EP1061168B1 - Dispositif de controle d'un moteur lineaire pour l'entrainement des components de tricotage d'un métier à tricoter - Google Patents

Dispositif de controle d'un moteur lineaire pour l'entrainement des components de tricotage d'un métier à tricoter Download PDF

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Publication number
EP1061168B1
EP1061168B1 EP20000111968 EP00111968A EP1061168B1 EP 1061168 B1 EP1061168 B1 EP 1061168B1 EP 20000111968 EP20000111968 EP 20000111968 EP 00111968 A EP00111968 A EP 00111968A EP 1061168 B1 EP1061168 B1 EP 1061168B1
Authority
EP
European Patent Office
Prior art keywords
knitting
signal
linear motor
driving
reset
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP20000111968
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German (de)
English (en)
Other versions
EP1061168A1 (fr
Inventor
Kouyuu Maenaka
Nobuhiro Araki
Makoto Takashima
Tatsuya Tani
Yutaka Matuyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsudakoma Corp
Original Assignee
Tsudakoma Industrial Co Ltd
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Filing date
Publication date
Application filed by Tsudakoma Industrial Co Ltd filed Critical Tsudakoma Industrial Co Ltd
Publication of EP1061168A1 publication Critical patent/EP1061168A1/fr
Application granted granted Critical
Publication of EP1061168B1 publication Critical patent/EP1061168B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • D04B15/38—Devices for supplying, feeding, or guiding threads to needles
    • D04B15/54—Thread guides
    • D04B15/56—Thread guides for flat-bed knitting machines
    • 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
    • D04B15/32—Cam systems or assemblies for operating knitting instruments

