WO2009081583A1 - Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies - Google Patents

Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies Download PDF

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Publication number
WO2009081583A1
WO2009081583A1 PCT/JP2008/003943 JP2008003943W WO2009081583A1 WO 2009081583 A1 WO2009081583 A1 WO 2009081583A1 JP 2008003943 W JP2008003943 W JP 2008003943W WO 2009081583 A1 WO2009081583 A1 WO 2009081583A1
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WO
WIPO (PCT)
Prior art keywords
carriage
carrier
knitting
knitting machine
power
Prior art date
Application number
PCT/JP2008/003943
Other languages
English (en)
Japanese (ja)
Inventor
Masayoshi Doi
Masanori Inumaki
Original Assignee
Shima Seiki Mfg., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shima Seiki Mfg., Ltd. filed Critical Shima Seiki Mfg., Ltd.
Priority to JP2009546953A priority Critical patent/JP5330265B2/ja
Priority to CN2008801228624A priority patent/CN101910491B/zh
Priority to EP08864134.5A priority patent/EP2246466B1/fr
Publication of WO2009081583A1 publication Critical patent/WO2009081583A1/fr

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Classifications

    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B35/00—Details of, or auxiliary devices incorporated in, knitting machines, not otherwise provided for
    • D04B35/10—Indicating, warning, or safety devices, e.g. stop motions
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B15/00—Details of, or auxiliary devices incorporated in, weft knitting machines, restricted to machines of this kind
    • D04B15/94—Driving-gear not otherwise provided for
    • D04B15/96—Driving-gear not otherwise provided for in flat-bed knitting machines

