JP2658162B2 - Operation control method of cross roll transfer device in loom - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an operation control method of a cross roll transfer device used for removing a cross roll from a loom.

2. Description of the Related Art An example of a cross roll transfer device is disclosed in Japanese Patent Application Laid-Open No. Sho 60-171958. In this conventional apparatus, the cross roll is transferred by a pair of arms, the transfer arm moves along a predetermined transfer path, and the cross roll on the loom moves along the transfer path. It is transferred onto a loading device. The movement of the transfer arm is controlled based on the detection of the presence or absence of the cross roll on the loom and the detection of the entry of the transfer arm to the cross roll mounting position on the loom to achieve automatic transfer of the cross roll. I have.

[Problems to be Solved by the Invention] However, the cross roll transfer device is accurately stopped and arranged at a predetermined transfer work position in front of the loom, and then the set transfer operation of the transfer arm is automatically performed. In the fully automatic program mode, the construction of the program in the control computer becomes complicated, and it is inevitable that the reliability of executing the constructed complicated program is reduced. If the control by the push button operation is interposed instead of the complicated program construction, the constructed program can be simplified,
If such a control operation is interposed, the occurrence of an artificial operation error such as an error in the push button operation is unavoidable, and there is a possibility that damage to each part may occur due to a malfunction of the cross roll transfer device.

Means for Solving the Problems To this end, in the present invention, the presence or absence of the cross roll on the transfer arm at a predetermined position before the operation of the cross roll transfer device is detected, and When an operation command signal is generated, the validity of the operation command signal is determined based on the detection result of the presence or absence of the cross roll on the transfer arm, and the cross roll based on the operation command signal is determined only when it is determined to be valid. The operation start of the transfer device is allowed.

[Operation] The presence / absence of the cross roll on the transfer arm at a predetermined position before the operation of the cross roll transfer device starts is detected by the detection unit. And when the operation command signal of the cross roll transfer device is generated, the validity of the operation command signal is determined based on the detection result of the presence or absence of the cross roll on the transfer arm, and when it is determined to be valid, Only the operation start of the cross roll transfer device based on the operation command signal is allowed. As a result, it is possible to avoid the malfunction of the cross roll transfer unit when the malfunction in the automatic program mode is grasped or when the operator makes a mistake in selecting the push button.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS.

As shown in FIGS. 1 to 3, a control device 2 having a built-in computer for controlling transfer and transfer is mounted at one end of a transfer vehicle 1 supported by a drive wheel 1a. Based on a detection signal from a detecting means (not shown) for detecting a lead wire (not shown) laid on the floor, the traveling route of the carrier 1 is set on the lead wire. The lead wire is set so as to pass through a cross roll transfer work position in front of the loom 3, and the control device 2 performs a predetermined cross roll transfer in front of the loom based on a signal from stop position detecting means (not shown). The stop of the transport vehicle 1 to the work position is controlled.

As shown in FIG. 2, rails 4,
5 and holding racks 6, 7 are arranged side by side in the front-rear direction (left-right direction in FIG. 3), and an auxiliary table 8 is mounted on the carrier 1 via rails 4 via three left-right wheels 9, 10, 11 respectively. , 5. The rear wheels 9 roll on the rails 4 and 5, and the front wheels 10 and 11 can lean forward from the tips of the rails 4 and 5. Pinions 12,1 at both ends of the wheel 9a of the rear wheel 9
3 is attached, and it engages with the holding racks 6 and 7 to roll.

Support frames 14 and 15 are provided upright on both left and right ends of the auxiliary table 8, and a hydraulic motor 16 for driving the auxiliary table 8 corresponds to the axle 9a on the auxiliary table 8 between the support frames 14 and 15. Installed. The drive sprocket 16a of the hydraulic motor 16 and the driven sprocket 17 on the axle 9a are operatively connected by a chain 18, and the forward and reverse rotation of the hydraulic motor 16 causes the axle 9a to rotate.
Rotates forward and backward, and the auxiliary table 8 is composed of rails 4 and 5 and a holding rack.
Move forward and backward along 6,7.

A pair of drive shafts 19, 20 are rotatably supported between the two support frames 14, 15, and one of the drive shafts 19 is driven via a driven sprocket 21, a chain 22, and a drive sprocket 23a of a hydraulic motor 23. The drive shaft 20 is operatively connected to the hydraulic motor 26 via a driven sprocket 24, a chain 25, and a drive sprocket 26a of the hydraulic motor 26, while being operatively connected to the hydraulic motor 23.

