JP2889750B2 - Loom motion mechanism controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a reciprocating mechanism for a loom including a heald frame and a reed, which is driven not by the main shaft of the loom but by rotating a dedicated drive motor in a normal or reverse direction. The present invention relates to a motion mechanism control device for a loom that can be reliably driven to a drive limit.

[0002]

2. Description of the Related Art Generally, a heald frame or a reed of a loom is reciprocally driven with respect to a main shaft of the loom while maintaining a strict synchronous relationship with a main shaft of the loom via a drive mechanism mechanically connected to the main shaft of the loom. ,
These drive targets may be driven by a dedicated drive motor that rotates in the forward or reverse direction.

In this case, since the synchronous relationship with the main shaft must be electrically performed, special consideration must be given to the loss of synchronization between the two. So, for example,
The drive motor control system is provided with a function of forcibly reversing the drive direction of the drive motor every time the rotation angle of the main shaft (hereinafter referred to as a loom mechanical angle) passes a predetermined reference angle. A device that maintains a synchronous relationship with a spindle has been proposed (Japanese Patent Laid-Open No. Hei 3-2274).
No. 29). According to this, the driving direction of the driven object is necessarily reversed at a predetermined loom mechanical angle, so that the motion pattern can always maintain a synchronous relationship with the main shaft.

[0004]

According to the prior art, since the control system of the drive motor necessarily has a constant delay, the drive object is not driven to a predetermined drive limit and the drive direction is changed. There has been a problem that the motor may be inverted and cannot be reliably driven to the driving limit.
That is, when the driving target is a reed, the beating force is insufficient, and when the driving target is a heald frame, the warp shedding amount is insufficient, and an unexpected fabric defect occurs,
Poor weft insertion could occur.

SUMMARY OF THE INVENTION In view of the above-mentioned problems in the prior art, it is an object of the present invention to provide two sets of deviation counters for individually detecting forward and reverse deviations of a driven object, or to provide an inclination direction of a movement pattern of a driven object. Is counted, the rotation command signal is counted until the driven object reaches a reversing position (a driving limit of the reciprocating driving object, which means a position where the driving direction of the driving object should be reversed, the same applies hereinafter). An object of the present invention is to provide a motion mechanism control device for a loom, in which a counter is provided to surely drive a drive target to a predetermined drive limit and there is no danger of inadequate beating force or warp shedding. .

[0006]

According to a first aspect of the present invention for achieving the above object, the object to be driven is reciprocally driven by rotating a dedicated drive motor in the forward and reverse directions. A rotation command unit that generates a rotation command signal corresponding to the loom machine angle according to a predetermined motion pattern, and two sets that individually detect forward and reverse deviations of the driven object based on the rotation command signal from the rotation command unit. The gist of the present invention is to provide a deviation counter of the above and a switching means for detecting that the driven object has reached the reverse position and selecting one of the deviation counters.

According to a second aspect of the present invention, there is provided a deviation counter for detecting a forward / reverse deviation of an object to be driven based on a rotation command signal from a rotation command section, instead of the deviation counter and the switching means of the first invention. A counter that corrects the deviation of the deviation counter when the rotation direction signal is counted until the driven object reaches the inverted position after the inclination direction of the movement pattern is inverted, and when the driven object reaches the inverted position. This is the gist.

[0008]

According to the first aspect of the invention, the two sets of deviation counters detect the deviation of the driven object in the forward and reverse directions, respectively, and the switching means detects the deviation of the driven object at the reversing position. Select one of the counters. Therefore, the drive target does not receive the control in the reverse direction by the rotation command signal unless the drive target reaches the reversal position and moves until the deviation in the direction is eliminated in each of the drive directions. It can be driven to a predetermined drive limit.

According to the configuration of the second aspect, even if the tilt direction of the motion pattern indicating the driving direction of the driving object is reversed, the counter moves the driving object in the previous driving direction, and the counter moves to the reverse position. After counting the rotation command signal until it reaches, when the driven object reaches the reverse position, the deviation from the deviation counter can be corrected. That is,
At this time, the counter stores the rotation command signal until the tilt direction of the motion pattern is reversed and the drive target reaches the reverse position, and reflects the rotation command signal on the control when the drive target moves in the reverse direction. Can be driven, the driving target is the first
As in the invention, it is possible to reliably drive to the drive limit.

