JP2934321B2 - Loom motion mechanism controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method of driving a loom, such as opening, weft insertion and beating, by a dedicated drive motor without using a loom main shaft as a drive source. The present invention relates to a motion mechanism control device for a loom for automatically synchronizing a main shaft and a drive motor.

[0002]

2. Description of the Related Art In a loom, a method or a device is known in which each movement mechanism such as shedding, weft insertion and beating is driven by a dedicated drive motor without using a loom main shaft as a drive source (for example, Japanese Patent Publication No. JP-A-63-58940, JP-A-53-106865, JP-A-59-19984
No. 1).

If the shedding motion mechanism is formed as a dedicated motor, the cam can be changed in response to a change in the weaving structure or a shedding frame pattern (a shed frame opening stroke pattern in one cycle of the loom, the same applies hereinafter) due to the type of yarn. There is an advantage that replacement of mechanical parts such as is not required. In addition, if the weft insertion mechanism is made into a dedicated motor, the moment of inertia of the whole mechanism can be reduced and high-speed movement can be easily realized. The beating characteristics can be realized.

On the other hand, each of these movement mechanisms needs to operate strictly synchronously with the main shaft of the loom. Therefore, when each motion mechanism is driven by a dedicated drive motor,
In order to prevent synchronization deviation with the loom main shaft, it is preferable that the drive motor controls the amount of rotation with respect to the rotational angle (hereinafter, referred to as crank angle) of the loom main shaft and rotates the loom by position control.

[0005]

According to the above prior art, the rotation amount of the drive motor is controlled in accordance with a predetermined movement pattern with respect to the crank angle during the operation of the loom, so that the synchronous relationship with the main shaft of the loom is established. Can be maintained,
When the loom stops, the synchronous relationship with the loom spindle is cut off to repair the cause of the stop, and only the loom spindle or
It is necessary to rotate only the drive motor. Therefore, in restarting the loom, it is essential to perform a synchronization operation between the two, and this operation is extremely complicated and troublesome. Further, if a power failure or the like occurs during operation of the loom, the amount of inertial rotation between the main shaft of the loom and the drive motor differs, so that a synchronous relationship between the two cannot be maintained, and a synchronizing operation is similarly required. In particular, in this case, since the synchronization operation is required for all the units in the factory, the labor burden is enormous.

Accordingly, an object of the present invention is to provide a synchronous adjusting means when each locomotion mechanism of a loom is driven by a dedicated drive motor in order to start the loom when driving the loom. It is an object of the present invention to provide a loom motion mechanism control device capable of automatically synchronizing a drive motor with a main shaft.

[0007]

In order to achieve the above object, according to the present invention, there is provided a locomotive motion mechanism control device for driving a loom motion mechanism via a dedicated drive motor. A movement pattern designating unit to be stored, a position command unit for generating a target rotation amount of the drive motor in accordance with the crank angle according to the movement pattern from the movement pattern designation unit, and a drive motor according to the target rotation amount from the position command unit. It comprises a position control unit for controlling rotation, and a synchronization adjusting means, and the synchronization adjusting means adjusts and moves the drive motor based on the motion pattern from the motion pattern designating means and the current crank angle before starting the loom. The point is that the amount is determined and output to the position control unit as a synchronization adjustment signal.

[0008] The synchronous adjustment means can determine the adjustment movement amount as the rotation amount of the drive motor from the origin position.

[0009]

According to the structure of the present invention, the position control section can control the rotation amount of the drive motor so as to follow the target rotation amount given from the position command section during operation of the loom. The target rotation amount at that time follows the motion pattern from the motion pattern designating means. Therefore, the driven object can be driven in accordance with the predetermined motion pattern in synchronization with the loom main shaft. On the other hand, the synchronization adjusting means outputs a synchronization adjustment signal to the position control unit before the loom is started, and executes automatic synchronization between the drive motor and the loom main shaft.

Generally, the drive object of the drive motor is any one of an opening movement mechanism, a rapier movement mechanism, and a beating movement mechanism.
The opening pattern of the heald frame, the running pattern of the rapier, and the reciprocating motion pattern of the reed must be followed, and each of these motion patterns may be different for each cycle of the loom. Therefore, the synchronization adjustment means determines an adjustment movement amount of the drive motor based on the movement pattern from the movement pattern designation means and the current crank angle so as to match a predetermined rotational position corresponding to the current crank angle, By adjusting and driving the drive motor using this adjustment movement amount, accurate synchronization can be realized regardless of the type of the drive target.

