CN108866781A - The control method of straight-bar machines and straight-bar machines - Google Patents
The control method of straight-bar machines and straight-bar machines Download PDFInfo
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- CN108866781A CN108866781A CN201710336088.8A CN201710336088A CN108866781A CN 108866781 A CN108866781 A CN 108866781A CN 201710336088 A CN201710336088 A CN 201710336088A CN 108866781 A CN108866781 A CN 108866781A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000009954 braiding Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000009940 knitting Methods 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Classifications
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B7/00—Flat-bed knitting machines with independently-movable needles
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/94—Driving-gear not otherwise provided for
- D04B15/96—Driving-gear not otherwise provided for in flat-bed knitting machines
-
- 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
- D04B35/10—Indicating, warning, or safety devices, e.g. stop motions
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
Abstract
The present invention provides the control method of a kind of straight-bar machines and straight-bar machines, and the straight-bar machines includes master control borad, driving plate, head and motor group；The master control borad is connect with the driving plate and the head respectively by controller local area network Can bus；The driving plate and the head are connect with the motor group respectively, are replaced common twisted-pair cable and shielded cable using Can bus, can be reduced cable cost and processing cost, and, Can bus reliability and stability are high, and the stability of straight-bar machines can be improved in long transmission distance.
Description
Technical field
The present embodiments relate to automatic knitting skill more particularly to the control methods of a kind of straight-bar machines and straight-bar machines.
Background technique
Straight-bar machines is using the machine that laterally braiding needle bed is woven, and full-automatic straight-bar machines is by computer technology and knitting work
A kind of straight-bar machines that skill combines, it can control the selection of each needle, thus, replacement flower unrestricted with ranges of pattern
Type rapidly, conveniently, braiding speed it is high the advantages that.
In the process of running, main shaft ruler is the benchmark of all movements of straight-bar machines to straight-bar machines, and control system will be known currently in real time
Executing agency where be located at main shaft ruler.Therefore, only main shaft ruler is stablized accurately, just can guarantee executing agency's movement
Accurate and stability, and then guarantee the correctness and braid efficiency of braiding.Currently, the method for determining main shaft ruler is：Main shaft drives
Encoder feedback signal is sent to master control borad by encoder feedback line by device, and master control borad is determined according to encoder feedback signal
Main shaft ruler out, master control borad determines the movement that executes of current executing agency according to main shaft ruler, and is driven by control signal wire to main shaft
Dynamic device sends control signal, then controls current executing agency according to the control signal by spindle driver and execute corresponding movement.
In order to guarantee that control signal and encoder feedback signal are interference-free, control signal wire and encoder feedback line are all adopted
With twisted-pair cable and shielded cable, since cable core number is too many, so that cable cost and processing cost are all very high, also,
In During Process of Long-term Operation, it is also easy to appear the problems such as cable loosens, so that system stability declines.
Summary of the invention
The embodiment of the present invention provides the control method of a kind of straight-bar machines and straight-bar machines, can reduce cable cost and processing cost,
Improve the stability of straight-bar machines.
On the one hand the embodiment of the present invention provides a kind of straight-bar machines, including：Master control borad, driving plate, head and motor group；
The master control borad is connect with the driving plate and the head respectively by controller local area network Can bus；
The driving plate and the head are connect with the motor group respectively.
In one embodiment, the motor group includes first motor group and the second motor group；
The first motor group is connect with the head；The first motor group is for executing braid movement；
The second motor group is connect with the driving plate；The second motor group is used to provide power for the straight-bar machines.
In one embodiment, the first motor group includes yarn mouth motor, station motor and degree mesh motor.
In one embodiment, the second motor group includes spindle motor, shaking table motor and stepping roller motor.
In one embodiment, the straight-bar machines further includes inductor；The inductor interrupts alarm signal for obtaining；It is described
It interrupts alarm signal and is used to indicate the failure of braiding process；
The inductor is connect with the driving plate.
