JP2865948B2 - High-speed knitting linking method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of automatically linking a knitted fabric, and more particularly, to a method of dramatically increasing the speed of automatic linking performed while adjusting the dimensions of two knitted fabrics to be stitched.

[0002]

2. Description of the Related Art The sewing operation of a knitted fabric such as a sweater is characterized by the fact that the knitted fabric to be worked is flexible, and the degree of stretching changes and the dimensions change depending on how the force is applied. As a result, automation is significantly delayed, and the actual situation is that the work is manually performed using a sewing machine, a jig, or the like.

As an example of automatic linking in which this operation is automated, a "linking method for knitted fabric" is disclosed in Japanese Patent Application Laid-Open No. 63-15 / 1988.
No. 4192 and "Knitting needle picking device"
60692.

[0004]

In the automatic linking method described above, image processing and mechanical positioning operation must be performed for each stitch in order to pick up stitches to be stitched one by one at a time. High speed was difficult. In particular, in linking a fine gauge knitted fabric, there has been a disadvantage that the number of times of needle picking increases in proportion to the number of stitches to be linked, and the entire linking time becomes longer.

An object of the present invention is to provide an automatic linking method capable of resolving the above-mentioned problems of the conventionally known automatic linking method and dramatically increasing the linking speed without deteriorating the quality of sewing products. .

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to supply two knitted fabrics to be stitched to eye picking needle sticking devices installed on the left and right sides facing each other, and to supply them in the respective eye picking needle sticking devices. The stitch arrangement state of the knitted fabric thus detected is two-dimensionally detected, the position to be stabbed is guided to the needle stab position by the knitting fabric guiding means, and the needle is stabbed by the needle. The stitches of the knitted fabric are transferred to the needles of an opposing eye picking needle piercing device, and two knitted fabrics are overlapped. In an automatic linking method in which sewing is performed by a suturing device, the stitching proceeds from the stitch arrangement state detected two-dimensionally. The position information of the stitch to be sewn is calculated, the stitch to be sewn is guided to the needle stab position by the knitting fabric guiding means, and the needle stab is performed a predetermined number of times regardless of the number of stitches existing up to the stitch to be sewn. Auto-linking method comprising,
Achieved by

[0007] The stitch guidance by the knitted fabric guiding means detects the edge of the knitted fabric which is an index of the stitch line to be stabbed, performs coarse adjustment for guiding the knitted fabric, and the stitch to be advanced near the needle stab position. It is more preferable to detect the position and perform the fine adjustment in two steps of guiding the stitch to the needle insertion position. If the stitches to be sewn are guided in two stages in this manner, the two knitted fabrics to be sewn can be linked while accurately adjusting the dimensions, and the displacement of the linking line does not occur.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS The invention will be described in more detail hereinafter with reference to the accompanying drawings, which show an embodiment of the device used to carry out the automatic linking method according to the invention. It goes without saying that the method according to the invention is not limited to these illustrated embodiments. FIG. 1 shows an apparatus used for carrying out the automatic linking method according to the present invention (hereinafter referred to as an automatic linking apparatus).
FIG. 2 is a schematic diagram showing the overall arrangement of one embodiment. In the automatic linking device shown in FIG. 1, a pair of eye-picking needle sticking devices are arranged to face each other. One knitted fabric is supplied to each of the pair of eye-picking needle piercing devices.

That is, the knitted fabrics 2 and 2 'to be linked supplied from the left and right on the operation tables 1 and 1' of the left and right eye picking needle piercing devices first point to the first to several stitches of the linking line. It is set in the automatic linking device by manually piercing the needles 3, 3 '. The set knitted fabric is sent in the directions of A and A ', respectively, while the knitted fabric is rough-adjusted by the operation of the knitted fabric guiding means 4, 4' and the needle piercing needle moving means 5, 5 '.
The stitch information is detected two-dimensionally by the cameras 6 and 6 ', the position of the stitch to be stabbed is calculated based on this information, and the stitching is performed by the knitting fabric guiding means 4 and 4' based on the calculated information. Fine adjustment for guiding the stitch to be advanced to the needle insertion positions B and B 'of the point needle is performed, and simultaneously the needle insertion needle moving means 5 and 5' are set in advance regardless of the needle insertion position and the number of stitches between the stitches to be advanced. A predetermined number of operations are performed to pierce the linking line of the knitted fabric and the stitch to be pierced with the point needle, and after the piercing, the point needle is advanced in the knitting fabric traveling directions A and A '.

