JP2012012137A - Yarn winding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a yarn winding device capable of preventing the traverse disarray of a package.SOLUTION: The yarn winding device 100 includes a package drive unit 72 that rotates a bobbin B, a rotational speed detection unit 73 that detects a rotational speed of the bobbin B, a traverse guide 61 that traverse a yarn Y wound around the bobbin B, a traverse guide drive unit 62 that drives the traverse guide 61, a traverse control unit 81 for controlling the drive of the traverse guide drive unit 62, and a target position command determining unit that determines a pre-correction target position command Pt for the traverse guide drive unit 62 based on the rotational speed of the bobbin B detected by the rotational speed detection unit 73. The traverse control unit 81 calculates an post-correction target position command Ps based on a target position correction amount Cp which is a feed-forward component depending on a detection delay amount of the rotational speed detection unit 73 and a response delay amount of the traverse guide drive unit 62 and the pre-correction target position command Pt, and controls the drive of the traverse guide drive unit 62 based on the post-correction target position command Ps.

Description

  The present invention relates to a technique of a yarn winding device that winds a yarn around a bobbin while traversing the yarn. More specifically, the present invention relates to a technique for controlling a traverse guide of a yarn winding device that winds a yarn around a bobbin while traversing the yarn.

  2. Description of the Related Art Conventionally, there is known a yarn winding device that winds a yarn by rotating a bobbin and forms a package on the bobbin. When the yarn winding device finds a defective portion in the yarn, the yarn winding device cuts and removes the defective portion to adjust the yarn quality to a constant level. Therefore, when the yarn winding device finds a defective portion in the yarn, the bobbin stops rotating to stop winding, cuts and removes the defective portion, and then performs a yarn joining operation for joining the cut yarn ends together. Then, the winding of the yarn is resumed.

  At this time, since the bobbin that winds the yarn shifts from the stopped state to the rotating state and gradually accelerates to a predetermined rotation speed, the yarn winding device gradually moves the traverse guide for traversing the yarn to the bobbin of the bobbin. A technique for controlling according to the rotational speed is required.

  Patent Literature 1 discloses a yarn winding device in which a traverse guide driving unit is feedforward controlled so as to eliminate a difference between an actual position of the traverse guide and an ideal position of the traverse guide. . Patent Document 1 describes that feedforward control is performed in consideration of the response delay amount of the traverse guide driving unit at the time of accelerated winding of the package. Note that the accelerated winding in the present specification is set when the bobbin is shifted from the stopped state to the rotating state at the time of restart after the start of winding of the yarn by the yarn winding device or the winding of the yarn is temporarily interrupted. It means winding during a period of acceleration to the rotational speed.

  However, as described above, there is a case where the actual position of the traverse guide is deviated from the ideal position in the accelerated winding period of the package only by performing the feedforward control on the traverse guide driving unit. . In the yarn winding device as described in Patent Document 1, the rotational speed detection unit detects the rotational speed of the bobbin and controls the traverse guide driving unit based on the detection result by the rotational speed detection unit. Yes. When the resolution of the rotation speed detector is rough, the bobbin rotation speed may not be detected accurately. As a result, in the yarn winding device as described in Patent Document 1, the actual position of the traverse guide may deviate from the ideal position during the accelerated winding period of the package, and the package is disturbed. It sometimes occurred.

JP 2007-238275 A

  The present invention has been made to solve such a problem, and by reducing the deviation between the actual position of the traverse guide and the target position, which is the ideal position of the traverse guide, the package is disturbed. An object of the present invention is to provide a yarn winding device that can prevent the occurrence of.

  Next, means for solving this problem will be described.

  According to the first invention, the yarn winding device includes a package drive unit, a rotation speed detection unit, a traverse guide, a traverse guide drive unit, a traverse control unit, and a target position command determination unit. . The package driving unit rotationally drives a bobbin on which a yarn is wound to form a package. The rotation speed detection unit detects the rotation speed of the bobbin. The traverse guide traverses the yarn wound around the bobbin. The traverse guide driving unit drives the traverse guide. The traverse control unit includes a target position correction amount that is a feedforward component for the traverse control unit according to a detection delay amount of the rotational speed detection unit and a response delay amount of the traverse guide drive unit, and the target A post-correction target position command is calculated based on the pre-correction target position command determined by the position command determination unit, and the driving of the traverse guide driving unit is controlled based on the post-correction target position command.

  According to a second aspect, in the first aspect, the traverse control unit is configured based on the corrected target position command when the bobbin is shifted from the stopped state to the rotating state and the rotation speed is accelerating. The driving of the traverse guide driving unit is controlled.

  According to a third aspect of the present invention, in the first or second aspect, the traverse control unit corresponds to a detection delay amount of the rotation speed of the bobbin that decreases in accordance with the acceleration of the rotation speed of the bobbin. A previously predicted value that gradually decreases as the target position correction amount is used.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the traverse control unit has a response delay amount of the traverse guide driving unit while the rotation speed of the bobbin is accelerating. A pre-predicted value that gradually decreases as the target position correction amount according to the acceleration of the rotation speed of the bobbin is used so as to be constant.

  In a fifth aspect based on any one of the first to fourth aspects, the traverse controller is preset according to the rotational speed of the bobbin when the rotational speed of the bobbin is constant. Further, the driving of the traverse guide driving unit is controlled based on the pre-correction target position command of the traverse guide.

  According to a sixth aspect of the present invention, in the invention according to any one of the first to fifth aspects, the traverse control unit is preset according to the rotational speed of the bobbin when the rotational speed of the bobbin is reduced. The driving of the traverse guide driving unit is controlled based on the target position command before correction of the traverse guide.

