Control method, device and equipment for needle cylinder action knitting and storage medium
Patent Information
- Application Number
- CN202610869240.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-15
- Publication Date
- 2026-10-27
AI Technical Summary
[0004]本申请主要是提供针筒动作编织的控制方法、装置、设备和存储介质，解决了由于机头频繁的启停操作，引入了额外的加减速时间损耗，导致手指编织阶段的耗时成倍增加，严重制约了整机的生产节拍与综合编织效率的问题
[0015]本申请的有益效果是：本申请通过获取针筒连续动作的工位数并结合电机的参数精准计算针筒的总动作时间与机头回转距，打破了传统机头与针筒一动一停的互锁限制，实现了两者的时空协同作业；本申请控制机头在针筒切换完成前即提前回转，并精准地在针筒切换完成的瞬间到达编织起始位置，从而在根本上消除了现有技术中机头必须等待针筒切换完成所带来的强制性空程等待时间，避免了机头频繁的启停操作及随之产生的加减速损耗，特别在手指编织等需要高频次选针切换的场景下，能够显著缩短复杂花型的编织周期，减少编织阶段的耗时，大幅提升整机的生产节拍和综合编织效率。
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Figure CN122980102A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of knitting technology, and in particular to methods, apparatus, equipment and storage media for controlling needle cylinder knitting. Background Technology
[0002] In the needle selection system of fully automatic glove machines, a mechanical needle selection structure using a needle selection roller and a top pin is typically employed. Its specific working logic is as follows: After the needle selection roller rotates to a preset position, the corresponding needle selection piece is lifted by the pre-positioned top pin, thereby driving the knitting needles on the needle plate to complete the starting action. After the starting action is completed, the servo system drives the machine head to move, using the triangular curve inside the machine head to further select the lifted needles and perform loop knitting. In this control logic, the position switching of the needle selection roller is subject to strict timing constraints: the needle cylinder must completely exit the current knitting area before the next round of needle selection can begin; and the machine head can only re-enter the knitting area to continue operation after the needle cylinder has completed the needle selection switch and reset to the correct position.
[0003] However, the aforementioned needle selection timing control method prevents the knitting head from operating continuously, forcing frequent start-stop operations between each knitting segment, thus introducing additional acceleration and deceleration time losses. This problem is particularly prominent when knitting areas with complex patterns, such as fingers, that require high-density needle selection changes: frequent start-stops and waiting prevent the cylinder and knitting head from working in tandem, causing the time consumed in the finger knitting stage to increase exponentially, severely restricting the overall production cycle and comprehensive knitting efficiency of the machine. Summary of the Invention
[0004] This application mainly provides a control method, device, equipment, and storage medium for needle cylinder knitting, which solves the problem that the frequent start-stop operation of the knitting head introduces additional acceleration and deceleration time loss, resulting in a significant increase in the time consumption of the finger knitting stage, which seriously restricts the production cycle and overall knitting efficiency of the machine.
[0005] This application provides a method for controlling the knitting motion of a needle cylinder, including: Obtain the needle selection command of the syringe, and determine the number of stations for continuous operation of the syringe based on the needle selection command; Obtain the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the parameters of the motor and the number of continuous movements of the syringe. The head rotation distance is calculated based on the number of stations in the continuous action of the syringe. Based on the head rotation distance and the total action time of the needle cylinder, the head is controlled to rotate before the needle cylinder switching is completed, and the head is controlled to reach the knitting start position when the needle cylinder switching is completed.
[0006] In some embodiments, the parameters of the motor include the basic operating time per station and the additional time per station. The step of calculating the total operating time of the syringe based on the parameters of the motor and the number of stations in which the syringe continuously operates includes: Subtract one from the number of stations in the continuous action of the syringe, calculate the product of the number of stations after the subtraction and the additional time for each station, and then calculate the sum of the product and the basic action time of a single station to obtain the total action time of the syringe.
[0007] In some embodiments, the step of calculating the head rotation distance based on the number of stations of continuous syringe movement includes: Based on the number of stations of continuous action of the syringe, the machine head stroke is calculated according to a preset ratio; The slewing distance of the engine head is obtained by calculating the sum of the engine head stroke, the starting pre-stroke, and the preset compensation amount.
[0008] In some embodiments, the step of calculating the machine head stroke according to a preset ratio based on the number of stations of continuous movement of the syringe includes: The product of the number of stations of continuous syringe movement and the preset increase in stroke is used to obtain the syringe head stroke.
