JP2019026448A - Yarn winding device - Google Patents

Abstract

To manufacture a package with improved quality in a device for manufacturing a package by winding a yarn around a winding bobbin.SOLUTION: A yarn winding device 1, 1' includes a traverse guide 133, a traverse motor 135, a profile calculation unit 161, and a traverse drive control unit 162. The traverse guide 133 traverses a yarn Y along the width direction of a package P. The profile calculation unit 161 calculates a traverse profile with either one of a first end position or a second end position of the traverse position as the start point and the other as the end point. When the traverse position of the traverse guide 133 reaches the first end position, the traverse drive control unit 162 starts control of the traverse motor 135 based on the traverse profile starting from the first end position, and when the traverse position reaches the second end position, starts to control the traverse motor 135 based on the traverse profile with the second end position as the start point.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a yarn winding device that winds a yarn around a package.

  2. Description of the Related Art Conventionally, a yarn winding device that manufactures a package wound with a yarn by winding the yarn on a winding bobbin is known. In this apparatus, the package is manufactured by reciprocating the yarn along the width direction of the package rotating about the axis (the reciprocating motion is also called “traverse” or “traverse”).

  As an apparatus for manufacturing a package by traversing such a yarn, for example, Patent Document 1 discloses a yarn guide (traverse guide) that traverses in contact with a yarn, a traverse arm that supports the yarn guide, A yarn winding machine including a traverse device including a motor that reciprocates a traverse arm is disclosed.

Japanese Patent No. 5505621

  When a package is manufactured using the above-described yarn winding device, the diameter of the package increases as the amount of yarn wound around the package increases. In the above-described yarn winding device, the traverse speed is adjusted as the package diameter increases to produce a high-quality package.

  In the conventional apparatus, the traverse speed is adjusted at the center position in the package width direction corresponding to the origin position of the motor. As a result, the winding state of the yarn (for example, yarn cross-hair, package hardness, etc.) changes rapidly at the center position, and moreover, “twisting” tends to occur, affecting the quality of the manufactured package. There was a case.

  An object of the present invention is to manufacture a package with improved quality in an apparatus for manufacturing a package by winding a yarn around a winding bobbin.

Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.
A yarn winding device according to an aspect of the present invention is a yarn winding device that forms a package by winding a yarn around a winding bobbin that rotates about a predetermined axis. The yarn winding device includes a traverse guide, a traverse motor, a profile calculation unit, and a traverse drive control unit. The traverse guide contacts the yarn and traverses the yarn along the width direction of the package. The traverse motor drives a traverse guide.

  The profile calculation unit calculates a traverse profile. The traverse profile is a profile that determines the traverse position of the traverse guide at a predetermined time. The traverse profile has either one of the first end position and the second end position as a start point and the other as an end point. The first end position is a traverse position corresponding to one end in the width direction of the package. The second end position is a traverse position corresponding to the other end in the width direction of the package.

  The traverse drive control unit controls the traverse motor based on the traverse profile calculated by the profile calculation unit. When the traverse position of the traverse guide reaches the first end position, the traverse drive control unit starts control of the traverse motor based on the traverse profile starting from the first end position. On the other hand, when the traverse position of the traverse guide reaches the second end position, the traverse drive control unit starts control of the traverse motor based on the traverse profile starting from the second end position.

  In the above-described yarn winding device, the traverse drive control unit reaches the first end position or the second end position reached when the traverse guide reaches the first end position and the second end position corresponding to the end portions in the package width direction. Control of the traverse motor based on the traverse profile starting from is started.

  In this way, by calculating the traverse profile starting from the end in the package width direction, it is possible to control the traverse speed in the center area of the package width direction so that it has a desired speed pattern, and this corresponds to the center area of the package. It is possible to prevent the traverse speed from changing suddenly at the traverse position. Therefore, it is possible to prevent the yarn winding state (yarn cross-hair, package hardness, etc.) from rapidly changing in the central region of the package. Further, the drive point can be stabilized, and the occurrence of “falling” in the package manufacturing process can be avoided. As a result, a high quality package can be manufactured.

The profile calculating unit continuously increases or decreases the traverse speed as the traverse guide moves from the first end position to the second end position in the central part of the traverse, and from the second end position to the first end position. The first traverse profile may be calculated such that the speed pattern continuously decreases or increases as the traverse guide moves. The traverse speed is the moving speed of the traverse guide. The traverse center is an area corresponding to the center area in the width direction of the package.
In this case, the traverse drive control unit controls the traverse motor based on the first traverse profile when forming a cone-shaped package whose diameter decreases or increases from one end to the other end.
Thereby, a high quality cone-shaped package can be manufactured.

The profile calculation unit has a first traverse speed in which the traverse speed is a constant speed pattern in the central part of the traverse while the traverse guide moves from one of the first end position and the second end position to the other and from the other end position. Two traverse profiles may be calculated.
In this case, the traverse drive control unit controls the traverse motor based on the second traverse profile when forming a parallel package whose diameter is constant from one end to the other end.
Thereby, a high-quality parallel-shaped package can be manufactured.

The profile calculating unit continuously decreases the traverse speed as the traverse guide moves from the first end position to the second end position in the central part of the traverse, and traverses from the second end position to the first end position. The first traverse profile may be calculated so that the speed pattern increases continuously as the guide moves. In this case, the traverse drive control unit controls the traverse motor based on the first traverse profile when forming a cone-shaped package whose diameter increases from one end to the other end.
Thereby, when forming a cone-shaped package, it is possible to manufacture a package in which the hardness of the package increases from the small diameter side toward the large diameter side. Since the portion with high package hardness is likely to be a drive point, the drive point can be stabilized on the large diameter side with high hardness, and the occurrence of falling can be further suppressed, and a high-quality package can be manufactured.