At this time, the timing is adjusted so that the final needle insertion and the fine adjustment for guiding the stitch to be advanced to the needle insertion positions B and B 'coincide with each other. By performing such movements sequentially, the two on the linking line of the left and right knitted fabrics
The knitted fabric 2, 2 'is sent in the direction of A, A' while performing a plurality of needle stings between stitches to be stitched. At this time, the knitted fabric 2 'pierced by one needle is moved from the point needle 3' to the stitch 3 at the point C-C ', and is completely overlapped with the knitted fabric 2 at the point D, and the sewing needle 7 at the point E. Is sutured by the suturing device 8 having The sewn knitted fabric is separated from the point needle 3 at the point F and stored in the storage box 9.

The fine adjustment described above does not need to be performed for each stitch, but may be performed intermittently for each stitch to be pierced. The needle piercing operation can be performed in parallel, so that a high-speed needle piercing operation can be performed. Only by setting the knitted fabrics 2 and 2 'by the above method, the knitted fabric is stitched along the linking line at high speed and surely, and dropped into the storage box.

The construction and operation of each means in the automatic linking method will be described in the following order. The eye-catching needle piercing device of the automatic linking device used to carry out the automatic linking method according to the present invention shown in FIG.
It comprises a knitted fabric state detecting means, a knitted fabric guiding means and a needle stick moving means. Therefore, first, one embodiment of a knitted fabric guiding means for guiding a knitted fabric to a position where a needle can be properly punctured based on information from the knitted fabric state detecting means and the knitted fabric state detecting means will be described with reference to FIGS. explain.

In the embodiment shown in FIG. 1, the knitted fabric guiding means corrects the knitted fabric two-dimensionally based on information from the knitted fabric state detecting means before the stitch to be pierced reaches the needle piercing position. Fine adjustment means, and coarse adjustment means for correcting the curvature of the knitted fabric before the knitted fabric is processed by the fine adjustment means and making the linking line substantially parallel to the traveling direction of the knitted fabric before entering the fine adjustment means; Is as described above.

As shown in FIGS. 2, 3 and 4, the coarse adjusting means is a knitting edge position correcting roll 14 which is combined with a knitting edge position detecting sensor 16 (constituting a part of the knitted fabric state detecting means). And knitting end direction correcting devices 17, 18, 19, and 20. As the knitting edge position detecting sensor 16, for example, a reflection type optical sensor is used. In response to a signal from the knitting edge position detecting sensor 16, the knitting edge position correction roll 14 is driven by the motor 15 to correct the knitting edge position so as to be substantially constant. At this time, the knitting edge direction correcting device is designed in consideration of a case where the curvature of the linking line of the knitted fabric to be linked is largely changed and the knitting edge position cannot be corrected to a fixed position only by the operation of the knitting edge position correcting roll 14 alone. Is used. As shown in FIG. 2, the knitting end direction correcting device includes a knitting end direction correcting jig 17 and an air cylinder 1.
8. It comprises a rotatable arm 19 and a motor 20. In other words, the knitting end direction correcting jig 17 is attached to the shaft end of the air cylinder 18. If it is not necessary to operate the knitting end, the jig 17 is held in a state where it does not come into contact with the knitted fabric. Press on the ground,
The rotation of the motor 20 causes the swiveling motion to be performed via the 19 arms as shown by arrows in FIG.

Next, fine adjustment of the knitted fabric performed using the camera of the knitted fabric state detecting means and the image processing apparatus will be described. Reference numeral 6 in FIG. 1 denotes a camera of the knitted fabric state detecting means,
A CD camera is used and is arranged perpendicularly to the knitted fabric on a plane, and calculates a stitch image as two-dimensional information. The range to be captured as image information is set so as to include at least one stitch of the linking line to be pierced and to include the stitch end. At that time, it is important to devise lighting in order to obtain a clear image.
It is desirable to hit the D camera from the opposite side of the knitted fabric.

