JPH11152655A - Control of flat knitting machine and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the deterioration in the quality of knitted fabric due to the accumulation of flown fibers, the operation failures of a knitting member, the displacement of a detection position, and the like. SOLUTION: This method for controlling a flat knitting machine comprises determining the position of a knitting member on the basis of a position-setting member disposed on a route for moving the knitting member, determining the standard position of a motor for moving the knitting member in response to the operation position of the motor in the state, again determining the position at a non-knitting time to detect the momentum of the motor from the standard position, and subsequently determining the change in the position of the knitting member in response to the momentum of the motor from the standard position of the motor on the basis of the detection result.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for controlling a flat knitting machine for knitting a knitting member such as a knitting needle or a yarn feeder while controlling the position with a dedicated motor.

[0002]

2. Description of the Related Art As one of flat knitting machines provided with a plurality of yarn feeders and a plurality of knitting needles, knitting operation is performed while controlling the position of each knitting member by a dedicated motor.
No. 2855. In this flat knitting machine, the position of each knitting member is controlled by detecting the movement position of itself or the corresponding motor.

[0003] In a flat knitting machine in which the position of a knitting member is controlled by a dedicated motor, fly cotton accumulated on the moving path of the knitting member during knitting, malfunctions due to damage to the knitting member, and a detection position generated during position control. Due to the misalignment or the like, the knitting member may not move correctly in subsequent knitting.

[0004] Fly wool is so-called cotton dust generated from the yarn used and accumulates on the moving path of the knitting member as the use time of the flat knitting machine elapses. Damage to the knitting member is particularly damage to the knitting needle not moving properly. The shift of the detection position is caused by a temporary lack of a pulse-like detection signal (encoder signal) and a power transmission failure (a shift in engagement between the belt and the pulley due to loosening of the timing belt).

[0005] Each of these appears as an excess or deficiency in the actual movement amount of the corresponding knitting member. If the knitting members do not move correctly, irregularities in the size of the stitches due to an excessive or insufficient amount of movement of the knitting needles, omissions due to omission of the yarn by the knitting needles, etc. occur in the knitted fabric, and The quality is greatly reduced.

[0006]

Therefore, it is desired to prevent the quality of the knitted fabric from being degraded due to the accumulation of fly waste, the malfunction of the knitting member, the displacement of the detection position, and the like.

[0007]

A method for controlling a flat knitting machine according to the present invention comprises a motor for driving a knitting member, a detector for outputting a signal corresponding to the momentum of the motor, and an output signal from the detector. This is executed using a control device including a position control unit that drives the motor so as to control the position of the knitting member based on the amount of movement of the motor from a reference position.

According to the control method of the present invention, before knitting, the knitting member is positioned with respect to a position setting member disposed on the movement path of the knitting member, and the positioning of the knitting member is performed based on the movement position of the motor in that state. A reference position is determined, the positioning is performed again after knitting, the momentum of the motor from the reference position is detected, and a change in the position of the knitting member corresponding to the reference position of the motor before and after knitting based on the detection result. Including asking for

A control device for a flat knitting machine according to the present invention comprises a motor for driving a knitting member, a detector for outputting a signal corresponding to the momentum of the motor, a reference signal for receiving the output signal of the detector and for positioning the motor. A position control unit that drives the motor to control the position of the knitting member based on a movement amount from the knitting member, and a position setting member that is disposed on a movement path of the knitting member.

The position control unit positions the knitting member with respect to a position setting member disposed on the movement path of the knitting member before knitting, and based on the motion position of the motor in that state, Means for determining a position, calculating means for performing the positioning again after knitting to calculate the momentum of the motor from the reference position, and knitting members corresponding to the reference position of the motor before and after knitting based on the calculation result Means for determining a change in the position of

The positioning of the knitting member with respect to the position setting member can be performed, for example, by driving a motor until the knitting member reaches the position where the knitting member is located at the position setting member. The reference position of the knitting member is, for example, after the positioning of the knitting member, the motor movement position when the motor is driven by a predetermined amount from the motor movement position in that state,
Alternatively, the movement position of the motor in the position listening state can be determined as the reference position. Such a reference position is
For example, when the knitting member is a knitting needle, the position of the motor corresponding to the standby position (origin position) of the knitting needle can be set.

