CN108193360B - Multifunctional jacquard circular knitting machine control system - Google Patents
Multifunctional jacquard circular knitting machine control system Download PDFInfo
- Publication number
- CN108193360B CN108193360B CN201810220489.1A CN201810220489A CN108193360B CN 108193360 B CN108193360 B CN 108193360B CN 201810220489 A CN201810220489 A CN 201810220489A CN 108193360 B CN108193360 B CN 108193360B
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- control module
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- 238000009940 knitting Methods 0.000 title claims abstract description 63
- 238000003825 pressing Methods 0.000 claims abstract description 22
- 239000004744 fabric Substances 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 230000017525 heat dissipation Effects 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000006870 function Effects 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B9/00—Circular knitting machines with independently-movable needles
- D04B9/42—Circular knitting machines with independently-movable needles specially adapted for producing goods of particular configuration
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/38—Devices for supplying, feeding, or guiding threads to needles
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/38—Devices for supplying, feeding, or guiding threads to needles
- D04B15/54—Thread guides
- D04B15/58—Thread guides for circular knitting machines; Thread-changing devices
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
- D04B15/66—Devices for determining or controlling patterns ; Programme-control arrangements
- D04B15/68—Devices for determining or controlling patterns ; Programme-control arrangements characterised by the knitting instruments used
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B35/00—Details of, or auxiliary devices incorporated in, knitting machines, not otherwise provided for
- D04B35/10—Indicating, warning, or safety devices, e.g. stop motions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Knitting Machines (AREA)
- Braiding, Manufacturing Of Bobbin-Net Or Lace, And Manufacturing Of Nets By Knotting (AREA)
Abstract
The invention provides a multifunctional jacquard circular knitting machine control system. The yarn adjusting module comprises a yarn feeding plate, a servo motor and a signal processor, wherein the yarn feeding plate is electrically connected with the main control module, the servo motor and the signal processor are respectively electrically connected with the yarn feeding plate, and the yarn feeding plate controls the servo motor to adjust yarn feeding amount according to instructions of the signal processor and the main control module. The yarn changing module comprises a plurality of air valve plates and an air valve output module, each air valve plate is electrically connected with the multi-way air valve output module, and the air valve plates are electrically connected with the main control module. The density adjusting module comprises a plurality of motor plates and a needle pressing motor, the main control module is electrically connected with the plurality of motor plates, and each motor plate is electrically connected with the plurality of needle pressing motors. The jacquard loop-transferring module comprises a needle selector and a needle selecting blade, wherein the needle selector is electrically connected with the main control module, and is electrically connected with the needle selecting blade, and the needle selector controls the needle selecting blade to act so as to realize jacquard and loop-transferring.
Description
Technical Field
The invention relates to the technical field of textile machinery, in particular to a control system of a multifunctional jacquard circular knitting machine.
Background
The jacquard on the vamp in the market at present adopts a computerized flat knitting machine. But the running speed of the computerized flat knitting machine is slower and the yield is lower. Compared with a computerized flat knitting machine, the circular knitting machine has higher running speed and higher yield.
The existing vamp rounding machine is simple in function and cannot meet diversified requirements on vamps in the market. The jacquard function of the upper dial cannot be realized, and the three-station jacquard function of the lower dial cannot be realized. Meanwhile, the upper and lower needle dial transfer function and the upper and lower needle dial transfer and density adjustment function cannot be realized. Furthermore, the yarn feeding amount can not be adjusted, and the yarn changing function of more than three colors can not be realized, so that the competitiveness of the product in the market is greatly reduced.
Disclosure of Invention
The invention aims to provide a multifunctional jacquard circular knitting machine control system.
In order to solve the technical problems, the multifunctional jacquard circular knitting machine control system provided by the invention is used for controlling a circular knitting machine for knitting shoe uppers and comprises a main control module, a yarn adjusting module, a yarn changing module, a density adjusting module and a jacquard loop transferring module. The yarn adjusting module comprises a yarn feeding plate, a servo motor and a signal processor, wherein the yarn feeding plate is electrically connected with the main control module, the servo motor and the signal processor are respectively electrically connected with the yarn feeding plate, and the yarn feeding plate controls the servo motor to adjust yarn feeding amount according to instructions of the signal processor and the main control module. The yarn changing module comprises a plurality of air valve plates and an air valve output module, each air valve plate is electrically connected with the multi-way air valve output module, and the air valve plates are electrically connected with the main control module to control the air valve output module to realize the function of switching different yarns. The density adjusting module comprises a plurality of motor plates and a plurality of needle pressing motors, the main control module is electrically connected with the plurality of motor plates, and each motor plate is electrically connected with the plurality of needle pressing motors to control the plurality of needle pressing motors to realize the function of adjusting the density of the coil. The jacquard loop-transferring module comprises a needle selector and a needle selecting blade, wherein the needle selector is electrically connected with the main control module, and is electrically connected with the needle selecting blade, and the needle selector controls the needle selecting blade to act so as to realize jacquard and loop-transferring.