Definitions

  • This invention relates to a linear motor control device for driving knitting head components of a knitting machine which can avoid knitting defective fabrics and knit high-quality fabrics in a stable way.
  • the prior art to which the invention is directed discloses a flat knitting machine in which knitting head components, such as a plurality of feeders and knitting needles on front and rear beds, are individually controlled by linear motors (see EP 0 916 759 A).
  • Positions of the individual linear motors which are combined with respective drive control circuits and driving circuits, are controlled according to target position signals fed from a common knitting control unit.
  • Each of the driving circuits is provided with a pole position detector for determining the relative position of magnetic poles of a stator and a movable part of the linear motor using a sensing signal fed from a sensor which detects travel of the movable part of the linear motor.
  • the individual driving circuits reset their own pole position detectors by outputting a reset signal thereto at power-up.
  • the driving circuits can drive the linear motors in a properly controlled manner by outputting driving currents to appropriate coils of the linear motors selected in accordance with the relative position of the magnetic poles of the stator and the movable part detected by the pole position detector.
  • the pole position detector may be reset by a reset signal entered from the driving circuit.
  • the driving circuit may output the reset signal after verifying that the movable part is located at its rearward movement limit or that the movable part located at its rearward movement limit is forced rearward.
  • the driving circuit may output the reset signal after verifying that the clear signal entered from the knitting control unit has been continuously present for a specific time period.
  • the pole position detector is reset each time the clear signal is transmitted from the knitting control unit on condition that the movable part is located at the specific position.
  • the pole position detector can exactly determine the relative position of the magnetic poles of the stator and the movable part of the linear motor with minimum accumulation of sensing errors caused by potential loses of sensing signals from the sensor regardless of operating time of the knitting machine, and the drive control circuit and the driving circuit can correctly control the position of each knitting head component by controlling the linear motor.
  • the knitting control unit produces the clear signal when the knitting head components have been set to specific positions, such as their rearward movement limits or forward movement limits, after power-on of the knitting machine, upon completion of knitting a particular quantity of fabric (e.g., one or more webs), or after manual stoppage of the knitting machine using a stop switch.
  • specific positions such as their rearward movement limits or forward movement limits, after power-on of the knitting machine, upon completion of knitting a particular quantity of fabric (e.g., one or more webs), or after manual stoppage of the knitting machine using a stop switch.
  • the specific position referred to above corresponds to the rearward movement limit or forward movement limits of the movable part, or any set position within the stroke of the movable part where its position can be exactly detected.
  • the drive control circuit determines a positioning deviation of the linear motor based on a comparison between a target position indicated in a target position signal fed from the knitting control unit and the current position of the movable part of the linear motor, and outputs the driving signal.
  • the target position varies with time up to a final target position in order to move the knitting head component according to a specific velocity pattern.
  • the reset signal for resetting the pole position detector is output from the driving circuit. It is possible to easily improve by setting appropriate conditions for the driving circuit.
  • the driving circuit can verify that the movable part is located at its rearward movement limit by sensing that the duty factor is 0%, for instance.
  • the driving circuit outputs the reset signal and reset the pole position detector after verifying that the movable part located at its rearward movement limit is forced rearward, it becomes possible to prevent malfunctioning caused by noise even more effectively.
  • the movable part is correctly held at the rearward movement limit when the pole position detector is reset, it is possible to sense the relative position of the magnetic poles even more precisely subsequently.
  • the driving circuit outputs the reset signal after verifying that the clear signal entered from the knitting control unit has been continuously present for a specific time period, it becomes possible to enhance the noise withstand capability as a whole since conditions for outputting the reset signal are made more stringent.
  • a linear motor control device for driving knitting head components -of a knitting machine comprises drive control circuits 21 and driving circuits 22 connected to a common knitting control unit 10, wherein one each drive control circuit 21 and driving circuit 22 are connected in series and provided for each combination of a knitting head assembly W and a linear motor M.
  • FIG. 1 shows only one set of the drive control circuit 21, the driving circuit 22, the linear motor M and the knitting head assembly W, wherein the knitting head assembly W is a set of a feeder and a knitting needle, for instance, which are driven by the linear motor M.
  • the knitting machine of the present embodiment is a flat knitting machine, it may be other type of knitting machine in this invention.
  • the linear motor M is formed of a combination of a stator M1 made of permanent magnets which are arrayed such that their north and south poles are aligned alternately along the moving direction of the knitting head assembly W and a movable part M2 having a plurality of coils M2a.
  • the stator M1 of the linear motor M is provided with a sensor A for detecting the travel of the movable part M2 by means of a scale M2b which is attached to the movable part M2.
  • the knitting head assembly W is connected to the movable part M2 and a stopper SP which sets a limit on rearward movement of the movable part M2 and the knitting head assembly W is provided at the back of the movable part M2.
  • the sensor A outputs a pulse-shaped sensing signal Sa at each successive graduation line on the scale M2b.
  • the knitting control unit 10 is associated with a start switch SW1 and a stop switch SW2, and knitting data D1 is entered to the knitting control unit 10 from a data unit which is not illustrated.