The fine adjustment means includes the rolls 10 and 12 for feeding the knitted fabric in the traveling direction and a hand 29 for correcting the position of the stitch to be stabbed in a direction perpendicular to the traveling direction (Y direction in FIG. 3).
The rolls 10 and 12 are driven by motors 11 and 13, respectively. Any motor can be used as long as it can change the number of rotations. In the embodiment, a pulse motor is used. In order to obtain a clear image, it is desirable that the knitted fabric is expanded. For this purpose, a difference in rotation speed between the rolls 10 and 12 may be provided. Further, in order to expand in the direction perpendicular to the knitting fabric traveling direction, spiral grooves (not shown) may be provided on the surfaces of the rolls 10 and 12. A ball screw 30 is connected to the hand 29 so that the hand 29 can reciprocate in the Y direction. Further, by connecting another ball screw 31 to the boss of the ball screw 30 as shown in FIG.
Movement in the direction can be enabled. Thus, the hand 29 can move in the X and Y directions, that is, two-dimensionally move.

The knitted fabric state detecting means and the knitted fabric guiding means are all mounted on a support member 34.
4 is provided with an elevating function, whereby the knitted fabric state detecting means and the knitted fabric guiding means can be moved at the time of the initial setting of the stitch, so that the operability of the initial setting can be improved. Knitted fabric using the knitted fabric state detecting means and the knitted fabric guiding means having the above-described configuration, for example, when linking and sewn the front and back of the sweater, since there are also places where the linking line of the knitted fabric has a curvature, The knitted fabric is sent while the knitting edge is adjusted to the position of 16 sensors by the coarse adjustment means described above. (This operation is performed by a linking line for facilitating detection of a stitch to be pierced in the linking line performed in the image processing.) Is to be substantially parallel to the X direction within the field of view of the camera 6). The stitch information immediately before including the knitted fabric edge is detected by the CCD camera, the position information of the stitch to be pierced is calculated by the image processing device, and the knitted fabric position is two-dimensionally corrected using the hand 29 and the feed rollers 10 and 12. Then, the stitch to be pierced is guided to the needle piercing position, and the needle piercing is performed plural times.

When the hand 29 reaches the end of the linking line, the hand 29 moves to the left in the X direction, and all the needles can be picked up until the end of the linking line. When the change in the curvature of the linking line is not so large, the coarse adjusting means may not be used. Next, calculation of position information of a stitch to be pierced and guidance of a knitted fabric will be described in further detail. The detected stitch image is obtained in a state as shown in FIG. 5, and by performing binarization processing with an image processing device, the stitch holes can be clearly recognized as shown in FIG. , The two-dimensional position information of the stitch in the image visual field is accurately obtained.

Assuming that the needle piercing position is point a in FIG. 6, the linking line of the knitted fabric in the image field of view is corrected by the coarse adjustment means within an angle error θ ₀ degrees with respect to the reference line X ₀ -X ₀ '. Since the angle error is within ± θ ₀ degrees from point a,
The stitch closest to the point is determined as the next stitch on the linking line. Further, in a similar manner, a predetermined number (it is necessary to set the number to be equal to or less than the number falling within the image visual field).
The positions A ₁ , A ₂ ... Of the stitches on the linking line are calculated, and the last calculated stitch is determined as the stitch to be pierced, and the two-dimensional position information is controlled as the distance P from the point a and the angle error θ. Sent to the microcomputer for
It is converted into the operation amount of the knitted fabric fine adjustment means by the microcomputer, and the knitted fabric is guided by operating the knitted fabric fine adjustment means to bring the stitch to be pierced to the point a.

As shown in FIG. 7, the stitches on the linking line of the knitted fabric are knitted at regular intervals by a method such as tack knitting so as to be clearly distinguishable from normal stitches in terms of size. In advance, a method may be used in which a position is calculated as a stitch to which a stitch having a different size should be pierced, and the stitch is guided to the needle stab position. That is, when the 7 odor needling position as _one point a, 'Set, from Y ₀ Y _0' reference line Y ₀ -Y ₀ at a position separated by a predetermined distance L ₀ from a ₁ brightness while leading to End point Q is calculated by calculating the point where the
Determined point, should then proceeds stabbed the largest stitch A within a circle of radius r around a certain point R at a distance L ₁ which is set on the basis of the number of stitches from the previously knitted edge from Q point stitch and position, to guide the knitted fabric as bring in _one point a.

