CN101339425B - Method for operating a warp knitting machine and warp knitting machine - Google Patents
Method for operating a warp knitting machine and warp knitting machine Download PDFInfo
- Publication number
- CN101339425B CN101339425B CN2007103062870A CN200710306287A CN101339425B CN 101339425 B CN101339425 B CN 101339425B CN 2007103062870 A CN2007103062870 A CN 2007103062870A CN 200710306287 A CN200710306287 A CN 200710306287A CN 101339425 B CN101339425 B CN 101339425B
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- China
- Prior art keywords
- capstan
- virtual
- main shaft
- servo
- tricot machine
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- Expired - Fee Related
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Classifications
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/06—Needle bars; Sinker bars
- D04B27/08—Driving devices therefor
-
- D—TEXTILES; PAPER
- D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
- D04B—KNITTING
- D04B27/00—Details of, or auxiliary devices incorporated in, warp knitting machines, restricted to machines of this kind
- D04B27/10—Devices for supplying, feeding, or guiding threads to needles
- D04B27/24—Thread guide bar assemblies
- D04B27/26—Shogging devices therefor
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Knitting Machines (AREA)
Abstract
The invention provides a warp knitting machine (1) and its operation method. The warp knitting machine comprises a main axle (2) driven by main axle driving device (3), at least a following drive device (19-21) and a controller for controlling following drive device according to capstan. In addition controller (22) comprises a capstan generator (23) for forming virtual capstan. The invention is to provide a high yield warp knitting machine.
Description
Technical field
The present invention relates to a kind of operation method of tricot machine, this tricot machine has the main shaft that is driven by main shaft driving device, wherein controls at least one servo-actuated drive unit according to capstan.
The present invention relates to a kind of tricot machine in addition, it has main shaft, at least one servo-actuated drive unit that is driven by main shaft driving device and the control device that is used for controlling according to capstan the servo-actuated drive unit.
Background technology
From known such method of DE 42 15 798 C2 and tricot machine.Main shaft is driven by main shaft driving device.Usually the different element of knitting machine is all by the main shaft drives of tricot machine, for example the fork of knitting needle bed and sley bar.And other elements of knitting machine are driven by the servo-actuated drive unit.For example sley bar, particularly pattern sley bar are driven by the servo-actuated drive unit.Also being driven by the servo-actuated drive unit through axle of knitting machine is to provide knitting process necessary amount of thread.The servo-actuated drive unit must and main shaft by driven in synchronism.Therefore the motion of pattern sley point must be coordinated mutually with the motion of knitting needle, so that form desirable pattern in knit goods, and avoids knitting needle and sley point to bump against.
A kind of method shown in above-mentioned DE 42 15 798 C2 is proved to be effective basically.The servo-actuated drive unit is driven according to the angle position of main shaft.Main shaft, the signal of the current angle position that main shaft is shown of saying so more accurately be we can say to have constituted " true capstan ".The servo-actuated drive unit constitutes servo axis respectively.
Certainly observe, it is feasible to adopt such method to have only definite running speed to be only.When speed improved, motor temperature will reach a certain height on the servo axis, and this high temperature is to be higher than that usual running reaches and is undesirable.Noise emissions also can raise in addition.Therefore the productive capacity that tricot machine may reach will be restricted.
Summary of the invention
Task of the present invention is, a kind of large-duty tricot machine is provided.This task is resolved by a kind of method of previous described kind, promptly forms virtual capstan, and controls the servo-actuated drive unit according to virtual capstan.