The synchronization adjustment means determines the adjustment movement amount as the rotation amount of the drive motor from the origin position, so that the drive motor always passes through the origin position, so that accurate synchronization can always be realized.

[0012]

Embodiments will be described below with reference to the drawings.

The locomotion mechanism control device includes a position command unit 1
0, a position control unit 20, a movement pattern designating unit 30, and a synchronization adjusting unit 40 (FIG. 1).

The position command unit 10 receives a pulse train signal S1 indicating the crank angle θ from an encoder E1 connected to the main shaft A of the loom. The output of the position command unit 10 is input to the deviation detection unit 20a of the position control unit 20 via the OR gate 10a as a pulse train signal S2 indicating the target rotation amount Po of the drive motor M.

The position control unit 20 includes a deviation detection unit 20a, a speed control loop 20b, and a current control loop 20c cascaded. The output of the position control unit 20 is connected to a drive motor M. The rotation amount Pf of the drive motor M is
2 and is fed back to the deviation detecting section 20a and the speed control loop 20b as a pulse train signal S3.
However, the pulse train signal S3 is used for the speed control loop 20b to indicate the rotation speed of the drive motor M based on the pulse frequency. Also, the current control loop 20c
, The current Im of the drive motor M is fed back via a current detector CT interposed between the drive motor M.

The drive motor M is connected to a cam mechanism CM via a gear mechanism G. The cam mechanism CM is used as a locomotive movement mechanism for driving a heald frame, for driving a rapier or an insert for a rapier, or for driving a reed.

The motion angle designating means 3
0, which is also branched and input to the synchronization adjusting means 40. Also,
A power loss signal S4 from a loom control circuit (not shown) is input to the motion pattern
At 0, the operation command signal S5 and the origin signal S6 are input. However, the power loss signal S4 can be generated not only when the loom is stopped but also when a power failure occurs, for example, by using the output of a low-voltage relay inserted into the power line of the main motor. The operation command signal S5 is output from the loom control circuit and indicates the timing at which the synchronization adjusting means 40 should be operated. The origin signal S6 is output from the origin detection switch SW incorporated in the drive system of the drive motor M. Then, the origin position of each motion mechanism to be driven by the drive motor M is displayed.

From the movement pattern designating means 30, the movement pattern K of the drive motor M and the base speed Vo of the drive motor M are supplied to the position command unit 1 for each cycle of the loom.
0, which is output to the speed control loop 20b of the position control unit 20. Here, the motion pattern K is a rotation amount that the drive motor M should operate with respect to the crank angle θ in a specific cycle number n in one repeat consisting of a plurality of cycles in accordance with the structure pattern of the woven fabric being woven. And the base speed Vo is the motion pattern K
, The period and speed at which the drive motor M should rotate with respect to the crank angle θ.

The synchronization adjustment means 40 outputs a synchronization adjustment signal S7 to the OR gate 10a. The synchronization adjustment signal S7 is a pulse train signal indicating the adjustment movement amount Ps.

A case where the drive motor M is connected to a heddle frame driving cam mechanism CM will now be described (FIG. 2). In general, however, a plurality of heald frames are used in combination, but only one heald frame is shown here.

The movement pattern designating means 30 comprises an aperture selection pattern generator 31 and an aperture pattern setting device 32.

The opening selection pattern generator 31 is provided with an opening selection pattern (a pattern of the operation order of the heald frame in each cycle corresponding to the texture pattern of the woven fabric, the same applies hereinafter) Kp
The output is branched and input to the aperture pattern setting device 32 and the storage device 33. Also,
The power supply loss signal S4 is also input to the storage device 33, and the output thereof is connected to the aperture pattern setting device 32.

The opening pattern setting unit 32 is provided with an opening pattern Ksi (i = 1, 2,...) Of the heald frame for each cycle of the loom.
Is set. Depending on the weaving structure, the opening pattern Ks of the heald frame needs to be changed for each cycle of the loom, so a plurality of different opening patterns Ksi are set and stored in the opening pattern setting unit 32, respectively. The opening pattern Ksi from the opening pattern setting device 32
Is the position command unit 1 as the motion pattern K for the heald frame.
0 is output. Another output of the aperture pattern setting device 32 is an adjustment movement amount setting device 41 of the synchronization adjustment means 40.
It is connected to the.

