CN109487416B

CN109487416B - Yarn hooking control method and device and textile machine

Info

Publication number: CN109487416B
Application number: CN201811429823.0A
Authority: CN
Inventors: 张伟; 毛波
Original assignee: Fujian Weiyitai Intelligent Technology Co Ltd
Current assignee: Fujian Weiyitai Intelligent Technology Co Ltd
Priority date: 2018-11-27
Filing date: 2018-11-27
Publication date: 2020-02-14
Anticipated expiration: 2038-11-27
Also published as: CN109487416A

Abstract

The invention relates to a yarn hooking control method, a device and a textile machine, comprising: adjusting the rotating speed of the rapier disc motor, and adjusting the motion period of the yarn in the hooking process in real time according to the rotating speed of the rapier disc motor; obtaining yarn tension adjusting parameters, and adjusting the tension of the yarn according to the yarn tension adjusting parameters; adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving; acquiring the position of a harness wire, the position of a reed and the movement end point position of the yarn on a running track, and adjusting the speed of the yarn when the yarn runs on the running track, wherein the running track is formed by a long strip U-shaped groove, and the harness wire and the reed are respectively positioned at two ends of the track; and controlling the yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook and the speed of the yarn in running on the running track. The problems of yarn breakage, unhooking, yarn mixing and the like caused by constant tension and hooking speed of the yarns are solved, and the workload of manual operation is reduced.

Description

Yarn hooking control method and device and textile machine

Technical Field

The invention relates to the technical field of control in the textile industry, in particular to a yarn hooking control method and device and a textile machine.

Background

In the current yarn production process of textile industry, the materials of the yarn are various and the specifications are different. In a conventional textile process, yarn is usually hooked in a mechanical manner, wherein the mechanical manner is single in control.

Therefore, in the hooking process, the yarn is frequently broken and unhooked, or several yarns are hooked together, so that poor cloth in the subsequent weaving process is easily caused.

Disclosure of Invention

In view of the above, a yarn hooking control method, a yarn hooking control device and a textile machine are provided to solve the problems of yarn breakage, unhooking and yarn mixing.

The invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a yarn hooking control method, including:

adjusting the rotating speed of a rapier tape disc motor, and adjusting the motion period of the yarn in the hooking process in real time according to the rotating speed of the rapier tape disc motor;

obtaining yarn tension adjusting parameters, and adjusting the tension of the yarn according to the yarn tension adjusting parameters, wherein the yarn tension adjusting parameters comprise the size of the diameter of the yarn, the gap of an original state of a wire clamp and the current position of a motor of the wire clamp;

adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving;

acquiring the position of a heddle, the position of a reed and the movement end point position of yarn on a running track, and adjusting the speed of the yarn when the yarn runs on the running track, wherein the running track is composed of a long strip U-shaped groove, and the heddle and the reed are respectively positioned at two ends of the running track;

and controlling the yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook and the speed of the yarn when the yarn runs on the running track.

Further, the adjusting the rotation speed of the rapier disc motor and the real-time adjusting the motion cycle of the yarn in the hooking process according to the rotation speed of the rapier disc motor comprise:

and adjusting the rotating speed of the capstan disc motor to a set rotating speed, and adjusting the motion period of the yarn in the hooking process in real time according to a set motion control algorithm and the set rotating speed of the capstan disc motor.

Further, the obtaining of the yarn tension adjusting parameter and the adjusting of the yarn tension according to the yarn tension adjusting parameter include:

acquiring the size of the wire diameter of the yarn, the clearance of the original state of the wire clamp and the current position of a motor of the wire clamp;

according to a set multi-section variable speed pressing algorithm, the wire clamp is adaptive to yarns with different wire diameters, and the yarns slide in the wire clamp;

and blowing air to the cut yarn by using an air valve, and adjusting the tension of the yarn so as to keep the yarn within a set tension range.

Further, the set multi-section variable speed pressing algorithm comprises a three-section adjusting algorithm, and actions corresponding to the three-section adjusting algorithm comprise pre-pressing, pressing and loosening.

Further, the position of adjusting fastener and second grade collude according to the target position that last slip collude and is taking the yarn motion includes:

and when the upper sliding hook with the yarn moves is detected, adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving and a set motor interpolation motion algorithm.