[0010]

Embodiments will be described below with reference to the drawings.

A locomotion mechanism control device includes a rotation command unit 1.
1; two sets of deviation counters 12;
Are the main members (FIG. 1). However, here,
The drive target is the heald frame SF, and the drive motor M
Rotates the heald frame SF up and down through an appropriate drive mechanism G by rotating in the forward and reverse directions.

A main shaft A of the loom driven by a main motor (not shown) has an encoder E for detecting a loom mechanical angle θ.
N1 is connected. The loom mechanical angle θ from the encoder EN1 is input to the rotation command unit 11, and the rotation command unit 11 is provided with a motion pattern designating unit 11a.

The output of the rotation command section 11 is a rotation command signal S
As o, the deviation counter 1 is output via the polarity discriminator 11b.
It is branched and input to addition terminals U and U of 2 and 12. However, the polarity discriminator 11b switches the destination of the rotation command signal So according to the polarity of the rotation command signal So.

An encoder EN2 for detecting a rotation amount m of the drive motor M is connected to the drive motor M. The rotation amount m from the encoder EN2 is output as a pulse train signal S2 via another polarity discriminator 14, Deviation counter 12, 1
2 are input to the subtraction terminals D and D of the second branch. However, like the polarity discriminator 11b, the polarity discriminator 14 switches the transmission destination of the pulse train signal S2 according to the polarity of the pulse train signal S2 from the encoder EN2.

The outputs of the deviation counters 12 and 12 are input to a switching means 13, and the output of the switching means 13 is connected to an addition point 21.

The addition point 21 together with the control amplifier 22 and the speed detector 23 constitute a speed control system 20 for the drive motor M. That is. The output of addition point 21 is
The speed detector 23 is connected to the drive motor M via the control amplifier 22, receives the pulse train signal S2 from the encoder EN2, detects the speed v of the drive motor M,
This is added to the feedback at the combining point 21.

The output of the encoder EN2 is supplied to the position detector 3
1 is also branched and connected. The output of the position detector 31 is
Connected to a comparator 32 provided with a setting device 32a,
The output of the comparator 32 is guided to the switching means 13.

The motion pattern designating means 11a stores a motion pattern X = X (θ) of the heald frame SF to be driven as a function of the loom mechanical angle θ (FIG. 2), Output to the unit 11. Therefore, when the main shaft A rotates, the rotation command unit 11 controls the encoder E
In response to the loom mechanical angle .theta. From N1, the rotation command signal So consisting of a pulse train according to the motion pattern X = X (.theta.) Can be output from the motion pattern designating means 11a (FIG. 3).

Each pulse constituting the rotation command signal So is:
In accordance with the motion pattern X = X (θ), the rotation amount of the drive motor M required to drive the heald frame SF is represented.
It is assumed that the pulse rate is determined by the magnitude of the inclination of the motion pattern X, and the polarity is determined by the inclination direction of the motion pattern X. Each pulse constituting the rotation command signal So matches the detection resolution of the encoder EN2. Therefore, when the drive motor M rotates accurately following the rotation command signal So, the rotation command signal So and the encoder E
The pulse train signal S2 from N2 has the same number of pulses and the same polarity.

When the rotation command signal So is output from the rotation command section 11 in this manner, the deviation counters 12, 12
Can detect the deviations ΔP1 and ΔP2 of the drive motor M, that is, the forward and reverse directions of the heald frame SF, respectively.
That is, the polarity discriminators 11b and 14 discriminate the polarity of the rotation command signal So and the pulse train signal S2, respectively. The addition terminal U and the subtraction terminal D of one of the deviation counters 12 output the positive rotation command signal So and The pulse train signal S2 of positive polarity is input, and the rotation command signal So of negative polarity and the pulse train signal S2 of negative polarity are input to the addition terminal U and the subtraction terminal D of the other deviation counter 12.