A base speed setting device 34 is connected to the opening pattern setting device 32. The opening pattern Ksi and the crank angle θ are input to the base speed setting unit 34, and the output is output to the position control unit 20 as the base speed Vo.

The synchronizing adjustment means 40 includes an adjustment moving amount setting device 4
1 and a pulse oscillator 42 in cascade. The former receives the crank angle θ, and the latter receives the origin signal S6. An operation command signal S5 is commonly input to both of them, and an output of the pulse oscillator 42 is input to the OR gate 10a as a synchronization adjustment signal S7 (FIG. 1).

Now, assuming that the loom is in a steady operation,
With the rotation of the loom main shaft A, a pulse train signal S1 indicating the crank angle .theta. Is output from the encoder E1 and input to the opening selection pattern generator 31 of the motion pattern specifying means 30. Then, the aperture selection pattern generator 31 can specify the cycle number n (n = 1, 2,...) In one repeat T of the specified tissue pattern from the crank angle θ and output it as the aperture selection pattern Kp ( (Fig. 3).
Since the opening selection pattern Kp is sent to the opening pattern setting device 32, the opening pattern setting device 32 selects a specific opening pattern Ksi corresponding to the cycle number n indicated by the opening selection pattern Kp, and selects the position. Command unit 1
0, can be sent to the base speed setting unit 34.

The position command unit 10 can generate a pulse train signal S2 indicating the target rotation amount Po by referring to the crank angle θ from the encoder E1 and the opening pattern Ksi from the movement pattern designating means 30. Here, the pulse train signal S2 is a sparse and dense pulse train according to the target rotation amount Po. The pulse train signal S2 is dense when the drive motor M is rotating at high speed, is sparse at low speed, and does not generate a pulse when stopped. For example, in FIG. 3, among the four cycles forming one repeat T of the tissue pattern, the opening pattern Ksi specified by n = 2 cycles is Ksi = Ks2. At this time, at the beginning of the cycle, the drive motor M
After the dwell period td, the motor is driven at a constant speed at a high speed v2, and is driven at a constant speed at a high speed v2.
It continues to the cycle of n = 3.

On the other hand, the base speed setting unit 34 can output the base speed Vo to the speed control loop 20b of the position control unit 20 by comparing the opening pattern Ksi with the current crank angle θ. However, the base speed Vo is constant v1, v2 (v1 <v2) only during the driving period of the driving motor M indicated by the opening pattern Ksi.

The target rotation amount Po from the position command unit 10 is:
The signal is input to the deviation detector 20a of the position controller 20 via the OR gate 10a. On the other hand, since the rotation amount Pf of the drive motor M is fed back to the deviation detection unit 20a, the deviation detection unit 20a calculates and outputs a deviation ΔP = Po−Pf of the rotation amount Pf with respect to the target rotation amount Po. be able to.

Since the deviation ΔP is input to the speed control loop 20b, the drive motor M is controlled by the speed control loop 20b,
The motor is driven through the current control loop 20c in a direction in which the deviation ΔP is eliminated, and the rotation amount Pf is controlled so as to follow the target rotation amount Po. That is, the position control unit 20 can control the rotation of the drive motor M according to the target rotation amount Po. At this time, the rotation speed of the drive motor M is basically equal to the base speed V from the base speed setter 34.
The rotation amount Pf follows a predetermined opening pattern Ksi in the cycle with respect to the crank angle θ. Here, the deviation detector 20a digitally calculates the deviation ΔP = Po−Pf in order to handle the pulse train signals S2 and S3,
The speed control loops 20b and 20c are preferably analog control loops for handling the base speed Vo and the current Im, which are analog quantities.

As described above, the drive motor M is driven to rotate in accordance with the target rotation amount Po, and the heald frame connected to the drive motor M can continue the opening operation in accordance with the predetermined opening pattern Ksi.

When a power failure occurs during normal operation of the loom, a power loss signal S4 is generated in the loom control circuit. Since the power loss signal S4 is input to the storage unit 33 of the exercise pattern designating means 30, the storage unit 33 can store the cycle number n = x at the time of the occurrence of the power failure from the opening selection pattern Kp at that time. . At this time, the deviation ΔP from the deviation detection unit 20a is forcibly cleared, and the base speed Vo from the base speed setting unit 34 is
It is forcibly held at the zero level, so that the position control unit 20 stops its function. Also,
In order to minimize the amount of inertial rotation of the drive motor M,
A suitable brake mechanism may be activated.

