JP2544226B2 - Power supply method and device for mobile automatic processor for weaving factory - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a power supply method and device for a mobile automatic processing device for a weaving factory, and more particularly to an on-call method (call response type) in a weaving factory. Improving the power supply technology to an automatic processing device (hereinafter abbreviated as "robot") that moves to a loom position requiring processing, machined it, and automatically performs predetermined operations such as doffing or warp repair Is.

(Prior Art) Conventionally, power supply to a robot as described above is generally performed by a battery mounted on the robot itself. However, since it is necessary to charge the battery frequently, using such an on-board battery as a power source causes waste of time and labor, and it is a major obstacle to improving the productivity of the entire factory. Is.

In order to solve such a problem, it is possible to separate the moving power supply system and the processing power supply system of the robot.
That is, it is an idea that the moving power of the robot is supplied by the on-board battery and the processing power is supplied by the power source on the loom side.

However, in consideration of the peculiarities of the weaving factory, this separation method has a serious problem in disaster prevention. In other words, the weaving factory is filled with a large amount of fly waste, and if there is even a small amount of fire, it will catch fire and instantly fire several dozen rice. In addition, since flammable materials such as warp and wefts are laid on the loom, there is a danger of developing a large fire once the cotton wool is ignited.

On the other hand, when supplying power from the loom to the robot,
It is necessary to associate and dissociate the connecting ends of both electric circuits.However, if the connecting and disconnecting ends are made to associate or dissociate until the power is turned on, sparks are generated near the connecting ends when the receiving and supplying connecting ends slide on each other. Often occurs.

The generation of such sparks is not a problem in an ordinary machinery factory. However, in the case of a weaving factory in a special operation state as described above, there is a very high possibility that sparks at the time of disassociation of the connection ends will ignite the cotton wool and cause a fire.

(Summary of the Invention) An object of the present invention is to prevent a fire from occurring when power is supplied to the robot as described above in a two-division system.

Therefore, in the present invention, the movement of the robot is performed by the power from the battery mounted on the loom, the processing work of the robot is performed by the power supply from the loom side, and the completion of the formation of the electric circuit by the association of the connection ends is detected by the sensor. The gist is to detect and then turn on the electric power to start power supply after a predetermined delay time by the timer.

(Embodiment) FIG. 1 shows an example of a weaving factory in which a robot to which the present invention is applied is used. Robot R is loom L
Along the column of, for example, the route shown by the alternate long and short dash line in the figure,
When a command is issued to the effect that a certain loom L needs to be processed, the loom L is moved to the position of the loom L by the on-call method and the specified process is performed. If necessary, spare room A
Receive maintenance work such as battery charging at. However, the robot R does not always have to make a patrol at all times,
For example, you may stand by in the spare room A and move to the position of the loom L which requires processing by the on-call method.

The robot R, which shows the outline of the configuration of the present invention in FIG. 2, is equipped with a moving drive unit 3 and a processing drive unit 5, and the moving drive unit 3 is also connected to the on-board battery 1. There is. Further, the processing drive unit 5 is electrically connected to the power receiving connection terminal RT. On the other hand, the loom L has a power supply connection end LT connected to the power source PS.
Is provided. The connecting end LT on the loom L is connected to the connecting end RT on the robot R when the robot R stops at the loom L position.
It is arranged at a position where it can be connected to.

When the robot R moves, the robot R receives the power for movement from the battery 1 mounted on the robot R, and receives the power for processing from the power source PS of the loom L during the processing work.

Now, the structure for the association between the connection terminals RT and LT as described above will be described in detail with reference to FIGS. FIG. 3 shows a connecting end unit 10 for supporting the robot-side connecting end RT, and a guide bracket 12 fixed to a frame (not shown) of the robot R has a guide groove 13 for a slider 13.
a is engaged, and this engagement enables the slider 13 to reciprocate in the front-back direction (that is, in the direction toward and away from the loom L). A ball screw 11 operatively connected to a drive motor (not shown) (motor 38 shown in FIG. 5) is screwed onto the slider 13.
The slider 13 moves toward and away from the loom L according to the rotation direction of the loom L.

