JP2007119951A - Rapier electric drive for rapier loom and method for controlling the rapier electric drive - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rapier electric drive for rapier loom, with no large-sized design, affording driving torque enough and compatible with high-speed looms. <P>SOLUTION: In a rapier loom of such a type as to drive a driving wheel for giving reciprocating motion to a rapier head by the electric drive for exclusive use for the loom, wherein the electric drive is drive-controllable independently of the main driving motor in the loom, the electric drive is characterized in that it includes multiple driving motors and one of them is subject to control of its drive by position control, the others being subject to control of their drives by torque control. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention relates to an electric drive device (rapier electric drive device) for a rapier head in a rapier loom, and in particular, a drive wheel for giving a reciprocating motion to the rapier head can be driven and controlled independently of the main drive motor of the loom. The present invention relates to a rapier electric drive device that is driven by a dedicated drive device.

There exists a thing described in patent document 1 as a rapier electric drive device of the said type. In the rapier electric drive device described in Patent Document 1, a rapier wheel (drive) connected to each rapier head via a rapier band as a configuration for giving reciprocating motion to each of the rapier head for weft delivery and the rapier head for weft receipt. Wheel) is driven to reciprocate by a servo motor provided corresponding to each rapier wheel.

Further, as a rapier loom that employs an electric drive device independent of a main drive motor as a rapier drive device, there is one described in Patent Document 2. In the rapier drive device described in Patent Document 2, a band wheel (drive wheel) for giving a reciprocating motion to a rapier head is driven by a main drive motor of a loom via a main shaft or the like, and a drive wheel by the main drive motor. The electric auxiliary drive means for assisting the driving of is used. That is, the rapier drive device described in Patent Document 2 is configured to compensate for the drive torque variation that inevitably occurs when the drive wheel is driven by the main drive motor of the loom. Means are used to equalize the driving torque.

By the way, when it is set as the structure which drives each drive wheel with a single drive motor like the rapier electric drive device of the said patent document 1, the following problems will generate | occur | produce.

(1) When the driving force (driving torque) of the driving motor is small, the operation of the rapier head cannot follow the operation of other devices of the loom. For this reason, in order to obtain a sufficient driving force by a rapier driving device using a single driving motor as a driving source, it is necessary to employ a driving motor having a large capacity. As a result, the drive device itself increases in size as the drive motor increases in size.

(2) Further, a drive motor having a large capacity has a lower allowable maximum rotational speed of the drive motor itself than a drive motor having a small capacity. For this reason, when a drive motor with a large capacity is adopted, the rotational speed is limited, which is an obstacle to speeding up the loom.

(3) Furthermore, since the drive motor having a large capacity has a large moment of inertia of the drive motor itself, the drive motor cannot follow the operation of other devices of the loom, which also becomes an obstacle to speeding up the loom.

The rapier drive device described in Patent Document 2 employs electrical auxiliary drive means, but its main drive source is the main drive motor of the loom. In this way, in the rapier drive device in which the main drive source is the main drive motor of the loom, the movement pattern of the rapier head is the rotation of the main drive motor and the mechanical force of the drive transmission mechanism between the main drive motor and the drive wheel. Because of this, the degree of freedom of the rapier head movement pattern is limited.

Incidentally, in Patent Document 2, a configuration is adopted in which auxiliary drive means is used to compensate for the drive torque of the main drive source, but this occurs when the drive source of the rapier drive device is the main drive motor of the loom. The rapier driving apparatus is applied to a rapier loom premised on a main driving motor of the loom as a driving source. In other words, Patent Document 2 shows that the auxiliary driving means is necessary only when the rapier driving device is driven by a main driving motor that is also a driving source of another device of the loom, When the rapier drive device is driven by a dedicated drive motor that can be driven and controlled independently of the main drive motor, the auxiliary drive means is not required.
JP-A-7-316952 Japanese Patent Laid-Open No. 11-140745

Accordingly, an object of the present invention is to provide a driving device which can obtain a sufficient driving torque and can be used for a high-speed loom without increasing the size of the device in a rapier loom.

