Method for programming a circular knitting machine based on touch screen parameter input

Abstract

The application relates to the field of round rope machine motion control, in particular to a round rope machine weaving pattern programmed generation method based on touch screen parameter input, user input pattern definition parameters are acquired; the main shaft phase of a push needle is defined as phi, and a complete main shaft cycle is from 0 DEG to 360 DEG; according to the pattern definition parameters, an outer ring turntable rotation angle function theta_out (phi) and an inner ring turntable rotation angle function theta_in (phi) are respectively constructed; based on the outer ring turntable rotation angle function theta_out (phi) and the inner ring turntable rotation angle function theta_in (phi), an electronic cam curve taking the push needle shaft as the main shaft and taking the outer ring turntable driving shaft and the inner ring turntable driving shaft as the slave shaft is automatically generated; according to the electronic cam curve, the outer ring turntable and the inner ring turntable are controlled to follow the push needle motion, so that weaving is completed. The method realizes infinite expansion and personalized creation of patterns without changing the mechanical structure.

Description

Technical Field

[0001] This application relates to the field of motion control for circular rope machines, specifically to a method for programmatically generating circular rope machine weaving patterns based on touchscreen parameter input. Background Technology

[0002] A circular rope braiding machine is a common type of rope and ribbon production equipment, widely used in the manufacture of ropes and ribbons for clothing, footwear, accessories, and hanging items. Existing circular rope braiding machines typically include a frame, a rope output device, and several braiding devices. Each braiding device includes mechanical components such as an inner rotor, an outer rotor, a yarn guide ring, and a yarn hooking mechanism. Specifically, the outer rotor includes a rotatable first turntable (outer ring), with a first through hole in the center and a ring of first yarn guide holes around the outer periphery of the first through hole. The inner rotor includes a rotatable second turntable (inner ring), positioned above the first turntable, and a ring of second yarn guide holes. The yarn hooking mechanism is located below the first turntable and includes a needle holder and a ring of needles distributed around the outer periphery of the needle holder.

[0003] During weaving, some yarn passes through the second guide hole (inner circle), and the knitting needle pulls it down to weave the internal structure (core) of the rope; the other part of the yarn passes through the first guide hole (outer circle), and the knitting needle pulls it down to weave the external structure (sheath) of the rope. By adjusting the number of yarns passing through the first turntable (outer circle) and the second turntable (inner circle) and the rotation angle, ropes with different internal and external structures can be made.

[0004] In the field of motion control for circular rope machines, Electronic Cam (ECAM) is an industrial control system that simulates the function of a mechanical cam through software algorithms. Its core principle is to establish an electronic coupling relationship between the master and slave axes using a cam table or curve. Both the outer and inner turntable drive shafts act as slave axes, following the virtual or physical master axis according to a preset electronic cam curve. The formation of the weaving pattern is jointly determined by the rotation angle sequence of the outer and inner turntables—the rotation angle of the outer turntable determines the pattern of the rope's external structure, while the rotation angle of the inner turntable determines the pattern of the rope's internal structure.

[0005] However, existing circular rope machines still have the following shortcomings in the generation and control of weaving patterns: First, the variety of patterns is very limited, making expansion difficult. Existing circular rope machines have a limited number of pre-set weaving patterns, which is insufficient to meet the increasingly diverse market demands. Although some circular rope machines use PLC (Programmable Logic Controller) programming control, pattern adjustments still require professionals to modify the control program or redesign the electronic cam curve, which ordinary users cannot operate independently.

[0006] Secondly, there is a lack of intuitive and convenient methods for inputting patterns. Users often need to rely on professional technicians to write code or modify parameter files to obtain new patterns, which is a high-barrier-to-entry, time-consuming, and costly process. While some existing circular rope machines are equipped with touchscreen human-machine interfaces, these touchscreens are typically only used to display and select a few preset patterns; users cannot independently input or define new pattern parameters through the touchscreen.

