Unreeling and cloth pulling automatic stop detection equipment and method

Abstract

The invention relates to the technical field of textile, in particular to unwinding and cloth pulling automatic stop detection equipment and method.The unwinding and cloth pulling automatic stop detection equipment comprises an unwinding unit, a tension adjusting unit, a cutting unit and a conveying unit which are sequentially arranged in the fabric conveying direction, and a monitoring unit is arranged corresponding to the tension adjusting unit; the unwinding unit synchronously unwinds the cloth in the cloth cutting process of the cutting unit, and the movement of a cutting tool is kept synchronous with the cloth unwinding, so that the cutting deviation caused by mismatching with the cloth unwinding speed is avoided; the tension of the fabric guided out by the unwinding unit is precisely controlled through the tension adjusting unit, and it is guaranteed that the unwound fabric is not deformed or wrinkled due to the fact that the tension is too large or too small. The monitoring unit adopts an angle sensor to monitor the swing angle of a tension rod in the tension adjusting unit, the tension of the fabric is accurately adjusted through the tension rod, meanwhile, the tension change of the fabric is further quickly responded by matching with the correspondingly arranged angle sensor, control parameters are conveniently adjusted in time, and meanwhile, equipment faults are early warned in time.

Description

Technical Field

[0001] The present invention relates to the field of textile technology, and in particular to a device and method for detecting automatic stop of unwinding and pulling cloth. Background Art

[0002] After the fabric is unrolled, it is cut into predetermined sizes by a cutting machine. During the cutting process, the unwinding equipment is responsible for unwinding the rolled fabric and transporting it to the cutting area. In order to ensure the cutting quality and efficiency, the unwinding tension and speed need to be precisely controlled. However, in actual applications, when equipment failure occurs, the unwinding tension may fluctuate, resulting in inaccurate cutting or fabric damage.

[0003] Currently, tension sensors and controllers are used to monitor and adjust the unwinding tension in real time, but there are certain limitations. The tension sensor is easily affected by environmental interference or material surface characteristics, resulting in inaccurate measurement. The controller adjusts the tension according to the feedback value of the tension sensor. When the equipment fails, it will cause the tension to be adjusted too much or too little, thus affecting the cutting effect.

[0004] When cutting fabric, the unwinding device needs to actively unwind. If the device fails and the tension rod swings to the limit position, the cutter will still pull the fabric, which will cause excessive tension on the fabric and damage the fabric. To avoid this, the pulling operation needs to be stopped when the tension rod approaches the limit position. The existing judgment method based on fixed threshold or simple logic cannot meet the control requirements.

[0005] Therefore, the present invention aims to provide a more intelligent and flexible unwinding and cloth pulling automatic stop control detection method to solve the above-mentioned problems. Summary of the invention

[0006] The present invention provides a device and method for detecting automatic stop of unwinding and pulling cloth, which can effectively solve the problems in the background technology.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: A cloth unwinding and pulling automatic stop detection device comprises an unwinding unit, a tension adjustment unit, a cutting unit and a conveying unit arranged in sequence along a fabric conveying direction, and a monitoring unit is arranged corresponding to the tension adjustment unit; The monitoring unit is connected to a control unit, and the control unit synchronously drives the unwinding unit and the conveying unit, and is respectively connected to the tension adjustment unit and the cutting unit; The tension adjustment unit includes a swing arm and a tension rod arranged thereon. The swing arm is driven by a cylinder to rotate around its rotation axis. The monitoring unit includes an angle sensor arranged corresponding to the rotation axis of the swing arm.

[0008] Furthermore, the swing arm is rotatably connected to the mounting bracket and connected to the machine platform through the mounting bracket, and the swing arm and the angle sensor are relatively arranged on both sides of the mounting bracket; The angle sensor is coaxially arranged with the rotation axis of the swing arm, and its cantilever is arranged along the length direction of the swing arm and fixedly connected with the swing arm, and the tension rod is arranged at one end of the swing arm away from the rotation axis.

[0009] Furthermore, a mounting hole is provided on the mounting bracket corresponding to the angle sensor, and the angle sensor is fixedly connected to the mounting hole by a fixing bolt; The mounting holes are arranged in an arc-shaped structure, and at least two mounting holes are arranged symmetrically relative to the rotation axis of the swing arm.

