Double-axial warp knitting machine winding and pusher device and working method thereof

Abstract

The present application relates to the technical field of double axial warp knitting machine winding, and particularly relates to a double axial warp knitting machine winding and pushing device and a working method thereof, which comprises a rack, a winding component, a winding pressing component, a winding unloading component, a detection component and a control unit arranged on the rack. The winding component comprises first and second support rollers arranged in parallel, the winding pressing component comprises a pressing roller and a second power device, the winding unloading component comprises a sliding seat, a swing frame and a pushing roller arranged on the sliding seat, and the detection component comprises first and second sensors. In the process of winding the cloth tube, the first sensor is used to acquire the height data of the pressing roller in real time to determine the winding size of the cloth tube, the second sensor is used to measure the distance to determine the actual size of the cloth tube after winding is completed, the azimuth angle between the cloth tube and the first support roller is calculated based on the actual size, the target cloth pushing control mode is determined according to the preset interval in which the azimuth angle is located, and the cloth tube is pushed away by controlling the action of the reduction motor and the third power device, so that the reliability of cloth tube pushing and unloading is improved.

Description

Technical Field

[0001] This invention relates to the field of biaxial warp knitting machine take-up technology, and more particularly to a biaxial warp knitting machine take-up and push-up fabric device and its working method. Background Technology

[0002] Biaxial warp knitting machines are core equipment for producing warp-knitted composite materials and are widely used in the production of industrial fabrics such as glass fiber fabrics and carbon fiber fabrics. During the production process of biaxial warp knitting machines, the warp-knitted fabric is continuously output and wound into a cloth tube by a take-up device. After winding, the cloth tube needs to be unloaded from the take-up device for the next round of winding.

[0003] Existing biaxial warp knitting machine take-up and push-out devices typically employ two parallel support rollers to support the fabric tube, with a pressure roller above the support rollers applying pressure to the tube. A push-out mechanism on the horizontal side of the support rollers pushes the wound-up fabric tube away from the support rollers. In practical applications, due to significant differences in the material, thickness, and weaving density of different fabrics, the diameter of the final fabric tube formed for the same winding length can fluctuate by hundreds of millimeters. In existing push-out devices, the height of the push roller is fixed and cannot be adaptively adjusted according to the actual size of the fabric tube. When the diameter of the wound fabric tube is too large, the fixed-height push roller is positioned too low relative to the fabric tube, and the horizontal pushing force cannot generate an effective turning torque on the fabric tube. During the push-out process, strong friction occurs between the fabric tube and the support roller, easily leading to problems such as slippage on the fabric tube surface, misalignment between fabric layers, and damage to the fabric tube's appearance, affecting winding quality and production efficiency. Summary of the Invention

[0004] This invention provides a take-up and push-up device for a biaxial warp knitting machine and its working method, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A biaxial warp knitting machine take-up and push-up device includes a frame and a winding assembly, a pressing assembly, an unwinding assembly, a detection assembly and a control unit disposed thereon. The pressing assembly is disposed above the winding assembly, and the unwinding assembly is disposed on the horizontal side of the winding assembly. The winding assembly includes a first support roller and a second support roller arranged in parallel, with the first support roller close to the unwinding assembly. The winding pressing assembly includes a pressure roller and a second power device. The unwinding assembly includes a sliding seat and a push roller disposed thereon. The detection assembly includes a first sensor and a second sensor respectively disposed on the winding pressing assembly and the unwinding assembly. The first support roller and the second support roller are driven to rotate in the same direction by a first power device, the pressure roller is driven to move in the vertical direction by a second power device, and the sliding seat is driven to move in the horizontal direction toward the winding assembly by a third power device.

[0006] Furthermore, the axial distance between the first support roller and the second support roller is fixed, and a support area for supporting the take-up fabric tube is formed between them. The pressure roller is slidably mounted on the support frame and is located directly above the geometric center of the cross-section of the support area. A tension assembly is provided on the frame corresponding to the winding assembly. The tension assembly includes a tension roller slidably disposed on a limit seat. A compression spring and a third sensor are provided on the limit seat corresponding to the tension roller.

[0007] Furthermore, the third power device includes a drive motor, and a rack and gear meshing with each other. The rack is horizontally arranged on the frame, and the drive motor is arranged on the sliding seat and drives the gear to rotate. A limiting groove is provided on the frame, the limiting groove is arranged parallel to the rack, and the sliding seat is slidably connected to the limiting groove through a guide pulley provided thereon.

[0008] Furthermore, a swing frame is provided on the sliding seat, the push roller is provided at the free end of the swing frame, and the swing frame is driven to rotate by a reduction motor; The height of the sliding seat is higher than the highest point of the first support roller surface, the push roller is arranged parallel to the first support roller, and the free end of the swing frame is located on the side of the sliding seat near the winding assembly.

