A kind of circular weft knitting machine and control method for realizing unmanned forklift intelligent scheduling

Abstract

A kind of circular weft knitting machine, it includes base, frame, safety door, traction winding mechanism, control device and transmission mechanism;The telescopic mechanism at least includes cylinder and telescopic rod, one end of the cylinder is equipped with open end, the telescopic rod can be linear reciprocating along the central axis of cylinder open end, the inner end of the telescopic rod is provided with magnetic ring, first magnetic induction device is arranged at the position adjacent to the open end of cylinder, when the telescopic rod is stretched to place, the magnetic ring of the telescopic rod is opposite to the position of first magnetic induction device, the first magnetic induction device will feedback information to controller.

Description

TECHNICAL FIELD

[0001] The application relates to a circular weft knitting machine and a control method for realizing intelligent scheduling of unmanned forklifts. BACKGROUND

[0002] The working principle of the circular weft knitting machine can be referred to the article explanation of Baidu Encyclopedia, please see the link for details, https: / / baike.baidu.com / item / %E5%A4%A7%E5%9C%86%E6%9C%BA / 5306198 Of course, the safety door of the traditional circular weft knitting machine is generally manually opened and closed, and a safety door of a disc knitting machine with an automatic opening and closing function is developed in the industry, please see the patent CN212025560U. The technical problem of the technical solution is that the system cannot determine whether the telescopic rod of the telescopic mechanism is stretched to the position, manual intervention is required, additional labor cost is required, and the intelligent operation scene without human intervention cannot be maximally realized.

[0003] Therefore, the present application is produced in view of the above-mentioned defects in the prior art. SUMMARY

[0004] The first object of the present application is to provide a circular weft knitting machine capable of accurately determining whether the telescopic rod of the telescopic mechanism is stretched to the position by the control device.

[0005] The second object of the present application is to additionally provide a control device capable of twice confirming whether the traction winding mechanism is opposite to the opening direction position of the safety door when the traction winding mechanism is in the stop state, so as to ensure that the subsequent unmanned forklift can smoothly load and unload the grey cloth on the traction winding mechanism.

[0006] The third object of the present application is to provide a control method for realizing the scheduling of unmanned forklifts for the circular weft knitting machine realizing the first object of the present application.

[0007] The fourth object of the present application is to provide a control method for realizing the scheduling of unmanned forklifts for the circular weft knitting machine realizing the second object of the present application.

[0008] To achieve the first object of the present application, the present application discloses a circular weft knitting machine, which comprises a base, a frame, a safety door, a traction winding mechanism, a control device and a transmission mechanism; the frame comprises a large disc and a lower leg support structure, the lower leg support structure comprises at least two spaced apart supporting legs, the safety door is rotatably arranged between the two supporting legs by adding an extension mechanism; the control device comprises a controller and a storage unit; the traction winding mechanism is provided with a plurality of driving arms connected with a needle cylinder or a needle disc, the traction winding mechanism is rotatably arranged on the base by rotating the needle cylinder or the needle disc, a counting device is arranged between the traction winding mechanism or the driving arm and the opposite surface of the frame, the counting device is used for counting the number of rotation of the traction winding mechanism and feeding back the number of rotation information to the controller, the controller compares the number of rotation information fed back by the counting device with the preset finish number information in the storage unit to activate the stop control instruction step by step, so that the traction winding mechanism stops rotating when the number of rotation matches the finish number, the extension mechanism comprises at least a cylinder and an extension rod, one end of the cylinder is provided with an open end, the extension rod can move linearly along the central axis of the open end of the cylinder, the inner end of the extension rod is provided with a magnetic ring, a first magnetic induction device is arranged at the position adjacent to the open end of the cylinder, the magnetic ring of the extension rod is opposite to the position of the first magnetic induction device when the extension rod is stretched to the position, and the first magnetic induction device feeds back information to the controller.