[0010] Furthermore, the fixing bolts are respectively arranged at one end adjacent to the two mounting holes.

[0011] A method for detecting the automatic stop of unwinding and pulling cloth, using the above-mentioned method for detecting the automatic stop of unwinding and pulling cloth, comprises the following steps: Determining an adjustment range of a tension rod in a tension adjustment unit; Determining the warning position of the monitoring unit according to the adjustment range of the tension rod; Determining a feedback value of an angle sensor according to the warning position of the monitoring unit; The monitoring unit collects the swing angle of the tension rod and feeds it back to the control unit; When the control unit detects that the tension rod swings to the warning position, the unwinding unit and the conveying unit are stopped, and the cutting unit is controlled to stop moving.

[0012] Furthermore, in the process of determining the tension rod adjustment interval, the following steps are included: Setting the left limit position and the limit position on both sides of the swing direction of the tension rod; A calibration position and a pause position are respectively set near the left limit position and the right limit position; Determining the calibration position based on the initial position of the tension rod; The pause position is determined based on the calibration position and the adjustment interval of the tension rod.

[0013] Furthermore, the collected data of the monitoring unit is preprocessed by the control unit, which specifically includes the following steps: Scaling the feedback data of the angle sensor so that the feedback value range of the angle sensor is 0-M; The feedback value of the calibration position is set to X, and the adjustment range angle of the tension rod is determined to be θ; Then the feedback value of the pause position is expressed as X+θM / 360; The swing position of the tension rod during the adjustment process is represented by the expression X+θ'M / 360, where θ' represents the angle between the tension rod and the calibrated position.

[0014] Furthermore, the feedback value range corresponding to the dead zone of the angle sensor is 0-m, and the feedback value of the swing angle of the tension rod and the feedback value of the pause position are determined according to the feedback value of the calibration position, including the following steps: When 0≤X≤m, the feedback value of the calibration position is reset to: X+m, the feedback value of the pause position is: X+m+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+m+θ'M / 360; When m<X≤(180-θ) M / 360, the feedback value of the calibration position is set to: X, the feedback value of the pause position is: X+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+θ'M / 360; When (180-θ) M / 360<X≤M, the feedback value of the calibration position is reset to: (180-θ)X / 360+360m 2 / M (180-θ), the feedback value of the pause position is: (180-θ) X / 360+360m 2 / M (180-θ)+θM / 360, the feedback value of the tension rod in the adjustment range is: (180-θ) X / 360+360m 2 / M (180-θ) +θ'M / 360.

[0015] Furthermore, the control unit processes the feedback value of the monitoring unit using a sliding average filtering algorithm, including the following steps: The position of the tension rod is collected every 20 ms; The real-time data of the position of the tension rod collected is recorded in ten storage modules in sequence; The average value of the real-time data of the ten storage modules is used as the feedback data of the monitoring unit.

[0016] The beneficial effects of the present invention are: The present invention aims at the situation that during the current fabric unwinding and cutting process, equipment failure causes unstable cutting and fabric damage. By optimizing the monitoring method of the tension adjustment unit during the unwinding and cloth pulling process, fault automatic stop detection and fabric protection are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a structural framework diagram of the unwinding and cloth pulling automatic stop detection device in the present invention; Figure 2 It is a schematic diagram of the process flow of the method for detecting the automatic stop of unwinding and pulling cloth in the present invention; Figure 3 It is a structural schematic diagram of the monitoring unit in the present invention; Figure 4 This is a schematic diagram of the installation of the angle sensor in the present invention; Figure 5 It is a schematic diagram for calibrating the swing range of the swing arm in the present invention.

[0019] Figure numerals: 1. control unit; 2. unwinding unit; 3. tension adjustment unit; 31. mounting bracket; 311. mounting hole; 312. fixing bolt; 32. swing arm; 33. tension rod; 34. cylinder; 4. cutting unit; 5. conveying unit; 6. monitoring unit; 61. angle sensor; A. left limit position; B. calibration position; C. pause position; D. right limit position. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0023] The present invention aims at the situation that during the current fabric unwinding and cutting process, when equipment failure occurs, cutting is unstable and fabric is damaged. By optimizing the monitoring method of the tension adjustment unit 3 during the unwinding and cloth pulling process, fault automatic stop detection and fabric protection are achieved.