By using this method, it is possible to sew the jacquard knitted fabric other than the sheet-in-pile, which has been impossible with the conventional automatic linking method, while performing accurate size adjustment. Only the area needs to be processed, and the processing is simple, so that the speed can be further increased. Also, when sewing a knitted sweater, the number of stitches of the knitted fabric to be sutured does not completely match, and the stitches to be sewn should be sewn when suturing a part where it is important to match the length. The number of stitches can be appropriately set in advance in accordance with the region, and the length can be adjusted by inputting to the image processing device at the start.

In order to increase the processing speed, it is desirable to use a dedicated image processing apparatus, but it is also possible to use a commercially available general-purpose image processing apparatus. Next, the needle stick moving means will be described with reference to FIGS. FIG. 8 is a cross-sectional view showing one embodiment of the needle stick moving means 5. The point needle 3 is fixed to the holder 3a as shown in FIG.
b is adapted to be fitted to the fixed guide 21, and the rotation of the rotary drum 22 with the fixed guide 21 as a guide causes the point needle 3 to move in the knitting fabric advancing direction. A slit 22a is cut with approximately corresponding dimensions, and the needle is moved by being pushed by the side surface of the slit. The fixed guide 21 starts immediately after the needle piercing position, and during 180 degrees from the needle piercing position, the amount of needle protrusion from the rotating drum is the same, and the amount of protrusion is gradually reduced from a point past 180 degrees. The mounting position and dimensions of the fixed guide 21 are set. The needle protrusion amount is reduced so as not to come into contact with the knitted fabric immediately before the needle sticking position. The needle protrusion amount is removed from the fixed guide 21 at the needle sticking position, and the tip of the protrusion lever 23 is inserted into the groove 3b of the point needle, and the tip of the shaft 25 is set. The point needle 3 is protruded by rotating the shaft 25 by the action of the connecting rod 26, the lever support 24 and the like eccentrically attached to the guide rod 26, and is guided again by the fixed guide 21 to perform a predetermined movement. The rotational movement of the rotary drum 22 and the protruding movement of the needle may be driven by the same motor, or may be driven by separate motors. Further, it is preferable that the diameter of the rotary drum be as small as possible in order to reduce deformation when holding a curved knitted fabric. The needle piercing and needle moving means has a function of protruding a point needle, and can be implemented by other means as long as it has a function of aligning the left and right needles at the knitted fabric transfer point C on the same straight line. .

In order to transfer the knitted fabric pierced by the above means to the point needles facing each other, the positions of the left and right eye picking needle piercing devices are made to coincide linearly at the point C, and are adjusted to the transition curve of the knitted fabric. This can be realized by providing the cover 27. Further, in order to ensure the transfer of the knitted fabric, means (not shown) for pushing the knitted fabric into the point needle near point D may be provided.

In this way, the eyes are picked up, the stitches are combined,
The knitted fabric transferred to the point needle of No. is sent to the point E, and is subjected to sewing by a normal sewing operation by the sewing needle 7. FIG. 12 shows one embodiment of the sewing operation. The sewing needle 7 having the wrench is guided by the concave groove 30 provided in the point needle 3 holding the stitch in a state where two stitches are superposed, and passes through the stitch. At this time, the spatula is opened by the stitch, and the thread supply guide 33 swings so as to hook the thread 32 on the hook portion of the spatula needle, and the hooked sewing thread 3
When the stapler needle 2 returns, the stitch is closed by the stitch and the sewing thread 32 is passed through the stitch. And by the rotation of the rotating drum,
When the next stitch comes to the needle position, the same movement is performed, and sewing as shown in FIG. 12 is performed.

However, since the operation timing of the sewing machine needs to take appropriate timing with the movement of the needle, the rotation drum and the drive motor are made the same, and the sewing machine needle is moved using the cam and the link mechanism. Or, when driven by another motor, it is necessary to take electrical timing. In addition, the example of the sewing method is the single chain stitching. However, the double chain stitching may be used, and the mechanism and arrangement of the sewing machine section are not limited, and any method can be used as long as it can perform appropriate chain stitching. .

The knitted fabric sewn on the sewing machine
Is separated from the point needle and stored in the storage box 9. In the embodiment, the operation table for setting the knitted fabric has been described as being set horizontally. However, even if the operation table is set vertically, the knitted fabric guiding means may be slightly changed so as to correspond to a vertical surface. And if the needle piercing means and the needle moving means are arranged horizontally, it can be realized basically in the same manner.

