A method of weaving a robotic garment fabric

Abstract

The application discloses a weaving method of a robot coat fabric, which is woven on a flat knitting machine with at least a front-back pair of needle beds, and the flat knitting machine is provided with three or more systems, each of which drives a yarn nozzle, and the weaving is formed by combination of idle needle method, hanging needle method, bird eye needle method and turning needle method. The knitted structure woven by the application is rich in appearance texture and has both practicability and beauty; the weaving method can form rich three-dimensional texture and appearance effect by adjusting the tightness of loops, and meanwhile, the ventilation function is realized, and the design sense and beauty of the product are improved.

Description

Technical Field

[0001] This invention belongs to the field of knitting technology, specifically relating to knitting methods, and particularly to a knitting method for robot outerwear fabric. Background Technology

[0002] For aesthetic and anthropomorphic reasons, humanoid robots are often dressed in clothing. Knitted garments, due to their elasticity and the possibility of incorporating special fibers, are a promising option for robot clothing. However, using knitted garments as robot clothing presents several unique requirements. For example, they need excellent heat dissipation; and because robot joints have far greater mobility than humans, the garments must maintain a smooth appearance, preventing wrinkles or stacking caused by joint movement.

[0003] Traditional knitting methods for sweaters include single-sided and double-sided structures. Single-sided structures can be used for perforated, cable-knit, lace, or intarsia patterns, while double-sided structures can be used for sesame-dot jacquard, air-knit (cylindrical), suede, or single-sided dotted jacquard (dotted line length not exceeding 1 inch). However, single-sided knitting has several limitations: 1. It is too thin for robot garments (its specified thickness range is 1.5mm~2.0mm), resulting in a loose, easily deformed structure with poor overall dimensional stability, making it difficult to meet the strength requirements of robotic fabrics. It is also prone to snagging, has poor abrasion resistance, and a short lifespan; 2. It lacks support and stiffness, making it unsuitable for robot shapes and movements; 3. Its breathability, heat dissipation, and cushioning properties are limited, failing to meet the demands of complex processes; 4. It cannot achieve multi-functional composites, restricting the intelligent application of robots. Traditional single-sided knitting structures have significant shortcomings in strength, stability, and functionality, making them unsuitable for direct application in robotic knitting. If a double-sided structure is used, the jacquard loops overlap densely, making the fabric thick and bulky, lacking flexibility, which affects the robot's joint flexibility and movement response speed. The tight fit between the two layers also hinders air circulation and results in poor breathability and heat dissipation, easily causing heat buildup in the robot's moving parts and affecting the stability of continuous operation. At the same time, this stitching method uses more material and has a higher weight, increasing the overall weight of the robot and hindering lightweight design. Summary of the Invention

[0004] The purpose of this invention is to provide a method for weaving robot outerwear fabric.

[0005] Therefore, the present invention adopts the following technical solution: a method for weaving robot outerwear fabric, which is performed on a flat knitting machine having at least one pair of needle beds, the flat knitting machine having three or more systems, each system driving a yarn feeder, including the following steps:

[0006] 1) The knitting forms a double-layer cylinder. The back bed is knitted with high-elastic yarn through all needles, and the front bed is knitted with bright yarn through all needles, forming the front needle plate.

[0007] 2) In the second row, the weaving action requires going through the hanging stitch to connect the front bed and the back bed, and using the thin stretcher to connect the front bed and the back bed in a 1-1 cross connection so that the fabric fits together;

[0008] 3) The next row of knitting is bird's eye pattern, specifically, one stitch is brought up from the front bed and one stitch from the back bed, two stitches make one cycle, using the same stitch gauge;

[0009] 4) To make the fabric more breathable and dissipate heat, the next step involves flipping the loop 1 of the back bed to the front bed, creating a hole in the fabric behind. The loops on the front bed are then knitted normally without flipping. The next step involves knitting the back bed and creating a loop in the back bed.

[0010] Step 3) above can achieve a looser weave. The principle is as follows: After the front stitch 1 is knitted, the loop continues to be connected to the back stitch to knit 1 stitch. This cycle repeats, with one stitch on the front stitch and one stitch on the back stitch. The front and back needle plates are a certain distance apart, and the loops used for the needle exit are not on the same needle plate. The length of the loops used is longer than that of a single-sided loop (the loops exiting on one needle plate are longer, resulting in a looser (larger) loop). If you want larger or smaller ventilation holes, you need to set an independent gauge segment. Adjust the gauge value of the side knitted on the front stitch to be larger (looser), and adjust the gauge value of the side knitted on the back stitch to be smaller (tighter) than that of the front stitch to ensure smooth knitting. By setting and adjusting the gauge segment / parameter value and the yarn material (comparing high elasticity and lustrous yarn, high elasticity is looser, and lustrous yarn is relatively tighter), a large raised loop (larger high elasticity loop) will be formed, creating a double-layered three-dimensional ventilation channel.