The base 14 is fixed to the tip of the slider 13,
A vertically movable slide base 15 is engaged with the front surface of the base 14 so as to be vertically reciprocable. Further, a horizontal slide base 16 is engaged with the front surface of the vertical slide base 15 so as to be capable of reciprocating in the horizontal direction (that is, the width direction of the loom L). The vertical slide base 15 is elastically supported by a vertical spring support mechanism 15a fixed to the base 14, and the horizontal slide base 16 is the vertical slide base 15.
It is elastically held by the left and right spring support mechanism 16a fixed to the. The upper and lower spring support mechanism 15a is an L-shaped stay 7
It is composed of 1, a spring 72 and a rod 73. The L-shaped stay 71 is fixed to the base 14. One end of the rod 73 inserted through the spring 72 is fixed to the L-shaped stay 71 on the vertical movement slide base 15 side, and the other end is loosely fitted in a hole formed in the vertical movement slide base 15. The left and right spring support mechanism 16a has the same structure as the upper and lower spring support mechanism 15a.

The power receiving connection end RT is a left-right slide base 16
Fixed to the front of the. Further, a guide pin 17 is fixed in parallel to the front surface in the vicinity of the connection end RT.

A first proximity switch 31 is mounted on the front surface of the left-right slide base 16 facing the loom, and a second proximity switch 32 is mounted on the frame of the robot facing the rear surface of the base 14. The first proximity switch 31 of K functions as a sensor that detects the completion of association between the connection ends RT and LT, and the second proximity switch 32 also functions as a sensor that detects the completion of dissociation.

FIG. 4 shows an example of the loom-side connecting end unit 20 that cooperates with the robot-side connecting end unit 10 as described above. A conical guide hole 21 opened toward the guide pin 17 is formed at a position corresponding to.

FIG. 5 shows an example of an electric circuit used in the device of the present invention. The mechanical connection is shown by the dotted line in the figure.

On the robot R side, the circuit is the battery 1,
It includes a processing drive unit 5, a transfer motor 37 that is a part of the transfer drive unit 3, and a power receiving connection end RT, and an operation command OS from a host computer that manages the loom of the entire factory. It has a controller 33 for receiving. However, instead of this, the operation command OS may be manually input to the controller 33.

The battery 1 is connected to a moving motor 37 and a connecting motor 38 via switches, respectively. The controller 33, on the one hand, via the switch to the motor 37 for movement,
On the other hand, it is connected to the connecting motor 38 via the first flip-flop 34 and the switch, and further via the second flip-flop 34 and the switch. Further, the controller 33 is connected to the processing drive unit 5 and the set terminal of the second flip-flop 35 via the delay timer 35a.

The first proximity switch 31 also shown in FIG. 4 resets the first flip-flop 34 by its output signal. The first proximity switch 31 is also connected to the set terminal of the third flip-flop 36 via the delay timer 36a. The third flip-flop 36 is a controller
It is reset by the output signal from 33. The second proximity switch 32 outputs the detection signal to the controller 33 and resets the second flip-flop 35 by the output signal.

The power receiving connection terminal RT is connected to the processing drive unit 5 via a switch 39 whose opening and closing is controlled by the output signal of the third flip-flop 36.

The timer 35a is incorporated in the circuit from the viewpoint of fire prevention under a special condition of a weaving factory as described later.

Next, the operation of the circuit will be described. When the operation command OS is input, the controller 33 uses the output signal to move the motor 37 for movement.
The switch connected to is turned on to connect the battery 1 and the moving motor 37, whereby power is supplied from the battery 1 to the moving motor 37, the motor 37 is activated, and the robot R requires processing. Move to the loom L position. When this movement is completed, the controller 33 turns off the above switch to stop the power supply from the battery 1. At this time, the connection end unit 10 of the robot R and the loom power connection end unit 20 face each other.

Then, the controller 33 sets the first flip-flop 34 and closes the switch via the relay R1 to start the connecting motor 38 to rotate normally, so that the connecting end unit 10 of the robot R is connected to the connecting end of the loom L. By advancing toward the unit 20, the guide pin 17 shown in FIG. 4 is inserted into the guide hole 21. At this time, if there is a center deviation between the two, the guide pin 17 is guided to the conical wall surface of the guide hole 21 and moves to the center of the guide hole 21. This vertical and horizontal movement is performed by the slide base 15 elastically supported by the spring support mechanisms 15a and 16a,
16 is done by sliding. In this way, the connection of both connecting ends is ensured.