[0007] Third, pattern generation lacks a mathematical parameter expression. Current technology has not yet developed a method to abstract circular rope weaving patterns into a mathematical formula centered on the outer loop start position, outer loop end position, inner loop start position, and inner loop end position, and to systematically generate various new patterns through the combination and variation of these parameters. Pattern generation still relies on empirical debugging and trial and error, lacking systematicity and repeatability.

[0008] Fourth, the efficiency of pattern iteration is low. When users need to fine-tune existing patterns or derive new patterns, existing technologies usually require rewriting the control program or redesigning the cam curve, which cannot achieve rapid iteration and expansion of patterns. Summary of the Invention

[0009] In order to achieve pattern expansion and personalized creation without changing the mechanical structure, in a first aspect, embodiments of this application provide a method for programmatically generating circular rope machine weaving patterns based on touchscreen parameter input, including: The pattern definition parameters input by the user are obtained through the touch screen human-computer interaction interface. The pattern definition parameters include: outer ring turntable trigger angle, left and right boundaries of the outer ring turntable movement, inner ring turntable trigger angle, and left and right boundaries of the inner ring turntable movement. Define the principal axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher has returned to the lowest point. A complete principal axis cycle is φ from 0° to 360°. Based on the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) are constructed respectively. Both θ_out(φ) and θ_in(φ) are defined on two consecutive principal axis periods, with a domain of φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function; Based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), an electronic cam curve is automatically generated with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes. According to the electronic cam curve, the outer and inner turntables are controlled to follow the needle pusher movement to complete the knitting.

[0010] In one possible implementation, the rotation angle function θ_out(φ) of the outer turntable and the rotation angle function θ_in(φ) of the inner turntable are constructed independently. The trigger angle of the outer turntable and the trigger angle of the inner turntable are set to different angle values. The left and right boundaries of the movement of the outer turntable and the left and right boundaries of the movement of the inner turntable are set independently, so that the external and internal structural patterns of the rope can be designed separately to achieve composite weaving patterns with different internal and external structures.

[0011] In one possible implementation, the touch screen human-machine interface also provides a jog adjustment function, in which the user manually controls the pusher to rise or fall by jog button to position the pusher to the target position, and determines and inputs the specific values ​​of the outer ring turntable trigger angle and the inner ring turntable trigger angle according to the main shaft phase corresponding to the target position.

[0012] In one possible implementation, the starting boundary position is one of the left and right boundaries, and the other boundary position is the other of the left and right boundaries; the starting boundary position and the other boundary position are determined by values ​​input by the user via a touchscreen, and the actual direction of movement of the turntable is determined by the numerical relationship between the two boundary positions.

[0013] In one possible implementation, the method further includes: The pattern model is generated using the pattern definition parameters, the outer turntable rotation angle function θ_out(φ), the inner turntable rotation angle function θ_in(φ), and the electronic cam curve. Assign a unique pattern identifier to the pattern model, and store the pattern identifier and the corresponding pattern model in the pattern database; When a user selects a stored pattern to knit, the system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

[0014] In one possible implementation, the method further includes: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

[0015] In one possible implementation, the trigger angles of the outer and inner turntables range from 0° to 360°, and the left and right boundaries of the outer and inner turntable movements also range from 0° to 360°. Each parameter is continuously adjustable within its respective range, and different combinations of parameter values ​​correspond to different weaving patterns.

[0016] Secondly, embodiments of this application provide a programmed generation device for circular rope machine weaving patterns based on touchscreen parameter input, comprising: The input module is used to obtain the pattern definition parameters input by the user through the touch screen human-computer interaction interface. The pattern definition parameters include: the trigger angle of the outer ring turntable, the left and right boundaries of the outer ring turntable movement, the trigger angle of the inner ring turntable, and the left and right boundaries of the inner ring turntable movement. The cycle module is used to define the main axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher returns to the lowest point. A complete main axis cycle is φ from 0° to 360°. The rotation angle function construction module is used to construct the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) according to the pattern definition parameters. Both θ_out(φ) and θ_in(φ) are defined on two consecutive principal axis periods, with a domain of φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function; The electronic cam curve generation module is used to automatically generate an electronic cam curve with the push pin shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes, based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). The control module is used to control the outer and inner turntables to follow the needle pusher movement according to the electronic cam curve in order to complete the knitting.