[0012] The knitting is started after the reference position of the motor is determined. During knitting, the motor moves the corresponding knitting member based on the reference position while controlling its position. After that, when the fly waste is deposited, the knitting member malfunctions, the detection position shifts, and the like, they appear as a change in the position of the knitting member corresponding to the reference position of the motor.

The amount of change in the position of the knitting member corresponding to the reference position of the motor is determined based on the amount of movement from the reference position of the motor in the positioning state by driving the motor after knitting to position the knitting member with respect to the position setting member. Can be obtained.

For example, when positioning with respect to the position setting member is performed before knitting, and the movement position of the motor in that state is set as the reference position of the motor, after knitting, the amount of movement from the reference position of the motor in the positioning state again. Is zero, it can be considered that there is no change in the position of the knitting member corresponding to the reference position of the motor, but if the momentum is outside the allowable value, the accumulation of fly wool, malfunction of the knitting member, Notifying that the detection position shift or the like has occurred, and stopping the subsequent knitting, it is possible to prevent the deterioration of the knitted fabric quality from expanding.

In the case where, before knitting, the position driven by a predetermined amount from the movement position of the motor in the positioning state is set as the reference position, after knitting, the amount of movement from the reference position of the motor in the positioning state again and the above-mentioned position are determined. By comparing the difference between the quantitative value and the reference value, it is possible to determine the normal or abnormal state.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIG. 1, a control device 10 shown in the drawings has a so-called carriageless type in which each knitting needle 12 is reciprocated by a separate actuator instead of a cam for moving a plurality of knitting needles 12. Applies to flat knitting machines. Each actuator is a linear motor 14 in the illustrated example, but may be a pulse motor, a step motor, or the like.
Other motors may be used.

The illustrated carriageless type flat knitting machine has one or more yarn feeders 16 for supplying knitting yarns 18 to be knitted to the knitting needles 12. The yarn feeder 16 is reciprocated by the electric motor 20. The control device 10 is used for controlling the motor 14 for the knitting needle 12 and the motor 20 for the yarn feeder 16. The momentums of the needle motor 14 and the yarn feeder motor 20 are as follows.
Each time the corresponding motor is displaced by a predetermined amount, it is detected by encoders 22 and 24 which generate a pulse-like momentum signal as a position signal pulse.

The knitting machine control section 26 of the control device 10 includes a knitting information setting section 2 for setting various knitting information necessary for knitting.
8 and a display unit 3 for visually displaying various knitting data
0, a yarn feeder motor controller 32 for controlling the motor 20
And a needle motor control unit 34 that controls the motor 14. The needle motor control unit 34 includes an abnormality determination circuit 36
And a position command circuit 38. The abnormality determination circuit 36 and the position command circuit 38 are connected to the knitting machine control unit 26.

Various knitting information necessary for knitting, such as a knitting pattern, a target position of the knitting needle 12, a target position of the yarn feeder 16, and a thrust thereof, is input in advance from the knitting information setting unit 28 to the knitting machine control unit 26. The knitting information is supplied from the knitting machine control unit 26 to the yarn feeder motor control unit 32 and the needle motor control unit 34.

The yarn feeder motor controller 32 is a circuit for instructing a target position of the motor 20 and thus the yarn feeder 16, and receives and receives a target position signal corresponding to such a target position from the knitting machine controller 26. The target position signal is given to the servo control circuit 42 in the yarn feeder driving unit 40 as a position command signal pulse. The target position signal is indicated as an amount of movement of the yarn feeder 16 from the origin position. If the reference position of the motor 20 matches the origin position of the yarn feeder 16, the target position of the yarn feeder 16 input from the knitting information setting unit 28 can be used as a target position signal of the motor 20.