For this solution, its starting point is that main shaft rotates with constant rotating speed when turning round continuously.Corresponding therewith, the servo-actuated drive unit also must stable operation accordingly.But it is constant having only the average rotational speed of average rotating speed or main shaft.In fact revolve turn around in main shaft have definite velocity variations.Perhaps this can change owing to loading in the circle of main shaft.When main shaft or coupled parts must lift the knitting needle bed on a section in a circle, so main shaft will be on this section of short duration with the rotational speed slower than average velocity.In contrast, when the knitting needle bed is lowered again on another section in a circle, will produces of short duration spindle speed so and raise.This spindle speed variation that is caused by load variations on the main shaft and torque variation will be passed on the servo-actuated drive unit, and this will cause corresponding acceleration of each servo-actuated drive unit execution or braking procedure.Therefore will produce corresponding current peak.The amplitude of current peak increases along with the increase of machine rotational speed simultaneously.Acceleration and current peak will cause that the motor temperature of servo-actuated drive unit raises, and the mechanical load of transmitting element increases, and the increase of noise emissions.Now, form virtual capstan and control the servo-actuated drive unit according to this virtual capstan, then eliminated the rotation speed change of main shaft, and stoped the rotation speed change of servo-actuated drive unit thus.The running that the servo-actuated drive unit basically can be stable like this.The servo-actuated drive unit no longer needs to carry out unnecessary acceleration or braking procedure.The running of tricot machine can not be subjected to the harmful effect of virtual capstan in addition.Virtual capstan can pass through capstan generator or relevant hardware assembly and the relatively easy formation of component software.We can say that virtual capstan has constituted the basis that tricot machine is driven the motion control of parts.
Here preferably, according to virtual capstan control main shaft driving device.Therefore can realize the synchronized movement of the parts that driven by the servo-actuated drive unit of the rotation of main shaft and tricot machine by simple method.When this is driven parts and is driven by the servo-actuated drive unit that moves according to virtual capstan, basically can realize and result same under following situation coming to the same thing when promptly basis drives the servo-actuated drive unit by the formed true capstan of the motion of main shaft.Certainly make virtual capstan not have harmonic oscillation, this harmonic oscillation produces in the real-world operation of tricot machine and therefore is included in automatically so far by in the formed true capstan of main shaft.
Preferably produce true capstan by means of main shaft.Use sensor device as in the past on main shaft, this sensor device constantly provides the information about the current angle position of main shaft.This is a kind of security feature.This true capstan can be used in addition in the position adjustments to main shaft.
Here preferably, constantly truer capstan and virtual capstan.Therefore can realize the synchronism between true capstan and the virtual capstan is monitored in simple mode.For example can determine main shaft is revolving to have what kind of rate curve in turning around by simple test.Corresponding therewith, can determine basically the true capstan that allowed for each angle of eccentricity position and the deviation between the virtual capstan.Therefore can monitor, whether true capstan and virtual capstan be consistent arrives such degree, so that can realize the glitch-free running of tricot machine.
Preferably the control with the servo-actuated drive unit is switched on the true capstan by virtual capstan.This makes for example can be with tricot machine by the static rotating speed of adjusting to favourable nominal speed or changing knitting machine.Virtual capstan is especially favourable under these circumstances, promptly mainly will generate the stable as far as possible signal that does not have harmonic oscillation when continuous running in the case, and this signal forms the angle position of main shaft.The signal of this in other cases " smooth " may be unwanted.
Preferred use error is as the standard of switching.Existing various error can be provided as standard here uses.For example this error can be strong excessively the departing from of true capstan and virtual capstan, i.e. " hysteresis error ", and this error has surpassed the preestablished limit value.The ultimate value of this hysteresis error also can be given coefficient, and promptly the operating condition with tricot machine changes.Another kind of error can also be a loss of voltage.The servo-actuated drive unit must be followed main shaft driving device in this case, stops until machine.Simplified this running status to the switching of true capstan.This is suitable for equally to " stopping in emergency ".
Preferably form true capstan by the signal suitable with sensor signal.Almost can immovable mode adopt the servo-actuated drive unit in this case.The servo-actuated drive unit is also made a response to signal of sensor as up to the present.
Preferably use rotary speed property with speed variable in order to form virtual capstan.Can pre-determine so-called continuous running to machine rotational speed by means of simple measure now.In other words, the speed of mainshaft can be used as additional measure, to influence the production of knit goods.
Preferably, reduce rotating speed at predetermined pattern section here.Predetermined pattern section can be such pattern section, and promptly the pattern sley point has bigger offset path in this section.When in this zone, reducing the rotating speed of main shaft, will there be more time to be used for the pattern sley point through big offset path.In case passed through predetermined pattern section, rotating speed can be enhanced again, and avoid the servo-actuated drive unit overload relevant with critical pattern transition zone.