Further, acquiring the position of the harness wire, the position of the reed and the movement end position of the yarn on the running track, and adjusting the speed of the yarn running on the running track comprises the following steps:

acquiring the position of a harness wire, the position of a reed and the movement end point position of a yarn on a running track;

and in the running interval, after the set distance passes through the running track, the speed of the yarn running on the running track is adjusted by applying the set multi-segment and multi-gear variable speed movement control algorithm.

Further, before acquiring the position of the heddle, the position of the reed and the movement end position of the yarn on the running track, and adjusting the speed of the yarn running on the running track, the method further comprises the following steps:

acquiring a target position of the upper sliding hook with the yarn movement and a position of the rapier belt;

and adjusting the initial speed of the yarn when the yarn runs on the running track according to the target position of the upper sliding hook with the yarn moving and the position of the rapier tape.

Further, the controlling the yarn hooking according to the movement cycle of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook, and the speed of the yarn when the yarn runs on the running track includes:

decomposing the time sequence action of the yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook and the speed of the yarn in running on the running track according to the set time;

downloading a motion instruction corresponding to the decomposed motion to a motion controller;

and when the yarn reaches a target hooking position, generating a starting command according to the motion instruction to control the yarn hooking.

In a second aspect, an embodiment of the present invention provides a yarn hooking control device, including:

the motion period adjusting module is used for adjusting the rotating speed of the rapier disc motor and adjusting the motion period of the yarn in the hooking process in real time according to the rotating speed of the rapier disc motor;

the tension adjusting module is used for acquiring yarn tension adjusting parameters and adjusting the tension of the yarn according to the yarn tension adjusting parameters, wherein the yarn tension adjusting parameters comprise the size of the diameter of the yarn, the gap of an original state of a wire clamp and the current position of a motor of the wire clamp;

the position adjusting module is used for adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn to move;

the first speed adjusting module is used for acquiring the position of a heddle, the position of a reed and the movement end point position of a yarn on a running track and adjusting the speed of the yarn when the yarn runs on the running track, wherein the running track is formed by a long strip U-shaped groove, and the heddle and the reed are respectively positioned at two ends of the running track;

and the hooking control module is used for controlling the hooking of the yarns according to the movement period of the yarns in the hooking process, the tension of the yarns, the positions of the yarns and the secondary hooks and the speed of the yarns when the yarns run on the running track.

Further, the movement period adjusting module is specifically configured to:

Further, the tension adjusting module is specifically configured to:

Further, the position adjustment module is specifically configured to: and when the upper sliding hook with the yarn moves is detected, adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving and a set motor interpolation motion algorithm.

Further, the first speed adjustment module is specifically configured to:

The device further comprises a second speed adjusting module, wherein the second speed adjusting module is used for acquiring a target position where an upper sliding hook carries the yarn to move and a position of a sword belt before acquiring the position of a heddle, the position of a reed and a movement end position of the yarn on a running track and adjusting the speed of the yarn in running on the running track;

Further, the hooking control module is specifically configured to:

In a third aspect, an embodiment of the present invention provides a textile machine, including:

a processor, and a memory coupled to the processor;

the memory is used for storing a computer program at least for executing the yarn hooking control method according to any one of claims 1 to 8;

the processor is used for calling and executing the computer program in the memory.

By adopting the technical scheme, the yarn hooking processing speed is improved by adjusting the motion period of the yarn in the hooking process in real time; through adjusting yarn tension in real time, adjust the position that fastener and second grade collude the son in real time, adjust the speed of yarn when moving on the orbit in real time, collude the yarn and get, the tension of having overcome among the prior art can't go on and collude the tension of yarn and collude the broken string that the speed is all unchangeable brought and unhook, the scheduling problem that mixes, the work load of having reduced manual operation has improved the yarn and has weavingd the automation level of process equipment, the uniformity of the yarn quality of follow-up technology has been guaranteed, the probability that bad cloth appears has been reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a flowchart of a yarn hooking control method according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a yarn hooking control device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a textile machine according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The application scenario of the embodiment of the invention is explained first, can be used for solving the problem of single yarn hooking in the weaving process in the textile industry, can be suitable for chemical fiber, cotton spinning, acrylic fiber, polyester fiber, viscose fiber, various blended yarns and other material yarns, can also be used for processing yarns with different thicknesses such as single yarns, double yarns, multiple yarns and the like, and can be directly applied to equipment related to the weaving process such as an automatic drawing-in machine and the like.