The servo control circuit 42 controls the drive circuit 44 by feedback control using a position command signal pulse supplied from the yarn feeder motor control unit 32 and a position signal pulse output from the encoder 22 to control the motor 2.
By driving 0, in detail, by driving the motor 20 from the reference position by a momentum corresponding to the position command signal pulse, the corresponding yarn feeder 16 is moved to the target position.

In FIG. 1, only one yarn feeder 16 is shown, but actually, the same number of yarn feeders 16 as knitting yarns that can be knitted are provided. Each yarn feeder 16 is provided with a yarn feeder driver 40 having a corresponding motor 20 and encoder 22.
, Are independently reciprocated while being controlled in position.

Position command circuit 38 of needle motor control unit 34
Receives from the knitting machine control unit 22 the target position signals of the respective motors 14 and thus the corresponding knitting needles 12, and stores the received target position signals in the storage unit 46. The target position signal stored in the storage unit 46 is provided as a position command signal pulse to a servo control circuit 50 in the needle driving unit 48 for each knitting needle 12.
The needle driving section 48 is provided for each knitting needle 12. The target position signal is indicated as an amount of movement of the knitting needle 12 from the origin position. As for the motor 14, if the reference position of the motor 14 is matched with the origin position of the knitting needle 12, the target position of the knitting needle 12 input from the knitting information setting unit 28 can be used as the target position signal of the motor 14 as it is. .

The servo control circuit 50 drives the motor 14 by controlling the drive circuit 52 by feedback control using the position command signal pulse stored in the storage section 46 and the position signal pulse output from the encoder 24. Specifically, by driving the motor 14 from the reference position by a momentum corresponding to the position command signal pulse, the knitting needle 12 is caused to perform a knitting motion.

An abnormality judgment circuit and a position command circuit similar to the abnormality judgment circuit 36 and the position command circuit 38 of the needle motor control section 34 may be provided in the yarn feeder motor control section 32, and a storage section similar to the storage section 46. May be arranged between the yarn feeder motor control unit 32 and the yarn feeder driving unit 40.

Various information necessary for the knitting operation is input in advance to the knitting machine control unit 26 using the knitting information setting unit 28, and is supplied from the knitting machine control unit 26 to the yarn feeder motor control unit 32 and the needle motor control unit 34. Is done. In the knitting operation, the knitting start command is sent from the knitting machine controller 26 to the yarn feeder motor controller 32.
And is supplied to the needle motor control unit 34 at the same time.

During knitting, the yarn feeder motor control section 32 uses a target position signal corresponding to a target momentum from the reference position of the motor 20 as a position command signal pulse for a predetermined period (for example, 1 mm) based on predetermined knitting information. Output to each yarn feeder motor driving unit 40 at an interval of second). Similarly, the needle motor control unit 34
The target position signal corresponding to the target momentum from the reference position of the motor 14 based on the predetermined knitting information is used as a position command signal pulse at a predetermined cycle (for example, at intervals of 1 millisecond) for each knitting needle 12 in the storage unit 46. Write to storage area.

The servo control circuit 42 calculates the actual amount of movement (movement amount) of the motor 20 based on the position command signal pulse supplied from the yarn feeder motor control unit 32 and the position signal pulse supplied from the encoder 22. A control signal is output to the drive circuit 44 so as to be equal to the target position.

More specifically, the servo control circuit 42 controls the PW based on the deviation between the position command signal pulse and the position signal pulse.
The M signal is generated at regular intervals as a control signal, and is output to the drive circuit 44. Thereby, the motor 20
Is driven while its position is controlled by the corresponding yarn feeder driving unit 40. When the corresponding motor 20 is driven, the yarn feeder 16 is moved in the arrangement direction of the knitting needles 12 while being controlled in position, and guides the knitting yarn 18 to the knitting position and engages with the knitting needle 12.

