the guide cylinder mounting hole, the cylinder body is fixed with the end cover through interference fit, and the bottom plate is fixed with the bottom of the cylinder body through resin glue; the knitting needle is fixed on the knitting needle fixing seat through resin glue, and the permanent magnet is fixed on the bottom surface of the knitting needle fixing seat through the resin glue; the guide hole slightly controls the motion direction of the permanent magnet knitting needle in the motion process of the permanent magnet knitting needle; the incident hole is mainly used for facilitating laser of a displacement sensor to align to the top surface of a knitting needle fixing seat in the motion process of the permanent magnet knitting needle so as to measure the displacement of the knitting needle; the electromagnetic coil is mainly formed by densely winding enameled wires with the thickness of 0.2 mm; the coil framework is installed in interference fit with the framework installation hole.
This design is at first static demarcation permanent magnetism knitting needle at the ascending electromagnetic drive power that the in-process received of the ascending of Z axle ascending displacement volume and permanent magnetism knitting needle, and save the initial state data in the host computer, recycle RS232 serial ports communication line, the displacement volume and the electromagnetic drive power of permanent magnetism knitting needle in the transmission host computer, handle input data through STM32, change the duty cycle of PWM ripples, control full-bridge circuit's current output, and sample output current, realize inside closed-loop control, load full-bridge drive circuit output current to solenoid, thereby drive the permanent magnetism knitting needle, realize suspension control. The flat knitting machine needle driving device is simple in structure, convenient to operate, feasible in measuring method and high in measuring accuracy, and meanwhile, the plurality of permanent magnetic knitting needles are controlled simultaneously, so that the knitting needle driving efficiency of the flat knitting machine is improved.
FIG. 14 shows a single needle programming trace, which controls the actual position of a permanent magnet knitting needle during the driving process by initially calibrating the relationship between the solenoid driving current and the displacement of the permanent magnet knitting needle; according to the initial calibration current (tucking current, floating current and looping current), the electromagnetic coils are respectively controlled to drive the permanent magnet knitting needles to complete the knitting process shown in the attached figure 15 (1 needle tucking-2 needle floating-3 needle looping-4 needle tucking-5 needle floating-6 needle looping). A relation curve between the current and the height of the permanent magnet knitting needle is drawn through experiments, the height of the permanent magnet knitting needle corresponding to a minimum current value is defined as an initial calibration height of the permanent magnet knitting needle, the height is used as a control origin for subsequent control, and the defined minimum current value is the initial calibration current.
Example 1:
referring to fig. 1 to 15, a force-displacement measuring device in a flat knitting machine electromagnetic array driving structure comprises a motion base 3, permanent magnet knitting needles 4, a dynamometer 5 and a displacement sensor 6, wherein the motion base 3 is connected with a stepping motor slider, the stepping motor slider is connected with a stepping motor 7, the stepping motor 7 is installed on a hanging plate 2, the hanging plate 2 is installed on a cross beam of a section bar frame 1, the motion base 3 is connected with a linear guide rail slider, the linear guide rail slider is installed on a linear guide rail 8, the linear guide rail 8 is vertically installed on the hanging plate 2, a plurality of knitting needle guide cylinders 9 are uniformly inserted on the motion base 3 along the horizontal direction, the permanent magnet knitting needles 4 are inserted in the knitting needle guide cylinders 9, an electromagnetic coil 10 is arranged right below the knitting needle guide cylinders 9, the electromagnetic coil 10 is installed on a coil installation base 11, and the coil installation base 11 is installed on a slider of a servo motor module 12, servo motor module 12 horizontal installation is on link plate 2, install on the motion seat 3 and survey the gram meter mount pad 13, evenly install a plurality of grams meters 5 along the horizontal direction on surveying the gram meter mount pad 13, the gauge head of survey the gram meter 5 contacts with the head of permanent magnetism knitting needle 4, displacement sensor 6 is located permanent magnetism knitting needle 4 directly over, and displacement sensor 6 installs on displacement sensor mount pad 14, and displacement sensor mount pad 14 is installed on the upper beam of section bar frame 1.
