JP6108882B2 - Knitting method with flat knitting machine and flat knitting machine - Google Patents

Description

  The present invention relates to correction of an error between a consumed yarn length and a target yarn length when knitting a knitted fabric with a flat knitting machine.

  The applicant manufactures a flat knitting machine capable of knitting a high-quality knitted fabric by controlling the yarn length. For example, in Patent Document 1 (JP2952391B), the consumed yarn length is measured by a sensor, and the carriage motor of the carriage is controlled so that the accumulated error of the consumed yarn length in one course is eliminated in the next course. In addition, a loop length routine is performed before the knitted fabric is actually knitted to determine an optimum stitch value. In Patent Documents 2 and 3 (JP3603031B, JP4016030B), a yarn feeding roller is driven by a servo motor to control the yarn length to be fed.

  Apart from controlling the yarn length, the applicant proposed that the flat knitting machine is equipped with a knotter, splicer, etc., and that the yarns are changed during knitting (Patent Document 5 JP2816784B). Although it is necessary that the yarn switching position appears at a desired position, accurate control is difficult. Therefore, a switching position is determined so that a yarn margin is generated by the length of one stitch or less, and processing is performed so that the margin yarn is not conspicuous by tack or the like. In Patent Document 4 (JP4366312B), attention is paid to the fact that the stitch size fluctuates with respect to the middle of the course between the knitting fabric and the knitting of one course, and the stitch values for the knitting and knitting are corrected.

  In the control in Patent Documents 1 to 3, the error in the current course is eliminated in the next course, with one course as a unit. For this reason, the error is not eliminated within one course and causes variation in stitch size. In addition, when performing thread switching or the like, it is not possible to accurately switch the thread at a desired position. Therefore, it is necessary to arrange extra threads for the margin and absorb the margin thread by tack or the like.

JP2952391B JP3603031B JP4016030B JP4366312B JP2816784B

An object of the present invention is to correct an error generated in one course within the course so that a higher quality knitted fabric can be knitted.
An additional problem of the present invention is to correct the accumulated error of the loop length of the stitch for each course so that the accumulated error is not brought to the next course.
An additional problem of the present invention is that when the yarn is changed by a knotter, a splicer or the like in the course, or the color of the yarn is changed by a dyeing device in the course, the color is accurately changed at a desired position, and the margin portion is changed. It is to eliminate the need to treat the yarn with tack or the like.
An additional problem of the present invention is to prevent the loop length of the stitch from fluctuating rapidly within one course.
An additional problem of the present invention is to prevent the loop length of the stitch from fluctuating with respect to the middle portion of the course at the beginning and end of one course.

The present invention includes at least two needle beds, a carriage including a crest motor that reciprocates on the needle beds and changes the crest cam value, a carrier that supplies a thread to the needles on the needle bed, and a thread to the carrier In a flat knitting machine having a yarn feeding device for supplying a yarn, a sensor for measuring the yarn length fed from the yarn feeding device, and a control unit for correcting the stitch value by controlling the degree motor by a signal of the sensor,
Since the controller corrects the error between the consumed yarn length and the target yarn length at the course of the carriage where the error has occurred, the controller corrects the stitch value every predetermined length shorter than one course, and within one course of the carriage. The error is configured to be reduced to a value within an allowable range .

The invention also includes at least two needle beds, a carriage having a degree motor that reciprocates on the needle bed to change the degree value of the degree cam, a carrier that supplies a thread to the needles on the needle bed, and a carrier A flat knitting machine having a yarn feeding device for supplying yarn, a sensor for measuring the yarn length fed from the yarn feeding device, and a control unit for controlling the stitch motor by the signal of the sensor to correct the stitch value. In the organization method of
The control unit corrects the error between the consumed yarn length and the target yarn length in the course of the carriage in which the error has occurred, corrects the stitch value every predetermined length shorter than one course, and within one course of the carriage. The error is reduced to a value within an allowable range .

The predetermined length shorter than one course is, for example, a knitting width of 5 cm or less, preferably 3 cm or less, more preferably 2 cm or less, particularly preferably 1 cm or less, and most preferably the length of one stitch (needle). 1 length). The length of one course is the knitting width of the knitted fabric. In this invention, since the error between the consumed yarn length and the target yarn length is corrected by the course in which the error has occurred, a knitted fabric with little variation in stitch size can be knitted. Further, when switching the yarn, the yarn can be switched at a desired position. Note 1 rather is preferably be resolved by the error in the course in 100% that course, to reduce the error in at least the course to a value within the allowable range.

