A braiding system and a control method thereof

Abstract

The application discloses a weaving system and a control method thereof. In the weaving system, a host computer generates weaving data containing three-axis motion information based on a weaving pattern, and sends the weaving data to a control assembly by a driving assembly, so that the pattern data can be directly converted into three-dimensional action instructions of a yarn nozzle, and accurate control of warp knitting action at an electric control level is realized. A first driving motor drives the yarn nozzle to move in a first direction, a second driving motor drives the yarn nozzle to move in a second direction, and a third driving motor drives the yarn nozzle to swing in a third direction. The three cooperate to enable the yarn nozzle to sequentially complete key steps such as yarn feeding and winding, so that the flat knitting machine can utilize the warp knitting characteristics to improve the stretch resistance of the fabric and enrich the appearance, while the advantages of high forming degree and high flexibility of the flat knitting machine are retained, and the production efficiency is further improved and the demand for manual assistance is reduced.

Description

Technical Field

[0001] This application relates to the field of textile machinery technology, and in particular to a weaving system and its control method. Background Technology

[0002] Existing technologies have significant shortcomings: First, the traditional flat knitting machine's yarn feeder mechanism has limited motion dimensions; its oscillation function is only used for intarsia knitting avoidance and cannot achieve the three-dimensional independent motion required by warp knitting processes. Second, when simulating warp knitting yarn padding movements using conventional knitting equipment, the machine head needs to repeatedly run idle and the yarn feeder needs to be frequently adjusted, with some processes relying on manual labor, resulting in low production efficiency. Currently, some improvement solutions in the industry only optimize the mechanical structure to adapt to warp knitting characteristics, without solving key pain points in warp knitting electronic control such as converting pattern data into three-dimensional motion commands and three-axis coordinated control. Existing mature control systems lack dedicated electronic control solutions adapted to the three-dimensional motion of warp knitting. Summary of the Invention

[0003] To solve the above-mentioned technical problems, this application provides a knitting system, which includes a host computer, a control component, a drive component, and a plurality of knitting nozzles. The control component is connected to the host computer and the drive component, and the drive component is connected to the plurality of knitting nozzles. The host computer is used to generate knitting data based on the knitting pattern, the control component is used to receive the knitting data and send the knitting data to the drive component, and the drive component is used to drive the plurality of knitting yarn nozzles to perform corresponding knitting actions according to the knitting data; The driving assembly includes a first driving motor, a second driving motor, and a third driving motor. The plurality of knitting nozzles includes a first knitting nozzle, which is connected to the first driving motor, the second driving motor, and the third driving motor respectively. The first driving motor, the second driving motor, and the third driving motor are used to drive the corresponding first knitting nozzle to perform warp knitting operations. The first driving motor is used to drive the knitting nozzle to move along a first direction, the second driving motor is used to drive the knitting nozzle to move along a second direction, and the third driving motor is used to drive the knitting nozzle to swing along a third direction. The first direction, the second direction, and the third direction are arranged perpendicularly to each other.

[0004] The plurality of knitting nozzles also includes a second knitting nozzle, which is connected to the first drive motor and / or the second drive motor. The first drive motor and / or the second drive motor are used to drive the corresponding second knitting nozzle to perform weft knitting. The control component is used to send the knitting data to the drive component, wherein the knitting data includes warp knitting data and weft knitting data; different drive motors in the drive component are used to drive the first knitting nozzle to perform the warp knitting action based on the warp knitting data, and to drive the second knitting nozzle to perform the weft knitting action based on the weft knitting data.

[0005] The host computer includes a pattern making module and a pattern analysis module, which are connected. The pattern making module is used to acquire the knitting pattern, and the pattern analysis module is used to generate the warp knitting data and the weft knitting data based on the knitting pattern. The control component is used to send the warp knitting data and the weft knitting data to the drive component.

[0006] The pattern-making module is further configured to receive markings of the pattern areas to be warp-knitted in the woven pattern, obtain warp-knitting markings, and receive the warp-knitting direction of the warp-knitting action corresponding to the warp-knitting markings; the warp-knitting direction includes left-hand warp-knitting and right-hand warp-knitting; The pattern parsing module converts the knitting pattern into multiple pattern raw row data. In response to the presence of the warp knitting mark and the corresponding warp knitting direction in any pattern raw row data, the corresponding pattern raw row is marked as a warp knitting row, and the warp knitting data is generated.

[0007] The pattern parsing module is further configured to parse the pattern original row data of the next row when the first weaving nozzle and / or the second weaving nozzle are performing the weaving action of the current pattern original row.

[0008] The host computer is also used to bind multiple drive motors in the drive assembly to the weaving nozzle, determine the corresponding weaving nozzle based on the weaving pattern, determine the multiple drive motors bound to the weaving nozzle, and generate the weaving data.

[0009] The first weaving nozzle has three stopping positions at different heights along the first direction, namely a first height position, a second height position, and a third height position; the vertical height of the first height position is greater than the vertical height of the second height position, and the vertical height of the second height position is greater than the vertical height of the third height position. When the first knitting nozzle performs the warp knitting action, the first drive motor is used to drive the first knitting nozzle to move to the third height position; After the first knitting nozzle completes the warp knitting operation, the first drive motor drives the first knitting nozzle to move to the first height position or the second height position.

[0010] The control component is also used to determine whether the original row of the next pattern is a warp-knitted row; In response to the next pattern original behavior of warp knitting, first drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to the second height position based on the first drive data; In response to the next pattern original behavior being a non-warp knitting line, second drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to the first height position based on the second drive data.

[0011] During the warp knitting process, the third drive motor drives the first knitting nozzle to swing along a third direction to the centering position, the first drive motor drives the first knitting nozzle to move to the third height position, the second drive motor drives the first knitting nozzle to move a preset distance along the second direction, then the first drive motor drives the first knitting nozzle to move to the first height position, the second drive motor drives the first knitting nozzle to move the preset distance in the opposite direction of the second direction, and the third drive motor drives the first knitting nozzle to swing along the opposite direction of the third direction to the exit position, thus completing the knitting action.

[0012] To address the aforementioned technical problems, this application also provides a control method for a knitting system, applied to the knitting system described above, the control method comprising: Obtain the knitting pattern, and generate knitting data based on the knitting pattern, the knitting data including warp knitting data and weft knitting data; Based on the weft knitting data, the control and driving component drives the second knitting nozzle to perform weft knitting operations, and based on the warp knitting data, the control and driving component drives the first knitting nozzle to perform warp knitting operations.