Each servo control circuit 50 periodically reads the position command signal pulses stored in the corresponding storage area of the storage unit 46, and reads the read position command signal pulses,
Based on the position signal pulse supplied from the encoder 24, a control signal is output to the drive circuit 52 so that the actual amount of movement (movement amount) of the motor 14 from the reference position becomes equal to the target position.

More specifically, the servo control circuit 50 generates a control signal based on the deviation between the position command signal pulse and the position signal pulse as a PWM signal at regular intervals, and outputs this to the drive circuit 52. Thereby, the motor 14
Is driven while its position is controlled by the corresponding needle drive unit 48. The knitting needle 12 is reciprocated in the longitudinal direction while the position is controlled by driving the corresponding motor 14.

As shown in FIG. 2, the control device 10 also includes a band stopper 54 as a position setting member for positioning the knitting needle 12. Band stopper 54
Are arranged on the reciprocating path of the knitting needle 12 so as to come into contact when the knitting needle 12 is further advanced than the most advanced position in the knitting operation.

The band stopper 54 may be provided for each knitting needle 12 or extend over the entire knitting width so as to be commonly used by a plurality (preferably, all) of the knitting needles 12 arranged on the same needle bed 56. May be provided. Each band stopper 54 is attached to a corresponding needle bed 56.

Each knitting needle 12 is connected to a corresponding motor by a connecting jack 58 in FIG. 2, and is reciprocated by the corresponding motor via the connecting jack 58 so that the protruding portion 12 a comes into contact with the band stopper 54. By doing so, it is positioned.

Further, as shown in FIGS. 3 and 4, the control device 10 controls the pair of the proximity sensor 60 and the dog (proximity body) 62 serving as a position setting member for positioning the yarn feeder 16 with the yarn feeder 16. Prepare for each. Each yarn feeder 16 is incorporated in the yarn supply device so as to supply the knitting yarn to the knitting portion from above.

Each of the yarn supply devices is supported by a common rail 64 mounted on the frame of the weft knitting machine so as to extend in the horizontal direction so as to reciprocate in the longitudinal direction of the rail.
Each of the yarn supply devices includes a traveling body 68 supported on a rail 64 by a plurality of rollers 66 so as to be able to reciprocate in the longitudinal direction of the rail, a stay 70 extending from the traveling body 68, and a traveling body 6.
8 to a timing belt 72. The rail 64 has a guide groove for receiving a part of the roller 66.

The motor 20 is attached to a frame of a knitting machine, and the timing belt 72 has a pulley (not shown) on which the timing belt 72 is hung attached to an output shaft. The timing belt 72 also
It is also applied to a pulley 76 rotatably attached to a portion of the rail 64 spaced apart from the motor 20 in the longitudinal direction. The loosening of the timing belt 72 is prevented by the pair of pressing rollers 78.

The proximity sensor 60 is attached to one end on the left side of the rail 64, and the dog 62 is attached to the traveling body 68 or the stay 72. When the traveling body 68 and the stay 72 are moved with the driving of the motor 20, the yarn feeders 16 and the dogs 62 are also moved. When the dog 62 faces the proximity sensor 60, the proximity sensor 60 detects the dog 62. Therefore, each yarn feeder 16 is positioned by the proximity sensor 62 detecting the dog 62.

Next, with reference to FIG. 5 to FIG.
The positioning step 2, the step of determining the reference position of the knitting needle 12, and the step of calculating the change in the position of the knitting needle 12 corresponding to the reference position of the motor 14 will be described.
These steps are performed for each knitting needle 12 by each needle driving unit 48 based on a command from the knitting machine control unit 26.

