JP4020098B2 - Service cart control system - Google Patents

Description

  The present invention relates to a service cart control system for providing a service by running a service cart to that unit when a plurality of processing units request service.

  Patent Document 1 discloses a spinning machine in which a large number of spinning units, which are examples of (yarn) processing units, are arranged side by side. When this spinning machine is in operation, when a spun yarn is cut in any spinning unit or when a yarn defect such as a slab is detected and forcibly cut, a yarn splicing carriage is automatically driven in front of the weight. The lower thread pulled out from the winding package and the upper thread on the draft device side are spliced by a knotter, splicer or the like. Patent Document 1 also mentions the case where two such yarn splicing carts are provided.

Patent Document 2 discloses a configuration in which a yarn splicer and a coarse yarn splicer travel on the same traveling rail. Obstacle sensors are provided in the yarn splicer and the roving splicer, and control is performed so that the roving splicer always runs in preference to the yarn splicer.
JP 11-107078 A (0016, 0020, fifth sentence) JP-A-6-108331 (FIG. 4, 0023, etc.)

  However, although the configuration of Patent Document 1 discloses a configuration in which two yarn splicing carts are provided, in the configuration, when a yarn splicing request is generated in the spinning unit, the two yarn splicing carts are replaced with two yarn splicing carts. There is no mention of how the transfer trucks share and process. On the other hand, yarn splicing requests are not generated in a specific order in the spinning units, and the frequency of yarn breakage varies from spinning unit to spinning unit. Therefore, for example, the yarn splicing requests are concentrated on one carriage, so that the yarn splicing requests cannot be processed quickly, reducing work efficiency, and there is a possibility that the two yarn splicing carts cannot be operated efficiently.

  Here, for example, it is also conceivable to combine the control in which one always gives priority over the other as in Patent Document 2 above with the configuration in Patent Document 1. However, in this control, the priority range of the yarn splicing cart is narrowed by the priority side splicing cart, which reduces the processing efficiency of the yarn splicing request. Accordingly, the yarn splicing processing efficiency as a whole of the two units also decreases, and the yarn cutting state cannot be recovered indefinitely, and the production efficiency of the spinning machine decreases.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide service cart control for supplying services using a plurality of service carts (for example, the above-described yarn joining carts) that travel along the same traveling path. The object is to provide a system that can be serviced quickly and can be operated efficiently.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

◆ According to the first aspect of the present invention, a service cart control system configured as follows is provided. In response to each of the plurality of processing units requesting a service, the processing unit is stopped by stopping any of the plurality of service carts traveling along the same traveling path, and the service is provided to the processing unit. Supply. A work area is allocated in advance for each service cart, and when a service request unit is generated, the service cart in charge of the work area to which the processing unit belongs is controlled to be directed to the processing unit. When a processing unit belonging to an adjacent area serving as a work area adjacent to the work area to which the service belongs does not request a service, a control means is provided for controlling the traveling direction of the service cart in charge of the adjacent area .

  Note that “controlling the traveling direction” includes any of transition from the stopped state to the traveling state, reversing the traveling direction of the cart in the traveling state, and maintaining the stopped state.

  As a result, not only the service trolley in charge of the work area to which the service request unit belongs, but also the service trolley in charge of the work area adjacent to the service trolley is controlled. Therefore, interference between service carts is reduced, and the supply of services can be performed smoothly and efficiently as a whole.

  The above service cart control system is preferably configured as follows. When a service request unit is generated, a calculation means is provided for calculating a distance between the current position of the service cart in the adjacent area and the processing unit. The control means controls the traveling direction of the service cart in the adjacent area based on the calculation result of the calculation means.

  As a result, the above-described control that reduces the interference between the service trolleys can be performed by the simple control for calculating the distance between the service trolley in the adjacent area and the service request unit.

  The above service cart control system is preferably configured as follows. When a service request unit has occurred and no service request unit has occurred in the adjacent area, the control means has a calculation result of the calculation means when the distance is within a predetermined distance, Retreat control is performed so that the service cart in the adjacent area travels away from the service request unit.

  That is, when the distance between the position of the service cart in the adjacent area (hereinafter referred to as “adjacent cart”) and the service request unit is within a predetermined distance, control (retraction control) that causes the adjacent cart to travel away from the service request unit. ), The distance between the service cart toward the service request unit and the adjacent cart can be secured, and interference between the two carts can be avoided by simple control.

  The above service cart control system is preferably configured as follows. An approach detection means for detecting the approach between service trolleys is provided. When a service request unit is generated in an arbitrary work area, the control means directs an arbitrary service cart in charge of the work area to which the processing unit belongs to the processing unit. In addition, even when the approach detecting means detects that an arbitrary service trolley traveling to the service request unit is approaching another service trolley, the control means performs the evacuation control on the other service trolley. When it is being carried out or in a state in which evacuation control is possible, control is performed so as not to stop traveling of the arbitrary service cart to the service request unit.