[0017] In one possible implementation, the device further includes: The pattern model generation module is used to generate a pattern model from the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ), the inner ring turntable rotation angle function θ_in(φ), and the electronic cam curve; The pattern identifier generation module is used to assign a unique pattern identifier to the pattern model and store the pattern identifier and the corresponding pattern model in the pattern database. The reproduction module is used when a user selects a stored pattern for knitting. The system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

[0018] In one possible implementation, the apparatus further includes a pattern derivation iteration module for: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

[0019] This application provides a method for programmed generation of circular rope knitting patterns based on touchscreen parameter input. The method obtains user-inputted pattern definition parameters through a touchscreen human-computer interaction interface. These parameters include: the outer turntable trigger angle, the left and right boundaries of the outer turntable's movement, the inner turntable trigger angle, and the left and right boundaries of the inner turntable's movement. The method also defines the main axis phase φ of the pusher needle, where φ=0° indicates the pusher needle is at its lowest point, φ=180° indicates the pusher needle is at its highest point, and φ=360° indicates the pusher needle is at its highest point. ° indicates that the pusher returns to the lowest point, and a complete spindle cycle is φ from 0° to 360°; according to the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) are constructed respectively, wherein θ_out(φ) and θ_in(φ) are both defined on two consecutive spindle cycles, their domain is φ∈[0°,720°], and they both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, and the starting boundary position be θ_ The other boundary position is θ_end. In the first principal axis cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)). In the second principal axis cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_ end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); where f is the interpolation function; based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), an electronic cam curve is automatically generated with the needle pusher axis as the main axis and the outer ring turntable drive axis and the inner ring turntable drive axis as the slave axes; according to the electronic cam curve, the outer ring turntable and the inner ring turntable are controlled to follow the needle pusher movement to complete the knitting. The method of this application realizes the infinite expansion of patterns and personalized creation without changing the mechanical structure. Attached Figure Description

[0020] Figure 1 A schematic diagram of a method for programmatically generating circular rope weaving patterns based on touch screen parameter input is provided for an embodiment of this application. Figure 2 This is the debugging parameter page for the touchscreen; Figure 3 Screenshot of the interface for storing and retrieving pattern parameters; Figure 4 It is a manual interface for touchscreens. Detailed Implementation

[0021] Firstly, see [the following] Figure 1 This application provides a method for programmed generation of circular rope weaving patterns based on touchscreen parameter input, including: S101 obtains the pattern definition parameters input by the user through the touch screen human-computer interaction interface.

[0022] The pattern definition parameters include: outer ring turntable trigger angle, left and right boundaries of the outer ring turntable movement, inner ring turntable trigger angle, and left and right boundaries of the inner ring turntable movement.

[0023] The trigger angles of the outer and inner turntables range from 0° to 360°. The left and right boundaries of the outer and inner turntable movements also range from 0° to 360°. Each parameter is continuously adjustable within its respective range, and different combinations of parameter values ​​correspond to different weaving patterns.

[0024] The circular rope machine is equipped with a touchscreen human-machine interface, through which the user inputs pattern definition parameters. The pattern definition parameters include at least: Outer ring turntable trigger angle: When the pusher rises from the lowest point (spindle cycle zero point) to this angle position, the outer ring starts to move, denoted as α_out, with a value range of 0°~360°; Outer left angle: The left boundary (starting position) of the outer turntable movement, denoted as θ_out_left; Outer right angle: The right boundary (end point) of the outer turntable movement, denoted as θ_out_right; Inner ring turntable trigger angle: When the pusher rises from the lowest point to this angle position, the inner ring starts to move, denoted as α_in, with a value range of 0°~360°; Inner left angle: The left boundary (starting position) of the inner turntable movement, denoted as θ_in_left; Inner right angle: The right boundary (end point) of the inner turntable movement, denoted as θ_in_right.