A pair of transfer arms for cross roll transfer are mounted on the drive shaft 19.
27 are anchored. The transfer arm 27 includes a cylindrical portion 28 fitted and fixed to the drive shaft 19, a pair of side plates 29, 30 fixed to the peripheral surface of the cylindrical portion 28, and a reinforcing plate 31 connecting the both side plates 29, 30. , 32 and
A guide projection 33 is provided on the inner surface of one of the reinforcing plates 31. A support shaft 34 is supported between the distal ends of both side plates 29, 30.

A drive lever 35 is provided on both sides of the cylinder 28 at the base end of the transfer arm 27
In addition to being rotatably supported between 29 and 30, a transfer hand 36 is rotatably supported on a support shaft 34 at the tip of the transfer arm 27, and the drive lever 35 and the transfer hand 36 Is a chain
Linked by 37. Transfer hand 36 is on both sides 29, 30
The rotation of the chain 37 is regulated by a stopper 38 between the two, and the chain 37 is guided in contact with the guide projection 33 between the side plates 29 and 30.
The driving lever 35 has an arcuate winding surface 35a, and the base end of the transfer hand 36 has an arcuate winding surface 36a.
Are formed on the winding surface 35a, and the connection start end of the chain 37 is wound around the winding surface 35a, and the connection end of the chain 37 is wound around the winding surface 36a. Between the wrapping radius r ₁ and the wrapping surface 36a of MakiKakemen 35a of the wrapping radius r ₂ is set with magnitude relation between r _1> r _2, the transfer hand 36 is driven lever
A follow-up rotation corresponding to the winding radius ratio r ₁ / r ₂ is performed for the rotation of 35.

A pair of control levers 39 is fixed to the drive shaft 20 in correspondence with the drive lever 35, and a rotor 39 at the tip of the control lever 39 is provided.
“a” is arranged on the rotatable region of the drive lever 35.
A pair of stoppers 40 are provided on the bottom surface of the auxiliary table 8 on the rotatable region of the drive lever 35, and the rotation region of the drive lever 35 is restricted between the stopper 40 and the rotor 39a. That is, the rotation restriction position of the drive lever 35 can be adjusted according to the rotation position of the control lever 39.

A reflection-type photoelectric sensor 41 is provided on the inner surface of one of the support frames 14 so as to correspond to the region where the transfer hand 36 is located at the initial position shown in FIGS. The presence or absence of a cross roll at the mounting position is detected.

The hydraulic motors 16, 23, and 26 are controlled by a control program (the seventh program) previously input to a control computer in the control device 2.
It is controlled by the ON operation of the operation button of the control panel 42 on the control device 2 and the control panel 42 on the control device 2.
The control device 2 instructs each drive unit of the cross roll transfer device based on a winding completion detection signal from a cross roll diameter detecting means (not shown), a cross roll presence / absence detection signal from the photoelectric sensor 41, and an ON signal of the operation button. Perform control.

As shown in FIGS. 1 to 3, the cross roll transfer device is waiting in the preparation room with no cross roll mounted thereon, the transfer device on the transport vehicle 1 is at the initial position, and the transfer arm 27 is The position pointing upward, the position where the drive lever 35 contacts the stopper 38, and the control lever 39 are in the first rotation restricting position. At this time, the chain 37 is slightly relaxed.

The cross roll transfer device is dispatched based on the winding completion detection signal transmitted from the cross roll diameter detecting means in the loom in which the cross roll winding has been completed, and the cross roll transfer work position in front of the loom 3 along the lead wire. Moved to and arranged. When the operation button on the control panel 42 is turned ON, the control device 2 determines the validity of the ON signal of the operation button based on the cross roll non-detection signal from the photoelectric sensor 41. The controller 2 determines that the ON signal is valid if the operation button is a cross roll transfer means forward movement button, and instructs the operation of the hydraulic motors 16, 23, and 26 according to the control program.
As a result, the hydraulic motor 16 is rotated forward, and the auxiliary wheel 8 advances to the loom 3 side by the forward rotation of the rear wheel 9, and the wheels 10, 11 running from the auxiliary table 8 as shown in FIG. To rail 44. This transition position is a circle whose radius is the distance connecting the tip of the transfer hand 36 and the drive shaft 19 at the position shown in FIG.
Is a position where the axis 43a of the cross roll 43 is not present in the C _1.