[0011] Step 4 above yields an empty loop, which does not affect the previous pattern arrangement, but can improve the fabric's three-dimensional breathability and heat dissipation.

[0012] The knitting method of this invention is achieved through a combination of free-spinning stitch (knitting one row before knitting one row after knitting), hanging eye stitch, bird's eye stitch, and turn stitch. The structure begins with free-spinning, followed by a back bed using 75D / 2 polyester high-elastic (fluffy) 3P yarn, and a front bed using 150D bright (silky / firm) 3P yarn, specifically used in rows 1-2 of the color code editing frame. This knitting combination ensures a flat and stable fabric loop. The hanging eye loops (row 3 of the color code editing frame) connect the front and back bed loops, preventing delamination of the first 1-2 rows. After several trials, it was found that the yarn used for the hanging eye connection cannot be too thick, as this would affect the fabric's thickness and stiffness; it must be fine and elastic. The reference value is when the fabric is stretched to twice its original size while at rest. After repeated testing, 40D bare apron 2P yarn found to be the most suitable for the customer. The customer requires a thickness of 1.5mm~2.0mm. At this point, we will perform the front and back bird's eye knitting (line 4 of the color code editing box). On the flat fabric surface of the front stitch, the advantage of the bird's eye loop method can be used to knit a raised loop to achieve a double-layer ventilation channel (large loop / loose loop). Knit one row normally on the back bed (line 5 of the color code editing box), and then knit another dangling stitch to integrate the elasticity into the fabric (line 6 of the color code editing box). The back bed has 1 empty stitch and 1 turn stitch to increase the hidden three-dimensional ventilation channel. It will not affect the beauty of the front pattern on the back bed and achieve multi-channel ventilation and heat dissipation (line 7 of the color code editing box). Repeat the actions of rows 1-7 on rows 8-15, and the needle exit position is changed to present a uniform ventilation through the alternating large and small loops.

[0013] More specifically, the present invention can take the following specific steps:

[0014] With the front of the machine bed as a reference, starting from left to right, in the initial state, the machine head is stopped on the left side, the first, second, and third yarn feeders are stopped on the left side, and both the front and rear beds are in a full needle position:

[0015] 1) The machine head moves to the right, the first system with the first yarn feeder knits on the back bed, and the first and second stitches both come out of the back bed;

[0016] 2) At the same time, the second system with the second yarn feeder is knitted on the front bed, and the first and second stitches both come out of the needle;

[0017] 3) At the same time, the third system with the third yarn feeder is used for the front and rear stitches, with the first stitch being the front stitch and the second stitch being the rear stitch;

[0018] 4) The machine head moves to the left, and the first system with the first yarn feeder knits on the front and back beds. The first stitch is on the back bed, and the second stitch is on the front bed.

[0019] 5) At the same time, the second system with the second yarn feeder is knitted on the back bed, and the first and second stitches are both knitted out of the back bed;

[0020] 6) At the same time, the third system with the third yarn feeder is used for the front and rear bed stitches, the first stitch is used for the rear stitch, and the second stitch is used for the front stitch;

[0021] 7) When the machine head moves to the right, the first system without the yarn feeder performs a turning motion. The first stitch does not go out, and the second stitch turns from back to front.

[0022] 8) Simultaneously, the second system with the second yarn feeder is knitted on the back bed, the first knitting the back bed, and the second knitting the back bed;

[0023] 9) At the same time, the third system with the third yarn feeder is knitted on the front bed, and the first and second stitches are both knitted on the front bed;

[0024] 10) When the machine head moves to the left, there is no yarn feeder and no weaving action is performed during the empty row;

[0025] 11) The machine head moves to the right, the first and second systems are empty, the third system with the third yarn feeder weaves the front and rear loops, the first yarn feeder weaves the front loop, the second yarn feeder weaves the rear loop;

[0026] 12) The machine head moves to the left, the first system with the first yarn feeder knits on the front and back beds, the first knitting is on the front bed, and the second knitting is on the back bed;

[0027] 13) Simultaneously, the second system with the second yarn feeder is knitted on the back bed, the first knitting the back bed, and the second knitting the back bed;

[0028] 14) At the same time, the third system with the third yarn feeder is used for the front and rear bed stitches, the first stitch is used for the rear stitch, and the second stitch is used for the front stitch;

[0029] 15) The machine head moves to the right, the first system turns the needle, the first needle turns from back to front without exiting, the second needle does not exit;

[0030] The first and second stitches form a basic cycle, controlling the horizontal width of the fabric; steps 1) to 15) form a cycle, controlling the vertical length of the fabric.