[0009] In some embodiments, the step of controlling the knitting head to rotate before the needle cylinder switching is completed based on the knitting head rotation distance and the total action time of the needle cylinder, and controlling the knitting head to reach the knitting start position when the needle cylinder switching is completed includes: The acceleration and deceleration times are determined based on the total action time of the syringe. Based on the acceleration / deceleration time and the head rotation distance, the head is dynamically adjusted to control the head to rotate before the needle cylinder switching is completed, and to control the head to reach the knitting start position when the needle cylinder switching is completed.
[0010] In some embodiments, the control method further includes: During the machine reset, the current position of the syringe is obtained; Based on the current and target positions of the syringe, the forward stroke and reverse stroke are calculated. The target direction is determined based on the forward travel amount and the reverse travel amount; Based on the target direction, the motor is controlled to perform a reset along the target direction.
[0011] In some embodiments, the step of determining the target direction based on the forward travel amount and the reverse travel amount includes: By comparing the magnitudes of the forward stroke and the reverse stroke, the direction corresponding to the smaller stroke is determined as the target direction.
[0012] This application also provides a control device for needle cylinder knitting, including: The station determination module is used to obtain the needle selection command of the syringe and determine the number of stations for continuous action of the syringe based on the needle selection command; The action time module is used to acquire the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the parameters of the motor and the number of continuous actions of the syringe. The rotation distance module is used to calculate the rotation distance of the machine head based on the number of stations in the continuous action of the syringe. The control module is used to control the knitting head to rotate before the needle cylinder switching is completed based on the knitting head rotation distance and the total action time of the needle cylinder, and to control the knitting head to reach the knitting start position when the needle cylinder switching is completed.
[0013] This application also provides an electronic device, including: at least one processor and a memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the control method as described in any of the preceding claims.
[0014] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the control method described in any of the preceding claims.
[0015] The beneficial effects of this application are as follows: By obtaining the number of stations of continuous needle movement and combining the parameters of the motor, this application accurately calculates the total action time of the needle and the rotation distance of the knitting head, breaking the traditional interlocking limitation of the knitting head and needle moving and stopping at the same time, and realizing the time and space collaborative operation of the two; this application controls the knitting head to rotate in advance before the needle switching is completed, and accurately reaches the knitting start position at the moment the needle switching is completed, thereby fundamentally eliminating the forced idle waiting time caused by the knitting head having to wait for the needle switching to be completed in the prior art, avoiding frequent start and stop operations of the knitting head and the resulting acceleration and deceleration losses. Especially in scenarios such as finger knitting that require high-frequency needle selection and switching, it can significantly shorten the knitting cycle of complex patterns, reduce the time spent in the knitting stage, and greatly improve the production cycle and overall knitting efficiency of the whole machine. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart illustrating an embodiment of the control method for needle cylinder knitting provided in this application; Figure 2 yes Figure 1 A schematic flowchart of an embodiment of step S130; Figure 3 yes Figure 1 A schematic flowchart of an embodiment of step S140; Figure 4 This is a flowchart illustrating another embodiment of the control method for needle cylinder knitting provided in this application; Figure 5 This is a schematic diagram of an embodiment of the control device for needle cylinder knitting provided in this application; Figure 6 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application; Figure 7 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation
[0017] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0018] 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 application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0020] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.
[0021] See Figure 1 , Figure 1This is a flowchart illustrating an embodiment of the needle cylinder knitting control method provided in this application; the needle cylinder knitting control method of this embodiment includes: Step S110: Obtain the needle selection command of the syringe, and determine the number of stations for continuous syringe operation based on the needle selection command.
[0022] The cylinder is a circumferential cylinder used in glove knitting machines. Its outer circumference, corresponding to the positioning scale of the needle selection roller / pin pin, is divided into multiple stations (e.g., 60 stations, meaning 1 revolution = 60 station angles; 1 station corresponds to the positioning accuracy of 1 servo motor pulse; station numbers are 0-59 in a circumferential cycle, with the zero position aligning with the initial calibration position). The number of stations is the smallest positioning measurement unit in the circumferential direction of the cylinder. N station rotations of the cylinder correspond to N sets of different needle / pin control positions aligned with the needle selection roller. The number of stations for continuous operation refers to the number of stations that continuously require needle selection within one revolution of the needle selection roller (or one specific needle selection cycle).
