JPH10118364A - Correction of knitting cloth position - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure that detecting any stitch does not become inaccurate, even after the roller is released from a knitting cloth to be returned back to its initial position, by once releasing/moving it up from the knitting cloth toward its axial direction, and by turning it to draw back the knitting cloth tip side, after getting it to contact with the knitting cloth, as it presses the latter. SOLUTION: The roller 14 keeps the knitting cloth in a state of stretching out both the knitting cloth front and stitches toward its X-direction, cooperating with a point needle 21 stuck into a stitch at its sticking position. Upon the movement in the Y direction of the roller 14 nearing to/reaching the limit position like the allowable limit position, after returning it 14 back to its Y-direction in a state of moving it 14 up and releasing the push-pressure to the knitting cloth 12, moving it down again, changes the push-pressure position to the knitting cloth 12. Since releasing it 14 from the knitting cloth, shrinks the knitting cloth part stretched out between it 14 and hand 16, turning over a given size in a state of push-pressing the knitting cloth after returning it 14 back to its initial X-directional position, draws back the knitting cloth 12 front.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic linking apparatus for adjusting the position of a knitted fabric by moving the roller in the axial direction while pressing the knitted fabric with a roller rotatable in a feed direction. Related to position correction method.

[0002]

2. Description of the Related Art As one of automatic linking apparatuses for automatically sewing two knitted fabrics including a large number of stitches, Japanese Patent Laid-Open No.
There is an apparatus described in Japanese Patent No. 124351. This automatic linking device guides the stitches on the linking line sequentially to the needle piercing position while correcting the inclination of the knitted fabric and the position of the stitches by a knitted fabric guide device for each needle row, and stitches a plurality of point needles for each needle row. At the needle insertion position for picking, the stitches are sequentially pierced, the knitted fabric is further moved together with the point needles, and the point needles of both needle rows are sequentially approached so that the stitch of one needle row is transferred to the other needle row at the transfer position. The knitted fabric is moved to the point needle, and the two knitted fabrics pierced by the same point needle are further moved to sew the two knitted fabrics at the sewing position with a sewing machine.

A knitted fabric guide device detects one or more rollers based on an output signal while detecting the end of the knitted fabric with a pair of knitted fabric edge sensors separated in a direction perpendicular to the direction in which the knitted fabric advances. By moving the knitted fabric in the axial direction, the inclination of the knitted fabric is adjusted so that the end of the knitted fabric is located between the two knitted fabric end sensors. The knitted fabric guiding device also takes an image of the arrangement state of the stitches in the vicinity of the needle piercing position with a television camera, obtains the position of the knitted fabric based on the output signal, and displays the knitted fabric by the knitted fabric guiding means based on the obtained position information. The position of the stitch is corrected by moving the stitch while moving forward in a direction perpendicular to the forward direction while holding the stitch, thereby guiding the stitch to be sewn to the needle insertion position.

In the automatic linking apparatus as described above, when the roller of the knitted fabric guiding device reaches an allowable limit position in the axial direction, the roller is moved to secure a moving range for subsequent position adjustment of the knitted fabric. , The knitted fabric needs to be pressed again by the rollers.

However, in the conventional automatic linking device,
After the roller is separated from the knitted fabric and returned to the initial position, the knitted fabric is merely pressed by the roller, so that the knitted fabric stretched in the feed direction to facilitate detection of the stitch shrinks, and Inaccurate stitch detection.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to prevent the subsequent stitch detection from being inaccurate even if the roller is separated from the knitted fabric and returned to the initial position.

[0007]

A knitted fabric position correcting method according to the present invention adjusts the position of a knitted fabric by moving the roller in the axial direction thereof while pressing the knitted fabric with a roller rotatable in the feed direction. In an automatic linking device that guides the knitted fabric to the needle piercing position while moving, the roller is temporarily moved away from the knitted fabric in the axial direction so as to secure a movable range of the roller in the axial direction, and the knitted fabric is pressed. Preferably, the method includes bringing the roller into contact with the knitted fabric in order to rotate the roller so that the leading end side of the knitted fabric is pulled back.

[0008] The knitted fabric is usually stitched with a stitch at a portion in front of the roller, and is stretched at a portion between the roller and the stitching position to facilitate detection of the stitch. The roller adjusts the inclination of the knitted fabric by being moved in the axial direction while pressing the knitted fabric. When the roller reaches a limit position, such as an allowable limit position in the axial direction, the inclination of the knitted fabric cannot be adjusted. Therefore, when the roller reaches the vicinity of the limit position in the axial direction, the roller is separated from the knitted fabric, returned to an appropriate position such as the initial position, and then presses the knitted fabric again.

When the pressing of the knitted fabric by the roller is released,
The stretched knitted fabric shrinks. In this state, the subsequent stitch detection becomes inaccurate. For this reason, the roller is rotated while pressing the knitted fabric, and pulls back the leading end side of the knitted fabric. As a result, the front end side of the knitted fabric is stretched again, so that the subsequent stitch detection becomes accurate again.

According to the present invention, after the position of the roller in the axial direction is returned, the roller is rotated while the knitted fabric is pressed by the roller, and the leading end side of the knitted fabric is pulled back. Can be detected.

To adjust the position of the knitted fabric, the stitch arrangement state is imaged by a television camera, the inclination amount of the knitted fabric is obtained using the output signal, and the roller is moved in the axial direction to make the obtained inclination amount zero. It can be done by moving. Also,
The rotation of the roller for pulling back the knitted fabric may be performed until at least the size of the stitch in the feed direction of the knitted fabric reaches a predetermined size while detecting the stitch based on the output signal of the television camera. , May be set values. Further, the position of the knitted fabric can be adjusted by moving the knitted fabric in the axial direction with a roller while detecting the end of the knitted fabric with a photoelectric sensor.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIGS. 1 to 4, a stitch detecting device, that is, an image processing device, includes a knitted fabric guiding device 10 for guiding a stitch to a needle piercing position for needle piercing with a point needle, that is, picking up a stitch. It is incorporated as a device for detecting a stitch to be stitched (a target stitch). The knitted fabric guiding device 10 is incorporated in a linking device that automatically stitches two knitted fabrics.

The knitted fabric guiding device 10 includes a roller 14 for moving the knitted fabric 12 forward in the direction of arrow A, a pair of knitted fabric pressers or hands 16 arranged at the needle sticking position B, and a knitted fabric around the needle sticking position B. The camera includes a television camera 18 that captures an image of the state 12 and a stitch detection device that calculates position information of a target stitch based on an image signal obtained from its output, that is, an image processing device 20. The image processing device 20 is a knitted fabric guiding device 1
0, and the knitted fabric guiding device 10 is controlled by a linking device.