According to the scheme, the control method of the force-displacement measuring device in the electromagnetic array driving structure of the flat knitting machine comprises the following steps:
s1, statically calibrating the displacement of the permanent magnet knitting needle 4 in the Z-axis direction and the electromagnetic driving force borne by the permanent magnet knitting needle 4 in the ascending process through the displacement sensor 6 and the dynamometer 5, and storing initial state data in an upper computer;
s2, setting a three-station weaving process current according to the process;
s3, respectively supplying driving currents for driving the permanent magnetic knitting needles 4 to the initial position points to the electromagnetic coils 10;
s4, judging whether each permanent magnetic knitting needle 4 reaches the initial set height through the position data of the permanent magnetic knitting needle 4 detected by the displacement sensor 6; if the permanent magnet knitting needles 4 reach the initial set height, the upper computer controls the current driver to load three-position driving current to the permanent magnet knitting needles 4 respectively; if the permanent magnet knitting needle 4 does not reach the initial set height, the data transmitted to the upper computer through the displacement sensor 6 controls the current driver to adjust;
s5, judging whether each permanent magnetic knitting needle 4 reaches the set process height through the position data of the permanent magnetic knitting needle 4 detected by the displacement sensor 6; if the permanent magnet knitting needle 4 does not reach the set process height, the data transmitted to an upper computer through a displacement sensor 6 controls a current driver to adjust;
s6, each permanent magnet knitting needle 4 completes the corresponding process requirement and process height, the upper computer outputs an original point return signal, the current driver loads corresponding current to each electromagnetic coil 10 to enable the permanent magnet knitting needles 4 to return to the original points, and then the steps S1 to S5 are repeated.
Example 2:
the basic contents are the same as example 1, except that:
the motion seat 3 comprises a first transverse plate 31 and a first vertical plate 32 which are vertically connected, a plurality of knitting needle guide cylinder mounting holes 311 are uniformly formed in the first transverse plate 31 in the horizontal direction, a sinker meter mounting seat mounting hole 312 is formed in the first transverse plate 31, the first vertical plate 32 is respectively connected with a stepping motor sliding block and a linear guide rail sliding block, and a supporting block 33 is connected between the first vertical plate 32 and the first transverse plate 31.
Example 3:
the basic contents are the same as example 1, except that:
the knitting needle guide cylinder 9 comprises a cylinder body 91, an end cover 92 and a bottom plate 93, the cylinder body 91 is inserted on the motion seat 3, one end of the cylinder body 91 is connected with the bottom plate 93, the other end of the cylinder body 91 is inserted in the end cover 92, the bottom surface of the end cover 92 is attached to the top surface of the motion seat 3, the permanent magnet knitting needle 4 comprises a knitting needle 41, a knitting needle fixing seat 42 and a permanent magnet 43, one end of the knitting needle 41 is in contact with a measuring head of the dynamometer 5, the other end of the knitting needle 41 penetrates through the end cover 92 and then is connected with the top surface of the knitting needle fixing seat 42, and the bottom surface of the; the end cover 92 is provided with a guide hole 921, the knitting needle 41 passes through the guide hole 921 and then contacts with a measuring head of the dynamometer 5, the end cover 92 is provided with an entry hole 922, and laser of the displacement sensor 6 is aligned to the top surface of the knitting needle fixing seat 42 after passing through the entry hole 922; the entry hole 922 is of a semicircular structure.
Example 4:
the basic contents are the same as example 1, except that:
the electromagnetic coil 10 is sleeved on a coil framework 15, the coil framework 15 is a hollow aluminum pipe, and the coil framework 15 is inserted on the coil mounting seat 11; the coil mounting seat 11 comprises a mounting plate 111 and a plurality of mounting columns 112 vertically connected with the mounting plate 111, the mounting plate 111 is connected with a slide block of the servo motor module 12, a framework mounting hole 113 is formed in the middle of the mounting column 112, and the coil framework 15 is inserted into the framework mounting hole 113.
Example 5:
the basic contents are the same as example 1, except that:
survey gram meter mount pad 13 includes No. two diaphragm 131 and No. two risers 132 of perpendicular connection, No. two diaphragm 131 is connected with motion seat 3, is connected with polylith baffle 133 between No. two diaphragm 131 and No. two risers 132 perpendicularly, and polylith baffle 133 is parallel to each other and evenly arranges along the horizontal direction, open slot 134 has been seted up at the position that lies in between two adjacent baffles 133 on No. two risers 132, survey gram meter 5 and install in the survey gram meter mounting groove that constitutes by No. two risers 132 and two adjacent baffles 133, the gauge head of surveying gram meter 5 contacts with permanent magnetism knitting needle 4 after passing open slot 134.