Based on the above-mentioned problems, the drive control method of the rapier electric drive device in the rapier loom of the present invention is a dedicated drive wheel for reciprocating the rapier head that can be driven and controlled independently of the main drive motor of the loom. In the rapier loom of the type driven by the electrical drive device, the drive device includes a plurality of drive motors, one of the drive motors is driven by position control, and the other drive motors are driven. It is characterized by being driven by torque control.

The rapier electric drive device in the rapier loom according to the present invention is a rapier loom of the above type, wherein the drive device controls the position of a plurality of drive motors and one of the plurality of drive motors. And one or more slave controllers provided corresponding to the other drive motors of the plurality of drive motors for controlling the torque of the corresponding drive motors.

Further, in the present invention, the controller (slave controller) for the torque-controlled drive motor corresponds to the drive motor corresponding to the torque command output from the position-controlled drive motor controller (master controller). May be torque controlled.

Further, in the above drive device, an even number of drive motors of a plurality of drive motors are arranged in a face-to-face arrangement with a pair of axes aligned with each other, and the output shafts of the two face-to-face drive motors connected to each other It is good also as what was done.

Further, the drive device is connected to a common drive gear connected to the drive wheel via a gear attached to the output shaft of the drive motor, and each drive motor around the common drive gear. May be set such that the arrangement angle of adjacent drive motors is different from an integer multiple of the pitch angle of the teeth of the drive gear. The “arrangement angle” here refers to an angle formed by two straight lines connecting the axis of the output shaft of each drive motor and the axis of the drive gear for the two drive motors. In addition, when the arrangement angle of the two drive motors is different from an angle obtained by multiplying the pitch angle of the teeth of the drive gear by an integer, the arrangement angle is obtained by multiplying the pitch angle by a numerical value obtained by adding a number less than 1 to the integer. It can be said that the angle is set to be obtained.

According to the above-described present invention, in the rapier electric drive device for driving the drive wheel for giving the reciprocating motion to the rapier head, a plurality of small drive motors are used instead of adopting a large drive motor having a large capacity. Therefore, a sufficient driving torque can be obtained by driving with a plurality of driving motors, and an increase in the size of the entire apparatus can be avoided by appropriately arranging the plurality of small driving motors. In addition, since a small-capacity drive motor capable of high-speed rotation with a small moment of inertia is employed, it is possible to sufficiently cope with a high-speed loom.

Moreover, in the present invention, since the drive control of the plurality of drive motors included in the drive device is the position control for one drive motor, and the position control is not performed for the other drive motors, the torque control is performed. Control for driving a common drive member (shaft for driving the drive wheel) by the drive motor can be easily performed, and the control can be made accurate and stable.

Specifically, in the prior art, when driving a drive wheel of a rapier loom with a drive motor, in general, the drive motor is driven by position control so that the drive wheel is driven according to a preset movement pattern. ing. Therefore, based on such a conventional technique, when a plurality of drive motors are simply provided, all of them are driven by position control. However, when a common member (drive wheel) is driven by a plurality of position-controlled drive motors, the position control for each drive motor must be performed in a completely synchronized state. However, in practice, since it is difficult to perform the position control by each controller in complete synchronization, there is a problem that the position control by each controller is not performed accurately and stably. For example, when the position control state shifts between the controllers due to the influence of disturbance such as noise, the controllers try to control the driving of the corresponding drive motors in different modes. For this reason, this further induces misalignment of the position control, and the control is not performed accurately. In addition, in order to prevent such positional deviation between the controllers, a function for synchronizing the controllers must be added, and the configuration and control contents of the controllers are complicated. It becomes a thing. On the other hand, in the present invention, among a plurality of drive motors for driving a common drive member, only one drive motor is driven by position control, and other drive motors are driven by position control. Since the torque is controlled in accordance with the drive state of the drive motor, the control is easily and stably performed.