Example one

Fig. 1 is a flowchart of a yarn hooking control method according to an embodiment of the present invention, where the method may be performed by a yarn hooking control device according to an embodiment of the present invention, and the device may be implemented in software and/or hardware. Referring to fig. 1, the method may specifically include the following steps:

s110, adjusting the rotating speed of the rapier disc motor, and adjusting the motion period of the yarn in the hooking process in real time according to the rotating speed of the rapier disc motor.

Specifically, the rapier tape disc is a textile accessory, in the practical application process, the rotating speed of the rapier tape disc motor is adjusted, for example, 6000 rpm, and the rapier tape disc motor runs at such a higher rotating speed all the time, the movement period of the yarn in the hooking process is adjusted in real time according to the rotating speed of the rapier tape disc motor, namely, the back-and-forth movement period time of each hooking is controlled at 120 ms.

S120, obtaining yarn tension adjusting parameters, and adjusting the tension of the yarns according to the yarn tension adjusting parameters, wherein the yarn tension adjusting parameters comprise the size of the diameter of the yarns, the gap of the original state of the wire clamp and the current position of a motor of the wire clamp.

Specifically, the diameter of the yarn means the diameter of the yarn, and can be expressed in millimeters, for example; the gap of the original state of the wire clamp refers to the distance between two clamps at two sides of the wire clamp when the wire clamp is in a loose state; the current position of the motor of the wire clamp refers to the position of the motor of the wire clamp driving the wire clamp to move at the current moment. In the actual application process, the yarn tension adjusting parameters are obtained, and the tension of the yarn is adjusted by combining the yarn tension adjusting parameters. Compared with the prior art that the yarn tension is invariable, the problems of yarn hooking and breaking, yarn unhooking, mixed yarn hooking and the like in the yarn hooking process are solved by adjusting the yarn tension in real time.

And S130, adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn to move.

Specifically, a target position of yarn movement, namely a terminal position of the movement of the current yarn in a complete hooking process is obtained, and in the process of the movement of the yarn carried by the upper sliding hook, the positions of the wire clamp and the secondary hook are determined according to the target position of the movement of the yarn carried by the upper sliding hook. In a specific example, the positions of the wire clamp and the secondary hook are changed along with the position of the upper sliding hook, so that the yarn keeps certain tension in the practical application process and can be reliably brought into the rapier tape hook by the upper sliding hook.

S140, acquiring the position of a heddle, the position of a reed and the movement end point position of the yarn on a running track, and adjusting the speed of the yarn when the yarn runs on the running track, wherein the running track is formed by a long strip U-shaped groove, and the heddle and the reed are respectively positioned at two ends of the running track.

The heald is one of the most commonly used consumables on a textile machine, and in the production process of the current textile industry, the heald is made of various materials, such as plastic healds, steel healds, J-shaped healds, O-shaped healds and the like; the specifications are different, the thickness of the heddle is 0.2 mm-0.8 mm, and the size of the heddle eye is 1.5 mm-5 mm. In practical applications, the correctness of the various dimensions of the reed is important, and the length of the reed can be equal to the reed width (including the waste edge) or can be 15mm wider at most. The subsequent process of yarn hooking is also very complicated, and the yarn needs to be subjected to a procedure of drafting and reed after being fed into a loom.

The running track is composed of a long-strip U-shaped groove, the harness wire and the reed are respectively positioned at two ends of the running track, and the yarn firstly passes through the harness wire and then passes through the reed after entering the track. Therefore, the position of the healds, the position of the reed and the movement end position of the yarn on the running track need to be acquired firstly, so as to adjust the speed of the yarn running on the running track. Specifically, in the operation process that the rapier tape hook takes the yarn to firstly pass through the harness wire and then pass through the reed, when the rapier tape hook usually hopes that the yarn moves on the operation track, the speed is uniform, the friction resistance is small, and therefore, the rapier tape hook cannot hook the yarn and cannot unhook when the rapier tape hook moves on the track.

S150, controlling yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook and the speed of the yarn in running on the running track.

In the actual application process, the yarn is controlled to control the yarn hooking process according to the determined movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hooks and the speed of the yarn in the running track.

