EP2149630B1 - Machine à tricoter circulaire - Google Patents

Machine à tricoter circulaire Download PDF

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Publication number
EP2149630B1
EP2149630B1 EP20080161484 EP08161484A EP2149630B1 EP 2149630 B1 EP2149630 B1 EP 2149630B1 EP 20080161484 EP20080161484 EP 20080161484 EP 08161484 A EP08161484 A EP 08161484A EP 2149630 B1 EP2149630 B1 EP 2149630B1
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EP
European Patent Office
Prior art keywords
point
cylinder
lower cylinder
upper counter
controller
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EP20080161484
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German (de)
English (en)
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EP2149630A1 (fr
Inventor
Nicola Bellomi
Mario Mattia
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Staeubli Italia SpA
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Staeubli Italia SpA
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Priority to EP20080161484 priority Critical patent/EP2149630B1/fr
Priority to CN200910161292.6A priority patent/CN101638826B/zh
Publication of EP2149630A1 publication Critical patent/EP2149630A1/fr
Application granted granted Critical
Publication of EP2149630B1 publication Critical patent/EP2149630B1/fr
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    • 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
    • D04B15/94—Driving-gear not otherwise provided for
    • 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
    • D04B15/94—Driving-gear not otherwise provided for
    • D04B15/99—Driving-gear not otherwise provided for electrically controlled