The above drive device is a set of two even-numbered drive motors of a plurality of drive motors, and the two drive motors of each set are arranged facing each other with their output shafts connected to each other As a result, the mechanical rigidity related to the support of the drive motor is increased, so that the generation (oscillation) of mechanical vibration of the drive motor is prevented. As a result, the position control is performed in a stable state without causing the position control to become unstable due to the occurrence of vibration, so that the operation of the rapier head can be stabilized.

The plurality of drive motors are connected to a common drive gear connected to the drive wheel via gears (motor gears) attached to an output shaft, and around the drive gears at that time By making the angular arrangement of each drive motor different from an integral multiple of the pitch angle of the teeth of the drive gear, it is possible to prevent an increase in the generated vibration and to stabilize the operation of the rapier head in the same manner as described above.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

1 to 6 show an embodiment of the present invention. FIG. 1 schematically shows a rapier loom to which the present invention is applied. In the rapier loom 1 of FIG. 1, 2 is a rapier head for insertion (hereinafter referred to as “insert rapier”) that is inserted into the opening of a warp (not shown) from the weft insertion start end side, and 3 is the weft insertion end side A rapier head for a carrier (hereinafter referred to as “carrier rapier”) inserted into the warp opening. The rapier heads 2 and 3 are fixed to the ends of the rapier bands 4 and 5, and the rapier bands 4 and 5 are wound around drive wheels 6 and 7 for reciprocating the rapier heads 2 and 3. The drive wheels 6 and 7 are driven to reciprocate by independent drive devices 10a and 10b.

The insert rapier 2 reciprocates in the front-rear direction while being guided by a plurality of band guides Gr, Gr,... At the time of advance, the selected weft (not shown) is received at the weft insertion start side and enters the warp opening, and the weft is transferred to the carrier rapier 3 at the center of the warp opening, and then retracted. Retreat from the warp opening. Further, the carrier rapier 3 enters the warp opening from the weft insertion end side by advancement, receives the weft from the insert rapier 2 at the center of the warp opening, and then moves backward with the weft to retract from the warp opening. Then, by a series of operations of the insert rapier 2 and the carrier rapier 3, the insertion (weft insertion) of the weft into the warp opening is completed.

2 and 3 show an example of a mechanical part of the drive devices 10a and 10b for reciprocatingly rotating the drive wheels 6 and 7 as described above. 2 and 3, only the drive device 10a for driving the drive wheel 6 on the insert side is described, but the mechanical part of the drive device 10b for driving the drive wheel 7 on the carrier side is the same. Since it is a configuration, its illustration and description are omitted.

In the illustrated example, the mechanical portion of the drive device 10 a is composed of a drive transmission mechanism 20 and a drive mechanism 30. The drive transmission mechanism 20 includes a drive gear (drive gear) 21 connected to the drive mechanism 30, a sector gear 25 connected to the drive gear 21 via a crank lever 23, and a shaft that supports the drive wheel 6 so as not to be relatively rotatable. It comprises a driven gear 27 fixed to 6a and meshing with the sector gear 25 described above.

The drive transmission mechanism 20 is accommodated in a casing 12 fixedly supported on the side surface of the frame 9 of the rapier loom 1. The casing 12 forms an oil bath therein. The drive gear 21 and the sector gear 25 are supported on the side wall of the casing 12 via shafts 21a and 25a, respectively, and are provided to be rotatable within the casing 12. The crank lever 23 is pivotally attached to the side surface of the drive gear 21 at one end eccentric from the shaft 21a, and the other end of the crank lever 23 on the side surface of the sector gear 25 at a position eccentric from the shaft 25a. The end of the drive gear 21 is pivotally attached to the end. .

The drive wheel 6 is supported by a shaft 6 a so as not to rotate relative to the shaft 6 a, and the shaft 6 a is rotatably supported by a plate-like base bracket 13 fixedly supported by the casing 12.