Therefore, one deviation counter 12 can detect a deviation ΔP1 = Po1−Pm1 in the forward direction, and the other deviation counter 12 can detect a deviation ΔP2 = Po2−Po in the reverse direction.
Pm2 can be detected. However, Po1 and Po2 are
The pulse numbers of the rotation command signal So when the rotation command signal So has a positive polarity and a negative polarity, respectively, are indicated by Pm1 and Pm2.
Indicates the number of pulses of the pulse train signal S2 when the pulse train signal S2 has a positive polarity and a negative polarity, respectively.

The switching means 13 includes deviation counters 12 and 12
Is selected and connected to the addition point 21 of the speed control system 20. Therefore, each time the switching means 13 is switched, the drive motor M rotates forward and reverse so as to eliminate the deviations ΔP1 and ΔP2, and can reciprocate the heald frame SF in the forward and reverse directions. However, the drive motor M has a positive deviation ΔP1
Is shown to rotate forward when ΔP1> 0, reverse when ΔP1 <0, reverse when the deviation ΔP2 in the reverse direction is ΔP2> 0, and rotate forward when ΔP2 <0. A rotation direction control circuit is provided.

On the other hand, the switching means 13 is switched by the comparator 32. The comparator 32 determines that the current position x of the heald frame SF from the position detector 31 and the set position ± xo set in the setter 32a are x = It detects that xo or x = -xo. Here, the position detector 31 is an encoder EN
While the current position x of the heald frame SF is detected based on the pulse train signal S2 from the second helicopter 2, the set position ± xo to be set in the setting device 32a is the current position x corresponding to the inverted position of the heald frame SF
(The current position x at θ = θ1, θ = θ2 in FIG. 2), the comparator 32 can detect that the heald frame SF has reached the reversal position and switch the switching means 13. . That is, the switching means 13 does not switch the deviation counters 12 and 12 unless the heald frame SF reaches the reversing position, and therefore does not drive the drive motor M in the reverse direction. In other words, the switching means 1
3 is to reverse the rotation direction of the drive motor M on condition that the heald frame SF is driven to the reversal position,
F can be reliably driven to its drive limit.

In the above description, the switching means 13 is switched by the comparator 32 detecting that the heald frame SF has reached the reversing position. Deviation ΔP1
, ΔP2 disappear. Therefore, the switching means 13 changes the polarity of the rotation command signal So instead of switching by the comparator 32, and furthermore, the deviation ΔP1,
The condition may be switched to the condition that ΔP2 has disappeared.

[0025]

[Other Embodiments] A rotation command signal So from a rotation command unit 11
Is input to the deviation counter 12 and the counter 15 via the switching means 13 (FIG. 3), and the switching means 13 can be switched by the polarity discriminator 11b and the comparator 32 via the flip-flop 16.

The rotation command signal So is input to the set terminal S of the flip-flop 16 via the polarity discriminator 11b, and the output of the comparator 32 outputs the reset terminal R of the flip-flop 16 and the clear terminal C of the counter 15. And connected to. Note that the output of the counter 15 is guided to the deviation counter 12. The output terminal Q of the flip-flop 16 is connected to the switching means 13, and the output of the switching means 13 is connected to the adding terminal U of the deviation counter 12 and the counter 15. Also, a subtraction terminal D of the deviation counter 12
Receives a pulse train signal S2. Note that the output of the deviation counter 12 is the sum of the two
1 is directly connected.

Now, when a motion pattern X = X (θ) in which the inclination direction is reversed from positive to negative at a loom mechanical angle θ = θ 1 is given to the rotation command unit 11 (FIG. 4), the rotation command unit 11 In accordance with the motion pattern X, a rotation command signal So of a positive polarity is output when θ <θ1, and a rotation command signal So of a negative polarity is output when θ ≧ θ1. Therefore, when .theta. <. Theta.1, the flip-flop 16 is reset and the switching means 13 is set to the deviation counter 12 side.
Detects the deviation .DELTA.P1 in the positive direction and drives the drive motor M in the positive direction.