[0024] The present invention discloses a device and method for detecting the automatic stop of unwinding and pulling cloth, such as Figures 1 to 5 As shown, the unwinding and cloth pulling automatic stop detection device includes an unwinding unit 2, a tension adjustment unit 3, a cutting unit 4 and a conveying unit 5 which are arranged in sequence along the fabric conveying direction, and a monitoring unit 6 is arranged corresponding to the tension adjustment unit 3; the monitoring unit 6 is connected to the control unit 1, and the control unit 1 synchronously drives the unwinding unit 2 and the conveying unit 5, and is respectively connected to the tension adjustment unit 3 and the cutting unit 4; the tension adjustment unit 3 includes a swing arm 32 and a tension rod 33 arranged thereon, and the swing arm 32 is driven to rotate around its rotation axis by a cylinder 34, and the monitoring unit 6 includes an angle sensor 61 which is arranged corresponding to the rotation axis of the swing arm 32.

[0025] During the specific implementation process, the unwinding unit 2 releases the cloth synchronously during the cutting process of the cutting unit 4, and the movement of the cutting tool is synchronized with the cloth release to avoid cutting deviation caused by mismatch with the cloth release speed; the tension of the fabric derived by the unwinding unit 2 is precisely controlled by the tension adjustment unit 3 to ensure that the unwinding fabric will not be deformed or wrinkled due to excessive or insufficient tension.

[0026] The monitoring unit 6 monitors the adjustment status of the fabric by the tension adjustment unit 3 in real time and feeds back to the control unit 1, and then the control unit 1 synchronously drives the unwinding unit 2 and the conveying unit 5 to cooperate with the feedback of the tension adjustment unit 3 to achieve closed-loop control of the fabric tension, thereby ensuring the stability and accuracy of the continuous unwinding and cutting operations.

[0027] The monitoring unit 6 uses an angle sensor 61 to monitor the swing angle of the tension rod 33 in the tension adjustment unit 3. While accurately adjusting the fabric tension through the tension rod 33, it cooperates with the corresponding angle sensor 61 to further quickly respond to the tension changes of the fabric, so as to facilitate timely adjustment of the control parameters and ensure stable and accurate fabric cutting.

[0028] In this embodiment, if Figure 3 As shown, the swing arm 32 is rotatably connected to the mounting bracket 31 and is connected to the machine platform through the mounting bracket 31. The swing arm 32 and the angle sensor 61 are relatively arranged on both sides of the mounting bracket 31; the angle sensor 61 is coaxially arranged with the rotation axis of the swing arm 32, and its cantilever is arranged along the length direction of the swing arm 32 and fixedly connected to the swing arm 32, and the tension rod 33 is arranged at one end of the swing arm 32 away from its rotation axis.

[0029] Further, such as Figure 4As shown, a mounting hole 311 is provided on the mounting bracket 31 corresponding to the angle sensor 61, and the angle sensor 61 is fixedly connected to the mounting hole 311 by a fixing bolt 312; the mounting hole 311 is provided as an arc-shaped structure, and at least two are symmetrically provided relative to the rotation axis of the swing arm 32, and the fixing bolts 312 are respectively provided at one end adjacent to the two mounting holes 311.

[0030] During the specific installation process of the angle sensor 61, first align the center of the angle sensor 61 with the rotation axis of the swing arm 32 and install it on the side of the mounting bracket 31 facing away from the swing arm 32, and cooperate with the fixing bolts 312 to complete the fixed connection between the angle sensor 61 and the mounting bracket 31; then rotate the cantilever on the angle sensor 61 to make it parallel to the swing arm 32, and then fix it with bolts to complete the installation of the angle sensor 61 corresponding to the tension adjustment unit 3.

[0031] The design of the waist-shaped mounting hole 311 on the mounting bracket 31 facilitates the fixed installation of the angle sensor 61 and the parallel alignment of the cantilever and the swing arm 32 on the angle sensor 61; during the unwinding process of the fabric, after the tension adjustment unit 3 has adjusted the fabric tension for multiple times, the fixing bolt 312 used to fix the angle sensor 61 will produce a position offset along the length direction of the mounting hole 311, causing a monitoring error of the angle sensor 61.