The knitted fabric 12 is a roller 1 of the knitted fabric guiding device 10.
4 and the hand 16 directly receive the moving force to move continuously or intermittently. Knit fabric 1 with two or more rollers 14
2 may be sequentially arranged in the moving direction, or two or more hands may be sequentially arranged in the moving direction of the knitted fabric 12. Knitted fabric 1
In No. 2, the point needle 21 is pierced into a predetermined stitch at a needle piercing position B in front of the roller 14.

The roller 14 extends upstream in the moving direction of the knitted fabric 12, that is, in the feed direction (X direction) with respect to the hand 16 so as to extend in the direction (Y direction) perpendicular to the movement path of the stitch to be stitched, ie, the linking line 22. Are located. The hands 16 extend parallel to the side of the needle insertion position B in the front-rear direction (X direction), and face each other with respect to the linking line 22.

The roller 14 is moved in the axial direction (Y direction) of the roller 14 while pressing the knitted fabric 12 against supporting means such as a guide while rotating in the feed direction of the knitted fabric 12 (direction of arrow A). Thereby, the inclination of the knitted fabric 12 with respect to the linking line 22 and the position of the target stitch are adjusted. Such a roller 14 acts as a tilt adjusting mechanism of the knitted fabric 12 and also acts as a part of a position adjusting mechanism for a target stitch, that is, a part of a positioning mechanism. As shown in FIG. 4, the roller keeps the front knitted fabric portion and the stitch stretched in the X direction in cooperation with the point needle 21 pierced at the stitching position B at the stitching position B.

When the amount of movement of the roller 14 in the Y direction approaches a limit position such as an allowable limit position, the roller 14
As shown in FIG. 5, after being raised (Z direction) and returned to the Y direction with the pressing of the knitted fabric 12 released, it is lowered again (Z direction).
Direction), the pressing position on the knitted fabric 12 is changed. When the roller 14 separates from the knitted fabric 12, the stretched knitted fabric portion between the roller 14 and the hand 16 contracts as shown in FIG.

From the above, after the roller 14 is returned to the initial position in the X-direction, as shown in FIG. Pull back the side. Thereby, the roller 14 and the hand 1
6 is stretched in the X direction, and the stitch is expanded in the X direction as shown in FIG. The amount of reverse rotation of the roller is detected while detecting the stitch based on the output signal of the TV camera.
It may be at least until the size of the stitch in the feed direction of the knitted fabric reaches a predetermined size, or may be a preset value.

Both hands 16 are simultaneously moved in the X, Y and Z directions in synchronization. That is, the hand 16 is displaced by a stitch to be pierced by being moved in a predetermined direction (the X direction and the Y direction) while pressing the knitted fabric 12 against a support means such as a horizontal guide plate. Position. Therefore, the hand 16 also acts as a part of a position adjusting mechanism, that is, a positioning mechanism for the knitted fabric and thus the stitch to be stitched.

The hand 16 is separated from each other in the Y direction while holding the knitted fabric, thereby expanding the stitch located between the pair of hands 16, that is, the stitch near the needle sticking position B in the Y direction as shown in FIG. By moving forward in the X direction while moving in the Y direction while holding the expanded stitch, the knitted fabric 12 is advanced at substantially the same speed as the feed speed of the roller 14. Thereby, the stitch in the vicinity of the needle sticking position B can easily identify the stitch,
The roller 14 and the hand 16 largely expand in the X and Y directions so that the needle can be stably and easily inserted.

When the stitch to be stitched is guided to the stitching position B, the hand 16 is retracted to the initial position with the pressing of the knitted fabric 12 released, and then performs the above-described expansion and positioning operations. Instead of the pair of hands 16, a pair of rollers that operate similarly to those hands may be used. The hand 16 may be reciprocated in the X direction for each stitch to be stitched, or the hand 16 may be reciprocated in the X direction for each of a plurality of stitches to be stitched.

The television camera 18 photographs a knitted fabric located between the needle 16 and the hand 16 at the needle sticking position B and the vicinity thereof, and supplies an image signal to the image processing device 20. The voltage level of the image signal obtained at the output of the television camera 18 differs between a stitch portion having optical characteristics such as brightness and a portion of a knitting yarn forming the stitch. It differs greatly with the surroundings. The image processing device 20 detects a stitch using a difference in the level of the output signal of the television camera 18 caused by such a difference in optical characteristics. In order to easily identify the stitch, the needle piercing position B and its vicinity are irradiated with light from the side of the television camera 18 or from the side opposite thereto.

The image processing device 20 sets a detection area in the image signal supplied from the television camera 18 and, based on the image signal in the detection area, relates to the position of the stitch to be stitched and the X direction of the knitted fabric 12. Calculate the tilt amount (tilt angle),
The information is supplied to the control device 24. Control device 24
The movement and rotation of the roller 14 and the hand 16 are determined based on the position information and the tilt amount supplied from the image processing apparatus 20.
Is output to the drive circuit 26 for controlling the movement of the drive signal.

The knitted fabric guiding device 10 guides stitches on each linking line to a needle piercing position provided for each linking line in a knitted fabric such as a collar knitted fabric having parallel linking lines on both sides of the knitted fabric. And a device for guiding a stitch on the linking line to a needle insertion position in a knitted fabric such as a body knitted fabric having one linking line. Further, the operation of the knitted fabric guiding device 10 is the same regardless of whether the knitting fabric guiding device 10 is used for any linking line. The linking line refers to a portion of the knitted fabric to be sewn.

Referring to FIG. 2, the image processing apparatus 20 includes:
A predetermined stitch is detected by using a binarizing unit 30 for binarizing an image signal output from the television camera 18 and the binarized signal obtained by the binarizing unit 30, and the position of the stitch is detected. And a stitch detecting means for calculating the amount of inclination of the knitted fabric 12, that is, a stitch determining means 32, and an output means 34 for outputting the stitch position and the amount of inclination obtained by the stitch determining means 32 to the control device 24.

The binarizing means 30 sets a detection window, that is, a detection area 38 (see FIGS. 4 and 6) based on the image signal output from the television camera 18, and sets the image signal in the set detection area 38. Is binarized. Detection area 38
Can be set, for example, by extracting a signal corresponding to the detection area 38 from an output signal of the television camera 18 and electrically masking signals corresponding to other areas. The output signal of the television camera 18 has, for example, a voltage level equal to a predetermined reference value (binary level).
If this is the case, the process is set to the truth value “1”, and if the reference value is not reached, the process of setting the truth value to “0” is performed for each elementary image, thereby enabling binarization.

