Knitting control method of bidirectional self-running glove knitting machine and electronic equipment

Abstract

The embodiment of the invention provides a knitting control method of a bidirectional self-running knitting glove machine and electronic equipment. The method comprises the following steps: determining a main shaft operation parameter and a machine head operation state corresponding to a current knitting process; determining an operation mode of the glove machine according to the operation state of the machine head; and based on the operation mode, controlling the preceding machine head and the following machine head to perform knitting treatment according to the main shaft operation parameters. The method ensures the accuracy of the main shaft in the operation process and improves the knitting efficiency of the glove knitting machine.

Description

Technical Field

[0001] The present application relates to the field of automation control, and in particular to a knitting control method, electronic equipment, storage medium and program product of a bidirectional self-running glove knitting machine. Background Art

[0002] Glove machine knitting is the process of knitting yarn or fiber materials into gloves through specific knitting equipment (i.e. glove machine).

[0003] The glove knitting technology is based on the knitting principle. The yarn is woven on the needles in a loop to form the various parts of the gloves, thus completing the knitting of the gloves.

[0004] Existing glove knitting technology usually uses a single servo motor to control two heads for knitting. If this glove is improved, that is, the knitting efficiency is improved, it will cause problems such as high wear of the head. Summary of the invention

[0005] The embodiments of the present application provide a knitting control method, electronic device, storage medium and program product of a bidirectional self-running glove knitting machine, which are used to solve the problem of high wear of the machine heads caused by using a single servo motor to control a two-head glove knitting machine to improve the knitting efficiency, and improve the knitting efficiency of the glove knitting machine while ensuring the stability of the main shaft.

[0006] In a first aspect, an embodiment of the present application provides a knitting control method for a bidirectional self-running glove knitting machine, comprising:

[0007] Determine the spindle operation parameters and the head operation status corresponding to the current knitting process, wherein the spindle operation parameters include: the leading spindle operation parameters and the trailing spindle operation parameters, and the head includes: the leading head and the trailing head;

[0008] Determining an operating mode of the glove machine according to the operating state of the machine head;

[0009] Based on the operation mode, the leading machine head and the trailing machine head are controlled to perform weaving processing according to the spindle operation parameters.

[0010] In a possible implementation, the spindle operation parameters include: a speed curve, the head operation state includes: a motion state and position information, the motion state includes: a stationary state and a non-stationary state, and determining the operation mode of the glove machine according to the head operation state includes:

[0011] If the leading locomotive and the trailing locomotive are both in a stationary state and at the starting point, determining that the operation mode is the first operation mode;

[0012] If both the leading locomotive and the trailing locomotive are in a non-stationary state, and the distance between the trailing locomotive and the end point is smaller than the distance between the leading locomotive and the end point, determining that the operation mode is the second operation mode;

[0013] If both the leading locomotive and the trailing locomotive are in a non-stationary state, and the distance between the leading locomotive and the end point is smaller than the distance between the trailing locomotive and the end point, then determining a first time difference between the leading locomotive and the trailing locomotive when they reach the end point according to the speed curve and the position information of each locomotive;

[0014] An operation mode of the glove machine is determined according to the first time difference and a first preset time length.

[0015] In a possible implementation, determining the operation mode of the glove machine according to the first time difference and the first preset duration includes:

[0016] Determining whether the first time difference is greater than the first preset time length;

[0017] When the first time difference is greater than the first preset time length, determining that the operation mode is a third operation mode;

[0018] When the first time difference is not greater than the first preset time length, the operating mode is determined to be the second operating mode.

[0019] In a possible implementation, based on the operation mode, controlling the leading machine head and the trailing machine head to perform knitting processing according to the spindle operation parameters includes:

[0020] If the operation mode is the first operation mode, the leading machine head is controlled to perform weaving processing according to the speed curve, and after a first preset time, the trailing machine head is controlled to perform weaving processing according to the speed curve;

[0021] If the operation mode is the second operation mode, when the leading machine head reaches the end point, the leading machine head is controlled to weave the next row according to the speed curve, and the timing device is started;

[0022] When the following machine head reaches the end point and the timing time of the timing device is greater than the first preset time, the following machine head is controlled to perform weaving processing on the next row according to the speed curve;

[0023] If the operation mode is the third operation mode, when the leading locomotive arrives at the end point, the estimated time for the following locomotive to arrive at the end point is determined according to the position information of the following locomotive and the speed curve;

[0024] Determine the start time of the leading machine head according to the estimated time and the first preset time, and when the current time is the start time, control the leading machine head to weave the next row according to the speed curve;

[0025] When the following machine head reaches the end point, the following machine head is controlled to weave the next row according to the speed curve.

[0026] In a possible implementation, the operating state of the machine head further includes: a movement direction, and the method further includes:

[0027] In the case where the movement directions of the leading locomotive and the trailing locomotive are consistent, determining the distance difference between the leading locomotive and the trailing locomotive according to the position information of the two locomotives;

[0028] Determining whether the phase difference distance is within a preset distance range, wherein the preset distance range is determined according to the speed curve;

[0029] When the phase difference distance is not within the preset distance range, the preceding spindle operating parameters and / or the succeeding spindle operating parameters are optimized based on the phase difference distance.