In the present invention, the control unit is configured to reduce the error to a value within an allowable range within one course of the carriage. Then, even if the accumulated error generated in one course is carried over to the next course, the value is within the allowable range. In addition, when the yarn is switched during the next course knitting or the like, since the accumulated error is small, the yarn switching position can appear at a desired position on the knitted fabric.

Preferably, the flat knitting machine includes a yarn processing device that changes the properties of the yarn by changing the yarn or dyeing the yarn, and the processing position of the yarn in the yarn processing device comes to the yarn switching position on the knitting ground. The degree value is corrected as follows. In the present invention, the error of the consumed yarn length can be reduced to, for example, about a fraction of the yarn length for one stitch, so that the yarn switching position can be arranged with higher accuracy than the size of the first stitch, and the target switching can be performed. The thread can be switched at the position. A tack or the like for absorbing excess yarn is not necessary. For example, when the surface of the knitted fabric is the surface of the final product such as clothing and the back surface is the back surface of the final product, the back surface of the knitted fabric is not conspicuous. If the position for switching the yarn appears on the back surface of the knitted fabric, for example, if it appears in the sinker loop when the back surface has a sinker loop on the back surface, the switching position of the yarn is not conspicuous.

  Particularly preferably, the control unit eliminates a correction value by proportional control for eliminating an error for each predetermined length shorter than one course and an accumulated value of an error for each predetermined length shorter than one course. Therefore, the frequency value is corrected by the sum of the correction value and the correction value by the integral control. Here, the total includes, in addition to the sum of two correction values, a correction of the sum of two correction values due to constraints such as an upper limit on the correction value of the second value. In the proportional control, the error is rapidly eliminated and the stitch size varies in a short section. In the integral control, the cancellation of the error is gradual, but the variation of the stitch size is distributed over a longer section. When the proportional control and the integral control are used together, the variation in stitch size is not noticeable, and the error can be eliminated within almost one course. Here, if the control constant of integral control is increased before the end of one course and before the position for switching the thread, the accumulated error can be eliminated by the end of one course, and the accumulated error can be eliminated by the position for switching the thread. .

  Preferably, the control unit is configured to increase the control constant of the integral control compared to other areas when the number of stitches to the end of the course is small and when the number of stitches to the yarn switching position is small. Yes. In this way, the error carried over to the next course can be reduced, and the yarn can be switched accurately at a desired switching position on the knitted fabric. For example, when the number of stitches up to the end of the course and the yarn switching position is less than a predetermined value, the number of stitches may be reduced and the integral control constant may be increased. Alternatively, when the number of stitches up to the end of the course and the yarn switching position becomes a predetermined value or less, the control constant of the integral control may be increased by 50% or double the other areas of the course.

Preferably, the control unit obtains a change in the consumed yarn length with respect to an intermediate part of the course at the beginning of the course and at the end of the course by a loop length routine before actually knitting the knitted fabric, and performs the knitting. Means for converting the correction value at the time and the correction value at the creation;
When the knitted fabric is actually knitted, the stitch value is corrected by the sum of the correction value of the stitch value for correcting the error between the consumed yarn length and the target yarn length and the correction value at the stitching. And a means for correcting the stitch value by the sum of the correction value of the stitch value for correcting the error between the consumed yarn length and the target yarn length and the correction value in the setting.

  In this way, errors in transfer and set-up can be corrected accurately. Here, the total includes, in addition to the sum of two correction values, a value obtained by correcting the sum of two correction values due to an upper limit to the correction value of the second value. The correction values for the transfer and set-up obtained in the loop length routine may be used without modification during the actual knitting of the knitted fabric, or during the knitting in multiple courses during the knitting of the actual knitted fabric. The error may be corrected by a moving average of the error and a moving average of the error in the compilation. Means for converting the correction value for transfer into the correction value for transfer corresponds to the auxiliary data memory and the CPU in the embodiment, and the means for correcting the frequency value by the sum is the CPU in the embodiment. Corresponding to

Front view of the flat knitting machine of the embodiment The figure which shows the yarn supplying apparatus and yarn processing apparatus in an Example Block diagram of the control system of the flat knitting machine in the embodiment Flowchart of loop length routine in the embodiment Diagram showing each process in the example The figure which shows control to the error of the loop length in an Example The figure which shows the knitted fabric of an Example typically

  In the following, an optimum embodiment for carrying out the invention will be shown.