On the other hand the embodiment of the present invention provides a kind of control method of straight-bar machines, the straight-bar machines include master control borad, driving plate,
Head and motor group, the method includes：
The master control borad obtains main shaft ruler information and current needle from the driving plate by controller local area network Can bus
Position；The main shaft ruler information is the information that the driving plate is determined according to the position of motor encoder；
The master control borad generates the first control according to main shaft ruler information, the current pin position and client requirement information and refers to
It enables；First control instruction includes the location point of each motor execution braid movement in the motor group；
First control instruction is sent to the driving plate and the machine by the Can bus by the master control borad
Head, so that the driving plate and the head, which control the motor group, executes braid movement.
In one embodiment, the method also includes：
The moment is being powered on, the master control borad is sent to the driver by the Can bus and carries every needle encoder
The signal of number, so that the driving plate determines the position of the motor encoder according to the number of every needle encoder；Institute
State the numerical value that the number of every needle encoder gets for the master control borad according to preset total needle amount and total coding device number.
In one embodiment, the method also includes：
When the head passes through head zero position, the master control borad sends the second control instruction to the driver；Institute
State the second control instruction be used to indicate the driver the head reach head zero position when start determine main shaft ruler and
Current pin position.
In one embodiment, the method also includes：
Whether the two neighboring current pin position that the master control borad judgement receives is continuous；
If it is not, then sending the first alarm signal, and controls the straight-bar machines and stop working.
In one embodiment, the method also includes：
When whether the time interval for the two neighboring current pin position that the master control borad judgement receives is greater than default
Between threshold value；
If so, sending the second alarm signal, and controls the straight-bar machines and stop working.
The control method of straight-bar machines and straight-bar machines provided in an embodiment of the present invention, master control borad by Can bus respectively with driving plate
It is connected with head, driving plate and head are connect with motor group respectively, replace common twisted-pair cable and shielding using Can bus
Cable, can reduce cable cost and processing cost, also, Can bus reliability and stability are high, long transmission distance, can be with
Improve the stability of straight-bar machines.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural block diagram for straight-bar machines that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural block diagram for straight-bar machines that the prior art provides；
Fig. 3 is a kind of structural block diagram of straight-bar machines provided by Embodiment 2 of the present invention；
Fig. 4 is a kind of control method flow chart for straight-bar machines that the embodiment of the present invention three provides；
Fig. 5 is a kind of control method flow chart for straight-bar machines that the embodiment of the present invention four provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of structural block diagram for straight-bar machines that the embodiment of the present invention one provides.As shown in Figure 1, the straight-bar machines includes master control
Plate 1, driving plate 2, head 3 and motor group 4.Master control borad 1 by controller local area network (Controller Area Network,
Can) bus is connect with driving plate 2 and head 3 respectively；Driving plate 2 and head 3 are connect with motor group 4 respectively.
In the present embodiment, master control borad 1 is separately connected by Can bus with driving plate 2 and head 3, and master control borad 1 is straight-bar machines
Core controller, master control borad 1 can be controlled respectively by driving plate 2 and head 3 multiple electric motors work braid movement is completed.
Motor group 4 includes multiple motors that joint completes braid movement.The working principle of straight-bar machines is that driving plate 2 is according in motor group
The position of each motor encoder calculates the location of current head, to obtain main shaft ruler, driving plate 2 passes through can bus
Main shaft ruler is fed back into master control borad 1, the data for the style that master control borad 1 is needed according to main shaft ruler and client obtain each motor and execute
The point of movement, master control borad 1 sends control instruction to driving plate 2 and head 3 by can bus, to control each in motor group 4
A motor executes corresponding movement, and joint completes braiding process.
Fig. 2 is a kind of structural block diagram for straight-bar machines that the prior art provides.As shown in Fig. 2, the master control borad 11 of the straight-bar machines and drive
The communication line of movable plate 12 includes encoder feedback line and control signal wire, and driving plate 12 passes through encoder feedback line for encoder
Feedback signal is sent to master control borad 11, and master control borad 11 calculates main shaft ruler, 11 basis of master control borad according to encoder feedback signal
Main shaft ruler determines the movement that executes of current executing agency, and is sent by control signal wire to driving plate 12 and control signal, then by
Driving plate 12 controls current executing agency according to the control signal and executes corresponding movement.In order to guarantee to control signal and encoder
Feedback signal is interference-free, and control signal wire and encoder feedback line all use twisted-pair cable and shielded cable, usual cable
Core number is likely to be breached more than 20, and cable core number is too many, so that cable cost and processing cost are all very high, also, in longtime running
In the process, it is also easy to appear the problems such as cable loosens, so that system stability declines.