  According to the seventh invention, the yarn winding device includes a package drive unit, a rotation speed detection unit, a traverse guide, a traverse guide drive unit, a traverse control unit, and a target speed command determination unit. . The package driving unit rotationally drives a bobbin on which a yarn is wound to form a package. The rotation speed detection unit detects the rotation speed of the bobbin. The traverse guide traverses the yarn wound around the bobbin. The traverse guide driving unit drives the traverse guide. The traverse control unit includes a target speed correction amount that is a feedforward component for the traverse control unit according to a detection delay amount of the rotational speed detection unit and a response delay amount of the traverse guide drive unit, and the target A corrected target speed command is calculated based on the pre-correction target speed command determined by the speed command determining unit, and the driving of the traverse guide driving unit is controlled based on the corrected target speed command.

  In an eighth aspect based on the seventh aspect, the traverse control unit is configured to, based on the corrected target speed command, when the bobbin is shifted from the stopped state to the rotating state and the rotating speed is accelerating. The driving of the traverse guide driving unit is controlled.

  According to a ninth invention, in the invention according to the seventh or eighth aspect, the traverse control unit corresponds to a detection delay amount of the rotation speed of the bobbin that becomes smaller according to the acceleration of the rotation speed of the bobbin, A previously predicted value that gradually decreases is used as the target speed correction amount.

  According to a tenth aspect of the invention, in the invention according to any one of the seventh to ninth aspects, the traverse control unit has a response delay amount of the traverse guide driving unit while the rotation speed of the bobbin is accelerating. A pre-predicted value that gradually decreases as the target speed correction amount according to the acceleration of the rotation speed of the bobbin is used so as to be constant.

  In an eleventh aspect of the invention according to any one of the seventh to tenth aspects, the traverse control unit is preset according to the rotation speed of the bobbin when the rotation speed of the bobbin is constant. The driving of the traverse guide driving unit is controlled based on the target speed command before correction of the traverse guide.

  In a twelfth aspect of the invention according to the seventh or eleventh aspect, when the rotational speed of the bobbin is lowered, the traverse control unit is preset according to the rotational speed of the bobbin. Based on the target speed command before correction of the traverse guide, the driving of the traverse guide drive unit is controlled.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the invention, the traverse guide driving unit is controlled by the traverse control unit according to the detection delay amount of the rotation speed detection unit and the response delay amount of the traverse guide drive unit. The deviation between the actual position and the target position can be reduced, and it is possible to prevent the package from being disturbed.

  According to the second invention, when the bobbin is shifted from the stopped state to the rotating state and the rotation speed is accelerating, the driving of the traverse guide driving unit is controlled based on the corrected target position command. When the bobbin transitions from the stopped state to the rotating state and the rotational speed is accelerating, the deviation between the actual position of the traverse guide and the target position gradually accumulates, and the deviation tends to increase. It is in. Therefore, by controlling the driving of the traverse guide drive unit by the traverse control unit as described above, the deviation between the actual position of the traverse guide and the target position during the acceleration winding period can be reduced, and the occurrence of the traverse of the package Can be prevented.

  According to the third aspect, it is possible to use the characteristic that the detection delay amount of the rotation speed detector gradually decreases as the rotation speed of the bobbin is accelerated. As a result, the corrected target position command taking the feedforward component into account is calculated, and the traverse guide drive unit is controlled by the traverse control unit, thereby shifting the deviation between the actual position of the traverse guide and the target position. It can be reduced, and it becomes possible to prevent the package from being disturbed.

  According to the fourth aspect of the invention, it is possible to use the characteristic that the response delay amount of the traverse guide driving unit gradually increases in accordance with the acceleration of the bobbin rotational speed. As a result, the corrected target position command taking the feedforward component into account is calculated, and the traverse guide drive unit is controlled by the traverse control unit, thereby shifting the deviation between the actual position of the traverse guide and the target position. It can be reduced, and it becomes possible to prevent the package from being disturbed.

  According to the fifth invention, when the rotation speed of the bobbin is constant, the deviation between the actual position of the traverse guide and the target position does not tend to increase. For this reason, by controlling the driving of the traverse guide driving unit by the traverse control unit based on the target position command before correction determined by the target position command determination unit instead of the corrected target position command, the yarn winding device It becomes possible to simplify the control configuration.

  According to the sixth invention, when the rotation speed of the bobbin is decreasing, the detection delay amount of the rotation speed detector is small and the change in the rotation speed of the bobbin is small, so the actual position of the traverse guide and the target position There is a tendency that the deviation does not increase. For this reason, by controlling the driving of the traverse guide driving unit by the traverse control unit based on the target position command before correction determined by the target position command determination unit instead of the corrected target position command, the yarn winding device It becomes possible to simplify the control configuration.

  According to the seventh invention, the traverse guide driving unit is controlled by the traverse control unit according to the detection delay amount of the rotational speed detection unit and the response delay amount of the traverse guide drive unit. The deviation between the actual position and the target position can be reduced, and it is possible to prevent the package from being disturbed.

  According to the eighth aspect of the invention, when the bobbin shifts from the stop state to the rotation state and the rotation speed is accelerating, the driving of the traverse guide drive unit is controlled based on the corrected target speed command. When the bobbin transitions from the stopped state to the rotating state and the rotational speed is accelerating, the deviation between the actual position of the traverse guide and the target position gradually accumulates, and the deviation tends to increase. It is in. Therefore, by controlling the driving of the traverse guide drive unit by the traverse control unit as described above, the deviation between the actual position of the traverse guide and the target position during the acceleration winding period can be reduced, and the occurrence of the traverse of the package Can be prevented.