  1 to 7 show the flat knitting machine 2 of the embodiment and the knitting method of the embodiment. In each figure, reference numeral 2 denotes a flat knitting machine, which has two or four needle beds 4, and the carriage 6 reciprocates on the needle bed 4 to operate the needles of the needle bed 4, and from the carriers 8, 9 Thread 18 is fed to the needle. The operation of the needle by the carriage 6 is to guide the needle selection to knit / tack / miss, etc., the needle selected to the knit / tack, and the needle to perform transfer by a built-in cam system. The cam system is provided with a cam called a mountain cam and a mountain motor that slides the mountain cam. By changing the position (degree value) of the mountain cam, the length (the needle is retracted) is changed. Change the length to retract the needle bed). In this way, the loop length of the stitch is changed. The stitch value is defined as + on the side where the stitches are pulled down and the stitches are enlarged, and on the side where the stitches are raised and the stitches are shortened.

  The carriage 6 carries the carriers 8 and 9 and detects the position (needle number) of the carriage 6 with respect to the needle bed 4 by a sensor (not shown). A row of stitches formed by the carriage 6 with one stroke is a stitch for one course, and the length of one course is the knitting width of the knitted fabric. The carriers 8 and 9 may be self-propelled without being accompanied by the carriage 6.

  Reference numeral 10 denotes a yarn feeding device that feeds the yarns 18 and 19 to the carriers 8 and 9. Reference numeral 12 denotes a yarn processing device, which is a device for connecting and switching yarns such as a knotter and a splicer, or a device for dyeing yarns such as an ink jet printer. The position where the thread is switched and the position where the dyeing is changed and the color of the thread is changed are collectively referred to as a switching position. And the flat knitting machine 2 of an Example knits the knitted fabric which has a color pattern using a small number of carriers 8 and 9 by switching a thread | yarn. Further, since there are fewer yarns running on the back side of the knitted fabric than the jacquard, the knitted fabric is easy to wear without being bulky. Furthermore, the operations of the carriers 8 and 9 are simplified compared to the intarsia, and a mechanism for stopping the carriers 8 and 9 accurately at a predetermined position is unnecessary.

  Reference numeral 14 denotes a thread cone, which may be a thread cheese or the like, and is a thread supply source. The yarn processing device 12 is provided between the cone 14 (yarn supply source) and the yarn supply device 10. The flat knitting machine 2 is controlled by the control unit 16 including the yarn supplying device 10 and the yarn processing device 12.

  FIG. 2 shows details of the yarn feeding device 10. Reference numeral 20 denotes a servo motor which drives the driving roller 22 and sandwiches the yarn 18 and the like between the driving roller 22 and the driven roller 24 and passes the yarn 18 and the like through the guide roller 25 and the elastic arm 26 to the carrier 8. , 9 etc. The number of rotations of the servo motor 20 or the number of rotations of the driven roller 24 is monitored by, for example, the encoder 27, and the yarn length sent from the drive roller 22 is obtained. The arm 26 is a buffer for the yarn 18 or the like, and the angle of the arm 26 is detected by the angle sensor 28 and converted into the yarn length stored in the arm 26. Note that the rotation speed of the driven roller 24 may be monitored by an encoder so that the yarn 18 and the like are pulled out from the cone 14 by tension without actively feeding the yarn by the servo motor 20. The arm 26 can be changed to an arbitrary thread buffer.

  The yarn processing device 12 is, for example, a knotter or a splicer that connects the yarns 18 and 19 at the processing position 30, and may be an ink jet printer or the like. The purpose of changing the position is mainly to change the color of the knitted fabric. When the remaining amount of the cone 14 is reduced, the yarn may be changed. Further, when the dye sprayed by the ink jet printer or its density is changed, the color of the thread 18 or the like changes. The position where the yarn is changed or the dyeing is changed is called a yarn processing position 30. The yarn length from the processing position 30 to the drive roller 22 is known to the control unit 16.

