A self-detecting flat knitting machine color change control system and method

Abstract

The present invention relates to a self-detecting color-changing control system and method for a flat knitting machine, comprising a motor; a color-changing component, the color-changing component comprising a position sensing unit and an execution unit, the position sensing unit being used to detect the position information when the execution unit is in action; an information acquisition unit being used to acquire the rotation signal of the motor and the position information when the execution unit is in action; a central processing unit being used to receive the rotation signal of the motor sent by the information acquisition unit and the position information when the execution unit is in action, and to store the rotation signal of the motor and the position information when the execution unit is in action, while the central processing unit can control the rotation of the motor; a calculation module being used to calculate the rotation signal of the motor and the position information when the execution unit is in action stored in the central processing unit, and to feed back the calculation result to the central processing unit, so that the central processing unit controls the motor to execute a specified action, so as to increase the working state in which two color-changing racks are simultaneously struck.

Description

Technical Field

[0001] The invention relates to the field of color change of a flat knitting machine, and in particular to a self-detecting color change control system and method of a flat knitting machine. Background Art

[0002] With the rapid development of science and technology, industrial automation has also become a trend. For example, sweaters were knitted by hand in the past, which was slow and labor-intensive. At present, knitting is done by computerized flat knitting machines, which not only saves manpower, but also increases the speed and provides a rich selection for users who buy knitted products.

[0003] Traditional computer flat knitting machines have two color-changing schemes. One is to use a self-running synchronous belt to control the color-changing rack, thereby controlling the black wire holder and the yarn mouth to achieve color changing. This method is relatively expensive. The other is to use an electromagnet or a motor to control the color-changing rack, thereby controlling the black wire holder and the yarn mouth to achieve color changing. The electromagnet method has a high failure rate and is not very accurate. The motor uses an arc output block to control the color-changing rack. In this method, the color-changing rack can only have two working states. One is that one color-changing rack is retracted and the other color-changing rack is extended, and the other is that the two color-changing racks are retracted at the same time. Summary of the invention

[0004] The object of the present invention is to provide a self-detecting color change control system and method for a flat knitting machine to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A self-detecting color-changing control system for a flat knitting machine, comprising:

[0007] Motor;

[0008] A color-changing component connected to the output shaft of the motor, the color-changing component comprising a position sensing unit and an execution unit, the position sensing unit being used to detect position information when the execution unit is in action;

[0009] An information acquisition unit, communicating with the motor and the position sensing unit, for acquiring a rotation signal of the motor and position information when the execution unit is in action, wherein the rotation signal of the motor includes a forward rotation signal and a reverse rotation signal of the motor;

[0010] A central processing unit, used for receiving the rotation signal of the motor sent by the information acquisition unit and the position information when the execution unit is in action, and storing the rotation signal of the motor and the position information when the execution unit is in action, and the central processing unit can control the rotation of the motor;

[0011] The calculation module is integrated in the central processing unit and is used to calculate the rotation signal of the motor stored in the central processing unit and the position information when the execution unit is in action, and feed the calculation result back to the central processing unit, so that the central processing unit controls the motor to perform the specified action.

[0012] As a further solution of the present invention: the execution unit includes a color-changing cover plate, a color-changing seat is vertically arranged on the color-changing cover plate, a plurality of guide grooves are formed on the color-changing seat along its length direction, a color-changing rack is slidably installed in the guide groove, the color-changing rack is connected to a toothing structure arranged on the color-changing seat, and the toothing structure is connected to the motor.

[0013] As a further solution of the present invention: the toothing structure includes a plurality of teeth arranged on the side of the color-changing rack, and the teeth are meshed with a gear coaxially connected to the output shaft of the motor;

[0014] A color-changing strip is detachably mounted on the color-changing seat, and a color-changing pressure plate is provided at one end of the color-changing seat away from the color-changing cover plate. A through hole corresponding to the guide groove is provided on the color-changing pressure plate, and one end of the color-changing rack can pass through the through hole and extend to the outside of the through hole.

[0015] As a further solution of the present invention: the position sensing unit includes a Hall sensor embedded in the guide groove and a magnet adapted to the Hall sensor and fixed in the middle of the color-changing rack. When the magnet follows the color-changing rack to move to just above the Hall sensor, the current signal output by the Hall sensor will change.

[0016] As a further solution of the present invention: the Hall sensor is arranged at the middle position of the color-changing rack stroke, and the Hall sensor has two working positions, one of which is the striking position and the other is the zeroing position.