The profile calculation unit has a first end position based on a traverse profile representing a traverse from the first end position to the second end position calculated immediately after the traverse guide reaches the second end position from the first end position. The next traverse profile representing the traversal from the first end position to the second end position may be calculated before reaching.
Thus, every time the yarn reaches the package end, the next traverse profile is calculated until the opposite end is reached based on the most recently calculated traverse profile, and the traverse based on the next traverse profile is calculated. Switching to motor control can be performed without delay, and high-quality packages can be manufactured.

The traverse motor may be configured to be capable of normal / reverse rotation with the position corresponding to the center position in the width direction of the package as the origin. In this case, the traverse drive control unit rotates the traverse motor forward, moves the traverse guide from the origin corresponding to the center position of the package to one of the first end position and the second end position, and reverses the traverse motor. The traverse guide is moved from the origin to the other of the first end position and the second end position.
As a result, even in a mechanism in which the origin of the traverse motor corresponds to the center position in the package width direction, control based on the traverse profile starting from the end of the package that does not correspond to the origin of the traverse motor is realized, and a high-quality package can be realized. Can be manufactured.

  In an apparatus for manufacturing a package by winding a yarn on a winding bobbin, a high-quality package can be manufactured.

The figure which shows the structure of an automatic winder. The figure which shows the structure of a yarn winding device. The enlarged view of the traverse device vicinity of a yarn winding device. The figure which shows the control structure of a traverse control part. The figure which shows an example of the traverse profile and rotation speed command which concern on 1st Embodiment. The flowchart which shows operation | movement of a traverse apparatus. The figure which shows package hardness distribution. The figure which shows an example of the traverse profile and rotation speed command which concern on 2nd Embodiment.

1. First Embodiment (1) Configuration of Automatic Winder Hereinafter, a configuration of an automatic winder 100 including a yarn winding device 1 according to a first embodiment will be described with reference to FIG. FIG. 1 is a diagram showing a configuration of an automatic winder.
The automatic winder 100 includes a plurality of yarn winding devices 1 arranged side by side. Each yarn winding device 1 winds the yarn Y unwound from the yarn supplying bobbin B1 onto a winding bobbin B2 (described later) to form a package P in which the yarn Y is wound. Details of the configuration of the yarn winding device 1 according to the present embodiment will be described in detail later.

  The automatic winder 100 includes an automatic doffing device 3. The automatic doffing device 3 travels to the position of the yarn winding device 1 when the package P becomes full in each yarn winding device 1, collects the fully wound package P, and uses an empty winding bobbin. B2 is supplied.

The automatic winder 100 includes a machine setting device 5. The machine base setting device 5 is a computer system including, for example, a CPU, a storage device (RAM, ROM, etc.), and various interfaces, and mainly includes a setting unit 51 and a display unit 52.
The setting unit 51 can perform setting for each yarn winding device 1 by an operator inputting a predetermined setting value or selecting an appropriate control method. As the setting unit 51, for example, an input device having a plurality of keys can be used. In addition, a touch panel may be used as the setting unit 51.

  The display unit 52 is configured to be able to display the winding state of the yarn Y in each yarn winding device 1 and the content of a trouble that has occurred in the automatic winder 100. For example, a display such as a liquid crystal display can be used as the display unit 52.

  The automatic winder 100 includes a machine base control unit 7. The machine base control unit 7 is a computer system including, for example, a CPU, a storage device (RAM, ROM, etc.), and various interfaces, and is used for the entire automatic winder 100 such as control of the automatic doffing device 3. Perform related controls.

(2) Configuration of Yarn Winding Device Next, details of the configuration of the yarn winding device 1 according to the present embodiment will be described with reference to FIG. FIG. 2 is a diagram illustrating a configuration of the yarn winding device.
The yarn winding device 1 has a cradle 11. The cradle 11 is a member that supports a winding bobbin B2 for forming a cone-shaped (described later) package P so as to be rotatable about a predetermined axis A1 (FIG. 3) and detachable. As shown in FIG. 2, the predetermined axis A1 which is the rotation axis of the winding bobbin B2 is such that the side facing the contact roller 14 (described later) of the winding bobbin B2 is parallel to the outer peripheral surface of the contact roller 14. A predetermined angle is formed with respect to the outer peripheral surface of the contact roller 14. The width direction of the package P to be described later can also be referred to as the axial direction of the contact roller 14.

  The cradle 11 is rotatable about a rotation axis A2. As a result, the cradle 11 rotates about the rotation axis A2 and can absorb the increase in diameter associated with the winding of the yarn Y around the winding bobbin B2.

  An angle sensor SE1 for detecting the rotation angle of the cradle 11 is attached to the rotation axis A2. The angle sensor SE1 is, for example, a rotary encoder, and transmits a signal corresponding to the rotation angle around the rotation axis A2 of the cradle 11 to a unit control unit 15 (described later).

  As the package P gets thicker, the rotation angle of the cradle 11 around the rotation axis A2 changes. Therefore, the diameter of the package P can be detected by detecting the rotation angle by the angle sensor SE1.

  In another embodiment, the method for obtaining the diameter of the package P is not limited to the above method. For example, the diameter of the package P may be calculated based on the rotational speed, winding speed, and traverse angle of the package P. Thereby, the diameter of the package P can be calculated without the angle sensor SE1.

  The yarn winding device 1 has a package drive motor 12. The package drive motor 12 is attached to a portion of the cradle 11 that sandwiches the winding bobbin B2, and rotates the winding bobbin B2 around a predetermined axis A1 to wind the yarn Y around the winding bobbin B2. When the winding bobbin B2 is supported on the cradle 11, the motor shaft of the package drive motor 12 is connected to the winding bobbin B2 so as not to be relatively rotatable (direct drive system).

  The yarn winding device 1 has a traverse device 13. The traverse device 13 traverses the yarn Y along the width direction of the package P with respect to the winding bobbin B2 that rotates about the predetermined axis A1. As shown in FIG. 3, the traverse device 13 according to the present embodiment mainly includes a traverse arm 131, a traverse guide 133, and a traverse motor 135.