Claims (9)
1. A force-displacement measuring device in a flat knitting machine electromagnetic array driving structure is characterized by comprising a motion seat (3), permanent magnetic knitting needles (4), a sinker meter (5) and a displacement sensor (6), wherein the motion seat (3) is connected with a stepping motor slide block, the stepping motor slide block is connected with a stepping motor (7), the stepping motor (7) is installed on a hanging plate (2), the hanging plate (2) is installed on a cross beam of a section bar frame (1), the motion seat (3) is connected with a linear guide rail slide block, the linear guide rail slide block is installed on a linear guide rail (8), the linear guide rail (8) is vertically installed on the hanging plate (2), a plurality of knitting needle guide cylinders (9) are uniformly inserted on the motion seat (3) along the horizontal direction, the permanent magnetic knitting needles (4) are inserted in the knitting needle guide cylinders (9), and electromagnetic coils (10) are arranged right below the knitting needle guide cylinders (9), solenoid (10) are installed on coil mount pad (11), and install on the slider of servo motor module (12) coil mount pad (11), and servo motor module (12) horizontal installation is on link plate (2), install on motion seat (3) and survey gram meter mount pad (13), survey and gram meter mount pad (13) and go up along the horizontal direction evenly to install a plurality of survey gram meters (5), and the gauge head of surveying gram meter (5) contacts with the head of permanent magnetism knitting needle (4), displacement sensor (6) are located permanent magnetism knitting needle (4) directly over, and displacement sensor (6) are installed on displacement sensor mount pad (14), and displacement sensor mount pad (14) are installed on the upper beam of section bar frame (1).
2. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 1, wherein: the motion seat (3) comprises a transverse plate (31) and a vertical plate (32) which are vertically connected, a plurality of knitting needle guide cylinder mounting holes (311) are uniformly formed in the transverse plate (31) along the horizontal direction, a sinker meter mounting seat mounting hole (312) is formed in the transverse plate (31), the vertical plate (32) is respectively connected with a stepping motor sliding block and a linear guide rail sliding block, and a supporting block (33) is connected between the vertical plate (32) and the transverse plate (31).
3. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 1, wherein: the knitting needle guide cylinder (9) comprises a cylinder body (91), an end cover (92) and a bottom plate (93), the cylinder body (91) is inserted on the moving seat (3), one end of the cylinder body (91) is connected with the bottom plate (93), the other end of the cylinder body (91) is inserted in the end cover (92), the bottom surface of the end cover (92) is attached to the top surface of the moving seat (3), the permanent magnet knitting needle (4) comprises a knitting needle (41), a knitting needle fixing seat (42) and a permanent magnet (43), one end of the knitting needle (41) is in contact with a measuring head of the sinker meter (5), the other end of the knitting needle (41) penetrates through the end cover (92) and then is connected with the top surface of the knitting needle fixing seat (42), and the bottom surface of the knitting needle fixing seat (42) is connected with.
4. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 3, wherein: the end cover (92) is provided with a guide hole (921), the knitting needle (41) penetrates through the guide hole (921) and then contacts with a measuring head of the dynamometer (5), the end cover (92) is provided with a penetration hole (922), and laser of the displacement sensor (6) is aligned to the top surface of the knitting needle fixing seat (42) after passing through the penetration hole (922).
5. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 4, wherein: the entry hole (922) is of a semicircular structure.
6. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 1, wherein: the electromagnetic coil (10) is sleeved on the coil framework (15), the coil framework (15) is a hollow aluminum pipe, and the coil framework (15) is inserted on the coil mounting seat (11).
7. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 6, wherein: coil mount pad (11) are including mounting panel (111) and go up a plurality of erection columns (112) of vertical connection, mounting panel (111) are connected with the slider of servo motor module (12), skeleton mounting hole (113) have been seted up in the middle part of erection column (112), coil skeleton (15) cartridge is in skeleton mounting hole (113).
8. The device for measuring force-displacement in the electromagnetic array driving structure of the flat knitting machine according to claim 1, wherein: survey gram meter mount pad (13) including No. two diaphragm (131) and No. two riser (132) of perpendicular connection, No. two diaphragm (131) are connected with motion seat (3), are connected with polylith baffle (133) between No. two diaphragm (131) and No. two riser (132) perpendicularly, and polylith baffle (133) are parallel to each other and evenly arrange along the horizontal direction, open slot (134) have been seted up at the position that lies in between two adjacent baffles (133) on No. two riser (132), survey gram meter (5) are installed in the survey gram meter mounting groove that constitutes by No. two riser (132) and two adjacent baffles (133), and the gauge head of surveying gram meter (5) passes behind open slot (134) and contacts with permanent magnetism knitting needle (4).