[0017] As a further solution of the present invention: an alarm module, wherein the alarm module is used to issue an alarm when the Hall sensor fails to detect the magnet within a predetermined working time of the motor.

[0018] A working method of a control system comprises the following steps:

[0019] Step 1: Control the motor through the central processor to drive the execution unit to move and perform the zeroing action:

[0020] Step 2: After the execution unit returns to zero, the central processing unit controls the motor to work again to drive the execution unit to move.

[0021] The zeroing action comprises the following steps:

[0022] Step 1: The central processing unit controls the motor to rotate, driving the gear connected to it to rotate, and causing the color-changing rack with teeth to move in the guide groove;

[0023] Step 2: During the movement of the color-changing rack, the magnet is driven to move, and when the magnet moves to the top of the Hall sensor, the Hall sensor signal is connected, and when the magnet moves to the position misaligned with the Hall sensor, the Hall sensor signal is disconnected;

[0024] Step 3: When the Hall sensor signal is turned on or off, the information acquisition unit acquires the color-changing rack position information, and at the same time, the information acquisition unit sends the color-changing rack position information to the central processor;

[0025] Step 4: The calculation module calculates the number of steps of the motor output shaft rotation during the process from the Hall sensor signal being connected to the Hall sensor signal being disconnected, and when the Hall sensor signal is disconnected, the central processing unit controls the motor to work, driving the color-changing rack toward the middle of the Hall sensor with half the number of steps of the motor output shaft rotation to complete the zeroing.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The Hall sensor and magnet can detect the position of the color-changing rack in real time, with higher control accuracy, making the initial position of the color-changing rack more accurate, and avoiding the color-changing rack from moving less than it should or generating excess movement, thereby causing the pin striker phenomenon.

[0028] At the same time, each color-changing rack is controlled by a separate motor. Compared with the prior art, the color-changing rack can only have two working states (one is that one color-changing rack is retracted and the other color-changing rack is extended, and the other is that the two color-changing racks are retracted at the same time). This system adds a working state, and the two color-changing racks can be extended at the same time, which makes it more complete in function and simpler to assemble than the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a flow chart of the working method of the self-detecting color change control system of a flat knitting machine.

[0030] Figure 2 The present invention is a structural schematic diagram of an embodiment of a self-detecting color-changing control system for a flat knitting machine.

[0031] Figure 3 The present invention is a disassembly diagram of an embodiment of a self-detecting color change control system for a flat knitting machine.

[0032] Figure 4 The present invention is a schematic diagram of the structure of the color-changing rack and gear in one embodiment of a self-detecting color-changing control system for a flat knitting machine.

[0033] In the figure: 1. color-changing cover; 2. color-changing seat; 3. guide groove; 4. color-changing rack; 5. motor; 6. gear; 7. teeth; 8. Hall sensor; 9. magnet; 10. color-changing pressure strip; 11. color-changing pressure plate. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In addition, when an element in the present invention is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0036] See also Figures 1 to 4 ,In an embodiment of the present invention, a self-detecting color change control system for a flat knitting machine comprises: a motor 5, a color change component, an information acquisition unit, a central processor and a computing module;

[0037] The color-changing component is connected to the output shaft of the motor 5, and the color-changing component includes a position sensing unit and an execution unit, and the position sensing unit is used to detect the position information when the execution unit is in action;

[0038] The execution unit includes a color-changing cover plate 1, a color-changing seat 2 is vertically arranged on the color-changing cover plate 1, a plurality of guide grooves 3 are formed on the color-changing seat 2 along its length direction, a color-changing rack 4 is slidably installed in the guide groove 3, the color-changing rack 4 is connected to a toothed structure arranged on the color-changing seat 2, and the toothed structure is connected to the motor 5;

[0039] The toothing structure includes a plurality of teeth 7 arranged on the side of the color-changing rack 4, and the teeth 7 are meshed with a gear 6 coaxially connected to the output shaft of the motor 5;

[0040] A color-changing pressure strip 10 is detachably mounted on the color-changing seat 2, and a color-changing pressure plate 11 is provided at one end of the color-changing seat 2 away from the color-changing cover plate 1, a through hole corresponding to the guide groove 3 is provided on the color-changing pressure plate 11, and one end of the color-changing rack 4 can pass through the through hole and extend to the outside of the through hole.

