JP3655326B2 - Ear aligning control method and device for spreader and ear position detecting device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to an ear alignment control method and apparatus and an ear position detection device for a spreader for unraveling a fabric such as a fabric from a roll-shaped raw fabric state and aligning the ears of the fabric when the fabric is fed to a desired length. About.
[0002]
[Prior art]
In the spreader, the main body of the spreader reciprocates in the longitudinal direction of the horizontal spreader table, unwinds and feeds out the original roll wound in a roll shape, and stretches so that the required number of sheets is the required length. Spread and stack on the anti-table. A roll-shaped original fabric is placed on the spreader body, the dough is fed out from the feeding section, and the dough is stacked on the spreader table. When the fabric is stacked on the spread table due to the winding state of the original fabric, a deviation occurs. In order to correct this deviation, an ear detector and an ear aligning motor are provided on the traveling carriage of the spreader and a gantry is placed. The gantry supports the original fabric so that the fabric can be unwound and fed out. The gantry is moved and adjusted in a direction orthogonal to the traveling direction of the spreader, and the ears of the dough are aligned.
[0003]
FIG. 8 shows a schematic configuration of the ear alignment in the conventional example. The configuration generally includes a control unit 56 and a spreader main body 57.
The spreader main body 57 includes an ear detector 60 formed of an optical sensor for detecting the position of the fabric ear and an AC motor 59 for moving and adjusting the gantry. The detection signal of the ear detector 60 is sent to the relay sequence 58 of the control unit 56.
The control unit 56 relays an ON / OFF command 58 for driving or stopping the AC motor 59 provided in the spreader body 57 based on the detection signal of the ear detector 60 provided in the spreader body 57. The sequence 58 is sent to the AC motor 59. The AC motor 59 is controlled by an ON / OFF command 58 from the control unit 56.
[0004]
FIG. 10 is a schematic diagram of the ear detector 60 in the above-described conventional example. The ear detector 60 is composed of an optical sensor including a light emitting element and a light receiving element. The ear detector 60 is provided on a U-shaped member 61 provided so as to sandwich the passage trajectory of the cloth, and a pair of detection members 64A, a light emitting element 62B, and a light receiving element 63B, each including a light emitting element 62A and a light receiving element 63A in the cloth width direction. Another set of detection members 64B is provided.
[0005]
If the fabric ears are positioned between the two pairs of detection members 64A and 64B provided on the ear detector 60, the fabric travels correctly, and the fabric is shifted to either the left or right, and the two pairs of detection members 64A and 64B. When both ears are detected or when both pairs are not detected, the fabric is running abnormally, so the platform is moved and adjusted so that the fabric is positioned between the two pairs of detection members. To do.
[0006]
A plurality of optical sensors comprising light emitting elements and light receiving elements constituting the ear detector 60 are provided on the spreader. These photosensors have slightly different sensitivities, and it is necessary to make the sensitivities of all the photosensors uniform in order to achieve good ear alignment. Therefore, each optical sensor uses a sensor with a sensitivity adjustment mechanism or sensitivity adjustment circuit, and the sensitivity adjustment is manually adjusted by the dial attached to each optical sensor, or based on detection signals in the cloth arrangement state and non-arrangement state. The appropriate sensor sensitivity for automatically detecting the fabric is calculated and adjusted.
[0007]
[Problems to be solved by the invention]
However, in the above conventional example, only the AC motor 59 is driven or stopped by the detection signal from the ear detector 60, so that there is only one ear alignment speed pattern as shown in FIG. Therefore, the ear-rise rising acceleration is constant regardless of the fabric. If the rising acceleration is set to a large value, when the soft and slippery fabric is stretched, good ear alignment is performed, but when the hard fabric is aligned, the fabric will bend and cause wrinkles. . Further, in the case of a slippery fabric, slip occurs between the unwinding belt and the feeding belt and the fabric, which causes wrinkles.
[0008]
When the ear alignment rising acceleration is set to be small, the ear alignment completion time becomes long and good ear alignment cannot be performed. In addition, there is a problem that the ear aligning means reacts sensitively for fabrics with poor ear condition.
[0009]
In addition, the ear detector 60 may be caused by the fabric being close to one side of the U-shaped member 61 due to the hardness of the fabric or the reciprocating movement of the spreader in the longitudinal direction of the stretch table for spreading. There is. In particular, when extending a thin fabric such as an interlining, if the fabric is too close to the light emitting element 62 side of the ear detector 60, the light emitted from the light emitting element 62 is transmitted through the fabric, and the light emitting element 62 The light receiving element 63 provided oppositely receives light, the cloth is not detected, and the ear aligning device is activated. In order to eliminate the malfunction of the ear aligning device that occurs when the thin fabric is stretched, the light amount of the light emitting element 62 is finely adjusted so that the light emitted from the light emitting element 62 does not pass through the fabric even in the thin fabric. There is also a problem that this adjustment is required and this adjustment takes time.