  FIG. 3 shows the configuration of the control unit 16. The input interface 31 has an encoder value S1, an arm angle S2, a position S3 of the carrier being operated, a needle number S4 being operated on the carriage 6, a traveling direction and speed S5 of the carriage. Etc. are input. Since the carriage 6 operates a plurality of needles at the same time, for example, the needle number immediately before entering the mountain cam or the needle number for which needle selection has been completed immediately before is used as the needle number. The loop length of the stitch changes depending on whether the traveling direction of the carriage is the same as the direction in which the yarn 18 and the like are fed (from left to right or from the right in FIG. 1). Correct the degree value. When the yarn is fed from top to bottom in FIG. 1, the yarn feeding direction and the traveling direction of the carriage 6 are perpendicular to each other, so the influence is reduced, and correction by the traveling direction and speed of the carriage 6 is omitted. Also good.

  The knitting data memory 32 stores a sequence of needle operations for knitting the knitted fabric, a stroke of the carriage 6 and the like, and what kind of stitches are knitted from the sequence of needle operations, The number of stitches until the end is determined. The target loop length memory 33 stores a target value of the loop length per stitch for each knitting type (combination of knit / tack / miss stitch types, knitting organization types such as flat knitting, ribs, and jacquard). doing. In the case of a mistake, the yarn only runs on the back side of the knitted fabric. The loop length of the missed stitch is considered as a miss stitch, and is stored in the target loop length memory 33. At the beginning (transfer) and end (knitting) of one course, the loop length of the stitches changes with respect to the middle of the one course when the same stitch value is set. The auxiliary data memory 34 stores correction values for the stitch values for the transfer and set-up.

The CPU 36 performs the following processing based on the signal from the input interface 31, the knitting data, the target loop length, and the correction values for the transfer and set-up.
The loop length error for each stitch or the loop length error in the range where the knitting width is 5 cm or less is obtained, and this error is stored in the error memory 37. In the embodiment, the error is calculated for each needle, that is, for each stitch. However, the total error of the loop length in the range of the knitting width, for example, 5 cm or less, preferably 3 cm or less, more preferably 2 cm or less, and further preferably 1 cm or less may be obtained.
The accumulated value of the loop length error obtained as described above is obtained and stored in the accumulated error memory 38.
The in-process yarn length, that is, the yarn length from the yarn processing position 30 to the needle is obtained and stored in the in-process yarn length memory 39. The in-process yarn length includes the yarn length from the yarn processing position 30 to the drive roller 22, the yarn length stored in the arm 26, the other yarn length from the drive roller 22 to the carrier 8, etc., and the length from the carrier 8 etc. to the needle. This is the total yarn length. The yarn length from the yarn processing position 30 to the drive roller 22 is constant, and the yarn length from the drive roller 22 to the carrier 8 or the like is determined by the angle of the arm 26 and the position of the carrier 8 or the like. Therefore, it is not necessary to obtain the in-process yarn length itself. For example, the in-process yarn length obtained by removing the yarn length from the yarn processing position 30 to the drive roller 22 from the in-process yarn length may be obtained.
The target yarn length from the yarn processing position to the switching position is obtained from the knitting data and the loop length target value for each stitch type, and stored in the target yarn length memory 40 up to the switching position. Knowing the type of stitches from the knitting data to the switching position, the knitting to which stitches such as flat knitting and ribs belong, and the number of stitches, and adding the loop length target value for each stitch, the switching position from the yarn processing position The target yarn length can be obtained.
・ The remaining number of stitches from the knitting point to the end of the course and the remaining number of stitches to the yarn switching position are obtained from the knitting data and the needle number currently being operated, and the remaining stitches to the course end and the switching position are obtained. It is stored in the number memory 41.
・ When the number of stitches to the end of the course is small and the number of stitches to the switching position is small, the control constant in the integral control of the degree motor is increased at a predetermined ratio, for example, compared to other areas, or The number of remaining stitches is decreased and increased in multiple stages.
In the transfer and edit, the frequency value is changed according to the correction value in the auxiliary data memory 34. The degree value is controlled as a target value of the rotation angle of the shaft of the degree mountain motor. The knitting / knitting width is, for example, about several needles, and the knitting width is 5 cm or less.
・ Proportional control for eliminating loop length accumulated error at a predetermined stitch width of 1 stitch to 5cm or less, and integral control for eliminating accumulated error value, in addition to correction at stitch-in and stitch-out Is applied to the Tsuyama motor.
Immediately before the in-process yarn length matches the target yarn length to the switching position, the yarn processing device 12 is instructed to switch the yarn, change the dyeing, and the like. “Just before” means giving a command “just before” for the delay from the command to the processing of the yarn.