[0041] When in use, the motor 5 rotates, driving the gear 6 connected to its output shaft to rotate, thereby moving the teeth 7 meshing with the gear 6 and arranged on the edge of the color-changing rack 4, and driving the color-changing rack 4 to move. At the same time, each color-changing rack 4 is controlled by a separate motor 5. Compared with the prior art, the color-changing rack 4 can only have two working states (one is that one color-changing rack 4 is retracted and the other color-changing rack 4 is extended, and the other is that the two color-changing racks 4 are retracted at the same time). The present system adds a working state, so that the two color-changing racks 4 can be extended at the same time, so that compared with the prior art, its function is more complete.

[0042] The rotation stroke of the motor 5 is 150 steps. During the rotation of the motor 5 by 150 steps, the color-changing rack 4 can be driven to move by 5 mm.

[0043] See also Figure 3 The position sensing unit includes a Hall sensor 8 embedded in the guide groove 3 and a magnet 9 adapted to the Hall sensor 8 and fixed in the middle of the color-changing rack 4. When the magnet 9 follows the color-changing rack 4 to move to the top of the Hall sensor 8, the current signal output by the Hall sensor 8 will change;

[0044] The Hall sensor 8 is arranged at the middle position of the stroke of the color-changing rack 4, and the Hall sensor 8 has two working positions, one of which is the striking position and the other is the zeroing position.

[0045] When the color-changing rack 4 moves, the magnet 9 connected thereto can move. When the magnet 9 and the Hall sensor 8 are in a separated state, the Hall sensor 8 is in a signal disconnected state. When the magnet 9 moves to the top of the Hall sensor 8, the Hall sensor 8 signal is turned on. The position of the color-changing rack 4 can be roughly determined by the on-off of the Hall sensor 8 signal, and the width of the Hall sensor 8 can be calculated according to the on-off sequence of the Hall sensor 8 signal. Then, the color-changing rack 4 can be controlled to move toward the middle of the Hall sensor 8 along one end of the width of the Hall sensor 8, so that the initial position of the color-changing rack 4 is more accurate.

[0046] Furthermore, the difference between the striking position and the zeroing position is 50 steps.

[0047] For ease of understanding, the punching out and recycling of the color-changing rack 4 are described below:

[0048] The total number of steps of the motor 5 is 150. Suppose: after resetting, the system detects that the width of the Hall sensor 8 is 98 steps. The system will detect once after each reset.

[0049] The color-changing rack 4 is retracted to the state of being pushed out: the motor 5 reverses for 26 steps and the Hall sensor 8 signal is turned on. After the Hall sensor 8 signal is disconnected, the motor 5 continues to reverse for 26 steps and reaches the state of "the color-changing rack 4 is pushed out";

[0050] From the color-changing rack 4 being extended to being retracted: the motor 5 rotates forward for 26 steps and the Hall sensor 8 signal is connected. After the Hall sensor 8 signal is disconnected, the motor 5 continues to reverse for 26 steps and reaches the "color-changing rack 4 being retracted" state.

[0051] See also Figure 1 , an information acquisition unit, communicating with the motor 5 and the position sensing unit, for acquiring a rotation signal of the motor 5 and position information when the execution unit is in action, wherein the rotation signal of the motor 5 includes a forward rotation signal and a reverse rotation signal of the motor 5;

[0052] A central processing unit, used for receiving the rotation signal of the motor 5 and the position information when the execution unit is in action sent by the information acquisition unit, and storing the rotation signal of the motor 5 and the position information when the execution unit is in action, and the central processing unit can control the rotation of the motor 5;

[0053] A calculation module, integrated in the central processing unit, for calculating the rotation signal of the motor 5 and the position information of the execution unit when the motor 5 is in motion and stored in the central processing unit, and feeding back the calculation result to the central processing unit, so that the central processing unit controls the motor 5 to execute the specified action;

[0054] An alarm module is used for sounding an alarm when the Hall sensor 8 fails to detect the magnet 9 during the predetermined operation time of the motor 5 .

[0055] During operation, the central processing unit controls the motor 5 to work, and under the action of the gear 6 and the teeth 7, drives the color-changing rack 4 to move, so that the color-changing rack 4 is pushed out or retracted. At the same time, under the action of the information acquisition unit, the central processing unit, the calculation module and the alarm module, the initial position of the color-changing rack 4 can be reset to zero, so that the initial stage position of the color-changing rack 4 is the same, avoiding the color-changing rack 4 from moving less than the required amount or generating excess movement, thereby causing the pin-striking phenomenon.

