JP2632810B2 - Attitude control method of automatic machine in spinning machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Industrial Application Field) The present invention travels along the longitudinal direction of a machine frame of a spinning machine such as a spinning machine or a roving machine, and performs operations such as doffing, shining, and piecing. The present invention relates to a method for controlling the attitude of an automatic machine in a spinning machine such as a doffing machine, a shino machine and a yarn splicing machine.

(Prior Art) Generally, when an automatic machine of this type performs work, it is necessary to maintain a constant positional relationship between the automatic machine and the spinning machine. However,
Since the floor of the factory is not completely horizontal, when the automatic machine travels directly on the floor to perform work, the positional relationship between the spinning machine and the automatic machine varies depending on the work position, which hinders the work. For this reason, the height is adjusted in parallel with the spindle rail of the conventional spinning machine, the rail is laid on the floor surface, and the automatic machine runs on the rail. However, laying these rails requires tedious work such as excavating the floor surface, which not only requires a great deal of cost and labor, but also requires the operation of the machine stand during long construction periods when laying in an existing factory. Has to be stopped.

In order to solve the above-mentioned problems, Japanese Patent Application Laid-Open No. 51-40437, published on April 5, 1976, discloses that at least two guide rollers are provided on a side surface of a working machine (automatic machine) on a spinning machine stand side. Is equipped with a pair of traveling floor wheels, a guide roller is fitted to a guide rail attached to the spinning machine, a work machine that travels on the floor surface and performs work such as doffing, etc. The traveling posture control device of the working machine, which is equipped with a detection device that automatically detects and issues a detection signal, moves the floor wheel for traveling up and down in response to this detection signal, and corrects the inclination of the working machine during traveling Proposed.

(Problems to be Solved by the Invention) However, the device has a disadvantage that the inclination detection accuracy is poor because the inclination of the working machine is corrected by detecting the inclination of the vehicle body during traveling. In other words, when the inclination is detected during traveling, vibration acceleration is applied to the sensor.If the response is improved, it is difficult to distinguish between the detection signal based on the inclination of the automatic machine and the detection signal based on the vibration acceleration. In order to make a distinction, it is necessary to make the response poor, and the inclination detection accuracy also becomes poor. Therefore, it is difficult to accurately and horizontally control the attitude of the automatic machine.

Configuration of the Invention (Means for Solving the Problems) In order to solve the above problems, in the present invention, the vehicle is provided with wheels for traveling on the floor surface, travels along the spinning machine stand, and stops at a predetermined position to perform work. In the posture control method of the automatic machine to be performed, after stopping at a predetermined position of the automatic machine, by a posture control start signal after a short time has elapsed, the inclination angle is continuously calculated based on the output of the inclination angle sensor, When the value is out of the predetermined range, a correction signal is output to the drive control device for raising and lowering the wheels to correct the attitude of the automatic machine, and when the value is within the predetermined range, a stop signal is output and the drive control is performed. In addition to stopping the driving of the apparatus, a posture control completion signal is output, and at the same time, an operation start signal of the automatic machine is output.

(Function) The automatic machine according to the present invention intermittently moves by a predetermined distance required for operations such as doffing and reshaping once in a state in which the floor traveling wheel is in contact with the floor along the spinning machine stand. In the stopped state, work such as doffing and changing the shino is performed. At this time, the inclination of the automatic machine in a horizontal direction, that is, in a plane perpendicular to the longitudinal direction of the spinning machine table, changes due to unevenness of the floor surface. When the automatic machine stops at a predetermined position to perform the above-described operation, a slight time elapses from the time when the automatic machine stops, and the output of the tilt angle sensor is stabilized. The inclination angle is continuously calculated based on. Then, when the value is out of the predetermined range, a correction signal is output to the drive control device for raising and lowering the wheels to correct the attitude of the automatic machine. That is, the wheels are moved up and down and the posture of the automatic machine is controlled to be horizontal. Then, when the inclination angle falls within the predetermined range, a stop signal is output to stop driving of the drive control device, and an attitude control completion signal is output. At the same time, a signal for starting the operation of the automatic machine is output, and the operation is immediately started.