If the pressed operation button is not the cross roll transfer means forward button, the control device 2 determines that the ON signal is invalid, and prohibits the operation of the cross roll transfer device by the ON operation of the operation button. Therefore, even when a human error such as a mistake in pressing the operation button occurs, the cross roll transfer device does not cause any malfunction other than the above-described forward movement for taking out the cross roll, and the safety of the worker is ensured. At the same time, damage to each part is avoided, and the forward movement of the cross roll transfer means during the cross roll transfer work process is reliably performed by re-pressing the operation button.

After the forward movement of the auxiliary table 8, the control device 2 commands the hydraulic motor 23 to rotate forward, and the drive shaft 19 rotates forward. As a result, the transfer arm 27 is rotated down from the position shown by the dashed line in FIG. During this rotation, the transfer hand 36 is in contact with the stopper 38 by its own weight, and the drive lever 35 connected to the transfer hand 36 via the chain 37 rotates substantially integrally with the transfer arm 27. When the transfer arm 27 rotates to the position indicated by the solid line in FIG. 4, the drive lever 35 contacts the rotor 39a of the control lever 39, and the rotation of the drive lever 35 stops. Transfer arm 27
Is further rotated from the solid line position in FIG.
The stopping action of 35 spreads to the transfer hand 36 via the chain 37. That is, the transfer arm 27 when the angle theta ₁ rotates, the transfer hand 36 are relatively rotated by an angle θ ₁ r ₁ / r ₂ in the opposite direction to the transport arm 27 about the support shaft 34. Transfer arm 27 is 5th
When rotated lowered into its lowermost position indicated by a chain line in the figure, the transfer hand 36 is moved disposed on a circle C ₂ that the distance between the shaft 43a of the support shaft 34 and the cross roll 43 radius.

Subsequently, the control device 2 instructs the hydraulic motor 26 to perform a forward rotation operation, and the drive shaft 20 performs a forward rotation operation. The control lever 39 rotates from the first rotation restricting position shown in FIG. 4 to the second rotation restricting position shown in FIG. 5 by the forward rotation operation of the drive shaft 20, and the drive lever 35 moves the drive shaft 19. Rotate in the opposite direction to the center. This turning action spreads to the transfer hand 36 via the chain 37, and the transfer hand 36 turns around the support shaft 34 in the same direction as the turning direction of the drive lever 35. That is, the driving lever 35 when rotated by an angle theta _2, the transfer hand 36 is rotated to the axis 43a side of the angle θ ₂ r ₁ / r ₂ by the cross roll 43. When the control lever 39 rotates to the second rotation restricting position, the transfer hand 36 catches the shaft 43a.

After the catch, the control device 2 instructs the hydraulic motor 23 to rotate in the reverse direction, and the drive shaft 19 is rotated in the reverse direction. The transfer arm 27 rotates upward by the reverse rotation operation of the drive shaft 19. At the beginning of this rotation, the transfer hand 36 is separated from the stopper 38,
Spindle 34 based on the total weight of cross roll 43 and transfer hand 36
Is transmitted to the drive lever 35 via the chain 37, and the drive lever 35 is pressed and held by the control lever 39. In this state, the transfer arm moves to the position indicated by the chain line in FIG.
The transfer hand 3 contacts the stopper 38 when the transfer arm 27 reaches this chain line position. When the transfer arm 27 further moves upward after passing through the chain line position, the drive lever 35 is separated from the control lever 39, and the transfer arm 27 is moved to the sixth position with the transfer hand 36 in contact with the stopper 38. It is pivotally disposed to an initial position on the auxiliary table 8 shown in the figure.
The drive lever 35 comes into contact with the stopper 40 immediately before the transfer arm 27 returns to the initial position on the auxiliary stand 8, and the chain 37 slightly relaxes when the transfer arm 27 returns to the initial position on the auxiliary stand 8. .

When the transfer arm 27 and the transfer hand 36 return to the initial position on the auxiliary table 8 while supporting the cross roll 43, the photoelectric sensor 41 sends a control signal to the controller 2 to detect the presence of the cross roll 43. Turn on the operation button to return the warp beam transfer means
Then, the control device 2 determines the validity of the ON signal of the operation button, and if it is valid, instructs the reverse operation of the hydraulic motor 16 according to the control program. This allows the hydraulic motor
16, the auxiliary table 8 is returned to the standby position on the carrier 1 shown in FIG.