Straight-bar machines provided in this embodiment, master control borad 1 are separately connected by Can bus with driving plate 2 and head 3, usual Can
Bus only needs 4 cores that can realize Can communication function, and can bus is reliable and stable, and long transmission distance thus may be used
To substantially reduce system cost, while improving the stability of system for weaving.
Straight-bar machines provided in this embodiment, master control borad are connect with driving plate and head respectively by Can bus, driving plate and machine
Head is connect with motor group respectively, is replaced common twisted-pair cable and shielded cable using Can bus, can be reduced cable cost
And processing cost, also, Can bus reliability and stability are high, and the stability of straight-bar machines can be improved in long transmission distance.
Fig. 3 is a kind of structural block diagram of straight-bar machines provided by Embodiment 2 of the present invention.On the basis of embodiment shown in Fig. 1,
As shown in Fig. 2, motor group 4 includes first motor group 41 and the second motor group 42；First motor group 41 is connect with head 3；First
Motor group 41 is for executing braid movement；Second motor group 42 is connect with driving plate 2；Second motor group is dynamic for providing for straight-bar machines
Power.
Optionally, as shown in figure 3, first motor group 41 includes yarn mouth motor 51, station motor 52 and degree mesh motor 53.
In the present embodiment, control instruction is sent to head 3 by master control borad 1, and head 3 controls yarn mouth motor according to control instruction
51, station motor 52 and degree mesh motor 53 work, and work for example, head 3 controls yarn mouth motor 51 in the position of the 5th needle, control
Station motor 52 works in the position of the 6th needle, and degree of control mesh motor 53 works in the position of the 7th needle.
Optionally, as shown in figure 3, the second motor group includes spindle motor 54, shaking table motor 55 and stepping roller motor 56.
In the present embodiment, control instruction is sent to driving plate 2 by master control borad 1, and driving plate 2 controls main shaft according to control instruction
Motor 54, shaking table motor 55 and stepping roller motor 56 work.
Straight-bar machines provided in this embodiment, master control borad control each motor by head and driving plate and cooperate, combined
At braid movement, the problem of crochet signal entanglements of different motors causes striker is avoided, the stability of straight-bar machines is improved.
Further, as shown in figure 3, straight-bar machines further includes inductor 5；Inductor 5 interrupts alarm signal for obtaining；It interrupts
Alarm signal is used to indicate the failure of braiding process；Inductor 5 is connect with driving plate 2.
In the present embodiment, the driving plate 2 of straight-bar machines can sense alarm with external multiple inductors 5, inductor 5
The interruption alarm signals such as origin, starting stop, yarn breaks, when driving plate 2 receives the interruption alarm signal of inductor transmission
When, which is fed back into master control borad 1, master control borad 1 controls each motor and stops working, malfunction elimination is carried out, from
And reduce loss caused by chance failure.
Fig. 4 is a kind of control method flow chart for straight-bar machines that the embodiment of the present invention three provides.This method is applied to Fig. 1 or figure
3 straight-bar machines provided, as shown in Figure 1, straight-bar machines includes master control borad 1, driving plate 2, head 3 and motor group 4, as shown, this method
Including：
Step 101, master control borad ventilating controller local area network Can bus obtain main shaft ruler information and current needle position from driving plate
It sets；Main shaft ruler information is the information that driving plate is determined according to the position of motor encoder.
In the present embodiment, master control borad, driving plate and head are linked together by Can bus, and driving plate is according to motor
The position of the encoder of each motor calculates the location of current head in group, is determined according to the location of current head
Main shaft ruler gives master control borad by the information of main shaft ruler by Can bus feedback to master control borad, also, in every pin position
Feed back current pin position.
Step 102, master control borad generate the first control according to main shaft ruler information, current pin position and client requirement information and refer to
It enables；First control instruction includes the location point of each motor execution braid movement in motor group.