The detection area 38 is located at a position on the right rear (lower left, that is, diagonally below) from the stitch 40 ₁ (reference stitch) in the forward direction of the knitted fabric 12 (see FIG. 4), and the stitch 42 in the forward direction of the knitted fabric 12. _{It is set} from ₁ to the left rear (upper left, that is, diagonally above) (see FIG. 6). Detection area 38
Is a rectangular area having a predetermined length in the X and Y directions, and is separated by a predetermined distance in the X direction and the Y direction from the center of gravity of the reference stitch (the position indicated by + in FIG. 4). The size and position of the detection area 38 can be set in the binarizing means 30 in advance according to the knitted fabric 12 to be sewn.

The stitch deciding means 32 detects the obliquely lower detection area 3
Based on the binary signal corresponding to the image signal in the 8 detects the stitches 42 ₁ of oblique lower adjacent nearest to the reference stitch 40 ₀ for the direction of obliquely downward, the stitch new standards stitch 4
2 ₁ and a binarized signal corresponding to the image signal in the diagonally upper detection area 38, and a diagonally upper diagonally closest to the reference stitch 42 ₁ in the diagonally upper direction. detecting the stitches 40 _1, and a second processing step is sequentially executed to further new reference stitch 40 ₁ the stitch, the stitch should needlestick criteria stitch detected in the second process step (target stitch) Perform a decision step.

The step of sequentially executing the first and second processing steps and then executing the determining step is referred to as a "target stitch detecting step" in the present invention. Image processing device 20
Repeats the target stitch detection process until the detection of all stitches to be stitched is completed. In the following description,
Each time the first and second processing steps are performed once, the determining step is performed.

The reference stitches are the stitches detected in the previous first and second processing steps. Therefore, the reference stitch at the start of linking is a stitch that has been first punctured by a worker prior to the start of linking, and thereafter is a stitch detected by the first and second processing steps.

The stitches 40 ₀ is a target stitch obtained by the previous target stitch detection step, the needle has been pierced.
Moreover, the stitch 40 ₀ is used as the initial reference stitch in the first treatment step in the present target stitch detecting step. The reference stitch 42 ₁ obtained in the second processing step is:
Used as a reference stitch 42 ₁ similar to the target stitch 40 ₀ in the first processing step of this in the next first treatment step. Standard stitch 40 obtained in the second processing step
_1, among the stitches in the detection area 38 on diagonal are closest stitches reference stitch 42 _1, are stitches should needlestick the next stitch 40 to be previous needling (target stitch).

For the stitch closest to the reference stitch, the center of gravity of the stitch in the detection area 38 is determined for each stitch forming a complete closed area, and the center of gravity of the stitch closest to the center of gravity of the reference stitch is determined. The stitch can be detected by obtaining the stitch. The center of gravity position of the stitch is obtained, for example, by calculating the total area of a closed region surrounded by an elliptical contour line in FIGS. 4 and 6 or the coordinate positions of all pixels in the closed region, and then calculating the calculated total area or coordinate position. It can be obtained by a known method of mathematical processing. The position of the center of gravity can be represented as a coordinate position on the knitted fabric guide device 10 or the image processing device 20.

If the target stitch cannot be detected in the detection area 38 in the first or second processing step, the reference stitch obtained in the previous first or second processing step and the new stitch are used. A value obtained by adding a value corresponding to the difference between the center of gravity of the stitch and the center of gravity of the current reference stitch may be used as the center of gravity of the new reference stitch.

The stitches and their center of gravity obtained as described above are stored as new reference stitches and their coordinate positions in the stitch determination means 32, respectively. Further, the target stitch and the position of the center of gravity obtained as described above are stored as a new target stitch and its coordinate position in the stitch determining means 32 for each target stitch detecting step, and are controlled via the output means 34. Output to the device 24.

The stitch determining means 32, for each target stitch detection step, uses the detected reference stitch and target stitch and their coordinate positions to tilt the knitted fabric 12 with respect to a virtual reference line on the knitted fabric guiding device 10. The amount θ is calculated, the inclination amount θ is stored, and supplied to the control device 24 via the output means 34.

The inclination amount θ of the knitted fabric 12 is determined by the coordinate positions X ₁ , Y ₁ of the first reference stitch in the target stitch detection process a plurality of times.
And the following calculation using the coordinate positions X _n and Y _n of the last target stitch obtained in the target stitch detection process for the plurality of times. However, the tilt amount θ may be calculated each time the target stitch is detected, or the tilt amount θ may be calculated each time the reference stitch is detected.

Tan θ = (Y _n −Y ₁ ) / (X _n −X ₁ ) (1)

The control device 24 outputs a control signal for reducing the inclination of the knitted fabric to the drive circuit 26 based on the coordinate position and the inclination amount supplied from the image processing device 20. The roller 14 is driven by the drive circuit 26 and moved in the Y direction while pressing the knitted fabric, and corrects the inclination of the knitted fabric 12. At this time, the pair of hands 16 are lifted to release the knitted fabric. Then, the target stitch is detected again for the same knitted fabric portion.

When the inclination amount θ is within the allowable range, the control device 24 does not output a control signal for setting the inclination of the knitted fabric to zero, and a control signal for guiding the target stitch to the needle piercing position B. Is output to the drive circuit 26. The drive circuit 26 guides the target stitch to the needle insertion position B by moving the hand 16 in the X direction and moving the roller 14 in the Y direction while rotating the roller 14.

As described above, when the inclination amount θ of the knitted fabric exceeds the allowable value, the control device 24 outputs a control signal for reducing the inclination of the knitted fabric to the drive circuit 26. Thereby, the roller 14 is moved in the X direction while pressing the knitted fabric,
Correct the inclination of the knitted fabric.

When the roller 14 has reached the vicinity of the limit position in the Y direction, the roller 14 is raised to return to the initial position in the axial direction with the pressing of the knitted fabric 12 released, and then lowered again. Then, the knitted fabric 12 is pressed, and in this state, the knitted fabric 12 is reversed by a predetermined amount. Thereby, the knitted fabric portion between the roller 14 and the hand 16 is pulled back in the X direction in a state where the knitted fabric 12 is pressed by the hand 16, so that the stitch between the roller 14 and the hand 16 is moved in the X direction. Be extended.

The amount of reverse rotation of the roller 14 is determined based on the amount of shrinkage of the knitted fabric set in the linking device in the X direction in advance, and is set based on the amount. More precisely, it is desirable to set the amount of reverse rotation of the roller 14 according to the type of the knitted fabric.

Further, the roller 14 may be reversed based on the set amount, or the roller 14 may be reversed while detecting the state of the stitch. In detail, while rotating the roller 14 at a very low speed, the area of an arbitrary stitch or the width of the arbitrary stitch in the X direction is detected, and when those values reach a predetermined desired value, the roller 14 is turned off. You may make it stop.