[0032] In this embodiment, the two fixing bolts 312 are respectively installed at the adjacent ends of the two mounting holes 311, so that the tension rod 33 will not drive the fixing bolts 312 on the angle sensor 61 to move along the length direction of the mounting hole 311 when driving the swing arm 32 to move in opposite directions, thereby avoiding monitoring errors caused by misalignment of the angle sensor 61.

[0033] like Figure 1 and Figure 2 As shown, the present invention further discloses a method for detecting the automatic stop of unwinding and pulling cloth, which adopts the above-mentioned method for detecting the automatic stop of unwinding and pulling cloth, and comprises the following steps: Determine the adjustment range of the tension rod 33 in the tension adjustment unit 3; determine the warning position of the monitoring unit 6 according to the adjustment range of the tension rod 33; determine the feedback value of the angle sensor 61 according to the warning position of the monitoring unit 6; collect the swing angle of the tension rod 33 through the monitoring unit 6 and feed it back to the control unit 1; when the control unit 1 detects that the tension rod 33 swings to the warning position, the unwinding unit 2 and the conveying unit 5 are stopped, and the cutting unit 4 is controlled to stop moving.

[0034] This embodiment sets the adjustment range and warning position of the tension rod 33, cooperates with the real-time monitoring feedback of the angle sensor 61, and promptly warns and stops related actions when the tension rod 33 swings to the warning position, thereby effectively avoiding fabric damage and inaccurate cutting problems; when controlling the cutting unit 4 to stop, it is necessary to stop after completing the current cutting action of the cutting tool.

[0035] Further, such as Figure 5 As shown, in the process of determining the adjustment interval of the tension rod 33, the following steps are included: Set the left limit position A and the limit position on both sides of the swing direction of the tension rod 33; set the calibration position B and the pause position C near the left limit position A and the right limit position D respectively; determine the calibration position B based on the initial position of the tension rod 33; determine the pause position C based on the calibration position B and the adjustment range of the tension rod 33.

[0036] By setting the left extreme position A and the right extreme position D, as well as the calibration position B and the pause position C, a clear reference and basis are provided for the adjustment of the tension rod 33; during the installation process of the angle sensor 61, it is impossible to ensure that after the fixed connection with the mounting bracket 31, the cantilever of the angle sensor 61 is exactly aligned parallel to the swing arm 32, so the cantilever needs to be rotated a certain angle and then fixedly connected to the swing arm 32. Therefore, the detection accuracy of the angle sensor 61 is ensured by resetting the calibration position B and the pause position C.

[0037] In this embodiment, the collected data of the monitoring unit is preprocessed by the control unit, which specifically includes the following steps: The feedback data of the angle sensor is scaled so that the feedback value range of the angle sensor is 0-M; the feedback value of the calibration position is set to X, and the adjustment range angle of the tension rod is determined to be θ; the feedback value of the pause position is expressed as X+θM / 360; the swing position of the tension rod during the adjustment process is expressed by the expression X+θ'M / 360, and θ' represents the angle between the tension rod and the calibration position.

[0038] Specifically, the feedback value range corresponding to the dead zone of the angle sensor is 0-m, and the feedback value of the swing angle of the tension rod and the feedback value of the pause position are determined according to the feedback value of the calibration position, including the following steps: When 0≤X≤m, the feedback value of the calibration position is reset to: X+m, the feedback value of the pause position is: X+m+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+m +θ'M / 360.

[0039] When m<X≤(180-θ) M / 360, the feedback value of the calibration position is set to: X, the feedback value of the pause position is: X+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+θ'M / 360.

[0040] When (180-θ) M / 360<X≤M, reset the feedback value of the calibration position to: (180-θ) X / 360+360m 2 / M (180-θ), the feedback value of the pause position is: (180-θ) X / 360+360m 2 / M (180-θ)+θM / 360, the feedback value of the tension rod within the adjustment range is: (180-θ) X / 360+360m 2 / M (180-θ) +θ'M / 360.

[0041] In the specific implementation process, the feedback value range of the angle sensor within the rotation range of 0-360° is 0-20000. In order to match the rotation angle relationship between the two and the influence of the sensor's own fluctuations, it is chosen to first perform a 1:8 geometric scaling on the feedback value of the angle sensor, that is, the feedback value range after processing is 0-2500.