[0009] To achieve the third object of the present application, the present application discloses a control method suitable for the unmanned forklift intelligent scheduling of the circular weft knitting machine with the first object of the present application, which comprises:

[0010] S1, the controller accumulates the number of rotation according to the feedback signal of the counting device, feeds back the number of rotation information to the controller, receives the number of rotation information fed back by the counting device, compares the number of rotation with the preset finish number information in the storage unit to activate the stop control instruction step by step, and ensures that the traction winding mechanism stops rotating when the number of rotation matches the finish number, at this time, the traction winding mechanism is opposite to the opening direction of the safety door;

[0011] S2, the controller issues a control instruction to make the extension rod of the extension mechanism extend outward, if the controller receives the feedback signal of the first magnetic induction device, the controller directly or through the dispatching center issues a scheduling instruction to the unmanned forklift to complete the scheduling of the unmanned forklift; if the controller does not receive the feedback signal of the first magnetic induction device, the controller sends a fault prompt signal outward.

[0012] Through the above setting, when the telescopic rod is stretched to the position, the controller can obtain clear feedback information, which is used as the basis for judging whether the unmanned forklift needs to be dispatched, so as to avoid that the safety door is not fully opened and the dispatched unmanned forklift may collide with the safety door, thereby causing a safety accident.

[0013] To achieve the second object of the application, the application further discloses that the telescopic mechanism is provided with a magnetic ring and a first magnetic induction device, one embodiment is that the counting device is modified to include a proximity switch and a timing module, the proximity switch includes a host end and a trigger end, the host end and the timing module are arranged on a rack and are electrically connected with a controller, the trigger end is arranged on the traction winding mechanism or the driving arm, when the traction winding mechanism is opposite to the opening direction of the safety door, the trigger end of the proximity switch is opposite to the host end, at this time, the host end sends a counting instruction to the controller, and the timing module is used to measure the duration T1 of the counting instruction sent by the host end and feeds back to the controller.

[0014] Another embodiment is that the proximity switch and the timing module are additionally arranged without changing the original purpose of the counting device, the proximity switch includes a host end and a trigger end, the host end and the timing module are arranged on a rack and are electrically connected with a controller, the trigger end is arranged on the traction winding mechanism or the driving arm, when the traction winding mechanism is opposite to the opening direction of the safety door, the trigger end of the proximity switch is opposite to the host end, at this time, the host end sends a counting instruction to the controller, and the timing module is used to measure the duration T1 of the counting instruction sent by the host end and feeds back to the controller.

[0015] To achieve the fourth object of the application, the application discloses a control method suitable for the knitting circular weft machine with the second object and realizing the intelligent dispatching of the unmanned forklift, which comprises the following steps:

[0016] S1, the controller accumulates the number of rotations according to the feedback signal of the counting device, and feeds back the number of rotations to the controller, the controller compares the number of rotations with the preset complete number of rotations in the storage unit, and activates the stop control instruction in steps, so that the traction winding mechanism stops rotating, at this time, if the traction winding mechanism is opposite to the opening direction of the safety door, the controller will receive the signal fed back by the host end of the proximity switch and the duration T1 fed back by the timing module, when the duration T1 is greater than or equal to the comparison time T2 stored in the storage unit, the next step is entered, otherwise, the controller sends a fault prompt signal to the outside;

[0017] S2, the controller issues a control instruction to make the telescopic rod of the telescopic mechanism extend outward, if the controller receives the feedback signal of the first magnetic induction device, the controller directly or through the dispatching center issues a dispatching instruction to the unmanned forklift to complete the dispatching of the unmanned forklift; if the controller does not receive the feedback signal of the first magnetic induction device, the controller sends a fault prompt signal outward.

[0018] Through the above setting, the proximity switch and the timing module are arranged between the rack and the traction winding mechanism, so that when the traction winding mechanism is in a shutdown state and the traction winding mechanism is not opposite to the opening direction of the safety door, the controller sends a signal to the alarm device arranged on the machine table, and the alarm device sends an audible and light alarm signal to the outside to remind the operator to check the fault in time.