When the inclination direction of the motion pattern X is reversed at θ = θ 1, the polarity discriminator 11b outputs the rotation command signal S
o, the flip-flop 16 is set, and the flip-flop 16
3 is switched to the counter 15 side. So, counter 1
Numeral 5 can count subsequent pulses of the negative polarity of the rotation command signal So. Note that the drive motor M can still rotate in the forward direction even after θ = θ1, and θ = θ1a = θ
At 1 + Δθ, the heald frame SF can be driven to a predetermined reverse position. The deviation counter 12 has θ = θ
This is because a pulse of positive polarity sufficient to drive the heald frame SF to the reversing position is input by the rotation command signal So until the value becomes 1, that is, before the switching means 13 is switched.

When the heald frame SF reaches the reversing position, the comparator 32 operates and resets the flip-flop 16, so that the switching circuit 13 returns from the counter 15 to the deviation counter 12. At the same time, the comparator 32 clears the counter 15, and the counter 15 can transfer the count contents counted so far to the deviation counter 12.
That is, the counter 15 at this time is as shown in FIG.
The pulse number ΔPo2 of the rotation command signal So of negative polarity in θ1 ≦ θ ≦ θ1a is counted and transferred to the deviation counter 12.

Then, the deviation counter 12 adds the negative pulse generated by the rotation command signal So and the negative pulse number ΔPo2 transferred from the counter 15, and compares the result with the pulse number of the pulse train signal S2. By doing so, the deviation .DELTA.P2 in the reverse direction can be calculated.
Thereafter, the drive motor M is driven in the reverse direction according to the deviation ΔP2, and can drive the heald frame SF to another reversing position. That is, the counter 15 at this time transfers the content of the count to the deviation counter 12, and calculates the deviation ΔP 2 = Po 2 −Pm 2 of the deviation counter 12 by the deviation ΔP
It can be said that 2 = (Po2 + ΔPo2) −Pm2.

Similarly, the polarity discriminator 11b operates even when the inclination direction of the motion pattern X is reversed from negative to positive. Therefore, the switching means 13 sets the flip-flop 1
6. The counter 15 is temporarily switched to the counter 15 side via the comparator 32, so that the counter 15 rotates the positive polarity until the heald frame SF reaches the reversal position after the inclination direction of the motion pattern X is reversed. By counting the number of pulses ΔPo1 of the command signal So and transferring it to the deviation counter 12,
Positive deviation ΔP1 of deviation counter 12 = Po1-Pm1
Can be corrected to the deviation ΔP1 = (Po1 + ΔPo1) −Pm1.

Incidentally, the polarity discriminator 11 in this embodiment.
As a result, it suffices to detect that the inclination direction of the motion pattern X has been inverted. Therefore, instead of detecting that the polarity of the rotation instruction signal So has been inverted on the output side of the rotation instruction unit 11, On the output side of the exercise pattern designating means 11a, reversal of the inclination direction of the exercise pattern X may be detected.

In the above description, it is possible to provide the synchronization monitoring circuit 40 for checking the out of synchronization of the heald frame SF and outputting the alarm signals Sa1, Sa2 and the reset signal Sa3 of the position detector 31 (FIG. 5).

An action piece SF1 is attached to the heald frame SF, and when the heald frame SF is at a predetermined origin position, the sensor KS disposed corresponding to the action piece SF1 generates an origin signal S3. When the synchronization discriminator 41 for inputting the origin signal S3 and the pulse train signal S2 from the encoder EN2 is provided, the synchronization discriminator 41 determines when the origin signal S3 is generated and when the origin position indicated by the pulse train signal S2 elapses. When they are the same, a reset signal Sa3 can be generated, and when their relative relationship is irregular, an alarm signal Sa1 can be generated. That is, when an abnormality occurs in the mechanical drive system from the drive motor M to the heald frame SF,
An alarm signal Sa1 can be generated. If the alarm signal Sa1 is normal, the position detector 31 is reset together with the generation of the origin signal S3, the current position x of the heald frame SF is cleared, and the subsequent operation is continued. can do.

At this time, the position detector 31 is connected to the heald frame SF.
Has reached the origin position, the current position x can be cleared. Therefore, even if noise or the like is mixed in the pulse train signal S2 from the encoder EN2, the movement of the heald frame SF causes a steady phase delay. Can be effectively prevented.