[0030] In a possible implementation, determining the spindle operating parameters corresponding to the current knitting process includes:

[0031] Determine the weaving area, the start position of the machine head and the end position of the machine head corresponding to the current weaving process;

[0032] Based on the weaving area, the start position of the machine head, the end position of the machine head and the pre-configured spindle speed increase and decrease duration, a speed curve is determined, and the speed curve and the first preset duration are used as the spindle operation parameters.

[0033] In a second aspect, an embodiment of the present application provides a knitting control device for a bidirectional self-running glove knitting machine, comprising:

[0034] An acquisition module is used to determine the spindle operation parameters and the head operation status corresponding to the current knitting process, wherein the spindle operation parameters include: the leading spindle operation parameters and the trailing spindle operation parameters, and the head includes: the leading head and the trailing head;

[0035] A processing module, used for determining an operation mode of the glove machine according to an operation state of the machine head;

[0036] The processing module is also used to control the leading machine head and the trailing machine head to perform weaving processing based on the operating mode and according to the spindle operating parameters.

[0037] In a possible implementation, the processing module is further configured to, if the leading head and the trailing head are both in a stationary state and at the starting point, determine that the operation mode is the first operation mode; if the leading head and the trailing head are both in a non-stationary state and the distance between the trailing head and the end point is smaller than the distance between the leading head and the end point, determine that the operation mode is the second operation mode; if the leading head and the trailing head are both in a non-stationary state and the distance between the leading head and the end point is smaller than the distance between the trailing head and the end point, determine, according to the speed curve and the position information of each head, a first time difference between the leading head and the trailing head in reaching the end point; and determine the operation mode of the glove machine according to the first time difference and a first preset time length.

[0038] In a possible implementation, the processing module is also used to determine whether the first time difference is greater than the first preset time length; when the first time difference is greater than the first preset time length, determine that the operating mode is the third operating mode; when the first time difference is not greater than the first preset time length, determine that the operating mode is the second operating mode.

[0039] In a possible implementation, the processing module is further used to, if the operating mode is the first operating mode, control the leading machine head to weave according to the speed curve, and control the trailing machine head to weave according to the speed curve after a first preset time period; if the operating mode is the second operating mode, when the leading machine head reaches the end point, control the leading machine head to weave the next row according to the speed curve and start the timing device; when the trailing machine head reaches the end point and the timing time of the timing device is greater than the first preset time period, control the trailing machine head to weave according to the speed curve. The leading head weaves the next row according to the speed curve; if the operation mode is the third operation mode, when the leading head arrives at the end point, the estimated time for the following head to arrive at the end point is determined according to the position information of the following head and the speed curve; according to the estimated time and the first preset time, the starting time of the leading head is determined, and when the current time is the starting time, the leading head is controlled to weave the next row according to the speed curve; when the following head arrives at the end point, the following head is controlled to weave the next row according to the speed curve.

[0040] In one possible implementation, the processing module is further used to determine, when the movement directions of the leading machine head and the trailing machine head are consistent, a distance difference between the leading machine head and the trailing machine head based on their position information; to determine whether the distance difference is within a preset distance range, wherein the preset distance range is determined based on the speed curve; and when the distance difference is not within the preset distance range, to optimize the leading spindle operating parameters and / or the trailing spindle operating parameters based on the distance difference.

[0041] In a possible implementation, the processing module is also used to determine the weaving area, the starting position of the machine head and the end position of the machine head corresponding to the current weaving process; based on the weaving area, the starting position of the machine head, the end position of the machine head and the pre-configured spindle speed increase and decrease duration, determine the speed curve, and use the speed curve and the first preset duration as the spindle operation parameters.

[0042] In a third aspect, an embodiment of the present application provides a knitting control device for a bidirectional self-running glove knitting machine, characterized in that it includes:

[0043] Memory;

[0044] processor;

[0045] The memory stores computer-executable instructions;

[0046] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the knitting control method of the bidirectional self-running knitting glove machine as described in any one of the first aspect or any one of the second aspect above.

[0048] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the knitting control method of the bidirectional self-running knitting glove machine as described in any one of the first aspect or any one of the second aspect above.