  That is, when the other service cart is in the evacuation control or can be evacuated, even if the approach detection means detects the other service trolley in any service trolley that is running, the other service trolley performs the evacuation control. Do not stop driving in anticipation of what to do. With this rational control, the target service request unit can be reached in a shorter time.

  ◆ In the service trolley control system described above, even when the approach detection means detects that any service trolley traveling to the service request unit in any work area is approaching another service trolley. When the above evacuation control is being performed for the other service trolley or the evacuation control is possible, the control means controls to reduce the traveling speed to the service request unit of the arbitrary service trolley. It is preferable.

  That is, when the approach detection means detects another service cart in an arbitrary service cart traveling to the service request unit, the time until the other service cart completes the evacuation control is reduced by decelerating. Earn and avoid collisions. If the other service carriage completes the evacuation control and the approach detection means does not detect it, it can quickly return to the original traveling speed from the deceleration state and arrive at the target service request unit in a short time.

  The above service cart control system is preferably configured as follows. Each service trolley includes a position of the service trolley, a position of a service request unit generated in a work area in charge of the service trolley, and a service request unit generated in a work area adjacent to the work area in charge of the service trolley. It is configured so that the position of can be recognized. The calculation means and the control means are provided for each service cart.

  As a result, the processing of each service cart can be performed in a distributed manner, and the control load can be reduced.

In the service trolley control system, when a service request unit occurs, a calculation means for calculating the distance between the position of the unit and the end of the work area to which the unit belongs, and a calculation result of the calculation means And a control means for controlling the traveling direction of the service cart that provides the service to the processing unit after the service ends.

  Thereby, when the service request unit is generated and the service cart supplies the service, the traveling direction after the service is controlled according to the distance from the end of the work area to which the service request unit belongs. Accordingly, it is possible to reduce interference with the service cart in the adjacent work area, and it is possible to smoothly and efficiently supply the service as a whole.

  In the service trolley control system, the control means moves the service trolley after the service toward the center side of the work area when the distance as a calculation result by the calculation means is within a predetermined distance. It is preferable to run.

  Thereby, since the service cart is less likely to stop near the boundary of the work area, interference between the trucks near the boundary of the work area can be reliably reduced.

  The above service cart control system is preferably configured as follows. Each service trolley is configured to be able to recognize the position of the service trolley and the position of the service request unit generated in the work area in charge of the service trolley. The calculation means and the control means are provided for each service cart.

  As a result, the processing of each service cart can be performed in a distributed manner, and the control load can be reduced.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a schematic plan view showing the overall configuration of a spinning machine equipped with a service cart system according to an embodiment of the present invention, FIG. 2 is a block diagram showing the electrical configuration of the spinning machine, and FIG. It is a flowchart which shows control of a trolley | bogie.
FIG. 4 is a schematic plan view showing a state where the first yarn joining cart arrives at the yarn joining request unit (No. 16) from the state of FIG. 1 and performs the yarn joining. FIG. 5 is a schematic plan view showing a case where the yarn joining is completed from the state of FIG. 4 and then a yarn joining request is generated in the 18th spinning unit. FIG. 6 is a schematic plan view showing a state in which the first yarn joining cart moves away from the state of FIG. 5 and the second yarn joining cart moves toward the 18th yarn joining request unit.

  FIG. 1 shows a spinning machine 1 having a large number of spinning units (processing units) 3 arranged side by side. The spinning machine 1 further includes a first yarn joining carriage 11 and a second yarn joining carriage 12 that are provided so as to be able to run in the direction in which the spinning units 3 are arranged, and each spinning unit 3 and the first yarn joining carriage 11. A central control device 4 for controlling the second yarn joining cart 12 is provided.

  Although not shown in detail, each spinning unit 3 mainly includes a drafting device, a spinning unit, a yarn defect removing device that detects a yarn defect such as a slab and forcibly cutting it, a winding device, and the like. Have as. Then, a fiber bundle sent from the draft device is spun by a spinning unit to generate a yarn, and the yarn is wound by a winding device to form a package.

  The first yarn joining cart 11 and the second yarn joining cart 12 are provided with running wheels (not shown) running on a common rail 6 laid on the spinning machine 1 body, and the running wheels are driven by a running motor 22. To drive. Each of the carriages 11 and 12 includes a yarn splicing device such as a knotter or a splicer, and the yarn is broken during the formation of the package in any of the spinning units 3, or the yarn is cut by detecting a yarn defect. In this case, either the first yarn joining carriage 11 or the second yarn joining carriage 12 travels to a position before the spinning unit 3 and stops, and the yarn on the package side and the yarn on the spinning device side are joined. Thus, the spinning by the spinning unit 3 can be resumed.