[0019] On this basis, the application further discloses a more optimized control method,

[0020] S1, the controller accumulates the number of turns according to the feedback signal of the counting device, and feeds back the rotation number information to the controller, the controller compares the rotation number information fed back by the counting device with the preset completion turn number information in the storage unit, and activates the shutdown control instruction in steps to stop the rotation of the traction winding mechanism, at this time, if the traction winding mechanism is opposite to the opening direction of the safety door, the controller will receive the signal fed back by the host end of the proximity switch and the duration T1 fed back by the timing module, when the duration T1 is greater than or equal to the comparison time T2 prestored in the storage unit, S3 is entered, otherwise S2 is entered;

[0021] S2, the controller issues a running instruction to the transmission mechanism to drive the traction winding mechanism to continue rotating, until the controller receives the signal fed back by the host end, the controller issues a shutdown instruction to the transmission mechanism to drive the traction winding mechanism to stop, at this time, the timing module feeds back the duration T1 to the controller, when the duration T1 is greater than or equal to the comparison time T2 prestored in the storage unit, S3 is entered, otherwise S2 is repeated, the number of cycles is limited to N, N is a positive integer greater than or equal to 2, when the number of cycles reaches N times, the controller cannot receive the signal fed back by the timing module, and the controller sends a fault prompt signal outward;

[0022] S3, the controller issues a control instruction to make the telescopic rod of the telescopic mechanism extend outward, if the controller receives the feedback signal of the first magnetic induction device, the controller directly or through the dispatching center issues a dispatching instruction to the unmanned forklift to complete the dispatching of the unmanned forklift; if the controller does not receive the feedback signal of the first magnetic induction device, the controller sends a fault prompt signal outward.

[0023] The most significant difference between this control method and the previous control method is that if the traction winding mechanism does not stop at the preset position at the time of shutdown, the controller will issue a control instruction to drive the needle cylinder / needle disc to drive the traction winding mechanism to continue to rotate, so that the traction winding mechanism can adaptively stop at the specified position at the time of shutdown, reducing manual intervention and improving the intelligent level. BRIEF DESCRIPTION OF DRAWINGS

[0024] The specific description given as a non-limiting example better explains what the present application comprises and how it can be implemented, in addition to which the description refers to the attached drawings in which:

[0025] Fig. 1 Structure diagram of the whole knitting circular weft machine of the present application;

[0026] Fig. 2 Structure diagram of the structure below the large disc of the knitting circular weft machine of the present application;

[0027] Fig. 3 Structure diagram of the telescopic mechanism of the present application;

[0028] Fig. 4 Schematic diagram of the safety door of the knitting circular weft machine (containing proximity switch 8) in the closed state, and the traction winding mechanism stopping at the correct shutdown position;

[0029] Fig. 5 Schematic diagram of the safety door of the knitting circular weft machine (containing proximity switch 8) in the closed state, and the traction winding mechanism stopping at the correct shutdown position;

[0030] Fig. 6 Schematic diagram of the safety door of the knitting circular weft machine (containing proximity switch 8) in the closed state, and the traction winding mechanism stopping at the correct shutdown position;

[0031] Fig. 7 Schematic diagram of the knitting circular weft machine setting the counting device between the traction winding mechanism and the large disc;

[0032] Fig. 8 Control principle diagram of the knitting circular weft machine (not containing proximity switch 8) for scheduling unmanned forklifts;

[0033] Fig. 9 to Fig. 10 Control principle diagram of the knitting circular weft machine (containing proximity switch 8) for scheduling unmanned forklifts. DETAILED DESCRIPTION

[0034] The present application is described in detail below in combination with the drawings and specific examples.