  The output interface 42 outputs a command to a not-illustrated mountain motor and the yarn processing device 12. When instructing the servo motor 20 of the yarn feeding device 10 to feed yarn for the target loop length, the servo motor 20 is also controlled. When the angle of the arm 26 is made constant and the tension on the yarn is controlled to be constant, the servo motor 20 is controlled by a signal from the angle sensor 28.

  In addition, a LAN interface 43 and a USB drive 44 are provided to receive knitting data from the LAN, or to separate the yarn processing device 12 and the flat knitting machine 2 from each other so that commands can be given to the yarn processing device 12 via the LAN. Further, the knitting data can be received from the USB memory 44.

  The target loop length of the stitch may be specified together with the knitting data, but can be determined by the loop length routine of FIG. 4 using the flat knitting machine 2. The stitch value is changed into a plurality of stages, the knitted fabric is knitted by several courses for each stitch value (step 1), and the optimum stitch value is selected by the user evaluating the knitted fabric, and the loop length of the stitch at this time is selected. Is the target loop length (step 2). In addition, by monitoring the signal from the encoder 27 of the servo motor 20 and the like, how the actual loop length changes in comparison with the loop length in the middle part of the course during transfer and set-up is solved. Then, correction values for transfer and set-up are determined (step 3). Since the knitting width that needs to be corrected for the setting / setting is determined in the loop length routine, the setting width for correcting the setting / setting can be automatically determined.

  FIG. 5 shows a process for controlling the loop length of the stitch (controlling the degree motor) and controlling the yarn processing apparatus 12 in the embodiment. In the in-process yarn length determination process P 1, the in-process yarn length is obtained from the angle of the arm 26, the positions of the carriers 8, 9, the needle number, etc., and stored in the in-process yarn length memory 39. In the loop length error calculation process P2, the consumed yarn length per stitch (actual loop length) is obtained from the yarn feed length obtained by the encoder 27 and the change in the in-process yarn length. Note that the difference between the actual loop length and the target loop length per stitch is the error per stitch. The following control is performed with an error per eye (loop length error per needle) or an average loop length error in the range of about several needles as a loop length error. The average error of the loop length is an error in a range of, for example, 5 cm or less, preferably 3 cm or less, more preferably 2 cm or less, and particularly preferably 1 cm or less in terms of the knitting width. In the embodiment, an error of the loop length for each needle is obtained by a flat knitting machine having a knitting width of 8 mm per needle.

  In the cumulative error calculation process P3, a cumulative value of the loop length error is obtained. In the integral control constant determination process P4, the control constant of the integral control in PI control (proportional and integral control) to the stitch value is changed according to the number of remaining stitches up to the end of the course and the number of remaining stitches up to the yarn switching position. To do. When the number of remaining stitches decreases, the control constant is increased, and when the number of remaining stitches increases, the control constant is decreased to return to the normal value. The end of the course is at the end of the knitted fabric, and the stitches are not noticeable. Furthermore, in the case of molded knitting where parts are knitted in accordance with the shape of the garment and the parts are sewn by subsequent linking, the end of the course is not easily noticeable even if the stitches are uneven in size. When the accumulated error value is reduced at the switching position where the yarn processing is performed, the switching position can be arranged at a position that is not easily noticeable, such as a sinker loop on the back surface of the knitted fabric. If there is a needle loop on the back of the knitted fabric, the thread is switched by the needle loop. Therefore, it is necessary to reduce the accumulated error value at the switching position, which is the same when the yarn is switched at the end of the course. For these reasons, the control constant is increased when the number of remaining stitches up to the end of the course and the number of remaining stitches up to the yarn switching position are reduced.