9. A method for controlling a force-displacement measuring device in an electromagnetic array driving structure of a flat knitting machine according to claim 1, characterized in that: the control method comprises the following steps:
s1, statically calibrating the displacement of the permanent magnet knitting needle (4) in the Z-axis direction and the electromagnetic driving force borne by the permanent magnet knitting needle (4) in the ascending process through a displacement sensor (6) and a dynamometer (5), and storing initial state data in an upper computer;
s2, setting a three-station weaving process current according to the process;
s3, respectively introducing driving currents for driving the permanent magnet knitting needles (4) to the initial position points into the electromagnetic coils (10);
s4, judging whether each permanent magnet knitting needle (4) reaches the initial set height through the position data of the permanent magnet knitting needle (4) detected by the displacement sensor (6); if the permanent magnet knitting needles (4) reach the initial set height, the upper computer controls a current driver to load three-position driving current to each permanent magnet knitting needle (4) respectively; if the permanent magnet knitting needle (4) does not reach the initial set height, the data transmitted to the upper computer through the displacement sensor (6) controls the current driver to adjust;
s5, judging whether each permanent magnet knitting needle (4) reaches a set process height through the position data of the permanent magnet knitting needle (4) detected by the displacement sensor (6); if the permanent magnet knitting needle (4) does not reach the set process height, the data transmitted to the upper computer through the displacement sensor (6) controls the current driver to adjust;
s6, each permanent magnet knitting needle (4) completes the corresponding process requirement and process height, the upper computer outputs an original point return signal, the current driver loads corresponding current to each electromagnetic coil (10) to enable the permanent magnet knitting needles (4) to return to the original points, and then the steps S1 to S5 are repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110338636.7A CN113091810B (en) | 2021-03-30 | 2021-03-30 | Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110338636.7A CN113091810B (en) | 2021-03-30 | 2021-03-30 | Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113091810A true CN113091810A (en) | 2021-07-09 |
| CN113091810B CN113091810B (en) | 2023-04-11 |
Family
ID=76671128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110338636.7A Active CN113091810B (en) | 2021-03-30 | 2021-03-30 | Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113091810B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993019234A1 (en) * | 1992-03-17 | 1993-09-30 | Universal Maschinenfabrik Dr. Rudolf Schieber Gmbh & Co. Kg | Textile machine |
| JPH08170253A (en) * | 1994-12-14 | 1996-07-02 | Tsudakoma Corp | Driving device for knitting needle in knitting machine |
| JP2004214555A (en) * | 2003-01-08 | 2004-07-29 | Nikon Corp | Magnetic levitation table equipment and aligner |
| CN101503842A (en) * | 2009-03-16 | 2009-08-12 | 常熟市国光机械有限公司 | Knitting needle control auxiliary apparatus for knitting machinery |
| CN102684400A (en) * | 2012-05-31 | 2012-09-19 | 天津工业大学 | Halbach array permanent magnetic efficient energy-saving textile motor |
| CN103451840A (en) * | 2013-08-30 | 2013-12-18 | 武汉纺织大学 | High-speed magnetic suspension type driving Jacquard knitting needle circular weft knitting machine |
| CN107700055A (en) * | 2017-10-24 | 2018-02-16 | 武汉纺织大学 | Electromagnetic levitation type directly drives knitting needle knitted jacquard circular knitting machine |
| CN108517616A (en) * | 2018-04-27 | 2018-09-11 | 武汉纺织大学 | A kind of electromagnetic levitation type flat-knitting machine head telecontrol equipment |
| CN110989395A (en) * | 2019-11-18 | 2020-04-10 | 武汉纺织大学 | Electromagnetic-permanent magnet coupling driving knitting needle magnetic field simulation system and simulation method |
| CN111648016A (en) * | 2020-04-30 | 2020-09-11 | 武汉纺织大学 | Hybrid magnetic suspension knitting needle driving device and control method thereof |
| CN111691056A (en) * | 2020-05-15 | 2020-09-22 | 武汉纺织大学 | Electromagnetic array type driving device of knitting needle flat knitting machine and control method thereof |