  According to the ninth aspect of the invention, it is possible to use the characteristic that the detection delay amount of the rotation speed detection unit gradually decreases as the rotation speed of the bobbin increases. As a result, the corrected target speed command taking the feed forward component into account is calculated and the drive of the traverse guide drive unit is controlled by the traverse control unit, thereby shifting the deviation between the actual position of the traverse guide and the target position. It can be reduced, and it becomes possible to prevent the package from being disturbed.

  According to the tenth aspect, it is possible to use the characteristic that the response delay amount of the traverse guide driving unit gradually increases in accordance with the acceleration of the bobbin rotational speed. As a result, the corrected target speed command taking the feed forward component into account is calculated and the drive of the traverse guide drive unit is controlled by the traverse control unit, thereby shifting the deviation between the actual position of the traverse guide and the target position. It can be reduced, and it becomes possible to prevent the package from being disturbed.

  According to the eleventh aspect, when the rotational speed of the bobbin is constant, the deviation between the actual position of the traverse guide and the target position tends not to increase. For this reason, by controlling the driving of the traverse guide driving unit based on the target speed command before correction determined by the target speed command determination unit instead of the corrected target speed command, the yarn winding device It becomes possible to simplify the control configuration.

  According to the twelfth invention, when the rotation speed of the bobbin is decreasing, the detection delay amount of the rotation speed detector is small and the change in the rotation speed of the bobbin is also small. There is a tendency that the deviation does not increase. For this reason, by controlling the driving of the traverse guide driving unit based on the target speed command before correction determined by the target speed command determination unit instead of the corrected target speed command, the yarn winding device It becomes possible to simplify the control configuration.

FIG. 1 is a diagram illustrating an overall configuration of a yarn winding device 100 according to a first embodiment of the present invention. FIG. 2A is a diagram illustrating a relationship between the target position command Pt before correction and the target position command Ps after correction of the traverse guide 61. FIG. 2B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 3A is a diagram showing the relationship between the actual position Pr and the target position Pi of the traverse guide 61 in the conventional yarn winding device. FIG. 3B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 4A is a diagram illustrating a relationship among the pre-correction target position command Pt, the post-correction target position command Ps, and the actual position Pr of the traverse guide 61 in the yarn winding device 100. FIG. 4B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 5A is a diagram showing the relationship between the actual position Pr of the traverse guide 61 and the target position Pi in the yarn winding device 100. FIG. FIG. 5B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 6A is a diagram illustrating the relationship among the target speed command Vt before correction, the target speed command Vs after correction, and the actual speed Vr of the traverse guide 61 in the yarn winding device 200. FIG. 6B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 7A is a diagram showing the relationship between the actual position Pr of the traverse guide 61 and the target position Pi in the yarn winding device 200. FIG. FIG. 7B is a diagram illustrating the rotation speed Bv of the bobbin B.

  First, the yarn winding device 100 according to the first embodiment of the present invention will be described.

  FIG. 1 is a diagram illustrating an overall configuration of the yarn winding device 100. In addition, the white arrow in a figure has shown the feed direction of the thread | yarn Y. FIG.

  The yarn winding device 100 includes a yarn unwinding assisting device 2, a tension applying device 3, a yarn joining device 4, a yarn clearer 5, a traverse device 6, along the feed direction of the yarn Y unwound from the yarn supplying bobbin 1. A bobbin support device 7 is provided.

  The yarn unwinding assisting device 2 assists the unwinding of the yarn Y from the yarn supplying bobbin 1. The yarn unwinding assisting device 2 assists unwinding by restricting the yarn Y unwound from the yarn supplying bobbin 1 from spreading due to the centrifugal force and appropriately adjusting the tension applied to the yarn Y.

  The tension applying device 3 applies a predetermined tension to the traveling yarn Y. As the tension applying device 3, for example, a gate type device in which movable comb teeth are arranged with respect to fixed comb teeth can be used. The tension applying device 3 can improve the quality of the package P by applying a certain tension to the yarn Y wound around the bobbin B. In addition to the gate type, for example, a disk type can be adopted as the tension applying device 3.

  The yarn joining device 4 joins the yarn ends of the yarn Y that has been cut or the like. For example, when the yarn Y is cut and the defective portion of the yarn Y is removed, the yarn joining device 4 joins the yarn ends of the yarn Y that has been cut and divided. Note that the yarn splicing device 4 provided in the yarn winding device 100 uses an air splicer device that splices yarn ends using a swirling flow of air. The yarn splicing device 4 may be a mechanical device such as a disk.

  Below the yarn joining device 4, a lower yarn guiding pipe 91 that captures and guides the lower yarn on the yarn feeding bobbin 1 side to the yarn joining device 4 is provided. The lower thread guide pipe 91 is rotatable about a shaft 95. Above the yarn joining device 4, an upper yarn guide pipe 92 that captures and guides the upper yarn of the package P side to the yarn joining device 4 is provided. The upper thread guide pipe 92 is rotatable about a shaft 96. A suction port 91 a is formed at the tip of the lower thread guide pipe 91. A suction mouth 92 a is provided at the tip of the upper thread guide pipe 92. Appropriate negative pressure sources are connected to the lower thread guide pipe 91 and the upper thread guide pipe 92, respectively, and by generating a suction flow in the suction port 91a and the suction mouth 92a, the leading ends of the upper thread and the lower thread Can be aspirated and captured. Thus, at the time of yarn breakage or yarn cutting, the upper yarn guide pipe 92 guides the yarn end of the upper yarn of the package P side to the yarn joining device 4, and the lower yarn guide pipe 91 of the lower yarn of the yarn feeding bobbin 1 side. The leading end is guided to the yarn joining device 4, and the yarn joining device 4 can perform the yarn joining operation between the yarn ends of the upper yarn and the lower yarn.