About each knitting needle 12

As shown in FIG. 5, prior to the start of knitting,
First, the commutator alignment steps of all the knitting needles 12 and the linear motors 14 are performed simultaneously. This commutator adjustment is performed by moving the motor 14 in the backward direction stepwise to the home position of the motor 14 where the movement of the mover of the motor 14 in the backward direction is prevented by a stopper (not shown) provided inside the motor 14. It is performed by

Next, a step of positioning the knitting needle 12 is performed. The positioning of the knitting needle 12 is performed by operating the motor 14 to a position where the movement (movement or displacement) of the motor 14 in one direction is stopped by the band stopper 54, and maintaining the state for a predetermined time.

At the time of positioning, the electric power supplied to the motor 14 is first maintained for a predetermined time at a value which causes the motor to generate a larger thrust (for example, 100% thrust) than during knitting, and then a lower value (for example, 12%). (A value that causes the motor 14 to generate a thrust of 0.5%) for a predetermined time.

At this time, generally, fly cotton is not deposited on the moving path of the knitting needle 12, and the motor 14 and its power transmission mechanism operate normally. Thus, when the knitting machine is normal, the motor 14 is prevented from further moving in one direction because the protrusion 12a of the knitting needle 12 comes into contact with the band stopper 54.

By supplying electric power to the motor 14 as described above, the knitting needle 12 is first advanced with a large thrust, and then the protruding portion 12a of the knitting needle 12 is
4 is maintained in that state for a predetermined time by touching
In addition, they receive relatively small thrust.

By moving the knitting needle 12 forward with a large thrust as described above, the knitting needle 12 can be surely brought into contact with the band stopper 54. Thereafter, by setting the thrust relatively small, a large number of knitting needles can be formed. It is possible to eliminate the bending of the band stopper 54 that is in contact. As a result, the knitting needle 12 and the motor 14
Is positioned at an accurate position corresponding to the position of. The position of the knitting needle 12 when the protrusion 12a is in contact with the band stopper 54, that is, the correct positioning position is shown as ms.

Next, a step of determining the reference position of the motor 14 is performed. The reference position is determined by moving the motor 14 in the reverse direction by a predetermined amount so that the knitting needle 12 is retracted from the positioning position ms by a predetermined reference movement amount (reference movement amount) α. Thereby, the motor 14 is moved to the reference position. The reference position at this time is shown as msg. The reference momentum α is a constant value, and is determined as a value such that when the motor is moved to the reference position msg, the knitting needle 12 matches the standby position (needle origin position) of the knitting needle 12 during knitting.

The determined reference position is stored in the servo control circuit 50 as a standby position (needle origin position) of the knitting needle at the time of knitting when the needle receives a thrust of 50%. The positioning of the knitting needle 12 and the determination of the reference position after the commutator alignment can be referred to as a needle origin search.

After the needle origin search, a normal knitting operation is performed. An example of the operation pattern of the knitting needles 12 during knitting is shown on the right side of FIG.

Calculation of the change in the position of the knitting needle 12, that is,
The calculation of the amount of change in each position of the knitting needle 12 when the motor 14 is moved to the reference position by the servo control circuit 50 before and after knitting (including during knitting) is as follows:
It is performed as follows.

The knitting machine control unit 26 drives the motor 14 to the reference position when a specific knitting needle is not knitted during knitting or after knitting of a knitted fabric is completed. As described above, since the reference position is stored such that the origin position of the knitting needle coincides with the target position, the knitting machine control unit 26 outputs the needle origin position to the storage unit 46 as the target position. Thereby, the servo control circuit 50 drives the motor 14 to the reference.

Thereafter, the knitting machine control unit 26 controls the motor 14
The motor 14 is moved in one direction to a position where the movement in one direction is stopped, and the state is maintained for a predetermined time. The abnormality determination circuit 36 compares the momentum of the motor 14 and the momentum (movement amount) A of the knitting needle 12 with the reference momentum α of the knitting needle 12 at the time of determining the reference position msg, thereby calculating the position of the knitting needle 12. I do. Also in this case, the thrust command output to the motor 14 is, for example, 1
The values are sequentially changed such as 00%, 50%, and 12.5%.