Optionally, the control system of the multifunctional jacquard circular knitting machine further comprises a cloth rolling module, wherein the cloth rolling module comprises a roller motor and a cloth rolling motor, and the roller motor and the cloth rolling motor are respectively and electrically connected with the main control module.
Optionally, the multifunctional jacquard circular knitting machine control system further comprises an alarm module, wherein the alarm module is electrically connected with the main control module and used for sending out a prompt for controlling abnormal operation of the circular knitting machine for knitting the vamp.
Optionally, the multifunctional jacquard circular knitting machine control system further comprises a man-machine interaction module electrically connected with the main control module, and the man-machine interaction module is used for transmitting jacquard data to the main control module.
Optionally, the control system of the multifunctional jacquard circular knitting machine further comprises an oil supply module, and the oil supply module is electrically connected with the main control module.
Optionally, the multifunctional jacquard circular knitting machine control system further comprises a heat dissipation module, and the heat dissipation module is electrically connected with the main control module.
Optionally, the control system of the multifunctional jacquard circular knitting machine further comprises an emergency stop module, and the emergency stop module is electrically connected with the main control module.
Optionally, the needle selector comprises an upper needle dial needle selector and a lower needle dial needle selector, and the upper needle dial needle selector and the lower needle dial needle selector are respectively and electrically connected with the main control module.
Optionally, the signal processor includes an encoder and a syringe zero sensor.
Optionally, the motor board includes upper dial motor board and lower dial motor board, and multi-functional jacquard weave big circular machine control system still includes first conversion module and second conversion module, and upper dial motor board and lower dial motor board pass through first conversion module and main control module electric connection, and the air valve passes through second conversion module and main control module electric connection.
In summary, the yarn adjusting module, the yarn changing module, the density adjusting module and the jacquard loop transferring module in the multifunctional jacquard circular knitting machine control system provided by the invention work respectively under the control of the main control module, and the circular knitting machine for knitting the vamp has the functions of yarn adjusting, yarn changing, density adjusting, loop transferring, jacquard and the like.
Meanwhile, the reliability and the flexibility of the system are improved through the CAN bus. The use of the Ethernet in the man-machine interaction module is convenient for realizing the distributed control of industrial control and the management of mass production and manufacture.
Drawings
FIG. 1 is a schematic diagram of a control system of a multifunctional jacquard circular knitting machine according to an embodiment of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a schematic diagram of a control system of a multifunctional jacquard circular knitting machine according to an embodiment of the present invention.
The invention provides a multifunctional jacquard circular knitting machine control system which is used for controlling a circular knitting machine for knitting shoe uppers and comprises a main control module 01, a yarn adjusting module 02, a yarn changing module 03, a density adjusting module 04 and a jacquard loop transferring module 05. The yarn adjusting module 02 comprises a yarn feeding plate 021, a servo motor 023 and a signal processor 022, wherein the yarn feeding plate 021 is electrically connected with the main control module 01, the servo motor 023 and the signal processor 022 are respectively electrically connected with the yarn feeding plate 021, and the servo motor 023 adjusts the yarn feeding amount according to the signal of the signal processor 022 and the instruction of the main control module 01. The yarn changing module 03 comprises air valve plates 031 and air valve output modules 032, each air valve plate 031 is electrically connected with the multi-way air valve output module 032, the air valve plates 031 are electrically connected with the main control module 01, and the air valve output modules 032 are used for switching yarns with different colors. The density adjusting module 04 comprises a motor plate and a needle pressing motor, the main control module 01 is electrically connected with a plurality of motor plates, each motor plate is electrically connected with a plurality of needle pressing motors, and the needle pressing motors are used for adjusting the density of coils. The jacquard loop-transferring module 05 comprises a needle selector and a needle selecting blade, the needle selector is electrically connected with the main control module 01, the needle selector is electrically connected with the needle selecting blade, and the needle selector controls the needle selecting blade to act so as to realize jacquard and loop-transferring. In this embodiment, the needle selector includes an upper dial needle selector 053 and a lower dial needle selector 051, and the upper dial needle selector 053 and the lower dial needle selector 051 are respectively and electrically connected with the main control module 01 through a communication bus. The upper dial selector 053 is electrically connected with the upper needle selecting blade 054, and the lower dial selector 051 is electrically connected with the lower needle selecting blade 052.