[0009] A method for operating a take-up and push-out device for a biaxial warp knitting machine, applicable to the aforementioned take-up and push-out device for a biaxial warp knitting machine, includes the following steps: During the fabric roll-up process, the height data of the pressure roller is acquired in real time by the first sensor, and the roll-up size of the fabric roll is determined in real time based on the height data and the position parameters of the first support roller and the second support roller. After the fabric drum is wound up, the pressure roller is driven to move upward and separate from the fabric drum by the second power device, and the distance data between the push roller and the fabric drum is obtained by the second sensor to determine the actual size of the fabric drum. Based on the actual dimensions and the radius parameters of the first support roller, determine the azimuth angle between the line connecting the tangent point of the cloth drum and the first support roller to the axis of the cloth drum and the vertical direction. The target push control mode is determined based on the preset range of the azimuth angle; According to the target fabric pushing control mode, the geared motor and the third power device are controlled to push the fabric drum away from the winding assembly; When the change in distance data acquired in real time by the second sensor meets the preset conditions, it is determined that the cloth roll has been pushed away from the winding assembly.

[0010] Furthermore, determining the target push control mode based on the preset interval where the azimuth angle is located includes: When the azimuth angle is greater than the first threshold, the target push control mode is determined to be the first mode; When the azimuth angle is not less than the second threshold and not greater than the first threshold, the target push control mode is determined to be the second mode, where the second threshold is less than the first threshold. When the azimuth angle is less than the second threshold, the target push control mode is determined to be the third mode.

[0011] Furthermore, when the control unit executes the first mode, the push roller on the swing frame is kept in the initial position by the reduction motor, and the third power device drives the sliding seat to move horizontally until the cloth roll is pushed away from the winding assembly; When the control unit executes the second mode, the reduction motor keeps the push roller in the initial position and, driven by the third power device, makes the push roller contact the cloth drum. Then, the reduction motor drives the swing frame to swing upward to make the cloth drum separate from the first support roller. Then, the third power device drives the sliding seat to move horizontally until the cloth drum is pushed away from the winding assembly. When the control unit executes the third mode, the geared motor drives the swing frame to move the push roller up to the target height, and then the third power device drives the sliding seat to move horizontally until the cloth roll is pushed away from the winding assembly.

[0012] Furthermore, during the fabric roll-up process, based on the roll-up dimensions of the fabric roll and the radius parameters of the first support roller, the predicted azimuth angle of the tangent point between the fabric roll and the first support roller under pressure is determined in real time relative to the fabric roll axis. When the predicted azimuth angle is less than the second threshold, before the winding of the fabric roll is completed, the geared motor drives the swing frame to swing so that the push roller moves up to the target height.

[0013] Furthermore, the target height is determined based on the actual size of the fabric tube after winding, and the corresponding contact position between the push roller and the fabric tube does not exceed the axial height of the fabric tube.

[0014] Furthermore, during the first round of winding of the same type of fabric, the winding size during the winding process and the actual size after winding are obtained, and a springback compensation relationship is established based on the difference between the two and the fabric type corresponding to the fabric tube. During the new round of winding, when the fabric type is consistent with the fabric type with which the spring compensation relationship has been established, the actual size after winding is estimated based on the winding size and spring compensation relationship during the winding process.

[0015] The technical solution of this invention can achieve the following technical effects: This invention, by incorporating an adjustable swing frame and push roller in the unwinding assembly, and in conjunction with the detection assembly for precise sensing of the actual size of the fabric roll, enables the control unit to adaptively determine the fabric pushing control mode based on the azimuth angle between the fabric roll and the first support roller. This ensures that the action height of the push roller is precisely matched with the geometric dimensions of the fabric roll, fundamentally solving the slippage and damage problems caused by the fixed action height of the push roller in existing fabric pushing devices, and achieving reliable unwinding of fabric rolls of different sizes.

[0016] By using the first sensor to detect the vertical position of the pressure roller in real time, and combining the position parameters of the support roller to invert the pressure size of the fabric tube, continuous sensing of the fabric tube size during the winding process is achieved; by using the second sensor to measure the distance on the side surface of the fabric tube, the actual size of the fabric tube after depressurization is verified; by dividing the azimuth angle into three preset intervals, corresponding to three fabric pushing control modes of direct push, pry push, and high-position push, the pushing and unloading action is precisely matched with the fabric tube size and geometric relationship. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the take-up and push-out device for a biaxial warp knitting machine. Figure 2 This is a schematic diagram of the take-up and push-out device of a biaxial warp knitting machine. Figure 3 This is a schematic diagram of the unloading mechanism of the take-up and push-out device on a biaxial warp knitting machine. Figure 4 This is a schematic diagram of the unwinding assembly; Figure 5 This is a schematic diagram of a coordinate system constructed based on the winding and compressing components; Figure 6 A flowchart illustrating the working method of the take-up and push-out device of a biaxial warp knitting machine; Figure 7 A flowchart is provided to determine the target push control mode of the unloading component in the working method.

[0019] Reference numerals: 1. Frame; 11. Limiting groove; 2. Winding assembly; 21. First support roller; 22. Second support roller; 23. First power unit; 3. Pressing assembly; 31. Pressing roller; 32. Second power unit; 33. Support frame; 331. Mounting vertical plate; 331a. Guide groove; 4. Unloading assembly; 41. Sliding seat; 42. Swing frame; 43. Push roller; 44. Gear motor; 45. Third power unit; 451. Rack; 452. Gear; 453. Drive motor; 454. Guide pulley; 5. Detection assembly; 51. First sensor; 52. Second sensor; 6. Tension assembly; 61. Limiting seat; 62. Tension roller; 63. Compression spring; 64. Third sensor. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] This invention relates to the field of take-up and unloading technology for biaxial warp knitting machines, and is particularly suitable for the automatic unloading of fabric bobbins after take-up in biaxial warp knitting machines. In this scenario, the fabric bob unloading operation is completed through a combination of winding, pressing, size detection, and flat-pushing unloading. During the winding process, due to differences in the material and thickness of different fabrics, the final diameter of the fabric bob formed for the same winding length fluctuates significantly. In existing fabric pushing devices, the operating height of the push roller is fixed. When the fabric bob diameter is large, the operating position of the push roller is relatively low, causing the fabric bob to slip against the push roller during unloading, affecting the winding quality. To address this problem, this invention provides a take-up and unloading device for biaxial warp knitting machines and its operating method.