  The traverse arm 131 is a tapered rod-shaped member. The traverse guide 133 is a member having a hook capable of hooking the yarn Y, and is attached to the narrowed tip of the traverse arm 131. The traverse motor 135 is configured by a servo motor, for example. The output shaft A3 of the traverse motor 135 is fixed to the base of the traverse arm 131 (the side opposite to the side on which the traverse guide 133 is attached).

  In another embodiment, the traverse arm 131 may not be formed in a tapered shape. The traverse guide 133 may be formed in, for example, a U shape, a V shape, or an O shape instead of the hook shape. The traverse guide 133 may be in contact with the yarn Y so that the yarn can be traversed along the width direction of the package. The traverse arm 131 and the traverse guide 133 may be integrated.

  The traverse motor 135 is controlled by a traverse drive control unit 162, which will be described later, so that the output shaft A3 rotates forward or reverse within a predetermined angular range and at a predetermined cycle. The traverse motor 135 is configured to be capable of normal rotation and reverse rotation with a position corresponding to the center position in the width direction of the package P as an origin.

  By repeating normal rotation and reverse rotation of the output shaft A3 of the traverse motor 135, the traverse guide 133 attached to the tip of the traverse arm 131 extends in a direction along the width direction of the package P as shown in FIG. A reciprocating motion (traverse) is performed between a first end (one end) and a second end (the other end) of the traverse trajectory along an arc-shaped traverse trajectory (a trajectory indicated by a dotted line in FIG. 3).

As shown in FIG. 3, the first end of the traverse trajectory exists in the vicinity of one end in the width direction of the package P, and the second end exists in the vicinity of the other end in the width direction of the package. That is, the first end corresponds to one end (small diameter side end) in the width direction of the package P, and the second end corresponds to the other end (large diameter side end) in the width direction of the package P.
By the reciprocating motion described above, the traverse guide 133 guides the yarn Y hooked on the hook portion (that is, the yarn Y at the contact point between the traverse guide 133 and the yarn Y) to a predetermined position on the traverse locus, The winding bobbin B2 or the package P can be guided to a position corresponding to the predetermined position in the width direction.

  As described above, the traverse guide 133 moves along the traverse trajectory according to the rotation of the output shaft A3 of the traverse motor 135. Therefore, the traverse position defined as the position of the traverse guide 133 on the traverse trajectory is It can be associated with the rotational position of the output shaft A.

  The yarn winding device 1 includes a contact roller 14 that is attached to the outer peripheral surface of the winding bobbin B2 or the outer peripheral surface of the package P so as to be driven and rotated. The contact roller 14 presses the yarn Y guided by the traverse guide 133 against the outer circumferential surface of the winding bobbin B2 or the outer circumferential surface of the package P with a predetermined pressure, and the yarn Y is pressed against the winding bobbin B2 or the package P. Wind around the outer periphery.

  The yarn winding device 1 includes a unit control unit 15. The unit control unit 15 is a computer system including, for example, a CPU, a storage device (RAM, ROM), and various interfaces. The unit controller 15 is connected to each component of the yarn winding device 1 and controls the yarn winding device 1.

  The storage device of the unit control unit 15 may store a program for realizing control (part or all) of each component of the yarn winding device 1. Alternatively, each function (part of) of the unit control unit 15 may be realized by hardware by SoC (System on Chip) or the like.

  The unit control unit 15 is connected to the machine base setting device 5 and can input a set value related to the control of the yarn winding device 1 set by the setting unit 51. Further, the unit control unit 15 outputs information (for example, error information) related to the operation status of the yarn winding device 1 to the machine base setting device 5. Thereby, the information regarding the operating condition of the yarn winding device 1 can be displayed on the display unit 52.

  The yarn winding device 1 includes a traverse control unit 16. The traverse control unit 16 is configured by hardware or the like using a dedicated microprocessor such as SoC, for example. The traverse control unit 16 controls forward or reverse rotation of the traverse motor 135 based on a command from the unit control unit 15 or the like. The detailed configuration of the traverse control unit 16 will be described in detail later.

  Note that the traverse control unit 16 may be a computer system including a CPU, a storage device (RAM, ROM), and various interfaces, for example. In this case, each function of the traverse control unit 16 may be realized by a program stored in a storage device of the computer system.

The yarn winding device 1 includes a package drive control unit 17. The package drive control unit 17 is a computer system including, for example, a CPU, a storage device (RAM and ROM), and various interfaces. The package drive control unit 17 receives the operation signal from the unit control unit 15 and controls the rotation of the package drive motor 12 around the predetermined axis A1.
For example, the package drive control unit 17 can start rotation of the package drive motor 12 by receiving a signal notifying the start of manufacturing the package P from the unit control unit 15. On the other hand, for example, the rotation of the package drive motor 12 can be stopped by receiving a signal from the unit controller 15 that the package P has a predetermined diameter and ends the manufacture of the package P.

  Note that the storage device of the package drive control unit 17 may store a program for realizing (part or all) control of the package drive motor 12. Alternatively, each function (a part) of the package drive control unit 17 may be realized by hardware such as SoC.

In the above description, the unit control unit 15, the traverse control unit 16, and the package drive control unit 17 are configured by individual hardware (such as a computer system). However, the present invention is not limited to this, and the functions of the three control units may be realized by a single computer system (program stored therein) or hardware such as SoC. That is, the functions of the three control units may be integrated into one computer system or hardware such as SoC.
Alternatively, the functions of two of the three control units may be integrated into one computer system or hardware such as SoC.

  The yarn winding device 1 may include a yarn unwinding assist device 18. The yarn unwinding assisting device 18 lowers the yarn from the yarn supplying bobbin B1 by lowering the regulating member covering the core tube of the yarn supplying bobbin B1 in conjunction with the yarn unwinding from the yarn supplying bobbin B1. Assist.

  The yarn winding device 1 may include a tension applying device 19. The tension applying device 19 applies a predetermined tension to the traveling yarn Y. As the tension applying device 19, for example, a gate type device in which movable comb teeth are arranged with respect to fixed comb teeth can be used.