[0025] The touchscreen human-computer interaction interface allows users to input pattern definition parameters such as the start position of the outer circle, the end position of the outer circle, the start position of the inner circle, and the end position of the inner circle. The touchscreen also supports numerical input box input.

[0026] S102, define the main axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher returns to the lowest point. A complete main axis cycle is φ from 0° to 360°.

[0027] Definition of the main axis cycle of the pusher: The starting point of the pusher (the zero point of the main axis cycle) is at the lowest point. A complete cycle is when the pusher rises from the lowest point to the highest point and then returns to the lowest point. That is, the main axis phase changes from 0° to 360° (0° corresponds to the lowest point, 180° corresponds to the highest point, and 360° returns to the lowest point).

[0028] S103, Based on the pattern definition parameters, construct the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) respectively.

[0029] Here, θ_out(φ) and θ_in(φ) are both defined on two consecutive principal axis periods, with their domain being φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function.

[0030] The starting boundary position is one of the left boundary and the right boundary, and the other boundary position is the other of the left boundary and the right boundary; the starting boundary position and the other boundary position are determined by the values ​​input by the user through the touch screen, and the actual movement direction of the turntable is determined by the numerical relationship between the two boundary positions.

[0031] At the end of the first cycle (φ=360°), the turntable reaches the end position θ_end, and at the end of the second cycle (φ=720°), the turntable returns to the starting position θ_start.

[0032] The operating logic of the outer and inner turntables is exactly the same: The pusher rises from the lowest point (0°), and when the pusher reaches its respective trigger angle (α_out or α_in), the corresponding turntable starts to move; As the needle completes one full cycle (0°→360°), the turntable moves from the current angular position to another boundary position. After the pusher completes another full cycle (the second 360°), the turntable moves back from the boundary position to the starting boundary position. That is, the needle is pushed through two complete cycles, with the outer or inner circle each completing a complete round-trip motion from the starting point to the end point and then back to the starting point.

[0033] Specifically, for the outer ring, the first push-needle cycle: the push-needle rises from 0° to 360°, and the outer ring moves from the starting point (θ_out_left or θ_out_right) to the ending point; the second push-needle cycle: the push-needle rises from 0° to 360° again, and the outer ring moves from the ending point back to the starting point.

[0034] The same applies to the inner circle, but the trigger angle and left and right angles can be set independently.

[0035] That is, by pushing the needle through two complete cycles (the main axis phase changes from 0° to 720°), the turntable completes a full round-trip motion from the starting point to the ending point and back again. Applying the above general formula to the outer and inner circles respectively, we get: Outer circle angle function θ_out(φ): Let α = α_out, θ_start = θ_out_left, θ_end = θ_out_right (in this application, the left is the default starting point and the right is the default ending point, but users can freely set the values, and the actual direction is determined by the magnitude of the values).

[0036] The inner circle angle function θ_in(φ) is calculated using the general formula described above: Let α=α_in, θ_start=θ_in_left, θ_end=θ_in_right.

[0037] The use of an S-curve as the interpolation function f has the fundamental advantage of transforming the turntable's motion from a "brutal, hard start and stop" to an "elegant, smooth start and stop." This is specifically reflected in three core aspects: First, it eliminates "rigid impact," protecting the machine's lifespan. If f is a simple linear function (i.e., uniform speed), the turntable's speed will abruptly change from 0 to a certain value at the moment of startup, and then abruptly return to 0 at the moment of stopping. This "infinite acceleration" rigid impact directly leads to severe knocking and vibration in the gearbox, frequent slippage and wear of the drive belt or chain, instantaneous motor overload, and driver alarms. The S-curve's acceleration is continuously changing (gradually increasing from 0 and then gradually returning to zero), completely eliminating mechanical hard impact and significantly extending the machine's lifespan. Second, it avoids sudden changes in yarn tension, ensuring weaving quality. During weaving, yarn tension is extremely sensitive to speed changes. If the turntable stops and starts abruptly, the yarn will be suddenly tightened or loosened, causing "slub" patterns or yarn breakage on the rope surface, and misalignment of the interlacing points of the inner and outer loops. The S-curve allows for a smooth transition of turntable speed from slow to fast to slow, ensuring even tension on the yarn and resulting in a smooth surface and a tight, consistent structure in the woven rope. Thirdly, it reduces the "tracking error" of the servo motor and improves accuracy. When a servo motor drives a load, if the commanded speed changes abruptly, the actual position of the motor will not keep up with the commanded position (resulting in lag or overshoot). The limited acceleration of the S-curve keeps the motor within a good response range, ensuring that the actual swing angle precisely matches the set start and end points, guaranteeing that the pattern remains unchanged during repeated weaving.