[0013] The beneficial effects of this application are as follows: Unlike existing technologies, the knitting system provided in this application includes a host computer, a control component, and multiple knitting nozzles. The control component is connected to both the host computer and a drive component, and the drive component is connected to the multiple knitting nozzles. The host computer generates knitting data based on the knitting pattern, the control component receives the knitting data and sends it to the drive component, and the drive component drives the multiple knitting nozzles to perform corresponding knitting actions according to the knitting data. The drive component includes a first drive motor, a second drive motor, and a third drive motor. The multiple knitting nozzles include a first knitting nozzle, which is connected to the first, second, and third drive motors. The first, second, and third drive motors drive the corresponding first knitting nozzles to perform warp knitting actions. The first drive motor drives the knitting nozzle to move along a first direction, the second drive motor drives the knitting nozzle to move along a second direction, and the third drive motor drives the knitting nozzle to swing along a third direction. The first, second, and third directions are arranged perpendicularly to each other.

[0014] By independently controlling the first knitting nozzle to move along three mutually perpendicular directions using a first drive motor, a second drive motor, and a third drive motor, the first knitting nozzle gains independent movement capability in three-dimensional space. This eliminates reliance on the mechanical structure of traditional flat knitting machines and enables direct execution of warp knitting yarn feeding actions on the flat knitting machine itself. The host computer generates knitting data containing three-axis motion information based on the knitting pattern, and the control component sends this data to the drive component. This allows the pattern data to be directly converted into three-dimensional motion commands for the nozzle, achieving precise control of the warp knitting action at the electrical control level. The first drive motor moves the nozzle along a first direction, the second drive motor moves it along a second direction, and the third drive motor causes it to oscillate along a third direction. The coordination of these three motors allows the nozzle to sequentially complete key warp knitting steps such as yarn feeding and winding. This enables the flat knitting machine to utilize the characteristics of warp knitting to improve the tensile strength of the fabric and enrich its appearance, while retaining the advantages of high forming accuracy and flexibility, further improving production efficiency and reducing the need for manual assistance. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the weaving system of this application; Figure 2 This is a flowchart illustrating an embodiment of the control method of this application.

[0016] Reference numerals: 1. Knitting system; 11. Host computer; 12. Control components; 13. Drive components; 14. Knitting yarn feeder. Detailed Implementation

[0017] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0018] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0019] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. Furthermore, "many" in this application means two or more. Moreover, the term "at least one" in this application means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C. Furthermore, the terms "first," "second," and "third" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0021] In existing technologies, traditional computerized flat knitting machines with intelligent yarn feeder technology have limited motion dimensions. Their swing control mainly relies on mechanical methods to achieve yarn feeder avoidance, and cannot apply three-dimensional motion to warp knitting movements. When achieving warp knitting effects on traditional flat knitting machines, it is usually only possible to simulate yarn padding movements by multiple empty runs of the machine head and complex yarn feeder scheduling, sometimes even requiring manual assistance, resulting in low production efficiency. Furthermore, flat knitting machine control and warp knitting movements belong to two independent technical systems, lacking a matching electronic control solution. To address this, this application provides a three-dimensional yarn feeder electronic control system and its control method for computerized flat knitting machines based on warp knitting technology. The upper computer pattern analysis module converts the warp knitting pattern into instruction data including the main servo position, needle selection, and three-axis (lateral, longitudinal, and swing) coordinated movements, and distributes it to the lower computer for execution via the main control bus. This solves the technical problems of how to enable the yarn feeder to complete warp knitting yarn padding movements through an electronic control scheme while retaining the advantages of flat knitting machine forming, how to achieve the conversion of "pattern data to three-dimensional movement instructions", and how to coordinate the control of the three axes to complete the warp knitting movements, thereby achieving efficient integration of warp knitting technology and flat knitting machines.

[0022] Please see Figure 1 The knitting system 1 provided in this application embodiment includes a host computer 11, a control component 12, a drive component 13, and multiple knitting nozzles 14.

[0023] The control component 12 is connected to both the host computer 11 and the drive component 13, which in turn is connected to multiple knitting nozzles 14. The host computer 11 generates knitting data based on the knitting pattern. The control component 12 receives the knitting data and sends it to the drive component 13. The drive component 13 drives the multiple knitting nozzles 14 to perform corresponding knitting actions based on the knitting data. Specifically, the drive component 13 can drive the multiple knitting nozzles 14 to perform corresponding warp knitting or weft knitting actions based on the knitting data.

[0024] The drive assembly 13 may further include a first drive motor, a second drive motor, and a third drive motor. Multiple knitting nozzles 14 include a first knitting nozzle, which is connected to the first, second, and third drive motors respectively. The first, second, and third drive motors drive the corresponding first knitting nozzles to perform warp knitting operations; that is, the first knitting nozzle is the knitting nozzle 14 that performs the warp knitting operation. The first drive motor drives the knitting nozzle 14 to move along a first direction, the second drive motor drives the knitting nozzle 14 to move along a second direction, and the third drive motor drives the knitting nozzle 14 to swing along a third direction. The first, second, and third directions are arranged perpendicularly to each other.

[0025] Among them, the knitting pattern is used in knitting scenarios such as shoe uppers where partial warp knitting is superimposed on the horizontal yarn feeding on a flat knitting machine. It is a complete process data file that records process information such as the yarn padding trajectory and the position of the yarn feeder, which can be analyzed by the equipment to output yarn feeder motion control commands. It also represents the appearance and pattern of the fabric after it is formed. The knitting data can include the timing and position commands for controlling the first knitting yarn feeder to perform three-dimensional movement (lateral movement, extension and retraction, swinging and winding) to complete the yarn padding and winding actions; the warp knitting action can refer to the yarn padding process including yarn feeding and winding. Then, the first direction, the second direction, and the third direction refer to three mutually perpendicular spatial dimensions, which can correspond to the up and down movement direction, the left and right movement direction, and the back and forth swing direction of the first knitting yarn feeder. That is, the first direction can refer to the vertical direction, the second direction to the horizontal direction, and the third direction to the longitudinal direction.