Definitions

  • the present invention relates to a flat knitting machine that feeds yarn with a self-propelled carrier when knitting a knitted fabric by driving a knitting needle with a carriage that moves along a needle bed, and a self-propelled carrier with a flat knitting machine. It relates to a control method.
  • the carrier In a flat knitting machine having a self-propelled carrier, the carrier can be individually moved along the needle bed without being accompanied by a carriage (see, for example, Patent Document 1). If the yarn is fed by a self-propelled carrier, it can be retracted and returned by self-propelled carrier in intarsia knitting, etc., so there is no need to move the carriage for kicking back, avoiding a decrease in knitting efficiency be able to.
  • the self-propelled carrier can also be used for various knitting such as a plating knitting in which a front yarn and a back yarn are fed from two carriers with a certain phase difference to one cam.
  • the drive source is a main motor as a flat knitting machine.
  • the main motor is controlled via a servo driver, for example.
  • the position of the carriage is detected directly with respect to the needle bed, the frame of the flat knitting machine, or indirectly from the rotation amount of the main motor.
  • the self-propelled carrier is also detected so that its position during movement is synchronized with the carriage position within a certain range.
  • the flat knitting machine is provided with a stop switch for stopping the knitting operation.
  • the stop switch When the stop switch is operated, the supply of driving power to the main motor for driving the carriage is cut off. The power supply for driving the carriage is cut off even when a power failure occurs or the power breaker is operated.
  • the object of the present invention is to maintain the synchronization between the carriage and the self-propelled carrier even if the supply of power for driving the carriage is interrupted by operating a stop switch, etc. It is to provide a flat knitting machine that can be resumed, and a self-propelled carrier control method in the flat knitting machine.
  • the present invention reciprocates along a needle bed on which knitting needles are arranged side by side, and a carriage on which a cam for selectively knitting driving the knitting needles is mounted, and the carriage is self-propelled independently of the carriage and synchronized with the position of the carriage.
  • a flat knitting machine comprising a carrier for supplying knitting yarn to a knitting needle driven for knitting
  • a sensor capable of detecting the position of the carriage and detecting the position at least until the carriage stops even if the supply of power for driving the carriage is interrupted during movement of the carriage; If the supply of power for driving the carriage is interrupted during the movement of the carriage, the movement of the carrier is performed so that the position of the carrier is synchronized with the position of the carriage detected by the sensor until the carriage stops moving.
  • a controller to control It is a flat knitting machine characterized by including.
  • the present invention also includes a memory for storing the position of the carriage in time series, The controller predicts the position of the carriage based on the position stored in the memory, and controls the movement of the carrier so as to maintain the synchronization with the predicted position.
  • the controller may be When the carriage is activated, only the carriage is accelerated alone until a predetermined carrier movement start condition is satisfied, then the carrier is activated, and the carrier is controlled so as to move in synchronization. If power supply for driving the carriage is cut off while accelerating the carriage alone, the carrier is started and moved to synchronize with the carriage if the carrier movement start condition is satisfied before the carriage stops. It is characterized by controlling.
  • the present invention reciprocates along a needle bed in which knitting needles are juxtaposed, and a carriage on which a cam for selectively knitting driving the knitting needles is mounted, and the carriage is self-propelled and synchronized with the position of the carriage.
  • a flat knitting machine comprising a carrier for supplying knitting yarn to a knitting needle driven by knitting
  • the driving power is cut off while the carriage is moving
  • a self-propelled carrier control method Even if the power supply for driving the carriage is cut off, the carriage position can be detected at least until the carriage stops, When the supply of driving power to the carriage is interrupted while the carriage and the carrier are moving in synchronization, the position of the carrier is kept synchronized with the position of the carriage until the carriage stops.
  • a control method for a self-propelled carrier in a flat knitting machine wherein the movement of the carrier is controlled.
  • the controller moves the carrier so that the position of the carrier is synchronized with the position of the carriage until the carriage stops. Control.