[0035] As Fig. 1 to Fig. 2The application discloses a circular weft knitting machine, which comprises a base 1, a frame 2, a safety door 3, a traction winding mechanism 4, a control device 5 and a transmission mechanism 100; the frame 2 comprises, from top to bottom, a creel seat 24, an upper foot support column 23, a large disc 21 and a lower foot support structure 22, the lower foot support structure 22 comprises at least two spaced-apart supporting legs 221, and a main flow design generally has three supporting legs 221 uniformly distributed in the circumferential direction, and a base 1 is arranged in the middle of the three supporting legs 221, the base 1 has three connecting arms 11 extending towards the three supporting legs 221, and is commonly known as a three-pronged base 1; the frame 2 has a stable support structure in the area of the lower foot support structure 22 by virtue of the connection of the connecting arms 11 and the three supporting legs 221. The safety door 3 disclosed in the embodiment is of a two-leaf opposing design, one side of the safety door 3 is hingedly connected with the supporting leg 221, and a telescopic mechanism 6 is additionally arranged between the connecting arm 11 and the safety door 3, the telescopic mechanism 6 uses a gas source as a power source to realize the linear reciprocating motion of a telescopic rod 62 relative to a cylinder body 61, the fixed end of the telescopic mechanism 6 is movably arranged on the connecting arm 11, the free end of the telescopic rod 62 of the telescopic mechanism 6 is movably arranged on the safety door 3, and the opening / closing of the safety door 3 is realized through the telescopic mechanism 6; the movable arrangement is preferably in the form of a pivot connection, which can increase the stability of the safety door 3 during the opening / closing operation, and a roller 31 device is additionally arranged at the bottom of the safety door 3 away from the supporting leg 221, the roller 31 provides an auxiliary support structure for the safety door 3, and further improves the stability of the safety door 3 during the opening / closing operation. The control device 5 comprises a controller 51 and a storage unit 52; as Fig. 7 The traction winding mechanism 4 is provided with a plurality of driving arms 41 connected with a needle cylinder or a needle disc 10, the traction winding mechanism 4 is rotatably arranged on the base 1 by virtue of the rotation of the needle cylinder or the needle disc 10. A stitch counting device 7 is arranged between the traction winding mechanism 4 or the driving arm 41 and the opposite surface of the frame 2, as Fig. 5 The conventional stitch counting device 7 is arranged between the driving arm 41 and the large disc 21, the stitch counting device 7 is used for counting the rotation number of the traction winding mechanism 4, and the rotation number information is fed back to the controller 51; the controller 51 compares the rotation number information fed back by the stitch counting device 7 with the preset finish number information in the storage unit 52, and generally sets that when the rotation number approaches the finish number, the controller 51 will issue a speed reduction instruction to the transmission mechanism 100, so that the rotation speed of the needle cylinder / needle disc 10 gradually decreases, and when the rotation number matches the finish number, the traction winding mechanism 4 stops rotating; and in the normal state, the traction winding mechanism 4 is opposite to the opening direction of the safety door 3, that is, the width of the cloth wound on the cloth roll is opposite to the opening of the safety door 3, so that the cloth can be easily unloaded from the traction winding mechanism 4. Fig. 3, the telescopic mechanism 6 at least includes a cylinder 61 and a telescopic rod 62, one end of the cylinder 61 is provided with an open end, the telescopic rod 62 can make linear reciprocating motion along the central axis of the open end of the cylinder 61, the inner end of the telescopic rod 62 is provided with a magnetic ring 63, a first magnetic induction device 64 is arranged at the position adjacent to the open end of the cylinder 61, when the telescopic rod 62 is stretched to the position, the magnetic ring 63 of the telescopic rod 62 is opposite to the position of the first magnetic induction device 64, the first magnetic induction device 64 will feed back information to the controller 51.

[0036] More preferably, the design is as follows Fig. 7 , the existing lap counting device 7 is improved, in addition to including a conventional proximity switch 8, a timing module 9 is also included, the proximity switch 8 includes a host end 81 and a trigger end 82, the host end 81 and the timing module 9 are arranged in the inner of the large disc 21, it needs to be noted that the proximity switch 8 can be selected from a contact type proximity switch 8, a magnetic induction proximity switch 8 or a photoelectric induction proximity switch 8, if the magnetic induction proximity switch 8 is selected, the host end 81 is a second magnetic induction device A1, and the trigger end 82 is a magnetic material B1, if the photoelectric induction proximity switch 8 is selected, the host end 81 is a light source induction device A2, and the trigger end 82 is a light blocking block B2 or a light source reflection device, the above-mentioned host end 81 is electrically connected with the controller 51, the trigger end 82 is arranged on the driving arm 41, when the traction winding mechanism 4 is opposite to the opening direction of the safety door 3, the trigger end 82 of the proximity switch 8 is opposite to the position of the host end 81, at this time, the host end 81 sends a counting instruction to the controller 51, the timing module 9 is used for measuring the duration T1 of the counting instruction sent by the host end 81, and feeds back to the controller 51.