  The yarn clearer 5 searches for a defective portion of the yarn Y. The yarn clearer 5 irradiates the yarn Y using a light emitting diode or the like as a light source and detects the amount of reflected light from the yarn Y to determine the presence or absence of a defective portion. Further, in the vicinity of the yarn clearer 5, a cutter (not shown) for cutting the yarn Y when the yarn clearer 5 finds a defective portion of the yarn Y is attached.

  Next, the configuration of the traverse device 6 will be described in detail.

  As shown in FIG. 1, the traverse device 6 includes a traverse guide 61 that reciprocates in the axial direction of the bobbin B while the yarn Y is hooked. The traverse device 6 includes a traverse guide driving unit 62 that drives the traverse guide 61 under the control of a traverse control unit 81 described later.

  The traverse guide 61 is an arm member provided with a hook portion 61a for hooking the yarn Y at one end portion. At the other end of the traverse guide 61, a motor shaft of a servo motor that constitutes the traverse guide driving unit 62 is attached. The traverse guide driving unit 62 reciprocates the traverse guide 61 by rotating the motor shaft of the servo motor forward or reverse (see black arrows in the figure).

  That is, the traverse guide 61 is swung around the motor shaft of the servo motor that constitutes the traverse guide drive unit 62, and the traverse device 6 reciprocates the hook portion 61a on which the yarn Y is hooked, thereby moving the yarn. Y is traversed with respect to the package P.

  As shown in FIG. 1, the traverse guide 61 of the traverse device 6 according to the present embodiment has a longitudinal surface of the traverse guide 61 that is substantially parallel to the installation surface of the yarn winding device 100, or on the hook portion 61 a side. The end portion is provided so as to be inclined so as to face the upper side than the end portion on the traverse guide driving portion 62 side. Thereby, the traverse device 6 of the present embodiment can traverse the yarn Y wound around the package P without significantly bending the yarn path even at the traverse end. Further, the configuration of the traverse device 6 is not limited to the configuration of the above-described embodiment, and the traverse device 61 may be disposed so that the longitudinal surface of the traverse guide 61 is substantially perpendicular to the installation surface of the yarn winding device 100.

  In the present embodiment, a servo motor is used as a power source for swinging the traverse guide 61. However, for example, a step motor or a voice coil motor may be used, and the present invention is not limited to this. In addition, as in the yarn winding device 100 according to the present embodiment, in a so-called arm type traverse device that hooks the yarn Y on the hook portion 61a provided at the tip of the arm member and traverses the yarn Y with respect to the package P. The effect of the present invention can be obtained even with a so-called belt-type traverse device in which the yarn Y is hooked on the yarn guide portion provided on the belt member to traverse the yarn Y with respect to the package P.

  Next, the configuration of the bobbin support device 7 will be described in detail.

  As shown in FIG. 1, the bobbin support device 7 includes a cradle 71 that supports the bobbin B so as to be detachable. The bobbin support device 7 receives a control signal from a package drive control unit 82, which will be described later, and detects a package drive unit 72 that rotates the bobbin B (package P) and a rotation speed Bv of the bobbin B (package P). A rotation speed detector 73 is provided. In addition, in FIG. 1, although the cone-shaped package P is shown in figure, the yarn winding apparatus 100 of this embodiment can also wind up the cheese-shaped package P.

  The cradle 71 is configured to bring the package P into contact with the contact roller 75 with a predetermined contact pressure. The cradle 71 can be swung in a direction in which the package P approaches or separates from the contact roller 75. As a result, even if the yarn layers of the package P are laminated and gradually thickened, the increase in the thickness of the laminated portion is absorbed by the swing of the cradle 71, and the outer peripheral surface of the package P is securely attached to the contact roller 75. Can be contacted.

  A package driving unit 72 having an electric motor as a power source is attached to one end of the cradle 71. The package driving unit 72 rotates the bobbin B (package P) by rotating the motor shaft of the electric motor. At the other end of the cradle 71, a rotational speed detector 73 composed of a pulse board and an electromagnetic pickup sensor is attached. The rotation speed detection unit 73 transmits an electromotive force that changes according to the unevenness of the pulse board as a detection signal to the unit control unit 80 and the traverse control unit 81 described later. In addition, the rotational speed detection part 73 may be attached to the cradle end part of the same direction as an electric motor.

  In the present embodiment, the electric motor constituting the package driving unit 72 directly drives the bobbin B. However, by driving the contact roller 75 in contact with the peripheral surface of the bobbin B (package P). The bobbin B (package P) may be driven to rotate.

  As shown in FIG. 1, the contact roller 75 in the present embodiment is a cone-shaped roller in which one end has a smaller diameter than the other end. Specifically, the small diameter side end of the contact roller 75 corresponds to the small diameter side end of the package P, and the large diameter side end of the contact roller 75 corresponds to the large diameter side end of the package P. Is arranged. Thereby, when winding the cone-shaped package P, a speed difference generated between the small diameter side and the large diameter side of the package P can be absorbed. As a result, it is possible to prevent the large-diameter side falling that is likely to occur when winding the cone-shaped package P, and it is possible to form a high-quality package P. Note that the shape of the contact roller 75 is not limited to the above form, and may be a cylindrical shape having the same diameter at both ends.

  Next, the unit controller 80, the traverse controller 81, and the package drive controller 82 will be described.

  The unit control unit 80, traverse control unit 81, and package drive control unit 82 include a CPU that is a calculation unit, a ROM that is a storage unit, and the like.