The abnormality determination circuit 36 calculates the momentum A based on the output signal of the encoder 24, and calculates the calculated momentum A and a predetermined reference momentum α (for example, 31.0 mm).
To determine the difference between the two, and compare the difference with a predetermined reference value (for example, 0.3 mm) to determine whether or not the difference between the two is within the reference value.

In this case, as described above, if the flat knitting machine is normal, the knitting needle 12 is advanced until the protrusion 12a comes into contact with the band stopper 54, and the motor 14
Is moved until the projection 12a of the knitting needle 12 contacts the band stopper 54. Therefore, as shown in FIG. 6, the momentum A and α are equal.

When the movement amounts A and α are equal, there is no change in the position of the knitting needle 12. Therefore, when the knitting needle 12 is moved backward by the movement amount α, the knitting needle 12 returns to the needle origin position as shown in FIG. Therefore, in this case, the knitting machine control unit 2
6 enables a subsequent knitting operation.

However, if fly cotton is deposited on the moving path of the knitting needle 12 or the knitting needle 12 is damaged, the knitting needle 12
The motor 14 is prevented from moving in one direction before the projection 12a of the motor 14 comes into contact with the band stopper 54 (see FIG. 8). If the detected position is shifted, that is, if there is a difference between the actual momentum of the motor 14 from the reference position and the momentum from the reference position recognized by the servo control circuit 50, The position of the knitting needle 12 when the needle 14 is moved to the reference position is different from the needle origin position (see FIG. 7). As a result, the momentums A and α are different.

If the momentums A and α are different, even if the knitting motor 14 is driven based on the position command signal pulse,
The knitting needle 12 is shifted from the target position by | A-α |.

FIG. 7 shows an example mainly due to movement of the motor 12 and the power transmission mechanism, and FIG. 8 shows an example mainly due to fly waste accumulated on the movement path of the needle. 7 and 8
In any of the examples shown in (1) and (2), if the retraction position of the knitting needle at that time is set as a new reference position, the reciprocating movement range is shifted to the knitting needle.

Therefore, if the difference between the momentums A and α exceeds the allowable value, the knitting machine control section 26 corrects the reference value, and then uses the abnormal signal output from the abnormality judging circuit 36 to generate the knitting machine. Is stopped to notify that the knitting machine is abnormal, and the fact is displayed on the display unit 30 together with the reason for the abnormality.
However, if the difference between the momentums A and α is within the allowable value, the knitting machine control unit 26 does not correct the reference position and enables the subsequent knitting operation.

The same steps as described above are performed for the yarn feeder 16.

As shown in FIG. 9, the yarn feeder 16 is moved to the right at a high speed by the motor 20 from one end until the dog (proximity body) 62 exceeds the proximity sensor 60 (see FIG. 9). Is returned at a high speed until the proximity sensor 60 detects it again (see), the dog 62 is stopped when the proximity sensor 60 is detected, and then moved from left to right at a low speed again (see), and the dog is returned. 62 is stopped when it is detected by the proximity sensor 60 again, so that it is accurately positioned at a position corresponding to the proximity sensor 69.
Thereafter, the yarn feeder 16 is moved leftward from the positioning position by a predetermined amount and is on standby (see).

In the case of the yarn feeder 16 as well, the position corresponding to the proximity sensor 60 is set as the origin position of the yarn feeder 16. The relative distance between the positioning position and the origin position is stored in advance in the abnormality determination circuit 36 and the knitting machine control unit 28 as the reference momentum α. In the present embodiment, the positioning position is set as the reference position, and thus the reference momentum α at this time is set to zero.