According to the configuration of the drive transmission mechanism 20 described above, when the drive gear 21 is driven to rotate, the sector gear 25 is driven to swing back and forth about the shaft 25a. Accordingly, the shaft 6a is reciprocally rotated via the driven gear 27, and the drive wheel 6 is reciprocally rotated. Note that the drive of the drive gear 21 may be rotational drive in one direction, or may be reverse drive within a predetermined rotation angle range. Further, the position where the crank lever 23 is attached to the sector gear 25 (the amount of eccentricity from the shaft 25a) can be adjusted, and the swing amount of the sector gear 25 when the drive gear 21 is driven to rotate in one direction may be adjustable.

The drive mechanism 30 for rotationally driving the drive gear 21 described above includes a plurality of drive motors as shown. Each drive motor is, for example, a servo motor, and in the example shown in the figure, the drive motor includes five servo motors M1, m1, m2, m3, and m4. The drive motor is not limited to the servo motor described above, and may be another rotary actuator such as a pulse motor or a stepping motor.

Each drive motor M1, m1, m2, m3, m4 is distributed and arranged on both sides of the casing 12, is fixedly supported on the outer wall surface of the casing 12, and each output shaft passes through the wall surface of the casing 12. Is provided. Motor gears 31, 32, 33 fixed to the output shafts of the drive motors M 1, m 1, m 2, m 3, m 4 mesh with the drive gear 21 inside the casing 12. That is, all the drive motors included in the drive mechanism 30 are connected to the drive gear 21 that is a common drive gear via the motor gears 31, 32, and 33 attached to the output shaft.

In the illustrated example, for four (even number) of the five drive motors, the drive motors M1 and m2 are one set, and the drive motors m3 and m4 are one set. A drive motor is provided so as to face each other with its output shaft axis aligned. That is, the output shafts of the drive motors M1 and m2 are coupled to each other via the motor gear 32, and the output shafts of the drive motors m3 and m4 are coupled to each other via the motor gear 33. Accordingly, the motor gears 32 and 33 are common to the two drive motors.

Further, in this embodiment, the arrangement angle around the drive gear 21 of the adjacent drive motor is arranged so as to be different from an integral multiple angle with respect to the tooth pitch angle of the drive gear 21 ( FIG. 4). Specifically, for example, if the number of teeth of the drive gear 21 is 60, the pitch angle of the teeth of the drive gear is θ = 360 ° / 60 = 6 °. On the other hand, if the arrangement angle of the drive motor M1 (m2) with respect to the drive motor m1 is α and the arrangement angle of the drive motor m4 (m3) with respect to the drive motor M1 (m2) is β, then α ≠ 6n, Each drive motor is arranged so that β ≠ 6n (n: integer). Incidentally, in the example of FIG. 4, α = 84.2 °, β = 82.3 °, α / θ≈14.03, and β / θ≈13.7. In the illustrated example, the arrangement angle of the drive motor m4 (m3) with respect to the drive motor m1 is also different from an angle obtained by multiplying the pitch angle by an integer.

Next, the control part of the driving devices 10a and 10b will be described with reference to FIGS. In the following description, the drive motor M1 described above is one drive motor whose drive is controlled by position control in the present invention, and the drive motors m1 to m4 are other drives whose drive is controlled by torque control. Let it be a motor.

FIGS. 5 and 6 show an example of a control portion of the drive devices 10a and 10b. The drive devices 10a and 10b include a master controller 40 for driving the drive motor M1 by position control, and a drive motor m1. Slave controllers 50a to 50d for driving .about.m4 by torque control, respectively. Since each of the slave controllers 50a to 50d has the same configuration, only the slave controller 50a is illustrated in detail in FIG.

First, the master controller 40 for position control will be described with reference to FIG. In the illustrated example, the master control unit 40 includes a position command generation unit 41, a position control circuit 43, a speed control circuit 45, and a current control circuit 47.

The position command generator 41 is connected to an encoder EN1 that detects a rotation angle θ of the main shaft MS of the rapier loom and to a movement pattern setting unit 15. The movement pattern setting unit 15 is attached to, for example, a main control device (not shown) of a rapier loom. In the movement pattern setting unit 15, a rotation pattern of the drive motor M1 corresponding to the movement pattern of the drive wheels 6 and 7 in one cycle of the loom is set corresponding to the rotation angle of the main shaft MS. Based on the rotation pattern of the drive motor M1 set in the motion pattern setting unit 15 and the rotation angle θ of the spindle MS from the encoder EN1, the position command generation unit 41 corresponds to the rotation angle θ of the spindle MS at each time point. Command Pc is output to position control circuit 43.