  • the carriage and the self-propelled carrier are kept synchronized and the supply of power for driving the carriage is released. It is possible to prevent troubles in resuming the organization.
  • the controller predicts the position of the carriage based on the position of the carriage stored in time series in the memory.
  • the carrier can be controlled to quickly synchronize with the expected carriage position.
  • the carrier is synchronized if the conditions for starting the carrier movement are satisfied before the carriage stops. The organization can be resumed appropriately later.
  • the movement of the carrier is controlled so that the position of the carrier is synchronized with the position of the carriage until the carriage stops. To do.
  • the carriage and the self-propelled carrier can be kept synchronized, and the knitting can be restarted properly after the power supply is released. it can.
  • FIG. 1 is a block diagram showing a schematic electrical configuration of a flat knitting machine 1 according to an embodiment of the present invention.
  • FIG. 2 shows the concept of predicting the position of the carriage 3 that decelerates after the supply of power for driving the carriage is cut off based on the previous position of the carriage 3 stored in the memory 25 in the flat knitting machine 1 of FIG.
  • FIG. 3 is a diagram illustrating the control at the time of starting the carriage 3 and the concept of the control performed when the supply of power for driving the carriage is interrupted in the flat knitting machine 1 of FIG.
  • FIG. 4 is a flowchart generally showing a control procedure by the controller 10 of FIG.
  • FIG. 1 shows a schematic electrical configuration of a flat knitting machine 1 which is an embodiment of the present invention.
  • the flat knitting machine 1 knits the knitted fabric by selectively driving the knitting needles arranged in parallel on the needle bed 2 with a cam mounted on the carriage 3.
  • the carriage 3 is driven so as to reciprocate in the left-right direction in the figure. This direction is the longitudinal direction of the needle bed 2.
  • the carriage 3 is connected to a timing belt 4 that is stretched between both longitudinal ends of the needle bed 2.
  • Driving to the timing belt 4 is performed by a driving pulley 5 at one end in the longitudinal direction of the needle bed 2.
  • the drive pulley 5 is attached to the output shaft of the carriage drive motor 6.
  • the rotation angle of the output shaft is detected by the encoder 7.
  • the needle bed 2 is usually provided so as to make a pair with the tooth opening 8 where the tip of the knitting needle advances and retreats.
  • the other needle beds provided with the tooth mouth 8 interposed therebetween have the same configuration as the needle bed 2.
  • a carriage rail 9 is provided in order to support the carriage 3 so as to be able to reciprocate in the longitudinal direction of the needle bed 2.
  • a controller 10 is provided in order to control the movement of the carriage 3, a controller 10 is provided.
  • the controller 10 includes a CPU and the like, and controls the flat knitting machine 1 including the carriage 3 according to a preset program.
  • a self-propelled carrier 13 having a yarn feeder 12 reciprocates along a yarn path rail 11 installed above the tooth mouth 8.
  • the knitting yarn used for knitting the knitted fabric is supplied from the yarn feeder 12 to the knitting needle.
  • the carrier 13 is connected to a timing belt 14 that is stretched between both ends of the yarn path rail 11.
  • Driving to the timing belt 14 is performed by a driving pulley 15 at one end in the longitudinal direction of the yarn path rail 11.
  • the drive pulley 15 is attached to the output shaft of the carrier drive motor 16.
  • the rotation angle of the output shaft is detected by the encoder 17.
  • the controller 10 receives data corresponding to the rotation angles of the output shafts of the carriage drive motor 6 and the carrier drive motor 16 detected by the encoders 7 and 17.
  • the controller 10 performs control so that the position of the carriage 3 and the position of the carrier 13 are synchronized with each other while maintaining a certain relationship based on the input data.
  • a plurality of knitting needle driving cams may be mounted on the carriage 3.
  • the knitting drive can be performed a plurality of times in one stroke in which the carriage 3 moves once.
  • the plurality of carriers 13 are moved in synchronism so that the positions match the positions of the respective cams.
  • the plurality of carriers 13 are moved with respect to one cam mounted on the carriage 3 so that the positions thereof are synchronized with each other for the front yarn and the back yarn.
  • Electric power for driving the carriage drive motor 6 is supplied from, for example, a commercial AC power source 20 as an external power source to a carriage servo 23 via a backup device 21 and a stop switch 22 that constitute a power source as a flat knitting machine. .
  • the carriage servo 23 performs servo drive of the carriage drive motor 6.
  • the backup device 21 includes a large-capacity capacitor and an electromagnetic circuit breaker, and power is supplied to the stop switch 22 via the electromagnetic circuit breaker.