Alternatively, each time the roller 14 is reversed by a predetermined minute amount, the area of an arbitrary stitch or the width of the arbitrary stitch in the X direction is detected, and the time when these values reach a predetermined value is detected. , The reverse rotation of the roller 14 may be stopped. Further, the rollers 14 may be replaced with the pair of hands 16 separated from the knitted fabric, and the rollers 14 may be reversed in that state.

The pair of hands 16 presses the knitted fabric at the initial position, and separates each other in the Y direction to expand the knitted fabric.
At this time, the knitted fabric located between the pair of hands 16 is imaged, and the target stitch detection process is executed n times based on the one image signal, and the positions of the n stitches to be stitched are obtained. Then, the detected n stitches are sequentially guided to the needle sticking position B by the hand 16.

The above n can be any number of one or more, and is set to three in the following description. Hand 16, and to guide the end to the target stitch 40 ₃ detected to needling position B,
After being retracted to the initial position in the X direction while being separated from the knitted fabric 12, they are separated from each other in the Y direction while pressing the knitted fabric 12 again. As a result, the knitted fabric portion between both hands 16 becomes Y
Since the stitch is extended in the direction, the stitch between both hands 16 is extended in the Y direction.

One embodiment of the stitch detection operation by the knitted fabric guiding device 10 will be described in more detail with reference to FIGS. In the following embodiment, the first and second processing steps are executed once in one target stitch detection step, and the nth target stitch detection step is continuously executed in one capture of a knitted fabric image. Here is an example.

The operation of the knitted fabric guiding device 10 is started when an operator pierces both front and back stitches (reference stitches) of a predetermined point needle of the linking device. The needle stitched first stitch is used as the first reference stitch, and its coordinate position is used as the center of gravity position of the first reference stitch. Immediately after the operation of the knitted fabric guiding device 10 starts, the coordinate position of the needle sticking position B is set as the center of gravity position of the first reference stitch. In addition, regarding the case where the collar knitted fabric is sandwiched between the body knitted fabrics and linked, of the two linking lines of the collar knitted fabric,
The linking line corresponding to the front side of the body knitted fabric after pinching linking is called the front side of the collar, and the linking line corresponding to the back side is called the back side of the collar.

First, the knitting fabric guiding device 10 sets the count value of the counter for counting the number of continuous detection stitches on the front side of the collar to zero (step 101), fetches an image signal on the front side of the collar from the television camera on the front side of the collar, and The image signal is binarized at a predetermined binarization level (step 102).

[0050] Then, the knitted fabric guiding device 10 sets the reference stitch 40 ₀ detection area 38 of the appropriate size obliquely downward with respect to 4, reference stitches 40 in the detection region
_The lower oblique stitch 42 ₁ closest to ₀ is detected (step 1).
03), the obliquely lower stitch 42 ₁ detected as shown in FIG.
Regard to set the detection area 38 of the appropriate size on a diagonal, to detect the stitches 40 ₁ on the nearest oblique to the reference stitch 42 ₁ in the detection area (step 104). The stitch closest to the reference stitch in the detection area can be detected by comparing the center of gravity position of the stitch in the detection area.

Next, the knitted fabric guiding device 10 sets the detected stitches as the reference stitches, and sets
A stitch 40 ₁ detected in the goal stitch (step 10
5), 1 is added to the number of continuous stitches on the top of the collar (step 106), and then it is determined whether or not the number of continuous stitches on the top of the collar has reached the set value n of the maximum number of continuous stitches (step 107). ). Set value n of maximum continuous stitch detection count
Can be any integer greater than or equal to one.

If the result of determination in step 107 is that the number of times of continuous stitch detection has not reached the set value n, the knitted fabric guiding device 10 repeats steps 103 to 107.

However, if the result of determination in step 107 is that the number of times of continuous stitch detection has reached the set value n, the knitted fabric guiding device 10 calculates the inclination amount θ of the knitted fabric from the detected target stitch row ( Step 108). Knitted fabric inclination θ
Can be calculated by calculating equation (1).

Next, the knitted fabric guiding device 10 determines whether or not the calculated inclination amount θ is equal to or smaller than the allowable value (step 109). The allowable value of the inclination amount can be set in the control device 24 in advance according to the type of the knitted fabric to be sewn, for example.

As a result of the determination in step 109, if the inclination amount θ exceeds the allowable value, the knitting fabric guiding device 10 sets a flag indicating that the stitch detection on the front side of the collar has failed (step 110), and sets the inclination. Is less than that tolerance,
A flag indicating that stitch detection on the front side of the collar has been successful is set (step 111).

Next, the knitted fabric guide device 10 detects the stitches on the back side of the collar in steps 101 to 101 of the stitch detection on the front side of the collar.
The same step as 111 is performed for the stitch on the back of the collar to detect the target stitch on the back of the collar (step 112).

Next, the knitted fabric guiding device 10 determines whether both the detection of each target stitch on the front side of the collar and the detection of each target stitch on the back side are successful (step 113). This determination can be made using the flags set in steps 110 and 111.

If the result of determination in step 113 is that any of the stitches has been detected successfully, the knitted fabric guiding device 10
The detected position coordinates of each target stitch are supplied to the control device 24 (step 114). As a result, a control signal for advancing the knitted fabric is output from the control device 24 to the drive circuit 26. As a result, the roller 14 and the hand 16 displace a predetermined amount in the Y direction while advancing the knitted fabric so as to guide the target stitches one by one to the needle insertion position. The hand 16 is n
When the stitch is advanced, it is retracted to a predetermined position.

However, if the result of determination in step 113 is that the detection of any of the target stitches is unsuccessful, the knitted fabric guiding device 10 corrects the inclination of the knitted fabric and then executes steps 101 to 113 again. (Step 115). That is, when the inclination is corrected, a control signal for guiding the target stitch to the needle insertion position is not output.
Without being sent in the direction. After the correction of the inclination amount θ, the knitted fabric image is taken in the same knitted fabric portion again, and the three stitches to be stitched are detected again.

In this inclination correcting step, a control signal for setting the inclination amount θ of the knitted fabric to zero is output from the control device 24 to the drive circuit 26. Therefore, with the hand 16 raised, the rollers 14 The fabric is displaced in the Y direction while pressing the fabric, thereby correcting the inclination of the knitted fabric.

Next, the knitted fabric guiding device 10 determines whether or not detection of all target stitches to be sewn has been completed (step 116). As a result of the determination in step 116, the knitted fabric guiding device 10 returns to step 101 if the detection of all stitches has not been completed, and ends the operation if completed.

The stitch detection on the back side of the collar may be performed in parallel with the stitch detection on the front side of the collar. The stitch to be stitched (target stitch) may be detected each time the first and second processing steps are performed once, or may be detected each time the first and second processing steps are performed a plurality of times. Further, the stitch to be stitched is the first stitch in the illustrated example.
The closest stitch in the X direction with respect to the reference stitch 40 ₀ in the processing step. Therefore, in the X direction with respect to the reference stitch 40 ₀ in the first processing step to set the detection region 38 shown in FIG. 6, among the stitches in the detection region 38, closest stitches reference stitch 40 ₀ first May be detected in the processing step.