  Further, each of the yarn joining carts 11 and 12 is provided with a collision prevention sensor (approach detection means) 7, and when the approach to another yarn joining cart is detected by the collision prevention sensor 7, control is performed. The devices 51 and 52 perform control to stop the traveling yarn joining cart or to run the stopped yarn joining cart away from other yarn joining carts.

  Next, the electrical configuration of the main body of the spinning machine 1, the first yarn joining cart 11, and the second yarn joining cart 12 will be described with reference to FIG. FIG. 2 is a block diagram showing the electrical configuration of the spinning machine.

  As shown in FIG. 2, the central control device 4 included in the spinning machine 1 main body is connected to a control device 53 included in each of the spinning units 3 arranged in a large number via a signal line. With this configuration, the central controller 4 can receive a signal related to the state of the spinning unit 3 from each spinning unit 3. Signals related to the state of the spinning unit 3 include, for example, a signal indicating that the yarn has been cut and a splicing is necessary (yarn splicing request signal), or that the package is full and that the doffing is necessary. There are signals, signals indicating that some abnormality has occurred in the spinning unit 3, and the like.

  As shown in FIG. 1, each spinning unit 3 is assigned unit numbers 1, 2, 3,... From one end of the machine base of the spinning machine 1. It is stored in the control device 53 of the spinning unit 3. This unit number information is included in the signal when the spinning unit 3 transmits a yarn splicing request signal or the like to the central controller 4. As a result, the central control unit 4 can recognize which number of spinning units is currently requesting splicing. Although not all the spinning units 3 are shown in the figure, the spinning machine 1 of the present embodiment includes a total of 34 spinning units 3 from No. 1 to No. 34.

  The central control device 4 is also connected to the control device 51 of the first yarn joining cart 11 and the control device 52 of the second yarn joining cart 12 via a signal line, and is connected to each of the control devices 51 and 52. On the other hand, various types of information can be transmitted, and conversely, various types of information can be acquired from the yarn joining carts 11 and 12 side.

  As shown in FIG. 2, each of the two yarn joining carts 11 and 12 includes a traveling motor 22 that drives a traveling wheel (not shown) of the cart, a collision, in addition to the yarn joining device 21 such as the knotter and the splicer described above. A prevention sensor 7, a dog sensor 23 for detecting an unillustrated dog provided for each spinning unit 3, and the like are provided.

  With the above-described electrical configuration, the control devices 51 and 52 of the yarn splicing carts 11 and 12 cause the carts 11 and 12 to travel by driving the travel motor 22 to the spinning unit 3 that has requested yarn splicing. Based on the detection result 23, the bogies 11 and 12 are positioned and stopped on the spinning unit 3, and then the yarn joining device 21 is driven to perform yarn joining.

  Here, each of the first yarn joining cart 11 and the second yarn joining cart 12 includes output units 71 and 72 that output signals to the sensor 61 on the spinning unit 3 side. With this configuration, when the first yarn joining carriage 11 (or the second yarn joining carriage 12) arrives at the target spinning unit 3 and stops, the output unit 71 (72) has the spinning unit 3 facing the stop position. A signal is output to the sensor 61. Then, the spinning unit 3 corresponding to the sensor 61 that has received the signal sends the signal including its unit number via the central control device 4 to the control device 51 ( 52). Thus, the stopped yarn joining carts 11 and 12 can recognize which spinning unit 3 among the plurality of spinning units 3 is currently stopped (that is, its own position information). When the yarn joining carts 11 and 12 start traveling from the position, the current traveling position can be recognized by counting the detection of the dog sensor 23 based on the position information.

  As shown in FIG. 1, work areas A1 and A2 for the spinning unit 3 are assigned to the two yarn joining carts 11 and 12 so as not to overlap each other. Specifically, in the present embodiment, the first yarn joining cart 11 performs the yarn joining operation of the spinning units 3 from No. 1 to No. 17, and the second yarn joining cart 12 is from No. 18 to No. 34. The assignment is assigned in such a manner that the splicing operation of the spinning unit 3 is performed. The allocation information of the work areas A1 and A2 is stored in the control devices 51 and 52 of the yarn joining carts 11 and 12, respectively.

  Next, the control of the yarn joining carts 11 and 12 will be described. The control device for each yarn splicing cart 11 and 12 is configured as a known microcomputer having a CPU, ROM, RAM, etc. (not shown), and a program as shown in the flowchart of FIG. 3 is stored in the ROM. ing. That is, by the cooperation of the hardware such as the CPU and the software as shown in FIG. 3, the control devices 51 and 52 serve as calculation means and control means. Note that the same program is executed on the first yarn joining cart 11 and the second yarn joining cart 12.

  In the specific description of the subsequent control, as shown in FIG. 1, it is assumed that the first yarn joining carriage 11 is stopped before the 13th spinning unit 3, and the second yarn joining carriage is 24th. It is assumed that it is stopped before this spinning unit 3.