  • the electromagnetic circuit breaker is cut off, and the supply of drive power to the carriage drive motor 6 via the carriage servo 23 is cut off. Even when the stop switch 21 is operated due to an emergency situation during power reception, the power supply for driving the carriage 3 is cut off.
  • power is also supplied to a lighter load than the carriage 3 including the carrier 13, such as the carrier servo 24 that performs servo drive of the carrier motor 16 and the controller 10.
  • a lighter load than the carriage 3 including the carrier 13, such as the carrier servo 24 that performs servo drive of the carrier motor 16 and the controller 10.
  • backup power stored in a capacitor inside the backup device 21 is supplied when power reception from the commercial AC power supply 20 is stopped due to a power failure or the like. Capacitor capacity allows backup power to be supplied for several seconds. In the carrier servo 24, even if the power supply for driving is stopped, the power from the carrier motor 16 is regenerated, and the time until the power supply is stopped can be extended to about several seconds.
  • the carriage 3 decelerates and stops. To do.
  • the controller 10 controls the carrier 13 to keep the position of the carrier 13 synchronized with the position of the carriage 3. Even when power reception from the commercial AC power supply 20 is stopped, power supply from the backup device 21 can be performed at least during such control. Further, as described above, it is possible to regenerate power by the carrier servo 24 that drives the carrier motor 16 and to extend the time until the carrier motor 16 stops.
  • a memory 25 is provided for the controller 10 to properly control the synchronization between the position of the carriage 3 and the position of the carrier 13.
  • Data indicating the position of the carriage 3 is stored in the memory 25 at regular intervals, for example, every 1 ms.
  • a certain area is allocated for storing the position of the carriage 3, and when data is stored in all the areas, new data is stored so as to overwrite the oldest data.
  • the control of the carriage drive motor 6 and the carrier drive motor 16 by the controller 10 is performed via a carriage servo 23 and a carrier servo 24.
  • the servo driver 25 supplies the power supplied from the main power supply 20 to the carriage drive motor 6 under the control of the controller 10.
  • the carriage servo 23 keeps a state in which the rotation angle can be detected by the encoder 7 by using the regenerative power generated by the carriage drive motor 6 as a generator.
  • the memory 25 is provided with a backup power source capable of supplying power for a longer time than the backup power from the backup device 21, or a non-volatile flash memory is used. From such a memory 25, it is possible to read the data of the position of the carriage 3 held even when the operation is stopped even when the operation is resumed after the operation of the flat knitting machine 1 is stopped.
  • FIG. 2 shows a concept of predicting the position of the carriage 3 that decelerates after the operation of the emergency stop switch 21, for example, based on the past position of the carriage 3 stored in the memory 25 of FIG.
  • data indicating the position of the carriage 3 in the past is stored in time series, for example, every 1 ms.
  • the position of the carriage 3 is calculated based on the rotation angle of the output shaft of the carriage drive motor 6 output from the encoder 7.
  • a linear encoder that directly detects the position can be provided along the needle bed 2 and the carriage rail 9 to detect the position.
  • the size of the storage area provided in the memory 25 only needs to store at least three pieces of position data necessary for the following prediction.
  • the position after 1 ms is predicted as P3 based on the data P0, P1, and P2 for the past 3 ms including the current position.
  • the controller 10 in FIG. 1 controls the carriage drive motor 6 and the carrier drive motor 16 so that the position of the carriage 3 and the position of one or more carriers 13 are synchronized while maintaining a certain relationship.
  • the carriage 3 reciprocates along the needle bed 2 within a range set according to the knitting width of the knitted fabric to be knitted.
  • the carriage drive motor 6 performs acceleration / deceleration control of the carriage 3.
  • the controller 10 predicts the position of the carriage 3 and brings it to the expected position. Control is performed so that the positions of the carriers 13 are synchronized.
  • FIG. 3 shows the concept of control when the supply of power for driving the carriage is interrupted when the carriage 3 is started.
  • the carriage 3 moves outside the carrier 13 on the one end side of the knitting width, for example, and then reverses the moving direction.
  • the movement starts at a constant acceleration from the stationary state toward the other side of the knitting width at time t0.
  • the carrier 13 stands by at a position close to the knitting width outside the one end side of the knitting width. Until the time t1, since the carriage 3 moves alone, it is naturally not synchronized with the carrier 13.