By detecting the stitches of the above-mentioned collar stitch, the stitches to be stitched are gradually moved to the side of the linking mechanism while being guided to the stitching position. It is passed along with those point needles, and is sewn while being pinched around the neck of the body knitted fabric. The stitch detection of the neckline of the body knitted fabric is
This may be performed by the same method as described above, or by another method. An example of another method of detecting a stitch around the neck will be described later in connection with the embodiment of the linking device.

One embodiment of the method of correcting the inclination of the knitted fabric in step 115 will be described with reference to FIGS. In FIG. 10, the initial position of the roller 14 is indicated by a solid line, and the position of the roller 14 moved to the vicinity of the left limit position is indicated by a chain line. YR0 and YL0 are distances from the roller 14 at the initial position to the right and left limit positions (right limit and left limit), respectively, YR1 and YR.
L1 is the right and left control margins, respectively.

If the detection of the front or back stitch fails, the knitted fabric guiding device 10 determines whether or not the failure is the front (step 120). If the failure is the front side, the knitted fabric guiding device 10 corresponding to the front side calculates the correction amount ΔY1 of the roller 14 necessary to make the inclination amount θ zero, and confirms the direction in which the roller 14 should be displaced. (Step 121) Then, it is determined whether or not the correction amount ΔY1 is smaller than the correction margin amount YR1 or YL1 (Step 12).
2).

If the result of determination in step 122 is that the correction amount ΔY1 is less than the correction allowance amount YR1 or YL1, the knitting fabric guiding device 10 outputs the moving direction of the roller 14 and the correction amount ΔY1 to the control circuit 24 ( Step 12
3), the correction margin amounts YR1 and YR using the correction amount ΔY1.
L1 is corrected (step 124). Thus, the roller 14 is moved in the Y direction while pressing the knitted fabric 12, and the inclination of the knitted fabric is corrected to at least an allowable value.

In the correction of the correction allowance in step 124, the correction amount ΔY1 is subtracted from the correction allowance YR1 or YL1 on the side to which the roller 14 has been moved, and the correction amount ΔY1 is added to the correction allowance YL1 or YR1 on the opposite side. It is done by doing.

If the result of determination in step 122 is that the correction amount ΔY1 is smaller than the correction allowance amount YR1 or YL1, the knitting fabric guiding device 10 replaces the roller 14 (step 125), and the correction allowance amounts YR1 and YL1. Are corrected to YR0 and YL0, respectively (step 12).
6) Reverse the roller 14 by a predetermined amount (step 12)
7). Next, it is determined whether or not the failure is the reverse (step 128).

In step 125, the roller is repositioned while the knitted fabric 12 is pressed by the hand 16, the roller 14 is separated from the knitted fabric 12, the roller 14 is returned to the initial position, and the knitted fabric 12 is pressed again by the roller 14. Including doing.
As a result of the reverse rotation of the roller 14 in step 127, FIG.
As shown in (2), the knitted fabric portion between the roller 14 and the hand 16 is pulled back, and the stitch of the knitted fabric portion is expanded in the X direction.

If the result of determination in step 120 is that the stitch detection error is not on the front side, the knitted fabric guiding device 10 determines whether or not the stitch detection error is on the back side (step 1).
28). If the result of this determination is that the side is the back side, the knitted fabric guiding device 10 corresponding to the back side performs steps 121 to 1 for the front side.
The same processing as 27 is performed (steps 129 to 135).

If the result of the determination in step 128 is that the stitch detection error is not on the reverse side, or after step 132 and after step 135, the knitted fabric guiding device 10
To step 116 in.

Instead of detecting stitches diagonally downward and diagonally above, stitches behind the knitted fabric in the feed direction may be sequentially detected. Specifically, the stitch closest to the reference stitch among the upstream stitches existing in the X direction from the position of the first reference stitch is set as the stitch to be needle-stitched next, and the same conditions are applied to the stitch. The stitch to be filled may be set as the stitch to be stitched.

Also, instead of directly detecting the stitch position by comparing the center of gravity position of the stitch in the detection area with the reference position, the position of each stitch in the detection area is passed through the reference position to X
The stitch may be detected by comparing with a slope line of the knitted fabric extending in the direction. An embodiment of the latter stitch detection method will be described with reference to FIGS.

First, the target stitch 6 obtained two times before and the last time
A virtual inclination line 68 passing through the center of gravity positions 64 and 66 of 0 and 62 is obtained. Next, the stitch pitch P (the center of gravity position 64) in the direction of the inclination line 68 from the position of the current reference stitch 62
Formed by the range of the allowable values in the X direction + R ₁ , −R _{2 and} the range of the fixed allowable values in the Y direction + R ₃ , −R ₄ centered at a position separated by a distance of (calculated from the distance between R and R). Is determined. Next, the center of gravity position of one or more stitches in the detection area 70 is obtained, and the stitch 74 having the center of gravity position 72 closest to the inclination line 68 is detected as the next reference stitch.

In the embodiment shown in FIGS. 12 and 13, R ₁ and R ₂ are αP and βP, respectively, α and β are each an appropriate value less than 1, and P is the center of gravity 64, 66 in the direction of the inclination line 68. Distance, and L ₁ ,
L ₂ and L ₃ is the distance of each stitch and the slope line 68. Further, both + R3 and -R4 are appropriate constant values. More specifically, the width of the detection region 70 in the X direction
From the inclination amount θ of the knitted fabric and R ₁ and R ₄ , a value satisfying the following expression (2) can be obtained.

X-direction width = (R ₁ + R ₂ ) cos θ (2)

In the embodiment shown in FIGS. 12 and 13, the detection area 70 is corrected by changing the pitch P due to the expansion and contraction of the knitted fabric in the X direction.

In each of the above embodiments, the reference stitch and the target stitch are detected from the position of the center of gravity of the stitch. The so-called circumscribed rectangle contacting the outside of the stitch and the so-called inscribed rectangle contacting the inside of the stitch are used to determine the reference stitch and the target stitch. The position of the stitch may be detected by another method such as detecting the stitch. Instead of using the position of the center of gravity as the position of the stitch, the coordinate value of another part may be used as the position of the stitch. Furthermore, instead of making the detection area rectangular, polygons such as hexagons and octagons,
Other shapes such as a circle and an ellipse may be used.