[0023] The needle selection command is the trigger input for this control cycle, carrying structured data with specific position information.
[0024] In some embodiments, a needle selection instruction is obtained from the host computer of the glove machine. The needle selection instruction specifies which needles need to be selected to form a specific needle loop structure, thereby determining the number of stations for continuous operation of the syringe based on the needle selection instruction.
[0025] Specifically, it iterates through a current loop or a specific area (such as a finger or palm) to identify which needles at which workstations (workstation angles) need to be lifted or selected.
[0026] For example, if the current knitting area requires the needle selection roller to rotate through 5 different stations to complete the task, then the number of stations for the continuous movement of the needle cylinder is 5.
[0027] Step S120: Obtain the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the motor parameters and the number of stations of continuous action of the syringe.
[0028] The motor corresponding to the syringe refers to the drive motor that drives the syringe to perform circumferential positioning rotation, including but not limited to stepper motors or servo motors. The motor parameters are factory-fixed calibration parameters, usually stored in the controller's non-volatile memory, and can be directly read and used.
[0029] The total action time of the needle cylinder refers to the total time required for the needle cylinder to be unlocked from its current stationary position, continuously rotated by the corresponding drive motor to the target needle selection position, and complete deceleration and precise positioning and stabilization within a single needle selection switching cycle. The starting point of this time is the moment when the needle cylinder enters the rotation acceleration phase from a stationary state, and the ending point is the moment when the needle cylinder reaches the target needle selection position and comes to a complete stop within the allowable error window, meeting the knitting ready conditions.
[0030] In some embodiments, the parameters of the motor corresponding to the syringe are directly read, and the total action time of the syringe is calculated based on the parameters of the motor and the number of stations of continuous action of the syringe.
[0031] The parameters of the motor include the basic operating time of a single station and the additional time for each station.
[0032] The basic motion time per station is the fixed lower limit of the time required for the pointer cylinder to complete the minimum positioning step distance (1 station). The additional time per station refers to the approximately linear time increment generated for each additional station in the continuous positioning span, based on the basic motion time per station.
[0033] In other embodiments, the parameters of the motor also include the motor's rated speed (e.g., 600 rpm) and the amount of rotation per station (e.g., half a turn).
[0034] In some embodiments, after determining the number of stations for continuous syringe movement through needle selection instructions, the parameters of the motor are directly read, including the basic movement time per station and the additional time per station. The number of stations for continuous syringe movement is reduced by one, the product of the reduced number of stations and the additional time per station is calculated, and the sum of the product and the basic movement time per station is calculated to obtain the total movement time of the syringe.
[0035] For example, N represents the number of stations in the continuous action of the syringe, the motor is a 57 stepper motor, T_base represents the base time per station, T_add represents the additional time per station, and T_total represents the total action time of the syringe. Then, the formula for calculating T_total is: T_total = T_base + (N-1) * T_add; when N is 5, T_base is 400ms, and T_add is 50ms, T_total is 600ms.
[0036] This embodiment increases the working speed of the 57 stepper motor while ensuring torque, thus achieving higher weaving efficiency.
[0037] In other embodiments, a servo motor is used instead of a stepper motor to achieve more precise position control and faster response.
[0038] Step S130: Calculate the head rotation distance based on the number of stations of continuous syringe movement.
[0039] Among them, the head rotation distance refers to the predetermined linear displacement of the head from the exit position of the knitting zone to the next knitting start position during the needle selection station switching of the needle cylinder.
[0040] In some embodiments, after determining the number of stations for continuous syringe movement through needle selection instructions, the machine head rotation distance can be calculated based on the mapping relationship between syringe movement and machine head movement, according to the number of stations for continuous syringe movement.
[0041] For details, see Figure 2 As shown, Figure 2 yes Figure 1 A flowchart illustrating an embodiment of step S130; step S130 in this embodiment includes the following steps: Step S210: Based on the number of stations of continuous syringe movement, calculate the head stroke according to a preset ratio.
[0042] Specifically, for cases where the syringe operates continuously at multiple stations, the product of the number of stations operating continuously and the preset increase in stroke is calculated to obtain the syringe head stroke.
[0043] Among them, the preset increase in stroke amount refers to the proportional mapping parameter that is pre-calibrated and stored in the non-volatile storage area of the controller for the same machine model and the same knitting pattern; the meaning of the preset increase in stroke amount is: during the process of the needle cylinder completing the needle selection station switching, for each consecutive change of the needle selection station (for example, 1 station = 360° / 60), the linear stroke increment that the machine head needs to add in the guiding direction.