[0023] Example 1: In this embodiment, as Figures 1 to 4 As shown, the biaxial warp knitting machine take-up and push-up device includes a frame 1 and a winding assembly 2, a pressing assembly 3, an unwinding assembly 4, a detection assembly 5, and a control unit mounted thereon. The pressing assembly 3 is mounted above the winding assembly 2, and the unwinding assembly 4 is mounted on the horizontal side of the winding assembly 2.

[0024] The winding assembly 2 includes a first support roller 21 and a second support roller 22 arranged in parallel. The first support roller 21 is close to the unwinding assembly 4. The pressing assembly 3 includes a pressing roller 31 and a second power unit 32. The unwinding assembly 4 includes a sliding seat 41 and a push roller 43 disposed thereon. The detection assembly 5 includes a first sensor 51 and a second sensor 52 respectively disposed on the pressing assembly 3 and the unwinding assembly 4.

[0025] The first support roller 21 and the second support roller 22 are driven to rotate in the same direction by the first power device 23, the pressure roller 31 is driven to move in the vertical direction by the second power device 32, and the sliding seat 41 is driven to move in the horizontal direction toward the winding assembly 2 by the third power device 45.

[0026] In the specific implementation process, the first power unit 23 can use a variable frequency motor to drive the two support rollers to rotate in the same direction via a synchronous belt or chain drive, so as to avoid the difference in speed between the two rollers causing axial movement of the fabric tube during the winding process. Considering that the pressure roller 31 needs to rely on its own weight to form a stable downward pressure on the fabric tube during the winding process, the second power unit 32 does not output active driving force during the winding process, but only lifts the pressure roller 31 upward after the fabric tube is wound up. Therefore, the second power unit 32 can be a cylinder, which will not hinder the free fall of the pressure roller 31 when the air is not supplied.

[0027] See further Figure 4 As shown, the third power unit 45 includes a drive motor 453, and a meshing rack and gear 452. The rack is horizontally mounted on the frame 1, and the drive motor 453 is mounted on the sliding seat 41 and drives the gear 452 to rotate. A limiting groove 11 is provided on the frame 1, which is parallel to the rack. The sliding seat 41 is slidably connected to the limiting groove 11 via a guide pulley 454 mounted thereon. The horizontal displacement of the sliding seat 41 is precisely controlled by the drive motor 453, which facilitates determining the pushing stroke to match different sized cloth cylinders.

[0028] By arranging the positions of the coiling assembly 2, the pressing assembly 3, and the unloading assembly 4, an overall cooperative relationship is established, in which the pressing assembly 3 presses the fabric tube from the top, the coiling assembly 2 supports the fabric tube from the bottom, and the unloading assembly 4 pushes the fabric tube from the horizontal side. This solves the problem that existing fabric pushing devices cannot adaptively adjust the unloading position according to the actual size of the fabric tube, and realizes stable support and pressing of the fabric tube, as well as adaptive unloading.

[0029] Furthermore, the axial distance between the first support roller 21 and the second support roller 22 is fixed, and a support area for supporting the take-up fabric tube is formed between them. The pressure roller 31 is slidably disposed on the support frame 33 and is located directly above the geometric center of the cross section of the support area. A tension assembly 6 is disposed on the frame 1 corresponding to the winding assembly 2. The tension assembly 6 includes a tension roller 62 slidably disposed on the limit seat 61. A compression spring 63 and a third sensor 64 are disposed on the limit seat 61 corresponding to the tension roller 62.

[0030] The third sensor 64 is used to detect the displacement of the tension roller 62 relative to the limiting seat 61. One end of the compression spring 63 acts on the limiting seat 61, and the other end acts directly or indirectly on the tension roller 62, thereby providing an elastic force to the tension roller 62 in the opposite direction to its displacement. When the fabric tension changes, the resultant force acting on the tension roller 62 changes, causing the tension roller 62 to overcome the elastic force of the compression spring 63 and move relative to the limiting seat 61. The third sensor 64 detects the displacement of the tension roller 62 and sends the corresponding displacement data to the control unit, which adjusts the rotation speed of the first support roller 21 and the second support roller 22 accordingly.

[0031] The axial distance between the first support roller 21 and the second support roller 22 is fixed, so that a stable V-shaped support space is formed between the two support rollers. During the winding process, the cloth roll does not need an additional take-up shaft to actively pull it. It can be passively wound up by relying only on the friction of the two support rollers. The axis of the cloth roll is always located on the perpendicular bisector of the line connecting the axes of the two support rollers. There is no need for an additional lifting component to synchronously drive the winding shaft to move upward with the winding process, nor is there a need to set up an additional winding power device to provide winding power to the winding shaft.