[0010]
In addition, in the sensitivity adjustment of the optical sensor in the above-mentioned conventional example, the dial type sensitivity adjustment optical sensor manually adjusts the arrangement state and non-arrangement state of the cloth for all the optical sensors provided in the spreader. It must be done, and it takes time to make adjustments, and delicate adjustments are difficult. As for the optical sensor that calculates and adjusts the sensitivity suitable for automatically detecting the fabric based on the detection signals in the arrangement state and non-arrangement state of the fabric, there is no need for manual sensitivity adjustment, but the dial type Similarly, the sensitivity must be adjusted by creating a non-arranged state and an arranged state of the fabric. Therefore, there is also a problem that it takes time to make adjustments for all the optical sensors of the spreader.
[0011]
The present invention has been invented in view of the above-described problems, and the object of the present invention is an ear justification control method and ear justification that allow good ear justification under any extending condition. A control device and an ear position detection device are provided.
[0012]
[Means for Solving the Problems]
  In order to achieve the above object, the present invention provides an ear aligning rising acceleration suitable for the unfolding condition in the ear aligning control method of the unfolding machine that corrects the misalignment of the ear position of the fabric that is unwound by unwinding the original fabric roll.And ear alignment speed limit, And a preset ear alignment acceleration based on the ear position non-detection signal from the ear position detection means provided for detecting the ear position of the fabricAnd within the ear alignment speed of the ear alignment speed limitThe ear aligning motor provided on the main body of the spreader is controlled by issuing a command to align the ears.
[0013]
  Further, the present invention provides an ear aligning rising acceleration suitable for the unfolding condition in the ear aligning control device of the unfolding machine that corrects the misalignment of the ear position of the fabric that is unwound by unwinding the original roll.And ear alignment speed limitA setting means for setting the ear position, an ear position detecting means for detecting the ear position of the cloth, and an ear position rising acceleration set by the setting means based on the ear position non-detection signal from the ear position detecting means.And within the ear alignment speed of the ear alignment speed limitAnd a control unit for controlling an ear alignment motor provided in the main body of the spreader based on a signal from the command unit.
[0014]
[0015]
Further, the present invention is characterized in that the command means derives a signal so that the ear alignment motor is decelerated to stop in a short time based on the ear position detection signal from the ear position detection means.
[0016]
  The present invention also providesIn order to detect the deviation of the fabric that is unwound by unwinding the original fabric roll, two pairs of detection members for deriving a fabric ear detection signal when the fabric is detected are provided in the direction of the width of the fabric to extend between the two pairs of detection members If the fabric ears are positioned, the fabric travels correctly. If the detection member detects two pairs of fabric ears or does not detect both pairs, the detection of the ear position that outputs a non-detection signal of the ear position is assumed as the fabric has shifted. In the device for detecting the ear position of the spreader that corrects the deviation, the detection member isDirection of light emission from each light emitting element at a position close to two sets of light sensors composed of a light emitting element and a light receiving element provided at positions facing each other at a predetermined distance so as to sandwich the cloth trajectory at a predetermined position on the traveling carriage So that they face each otherEstablishmentDetecting a fabric ear by detecting the logical sum of detection signals from two light receiving elements provided on the detection member and detecting at least one of the light receiving elements when the fabric ear is detected. It includes a determination means for deriving a signal.
[0017]
The present invention also provides operation level detection means for detecting the operation level of the optical sensor by continuously changing the sensor sensitivity between the light emitting element and the light receiving element in a non-arranged state of the cloth, and the operation level detection means. Appropriate sensitivity calculation means for calculating a sensor sensitivity suitable for detecting a dough ear by giving a sensitivity correction value set in advance to the detected operation level, and the sensor sensitivity calculated by the appropriate sensitivity calculation means for the optical sensor. And a sensitivity adjusting means for adjusting the sensitivity.
[0018]
[Action]
  According to the present invention, the ear rise acceleration suitable for the spreading conditionAnd ear alignment speed limitIs set in advance and based on the ear position non-detection signal from the ear position detection means provided for detecting the ear position of the fabric, a preset ear alignment rising acceleration is set.And within the ear alignment speed of the ear alignment speed limitA command is issued so that the ear aligning operation is performed, and the ear aligning motor provided in the main body of the spreader is controlled.
[0019]
  Further, according to the present invention, the ear position of the fabric is detected by the ear position detecting means, and the setting means has an ear-alignment rising acceleration suitable for the spreading condition.And ear alignment speed limitIs preset. The command means is an ear alignment rising acceleration set in advance based on the ear position non-detection signal from the ear alignment detection means.And within the ear alignment speed of the ear alignment speed limitThe ear aligning motor provided in the spreader main body is controlled by deriving a signal so that the ear aligning is performed.
