JPS63160692A - Hook-up needling apparatus of knitted fabric - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is a method for picking up stitches in a knitted fabric, which automatically performs the work of piercing a point needle that holds the stitches in the knitted fabric when overstitching the fabric. The present invention relates to a needle stick device.

[Conventional technology]

The sewing work of sweaters and other knitted items is difficult to automate because the silk material used is flexible, and the degree of elongation and dimensions change depending on the force applied. For this reason, automation has lagged significantly behind, and the reality is that the work is done manually using sewing machines, jigs, etc.

In particular, the linking process, in which the stitches of two knitted fabrics to be sewn together and oversewing, is extremely difficult to automate because it requires stitches to be stitched together one by one.

Normally, a linking sewing machine is used and the work is carried out manually as follows. In other words, a person picks up one stitch at a time through a single piece of knitted fabric using a fixed point needle, then needles the knitted fabric to be sewn over the needle, and moves the needle-pierced part to the sewing machine. Linking is performed by sewing with a sewing machine using the point needle as a guide.

[Problems to be solved by the invention] During the above-mentioned linking work, picking up the stitches of the knitted fabric one by one and inserting them into the point needle is a difficult task that requires skill and visual acuity. This affects the quality of the product, such as fraying occurring from these parts, and is a time-consuming task even for experienced workers, which is one of the major factors that impede labor productivity in the sewing process of knitted fabrics. Therefore, research and development for automation has been carried out in some areas, for example, in the Japanese Patent Application Publication No. 5
2-125052 includes a device for expanding the knitted stitches of marker yarn that can be detected by reflected light in advance, a device for holding the marker yarn in a fixed position and transferring it to the needle insertion section of the rotary dial, and a device for the needle insertion section. A detection device configured with a detection device for detecting a marker thread is disclosed. However, according to this device, in order to detect the marker thread at the bulge part with a reflected light beam, the detection part is a point, and the marker thread guided to the detection position, that is, the kaga 9 part, is in the -dimension. must be supported.

Furthermore, although the photoelectric detection device used can recognize the presence of the marked R yarn, it is difficult to recognize two-dimensional loops of stitches, and the accuracy is poor. In other words, the photoelectric detection device detects whether the light receiver has received the reflected light beam or not.For example, when a loop of m-weaving yarn passes through the part where the light is projected, the reflected light beam is detected. Even if the light enters the light receiver and is in the on state of 1/l, it is not possible to determine which part of the loop is detected. That is, in order to accurately detect the stitches to be stitched, it is necessary to detect them two-dimensionally, but this device can only detect them one-dimensionally.

Furthermore, with this device, it is necessary to knit a marker yarn into the knitted part, but considering the structure of the knitted fabric, such a marker yarn can be easily knitted only in the course direction of the knitting end. In the case of a molded net sweater, there are curved parts such as the shoulder and sleeve parts where the threads are reduced, and it is difficult to knit marker threads into these parts, so the number of applications is very limited.

The present invention solves the above-mentioned problems of conventionally known devices, eliminates the need to knit marker yarns into knitted fabrics in advance, and allows flexible knitted fabrics with non-straight edges to be compressed.
To provide a device that can reliably pick up each eye and perform needle pricking.

[Means for solving problems]

The objects of the present invention are to provide a detection sensor that detects the edge of a knitted fabric that is supplied to be sewn together with another knitted fabric, and a camera that detects the state of the fabric in the portion to be sewn together.

Silk fabric condition detection means consisting of an image processing device that calculates the positional information of the stitch to be stitched based on the two-dimensional information obtained by the camera; a coarse adjustment means that adjusts the position of the weave edge as appropriate; and a stitch position near the needle insertion position. a knitting fabric guide means for guiding the stitch to be inserted to the needle insertion position; a needle moving means for moving the needle while piercing and holding the stitch; and a knitting needle moving means for moving the stitch while holding it through the stitch; This is accomplished by a silk fabric pick-up and needle-pricking device comprising a control device for controlling the operations of the knitted fabric guide means and the needle-moving means.