The inclination amount θ of the knitted fabric 12 is determined by the coordinate positions X ₁ , Y ₁ of the first reference stitch in the target stitch detection process a plurality of times.
And the calculation of Expression (1) using the coordinate positions X _n , Y _n of the target stitch obtained in the target stitch detecting step a plurality of times later. However, the tilt amount θ may be calculated each time the target stitch is detected, or the tilt amount θ may be calculated each time the reference stitch is detected.

Next, an embodiment of a linking device using the above-described knitted fabric guiding device 10 will be described with reference to FIGS.

The linking device 20 shown in FIGS.
No. 0 is used as a device for sandwiching and suturing an annular stitch portion of the knitted fabric 202, that is, the first knitted fabric portion, with a band-shaped or annular knitted fabric 204. Therefore, the knitted fabric 204
Is stitched to the knitted fabric 202 at one edge and the other edge. For example, the knitted fabric 202 can be a body knitted fabric in which a front body and a back body are sewn, the knitted fabric 204 can be an attached knitted fabric such as a collar knitted fabric, and the sewn portion of the knitted fabric 202 can be a neckline portion. The stitched portion of the knitted fabric 204 can be a collar knitted fabric. The collar knitted fabric is formed into an annular shape by sewing both ends in advance over half of the width of the knitted fabric.

The linking device 200 includes a pair of eye-picking needle piercing devices 206 and 208, each of which picks up a stitch to be stitched to each other and pierces a point needle in the stitch, and first, second and third knitting fabric guiding devices. And both knitted fabrics 202,
And a common knitted fabric moving device for moving the moving fabric 204.

Needle moving device, ie, eye picking needle sticking device 20
In Nos. 6 and 208, the needles 210 and 212 are circularly arranged, that is, juxtaposed, so that the reciprocating directions of the point needles 210 and 212 are substantially orthogonal. The needle rows of the picking needle stickers 206 and 208 are held on the drums 214 and 216 of the needle rotating / moving device, respectively, and are rotatable together with the drums 214 and 216 in the direction A in which the needles are arranged. The drum 214 is a drum 216
Are formed integrally on the front surface of Eye picking device 2
06, the first needle sticking position B
1 and a third needle insertion position B3 are set. A second needle insertion position B2 is set on the movement path of the needle 212 of the eye-picking needle insertion device 208.

The needle 210 is fixed to the first needle insertion position B1 and the third needle insertion position B1 by a fixed guide 218 as a needle reciprocating device and a needle driving member 220 as a needle driving device for needle insertion.
And then protrudes in two stages at two positions, that is, the needle piercing position B3, and returns to the original position after passing through the suturing position D.

As shown in FIG. 17, the drum 214 has a bearing 2 on a hollow shaft 224 on a fixed frame 222.
26 and rotatably supported via a groove cam 228, and is rotatably moved in a direction A at a predetermined speed by a motor 230 and gears 232 and 234. Drum 214
Has a plurality of radially extending grooves 236 (FIG. 1).
8 and 19) are formed at equal pitches in the circumferential direction. Each needle 210 is received in a groove 236 so as to be slidable in the radial direction of the drum 214 inside the drum 214, and the fixed guide 218 is rotated with the rotation of the drum 214.
Thus, the drum 214 is driven, that is, reciprocated in the radial direction of the drum 214, that is, in the direction in which the needle moves.

The fixed guide 218 is positioned at the first needle insertion position B
The needle 210 protruded at the first position is inserted into the third needle insertion position B3.
After passing through the suture position D, the needle 210
Retreat. Long needle drive member 220 for needle drive
Is swingably supported by a fulcrum pin 238 at a fixed position so as to protrude the needle 210 at the first needle insertion position B1, and is connected to a crank pin 242 by a crank rod 240.

The drive shaft 244 is rotatably supported by the hollow shaft 224, and has a motor 246 and a gear 24.
8,250. Needle 210 being retracted
Is in the first needle insertion position B with the rotation of the drum 214.
1, the needle driving member 220 is moved so as to push up the needle 210 that has reached the position B1, so that the needle 210 pierces the stitch of the knitted fabric 204 guided to the first needle piercing position B1. Is done. The needle 210 pierced through the knitted fabric 204 is not released from the engagement with the needle driving member 220 by the rotation of the drum 216, but is engaged with the fixed guide 218, and thereafter the fixed guide 218 is rotated with the rotation of the drum 216. 218 controls the amount of protrusion.

As shown in FIG. 17, the needle 212 of the eye-picking needle sticking device 208 is inserted into a plurality of holes formed in the drum 216 and held on the drum 216 so as to be able to advance and retreat in the axial direction of the drum 216. , And rotatably received by a groove cam 228 fixed to the frame 222.
Further, the motor 230 and the gears 232 and 234 are rotated in the feed direction A at a predetermined speed together with the drums 214 and 216. The needle 212 is also projected or advanced when the needle driving member (not shown) reaches the needle piercing position B2, whereby the needle 212 is pierced into the stitch of the knitted fabric 204 guided to the needle piercing position B2. Groove cam 228
Is configured to allow the needle 212 that has reached the needle sticking position B2 to move in the radial direction (axial direction) of the drum 216.

The linking device 200 has three needle piercing positions B so as to guide the knitted fabric to correct the stitch position.
This is an automatic linking device including first, second, and third knitted fabric guiding devices provided for each of 1, 1, B2, and B3. The first knitting fabric guiding device guides one of two edges of the knitted fabric 204 to be sewn to the first needle insertion position B1, and the second knitted fabric guiding device guides the two edges of the knitted fabric 204 to be sewn. The other of the sections is guided to the second needle piercing position B2, and the third knitting fabric guiding device is
02 is guided to the third needle insertion position B3.

As shown in FIGS. 14 and 15, the first knitted fabric guiding device moves one edge of the knitted fabric 204 toward the first needle insertion position B1 on the upstream side of the first needle insertion position B1. A roller 254 to be advanced, a pair of hands 256 arranged at a first needle insertion position B1, and a first needle insertion position B1
TV camera 258 for capturing the state of the knitted fabric in the vicinity
And Note that the pair of hands 256 is shown only in FIG.

The roller 254, the hand 256, and the television camera 258 correspond to the roller 14,
It corresponds to the hand 16 and the television camera 18 and operates similarly to their counterparts. Therefore, the television camera 258 is connected to the image processing device shown in FIG. 2 which is common to the second knitting fabric guiding device, and the roller 254 and the hand 256 are connected to the common image forming device shown in FIG. It is driven by the driving circuit 26 shown.

In the first knitted fabric guiding device, the roller 254, which is a knitted fabric position adjusting mechanism, moves in the axial direction while pressing one edge of the knitted fabric 204, thereby moving the knitted fabric 204.
Correct the inclination of one of the edges. The roller 254 moves in the axial direction while rotating and pressing one edge of the knitted fabric 204, thereby guiding the stitch of the edge together with the hand 256 to the first needle insertion position B1.