[0020]
[0021]
Further, according to the present invention, a signal is derived so that the ear alignment motor is decelerated to stop in a short time based on the ear position detection signal from the ear position detection means.
[0022]
Further, according to the present invention, the detection member is provided at a position close to two sets of light sensors so that the cloth trajectory is sandwiched at a predetermined position on the traveling carriage so that the light emission directions from the respective light emitting elements face each other. The determination means calculates the logical sum of the detection signals from the two light receiving elements provided in the detection member, and detects the ear of the cloth that the detection member has detected the ear position at the time of detecting the cloth ear. Deriving the signal.
[0023]
Further, according to the present invention, the operation level is detected by continuously changing the sensor sensitivity by the operation level detection means in a non-arranged state between the light emitting element and the light receiving element. The appropriate sensitivity calculation means gives a sensitivity correction value set in advance to the detected operation level, and calculates a sensor sensitivity suitable for detecting the fabric ear. Then, the sensitivity adjustment unit adjusts the sensitivity of the optical sensor to the calculated sensor sensitivity. Therefore, it is possible to eliminate the influence of the sensitivity change of the optical sensor due to the extended environment, and to eliminate the variation in sensitivity among the plurality of optical sensors, thereby making it uniform.
[0024]
【Example】
FIG. 1 shows a schematic configuration of an embodiment of the present invention with a part cut away. The spreader 1 has a traveling carriage 3 capable of reciprocating along a longitudinal direction on a spreading table 2 having a horizontal mounting surface, and movable on the traveling carriage 3 in a direction perpendicular to the traveling direction. An unwinding device 5 and a feeding device 6 are provided as a pedestal.
[0025]
The traveling carriage 3 is provided with wheels 4, and the traveling carriage 3 is driven by driving the wheels 4, and the spreading roller 7, the fabric pressing plate 8, the cutter member 9, etc. are moved up and down at the lower side wall on one end side in the traveling direction. It is provided so that it can move freely.
[0026]
Next, the structure of the unwinding device 5 as the gantry 5 and the feeding device 6 will be described.
The unraveling device 5 is supported on the traveling carriage 3 by guide bars 10 and 11 provided between left and right frames (not shown) of the traveling carriage 3.
[0027]
The unraveling device 5 is provided with beams 14 and 15 and an original fabric receiving member support shaft 16 between left and right frames (not shown), arms 17 and 18 are suspended at appropriate positions of the beams 14 and 15, and rolls provided on the arms 17 and 18. The guide bars 10 and 11 are sandwiched by 19 and 20, and the unwinding device 5 is supported on the traveling carriage 3 so as to be movable in the left-right direction (direction perpendicular to the traveling direction of the traveling carriage 3).
[0028]
The unwinding device 5 is provided with an original fabric receiving member 21. In the original fabric receiving member 21, an original fabric 23 is mounted on an unwinding belt 22 hung in a V shape, and is driven by an unillustrated unwinding motor.
[0029]
A servo motor 25 for moving the original fabric receiving member 21 to the left and right is supported by a support member 24 spanned between the guide bars 10 and 11. The beams 14 and 15 are provided with racks 26 extending in the machine width direction through support members (not shown), the pinions 27 provided on the motor shaft of the servo motor 25 are engaged with the racks 26, and the solution is obtained by the rotation of the servo motor 25. The reaction device 5 is moved left and right in the machine width direction.
[0030]
A U-shaped ear detector 29 is provided by a support member 30 as a means for detecting the ear position of the fabric 28 hanging from the top of the unwind belt 22. The configuration of the ear detector 29 will be described later.
[0031]
Next, the feeding device 6 is supported on the traveling carriage 3 by guide bars 12 and 13 provided between the left and right frames (not shown) of the traveling carriage 3.
[0032]
The feeding device 6 is provided with beams 31 and 32 between left and right frames (not shown) on the traveling carriage 3, arms 33 and 34 are suspended at appropriate positions of the beams 31 and 32, and rolls 35 and 36 provided on the arms 33 and 34 are provided. The guide bars 12 and 13 are sandwiched, and the feeding device 6 is supported so as to be movable left and right on the traveling carriage 3.
[0033]
A servo motor 38 for moving the feeding device 6 left and right is supported by a support member 37 spanned between the guide bars 12 and 13. The beams 31 and 32 are provided with a rack 39 extending in the machine width direction through a support member (not shown), the pinion 40 provided on the motor shaft of the servo motor 38 is engaged with the rack 39, and the rack 31 is extended by the rotation of the servo motor 38. The apparatus 6 is moved left and right in the machine width direction.