-
2021
- 2021-03-30 CN CN202110338636.7A patent/CN113091810B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1993019234A1 (en) * | 1992-03-17 | 1993-09-30 | Universal Maschinenfabrik Dr. Rudolf Schieber Gmbh & Co. Kg | Textile machine |
| JPH08170253A (en) * | 1994-12-14 | 1996-07-02 | Tsudakoma Corp | Driving device for knitting needle in knitting machine |
| JP2004214555A (en) * | 2003-01-08 | 2004-07-29 | Nikon Corp | Magnetic levitation table equipment and aligner |
| CN101503842A (en) * | 2009-03-16 | 2009-08-12 | 常熟市国光机械有限公司 | Knitting needle control auxiliary apparatus for knitting machinery |
| CN102684400A (en) * | 2012-05-31 | 2012-09-19 | 天津工业大学 | Halbach array permanent magnetic efficient energy-saving textile motor |
| CN103451840A (en) * | 2013-08-30 | 2013-12-18 | 武汉纺织大学 | High-speed magnetic suspension type driving Jacquard knitting needle circular weft knitting machine |
| CN107700055A (en) * | 2017-10-24 | 2018-02-16 | 武汉纺织大学 | Electromagnetic levitation type directly drives knitting needle knitted jacquard circular knitting machine |
| CN108517616A (en) * | 2018-04-27 | 2018-09-11 | 武汉纺织大学 | A kind of electromagnetic levitation type flat-knitting machine head telecontrol equipment |
| CN110989395A (en) * | 2019-11-18 | 2020-04-10 | 武汉纺织大学 | Electromagnetic-permanent magnet coupling driving knitting needle magnetic field simulation system and simulation method |
| CN111648016A (en) * | 2020-04-30 | 2020-09-11 | 武汉纺织大学 | Hybrid magnetic suspension knitting needle driving device and control method thereof |
| CN111691056A (en) * | 2020-05-15 | 2020-09-22 | 武汉纺织大学 | Electromagnetic array type driving device of knitting needle flat knitting machine and control method thereof |
Non-Patent Citations (6)
| Title |
|---|
| ZHANG CHI等: "Analysis and Experiment of the Multi-needles Trajectory in Magnetic Driven Model", 《MECHANICS AND MATERIALS》 * |
| 刘洋: "高速磁悬浮驱动织针系统的运动稳定性研究及电磁耦合分析", 《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅰ辑》 * |
| 吴晓光等: "零传动模式的高速轴向悬浮织针运动控制与试验分析", 《针纺织学报》 * |
| 左小艳等: "大行程磁悬浮织针驱动结构研究与仿真分析", 《针织工业》 * |
| 张成俊等: "电磁阵列式织针驱动结构研究与仿真", 《针织工业》 * |
| 张成俊等: "电脑横机织针的磁驱动设计与建模", 《纺织学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113091810B (en) | 2023-04-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204472151U (en) | A kind of rotating table system of automatic stamping machine | |
| CN205002959U (en) | Measuring instrument of axial clearance of bearing | |
| CN111487523B (en) | Hall sensor testing method for carrying IC tester | |
| CN113091810B (en) | Force-displacement measuring device in electromagnetic array driving structure of flat knitting machine and control method thereof | |
| US5588312A (en) | Driving apparatus for needles of knitting machine | |
| CN107592787A (en) | With the positioner of plastic grating chi positioning mounting head | |
| CN106872176B (en) | A kind of electromagnetic linear actuator testing stand | |
| CN206913003U (en) | A kind of body shell clamping and positioning device | |
| CN101806647B (en) | Intelligent micro-tension sensor | |
| CN107462360A (en) | A kind of brake electromagnetism force test device of elevator driving | |
| CN111707478A (en) | Performance parameter set forming type detection equipment and detection method for automobile window lifting system | |
| CN215999744U (en) | Precision detection device of numerically controlled lathe | |
| CN205656288U (en) | Coil detection device | |
| CN206757185U (en) | A kind of resonant scanning mirror | |
| CN100516339C (en) | Embroidery frame position control apparatus and process | |
| CN111487522B (en) | Hall sensor testing device for carrying IC tester | |
| CN206938914U (en) | A kind of hinge locator of band adjustment function | |
| CN209147901U (en) | For detecting the detection device of torsion beam wheel side bracket | |
| CN106324504A (en) | Virtual displacement tester for measuring virtual displacement of reduction gear unit | |
| CN218916829U (en) | Assembly detection tool | |
| CN219657852U (en) | Hall element detection device | |
| CN104359605B (en) | A kind of idle motors linear force output detecting apparatus and detection method | |
| CN217319729U (en) | Screen printing machine and net rack positioning mechanism thereof | |
| CN219695258U (en) | Probe module and detection device | |
| CN214041479U (en) | Motor test equipment and test fixture thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |