CN115933523B - Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system - Google Patents
Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system Download PDFInfo
- Publication number
- CN115933523B CN115933523B CN202211738944.XA CN202211738944A CN115933523B CN 115933523 B CN115933523 B CN 115933523B CN 202211738944 A CN202211738944 A CN 202211738944A CN 115933523 B CN115933523 B CN 115933523B
- Authority
- CN
- China
- Prior art keywords
- yarn guide
- yarn
- servo
- bow
- synchronous motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 88
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000006870 function Effects 0.000 claims description 11
- 210000005069 ears Anatomy 0.000 claims description 9
- 238000000465 moulding Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000009987 spinning Methods 0.000 abstract description 7
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 15
- 238000003860 storage Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 101000794560 Arbacia punctulata Calmodulin-beta Proteins 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011946 reduction process Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 210000002268 wool Anatomy 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Spinning Or Twisting Of Yarns (AREA)
Abstract
The application relates to the technical field of spinning, and discloses a synchronous motion control method of a servo yarn guiding system, which comprises the following steps: establishing a yarn guide virtual axis; establishing a first electronic cam table between the yarn guide bow and a yarn guide virtual shaft through the position relation between the yarn guide bow and the spindle height; after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam. In this application, can make after the servo enabling of system lead yarn bow and can establish synchronous motion with the virtual axle of yarn that leads through first electronic cam to only need to give the control command of the virtual axle of yarn that leads when servo yarn guiding system carries out the motion instruction, lead yarn bow servo follow the virtual axle of yarn that leads through synchronous motion can, be favorable to saving the loaded down with trivial details mechanical device of walking the frame machine, improve the convenience of regulation control, labour saving and time saving. The application also discloses a synchronous motion control device of the servo yarn guiding system and the servo yarn guiding system.
Description
Technical Field
The present application relates to the technical field of spinning, for example, to a synchronous motion control method and device of a servo yarn guiding system, and a servo yarn guiding system.
Background
At present, most of existing yarn ear forming mechanisms on a vertical spindle frame walking machine adopt mechanical forming mechanisms, such as a cam forming mechanism, a forming rail forming mechanism and the like, and according to spinning process requirements and characteristics of various wool yarns and the requirements of subsequent processing, the diameter, starting point, winding pitch, sector height and yarn tension requirements of yarn ears are adjustable and controllable.
In the related art, the existing mechanical forming mechanism cannot meet the requirements, parameter adjustment is not comprehensive and accurate enough, winding pitch and yarn tension can be roughly adjusted, adjustment parameters are quite complicated, better forming can be obtained only by multiple trial adjustments, mechanical devices are complicated, adjustment and control are not convenient enough, and time and labor are consumed easily.
Therefore, how to save the complicated mechanical device of the frame walking machine, improve the convenience of adjusting and controlling, save time and labor and become the technical problem to be solved urgently by the technicians in the field.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
The embodiment of the disclosure provides a synchronous motion control method and device of a servo yarn guide system and the servo yarn guide system, so as to solve the technical problems of saving complex mechanical devices of a frame walking machine, improving the convenience of adjustment control and saving time and labor.
In some embodiments, a method of controlling synchronous motion of a servo yarn guide system includes:
establishing a yarn guide virtual axis;
establishing a first electronic cam table between the yarn guide bow and a yarn guide virtual shaft through the position relation between the yarn guide bow and the spindle height;
after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam.
In some embodiments, a synchronous motion control device of a servo yarn guide system includes a processor and a memory storing program instructions, the processor being configured to perform any one of the above synchronous motion control methods of the servo yarn guide system when executing the program instructions.
In some embodiments, a servo yarn guide system includes: the product body and the synchronous motion control device of the servo yarn guiding system. The synchronous motion control device of the servo yarn guiding system is arranged on the product body.
The synchronous motion control method and device for the servo yarn guide system and the servo yarn guide system provided by the embodiment of the disclosure can realize the following technical effects:
the yarn ear height change in the automatic winding process can be clearly shown by establishing the yarn guiding virtual shaft, and meanwhile, the first electronic cam table between the yarn guiding bow and the yarn guiding virtual shaft is established through the position relation between the position of the yarn guiding bow and the spindle height, so that the yarn guiding bow can establish synchronous motion with the yarn guiding virtual shaft through the first electronic cam after servo enabling of the system, and therefore, when a servo yarn guiding system carries out motion instructions, only a control instruction of the yarn guiding virtual shaft is required to be issued, the yarn guiding bow servo follows the yarn guiding virtual shaft through synchronous motion, complicated mechanical devices of a walking machine are saved, convenience of adjusting and controlling is improved, and time and labor are saved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
FIG. 1 is a schematic diagram of a method for controlling synchronous motion of a servo yarn guide system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided in an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided in an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided by an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided by an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided by an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided by an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system provided by an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of another method for controlling synchronous motion of a servo yarn guide system according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a synchronous motion control device of a servo yarn guiding system according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe embodiments of the present disclosure and embodiments thereof and are not intended to limit the indicated device, element, or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art in view of the specific circumstances.
In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present disclosure may be understood by those of ordinary skill in the art according to specific circumstances.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.
Referring to fig. 1, an embodiment of the present disclosure provides a synchronous motion control method of a servo yarn guiding system, including:
s01, establishing a yarn guide virtual axis;
s02, establishing a first electronic cam table between the yarn guide bow and a yarn guide virtual shaft through the position relation between the position of the yarn guide bow and the height of the spindle;
s03, after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam.
By adopting the synchronous motion control method of the servo yarn guide system, which is provided by the embodiment of the disclosure, the yarn spike height change in the automatic winding process can be clearly displayed by establishing the yarn guide virtual shaft, and meanwhile, the first electronic cam table between the yarn guide bow and the yarn guide virtual shaft is established by the position relation between the position of the yarn guide bow and the spindle height, so that the yarn guide bow can establish synchronous motion with the yarn guide virtual shaft through the first electronic cam after the servo of the system is enabled, and therefore, when the servo yarn guide system carries out motion instructions, only a control instruction of the yarn guide virtual shaft is required to be issued, the yarn guide bow servo follows the yarn guide virtual shaft through synchronous motion, thereby being beneficial to saving complicated mechanical devices of a walking machine, improving the convenience of adjustment control, saving time and saving labor.
As shown in fig. 2, optionally, S02, a first electronic cam table between the yarn guide bow and the yarn guide virtual axis is established by a positional relationship between a position of the yarn guide bow and a spindle height, including:
s21, dividing the position relation between the position of the yarn guide bow and the spindle height into a plurality of sections;
s22, determining a first electronic cam corresponding to each section according to the shape of the target yarn ear, and integrating the corresponding relations between the sections and the first electronic cams to form a first electronic cam table.
Like this, be favorable to servo yarn guiding system can be according to the first electronic cam table that forms, only need to give the control command of the virtual axle of yarn guiding, just can realize yarn guiding bow servo and the virtual axle synchronous motion of yarn guiding to make yarn guiding bow coil yarn on the spindle, can save the loaded down with trivial details mechanical device of walking the frame machine effectively, improve the convenience of yarn guiding coiling regulation control, labour saving and time saving.
Optionally, the positional relationship between the position of the yarn guide and the spindle height refers to a vertical distance between a mapping point mapped on the spindle and the bottom end surface of the spindle with any point on the bottom end surface of the yarn guide as an emission point. Therefore, the relation interval between the position of the yarn guide bow and the position of the spindle height can be determined, the position of the yarn guide bow relative to the spindle height is determined, the yarn guide virtual shaft is favorably controlled to rotate through the first electronic cam table, the yarn guide bow and the yarn guide virtual shaft are controlled to move, the yarn is wound on the spindle, the yarn spike is better formed on the spindle, and the yarn winding forming efficiency and accuracy can be effectively improved.
Alternatively, the positional relationship of the position of the yarn guide bow and the spindle height is divided into 20 to 50 sections. Therefore, the yarn guide bow rotates around the spindle in the process of guiding yarn to reach the designated height, and the yarn ear height and the yarn guide bow position are not in linear relation, so that the position relation between the yarn guide bow position and the spindle height is divided into 20-50 sections, the yarn guide bow can synchronously move along with the yarn guide virtual shaft in a plurality of sections after the yarn guide virtual shaft gives a motion instruction, the yarn guide bow can be ensured to better wind the yarn on the spindle, yarn ears are better formed, and the yarn ear forming efficiency is improved.
Alternatively, the number of sections into which the positional relationship between the position of the yarn guide and the spindle height is divided may be set according to the actual spindle height. For example, when the spindle height is 30cm, the position relation between the position of the yarn guide bow and the spindle height can be divided into 30 sections; when the spindle height is 35cm, the position relation between the position of the yarn guide bow and the spindle height can be divided into 35 sections. Therefore, the position of the yarn guide bow is not in a linear relation with the yarn ear height, the position relation between the position of the yarn guide bow and the spindle height is divided into a plurality of sections, the range of the sections is set within a range of 1cm, and the yarn guide bow is accurately controlled in the synchronous movement process of the yarn guide bow and the yarn guide virtual shaft after the yarn guide virtual shaft gives a movement instruction, so that the yarn guide bow can better wind yarn on the spindle, the yarn ear can be better formed on the spindle, and the yarn ear forming efficiency and quality are improved.
For example, the shape of the target yarn ear is an irregular ellipse, and when the height of the yarn guide bow is 20cm, the position A of the yarn guide bow corresponds to the position 0-1 cm of the spindle height; the position B of the yarn guide bow corresponds to the position 1.1-2 cm of the spindle height; the position C of the yarn guide bow corresponds to the position 2.1 cm-3 cm of the spindle height; the position T of the … … yarn guide bow corresponds to 19.1 cm-20 cm of the spindle height, at the moment, a section (A, 0-1 cm) corresponds to the first electronic cam a, a section (B, 1.1-2 cm) corresponds to the first electronic cam B, a section (C, 2.1-3 cm) corresponds to the first electronic cam C, a section (T, 19.1-20 cm) corresponds to the first electronic cam T, and the first electronic cam a, the first electronic cam B and the first electronic cam C … … first electronic cam T are integrated to form a first electronic cam table.
As shown in fig. 3, optionally, S03, the yarn guide bow establishes synchronous motion with the yarn guide virtual axis through the first electronic cam after the servo enabling of the system, including:
s31, acquiring the position of the yarn guide bow in real time;
s32, determining a section where the yarn guide bow is located according to the position of the yarn guide bow;
s33, determining a current first electronic cam corresponding to the yarn guide bow according to the section where the position of the yarn guide bow is located;
s34, the yarn guiding bow and the yarn guiding virtual shaft are synchronously moved through the current first electronic cam.
Therefore, the current first electronic cam can be determined according to the position of the yarn guide bow obtained in real time and the interval corresponding to the yarn guide bow, so that the yarn guide bow can establish synchronous motion with the yarn guide virtual shaft according to the current first electronic cam, and the yarn guide bow can be controlled to wind yarns on the spindle at the current position only by a motion instruction of the yarn guide virtual shaft under a servo yarn guide system, so that yarn ears are better formed on the spindle, the yarn ear forming efficiency is improved, complicated mechanical devices of a frame walking machine can be saved, the convenience of adjusting and controlling the yarn ear forming is improved, and the time and labor are saved.
Optionally, S31, acquiring the position of the yarn guide bow in real time includes:
the vertical distance of the yarn guide bow relative to one end of the spindle is obtained in real time through a distance sensor.
Therefore, the real-time position of the yarn guide bow relative to the spindle can be accurately obtained, and the section where the yarn guide bow is located is determined according to the real-time position of the yarn guide bow, so that the first electronic cam corresponding to the yarn guide bow can be quickly and accurately determined, synchronous motion is established between the first electronic cam and the yarn guide virtual shaft, the yarn guide bow and the yarn guide virtual shaft can be effectively controlled to synchronously move through the yarn guide virtual shaft, yarns can be accurately wound on the spindle, the yarn ears can be better formed, complicated mechanical devices can be saved, and time and labor are saved.
For example, when the position A of the yarn guide bow obtained in real time through the distance sensor is 0.5cm, the section (A, 0-1 cm) where the position of the yarn guide bow is located can be determined, then the first electronic cam a corresponding to the section (A, 0-1 cm) is determined, and then the yarn guide bow and the yarn guide virtual shaft synchronously move through the first electronic cam a; when the position of the yarn guide bow obtained in real time through the distance sensor is 1.5cm, the section where the position of the yarn guide bow is located is (B, 1.1-2 cm), then the first electronic cam B corresponding to the section (B, 1.1-2 cm) is determined, and then the yarn guide bow and the yarn guide virtual shaft synchronously move through the first electronic cam B; when the position C of the yarn guide bow obtained in real time through the distance sensor is 2.2cm, the section where the position of the yarn guide bow is located is determined to be (C, 2.1-3 cm), then the first electronic cam C, … … corresponding to the section is determined according to the section (C, 2.1-3 cm), and so on; and then, a synchronous motion instruction is issued to the yarn guiding virtual shaft according to the first electronic cam table so as to control the yarn guiding bow to wind the yarn on the corresponding height of the spindle according to the shape of the target yarn ear, namely, the yarn guiding virtual shaft is controlled to rotate through the first electronic cam a, the yarn guiding bow synchronously rotates with the yarn guiding virtual shaft at the moment so as to wind the yarn on the position of 0.5cm of the spindle height, the yarn guiding virtual shaft is controlled to rotate through the first electronic cam b, the yarn guiding bow synchronously rotates with the yarn guiding virtual shaft at the moment so as to wind the yarn on the position of 1.5cm of the spindle height, the yarn guiding bow synchronously rotates with the yarn guiding virtual shaft at the moment through the first electronic cam c so as to wind the yarn on the position of 2.2 of the spindle height, … … and the like.
As shown in fig. 4, optionally, the synchronous motion control method of the servo yarn guiding system further includes:
s01, establishing a yarn guide virtual axis;
s02, establishing a first electronic cam table between the yarn guide bow and a yarn guide virtual shaft through the position relation between the position of the yarn guide bow and the height of the spindle;
s03, after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam;
s04, obtaining a target line number of production;
s05, controlling the rotating speed of the yarn guiding virtual shaft according to the target line number.
Therefore, the winding speed of the yarns is different due to different diameters of the yarns with different yarn numbers, the produced target yarn numbers are obtained, the rotating speed of the yarn guiding virtual shaft is controlled according to the target signals, after synchronous motion of the yarn guiding bow and the yarn guiding virtual shaft is established, a motion command can be directly issued to the yarn guiding virtual shaft, so that the rotating speed of the yarn guiding virtual shaft is synchronous with the rotating speed of the yarn guiding bow, the purpose of controlling the rotating speed of the yarn guiding bow by controlling the rotating speed of the yarn guiding virtual shaft is achieved, the rotating speed of the yarn guiding bow is ensured to be matched with the target yarn numbers, the yarn guiding bow can wind the yarns on a spindle better, and the yarn ear forming efficiency is improved.
Optionally, the target line number obtained for production is a target line number input by a user through the interaction device. Therefore, the production target line number can be conveniently and rapidly obtained through the interaction equipment, and the control basis is provided for controlling the rotating speed of the yarn guide virtual shaft.
Referring to fig. 5, optionally, S05, controlling the rotation speed of the yarn guiding virtual axis according to the target line number includes:
s51, generating a corresponding relation between the line number and the rotating speed of the yarn guide virtual shaft;
s52, determining the rotating speed of the yarn guide virtual shaft corresponding to the target yarn number according to the corresponding relation between the yarn number and the rotating speed of the yarn guide virtual shaft.
Therefore, the winding speeds of the yarn guide bow are different due to different diameters of yarns with different thread numbers, so that the rotating speed of the yarn guide virtual shaft is controlled according to the produced target thread numbers, and when the yarn guide bow and the yarn guide virtual shaft synchronously move, the movement of the yarn guide bow is matched with the target thread numbers, the yarn guide bow is facilitated to wind the yarns on the spindle better, the yarn ears can be formed on the spindle better, and the efficiency and quality of yarn ear forming are improved.
For example, the rotation speed of the virtual yarn guide shaft corresponding to the line number 1 is 2000r/min; the rotating speed of the yarn guide virtual shaft corresponding to the yarn number 2 is 2500r/min; the rotating speed of the virtual yarn guide shaft corresponding to the line number 3 is 3000r/min; when the target line number input by the user is 1, the rotating speed of the virtual yarn guiding shaft can be controlled to be 2000r/min; when the target line number input by the user is 2, the rotating speed of the virtual yarn guiding shaft can be controlled to 2500r/min; when the target line number obtained through the interaction equipment is 3, the rotating speed of the virtual yarn guiding shaft can be controlled to be 3000r/min.
As shown in fig. 6, optionally, the synchronous motion control method of the servo yarn guiding system further includes:
s01, establishing a yarn guide virtual axis;
s02, establishing a first electronic cam table between the yarn guide bow and a yarn guide virtual shaft through the position relation between the position of the yarn guide bow and the height of the spindle;
s03, after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam;
s06, establishing a virtual axle of the frame;
s07, calculating a molding curve of the yarn ears through a molding function, and establishing synchronous movement of the frame and the virtual shaft of the frame by taking the molding curve as a second electronic cam;
s08, the frame virtual axis and the yarn guiding virtual axis establish synchronous motion relation through the electronic gear.
Therefore, a frame virtual shaft is added in the system, and a forming curve of a yarn ear in the forming function calculation is adopted, so that the forming curve establishes synchronous motion of the frame and the frame virtual shaft for the second electronic cam, the frame virtual shaft establishes a synchronous motion relation with the yarn guiding virtual shaft through the electronic gear, the yarn guiding bow only needs to reach a winding starting point of a binding layer before returning, the system establishes synchronous motion, a spinning position is continuously enlarged along with winding of spinning, and the frame servo can directly establish a synchronous motion relation with the yarn guiding bow servo, thereby being beneficial to synchronous motion of the frame servo and the yarn guiding bow servo, effectively saving complex mechanical devices of the frame machine, realizing synchronous motion control of the frame and the yarn guiding bow, improving convenience of adjusting control, saving time and labor.
Referring to fig. 7, optionally, S07, before calculating a forming curve of the yarn ear by using a forming function and using the forming curve to establish synchronous movement of the frame and the virtual axis of the frame for the second electronic cam, further includes:
s09, calculating and determining the frame winding distance.
Therefore, before the synchronous motion of the frame and the frame virtual shaft is established by taking the forming curve as the second electronic cam, the winding distance of the frame can be calculated and determined, so that the second electronic cam can establish the synchronous motion of the frame and the frame virtual shaft on the basis of the winding distance of the frame, after a synchronous motion instruction is given to the frame virtual shaft, the winding distance of the frame can be matched with the motion of the yarn guide bow when the frame synchronously moves with the frame virtual shaft, the yarn guide bow and the frame are ensured to be mutually matched, yarns can be wound on the spindle better, yarn ears can be wound on the spindle better, and the efficiency and quality of yarn ear forming are improved.
Referring to fig. 8, optionally, before the frame virtual axis and the yarn guiding virtual axis establish a synchronous motion relationship through the electronic gear, S08 further includes:
s10, calculating the height of the yarn ears at the winding starting point of the binding layer;
s11, determining that a yarn guide bow reaches a binding layer working starting point along with a yarn guide virtual axis;
and S12, after the yarn guide bow is determined to reach the starting point of the binding layer, establishing synchronous movement of the frame and the virtual shaft of the frame through the second electronic cam.
Therefore, the frame and the frame virtual shaft synchronously move after the yarn guide bow reaches the starting point of the binding layer, so that the yarn guide bow only needs to reach the starting point of the binding layer winding before the carriage returns to wind, and the yarn guide servo system establishes synchronous movement, thereby being beneficial to directly establishing synchronous movement relation between the frame servo and the yarn guide bow servo under the condition that the spinning position is continuously enlarged along with the winding of spinning, namely, the yarn guide bow can directly guide the yarn virtual shaft and the frame virtual shaft to give synchronous movement instructions, so that the yarn guide bow can synchronously move with the frame, the yarn is wound on the spindle better, and the yarn spike forming efficiency is improved.
Referring to fig. 9, optionally, after the frame virtual axis and the yarn guiding virtual axis establish a synchronous motion relationship through the electronic gear, S08 further includes:
s13, a synchronous motion instruction is issued to the frame virtual shaft and the yarn guiding virtual shaft, and the frame starts to return and wind.
Therefore, after the frame virtual shaft and the yarn guiding virtual shaft establish a synchronous motion relation through the electronic gear, the yarn guiding bow and the frame can synchronously move only by giving a synchronous motion instruction to the yarn guiding virtual shaft, so that yarns can be wound on the spindle better, and the yarn ear forming efficiency is improved.
Optionally, after the yarn guiding virtual shaft and the frame virtual shaft are disconnected from the electronic gear synchronization, the method further comprises:
the yarn guide bow finishes winding and enters a yarn guide bow reduction process.
Therefore, winding can be finished after the yarn ear is formed, the yarn guide bow enters the yarn guide bow reduction process, and winding forming is performed again, so that the efficiency of yarn ear winding forming is improved.
It will be appreciated that the specific steps of the yarn guide restoration process are well known to those skilled in the art, and thus the specific steps of the yarn guide restoration process are not described in detail herein.
Alternatively, the speed ratio of the electronic gear may be obtained by an interactive device. Therefore, the speed ratio of the corresponding electronic gear can be conveniently obtained through the interaction equipment according to yarns of different types, and after the frame virtual shaft and the yarn guiding virtual shaft establish a synchronous motion relation through the electronic gear, the frame virtual shaft and the yarn guiding virtual shaft can accurately synchronously move after a motion instruction is issued by the yarn guiding virtual shaft, so that the frame and the yarn guiding virtual shaft can synchronously move, complicated mechanical devices can be saved, the convenience of adjusting and controlling is improved, and time and labor are saved.
Referring to fig. 10, an embodiment of the present disclosure provides a synchronous motion control device of a servo yarn guiding system, which includes a processor (processor) 100 and a memory (memory) 101. Optionally, the apparatus may further include a communication interface (communication interface) 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via the bus 103. The communication interface 102 may be used for information transfer. Processor 100 may invoke logic instructions in memory 101 to perform the synchronous motion control method of the servo yarn guide system of the above-described embodiments.
Further, the logic instructions in the memory 101 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 101 is a computer readable storage medium that can be used to store a software program, a computer executable program, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes the program instructions/modules stored in the memory 101 to perform the functional application and data processing, i.e. to implement the synchronous motion control method of the servo yarn guide system in the above embodiment.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal device, etc. Further, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
Embodiments of the present disclosure provide a servo yarn guide system, comprising: the product body and the synchronous motion control device of the servo yarn guiding system. The synchronous motion control device of the servo yarn guiding system is arranged on the product body. The mounting relationships described herein are not limited to placement within a product, but include mounting connections to other components of a product, including but not limited to physical, electrical, or signal transmission connections, etc. It will be appreciated by those skilled in the art that the synchronous motion control means of the servo yarn guide system can be adapted to the available product body, thereby realizing other possible embodiments.
Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the method of controlling synchronous motion of a servo yarn guide system described above.
The computer readable storage medium may be a transitory computer readable storage medium or a non-transitory computer readable storage medium.
Embodiments of the present disclosure may be embodied in a software product stored on a storage medium, including one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a method according to embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium including: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (the) are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean that the stated features, integers, steps, operations, elements, and/or components are present, but that the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (9)
1. A synchronous motion control method for a servo yarn guide system, comprising:
establishing a yarn guide virtual axis;
establishing a first electronic cam table between the yarn guide bow and the yarn guide virtual shaft through the position relation between the yarn guide bow and the spindle height;
after servo enabling of the system, the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the first electronic cam;
the first electronic cam table between the yarn guide bow and the yarn guide virtual shaft is established through the position relation between the yarn guide bow and the spindle height, and the first electronic cam table comprises:
dividing the position relation between the position of the yarn guide bow and the spindle height into a plurality of sections;
and determining a first electronic cam corresponding to each section according to the shape of the target yarn ear, and integrating the corresponding relations between the sections and the first electronic cams to form a first electronic cam table.
2. The method for controlling synchronous motion of a servo yarn guide system according to claim 1, wherein the positional relationship between the position of the yarn guide bow and the spindle height is divided into 20 to 50 sections.
3. The method according to claim 1, wherein the yarn guide bow establishes synchronous motion with the yarn guide virtual shaft through the first electronic cam after system servo enabling, comprising:
acquiring the position of the yarn guide bow in real time;
determining the section where the yarn guide bow is positioned according to the position of the yarn guide bow;
determining a current first electronic cam corresponding to the yarn guide bow according to the section where the position of the yarn guide bow is located;
and the yarn guide bow and the yarn guide virtual shaft are synchronously moved through the current first electronic cam.
4. The method of claim 3, wherein acquiring the position of the yarn guide in real time comprises:
and acquiring the vertical distance of the yarn guide bow relative to one end of the spindle in real time through a distance sensor.
5. The method for controlling the synchronous motion of a servo yarn guide system according to claim 1, further comprising:
obtaining a target line number of production;
and controlling the rotating speed of the yarn guiding virtual shaft according to the target yarn number.
6. The method for controlling the synchronous motion of a servo yarn guide system according to any one of claims 1 to 5, further comprising:
establishing a virtual axle of the frame;
calculating a molding curve of the yarn ears through a molding function, and establishing synchronous movement of the frame and the virtual shaft of the frame by taking the molding curve as a second electronic cam;
the frame virtual shaft establishes a synchronous motion relation with the yarn guiding virtual shaft through an electronic gear.
7. The method of claim 6, wherein the electronic gear ratio is obtained by an interactive device.
8. A synchronous motion control device of a servo yarn guide system comprising a processor and a memory storing program instructions, characterized in that the processor is configured to execute the synchronous motion control method of a servo yarn guide system according to any one of claims 1 to 7 when executing the program instructions.
9. A servo yarn guide system comprising:
a product body;
the synchronous motion control device of a servo yarn guide system of claim 8, mounted to said product body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211738944.XA CN115933523B (en) | 2022-12-30 | 2022-12-30 | Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211738944.XA CN115933523B (en) | 2022-12-30 | 2022-12-30 | Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115933523A CN115933523A (en) | 2023-04-07 |
| CN115933523B true CN115933523B (en) | 2024-02-23 |
Family
ID=86550641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211738944.XA Active CN115933523B (en) | 2022-12-30 | 2022-12-30 | Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115933523B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103576596A (en) * | 2012-07-20 | 2014-02-12 | 中达电通股份有限公司 | Spandex thread spinner control device |
| CN114509985A (en) * | 2020-11-17 | 2022-05-17 | 沈阳新松机器人自动化股份有限公司 | Virtual axis control system based on motion control |
| CN217869286U (en) * | 2022-06-30 | 2022-11-22 | 内蒙古鄂尔多斯资源股份有限公司 | Spinning frame system |
| CN115435101A (en) * | 2022-11-03 | 2022-12-06 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Large electrically-driven rectangular vacuum gate valve and motion control method |
-
2022
- 2022-12-30 CN CN202211738944.XA patent/CN115933523B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103576596A (en) * | 2012-07-20 | 2014-02-12 | 中达电通股份有限公司 | Spandex thread spinner control device |
| CN114509985A (en) * | 2020-11-17 | 2022-05-17 | 沈阳新松机器人自动化股份有限公司 | Virtual axis control system based on motion control |
| CN217869286U (en) * | 2022-06-30 | 2022-11-22 | 内蒙古鄂尔多斯资源股份有限公司 | Spinning frame system |
| CN115435101A (en) * | 2022-11-03 | 2022-12-06 | 中国空气动力研究与发展中心设备设计与测试技术研究所 | Large electrically-driven rectangular vacuum gate valve and motion control method |
Non-Patent Citations (3)
| Title |
|---|
| FN561型立锭走车粗纺细纱机运动特性的分析(上);项其权;《北京纺织》;正文第一节~第三节 * |
| FN561型立锭走车粗纺细纱机运动特性的分析(下);项其权;《北京纺织》;正文第四节~第六节 * |
| 对细纱卷绕工艺调试方法的探讨;宫相志;《棉纺织技术》;第47-49页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115933523A (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107850887B (en) | S-shaped curve planning method and device and numerical control machine tool | |
| US7370823B2 (en) | Method and device for laying of elongated winding material | |
| CN110347167A (en) | A kind of speed planning method and speed planning system | |
| US20070225139A1 (en) | Automatic tool changing method and device for machine tool controlled by numerical controller | |
| CN107368639A (en) | Speed planning method, apparatus, computer equipment and storage medium | |
| CN101950164B (en) | Flat knitting machine nose high speed reversing control method and control system thereof | |
| CN109426151A (en) | Real-time flexible acceleration/deceleration control algorithm based on adaptive prediction and prediction correction | |
| CN105834578A (en) | Bi-axial synchronous laser cutting machine control system | |
| CN105619822A (en) | 3D printer motion control system and method | |
| CN115933523B (en) | Synchronous motion control method and device for servo yarn guiding system and servo yarn guiding system | |
| CN104199466A (en) | Control method and system for closed-loop stepping motor of sewing machine | |
| CN101487168B (en) | Guide bar sliding control system for high-speed warp knitting machine | |
| CN107291053A (en) | A kind of flexible Acceleration-deceleration Control Method of nurbs curve direct interpolation | |
| CN103375662A (en) | Three-dimensional suspension movement control suspension system for high-altitude shooting and movably shooting method thereof | |
| CN103246236B (en) | A kind of digital control system method for control speed considering little straight-line segment and tie point speed | |
| US10773349B2 (en) | Machine tool and control method for machine tool | |
| CN109656200B (en) | Flexible acceleration and deceleration control method and system for machine table | |
| CN101141087A (en) | Non-mesopore motor stator coil automatic wire bonding technique and device | |
| CN202390628U (en) | Special control system for guide bar sidesway of high-speed warp knitting machine | |
| CN107490827B (en) | Optical fiber disposal method and optical fiber cutting machine | |
| CN206332588U (en) | A kind of bus cable device of rotor winding machine | |
| CN109647930A (en) | A kind of wire drawing machine wrap-up | |
| CN110535380A (en) | A kind of method for controlling stepping motor, device, system and storage medium | |
| CN104670997B (en) | Method for changing position folding line of movable rail seat on winch screw into straight line | |
| CN109491297B (en) | Microscope picture acquisition method and system |
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 |