[0034]
The feeding device 6 has a feeding belt 43 stretched by a pair of feeding belt support rolls 41 and 42 and is driven by a feeding motor (not shown).
[0035]
A U-shaped ear detector 44 is provided by a support member 45 across the passage locus of the fabric 28 that hangs down from the top of the feeding belt 43. The sensor 44 is the same as the sensor 29 described above.
[0036]
FIG. 2 shows an electrical configuration of the ear justification control apparatus of the embodiment shown in FIG. 1 and includes a setting unit 46, a command unit 47, a control unit 48, and a spreader body 49.
[0037]
In the setting unit 46, the ear alignment rising acceleration and the ear alignment speed limit value for the ear alignment in the unwinding device 5 and the feeding device 6 are input to the input means 50 and 51 by the operator, respectively.
[0038]
Based on the data set by the setting unit 46, the command unit 47 sends a command pulse train 52 for controlling the ear aligning servomotor 25 provided in the unwinding device 5 to the control unit 48. Similarly, a command pulse train 53 for controlling the ear aligning servo motor 38 provided in the feeding device 6 is sent to the control unit 48. The control unit 48 that controls the servo motors 25 and 38 includes servo amplifiers 54 and 55.
[0039]
In the spreader main body 49, the position of the ears of the dough 28 and the servomotors 25 and 38 for moving the unwinding device 5 and the feeding device 6 in the left-right direction on the traveling carriage 3 in order to align the ears are arranged. Detecting ear detectors 29 and 44 are included. The setting unit 46, the command unit 47, and the control unit 48 are configured by a microcomputer or the like and are mounted on the spreader main body.
[0040]
Before starting to stretch the original fabric, the operator inputs the ear aligning rising acceleration and the ear aligning speed limit value suitable for the stretch condition in the input means 50 and 51 of the setting unit 46. The command unit 47 does not detect the ear alignment rising acceleration and the ear alignment speed limit value input by the input means 50 and 51 of the setting unit 46 and the ear position of the ear detectors 29 and 44 provided in the spreader main body 49. The command pulse trains 52 and 53 are derived to the servo amplifiers 54 and 55 of the control unit 48 so that the servo motors 25 and 38 perform ear alignment with the ear alignment rising acceleration set according to the signal. The servo amplifiers 54 and 55 accelerate the servo motors 25 and 38 based on the command pulse trains 52 and 53 from the command unit 47.
[0041]
When the ear alignment speed reaches a preset ear alignment speed limit value, the command pulse trains 52 and 53 are derived to the servo amplifiers 54 and 55 of the control unit 48 so as to perform the ear alignment with the ear alignment speed limit value. The servo motors 25 and 38 are driven at a constant speed.
[0042]
When the servo motors 25 and 38 are decelerated according to the detection signals of the ear positions of the ear detectors 29 and 44, the command unit 46 has a negative ear alignment acceleration that does not place a burden on the servo motors 25 and 38. The command pulse trains 52 and 53 are derived to the servo amplifiers 54 and 55 of the control unit 48 so that the motors 25 and 38 decelerate in a short time. The servo amplifiers 54 and 55 control the servo motors 25 and 38 to decelerate and stop based on the command pulse trains 52 and 53 from the command unit 47.
[0043]
FIG. 3 is a graph showing the change over time of the ear alignment speed in the present embodiment. Here, three types of ear alignment speed patterns v1, v2, and v3 are shown. Tav1 to Tav3 are acceleration portions, and Tdv1 to Tdv3 are deceleration portions. When the ear alignment rising acceleration is small as in the ear alignment speed pattern v3, the speed limit value of the ear alignment speed is low, and when the ear alignment rising acceleration is large as in the ear alignment speed pattern v1, the speed control of the ear alignment speed is performed. Control is performed by setting the ear-rise rising acceleration and the ear-alignment speed limit value so as to increase the value.
[0044]
FIG. 3 shows an ear aligning speed pattern when the ear aligning speed reaches a preset ear aligning speed limit value for easy understanding of the present invention. In normal ear alignment, since the time required for ear alignment is short, the ear position detection signal is received from the ear detectors 29 and 44 while the ear alignment speed is accelerated by the preset ear alignment rising acceleration. Often, the speed is controlled to slow down, so the ear justification speed pattern is often triangular.
[0045]
However, the mounting state of the original fabric roll 23 on the original fabric receiving member 21 or the ear condition of the fabric 28 is bad, and the unwinding device 5 and / or the feeding device 6 are used as the traveling carriage 3 to align the fabric 28 with the ear. Even if it takes a long time to align the ear in the left or right direction on the top, the ear alignment speed limit value is set in advance to a value suitable for the spreading condition, and the ear alignment speed Since control is performed so that the ear alignment is performed within the ear alignment speed of the limit value, the ear alignment speed does not increase excessively, and good ear alignment can be performed without applying excessive force to the fabric 28.