  The yarn winding device 1 may include a clearer 20. The clearer 20 detects a yarn defect such as a slab by monitoring a yarn thickness signal from a sensor for detecting the thickness of the yarn Y. A cutter for cutting the yarn Y immediately when a yarn defect is detected is provided in the vicinity of the clearer head where the sensor is provided.

  The yarn winding device 1 may include a splicer device 21. The splicer device 21 detects the lower thread on the yarn supplying bobbin B1 side and the package P side when the clearer 20 detects a yarn defect and performs yarn cutting or when the yarn breakage occurs during unwinding from the yarn supplying bobbin B1. Join the upper thread. As such a splicer device, a mechanical device, a device using a fluid such as compressed air, or the like can be used.

  On the lower side and upper side of the splicer device 21, the lower yarn guide pipe 22 that catches the lower yarn on the yarn feeding bobbin B 1 side and guides it to the splicer device 21, and the upper yarn on the package P side is caught on the splicer device 21. An upper thread guide pipe 23 for guiding may be provided. A suction port is formed at the tip of the lower thread guide pipe 22, and a suction mouth is provided at the tip of the upper thread guide pipe 23. A suction flow is generated at the suction port and the suction mouth, and the upper thread and the lower thread are guided. The yarn end of the yarn can be sucked and captured.

(3) Control Configuration of Traverse Control Unit Next, a control configuration of the traverse control unit 16 will be described with reference to FIG. FIG. 4 is a diagram illustrating a control configuration of the traverse control unit.
The traverse control unit 16 includes a profile calculation unit 161. The profile calculation unit 161 calculates a traverse profile and outputs it to the traverse drive control unit 162. The traverse profile is a profile that determines the traverse position of the traverse guide 133 at a predetermined time. The traverse profile is a first end position corresponding to one end (first end) of the traverse trajectory (that is, one end in the width direction of the package P), or the other end (second end) of the traverse trajectory (that is, the end). One of the second end positions corresponding to the traverse position corresponding to the other end in the width direction of the package P is a start point, and the other is an end point. A specific method for calculating the traverse profile will be described in detail later.

The traverse control unit 16 includes a traverse drive control unit 162. The traverse drive control unit 162 controls the traverse motor 135 based on the traverse profile calculated by the profile calculation unit 161.
The traverse drive control unit 162 of this embodiment feeds back the actual rotation angle of the traverse motor 135 (corresponding to the traverse position of the traverse guide 133), and the actual rotation angle and the position of the yarn Y indicated in the traverse profile. The traverse motor 135 is feedback-controlled based on the comparison with the rotation angle corresponding to.

  Specifically, the traverse drive control unit 162 includes a profile storage unit 1621. The profile storage unit 1621 is a part of the storage area of the storage device of the computer system that constitutes the traverse control unit 16, and stores the traverse profile calculated by the profile calculation unit 161.

  The traverse drive control unit 162 includes a first deviation calculation unit 1622. The first deviation calculation unit 1622 includes a traverse position indicated by the traverse profile input from the profile storage unit 1621 (corresponding to the rotation position of the traverse motor 135) and an actually measured rotation angle of the traverse motor 135. Calculate the deviation. The actual rotation angle of the traverse motor 135 can be measured by, for example, a rotary encoder attached to the output shaft A3.

  The traverse drive control unit 162 includes a position control unit 1623. The position control unit 1623 is based on the deviation between the traverse position (corresponding to the rotation position of the traverse motor 135) indicated in the traverse profile calculated by the first deviation calculation unit 1622 and the actual rotation angle of the traverse motor 135. Thus, a rotational speed command for the traverse motor 135 is generated. For example, the position control unit 1623 generates a rotation speed command by PI control or PID control using the above deviation and a preset gain.

  The traverse drive control unit 162 includes a second deviation calculation unit 1624. Second deviation calculation unit 1624 calculates a deviation between the rotational speed of traverse motor 135 indicated in the rotational speed command output from position control unit 1623 and the actually measured rotational speed of traverse motor 135. The actual rotational speed of the traverse motor 135 can be calculated, for example, as the amount of change per unit time of the value of the rotary encoder attached to the output shaft A3.

  The traverse drive control unit 162 includes a speed control unit 1625. The speed control unit 1625 generates a current command based on the deviation between the rotation speed command and the actual rotation speed of the traverse motor 135 calculated by the second deviation calculation unit 1624. The speed control unit 1625 generates a current command signal by PI control or PID control using, for example, a deviation between the rotational speed command and the actual rotational speed and a preset gain.

  The traverse drive control unit 162 includes a third deviation calculation unit 1626. Third deviation calculation unit 1626 calculates a deviation between the current value indicated in the current command output from speed control unit 1625 and the current value output to traverse motor 135 actually measured.

  The traverse drive control unit 162 includes a current control unit 1627. The current control unit 1627 generates a voltage command to be input to the PWM unit 1628 (described later) based on the deviation between the current command and the actually measured current value output to the traverse motor 135. The current control unit 1627 generates a voltage command by PI control or PID control using, for example, a deviation between a current command and an actual current value and a preset gain.

  The traverse drive control unit 162 includes a PWM unit 1628. The PWM unit 1628 generates a pulse voltage in which the duty ratio is changed according to the voltage command output from the current control unit 1627 by PWM (Pulse Width Modulation), and outputs the pulse voltage to the traverse motor 135.

(4) Traverse Profile Hereinafter, a traverse profile used for controlling the traverse motor 135 in the traverse drive control unit 162 of the present embodiment will be described with reference to FIG. FIG. 5 is a diagram illustrating an example of a traverse profile and a rotation speed command. In the following description, as shown in FIG. 3, the intermediate point between the first end and the second end of the traverse trajectory is the origin of the traverse position of the traverse guide 133, and the direction from the origin toward the second end (first end) The direction from the first end to the second end) is the positive direction, and the direction from the origin to the first end (the direction from the second end to the first end) is the negative direction.
FIG. 5 shows a traverse profile and a rotational speed command for one cycle until the traverse guide 133 moves from the first end position to the second end position and returns from the second end position to the first end position. .