By applying the technical scheme provided by the embodiment of the invention, 5 yarns can be processed every second, more than 15000 yarns can be processed in 1 hour, and about 15000 yarns exist in one beam, so that the detection can be completed in one hour, and the requirement on the textile production efficiency can be completely met.

Optionally, the rotating speed of the rapier disc motor is adjusted, and the movement period of the yarn in the hooking process is adjusted in real time according to the rotating speed of the rapier disc motor, which can be specifically realized by the following means: and adjusting the rotating speed of the capstan disc motor to a set rotating speed, and adjusting the motion period of the yarn in the hooking process in real time according to a set motion control algorithm and the set rotating speed of the capstan disc motor.

Specifically, the rotating speed of the capstan-disc motor is adjusted to a set rotating speed, optionally, the set rotating speed may be 6000 rpm, and the set rotating speed is used as an input parameter of a set motion control algorithm, where the set motion control algorithm may include a servo motor motion control algorithm, an upper computer + FPGA (Field-Programmable Gate Array) + encoder + a governor motor control algorithm, and the like. And analyzing and processing the input set rotating speed of the rapier tape disc motor by using a set motion control algorithm so as to adjust the motion period of the yarn in the hooking process in real time and improve the hooking speed of the yarn.

Illustratively, the obtaining a yarn tension adjusting parameter and adjusting the tension of the yarn according to the yarn tension adjusting parameter includes: acquiring the size of the wire diameter of the yarn, the clearance of the original state of the wire clamp and the current position of a motor of the wire clamp; according to a set multi-section variable speed pressing algorithm, the wire clamp is adaptive to yarns with different wire diameters, and the yarns slide in the wire clamp; and blowing air to the cut yarn by using an air valve, and adjusting the tension of the yarn so as to keep the yarn within a set tension range.

Specifically, the yarn diameter size of the yarn, the gap of the original state of the yarn clamp and the data corresponding to the current position of a motor of the yarn clamp are used as input of a set multistage variable speed pressing algorithm, through the set multistage variable speed pressing algorithm, in the practical application process, a uniform acceleration T-shaped motion algorithm is adopted in the pre-pressing stage, a uniform speed linear motion algorithm is adopted in the pressing stage, and a uniform deceleration T-shaped motion algorithm is adopted in the loosening stage, so that the yarn clamp adapts to the yarn with different yarn diameters, uniform tension can be kept, the yarn can slide in the yarn clamp and can be kept in a non-loosening state, after the yarn is cut, an air valve is used for blowing the cut yarn, and the tension of the yarn is adjusted, so that the yarn is kept in a tension range.

The set multi-stage variable speed pressing algorithm comprises a three-stage adjusting algorithm, and actions corresponding to the three-stage adjusting algorithm comprise pre-pressing, pressing and loosening.

Specifically, the actual implementation process of the three-stage adjustment algorithm is as follows: the first step is prepressing, namely, the wire clamp is in a natural state, and yarns are placed in a gap formed by two clamps at two sides of the wire clamp; the second step is compaction, which keeps the yarn in the wire clamp from sliding; the third step is to loosen, i.e. the yarn can slip and remain in tension.

Optionally, the take according to last hook the target location of yarn motion, adjust the position that fastener and second grade colluded, include: and when the upper sliding hook with the yarn moves is detected, adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving and a set motor interpolation motion algorithm.

The invention relates to a rapier gripper, which comprises an upper sliding hook, a thread clamp, a secondary hook, a thread clamp, a rapier gripper and a yarn feeding device, wherein when the upper sliding hook moves with the yarn, a target position of the upper sliding hook moving with the yarn is obtained, a set motor interpolation motion algorithm can be adopted, specifically, two groups of motor interpolation motion algorithms can be adopted, in the embodiment of the invention, a linear interpolation motion algorithm is adopted, and the thread clamp and the secondary hook change working positions according to the position of the upper sliding hook, so that the yarn keeps certain tension and can be reliably fed into.

Illustratively, the position of a heddle, the position of a reed and the movement end position of a yarn on a running track are obtained, and the speed of the yarn when running on the running track is adjusted, wherein the running track is composed of a long strip U-shaped groove, the heddle and the reed are respectively positioned at two ends of the running track, which can be realized by the following steps: acquiring the position of a harness wire, the position of a reed and the movement end point position of a yarn on a running track; and in the running interval, after the set distance passes through the running track, the speed of the yarn running on the running track is adjusted by applying the set multi-segment and multi-gear variable speed movement control algorithm.