  The flow of FIG. 3 will be described. Each of the yarn joining carts 11 and 12 first determines whether or not a yarn joining request is generated in step S101. To explain with a specific example, the yarn breaks at any of the spinning units 3 from No. 1 to No. 34 (for example, No. 16), and the yarn joining request signal is sent from the unit (yarn joining request unit) to the central controller 4. Is sent to Then, the central control device 4 that has received the yarn splicing request signal sends a signal to the control devices 51 and 52 of both yarn splicing carts 11 and 12 that the 16th spinning unit 3 is requesting yarn splicing. Send. In step S101, it is checked whether this signal is received. If not received, it waits until it is received.

  The central control device 4 transmits a signal to that effect not only to the first yarn joining cart 11 but also to the second yarn joining cart 12, for example, when the spinning unit # 16 requests yarn joining. I am doing so. Accordingly, the first yarn joining cart 11 can recognize the position of the yarn joining request unit belonging to its own work area A1, and the second yarn joining cart 12 belongs to the work area A1 adjacent to its own work area A2. The position of the yarn splicing request unit can be recognized.

  If a signal is received from the central control device 4 in step S101, the control devices 51 and 52 of the yarn splicing carts 11 and 12 analyze the signal and the spinning unit 3 of which number generates a yarn splicing request. Is acquired (that is, the position where the yarn splicing request unit is generated). Then, the information is checked against its own work area allocation information to determine whether or not the yarn splicing request unit belongs to its own work area. This is the process of step S102.

  In this example, since the yarn joining request unit is No. 16, it belongs to the work area (A1; No. 1 to No. 17) of the first yarn joining cart 11. Accordingly, the first yarn splicing carriage 11 determines that the yarn splicing request unit belongs to the work area A1 that the first yarn splicing cart 11 is responsible for, and moves to the processing of step S103. On the other hand, the second yarn joining cart 12 determines that the yarn joining request unit does not belong to the work area (A2; No. 18 to No. 34) that the second yarn joining cart 12 is in charge of, and proceeds to the processing of step S110.

  In step S103, the traveling motor 22 is driven to start traveling toward the yarn splicing request unit. That is, the first yarn joining cart 11 starts traveling toward the spinning unit No. 16.

  In addition, after driving | running | working is started by step S103, the 1st yarn joining cart | bowl 11 drive | works, monitoring whether the adjacent 2nd yarn joining cart | bogie 12 is approaching by the said collision prevention sensor 7 (S104). . In this example, as shown in FIG. 1, the second yarn joining cart 12 is stopped at the position of the spinning unit 3 of No. 24 and is away from the first yarn joining cart 11, so the collision prevention sensor 7 does not detect it. . Accordingly, the first yarn splicing carriage 11 continues to travel (S105), and after stopping at the 16th spinning unit 3 as the yarn splicing request unit, performs the yarn splicing operation (S106). After the completion of the yarn joining, the process returns to step S101 and waits for the generation of a new yarn joining request while maintaining the stopped state.

  In the second yarn splicing carriage 12, the position of the yarn splicing request unit is No. 16, and is out of its own work area (A2; No. 18 to No. 34). Obtain and obtain the distance between the yarn splicing request unit and itself. In the example of FIG. 1, the yarn splicing request unit is No. 16, and the second yarn splicing carriage 12 is stopped at the position of No. 24. Therefore, the distance is | 16-24 | = 8 units.

  Next, it is determined whether or not the obtained distance is within 3 units (S111). If it is within 3 units, the distance is retracted by at least 4 units in the direction away from the yarn splicing request unit (withdrawal). Control; S112). In the example of FIG. 1, the distance is 8 units and exceeds 3 units. Therefore, the retreating movement is not performed and the stop state is maintained, and the process returns to step S101 to wait for a new yarn joining request.

  With the above control, when a yarn joining request is generated in the # 16 spinning unit 3 as shown in FIG. 1, the first yarn joining cart 11 in charge of the work area A <b> 1 to which it belongs is assigned to the # 16 spinning unit 3. The vehicle travels to a stop and stops in the state shown in FIG. Note that the second yarn joining cart 12 remains stopped.

  Next, after completion of the yarn splicing operation for the 16th spinning unit 3 in the state of FIG. 4, a yarn breakage occurs in the 18th spinning unit 3 as shown in FIG. The control when the machine requests the splicing will be described.

  Referring to the flowchart of FIG. 3, the first yarn joining cart 11 detects the occurrence of the yarn joining request in step S101, proceeds to step S102, and the 18th spinning unit 3 requesting the yarn joining is self-serving. It is checked whether it is in the work area A1. In the example of FIG. 5, the spinning unit 3 that requests the yarn joining is out of the work area (A1; No. 1 to 17) of the first yarn joining cart 11.

  Accordingly, the processing of the first yarn joining cart 11 proceeds to step S110, and the distance between the yarn joining request unit and itself is calculated. Since the yarn splicing request unit is No. 18 and its own stop position is No. 16, it is | 18-16 | = 2 units. Since it is determined in step S111 that the distance is equal to or less than 3 units, the first yarn splicing carriage 11 is retracted by a predetermined distance in a direction away from the yarn splicing request unit in step S112. In the present embodiment, the distance of the retreat movement is predetermined as 4 units.

  That is, the first yarn splicing carriage 11 that has been waiting while stopping at the No. 16 position moves 4 units away from the No. 18 spinning unit 3, that is, leftward in FIG. 5, and as shown in FIG. Then, it stops at the position of the 12th spinning unit 3.

  On the other hand, the control of the second yarn joining cart 12 will be described. The second yarn joining cart 12 detects the occurrence of the yarn joining request in step S101 in FIG. 3, and proceeds to step S102. It is checked whether it is in the work area A2.

  This time, the yarn joining request unit is the 18th spinning unit 3 and is included in the work area (A2; 18th to 34th) of the second yarn joining cart 12. Accordingly, the second yarn joining cart 12 starts traveling toward the 18th spinning unit 3 in the process of step S103. Since the first yarn joining cart 11 stopped at the position No. 16 moves in the direction away from the yarn joining request unit (18th) almost simultaneously with the start of traveling of the second yarn joining cart 12, as described above (step S111). When the second yarn joining cart 12 travels to the yarn joining request unit (18th), the first yarn joining cart 11 does not get in the way. By the retreat control for avoiding the interference, the second yarn splicing carriage 12 can be quickly moved to the yarn splicing request unit (No. 18) to perform the yarn splicing operation, and the work efficiency can be improved.

  In other words, when a yarn joining request unit (18th) is generated, the second yarn joining cart 12 in charge of the work area A2 to which the unit belongs is controlled to face the unit ( S103 to S105), in the first yarn joining cart 11 in charge of the work area (adjacent area) A1 adjacent to the work area A2 belonging to the unit, when the predetermined condition (S111) is satisfied, the yarn joining request unit The travel direction is controlled so as to travel in a direction away from (No. 18) (S112). Thus, since the traveling direction is controlled not only for the yarn joining cart 12 in the work area A2 to which the yarn joining request unit belongs, but also for the yarn joining cart 11 in the work area A1 adjacent to the yarn joining cart 12, both yarn joining carts 11 and 12 are controlled. Interference between each other is reduced, and the efficiency of the splicing operation can be improved as a whole.

  If a yarn splicing request unit is generated, the current position of the second yarn splicing cart 12 in charge of the adjacent area A2 and the distance from the unit are calculated (S110). Based on the calculation result, the traveling direction of the second yarn joining cart 12 is controlled (S111, S112). Therefore, the interference between the two yarn joining carts 11 and 12 can be reduced by simple control. In particular, when the distance as the calculation result is within a predetermined distance, the first yarn splicing carriage 11 is controlled to retract so as to travel away from the yarn splicing request unit (S111, S112). Therefore, as shown in FIG. 6, the distance between the second yarn joining cart 12 toward the yarn joining request unit and the first yarn joining cart 11 can be ensured.

  Next, the control of steps S104 and S107 to S109 in the flow shown in FIG. 3 will be described using the example of FIG. In FIG. 7, the first yarn joining carriage 11 is stopped in front of the 16th spinning unit 3, and the second yarn joining carriage 12 is positioned near the front of the 22nd spinning unit 3 toward the left side of the drawing. This shows a case where a yarn splicing request is generated in the 18th spinning unit at the moment of traveling.

  In this case, the first yarn joining cart 11 performs the retreating movement in step S112 according to the flow of FIG. 3, but at the stage before the retreating movement is completely completed, the second yarn joining cart 12 is in step S103. According to the above process, the machine travels to the 18th spinning unit 3 and approaches the first yarn splicing carriage 11, and the collision prevention sensor 7 may detect it (FIG. 8). In this case, the second yarn joining cart 12 determines that the collision prevention sensor 7 has detected in step S104, but the partner cart (first yarn joining cart 11) is in the retreating movement or can be retreated. In this case, the second yarn splicing carriage 12 does not stop traveling to the 18th spinning unit 3 and only decreases the speed (S108). When the opponent's first yarn splicing carriage 11 completes the retreat movement and the collision prevention sensor 7 no longer detects, it returns to normal running (S104, S105), arrives at the 18th spinning unit 3 and reaches the yarn splicing. (S106).

  In other words, even if the collision prevention sensor 7 detects when the second yarn joining cart 12 goes to the yarn joining request unit, the counterpart first yarn joining cart 11 may or may not be retracted. If it is in a possible state, the traveling of the second yarn joining cart 12 is controlled not to stop in anticipation of the retreating movement of the first yarn joining cart 11. By doing so, quicker movement to the yarn splicing request unit is realized, and work efficiency is further improved. As described above, whether or not the first yarn joining cart 11 (second yarn joining cart 12) is retracted or is in a state in which the retracting movement is possible is determined based on whether the second yarn joining cart 12 (second The one-thread splicing cart 11) can be recognized by relaying the central control device 4 and receiving the operation status signal of the other party. For example, if the power of the first yarn joining cart 11 is in the OFF state, the second yarn joining cart 12 recognizes that the other side is in a state where the retreat movement is impossible.