In the present embodiment, the traverse drive control unit 162 controls the traverse motor 135 based on the traverse profile and the rotational speed command shown in FIG.
In the example of the rotational speed command shown in FIG. 5B, the traverse guide 133 moves from the first end position to the second end position or in the opposite direction at least in the traverse center corresponding to the central region of the package P. Accordingly, the absolute value of the traverse speed, which is the moving speed of the traverse guide 133, continuously or linearly decreases or increases.
Here, the first end position of the traverse guide 133 corresponds to the small-diameter side end of the cone-shaped package P, and the second end position of the traverse guide 133 corresponds to the large-diameter side end of the cone-shaped package P.

A rotational speed command that linearly decreases or increases the traverse speed as the traverse guide 133 moves from the first end position to the second end position (as time elapses) is, for example, a unit time of the traverse guide 133 It is generated when a traverse profile in which the amount of change in the traverse position per hit (a differential value of the traverse profile at each time) decreases or increases with the passage of time is used.
Specifically, for example, as shown in FIG. 5A, while the traverse guide 133 moves from the first end position to the second end position and returns from the second end position to the first end position ( It is possible to calculate from a traverse profile including a function with respect to the time convex upward (this traverse profile is referred to as a “first traverse profile”).
The traverse profile includes, for example, acceleration start time, acceleration end time, half stroke time, deceleration start time, deceleration end time, 1 stroke time, acceleration end speed or acceleration, speed at the traverse origin, deceleration start speed or deceleration, acceleration distance , Deceleration distance, distance from one end of the traverse to the traverse origin, distance from the traverse origin to the other end of the traverse.

In this embodiment, the traverse profile includes the yarn Y at each of the traverse positions (a plurality of) that the traverse guide 133 reaches while the traverse guide 133 moves from the first end position to the second end position, and the traverse position. Each of the traversing position and the traversing position at which the traverse guide 133 arrives while the traverse guide 133 moves from the second end position to the first end position A profile representing the relationship with the time that the traverse guide 133 arrives at is taken as one unit. That is, one of the first end position, which is the traverse position corresponding to the first end of the traverse trajectory, and the second end position, which is the traverse position corresponding to the second end of the traverse trajectory, is the starting point of the traverse profile. The other is the end point of the traverse profile.
Accordingly, FIG. 5A shows a traverse profile in which the traverse position of the traverse guide 133 moves from the first end position to the second end position as time elapses, and the second end position to the first end position. And a traversing profile heading towards.

Further, as shown in FIGS. 5A and 5B, at the timing when the traverse guide 133 passes the origin (in FIG. 5, the timing shown by the one-dot chain line (time t1 and t3)), the traverse profile and It can be seen that the rotational speed command changes continuously.
Further, at the timing when the traverse guide 133 is present at the first end position or the second end position, that is, at the timing when the traverse speed of the traverse guide 133 becomes zero, and in the vicinity thereof, the change in the moving direction of the traverse guide 133 is supported. Inversion of the sign of the rotational speed command value has occurred.

  As described above, it corresponds to one end or the other end (or the vicinity thereof) of the package P instead of the package central portion corresponding to the position between the one end and the other end of the package P (the central region in the width direction of the package P). By calculating a traverse profile that changes the rotational speed command at the traverse position, it is possible to avoid occurrence of a portion where the winding state of the yarn Y changes suddenly during one stroke of the traverse.

(5) Operation of Traverse Device Hereinafter, the operation of the traverse device 13 of the yarn winding device 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart showing the operation of the traverse apparatus.
In the following description, the traverse guide 133 moves from the first end position to the second end position and then returns to the first end position from the second end position is defined as one cycle of movement of the traverse guide 133. Assume that the nth cycle (n: positive integer) of the traverse is started. That is, one reciprocal traverse stroke is defined as one traverse cycle.

If necessary, the manufacturing conditions of the package P are set using the setting unit 51 of the machine base setting device 5 or the input device (for example, key, touch panel, etc.) provided in the unit control unit 15 (empty winding). Traverse drive control is performed when the second half of the (n-1) th traverse cycle is executed and the traverse position of the traverse guide 133 reaches the first end position after the take-in bobbin B2 is supplied) and the manufacture of the package P is started. The unit 162 reads “the 2n−1th traverse profile (for example, from time 0 to t2 in FIG. 5A), with the first end position of the traverse position as the start point and the second end position of the traverse position as the end point. The traverse motor 135 is controlled based on the “traverse profile up to”) (step S1).
As a result, the first half of the nth traverse cycle (for example, the traverse stroke in the first half of the third cycle, in other words, the fifth traverse stroke) is started.

  The 2n-1th (for example, 5th) traverse profile is the traverse guide in the second half of the n-1th traverse cycle (for example, the second half of the traverse stroke, in other words, during the fourth traverse stroke). 133 is calculated from the second end position to the first end position, and is stored in the profile storage unit 1621.

  The traverse motor 135 is controlled based on the 2n-1th (for example, 5th) traverse profile, so that the traverse guide 133 reduces the traverse speed from the first end position to the second end position while reducing the yarn Y. Move.

After the traverse guide 133 reaches the first end position, the profile calculation unit 161 calculates the 2n-th traverse profile until it reaches the second end position (step S2).
More specifically, the “2nth (for example, sixth) traverse profile” is based on the “2n-1th (for example, fifth) traverse profile calculated in the second half of the immediately preceding traverse cycle”. The traverse position 133 is calculated from the first end position to the second end position. The calculated 2n-th traverse profile is stored in the profile storage unit 1621.

Specifically, the 2n-th traverse profile representing the movement of the traverse guide 133 from the next second end position to the first end position can be calculated as follows, for example.
First, a traverse width from the traverse position origin to the next first end position is calculated. Next, the traverse width from the origin of the traverse position calculated at the time of calculating the 2n-1th traverse profile to the second end position, the traverse width from the origin to the next first end position, and The 2n-th traverse profile is calculated in consideration of various conditions.