[0026] Specifically, the host computer 11, acting as the data processing source, can be equipped with a pattern analysis module responsible for generating knitting data based on the knitting pattern. For example, it can convert the knitting pattern uploaded by the operator into knitting data, which is the machine instruction executable by the drive component 13. The control component 12, acting as the central nervous system, typically adopts a main control bus architecture. It is responsible for receiving the knitting data from the host computer 11 and sending the knitting data to the drive component 13. The drive component 13 consists of three orthogonal drive sources: a first drive motor, a second drive motor, and a third drive motor, corresponding to the vertical, horizontal, and swing degrees of freedom of the first knitting nozzle, respectively. The first knitting nozzle is mechanically coupled to these three motors to achieve precise adjustment of its spatial position.

[0027] During operation, the host computer 11 analyzes the knitting pattern to generate knitting data, calculates the target position and timing action points of the first knitting yarn feeder in the vertical, horizontal, and swing axes, and packages the knitting data containing three-dimensional action commands to the control component 12. The control component 12 can then send this knitting data to the drive component 13 to trigger the action of each drive motor in the drive component 13.

[0028] For example, during the yarn feeding stage, the second drive motor moves the knitting nozzle 14 laterally to the reference needle (the reference needle is the first effective knitting needle corresponding to a single warp-laying action within the knitting area; all lateral stopping and translational movements of the nozzle are based on this needle as the position reference, and the nozzle can stop at the left or right half-needle length position of this needle). The third drive motor drives the knitting nozzle 14 to swing to the aligned position, and the first drive motor drives the knitting nozzle 14 to descend to the lowest position to complete the yarn feeding. During the winding stage, the knitting nozzle 14 performs compound actions such as lifting, kicking yarn, and swinging out. Through the coordinated operation of the three-axis motors, the nozzle can simulate the yarn-laying action of a professional warp knitting machine, thereby realizing the warp knitting process on the flat knitting machine.

[0029] In some embodiments, the control component 12 may detect the current position of each drive motor in the drive component 13 in real time. After receiving the knitting data, since the knitting data represents the final arrival position of each drive motor, the control component 12 may calculate the operation data of the drive motor based on the current position and the final arrival position of the drive motor, and transmit the operation data to the drive component 13 to trigger the operation of the drive motor, so that the drive motor accurately drives the knitting yarn nozzle 14 to move to the corresponding position to perform the warp knitting action.

[0030] It is understandable that if there is a knitting nozzle 14 among the multiple knitting nozzles 14 that needs to perform a three-dimensional moving warp knitting operation, then the knitting nozzle 14 can be connected to the first drive motor, the second drive motor and the third drive motor respectively, and the knitting nozzle 14 can be driven to complete the warp knitting action through the cooperation of the above three drive motors.

[0031] Among the multiple knitting nozzles 14, some may not require three-dimensional movement. In this case, the knitting nozzle 14 only needs to be connected to a drive motor with corresponding driving capability; that is, not all knitting nozzles 14 are connected to the first, second, and third drive motors. When a knitting nozzle 14 is not connected to the first, second, and third drive motors, i.e., when the knitting nozzle 14 cannot perform three-dimensional movement, it can still perform weft knitting operations.

[0032] It is understood that this application does not limit the specific number of drive motors connected to the yarn weaving nozzle 14, but can determine the number based on the corresponding operation performed by the yarn weaving nozzle 14.

[0033] In some embodiments, the first drive motor can be a servo motor that drives a cam or linkage mechanism to achieve lifting, the second drive motor can be a high-precision AC servo motor that drives a lead screw to achieve lateral movement, and the third drive motor can be a servo motor that directly drives the body of the braiding yarn nozzle 14 to achieve oscillation.

[0034] In some embodiments, the first drive motor, the second drive motor, and the third drive motor can also be stepper motors with corresponding hardware control cards, controlling the angle and displacement through pulse signals.

[0035] The knitting system 1 provided in this embodiment solves the problem that traditional flat knitting machines only support two-dimensional planar motion and cannot complete the three-dimensional winding action required for warp knitting.

[0036] By independently controlling the yarn feeder 14 to move along three mutually perpendicular directions using the first, second, and third drive motors, the yarn feeder gains independent movement capabilities in three-dimensional space. This eliminates reliance on the mechanical structure of traditional flat knitting machines and enables direct execution of warp knitting yarn feeding actions on the flat knitting machine itself. The host computer 11 generates knitting data containing three-axis motion information based on the knitting pattern, and the control component 12 sends this data to the drive component 13. This allows the pattern data to be directly converted into three-dimensional motion commands for the yarn feeder, achieving precise control of the warp knitting action at the electrical control level. The first drive motor drives the yarn feeder to move along the first direction, the second drive motor drives it along the second direction, and the third drive motor drives it to swing along the third direction. The coordination of these three motors allows the yarn feeder to sequentially complete key warp knitting steps such as yarn feeding and winding. This enables the flat knitting machine to utilize the characteristics of warp knitting to improve the tensile strength of the fabric and enrich its appearance, while retaining the advantages of high forming accuracy and flexibility, further improving production efficiency and reducing the need for manual assistance.

[0037] Optionally, the plurality of knitting nozzles 14 may also include a second knitting nozzle, which is connected to a first drive motor and / or a second drive motor. The first drive motor and / or the second drive motor is used to drive the corresponding second knitting nozzle to perform weft knitting.

[0038] As mentioned above, when the knitting nozzle 14 can only move in one or two dimensions, the knitting nozzle 14 is used to perform weft knitting operations. Through the cooperation of the first knitting nozzle and the second knitting nozzle, the knitting system 1 can control the warp knitting and weft knitting operations of the knitting nozzle 14.

[0039] Next, the control component 12 is used to send the knitting data to the drive component 13. The knitting data includes warp knitting data and weft knitting data. Different drive motors in the drive component are used to drive the first knitting yarn nozzle to perform warp knitting action based on the warp knitting data, and to drive the second warp knitting yarn nozzle to perform weft knitting action based on the weft knitting data.

[0040] The second knitting nozzle is typically used to perform actions such as weft yarn padding and loop formation. Weft knitting data can refer to the instructions that control the second knitting nozzle to perform actions such as conventional weft yarn feeding and needle selection. Therefore, weft knitting actions include conventional weft knitting processes such as weft yarn feeding, loop formation, and loop release.

[0041] During operation, the host computer 11 analyzes complex pattern data, identifies rows or areas requiring warp knitting, and generates three-dimensional motion trajectory data of the first knitting nozzle (warp knitting data); simultaneously, it identifies rows or areas requiring weft knitting and generates action timing data of the second knitting nozzle (weft knitting data). The control component 12 integrates this data and sends it to the lower execution unit (drive component 13). During the knitting process, when the first knitting nozzle performs a winding action, the second knitting nozzle may be preparing to feed the weft yarn for the next row, or the second knitting nozzle may perform an auxiliary yarn feeding action while the first knitting nozzle performs warp knitting yarn feeding.