  The unit control unit 80 is electrically connected to the analyzer 51 of the yarn clearer 5, the rotation speed detection unit 73, and the like, and creates a control signal based on detection signals from these. The unit control unit 80 transmits a control signal to the traverse control unit 81 and the package drive control unit 82.

  The traverse control unit 81 adds the target position correction amount Cp to the pre-correction target position command Pt of the traverse guide 61 that is set in advance for each rotation speed Bv of the bobbin B, thereby giving the corrected target position command Ps. calculate. The traverse control unit 81 controls the traverse guide driving unit 62 based on the corrected target position command Ps of the traverse guide 61 calculated.

  The ROM of the traverse control unit 81 stores control software that causes the traverse guide 61 to execute traverse of the yarn Y. Further, the ROM of the traverse control unit 81 calculates a post-correction target position command Ps of the traverse guide 61, that is, determines a target position correction amount Cp that is a feedforward component, and sets the target position correction amount Cp to the target position correction amount Cp. Control software for calculating the corrected target position command Ps based on the control software is stored.

  The package drive control unit 82 rotates or stops the bobbin B by controlling the package drive unit 72. For example, when the yarn clearer 5 detects a defective portion of the yarn Y, a control signal for stopping the rotation of the bobbin B is transmitted from the unit controller 80 to the package drive controller 82. For example, after the yarn joining device 4 joins the yarn Y that has been cut and divided, the control signal for restarting the rotation of the bobbin B is transmitted from the unit control unit 80 to the package drive control unit 82.

  In this embodiment, the unit controller 80, the traverse controller 81, and the package drive controller 82 are separately arranged. For example, the traverse controller 81 and the package drive controller 82 are unit controlled. The structure provided inside the part 80 may be sufficient.

  Next, the pre-correction target position command Pt that is a position command before correction of the traverse guide 61 and the post-correction target position command Ps that is a position command after correction will be described in more detail. In addition, the reason why the actual position Pr of the traverse guide 61 in the conventional yarn winding device is relatively large from the target position Pi that is the ideal position of the traverse guide 61 will be described.

  FIG. 2A is a diagram illustrating a relationship between the target position command Pt before correction and the target position command Ps after correction of the traverse guide 61. FIG. 2B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 3A is a diagram showing the relationship between the actual position Pr and the target position Pi of the traverse guide 61 in the conventional yarn winding device. FIG. 3B is a diagram illustrating the rotational speed Bv of the bobbin B in the conventional yarn winding device.

  The pre-correction target position command Pt of the traverse guide 61 instructs a displacement with time when the traverse guide 61 reciprocates. The target position command Pt before correction of the traverse guide 61 is determined in advance for each rotation speed Bv of the bobbin B. The target position command Pt before correction of the traverse guide 61 is pre-corrected corresponding to the rotational speed Bv of the bobbin B at every position control period of the traverse guide 61 by the traverse control unit 81 functioning as a target position command determination unit. The target position command Pt is updated.

  As shown in FIG. 2A, the target position command Pt before correction of the traverse guide 61 is set so that when the rotational speed Bv of the bobbin B is accelerated, the traverse speed of the traverse guide 61 is also accelerated. The target position command Pt before correction of the traverse guide 61 is set so as to draw a substantially sinusoidal trajectory that reciprocates between one end Be and the other end Be of the bobbin B (package P) with the origin O as the center. .

  With such a configuration, as shown in FIGS. 2A and 2B, when the rotational speed Bv of the bobbin B is accelerating, the traverse speed is increased each time the traverse guide 61 reciprocates. When the rotation speed Bv of the bobbin B is constant, the traverse guide 61 is driven at a constant traverse speed.

  The post-correction target position command Ps of the traverse guide 61 indicates the displacement with time when the traverse guide 61 obtained from the target position command Pt before correction of the traverse guide 61 and the target position correction amount Cp reciprocates. To do. In other words, the post-correction target position command Ps of the traverse guide 61 is a command obtained by correcting the pre-correction target position command Pt of the traverse guide 61 using the target position correction amount Cp.

  As shown in FIG. 2A, the post-correction target position command Ps of the traverse guide 61 is set in a state in which the phase is shifted from the pre-correction target position command Pt of the traverse guide 61. As a result, the traverse guide 61 follows the trajectory indicated by the corrected target position command Ps as a target, so that the response delay amount of the traverse guide drive unit 62 can be offset.

  However, even with the yarn winding device 100 configured as described above, as shown in FIG. 3, the deviation between the actual position Pr of the traverse guide 61 and the target position Pi may be relatively large. .

  Here, the factors that cause the actual position Pr of the traverse guide 61 to deviate from the target position Pi will be described.

  As a first factor, immediately after the bobbin B shifts from the stopped state to the rotating state, the rotational speed Bv of the bobbin B is low, and therefore it is difficult to accurately detect the rotational speed Bv. More specifically, the rotation speed detection unit 73 has a low detection signal period when the rotation speed Bv of the bobbin B is low, that is, when the rotation speed of the pulse disk is low, in order to obtain a detection signal due to the unevenness of the pulse disk. I do not get. As a result, during the accelerated winding period of the package P, even if the rotational speed Bv of the bobbin B is accelerated, the detection signal output from the rotational speed detector 73 to the unit controller 80 and the traverse controller 81 is detected. Since the interval is long, the unit controller 80 or the like cannot detect that the rotation speed Bv of the bobbin B is accelerating. That is, during the accelerated winding period of the package P, the rotation speed Bv of the bobbin B calculated by the unit controller 80 or the like may be lower than the actual rotation speed Bv of the bobbin B. Therefore, the traverse control unit 81 controls the traverse guide drive unit 62 by the pre-correction target position command Pt corresponding to a value different from the actual rotational speed Bv of the bobbin B. As a result, the actual position Pr of the traverse guide 61 may deviate from the target position Pi.