While the traverse guide 133 is moving from the first end position to the second end position, the traverse drive control unit 162 determines whether or not the traverse guide 133 has reached the second end position (that is, the traverse position of the traverse guide 133 is It is determined whether or not the second end position has been reached or whether or not the yarn Y has reached the other end of the package P (step S3).
For example, the traverse drive controller 162 determines that the elapsed time since the traverse guide 133 starts moving from the first end position is the time it takes for the traverse guide 133 to move from the first end position to the second end position. If they match, it can be determined that the second end position has been reached, that is, the traverse position of the traverse guide 133 has reached the second end position.

  The time taken for the traverse guide 133 to move from the first end position to the second end position is, for example, the current peripheral speed of the package P (during manufacture), the traverse width, and the traverse angle of the yarn Y, or It can be calculated based on the number of winds (number of windings) of the yarn Y on the package P.

  In addition, for example, when the traverse drive control unit 162 detects that the measured value of the rotation angle of the traverse motor 135 is a rotation angle corresponding to the second end position of the traverse position, the traverse position of the traverse guide 133 is determined. It may be determined that the second end position has been reached.

The traverse position of the traverse guide 133 becomes the second end position (in the case of “Yes” in step S3), and the winding of the yarn Y around the package P is continued, for example, when the diameter of the package P is smaller than a preset value. If it is determined that this is the case (“No” in step S4), the traverse drive control unit 162 determines that the second nth position (starting at the second end position of the traverse position and ending at the first end position of the traverse position). For example, the control of the traverse motor 135 based on the sixth traverse profile (for example, the traverse profile from time t2 to time t4 in FIG. 5A) is started (step S5).
This starts the second half of the nth traverse cycle.

  After the traverse guide 133 reaches the second end position by the control of the traverse motor 135 based on the 2n-1th (for example, 5th) traverse profile, the traverse motor 135 based on the 2nth (for example, 6th) traverse profile Until the traverse guide 133 reaches the first end position from the second end position by the control, the profile calculation unit 161 calculates the 2n + 1th traverse profile and stores it in the profile storage unit 1621 (step S6). .

Specifically, the 2n + 1-th traverse profile representing the movement of the traverse guide 133 from the next first end position to the second end position can be calculated as follows, for example.
First, a traverse width from the traverse position origin to the next second end position is calculated. Next, the traverse width from the origin of the traverse position calculated at the time of calculating the 2n-th traverse profile to the first end position, the traverse width from the origin to the next second end position, The 2n + 1th traverse profile is calculated in consideration of the conditions.
The 2n + 1th (for example, seventh) traverse profile represents a traverse from the first end position to the second end position in the first half (for example, the first half of the fourth period) of the (n + 1) th traverse period.

While the traverse guide 133 is moving from the second end position to the first end position, the traverse drive control unit 162 determines whether the traverse guide 133 has reached the first end position (that is, the traverse position of the traverse guide 133 is the first position). It is determined whether or not the end position has been reached, in other words, whether or not the traverse position corresponding to one end of the package P has been reached (step S7).
When the traverse position of the traverse guide 133 reaches the first end position (“Yes” in step S7), for example, the diameter of the package P is smaller than a preset value, and the yarn Y is wound around the package P. When it is determined to continue taking (when “No” in step S8), n = n + 1 (that is, one cycle of the next traverse is started) (step S9), and the process returns to step S1. For example, when the diameter of the package P becomes equal to or larger than a preset value and it is determined that the winding of the yarn Y around the package P is completed (in the case of “Yes” in step S8), this control is terminated.

  The above steps S1 to S9 are repeatedly executed until the package P becomes full (that is, until “Yes” is determined in step S3 or step S8).

  When the above steps S1 to S9 are repeatedly executed to form the cone-shaped package P, the profile calculation unit 161 has an absolute value of the traverse speed as shown in FIG. In the central portion of the package corresponding to the central region, the traverse guide 133 continuously decreases as the traverse guide 133 moves from the first end position to the second end position, and the traverse guide 133 moves from the second end position to the first end position. When a first traverse profile is obtained that results in a speed pattern that continuously increases as it moves, and the traverse drive control unit 162 controls the traverse motor 135 based on the first traverse profile, as shown in FIG. , High quality package with continuously increasing package hardness from small diameter side to large diameter side of package P Package P of a cone shape is prepared.

  That is, since the portion having a high package hardness is likely to be a drive point, the drive point can be stabilized on the large-diameter side having a high hardness, and the occurrence of falling can be further suppressed, and a high-quality package P can be manufactured.

  As shown in FIG. 7 as a “comparative example”, when the traverse profile is switched at the center position of the package P to produce the cone-shaped package P, the traverse speed rapidly increases at the center position. The package hardness changes abruptly at the center position of the package P.

In the yarn winding device 1, the traverse drive control unit 162 has the first end position or the second end position reached when the traverse position has reached the first end position and the second end position corresponding to the end portions in the package width direction. The control of the traverse motor 135 based on the traverse profile starting from is started.
Thus, by calculating the traverse profile starting from the end portion in the package width direction, the traverse speed in the central region in the package width direction can be controlled so as to have a desired speed pattern. The speed can be prevented from changing rapidly. Thereby, since the drive point can be stabilized, it is possible to avoid the occurrence of “falling” in the manufacturing process of the package P. As a result, a high quality package P can be manufactured.

Further, the profile calculation unit 161 has a traverse speed that is a moving speed of the traverse guide 133 from the first end position to the second end position in the traverse center corresponding to the center region in the width direction of the package P. The first traverse profile is calculated such that the speed pattern continuously increases or decreases as the travel moves, and the speed pattern continuously decreases or increases as the traverse guide 133 moves from the second end position to the first end position. doing.
In addition, when the traverse drive control unit 162 forms a cone-shaped package whose diameter decreases or increases from one end to the other end, the traverse motor 135 is controlled based on the first traverse profile.
Thereby, a high-quality cone-shaped package P can be manufactured.