The position control circuit 43 includes a comparison unit 43a to which the position command Pc from the position command generation unit 41 is input, and a position deviation amplification unit 43b in which the position loop gain Gp is set. Further, the position feedback signal Pf from the encoder EN2 that detects the rotation amount of the drive motor M1 is input to the comparison unit 43a. The comparison unit 43a compares the position feedback signal Pf with the position command Pc, and outputs the position deviation Pd to the position deviation amplification unit 43b. The position deviation amplifying unit 43b amplifies the position deviation Pd according to the position loop gain Gp, and outputs it to the speed control circuit 45 as a speed command Sc.

The speed control circuit 45 includes a comparison unit 45a to which the speed command Sc from the position control circuit 43 is input, and a speed deviation amplification unit 45b in which the speed loop gain Gs is set. Further, a speed feedback signal Sf obtained by the differentiator 49 based on the rotation amount of the drive motor M1 detected by the encoder EN2 is input to the comparison unit 45a. The comparison unit 45a compares the speed feedback signal Sf with the speed command Sc, and outputs the speed deviation Sd to the speed deviation amplification unit 45b. The speed deviation amplifying unit 45b amplifies the speed deviation Sd in accordance with the speed loop gain Gs, and outputs it to the current control circuit 47 as a torque command Tc.

The current control circuit 47 includes a torque control unit 47a, a D / A converter 47b, a current amplifier 47c, and a current detection unit 47d. Based on the torque command Tc from the speed control circuit 45, the torque control unit 47a outputs a current command Ic corresponding to the rotation angle θ of the spindle MS. The current command Ic is converted into an analog signal by the D / A converter 47b and input to the current amplifier 47c. The current amplifier 47c calculates a current deviation between the current value I detected by the current detector 47d and the current command Ic from the D / A converter 47b, and supplies a drive current corresponding to the current deviation to the drive motor M1. To do. The drive motor M1 is rotationally driven by the drive current so as to have a rotation amount corresponding to the rotation angle θ of the main shaft MS in the rotation pattern set in the motion pattern setting unit 15.

Next, the slave controllers 50a to 50d for controlling the torque of the drive motors m1 to m4 will be described with reference to FIG. In addition, since each slave controller 50a-50d is the same structure, below, the slave controller 50a of the drive motor m1 is demonstrated as a representative.

In the illustrated example, the slave controller 50 a includes a current control circuit 51. The current control circuit 51 has the same configuration as the current control circuit 47 of the master controller 40, and includes a torque control unit 51a, a D / A converter 51b, a current amplifier 51c, and a current detection unit 51d. However, the torque command Tc input to the torque control unit 51 a is the torque command Tc output from the master control unit 40. That is, the torque command Tc output from the speed control circuit 45 to the current control circuit 47 in the master controller 40 is branched and input to the torque control unit 51a of the current control circuit 51 in each slave controller. Therefore, the torque of the drive motor m1 is controlled according to the drive torque of the drive motor M1 for which position control is performed.

In the slave controller 50a, first, the torque command Tc from the master controller 40 described above is input to the torque control unit 51a, and the torque control unit 51a outputs a current command Ic corresponding to the torque command Tc. The current command Ic is converted into an analog signal by the D / A converter 51b and input to the current amplifier 51c. The current amplifier 51c calculates a deviation (current deviation) between the current value I detected by the current detector 51d and the current command Ic from the D / A converter 51b, and calculates a drive current corresponding to the current deviation. Supply to the drive motor M1. The drive motor m1 is rotationally driven by the drive current with a drive torque corresponding to a torque command from the master controller 40.