[0031] The knitted structure of this invention has a rich texture and is both practical and beautiful. This knitting method can create a rich three-dimensional texture and appearance by adjusting the tightness of the loops, which enhances the design and aesthetics of the product while achieving breathability. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the weaving method of the present invention. In the diagram: Indicates front bed weaving, Indicates the back weaving. Indicates the front bed is hanging. The ↓ symbol indicates a back stitch, the ↓ symbol indicates a back stitch turning towards the front stitch, and a space indicates no stitch. The left arrow (←) indicates the knitting head moves from right to left; the right arrow (→) indicates the knitting head moves from left to right. Y4 represents the first yarn feeder, Y3 the second yarn feeder, and Y2 the third yarn feeder. S1 represents the first system, S2 the second system, and S3 the third system. The attached diagram shows the knitting action from bottom to top. Detailed Implementation

[0033] The machine used in this embodiment is a Cixing brand SF3-72S-18G computerized flat knitting machine, which has two needle beds (front and back), three systems, and sixteen yarn feeders. Three of these are used in this embodiment. Front bed knitting is represented by 'a', back bed knitting by 'a', front bed dangling stitch by 'a&', back bed dangling stitch by 'a^', back bed turning stitch to front bed by 'a↓', and no needle movement by 'a0'. Left and right are referenced with the front bed facing forward. Initially, the machine head is stopped on the left side, with the first yarn feeder Y4, the second yarn feeder Y3, and the third yarn feeder Y2 all on the left. Both the front and back beds are in a full stitch state.

[0034] 1) The machine head moves to the right, the first system with the first yarn feeder Y4 is knitted on the back bed, the first stitch a' is knitted one stitch on the back bed and the second stitch a' is knitted one stitch on the back bed;

[0035] 2) At the same time, the second system with the second yarn feeder Y3 is knitted on the front bed, and the first stitch a is knitted on the front bed and the second stitch a is knitted on the front bed;

[0036] 3) At the same time, the third system with the third yarn feeder Y2 is used for the front and rear eyelets, the first stitch a& is one stitch for the front eyelet, and the second stitch a^ is one stitch for the rear eyelet;

[0037] 4) The machine head moves to the left, and the first system with the first yarn feeder Y4 knits on the back bed and the front bed. The first stitch a' is knitted on the back bed and the second stitch a is knitted on the front bed.

[0038] 5) At the same time, the second system with the second yarn feeder Y3 is knitted on the back bed, the first stitch a' is knitted one stitch on the back bed and the second stitch a' is knitted one stitch on the back bed;

[0039] 6) At the same time, the third system with the third yarn feeder Y2 is used for the front and rear bed stitches, the first stitch a^ is the back stitch, and the second stitch a& is the front stitch;

[0040] 7) When the machine head moves to the right, the first system without the yarn feeder performs a turning motion. The first stitch a0 does not exit the needle, and the second stitch a↓ turns the previous stitch back.

[0041] 8) At the same time, the second system with the second yarn feeder Y4 is knitted on the back bed. The first stitch a' is knitted on the back bed once, and the second stitch a' is knitted on the back bed once.

[0042] 9) At the same time, the third system with the third yarn feeder Y3 is knitted on the front bed, and the first stitch a is knitted on the front bed and the second stitch a is knitted on the front bed;

[0043] 10) When the machine head moves to the left, do not weave during the empty row without the yarn feeder (a0);

[0044] 11) The machine head moves to the right. The first system a0 is not knitted and the second system a0 is not knitted. The third system with the third yarn feeder Y2 knits the front and back bed loops. The first stitch a& is one stitch for the front loop, and the second stitch a^ is one stitch for the back loop.

[0045] 12) The machine head moves to the left, and the first system with the first yarn feeder Y4 knits the first stitch a on the front bed and the second stitch a' on the back bed.