[0042] To achieve accurate tension control, the initial position of the tension rod is calibrated. The calibration position is selected close to the limit position. The angle sensor feedback value corresponding to the calibration position is X. For further information, see Figure 5 As shown, the angle sensor swings from left to right when working, and the angle feedback value of the angle sensor increases from small to large. During normal operation, the swing range angle range of the tension rod adjustment range is θ, and the pause position is located on the left side of the right limit position. The sensor feedback value of the swing rod in the θ range is: X+125θ' / 18. When the tension rod angle exceeds the pause position, the unwinding and cutting operations are controlled to pause to prevent the fabric from being damaged.

[0043] In the traditional monitoring process, the angle sensor needs to be calibrated manually after installation, and the appropriate tension rod position is manually adjusted for calibration; in this implementation, the angle sensor can adapt to the initial angle of any tension rod as the calibration position. From the characteristics of the angle sensor itself, it can be seen that its feedback value in the range of 0-125 is a dead zone alarm range and cannot be used, so the normal use range is 125-2500, where the pause position and the calibration position are fixed relative to each other, that is, the pause position feedback value is X+θ, and the calibration is divided into three intervals based on the angle sensor for algorithm processing.

[0044] Interval 1: When the angle position of the tension rod is calibrated within the dead zone, that is, 0≤X≤125, the current calibration position of the tension rod is added with a fixed value to automatically generate a new calibration position out of the sensor dead zone. The new calibration position is expressed as X+125, and the pause position is expressed as X+125+θ125 / 18. The sensor feedback value of the swing arm in the θ interval is X+125 +θ'125 / 18.

[0045] Interval 2: When the angle position of the tension rod is calibrated within the normal range, that is, 125<X≤(180-θ) 125 / 18, the current calibration position of the tension rod is valid, the calibration position is represented by X, the pause position is represented by X+θ125 / 18, and the angle sensor feedback value of the tension rod in the θ interval is X+θ'125 / 18.

[0046] Interval three: When the angle position of the tension rod is calibrated within the out-of-limit range, that is, (180-θ) 125 / 18<X≤2500, the current calibration position of the tension rod needs to be automatically converted into a position that meets the normal range. The new calibration position is automatically generated as (180-θ) X / 360+2250 (180-θ), and the pause position is expressed as (180-θ) X / 360+2250 (180-θ)+θ125 / 18. The angle sensor feedback value of the tension rod in the θ interval is (180-θ)X / 360+2250 (180-θ) +θ'125 / 18.

[0047] According to the above-mentioned adaptive calibration algorithm, there is no need for manual observation of the real-time feedback value of the angle sensor, and calibration can be completed at any angle position of the tension rod.

[0048] In this embodiment, during normal operation, the tension rod may swing too far at a certain moment, that is, the position exceeds the limit, and then recovers instantly. This situation does not affect the normal unwinding operation. Therefore, in order to maintain the stability of the equipment during normal production, this extreme situation needs to be eliminated. Therefore, a sliding average filter is used to filter out the instantaneous outliers.

[0049] The specific control unit uses a sliding average filtering algorithm to process the feedback value of the monitoring unit, including the following steps: collect the position of the tension rod every 20ms; record the collected real-time data of the tension rod position in ten storage modules in turn; and use the average of the real-time data of the ten storage modules as the feedback data of the monitoring unit. Refresh every 20ms, and all data will move forward one position each time. The feedback value in the first position will be overwritten by the feedback value in the second position, and so on. The newly vacated tenth position is used to record the real-time feedback value of this refresh. The ten recorded data are averaged and a feedback value processed by sliding average is output to improve the stability of the equipment.

[0050] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A cloth unwinding and cloth pulling automatic stop detection device, characterized in that: It includes an unwinding unit, a tension adjustment unit, a cutting unit and a conveying unit which are sequentially arranged along the conveying direction of the fabric, and a monitoring unit is arranged corresponding to the tension adjustment unit; The monitoring unit is connected to a control unit, and the control unit synchronously drives the unwinding unit and the conveying unit, and is respectively connected to the tension adjustment unit and the cutting unit; The tension adjustment unit includes a swing arm and a tension rod arranged thereon. The swing arm is driven by a cylinder to rotate around its rotation axis. The monitoring unit includes an angle sensor arranged corresponding to the rotation axis of the swing arm.