The present invention will be described in detail below with reference to the accompanying drawings, which show an embodiment of the knitted fabric stitch pick-up and needle pricking device according to the present invention.

FIG. 1 is a schematic diagram showing the overall arrangement of an embodiment of the knitted fabric stitch picking and needle pricking device according to the present invention. Therefore, in order to better understand the structure of the knitted fabric stitch picking and needle pricking device according to the present invention, the operation of the device will first be explained with reference to FIG. 1, prior to explaining the structure.

That is, the knitted fabric 2 to be linked with another silk fabric is set on the operation table l of the stitch pick-up needle pricking device with the first stitch or several stitches of the linking line threaded through the point needle 3.

The knitted fabric 2 is roughly adjusted by using a body edge position correction roll 14 and a fabric edge direction correction jig 17, which operate based on information from the fabric edge position detection sensor 16, while performing rough adjustment of the edges of the silk fabric. It is sent in the direction of arrow A. Next, the two-dimensional information from the camera 6 that detects the knitted fabric state of the part of the knitted fabric 2 to be linked is processed by an image processing device 7 to calculate the position of the stitch to be stitched, and based on the calculated information. Send to Sirol to, 1
2 to make fine adjustments to guide the stitch to be inserted to the point needle 30 needle insertion position B, and then the needle movement means 5
is operated to pierce the point needle 3 through the stitch, and move the point needle 3 in the traveling direction A of the knitted fabric. Thereafter, coarse adjustment, fine adjustment, needle pricking, and point needle movement are performed in sequence, and the stitch picking and needle pricking operations for the required length of knitted fabric are completed.

Reference numeral 8 denotes a control device, which is used to control each of the above-mentioned operations.

Each configuration of the apparatus of the present invention used to carry out the above operations will be explained in order below.

As shown in FIG. 2, FIG. 3, and FIG. 4, the means for performing the rough adjustment is a knitted fabric position correction unit that is combined with a knitted fabric position detection sensor 16 (constituting a part of the fabric condition detection means). It consists of a roll 14 and knitted fabric direction correction devices 17.1B and 19.20. As the knitted fabric position detection sensor 16, for example, a reflective optical sensor is used. In response to a signal from the knitted fabric position detection sensor 16, the knitted fabric position correction roll 14 is driven by the motor 15, and the knitted fabric position is corrected to a substantially constant position. At this time, the knitted fabric direction correction device is designed in consideration of the case where the change in curvature of the linking line of the knitted fabric to be linked is large and the knitted fabric position cannot be corrected to a constant position only by the operation of the knitted fabric position correction roll 14. is used. As clearly shown in FIG. 2, the knitted fabric direction correcting device is 1. Osamu, E□□12.3枦zu17 y
/ 1 B, consisting of a rotatable arm 19 and a motor 20.

In other words, the knitted fabric direction correction jig 171d is worked and the ring-1
It is attached to the shaft end of 8, and when it does not need to be activated, it is held in a state where it does not touch the knitted fabric, and when it is to be activated, the air cylinder 18 is activated and pressed against the knitted fabric, and 20
Due to the rotation of the motor, the knitted fabric is corrected by performing a turning motion as shown by the arrow in FIG. 3 via the arm 19.

Next, fine adjustment of the knitted fabric performed using the camera of the knitted fabric state detection means and the image processing device will be explained. Reference numeral 6 in FIG. 1 denotes a camera as a knitted fabric state detection means, which is usually a COD camera, which is placed perpendicular to the knitted fabric on a plane and captures the stitch image as 0 image information to detect the stitch image as two-dimensional information. The range is set to include at least one stitch of the linking line to be stitched. In order to obtain a clear image, it is important to devise lighting.In addition to direct lighting, it is also possible to apply uniformly scattered transmitted light to the COD camera from the opposite side of the knitted fabric. desirable. The fine adjustment means includes rolls 10 and 12 that feed the knitted fabric in the direction of travel, and a hand 2 that corrects the position of the stitches to be stitched in a direction perpendicular to the direction of travel (Y direction in Figure 3).
It consists of 9. Said rolls 10.12 are each driven by a motor 11.13. The motor may be any motor that can vary the number of revolutions, and in the example, a No. 9 Luss motor was used. In order to obtain a clear image, it is preferable that the knitted fabric be expanded, and for this purpose, a rotational speed difference can be given to the rolls 10 and 12 - and to K in order to expand in the direction perpendicular to the direction of movement of the knitted fabric.