[0046]
In general, in the motor control, trapezoidal acceleration / deceleration is used as shown in the graph of FIG. 9, and the acceleration time Ta and the deceleration time Td are equal, whereas in this embodiment, the deceleration time is controlled to be short. The Based on the detection signals of the ear positions from the ear detectors 29 and 44, the command unit 47 causes the servo motors 25 and 38 to move in a short time with a negative ear alignment acceleration that does not place a burden on the servo motors 25 and 38 when the ear alignment is decelerated. The command pulse trains 52 and 53 are led out to the control unit 48 so as to decelerate, and the servo motors 25 and 38 are controlled so as to decelerate. Therefore, the unwinding device 5 and / or the feeding device after the deceleration command is issued. The amount of movement 6 (coast distance) can be shortened.
[0047]
A value suitable for the spreading condition is set in the setting unit 46 for the ear rise acceleration. Various conditions such as the nature of the cloth to be stretched or the speed of stretching can be considered as the spreading condition. For example, when the fabric to be stretched is a soft fabric that is difficult to slip, the ear alignment rising acceleration is increased and the ear alignment speed limit value is also increased as in the speed pattern v1 of FIG. When the stretched fabric is hard or slippery, the ear alignment rising acceleration is reduced and the ear alignment speed limit value is also kept low as in the speed pattern v3 of FIG. Further, even when the cloth to be stretched is hard or slippery, if the state of the cloth ear is bad, the ear alignment rising acceleration and the ear alignment speed limit value are set as in the speed pattern v2 of FIG.
[0048]
FIG. 4 shows a schematic configuration of an ear detector 29 which is an ear position detecting means of the present invention.
The ear detector 29 is provided with a U-shaped member 71 so as to sandwich a cloth trajectory, and the U-shaped member 71 is provided with two pairs of detection members 72 in the width direction of the cloth 28 that extends. Each detection member 72 is disposed at a position where two sets of light emitting elements 73 and 76 and light receiving elements 74 and 75 are close to each other so that the light emitting directions from the respective light emitting elements 73 and 76 face each other.
Although not shown, in order to prevent light from the light emitting elements 73 and 76 from leaking to the light receiving elements 74 and 75 and interfering with them, it is opaque between the light emitting elements 73 and 76 and the light receiving elements 74 and 75. A shielding plate is provided.
[0049]
If the ear of the fabric 28 is positioned between the detection members 72A and 72B, the fabric 28 travels correctly, but the fabric 28 is shifted to either one and the detection member detects neither the pair of ears nor the two pairs. In some cases, the ear detector 29 outputs a non-detection signal of the ear position. Since this is when the fabric 28 is traveling abnormally, the unwinding device 5 must be moved to the left or right.
Since the ear detector 44 has the same configuration as the ear detector 29 described above, the description thereof is omitted.
[0050]
FIG. 5 shows an electrical configuration of one detection member 72A of the ear detector 29 of the present invention shown in FIG. Two pairs of light receiving elements 74A and 75A are arranged on the U-shaped member 71 on the detection member 72A so that the light emitting directions from the light emitting elements 73A and 76A face each other. A determination means 79 for determining the detection signals 77 and 78 from the light receiving elements 74A and 75A is provided.
[0051]
When extending a thin fabric or the like, the fabric is too close to one light emitting element 76A of the detection member 72A due to the hardness of the fabric or the reciprocating motion of the spreader, and the light emitted from the light emitting element 76A is transmitted through the fabric. Even if it is not possible to detect the fabric, the other light emitting element 73A has a distance to the fabric, so that the fabric can be detected.
[0052]
In the determination means 79, the logical sum of the detection signals from the two light receiving elements 74A and 75A is taken, and when one of the detection signals 77 and 78 from the two light receiving elements 74A and 75A detects the fabric ear. An ear position detection signal is derived, and when neither of the two light receiving elements 74A and 75A detects a fabric ear, an ear position non-detection signal is derived.
Two pairs of detection members 72 are provided in the cloth width direction of the U-shaped member 71, and the other detection member 72B has the same configuration as the detection member 72A described above.
[0053]
FIG. 6 is a diagram showing an electrical configuration in automatic sensitivity adjustment of the optical sensor 83 including the light emitting element 73A and the light receiving element 75A arranged on the detection member 72A shown in FIG.
The sensitivity of the optical sensor changes depending on the environment when performing reversal, such as temperature and humidity, etc. In order to always detect a good ear position, the sensitivity setting of the photosensor must be set before starting reversal. You may go.
