JP2002284447A - Method for controlling traverse of yarn take-up motion - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for controlling traverse of a yarn take-up motion capable of forming a package of low-cost device constitution, high form grade, and excellent unreeling property. SOLUTION: Yarn Y is continuously wound on a bobbin 24 installed on a spindle 23 while the yarn Y is moved to traverse in reciprocation relatively in a bobbin axis direction by a servo mechanism 4 in this yarn take-up motion. Target speed from time when a traverse position of the yarn Y reaches a specified position to time when it returns to the specified position through a next traverse reversal position is formed as a function of time by a main controller 1. The target speed is provided as a speed command to a phase control device 2 to a servo driver 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traverse control method for a yarn winding machine, and more particularly, to a method in which a yarn continuously wound around a bobbin on a spindle is relatively moved in a bobbin axial direction by a servo mechanism such as a servomotor. The present invention relates to a traverse control method in a yarn winder configured to perform a reciprocating traverse.

[0002]

2. Description of the Related Art In general, a yarn winding machine for winding a yarn in a pan shape revolves a yarn relatively reciprocally in a bobbin axial direction while continuously winding the yarn around a bobbin mounted on a spindle. By gradually narrowing the reciprocating traverse width during winding, or by shifting the center of the reciprocating traverse motion, the package diameter is large in the bobbin central region, and the package diameter is directed to both ends in both outer regions. Thus, a so-called pan-shaped package is formed which gradually decreases.

[0003] As described above, the traverse speed when the yarn is continuously wound has a constant speed in an intermediate region except when the reciprocating traverse is reversed in order to realize uniform winding of the yarn on the bobbin. Desired. Further, at the time of reversing, it is required to realize a quick deceleration and acceleration operation and an accurate reversing position.
When reversing the traverse motion, the traverse speed decreases, but during this time, the yarn is wound every moment, so if the reversing operation is not performed quickly, the yarn will be wound more at the end of the package than at other parts. This is because a so-called edge rise occurs, which causes a decrease in the quality of the package shape and a decrease in the unwinding property. In order to form a pan-shaped package, a method of gradually shifting the reversing position during winding is adopted.However, if the reversing position varies, the package may have a low shape quality or the yarn may be unraveled. This is because it becomes a cause of deteriorating the windability.

[0004] As described above, the drive device for relatively traversing the supply position of the yarn and the axial position of the bobbin includes:
Conventionally, a reciprocating drive device using a hydraulic cylinder has been generally used. However, in recent years, a traverse drive device that combines a servo motor and a ball screw, which is mechanically simplified, as proposed in JP-B-51-46173 and JP-A-7-125918 has been adopted. Many. In order to form the yarn package into a pirn shape with these traverse driving devices, it is necessary to appropriately change the reversal position as the winding progresses, and a servo driver that controls the basic servo motor is used in the processing. This is often performed by the main controller located above Generally, the control cycle of the main controller that performs complicated calculation processing is longer than the control cycle of the servo driver specialized for the purpose.

The apparatus described in Japanese Patent Publication No. 51-46173 is provided with a constant-speed servomotor for normal rotation and a constant-speed servomotor for reversal, and a reading position from a rotary encoder attached to a ball screw is fixed. The traverse motion is reversed by switching the servo motor at the moment when the position coincides with the reverse position. In addition, Japanese Patent Laid-Open No. 7-1
The apparatus described in Japanese Patent No. 25918 has a single servomotor, and at the moment when a reading position from a rotary encoder attached to the servomotor matches a predetermined reversal position, the main controller rotates the lower-level servo driver forward. The traverse motion is reversed by rewriting the program to a reversal program.

However, in the above-mentioned conventional apparatuses, since the reversal operation is started after the reversal position is detected by the main controller, the time delay of the position detection of the main controller occurs regardless of the followability of the servomotor and the method of the reversal control. Due to this, there is a problem that the reversing position is over-exposed and uneven, so that the width of the yarn package is uneven, the shape quality is reduced, and the unwound property of the yarn is deteriorated.

[0007] In particular, if the traverse speed is increased by increasing the winding speed in order to improve the productivity, the problem must be more serious. In order to suppress excessive traverses and variations, it is conceivable to shorten the control cycle of the main controller as much as possible.

[0008]

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems, and to provide a yarn winding capable of forming a package having high shape quality and excellent yarn unwinding property with an inexpensive apparatus configuration. A traverse control method for the machine is provided.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a reciprocating traverse of a yarn in a bobbin axial direction by a servo mechanism while continuously winding the yarn on a bobbin mounted on a spindle. The target speed of the servo mechanism from the time when the traverse position of the yarn reaches a predetermined position to the time when the yarn traverse position returns to the original predetermined position after the next traverse inversion position in the yarn winding machine. Is generated by the main controller as a function of time, and the target speed is given as a speed command to a phase control device for the servo driver.