Roll 10, 9 grooves on the surface of 12 (not shown)
All you have to do is set it up. Hand 29Vctfi&-Le screw 30
are coupled, thereby allowing reciprocation in the Y direction. Furthermore, as shown in Figure 3? - By coupling another Gale screw 31 to the grooved portion of the Gale screw 30, movement in the X direction can be made possible. Thus hand 29
is capable of movement in the X and Y directions, that is, two-dimensional movement.

The knitted fabric condition detection means and the knitted fabric guide means are all attached to the support member 34, and this support member 34 is provided with an auxiliary raising/lowering function. By moving the knitting fabric guide means, it is possible to improve the operability of the initial setting.

When linking sewing the front and back parts of a knitted fabric, such as a sweater, using the knitted fabric state detection means and knitted fabric guide means having the above-mentioned configuration, the linking line of the knitted fabric may have curvature in some places, so the above-mentioned Adjust the knitted fabric so that it is at the sensor position 16 using the coarse adjustment means, feed the knitted fabric from the front side, and (this operation is done when the linking line This is to ensure that the CO is approximately parallel to the X direction within the field of view of camera 6)
The D camera detects the needle insertion part and the previous stitch information, the image processing device calculates the position information of the stitch to be inserted, and the knitted fabric position is corrected two-dimensionally using the hand 29 and the feed rollers 12, By guiding the stitches to the needlepoint position, the stitches are picked up and needlepointed.

If it touches the final part of the linking line, hand 29
moves to the left in the X direction, and it is possible to pick up and needle all the way to the end of the linking line. Incidentally, if the change in the curvature of the linking line is not too large, the rough adjustment means may not be used.

Next, calculation of positional information of the stitches to be stitched and guidance of the knitted fabric will be explained in more detail. The detected stitch image is obtained in the state shown in Fig. 5 and is binarized by an image processing device, so that the hole part of the stitch can be clearly recognized as shown in Fig. 7. By calculating the center of gravity of the hole portion, two-dimensional positional information of the stitches within the image field can be accurately determined.

Assuming that the needle insertion position is one point in Fig. 7, the linking line of the knitted fabric in the multi-image field of view is determined by the rough adjustment means from the reference line X0-
Angular error θ with respect to Xo. The stitch closest to point a is determined as the next stitch to be stitched within the angular error ±θ and paralysis from one point, and its two-dimensional position information is the distance P and angle from point a. The error θ is sent to the control microcomputer, which converts it into an operation amount for the knitted fabric fine adjustment means. invite.

In addition, in the case of fine dart silk fabric with a small stitch pitch, if it is necessary to improve the accuracy of aligning the stitch position with point a, after completing the above operation, on the page, change the stitch position of the needle insertion point a as shown in Figure 8. +Il is detected in the same manner, minute errors ax and dy between the needle insertion position and the stitch position are detected, and the stitch position is finely adjusted again before needle insertion.

In addition, when sewing areas where the number of stitches of the knitted fabrics to be sewn do not completely match and it is important to match the length, such as when attaching sleeves to a sweater that has been knitted, the silk fabric on one side is For knitted fabrics on one side, where all stitches are picked up and needle stitched, it is necessary to insert two stitches on the first stitch, but in that case, based on the design information of the sweater, the condition is to insert two stitches in the first stitch. This method can be applied by inputting this into the microcomputer at the start, and by partially changing the control logic during needle pricking.