The presence of the cross roll 43 on the cross roll transfer device is detected by the photoelectric sensor 41, and when the operation button is turned ON to return the cross roll transfer device to the preparation room, the control device 2 has the cross roll. The validity of the ON signal of the operation button is determined based on the detection signal. If the operation button is a cross roll transfer device return button, the ON signal is determined to be valid, and the transport vehicle 1 according to the control program is determined.
Command of running. As a result, the drive wheels 1a are driven, and the carrier 1 returns to the preparation room with the cross roll 43 mounted.

The transport vehicle 1 moves to a predetermined cross roll unloading place in the preparation room. Here, the cross roll 43 on the auxiliary stand 8 is transferred to the cross roll receiving stand, and this transfer is performed by the reverse operation of the transfer arm 27 from the state shown in FIG. Also, in this unloading operation, the control device 2 determines the validity of the ON signal of the operation button based on the presence / absence detection signal of the cross roll 43 from the photoelectric sensor 41, and the same operation selection as described above is performed.

Usually, from the viewpoint of safety and work efficiency, it is effective to increase the operation speed of the cross roll transfer device when the cross roll is not mounted, and to reduce the operation speed when mounting the cross roll. The operation selection control of the loading device improves the safety and work efficiency of such a cross roll transfer device itself while ensuring the safety of the worker and preventing breakage of each part of the loom.

The present invention is, of course, not limited to the above-described embodiment. For example, as shown in FIG. 8, a piezoelectric sensor 45 is attached to a contact portion of the transfer hand 36 with the shaft 43a of the cross roll 43 instead of the photoelectric sensor. Thus, the presence or absence of the cross roll 43 may be detected. As a means for detecting using the weight of the cross roll, a strain gauge, an operating oil pressure detector, or the like can be used, and a limit switch or a proximity switch can be employed as a means for detecting the presence or absence of the cross roll. Further, the present invention can be applied as a judgment function during an automatic control program process without intervention of an operation button pressing operation, and it is possible to judge the appropriateness of the cross roll take-out and cross roll lowering execution operations. Can be.

In the above embodiment, the hydraulic motors 16, 23, 26 are employed as the driving device of the cross roll transfer means, but an electric motor may be used instead.

[Effects of the Invention] As described in detail above, the present invention detects the presence or absence of a cross roll on a transfer arm at a predetermined position before the operation of the cross roll transfer device starts, and When the operation command signal is generated, the validity of the operation command signal is determined based on the detection result of the presence or absence of the cross roll on the transfer arm, and only when it is determined to be valid, the cross based on the operation command signal is determined. Since the operation of the roll transfer device is allowed to start, malfunction of the cross roll transfer device can be reliably avoided, preventing damage to the cross roll transfer device or each part of the loom and ensuring the safety of workers. It has an excellent effect that the working efficiency can be increased while securing it.

[Brief description of the drawings]

1 to 7 show an embodiment of the present invention.
FIG. 2 is a perspective view of the cross-roll transfer device, FIG. 2 is a front view of the same, FIG. 3 is a side view of the cross-roll transfer device and the loom moved to the transfer operation position, and FIG. FIG. 5 is a partially broken side view showing a state in which the transfer arm has been moved down to the lowermost position, and FIG. 6 is a side view showing the state in which the transfer arm has been moved down to the lowermost position; FIG. 7 is a partially broken side view showing a state, FIG. 7 is a flowchart showing a transfer program, and FIG. 8 is a partially broken side view showing another example. The carrier 1, the control device 2, the auxiliary table 8 constituting the cross roll transfer means, the hydraulic motors 16, 23, 26 for driving the cross roll transfer means, and the transfer arm 27 constituting the cross roll transfer means , A transfer hand 36, a photoelectric sensor 41 for detecting the presence or absence of a cross roll, and a cross roll 43.

Claims (1)

(57) [Claims] A cross roll transfer means having a transfer arm for supporting a cross roll on which a woven fabric has been wound is installed on a transport vehicle capable of traveling on a floor, and the cross roll transfer means transfers the cross roll from the loom. In the cross roll transfer device in the loom that takes in the cross roll and transports it to another place,
The presence or absence of a cross roll on the transfer arm at a predetermined position before the start of the operation of the cross roll transfer device is detected, and when an operation command signal of the cross roll transfer device is generated, The validity of the operation command signal is determined based on the detection result of the presence or absence of the cross roll, and only when it is determined that the operation command signal is valid, the cross roll in the loom that allows the start of the operation of the cross roll transfer device based on the operation command signal An operation control method of the transfer device.