The reset signal Sa3 from the synchronization discriminator 41 is input to another synchronization discriminator 43,
Can be connected to the output of the timing generator 42 for inputting the loom mechanical angle θ from the encoder EN1 and the motion pattern X from the motion pattern designating means 11a. The timing generator 42 detects a predetermined time when the heald frame SF should be at the origin position from the loom mechanical angle θ and the motion pattern X, and generates an output signal. The generation timing of the output signal from the generator 42 is compared with the generation timing of the reset signal Sa3, and when they do not match, the alarm signal Sa2 can be generated. However, the alarm signal Sa2 indicates that an abnormality has occurred in the control system of the drive motor M, and the heald frame SF and the main shaft A of the loom.
This indicates that the synchronous relationship with has been lost.

It should be noted that the present invention is not limited to the heald frame SF, and the motion pattern designating means 11 can be used even when the reed is to be driven.
By simply changing the exercise pattern X = X (θ) set in “a”, it can be applied as it is. Further, the motion pattern X at this time does not need to be vertically symmetrical with respect to the horizontal axis as shown in FIG. 2, and therefore, the inversion position set in the setting unit 32a is not a positive or negative value having the same absolute value. Is also good. Further, each component in the above description can be easily realized not only by hardware but also by software by a microcomputer.

[0038]

As described above, according to the first aspect of the present invention, two sets of deviation counters for detecting the forward and reverse deviations of the driven object and the fact that the driven object has reached the reverse position are provided. By providing switching means for detecting and selecting one of the deviation counters, the switching means switches the deviation counter when the driven object reaches the reverse position,
The object to be driven can be reliably driven to its drive limit, and there is an excellent effect that there is no possibility of causing inconveniences such as a short beating force and an insufficient warp shedding amount.

According to the second invention, instead of the two sets of the deviation counter and the switching means of the first invention, after the deviation counter and the inclination direction of the movement pattern are reversed, the drive object reaches the reversal position after the inclination direction. By providing a counter that counts the rotation command signal and corrects the deviation of the deviation counter, the counter saves the rotation command signal when the inclination direction of the motion pattern is reversed, and the motion of the driven object lags behind the motion pattern. However, since the loss of the rotation command signal due to the reversing operation can be prevented, the same excellent effects as the first invention can be realized as a whole.

[Brief description of the drawings]

FIG. 1 is a block diagram of the overall configuration

FIG. 2 is an operation explanatory diagram (1).

FIG. 3 is a main part block diagram showing another embodiment.

FIG. 4 is an operation explanatory diagram (2).

FIG. 5 is a block diagram of a main part showing another embodiment.

[Explanation of symbols]

 M: drive motor So: rotation command signal X: motion pattern θ: loom machine angle ΔP1, ΔP2: deviation 11: rotation command unit 12: deviation counter 13: switching means 15: counter

Continuation of the front page (51) Int.Cl. ⁶ identification code FI H02P 5/00 H02P 5/00 H 7/00 7/00 D (58) Field surveyed (Int.Cl. ⁶ , DB name) D03D 49 / 60 D03C 13/00 D03D 51/00 H02P 1/22 H02P 1/40 H02P 5/00 H02P 7/00

Claims (2)

(57) [Claims] 1. A locomotive motion mechanism control device for reciprocatingly driving an object to be driven by rotating a dedicated drive motor in a forward / reverse direction, and according to a predetermined motion pattern, outputs a rotation command signal corresponding to a loom mechanical angle. A set of rotation commands, two sets of deviation counters for individually detecting forward and reverse deviations of the driven object based on a rotation command signal from the rotation command unit, and detecting that the driven object has reached the reverse position. And a switching means for selecting one of the deviation counters. 2. A locomotive motion mechanism control device for reciprocatingly driving an object to be driven by rotating a dedicated drive motor in a forward / reverse direction, wherein a rotation command signal is generated in accordance with a loom machine angle according to a predetermined motion pattern. The generated rotation command unit, a deviation counter for detecting a deviation in the forward / reverse direction of the driven object based on the rotation command signal from the rotation command unit, and after the inclination direction of the motion pattern is reversed, the driven object is in the reversed position. And a counter for counting a rotation command signal until the rotation target signal is reached and correcting the deviation of the deviation counter when the driven object reaches the reversing position.