[0042] In some embodiments, the knitting system 1 may include two sets of control components 12 and two sets of drive components 13. The first set of control components 12 is connected to the first knitting nozzle through the first set of drive components 13, and is used to receive warp knitting data from the host computer 11 to control the first knitting nozzle to perform warp knitting actions. The second set of control components 12 is connected to the second knitting nozzle through the second set of drive components 13, and is used to receive weft knitting data from the host computer 11 to control the second knitting nozzle to perform weft knitting actions. The action times of the first set of drive components 13 and the second set of drive components 13 may partially overlap, that is, the time for the first knitting nozzle to perform warp knitting actions may partially overlap with the time for the second knitting nozzle to perform weft knitting actions.

[0043] This indicates that the time window for the first knitting nozzle to perform warp knitting actions such as feeding and winding yarn overlaps with the time window for the second knitting nozzle to feed weft yarn or form loops on the time axis, but complete synchronization is not required; they can occur sequentially, in parallel, or alternately. Furthermore, through temporal overlap and coordination, the knitting system 1 can complete the interlacing of warp and weft yarns in a single head stroke or continuous operation.

[0044] In some embodiments, during the upper weaving, the weaving tip 14 is responsible for forming high-strength warp-knitted loops in specific areas to enhance tensile strength, while the weft knitting component is responsible for regular weft knitting in the remaining areas to create a soft hand feel. The two overlap in time to achieve a seamless transition.

[0045] In some embodiments, if only one set of drive components 13 is connected to both the first and second knitting nozzles, then the drive component 13 can only drive the first knitting nozzle to perform warp knitting or drive the second knitting nozzle to perform weft knitting. That is, one set of drive motors can drive the execution of warp knitting or weft knitting, but cannot drive the execution of both warp knitting and weft knitting simultaneously. Warp knitting and weft knitting can only be performed sequentially and cannot overlap in time.

[0046] It is understood that this application does not restrict the timing relationship between warp knitting and weft knitting actions. Warp knitting and weft knitting actions can be executed simultaneously by setting additional hardware, or they can be executed sequentially without time overlap. This can be set by the operator based on actual needs, and this application does not impose any restrictions on this.

[0047] By connecting the second warp knitting nozzle to the control component 12, the knitting system 1 can simultaneously handle warp and weft knitting processes, enriching the fabric's structure and functional characteristics. The knitting data includes both warp and weft knitting data, enabling the control component 12 to uniformly schedule the three-dimensional movement of the first knitting nozzle and the planar movement of the second knitting nozzle, achieving precise control of mixed warp and weft knitting.

[0048] Optionally, the host computer 11 includes a pattern making module and a pattern analysis module (not shown). The pattern making module and the pattern analysis module are connected. The pattern making module is used to acquire the knitting pattern, and the pattern analysis module is used to generate warp knitting data and weft knitting data based on the knitting pattern. The control component 12 is used to send the warp knitting data and weft knitting data to the drive component 13.

[0049] The operator can edit the required knitting pattern on the pattern-making module. The knitting pattern typically includes specific warp knitting marks, such as left and right row warp knitting marks, yarn feeding action marks, winding action marks, and avoidance marks. The pattern parsing module is connected to the pattern-making module, and its core function is to parse the acquired knitting pattern line by line, converting it into instruction data executable by the drive component 13. Then, after receiving the warp and weft knitting data, the control component 12 can distribute the data via the main control bus to the drive component 13 to control the first knitting nozzle to perform warp knitting actions and the second knitting nozzle to perform weft knitting actions.

[0050] Specifically, when knitting the shoe upper, when the area that needs to be enhanced in tensile strength is analyzed, the pattern making module obtains the pattern containing the warp knitting mark, the pattern analysis module marks the row as a warp knitting row, and generates a series of complex three-dimensional action instructions (warp knitting data) such as feeding yarn on the right side of the first knitting yarn tip, aligning and descending, winding yarn on the left side, and lifting out. The weft knitting action instructions (weft knitting data) of other areas of the row are also generated together, and finally executed by the control component 12.

[0051] In some embodiments, the pattern-making module can directly download files from the standard pattern library from the cloud server, or read knitting pattern files from an external storage device via a USB interface, as long as it can obtain the original knitting pattern data containing warp knitting process information.

[0052] By setting up a pattern-making module to acquire knitting patterns, the system can receive raw pattern data containing warp knitting process information, providing a data foundation for subsequent automated control. By setting up a pattern parsing module to generate warp knitting data based on the knitting pattern, abstract pattern markings can be converted into three-dimensional motion commands for the first knitting yarn feeder. This solves the problem of traditional flat knitting machines lacking the ability to convert warp knitting motion control commands, achieving precise automated execution of warp knitting padding actions. The control component 12 sends warp and weft knitting data to the drive component 13, enabling the first knitting yarn feeder to strictly execute independent three-dimensional movements of lateral, extension, and oscillation according to the parsed timing and position. Warp knitting effects can be achieved without complex modifications to the mechanical structure, while simultaneously handling weft knitting process requirements, maintaining the original weft knitting capabilities of the flat knitting machine. This allows the first and second knitting yarn feeders to coordinate their movements, achieving seamless switching and integration of warp and weft mixed knitting processes under the same electronic control system, further improving the versatility and knitting efficiency of the knitting system 1.

[0053] Optionally, the pattern-making module is also used to receive the markings of the pattern areas that need to be warp-knitted, obtain the warp knitting marks, and receive the warp knitting direction of the warp knitting action corresponding to the warp knitting marks, including left-hand warp knitting and right-hand warp knitting.

[0054] Among them, warp knitting marks can refer to specific identifiers added manually in the pattern-making module to distinguish between regular weft knitting areas and areas requiring warp knitting processing. Warp knitting direction refers to the relative movement direction of the first knitting nozzle when completing the yarn feeding action, specifically divided into left-hand warp knitting and right-hand warp knitting, which corresponds to the yarn feeding and winding position relationship of the first knitting nozzle relative to the reference needle on the horizontal guide rail.