Further, the profile calculation unit 161 indicates the traverse from the first end position to the second end position calculated immediately after the traverse position of the traverse guide 133 changes from the first end position to the second end position. The next traverse profile representing the traverse from the first end position to the second end position is calculated before reaching the first end position based on the above.
Thereby, every time the yarn Y reaches the package end, the next traverse profile is calculated until the opposite end is reached based on the most recently calculated traverse profile, and based on the next traverse profile. Switching to control of the traverse motor 135 can be performed without delay, and a high-quality package P can be manufactured.

The traverse motor 135 is configured to be capable of normal rotation and reverse rotation with the position corresponding to the center position in the width direction of the package P as the origin. Further, the traverse drive control unit 162 rotates the traverse motor 135 in the forward direction to move the traverse guide 133 from the origin corresponding to the center position of the package P to one of the first end position and the second end position. And the traverse guide 133 is moved from the origin to the other of the first end position and the second end position.
As a result, even in a mechanism in which the origin of the traverse motor 135 corresponds to the center position in the package width direction, control based on the traverse profile starting from the end of the package that does not correspond to the origin of the traverse motor 135 is realized. The package P can be manufactured.

2. Second Embodiment The method for controlling the traverse motor 135 in steps S1 to S9 described in the first embodiment can also be applied to the manufacture of a parallel package whose diameter is constant from one end to the other end of the package P.

  In the yarn winding device 1 ′ according to the second embodiment for manufacturing a parallel package, a cylindrical winding bobbin B2 ′ is used, and a predetermined axis A1 ′ that is a rotation axis of the winding bobbin B2 ′ is a package P. Parallel to the width direction.

The profile calculation unit 161 moves the traverse guide 133 while the traverse guide 133 moves from one of the first end position and the second end position to the other and from the other in the traverse center corresponding to the center region in the width direction of the package P. A second traverse profile is calculated such that the traverse speed, which is the moving speed of the guide 133, has a constant speed pattern.
When the traverse drive controller 162 manufactures the parallel package P, the traverse motor 135 is controlled based on the second traverse profile.

Specifically, as shown in FIG. 8A, the second traverse profile is obtained from the first end position of the traverse position to the second end position, or from the second end position to the first end position (package P). A profile for moving the traverse guide 133 linearly with respect to time, from a traverse position corresponding to one end to a traverse position corresponding to the other end, or from a traverse position corresponding to the other end to a traverse position corresponding to one end) Become.
By using the second traverse profile for the control of the traverse motor 135, as shown in FIG. 8B, at least in the traverse central portion corresponding to the central region of the package P, the second traverse position is changed from the first end position. A rotational speed command with a constant traverse speed over the end position is generated.

  The winding bobbin B2 ′ has a cylindrical shape, the predetermined axis A1 ′ is parallel to the contact roller 14, and the traverse profile used for controlling the traverse motor 135 is the second profile. Except for this, the configuration and function of the other components of the yarn winding device 1 ′ are the same as those of the yarn winding device 1 according to the first embodiment.

The profile calculation unit 161 calculates a traverse profile as shown in FIG. 8A, the traverse drive control unit 162 controls the traverse motor 135 based on the traverse profile, and switches the traverse profile. By setting the traverse position (first end position, second end position) corresponding to the end portion, it becomes easy to manufacture a high-quality parallel-shaped package P.
Even when the parallel package P is manufactured, for example, when performing a creeping operation, it may be necessary to adjust the traverse speed on the left and right of the traverse. In conventional control, the traverse corresponding to the center position of the package P may be required. There is a case where the traverse speed changes discontinuously at the position (a step occurs in the traverse speed). However, according to the present embodiment, a traverse profile is created with one of the first end position or the second end position of the traverse position as the start point and the other as the end point, and the switching is performed at the first end position or the second end position. As a result, the traverse speed can be easily adjusted so as not to change discontinuously at the center position, and even in this case, a high-quality parallel package P can be manufactured.

3. Common Items of Embodiments The first and second embodiments have the following configurations and functions in common.
A yarn winding device 1, 1 ′ (an example of a yarn winding device) according to the first and second embodiments includes a traverse guide 133 (an example of a traverse guide), a traverse motor 135 (an example of a traverse motor), and a profile calculation unit. 161 (an example of a profile calculation unit) and a traverse drive control unit 162 (an example of a traverse drive control unit). The traverse guide 133 contacts the yarn Y (an example of a yarn) and traverses the yarn Y along the width direction of the package P (an example of a package). The traverse motor 135 drives the traverse guide 133.

  The profile calculation unit 161 calculates a traverse profile. The traverse profile is a profile that determines the traverse position of the traverse guide 133 at a predetermined time. The traverse profile has either one of the first end position and the second end position as a start point and the other as an end point. The first end position is a traverse position corresponding to one end in the width direction of the package. The second end position is a traverse position corresponding to the other end in the width direction of the package.

  The traverse drive control unit 162 controls the traverse motor 135 based on the traverse profile calculated by the profile calculation unit 161. When the traverse position of the traverse guide 133 reaches the first end position, the traverse drive control unit 162 starts control of the traverse motor 135 based on the traverse profile starting from the first end position. On the other hand, when the traverse position of the traverse guide 133 reaches the second end position, the traverse drive control unit 162 starts control of the traverse motor 135 based on the traverse profile starting from the second end position.

  In the yarn winding device 1, 1 ′, the traverse drive control unit 162 has the first end position reached when the traverse guide 133 reaches the first end position and the second end position corresponding to the end portions in the package width direction. Control of the traverse motor 135 based on the traverse profile starting from the second end position is started.

  In this way, by calculating the traverse profile starting from the end in the package width direction, it is possible to control the traverse speed in the center area of the package width direction so that it has a desired speed pattern, and this corresponds to the center area of the package. It is possible to prevent the traverse speed from changing suddenly at the traverse position. Accordingly, it is possible to prevent the winding state of the yarn Y (yarn cross-hatching, package hardness, etc.) from rapidly changing in the central region of the package P. Further, the drive point can be stabilized, and the occurrence of “falling” in the package manufacturing process can be avoided. As a result, a high quality package P can be manufactured.