  As a second factor, there is a response delay amount of the traverse guide driving unit 62 when electric power generated based on the calculation result is supplied from the traverse control unit 81 to the traverse guide driving unit 62. More specifically, the traverse control unit 81 supplies electric power corresponding to the pre-correction target position command Pt corresponding to the rotation speed Bv of the bobbin B to the traverse guide drive unit 62. However, when the control signal such as the pre-correction target position command Pt is updated and the traverse speed is changed, the response delay amount of the traverse guide driving unit 62 changes. For this reason, if the traverse speed increases with the acceleration of the rotational speed Bv of the bobbin B, the response delay amount of the traverse guide driving unit 62 increases, so that the actual position Pr of the traverse guide 61 may deviate from the target position Pi. there were.

  Next, the reason why the yarn winding device 100 according to the first embodiment of the present invention can reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi during the acceleration winding period of the package P will be specifically described. .

  FIG. 4A is a diagram illustrating a relationship among the target position command Pt before correction, the target position command Ps after correction, and the actual position Pr of the traverse guide 61. FIG. 4B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 5A is a diagram showing the relationship between the actual position Pr of the traverse guide 61 and the target position Pi in the yarn winding device 100. FIG. 5B is a diagram illustrating the rotation speed Bv of the bobbin B.

  First, the traverse control unit 81 that is a target position command determination unit acquires the rotation speed Bv of the bobbin B based on the detection signal from the rotation speed detection unit 73. More specifically, the traverse control unit 81 is configured to acquire the rotational speed Bv of the bobbin B at every position control cycle (Δt in the figure) of the traverse guide 61. (See FIG. 4B.)

  The traverse control unit 81 predicts the detection delay amount of the rotational speed Bv of the bobbin B and the response delay amount of the traverse guide drive unit 62 to determine the target position correction amount Cp, and sets the target position correction amount Cp to this target position correction amount Cp. Based on this, a corrected target position command Ps is calculated. The traverse control unit 81 controls the traverse guide drive unit 62 based on the corrected target position command Ps every position control cycle (Δt in the figure).

In the yarn winding device 100 according to the present embodiment, the detection delay amount of the rotation speed Bv of the bobbin B is gradually reduced according to the acceleration of the rotation speed Bv of the bobbin B. As shown in FIGS. 3A and 3B, this is because the traverse control unit 81 grasps in advance the time tr until the bobbin B shifts from the stop state to the rotation state and reaches the predetermined rotation speed Bvr. It is possible to predict the detection delay amount. Specifically, as shown in FIG. 4B, when the detection delay amount of the rotation speed Bv1 of the bobbin B is defined as R1, and the detection delay amounts at the subsequent rotation speed detection timings are defined as R2, R3, and R4, Can be represented.
Detection delay amount R1> Detection delay amount R2> Detection delay amount R3> Detection delay amount R4

  The detection delay amounts R1, R2, R3, and R4 of the rotation speed Bv of the bobbin B are gradually reduced according to the acceleration of the rotation speed Bv of the bobbin B. By using this characteristic, the traverse control unit 81 can calculate the optimum corrected target position command Ps of the traverse guide 61 and control the drive of the traverse guide drive unit 62. As a result, the yarn winding device 100 according to the present embodiment can reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi, and prevent the package P from occurring.

Further, in the yarn winding device 100 according to the present embodiment, the response delay amount of the traverse guide driving unit 62 gradually increases in accordance with the acceleration of the rotation speed Bv of the bobbin B. As shown in FIGS. 3A and 3B, this is because the traverse control unit 81 grasps in advance the time tr until the bobbin B shifts from the stop state to the rotation state and reaches the predetermined rotation speed Bvr. It is possible to predict the response delay amount. Specifically, as shown in FIG. 4A, if the response delay amount of the traverse guide driving unit 62 corresponding to the rotation speed Bv1 of the bobbin B is r1, and the subsequent response delay amounts are defined as r2, r3, r4, It can be expressed as follows:
Response delay amount r1 <response delay amount r2 <response delay amount r3 <response delay amount r4

  The response delay amounts r 1, r 2, r 3, r 4 of the traverse guide driving unit 62 gradually increase with the acceleration of the rotation speed Bv of the bobbin B. By using this characteristic, the traverse control unit 81 can calculate the optimum corrected target position command Ps of the traverse guide 61 and control the drive of the traverse guide drive unit 62. Specifically, the drive of the traverse guide drive unit 62 can be controlled so that the response delay amounts r1, r2, r3, r4 of the traverse guide drive unit 62 are constant. As a result, the yarn winding device 100 according to the present embodiment can reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi, and prevent the package P from occurring.

  As described above, as shown in FIGS. 5A and 5B, in the yarn winding device 100 according to the present embodiment, even if the rotational speed Bv of the bobbin B changes, the actual position Pr of the traverse guide 61 changes from the target position Pi. It is possible to prevent a large shift.

  Note that the yarn winding device 100 according to this embodiment calculates the corrected target position command Ps of the traverse guide 61 and calculates the traverse guide drive unit 62 only when the rotational speed Bv of the bobbin B is accelerating. The drive is controlled. This is because when the rotational speed Bv of the bobbin B is accelerating, the deviation between the actual position Pr of the traverse guide 61 and the target position Pi tends to increase. Thereby, in the yarn winding device 100 according to the present embodiment, it is possible to reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi, and to prevent the occurrence of the traverse disorder of the package P. It becomes.