[0038] The touchscreen also features a numerical input box, allowing users to intuitively input the aforementioned parameters. The touchscreen also provides a jog adjustment function: users can manually control the pusher needle to rise or fall using a jog button, observe the needle position in real time, and determine the specific values ​​of the outer ring trigger angle α_out and the inner ring trigger angle α_in.

[0039] S104, based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), automatically generate an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes.

[0040] Based on the generated outer turntable rotation angle function θ_out(φ) and inner turntable rotation angle function θ_in(φ), the corresponding electronic cam curve parameter set is automatically generated: Main spindle definition: The pusher axis is defined as the main spindle, and the main spindle position is represented by the phase φ (0°~360° is a complete cycle). The main spindle cycle corresponds to the complete stroke of the pusher from the lowest point to the highest point and back to the lowest point. The outer ring electronic cam curve uses the outer ring turntable drive shaft as the slave axis, establishing a mapping relationship between the slave axis position and the main spindle phase to generate the outer ring cam table. The inner ring electronic cam curve uses the inner ring turntable drive shaft as the slave axis, establishing a mapping relationship between the slave axis position and the main spindle phase to generate the inner ring cam table. Using the pusher axis as the main spindle, the outer ring electronic cam curve and the inner ring electronic cam curve are automatically generated according to the pattern parameter set. The curves are stored in a cam table (CAM Table) data structure, establishing a one-to-one mapping relationship between the slave axis position and the main spindle position.

[0041] S105, according to the electronic cam curve, control the outer and inner turntables to follow the needle pusher movement to complete the knitting.

[0042] This application provides a method for programmed generation of circular rope knitting patterns based on touchscreen parameter input. The method obtains user-inputted pattern definition parameters through a touchscreen human-computer interaction interface. These parameters include: the outer turntable trigger angle, the left and right boundaries of the outer turntable's movement, the inner turntable trigger angle, and the left and right boundaries of the inner turntable's movement. The method also defines the main axis phase φ of the pusher needle, where φ=0° indicates the pusher needle is at its lowest point, φ=180° indicates the pusher needle is at its highest point, and φ=360° indicates the pusher needle is at its highest point. ° indicates that the pusher returns to the lowest point, and a complete spindle cycle is φ from 0° to 360°; according to the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) are constructed respectively, wherein θ_out(φ) and θ_in(φ) are both defined on two consecutive spindle cycles, their domain is φ∈[0°,720°], and they both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, and the starting boundary position be θ_ The other boundary position is θ_end. In the first principal axis cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)). In the second principal axis cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_ end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); where f is the interpolation function; based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), an electronic cam curve is automatically generated with the needle pusher axis as the main axis and the outer ring turntable drive axis and the inner ring turntable drive axis as the slave axes; according to the electronic cam curve, the outer ring turntable and the inner ring turntable are controlled to follow the needle pusher movement to complete the knitting. The method of this application realizes the infinite expansion of patterns and personalized creation without changing the mechanical structure.

[0043] In one example, the rotation angle function θ_out(φ) of the outer turntable and the rotation angle function θ_in(φ) of the inner turntable are constructed independently. The trigger angle of the outer turntable and the trigger angle of the inner turntable are set to different angle values. The left and right boundaries of the action of the outer turntable and the left and right boundaries of the action of the inner turntable are set independently, so that the external and internal structural patterns of the rope can be designed separately to achieve composite weaving patterns with different internal and external structures.

