RU2549083C1 - Method of casting on loops of knitted fabric and device for its implementation - Google Patents

Abstract

FIELD: textiles, paper.

SUBSTANCE: method of casting on loops comprises placement of the thread (5) between the guide elements (2, 3, 4), and implementation of the translational and rotational movements of at least one knitting tool (8) by the controlled manipulator (7). The manipulator has three translational degrees of freedom and two rotational degrees of freedom relative to the axes which do not coincide with the axis of the knitting tool (8). At that the movements are carried out with the gripping of thread (5) by the knitting tool (8) and forming loops according to the loop formation algorithm. The device for implementing the method comprises a base (1) on which at least two guide elements (2, 3, 4) are mounted, as well as the tension mechanism (6) of the thread (5), at least one said spatial manipulator (7) with the gripping unit for the knitting tool (8), a control system (9) of the manipulator.

EFFECT: providing the automation of the process of casting on the loops of the first row, increase in the rate of loop formation, increase in universality and enhancing the technological capabilities of the method and the device.

14 cl, 10 dwg

Description

The invention relates to the production of knitted fabrics and can be used to automate the knitting process.

When looping a knitted fabric using a knitting machine, there is a need for an initial set of the first row of loops. In traditional knitting machines, looping of the first row is carried out manually (see, for example, application for a patent of the Russian Federation No. 93025202, published on 08/20/1995, IPC D04B 7/08, / 1 /). The disadvantage of this technology is its high complexity.

The prior art methods for a set of loops in which the formation of both the first and subsequent rows is carried out automatically. In particular, a knitting robot is known (see Westgarth M.'s article “Machynlleth Mini Maker Faire to include knitting robot” published on 08/23/2013 at 13/08/23 / machynlleth-mini-maker-faire-to-include- knitting-robot /, / 2 /), including a base with guides, as well as a manipulator with a grip for a knitting tool. For a set of loops, the thread is placed between the guides, while translational movement of the knitting tool is carried out with the capture of the thread and the formation of loops according to a predetermined algorithm. The disadvantage of such devices is their low versatility, because they do not provide the possibility of knitting knitted fabrics of complex shape and configuration of loops.

The objective of the claimed invention is the creation of a universal method and device for knitting, allowing an automated set of loops of at least the first row of knitted fabric.

The technical result consists in the possibility of automating the process of recruiting first-row loops, increasing the speed of loop formation, increasing versatility and expanding the technological capabilities of the method and device.

The specified technical result is achieved in the method of a set of loops of knitted fabric due to the fact that it includes placing the thread between at least two guiding elements and performing translational and rotational movements of at least one knitting tool through a controlled manipulator having three translational degrees of freedom and at least at least two rotational degrees of freedom with respect to axes that do not coincide with the axis of the knitting tool, ensuring the capture of the thread by the knitting tool ment and loop formation according to the loop formation algorithm.

In addition, the specified technical result is achieved in private variants of the method due to the fact that:

- use a knitting needle as a knitting tool,

- as guiding elements use rollers, in the grooves of which the thread is laid,

- the thread is placed between three guiding elements and at least two flow rings with the formation of a quadrangle,

- during looping, translational and / or rotational movement of the knitting tool is carried out at least once in a plane parallel and / or perpendicular to the plane of the rectangle formed by the thread,

- in the process of loop formation at least once carry out the removal of the thread from at least one guide element and / or laying the thread on at least one guide element,

- in the process of loop formation at least once carry out the tension of the thread to tighten the formed loop,

- in the process of loop formation, at least the first row of loops is formed.

The specified technical result is achieved in a device for a set of loops of knitted fabric containing a base on which at least two guiding elements are installed for laying threads on them, a thread tension mechanism, at least one spatial manipulator with a grip for a knitting tool having three translational degrees freedom and at least two rotational degrees of freedom with respect to axes that do not coincide with the axis of the knitting tool, and a manipulator control system.

In addition, the specified technical result is achieved in private embodiments of the device due to the fact that:

- used as a knitting tool,

- as guiding elements used movable rollers with grooves,

- the manipulator is equipped with three drives of translational movement and at least two drives of rotational movement, while the drives are connected to the control system of the manipulator,

- the thread tension mechanism includes at least one drive coil connected to the electric drive, at least two through rings, and adjustable weights that provide the necessary level of thread tension during loop formation,

- the device contains three guide elements and at least two flow rings placed on the base with the formation of a quadrangle.