  Further, in this embodiment, when the counterpart first yarn joining cart 11 is being retracted or can be withdrawn, the second yarn joining cart 12 decelerates the traveling speed, and the counterpart first yarn joining cart 11 is retracted. (S107, S108). Therefore, it is easy to avoid collision of the second yarn joining cart 12 with the first yarn joining cart 11 by gaining time by deceleration. Further, when the retracting movement of the counterpart first yarn joining cart 11 is completed and the collision prevention sensor 7 no longer senses, the second yarn joining cart 12 quickly returns from the low speed state to the normal speed (S104, S105), It is possible to arrive at the yarn splicing request unit in a short time.

  If the first yarn joining cart 11 cannot be retracted due to, for example, the first yarn joining cart 11 being engaged in a yarn joining operation or abnormally stopped, the second yarn joining cart 11 is used. Needless to say, the carriage 12 stops traveling to prevent collision (S107, S109). Alternatively, the second yarn joining cart 12 may temporarily retreat. Although not shown in the flow of FIG. 3, even if the opponent's first yarn joining cart 11 is in the retracting movement state or in a state in which it can be retracted, for example, the distance from the first yarn joining cart 11 is a predetermined distance (for example, If it is within 4 units), the second yarn splicing carriage 12 is controlled so as to be urgently stopped or temporarily retracted unconditionally so as to reliably avoid a collision.

  Next, another preferred control example will be described with reference to FIG. The control example of FIG. 9 is obtained by adding the processes of steps S113 and S114 after the process of step S106 of the control example of FIG.

  That is, in the control example of FIG. 9, when a yarn splicing request unit is generated near the end of the work area (for example, within 3 units from the end) and the splicing is performed on the unit (S113) After the end of the splicing, in step S114, control is performed such that the vehicle travels a predetermined distance (for example, 4 units) toward the center of its work area and stops. Other than that, the same control as the control example shown in FIG. 3 is performed.

  How the traveling of the yarn splicing cart 11 is controlled, for example, in the case of FIG. In FIG. 1, when a yarn joining request is generated in the # 16 spinning unit 3, the first yarn joining cart 11 travels to the # 16 spinning unit 3 (S103 to 105 in FIG. 9), and as shown in FIG. The yarn arrives at the unit and performs piecing (S106).

  Thereafter, in step S113 in FIG. 9, the first yarn splicing carriage 11 determines whether or not the yarn splicing request unit that it has performed the splicing operation has occurred in the vicinity of the end of its own work area A1. Specifically, it is determined whether or not it is within 3 units from the end. In the example of FIGS. 1 and 4, since the yarn joining request unit is No. 16 and its own work area A1 is No. 1 to No. 17, the end of work area A1 (No. 17) and the yarn joining request unit ( No. 16) is | 17-16 | = 1 unit, and is within 3 units. Accordingly, the first yarn splicing carriage 11 moves to the process of step S114, travels for 4 units to the center side of its own work area A1 (left side in the drawing in the example of FIG. 4), and stops. That is, after the yarn splicing operation is performed by the number 16 spinning unit 3, the first yarn splicing carriage 11 immediately travels to the left side of FIG. 4 by 4 units, and as shown in FIG. Stop before unit 3.

  As described above, in the control example of FIG. 9, when the yarn splicing request unit is generated near the end of the work area and the splicing operation is performed, the splicing cart performs the post splicing operation. Regardless of the occurrence of the yarn splicing request in the adjacent work area, the work area is immediately moved to the inside of the work area. Accordingly, the yarn joining carts 11 and 12 stop near the boundary between the work areas A1 and A2, as shown in FIG. 10, except when the yarn joining request is generated in the spinning unit 3 near the boundary between the work areas A1 and A2. You can avoid it. Accordingly, in FIG. 10, for example, when a yarn splicing request is generated in the 18th spinning unit 3, the second yarn joining cart 12 is simply moved to the 18th spinning unit without having to retract the first yarn joining cart 11. You can go to 3. More specifically, since the first yarn joining cart 11 is retracted in advance to the center of the work area A1, the second yarn joining cart 12 needs to be decelerated as in the case of FIG. 8 (step S108). Therefore, the second yarn splicing carriage 12 can arrive at the yarn splicing request unit in a short time.