[0037] In addition, another implementation manner is that the original lap counting device 7 is retained, and a proximity switch 8 and a timing module 9 are additionally arranged, as follows Fig. 4 to Fig. 6 , the proximity switch 8 includes a host end 81 and a trigger end 82, the host end 81 and the timing module 9 are arranged on one of the legs, and both are electrically connected with the controller 51, the trigger end 82 is arranged on one side of the traction winding mechanism 4, which is opposite to the position of the leg, when the traction winding mechanism 4 is opposite to the opening direction of the safety door 3, the trigger end 82 of the proximity switch 8 is opposite to the position of the host end 81, at this time, the host end 81 sends a counting instruction to the controller 51, the timing module 9 is used for measuring the duration T1 of the counting instruction sent by the host end 81, and feeds back to the controller 51. It needs to be emphasized that no matter whether the timing module 9 is additionally arranged for the lap counting device 7 or the proximity switch 8 and the timing module 9 are additionally arranged, the position of the arrangement is not limited to the position disclosed in the embodiment, and it only needs to be arranged at the position opposite to the traction winding mechanism 4 (including the components connected with the traction winding mechanism 4, such as the driving arm 41) and the rack 2.

[0038] As Fig. 8 The application also discloses a control method for realizing unmanned forklift intelligent scheduling for a circular weft knitting machine.

[0039] S1, the controller 51 accumulates the number of turns according to the feedback signal of the counting device 7 and feeds back the rotation number information to the controller 51; the controller 51 compares the rotation number information fed back by the counting device 7 with the preset finish number information of the storage unit 52, activates the stop control instruction in steps, and ensures that the traction winding mechanism 4 stops rotating when the rotation number matches the finish number; at this time, the traction winding mechanism 4 is opposite to the opening direction of the safety door 3;

[0040] S2, the controller 51 issues a control instruction to make the telescopic rod 62 of the telescopic mechanism 6 extend outward; if the controller 51 receives the feedback signal of the first magnetic induction device 64, the controller 51 directly or through the dispatching center issues a scheduling instruction to the unmanned forklift, and completes the scheduling of the unmanned forklift; if the controller 51 does not receive the feedback signal of the first magnetic induction device 64, the controller 51 sends a fault prompt signal outward.

[0041] Through the above control method, it is ensured that the telescopic rod 62 of the telescopic mechanism 6 is in the extended position, at this time, the safety door 3 is in a completely open state, and the controller 51 issues a scheduling instruction to the unmanned forklift, so as to avoid that the unmanned forklift to be scheduled collides with the safety door 3 due to the fact that the safety door 3 is not completely opened, and a safety accident is caused.

[0042] On this basis, the application also discloses a more optimized control scheme for realizing unmanned forklift intelligent scheduling for a circular weft knitting machine, which comprises the following steps. Fig. 9 to Fig. 10 The control scheme comprises the following steps.

[0043] S1, the controller 51 accumulates the number of turns according to the feedback signal of the counting device 7 and feeds back the rotation number information to the controller 51; the controller 51 compares the rotation number information fed back by the counting device 7 with the preset finish number information of the storage unit 52, activates the stop control instruction in steps, and ensures that the traction winding mechanism 4 stops rotating when the rotation number matches the finish number; at this time, the traction winding mechanism 4 is opposite to the opening direction of the safety door 3;

[0044] S2, the controller 51 issues a control instruction to make the telescopic rod 62 of the telescopic mechanism 6 extend outward, if the controller 51 receives the feedback signal of the first magnetic induction device 64, the controller 51 directly or through the dispatching center issues a dispatching instruction to the unmanned forklift, and the dispatching of the unmanned forklift is completed; if the controller 51 does not receive the feedback signal of the first magnetic induction device 64, the controller 51 sends an error prompt signal outward.