[0032] The axis of the pressure roller 31 is set directly above the geometric center of the support area section, ensuring that the contact point between the pressure roller 31 and the top of the cloth cylinder, the axis of the cloth cylinder, and the midpoint of the line connecting the axes of the two support rollers are on the same vertical line. This provides a symmetrical geometric basis for the subsequent calculation of the cloth cylinder radius based on the height of the pressure roller 31, and simplifies the calculation logic of the cloth cylinder size.

[0033] Furthermore, the pressure roller 31 is mounted on the support frame 33 and slidably connected thereto. The support frame 33 includes two parallel mounting vertical plates 331. A guide groove 331a is provided on the mounting vertical plates 331 in the vertical direction. The shaft end of the pressure roller 31 is slidably connected to the guide groove 331a.

[0034] The vertical guide grooves 331a on the two mounting plates 331 constrain the horizontal degree of freedom of the pressure roller 31 shaft end, releasing only the vertical degree of freedom of the pressure roller 31. This allows the pressure roller 31 to float freely upwards as the diameter of the fabric tube increases during the winding process, and the pressure roller 31 always maintains a horizontal axis and is located directly above the support area during the upward movement. Compared with the method of relying entirely on cylinders for position control, this constraint method is structurally simpler. The downward pressure of the pressure roller 31 on the fabric tube is the weight of the pressure roller 31 itself. The magnitude of the downward pressure is constant and is not affected by fluctuations in the air source pressure, which facilitates obtaining a consistent pressing effect under different fabric working conditions and avoids excessive pressing force leading to fabric tube deformation or insufficient pressing force leading to loose winding.

[0035] Furthermore, a swing frame 42 is provided on the sliding seat 41, and a push roller 43 is provided at the free end of the swing frame 42. The swing frame 42 is driven to rotate by a reduction motor. The height of the sliding seat 41 is higher than the highest point of the roller surface of the first support roller 21. The push roller 43 is arranged parallel to the first support roller 21. The free end of the swing frame 42 is located on the side of the sliding seat 41 close to the winding assembly 2.

[0036] A geared motor 44 is mounted on the sliding seat 41, and its output end is connected to the rotating shaft of the swing frame 42. The geared motor 44 can drive the swing frame 42 to rotate via a gear transmission mechanism, sprocket transmission mechanism, or other transmission mechanism capable of transmitting torque. Alternatively, the output shaft of the geared motor 44 can be directly connected to the rotating shaft of the swing frame 42. Preferably, the geared motor 44 is a geared motor with braking or self-locking functions, ensuring that the swing frame 42 maintains its current position after reaching the target angle, preventing the push roller 43 from falling backward under the weight of the cloth drum.

[0037] The geared motor 44 can be equipped with an encoder, or a position detection element can be set on the rotation path of the swing frame 42 to detect the rotation angle of the swing frame 42. The control unit determines the height position of the push roller 43 based on the rotation angle of the swing frame 42 and the structural dimensions of the push roller 43, thereby controlling the push roller 43 to move to the target height that matches the actual size of the fabric tube.

[0038] The arrangement of the sliding seat 41 above the highest point of the first support roller 21 ensures that, in the free state, the initial height of the push roller 43 is slightly higher than the apex of the first support roller 21. This arrangement guarantees that the push roller 43 will not interfere with the first support roller 21 during horizontal movement, and also allows the push roller 43 to enter from a suitable position below the fabric tube, reserving sufficient positional adjustment space for subsequent horizontal pushing, lifting, and other actions. The push roller 43 is located at the free end of the swing frame 42. The swing radius of the swing frame 42 determines the adjustable range of the push roller 43's height. The length of the swing frame 42 can be reasonably set according to the maximum diameter of the fabric tube to which the device is adapted, so that the highest position of the push roller 43 can reach near the maximum height of the fabric tube's axis.

[0039] Example 2: Based on the device structure described in Embodiment 1, this embodiment describes the working method of the device.

[0040] A first sensor 51 and a second sensor 52 are respectively installed on the winding assembly 3 and the unwinding assembly 4. The first sensor 51 is used to detect the position of the pressure roller 31 in the vertical direction in real time. Considering that the pressure roller 31 moves upward along the vertical guide groove 331a during the winding process, with a stroke range of several hundred millimeters, in addition to using a traditional infrared distance sensor, a pull rope displacement sensor or a magnetostrictive displacement sensor can also be used. In the pull rope displacement sensor, one end of the pull rope is fixed to the shaft end of the pressure roller 31 and the other end is fixed to the top of the support frame 33. In the magnetostrictive displacement sensor, the magnetic ring is fixed to the shaft end of the pressure roller 31 and the measuring rod is fixed to the support frame 33 in the vertical direction. Both forms can output the absolute height data of the axis of the pressure roller 31 and are not affected by the up and down floating speed of the pressure roller 31. The second sensor 52 is used to detect the horizontal distance from a point on the surface of the fabric tube facing the sliding seat 41 to itself. Preferably, a laser displacement sensor is used, which can adapt to different colors and reflectivities of the fabric on the surface of the fabric tube. The laser displacement sensor is fixed on the sliding seat 41, and the light emission direction is horizontally pointed to the winding assembly 2. Its measurement spot falls on the side surface of the fabric tube, and the measured distance is the horizontal distance from the sensor to the spot.