Definitions

  • the present invention relates to circular knitting machines with either one or two cylinders.
  • the invention relates more particularly to the control of the rotation of a cylinder and its counter part being another cylinder for a two-cylinder knitting machine or a dial plate for a single cylinder knitting machine.
  • Double cylinder knitting machines comprise generally two vertical coaxial cylinders facing head to head with a small space between them. Both cylinders have an equal number of grooves each adapted to hold a moving needle. Typically, each needle has stitches forming hooks at one of its ends. The two cylinders, respectively the lower and the upper one, rotate with their needle, holding grooves aligned. According to the required knitting pattern, some hooks are fed by a yarn finger near the rim of the cylinder, approximately at a middle of the space between them. From this middle point, the yarn can be taken by the hooks of the needle to form stitch. A needle taking in charge the yarn can be either in the groove of the upper cylinder or in the groove of the lower cylinder.
  • the two cylinders must rotate while keeping their grooves aligned with a high degree of precision.
  • the stitch being partly held by the needle of the upper cylinder and partly by needles of the lower cylinder and subject to be transferred from top to bottom or reversely according to the required knitting pattern, a loss of alignment will drain the stitches and even break the yarns and/or the needles hooks themselves.
  • a loss of alignment or synchronism while transferring a stitch from a cylinder to the other, could result in a needle break.
  • Such breakage on a circular knitting machine is often of catastrophic consequences since the breakage propagates to many needles and mechanical parts requiring a servicing which can be quite costly and time consuming.
  • Single cylinder machines with dial plate generally comprise a bottom cylinder holding needles and a coaxial dial plate rotating above it and holding one hook for each needle. Upon activation the hook keeps the yarn caught by the needle or allows its release from the needle in order to generate effects like double welt socks.
  • the synchronism of the cylinder and the dial plate is necessary when hooks cooperate with needles.
  • the dial plate eventually supports cutting yarn device. The length of the cut yarn can be adjusted by varying the speed between the cylinder and the dial plate.
  • the synchronism of the bottom cylinder and the dial plate in such single cylinder knitting machine is achieved by similar means as on double cylinder machines.
  • WO-A-2006/066749 describes a method for joining portions of knitting machine performed with a circular knitting machine, comprising a needle cylinder which can be actuated by a first electric motor with a rotary motion about its vertical axis.
  • a dial is arranged above and coaxially with respect to the needle cylinder, with a second electric motor configured to actuate the dial with a rotary motion about its axis.
  • Knitting engagement elements are arranged in the dial and can be actuated in order to retain or pick up loops of knitting formed by the needles of the needle cylinder or release loops of knitting, previously retained or picked up, to the needles of the needle cylinder.
  • the machine also comprises a system for the electronic control of the actuation of the electric motors for a jointly coupled actuation of the needle cylinder and of the dial with a rotary motion about the common axis or for angular offset of the dial with respect to the needle cylinder about the common axis.
  • the invention concerns a method for controlling the rotation of a lower cylinder and an upper coaxial counter part of a circular knitting machine, according to claim 1.
  • the dedicated first and second controllers are PID controllers.
  • the determination of the first set-point S 1 and second set-point S 2 comprises the step of filtering with a PID filter the difference between the detected position ⁇ 1 of the lower cylinder and the detected position ⁇ 2 of the upper counter part and eventually the desired phase shift ⁇ between the lower cylinder and the upper counter part.
  • the invention concerns also a circular knitting machine comprising at least:
  • the circular knitting machine is characterized in that it also comprises a control unit connected to the first and second electric motor, to the first and second angular detectors, to a machine controller running a knitting program, and adapted to control the rotation of the cylinder and the upper counter part according to the method according to the invention, and in that the control unit comprises:
  • the main controller comprises a PID filter adapted to filter the difference between the first angular position ⁇ 1 , the second angular position ⁇ 2 and eventually the desired phase shift ⁇ .
  • the knitting machine may be a single cylinder machine, the upper counter part being a dial plate or sinker.
  • the knitting machine may also be a double cylinder machine, the upper counter part being then a second cylinder.
  • a circular knitting machine as shown on figure 1 and designated as a whole by reference number 1, comprises a lower cylinder 2 rotating around a vertical axis ⁇ . Above the lower cylinder 2, the circular knitting machine 1 comprises an upper coaxial counter part 3 also rotating around the vertical axis ⁇ .
  • the circular knitting machine is a double cylinder knitting machine
  • the counter part 3 is also a cylinder with its needles, not shown, extending at its lower part
  • the needles of the lower cylinder 2 extend at the upper part of this lower cylinder.
  • the needles of both the lower 2 and upper 3 cylinders cooperate with each other in order to form stitches in a middle part 4 so as to knit for example hosiery or other articles.
  • the needles are set in grooves of the upper and lower cylinders and are able to change position according to a knitting program.
  • the other elements of the knitting machine such as the Jacquard actuators of the needle, cams, sinkers, the yarns fingers, etc... are also well-known by the people skilled in the art and therefore do not need further description.
  • the lower cylinder 2 is driven by a first electric motor M 1 dedicated only to the rotation of the lower cylinder 2.
  • the upper counter part 3 is driven by a second electric motor M 2 also dedicated only to the rotation of said upper counter part 3.
  • electric motors M 1 and M 2 are hollow shaft multi-poles motors. In order to provide a sufficiently high angular precision, the motors will preferably have more than twelve poles and, for example, twenty-four poles.
  • the motors M 1 and M 2 will also be sized in order to allow rotating speeds up to 1000 RPM, for example. Naturally, any other kind of electric motors may be implemented such as traditional brushless motors with belts.
  • the control of the rotation and the synchronization of the lower cylinder 2 and the counter part 3 is done by a control unit U receiving instructions from a machine controller MC running a knitting program and controlling accordingly the other functions of the machine.