[0049] The knitting control method, electronic device, storage medium and program product of the bidirectional self-running knitting glove machine provided in the embodiment of the present application determine the main shaft operation parameters and the head operation status corresponding to the current knitting process; determine the operation mode of the glove machine according to the head operation status; based on the operation mode, control the leading head and the trailing head to perform knitting processing according to the main shaft operation parameters. This method ensures the accuracy of the main shaft operation process and improves the knitting efficiency of the glove machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0051] Figure 1 A schematic diagram of a knitting control method for a bidirectional self-running knitting glove machine provided in this application Figure 1 ;

[0052] Figure 2 A schematic diagram of a knitting control method for a bidirectional self-running knitting glove machine provided in this application Figure 2 ;

[0053] Figure 3 A schematic diagram of the leading machine head action curve of a knitting control method for a bidirectional self-running knitting glove machine provided in this application Figure 1 ;

[0054] Figure 4 A schematic diagram of the rear head motion curve of a bidirectional self-running glove knitting machine knitting control method provided in this application Figure 1 ;

[0055] Figure 5 A schematic diagram of the structure of a knitting control device for a bidirectional self-running knitting glove machine provided in this application Figure 1 ;

[0056] Figure 6 A schematic diagram of the structure of a knitting control device for a bidirectional self-running knitting glove machine provided in this application Figure 1 .

[0057] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0059] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, products or devices.

[0060] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0061] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0062] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0063] The glove machine is an automated production equipment specially used for producing gloves. It integrates mechanics, electronics and pneumatics, and can efficiently produce gloves of various materials and types.

[0064] The glove machine spindle is the shaft used to fix and rotate the workpiece or tool in the glove machine, usually composed of a motor, bearings, transmission devices and clamping devices; the glove machine head usually consists of multiple components, including but not limited to a tension device, a yarn-inserting mechanism, a cam mechanism (such as a needle pressing cam, a needle raising cam, etc.), a yarn guide, a needle selection device (equipped in some advanced glove machines), etc.

[0065] During the operation of the glove machine, the left direction refers to the movement direction of the glove machine head moving to the left during the knitting process; the right direction refers to the movement direction of the glove machine head moving to the right during the knitting process.

[0066] Glove knitting is achieved through a glove knitting machine, which can knit gloves of various styles and specifications according to different needs and designs. Glove knitting machines usually have the characteristics of high speed, high efficiency and high degree of automation, which can greatly improve the production efficiency and quality of gloves.

[0067] The glove knitting technology is based on the knitting principle. The yarn is woven on the needles in a loop to form the various parts of the gloves, thus completing the knitting of the gloves.

[0068] The existing glove knitting technology usually uses a single servo motor to control the two heads of the glove knitting machine, and the two heads are in a front-to-back symmetrical state. During the operation of the glove knitting machine, the servo motor controls the heads to perform knitting processing.

[0069] However, if the knitting efficiency of the glove machine is to be improved, it can only be improved by increasing the main shaft speed of the glove machine, which will increase the machine head speed and cause problems such as high wear of the main shaft.

[0070] In view of the above problems, the present application provides a knitting control method for a bidirectional self-running glove knitting machine, which determines the running state of the glove machine head and uses the corresponding spindle parameters to control the leading head and the trailing head to perform knitting processing according to the corresponding operating mode. During the knitting process, the two heads adopt a staggered mode and are controlled by two servo motors to perform knitting processing, so that the spindle runs at a high speed while the two heads maintain a compact action mode, thereby maximizing the knitting efficiency.

[0071] Figure 1 A process of a knitting control method for a bidirectional self-running knitting glove machine provided in an embodiment of the present application Figure 1 .like Figure 1 As shown, the knitting control method of the bidirectional self-running knitting glove machine provided in this embodiment includes:

[0072] S101, determining the spindle operating parameters and the machine head operating status corresponding to the current knitting process.

[0073] Wherein, the spindle operation parameters include: a leading spindle operation parameter and a trailing spindle operation parameter, and the machine head includes: a leading machine head and a trailing machine head.

[0074] Spindle operating parameters refer to the various dynamic settings and conditions involved in the operation of the spindle in a glove machine or other textile machinery; the spindle operating parameters mainly include spindle speed, power, bearing type and stability, etc.; they are used to control the operating status of the spindle during operation.

[0075] The machine head operating state refers to the various dynamic parameters and conditions of the machine head in the glove machine when performing the knitting operation; the machine head operating state mainly includes motion state, position state, vibration state, temperature state, etc.

[0076] During the knitting process of the glove machine, the spindle operation parameters control the spindle operation, and the spindle controls the machine head to complete the corresponding knitting requirements. The relationship between the spindle and the machine head in the glove machine includes:

[0077] The spindle transmits power to the machine head, providing the necessary rotational force and speed for the machine head;

[0078] By controlling the speed and direction of the spindle, the movement speed and direction of the machine head can be precisely controlled;

[0079] The power and torque of the spindle determine the maximum load it can support. The setting of the machine head needs to match the maximum load that the spindle is known to support to ensure the normal operation of the machine head under high load conditions.

[0080] The leading machine head is the machine head that is in the leading position during the left and right movement of the glove machine, and the trailing machine head is the machine head that is in the trailing position during the left and right movement of the glove machine; the leading spindle is the spindle corresponding to the leading machine head, and the trailing spindle is the spindle corresponding to the trailing machine head.

[0081] In this step, the main control system of the glove machine needs to determine which head is the leading head, so as to determine the corresponding control spindle; the corresponding spindle operating parameters are determined by the knitting process requirements, and the head operating status is determined by the control system and the sensor.