[0055] Operators can mark the warp-knitted areas in the pattern on the pattern-making module and specify the warp-knitting direction of the corresponding warp-knitting action. The pattern-making module can receive the marks made by the operator, obtain the warp-knitting marks, and obtain the warp-knitting direction of the corresponding warp-knitting action so that the pattern analysis module can analyze the pattern later.

[0056] Next, the pattern parsing module converts the knitting pattern into multiple pattern raw row data. In response to the presence of the warp knitting mark and the corresponding warp knitting direction in any pattern raw row data, the corresponding pattern raw row is marked as a warp knitting row, and warp knitting data is generated.

[0057] Specifically, during operation, the pattern analysis module can convert a complete knitting pattern into multiple pattern raw row data. Each row of data corresponds to the warp knitting control data for a single complete lateral movement of the knitting head. The entire set of data records the yarn feeder coordination logic required for this warp knitting operation. After the system reads the row of data, the knitting head completes one lateral movement along the needle bed guide, simultaneously coordinating with the three drive motors of the first knitting yarn feeder to perform the warp feeding and winding processes. The knitting head is a sliding assembly of a flat knitting machine equipped with cams and needle selection components. The pattern analysis module can scan row by row. When it detects that a row of raw data contains a warp knitting mark, it further reads the warp knitting direction information associated with that mark, marks that pattern raw row as a warp knitting row, and generates warp knitting data to control the first knitting yarn feeder to perform warp knitting actions in that row.

[0058] In some embodiments, if the warp knitting direction is left-hand warp knitting, the pattern analysis module generates corresponding warp knitting data according to the left-hand logic. The warp knitting data includes yarn feeding instructions such as the lateral position, alignment position, and lowest position of the yarn feeder on the left side of the reference needle, as well as the winding instructions on the left side. If the warp knitting direction is right-hand warp knitting, the opposite lateral position instructions are generated.

[0059] In some embodiments, warp knitting marks may exist in the original data file in the form of color coding, specific symbols, or binary bitmasks, as long as they can be accurately identified by the pattern parsing module and associated with the warp knitting direction.

[0060] By marking the warp-knitted areas within the knitting pattern, the system can accurately identify specific areas requiring warp knitting, avoiding resource waste and process conflicts caused by warp knitting across entire rows or the entire system. By specifying the warp knitting direction for the warp knitting marks, including left-hand and right-hand warp knitting, the system can clearly define the horizontal movement logic of the first knitting yarn feeder, providing a basis for generating accurate lateral position commands and adapting to warp knitting requirements under different structural layouts. By converting the knitting pattern into multiple pattern raw row data and, in response to the existence of warp knitting marks and corresponding warp knitting directions, marking the corresponding rows as warp knitting rows to generate warp knitting data, the host computer 11 can automatically generate a three-dimensional motion sequence that strictly matches the warp yarn movement trajectory based on spatial logic. This solves the problem that traditional flat knitting machines cannot directly process warp knitting spatial logic, achieving precise positioning and coordinated movement of the first knitting yarn feeder in the left-right direction, further improving the automation level and knitting accuracy of the warp knitting process.

[0061] Optionally, the pattern parsing module is also used to parse the pattern original row data of the next row when the first weaving nozzle and / or the second weaving nozzle perform the weaving action of the current pattern original row.

[0062] Among them, the pattern original line is a line of data compiled and generated by the plate-making module. This line of data stores the complete knitting instruction corresponding to a single lateral movement of the machine head. The pattern original line data contains the action data of all the first and second knitting yarn feeders within this action cycle.

[0063] The pattern analysis module will read and analyze the pattern original row data to be executed in advance before the first and / or second weaving nozzles have completed the current pattern original row weaving action, so that the first and second weaving nozzles can continue to perform the weaving action.

[0064] In some embodiments, when the first and / or second knitting nozzles are performing the Nth row of knitting, the control component 12 monitors the position of the main servo encoder in real time via the bus to confirm that the first and / or second knitting nozzles are in the operating range of the Nth row (e.g., the left-to-right movement phase). Within this physical time window, the pattern analysis module is not idle but simultaneously starts parsing the original row data of the N+1th row of the pattern. The pattern analysis module reads the data of the N+1th row, determines whether there are warp knitting marks and warp knitting directions, and if so, pre-calculates the specific warp knitting data required by the first knitting nozzle in the N+1th row, such as the lateral stopping point, swing angle, and extension height, as well as the weft knitting data corresponding to the second knitting nozzle, based on the process logic of the N+1th row. This data is then packaged into a drive instruction frame and temporarily stored in the buffer. When the first and / or second knitting nozzles reach the end of the Nth row and prepare to change direction or enter the N+1th row, the knitting data corresponding to the parsed N+1th row is ready and can be directly driven by the control component 12 to the drive component 13 for seamless connection.

[0065] In practice, warp knitting involves complex three-axis (lateral, telescopic, and oscillating) coordinated movements, and the timing requirements are extremely high. If the next row is parsed only after the current row is completely finished, the parsing time will consume the time for reset or reversal, thereby reducing the overall knitting efficiency. In some cases, the delayed instruction issuance may even cause the knitting yarn feeder 14 to move asynchronously. Therefore, this embodiment proposes to parse the knitting data of the next row while performing the knitting action of the previous row.

[0066] In some embodiments, the pattern parsing module can employ multi-threading technology, with one thread dedicated to distributing the weaving data for the current row and another thread dedicated to parsing the data for the next row. The two threads interact with each other through shared memory or message queues to ensure that the parsing work and the mechanical movement do not block each other.

[0067] By parsing the data of the next row of pattern raw data while the first and second weaving nozzles are executing the current pattern raw row weaving action, the weaving system 1 can complete data decoding using a parallel time window during the mechanical action, eliminating the machine head waiting time caused by computation time in the traditional serial parsing method. This parallel processing mechanism allows the action commands of the weaving nozzle 14 to be generated and cached in advance, enabling the immediate issuance of commands when changing direction or entering a new row, further improving the response speed and overall production efficiency of the weaving system 1. At the same time, the advance parsing of subsequent row data helps the weaving system 1 to predict and allocate resources for upcoming complex warp knitting actions, avoiding lag or asynchrony of the weaving nozzle 14's actions due to command delays, thus ensuring the precise timing of the warp knitting padding action and improving the forming quality and stability of the warp knitting structure.

[0068] Optionally, the host computer 11 is also used to bind multiple drive motors in the drive assembly 13 to the weaving nozzle 14, determine the corresponding weaving nozzle 14 based on the weaving pattern, determine the multiple drive motors bound based on the weaving nozzle 14, and generate weaving data.