  • the machine controller MC is also connected to a user interface programming unit PC.
  • the Machine controller MC provides to the control unit U a set-point S and a desired phase shift ⁇ between the cylinders 2 and 3 according to the knitting program.
  • control unit U is connected to the motors M 1 , M 2 , the angular detectors E 1 , E 2 as well to the machine controller MC.
  • the control unit U implements various functions which may be set on a same board or on different boards. These functions may also be emulated by a same electronic device or by different electronic devices depending on the knitting machines design.
  • control unit U comprises a main or master controller A providing instructions to a first dedicated controller A 1 controlling first electric motor M 1 and to a second dedicated controller A 2 controlling the second electric motor M 2 .
  • the main controller A comprises a first comparator or summator 10 which makes the difference between the first angular position ⁇ 1 of the lower cylinder 2 as provided by the first angular detector E 1 and the second angular position ⁇ 2 , as provided by the second angular detector E 2 , of the upper counter part 3.
  • the first comparator 10 is followed by a second comparator 11 which is provided with both the result of the comparison achieved by the first comparator 10 and the desired phase shift ⁇ .
  • the main controller A comprises a PID (Proportional, Integral and Derivative) filter or controller 12 which provides its output to an absolute function block 13.
  • the function block 13 is followed by an upper and lower bounding function 14 limiting the upper and lower values provided by the absolute function block 13.
  • the output of the upper and lower bounding function block 14 is then provided to a multiplicator 15.
  • the output of the multiplicator 15 is then provided to a comparator or substractor 16 also fed with the set-point S from the machine controller MC.
  • the main controller A comprises also a low pass filter 17 receiving the result of the treatment conducted by the comparator 16.
  • the main controller A is also provided with a feed back loop 18 feeding the result of the output of the comparator 16 to the multiplicator 15.
  • the output of the low pass filter 17 corresponds to a first set-point S 1 which will be used for controlling the first electric motor M 1 whereas a second set-point S 2 used for controlling the second electric motor M 2 will correspond to the output of a summator 19 provided with the output of the low pass filter 17 and the desired phase shift ⁇ .
  • the first set-point S 1 provided by the main controller A is fed to a comparator 20 receiving also the first angular position ⁇ 1 .
  • the output of the comparator or substractor 20 is then provided to the first dedicated controller A 1 being a PID controller driving the first electric motor M 1 .
  • the second set-point S 2 determined by the main controller A is provided to a comparator or substractor 21 with the second angular position ⁇ 2 .
  • the output of the comparator 21 is then provided to the second dedicated controller A 2 being here also a PID controller controlling the second electric motor M 2 .
  • variable S, S 1 , S 2 , ⁇ 1 , ⁇ 2 , ⁇ are time dependent, they can also be noted as S(t), S 1 (t), S 2 (t), ⁇ 1 (t), ⁇ 2 (t), ⁇ (t).
  • the control unit as disclosed above implements the method for controlling the rotation of the lower cylinder 2 and the upper coaxial counter part 3 of the circular knitting machine 1 as it follows.
  • each cylinder ⁇ 1 (t) and ⁇ 2 (t) may be defined as the angle covered by a fixed point on the cylinder, for example, a specific groove #1, at time t in respect to a fixed position (zero-position).
  • e(t) is the phase-shift error function between axes and the MaxErr value is the minimum value of the e(t) function that generates mechanical breakings when exceeded.
  • phase shift adjustment may also be needed when the machine is powered up for the first time in order to re-synchronize the cylinders.
  • phase-shift error e(t) incorporates the desired phase-shift ⁇ (t).
  • the synchronism between the both motors must also be kept in case of a power failure and when the machine is powered up again.
  • the cylinders can be resynchronized only if the needles are all devoid of stitches, and no needle is midway between them.
  • the main unit In order to achieve a good synchronism of the rotation of the lower cylinder and its upper counter part 3, the main unit generates the position set-point S 1 and S 2 according to:
  • the input of PID filter 12 is the phase shift error e(t) and the output of the upper and lower bounding block 14 is a function c(t) which is 0 if the phase-shift error e(t) is null and becomes big in case the phase-shift error e(t) increases.
  • the PID filter 12 reduces the e(t) value in order to achieve the condition of the relation Eq. 2.
  • both cylinders rotate synchronously and phase shift is within what is tolerated.
  • the phase shift error e(t) increases and causes c(t) to increase. Since c(t) is subtracted to the Set-point S(t) coming from the machine controller MC, the value set-point S 1 is decreased in order to reduce the phase-shift error e(t). Since the M 2 power drive is out of order, the set-point S 2 or angular position ⁇ 2 (t) will not be affected.
  • the control of the synchronism of the motion of two axes is usually achieved by considering one axis as master which receives the main set-point.
  • the other one is considered as slave and receives the angular position of the master axis as set-point.
  • the master axis is not driven consequently which is a major drawback of such prior art method of control.
  • each axis takes into account an eventual failure of the other.
  • the implementation of a PID filter in the determination of the set-points of both axes provides a reliable and tunable way to perform a stable control.
  • Another advantageous effect of this kind of control is that it provides an adaptation to dynamics troubles. If the desired rotating speed becomes so high that one of the motors can not follow, the set-point S 1 and the set-point S 2 are corrected in order to respect MaxErr. It concretely leads to a reduction of the speed of the machine since the position of the bottom cylinder is usually used to synchronize all the machine functions.
  • phase-shift function ⁇ (t) is fed to the main controller A.
  • This phase-shift is concretely added to set-point and to the phase shift error e(t) in such way that if S 2 makes no dynamics difficulty to respect MaxErr, the operation of the both cylinders is correct.
  • the desired phase-shift function ⁇ (t) is eventually used in the determination of the set-point S 1 and the set-point S 2 in the meaning that it is not always required since the lower cylinder and the upper counterpart work mainly in full synchronism during knitting and that the desired phase-shift function ⁇ (t) is only fully included to one of the set-point since its target is to change the relative angular positions.
  • desired phase-shift function ⁇ (t) can be indifferently fully applied to one of the first set-points S 1 or S 2 .