2. The unwinding and pulling cloth automatic stop detection device according to claim 1 is characterized in that: The swing arm is rotatably connected to the mounting bracket and is connected to the machine platform through the mounting bracket. The swing arm and the angle sensor are relatively arranged on both sides of the mounting bracket. The angle sensor is coaxially arranged with the rotation axis of the swing arm, and its cantilever is arranged along the length direction of the swing arm and fixedly connected with the swing arm, and the tension rod is arranged at one end of the swing arm away from the rotation axis.

3. The unwinding and pulling cloth automatic stop detection device according to claim 2 is characterized in that: A mounting hole is provided on the mounting bracket corresponding to the angle sensor, and the angle sensor is fixedly connected to the mounting hole by a fixing bolt; The mounting holes are arranged in an arc-shaped structure, and at least two mounting holes are arranged symmetrically relative to the rotation axis of the swing arm.

4. The unwinding and pulling cloth automatic stop detection device according to claim 3 is characterized in that: The fixing bolts are respectively arranged at one end adjacent to the two mounting holes.

5. A method for detecting the automatic stop of unwinding and pulling cloth, characterized in that: The method for detecting the automatic stop of unwinding and pulling cloth according to any one of claims 1 to 4 comprises the following steps: Determining an adjustment range of a tension rod in a tension adjustment unit; Determining the warning position of the monitoring unit according to the adjustment range of the tension rod; Determining a feedback value of an angle sensor according to the warning position of the monitoring unit; The monitoring unit collects the swing angle of the tension rod and feeds it back to the control unit; When the control unit detects that the tension rod swings to the warning position, the unwinding unit and the conveying unit are stopped, and the cutting unit is controlled to stop moving.

6. The method for detecting the automatic stop of unwinding and pulling cloth according to claim 5 is characterized in that: The process of determining the tension rod adjustment interval includes the following steps: Setting the left limit position and the right limit position on both sides of the swing direction of the tension rod; A calibration position and a pause position are respectively set near the left limit position and the right limit position; Determining the calibration position based on the initial position of the tension rod; The pause position is determined based on the calibration position and the adjustment interval of the tension rod.

7. The method for detecting the automatic stop of unwinding and pulling cloth according to claim 6, characterized in that: Preprocessing the collected data of the monitoring unit by the control unit specifically includes the following steps: Scaling the feedback data of the angle sensor so that the feedback value range of the angle sensor is 0-M; The feedback value of the calibration position is set to X, and the adjustment range angle of the tension rod is determined to be θ; Then the feedback value of the pause position is expressed as X+θM / 360; The swing position of the tension rod during the adjustment process is represented by the expression X+θ'M / 360, where θ' represents the angle between the tension rod and the calibrated position.

8. The method for detecting the automatic stop of unwinding and pulling cloth according to claim 7, characterized in that: The feedback value range corresponding to the dead zone of the angle sensor is 0-m, and the feedback value of the swing angle of the tension rod and the feedback value of the pause position are determined according to the feedback value of the calibration position, including the following steps: When 0≤X≤m, the feedback value of the calibration position is reset to: X+m, the feedback value of the pause position is: X+m+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+m+θ'M / 360; When m<X≤(180-θ) M / 360, the feedback value of the calibration position is set to: X, the feedback value of the pause position is: X+θM / 360, and the feedback value of the tension rod in the adjustment range is: X+θ'M / 360; When (180-θ) M / 360<X≤M, the feedback value of the calibration position is reset to: (180-θ) X / 360+360m 2 / M (180-θ), the feedback value of the pause position is: (180-θ) X / 360+360m 2 / M (180-θ)+θM / 360, the feedback value of the tension rod in the adjustment range is: (180-θ) X / 360+360m 2 / M (180-θ) +θ'M / 360.

9. The method for detecting the automatic stop of unwinding and pulling cloth according to claim 7, characterized in that: The control unit processes the feedback value of the monitoring unit using a sliding average filtering algorithm, including the following steps: The position of the tension rod is collected every 20 ms; Recording the collected real-time data of the tension rod position in ten storage modules in sequence; The average value of the real-time data of the ten storage modules is used as the feedback data of the monitoring unit.

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