[0045] Through the above setting, by introducing the timing module 9 on the counting device 7, or additionally increasing the proximity switch 8 and the timing module 9, because the traction winding mechanism 4 turns one circle, the host end 81 of the proximity switch 8 will feed back a signal to the controller 51, but the signal of the proximity switch 8 in motion stays for a very short time, and the controller 51 judges that the feedback signal is not the signal in the stop state, only when the traction winding mechanism 4 is in the stop state, and the host end 81 and the trigger end 82 of the proximity switch 8 are opposite to each other at this time, the host end 81 will continuously feed back a signal to the controller 51, by introducing the timing module 9, the controller 51 can clearly judge that the traction winding mechanism 4 is in the stop state, and the position is opposite to the opening direction of the safety door 3; if the traction winding mechanism 4 is not opposite to the opening direction of the safety door 3 when it is in the stop state, as shown in Fig. 8 , the controller 51 will not receive the signal fed back by the host end 81 of the proximity switch 8, at this time, the controller 51 sends a signal to the alarm device 200 arranged on the machine, and sends an audible and light alarm signal to the outside through the alarm device 200, so as to remind the operator to check the fault in time.

[0046] In order to further reduce the degree of manual intervention, on the basis of introducing the proximity switch 8 to judge whether the traction winding mechanism 4 is in the correct position when it is in the stop state, the application also discloses a control method for realizing intelligent scheduling of an unmanned forklift for a circular weft knitting machine, which comprises the following steps:

[0047] S1, the controller 51 accumulates the number of rotations according to the feedback signal of the counting device 7, and feeds back the rotation number information to the controller 51, the controller 51 compares the rotation number information fed back by the counting device 7 with the preset complete rotation number information in the storage unit 52, and activates the stop control instruction in steps, so that the traction winding mechanism 4 stops rotating, at this time, if the traction winding mechanism 4 is opposite to the opening direction of the safety door 3, the controller 51 will receive the signal fed back by the host end 81 of the proximity switch 8 and the duration T1 fed back by the timing module 9, when the duration T1 is greater than or equal to the comparison time T2 stored in the storage unit 52, S3 is entered, otherwise S2 is entered;

[0048] S2, the controller 51 issues a running instruction to the transmission mechanism 100, drives the traction winding mechanism 4 to continue rotating slowly until the controller 51 receives the signal feedback from the host end 81, the controller 51 issues a stop instruction to the transmission mechanism 100, drives the traction winding mechanism 4 to stop, at this time the timing module 9 feeds back the duration T1 to the controller 51, when the duration T1 is greater than or equal to the comparison time T2 stored in the storage unit 52, then enter S3, otherwise repeat S2, the number of cycles is limited to N, N is a positive integer greater than or equal to 2, when the number of cycles reaches N times, the controller 51 cannot receive the signal feedback from the timing module 9, the controller 51 sends a fault prompt signal to the outside;

[0049] S3, the controller 51 issues a control instruction to make the telescopic rod 62 of the telescopic mechanism 6 extend outward, if the controller 51 receives the feedback signal from the first magnetic induction device 64, the controller 51 directly or through the dispatching center issues a dispatching instruction to the unmanned forklift, completes the dispatching of the unmanned forklift; if the controller 51 does not receive the feedback signal from the first magnetic induction device 64, the controller 51 sends a fault prompt signal to the outside.

[0050] Through the above setting, the controller 51 can maximize the adaptive ensure that the traction winding mechanism 4 is in the correct position when it stops, further reducing the opportunity for manual intervention, and further improving the intelligent level of the whole machine equipment.

[0051] The above embodiments and drawings are not limited to the product form and style of the present application, and any appropriate changes and modifications made by those skilled in the art shall be considered as not departing from the scope of the present application.