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Knitting Machines (AREA)

Claims (10)

  1. Procédé de commande de la rotation d'un cylindre inférieur (2) et d'un homologue coaxial supérieur (3) d'une machine à tricoter circulaire par une unité de commande, le procédé comprenant les étapes consistant à :
    - entraîner la rotation du cylindre inférieur (2) par un premier moteur électrique (M1) connecté à l'unité de commande,
    - entraîner la rotation de l'homologue supérieur (3) par un second moteur électrique (M2) connecté à l'unité de commande,
    - détecter la position angulaire (ϕ1) du cylindre inférieur (2) par un premier détecteur angulaire (E1) connecté à l'unité de commande,
    - détecter la position angulaire (ϕ2) de l'homologue supérieur (3) par un second détecteur angulaire (E2) connecté à l'unité de commande,
    caractérisé en ce que le procédé comprend également les étapes consistant à :
    - commander électroniquement la rotation des premier (M1) et second (M2) moteurs l'unité de commande en déterminant un premier point de réglage (S1) pour le premier moteur et un second point de réglage (S2) pour le second moteur selon :
    - le point de réglage principal (S) fourni par le programme de tricotage,
    - la différence entre la position détectée (ϕ1) du cylindre inférieur et la position détectée (ϕ2) de l'homologue supérieur,
    - et éventuellement le déphasage (ξ) souhaité entre le cylindre inférieur et l'homologue supérieur fourni par le programme de tricotage,
    - comparer le premier point de réglage (S1) à la position détectée (ϕ1) du cylindre inférieur et fournir le résultat de la comparaison à une première unité de commande dédiée au premier moteur (M1),
    - comparer le second point de réglage (S2) contenant éventuellement le déphasage (ξ) souhaité vers la position détectée (ϕ2) de l'homologue supérieur et fournir le résultat de la comparaison à une seconde unité de commande dédiée au second moteur (M2).
  2. Procédé selon la revendication 1, caractérisé en ce que les première et seconde unités de commande dédiées sont des unités de commande PID.
  3. Procédé selon l'une quelconque des revendications 1 ou 2, caractérisé en ce que la détermination du premier point de réglage Si et du second point de réglage S2 comprend l'étape consistant à filtrer avec un filtre PID la différence entre la position détectée (ϕ1) du cylindre inférieur (2), la position détectée (ϕ2) de l'homologue supérieur (3) et éventuellement le déphasage (ξ) souhaité entre le cylindre inférieur (2) et l'homologue supérieur (3).
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la machine à tricoter est une machine à cylindre unique et l'homologue supérieur (3) est un plateau.
  5. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la machine à tricoter est une machine à double cylindre et l'homologue supérieur (3) est un second cylindre.
  6. Machine à tricoter circulaire comprenant au moins :
    - un cylindre inférieur (2) tournant autour d'un axe vertical A,
    - un premier moteur électrique (M1) entraînant le cylindre inférieur (2),
    - un premier détecteur angulaire (E1) détectant une position angulaire (ϕ1) du cylindre inférieur (2),
    - un homologue supérieur (3) coaxial avec le cylindre inférieur et tournant autour de l'axe vertical A,
    - un second moteur électrique (M2) entraînant l'homologue supérieur (3),
    - second détecteur angulaire (E2) détectant une position angulaire (ϕ2) de l'homologue supérieur (3),
    caractérisée en ce que la machine à tricoter circulaire comprend également une unité de commande connecté aux premier (M1) et second (M2) moteurs électriques, aux premier (E1) et second (E2) détecteurs angulaires, à une unité de commande de machine (MC) exécutant un programme de tricotage, et adaptée pour commander la rotation du cylindre inférieur (2) et de l'homologue supérieur (3) selon le procédé selon l'une quelconque des revendications 1 à 5, et en ce que l'unité de commande comprend :
    - une première unité de commande dédiée (A1) adaptée pour commander le premier moteur (M1),
    - une seconde unité de commande dédiée (A2) adaptée pour commander le second moteur (M2),
    - une unité de commande principale (A) qui est adaptée pour déterminer un premier point de réglage (S1) et un second point de réglage (S2) à partir :
    - d'un point de réglage principal (S), éventuellement d'un déphasage (ξ) souhaité fourni par l'unité de commande de machine (MC),
    - de la différence entre la position détectée (ϕ1) du cylindre inférieur et la position détectée (ϕ2) de l'homologue supérieur,
    et qui est adaptée pour fournir les premier et second points de réglage (S1 - S2) respectivement aux première (A1) et seconde (A2) unités de commande.
  7. Machine à tricoter circulaire selon la revendication 6, caractérisée en ce que :
    - la première unité de commande dédiée (A1) est une unité de commande PID adaptée pour commander le premier moteur (M1) selon la différence entre le premier point de réglage (S1) et la première position angulaire (ϕ1),
    - la seconde unité de commande dédiée (A2) est une unité de commande PID adaptée pour commander le second moteur (M2) selon la différence entre le second point de réglage (S2) contenant éventuellement le déphasage (ξ) souhaité et la seconde position angulaire (ϕ2).
  8. Machine à tricoter circulaire selon la revendication 6 ou 7, caractérisée en ce que l'unité de commande principale (A) comprend un filtre PID (12) adapté pour filtrer la différence entre la première position angulaire (ϕ1), la seconde position angulaire (ϕ2) et éventuellement le déphasage (ξ) souhaité.
  9. Machine à tricoter circulaire selon l'une quelconque des revendications 6 à 8, caractérisée en ce que la machine à tricoter est une machine à cylindre unique et l'homologue supérieur (3) est un plateau ou une platine.
  10. Machine à tricoter circulaire selon l'une quelconque des revendications 6 à 8, caractérisée en ce que la machine à tricoter est une machine à double cylindre et l'homologue supérieur (3) est un second cylindre.
EP20080161484 2008-07-30 2008-07-30 Machine à tricoter circulaire Active EP2149630B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20080161484 EP2149630B1 (fr) 2008-07-30 2008-07-30 Machine à tricoter circulaire
CN200910161292.6A CN101638826B (zh) 2008-07-30 2009-07-30 圆型针织机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20080161484 EP2149630B1 (fr) 2008-07-30 2008-07-30 Machine à tricoter circulaire