When the stoppage of the loom is completed in this way,
Generally, the main motor and the drive motor M do not have the same amount of inertial rotation, so that the synchronous relationship between the two is not maintained, and the two need to be synchronized after the power is restored.

Therefore, when the power is restored, first, the function of the position control unit 20 is restored, and the loom control circuit performs
An operation command signal S5 is generated. However, at this time, the base speed setting unit 34 keeps its function stopped,
The base speed Vo is held at zero level. The operation command signal S5 is output from the pulse oscillator 4 of the synchronization adjusting means 40.
2, the pulse oscillator 42 outputs the synchronization adjustment signal S7 to the position control unit 20 via the OR gate 10a.
Can be sent to Thereby, the drive motor M
Can rotate at a low speed so as to follow the pulse train of the synchronization adjustment signal S7, and can generate the origin signal S6 at the origin position of the drive system.

On the other hand, based on the operation command signal S5, the adjustment movement amount setting unit 41 can specify the rotational position of the drive motor M corresponding to the crank angle θ by referring to the current crank angle θ. That is, since the storage device 33 stores the cycle number x at the time of the occurrence of the power failure, the opening pattern setting device 32 selects the opening pattern Ksx corresponding to the cycle number x, and sends it to the adjustment movement amount setting device 41. Output. Therefore, the adjustment movement amount setting device 41 can determine the desired rotational position of the drive motor M when obeying the opening pattern Ksx by comparing the opening pattern Ksx with the current crank angle θ. Can be output to the pulse oscillator 42 as the adjustment movement amount Ps. However, the adjustment movement amount Ps is defined as the rotation amount of the drive motor M from the origin position.

After the origin signal S6 is input, the pulse oscillator 42 continues to output the synchronization adjustment signal S7. At this time, if the pulse oscillator 42 outputs a number of pulse train signals corresponding to the adjustment movement amount Ps as the synchronization adjustment signal S7 after the origin signal S6 is generated, the drive motor M
After the origin signal S6 is generated, the motor rotates and stops by the amount corresponding to the adjustment movement amount Ps. That is, the drive motor M can be adjusted and driven to a rotational position exactly corresponding to the current crank angle θ according to the opening pattern Ksx, and can be synchronized with the loom main shaft A.

On the other hand, since the opening pattern setting device 32 outputs the opening pattern Ksi = Ksx to the position command section 10, if the main motor rotates the loom main shaft A thereafter, the drive motor M will become the loom main shaft. A, and the heald frame can be driven so as to be continuous with the opening pattern Ksx before the occurrence of the power failure. Therefore, the loom main shaft A is moved to an arbitrary crank angle θ for starting, and the loom is moved from there. Can be restarted. The function of the base speed setting unit 34 is restored at the same time when the loom is started.

In the above description, when synchronizing the drive motor M, the cycle number x at the time of the occurrence of the power failure,
The reason why the corresponding opening pattern Ksx is referred to is to make the woven fabric pattern continuous before and after the power failure. However, since it is unknown at the cycle number x whether or not the weft insertion has been completed, when the weft insertion has been completed, after the synchronization has been completed, the weft is removed from the weaving machine and the loom is removed. It is preferable that the loom is started after the main shaft A is rotated one revolution. The weft insertion at cycle number x is
This is because normal operation may not be performed due to a power failure. In general, when a power failure occurs, it is generally not necessary to drive the loom main shaft A and the drive motor M independently of each other when the loom is restarted. It is sufficient if it occurs immediately after.

The above description can be applied to restarting the loom when the loom stops due to an arbitrary stop cause other than the occurrence of a power failure. However, in this case, since the power supply is sound, the aperture selection pattern generator 31 does not lose its function. Therefore, instead of storing the cycle number x by the storage device 33, the cycle number n = k when the loom is stopped is specified using the opening selection pattern Kp from the opening selection pattern generator 31 as it is, and the corresponding opening With the pattern Ksk,
It is also possible to execute the synchronization of the drive motor M based on the current crank angle θ.

[0040]

[Other Embodiments] The position control unit 20 can be provided with a correction control unit 50 comprising a correction amount function calculator 51 and correction amount generators 52 and 53 (FIG. 4).