(Embodiment) An embodiment in which the present invention is embodied in an automatic spinning machine of a spinning machine will be described below with reference to the drawings. A guide rail 2 extends horizontally on the side surface of the spinning frame 1 along the longitudinal direction of the frame. In the Shino machine 3 as an automatic machine, two guide rollers 4 that can be fitted to the guide rail 2 are provided on the side of the spinning machine stand at positions corresponding to the centers of the two guide rollers 4 at the lower part on the opposite side. Floor running wheels 5 are provided, respectively, and the guide rollers 4 are intermittently driven by a predetermined distance along the spinning frame 1 in a state of being fitted to the guide rollers 2, and a spare shining row of creels 6 is provided. 7 is performed to replace the spare Shino winding F 7 and the remaining yarn bobbin U of the main Shino winding rail 8.

The lifting machine 10 is provided with a lifting board 10 that moves up and down while maintaining a horizontal state by the operation of a cylinder 9 fixed to a frame of the Shining machine. A residual yarn bobbin transfer device 12 which takes out from the rail 8 and hangs on the hanger 11 of the preliminary Shino winding line 7, and takes out the preliminary Shino winding F from the hanger 11 of the preliminary Shino winding line 7 and A spare shin-maki transfer device (not shown) for suspending the spare shin-maki F on the hanger 11 from which the rim has been removed is disposed adjacent to the hanger 11. The remaining yarn bobbin transfer device 12 calls a peg 13 that can be inserted into the bottom of the bobbin, and the Shino winding line 7 and the Motoshin winding rail 8
1 is provided with a pair of bobbin exchange arms 14 each having a parallel four-bar link for moving between the bobbin exchange arms 14, and a rotary lever 15 that rotates integrally with the bobbin exchange arms 14 is driven by a cylinder 16. Are moved to a standby position indicated by a solid line and a forward position indicated by a chain line. The spare Shinomori transfer device also has the same configuration, and the Shino replacement operation is performed by the vertical movement by the operation of the cylinder 9 and the back and forth movement by the cylinder 16.

As shown in FIGS. 2 and 3, a support bracket 17 protrudes from the lower outside of the Shino machine 3, and a support lever 19 is rotatably supported on a support shaft 18 fixed to the support bracket 17. The floor traveling wheel 5 is rotatably supported by the support lever 19 via a support shaft 20. Bracket on front end of Shino machine 3
A hydraulic cylinder 22 is rotatably supported at the base end of the bracket 21 by the bracket 21.
The piston rod 23 and one end of the support lever 19
24 are connected rotatably. The support lever 19
The hydraulic cylinder 22 and the hydraulic cylinder 22 constitute a wheel elevating device.

The Shino machine 3 is equipped with an inclination angle sensor 25 as an inclination detecting device for detecting the inclination of the Shino machine 3 in a plane orthogonal to the longitudinal direction of the spinning frame 1. As the tilt angle sensor 25, a well-known potentiometer type or torque balance type sensor using a pendulum is used. Then, a control device 26 provided in the Shino machine 3 performs drive control of the wheel lifting / lowering device, that is, the hydraulic cylinder 22, based on the detection signal of the inclination angle sensor 25. As shown in FIG. 4, the control device 26 is provided with the tilt angle sensor.
A central processing unit (hereinafter referred to as a CPU) 27 for performing arithmetic processing by inputting a detection signal output from 25, a program memory 28 composed of a read-only memory (ROM) storing a control program, and temporarily storing arithmetic processing results. The CPU 27 operates according to a program stored in a program memory 28. The working memory 29 includes a readable and rewritable memory (RAM). Also, CPU 27 is tilt angle sensor 2
A / D converter 30 and input / output interface for 5 detection signals
The hydraulic cylinder 22 is driven and controlled via an input / output interface 31 and a cylinder drive circuit 32.

Next, the operation of the device configured as described above will be described.
When a request for spinning of the spinning frame 1 is made, the spinning frame 3 travels from one end of the spinning frame 1 and stops at a predetermined spinning position. Since the Shino machine 3 is supported on the guide rail 2 by a pair of guide rollers 4, the horizontal in the front-rear direction is always maintained, and the inclination in a plane orthogonal to the longitudinal direction of the spinning frame 1 is caused by unevenness of the floor surface. It changes depending on the position of the corresponding floor traveling wheel 5.
This inclination greatly varies depending on the position of the traveling wheel 5 because the installation interval of the spinning frame cannot be widened. As shown in FIG. 5, the tilt angle sensor 25 always outputs a detection signal, and the signals output during the traveling of the Shino machine 3 include those due to the inclination of the Shino machine 3 and the vibration acceleration when the Shino machine 3 is traveling. Does not correspond to the exact inclination angle.