[0046] 13) At the same time, the second system with the second yarn feeder Y3 knits the first stitch a' and the second stitch a' on the back bed.

[0047] 14) At the same time, the third system with the second yarn feeder Y2 is in the front and back bed stitches, the first stitch a^ is the back stitch, and the second stitch a& is the front stitch;

[0048] 15) When the machine head moves to the right, after turning the first stitch a↓ in the first system, turn the previous stitch and do not knit the second stitch a0;

[0049] Steps 1) to 15) constitute one cycle. After several cycles, a new stitch pattern fabric for the robot's outer garment can be obtained, serving as the basis for the longitudinal length cycle of the robot's outer garment. The first and second stitches form a basic cycle, which can be repeated laterally to knit the transverse width dimension of the robot's outer garment fabric. In the actual knitting process, the number of stitches can be changed according to requirements, and the above basic cycles can be repeated to obtain the robot's outer garment fabric of the appropriate size.

Claims

1. A method for weaving a robotic outer garment fabric, comprising weaving on a flat knitting machine having at least one pair of front and back needle beds, the flat knitting machine having three or more systems, each system driving a yarn feeder, comprising the following steps: 1) The knitting forms a double-layer cylinder. The back bed is knitted with high-elastic yarn through all needles, and the front bed is knitted with bright yarn through all needles, forming the front needle plate. 2) In the second row, the weaving action requires the use of a hanging stitch to connect the front and back beds, and the use of a thin stretcher to connect the front and back beds in a 1-1 cross pattern to make the fabric fit together; 3) The next row of knitting is bird's eye pattern, specifically, one stitch is brought up from the front bed and one stitch from the back bed, and two stitches make one cycle, using the same stitch gauge. 4) To make the fabric more breathable and dissipate heat, the next step involves flipping the loop 1 of the back bed to the front bed, creating a hole in the fabric behind. The loops on the front bed are then knitted normally without flipping. The next step involves knitting the back bed and creating a loop in the back bed.

2. The weaving method as described in claim 1, characterized in that: Includes the following steps: With the front of the machine bed as a reference, starting from left to right, in the initial state, the machine head is stopped on the left side, the first, second, and third yarn feeders are stopped on the left side, and both the front and rear beds are in a full needle position: 1) The machine head moves to the right, the first system with the first yarn feeder knits on the back bed, and the first and second stitches both come out of the back bed; 2) At the same time, the second system with the second yarn feeder is knitted on the front bed, and the first and second stitches both come out of the needle; 3) At the same time, the third system with the third yarn feeder is used for the front and rear stitches, with the first stitch being the front stitch and the second stitch being the rear stitch; 4) The machine head moves to the left, and the first system with the first yarn feeder knits on the front and back beds. The first stitch is on the back bed, and the second stitch is on the front bed. 5) At the same time, the second system with the second yarn feeder is knitted on the back bed, and the first and second stitches are both knitted out of the back bed; 6) At the same time, the third system with the third yarn feeder is used for the front and rear bed stitches, the first stitch is used for the rear stitch, and the second stitch is used for the front stitch; 7) When the machine head moves to the right, the first system without the yarn feeder performs a turning motion. The first stitch does not go out, and the second stitch turns from back to front. 8) Simultaneously, the second system with the second yarn feeder is knitted on the back bed, the first knitting the back bed, and the second knitting the back bed; 9) At the same time, the third system with the third yarn feeder is knitted on the front bed, and the first and second stitches are both knitted on the front bed; 10) When the machine head moves to the left, there is no yarn feeder and no weaving action is performed during the empty row; 11) The machine head moves to the right, the first and second systems are empty, the third system with the third yarn feeder weaves the front and rear loops, the first yarn feeder weaves the front loop, the second yarn feeder weaves the rear loop; 12) The machine head moves to the left, the first system with the first yarn feeder knits on the front and back beds, the first knitting is on the front bed, and the second knitting is on the back bed; 13) Simultaneously, the second system with the second yarn feeder is knitted on the back bed, the first knitting the back bed, and the second knitting the back bed; 14) At the same time, the third system with the third yarn feeder is used for the front and rear bed stitches, the first stitch is used for the rear stitch, and the second stitch is used for the front stitch; 15) The machine head moves to the right, the first system turns the needle, the first needle turns from back to front without exiting, the second needle does not exit; The first and second stitches form a basic cycle, controlling the horizontal width of the fabric; steps 1) to 15) form a cycle, controlling the vertical length of the fabric.

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