[0082] In a possible implementation, determining the operating state of the head can be achieved, for example, by the following method, including:

[0083] The control system of the glove machine uses micro switches, photoelectric switches or other sensors to monitor the movement status of the machine head in real time. These sensors can detect parameters such as the position, speed and acceleration of the machine head. When the machine head is in different states, these sensors will generate different output signals, and the control system can judge the operating status of the machine head based on these signals.

[0084] S102: Determine an operation mode of the glove machine according to the operation state of the machine head.

[0085] Among them, the operating mode of the glove machine refers to the operating method and strategy adopted by the glove machine during the production process; these modes vary according to different production requirements, design complexity and material properties.

[0086] In this step, the operation mode of the glove machine is determined mainly by acquiring the operation status of the machine head in real time through the control system, and the control system determines the corresponding operation mode based on the corresponding operation status.

[0087] In a possible implementation, according to the operating state of the head, determining the operating mode of the glove machine can be implemented in the following manner. The following is an explanation of various operating modes of the glove machine:

[0088] First operating mode: if the leading machine head and the trailing machine head are both in a stationary state and at the starting point, the operating mode is determined to be the first operating mode.

[0089] Second operating mode: Method 1: If the leading locomotive and the trailing locomotive are both in a non-stationary state, and the distance between the trailing locomotive and the end point is smaller than the distance between the leading locomotive and the end point, then the operating mode is determined to be the second operating mode.

[0090] Method 2: If both the leading locomotive and the trailing locomotive are in a non-stationary state, and the distance between the leading locomotive and the end point is smaller than the distance between the trailing locomotive and the end point, then according to the speed curve and the position information of each locomotive, determine the first time difference between the leading locomotive and the trailing locomotive when they reach the end point;

[0091] When the first time difference is not greater than the first preset time length, the operating mode is determined to be the second operating mode.

[0092] The third operation mode: if the leading locomotive and the trailing locomotive are both in a non-stationary state, and the distance between the leading locomotive and the end point is smaller than the distance between the trailing locomotive and the end point, then according to the speed curve and the position information of each locomotive, a first time difference between the leading locomotive and the trailing locomotive at the end point is determined;

[0093] When the first time difference is greater than the first preset time length, the operating mode is determined to be the third operating mode.

[0094] S103, based on the operation mode, controlling the leading machine head and the trailing machine head to perform weaving processing according to the spindle operation parameters.

[0095] Among them, the different operation modes require the state adjustment of the leading machine head and the trailing machine head, and then the main shaft operation parameters are used to control the leading machine head and the trailing machine head to perform weaving processing.

[0096] In this step, the leading machine head and the trailing machine head are controlled to perform weaving processing according to the spindle operation parameters. After the control system determines the corresponding operation mode, the control system controls the corresponding machine head by controlling the corresponding spindle to perform weaving processing.

[0097] The knitting control method of the bidirectional self-running glove knitting machine provided in this embodiment determines the spindle operation parameters and the head operation status corresponding to the current knitting process; determines the operation mode of the glove knitting machine according to the head operation status; based on the operation mode, controls the leading head and the trailing head to perform knitting processing according to the spindle operation parameters. This method ensures the accuracy of the spindle operation process and improves the knitting efficiency of the glove knitting machine.

[0098] Figure 2 A process of a knitting control method for a bidirectional self-running knitting glove machine provided in an embodiment of the present application Figure 1 In this embodiment, the operation state of the head includes: motion state and position information, and the motion state includes: static state and non-static state. Figure 1 Based on the embodiment, the weaving process of controlling the leading and trailing machine heads according to the spindle operating parameters based on the operating mode is explained. Figure 2 As shown, the knitting control method of the bidirectional self-running knitting glove machine provided in this embodiment includes:

[0099] S201, determining a weaving area, a start position of a machine head, and an end position of a machine head corresponding to the current weaving process.

[0100] Among them, the knitting area corresponding to the current knitting process refers to the area in the glove machine used for knitting gloves; in this area, the shape and structure of the corresponding gloves are knitted through the coordinated work of various parts; the starting position and the end position of the machine head refer to the movement range of the machine head during the knitting process. The starting position is the position where the machine head starts to run, and the end position is the position where the machine head stops after completing a complete operation cycle, which is used to ensure the integrity of the knitting.

[0101] In this step, determining the weaving area corresponding to the current weaving process mainly involves the control system determining the weaving program based on the current weaving process, and determining the required weaving area through the current weaving program; the starting position of the machine head is obtained through the control panel or auxiliary tools; the end position of the machine head is determined according to the current weaving program, and the moving path and end position of the machine head during the weaving process are determined.

[0102] S202, determining a speed curve based on the weaving area, the start position of the machine head, the end position of the machine head and the pre-configured spindle speed increase and decrease duration, and using the speed curve and the first preset duration as the spindle operation parameters.