In this embodiment, the yarn feeding plate 021, the air valve plate 031 and the motor plate include control chips, but the position of the control chips is not limited in the present invention, and in other embodiments, the control chips may be integrated into the main control module 01.
In practice, the fabric density is the number of loops per unit length or per unit area of the fabric. Generally expressed as transverse density, longitudinal density and total density. The fabric transverse density is generally determined by the number of needles per unit distance of the cylinder, while the fabric longitudinal density can be controlled by adjusting the length of the loops. And the length of the coil can be changed by the height of the triangular position of the pressing needle. The latch needle is pressed 'low' when the needle pressing triangle is low, the length of the loop pulled out by the latch needle by hooking the thread is long, the density of the fabric is low, and conversely, the length of the loop is short, and the density of the fabric is high. The invention adopts the needle pressing motor to adjust the position of the needle pressing triangle, thereby changing the density of the fabric. In addition, the main control module 01 is adopted to control the state of the air valve output module 032, so that yarn changing operation is realized, the air valve output module 032 is convenient to control and layout, and the moment is large and the control is convenient. Furthermore, the jacquard of the present invention is accomplished by a needle selector. The pattern data of the fabric is transmitted from the main control module 01 to each needle selector, and which needles are selected in each row to work is determined according to the pattern data. And each needle selecting blade of the needle selecting controller is lifted at the position corresponding to the yarn feeding of the pattern color, and the needle selecting blade of the needle selecting controller sags at other positions which do not need knitting, so that jacquard is completed.
Therefore, under the control of the main control module 01, the yarn adjusting module 02, the yarn changing module 03, the density adjusting module 04 and the jacquard loop transferring module 05 work respectively, and the large round machine for knitting the vamp has the functions of yarn adjusting, yarn changing, density adjusting, loop transferring, jacquard and the like.
In this embodiment, the motor board includes an upper dial motor board 041 and a lower dial motor board 043, the upper dial motor board 041 and the lower dial motor board 043 are electrically connected through a first conversion module 045 and a main control module 01, the needle pressing motor includes an upper needle pressing motor 042 and a lower needle pressing motor 044, the upper needle pressing motor 042 is electrically connected with the dial motor board 041, and the lower needle pressing motor 044 is electrically connected with the lower dial motor board 043.
In this embodiment, the air valve output module 032 and the air valve plate 031 are electrically connected to the main control module 01 through the second conversion module 046.
In this embodiment, the signal processor 022 includes an encoder and a syringe zero sensor, which respectively acquire a coded pulse signal during operation of the syringe and a zero-crossing signal during operation of the syringe, and generate a zero-crossing signal every one rotation of the syringe.
In the present embodiment, the signal processors 022 have three signal processors, one of which is electrically connected to the yarn feeding plate 021. The other is connected to the main control module 01 and is used for sending the coded pulse signal during the operation of the needle cylinder and the zero crossing signal during the operation of the needle cylinder to the main control module 01, and the main control module 01 controls other modules according to the coded pulse signal during the operation of the needle cylinder and the zero crossing signal during the operation of the needle cylinder. And the third one is connected with the strong electric plate and used for transmitting the coded pulse signal during the operation of the needle cylinder and the zero crossing signal during the operation of the needle cylinder to the strong electric plate.