After the Shino machine 3 stops at the predetermined position, the control device 26 starts the attitude control operation after a lapse of a short period of time when the output signal of the inclination angle sensor 25 is stabilized. In other words, the CP
U27 calculates the tilt angle of the Shino machine 3 based on the signal input from the tilt angle sensor 25 via the A / D converter 30 and the input / output interface 31, and the calculated result does not interfere with the Shino changing operation. Is determined to be within the predetermined range, and a cylinder drive signal is output to the cylinder drive circuit 32 when the value is outside the predetermined range. When the Shino machine 3 is inclined toward the spinning frame base, the hydraulic cylinder 22 operates in the direction in which the piston rod 23 is retracted, and the support lever 19 is rotated counterclockwise in FIG. To move the floor traveling wheel 5 upward. When the Shino machine 3 is inclined to the opposite side, the hydraulic cylinder is operated in the direction in which the piston rod 23 projects, the support lever 19 is rotated clockwise, and the floor traveling wheel 5 is moved. Descended. Even during the operation of the hydraulic cylinder 22, the detection signal of the inclination angle sensor 25 is always input to the CPU 27, and the CPU 27 continuously calculates the inclination angle of the Shino machine 3, and when the value falls within a predetermined range, When the vehicle enters the unrestricted area shown in FIG. 5, a cylinder drive stop signal is output. As a result, the floor traveling wheels 5 are held at that position, and the posture of the Shino machine 3 is held in a state that does not hinder the Shino work. At the same time, the attitude control completion signal is output at the same time as the output of the cylinder drive stop signal. At the same time as the attitude control signal is turned off, the replacement operation is started. After the completion of the Shino replacement work, the Shino replacement machine 3 starts running again and stops at the next Shino replacement position,
Thereafter, the attitude control and the shin-changing operation are performed in the same manner. As described above, since the attitude control is performed when the Shino machine 3 is stopped, the detection signal of the inclination angle sensor 25 does not include the signal based on the vibration acceleration, and only the signal based on the inclination of the Shino machine 3 is input to the CPU 27, and the posture is controlled. Control is performed with high accuracy.

Note that the present invention is not limited to the above embodiment, and two or more traveling wheels 5 that can move up and down are provided, a sensor other than the pendulum type is used as the inclination angle sensor 25,
It may be embodied in another automatic machine such as a doffing machine and a yarn splicing machine instead of the Shino machine.

Effect of the Invention As described in detail above, according to the present invention, by moving the floor traveling wheel up and down according to the unevenness of the floor surface, the posture of the automatic machine is changed, and the operation such as doffing is hindered. Since it can be controlled in a horizontal state without any trouble, there is no need to lay running rails on the floor surface unlike the related art, and it can be easily used for a machine stand in an existing factory. In particular, since the attitude control is performed from the time when the output signal of the tilt angle sensor becomes stable after the automatic machine stops, unlike the case where the attitude control is performed during running or immediately after stopping, it is caused by vibration during running or residual vibration immediately after stopping. The tilt acceleration sensor does not apply excessive vibration acceleration to the tilt angle sensor, and the tilt detection accuracy is stable and high-precision attitude control can be performed. In this case, the operation can be performed without any trouble, and the responsiveness can be increased. Furthermore, since the operation start signal of the automatic machine is output at the same time as the completion of the posture control, the work can be started immediately by the automatic machine after the posture control, thereby preventing a reduction in work efficiency due to the posture control. Can be.

[Brief description of the drawings]

FIG. 1 is a front view showing an embodiment in which the present invention is embodied in a Shino machine, FIG. 2 is a plan view of a wheel lifting device, FIG. 3 is a side view, FIG. 4 is a block diagram, FIG. The figure is a timing chart showing the attitude control. Spinning machine stand 1, guide rail 2, Shino machine 3 as automatic machine, guide roller 4, floor traveling wheel 5, support lever 19 as wheel elevating device, hydraulic cylinder 22, tilt angle as tilt detecting device Sensor 25, control device 26.

Claims (1)

(57) [Claims] An attitude control method for an automatic machine, comprising a wheel for traveling on a floor, traveling along a spinning machine stand, and stopping at a predetermined position to perform an operation.
After a short time has passed, the attitude control start signal is used to continuously calculate the tilt angle based on the output of the tilt angle sensor,
When the value is out of the predetermined range, a correction signal is output to the drive control device for raising and lowering the wheels to correct the attitude of the automatic machine, and when the value is within the predetermined range, a stop signal is output and the drive control is performed. A method for controlling the attitude of an automatic machine in a spinning machine, in which the driving of the apparatus is stopped, a posture control completion signal is output, and at the same time, a signal for starting the operation of the automatic machine is output.