As shown in FIGS. 14 to 16, the second knitted fabric guiding device directs the other edge of the knitted fabric 204 to the first needle insertion position B1 on the upstream side of the second needle insertion position B2. A roller 264 to be advanced, a pair of hands 266 arranged at a second needle insertion position B1, and a second needle insertion position B2
And a television camera (not shown) that images the state of the knitted fabric in the vicinity. In FIG. 15, the first and second knitted fabric guiding devices are omitted.

Roller 264, hand 266, and television camera correspond, respectively, to roller 14, hand 16, and television camera 18 in FIG. 1, and operate similarly. Therefore, the television camera of the second knitting fabric guiding device is connected to the image processing device shown in FIG.
And the hand 266 are the same as those in the first knitted fabric guide device shown in FIG.
Is driven by the driving circuit 26 shown in FIG.

In the second knitted fabric guiding device, the roller 264 serving as a knitted fabric position adjusting mechanism is moved in the axial direction while pressing the other edge of the knitted fabric 204, whereby the knitted fabric 204 is moved.
Correct the inclination of the other edge of the. The roller 264 moves in the axial direction while rotating and pressing the other edge of the knitted fabric 204, thereby guiding the stitch of the edge together with the hand 266 to the second needle insertion position B2.

As shown in FIGS. 14 to 16, the third knitting fabric guiding device includes a pair of knitting fabric end sensors 270 for detecting the end of the knitting fabric 202 on the upstream side of the third needle insertion position B3.
And a roller 272 for adjusting the position of the edge of the knitted fabric 202. The third knitting fabric guide device is configured such that the roller 272 moves in the axial direction while rotating and pressing the edge of the knitted fabric 202 based on the detection of the knitted fabric edge by the two knitted fabric sensors 270. While adjusting the position of the stitched portion of the ground 202, the stitched portion is guided to the third needle insertion position B3. The output signals of the two knitted fabric edge sensors 270 are supplied to the control device 24 shown in FIG. 2, and the rollers 272 are driven by the drive circuit 26 shown in FIG.

The control device 24 not only generates a control signal for controlling the rollers 254 and 264 and the hands 256 and 266 based on the signal supplied from the image processing device 20, but also outputs a signal supplied from the quantity sensor 270. And generates a control signal for controlling the roller 272.

The knitted fabric moving device includes a feed roller 274, a driven roller 276 that sandwiches the knitted fabrics 202 and 204 in cooperation with the feed roller 274, and a feed roller 274 that rotates the rollers 254, 264 and 272 of the knitted fabric guide device. Or drum 21
And a drive mechanism (not shown) for rotating in synchronism with the rotation of 4,216.

The knitted fabric 202 has a sewn portion fed by a feed roller 274.
And a cylindrical cover 278. In contrast,
The knitted fabric 204 is hung on a feed roller 274 and both drums 214 and 216 of the eye-picking needle stickers 206 and 208. Both the knitted fabrics 202 and 204 are
4 is moved by rotating the drums 214 and 216 in synchronization with each other.

When the knitted fabrics 202 and 204 are set, one edge of the annular knitted fabric 204 is pierced with all the protruding needles on the side of the eye-picking needle piercing device 206. Also, knitted fabric 2
The other edge of 04 is pierced by all the protruding needles on the side of the eye-picking needle piercing device 208. The knitted fabric 202 is pierced by all the needles downstream of the third needle piercing position B3 among the protruding needles on the eye picking needle piercing device 206 side.

The knitted fabric 204 is bent into an L shape by an L-shaped bent guide 280, and in this state, one edge portion is moved to the first knitted fabric guide with the rotation of the needle rotation moving device. The device is guided to the first needle insertion position B1 and the other edge is guided to the second needle insertion position B2 by the second knitted fabric guiding device. As a result, the stitches on both edges are
The guide is correctly guided to the first or second needle insertion position B1 or B2.

The vertical wall portion of the guide 280 extends to the second needle insertion position B2 as shown in FIGS. As shown in FIG. 15, the horizontal plate portion of the guide 280 has a narrow width from the first needle insertion position B1, and is located between the needle row on the drum 216 side and the drum 214, and It extends more than half a circumference in the circumferential direction of the drum 214 from the needle sticking position B1.

In the knitted fabric 204, the needle 210 is pierced into the stitch at one edge at the first needle piercing position B1, and the needle 212 is pierced through the stitch at the other edge at the second needle piercing position B2. Thereafter, the needles 210 and 212 further pierced
At the same time, it is moved toward the third needle insertion position B3. After the needle 210 is pierced into the stitch at one edge of the knitted fabric 204 and moved to just before the third needle piercing position B3, the inside of the arc-shaped guide 282 together with one edge of the knitted fabric 204 is moved. Pass through.

The guide 282 is attached to the cover 278. The sensor 270 and the roller 272 of the third knitting fabric guiding device are arranged outside the cover 278.

In the knitted fabric 202, the edge to be sewn is moved by the third knitted fabric guiding device to the first and third needle piercing positions B1, B
While being overlapped on the outside of the guide 282 between
At the needle insertion position B3. Guide 282 is the third
Is completed immediately before the needle insertion position B3. For this reason, the knitted fabric 202 is positioned at the third needle insertion position B3.
4 is gradually superimposed on one edge thereof, where the needle 210 is further protruded and penetrated into the stitch of the knitted fabric 202. Thereby, the needle 210 is pierced through the stitch of the knitted fabric 202 and the stitch of one edge of the knitted fabric 204.

With the further protrusion of the needle 210, the needle 21
0,212 are abutted or contacted. Although not shown exactly in FIG.
As can be seen from the shape of the fixed guide 218 shown in FIG.
4 begins to move outward in the radial direction, and the third needle insertion position B3
The needle 210 penetrates the knitted fabric 202 by protruding from the outer surface of the guide 282, and becomes completely protruded immediately after passing through the third needle piercing position B3.

The guide 282 has a slit formed at one end thereof in the circumferential direction of the drum 214 so as to allow the needle 210 to protrude and move in the protruding state. At the start of the operation of the linking device 200, the first needle insertion performed at the first, second, and third needle insertion positions B1, B2, and B3 may be performed manually or automatically.

While the stitch pierced by the needle 212 moves from the third needle piercing position B3 to the transfer position C, the edge pierced by the needle 212 is moved to the knitted fabric guide 284.
As a result, as shown in FIG. 16, it is gradually bent to the side of the eye-picking needle sticking device 206. The stitches pierced by the needle 212 are also transferred to the transfer position C with the rotation of the needle rotation moving device.
Is transferred to the needle 210 in FIG.