The configuration in the automatic sensitivity adjustment of the optical sensor 83 includes an optical sensor 83 including a light emitting element 73A and a light receiving element 75A, an operation level detecting unit 80, an appropriate sensitivity calculating unit 81, and a sensitivity adjusting unit 82.
[0054]
The operation level detecting means 80 detects the operation level of the optical sensor 83 by continuously changing the sensor sensitivity adjustment value from the minimum value in a state where the fabric 28 does not exist between the light emitting element 73A and the light receiving element 75A. To do. When the sensor sensitivity adjustment value is too small, it is determined that there is the fabric 28 because the amount of received light is small even though the fabric 28 is not present. However, the sensor sensitivity adjustment value is gradually increased to increase the fabric 28. The sensitivity level at the time when it is determined that there is no is detected. This sensitivity level is the operation level.
[0055]
The appropriate sensitivity calculation means 81 calculates sensor sensitivity suitable for detecting a fabric ear based on a sensitivity correction value set in advance based on the motion level detected by the motion level detection means 80. This is an unstable region of the optical sensor at the operation level, and stable detection cannot be performed. Therefore, even when the fabric 28 is thin near the center between the light emitting element 73A and the light receiving element 75A, the fabric ear can be detected satisfactorily. The sensitivity correction value set in advance in anticipation of being capable of being added is added to the operation level detected by the operation level detection means 80.
[0056]
When a thin fabric or the like is stretched, the fabric 28 swings too close to the light emitting element 73A due to the hardness of the fabric or the acceleration / deceleration during the reciprocating traveling of the traveling carriage 3 or the influence of the wind, and the light emitted from the light emitting element 73A is emitted from the fabric. There are times when it is not possible to detect the fabric by passing through. However, the dough ear is reliably detected by the light emitting element 76A and the light receiving element 74A provided at positions close to the light emitting element 73A and the light receiving element 75A so as to face the light emitting direction from the light emitting element 73A.
[0057]
The sensitivity adjustment unit 82 performs adjustment so that the sensitivity of the optical sensor 83 matches the sensor sensitivity calculated by the appropriate sensitivity calculation unit 81. The detection signal from the light receiving element 75A is led to the operation level detecting means 80.
[0058]
In the present embodiment, a total of eight optical sensors for detecting the ear position in the spreader 1 are provided. However, since the sensitivity adjustment for the optical sensors other than the optical sensor 83 described above is the same, the description thereof is omitted.
[0059]
FIG. 7 is a graph showing the temporal change of the ear alignment speed according to another embodiment of the present invention, in which the ear alignment rising acceleration is changed to an S-shaped acceleration pattern instead of a constant acceleration. Movement of the counter apparatus 5 and the feeding apparatus 6 in the left-right direction can be made smooth.
[0060]
Next, the procedure for extending the original roll in the apparatus of the present invention will be described.
As shown in FIG. 1, the fabric 28 unwound from the original roll 23 is set on the spreader in a state of passing through the ear detectors 29 and 44 for detecting the ear position. Then, the ear aligning rising acceleration and the ear aligning speed limit value suitable for the extending condition are set in the input means 50 and 51 of the setting unit 46 before the start of the extending operation. When the setting is completed, the unfolding is started, the unrolling and feeding of the original fabric roll 23 is performed as the traveling carriage 3 travels, and the fabric 28 is placed on the unfolding table 2.
[0061]
When the ear of the fabric 28 unwound from the original fabric 23 passes through the ear detector 29, the ear position is detected by two pairs of detection members 72 in the left-right direction of the ear detector 29. When an ear position non-detection signal is output by the ear detector 29 assuming that the ear of the fabric 28 is displaced, the unwinding device 5 must be moved to the left or right. The command unit 47 sends a command pulse train 52 to the servo amplifier 54 of the control unit 48 based on the ear alignment rising acceleration and the ear alignment speed limit value set in the setting unit according to the ear position non-detection signal of the ear detector 29. send. The ear aligning servo motor 25 is driven and controlled by a servo amplifier 54.
[0062]
Driving force of the servo motor 25 is transmitted to the beam 15 through the pinion 27 and the rack 26. Since the beam 15 is supported on the guide bars 10 and 11 together with the beam 14, the beams 14 and 15 are appropriately moved to the left and right, and the unwinding device 5 on the beams 14 and 15 is also moved to the left and right.
[0063]
When the detection member 72 of the ear detector 29 outputs a detection signal for the ear position while the movement of the unwinding device 5 in the left-right direction is made, the detection signal for the ear position is output. Based on the above, the command unit 47 sets the command pulse train 52 so that the servo motor 25 decelerates in a short time with a negative ear alignment acceleration that does not impose a burden on the servo motor 25 as a deceleration command to the servo motor 25 during the ear alignment deceleration. Derived to the control unit 48. The control unit 48 controls the servo motor 25 based on the command pulse train 52 from the command unit 47 and stops the movement of the unwinding device 5 in the left-right direction.