[0069] During the initialization or configuration phase of the weaving system 1, the host computer 11 can establish a one-to-one mapping table relationship between the specific weaving yarn nozzle 14 number and the drive motor number responsible for its movement.

[0070] Specifically, upon startup, the host computer 11 establishes or loads a binding mapping table between the yarn feeder and the motor. During the knitting process of the knitting system 1, the pattern-making module of the host computer 11 receives the knitting pattern, and the pattern parsing module identifies the yarn feeder 14 that needs to perform the knitting action, including the first and second yarn feeders. Next, based on the binding relationship, the number of the drive motor corresponding to the yarn feeder 14 is found, and corresponding knitting data is generated. Then, the control component 12 calculates the target position, action sequence, and speed curve of each drive motor based on the action instructions (such as yarn feeding and winding) in the knitting data, combined with mechanical structure parameters (such as transmission ratio and stroke limit) and the current position of the drive motor, generating specific drive data. Finally, the control component 12 sends the drive data to the corresponding drive motor in the drive component 13 via the bus. The drive motor executes the corresponding action, driving the corresponding first yarn feeder to complete the warp knitting action and the second yarn feeder to perform the weft knitting action.

[0071] In some embodiments, the binding relationship can be pre-defined in the storage medium of the host computer 11, or it can be dynamically configured by the user through the interface of the host computer 11. For example, for a specific model of flat knitting machine, knitting nozzles 14 from No. 1 to No. 10 can be bound to the corresponding X-axis, Y-axis, and Z-axis servo motor groups, respectively. Furthermore, if a knitting nozzle 14 malfunctions, its binding relationship can be remapped to a spare motor for rapid maintenance.

[0072] By binding the motor to the knitting nozzle 14 via the host computer 11 and determining the corresponding nozzle and bound motor based on the knitting pattern, the system can establish a precise mapping relationship between the logical nozzle and the physical motor. This achieves automated conversion of pattern data into specific motor action commands, simplifying the control process and improving the accuracy of data processing. By determining the bound motors based on the knitting nozzle 14 and generating knitting data, only the motor corresponding to the nozzle involved in the knitting action will be activated to execute the corresponding action, avoiding invalid movement of irrelevant motors and further improving the response speed and operating efficiency of the control system.

[0073] Optionally, the first yarn feeder has three stopping positions at different heights along the first direction, namely a first height position, a second height position, and a third height position. The vertical height of the first height position is greater than the vertical height of the second height position, and the vertical height of the second height position is greater than the vertical height of the third height position.

[0074] When the first yarn feeder performs warp knitting, the first drive motor drives the yarn feeder 14 to move to the third height position; after the first yarn feeder completes the warp knitting, the first drive motor drives the first yarn feeder to move to the first height position or the second height position to switch to standby mode.

[0075] The vertical height can be the vertical distance between the first knitting nozzle and the needle bed plane. The stopping station refers to the mechanical or electronic limit point where the first knitting nozzle can be precisely positioned and stopped in the vertical direction. The first drive motor can drive the first knitting nozzle to switch between the first height position, the second height position and the third height position so that the first knitting nozzle can perform the corresponding warp knitting action.

[0076] In some embodiments, the first height position can be set to the highest point of the yarn feeder, the second height position can be set to the working height of the yarn feeder during normal horizontal knitting, and the third height position can be set to the lowest point of the yarn feeder, i.e., the warp knitting yarn feeding depth.

[0077] During operation, when the first knitting nozzle performs warp knitting action, that is, when the first knitting nozzle needs to perform warp knitting feeding action, the control component 12 can receive a command to drive the first knitting nozzle to descend from the first height position or the second height position to the third height position, ensuring that the tip of the first knitting nozzle is below the needle back to complete the feeding. After the feeding and subsequent winding actions are completed (at this time, the third drive motor can cooperate to drive the first knitting nozzle to swing back and forth), the first drive motor drives the first knitting nozzle to move to the first height position or the second height position.

[0078] In some embodiments, the first drive motor raises the first knitting nozzle to a first height position, at which point the first knitting nozzle is in its highest clearance state, completely detached from the needle bed area, providing maximum safety space for the movement of other knitting nozzles 14 or other drive motors. Alternatively, the first drive motor raises the first knitting nozzle to a second height position, where the first knitting nozzle is in an intermediate working position, facilitating rapid response to the needs of the next warp knitting action or reducing the drive motor's dwell time.

[0079] In some embodiments, in conjunction with the foregoing, when the pattern analysis module determines that the next pattern original behavior is a non-warp knitting line, the first drive motor can drive the first knitting yarn nozzle to move to a first height position to avoid it. When the pattern analysis module determines that the next pattern original behavior is a warp knitting line, the first drive motor drives the knitting yarn nozzle 14 to move to a second height position. The first knitting yarn nozzle is in the middle working position to improve the efficiency of subsequent demand response.

[0080] For example, when knitting the main body of the shoe upper, row 100 could be a row containing warp-knitted reinforcement marks, and row 101 a regular weft-knitted row. After the first knitting nozzle completes the warp knitting action of row 100, since row 101 does not require the first knitting nozzle to participate in the warp knitting action, the first drive motor can move the first knitting nozzle to a first height position. However, if both row 100 and row 101 contain warp-knitted reinforcement marks, after the first knitting nozzle completes the warp knitting action of row 100, the first drive motor moves the first knitting nozzle to a second height position, waiting to perform the warp knitting action of row 101.

[0081] In some embodiments, the docking station can be physically limited by mechanical limit blocks, or by electronic limit software with encoder feedback, or a combination of both to ensure accuracy and safety.

[0082] By setting three stopping stations at different heights along the first direction for the first knitting nozzle, with the height decreasing sequentially, the first knitting nozzle has a clearly defined feeding depth, working height, and avoidance height in the vertical direction. This achieves standardized control of the position of the first knitting nozzle during warp knitting, improving the consistency and repeatability of the operation. By configuring the first drive motor to move the first knitting nozzle to the third height position to perform the warp knitting operation, the first knitting nozzle can accurately reach the predetermined depth below the needle back during yarn feeding, ensuring that the warp knitting needle can smoothly hook the warp yarn, further improving the stability of the knitting structure and the consistency of yarn tension. By configuring the first drive motor to move the first knitting nozzle to the first or second height position after the warp knitting operation is completed, the first knitting nozzle can quickly leave the working area or remain in a ready state during non-warp knitting operations. This avoids interference between the first knitting nozzle and the knitting needle or other components, improving operational safety and shortening standby time, which is beneficial to improving the overall production efficiency of the machine.