[0044] Since the outer turntable is responsible for weaving the external pattern and the inner turntable is responsible for weaving the internal pattern, various composite weaving patterns can be completed by independently setting the trigger angle of the outer turntable, the trigger angle of the inner turntable, and the left and right boundaries of the outer turntable's movement and the left and right boundaries of the inner turntable's movement.

[0045] In one example, the method further includes: The pattern model is generated using the pattern definition parameters, the outer turntable rotation angle function θ_out(φ), the inner turntable rotation angle function θ_in(φ), and the electronic cam curve. Assign a unique pattern identifier to the pattern model, and store the pattern identifier and the corresponding pattern model in the pattern database; When a user selects a stored pattern to knit, the system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

[0046] The complete pattern model is converted into control instructions executable by the servo drive of the circular rope machine. The control instructions include position, speed, and acceleration instructions for the outer turntable drive shaft, as well as position, speed, and acceleration instructions for the inner turntable drive shaft.

[0047] In one example, the method further includes: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

[0048] The system also includes a pattern parameter database: it pre-stores four parameter values ​​(outer circle start position, outer circle end position, inner circle start position, and inner circle end position) for multiple classic patterns, which users can directly call as basic patterns for fine-tuning.

[0049] Based on existing stored patterns (including basic patterns and new patterns generated by this method), users can generate new patterns by modifying four parameter values ​​input via the touchscreen (outer circle start position, outer circle end position, inner circle start position, and inner circle end position). Users can fine-tune or significantly modify any parameter, and the system will automatically re-execute steps S103 to S105 to achieve rapid pattern derivation and expansion.

[0050] Compared with the prior art, this application has the following beneficial effects: (1) Zero hardware modification cost and zero programming threshold. Users do not need any programming knowledge or professional technical background. They only need to input four parameter values ​​(outer circle start position, outer circle end position, inner circle start position, and inner circle end position) on the touch screen to generate a brand new weaving pattern. The system automatically completes the pattern parameter calculation and electronic cam curve generation without modifying any mechanical parts of the circular rope machine.

[0051] (2) Mathematicalization and systematization of pattern generation. This application is the first to abstract the circular rope machine weaving pattern into mathematical formulas θ_out(φ) and θ_in(φ) with the outer circle start position, outer circle end position, inner circle start position, and inner circle end position as the core, so that the pattern generation is transformed from experience-driven to parameter-driven, realizing the systematic generation of patterns.

[0052] (3) Theoretically infinite expansion of the number of patterns. Each of the four parameters is continuously adjustable within the range of 0° to 360°, and the number of parameter combinations is theoretically infinite. Each parameter combination corresponds to a unique pattern, and users can obtain an infinite number of weaving patterns by adjusting the parameter values.

[0053] (4) Rapid iteration and derivation of patterns. Users can fine-tune any parameter based on existing patterns, and the system will automatically generate new patterns, realizing rapid iteration and derivation of patterns. Starting from a basic pattern, hundreds or thousands of pattern variations can be derived through parameter fine-tuning.

[0054] (5) Flexibility of independent control of inner and outer circles. The pattern formula of this application expresses the outer circle rotation angle function θ_out(φ) and the inner circle rotation angle function θ_in(φ) separately. The starting position, ending position, and forward and reverse directions of the outer and inner circles can be set independently. Users can design the external and internal structures of the rope separately to achieve more diverse composite patterns.

[0055] (6) Precise linkage control with the pusher needle as the main axis. In this application, the pusher needle axis is defined as the main axis, and the inner and outer ring turntables are used as slave axes to follow the position of the pusher needle in forward and reverse rotation, which is in complete accordance with the physical principle of pusher needle driven knitting of a circular rope machine. The angle change of the inner and outer rings is precisely synchronized with the real-time position of the pusher needle, making the knitting action more coordinated and precise.

[0056] See Figure 2 This is the touchscreen's debugging parameter page, where users can input the inner circle angle and overlock angle to achieve different weaving patterns.