[0064]
Also in the feeding device 6, the ear position of the fabric 28 is detected by the ear detector 44, and the ear alignment is performed based on the preset ear alignment rising acceleration and the ear alignment speed limit value. This control and operation will be described first. Since this is the same as the case of the unwinding apparatus 5 that has performed, the description here is omitted.
[0065]
As described above, while the dough 28 is aligned by the unwinding device 5 and the feeding device 6, the traveling carriage 3 is reciprocated along the longitudinal direction on the extending table 2, thereby moving the traveling cart 3 on the extending table 2. The dough is stretched and laminated at the required length.
[0066]
In the above embodiment, the setting unit 46 inputs the ear aligning rising acceleration and the ear aligning speed limit value for each of the disassembling device 5 and the feeding device 6 on the traveling carriage 3. 5 and the feeding device 6 may be provided with one means for inputting the ear aligning rising acceleration and the ear aligning speed limit value.
[0067]
Further, in the above embodiment, the ear aligning rising acceleration and the ear aligning speed limit value suitable for the spreading condition are directly input to the input units 50 and 51 of the setting unit 46. However, the setting unit 46 is provided with a storage unit. A combination of ear aligning rising acceleration and ear aligning speed limit value suitable for the spreading condition may be stored in advance in the storage unit and selected from them.
[0068]
Further, in the above embodiment, by providing the unwinding device 5 and the feeding device 6 on the traveling carriage 3 as the respective devices, both or one of the unwinding device 5 and the feeding device 6 is appropriately moved in the ear alignment. Each device requires a minimum amount of movement, but these devices may be integrated.
[0069]
【The invention's effect】
  As described above, according to the present invention, the ear rise acceleration suitable for the spreading condition is as follows.And ear alignment speed limitIs set in advance and based on the ear position non-detection signal from the ear position detection means provided for detecting the ear position of the fabric, a preset ear alignment rising acceleration is set.And within the ear alignment speed of the ear alignment speed limitTherefore, it is possible to achieve a good ear alignment under any spreading condition.
[0070]
  According to the present invention, the position of the fabric ear is detected by the ear detection means, and the setting means has an ear-alignment rising acceleration suitable for the spreading condition.And ear alignment speed limitIs preset. The command means is a preset ear-alignment rising acceleration based on a detection signal from the ear position detection means.And within the ear alignment speed of the ear alignment speed limitThe ear aligning motor provided in the spreader main body is controlled by deriving a signal so that the ear aligning is performed. Performing alignment better ear by setting what the spreading conditions therefore, the setting unit for rising acceleration aligned ears suitable for any fabric properties or dough ear condition like a was also the cloth spreading conditions e.g. be able to.Also, by setting the ear alignment speed limit value to a value suitable for the spreading condition, excessive force is not applied to the fabric, and the ear alignment speed increases excessively even when the movement amount in the ear alignment is large. , And good ear alignment becomes possible.
[0071]
[0072]
According to the present invention, the command means derives a signal so that the ear alignment motor is decelerated to stop in a short time based on the ear position detection signal from the ear position detection means. Therefore, the coasting distance of the ear alignment control device from when the deceleration command is derived to when the ear alignment motor stops can be shortened, and good ear alignment is possible.
[0073]
  Also according to the invention,Detection memberPut the cloth trajectory at a predetermined position on the carriageIt consists of a light emitting element and a light receiving element provided at positions facing each other at a certain distance.The light emitting directions from the respective light emitting elements face each other at positions close to two sets of optical sensors.EstablishmentDetecting a fabric ear by detecting the logical sum of detection signals from two light receiving elements provided on the detection member and detecting at least one of the light receiving elements when the fabric ear is detected. Determination means for deriving a signal is provided. Therefore, even when one of the light emitting elements cannot detect the fabric, the other element can detect the fabric, so that stable ear position detection can be performed at all times, and malfunction of the ear alignment device can be eliminated to achieve good ear alignment. It becomes.
[0074]
According to the invention, the operation level detection means for detecting the operation level of the optical sensor by continuously changing the sensor sensitivity between the light emitting element and the light receiving element in a non-arranged state of the cloth, and the operation level detection means An appropriate sensitivity calculation means for calculating a sensor sensitivity suitable for detecting a fabric ear by giving a preset sensitivity correction value to the operation level detected by the sensor, and the sensor sensitivity calculated by the appropriate sensitivity calculation means Sensitivity adjusting means for adjusting the sensitivity is provided. Therefore, even when the sensitivity of all ear sensors is made uniform by adjusting the sensitivity for all ear sensors for detecting the ear position on the spreader, the sensitivity adjustment of the optical sensor is performed on the fabric. Since it is performed in the absence, the burden at the time of sensitivity adjustment can be eliminated.