[0083] Optionally, the control component 12 is further configured to determine whether the next pattern original row is a warp-knitted row. In response to the next pattern original row being a warp-knitted row, first drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to a second height position based on the first drive data. In response to the next pattern original row being a non-warp-knitted row, second drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to a first height position based on the second drive data.

[0084] In the knitting process, if the next initial pattern movement is warp knitting, it indicates that the drive motor moves at a high speed or has strong continuous action. If the first knitting nozzle is fully raised to the first height position and then lowered to the third height position to perform the warp knitting action, it will consume a lot of time and motor travel, resulting in wasted efficiency and even affecting accuracy due to acceleration and deceleration. Therefore, when the next initial pattern movement is warp knitting, moving the first knitting nozzle to the second height position can reduce the movement distance and improve the response speed. Conversely, if the next initial pattern movement is not warp knitting, if the first knitting nozzle remains at the second height position, it may occupy space or increase the risk of accidental interference. In this case, there is sufficient time to raise it to the first height position to maximize the avoidance space and ensure safety.

[0085] During operation, the control component 12 can determine whether the next pattern's original row is a warp-knitted row. If so, it generates first drive data, driving the first knitting nozzle to move to the second height position after completing the warp-knitting action, serving as a preparatory state for the next short-interval action. If not, it generates second drive data, driving the first knitting nozzle to move to the first height position, i.e., the highest clearance position, entering a fully standby state.

[0086] By dynamically selecting the height position of the first yarn feeder based on whether the next pattern's initial row is a warp knitting row, the knitting process can flexibly adjust the state of the first yarn feeder according to the actual timing, thereby reducing unnecessary lifting and lowering strokes between short intervals, which helps improve knitting rhythm and efficiency. By responding to the warp knitting row of the next pattern's initial action and driving the first yarn feeder to move to the second height position, the first yarn feeder can maintain a closer ready position during continuous rapid warp knitting actions, thus shortening the action response time and further improving the continuity and stability of actions under high-speed knitting. By responding to the non-warp knitting row of the next pattern's initial action and driving the first yarn feeder to move to the first height position, the first yarn feeder can be fully removed from the working area during long intervals or non-continuous warp knitting actions, thus providing greater avoidance space, which helps prevent the first yarn feeder from interfering with other components and improves operational safety.

[0087] Optionally, during the warp knitting operation of the first knitting nozzle 14, the third drive motor drives the first knitting nozzle to swing along the third direction to the upright position, the first drive motor drives the first knitting nozzle to move to the third height position, the second drive motor drives the first knitting nozzle to move a preset distance along the second direction, then the first drive motor drives the first knitting nozzle to move to the first height position, the second drive motor drives the first knitting nozzle to move a preset distance in the opposite direction of the second direction, and the third drive motor drives the first knitting nozzle to swing along the opposite direction of the third direction to the exit position, thus completing the knitting operation.

[0088] During the warp knitting process, the first drive motor drives the first knitting nozzle to move vertically, the second drive motor drives the first knitting nozzle to move horizontally, and the third drive motor drives the first knitting nozzle to swing to perform warp knitting actions including yarn feeding and winding.

[0089] Specifically, taking right-hand warp knitting as an example, the third drive motor first drives the first knitting yarn feeder to swing along the third direction to the center position. Then, the first drive motor drives the first knitting yarn feeder to descend to the lowest height (third height position). The second drive motor then moves the first knitting yarn feeder a preset distance along the second direction to the right side of the reference needle. The three drive motors maintain their current positions and work with the needle to extend and complete the yarn feeding, laying the yarn under the needle back. After the yarn feeding is completed, the first drive motor drives the first knitting yarn feeder to rise to the highest height (first height position). The second drive motor moves the first knitting yarn feeder from the right side of the reference needle along the opposite direction of the second direction a preset distance to the left side of the reference needle. Finally, the third drive motor drives the first knitting yarn feeder to swing along the opposite direction of the third direction to the exit position to complete the winding, so that the yarn is caught in the needle hook, completing the warp knitting action. At this time, the first knitting yarn feeder is at the highest height, to the left of the reference needle in the knitting area, and the swing is in the exit position.

[0090] Understandably, as mentioned earlier, the third drive motor's movement of the first knitting nozzle to the swing-out position is merely a temporary transition after winding. The control component can also control the first knitting nozzle's action after knitting based on whether the next original pattern row is a warp-knitted row. If the next original pattern row is a knitting row, the first drive motor lowers the first knitting nozzle to a medium height (second height position), and the second drive motor can adjust the first knitting nozzle to the side corresponding to the reference point for a short standby. If the next original pattern row is not a warp-knitted row, the first drive motor maintains the first knitting nozzle at its highest height (first height position), and the second drive motor can significantly move the first knitting nozzle to the outside of the knitting area, maintaining the highest height for extended avoidance.

[0091] In the left warp knitting section, only two lateral stopping points are changed, while the operation flow of the first and third drive motors remains unchanged.

[0092] In some embodiments, the swing angle of the first braiding nozzle driven by the third drive motor can be set by the actual structure, provided that the total swing stroke of the first braiding nozzle covers the space required for feeding and winding yarn. This application does not impose any restrictions on this.

[0093] In some embodiments, the control signal of the third drive motor can be synchronized with the position signal of the first drive motor to ensure that the oscillation is performed when the yarn nozzle is in a stable state, and to avoid yarn tension fluctuations caused by oscillation during lifting and lowering.

[0094] By coordinating the first, second, and third drive motors, the first knitting nozzle can complete the actions of feeding yarn and introducing the needle hook, thus realizing the crucial closed-loop yarn padding in the warp knitting process and ensuring the reliability of loop formation. Independent control of the first knitting nozzle's oscillation motion allows its trajectory to precisely match the requirements of the warp knitting pattern, thereby improving the smoothness and structural consistency of the warp-knitted fabric. By defining the coordinated working relationship between the oscillation motion and height position, the oscillation of the first knitting nozzle can fully utilize the stability of the mechanical structure, reducing vibration and yarn jitter during the oscillation process, which helps to reduce yarn breakage rate and improve the safety and yield of the knitting process.