Preferably produce switching signal on the virtual capstan putting with predetermined angle position main shaft is corresponding.Can in main shaft is turn-taked, produce so-called " trigger point " as the software switch mark in specific angle position place by means of virtual capstan, and derive the steering order of corresponding machine control thus.The advantage of this way is, can realize so-called " the cam throw-over gear that angle is synchronous " by simple method.
This task is resolved by such mode on the tricot machine of mentioned kind, and promptly control device has the capstan generator that is used to form virtual capstan.
Can form virtual capstan in tricot machine by such structure, this capstan does not have harmonic oscillation, and is inevitable owing to the fluctuation of main shaft torque load(ing) for this harmonic oscillation of true capstan.When will this virtual capstan using as the capstan of servo-actuated drive unit, the servo-actuated drive unit will be controlled better basically, to such an extent as to they can carry out the unnecessary acceleration and the braking procedure of much less.Therefore motor temperature can keep lower.It is lower that noise emission also keeps.
Preferred main shaft driving device can be driven according to virtual capstan as the servo-actuated drive unit.No longer only with virtual capstan as servo axis, i.e. use on the basis of servo-actuated drive unit motion, but also will be used for drive shaft.Therefore can make other the element that is driven by the servo-actuated drive unit of main shaft and tricot machine reach synchronous by simple mode.
Preferred main shaft has sensor device, can obtain the angle position of main shaft by this sensor device.All the time constantly obtain the information of angle of eccentricity position.Can use these information, be used for regulating the angle position of main shaft by the position adjustments loop.Also can use the information of sensor device, be used to produce true capstan.
Here preferably, control device has supervising device, and this supervising device can be determined the deviation between true capstan and the virtual capstan.True capstan can produce deviation with virtual capstan, forms hysteresis error.This allows in certain scope.Now can be by means of relatively monitoring between true capstan and the virtual capstan, whether tricot machine is worked in allowed limits or whether error can be occurred.
Preferred control device can switch between true capstan and virtual capstan.Therefore be not only to be fixed against virtual capstan, but can also use true capstan when being necessary.
Preferred control device has the error identification device, and according to the output signal of this error identification device, control device can switch between true capstan and virtual capstan.The error identification device for example can be learned loss of voltage or stop in emergency.When the deviation between true capstan and the virtual capstan became excessive, the error identification device can also provide error signal.To be fixed against true capstan in this case, the servo-actuated drive unit must be followed this true capstan.
Preferred capstan generator produces sensor signal.Sensor signal, for example the signal of increment sensor signal, absolute sensor signal, sine and cosine sensor signal or this class has definite form in the ordinary course of things, servo-actuated drive unit coupling and this form.Can construct the capstan generator so now, promptly the capstan generator produces same signal, so just can not have the continuation of bigger change and uses the servo-actuated drive unit.
Preferred rotary speed property sensor is attached troops to a unit in the capstan generator.This rotary speed property sensor is according to the programmed control rotating speed of determining, this rotating speed is determined by virtual capstan, and this program pre-determines according to knit goods.The rotation speed change that here can determine for example.When knit goods have the pattern section, must there be complicated self-figure or knitting needle to have bigger offset path at this pattern section to carry out self-figure, can reduce the rotating speed of main shaft in such pattern section, this is in order to provide time enough for the motion of pattern sley point.But the rotary speed property sensor also can be controlled definite slope and transition, and the servo-actuated drive unit can not transship when the speed of mainshaft changes thus.
Preferred capstan generator forms trigger pip on the predetermined angle position of main shaft.Therefore can obtain above-mentioned " the cam throw-over gear that angle is synchronous " by simple method.Trigger pip can be used as the steering order of machine control and uses, and perhaps can therefrom derive steering order.
Description of drawings
Following the present invention will describe by means of a kind of preferred embodiment that has accompanying drawing.Wherein:
Fig. 1 has illustrated the control sketch of tricot machine.
Embodiment
A tricot machine that illustrates 1 of only summarizing has main shaft 2, and main shaft 2 is driven by main shaft driving device 3.Main shaft driving device 3 is by driving amplifier 4 controls.Driving amplifier 4 links to each other with angular encoder 5 again, and angular encoder 5 is constantly determined the angle position of main shaft driving device 3.