[Brief description of the drawings]
FIG. 1 is a side view with a part cut away of an embodiment of the present invention.
FIG. 2 is a block diagram showing a schematic configuration for performing acceleration control in ear alignment of the spreader shown in FIG. 1;
FIG. 3 is a graph showing temporal changes in ear alignment speed in the embodiment of FIG. 1;
FIG. 4 is a schematic configuration diagram of an ear position detection device of the present invention.
FIG. 5 is a diagram showing an electrical configuration of the ear position detection device shown in FIG. 4;
6 is a diagram showing an electrical configuration in automatic sensitivity adjustment of the ear position detection device shown in FIG. 4;
FIG. 7 is a graph showing temporal changes in ear alignment speed according to another embodiment of the present invention.
FIG. 8 is a block diagram showing a schematic configuration for performing ear alignment in a conventional spreader.
FIG. 9 is a graph showing temporal changes in the ear aligning speed in a conventional spreader.
FIG. 10 is a schematic view showing an ear position detecting device in a conventional spreader.
[Explanation of symbols]
1 .... Folding machine
2 ... Rolling table
3 ... Traveling cart
4. Wheels
5 .... Resolving device (stand)
6 .... Feeding device (stand)
10-13 ... guide bar
23 ... Original fabric
25, 38 ... Servo motor
28 ... Dough
29, 44 ... Ear detector
27, 40 ... Pinion
26, 39 ... rack
46... Setting part
47 ... Command section
48 ... Control unit
49 ... Body machine
71 ... U-shaped member
72 ... Detection member
73, 76 ... Light emitting element
74, 75... Light receiving element
79 ... Determination means
80... Operation level detection means
81 ... Appropriate sensitivity calculation means
82. Sensitivity adjustment means

Claims (5)

In the method of aligning the ears of the spreader that corrects the deviation of the ear position of the fabric that is unwound by unwinding the original roll,
It is set in advance based on the ear position non-detection signal from the ear position detection means provided to detect the ear position of the fabric by setting the ear alignment rising acceleration and the ear alignment speed limit value suitable for the spreading condition. A device for controlling an ear aligning motor provided in the main body of the spreader by issuing a command to align ears within the ear aligning speed of the ear aligning rising acceleration and the ear aligning speed limit value Ear alignment control method. In the ear aligning control device of the spreader that corrects the deviation of the ear position of the fabric that is unwound by unwinding the original roll,
Setting means for setting the ear alignment rising acceleration and the ear alignment speed limit value suitable for the spreading condition;
Ear position detecting means for detecting the ear position of the fabric;
Based on the ear position non-detection signal from the ear position detection means, a command means for deriving a signal so as to perform ear alignment within the ear alignment rising acceleration and the ear alignment speed limit value set by the setting means. When,
And a control unit that controls an ear aligning motor provided in the main body of the spreader based on a signal from the commanding unit. 3. The extension according to claim 2, wherein the command means derives a signal so that the ear alignment motor is decelerated to stop in a short time based on the ear position detection signal from the ear position detection means. Counter-ear control device. In order to detect the deviation of the fabric that is unwound by unwinding the original fabric roll , two pairs of detection members for deriving a fabric ear detection signal when the fabric is detected are provided in the direction of the width of the fabric to extend between the two pairs of detection members If the fabric ears are positioned, the fabric travels correctly. If the detection member detects two pairs of fabric ears or does not detect both pairs, the detection of the ear position that outputs a non-detection signal of the ear position is assumed as the fabric has shifted . In the device for detecting the ear position of the spreader that corrects the deviation,
The detection member is provided at a position close to two sets of light sensors each including a light emitting element and a light receiving element provided at positions facing each other at a predetermined distance so as to sandwich the trajectory of the cloth at a predetermined position on the traveling carriage. emission direction from the provided so as to face each other,
The detection signal of the fabric ear is detected by calculating the logical sum of the detection signals from the two light receiving elements provided on the detection member and detecting the position of the ear when at least one of the light receiving elements is detected. A device for detecting the position of the ear of the spreader machine, comprising: a determination means for deriving the position. The ear position detection device includes:
An operation level detection means for detecting the operation level of the optical sensor by continuously changing the sensor sensitivity in a non-arranged state of the cloth between the light emitting element and the light receiving element;
An appropriate sensitivity calculating means for giving a sensitivity correction value set in advance to the action level detected by the action level detecting means and calculating a sensor sensitivity suitable for detecting the fabric ear;
5. The ear position detecting device for a spreader according to claim 4 , further comprising sensitivity adjusting means for adjusting the sensitivity of the optical sensor to the sensor sensitivity calculated by the appropriate sensitivity calculating means.

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