[0095] This application also provides a control method for the knitting system 1, applied to the knitting system 1 described above. Please refer to [link to relevant documentation]. Figure 2 The control method provided in this application includes the following specific steps: S1: Obtain the knitting pattern and generate knitting data based on the knitting pattern. The knitting data includes warp knitting data and weft knitting data.

[0096] This can be achieved by the pattern-making module of the host computer 11 acquiring the knitting pattern, by the operator drawing it directly on the pattern-making module, or by the pattern-making module downloading the knitting pattern from the server. Then, the pattern analysis module of the host computer 11 analyzes the knitting pattern and generates knitting data, which can include warp knitting data and weft knitting data.

[0097] S2: Based on the weft knitting data control drive component 13, the second knitting yarn nozzle is driven to perform weft knitting action, and based on the warp knitting data control drive component 13, the first knitting yarn nozzle is driven to perform warp knitting action.

[0098] After the host computer 11 analyzes the knitting data based on the knitting pattern, it can send the knitting data to the drive component 13 through the control component 12. Then, the control component 12 can control the second knitting yarn feeder to perform weft knitting action based on the weft knitting data, and control the first knitting yarn feeder to perform warp knitting action based on the warp knitting data.

[0099] Through the above control method, the weaving system 1 can simultaneously handle warp knitting and weft knitting processes, and the control component 12 can uniformly schedule the three-dimensional movement of the first weaving yarn nozzle and the planar movement of the second weaving yarn nozzle, thereby achieving precise control of warp and weft mixed knitting and enriching the fabric's structure and functional characteristics.

[0100] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A weaving system, characterized in that, The knitting system includes a host computer, a control component, a drive component, and multiple knitting nozzles. The control component is connected to the host computer and the drive component, respectively, and the drive component is connected to the multiple knitting nozzles. The host computer is used to generate knitting data based on the knitting pattern, the control component is used to receive the knitting data and send the knitting data to the drive component, and the drive component is used to drive the plurality of knitting yarn nozzles to perform corresponding knitting actions according to the knitting data; The driving assembly includes a first driving motor, a second driving motor, and a third driving motor. The plurality of knitting nozzles includes a first knitting nozzle, which is connected to the first driving motor, the second driving motor, and the third driving motor respectively. The first driving motor, the second driving motor, and the third driving motor are used to drive the corresponding first knitting nozzle to perform warp knitting operations. The first driving motor is used to drive the knitting nozzle to move along a first direction, the second driving motor is used to drive the knitting nozzle to move along a second direction, and the third driving motor is used to drive the knitting nozzle to swing along a third direction. The first direction, the second direction, and the third direction are arranged perpendicularly to each other.

2. The weaving system according to claim 1, characterized in that, The plurality of knitting nozzles also includes a second knitting nozzle, which is connected to the first drive motor and / or the second drive motor. The first drive motor and / or the second drive motor is used to drive the corresponding second knitting nozzle to perform weft knitting. The control component is used to send the knitting data to the drive component, wherein the knitting data includes warp knitting data and weft knitting data; different drive motors in the drive component are used to drive the first knitting nozzle to perform the warp knitting action based on the warp knitting data, and to drive the second knitting nozzle to perform the weft knitting action based on the weft knitting data.

3. The weaving system according to claim 2, characterized in that, The host computer includes a pattern making module and a pattern analysis module, which are connected. The pattern making module is used to acquire the knitting pattern, and the pattern analysis module is used to generate the warp knitting data and the weft knitting data based on the knitting pattern. The control component is used to send the warp knitting data and the weft knitting data to the drive component.

4. The weaving system according to claim 3, characterized in that, The pattern-making module is also used to receive the markings of the pattern areas that need to be warp-knitted for the woven pattern, obtain the warp knitting markings, and receive the warp knitting direction of the warp knitting action corresponding to the warp knitting markings; the warp knitting direction includes left-hand warp knitting and right-hand warp knitting; The pattern parsing module converts the knitting pattern into multiple pattern raw row data. In response to the presence of the warp knitting mark and the corresponding warp knitting direction in any pattern raw row data, the corresponding pattern raw row is marked as a warp knitting row, and the warp knitting data is generated.

5. The weaving system according to claim 4, characterized in that, The pattern parsing module is also used to parse the pattern original row data of the next row when the first weaving nozzle and / or the second weaving nozzle are performing the weaving action of the current pattern original row.

6. The weaving system according to claim 1, characterized in that, The host computer is also used to bind multiple drive motors in the drive assembly to the weaving nozzle, determine the corresponding weaving nozzle based on the weaving pattern, determine the multiple drive motors bound based on the weaving nozzle, and generate the weaving data.

7. The weaving system according to claim 6, characterized in that, The first yarn feeder has three stopping positions at different heights along the first direction, namely a first height position, a second height position, and a third height position; the vertical height of the first height position is greater than the vertical height of the second height position, and the vertical height of the second height position is greater than the vertical height of the third height position; When the first knitting nozzle performs the warp knitting action, the first drive motor is used to drive the first knitting nozzle to move to the third height position; After the first knitting nozzle completes the warp knitting operation, the first drive motor drives the first knitting nozzle to move to the first height position or the second height position.

8. The weaving system according to claim 7, characterized in that, The control component is also used to determine whether the next pattern original row is a warp-knitted row; In response to the next pattern original behavior of warp knitting, first drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to the second height position based on the first drive data; In response to the next pattern original behavior being a non-warp knitting line, second drive data is generated, and the first drive motor drives the first knitting yarn nozzle to move to the first height position based on the second drive data.

9. The weaving system according to claim 7, characterized in that, During the warp knitting process of the first knitting nozzle, the third drive motor drives the first knitting nozzle to swing along a third direction to the centering position, the first drive motor drives the first knitting nozzle to move to the third height position, the second drive motor drives the first knitting nozzle to move a preset distance along the second direction, then the first drive motor drives the first knitting nozzle to move to the first height position, the second drive motor drives the first knitting nozzle to move the preset distance in the opposite direction of the second direction, and the third drive motor drives the first knitting nozzle to swing along the opposite direction of the third direction to the exit position, thus completing the knitting action.

10. A control method for a weaving system, characterized in that, The control method, applied to the knitting system as described in any one of claims 1 to 9, comprises: Obtain the knitting pattern, and generate knitting data based on the knitting pattern, the knitting data including warp knitting data and weft knitting data; Based on the weft knitting data, the control and driving component drives the second knitting nozzle to perform weft knitting operations, and based on the warp knitting data, the control and driving component drives the first knitting nozzle to perform warp knitting operations.

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