In the PI control process P5, the Toyama motor is controlled by PI control.
・ Proportional control to eliminate loop length error such as 5cm or less from 1st stitch to knitting width,
・ In combination with integral control to eliminate accumulated error in loop length,
・ The correction value for transfer / edit is added. In the yarn processing control process P6, the yarn processing device 12 changes the yarn, changes the dyeing, etc. before the in-process yarn length and the target yarn length to the switching position coincide with each other before the delay from the command to the yarn processing. To

  The processes P1 to P3 and P5 are performed, for example, for each needle, that is, for each stitch, but may be performed for each predetermined knitting width such as 5 cm or less, 3 cm or less, 2 cm or less, or 1 cm or less. The process P4 is executed when the course end and the switching position are approached, and the process P6 is started when the in-process yarn length approaches the target yarn length up to the switching position.

  FIG. 6 shows the control of the loop length in units of one needle, but as described above, it may be controlled in units of a predetermined knitting width such as 5 cm or less, 3 cm or less, 2 cm or less, 1 cm or less. The vertical axis represents the accumulated error, and the horizontal axis schematically shows the needle number. A dead zone is provided for the feedback control to the accumulated error and the feedback control to the error for each needle, and the scale value is not changed for the error in the dead zone. A solid line indicates control before the course end and before the yarn switching position, and a broken line indicates control before the course end and before the yarn switching position. The difference is in the magnitude of the control constant of the integral control.

  An error exceeding the dead zone occurs in the needle number 4, and the stitch value is changed by integral control, and the change of the stitch value by proportional control is added to control the stitch mountain motor. With proportional control alone, the stitch value changes abruptly with respect to the error, and irregular stitch sizes are conspicuous, so integral control is also used. In the solid line control, the cumulative control continues to increase up to needle number 6, and thereafter, the cumulative error gradually decreases and returns to the dead zone at needle number 10. During this time, with needle numbers 7, 8, and 9, the loop length per stitch is smaller than the target value. Therefore, the integral control suppresses the elimination of the accumulated error by the proportional control, and the simple integration as a whole. The control is such that the variation in stitch size is less noticeable than the control.

  Before the course end and before the yarn switching position, the integral error control constant is increased with the goal that the accumulated error does not carry over to the next course and the accumulated error becomes zero at the switching position. The result when the control constant of the integral control is increased is indicated by a broken line, and is quickly dealt with by the accumulated error detected by the needle number 4, for example, the needle number 8 is returned to the dead zone.

  FIG. 7 schematically shows a knitted fabric 70 to be knitted. Reference numerals 71, 73, and 76 denote areas for knitting with the same yarn, and 74 and 75 denote two types of areas for knitting with different yarns. As shown in the lower part of the figure, switching lines 77, 78 and the like for switching the yarn are generated along the boundary of the area, and as shown on the left side of the figure, a switching point 79 for switching the thread is generated at the end of the course.

  If the accurately switched yarns appear at the predetermined positions such as the switching lines 77 and 78 and the switching point 79, the yarn switching portion is not conspicuous, and a colored pattern as designed can be realized. For this purpose, the error of the yarn switching position from the target position on the knitting data is made shorter than that of the stitch 1 loop, and for example, switching is performed in a sinker loop on the back of the knitted fabric that is not conspicuous. In this way, it is not necessary to process extra stitches due to tack or the like.

  With respect to the transfer / set-up, the flat knitted fabric is corrected so that the stitch value is increased by the stitching and the stitch value is decreased by the stitching. In cylinder knitting, correction is performed so that the stitch value is reduced by insertion and the stitch value is increased by setting.

In the embodiment, the following effects can be obtained.
1) By correcting the stitch value for each needle, for example, within one course, the loop length of the stitch can be brought close to the target value. In particular, it is possible to avoid carrying over accumulated errors to the next course.
2) By increasing the control constant of the integral control before the yarn switching position, the yarn switching position can appear at an inconspicuous position.
3) Since the control constant of integral control is increased before the end of the course where the size of the stitch is not conspicuous, the accumulated error can be eliminated without making the size variation of the stitch conspicuous.
4) By using integral control and proportional control in combination, sudden changes in the value can be avoided.
5) For these reasons, a knitted fabric with a colored pattern can be realized by a method different from Intarsia or Jacquard.
6) By correcting the error in the knitting / knitting, it is possible to prevent the stitch sizes from becoming uneven at the end of the knitted fabric.
7) The knitting width that requires correction of transfer / set-up can be automatically determined in the loop length routine.