[0056] At the same time, the system detects the state of the color-changing rack 4. After the system command is issued, if the normal state switching of the Hall sensor 8 is not detected for more than 30 milliseconds, an alarm will be immediately issued to stop the machine, thus preventing the phenomenon of film drop and batch needle collision caused by not being able to carry the yarn feeder or carrying the yarn feeder.

[0057] As an embodiment of the present invention, a working method of the control system is also proposed, comprising the following steps:

[0058] Step 1: The central processor controls the motor 5 to drive the execution unit to move and perform the zeroing action:

[0059] Step 2: After the execution unit returns to zero, the central processing unit controls the motor 5 to work again, driving the execution unit to move.

[0060] The zeroing operation includes the following steps:

[0061] Step 1: The CPU controls the motor 5 to rotate, driving the gear 6 connected thereto to rotate, and causing the color-changing rack 4 provided with teeth 7 to move in the guide groove 3;

[0062] Step 2: During the movement of the color-changing rack 4, the magnet 9 is driven to move, and when the magnet 9 moves to the top of the Hall sensor 8, the signal of the Hall sensor 8 is turned on, and when the magnet 9 moves to the position misaligned with the Hall sensor 8, the signal of the Hall sensor 8 is turned off;

[0063] Step 3: When the Hall sensor 8 signal is turned on or off, the information acquisition unit acquires the position information of the color-changing rack 4, and at the same time, the information acquisition unit sends the position information of the color-changing rack 4 to the central processor;

[0064] Step 4: The calculation module calculates the number of steps of rotation of the output shaft of the motor 5 during the process from when the Hall sensor 8 signal is connected to when the Hall sensor 8 signal is disconnected, and when the Hall sensor 8 signal is disconnected, the central processing unit controls the motor 5 to work, and drives the color-changing rack 4 toward the middle of the Hall sensor 8 with half the number of steps of rotation of the output shaft of the motor 5 to complete the zeroing.

[0065] Preferably, by adjusting the parameters of the central processing unit, when the color-changing rack 4 is printed, the number of rotation steps of the output shaft of the motor 5 is changed to achieve adjustable stroke of the color-changing rack 4.

[0066] Specifically, there are three situations for zeroing action:

[0067] First, when the Hall sensor 8 signal is turned on, the motor 5 rotates forward, and the gear 6 drives the color-changing rack 4 to move upward. After the Hall sensor 8 signal is turned off, the motor 5 reverses, and the Hall sensor 8 signal is turned on again, and continues to reverse until the Hall sensor 8 signal is turned off again. The calculation module calculates the number of steps taken by the motor 5 during the process of the Hall sensor 8 being turned on. The motor 5 rotates forward, and half of the number of steps makes the color-changing rack 4 reach the zero point;

[0068] Secondly, when the Hall sensor 8 signal is not connected, the motor 5 rotates forward, and the gear 6 drives the color-changing rack 4 to move upward. After the Hall sensor 8 signal is connected, it continues to rotate forward until the Hall sensor 8 signal is disconnected again. The calculation module automatically calculates the number of steps taken by the motor 5 during the Hall sensor 8 connection process. The motor 5 reverses and half of the number of steps makes the color-changing rack 4 reach the zero point;

[0069] Third, when the Hall sensor 8 signal is not connected, the motor 5 rotates forward, the gear 6 drives the color-changing rack 4 to move upward, and the information acquisition unit does not detect the Hall sensor 8 signal after the motor 5 rotates 50 steps. The central processing unit controls the motor 5 to reverse immediately until the Hall sensor 8 signal is connected, and continues to reverse until the Hall sensor 8 is disconnected. The calculation module automatically calculates the number of steps taken by the motor 5 during the process of the Hall sensor 8 being connected. The motor 5 rotates forward, and half of the number of steps makes the color-changing rack 4 reach the zero point.

[0070] Through the above arrangement, the color-changing rack 4 can be reset to zero before it works, so that the position of the color-changing rack 4 in the initial state is accurate, avoiding the occurrence of the pin-striking phenomenon caused by the deviation between the initial state of the color-changing rack 4 and the specified state.

[0071] To sum up, when in use, the motor 5 rotates, driving the gear 6 connected to its output shaft to rotate, thereby moving the teeth 7 meshing with the gear 6 and arranged on the edge of the color-changing rack 4, and driving the color-changing rack 4 to move. At the same time, each color-changing rack 4 is controlled by a separate motor 5. Compared with the prior art, the color-changing rack 4 can only have two working states (one is that one color-changing rack 4 is retracted and the other color-changing rack 4 is extended, and the other is that the two color-changing racks 4 are retracted at the same time). The present system adds a working state, so that the two color-changing racks 4 can be extended at the same time, so that compared with the prior art, its function is more complete.