  • the carriage 3 reaches a carrier movement start position at which the movement of the carrier 13 is to start, and the movement of the carrier 13 to the other side of the knitting width also starts as indicated by a broken line. Since the carrier 13 having a smaller load than the carriage 3 can accelerate more quickly, the carrier 13 reaches the same speed as the carriage 3 at time t2 and can maintain a synchronized positional relationship. .
  • the knitting needle is knitted and driven by the carriage 3, and the knitted fabric can be knitted with the knitting yarn fed from the yarn feeder 12 of the carrier 13. Control when the supply of power to the carriage servo 23 is interrupted after synchronization may be performed while predicting the position of the carriage 3 as shown in FIG.
  • the interruption of the supply of power to the carriage servo 23 can also occur between time t1 and time t2. If the supply of electric power is interrupted at time tx during this period, the carriage 3 stops accelerating from time t0 at time tx, as indicated by a thick solid line. That is, like the activation sequence indicated by the two-dot chain line, after time tx, acceleration does not continue but switches to deceleration.
  • the controller 10 performs control so that the position of the carrier 13 is immediately synchronized with the expected position of the carriage 3 after time tx, as indicated by a thick broken line. Since the load on the carrier 13 is small, more rapid acceleration is possible. After the time tx, the carriage 3 decelerates, so that synchronization can be achieved in a short time. After synchronization is achieved, the position of the carrier 13 may be adjusted to the predicted position while the position of the carriage 3 is predicted.
  • the interruption of the supply of power to the carriage servo 23 can also occur between time t0 and time t1 when the carriage 3 is accelerating alone. If the position where the carriage 3 is decelerated and stopped due to the interruption of the power supply does not reach the carrier movement start position, it is not necessary to start the carrier 13.
  • the carriage 13 may be synchronized by controlling the carrier 13 after the carriage 3 reaches the carrier movement start position. If the carriage 3 reaches the carrier movement start position while decelerating and stopping, the carrier 13 reaches the expected position of the carriage 3 as in the case between the time t1 and the time t2 shown in FIG. Control may be performed so that synchronization occurs immediately.
  • FIG. 4 shows the overall control procedure of the carrier 13 by the controller 10 described above.
  • the current position of the carriage 3 is stored in the memory 25 in step s1.
  • the target position of the carriage 3 is a sequence including acceleration at start-up, constant speed after acceleration, deceleration at stop (not shown), etc., as shown by a solid line from time t0 in FIG.
  • the calculated target position of the carrier 13 is output to the carrier servo 24 in step s4, and the carrier drive motor 16 is controlled.
  • the procedure from step s1 to step s4 is repeated, and the carriage 3 and the carrier 13 are controlled to move in synchronization.
  • step s2 when it is determined that an operation of pressing the stop switch 21 is performed or a power failure occurs in the commercial AC power supply 20 and the power supply is cut off, the position of the carriage 3 after 1 ms is determined in step s5. The concept is as shown in FIG.
  • step s6 it is determined whether the carrier 13 and the carriage 3 are not yet synchronized.
  • step s7 the target position of the carrier 13 with respect to the expected position of the carriage 3 after 1 ms is calculated, and the process proceeds to step s4.
  • Such synchronization of the position of the carrier 13 with respect to the expected position of the carriage 3 can maintain a synchronized state even after the supply of power is cut off.
  • step s6 it is determined in step s6 that the carrier 13 and the carriage 3 are not yet synchronized. For example, this corresponds to the case where the carriage 3 reverses the moving direction beyond the end of the knitting width.
  • step s8 it is determined whether or not the predicted position of the carriage 3 has passed the carrier movement start position. If the predicted position of the carriage 3 has passed the carrier movement start position, the target position of the carrier 13 with respect to the predicted position of the carriage 3 after 1 ms is calculated in step s9. This corresponds to instantaneous synchronization between the carrier 13 and the carriage 3.
  • step s8 If the predicted position of the carriage 3 is not past the carrier movement start position in step s8, the target position of the carrier 13 is not calculated, and the process proceeds to step s4 without setting the target position. In step s4, since there is no carrier target position to be output, the carrier 13 does not move and only the carriage 3 moves.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Knitting Machines (AREA)