  In other words, when the yarn joining request unit (No. 16) is generated, the distance between the position of the unit and the end of the work area A1 to which the unit belongs is calculated, and based on the calculation result, The traveling direction of the first yarn splicing carriage 11 that performs yarn splicing for the No. 16 yarn splicing request unit is controlled after the yarn splicing is completed. Accordingly, interference with the second yarn joining cart 12 in the adjacent work area A2 can be reduced. Further, when the distance as the calculation result is within a predetermined distance, the first yarn splicing carriage 11 after the yarn splicing work is run toward the center side of the work area A1. As a result, the first yarn joining carriage 11 is less likely to stop near the boundary of the work area A1, and the interference can be reliably reduced.

  Although the preferred embodiment of the present invention has been described above, the above embodiment can be implemented with the following modifications, for example.

  (1) In step S111 of FIGS. 3 and 9, when the distance between the yarn splicing request unit and the own yarn splicing cart is within 3 units, the retreating movement in step S112 is performed. The distance condition for this is not limited to within 3 units. Appropriate conditions may be determined so that the collision between the two carts can be surely avoided in consideration of the length of each yarn splicing cart 11 and 12 in the traveling direction, the detectable distance of the collision prevention sensor 7, and the like. Similarly, with respect to the movement distance at the time of the retreating movement in step S112, an appropriate retreating movement distance may be determined so as not to obstruct the other-side cart in consideration of the detectable distance of the collision prevention sensor 7 and the like.

  (2) In step S113 in FIG. 9, each yarn splicing carriage 11 or 12 is also determined as to whether the yarn splicing request unit is within the vicinity of the end when it is within the number of units from the end of its own work area. It may be determined in consideration of the length in the traveling direction, the detectable distance of the collision prevention sensor 7, and the like. The same applies to the travel distance to the center of the work area in step S114.

  (3) As for the distance between the yarn splicing request unit and itself, the measurement and condition determination may be made in units of several centimeters, for example, without using the unit unit distance. As for the grasping of the position of the yarn splicing carts 11 and 12, instead of obtaining the signals from the central control device 4 and the dog sensor 23 as described above, each cart 11 and 12 is provided with a rotary encoder, for example. A method of obtaining from the rotary encoder is conceivable. In this case, the number of pulses output from the rotary encoder may be used as a unit of distance. For example, the predetermined distance (within a predetermined unit) used for these controls is set in advance in the central control device 4, and the information is transmitted to the control devices 51 and 52. It can be memorized.

(4) The yarn splicing carts 11 and 12 are controlled to stop and wait in the above-described embodiment after performing yarn splicing to the yarn splicing request unit. This is advantageous in that energy is not consumed wastefully, and once a yarn break occurs in the spinning unit 3, the spinning unit 3 may continue to frequently break. It is excellent in that it can respond quickly without moving the yarn joining cart.
However, the yarn joining carts 11 and 12 may be controlled to travel in the work areas A1 and A2 after the yarn joining is completed. In this case, if a yarn splicing request unit is generated in a work area adjacent to its own work area and the distance between the yarn splicing request unit and its current travel position is within three units (S111), If the yarn splicing carriage is traveling toward the yarn splicing request unit, the traveling direction may be reversed and controlled to retreat (S112).

(5) Instead of causing the control devices 51 and 52 of the yarn joining carts 11 and 12 to execute the flow as shown in FIG. 3 and FIG. 9, it is considered that the control is performed on the central control device 4 side of the spinning machine 1. It is done. That is, for example, in the case of FIG. 5, when the central controller 4 receives a yarn splicing request signal from the 18th spinning unit 3, the second yarn splicing carriage 12 is directed toward the spinning unit 3. A signal is sent to the control device 52 of the joining cart 12, and the distance between the position of the first yarn joining cart 11 and the yarn joining request unit (No. 18) is computed on the central control device 4 side, and the computation result is less than 3 units. If so, a signal is sent to the control device 51 of the first yarn splicing carriage 11 so as to run, for example, four units on the left side of FIG.
In the above case, instead of providing the anti-collision sensor 7 for each yarn splicing cart 11, 12, the central controller 4 always obtains the position of both yarn splicing carts 11, 12 and calculates the distance between them. In step S104 of No. 3, it may be determined that the two carts 11 and 12 have approached when the distance between them has become a predetermined distance or less. In this case, the central controller 4 also serves as an approach detection unit.
However, as in the above-described embodiment, it is possible to reduce the load on the central control device 4 by making the control devices 51 and 52 of the yarn joining carts 11 and 12 autonomously perform retreat control or the like. Is advantageous. This effect is exhibited particularly well in a large-scale spinning machine having a large number of yarn splicing carts.

  (6) A plurality of yarn joining carts 11 and 12 need to be provided along the same travel path (in the above-described embodiment, rail 6). good. In this case, the spinning units 3 from No. 1 to No. 34 are allocated to three work areas. In the above embodiment, 34 spinning units 3 are provided from No. 1 to No. 34, but the number may be more or less.