FIG. 13 is a diagram showing the operation of the apparatus for implementing the above-described automatic linking method according to the present invention. As shown in the figure, the control microcomputer is connected to each device, and the information from the knitting edge detection sensor of the knitted fabric state detecting means and the image processing device is transmitted to the control controller, and the knitted fabric is guided after being appropriately processed. The linking operation described above is sequentially performed by the transmission unit, the needle piercing needle moving unit, and the suturing device.

FIG. 14 shows an overall flow chart of the linking work, and FIG. 15 shows a flow chart of the work of picking the needle of the knitted fabric.

[0029]

According to the linking method of the present invention, the linking can be performed at a much higher speed than in the conventional automatic linking method, and the number of labors can be further reduced. Further, it is possible to reliably and quickly link a knitted fabric such as a jacquard or the like in which stitches are hardly detected by transmitted light.

[Brief description of the drawings]

FIG. 1 is a side view showing an outline of an embodiment of an automatic linking apparatus used for performing a linking method according to the present invention.

FIG. 2 is a side view showing a knitted fabric state detecting means and a knitted fabric guiding means in the apparatus shown in FIG.

FIG. 3 is a plan view taken along line III-III in FIG. 2;

FIG. 4 is a front view along line IV-IV in FIG. 2;

FIG. 5 is a schematic diagram of a stitch image obtained by a camera.

FIG. 6 is an exploded explanatory view of the schematic diagram of FIG. 5;

FIG. 7 is an exploded view of the schematic diagram of FIG. 5;

FIG. 8 is a front view of a needle stick moving means in the device shown in FIG. 1;

FIG. 9 is a side view of the means of FIG. 8;

FIG. 10 is a front view showing a means for engaging a point needle used for the needle sticking moving means with a fixed guide.

FIG. 11 is a perspective view showing an example of a point needle.

FIG. 12 is a front view illustrating a sewing operation for linking two knitted fabrics;

FIG. 13 is a diagram showing the operation of an apparatus for performing the automatic linking method according to the present invention.

FIG. 14 is a flowchart showing an entire linking operation according to the present invention.

FIG. 15 is a flowchart showing in detail the eye-picking needle sticking operation in the flowchart of FIG. 14;

[Explanation of symbols]

 1, 1 ': operation table of eye-picking needle piercing device 2, 2': knitted fabric 3, 3 ': point needle 3a, 3a': point needle holder 3b, 3b ': groove of holder 3c: recess of point needle Grooves 4, 4 ': Knitted fabric guiding means 5, 5': Needle stab, needle moving means 6, 6 ': Camera 7: Sewing needle 8: Sewing machine part 9: Storage box 10: Feed roll 11: Drive motor 12: Feed roll 13: drive motor 14: knitting edge position correcting roll 15: motor 16: knitting edge position detection sensor 17: knitting edge direction correcting jig 18: air cylinder 19: arm 20: motor 21: fixed guide 22: rotating drum 22a : Rotating drum slit 23: Projecting lever 24: Lever support 25: Shaft 26: Connecting rod 27: Cover 28: Guide 28: Hand 30: Ball screw 31: Bo Screw 32: Sewing thread 33: Yarn feed guide 34: Support

Claims (1)

(57) [Claims] 1. A method according to claim 1, wherein two knitted fabrics to be stitched are supplied to eye picking needle sticking devices installed on the left and right facing each other, and a stitch arrangement state of the supplied knitted fabric in each eye picking needle sticking device is set to two. Dimensionally detected, the position to be pierced is guided to the needle piercing position by the knitting fabric guiding means to perform the needle piercing, and then the stitch of the knitted fabric pierced by the piercing needle of the one side piercing needle piercing device is moved to the opposite stitch. In an automatic linking method in which two knitted fabrics are transferred to the needle of a picking needle sticking device, and the two knitted fabrics are overlapped and sewn by a suturing device, the stitching position detected in two dimensions is predetermined from the needle sticking position in the image visual field. Calculates the position information of the stitch to be pierced, which is located on the linking line separated by a certain number of stitches, guides the stitch to be pierced to the needle piercing position by the knitting fabric guiding means, and moves the stitch An automatic linking method characterized by performing needle sticks a predetermined number of times regardless of the number of stitches existing up to the eyes.