Specifically, in the process of hooking the yarn, the running track is formed by a long-strip U-shaped groove, the harness wire and the reed are respectively located at two ends of the running track, firstly, the position of the harness wire, the position of the reed and the movement end position of the yarn on the running track are obtained, wherein the movement end position of the yarn on the running track comprises the position of the yarn when the yarn stops on the running track. The rapier tape hook drives the yarn to pass through the harness wire firstly, then passes through the whole running interval of the track, and after the yarn passes through the running track for a set distance, the speed of the yarn running on the running track is adjusted by applying a set multi-segment position and multi-gear variable speed movement control algorithm. The set distance may be preset by a manager or a developer, but is not limited thereto, and the set multi-step and multi-gear shift movement control algorithm may be an adaptive control algorithm. Through adopting multiple speed change and gear shifting, when the yarns pass through the harness wire and the steel buckle on the running track, the speed is the most uniform, the friction resistance is the minimum, and the yarns cannot be hooked and broken and cannot be unhooked when the yarns move in the track.

On the basis of the technical scheme, before acquiring the position of the harness wire, the position of the reed and the movement end position of the yarn on the running track and adjusting the speed of the yarn running on the running track, the method further comprises the following steps: acquiring a target position of the upper sliding hook with the yarn movement and a position of the rapier belt; and adjusting the initial speed of the yarn when the yarn runs on the running track according to the target position of the upper sliding hook with the yarn moving and the position of the rapier tape.

In practical applications, the initial speed of the yarn running on the running track refers to the speed of the yarn starting running on the running track, and in a specific example, the initial speed may be the speed of the yarn starting running on the running track at a set distance from the initial position where the yarn is hooked.

Optionally, controlling yarn hooking according to the movement cycle of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook, and the speed of the yarn when the yarn runs on the running track, includes: decomposing the time sequence action of the yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hook and the speed of the yarn in running on the running track according to the set time; downloading a motion instruction corresponding to the decomposed motion to a motion controller; and when the yarn reaches a target hooking position, generating a starting command according to the motion instruction to control the yarn hooking.

Specifically, after the motion cycle of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and a secondary hook and the speed of the yarn in running on a running track are obtained, the time sequence action of the yarn in the hooking process is decomposed according to set time, a motion command corresponding to the decomposed action is downloaded to a motion controller, the motion controller responds to the motion command, and when the yarn reaches a target hooking position, a starting command is generated according to the motion command to control the yarn hooking

In a specific example, the embodiment of the invention uses a real-time software control technology and a high-speed motion control algorithm, when a plurality of motors are controlled in position and the air valve is controlled in sequence, a control period with the sequence decomposed into 0.5ms as a unit is adopted, the state is continuously updated in a real-time thread, and a related control command is sent to a motion controller, so that the motion controller realizes the combined yarn hooking action function.

The following is a specific example: the invention adopts a modularized design, takes the yarn hooking software as a thread to independently run, and improves the priority to the real-time level. When software is initialized, a yarn hooking time sequence is decomposed into one micro-step action according to a time slice of 0.5ms, the micro-step action is downloaded to a motion controller by a motion instruction, when the yarn reaches a hooking position, an upper computer control program sends a starting command to enable a thread hooking real-time thread to run synchronously, so that each motion execution mechanism can respond quickly in the hooking process of the yarn, the yarn passes through the micro-step action stably and smoothly, and a single cycle is completed within 120 ms. Through actual tests, when software runs, the CPU occupancy rate reaches 30%, the yarn hooking process is rapid and stable, and the conditions of yarn breakage and unhooking do not occur.

It should be noted that the technical solution of the embodiment of the present invention passes the on-line test, has been successfully applied to the automatic drawing-in machine developed by weiyitai, has already reached the requirement of the use index of the drawing-in machine in the aspect of the yarn processing reliability, has exceeded the requirement of the machine itself for the yarn catching efficiency in terms of performance, and meets the requirements of the automatic drawing-in machine and the related yarn industry applications.