[0041] During the fabric roll-up process, the height data of the pressure roller 31 is acquired in real time by the first sensor 51, and the roll-up size of the fabric roll is determined in real time based on the height data and the position parameters of the first support roller 21 and the second support roller 22.

[0042] Specifically, a rectangular coordinate system is established with the midpoint of the line connecting the axes of the two support rollers as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis. Let the radius of both the first and second support rollers be r, and the distance between their axes be 2a, meaning the coordinates of their axes are (-a, 0) and (a, 0) respectively; the radius of the pressure roller is r. p The real-time height of the pressure roller shaft is measured by the first sensor and recorded as H.p Therefore, the coordinates of the pressure roller axis are (0, H). p Let R be the radius of the fabric tube under pressure during the winding process. press The fabric tube axis is located directly above the support area, with coordinates (0, y). c ).

[0043] See further Figure 5 As shown, based on the geometric relationship where the outer periphery of the cloth cylinder is tangent to the outer periphery of the pressure roller, we obtain: y c =H p -(R press +r p From the geometric relationship between the outer periphery of the cloth roll and the outer periphery of any support roller, we obtain: y c 2 +a 2 =(R press +r) 2 , that is, y c =SQRT[(R press +r) 2 -a 2 Solve the above two equations simultaneously to eliminate y. c We can obtain: H p =r p +R press +SQRT[(R press +r) 2 -a 2 ].

[0044] Among them, H p r p r and a are known quantities, R press As the only unknown, the control unit can solve the above equation in real time to obtain the radius R of the cloth tube under pressure. press This is the winding size of the fabric roll. This calculation method does not require an additional diameter detection sensor; it achieves real-time sensing of the fabric roll size solely through the displacement feedback of the pressure roller itself. Structurally, it avoids interference that might be caused by adding a separate diameter detection device in the winding area.

[0045] After the fabric drum is wound up, the pressure roller is driven to move upward and separate from the fabric drum by the second power device. The distance data between the push roller and the fabric drum is obtained by the second sensor to determine the actual size of the fabric drum.

[0046] After the pressure roller disengages from the fabric tube, the fabric tube is no longer subjected to the pressure from the top. The elastic deformation between the fabric layers caused by the pressure is released, and the outer diameter of the fabric tube rebounds to a certain extent relative to the compressed state, especially in the vertical direction. Therefore, the actual radius R after winding is increased. real Greater than the radius of compression R press The difference between the two is related to the type of fabric, the number of layers, and the tension.

[0047] After the pressure roller disengages, the cloth cylinder is supported only by the two support rollers, and its axis coordinates are updated to (0, SQRT[(R real +r) 2 -a 2 Let the installation position of the second sensor in the device coordinate system be (x). s ,y s ), where x s Add the real-time horizontal displacement reading of the sliding block to the known constant, y s Let d be a known constant; the horizontal distance measured by the second sensor be denoted as d. The position of the laser spot on the side surface of the cloth tube should be where the Y-coordinate on the cloth tube surface is equal to y. s That point, the x-coordinate of that point is x s -d. Based on the geometric relationship that this point is located on the outer periphery of the cloth tube, we obtain: (x s -d) 2 +(y s -SQRT[(R real +r) 2 -a 2 ]) 2 =R real 2 Similarly, in this equation, x... s y s , d, r, and a are all known quantities, and R real As the only unknown, the control unit solves the equation inversely to find the actual radius R of the cloth tube. real .

[0048] A second sensor is used to acquire the position data of any point on the surface of the wound fabric roll. This data is then combined with the position data of the two support rollers to obtain the actual radius of the wound fabric roll. This method has lower hardware costs, simpler data processing logic, and, due to the high precision of the laser displacement sensor, the obtained radius (R) is significantly higher. real The accuracy is sufficient to meet the needs of subsequent pusher roller position decision-making.

[0049] Based on the actual dimensions and the radius parameters of the first support roller, the azimuth angle between the tangent point of the cloth drum and the first support roller and the line connecting the axis of the cloth drum and the vertical direction is determined.

[0050] The azimuth angle α is defined as the angle between the line connecting the point of tangency between the fabric drum and the first support roller and the center of the fabric drum axis, and the vertically downward direction. When the two circles are externally tangent, the point of tangency lies on the line connecting the center of the fabric drum axis and the center of the first support roller axis. The coordinates of the center of the first support roller axis are (a, 0), and the coordinates of the center of the fabric drum axis are (0, y). c '), where y c =SQRT[(R real +r) 2 -a 2Therefore, we can obtain: sinα = a / (R) real +r), that is, α=arcsin[a / (R real +r)).

[0051] The azimuth angle α reflects the winding size of the fabric tube on the two support rollers. The smaller α is, the larger the radius of the fabric tube, and the closer the tangent point is to the top of the support rollers; the larger α is, the smaller the radius of the fabric tube, and the closer the tangent point is to the axis height of the support rollers, with the fabric tube "trapped" in the V-shaped groove formed by the two support rollers. Based on this angle, the fabric pushing control mode can be divided, allowing for the matching of the most suitable pushing and unloading method from the perspective of geometry and force.

[0052] The target push control mode is determined based on the preset range of the azimuth angle; Specifically, when the azimuth angle is greater than the first threshold, the target pushing control mode is determined to be the first mode; when the azimuth angle is not less than the second threshold and not greater than the first threshold, the target pushing control mode is determined to be the second mode, where the second threshold is less than the first threshold; when the azimuth angle is less than the second threshold, the target pushing control mode is determined to be the third mode.