[0103] Among them, the spindle speed increase or decrease duration refers to the time required for the spindle to accelerate from a stationary state to the target speed or decelerate from the target speed to a stationary state, that is, the speed change of the corresponding machine head controlled by the spindle; the speed curve is mainly a graphical representation of the speed change of the spindle during startup, operation and stop, which is used to analyze and optimize the dynamic performance of the spindle and ensure the efficiency and stability of the equipment under different operating conditions; the first preset duration is the difference between the startup time of the leading machine head and the trailing machine head, ensuring that the distance between the leading machine head and the trailing machine head is kept within the preset distance.

[0104] In this step, the speed curves determined by the leading spindle and the trailing spindle are the same; the starting point and the end point of the weaving area are different from the starting point and the end point of the machine head, and there is a preset distance between the starting point and the end point of the machine head and the weaving area corresponding to the weaving process to ensure that the movements of the leading machine head and the trailing machine head in the weaving area meet the requirements, but a method for early starting of the leading machine head needs to be set within the preset distance, so as to reduce the action time of the leading machine head and the trailing machine head and improve the efficiency of the two machine heads in the weaving area; and according to the requirements of the staggered mode, the distance between the leading machine head and the trailing machine head in the weaving area needs to be set to be maintained within a certain range.

[0105] In a possible implementation, the speed curve uses a sine curve with a uniform speed segment. Figure 3 A schematic diagram of a speed curve of a leading machine head provided in an embodiment of the present application, Figure 4 A schematic diagram of a speed curve of a rearward-traveling machine head provided in an embodiment of the present application. Figure 3-4 As shown, For the preset distance, It is time to enter the weaving area. is the speed of the head in the uniform speed section, is the first preset duration, is the displacement of the spindle during the speed increase period, The spindle speed-up period is is the weaving area corresponding to the current weaving process, is the total stroke of the main axis, The total time for this action, is the motor speed.

[0106] according to Figure 3 , Figure 4 Determining the starting position and the end position of the machine head and the preset distance between the weaving area corresponding to the weaving process includes:

[0107] According to the speed curve, determine the distance range between the leading machine head and the trailing machine head in the weaving area, the speed of the uniform speed section of the speed curve, the starting position of the weaving area, the end position of the weaving area, and the length parameters of the weaving area;

[0108] In this step, according to the action curve, when the start-up time of the leading machine head reaches the first preset time, the trailing machine head starts; the speed of the trailing machine head gradually increases, and the speeds of the leading machine head and the trailing machine head are in the increasing stage at the same time. According to the action curve, the acceleration of the leading machine head and the trailing machine head is found out, and the acceleration of the trailing machine head before entering the uniform speed section of the weaving area is greater than the acceleration of the leading machine head at the corresponding moment, and the accelerations of the two are constantly decreasing, but in the process of decreasing acceleration of the leading machine head and the trailing machine head, the acceleration of the trailing machine head is always greater than the acceleration of the leading machine head, and then the area of ​​the corresponding area of ​​the action curve is calculated, and the minimum distance between the leading machine head and the trailing machine head in the weaving area is obtained at this time.

[0109] After the trailing machine head enters the uniform speed section, when the leading machine head and the trailing machine head are in the uniform speed stage in the weaving area, the distance between the leading machine head and the trailing machine head remains unchanged; when the trailing machine head is in the uniform speed stage and the leading machine head is in the deceleration stage, the distance between the trailing machine head and the leading machine head gradually increases. When the leading machine head is in the deceleration stage to the outside of the weaving area, that is, before the leading machine head enters the deceleration section, the distance between the two machine heads in the weaving area is the largest. That is, the minimum distance and the maximum distance are the distance ranges between the leading machine head and the trailing machine head in the weaving area. That is, in the action curve, the distance between the leading machine head and the trailing machine head is the area in the coordinate area at the corresponding moment of the action curve.

[0110] The starting position and the end position of the machine head are calculated according to the parameters determined by the speed curve, and the preset distance between the weaving area corresponding to the weaving process and the end position is calculated.

[0111] In this step, the preset distance is calculated using the parameters determined by the speed curve and can be calculated using the following relationship, including:

[0112]

[0113] in, It is the minimum distance between the leading and trailing machine heads in the weaving area. It is the maximum distance between the leading and trailing machine heads in the weaving area.

[0114] in, The calculation method is:

[0115]

[0116] S203, determining the machine head operation state corresponding to the current weaving process.

[0117] Among them, step S203 is similar to step S101 and will not be repeated here.

[0118] S204: Determine an operation mode of the glove machine according to the operation state of the machine head.

[0119] Among them, step S203 is similar to step S102 and will not be repeated here.

[0120] S205: If the operation mode is the first operation mode, the leading machine head is controlled to perform weaving processing according to the speed curve, and after a first preset time period, the trailing machine head is controlled to perform weaving processing according to the speed curve.

[0121] Among them, when the operation mode is the first operation mode, the leading machine head and the trailing machine head are both in a stationary state and at the starting point; after the first preset time period, the trailing machine head is controlled to perform weaving processing according to the speed curve so that the leading machine head and the trailing machine head are within the preset distance range in the staggered mode; during the weaving processing, the leading machine head and the trailing machine head are controlled by the leading spindle and the trailing spindle according to the corresponding speed curve to perform weaving processing.