The association of the connection ends is detected by the first proximity switch 31, the output signal resets the first flip-flop 34, and the connection motor 38 is stopped. That is, the forward movement of the robot-side connecting end unit 10 is stopped.

The output signal from the first proximity switch 31 is the timer 36a.
Is input to the processing drive unit 5 from the power source PS of the loom L by setting the third flip-flop 36 with a predetermined time delay, thereby turning on the switch 39. Therefore, predetermined processing is performed.
At this time, there is no discharge between the connection ends because electricity flows to the connection ends with a predetermined time delay from the completion of the association of both connection ends. This is a very important fire protection measure in a weaving factory where wind flies and the like are very likely to cause a fire.

When the processing is completed, the controller 33 outputs a processing completion signal to the timer 35a, and the second flip-flop 35 is set after a predetermined time delay. As a result, the connecting motor 38 is connected to the battery 1 and the reverse rotation is started. The processing completion signal is input to the reset terminal of the third flip-flop 36 as well as the timer 35a. Therefore, as a preventive measure, the switch 39 is turned off before the connecting motor 38 starts reverse rotation, and the power supply from the power source PS of the loom L is stopped. When the robot-side connecting end unit 10 retracts to a predetermined position, this is set to the second proximity switch.
32 detected. The output signal resets the second flip-flop 35, and the connecting motor 38 and the battery 1
When the connection with is disconnected, the backward movement of the robot side connection end unit 10 is stopped. Also, the second proximity switch
The detection signal of 32 is also output to the controller 33. That is, since the connection ends are dissociated with a predetermined time delay after the completion of power supply, there is no discharge between the connection ends. Therefore, the second timer 36a is not an essential element in the circuit configuration, but it is desirable to be incorporated in the circuit from the viewpoint of fire prevention.

After that, the moving motor 37 is activated and the robot R returns to the original position.

In the above circuit, a third flip-flop 36 and a switch 39 are provided on the robot R side to control the power supply to the processing drive unit 5, but in the example shown in FIG. 6, similar control is performed on the loom L side. Is done in.

The circuit configuration on the robot R side is the same as the previous one, except that the flip-flop 36 and the switch 39 are omitted. As shown in FIG. 4, a third proximity switch 41 is provided on the front surface of the frame on the side of the loom L to detect the completion of the meeting of the connection ends. The switch 41 is connected to the set terminal of the third flip-flop 42 via the delay timer 42a. This third flip-flop
The output signal of 42 controls opening and closing of a switch 43 provided between the connection end LT and the power source PS. The third flip-flop 42 is reset by the input of a processing completion signal from the controller of the loom (not shown).

When the third proximity switch 41 detects the completion of the meeting of the connection ends, the output signal from the third flip-flop
42 is set with a predetermined time delay, the switch 43 is turned on by its output signal, and power supply from the power source PS to the processing drive unit 5 is started. Also in this case, the time delay provided by the timer 42a effectively prevents the occurrence of fire. When the processing is completed, the processing completion signal from the loom controller resets the flip-flop 42 and turns off the switch 43 to stop the power supply to the processing unit 5.

In the above example, the connecting end unit 10 on the robot R side is moved forward to bring the connecting ends into contact with each other, but the connecting end unit 20 on the loom L side may be moved forward. Further, if necessary, the circuit between the power receiving connection end RT and the processing drive unit 5 is branched and connected to the battery 1, so that the battery 1 is processed during the processing operation of the robot R.
It may be configured to charge above.

Also, instead of advancing the connecting end unit, the robot R
It is also possible to utilize the movement itself of the loom to the loom L itself for the meeting of the connecting ends. That is, both connecting ends are arranged so as to face each other in the moving direction of the robot R, and the robot R is set so as to move in the direction opposite to the incoming direction and return to the original position. The two ends will automatically meet when the robot R arrives at the loom L position and will automatically disengage when the robot R leaves the loom L. The detection of the completion of the meeting is performed by the detection signal of the completion of the movement.