Main shaft 2 links to each other with an angular encoder 6 equally, and angular encoder 6 is constantly determined the angle position of main shaft.
Tricot machine 1 also has a plurality of servo-actuated drive unit 19-21, be used for for example controlling the pattern sley bar or through axle motion.Show three such servo-actuated drive unit 19-21 as example here, driven respectively element simply is called " servo axis " 7-9.Each servo axis 7-9 is driven by a motor 10-12.Every motor 10-12 is connected with an angular encoder 13-15, and angular encoder 13-15 continues to be delivered to driving amplifier 16-18 with the current angle position of motor 10-12 again.Driving amplifier 16-18 control motor 10-12, motor 10-12 makes corresponding servo axis 7-9 coordinate mutually with the motion of main shaft 2.
Main shaft 2 drives other elements of tricot machine 1 in the mode that is not shown specifically here, for example knitting needle bed or be used for the fork of sley bar.Main shaft 2 should be driven with constant rotating speed when stable operation.Load variations in a circle will cause inevitably that rotational speed changes, and promptly when main shaft 2 must lift the knitting needle bed, its rotation was slower.And when main shaft 2 put down the knitting needle bed, its rotation was very fast.Even the rotation speed change in the circle is less, under the situation of not taking addition thereto, it also will cause servo-actuated drive unit 19-21 must have the fluctuation of speed equally, and must correspondingly control servo axis 7-9.This will cause producing among the servo-actuated drive unit 19-21 unnecessary current peak.Current peak has limited the efficient of servo-actuated drive unit 19-21 and has limited the throughput rate of tricot machine 1 thus.Can think approx that when higher machine rotational speed, the quantity of current peak and amplitude increase among the servo-actuated drive unit 19-21.
All drive controlling of tricot machine realize by the control device 22 that is also referred to as " equipment control device ".For fear of the shortcoming relevant with the above-mentioned fluctuation of speed, control device 22 has capstan generator 23, and capstan generator 23 generates virtual capstan.Virtual capstan is a kind of signal that rotatablely moves that reflects main shaft 2, wherein can form this signal like this, and promptly this signal reflects rotatablely moving of main shaft 2 theoretical ideal.Can control servo-actuated drive unit 19-21 according to virtual capstan 24.Virtual capstan 24 can remain does not have rotational speed to change.Therefore it passes to the signal that servo-actuated drive unit 19-21 does not have harmonic oscillation or little harmonic oscillation.
Control device 22 has regulating device 25, and here it is potentiometric form, and this is the rotating speed that is used to regulate main shaft 2.But the conversion of signals of regulating device 25 is become the signal of controlled device 22 understandings by interface arrangement 26.
Signal is passed on the rotary speed property sensor 28 through modular station 27 from regulating device 25, and this rotary speed property sensor 28 can be taken a generator 23 as the leading factor and be realized that continuous theoretical value changes.In rotary speed property sensor 28, can a speed curves be set for main shaft 2 for a kind of specific pattern.For example main shaft 2 can slower rotation in the process of the knitting pattern of determining, this is in order to provide more time to be used for knitting pattern on knit goods.When the process of corresponding knitting pattern was finished, the rotating speed of main shaft 2 can be enhanced again, can realize higher throughput rate like this.
Virtual capstan 24 also is transported to the position control 30-32 of servo-actuated drive unit 19-21.Position control 30-32 obtains corresponding information from driving amplifier 16-18 as actual value, and driving amplifier 16-18 obtains this information from angular encoder 13-15 again.Because virtual capstan 24 can keep not having harmonic oscillation, position control 30-32 can control considerably less unnecessary accelerator and braking procedure.
True capstan 33 is not the actual value as position control 29, but also is transported to comparison means 34.Constantly more virtual capstan 24 of this comparison means 34 and true capstan 33.Two capstans 24,33 are not quite identical.Because the above-mentioned load variations in a circle can cause deviation.As long as this deviation, promptly so-called " hysteresis deviation " remains in certain scope, is allowed to.If yet should the hysteresis deviation value of overstepping the extreme limit, the running of tricot machine 1 will be switched by switch 35 so, thereby no longer be virtual capstan 24, but true capstan 33 uses for servo-actuated drive unit 19-21 as predetermined value.Switch 36 receives tach signal from regulating device 25 in this case, and main shaft 2 can continue to be driven with predetermined speed like this.Tricot machine 1 can slow down in case of necessity in addition.