[0122] S206: If the operation mode is the second operation mode, when the leading machine head reaches the end point, the leading machine head is controlled to weave the next row according to the speed curve, and a timing device is started.

[0123] Among them, when the operation mode is the second operation mode, the leading head and the rear head are both in a non-stationary state, and the leading head is controlled to weave the next row according to the speed curve because the time difference between the leading head and the rear head reaching the starting point of the row is less than or equal to the first preset time length or the leading head reaches the starting point of the row later than the rear head, resulting in the distance between the leading head and the rear head in the weaving area being not within the preset distance range; the timing device is used to calculate the time required for the rear head to reach the end point, and the leading spindle controls the leading head to weave the next row according to the corresponding speed curve.

[0124] S207, when the following machine head reaches the end point and the timing time of the timing device is greater than the first preset time, controlling the following machine head to weave the next row according to the speed curve.

[0125] Among them, when the trailing machine head reaches the end point and the timing time of the timing device is greater than the first preset time, the leading machine head and the trailing machine head end the action of the previous row, and after the leading machine head starts the action of this row for a time period exceeding the preset time, the trailing machine head starts the action of this row, ensuring that the distance between the leading machine head and the trailing machine head is within the preset distance range when they enter the weaving area, and the trailing spindle controls the trailing machine head to perform the next row of weaving processing according to the corresponding speed curve.

[0126] S208: If the operation mode is the third operation mode, when the leading locomotive arrives at the destination, the estimated time for the following locomotive to arrive at the destination is determined according to the position information of the following locomotive and the speed curve.

[0127] Among them, the position information of the rear machine head represents the distance between the rear machine head and the end point, which can be solved by the speed curve; when the operating mode is the third operating mode, the leading machine head and the rear machine head are both in a non-stationary state, and the estimated time for the rear machine head to arrive at the end point is determined because the time for the leading machine head and the rear machine head to reach the starting point of this row is greater than the first preset time, resulting in the distance between the leading machine head and the rear machine head in the weaving area being too large. The operating time of the leading machine head is determined by determining the relationship between the estimated time for the rear machine head to arrive at the end point and the first preset time; the rear spindle controls the rear machine head to perform weaving processing.

[0128] In this step, the position information of the rear locomotive can be solved through the rear locomotive action curve.

[0129] S209, determining the start time of the leading machine head according to the estimated duration and the first preset duration, and when the current moment is the start time, controlling the leading machine head to weave the next row according to the speed curve.

[0130] Among them, the starting time of the leading machine head is determined, and the current time is the starting time, indicating that the following machine head ends the operation state of this row. The corresponding position at this time is the starting position of the leading machine head; the leading spindle controls the leading machine head to perform weaving processing.

[0131] S210, when the following machine head reaches the end point, controlling the following machine head to weave the next row according to the speed curve.

[0132] Among them, when the rear loom reaches the end point, the time taken for the leading loom and the rear loom to reach the starting position is the first preset time length, that is, the next row of weaving processing is directly carried out.

[0133] In a possible implementation, the head operation state further includes: a movement direction. According to the head operation state, determining the operation mode of the glove machine can also be implemented by the following method, including:

[0134] In the case where the movement directions of the leading locomotive and the trailing locomotive are consistent, determining the distance difference between the leading locomotive and the trailing locomotive according to the position information of the two locomotives;

[0135] Determining whether the phase difference distance is within a preset distance range, wherein the preset distance range is determined according to the speed curve;

[0136] When the phase difference distance is not within the preset distance range, the preceding spindle operating parameters and / or the succeeding spindle operating parameters are optimized based on the phase difference distance.

[0137] The knitting control method of the bidirectional self-running knitting glove machine provided in this embodiment determines the knitting area, the starting position of the head and the end position of the head corresponding to the current knitting process; determines the speed curve based on the knitting area, the starting position of the head, the end position of the head and the pre-configured spindle speed increase and decrease time, and uses the speed curve and the first preset time as the spindle operation parameters; determines the head operation state corresponding to the current knitting process; determines the operation mode of the glove machine according to the head operation state; if the operation mode is the first operation mode, controls the leading head to perform knitting processing according to the speed curve, and after the first preset time, controls the trailing head to perform knitting processing according to the speed curve; if the operation mode is the second operation mode, controls the leading head to perform knitting processing according to the speed curve when the leading head reaches the end point. The leading machine head performs knitting processing on the next row according to the speed curve and starts the timing device; when the trailing machine head reaches the end point and the timing time of the timing device is greater than the first preset time, the trailing machine head is controlled to perform knitting processing on the next row according to the speed curve; if the operation mode is the third operation mode, when the leading machine head reaches the end point, the estimated time for the trailing machine head to reach the end point is determined according to the position information of the trailing machine head and the speed curve; the start time of the leading machine head is determined according to the estimated time and the first preset time, and when the current time is the start time, the leading machine head is controlled to perform knitting processing on the next row according to the speed curve; when the trailing machine head reaches the end point, the trailing machine head is controlled to perform knitting processing on the next row according to the speed curve. The method provides the corresponding operation modes of the glove machine under different operation states of the machine head, and improves the accuracy and stability of the knitting process.