Publications (2)

Publication Number Publication Date
EP2149630A1 EP2149630A1 (fr) 2010-02-03
EP2149630B1 true EP2149630B1 (fr) 2014-03-12

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EP20080161484 Active EP2149630B1 (fr) 2008-07-30 2008-07-30 Machine à tricoter circulaire

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EP (1) EP2149630B1 (fr)
CN (1) CN101638826B (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CZ2011645A3 (cs) * 2011-10-12 2012-12-19 Technická univerzita v Liberci Okrouhlý pletací stroj
CN105463679B (zh) * 2015-12-11 2018-08-28 晋江宏基机械有限公司 无上齿轮悬臂式双面大圆机
CN107942658B (zh) * 2017-11-10 2020-06-26 华侨大学 一种采用自适应滤波器的大圆机旋转周期预测方法及系统

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB646283A (en) * 1945-07-14 1950-11-22 Edgar William Clarke Improvements in circular knitting machines, knitted fabrics and articles produced therefrom
CS227464B1 (en) * 1982-05-24 1984-04-16 Jindrich Novacek Circular knitting frame driving mechanism
CS254504B1 (en) * 1986-03-06 1988-01-15 Vladimir Salomoun Driver of the one cylinder round knitter
IT1246492B (it) * 1990-11-07 1994-11-19 Savio Spa Metodo per determinare la dimensione delle boccole di maglia nelle macchine per la produzioni di calzini
JP2981175B2 (ja) * 1996-07-26 1999-11-22 津田駒工業株式会社 編機のモータ制御方法および装置
JP2000328404A (ja) * 1999-05-17 2000-11-28 Precision Fukuhara Works Ltd 電子柄丸編機の制御装置および制御方法
ITMI20042497A1 (it) * 2004-12-23 2005-03-23 Santoni & C Spa Procedimento per eseguore l'unione di porzioni di maglia prodotte da almeno due gruppi di aghi distanziati tra loro da una frontura in macchine circolari per maglieria o per calzetteria a due fronture o simili

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EP2149630A1 (fr) 2010-02-03
CN101638826B (zh) 2014-07-02
CN101638826A (zh) 2010-02-03

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