[0057] See Figure 3 This is the interface diagram for storing and retrieving pattern parameters. It forms a pattern database by storing pattern definition parameters, the rotation angle function of the outer turntable θ_out(φ) and the rotation angle function of the inner turntable θ_in(φ), as well as the electronic cam curve. When the user needs to weave a pattern, he / she can directly select the pattern parameters from here to realize the pattern weaving.

[0058] See Figure 4 It features a touchscreen manual interface, allowing users to manually control the pusher needle's rise and fall, as well as the movement of the inner and outer rings, via jog buttons.

[0059] Secondly, embodiments of this application provide a programmed generation device for circular rope machine weaving patterns based on touchscreen parameter input, comprising: The input module is used to obtain the pattern definition parameters input by the user through the touch screen human-computer interaction interface. The pattern definition parameters include: the trigger angle of the outer ring turntable, the left and right boundaries of the outer ring turntable movement, the trigger angle of the inner ring turntable, and the left and right boundaries of the inner ring turntable movement. The cycle module is used to define the main axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher returns to the lowest point. A complete main axis cycle is φ from 0° to 360°. The rotation angle function construction module is used to construct the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) according to the pattern definition parameters. Both θ_out(φ) and θ_in(φ) are defined on two consecutive principal axis periods, with a domain of φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function; The electronic cam curve generation module is used to automatically generate an electronic cam curve with the push pin shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes, based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). The control module is used to control the outer and inner turntables to follow the needle pusher movement according to the electronic cam curve in order to complete the knitting.

[0060] In one possible implementation, the device further includes: The pattern model generation module is used to generate a pattern model from the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ), the inner ring turntable rotation angle function θ_in(φ), and the electronic cam curve; The pattern identifier generation module is used to assign a unique pattern identifier to the pattern model and store the pattern identifier and the corresponding pattern model in the pattern database. The reproduction module is used when a user selects a stored pattern for knitting. The system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

[0061] In one possible implementation, the apparatus further includes a pattern derivation iteration module for: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

[0062] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-mentioned methods for programmatically generating circular rope weaving patterns based on touchscreen parameter input.

[0063] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0065] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are described simply because they are similar to the method embodiments; relevant parts can be referred to the descriptions of the method embodiments.

[0066] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A method for programmed generation of circular rope weaving patterns based on touchscreen parameter input, characterized in that, include: The pattern definition parameters input by the user are obtained through the touch screen human-computer interaction interface. The pattern definition parameters include: outer ring turntable trigger angle, left and right boundaries of the outer ring turntable movement, inner ring turntable trigger angle, and left and right boundaries of the inner ring turntable movement. Define the principal axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher has returned to the lowest point. A complete principal axis cycle is φ from 0° to 360°. Based on the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) are constructed respectively. Both θ_out(φ) and θ_in(φ) are defined on two consecutive principal axis periods, with a domain of φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function; Based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), an electronic cam curve is automatically generated with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes. According to the electronic cam curve, the outer and inner turntables are controlled to follow the needle pusher movement to complete the knitting.

2. The method according to claim 1, characterized in that, The outer turntable rotation angle function θ_out(φ) and the inner turntable rotation angle function θ_in(φ) are constructed independently of each other. The trigger angle of the outer turntable and the trigger angle of the inner turntable are set to different angle values. The left and right boundaries of the outer turntable action and the left and right boundaries of the inner turntable action are set independently, so that the external and internal structural styles of the rope can be designed separately to achieve composite weaving patterns with different internal and external structures.

3. The method according to claim 1, characterized in that, The touchscreen human-machine interface also provides a jog adjustment function, in which the user can manually control the pusher to rise or fall by jog button to position the pusher to the target position, and determine and input the specific values ​​of the outer ring turntable trigger angle and the inner ring turntable trigger angle according to the main shaft phase corresponding to the target position.

4. The method according to claim 1, characterized in that, The starting boundary position is one of the left boundary and the right boundary, and the other boundary position is the other of the left boundary and the right boundary; the starting boundary position and the other boundary position are determined by the values ​​input by the user through the touch screen, and the actual movement direction of the turntable is determined by the numerical relationship between the two boundary positions.