Claims

1. A circular knitting machine, comprising a base (1), a frame (2), a safety door (3), a traction take-up mechanism (4), a control device (5), and a transmission mechanism (100); the frame (2) comprises a large disc (21) and a lower support structure (22), the lower support structure (22) comprising at least two spaced legs (221), the safety door (3) being rotatably disposed between the two legs (221) by means of an added telescopic mechanism (6); the control device (5) comprises a controller (51) and a storage unit (52); the traction take-up mechanism (4) is provided with a plurality of drive arms (41) connected to a needle cylinder or needle plate (10), the rotation of the needle cylinder or needle plate (10) driving the traction take-up mechanism (4) to be rotatably disposed on the base (1), the traction take-up mechanism (4) or the drive arms (41) A rotation counting device is provided between the opposite surfaces of the frame (2). The rotation counting device is used to count the number of rotations of the traction winding mechanism (4) and feed back the rotation count information to the controller (51). The controller (51) receives the rotation count information fed back by the rotation counting device and compares the rotation count with the preset number of completed rotations in the storage unit (52) to activate the stop control command, ensuring that the traction winding mechanism (4) stops rotating when the rotation count matches the number of completed rotations. The telescopic mechanism (6) includes at least a cylinder (61) and a telescopic rod (62). One end of the cylinder (61) is open. The telescopic rod (62) can reciprocate linearly along the central axis of the open end of the cylinder (61). A magnetic ring (63) is provided at the inner end of the telescopic rod (62). A first magnetic sensing device (64) is provided at the position adjacent to the open end of the cylinder (61). When the telescopic rod (62) is extended to the position, the magnetic ring (63) of the telescopic rod (62) is opposite to the position of the first magnetic sensing device (64). The first magnetic sensing device (64) will feed back information to the controller (51).

2. The circular knitting machine as described in claim 1, characterized in that, The counting device includes a proximity switch (8) and a timing module (9). The proximity switch (8) includes a host end (81) and a trigger end (82). The host end (81) and the timing module (9) are mounted on the frame (2) and are electrically connected to the controller (51). The trigger end (82) is mounted on the traction winding mechanism (4) or the drive arm (41). When the traction winding mechanism (4) is facing the opening direction of the safety door (3), the trigger end (82) of the proximity switch (8) is opposite to the host end (81). At this time, the host end (81) sends a counting command to the controller (51). The timing module (9) is used to calculate the duration T1 of the counting command sent by the host end (81) and feed it back to the controller (51).

3. The circular knitting machine as described in claim 1, characterized in that, It also includes a proximity switch (8) and a timing module (9). The proximity switch (8) includes a host end (81) and a trigger end (82). The host end (81) and the timing module (9) are mounted on the frame (2) and are electrically connected to the controller (51). The trigger end (82) is mounted on the traction winding mechanism (4) or the drive arm (41). When the traction winding mechanism (4) is facing the opening direction of the safety door (3), the trigger end (82) of the proximity switch (8) is opposite to the host end (81). At this time, the host end (81) sends a counting command to the controller (51). The timing module (9) is used to calculate the duration T1 of the counting command sent by the host end (81) and feed it back to the controller (51).

4. The circular knitting machine as described in claim 2 or 3, characterized in that, The proximity switch (8) is a magnetic proximity switch, the host end (81) is a second magnetic sensing device (A1), and the trigger end (82) is made of magnetic material (B1).

5. The circular knitting machine as described in claim 2 or 3, characterized in that, The proximity switch (8) is a photoelectric proximity switch, the host end (81) is a light source sensing device (A2), and the trigger end (82) is a light-shielding block (B2) or a light source reflecting device.

6. The circular knitting machine as described in any one of claims 1-3, characterized in that, The telescopic mechanism (6) uses an air source as a power source to realize the linear reciprocating motion of the telescopic rod (62) relative to the cylinder (61).

7. The circular knitting machine as described in claim 4, characterized in that, The telescopic mechanism (6) uses an air source as a power source to realize the linear reciprocating motion of the telescopic rod (62) relative to the cylinder (61).

8. The circular knitting machine as described in claim 5, characterized in that, The telescopic mechanism (6) uses an air source as a power source to realize the linear reciprocating motion of the telescopic rod (62) relative to the cylinder (61).