In the present embodiment, master control borad determines each electricity according to main shaft ruler information, current pin position and client requirement information
Machine executes the location point of braid movement, which is sent to driving plate and head by the first control instruction, by driving plate
Each motor, which is controlled, with head completes braid movement on corresponding location point.
First control instruction is sent to driving plate and head by Can bus by step 103, master control borad, so that driving plate
Braid movement is executed with head control motor group.
The control method of straight-bar machines provided in this embodiment, master control borad ventilating controller local area network Can bus are obtained from driving plate
Main shaft ruler information and current pin position are taken, according to main shaft ruler information, current pin position and client requirement information, generating includes motor
Each motor in group executes the first control instruction of the location point of braid movement, and the first control instruction is sent out by Can bus
Driving plate and head are given, so that driving plate and head control motor group execute braid movement.Since master control borad passes through Can bus
It is connect respectively with driving plate and head, driving plate and head are connect with motor group respectively, replace common multiple twin using Can bus
Line cable and shielded cable can reduce cable cost and processing cost, also, Can bus reliability and stability are high, transmission
Distance is remote, and the stability of straight-bar machines can be improved.
Fig. 5 is a kind of control method flow chart for straight-bar machines that the embodiment of the present invention four provides.The base of embodiment shown in Fig. 4
On plinth, as shown in figure 5, this method further includes：
Step 201 is powering on the moment, and master control borad is sent to driver by Can bus and carries every needle encoder number
Signal, so that driving plate determines the position of motor encoder according to the number of every needle encoder；Based on the number of every needle encoder
The numerical value that control plate is got according to preset total needle amount and total coding device number.
In the present embodiment, the number of every needle encoder is equal to total coding device number divided by total needle amount, and client can basis
Style demand is arranged total needle amount and total coding device number.After master control borad gets every needle encoder number, every needle is encoded
The number of device is sent to driving plate, and driving plate determines the position of each motor encoder according to the number of every needle encoder.
Optionally, this method may also comprise the following steps:：
Step 202, when head pass through head zero position when, master control borad to driver send the second control instruction；Second control
System instruction is used to indicate driver and starts to determine the current pin position of main shaft ruler when head reaches head zero position.
In the present embodiment, when head passes through head zero-bit, master control borad is sent to driving plate comprising " arriving by Can bus
Up to head zero-bit " the second control instruction of information, From this moment on, driving plate starts to calculate main shaft ruler, determine current pin position,
And in every pin position, current pin position is fed back to master control, master control borad can control respectively according to current pin position
The movement of motor.
The control method of straight-bar machines provided in this embodiment, the total needle amount and total coding device number that master control borad is arranged according to client
The number for obtaining every needle encoder is powering on the moment, and master control borad sends every needle encoder number to driver by Can bus,
So that driving plate determines the position of motor encoder according to the number of every needle encoder, head zero position can also be passed through in head
When, master control borad sends the second control instruction to driver, and instruction driver starts to determine master when head reaches head zero position
Axis ruler and determining current pin position can accurately calculate main shaft ruler and determine current pin position, reduce system mistake
Difference can preferably meet requirement of the customer to weaving quality.
Optionally, the control method of straight-bar machines provided in this embodiment can also include：Master control borad judgement receives adjacent
Whether two current pin positions are continuous；If it is not, then sending the first alarm signal, and controls straight-bar machines and stop working.
In the present embodiment, in order to ensure main shaft ruler is that continuously, master control borad is needed to the two neighboring current needle received
Position is judged, if the two neighboring current pin position received is discontinuous, illustrates that machine is likely to occur failure, is sent out in time
It alarm signal and controls straight-bar machines out and stops working, to avoid causing biggish loss since straight-bar machines breaks down.
Optionally, the control method of straight-bar machines provided in this embodiment can also include：Master control borad judgement receives adjacent
Whether the time interval of two current pin positions is greater than preset time threshold；If so, sending the second alarm signal, and control cross
Machine stops working.