  Further, the yarn winding device 100 according to the present embodiment does not calculate the corrected target position command Ps of the traverse guide 61 and calculates the corrected target position command Pt when the rotational speed Bv of the bobbin B is constant or decreased. Based on this, the driving of the traverse guide driving unit 62 is controlled. This is because the deviation between the actual position Pr of the traverse guide 61 and the target position Pi tends not to increase when the rotation speed Bv of the bobbin B is constant or decreased. Thereby, the control configuration of the yarn winding device 100 can be simplified.

  Next, the reason why the actual position Pr of the traverse guide 61 can reduce the deviation from the target position Pi in the yarn winding device 200 according to the second embodiment of the present invention will be specifically described. The yarn winding device 200 according to the present embodiment is different from the yarn winding device 100 according to the first embodiment in that the traverse speed is indicated instead of the temporal displacement of the traverse guide 61. However, the same components as those of the above-described yarn winding device 100 are denoted by the same reference numerals, and different portions will be mainly described.

  FIG. 6A is a diagram illustrating a relationship among the target speed command Vt before correction, the target speed command Vs after correction, and the actual speed Vr of the traverse guide 61. FIG. 6B is a diagram illustrating the rotation speed Bv of the bobbin B. FIG. 7A is a diagram showing the relationship between the actual position Pr of the traverse guide 61 and the target position Pi in the yarn winding device 200. FIG. 7B is a diagram illustrating the rotation speed Bv of the bobbin B. In FIG. 6A, a pre-correction target position command Pt and a post-correction target position command Ps are shown for reference.

  First, the traverse control unit 81 serving as a target speed command determination unit acquires the rotation speed Bv of the bobbin B based on the detection signal from the rotation speed detection unit 73. More specifically, the traverse control unit 81 is configured to acquire the rotational speed Bv of the bobbin B every speed control cycle (Δt in the figure) of the traverse guide 61. (See FIG. 6B.)

  The traverse control unit 81 predicts the detection delay amount of the rotational speed Bv of the bobbin B and the response delay amount of the traverse guide drive unit 62 to determine the target speed correction amount Cv, and sets the target speed correction amount Cv. Based on this, a corrected target speed command Vs is calculated. The traverse control unit 81 controls the traverse guide driving unit 62 based on the corrected target speed command Vs every speed control cycle (Δt in the figure).

In the yarn winding device 200 according to the present embodiment, the detection delay amount of the rotation speed Bv of the bobbin B gradually decreases in accordance with the acceleration of the rotation speed Bv of the bobbin B. As shown in FIGS. 3A and 3B, this is because the traverse control unit 81 grasps in advance the time tr until the bobbin B shifts from the stop state to the rotation state and reaches the predetermined rotation speed Bvr. It is possible to predict the detection delay amount. Specifically, as shown in FIG. 6B, when the detection delay amount of the rotation speed Bv1 of the bobbin B is defined as R1, and the subsequent detection delay amounts are defined as R2, R3, and R4, they can be expressed as follows.
Detection delay amount R1> Detection delay amount R2> Detection delay amount R3> Detection delay amount R4

  The detection delay amounts R1, R2, R3, and R4 of the rotation speed Bv of the bobbin B are gradually reduced according to the acceleration of the rotation speed Bv of the bobbin B. By using this characteristic, the traverse control unit 81 can calculate the optimum corrected target speed command Vs of the traverse guide 61 and control the drive of the traverse guide drive unit 62. As a result, the yarn winding device 200 according to the present embodiment can reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi and prevent the package P from being disturbed.

Further, in the yarn winding device 200 according to the present embodiment, the response delay amount of the traverse guide driving unit 62 gradually increases in accordance with the acceleration of the rotation speed Bv of the bobbin B. As shown in FIGS. 3A and 3B, this is because the traverse control unit 81 grasps in advance the time tr until the bobbin B shifts from the stop state to the rotation state and reaches the predetermined rotation speed Bvr. It is possible to predict the response delay amount. Specifically, as shown in FIG. 6A, when the response delay amount of the traverse guide driving unit 62 corresponding to the rotation speed Bv1 of the bobbin B is defined as r1, and the subsequent response delay amounts are defined as r2, r3, and r4, It can be expressed as follows:
Response delay amount r1 <response delay amount r2 <response delay amount r3 <response delay amount r4

  The response delay amounts r1, r2, r3, r4 of the traverse guide driving unit 62 are gradually increased in accordance with the acceleration of the rotation speed Bv of the bobbin B. By using this characteristic, the traverse control unit 81 can calculate the optimum corrected target speed command Vs of the traverse guide 61 and control the drive of the traverse guide drive unit 62. Specifically, the drive of the traverse guide drive unit 62 can be controlled so that the response delay amounts r1, r2, r3, r4 of the traverse guide drive unit 62 are constant. As a result, the yarn winding device 200 according to the present embodiment can reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi and prevent the package P from being disturbed.

  As described above, as shown in FIGS. 7A and 7B, in the yarn winding device 200 according to the present embodiment, even if the rotational speed Bv of the bobbin B changes, the actual position Pr of the traverse guide 61 changes from the target position Pi. It is possible to prevent a large shift.

  The yarn winding device 200 according to the present embodiment calculates the corrected target speed command Vs of the traverse guide 61 and calculates the traverse guide drive unit 62 only when the rotational speed Bv of the bobbin B is accelerating. The drive is controlled. This is because when the rotational speed Bv of the bobbin B is accelerating, the deviation between the actual position Pr of the traverse guide 61 and the target position Pi tends to increase. Thereby, in the yarn winding device 200 according to the present embodiment, it is possible to reduce the deviation between the actual position Pr of the traverse guide 61 and the target position Pi, and to prevent the package P from being disturbed. It becomes.