By the above steps, the yarn feeder 16 and the motor 20 are positioned with respect to the proximity sensor 60,
The reference position msg is determined. The reference position msg is changed to the dog 62 due to the yarn feeder being moved from left to right again.
Is the position when the proximity sensor 60 senses again.
Knitting is performed in this state. At the time of knitting, the yarn feeder 16 and the motor 20 are controlled such that the dog 62 is moved a predetermined distance from the position msg detected by the proximity sensor 60.

Next, during non-knitting during knitting or after knitting of the knitted fabric is completed, the yarn feeder 16 is moved in the same manner as described above, and the yarn feeder 16 and the motor 20 are again positioned with respect to the proximity sensor 60. Then, the momentum A from the reference position msg at the time of positioning is obtained.

Next, in the yarn feeder motor control unit 32, the momentum A and the reference momentum α are compared, and the difference between both momentums A and α is compared with the reference value. Knitting machine controller 26
When the difference between the two momentums is within the reference value, the knitting amount A is set to zero and the reference value is corrected to enable the subsequent knitting operation. When the difference exceeds the reference value, the output from the yarn feeder motor control unit 32 is output. Specific yarn feeder 1 based on the abnormal signal
6 is abnormal, and that fact is displayed on the display unit 30 together with the reason for the abnormality. As described above, in this embodiment,
Since the reference position α is zero, it can be said that the “difference between the two momentums” is substantially the momentum A.

As a result, the control device 10 prevents the quality of the knitted fabric from deteriorating due to the accumulation of fly waste, the malfunction of the knitting member, the displacement of the detection position, and the like, or the spread of the deterioration.

Instead of using the band stopper 54 as the position setting member of the knitting needle 12, a mechanical switch 80 for detecting that the protruding portion 12a of the knitting needle 12 has come into contact as shown in FIG. 10, and as shown in FIG. One or more photoelectric sensors 82, such as sensing the protrusion 12a of the knitting needle 12,
Other members may be used. Other members such as stoppers may be used as positioning members for the yarn feeder 16 and the motor 20.

The mechanical switch 80 has a detecting piece 81 extending over the entire knitting width of the flat knitting machine.
Is composed of a pair of light emitting and receiving devices arranged on both sides of the flat knitting machine. 83 indicates an optical axis. A limit switch can be used as a mechanical switch in each embodiment.

When the mechanical switch 80 and the photoelectric sensor 82 are used as the position setting member, the knitting needle 12 is moved toward the position setting member when the reference position is determined.
After confirming that the contact is detected, the operation of setting the position as the reference position retracted by the reference movement amount α may be performed for each knitting needle 12. If the detection signal from the position setting member is not input to the abnormality determination circuit 36 within a predetermined time after the instruction to move the knitting needle 12 is given, the abnormality determination circuit 36 outputs the abnormal signal as accumulation of fly wool and malfunction of the knitting needle. Output to the knitting machine control unit 26.

When a stopper is used as a positioning member for the yarn feeder 16 and the motor 20, the stopper is provided on the left side of the yarn feeder standby position in FIG. 8 to prevent the yarn feeder from moving leftward from the standby position. I do. Motor 20
When the reference position of the yarn feeder is determined, the yarn feeder is moved to the left until the layer retreat 68 of the yarn feeder contacts the stopper, and the position when the yarn feeder comes into contact with the stopper is set as the reference position. The position to the right by the reference movement amount α may be set as the reference position.

Two traveling bodies (not shown) on the same rail
When provided along the rail, each reference position corresponding to the traveling body can be set as follows. One method positions each traveling body by bringing the traveling body located on the left side into contact with the stopper and bringing the traveling body located on the right side into contact with the traveling body located on the left side. Another method is to provide a similar stopper at the right end of the rail, make the left and right traveling bodies correspond to the left and right stoppers respectively, and position each traveling body by contacting the corresponding stopper. Positioning is performed by bringing the traveling body into contact with the rightmost stopper and bringing the traveling body located on the left side into contact with the leftmost stopper.