The invention is developed for solving the defects of the existing yarn hooking technology and improving the existing yarn hooking quality and efficiency, integrates and applies the combination of a set motion control algorithm, a set multi-section variable speed pressing algorithm, a set motor interpolation motion algorithm, a set multi-section position and multi-gear variable speed movement control algorithm, and can ensure that yarns quickly pass through a track in the hooking process, thereby realizing the technical requirements of drafting and reeding of weaving factory equipment. The invention can also be directly applied to automatic equipment such as an automatic drawing-in machine and the like, improves the production efficiency of the equipment, reduces the yarn breakage rate and the yarn doffing rate to 0 percent, ensures the yield of subsequent processes, and avoids cloth scrapping caused by yarn errors.

Example two

Fig. 2 is a schematic structural diagram of a yarn hooking control device according to a second embodiment of the present invention, which is suitable for executing a yarn hooking control method according to the second embodiment of the present invention. As shown in fig. 2, the apparatus may specifically include:

the movement period adjusting module 210 is used for adjusting the rotating speed of the rapier disc motor and adjusting the movement period of the yarn in the hooking process in real time according to the rotating speed of the rapier disc motor;

the tension adjusting module 220 is configured to obtain a yarn tension adjusting parameter, and adjust the tension of the yarn according to the yarn tension adjusting parameter, where the yarn tension adjusting parameter includes a size of a diameter of the yarn, a gap of an original state of the wire clamp, and a current position of a motor of the wire clamp;

the position adjusting module 230 is used for adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook carrying the yarn to move;

the first speed adjusting module 240 is configured to obtain a position of a heddle, a position of a reed and a movement end position of a yarn on a running track, and adjust a speed of the yarn when the yarn runs on the running track, where the running track is formed by a long U-shaped groove, and the heddle and the reed are located at two ends of the running track respectively;

and the hooking control module 250 is used for controlling yarn hooking according to the movement period of the yarn in the hooking process, the tension of the yarn, the positions of the yarn and the secondary hooks and the speed of the yarn in the operation on the operation track.

Further, the movement period adjustment module 210 is specifically configured to:

Further, the tension adjusting module 220 is specifically configured to:

Further, the position adjustment module 230 is specifically configured to: and when the upper sliding hook with the yarn moves is detected, adjusting the positions of the wire clamp and the secondary hook according to the target position of the upper sliding hook with the yarn moving and a set motor interpolation motion algorithm.

Further, the first speed adjustment module 240 is specifically configured to:

Further, the hooking control module 250 is specifically configured to:

The yarn hooking control device provided by the embodiment of the invention can execute the yarn hooking control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

An embodiment of the present invention further provides a textile machine, please refer to fig. 3, fig. 3 is a schematic structural diagram of a textile machine, as shown in fig. 3, the textile machine includes: a processor 310, and a memory 320 coupled to the processor 310; the memory 320 is used for storing a computer program at least for executing the yarn hooking control method in the embodiment of the present invention; the processor 310 is used to call and execute the computer program in the memory.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments.

It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Further, in the description of the present invention, the meaning of "a plurality" means at least two unless otherwise specified.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A yarn hooking control method is characterized by comprising the following steps:

2. The method of claim 1, wherein the adjusting the rotation speed of the capstan motor, and the adjusting the motion cycle of the yarn during the hooking process in real time according to the rotation speed of the capstan motor comprises:

3. The method of claim 1, wherein said obtaining a yarn tension adjustment parameter, adjusting the tension of the yarn according to the yarn tension adjustment parameter, comprises:

4. The method of claim 3, wherein the set multi-stage variable speed stitching algorithm comprises a three-stage adjustment algorithm, and wherein the three-stage adjustment algorithm corresponds to actions including pre-pressing, and releasing.

5. The method of claim 1, wherein adjusting the position of the clamp and the secondary hook based on the target position of the upper sliding hook with the yarn moving comprises:

6. The method of claim 1, wherein acquiring the position of the healds, the position of the reed and the movement end position of the yarn on the running track, and adjusting the speed of the yarn running on the running track comprises:

7. The method of claim 6, wherein before acquiring the position of the healds, the position of the reed and the movement end position of the yarn on the running track, and adjusting the speed of the yarn running on the running track, further comprising:

8. The method of claim 1, wherein controlling yarn hooking based on the yarn's motion cycle during hooking, the yarn's tension, the yarn's position with secondary hooks, and the yarn's speed as it travels on the running track comprises:

9. A yarn hooking control device, comprising:

10. A textile machine, comprising:

a processor, and a memory coupled to the processor;