  Further, the yarn winding device 200 according to this embodiment does not calculate the corrected target speed command Vs of the traverse guide 61 and calculates the corrected target speed command Vt when the rotational speed Bv of the bobbin B is constant or decreased. Based on this, the driving of the traverse guide driving unit 62 is controlled. This is because the deviation between the actual position Pr of the traverse guide 61 and the target position Pi tends not to increase when the rotation speed Bv of the bobbin B is constant or decreased. Thereby, the control configuration of the yarn winding device 200 can be simplified.

DESCRIPTION OF SYMBOLS 1 Yarn feeding bobbin 2 Thread unwinding auxiliary device 3 Tension applying device 4 Yarn splicing device 5 Yarn clearer 6 Traverse device 61 Traverse guide 62 Traverse guide drive unit 7 Bobbin support device 71 Cradle 72 Package drive unit 73 Rotation speed detection unit 80 Unit control unit 81 Traverse control unit 82 Package drive control unit B Bobbin Bv Rotational speed Cp Target position correction amount Cv Target speed correction amount P Package Pt Target position command before correction Ps Target position command after correction Pi Target position Pr Actual position Vt correction Previous target speed command Vs Corrected target speed command Vr Actual speed Y Yarn

Claims (12)

A package driving unit that rotationally drives a bobbin on which a yarn is wound to form a package;
A rotational speed detector for detecting the rotational speed of the bobbin;
A traverse guide for traversing the yarn wound around the bobbin;
A traverse guide driving unit for driving the traverse guide,
A traverse control unit that controls driving of the traverse guide drive unit;
In a yarn winding device comprising: a target position command determining unit that determines a target position command before correction of the traverse guide driving unit based on the rotational speed of the bobbin detected by the rotational speed detecting unit;
The traverse control unit includes a target position correction amount that is a feedforward component for the traverse control unit according to a detection delay amount of the rotational speed detection unit and a response delay amount of the traverse guide drive unit, and the target Calculating a corrected target position command based on the pre-correction target position command determined by the position command determining unit, and controlling driving of the traverse guide driving unit based on the corrected target position command; A yarn winding device characterized by that.   The traverse control unit controls the driving of the traverse guide driving unit based on the corrected target position command when the bobbin shifts from a stopped state to a rotating state and the rotational speed is accelerating. The yarn winding device according to claim 1, wherein   The traverse control unit uses a previously predicted value that gradually decreases as the target position correction amount corresponding to the detection delay amount of the rotation speed of the bobbin that decreases as the rotation speed of the bobbin decreases. The yarn winding device according to claim 1 or 2, wherein   The traverse control unit corrects the target position according to the acceleration of the bobbin rotational speed so that a response delay amount of the traverse guide driving unit is constant while the bobbin rotational speed is accelerating. The yarn winding device according to any one of claims 1 to 3, wherein a predicted value that gradually decreases as an amount is used.   The traverse control unit drives the traverse guide based on the pre-correction target position command of the traverse guide preset according to the bobbin rotational speed when the bobbin rotational speed is constant. The yarn winding device according to any one of claims 1 to 4, wherein the driving of the part is controlled.   When the bobbin rotational speed is decreased, the traverse control unit is configured to perform the traverse guide based on the target position command before correction of the traverse guide that is preset according to the rotational speed of the bobbin. The yarn winding device according to any one of claims 1 to 5, wherein driving of the driving unit is controlled. A package driving unit that rotationally drives a bobbin on which a yarn is wound to form a package;
A rotational speed detector for detecting the rotational speed of the bobbin;
A traverse guide for traversing the yarn wound around the bobbin;
A traverse guide driving unit for driving the traverse guide,
A traverse control unit that controls driving of the traverse guide drive unit;
In a yarn winding device comprising: a target speed command determination unit that determines a target speed command before correction of the traverse guide drive unit based on the rotation speed of the bobbin detected by the rotation speed detection unit;
The traverse control unit includes a target speed correction amount that is a feedforward component for the traverse control unit according to a detection delay amount of the rotational speed detection unit and a response delay amount of the traverse guide drive unit, and the target Calculating a corrected target speed command based on the pre-correction target speed command determined by the speed command determining unit, and controlling driving of the traverse guide driving unit based on the corrected target speed command; A yarn winding device characterized by that.   The traverse control unit controls the driving of the traverse guide driving unit based on the corrected target speed command when the bobbin transitions from a stopped state to a rotating state and the rotational speed is accelerating. The yarn winding device according to claim 7, wherein   The traverse control unit uses a previously predicted value that gradually decreases as the target speed correction amount in accordance with the detection delay amount of the rotation speed of the bobbin that decreases with the acceleration of the rotation speed of the bobbin. The yarn winding device according to claim 7 or 8, wherein   The traverse control unit corrects the target position according to the acceleration of the bobbin rotational speed so that a response delay amount of the traverse guide driving unit is constant while the bobbin rotational speed is accelerating. The yarn winding device according to any one of claims 1 to 7, wherein a predicted value that gradually decreases as an amount is used.   The traverse control unit drives the traverse guide based on the target speed command before correction of the traverse guide preset according to the rotational speed of the bobbin when the rotational speed of the bobbin is constant. The yarn winding device according to any one of claims 7 to 10, wherein the driving of the portion is controlled.   The traverse control unit is configured to perform the traverse guide based on the target speed command before correction of the traverse guide that is set in advance according to the rotational speed of the bobbin when the rotational speed of the bobbin is low. The yarn winding device according to any one of claims 7 to 11, wherein driving of the driving unit is controlled.

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