[0072] When the color-changing rack 4 moves, the magnet 9 connected thereto can move. When the magnet 9 and the Hall sensor 8 are in a separated state, the Hall sensor 8 is in a signal disconnected state. When the magnet 9 moves to the top of the Hall sensor 8, the Hall sensor 8 signal is turned on. The position of the color-changing rack 4 can be roughly determined by the on-off of the Hall sensor 8 signal, and the width of the Hall sensor 8 can be calculated according to the on-off sequence of the Hall sensor 8 signal. Then, the color-changing rack 4 can be controlled to move toward the middle of the Hall sensor 8 along one end of the width of the Hall sensor 8, so that the initial position of the color-changing rack 4 is more accurate.

[0073] Furthermore, the difference between the striking position and the zeroing position is 50 steps.

[0074] For ease of understanding, the punching out and recycling of the color-changing rack 4 are described below:

[0075] The total number of steps of the motor 5 is 150. Suppose: after reset, the system detects that the width of the Hall sensor 8 is 98 steps. The system will detect once after each reset.

[0076] The color-changing rack 4 is retracted to the state of being pushed out: the motor 5 reverses for 26 steps and the Hall sensor 8 signal is turned on. After the Hall sensor 8 signal is disconnected, the motor 5 continues to reverse for 26 steps and reaches the state of "the color-changing rack 4 is pushed out";

[0077] From the color-changing rack 4 being extended to being retracted: the motor 5 rotates forward for 26 steps and the Hall sensor 8 signal is connected. After the Hall sensor 8 signal is disconnected, the motor 5 continues to reverse for 26 steps and reaches the "color-changing rack 4 being retracted" state.

[0078] During operation, the central processor controls the motor 5 to work, and under the action of the gear 6 and the teeth 7, drives the color-changing rack 4 to move, so that the color-changing rack 4 is pushed out or retracted. At the same time, under the action of the information acquisition unit, the central processor, the calculation module and the alarm module, the initial position of the color-changing rack 4 can be reset to zero, so that the initial position of the color-changing rack 4 is the same, avoiding the color-changing rack 4 from moving less than the required amount or generating excess movement, thereby causing the occurrence of the pin-striking phenomenon.

[0079] At the same time, the system detects the state of the color-changing rack 4. After the system command is issued, if the normal state switching of the Hall sensor 8 is not detected for more than 30 milliseconds, an alarm will be immediately issued to stop the machine, thus preventing the phenomenon of film drop and batch needle collision caused by not being able to carry the yarn feeder or carrying the yarn feeder.

[0080] There are three situations for zeroing action:

[0081] First, when the Hall sensor 8 signal is turned on, the motor 5 rotates forward, and the gear 6 drives the color-changing rack 4 to move upward. After the Hall sensor 8 signal is turned off, the motor 5 reverses, and the Hall sensor 8 signal is turned on again, and continues to reverse until the Hall sensor 8 signal is turned off again. The calculation module calculates the number of steps taken by the motor 5 during the process of the Hall sensor 8 being turned on. The motor 5 rotates forward, and half of the number of steps makes the color-changing rack 4 reach the zero point;

[0082] Secondly, when the Hall sensor 8 signal is not connected, the motor 5 rotates forward, and the gear 6 drives the color-changing rack 4 to move upward. After the Hall sensor 8 signal is connected, it continues to rotate forward until the Hall sensor 8 signal is disconnected again. The calculation module automatically calculates the number of steps taken by the motor 5 during the Hall sensor 8 connection process. The motor 5 reverses and half of the number of steps makes the color-changing rack 4 reach the zero point;

[0083] Third, when the Hall sensor 8 signal is not connected, the motor 5 rotates forward, the gear 6 drives the color-changing rack 4 to move upward, and the information acquisition unit does not detect the Hall sensor 8 signal after the motor 5 rotates 50 steps. The central processing unit controls the motor 5 to reverse immediately until the Hall sensor 8 signal is connected, and continues to reverse until the Hall sensor 8 is disconnected. The calculation module automatically calculates the number of steps taken by the motor 5 during the process of the Hall sensor 8 being connected. The motor 5 rotates forward, and half of the number of steps makes the color-changing rack 4 reach the zero point.

[0084] Through the above arrangement, the color-changing rack 4 can be reset to zero before it works, so that the position of the color-changing rack 4 in the initial state is accurate, avoiding the occurrence of the pin-striking phenomenon caused by the deviation between the initial state of the color-changing rack 4 and the specified state.