[0138] Figure 5 The present application provides a knitting control device for a bidirectional self-running knitting glove machine. Figure 5 As shown, the knitting control device 500 of the bidirectional self-running knitting glove machine provided in the embodiment of the present application includes:

[0139] The acquisition module 501 is used to determine the spindle operation parameters and the head operation status corresponding to the current knitting process, wherein the spindle operation parameters include: the leading spindle operation parameters and the trailing spindle operation parameters, and the head includes: the leading head and the trailing head;

[0140] A processing module 502 is used to determine the operation mode of the glove machine according to the operation state of the head;

[0141] The processing module 502 is further used to control the leading machine head and the trailing machine head to perform weaving processing based on the operating mode and according to the spindle operating parameters.

[0142] In a possible implementation, the processing module 502 is further configured to determine that the operation mode is the first operation mode if both the leading head and the trailing head are in a stationary state and at the starting point; determine that the operation mode is the second operation mode if both the leading head and the trailing head are in a non-stationary state and the distance between the trailing head and the end point is less than the distance between the leading head and the end point; determine that the first time difference between the leading head and the trailing head in reaching the end point is determined according to the speed curve and the position information of each head if both the leading head and the trailing head are in a non-stationary state and the distance between the leading head and the end point is less than the distance between the trailing head and the end point; and determine the operation mode of the glove machine according to the first time difference and a first preset time length.

[0143] In a possible implementation, the processing module 502 is also used to determine whether the first time difference is greater than the first preset time length; when the first time difference is greater than the first preset time length, determine that the operating mode is the third operating mode; when the first time difference is not greater than the first preset time length, determine that the operating mode is the second operating mode.

[0144] In a possible implementation, the processing module 502 is also used to control the leading machine head to weave according to the speed curve if the operation mode is the first operation mode, and control the trailing machine head to weave according to the speed curve after a first preset time period; if the operation mode is the second operation mode, when the leading machine head reaches the end point, control the leading machine head to weave the next row according to the speed curve and start the timing device; when the trailing machine head reaches the end point and the timing time of the timing device is greater than the first preset time period, control the trailing machine head to weave according to the speed curve. The machine head weaves the next row according to the speed curve; if the operation mode is the third operation mode, when the leading machine head arrives at the end point, the estimated time for the following machine head to arrive at the end point is determined according to the position information of the following machine head and the speed curve; according to the estimated time and the first preset time, the start time of the leading machine head is determined, and when the current time is the start time, the leading machine head is controlled to weave the next row according to the speed curve; when the following machine head arrives at the end point, the following machine head is controlled to weave the next row according to the speed curve.

[0145] In one possible implementation, the processing module 502 is further used to determine, when the movement directions of the leading machine head and the trailing machine head are consistent, a distance difference between the leading machine head and the trailing machine head based on their position information; to determine whether the distance difference is within a preset distance range, wherein the preset distance range is determined based on the speed curve; and when the distance difference is not within the preset distance range, to optimize the leading spindle operating parameters and / or the trailing spindle operating parameters based on the distance difference.

[0146] In a possible implementation, the processing module 502 is also used to determine the weaving area, the starting position of the machine head and the end position of the machine head corresponding to the current weaving process; based on the weaving area, the starting position of the machine head, the end position of the machine head and the pre-configured spindle speed increase and decrease duration, determine the speed curve, and use the speed curve and the first preset duration as the spindle operation parameters.

[0147] The present embodiment provides a knitting control device for a bidirectional self-running glove knitting machine, which can execute the knitting control method for a bidirectional self-running glove knitting machine provided by the above method embodiment. The implementation principle and technical effect are similar, and will not be described in detail in the present embodiment.

[0148] Figure 6 This is a schematic diagram of the structure of the knitting control device of the bidirectional self-running knitting glove machine provided in this application. Figure 6As shown, the knitting control device 600 of the bidirectional self-running glove knitting machine provided by the present application includes: a receiver 601, a transmitter 602, a processor 603 and a memory 604.

[0149] Receiver 601, used for receiving instructions and data;

[0150] A transmitter 602, used for sending instructions and data;

[0151] Memory 604, used to store computer-executable instructions;

[0152] The processor 603 is used to execute the computer execution instructions stored in the memory 604 to implement the various steps executed by the knitting control method of the bidirectional self-running knitting glove machine in the above embodiment. For details, please refer to the relevant description in the above embodiment of the knitting control method of the bidirectional self-running knitting glove machine.

[0153] Optionally, the memory 604 may be independent or integrated with the processor 603 .

[0154] When the memory 604 is independently provided, the electronic device further includes a bus for connecting the memory 604 and the processor 603 .