[0053] When the azimuth angle is large, the center of gravity of the cloth tube is low, and even if the external horizontal thrust is applied to the low position, it is not easy to cause the cloth tube to slip or overturn. Therefore, a first threshold is set for small-sized cloth tubes, which can be directly pushed by the low-position push roller. The reference value range of the first threshold is 55°~65°, and the preferred value in this embodiment is 60°.

[0054] When the azimuth angle is small, the center of gravity of the fabric tube is high. If the position of the pusher roller is still low, most of the horizontal thrust will be pressed against the second support roller through the fabric tube, resulting in strong frictional resistance and slippage. Therefore, the pusher roller needs to be raised to the vicinity of the fabric tube axis to form an effective pushing torque. Thus, a second threshold is set for large-sized fabric tubes. The pusher roller is raised first and then pushed horizontally through the pusher roller. The reference range of the second threshold is 30°~40°. In this embodiment, the preferred value is 35°.

[0055] When the azimuth angle is between the two thresholds, simple low-position direct push will result in slight slippage, and simply raising the push roller is unnecessary. At this time, a compound action of first low-position contact, then lifting and prying away one side support roller, and then horizontally pushing out can take into account both pushing efficiency and reliability.

[0056] The specific values ​​of the two thresholds mentioned above can be determined during the trial production stage by pushing and unloading tests on several typical sizes of fabric rolls, based on the appropriate support roller radius r, support roller spacing 2a, and the type of fabric used in actual production.

[0057] The geared motor and the third power unit are controlled according to the target fabric pushing control mode to push the fabric drum away from the winding assembly.

[0058] When the change in distance data acquired in real time by the second sensor meets the preset conditions, it is determined that the cloth roll has been pushed away from the winding assembly.

[0059] After the fabric roll is pushed away from the winding assembly, the light spot on the fabric roll surface of the second sensor's ranging optical path disappears. At this time, the distance data output by the second sensor will show a significant step increase or an over-range alarm. The control unit compares the real-time distance data of the second sensor with the distance reference value before the fabric roll is pushed away. When the difference between the two exceeds a preset threshold or the second sensor outputs an over-range signal, it is determined that the fabric roll has been pushed away from the winding assembly. Then, the control unit controls the third power unit to drive the sliding seat to reset and the geared motor to drive the swing frame back to the initial angle, thus ending the entire unloading cycle. This method utilizes the multiplexing function of the second sensor in addition to dimensional verification, eliminating the need for an additional unloading completion detection device and saving hardware costs.

[0060] Example 3: Based on Example 2, this example further explains the specific operation process of each component under the three fabric pushing control modes.

[0061] When the control unit executes the first mode, the push roller on the swing frame is kept in the initial position by the reduction motor, and the third power unit drives the sliding seat to move horizontally until the cloth tube is pushed away from the winding assembly.

[0062] The first mode is suitable for small-sized fabric tubes with an azimuth angle greater than the first threshold. In this condition, the overall diameter of the fabric tube is small, and the height of its axis is low. The push roller is already close to or higher than the height of the fabric tube's axis in its initial position. The lever arm of the horizontal thrust is sufficiently large relative to the tangent point between the fabric tube and the second support roller. The horizontal component of the thrust is sufficient to overcome the friction between the fabric tube and the second support roller, pushing the entire fabric tube past the second support roller and then falling to the receiving station. During the entire unloading process, the swing frame does not move; the unloading of the fabric tube is completed by moving the sliding seat horizontally once.

[0063] When the control unit executes the second mode, the geared motor keeps the push roller in the initial position and, driven by the third power unit, makes the push roller contact the cloth drum. Then, the geared motor drives the swing frame to swing upward to make the cloth drum separate from the first support roller. Finally, the third power unit drives the sliding seat to move horizontally until the cloth drum is pushed away from the winding assembly.

[0064] The second mode is suitable for medium-sized fabric tubes with azimuth angles between the first and second thresholds. Whether using the pure horizontal push of the first mode or the third mode which raises the push roller to the height of the fabric tube axis and then pushes it horizontally, a strong clamping component will be formed between the second support roller and the fabric tube, which can easily cause frictional slippage.

[0065] Therefore, the second mode employs a three-stage operation: In the first stage, the sliding seat moves horizontally, and the push roller contacts the lower side of the fabric tube at an initial low position. At this time, the horizontal displacement of the sliding seat is fed back by the distance data change from the second sensor. In the second stage, the swing frame swings upward around the contact point between the push roller and the fabric tube as the fulcrum. The push roller applies an upward oblique thrust to the fabric tube, lifting the entire fabric tube so that it is no longer supported by the first support roller. At this time, the fabric tube is supported only by the second support roller and the push roller. In the third stage, the sliding seat continues to move horizontally, pushing the now "semi-suspended" fabric tube past the second support roller to complete the unloading. This mode is equivalent to using the push roller as a pry bar to first lift the fabric tube and then push it out. The required horizontal thrust is significantly reduced compared to the first mode, fundamentally avoiding slippage.

[0066] When the control unit executes the third mode, the geared motor drives the swing frame to move the push roller up to the target height, and then the third power unit drives the sliding seat to move horizontally until the cloth drum is pushed away from the winding assembly.