According to the rapier electric drive device having the above-described configuration, the drive mechanism 30 including a plurality of drive motors is employed as the drive means of the drive gear 21 for reciprocatingly driving the drive wheel 6. It is not necessary to make itself large in capacity, and the drive motor to be adopted can be made small and small in capacity. Therefore, even if it is the structure which can obtain sufficient drive force, the enlargement of an apparatus can be prevented. In addition, each drive motor can rotate at a higher speed than a drive motor having a large capacity, and the inertia moment of the drive motor itself is small, so that it is possible to sufficiently cope with a higher speed of the loom.

Further, as an additional effect, in the rapier drive device using a conventional single drive motor as a drive source, an abnormality occurs in the drive motor itself or its control circuit and the rapier operation cannot be controlled. In this case, the rapier may stop in the warp opening, which may cause damage to the rapier head, the band guide or the like, or may cause a large number of warp breaks. On the other hand, in the present invention, since a plurality of drive motors are employed, even if an abnormality occurs in one drive motor, the rapier drive can be continued by another drive motor. Such a problem does not occur.

In addition, since the drive motor support rigidity is increased by connecting the output shafts of the two drive motors so as to face each other, the drive control of each drive motor described above shall be performed stably. Can do. Specifically, when the rapier support rigidity is low, the drive motor easily oscillates, and this causes vibrations, which causes a problem that the position control of the drive motor M1 is not performed accurately and stably. Specifically, since the rotation amount of the drive motor M1 detected by the encoder EN2 is not stabilized by vibration, the position control becomes unstable accordingly. Further, since the detected rotation amount is not stable, the control gain such as the position loop gain Gp for position control cannot be increased, and accordingly, the control cannot be performed accurately. As the position control by the master control 40 is not performed accurately and stably, the drive control of the drive motors m1 to m4 that are torque controlled according to the torque command Tc from the master controller 40 is also accurate. And it is not performed stably. On the other hand, by increasing the support rigidity of the drive motor as described above, the oscillation of the drive motor is suppressed, and each drive motor is controlled accurately and stably, and the operation of the rapier head is stabilized. Can be planned.

Furthermore, regarding the arrangement of the drive motors around the drive gear 21, the drive control of each drive motor is stabilized by setting the angular arrangement of adjacent drive motors to an angle different from an integral multiple of the tooth pitch angle of the drive gear 21. Can be Specifically, when the angular arrangement of adjacent drive motors is set to an angle that is an integral multiple of the pitch angle of the teeth of the drive gear 21, the meshing state of the motor gears 31, 32, 33 with the drive gear 21 is substantially the same. . For this reason, the vibration waveforms generated at the meshing portions may coincide with each other and the vibration may increase. As a result, there arises a problem that the position control of the drive motor M1 and the torque control of the drive motors m1 to m4 are not performed accurately and stably due to the vibration. On the other hand, by making the angular arrangement different from an angle that is an integral multiple of the tooth pitch angle of the drive gear 21, the engagement state of the motor gears 31, 32, 33 with respect to the drive gear 21 is different. The state of the generated vibration is different. This prevents an increase in vibration and prevents the stability of the drive control of each drive motor from being impaired.

Further, when the common drive gear is driven by the plurality of drive motors M1, m1 to m4 connected thereto as described above, the drive motors are not driven and controlled in the same control mode, but a plurality of drive motors are used. Only one of them (drive motor M1) is subjected to position control according to a rotation pattern corresponding to the movement pattern of the drive wheels 6 and 7, and the other drive motors (m1 to m4) are subjected to torque control without position control. In addition, since the drive control is passively performed according to the drive state of the position-controlled drive motor M1, the drive control of each drive motor is easily and stably performed.

Other embodiments

In the above embodiment, the number of drive motors constituting the drive mechanism 30 is five, but the present invention is not limited to this, and the number of drive motors may be two or more. The number of drive motors may be appropriately set according to the number of rotations of the loom, the weaving conditions, etc. You may control each drive motor so that it may change.