In this embodiment, the main control module 01 is electrically connected to the yarn adjusting module 02, the yarn changing module 03, the density adjusting module 04 and the jacquard loop transferring module 05 by communication buses. The yarn adjusting module 02, the jacquard loop transferring module 05 and the main control module 01 are electrically connected by a CAN bus A. The main control module 01 is electrically connected with the first conversion module 045 through two RS-422 buses B, and one main control module 01 is connected with the second conversion module 046 through one main control module. The first conversion module 045 is electrically connected with the upper dial motor plate 041 and the lower dial motor plate 043 through a CAN bus A, and the second conversion module 046 is electrically connected with the air valve 031 through the CAN bus A. The RS-422 bus B has four signal lines: two transmissions (Y, Z), two receptions (A, B). Because the receiving and transmitting of the RS-422 are separated, the receiving and transmitting (full duplex) can be performed simultaneously, and the bidirectional transmission of data is realized. The data communication between the nodes of the network formed by the CAN bus A has strong real-time performance, and a redundant structure is easy to form, so that the reliability and the flexibility of the system are improved.
In this embodiment, the multifunctional jacquard circular knitting machine control system further comprises an alarm module, wherein the alarm module is electrically connected with the main control module 01, and the alarm module is used for sending out a warning of abnormal operation of the circular knitting machine for knitting the vamp. The alarm module may include a buzzer and an indicator light to enable audible and visual alerting. In this embodiment, the alarm module includes a first alarm module 071 and a second alarm module 072, where the first alarm module 071 and the second alarm module 072 respectively send out signals of abnormal operation of the circular knitting machine for knitting the vamp. However, the number of the alarm modules is not limited in the present invention, and in other embodiments, the number of the alarm modules may be any number.
In this embodiment, the multifunctional jacquard circular knitting machine control system further includes a man-machine interaction module 08 electrically connected to the main control module 01, and the man-machine interaction module 08 is configured to transmit jacquard data to the main control module 01. The man-machine interaction module 08 comprises an external memory, a display screen, a USB interface, an SD interface and an Ethernet interface, and the external memory can meet the local storage requirement of a large number of flower-shaped files and the like. The display screen increases human-machine interactivity. The USB interface is provided to realize copying of data such as pattern files, process parameters and the like. The SD interface can upgrade the system and copy the file. The Ethernet interface can be electrically connected with the main control center, so that the distributed control of industrial control is realized, and the management of mass production and manufacture is convenient.
In this embodiment, the multifunctional jacquard circular knitting machine control system further includes an oil supply module 10, the oil supply module 10 is electrically connected with the main control module 01, and the oil supply module 10 is responsible for supplying oil to the circular knitting machine for knitting the vamp.
In this embodiment, the multifunctional jacquard circular knitting machine control system further includes a heat dissipation module 09, and the heat dissipation module 09 is electrically connected with the main control module 01 and is used for heat dissipation of the circular knitting machine for knitting the vamp.
In this embodiment, the multifunctional jacquard circular knitting machine control system further includes a scram module 12, where the scram module 12 is electrically connected with the main control module 01, and is used to control the inching, running and scram states of the circular knitting machine for knitting shoe uppers. The large circular knitting machine for knitting the vamp can be switched between three states of inching, running and scram according to the requirement, and especially can be rapidly scram when the large circular knitting machine for knitting the vamp encounters a fault and needs to be stopped urgently.
In this embodiment, the number of upper dial needle selectors 053 is 48, and the number of lower dial needle selectors 051 is 96. However, the number of the upper dial needle selector 053 and the lower dial needle selector 051 is not limited in any way, and in other embodiments, any other number of the upper dial needle selector 053 and the lower dial needle selector 051 may be used. A large circular knitting machine for knitting the vamp is 48 paths in total, and each path of needle selector on the upper needle dial is used for jacquard weave at two stations; two needle selectors of each path of the lower needle dial are used for jacquard weave at three stations.
In this embodiment, the number of upper dial motor plates 041 and lower dial motor plates 043 is 12, each upper dial motor plate 041 controls four upper needle pressing motors 042, and each lower dial motor plate 043 controls four lower needle pressing motors 044. However, the number of the upper dial motor plate 041 and the lower dial motor plate 043 is not limited in the present invention, and in other embodiments, the upper dial motor plate 041 and the lower dial motor plate 043 may be any other number.
In this embodiment, there are 6 air valve plates 031, each air valve plate 031 controls 8 air valve output modules 032, but the number of air valves controlled by the air valve plates 031 is not limited in the present invention, in other embodiments, each air valve plate 031 may control any multi-way air valve output module 032, and the number of air valve plates 031 may also be any plurality.
In this embodiment, the main control chips of the main control module 01 and the yarn feeding plate are STM32F205, but the main control chips of the main control module 01 and the yarn feeding plate are not limited in the present invention, and in other embodiments, the main control chips of the main control module 01 and the yarn feeding plate may be other types.