[0067] The third mode is suitable for large-sized fabric tubes with an azimuth angle less than the second threshold. The height of the fabric tube's axis is much higher than the initial position of the push roller. If the push roller is still in its initial low position, no matter how horizontally it is pushed, the frictional resistance between the fabric tube and the two support rollers cannot be overcome. The push roller must first be raised to a position close to the height of the fabric tube's axis so that the horizontal thrust can form an effective turning torque around the tangent point of the second support roller on the fabric tube. Then, the fabric tube can be horizontally pushed past the second support roller for unloading. In this mode, the swing angle of the geared motor-driven swing frame is determined by R... real The calculation shows that the target height precisely corresponds to the specific dimensions of the current fabric tube.

[0068] Furthermore, the target height is determined based on the actual dimensions of the fabric drum after winding, and the contact position between the corresponding push roller and the fabric drum does not exceed the axial height of the fabric drum.

[0069] In the third mode, when the contact position between the push roller and the fabric drum is at the height of the fabric drum's axis, the lever arm of the horizontal thrust relative to the fabric drum's center of gravity reaches its maximum, resulting in the highest pushing efficiency. Therefore, it is stipulated that the contact position between the push roller and the fabric drum should not exceed the height of the fabric drum's axis, with a reference value of 0.05R below the height of the fabric drum's axis. real Up to 0.15R real Within this range, in this embodiment, the preferred value is that the contact position is 0.1R below the height of the cloth sleeve axis. real The height of the pusher shaft corresponding to the target height can be obtained by inverse solving the geometric relationship between the height of the cloth drum shaft, the radius of the cloth drum, the radius of the pusher roller, and the swing of the pusher roller. The control unit outputs the corresponding swing angle command to the reduction motor according to the inverse solution result.

[0070] Example 4: This embodiment further explains the optimization of the timing for adjusting the push roller height in the third mode.

[0071] During the winding process of the fabric drum, the predicted azimuth angle of the tangent point between the fabric drum and the first support roller under pressure is determined in real time based on the winding size of the fabric drum and the radius parameters of the first support roller. When the predicted azimuth angle is less than the second threshold, before the winding of the fabric drum is completed, the geared motor drives the swing frame to swing so that the push roller moves up to the target height.

[0072] Predicted azimuth angle α pre The calculation method is the same as that for the azimuth angle α, except that R is calculated using the same method. real Replace with R obtained in real time during the winding process press , i.e. α pre =arcsin[a / (R press +r)]. Due to R press Less than R real Therefore, α pre Slightly larger than the final α, but both show the same trend as the fabric roll-up, accurately reflecting the development trend of fabric roll size.

[0073] When the predicted azimuth angle drops below the second threshold, it can be basically determined that the final azimuth angle after winding will still be within the range corresponding to the third mode. At this time, there is no need to wait for the winding to be completely finished, the pressure roller to disengage, the second sensor to measure the distance, and other series of actions to be completed. The swing frame can be driven in advance to adjust the push roller into position. The specific timing of the pre-adjustment can be selected to start when there are still a few meters to tens of meters left in the winding of the cloth roll, so that the push roller position action is carried out in the remaining stage of winding, thereby improving the material unloading efficiency.

[0074] Example 5: This embodiment further explains the application of the difference between the compressed dimension and the actual dimension.

[0075] During the first winding process of the same type of fabric, the winding size during the winding process and the actual size after winding are obtained. Based on the difference between the two and the fabric type corresponding to the fabric tube, a springback compensation relationship is established.

[0076] During the new round of winding, when the fabric type is consistent with the fabric type with which the spring compensation relationship has been established, the actual size after winding is estimated based on the winding size and spring compensation relationship during the winding process.

[0077] The process of establishing the springback compensation relationship is as follows: During the first winding of a certain type of fabric, the control unit continuously records R during the winding process. press The changes are recorded, and R is saved at each fixed take-up length node. press Numerical value; after winding is completed, the pressure roller disengages, and R is calculated based on the distance measured by the second sensor. real , will R real With the final R of this batch press The difference ΔR = R real -Rpress Along with parameters such as fabric type identification and final winding length, these parameters are written into the springback compensation database in the control unit.

[0078] When rewinding the same type of fabric for the next round, the control unit retrieves the corresponding ΔR value from the database, and can then perform the rewinding process based on real-time R... press Predict R real ≈R press +ΔR, thus predicting the final azimuth angle α. This estimated value does not replace the actual measured value, but it can provide an earlier basis for determining the timing of the push roller pre-adjustment in the third mode, which is especially important for thin fabrics with high rebound. The R value of such fabrics under pressure... press Smaller, only look at R press The determined azimuth angle may fall within the second mode range, while the actual R... real For larger values, the third mode should be executed, and the misjudgment of this mode can be avoided by using the rebound compensation relationship.

[0079] Furthermore, the rebound compensation database can be continuously accumulated and dynamically updated as the equipment is used: after each winding and cutting of the same type of fabric is completed, the ΔR of that time is updated by weighted averaging with the existing ΔR of the same type in the database, so that the estimated value of ΔR gradually stabilizes as the sample accumulates. The longer the equipment is used, the more accurate the grasp of the rebound characteristics of various fabrics becomes, and the advance and accuracy of the pattern determination are improved simultaneously.