As described above, the main controller sets the target speed of the servo mechanism as a function of time from when the traverse position of the yarn reaches a predetermined position to when it returns to the predetermined position through the next traverse reversal position. Since it is generated and given as a speed command to the phase control device of the servomotor, it is possible to eliminate the variation of the traverse reversal position regardless of the time delay of the position detection due to the finite control cycle of the main controller. Therefore, it is possible to form a pirn-shaped package having high shape quality and excellent yarn unwinding property without variation or excessively large package width.

If the speed command is generated by previously subtracting the overshoot amount of the traverse inversion position generated depending on the control cycle of the main controller, the fixed overshoot amount as well as the variation is eliminated, and the package shape is further reduced. A pan-shaped package excellent in quality and excellent in unwinding property can be obtained.

[0012]

FIG. 2 shows an example of a yarn winding machine to which the traverse control method of the present invention is applied.

In the yarn winding machine shown in FIG. 2, a spindle 23 is connected to an induction motor 22 and its spindle 2
3, a bobbin 24 is mounted. When the spindle 23 is driven to rotate by the induction motor 22, the yarn Y is wound on the bobbin 24 while being guided by the traverse guide 21.

On the other hand, as a drive source of a traverse driving device for the traverse guide 21, a servo motor 4 for alternately performing normal rotation and reverse rotation is provided. A ball screw 5 is connected to the servomotor 4 via a coupling 20, and both ends of the ball screw 5 are rotatably supported by brackets 19, 19 via ball bearings. A ball nut 6 is screwed into the ball screw 5 so that the ball nut 6 can move in the axial direction.
1 is attached. The ball nut 6 is provided with two guides 18, 1 provided in parallel with the ball screw 5.
8 is slidably supported. Both ends of each guide 18 are fixed to brackets 19, 19.

When the servo motor 4 rotates in the normal and reverse directions, the ball screw 5 rotates in the normal and reverse directions, and the ball nut 6 reciprocates in the axial direction of the ball screw 5 depending on whether the rotation is normal or reverse. Accordingly, the yarn Y is reciprocated in the axial direction of the bobbin 24 while being guided by the traverse guide 21 on the ball nut 6, and is wound on the bobbin 24. The traverse section in which the yarn Y traverses in a reciprocating manner is controlled so as to be changed by the traverse control method of the present invention during the winding of the yarn Y, and forms a panned package 25 on the bobbin 24.

The control of the traverse section is performed so as to change the reversal position in accordance with the target envelope of the traverse trajectory as shown by a broken line in FIG. In FIG.
X indicates the traverse position when a certain position on the traverse movement direction axis is set to the origin 0. Xf (t) and Xb (t) are the target envelopes at the inversion positions of the left and right ends, respectively, and are given as functions of the time t in this example.

This target envelope can also be expressed as a function such as the package diameter or the number of traverse inversions. Further, using the winding width W (t) as a target value, Xf (t) = Xc +
It can also be expressed as W (t) / 2, Xb (t) = Xc-W (t) / 2. According to this envelope, the target reversal position is X
, Xfn; Xb1, Xb2,..., Xbn.

FIG. 1 is a block diagram showing a traverse control method of the present invention applied to a yarn winding machine having such a traverse driving device.

In the block diagram of FIG. 1, reference numeral 1 denotes a main controller for controlling the entire yarn winding machine. The main controller 1 calculates the traverse speed set value Vtr and the reversal acceleration / deceleration time t.
a1 and ta2 and the data 17 of the traverse target envelope or the target reversal position described above are received from a host system or a user, a traverse speed target value described later is created, and the speed target value is set to a speed command 9 for each traverse control cycle. Is output to the phase control device 2. Further, the traverse current position data 14 is fed back from the phase control device 2 to the main controller 1.

The phase control device 2 includes the main controller 1
A reference position command is created on the basis of the speed command 9 from the servo driver 3, a rotation speed command 10 based on the reference position command is output to the servo driver 3, and the rotation speed feedback 1 is output from the servo driver 3.
When the control signal 3 is received, the rotational speed and the reversal position of the servo motor 4 are feedback-controlled. The servo driver 3 receives the rotation pulse feedback 12 from the rotation speed pickup 7 attached to the servo motor 4, and follows the rotation speed command given by the phase control device 2 so as to follow the rotation speed command given by the phase control device 2. The frequency 11 is adjusted, and the rotational speed is feedback-controlled. 8 is a traverse guide 21 (ball nut 6)
Is a sensor that detects that the vehicle has reached a predetermined position. For example, the sensor 8 is installed at the center position Xc of the traverse width, and the main controller 1 can be recognized by inputting the detection signal 15 when the traverse guide 21 (ball nut 6) reaches the center position Xc.

The creation of the traverse speed target value in the phase control device 2 is performed by a method as shown in FIG. That is, the detection signal 15 when the traverse guide 21 (the ball nut 6) reaches the center position Xc of the traverse width is used as a trigger, and the traverse is performed until the traverse guide 21 returns to the center position Xc again via the next inversion position. The speed target value is created.