In contrast to the knitting robot according to / 2 /, selected as the closest analogue, the claimed method and device use at least one controlled manipulator to move the knitting tool having at least five degrees of freedom: three translational and at least two rotational degrees of freedom. Moreover, the indicated axis of rotation of the tool does not coincide with its own axis. This difference allows the formation of loops of almost any configuration. If it is necessary to obtain complex configurations and / or forms of the resulting knitted product, several manipulators are used.

The claimed invention is illustrated by the drawings, which show possible embodiments of the present invention.

Figure 1 shows a General diagram of the claimed device.

Figure 2 shows an example implementation diagram of the inventive method.

The claimed device (see Fig. 1) contains a base (1) with at least two, preferably three, guiding elements (2, 3, 4) installed on it, onto which the thread (5) is laid (shown by a dashed line), a mechanism (6) thread tension, at least one spatial manipulator (7) with a grip for a knitting tool (8) and a control system (9) of the manipulator.

The manipulator (7) has three translational degrees of freedom, as well as at least two rotational degrees of freedom. The rotation is carried out relative to the axes that do not coincide with the axis of the knitting tool. In a preferred embodiment, the manipulator (7) has three rotational degrees of freedom. To perform these rotational and translational movements, the manipulator (7) includes three linear displacement actuators (10, 11, 12) and at least two, preferably three rotational displacement actuators (13, 14, 15), the axis of rotation of which do not coincide with the axis knitting tool (8). All drives (10, 11, 12, 13, 14, 15) are connected to the control system (9) to ensure spatial orientation and movement of the knitting tool (8) according to a given algorithm.

The tension mechanism (6) includes at least one reel (16), driven by an electric drive (not shown) and necessary for tightening the loop nodes, as well as at least one inlet and one outlet through-rings (17) and an adjustable load (18), providing the required level of thread tension (5). All electric drives are connected to the control system (9).

As guiding elements (2, 3, 4), movable rollers with grooves can be used for laying the threads in them, as shown, for example, in Fig. 2a.

In a preferred embodiment of the invention, the guide rollers (2, 3, 4) and the through-rings (17) are located on the base (1), so that the thread (5) stretched between them forms a quadrangle (see figa).

As a knitting tool (8), a knitting needle or any other suitable tool for knitting, for example a hook, can be used.

The claimed method is generally implemented as follows.

The thread (5) is laid on the guide rollers (2, 3, 4) in the initial position. After turning on the device, a knitting tool (8), driven by the spatial manipulator (7), captures the thread (5) from the outside of the device. Then, according to the loop-forming algorithm, the knitting tool (8) performs a series of spatial translational and rotational movements in a plane parallel or perpendicular to the plane of the quadrangle formed by the thread (5) defined by the control system (9). Next, the tension mechanism (6) pulls the thread (5) for the final formation of the node. After that, the manipulator moves to set the thread (5) in its original position. The specified cycle is repeated n times until at least the first row of loops is formed, where n is the specified number of loops of the first row of knitted fabric. To form subsequent rows, one or several additional manipulators (7) with knitting tools (8) can be used. In particular, it was found that when using four manipulators (7) and, accordingly, four knitting tools, the claimed device can provide the formation of a knitted product of almost any shape from a knitted fabric with any configuration of loops.

An example implementation of the method.

At the initial time shown in Fig. 2a, the thread (5) is laid in the grooves of the movable rollers (2, 3, 4) fixed on the base (1), while the tension of the thread (5) passing through the through rings (17) is provided by a tension mechanism (6), including an adjustable load (18). A spoke (8), fixed in the grip of the spatial manipulator (7), is located outside the quadrangle formed by the stretched thread (5), perpendicular to the base 1, i.e. the end of the spoke (8) is directed vertically downward.

Next, as shown in Fig.2b, the spoke (8) performs translational motion in the horizontal plane, capturing a portion of the thread (5), stretched between the rollers (3) and (4). After moving to a predetermined value, the spoke (8) performs translational motion in a vertical plane.

Then the spoke (8) captures the thread, stretched between the roller (2) and the through-ring (17), and moves in a horizontal plane by a fixed amount. After that, the spoke (8) rotates counterclockwise when viewed from the end of the spoke (8) (Fig.2c).

Next, the spoke (8) moves in the horizontal plane by an amount corresponding to the initial position, and then in the vertical plane (vertically upwards). In this case, the axis of the spokes (8) is directed horizontally (Fig.2g).