[0080] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A method for operating a take-up and push-up device for a biaxial warp knitting machine, characterized in that, A fabric take-up and push device for a biaxial warp knitting machine is provided. The device includes a frame and a winding assembly, a pressing assembly, an unwinding assembly, a detection assembly, and a control unit disposed thereon. The pressing assembly is disposed above the winding assembly, and the unwinding assembly is disposed on the horizontal side of the winding assembly. The winding assembly includes a first support roller and a second support roller arranged in parallel, with the first support roller close to the unwinding assembly. The winding pressing assembly includes a pressure roller and a second power device. The unwinding assembly includes a sliding seat and a push roller disposed thereon. The detection assembly includes a first sensor and a second sensor respectively disposed on the winding pressing assembly and the unwinding assembly. The first support roller and the second support roller are driven to rotate in the same direction by a first power device, the pressure roller is driven to move in the vertical direction by a second power device, and the sliding seat is driven to move in the horizontal direction toward the winding assembly by a third power device. A swing frame is provided on the sliding seat, and the push roller is provided at the free end of the swing frame. The swing frame is driven to rotate by a reduction motor. The height of the sliding seat is higher than the highest point of the roller surface of the first support roller, the push roller is arranged parallel to the first support roller, and the free end of the swing frame is located on the side of the sliding seat closer to the winding assembly. The working method includes the following steps: During the fabric roll-up process, the height data of the pressure roller is acquired in real time by the first sensor, and the roll-up size of the fabric roll is determined in real time based on the height data and the position parameters of the first support roller and the second support roller. After the fabric drum is wound up, the pressure roller is driven to move upward and separate from the fabric drum by the second power device, and the distance data between the push roller and the fabric drum is obtained by the second sensor to determine the actual size of the fabric drum. Based on the actual dimensions and the radius parameters of the first support roller, determine the azimuth angle between the line connecting the tangent point of the cloth drum and the first support roller to the axis of the cloth drum and the vertical direction. The target push control mode is determined based on the preset range of the azimuth angle; The reduction motor and the third power device are controlled according to the target fabric pushing control mode to push the fabric drum away from the winding assembly. When the change in distance data acquired in real time by the second sensor meets the preset conditions, it is determined that the cloth roll has been pushed away from the winding assembly; The step of determining the target push control mode based on the preset interval of the azimuth angle includes: When the azimuth angle is greater than the first threshold, the target push control mode is determined to be the first mode; When the azimuth angle is not less than the second threshold and not greater than the first threshold, the target push control mode is determined to be the second mode, and the second threshold is less than the first threshold; When the azimuth angle is less than the second threshold, the target push control mode is determined to be the third mode.

2. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 1, characterized in that, The axial distance between the first support roller and the second support roller is fixed, and a support area for supporting the take-up fabric tube is formed between them. The pressure roller is slidably mounted on the support frame and is located directly above the geometric center of the cross section of the support area. A tension assembly is provided on the frame corresponding to the winding assembly. The tension assembly includes a tension roller slidably disposed on a limit seat. A compression spring and a third sensor are provided on the limit seat corresponding to the tension roller.

3. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 1, characterized in that, The third power unit includes a drive motor, and a rack and gear meshing with each other. The rack is horizontally mounted on the frame, and the drive motor is mounted on the sliding seat and drives the gear to rotate. A limiting groove is provided on the frame, the limiting groove is arranged parallel to the rack, and the sliding seat is slidably connected to the limiting groove through a guide pulley provided thereon.

4. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 1, characterized in that, When the control unit executes the first mode, the push roller on the swing frame is kept in the initial position by the reduction motor, and the third power device drives the sliding seat to move horizontally until the cloth roll is pushed away from the winding assembly. When the control unit executes the second mode, the reduction motor keeps the push roller in the initial position and, driven by the third power device, makes the push roller contact the cloth drum. Then, the reduction motor drives the swing frame to swing upward to make the cloth drum separate from the first support roller. Then, the third power device drives the sliding seat to move horizontally until the cloth drum is pushed away from the winding assembly. When the control unit executes the third mode, the geared motor drives the swing frame to move the push roller up to the target height, and then the third power device drives the sliding seat to move horizontally until the cloth roll is pushed away from the winding assembly.

5. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 4, characterized in that, During the fabric roll-up process, based on the roll-up dimensions of the fabric roll and the radius parameters of the first support roller, the predicted azimuth angle of the tangent point between the fabric roll and the first support roller under pressure is determined in real time relative to the fabric roll axis. When the predicted azimuth angle is less than the second threshold, before the fabric roll is finished, the geared motor drives the swing frame to swing so that the push roller moves up to the target height.

6. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 5, characterized in that, The target height is determined based on the actual size of the fabric tube after winding, and the corresponding contact position between the push roller and the fabric tube does not exceed the axial height of the fabric tube.

7. The working method of the biaxial warp knitting machine take-up and push-out device according to claim 1, characterized in that, During the first round of winding of the same type of fabric, the winding size during the winding process and the actual size after winding are obtained. Based on the difference between the two and the fabric category corresponding to the fabric tube, a springback compensation relationship is established. In the new round of winding, when the fabric category is consistent with the fabric category with which the springback compensation relationship has been established, the actual size after winding is estimated based on the winding size during the winding process and the springback compensation relationship.

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