In the present embodiment, in order to report an error in time when something goes wrong in Can bus, master control borad two neighboring is worked as to what is received
The time interval of preceding pin position is judged, if the time interval is greater than preset threshold, sends the second alarm signal, and control
Straight-bar machines stops working.For example, preset time interval be 70ms, if it is preceding once receive current pin position after, pass through
70ms receives current pin position not yet again, or the time interval of the two neighboring current pin position received is big
In 70ms, then it is assumed that Can bus is problematic, needs to alert parking at once, to avoid causing since Can bus breaks down
Striker etc. works out the phenomenon that problem, and Compilation Quality is effectively ensured.
Those of ordinary skill in the art will appreciate that：Realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：Read-only memory
(Read-Only Memory, abbreviation ROM), random access memory (random access memory, abbreviation RAM), magnetic disk
Or the various media that can store program code such as CD.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of straight-bar machines, which is characterized in that including：Master control borad, driving plate, head and motor group；
The master control borad is connect with the driving plate and the head respectively by controller local area network Can bus；
The driving plate and the head are connect with the motor group respectively.
2. straight-bar machines according to claim 1, which is characterized in that the motor group includes first motor group and the second motor
Group；
The first motor group is connect with the head；The first motor group is for executing braid movement；
The second motor group is connect with the driving plate；The second motor group is used to provide power for the straight-bar machines.
3. straight-bar machines according to claim 2, which is characterized in that the first motor group includes yarn mouth motor, station motor
With degree mesh motor.
4. straight-bar machines according to claim 2 or 3, which is characterized in that the second motor group includes spindle motor, shaking table electricity
Machine and stepping roller motor.
5. straight-bar machines according to claim 1, which is characterized in that the straight-bar machines further includes inductor；The inductor is used for
It obtains and interrupts alarm signal；The interruption alarm signal is used to indicate the failure of braiding process；
The inductor is connect with the driving plate.
6. a kind of control method of straight-bar machines, which is characterized in that the straight-bar machines includes master control borad, driving plate, head and motor group, institute
The method of stating includes：
The master control borad obtains main shaft ruler information and current needle position from the driving plate by controller local area network Can bus
It sets；The main shaft ruler information is the information that the driving plate is determined according to the position of motor encoder；
The master control borad generates the first control instruction according to main shaft ruler information, the current pin position and client requirement information；Institute
Stating the first control instruction includes the location point that each motor in the motor group executes braid movement；
First control instruction is sent to the driving plate and the head by the Can bus by the master control borad, with
So that the driving plate and the head is controlled the motor group and executes braid movement.
7. according to the method described in claim 6, it is characterized in that, the method also includes：
The moment is being powered on, the master control borad sends the number for carrying every needle encoder by the Can bus to the driver
Signal so that the driving plate determines the position of the motor encoder according to the number of every needle encoder；It is described every
The number of needle encoder is the numerical value that the master control borad is got according to preset total needle amount and total coding device number.
8. method according to claim 6 or 7, which is characterized in that the method also includes：
When the head passes through head zero position, the master control borad sends the second control instruction to the driver；Described
Two control instructions are used to indicate the driver and start to determine main shaft ruler and current when the head reaches head zero position
Pin position.
9. according to the method described in claim 6, it is characterized in that, the method also includes：
Whether the two neighboring current pin position that the master control borad judgement receives is continuous；
If it is not, then sending the first alarm signal, and controls the straight-bar machines and stop working.
10. according to the method described in claim 6, it is characterized in that, the method also includes：
Whether the time interval for the two neighboring current pin position that the master control borad judgement receives is greater than preset time threshold
Value；
If so, sending the second alarm signal, and controls the straight-bar machines and stop working.
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| CN201710336088.8A CN108866781A (en) | 2017-05-12 | 2017-05-12 | The control method of straight-bar machines and straight-bar machines |
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| CN109505053A (en) * | 2018-12-12 | 2019-03-22 | 福建睿能科技股份有限公司 | Flat-knitting machine head component and head motion control method |
| CN111235749A (en) * | 2020-01-13 | 2020-06-05 | 苏州特点电子科技有限公司 | Roller control method of full-automatic computerized flat knitting machine |
| CN111549441A (en) * | 2020-05-14 | 2020-08-18 | 南京立迈胜机器人有限公司 | Control structure of flat weaving machine |
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Cited By (6)
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