Although it is desirable to use a dedicated image processing device to increase processing speed, this can also be achieved using a commercially available general-purpose image processing device.

In addition, as a means of two-dimensionally detecting the state of the knitted fabric, a method is used in which a stylus sensor is placed two-dimensionally and the stitch position is calculated from the unevenness of the knitted fabric, or a laser beam is applied and the transmitted light or reflected light information is obtained. Alternatively, a method may be used in which the stitch positions are calculated by processing.

Next, the needle moving means will be explained with reference to FIGS. 8 to 11. FIG. 10 is a sectional view showing one embodiment of the needle moving means 5. As shown in FIG. As shown in FIG. 11, the point needle 3 is fixed to a holder 3a, and the groove 3b of the holder 31 is fitted into a fixed guide 21, and the rotating drum rotates 220 times using the fixed guide 21 as a guide. In order to move the point needle 3 in the direction of knitting fabric progress, the rotating drum has a slit 22 with a size approximately corresponding to one pitch of the silk fabric.
A is cut L (Figure 9) The needle moves as it is pushed by the side of the slit. Fixed guide 21Vi starts immediately after the needle insertion position, and is fixed so that the amount of needle protrusion from the rotating drum remains the same for 180 degrees from the needle insertion position.Kl is fixed so that the amount of needle protrusion from the rotating drum is gradually reduced from the point past 80 degrees. The spraying position and dimensions of the guide 21 are set. Immediately before the needle insertion position, the amount of needle protrusion is reduced so that it does not contact the knitted fabric, and at the needle insertion position, it is removed from the fixed guide 21, the tip of the ejection lever 23 is inserted into the groove 3b of the point needle, and the shaft 2
By rotating the shaft 25, the point needle 3 is pushed out by the action of the connecting rod 26, the lever support 24, etc., which are eccentrically attached to the tip of the needle 5, and guided to the fixed guide 21 again to a predetermined position. Do exercise. The rotating movement of the rotating drum 220 and the ejecting movement of the needle may be driven by the same motor, or may be driven by separate motors.

The above has shown one embodiment in which the point needle is arranged on a rotating drum, but as another embodiment, FIGS. 12 to 15 show a needle moving means in which the point needle is arranged on a plane plate.Plane plate 35 A guide groove 36 having a T-shaped cross section is provided at a constant pitch so as to support the point needle 43 so that it can move forward and backward.Furthermore, in order to move the point needle 43 horizontally,
An idle rail 37 is attached to the flat plate 35, guided by rollers 38, and the flat plate 35 is supported.

Further, a rack 39 is provided on the flat plate 35 as a device for feeding the point needle 43 intermittently or continuously by a drive motor 41 attached to a pinion 40f. The point needle ejecting operation is performed one by one by an ejecting device 42 using an air cylinder or the like. That is, the rod 42 passes through a hole 44 provided in one of the T-shaped guide grooves of the flat plate and pushes against the end of the point needle holder.

During the operation of the ejecting device, the flat plate 35 is not pitch-fed, but after the rod 42m passes through the hole 44, it is pitch-fed. This timing is determined electrically or mechanically, and is not particularly limited to that shown in the drawings, as long as the point needle can be ejected and fed.

FIG. 16 shows the flow of picking up and pricking the knitted fabric using the above method, and FIG. 17 shows a block diagram of its control system.

Finally, the operation of the above-described knitted fabric pick-up and needle stabbing device is shown in a flow diagram in FIG. 16, and a control system block diagram thereof is shown in FIG. 17. As shown in Figure 16, after the initial setting, the knitting machine v! 4 adjustments are made.

This is because the initial setting is done manually, and the direction of the knitted fabric is already determined to the extent that rough adjustments have been made before it is set in the machine. Thereafter, the operation is repeated as shown in FIG. 16, and the stitch picking and needle pricking operation for the required length of knitted fabric is completed.