Further, in the above embodiment, four of the five drive motors are arranged to face each other by connecting the output shafts in pairs, but the present invention is not limited to this. Instead, all the drive motors may be arranged on the same surface side of the drive gear 21.

Furthermore, the drive transmission mechanism included in the drive device is not limited to the one using the crank lever 23, the sector gear 25, etc. For example, instead of the crank lever, a cam is attached to the shaft 21a of the drive gear 21 and the sector gear is used. Other mechanisms such as a mechanism for connecting the cam lever to the shaft 25 and converting the rotation of the shaft 21a into the reciprocating swinging motion of the sector gear 25 via the cam mechanism may be adopted. Further, such a drive transmission mechanism itself is omitted, and the drive gear 21 is fixed to a shaft that supports the drive wheel, and each drive motor is driven in reverse to give a reciprocating rotational motion to the drive wheel. Also good.

In the above embodiment, the torque command Tc given to the slave controllers 50a to 50d is output from the master controller 40. Instead, a torque command based on a preset torque pattern is generated. It is also possible to provide a torque command generation unit that supplies torque commands to the slave controllers 50a to 50d from the torque command generation unit.

The present invention is not limited to any of the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

The side view which shows the outline of the rapier loom to which this invention is applied. The perspective view which shows the principal part of one Embodiment of this invention. The partial cross section side view which shows the principal part of one Embodiment of this invention. Explanatory drawing which shows the principal part of one Embodiment of this invention. The block diagram which shows a part of control apparatus of one Embodiment of a present Example. The block diagram which shows the control apparatus of one Embodiment of a present Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rapier loom 2, 3 Rapier head 4, 5 Rapier band 6, 7 Drive wheel 9 Loom frame 10a, 10b Drive device 15 Movement pattern setting device 20 Drive transmission mechanism 21 Drive gear (drive gear)
DESCRIPTION OF SYMBOLS 23 Crank lever 25 Sector gear 27 Driven gear 30 Drive mechanism 31, 32, 33 Motor gear 40 Master controller 41 Position command generation part 43 Position control circuit 45 Speed control circuit 47 Current control circuit 49 Differentiator 50a-50d Slave controller 51 Current control Circuit Gr Band guide M1, m1, m2, m3, m4 Drive motor

Claims (6)

In a rapier loom that drives a drive wheel for giving a reciprocating motion to a rapier head by a dedicated drive device that can be driven and controlled independently of the main drive motor of the loom,
The drive device includes a plurality of drive motors,
One of the plurality of drive motors is driven by position control, and the other drive motor is driven by torque control.
A drive control method for a rapier electric drive device in a rapier loom characterized by the above. The drive control of the rapier electric drive device in the rapier loom according to claim 1, wherein a torque command for torque controlling the other drive motor is output from a controller of the position-controlled drive motor. Method. In a rapier loom that drives a drive wheel for giving a reciprocating motion to a rapier head by a dedicated drive device that can be driven and controlled independently of the main drive motor of the loom,
The drive device is provided corresponding to a plurality of drive motors, a master controller for controlling the position of one of the plurality of drive motors, and another drive motor of the plurality of drive motors. One or more slave controllers for torque controlling the corresponding drive motors,
The rapier electric drive device in the rapier loom characterized by the above-mentioned. The rapier electric drive device in the rapier loom according to claim 3, wherein the slave controller performs torque control of a corresponding drive motor based on a torque command output from the master controller. In the drive device, an even number of drive motors of the plurality of drive motors are arranged in a face-to-face arrangement with a pair of axes aligned with each other, and output shafts of the two face-to-face drive motors are connected to each other. The rapier electric drive device in the rapier loom according to claim 3 or 4, characterized in that Each drive motor included in the drive device is connected to a common drive gear connected to the drive wheel via a gear attached to the output shaft,
The two drive motors are arranged at two positions around the common drive gear, and the arrangement angle of each drive motor is set to an angle different from an angle obtained by multiplying the pitch angle of the teeth of the drive gear by an integer. The rapier electric drive device in the rapier loom according to any one of claims 3 to 5, wherein the rapier electric drive device is provided.

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