4). Other Embodiments Although a plurality of embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.
(A) Each step (steps S1 to S9) indicating the operation of the traverse device 13 described in the first embodiment may be modified as appropriate without departing from the scope of the invention. Alternatively, the order of processing of steps may be changed.

  (B) As the traverse device, a traverse device other than the traverse arm 131 described in the first embodiment, the traverse guide 133, and the traverse motor 135 may be used. For example, a traverse device having a cylindrical winding drum provided with a traverse groove that can be inserted and held on the side surface in the length direction can be used. In addition, a belt-type traverse device can be used. The belt-type traverse device also includes a traverse guide that contacts the yarn and traverses the yarn along the width direction of the package, and a traverse motor that drives the traverse guide. Further, the belt-type traverse device can also be configured to be able to rotate forward and backward with the center position in the width direction of the package as the origin.

  In the traverse device having the winding drum, for example, the rotation angle and the rotation speed of the winding drum are controlled based on the traverse profile described in the first and second embodiments, and the rotation angle of the winding drum is determined. By switching the traverse profile when the angle reaches when the yarn Y is present at the end of the package, a high-quality package can be manufactured as in the first and second embodiments.

  (C) In the rotational speed command of the traverse motor 135, for example, a trapezoidal rotational speed command pattern is arranged at the timing when the traverse position of the traverse guide 133 is the first end position, the second end position, or the vicinity thereof. Good. In other words, the traverse profile of the above embodiment is a speed pattern having a speed increasing region that is one end region, a central region, and a deceleration region that is the other end region. A speed pattern in which a constant speed region is provided between them may be used.

  The present invention can be widely applied to a yarn winding device that winds a yarn around a package.

DESCRIPTION OF SYMBOLS 100 Automatic winder 1, 1 'Yarn winding device 11 Cradle 12 Package drive motor 13 Traverse device 131 Traverse arm 133 Traverse guide 135 Traverse motor 14 Contact roller 15 Unit control part 16 Traverse control part 161 Profile calculation part 162 Traverse drive control part 1621 Profile Storage unit 1622 First deviation calculation unit 1623 Position control unit 1624 Second deviation calculation unit 1625 Speed control unit 1626 Third deviation calculation unit 1627 Current control unit 1628 PWM unit 17 Package drive control unit 18 Thread unwinding assisting device 19 Tension applying device 20 clearer 21 splicer device 22 lower thread guide pipe 23 upper thread guide pipe 3 automatic doffing device 5 machine setting device 51 setting unit 52 display unit 7 machine control unit SE1 angle sensors A1, A1 ′ predetermined Axis A2 Rotation axis A3 Output shaft B1 Yarn feeding bobbins B2, B2 'Winding bobbins P Package Y Yarn

Claims (6)

A yarn winding device for winding a yarn around a winding bobbin rotating around a predetermined axis to form a package,
A traverse guide that contacts the yarn and traverses the yarn along the width direction of the package;
A traverse motor for driving the traverse guide;
A profile for determining a traverse position of the traverse guide at a predetermined time, the traverse position corresponding to the first end position corresponding to one end in the width direction of the package and the other end in the width direction of the package. A profile calculation unit that calculates a traverse profile starting from one of the second end positions that is a position and having the other as an end point;
A traverse drive control unit that controls the traverse motor based on the traverse profile calculated by the profile calculation unit,
The traverse drive control unit
When the traverse position of the traverse guide becomes the first end position, the control of the traverse motor based on the traverse profile starting from the first end position is started.
When the traverse position of the traverse guide becomes the second end position, the control of the traverse motor based on the traverse profile starting from the second end position is started.
Yarn winding device. The profile calculation unit
The traverse speed, which is the movement speed of the traverse guide, is continuously increased as the traverse guide moves from the first end position to the second end position in the traverse center corresponding to the central region in the width direction of the package. Calculating a first traverse profile that increases or decreases to a speed pattern that continuously decreases or increases as the traverse guide moves from the second end position to the first end position;
The traverse drive control unit
Controlling the traverse motor based on the first traverse profile when forming the cone-shaped package whose diameter decreases or increases from one end to the other end;
The yarn winding device according to claim 1. The profile calculation unit
The traverse speed, which is the moving speed of the traverse guide, is a traverse center corresponding to a central region in the width direction of the package from one of the first end position and the second end position to the other and the other to the one. Calculate a second traverse profile that results in a constant speed pattern while the traverse guide moves,
The traverse drive control unit
Controlling the traverse motor based on the second traverse profile when forming the parallel package having a constant diameter from one end to the other;
The yarn winding device according to claim 1. The profile calculation unit
The traverse speed continuously decreases as the traverse guide moves from the first end position to the second end position in the traverse center, and from the second end position to the first end position. And calculating the first traverse profile so as to have a speed pattern that continuously increases as the traverse guide moves,
The traverse drive control unit
When forming the cone-shaped package whose diameter increases from one end to the other end, the traverse motor is controlled based on the first traverse profile.
The yarn winding device according to claim 2. The profile calculation unit is based on the traverse profile representing a traverse from the second end position to the first end position calculated most recently after the traverse guide reaches the second end position from the first end position. Calculating a next traverse profile representing a traverse from the first end position to the second end position until the first end position is reached.
The yarn winding device according to any one of claims 1 to 4. The traverse motor is configured to be capable of normal rotation and reverse rotation with the position corresponding to the center position in the width direction of the package as the origin,
The traverse drive control unit
The traverse motor is rotated forward to move the traverse guide from the origin corresponding to the center position of the package to one of the first end position and the second end position,
Reversing the traverse motor to move the traverse guide from the origin to the other of the first end position and the second end position;
The yarn winding device according to any one of claims 1 to 5.

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