  • a target position signal S3 and a control signal S4 output from the knitting control unit 10 are entered to the drive control circuit 21 while a clear signal S5 also output from the knitting control unit 10 is entered to the driving circuit 22.
  • the drive control circuit 21 is connected to a current position detector 21a.
  • the sensing signal Sa is entered from the sensor A to the current position detector 21a while an output of the current position detector 21a is entered to the drive control circuit 21 as a current position signal Sx.
  • An output of the drive control circuit 21 is entered to the driving circuit 22 as a driving signal S6.
  • Outputs of the driving circuit 22 are delivered to the coils M2a of the movable part M2 of the linear motor M.
  • Another output of the driving circuit 22 is entered to a pole position detector 22a as a reset signal S7.
  • the sensing signal Sa from the sensor A is branched and entered also to the pole position detector 22a and an output of the pole position detector 22a is entered to the driving circuit 22 as a pole position signal Sy.
  • the knitting data D1 is entered from the unillustrated data unit to the knitting control unit 10.
  • the knitting control unit 10 can output the target position signal S3 to the drive control circuit 21 according to the knitting data D1.
  • the target position signals S3 thus output to the individual drive control circuits 21 indicate target positions xo for the respective knitting head assemblies W that vary with the lapse of time.
  • the current position detector 21a outputs the current position signal Sx indicating current position x of the pertinent knitting head assembly W based on the sensing signal Sa from the sensor A, wherein the current position x is measured from an unillustrated knitting operation origin which is set at the front of the stopper SP in a forward-moving direction of the knitting head assembly W.
  • the driving current Id is a pulse-width-modulated rectangular-shaped current
  • the command value d indicates the duty factor of the driving current Id, with plus (+) and minus (-) signs indicating the moving direction of the movable part M2 and the knitting head assembly W.
  • the pole position detector 22a has a function of a counter. It counts the pulse-shaped sensing signal Sa fed from the sensor A in a positive or negative direction depending on the moving direction of the movable part M2, determines relative position y of magnetic poles of the stator M1 and the movable part M2 of the linear motor M and outputs it as the pole position signal Sy.
  • the driving circuit 22 Based on the driving signal S6 from the drive control circuit 21 and the pole position signal Sy from the pole position detector 22a, the driving circuit 22 selects one of the coils M2a and outputs the driving current Id of an appropriate flowing direction and amount, so that the linear motor M moves the knitting head assembly W to follow the target position xo which varies with the lapse of time and a desired fabric can be knit as a consequence.
  • the knitting control unit 10 When the flat knitting machine has been powered on, or when a particular amount of fabric specified in the knitting data D1 has been completed, the knitting control unit 10 operates according to a program flowchart shown in FIG. 2. In the latter case, the program of FIG. 2 is run at regular intervals determined by the amount of fabric to be knit.
  • the drive control circuit 21 may detect based on the current position signal Sx from the current position detector 21a that the movable part M2 has retracted to its rearward movement limit in step (2).
  • step (10) the program causes the knitting control unit 10 to output target position signals S3 indicating target positions xo which set final target positions for the individual knitting head assemblies W at their knitting operation origins in step (11).
  • the program causes the driving circuit 22 to output the reset signal S7 to the pole position detector 22a in step (7) and terminates the operation flow of FIG. 3.
  • the pole position detector 22a resets a count value of the sensing signal Sa fed from the sensor A in a condition in which the movable part M2 is forced against the stopper SP.
  • the pole position detector 22a can exactly determine the relative position y of the magnetic poles of the stator M1 and the movable part M2 and output it as the pole position signal Sy.
  • the knitting control unit 10 operates as described above also when the stop switch SW2 is operated during fabric knitting operation, or when the flat knitting machine has been automatically stopped due to a certain cause. In such cases, however, the knitting control unit 10 holds the current target positions xo indicated by the individual target position signals S3 at the time that the stop switch SW2 is operated or the flat knitting machine is automatically stopped. Then, according to the aforementioned procedure, the knitting control unit 10 outputs the target position signals S3, control signals S4 and clear signals S5 and each driving circuit 22 outputs the reset signal S7 upon receiving the clear signal S5 to reset the pole position detector 22a.
  • the knitting control unit 10 stops to hold the individual target position signals S3 and permits the target positions xo to vary with the lapse of time according to the knitting data D1, whereby the drive control circuits 21 and the driving circuits 22 recommence to control the positions of the knitting head assemblies W by the respective linear motor M to resume the fabric knitting operation.
  • the driving circuit 22 Since the driving circuit 22 outputs the reset signal S7 only when specific conditions have been met after the clear signal S5 was produced as seen above, the driving circuit 22 would not inadvertently reset the pole position detector 22a when a wrong clear signal S5 has occurred due to noise.
  • the knitting control unit 10 should control the drive control circuit 21 and the driving circuit 22 and output the reset signal S7 according to a time chart shown in FIG. 4, for example, without outputting the clear signal S5.
  • the rearward movement limits of the movable part M2 and the knitting head assembly W defined by the stopper SP may be replaced by any set positions including their forward movement limits as long as the relative position y of the magnetic poles of the stator M1 and the movable part M2 can be physically defined in a correct way. If such set position is located other than at the rearward movement limit or forward movement limit of the movable part M2, the movable part M2 at the set position may be detected by a dedicated sensor provided in addition to the sensor A. More specifically, the knitting control unit 10 may cause the movable part M2 to move toward the set position and the dedicated sensor to detect the arrival of the movable part M2 to the set position in steps (1) and (2) of FIG. 2.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Knitting Machines (AREA)
  • Control Of Linear Motors (AREA)