9. A control method for intelligent scheduling of unmanned forklifts applicable to the knitting circular knitting machine of claim 1, characterized in that: S1. The controller (51) automatically accumulates the number of rotations according to the feedback signal from the rotation counting device and feeds back the rotation count information to the controller (51). The controller (51) receives the rotation count information fed back by the rotation counting device and compares the rotation count with the preset completion count information in the storage unit (52) to activate the stop control command step by step, ensuring that when the rotation count matches the completion count, the traction winding mechanism (4) stops rotating. At this time, the traction winding mechanism (4) is facing the opening direction of the safety door (3). S2. The controller (51) issues a control command to extend the telescopic rod (62) of the telescopic mechanism (6) outward. If the controller (51) receives a feedback signal from the first magnetic induction device (64), the controller (51) issues a dispatch command to the unmanned forklift directly or through the dispatch center to complete the dispatch of the unmanned forklift. If the controller (51) does not receive a feedback signal from the first magnetic induction device (64), the controller (51) sends a fault warning signal outward.

10. A control method for intelligent scheduling of unmanned forklifts applicable to the knitting circular knitting machine of claim 2 or 3, characterized in that: S1. The controller (51) automatically accumulates the number of rotations according to the feedback signal from the counting device and feeds back the rotation number information to the controller (51). The controller (51) receives the rotation number information fed back by the counting device and compares the rotation number with the preset number of completed rotations in the storage unit (52) to activate the stop control command step by step, so that the traction winding mechanism (4) stops rotating. At this time, if the traction winding mechanism (4) is facing the opening direction of the safety door (3), the controller (51) will receive the signal fed back by the host end (81) of the proximity switch (8) and the duration T1 fed back by the timing module (9). When the duration T1 ≥ the comparison time T2 pre-stored in the storage unit (52), the next step is entered; otherwise, the controller (51) sends a fault prompt signal to the outside. S2. The controller (51) issues a control command to extend the telescopic rod (62) of the telescopic mechanism (6) outward. If the controller (51) receives a feedback signal from the first magnetic induction device (64), the controller (51) issues a dispatch command to the unmanned forklift directly or through the dispatch center to complete the dispatch of the unmanned forklift. If the controller (51) does not receive a feedback signal from the first magnetic induction device (64), the controller (51) sends a fault warning signal outward.

11. A control method for intelligent scheduling of unmanned forklifts applicable to the knitting circular knitting machine of claim 2 or 3, characterized in that: S1. The controller (51) accumulates the number of rotations according to the feedback signal from the counting device and feeds back the rotation count information to the controller (51). The controller (51) receives the rotation count information fed back by the counting device and compares the rotation count with the preset number of completed rotations in the storage unit (52) to activate the stop control command step by step, so that the traction winding mechanism (4) stops rotating. At this time, if the traction winding mechanism (4) is facing the opening direction of the safety door (3), the controller (51) will receive the signal fed back by the main unit (81) of the proximity switch (8) and the duration T1 fed back by the timing module (9). When the duration T1 ≥ the comparison time T2 pre-stored in the storage unit (52), it enters S3; otherwise, it enters S2. S2, the controller (51) sends a running command to the transmission mechanism (100) to drive the traction winding mechanism (4) to continue rotating slowly until the controller (51) receives the signal fed back by the host (81). The controller (51) sends a stop command to the transmission mechanism (100) to drive the traction winding mechanism (4) to stop. At this time, the timing module (9) feeds back the duration T1 to the controller (51). When the duration T1 is greater than or equal to the comparison time T2 stored in the storage unit (52), then enter S3. Otherwise, repeat S2. The number of cycles is limited to N, where N is a positive integer greater than or equal to 2. When the number of cycles reaches N, the controller (51) cannot receive the signal fed back by the timing module (9). The controller (51) sends a fault warning signal to the outside. S3. The controller (51) issues a control command to extend the telescopic rod (62) of the telescopic mechanism (6) outward. If the controller (51) receives a feedback signal from the first magnetic induction device (64), the controller (51) issues a dispatch command to the unmanned forklift directly or through the dispatch center to complete the dispatch of the unmanned forklift. If the controller (51) does not receive a feedback signal from the first magnetic induction device (64), the controller (51) sends a fault warning signal outward.

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