[0085] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0086] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A working method of a self-detecting color change control system for a flat knitting machine, characterized in that: The self-detecting color change control system for a flat knitting machine comprises: Motor (5); A color-changing component connected to the output shaft of the motor (5), the color-changing component comprising a position sensing unit and an execution unit, the position sensing unit being used to detect position information when the execution unit is in action; an information acquisition unit, communicating with the motor (5) and the position sensing unit, and used to acquire a rotation signal of the motor (5) and position information when the execution unit is in action, wherein the rotation signal of the motor (5) includes a forward rotation signal and a reverse rotation signal of the motor (5); A central processing unit, used for receiving the rotation signal of the motor (5) and the position information when the execution unit is in action sent by the information acquisition unit, and storing the rotation signal of the motor (5) and the position information when the execution unit is in action, and the central processing unit can control the rotation of the motor (5); a calculation module, integrated in the central processing unit, for calculating the rotation signal of the motor (5) stored in the central processing unit and the position information when the execution unit is in action, and feeding back the calculation result to the central processing unit, so that the central processing unit controls the motor (5) to perform a specified action; The execution unit comprises a color-changing cover plate (1), a color-changing seat (2) being vertically arranged on the color-changing cover plate (1), a plurality of guide grooves (3) being formed on the color-changing seat (2) along its length direction, a color-changing rack (4) being slidably mounted in the guide groove (3), the color-changing rack (4) being connected to a toothing structure arranged on the color-changing seat (2), and the toothing structure being connected to the motor (5); The position sensing unit comprises a Hall sensor (8) embedded in the guide groove (3) and a magnet (9) adapted to the Hall sensor (8) and fixed in the middle of the color-changing rack (4); when the magnet (9) follows the color-changing rack (4) to move to just above the Hall sensor (8), the current signal output by the Hall sensor (8) will change; The Hall sensor (8) is arranged at the middle position of the stroke of the color-changing rack (4), and the Hall sensor (8) is provided with two working positions, one of which is a striking position and the other is a zeroing position; The working method of the self-detecting color change control system for a flat knitting machine comprises the following steps: Step 1: The central processor controls the motor (5) to drive the execution unit to move and perform the zeroing action: Step 2: After the execution unit has completed the zeroing action, the central processing unit controls the motor (5) to work again, driving the execution unit to move; The zeroing action comprises the following steps: Step 1: The central processing unit controls the motor (5) to rotate, driving the gear (6) connected thereto to rotate, and causing the color-changing rack (4) provided with teeth (7) to move in the guide groove (3); Step 2: During the movement of the color-changing rack (4), the magnet (9) is driven to move, and when the magnet (9) moves to the top of the Hall sensor (8), the signal of the Hall sensor (8) is turned on, and when the magnet (9) moves to a position misaligned with the Hall sensor (8), the signal of the Hall sensor (8) is turned off; Step 3: When the Hall sensor (8) signal is turned on or off, the information acquisition unit acquires the position information of the color-changing rack (4), and at the same time, the information acquisition unit sends the position information of the color-changing rack (4) to the central processing unit; Step 4: The calculation module calculates the number of steps of rotation of the output shaft of the motor (5) during the process from when the Hall sensor (8) signal is connected to when the Hall sensor (8) signal is disconnected, and when the Hall sensor (8) signal is disconnected, the central processing unit controls the motor (5) to work, driving the color-changing rack (4) toward the middle of the Hall sensor (8) with half the number of steps of rotation of the output shaft of the motor (5), thereby completing the zeroing.

2. The working method of the self-detecting color change control system of a flat knitting machine according to claim 1, characterized in that: The toothing structure comprises a plurality of teeth (7) arranged on the side of the color-changing rack (4), the teeth (7) meshing with a gear (6) coaxially connected to the output shaft of the motor (5); A color-changing pressure strip (10) is detachably mounted on the color-changing seat (2), and a color-changing pressure plate (11) is provided at one end of the color-changing seat (2) away from the color-changing cover plate (1), a through hole corresponding to the guide groove (3) is provided on the color-changing pressure plate (11), and one end of the color-changing rack (4) can penetrate the through hole and extend to the outside of the through hole.

3. The working method of the self-detecting color change control system of a flat knitting machine according to claim 1, characterized in that: It also comprises an alarm module, wherein the alarm module is used to issue an alarm when the Hall sensor (8) fails to detect the magnet (9) within a predetermined time when the motor (5) operates.

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