[0155] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, a knitting control method of a bidirectional self-running knitting glove machine as executed by the knitting control device of the bidirectional self-running knitting glove machine as described above is implemented.

[0156] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps performed by the knitting control method of the bidirectional self-running knitting glove machine as described above. For details, please refer to the relevant description in the embodiment of the knitting control method of the bidirectional self-running knitting glove machine described above.

[0157] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0158] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0159] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0160] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0161] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0162] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0163] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0164] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0166] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0167] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0168] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0169] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A knitting control method for a bidirectional self-running glove knitting machine, characterized in that: Applicable to a bidirectional self-running glove knitting machine, the bidirectional self-running glove knitting machine comprises: two main shafts and two machine heads, including: Determine the spindle operation parameters and the head operation status corresponding to the current knitting process, wherein the spindle operation parameters include: the leading spindle operation parameters and the trailing spindle operation parameters, and the head includes: the leading head and the trailing head; Determining an operating mode of the glove machine according to the operating state of the machine head; Based on the operation mode, the leading machine head and the trailing machine head are controlled to perform weaving processing according to the spindle operation parameters.

2. The method according to claim 1, characterized in that The spindle operation parameters include: a speed curve, the head operation state includes: a motion state and position information, the motion state includes: a stationary state and a non-stationary state, and the operation mode of the glove machine is determined according to the head operation state, including: If the leading locomotive and the trailing locomotive are both in a stationary state and at the starting point, determining that the operation mode is the first operation mode; If both the leading locomotive and the trailing locomotive are in a non-stationary state, and the distance between the trailing locomotive and the end point is smaller than the distance between the leading locomotive and the end point, determining that the operation mode is the second operation mode; If both the leading locomotive and the trailing locomotive are in a non-stationary state, and the distance between the leading locomotive and the end point is smaller than the distance between the trailing locomotive and the end point, then determining a first time difference between the leading locomotive and the trailing locomotive when they reach the end point according to the speed curve and the position information of each locomotive; An operation mode of the glove machine is determined according to the first time difference and a first preset time length.

3. The method according to claim 2, characterized in that The step of determining the operation mode of the glove machine according to the first time difference and the first preset time length includes: Determining whether the first time difference is greater than the first preset time length; When the first time difference is greater than the first preset time length, determining that the operation mode is a third operation mode; When the first time difference is not greater than the first preset time length, the operating mode is determined to be the second operating mode.

4. The method according to claim 3, characterized in that Based on the operation mode, controlling the leading machine head and the trailing machine head to perform knitting processing according to the spindle operation parameters includes: If the operation mode is the first operation mode, the leading machine head is controlled to perform weaving processing according to the speed curve, and after a first preset time, the trailing machine head is controlled to perform weaving processing according to the speed curve; If the operation mode is the second operation mode, when the leading machine head reaches the end point, the leading machine head is controlled to weave the next row according to the speed curve, and the timing device is started; When the following machine head reaches the end point and the timing time of the timing device is greater than the first preset time, the following machine head is controlled to perform weaving processing on the next row according to the speed curve; If the operation mode is the third operation mode, when the leading locomotive arrives at the end point, the estimated time for the following locomotive to arrive at the end point is determined according to the position information of the following locomotive and the speed curve; Determine the start time of the leading machine head according to the estimated time and the first preset time, and when the current time is the start time, control the leading machine head to weave the next row according to the speed curve; When the following machine head reaches the end point, the following machine head is controlled to weave the next row according to the speed curve.

5. The method according to claim 2, characterized in that: The machine head operation state also includes: movement direction, and the method also includes: In the case where the movement directions of the leading locomotive and the trailing locomotive are consistent, determining the distance difference between the leading locomotive and the trailing locomotive according to the position information of the two locomotives; Determining whether the phase difference distance is within a preset distance range, wherein the preset distance range is determined according to the speed curve; When the phase difference distance is not within the preset distance range, the preceding spindle operating parameters and / or the succeeding spindle operating parameters are optimized based on the phase difference distance.

6. The method according to claim 1, characterized in that The determining of the spindle operating parameters corresponding to the current knitting process includes: Determine the weaving area, the start position of the machine head and the end position of the machine head corresponding to the current weaving process; Based on the weaving area, the start position of the machine head, the end position of the machine head and the pre-configured spindle speed increase and decrease duration, a speed curve is determined, and the speed curve and the first preset duration are used as the spindle operation parameters.

7. A knitting control device for a bidirectional self-running glove knitting machine, characterized in that: include: An acquisition module is used to determine the spindle operation parameters and the head operation status corresponding to the current knitting process, wherein the spindle operation parameters include: the leading spindle operation parameters and the trailing spindle operation parameters, and the head includes: the leading head and the trailing head; A processing module, used for determining an operation mode of the glove machine according to an operation state of the machine head; The processing module is also used to control the leading machine head and the trailing machine head to perform weaving processing based on the operating mode and according to the spindle operating parameters.

8. A knitting control device for a bidirectional self-running glove knitting machine, characterized in that: include: Memory; processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed by a processor.

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