  (7) The above embodiment is a service cart system in the case of performing the splicing operation (yarn splicing service) of the spinning machine, but is not limited thereto, and may be applied to, for example, the doffing operation of the spinning machine. Further, the present invention is not limited to a textile machine such as a spinning machine, and can be applied to all service cart systems in the case where a plurality of processing units that require some kind of service work are provided.

1 is a schematic plan view showing an overall configuration of a spinning machine including a service cart system according to an embodiment of the present invention. The block diagram which shows the electrical constitution of a spinning machine. The flowchart which shows control of a yarn splicing cart. FIG. 2 is a schematic plan view showing a state in which the first yarn joining cart arrives at a yarn joining request unit (No. 16) from the state of FIG. 1 and performs yarn joining. FIG. 6 is a schematic plan view showing a case where yarn splicing is completed from the state of FIG. FIG. 6 is a schematic plan view illustrating a state in which the first yarn joining cart is retracted from the state of FIG. 5 and the second yarn joining cart is directed to the 18th yarn joining request unit. FIG. 14 is a schematic plan view showing a case where a yarn joining request is generated in the 18th spinning unit while the first yarn joining cart is stopped at No. 16 and the second yarn joining cart is traveling in the vicinity of No. 22. FIG. FIG. 8 is a schematic plan view showing a state in which the collision prevention sensor senses and the second yarn joining cart decelerates while the second yarn joining cart travels from the state of FIG. 7 toward the spinning unit No. 18. The flowchart which shows the other example of control of a yarn splicing cart. The schematic plan view which shows a mode that the 1st yarn joining cart which processed the yarn joining request | requirement of the No. 16 spinning unit moves to the center side of a work area in the control example of FIG.

Explanation of symbols

3 Spinning unit (processing unit)
6 rails (travel path)
7 Collision prevention sensor (approach detection means)
11.12 Thread trolley (service trolley)
51/52 Control device (control means, calculation means)
A1 / A2 work area

Claims (9)

In response to each of the plurality of processing units requesting a service, the processing unit is stopped by stopping any of the plurality of service carts traveling along the same traveling path, and the service is provided to the processing unit. In the service cart control system to be supplied,
In addition to pre-allocating work areas for each service cart,
When a service request unit occurs, control is performed so that the service cart in charge of the work area to which the processing unit belongs is directed to the processing unit, and an adjacent area that is a work area adjacent to the work area to which the processing unit belongs. When the processing unit belonging to the system does not request a service, a control means is provided for controlling the traveling direction of the service cart in charge of the adjacent area .
Service cart control system. The service cart control system according to claim 1,
When a service request unit occurs, it comprises a calculation means for calculating a distance between the current position of the service cart in the adjacent area and the processing unit,
The control means controls the traveling direction of the service cart in the adjacent area based on the calculation result of the calculation means,
Service cart control system. The service cart control system according to claim 2,
If a service request unit has occurred and no service request unit has occurred in the adjacent area,
The control means, when the distance as the calculation result of the calculation means is within a predetermined distance, the retreat control is performed so that the service cart in the adjacent area travels away from the service request unit. To
Service cart control system. The service cart control system according to claim 3,
Providing access detection means to detect the approach between service carts,
The control means includes
When a service request unit occurs in an arbitrary work area, an arbitrary service trolley in charge of the work area to which the processing unit belongs is directed to the processing unit,
Even if the approach detecting means detects that any service cart that is traveling to the service request unit is approaching another service cart, whether or not the above-described evacuation control is being performed for the other service cart. When the control is possible, control is performed so as not to stop traveling to the service request unit of the arbitrary service cart.
Service cart control system. The service cart control system according to claim 4,
Even if the approach detecting means detects that an arbitrary service cart traveling to a service request unit in an arbitrary work area is approaching another service cart, the above-described evacuation control is performed for the other service cart. The service cart control system is characterized in that the control means controls to reduce the traveling speed to the service request unit of the arbitrary service cart when the control is performed or the retreat control is possible. . The service cart control system according to any one of claims 2 to 5,
Each service trolley includes a position of the service trolley, a position of a service request unit generated in a work area in charge of the service trolley, and a service request unit generated in a work area adjacent to the work area in charge of the service trolley. Is configured to be able to recognize the position of
The calculation means and the control means are provided for each service carriage,
Service cart control system. The service cart control system according to claim 1,
When a service request unit occurs, calculation means for calculating the distance between the position of the unit and the end of the work area to which the unit belongs,
Control means for controlling the traveling direction of the service trolley that provides service to the processing unit after the service ends based on the calculation result of the calculation means;
Service cart control system. The service cart control system according to claim 7,
The control means, when the distance as a calculation result by the calculation means is within a predetermined distance, to make the service cart after the service run toward the center side of the work area to which the service request unit belongs. Features
Service cart control system. The service cart control system according to claim 7 or claim 8,
Each service trolley is configured to be able to recognize the position of the service trolley and the position of the service request unit generated in the work area in charge of the service trolley.
The calculation means and the control means are provided for each service carriage,
Service cart control system.

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