[0109] Specifically, the knitted fabric 204 gradually moves from the third needle insertion position B3 to the transfer position C on the downstream side of the third needle insertion position B3, while the stitch pierced by the needle 212 moves gradually. The guide 284 is displaced toward the tip of the needle 212 by the guide 284 by bending the edge of the needle 212 into a U-shape. As a result, the stitches pierced by the needle 212 are transferred to the transfer positions C with the rotation of the drums 214 and 216.
Is transferred to the needle 210 by the guide 284. The guide 284 extends in the direction in which the needles 212 of the drum 216 are arranged, that is, in the direction in which the needles 212 are arranged, and has an inclined guide surface that gradually moves from the rear end to the front end of the needle 212 along the movement direction of the needle. ing.

The knitted fabric 204 is displaced to the rear end side of the needle 210 by the guide 286 with the rotation of the drums 214 and 216, and the other edge is overlapped with the outside of the knitted fabric 202, and in that state, the knitted fabric 204 is knitted. The suturing position D is moved together with the ground 202. The guide 286 extends in the direction in which the needles 210 on the drum 214 are arranged side by side, and has an inclined guide surface from the front end to the rear end of the needle 210 along the moving direction of the needle 210. The guide surface of the guide 286 is provided so as to be continuous with the guide surface of the guide 284.

The knitted fabric 204 transferred to the needle 210 is further bent by the guide 286 with the rotation of the needle rotating / moving device, and the other edge is overlapped on the outer side of the knitted fabric 202. Moved to stitching position D, stitching position D
Is sewn by a suturing device 290 such as a sewing machine arranged in the sewing machine. The suturing device 290 uses the sewing needle 292, the louver 294, and the sewing thread 296 to form the two knitted fabrics 202 and 2.
04 overlock stitch.

The stitch actually sewn at the stitching position D is preferably the stitch through which the needle 210 has been pierced, but may be another stitch, such as the stitch closest to the stitch through which the needle 210 has been pierced. Good. The stitching apparatus 290 starts moving after the stitch stitched by hand at the stitching position B1 at the time of setting reaches the stitching position D, and stitches the knitted fabrics 202 and 204.

The needle 210 is gradually retracted after passing the stitching position D with the rotation of the needle rotation moving device. The stitched knitted fabrics 202 and 204 are drawn toward the roller 274 by the rotation of the drum 214 and the roller 274, and the stitch is completely removed from the needle 210 on the way.

According to the present invention, instead of detecting a stitch in a complete zigzag shape, the stitch may be detected in a sawtooth shape, an L shape, an N shape, an M shape, or a W shape. The present invention also provides not only a device for butting the needles of two sets of needles at an angle thereto as in the linking device 200 described above, but also allows the needles of the two sets of needles to be substantially parallel without giving them an angle. The present invention can also be applied to other linking devices such as a device for matching in the state described above, for example, Japanese Patent Publication No. 3-49477, Japanese Patent Application Laid-Open No. 7-125341.

The present invention can be applied not only to an apparatus having one roller 14 but also to an apparatus having a plurality of rollers. In this case, the inclination of the knitted fabric is corrected by moving all the rollers in the Y direction, and when the knitted fabric has reached the limit value or its vicinity or when there is no room for correcting the inclination, all the rollers are knitted. Then, the knitted fabric may be returned to the initial position by moving the roller back to the initial position, and then the appropriate roller, for example, the most upstream roller may be reversed to pull back the knitted fabric. Further, it is not necessary to positively rotate the roller 14 to advance the knitted fabric.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an embodiment of a knitted fabric guiding device for implementing the present invention.

FIG. 2 is a block diagram showing an embodiment of an electric circuit of the knitted fabric guiding device.

FIG. 3 is a diagram illustrating a positional relationship between a knitted fabric, a roller, and a hand.

FIG. 4 is a plan view for explaining a stitch in a normal state.

FIG. 5 is a diagram for explaining a roller at the time of roller replacement.

FIG. 6 is a plan view for explaining a stitch at the time of roller replacement.

FIG. 7 is a diagram illustrating a state in which a roller is reversed after roller replacement.

FIG. 8 is a diagram showing one embodiment of a flowchart for explaining the operation of the knitted fabric guiding device embodying the present invention.

FIG. 9 is a diagram showing one embodiment of a flowchart following the flowchart of FIG. 8;

FIG. 10 is a diagram showing an embodiment of a flowchart for correcting a tilt amount.

FIG. 11 is a diagram for explaining symbols in the flowchart of FIG. 10;

FIG. 12 is a diagram for explaining a second embodiment of the present invention.

FIG. 13 is a diagram for explaining a stitch detection method in the second embodiment shown in FIG.

FIG. 14 is a schematic front view of a linking device using the present invention.

FIG. 15 is a schematic plan view of the linking device of FIG. 14;

FIG. 16 is a schematic side view of the linking device of FIG. 14;

FIG. 17 is a sectional view of a driving portion of one of the needles in the linking device of FIG. 14;

FIG. 18 is a sectional view of a driving portion of the other needle in the linking device of FIG. 14;

FIG. 19 is a front view of a cam portion for moving one needle in the linking device of FIG. 11;

[Explanation of symbols]

 10 knitted fabric guiding device 12, 202, 204 knitted fabric 14, 254, 264 roller 16, 256, 266 hand 40, 42, 74 stitch 38, 70 detection area 18, 258 television camera

Claims (5)

[Claims] 1. An automatic linking device for guiding a knitted fabric to a needle piercing position while adjusting the position of the knitted fabric by moving the roller in the axial direction while pressing the knitted fabric with a roller rotatable in the feed direction. The knitted fabric position correction method according to the above, wherein the roller is temporarily moved away from the knitted fabric in the axial direction to secure a movable range of the roller in the axial direction, and the roller is pressed to press the knitted fabric. A method for correcting a knitted fabric position, comprising: bringing the knitted fabric into contact with the knitted fabric, and then rotating the roller to pull back the tip end of the knitted fabric. 2. Adjustment of the position of the knitted fabric is performed by taking an image of a stitch arrangement state with a television camera, calculating an amount of inclination of the knitted fabric using an output signal of the image, and adjusting the rollers to set the obtained amount of inclination to zero. 2. The method according to claim 1, wherein the movement is performed by moving in the axial direction.
Position correction method described in. 3. The knitted fabric is pulled back by the roller while detecting a stitch based on an output signal of the television camera, at least until a size of the stitch in a feed direction of the knitted fabric reaches a predetermined size. 2. The position correction method according to 2. 4. The position correcting method according to claim 1, wherein the roller is rotated by a set amount so as to pull back the leading end side of the knitted fabric. 5. The position correcting method according to claim 1, wherein the position of the knitted fabric is adjusted by moving the knitted fabric in the axial direction by the roller while detecting an end of the knitted fabric with a photoelectric sensor. .