After that, the spoke (8) rotates to its original vertical state, shifting into the rectangle formed by the stretched thread (fig.2d).

Then the spoke (8) rotates in a vertical plane clockwise and moves to its original position (Fig.2E).

After that, having made a rotation in the vertical plane counterclockwise, the spoke (8) is shifted into the quadrangle formed by the stretched thread and rotates in the opposite direction (Fig.2zh).

Then, the spoke (8) is shifted vertically upward, removing the thread from the rollers (2, 3), and the tensioner tightens the resulting assembly on the spoke (8) (Fig.2z).

Next, the spoke (8) makes a spatial movement, ensuring the laying of the thread on the rollers (2, 3) (Fig.2i).

And then the loop formation cycle is repeated, excluding the first movement of the thread capture (5), since it is already fixed on the spoke (8) by the formed assembly. In the process of loop formation, the required thread tension (5) is constantly provided by the thread tension mechanism. Application of the proposed method allows you to automate the process of dialing loops from the very first node.

This algorithm is shown in the application as an example only. It is obvious that the claimed method and device can provide for the formation of loops of the canvas according to any predetermined algorithm for looping.

The use of the invention allows to reduce the manufacturing time of a knitted product by replacing manual labor and increasing the efficiency of a set of loops, especially loops of the first row of a knitted fabric, by automating the process of making loops.

It should be noted that the claimed method and device are not limited to the specific examples of their execution, given in the description. Other options for their implementation are also possible in the amount of the proposed set of essential features.

Claims (14)

1. A method for a set of loops of knitted fabric, including:
placing the thread (5) between at least two guide elements (2, 3, 4) and
translational and rotational movements of at least one knitting tool (8) by means of a controlled manipulator (7) having three translational degrees of freedom and at least two rotational degrees of freedom relative to axes that do not coincide with the axis of the knitting tool (8), with the provision of capture threads (5) with a knitting tool (8) and loop formation according to the loop formation algorithm. 2. The method of a set of loops according to claim 1, in which a knitting needle is used as a knitting tool (8). 3. The loop set method according to claim 1, in which rollers are used as guide elements (2, 3, 4), in the grooves of which the thread (5) is laid. 4. A looping method according to any one of claims 1 to 3, in which the thread (5) is placed between three guide elements (2, 3, 4) and at least two through-rings (17) to form a quadrangle. 5. The loop set method according to claim 4, in which during the loop formation, translational and / or rotational movement of the knitting tool (8) is carried out at least once in a plane parallel and / or perpendicular to the plane of the quadrangle formed by the thread (5). 6. The loop set method according to claim 4, wherein during the loop formation process, the yarn (5) is removed at least once from at least one guide element (2, 3, 4) and / or the yarn is laid on at least one guide element (2, 3, 4). 7. The loop set method according to claim 4, wherein during the loop formation process, the thread (5) is tensioned at least once to tighten the loop formed. 8. The loop set method according to claim 4, in which at least the first row of loops is formed during the loop formation process. 9. A device for a set of loops of knitted fabric, containing:
the base (1) on which at least two guide elements (2, 3, 4) are installed for laying the threads (5) on them,
the mechanism of tension (6) threads (5),
at least one spatial manipulator (7) with a grip for a knitting tool (8) having three translational degrees of freedom and at least two rotational degrees of freedom with respect to axes that do not coincide with the axis of the knitting tool (8), and
control system (9) of the manipulator for controlling the manipulator (7). 10. Device for a set of loops according to claim 9, in which a knitting needle is used as a knitting tool (8). 11. The device for a set of loops according to claim 9, in which movable rollers with grooves are used as guide elements (2, 3, 4). 12. A device for looping according to any one of claims 9 to 11, wherein the manipulator (7) is equipped with three drives (10, 11, 12) of translational movement and at least two drives (13, 14, 15) of rotational movement, this drives (10, 11, 12, 13, 14, 15) are connected with the control system (9) of the manipulator. 13. A device for looping according to any one of claims 9 to 11, in which the tensioning mechanism (6) of the yarn (5) includes at least one drive coil (16) connected to the electric drive, at least two passage rings (17) and adjustable weights (18), providing the necessary level of thread tension (5) during loop formation. 14. A device for looping according to any one of claims 9 to 11, comprising three guide elements (2, 3, 4) and at least two through-rings (17) placed on the base (1) to form a quadrangle.

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