Based on the next inversion target position Xbi (or Xfi) calculated at the time tm0 when the trigger is activated, the traverse speed setting Vtr, and the inversion acceleration / deceleration time settings ta1 and ta2, the constant velocity motion end time tm1 and the deceleration end time tm2 are obtained. , Acceleration end time t
m3 is calculated. Time tm4 is the time of returning to the center position Xc again or sufficiently far from the center position Xc.
The traverse speed target value Vm (t) in this section is (t, V) =
｛(Tm0, + Vtr), (tm1, + Vtr), (tm2,
0), (tm3, -Vtr), (tm4, -Vtr)} as a function obtained by linear interpolation.

The main controller 1 calculates a target value of Vm (t) at each time in its own control cycle while managing the elapsed time, and outputs the target value to the phase control device 2. The output is held until the next control cycle comes. Assuming that the control cycle of the main controller 1 is ts, the output changes in the form shown in FIG. 5 during the deceleration movement.

The accumulation of the portions indicated by hatching in FIG.
It shows the overrun distance from the reversal position when the traverse reversing motion is actually performed according to the speed command output from the main controller 1 with respect to the case where the traverse reversing motion is ideally performed at the target speed. Regardless of how the control cycle and the deceleration start time tm1 deviate from each other, the distance ΔX is ΔX regardless of the deviation amount, provided that the deviation is within the control cycle.
= Vtr × ts / 2. Therefore, there is no variation in the inversion position due to the finiteness of the control cycle of the main controller 1.

Further, by subtracting the known distance ΔX from the reversal target position Xbi (or Xfi) to generate the traverse speed target, the fixed overshoot ΔX can be eliminated.

In the embodiment described above, the yarn winding machine using the servo motor as the traverse drive source has been described.
The present invention is not limited to a servo motor as long as it uses a servo mechanism provided by a phase control device as a traverse drive source, and can be applied to, for example, a linear servo mechanism. Further, in the above-described embodiment, the case where the traverse speed setting is constant is illustrated. However, the present invention is also applicable to a case where the traverse speed changes every time the traverse is inverted. Also, a case has been described where the yarn feeder (traverse guide) is traversed as a traverse drive device and the spindle mechanism is applied to a yarn winding machine in which the spindle mechanism is stationary. It is needless to say that the present invention can be applied to a yarn winding machine that performs the following operations.

[0027]

As described above, according to the traverse control method for the yarn winding machine of the present invention, when the traverse position of the yarn reaches the predetermined position, it passes through the next traverse reversing position and returns to the predetermined position again. The main controller generates the target speed of the servo mechanism as a function of time before returning to the main controller, and gives it as a speed command to the phase control device of the servo motor. Irrespective of the time delay, it is possible to eliminate variations in the traverse inversion position. Therefore, it is possible to form a pirn-shaped package having high shape quality and excellent yarn unwinding property without variation or excessively large package width.

Further, if the overshoot amount of the traverse reversal position generated depending on the control cycle of the main controller is subtracted in advance to generate the speed command, the fixed overshoot amount as well as the variation is eliminated, and the package shape is further reduced. A pan-shaped package excellent in quality and excellent in unwinding property can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a traverse control method for a yarn winding machine according to the present invention.

FIG. 2 is a schematic view illustrating a yarn winding machine to which the traverse control method of the present invention is applied.

FIG. 3 is a diagram exemplifying a traverse target reversal position provided to a yarn winding machine to which the present invention is applied;

FIG. 4 is a conceptual diagram of a traverse speed target value created in the traverse control method according to the present invention.

FIG. 5 is a diagram showing a difference between a target speed created by the traverse control method according to the present invention and a speed command actually output.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Main controller 2 Phase controller 3 Servo driver 4 Servo motor 5 Ball screw 6 Ball nut 9 Speed command 10 Rotation speed command 12 Rotation pulse feedback 21 Induction motor 23 Spindle 24 Bobbin 25 Yarn package Y Supply yarn

Claims (5)

[Claims] 1. A yarn winding machine which continuously rewinds a yarn on a bobbin mounted on a spindle and relatively traverses the yarn reciprocally in the bobbin axial direction by a servo mechanism. The main controller generates a target speed of the servo mechanism as a function of time from the time when the traverse position of the streak reaches a predetermined position to the time when the traverse inversion position returns to the original predetermined position through the next traverse inversion position. A traverse control method for a yarn winding machine for giving a speed as a speed command to a phase control device for a servo driver. 2. The traverse control method for a yarn winding machine according to claim 1, wherein the target speed is generated by subtracting in advance the excessive amount of the traverse reversal position generated depending on the control cycle of the phase control device. 3. The traverse control method for a yarn winding machine according to claim 1, wherein the servo mechanism is a servomotor. 4. A traverse control method for a yarn winding machine according to claim 1, wherein the spindle is allowed to stand still, and the yarn is reciprocated traversed via a traverse guide. 5. The yarn feeding position of the yarn is fixed, and the spindle is reciprocated traversely.
5. The traverse control method for a yarn winder according to 2, 3, or 4.