The present invention can be applied to not only a carriageless flat knitting machine but also a carriage type flat knitting machine having a cam for reciprocating a knitting needle. When the present invention is applied to a carriage type flat knitting machine, the knitting member is
A carriage may be used as long as the yarn feeder is connected to a carriage that conveys the cam and moves with the carriage. If the yarn feeder and the carriage move independently of each other, the feeder may be used. It can be a thread opening and a carriage.

The present invention is not limited to the above embodiment. For example, the positioning of the knitting member with respect to the position setting member,
Positioning can be performed at a value related to the position of the position setting member, such as the position of the position setting member or a position separated by a predetermined distance from the position. Similarly, the reference position of the motor may be a value related to the position of the position setting member, such as the position of the position setting member or a position separated by a predetermined distance from the position.

[Brief description of the drawings]

FIG. 1 is a block diagram of an electric circuit showing one embodiment of a control device of the present invention.

FIG. 2 is a view showing an embodiment in the vicinity of a knitting needle of a flat knitting machine in which a band stopper is arranged as a position setting member for a knitting needle;

FIG. 3

FIG. 4 is a left side view of the moving mechanism in FIG. 3;

FIG. 5 is a diagram for explaining the state of movement of the knitting needle during a commutator setting step, an origin search step, and a knitting step.

FIG. 6 is a diagram for explaining a moving state of the knitting needle when the knitting needle is correctly moved at the time of origin search.

FIG. 7 is a diagram for explaining the state of movement of the knitting needle when the movement of the knitting needle is insufficient during the search for the origin.

FIG. 8 is a diagram for explaining a state of movement of a knitting needle when the knitting needle excessively moves during an origin search.

FIG. 9 is a view for explaining a movement state of the yarn feeder at the time of an origin search step.

FIG. 10 is a view showing another embodiment in the vicinity of a knitting needle of a flat knitting machine in which a band stopper is arranged as a position setting member for the knitting needle.

FIG. 11 is a view showing still another embodiment in the vicinity of a knitting needle of a flat knitting machine in which a band stopper is arranged as a position setting member for a knitting needle.

[Explanation of symbols]

 Reference Signs List 10 control device 12 knitting needle 14 needle motor 16 yarn feeder 18 knitting yarn 20 yarn feeder motor 24, 26 encoder 54 band stopper 60 proximity sensor 62 dog 80 mechanical switch 82 photoelectric sensor

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Tatsuya Tani 5-18-18 Nomachi, Kanazawa City, Ishikawa Prefecture Inside Tsudakoma Kogyo Co., Ltd.

Claims (2)

[Claims] 1. A motor for driving a knitting member, a detector for outputting a signal corresponding to the amount of movement of the motor, and an output signal from the detector and based on the amount of movement of the motor from a reference position. And a position control unit for driving the motor to control the position of the knitting member, the knitting machine control method, wherein before knitting, the position setting member disposed on the movement path of the knitting member. Position the knitting member, determine the reference position based on the motion position of the motor in that state, detect the movement amount of the motor from the reference position by performing the positioning again after knitting,
A method for controlling a flat knitting machine, including determining a change in the position of a knitting member corresponding to a reference position of the motor before and after knitting based on the detection result. 2. A motor for driving a knitting member, a detector for outputting a signal corresponding to the amount of movement of the motor, and an output signal from the detector and based on the amount of movement of the motor from a reference position. A position control unit that drives the motor to control the position of the knitting member, and a position setting member disposed on a movement path of the knitting member, wherein the position control unit performs the knitting member before knitting. Positioning of the knitting member with respect to a position setting member arranged on the movement path of,
Means for determining the reference position based on the movement position of the motor in that state; calculation means for performing the positioning again after knitting to calculate the amount of movement of the motor from the reference position; and Means for determining a change in the position of the knitting member corresponding to the reference position of the motor before and after knitting based on the knitting machine.