In this embodiment, a strong electric board 13 is further disposed between the main control module 01 and the second alarm module 07, the oil supply module 10, the heat dissipation module 09 and the emergency stop module 12, the strong electric board 13 provides power for the second alarm module 07, the oil supply module 10, the heat dissipation module 09 and the emergency stop module 12, and the main control chip of the strong electric board 13 adopts STM32F103.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus the above terms should not be construed as limiting the invention.
Although the invention has been described with reference to the preferred embodiments, it should be understood that the invention is not limited thereto, but rather may be modified and varied by those skilled in the art without departing from the spirit and scope of the invention.
Claims (9)
1. A multi-functional jacquard circular knitting machine control system for control weave vamp circular knitting machine, characterized by comprising:
a main control module;
the yarn adjusting module comprises a yarn feeding plate, a servo motor and a signal processor, wherein the yarn feeding plate is electrically connected with the main control module, the servo motor and the signal processor are respectively electrically connected with the yarn feeding plate, and the yarn feeding plate controls the servo motor according to instructions of the signal processor and the main control module so as to adjust yarn feeding quantity;
the yarn changing module comprises a plurality of air valve plates and an air valve output module, each air valve plate is electrically connected with the multi-channel air valve output module, and the air valve plates are electrically connected with the main control module to control the air valve output module to realize the function of switching different yarns;
the density adjusting module comprises a plurality of motor boards and a needle pressing motor, the main control module is electrically connected with the motor boards, and each motor board is electrically connected with the needle pressing motors to control the needle pressing motors to realize the function of adjusting the density of the coil; and
The jacquard loop transferring module comprises a needle selector and a needle selecting blade, wherein the needle selector is electrically connected with the main control module, the needle selector is electrically connected with the needle selecting blade, and the needle selector controls the needle selecting blade to act so as to realize jacquard and loop transferring;
the signal processor comprises an encoder and a needle cylinder zero sensor, and the encoder and the needle cylinder zero sensor respectively acquire an encoded pulse signal when the needle cylinder operates and a zero crossing signal when the needle cylinder operates and send the encoded pulse signal and the zero crossing signal to the main control module.
2. The control system of the multifunctional jacquard circular knitting machine according to claim 1, further comprising a cloth rolling module, wherein the cloth rolling module comprises a roller motor and a cloth rolling motor, and the roller motor and the cloth rolling motor are respectively and electrically connected with the main control module.
3. The control system of the multifunctional jacquard circular knitting machine according to claim 1, further comprising an alarm module, wherein the alarm module is electrically connected with the main control module, and the alarm module is used for sending out a prompt for controlling abnormal operation of the circular knitting machine for the woven vamp.
4. The control system of the multifunctional jacquard circular knitting machine according to claim 1, further comprising a man-machine interaction module electrically connected with the main control module, wherein the man-machine interaction module is used for transmitting jacquard data to the main control module.
5. The multi-functional jacquard circular knitting machine control system according to claim 1, further comprising an oil supply module electrically connected to the main control module.
6. The multi-functional jacquard circular knitting machine control system of claim 1, further comprising a heat dissipation module electrically connected to the master control module.
7. The multi-functional jacquard circular knitting machine control system of claim 1 further comprising a scram module electrically connected to the master control module.
8. The control system of a multi-functional jacquard circular knitting machine according to claim 1, wherein the needle selector comprises an upper dial needle selector and a lower dial needle selector, and the upper dial needle selector and the lower dial needle selector are respectively electrically connected with the main control module.
9. The multi-functional jacquard circular knitting machine control system of claim 1, wherein the motor board comprises an upper dial motor board and a lower dial motor board, the multi-functional jacquard circular knitting machine control system further comprises a first conversion module and a second conversion module, the upper dial motor board and the lower dial motor board are electrically connected through the first conversion module and the main control module, and the air valve board is electrically connected through the second conversion module and the main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810220489.1A CN108193360B (en) | 2018-03-16 | 2018-03-16 | Multifunctional jacquard circular knitting machine control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810220489.1A CN108193360B (en) | 2018-03-16 | 2018-03-16 | Multifunctional jacquard circular knitting machine control system |
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| CN108193360A CN108193360A (en) | 2018-06-22 |
| CN108193360B true CN108193360B (en) | 2024-03-15 |
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