[0044] The head travel refers to the predetermined linear displacement of the head from its exit position in the knitting zone to the knitting start position required for the next knitting cycle during the needle selection station switching phase.
[0045] For example, for each additional station the syringe moves, the travel of the machine head increases by 0.3 inches. If the syringe moves continuously for 5 stations, then the travel of the machine head is 0.3 * 5 = 1.5 inches.
[0046] Step S220: The sum of the computer head stroke, the starting pre-stroke, and the preset compensation amount is used to obtain the head rotation distance.
[0047] The initial pre-travel refers to the minimum fixed linear displacement that the knitting head must complete from its current working position before the needle cylinder enters the needle selection station for switching. This ensures that the knitting head completely exits the knitting area of the needle plate, disengages from the cam needle envelope, and forms a safe geometric margin for subsequent rotation / reversal and phase alignment. The initial pre-travel is usually determined by the overall machine geometry, cam action width, and minimum allowable exit position. For the same machine model and knitting mode, it can be stored as a preset constant in the controller's non-volatile memory.
[0048] The preset compensation amount refers to the dynamic displacement correction value that is calculated in advance when the servo head (head drive motor / drive mechanism) plans its motion according to the rotation acceleration and deceleration curve, so that the head can reliably fall within the allowable error window of the knitting start position at the moment when the needle cylinder completes the station switch and stops.
[0049] In this embodiment, the slewing acceleration / deceleration curve is a linear acceleration / deceleration curve, and the preset compensation amount is a fixed value.
[0050] Specifically, for the case of continuous operation of the syringe at multiple stations, the first step of the starting action needs to be increased by adding the starting pre-stroke and calculating the preset compensation amount by introducing the servo's rotation acceleration and deceleration curve. The head rotation distance can be obtained by adding the head stroke, the starting pre-stroke, and the preset compensation amount.
[0051] For example, the initial travel is 1 inch, and the preset compensation is 0.5 inches.
[0052] In other embodiments, using an S-shaped acceleration / deceleration curve instead of a linear acceleration / deceleration curve can reduce mechanical shock and vibration.
[0053] Step S140: Based on the head rotation distance and the total action time of the needle cylinder, control the head to rotate before the needle cylinder switching is completed, and control the head to reach the knitting start position when the needle cylinder switching is completed.
[0054] In some embodiments, the total action time of the syringe is taken as the upper limit of the allowable time for the machine head rotation, and the machine head rotation distance is taken as the displacement target that the machine head needs to complete in the same time period. According to the allowable acceleration and deceleration capability and rotation direction of the machine head servo, a speed / displacement planning curve is generated so that the machine head starts to rotate while the syringe is still in the switching process, and ensures that the machine head reaches the knitting start position when the syringe switching is completed and the knitting ready state is entered, thereby achieving smooth connection of the machine head movement, eliminating start-stop waiting gaps, and achieving seamless connection.
[0055] For details, see Figure 3 As shown, Figure 3 yes Figure 1 A flowchart illustrating an embodiment of step S140; step S140 in this embodiment includes the following steps: Step S310: Determine the acceleration and deceleration time based on the total action time of the syringe.
[0056] In some embodiments, the total action time of the syringe is the acceleration and deceleration time of the head servo. When following a linear acceleration and deceleration curve, the acceleration and deceleration times are equal, that is, the acceleration time and deceleration time are both half of the total action time of the syringe.
[0057] Step S320: Based on acceleration / deceleration time and head rotation distance, dynamically adjust the head to control the head to rotate before the needle cylinder switching is completed, and control the head to reach the knitting start position when the needle cylinder switching is completed.
[0058] In some embodiments, the acceleration and deceleration time of the knitting head servo is matched with the knitting head rotation distance to dynamically adjust the knitting head movement, so that the knitting head rotates before the needle cylinder switching is completed and the knitting head reaches the knitting start position when the needle cylinder switching is completed.