Claims (8)

  1. Dispositif de commande de moteur linéaire destiné à entraíner un composant de tête de tricotage (W) d'un métier à tricoter, par exemple une aiguille de chute ou de tricotage, ledit dispositif de commande de moteur linéaire comprenant:
    un circuit de commande d'entraínement (21) qui détecte une déviation de position (Δx) du composant de tête de tricotage (W) entraíné par un moteur linéaire (M);
    un dispositif de détection de pôle (22a) destiné à déterminer la position relative des pôles magnétiques d'un stator (M1) et d'une partie apte à être déplacée (M2) du moteur linéaire (M) en utilisant un capteur (A) qui détecte la course de la partie apte à être déplacée (M2); et
    un circuit d'entraínement (22) qui délivre le courant d'entraínement (Id) à une bobine appropriée (M2a; M2b) du moteur linéaire (M) sur base d'un signal d'entraínement (S6) envoyé par ledit circuit de commande d'entraínement (21) et d'un signal de position de pôle (Sy) envoyé par ledit dispositif de détection de position de pôle (22a); ledit circuit de commande d'entraínement (21) et ledit circuit d'entraínement (22) étant reliés à une unité classique de commande de tricotage (10);
       caractérisé en ce que ledit dispositif de détection de position de pôle (22a) est remis à zéro à condition que la partie apte à être déplacée (M2) soit située dans la position spécifique lorsqu'un signal de libération (55) est transmis depuis l'unité de commande de tricotage (10).
  2. Dispositif de commande de moteur linéaire selon la revendication 1, dans lequel ledit dispositif de détection de position de pôle (22a) est remis à zéro par un signal de remise à zéro (S7) introduit depuis ledit circuit d'entraínement (22).
  3. Dispositif de commande de moteur linéaire selon la revendication 2, dans lequel ledit circuit d'entraínement (22) délivre le signal de remise à zéro (S7) après avoir vérifié que la partie apte à être déplacée (M2) est située à sa limite de déplacement vers l'arrière.
  4. Dispositif de commande de moteur linéaire selon la revendication 2, dans lequel ledit circuit d'entraínement (22) délivre le signal de remise à zéro (S7) après avoir vérifié que la partie apte à être déplacée (M2) située à sa limite de déplacement vers l'arrière est forcée vers l'arrière.
  5. Dispositif de commande de moteur linéaire selon la revendication 2, la revendication 3 ou la revendication 4, dans lequel ledit circuit d'entraínement (22) délivre le signal de remise à zéro (S7) après avoir vérifié que le signal de libération (S5) introduit par l'unité de commande de tricotage (10) a été présent de manière continue pendant une plage de temps spécifique.
  6. Dispositif de commande de moteur linéaire selon la revendication 1, dans lequel ledit dispositif de détection de position de pôle (22a) est remis à zéro par un signal de remise à zéro (S7) délivré depuis ledit circuit d'entraínement (22) après avoir vérifié que le signal d'entraínement (S6) qui contient une valeur de commande (d) qui est une sortie nulle a été délivré par ledit circuit de commande d'entraínement (21).
  7. Dispositif de commande de moteur linéaire selon la revendication 1, dans lequel ledit dispositif de détection de position de pôle (22a) est remis à zéro par un signal de remise à zéro (S7) délivré par ledit circuit d'entraínement (22) après avoir vérifié que le signal de libération (S5) est délivré par ladite unité de commande de tricotage (10) pendant une certaine plage de temps après que le signal d'entraínement (S6) qui contient une valeur de commande (d) qui est une sortie zéro a été délivré par ledit circuit de commande d'entraínement (21).
  8. Dispositif de commande de moteur linéaire selon la revendication 1, dans lequel ledit dispositif de détection de position de pôle (22a) est remis à zéro par un signal de remise à zéro (S7) délivré par ledit circuit d'entraínement (22) après avoir vérifié que le circuit de commande d'entraínement (21) a délivré le signal d'entraínement (S6) qui contient une valeur de commande (d) qui correspond à un autre déplacement du composant de tête de tricotage (W) depuis sa position limite, après que le signal de libération (S5) a été délivré par ladite unité de commande de tricotage (10) pendant une certaine plage de temps et que le signal d'entraínement (S6) a été délivré par ledit circuit de commande d'entraínement (21) contient une valeur de commande (d) qui est zéro.
EP20000111968 1999-06-16 2000-06-16 Dispositif de controle d'un moteur lineaire pour l'entrainement des components de tricotage d'un métier à tricoter Expired - Lifetime EP1061168B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP11170351A JP2001003245A (ja) 1999-06-16 1999-06-16 編機における編成部材駆動用のリニアモータ制御装置
JP17035199 1999-06-16

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Publication Number Publication Date
EP1061168A1 EP1061168A1 (fr) 2000-12-20
EP1061168B1 true EP1061168B1 (fr) 2003-02-05

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EP20000111968 Expired - Lifetime EP1061168B1 (fr) 1999-06-16 2000-06-16 Dispositif de controle d'un moteur lineaire pour l'entrainement des components de tricotage d'un métier à tricoter

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EP (1) EP1061168B1 (fr)
JP (1) JP2001003245A (fr)
DE (1) DE60001340D1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1760176A1 (fr) 2005-08-29 2007-03-07 Anton Percy Spielmann Dispositif pour tricoter des mailles à l'envers et à l'endroit sur une même fonture
JP2007146336A (ja) * 2005-11-29 2007-06-14 Shima Seiki Mfg Ltd 編機
WO2009081583A1 (fr) * 2007-12-25 2009-07-02 Shima Seiki Mfg., Ltd. Métier à mailles cueillies et procédé de commande pour support mobile du métier à mailles cueillies
CN103088537A (zh) * 2013-01-30 2013-05-08 佛山市创达企业有限公司 选针刀的控制方法
CN104928840B (zh) * 2015-06-19 2016-09-14 烟台宋和科技股份有限公司 一种针织电子针
CN112292725B (zh) * 2018-06-20 2022-11-01 索尼公司 信息记录装置、信息再现装置、信息记录介质、方法和程序
CN115262071B (zh) * 2022-07-21 2023-06-23 武汉纺织大学 一种高速磁悬浮织针阵列控制系统及其控制方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4768357A (en) * 1986-02-13 1988-09-06 Asahi Kasei Kogyo Kabushiki Kaisha Method for knitting a flat knitted fabric, a flat knitting machine and a novel flat knitted fabric knitted by said flat knitting machine
JP2981175B2 (ja) * 1996-07-26 1999-11-22 津田駒工業株式会社 編機のモータ制御方法および装置
JPH11152655A (ja) * 1997-11-13 1999-06-08 Tsudakoma Corp 横編み機の制御方法及び装置

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DE60001340D1 (de) 2003-03-13
JP2001003245A (ja) 2001-01-09
EP1061168A1 (fr) 2000-12-20

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