FIG. 7 shows a structure in which an openable cover is provided on the front portion of the connecting end unit 20 on the loom L side. A pair of left and right support shafts 52 are rotatably supported in parallel with each other on a vertical bearing 51 fixed to the frame of the loom L. Left and right covers 53a and 53b are fixed to these support shafts 52, and these covers rotate left and right around the axis of the support shafts as the support shafts 52 rotate. A bending arm 55 extends from the boss 54 fixed to each of the support shafts 52 in the center and in a direction slightly inclined to the front in the vertical direction with respect to the paper surface, and rotatably supports a roller 57 at its lower end. The roller 57 is provided so as to be located behind the guide hole 21. Tension spring 56 between both arms 55
And the rollers 57 are kept close to each other by the spring force. Ie cover 53
The doors a and 53b are kept closed. Further, on the front surface of the cover, a hole having a diameter slightly larger than the outer diameter of the guide hole 21 shown in FIG. 4 is formed at a position corresponding to the guide hole 21, so that it is covered by the cover below the hole. The loom L-side connection end is located.

When the guide pin 17 (see FIG. 3) on the robot R side enters the guide hole 21 when the connecting ends meet, the roller 57 causes the guide pin 17 to move.
It is pushed to the left and right by engaging with, the support shaft 52 rotates accordingly, and the covers 53a and 53b are opened.
However, instead of such an open door structure, a limit switch is provided facing the guide hole 21 of the loom L side frame,
The guide pin 17 may be turned on to activate a motor for opening and closing the cover to open the cover. By providing the cover in this way, it is possible to reduce the occurrence of fire because it is difficult for dust and the like to adhere to the connection end.

As is apparent from the above, according to the present invention, not only the power supply is separated to eliminate the need for frequent charging work, but by introducing a time delay structure, the connection end accompanying the separation of power supply It was possible to skillfully avoid the fire caused by the spark generation at the time of dissociation. Furthermore, when a cover is used, it is possible to prevent the occurrence of fire due to the accumulation of cotton wool or the like.

[Brief description of drawings]

FIG. 1 is a plan view showing a weaving factory using a robot to which the present invention is applied, FIG. 2 is a plan view showing a schematic configuration of the device of the present invention, and FIG. 3 is a perspective view showing an example of a robot side connecting end unit. Fig. 4, Fig. 4 is a side view showing the association state of the connection ends,
5 and 6 are block diagrams showing a signal processing circuit, and FIG. 7 is a partial sectional front view showing a connecting end having an open door type cover. R ... Automatic processing device, RT ... Power receiving connection end L ... Loom, LT ... Power supply connection end PS ... Power source, 1 ... Battery 3 ... Movement drive unit 5 ... Processing drive unit 10 ... Robot side connection end Unit 20: Loom side connecting end unit

Claims (5)

(57) [Claims] 1. A mobile automatic processing apparatus for carrying out a predetermined processing by moving to a loom that requires processing by an on-call method in a weaving factory, wherein the moving power is supplied from an on-board battery, and the processing power is the loom. It is supplied from the loom side through an electric circuit that is temporarily formed between the automatic processing devices, and this power supply is started after a lapse of a predetermined time after the completion of the formation of the electric circuit. Power supply method for automatic processor. 2. The method according to claim 1, wherein formation of an electric circuit is released after a predetermined time has elapsed after completion of power supply. 3. A battery (1) mounted on an automatic processing device which moves in a weaving factory, a moving drive unit (3) connected to the battery (1), a processing drive unit (5), and an electric device connected to the battery. Power supply connection end (RT), which is electrically connected to the loom, the power supply (PS) provided on the loom, and the connection end that is connected to this and the connection end on the automatic processor at the processing position A power supply connection end (LT), a switch (39) provided between the power reception connection end and the processing drive unit, and a first sensor (31) for detecting the completion of the meeting of the connection end, A power supply device for a mobile automatic processing device for a weaving factory, characterized by having a first timer (35a) interposed between the sensor and the switch, 4. A switch (39) provided between a power receiving connection end and a processing drive unit, a second sensor (32) for detecting completion of dissociation of the connection end, the sensor and the switch. Device according to claim 3, characterized in that it has a second timer (36a) interposed between the two. 5. The device according to claim 3, wherein at least one of the connection ends is provided with a cover that opens and closes in association with association and dissociation of the connection ends.