  It is not necessary to apply the control of the embodiment to the entire knitted fabric. For example, in areas such as areas 71 and 76 in FIG. 7 where the yarn is not switched, the stitch value may be corrected so that the accumulated error in the previous course is eliminated in the next course.

2 Flat knitting machine 4 Needle bed 6 Carriage 8, 9 Carrier 10 Yarn feeding device 12 Yarn processing device 14 Cone 16 Control unit 18, 19 Yarn 20 Servo motor 22 Drive roller 24 Drive roller 25 Guide roller 26 Arm 27 Encoder 28 Angle sensor 30 Processing position 31 Input interface 32 Knitting data memory 33 Target loop length memory 34 Auxiliary data memory 36 CPU
37 Error memory 38 Cumulative error memory 39 In-process yarn length memory 40 Target yarn length memory 41 to the switching position Memory number of remaining stitches 42 to the course end and the switching position 42 Output interface 43 LAN interface 44 USB drive 70 Knitting 71 to 76 Area 77 , 78 Switching line 79 Switching point

P1 In-process yarn length determination process P2 Loop length error calculation process P3 Cumulative error calculation process P4 Integration control constant determination process P5 PI control process P6 Yarn processing control process

Claims (6)

At least two needle beds, a carriage having a mountain motor that reciprocates on the needle bed and changes the stitch cam value, a carrier that supplies the needle to the needles on the needle bed, and a supply that supplies the yarn to the carrier In a flat knitting machine having a yarn device, a sensor for measuring the yarn length to be fed from the yarn feeding device, and a controller for controlling the stitch motor by the signal of the sensor and correcting the stitch value,
Since the controller corrects the error between the consumed yarn length and the target yarn length at the course of the carriage where the error has occurred, the controller corrects the stitch value every predetermined length shorter than one course, and within one course of the carriage. A flat knitting machine configured to reduce the error to a value within an allowable range . Equipped with a yarn processing device that changes the properties of the yarn by changing the yarn or dyeing the yarn, and corrects the stitch value so that the processing point of the yarn in the yarn processing device is at the switching position of the yarn on the knitting ground The flat knitting machine according to claim 1 . The control unit includes a correction value by proportional control for eliminating an error for each predetermined length shorter than one course, and an integral control for eliminating an accumulated value of errors for each predetermined length shorter than one course. 3. The flat knitting machine according to claim 1 or 2 , wherein the flat knitting machine is configured to correct the stitch value based on a sum of the correction value obtained by the above. The control unit is configured to increase the control constant of the integral control compared to other areas when the number of stitches to the end of the course is small and when the number of stitches to the yarn switching position is small. The flat knitting machine according to claim 3 , wherein: The control unit obtains the change in the yarn length consumed for the middle part of the course at the beginning of the course and at the end of the course by the loop length routine before actually knitting the knitted fabric. And a means for converting into a correction value in compilation,
When the knitted fabric is actually knitted, the stitch value is corrected by the sum of the correction value of the stitch value for correcting the error between the consumed yarn length and the target yarn length and the correction value at the stitching. And a means for correcting the stitch value based on the sum of the correction value of the stitch value for correcting the error between the consumed yarn length and the target yarn length and the correction value in the setting. The flat knitting machine according to any one of claims 1 to 4 . At least two needle beds, a carriage having a mountain motor that reciprocates on the needle bed and changes the stitch cam value, a carrier that supplies the needle to the needles on the needle bed, and a supply that supplies the yarn to the carrier In a knitting method in a flat knitting machine having a yarn device, a sensor for measuring a yarn length fed from the yarn feeding device, and a control unit that corrects the stitch value by controlling the degree motor by a signal of the sensor,
The control unit corrects the error between the consumed yarn length and the target yarn length in the course of the carriage in which the error has occurred, corrects the stitch value every predetermined length shorter than one course, and within one course of the carriage. And reducing the error to a value within an allowable range .

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