The ultimate value of hysteresis error can be given parameter, can be so that the different operating condition of this ultimate value coupling, for example rotating speed.
Also be provided with error supervising device 37.This device can monitor whether there is running voltage.When lacking this running voltage or operation and " stop in emergency ", tricot machine 1 switches to the operation of adopting true capstan 33 from the operation of adopting virtual capstan 24 equally.
True capstan 33 is continued to be sent to service data pick-up unit or machine data pick-up unit 38, can go on record on the basis that operates in main shaft 2 characteristics of tricot machine 1 like this.
Virtual capstan 24 also will be transferred back to rotary speed property sensor 28, and rotary speed property sensor 28 can for example be regulated rotating speed according to the completed rotation of main shaft 2 like this.Usually the alignment circle on the knitted fabric is represented in each circle rotation of main shaft 2.On knit goods, during given definite pattern, can know on which coil column, to carry out complicated self-figure, then can be very accurately at this coil column or reduce the rotating speed of main shaft 2 at respective coil row place.
Can equip capstan generator 23 like this, be that capstan generator 23 is gone up the generation trigger pip at capstan 24 predetermined " angle positions ", above-mentioned angle position is corresponding to main shaft 2 corresponding angle positions, and this trigger pip can be used for forming the steering order relevant with main spindle's.Therefore will simulate " the cam throw-over gear that angle is synchronous ".
Switch 35,36 can also realize that it switches according to running status and maintenance setting by software switch.Other element also can be realized by programme controlled microprocessor when position control 29-32 and possibility.
Claims (19)
1. the operation method of a tricot machine (1), this tricot machine has the main shaft (2) that is driven by main shaft driving device (3), wherein control at least one servo-actuated drive unit (19-21) according to virtual capstan (24), it is characterized in that, form virtual capstan (24), wherein this virtual capstan is a kind ofly to reflect the theoretic desirable signal that rotatablely moves of main shaft, and controls servo-actuated drive unit (19-21) according to virtual capstan (24).
2. the method for claim 1 is characterized in that, controls main shaft driving device (3) according to virtual capstan (24).
3. the method for claim 1 is characterized in that, forms true capstan (33) by means of main shaft (2).
4. method as claimed in claim 3 is characterized in that, true capstan (33) and virtual capstan (24) are constantly compared mutually.
5. method as claimed in claim 3 is characterized in that, the control of servo-actuated drive unit (19-21) is switched to true capstan (33) from virtual capstan (24).
6. method as claimed in claim 5 is characterized in that use error is as the standard of above-mentioned switching.
7. the method for claim 1 is characterized in that, by forming virtual capstan (24) with the corresponding signal of sensor signal.
8. the method for claim 1 is characterized in that, pre-determines the rotary speed property with speed variable in order to form virtual capstan (24).
9. method as claimed in claim 8 is characterized in that, reduces rotating speed in predetermined pattern section.
10. the method for claim 1 is characterized in that, forms switching signal virtual capstan (24) going up with the corresponding point of predetermined angle position main shaft (2).
11. tricot machine (1), have main shaft (2), at least one servo-actuated drive unit (19-21) that drives by main shaft driving device (3) and the control device (22) that is used for controlling servo-actuated drive unit (19-21) according to virtual capstan, it is characterized in that, this virtual capstan is a kind of theoretic desirable signal that rotatablely moves of main shaft that reflects, wherein control device (22) has the capstan generator (23) that is used to form virtual capstan (24).
12. tricot machine as claimed in claim 11 is characterized in that, main shaft driving device (3) can be driven according to virtual capstan (24) as the servo-actuated drive unit.
13. tricot machine as claimed in claim 11 is characterized in that, main shaft (2) has sensor device (6), can determine the angle position of main shaft (2) by this sensor device.