[0059] This embodiment obtains the number of stations for continuous needle movement and accurately calculates the total needle movement time and knitting head rotation distance by combining the motor parameters. This breaks the traditional interlocking limitation of one-on-one movement between the knitting head and the needle, and realizes the spatiotemporal collaborative operation of the two. This embodiment controls the knitting head to rotate in advance before the needle switching is completed, and accurately reaches the knitting start position at the moment the needle switching is completed. This fundamentally eliminates the forced idle waiting time caused by the knitting head having to wait for the needle switching to be completed in the prior art, and avoids frequent start and stop operations of the knitting head and the resulting acceleration and deceleration losses. Especially in scenarios such as finger knitting that require high-frequency needle selection and switching, it can significantly shorten the knitting cycle of complex patterns, reduce the time spent in the knitting stage, and greatly improve the production cycle and overall knitting efficiency of the machine.
[0060] See Figure 4 As shown, Figure 4 This is a flowchart illustrating another embodiment of the needle cylinder motion knitting control method provided in this application. The needle cylinder motion knitting control method of this embodiment includes: Step S410: Obtain the needle selection command of the syringe, and determine the number of stations for continuous syringe operation based on the needle selection command.
[0061] Step S420: Obtain the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the motor parameters and the number of stations of continuous action of the syringe.
[0062] Step S430: Calculate the head rotation distance based on the number of stations of continuous syringe movement.
[0063] Step S440: Based on the head rotation distance and the total action time of the needle cylinder, control the head to rotate before the needle cylinder switching is completed, and control the head to reach the knitting start position when the needle cylinder switching is completed.
[0064] The steps S110 to S140 are the same as those in the above embodiments, and will not be described again here.
[0065] Step S450: When the whole machine is reset, obtain the current position of the syringe.
[0066] In some embodiments, during the overall machine reset phase, the syringe is phase initialized to obtain the current working position of the syringe.
[0067] Step S460: Based on the current station and target station of the syringe, calculate the forward stroke amount and the reverse stroke amount.
[0068] The target station, also called the target needle selection station, is determined according to the needle selection instruction.
[0069] The forward stroke refers to the number of stations traversed when moving from the current station to the target station along the increasing station number direction (i.e., the forward rotation direction of the syringe). The reverse stroke refers to the number of stations traversed when moving from the current station to the target station along the decreasing station number direction (i.e., the reverse rotation direction of the syringe).
[0070] In some embodiments, the forward stroke and reverse stroke are calculated based on the current workstation and the target workstation, respectively.
[0071] Step S470: Determine the target direction based on the forward and reverse stroke amounts.
[0072] The target direction refers to the shortest path rotation direction required to meet the needle selection and positioning needs when switching from the current station to the target station of the syringe.
[0073] Specifically, the forward and reverse stroke amounts are compared, and the direction with the smaller stroke amount is determined as the target direction.
[0074] Step S480: Based on the target direction, control the motor to perform a reset along the target direction.
[0075] Specifically, based on the target direction, the motor is controlled to move along the target direction to the zero position to complete the reset.
[0076] This embodiment obtains the current position of the syringe and calculates the forward and reverse stroke between it and the target position. The system can intelligently determine the target direction of the shortest path, so that the syringe does not need to blindly rotate multiple positions, but only needs to rotate a very small number of positions to complete the reset, effectively reducing the time required for the whole machine to reset.
[0077] See Figure 5 As shown, Figure 5 This is a schematic diagram of an embodiment of the control device for needle cylinder knitting provided in this application; the control device for needle cylinder knitting in this embodiment includes: The station determination module 501 is used to obtain the needle selection command of the syringe and determine the number of stations for continuous action of the syringe based on the needle selection command. The action time module 502 is used to acquire the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the parameters of the motor and the number of continuous actions of the syringe. The rotation distance module 503 is used to calculate the rotation distance of the machine head based on the number of stations of continuous action of the syringe. The control module 504 is used to control the knitting head to rotate before the needle cylinder switching is completed based on the knitting head rotation distance and the total action time of the needle cylinder, and to control the knitting head to reach the knitting start position when the needle cylinder switching is completed.
[0078] Figure 6 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Figure 6 As shown, the electronic device includes a processor 21 and a memory 22 coupled to the processor 21. The memory 22 stores program instructions for implementing the methods of any of the above embodiments; the processor 21 executes the program instructions stored in the memory 22 to implement the steps of the above method embodiments. The processor 21 may also be referred to as a CPU (Central Processing Unit). The processor 21 may be an integrated circuit chip with signal processing capabilities. The processor 21 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. Figure 7 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium provided in this application. Figure 7As shown, the computer-readable storage medium 30 of this application embodiment stores program instructions 31, which, when executed, implement the methods provided in the above embodiments of this application. The program instructions 31 can form a program file and be stored in the computer-readable storage medium 30 in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) or processor can execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned computer-readable storage medium 30 includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or terminal devices such as computers, servers, mobile phones, and tablets.