Abstract

L'invention porte sur un métier à mailles cueillies qui peut, même si la source d'alimentation est interrompue pour un arrêt d'urgence, reprendre l'opération de tricotage de façon correcte après rétablissement de la source d'alimentation, tout en maintenant la synchronisation du chariot et du support mobile. L'invention porte également sur un procédé de commande qui peut commander le support mobile du métier à mailles cueillies. Lorsque l'alimentation en énergie électrique d'un moteur d'entraînement de chariot (6) est interrompue par suite de l'interruption d'une source d'alimentation commerciale en courant alternatif (20) ou par suite du déclanchement d'un commutateur d'arrêt (22), le chariot (3) est décéléré de façon à s'arrêter. Un dispositif de commande (10) prédit la position du chariot (3) et effectue une commande pour synchroniser la position d'un support (13) à la position prédite. Lorsque l'alimentation en énergie électrique est interrompue au moment de l'inversion du chariot (3) pendant que le chariot (3) est uniquement accéléré pour que sa position atteigne la position de départ du déplacement du support, la commande de démarrage immédiat du support (13) est effectuée de façon à synchroniser la position du support (13) avec la position prédite du chariot (3) décéléré.
PCT/JP2008/003943 2007-12-25 2008-12-25 Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies WO2009081583A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2009546953A JP5330265B2 (ja) 2007-12-25 2008-12-25 横編機および横編機での自走式キャリアの制御方法
CN2008801228624A CN101910491B (zh) 2007-12-25 2008-12-25 横编机及横编机中的自行式导纱器的控制方法
EP08864134.5A EP2246466B1 (fr) 2007-12-25 2008-12-25 Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-333189 2007-12-25
JP2007333189 2007-12-25

Publications (1)

Publication Number Publication Date
WO2009081583A1 true WO2009081583A1 (fr) 2009-07-02

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PCT/JP2008/003943 WO2009081583A1 (fr) 2007-12-25 2008-12-25 Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies

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EP (1) EP2246466B1 (fr)
JP (1) JP5330265B2 (fr)
CN (1) CN101910491B (fr)
WO (1) WO2009081583A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012121229A (ja) * 2010-12-08 2012-06-28 Ricoh Co Ltd インクジェット記録装置
WO2022158251A1 (fr) 2021-01-22 2022-07-28 株式会社島精機製作所 Procédé de production et système de production de données de correction pour vanisage inverse

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103993417B (zh) * 2014-05-22 2016-01-06 浙江恒强科技股份有限公司 一种横机自跑式纱嘴的控制系统及方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0362821B2 (fr) 1989-01-06 1991-09-27 Ikenaga Kk
JPH05209345A (ja) * 1991-08-02 1993-08-20 Atelier Constr Steiger Sa 平形横編機
JPH08127948A (ja) * 1994-10-31 1996-05-21 Shima Seiki Mfg Ltd 編機のキャリアの制御方法とその装置
JP2004076172A (ja) * 2002-08-12 2004-03-11 Precision Fukuhara Works Ltd 丸編機の給糸制御方法および給糸制御装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001003245A (ja) * 1999-06-16 2001-01-09 Tsudakoma Corp 編機における編成部材駆動用のリニアモータ制御装置
JP3511012B2 (ja) * 2001-01-18 2004-03-29 株式会社島精機製作所 横編機における停電時のバックアップシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0362821B2 (fr) 1989-01-06 1991-09-27 Ikenaga Kk
JPH05209345A (ja) * 1991-08-02 1993-08-20 Atelier Constr Steiger Sa 平形横編機
JPH08127948A (ja) * 1994-10-31 1996-05-21 Shima Seiki Mfg Ltd 編機のキャリアの制御方法とその装置
JP2004076172A (ja) * 2002-08-12 2004-03-11 Precision Fukuhara Works Ltd 丸編機の給糸制御方法および給糸制御装置

Non-Patent Citations (1)

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Title
See also references of EP2246466A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012121229A (ja) * 2010-12-08 2012-06-28 Ricoh Co Ltd インクジェット記録装置
WO2022158251A1 (fr) 2021-01-22 2022-07-28 株式会社島精機製作所 Procédé de production et système de production de données de correction pour vanisage inverse

Also Published As

Publication number Publication date
JPWO2009081583A1 (ja) 2011-05-06
CN101910491B (zh) 2012-07-18
EP2246466A4 (fr) 2013-01-16
EP2246466A1 (fr) 2010-11-03
CN101910491A (zh) 2010-12-08
EP2246466B1 (fr) 2014-11-12
JP5330265B2 (ja) 2013-10-30

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