〔effect〕

As described above, according to the stitch picking device for knitted fabric according to the present invention, by simply setting the knitted fabric to be overstitched first,
After that, it is possible to automatically needle each stitch to be stitched accurately. Further, highly trained skilled workers are not required, and the visual burden on the workers is reduced. Furthermore, complete automation is possible by automating the initial set.
It will be even more effective.

The knitted fabric stuck by the point needle of this device is transferred to a conventional linking machine every month, and if two pieces are overlapped,
Machine sewing can also be carried out, and if two sets of this device are used and the sewing machine section is placed on one side, two pieces of knitted fabric can be stitched at the same time, making it possible to at least double productivity.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a side view showing an outline of an embodiment of the knitted fabric stitch pick-up and needle pricking device according to the present invention, and FIG. 2 shows the state of the knitted fabric in the device shown in FIG. 1. FIG. 3 is a side view showing a detection means and a knitted fabric guide means; FIG. 3 is a plan view taken along line 1 in FIG. 2; and FIG. 4 is a front view taken along line 11/-F/ in FIG. , FIG. 5 is a schematic diagram of a stitch image obtained by a camera, FIG. 6 is an exploded explanatory diagram of the schematic diagram of FIG. 5, and FIG. 7 is an enlarged view of one stitch. 8 is a front view of the needle moving means in the device shown in FIG. 1,
9 is a side view of the means of FIG. 8, FIG. 10 is a front view of the means for engaging the point needle with the fixed guide used for the needle pricking moving means, and FIG. 11 is a front view of the means of the point needle. 12 to 15. FIG.
The figures show a needle moving means different from the needle moving means explained based on FIGS. 8 to 11, in which FIG. 12 is a front view, FIG. 13 is a side view, and FIG. 14 is a sectional view. ,
FIG. 15 is a perspective view of the point needle used in the needle moving means of FIGS. 12 to 14, and FIG. 16 is a flow diagram showing the operation of the eye pick-up needle pricking device according to the present invention.
FIG. 17 is a control system block diagram of the eye picking and needle pricking device according to the present invention. 1,...operation table, 2...knitted fabric, 3,43...
・Point needle, 3m, 43m...Point needle holder,
3b...Groove of holder, 3c...Concave groove of point needle,
4... Silk fabric guide means, 5... Needle pricking needle moving means, 6
Camera, 7 Image processing device, 8 Control device, 10.12 Feed roll, 11.13 Drive motor, 14 Side end position correction roll, 15・
... Motor, 16 ... Side edge position detection sensor, 17
...Jig for correcting the knitting direction, 18...Air cylinder, 19...Arm, 20...Motor, 21...
・Fixed guide, 22... Rotating drum, 22 凰... Rotating drum slit, 23... Ejection lever, 24
...Lever support, 25...Shaft, 26...Connecting rod, 29...Hand, 30.31...Mail screw, 3
4... Support part, 35... Plane plate, 36... Guide groove, 37... Guide rail, 38... Roller, 39...
・Rack, 40... Pinion, 41... Drive motor, 42... Extrusion device, 42m... Rod, 44...
...hole.

Claims (1)

[Claims] 1. A detection sensor that detects the edge of the knitted fabric supplied to be sewn with other knitted fabrics, a camera that detects the knitted fabric condition of the part to be sewn together, and a system based on the two-dimensional information obtained by the camera. A knitted fabric condition detection means comprising an image processing device that calculates position information of the stitches to be inserted; a coarse adjustment means for correcting the position of the stitch end in a timely manner; and a fine adjustment means for correcting the stitch position in the vicinity of the needle insertion position; A knitting guide means that guides the stitch to be pricked to the needle pricking position; a needle moving means that moves while piercing and holding the stitch; and a knitting needle moving means that moves the knitted fabric guide means and the needle pricking needle based on information from the knitted fabric state detecting means. A knitted fabric pick-up and needlestick device comprising a control device for controlling the operation of a moving means.