5. The method according to claim 1, characterized in that, The method further includes: The pattern model is generated using the pattern definition parameters, the outer turntable rotation angle function θ_out(φ), the inner turntable rotation angle function θ_in(φ), and the electronic cam curve. Assign a unique pattern identifier to the pattern model, and store the pattern identifier and the corresponding pattern model in the pattern database; When a user selects a stored pattern to knit, the system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

6. The method according to claim 5, characterized in that, The method further includes: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

7. The method according to claim 1, characterized in that, The trigger angles of the outer and inner turntables range from 0° to 360°. The left and right boundaries of the outer and inner turntable movements also range from 0° to 360°. Each parameter is continuously adjustable within its respective range, and different combinations of parameter values ​​correspond to different weaving patterns.

8. A device for programmatically generating circular rope weaving patterns based on touchscreen parameter input, characterized in that, include: The input module is used to obtain the pattern definition parameters input by the user through the touch screen human-computer interaction interface. The pattern definition parameters include: the trigger angle of the outer ring turntable, the left and right boundaries of the outer ring turntable movement, the trigger angle of the inner ring turntable, and the left and right boundaries of the inner ring turntable movement. The cycle module is used to define the main axis phase φ of the pusher, where φ=0° indicates that the pusher is at the lowest point, φ=180° indicates that the pusher is at the highest point, and φ=360° indicates that the pusher returns to the lowest point. A complete main axis cycle is φ from 0° to 360°. The rotation angle function construction module is used to construct the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ) according to the pattern definition parameters. Both θ_out(φ) and θ_in(φ) are defined on two consecutive principal axis periods, with a domain of φ∈[0°,720°], and both satisfy the following piecewise function relationship: Let the trigger angle of the turntable be α, the initial boundary position be θ_start, and the other boundary position be θ_end. In the first spindle cycle, when 0°≤φ<α, θ(φ)=θ_start; when α≤φ≤360°, θ(φ)=θ_start+(θ_end-θ_start)×f((φ-α) / (360°-α)); In the second spindle cycle, when 360°<φ≤360°+α, θ(φ)=θ_end; when 360°+α<φ≤720°, θ(φ)=θ_end+(θ_start-θ_end)×f((φ-360°-α) / (360°-α)); Where f is the interpolation function; The electronic cam curve generation module is used to automatically generate an electronic cam curve with the push pin shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes, based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). The control module is used to control the outer and inner turntables to follow the needle pusher movement according to the electronic cam curve in order to complete the knitting.

9. The apparatus according to claim 8, characterized in that, The device further includes: The pattern model generation module is used to generate a pattern model from the pattern definition parameters, the outer ring turntable rotation angle function θ_out(φ), the inner ring turntable rotation angle function θ_in(φ), and the electronic cam curve; The pattern identifier generation module is used to assign a unique pattern identifier to the pattern model and store the pattern identifier and the corresponding pattern model in the pattern database. The reproduction module is used when a user selects a stored pattern for knitting. The system retrieves the corresponding complete pattern model from the pattern database based on the pattern identifier, obtains the current main axis phase φ of the push needle in real time, calculates the command positions of the outer and inner turntable drive shafts based on the electronic cam curve, and drives the outer and inner turntables to follow the push needle movement to reproduce the pattern.

10. The apparatus according to claim 9, characterized in that, The device further includes a pattern derivation and iteration module, used for: The system modifies the pattern definition parameters in the pattern database, re-executes the construction of the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ), and automatically generates an electronic cam curve with the push needle shaft as the main axis and the outer ring turntable drive shaft and the inner ring turntable drive shaft as the slave axes based on the outer ring turntable rotation angle function θ_out(φ) and the inner ring turntable rotation angle function θ_in(φ). Based on the electronic cam curve, the outer and inner turntables are controlled to follow the pusher needle movement, so as to achieve rapid generation and expansion of patterns.

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