[0079] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms. Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.
[0080] This application also provides a computer program product comprising a computer program that, when executed by a processor, can implement the steps of the methods described in any of the foregoing embodiments. Specifically, the computer program product can be a software or program product containing a computer program, capable of running on a computing device or stored on any available medium.
[0081] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to execute the methods described in the above method embodiments. Specific implementations can be referred to the descriptions of the above method embodiments, which will not be repeated here for brevity. The descriptions of the various embodiments above tend to emphasize the differences between them; their similarities or commonalities can be referred to each other, which will not be repeated here for brevity. In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For example, the division of modules or units is merely a logical functional division; in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Additionally, the functional units in the various embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit described above can be implemented in either hardware or software functional units. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application.
[0082] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
Claims
1. A method for controlling the action of a needle cylinder in knitting, characterized in that, include: Obtain the needle selection command of the syringe, and determine the number of stations for continuous operation of the syringe based on the needle selection command; Obtain the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the parameters of the motor and the number of continuous movements of the syringe. The head rotation distance is calculated based on the number of stations in the continuous action of the syringe. Based on the head rotation distance and the total action time of the needle cylinder, the head is controlled to rotate before the needle cylinder switching is completed, and the head is controlled to reach the knitting start position when the needle cylinder switching is completed.
2. The control method according to claim 1, characterized in that, The parameters of the motor include the basic operating time per station and the additional time per station. The step of calculating the total operating time of the syringe based on the parameters of the motor and the number of stations in which the syringe continuously operates includes: Subtract one from the number of stations in the continuous action of the syringe, calculate the product of the number of stations after the subtraction and the additional time for each station, and then calculate the sum of the product and the basic action time of a single station to obtain the total action time of the syringe.
3. The control method according to claim 1, characterized in that, The step of calculating the machine head rotation distance based on the number of workstations in the continuous motion of the syringe includes: Based on the number of stations of continuous action of the syringe, the machine head stroke is calculated according to a preset ratio; The slewing distance of the engine head is obtained by calculating the sum of the engine head stroke, the starting pre-stroke, and the preset compensation amount.
4. The control method according to claim 3, characterized in that, The step of calculating the machine head stroke based on the number of stations of continuous movement of the syringe according to a preset ratio includes: The product of the number of stations of continuous syringe movement and the preset increase in stroke is used to obtain the syringe head stroke.
5. The control method according to claim 1, characterized in that, The steps of controlling the knitting head to rotate before the needle cylinder switching is completed, based on the knitting head rotation distance and the total action time of the needle cylinder, and controlling the knitting head to reach the knitting start position when the needle cylinder switching is completed, include: The acceleration and deceleration times are determined based on the total action time of the syringe. Based on the acceleration / deceleration time and the head rotation distance, the head is dynamically adjusted to control the head to rotate before the needle cylinder switching is completed, and to control the head to reach the knitting start position when the needle cylinder switching is completed.
6. The control method according to claim 1, characterized in that, The control method further includes: During the machine reset, the current position of the syringe is obtained; Based on the current and target positions of the syringe, the forward stroke and reverse stroke are calculated. The target direction is determined based on the forward travel amount and the reverse travel amount; Based on the target direction, the motor is controlled to perform a reset along the target direction.
7. The control method according to claim 6, characterized in that, The step of determining the target direction based on the forward travel amount and the reverse travel amount includes: By comparing the magnitudes of the forward stroke and the reverse stroke, the direction corresponding to the smaller stroke is determined as the target direction.
8. A control device for needle cylinder knitting, characterized in that, include: The station determination module is used to obtain the needle selection command of the syringe and determine the number of stations for continuous action of the syringe based on the needle selection command; The action time module is used to acquire the parameters of the motor corresponding to the syringe, and calculate the total action time of the syringe based on the parameters of the motor and the number of continuous actions of the syringe. The rotation distance module is used to calculate the rotation distance of the machine head based on the number of stations in the continuous action of the syringe. The control module is used to control the knitting head to rotate before the needle cylinder switching is completed based on the knitting head rotation distance and the total action time of the needle cylinder, and to control the knitting head to reach the knitting start position when the needle cylinder switching is completed.
9. An electronic device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the control method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the control method as described in any one of claims 1-7.