The correction amount function calculator 51 includes a deviation detector 2
0a, the opening selection pattern Kp from the opening selection pattern generator 31, the crank angle θ, and another command signal S8 from the loom control circuit. The output of the correction amount function calculator 51 is the correction amount function Fv1,
Fi1 is individually input to the correction amount generators 52 and 53, and each output of the correction amount generators 52 and 53 outputs the correction amount F1.
v and Fi are output to the speed control loop 20b and the current control loop 20c of the position control unit 20, respectively. The crank angle θ is also input to the correction amount generators 52 and 53.

When the correction amount function calculator 51 is operated in response to the command signal S8, the correction amount function calculator 51
The deviation ΔP is measured, and the deviation ΔP can be stored as a function for the crank angle θ for each cycle number n (n = 1, 2,...) Indicated by the opening selection pattern Kp. The correction amount function calculator 51 then calculates a correction amount function Fv for compensating for the deviation ΔP by feedforward control based on the deviation ΔP stored as described above.
1. Calculate Fi1. However, the correction amount functions Fv1, Fi1
Is also expressed as a function of the crank angle θ for each cycle number n. In general, the deviation ΔP is caused by a response delay of the drive motor M. Therefore, the correction amount functions Fv1 and Fi1 for compensating for the deviation ΔP have the same sign as the deviation ΔP and are ahead of the deviation ΔP in phase. It has become.

The correction amount generators 52 and 53 provide a correction amount function F
v1, Fi1, the correction amount Fv corresponding to the crank angle θ.
, Fi. The correction amounts Fv and Fi are used as feedforward amounts by being added to the respective target values of these minor control loops in the speed control loop 20b and the current control loop 20c to compensate for the response delay of the drive motor M. can do.

It should be noted that, instead of using both of the correction amounts Fv and Fi, only one of them may be used. The command signal S8 may be generated manually, or may be repeatedly generated at appropriate time intervals.
Further, the correction amount functions Fv1 and Fi1 focus on the fact that the deviation ΔP differs depending on the operating speed of the loom, and separately calculate a function corresponding to the cycle immediately after startup and a function corresponding to the cycle after steady operation, You may make it use both properly.

In the above description, the drive target of the drive motor M may be a rapier or a reed other than the heald frame. In general, unlike a heald frame, a rapier or reed only needs to move according to the same motion pattern K in all cycles of the loom. Therefore, the motion pattern designating means 30 at this time omits the opening selection pattern generator 31, and the opening pattern setting device 32 provides a single motion pattern K corresponding to the crank angle θ during one cycle of the loom. It is enough to set and memorize. In this case, the correction amount function calculator 51 of the correction control unit 50 may calculate and output the correction amount functions Fv1 and Fi1 common to all cycles.

[0046]

As described above, according to the present invention, when the locomotive mechanism is driven by the dedicated drive motor, the synchronous adjusting means is used to start the loom when the loom is started. By precisely adjusting the drive motor to the rotation position of, the drive motor can perform automatic synchronization with the loom spindle at any crank angle, eliminating the need for complicated and cumbersome manual synchronization operation. This is an excellent effect that a large labor saving effect can be realized.

[Brief description of the drawings]

[Fig. 1] Overall schematic block diagram

FIG. 2 is a detailed block diagram of a main part when applied to an opening movement mechanism.

FIG. 3 is an operation explanatory diagram.

FIG. 4 is a block diagram of a main part showing another embodiment.

[Description of Signs] M: Drive motor θ: Crank angle K: Movement pattern Po: Target rotation amount Ps: Adjustment movement amount S7: Synchronization adjustment signal 10: Position command unit 20: Position control unit 30: Movement pattern designation means 40 ... Synchronization adjustment means

Claims (2)

(57) [Claims] 1. A locomotive motion mechanism control device for driving a loom motion mechanism via a dedicated drive motor, comprising: a motion pattern designating means for storing a motion pattern of a driving target;
A position command unit that generates a target rotation amount of the drive motor in accordance with the crank angle in accordance with the movement pattern from the movement pattern designating unit; And a synchronization adjusting means, the synchronization adjusting means being provided before the loom is started.
A movement mechanism control device for a loom, wherein an adjustment movement amount of a drive motor is determined based on the movement pattern from the movement pattern designation means and the current crank angle, and is output to the position control unit as a synchronization adjustment signal. . 2. The locomotive motion mechanism control device according to claim 1, wherein said synchronization adjustment means determines an adjustment movement amount as a rotation amount of the drive motor from an origin position.