14. tricot machine as claimed in claim 13 is characterized in that, control device (22) has supervising device (34), and this supervising device can be obtained the deviation between true capstan (33) and the virtual capstan (24).
15. tricot machine as claimed in claim 13 is characterized in that, control device (22) can switch between true capstan (33) and virtual capstan (24).
16. tricot machine as claimed in claim 15, it is characterized in that, control device (22) has error identification device (37), and according to the output signal of this error identification device, control device (22) can switch between true capstan (33) and virtual capstan (24).
17. tricot machine as claimed in claim 11 is characterized in that, capstan generator (23) produces sensor signal.
18. tricot machine as claimed in claim 11 is characterized in that, is furnished with rotary speed property sensor (28) for capstan generator (23).
19. tricot machine as claimed in claim 11 is characterized in that, capstan generator (23) produces carrier signal on the predetermined angle position of main shaft (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP07013353.3A EP2014811B1 (en) | 2007-07-07 | 2007-07-07 | Method for operating a warp knitting machine and warp knitting machine |
| EP07013353.3 | 2007-07-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101339425A CN101339425A (en) | 2009-01-07 |
| CN101339425B true CN101339425B (en) | 2010-12-29 |
Family
ID=39581816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007103062870A Expired - Fee Related CN101339425B (en) | 2007-07-07 | 2007-11-05 | Method for operating a warp knitting machine and warp knitting machine |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2014811B1 (en) |
| KR (1) | KR20090004336A (en) |
| CN (1) | CN101339425B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101858014B (en) * | 2010-05-20 | 2011-08-17 | 常州市第八纺织机械有限公司 | Ten-axial synchronous control method of biaxial warp knitting machine |
| HUE041956T2 (en) * | 2013-07-19 | 2019-06-28 | Kufner Holding Gmbh | Method for producing a textile planar heating element und warp knitting or Raschel machine with weft insertion system |
| EP3205761B1 (en) * | 2016-02-10 | 2021-12-15 | KARL MAYER STOLL R&D GmbH | Warp knitting machine |
| CN106054793A (en) * | 2016-06-17 | 2016-10-26 | 江南大学 | Pattern progress tracking and controlling device and controlling method for warp knitting machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0600263A2 (en) * | 1992-11-16 | 1994-06-08 | KÄNDLER MASCHINENBAU GmbH | Electronic control device for machines with synchronised motion sequences through high-dynamic actuators |
| CN1306108A (en) * | 2000-01-14 | 2001-08-01 | 卡尔迈尔纺织机械制造有限公司 | Tricot machine |
| CN1468994A (en) * | 2002-06-01 | 2004-01-21 | 卡尔迈尔纺织机械制造有限公司 | Knitting frame, especially tricot machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1445374A (en) * | 1973-02-26 | 1976-08-11 | Sigma Instruments Inc | Selective positioning system particularly for onctrolling guide bars of knitting machines |
| DE4215798C2 (en) | 1992-05-13 | 1994-03-24 | Mayer Textilmaschf | Warp knitting machine |
| DE19963990C2 (en) | 1999-12-31 | 2003-12-11 | Mayer Textilmaschf | Warp knitting machine with pattern device |
-
2007
- 2007-07-07 EP EP07013353.3A patent/EP2014811B1/en not_active Not-in-force
- 2007-11-05 CN CN2007103062870A patent/CN101339425B/en not_active Expired - Fee Related
- 2007-11-05 KR KR1020070112132A patent/KR20090004336A/en active IP Right Grant
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0600263A2 (en) * | 1992-11-16 | 1994-06-08 | KÄNDLER MASCHINENBAU GmbH | Electronic control device for machines with synchronised motion sequences through high-dynamic actuators |
| CN1306108A (en) * | 2000-01-14 | 2001-08-01 | 卡尔迈尔纺织机械制造有限公司 | Tricot machine |
| CN1468994A (en) * | 2002-06-01 | 2004-01-21 | 卡尔迈尔纺织机械制造有限公司 | Knitting frame, especially tricot machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101339425A (en) | 2009-01-07 |
| KR20090004336A (en) | 2009-01-12 |
| EP2014811A1 (en) | 2009-01-14 |
| EP2014811B1 (en) | 2013-09-11 |
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