JPH0441191Y2 - - Google Patents

Description

[Detailed explanation of the invention] Purpose of the invention (industrial application field) This invention is a spinning machine that moves along the longitudinal direction of a spinning machine such as a spinning frame or a roving frame, and is used for tasks such as doffing, thread change, and thread splicing. The present invention relates to an automatic attitude control device for a spinning machine such as a doffing machine, a thread changing machine, and a yarn splicing machine.

(Prior Art) Generally, when this type of automatic machine performs work, it is necessary to maintain a constant positional relationship between the automatic machine and the spinning machine. However, factory floors are generally not completely horizontal, so when automatic machines run directly on the floor to perform work, the positional relationship between the spinning machine and the automatic machine varies depending on the working position, causing problems in the work. . For this reason, conventionally, a rail has been installed on the floor surface with height adjustment parallel to the spindle rail of the spinning machine, and an automatic machine runs on this rail. However, laying these rails requires troublesome work such as digging up the floor surface, which not only requires a great deal of cost and labor, but also requires the installation of equipment at an existing factory during a long construction period. There is an inconvenience that the operation must be stopped. In order to solve the above-mentioned problem, Japanese Patent Application Laid-open No. 51-40437 published on April 5, 1975 proposes that at least two guide rollers are installed on the side of the spinning machine stand of the work machine (automatic machine), The machine is equipped with a pair of floor wheels for running, and the guide rollers are fitted to guide rails attached to the spinning machine to automatically adjust the inclination of the machine body while running. A running attitude control device for a working machine is equipped with a detection device that detects the area and issues a detection signal, and moves the running floor wheels up and down in response to this detection signal to correct the inclination of the working machine while it is running. Proposed.

(Problem to be solved by the invention) However, since the device described above detects the inclination of the vehicle body while it is running and corrects the inclination of the work equipment while it is running,
There is a disadvantage that the tilt detection accuracy is poor. In other words, when detecting tilt while driving, vibration acceleration is applied to the sensor, so if responsiveness is improved, it will be difficult to distinguish between the detection signal due to the tilt of the automatic machine and the detection signal due to vibration acceleration, and it will be difficult to distinguish between the two. In order to make a distinction, it becomes necessary to reduce the responsiveness, and the accuracy of detecting the inclination also deteriorates. Therefore, it becomes difficult to accurately control the attitude of the automatic machine horizontally.

Structure of the invention (means for solving the problems) In order to solve the above problems, this invention is equipped with wheels for running on the floor and moves along the spinning machine stand to perform tasks such as doffing and changing the line. An automatic machine that performs the above-mentioned spinning machine includes a wheel lifting device that moves the wheels up and down, an inclination detection device that detects the inclination of the automatic machine, a measuring device that constantly measures the distance between the spinning machine stand and the automatic machine, and the a stop device that stops the movement of the automatic machine when the measured value by the measuring device falls outside a predetermined range;
A control device is provided that drives and controls the wheel lifting device when the inclination of the automatic machine exceeds a predetermined value based on the detection signal of the inclination detection device when the automatic machine is stopped.

(Function) The automatic machine of this invention moves along the spinning machine table with its floor running wheels in contact with the floor surface, and performs tasks such as doffing and changing the threads while stopping at a predetermined work position. At this time, the inclination of the automatic machine in the left-right direction, that is, in a plane perpendicular to the longitudinal direction of the spinning machine table, changes depending on the unevenness of the floor surface. The degree of inclination that is allowed for an automatic machine differs between when it is working and when it is running, and the degree of inclination that is allowed when it is running is large. This device uses a measurement device that constantly measures the distance between the spinning machine stand and the automatic machine to detect whether the automatic machine's posture is in a state that does not impede running, and also stops and controls the posture when an abnormality is detected. . Further, even when the machine stops at a predetermined work position, posture control is performed based on the detection signal of the inclination detection device.

(Example) An example in which this invention is embodied in an automatic spinning machine will be described below with reference to FIGS. 1 to 6. As shown in FIG. 1, a guide rail 2 is installed horizontally on the side surface of the spinning frame frame 1 along the longitudinal direction of the frame, and guide pins 2 are placed at predetermined intervals on the outside of the guide rail 2.
A is provided protrudingly. Automatic machine 3 has spinning machine stand 1
Two guide rollers 4 that can fit with the guide rail 2 and a scroll cam 3a that can engage with the guide pin 2a are disposed on the side surface, and correspond to the center of both guide rollers 4 at the lower part of the opposite side surface. Wheels 5 for running on the floor are arranged at the position where the vehicle is moved. As the scroll cam 3a is rotationally driven by a drive motor (not shown), the guide roller 4 is intermittently moved along the spinning frame frame 1 by a predetermined distance in a state fitted to the guide rail 2, and the automatic machine The doffing device or sashing device installed on the machine is operated to carry out the specified work.

As shown in FIG.
is fixed. A coil spring 8 is protruded from the side of the automatic machine 3 corresponding to the guide rail 7,
A supporting member 9 having an inverted U shape is fixed to its tip. A roller 10 that engages with the guide rail 7 is rotatably supported at one end of the support member 9;
At the other end is an iron piece 11 as an operating piece of a proximity switch.
is fixed parallel to the guide rail 7. or,
A pair of proximity switches 12a and 12b are disposed below the support member 9, sandwiching the iron piece 11, at a position where they operate when the automatic machine 3 is tilted slightly less than when the tilt exceeds the allowable range during running. has been done. The iron piece 11 and proximity switches 12a, 12b
A measuring device 13 that constantly measures the distance between the spinning machine frame 1 and the automatic machine 3 is configured.

As shown in FIGS. 5 and 6, a support bracket 14 is protruded from the outside of the lower part of the automatic machine 3, and a support lever 16 is rotatably supported on a support shaft 15 fixed to the support bracket 14. The support lever 16
A floor running wheel 5 is rotatably supported via a support shaft 17. A bracket 18 is fixed to the front end of the automatic 3. A hydraulic cylinder 19 is rotatably supported at the base end of the bracket 18, and a piston rod 20 of the hydraulic cylinder 19 and one end of the support lever 16 are connected to a pin 21. are rotatably connected. The support lever 16 and the hydraulic cylinder 19 constitute a wheel lifting device.

The automatic machine 3 is equipped with a tilt angle sensor 22 as a tilt detection device for detecting the tilt of the automatic machine 3 in a plane perpendicular to the longitudinal direction of the spinning frame frame 1. As the inclination angle sensor 22, a well-known potentiometer type or torque balance type sensor using a pendulum is used. and,
A control device 23 installed in the automatic machine 3 controls the drive of the wheel running device, that is, the hydraulic cylinder 19, based on the detection signal of the inclination angle sensor 22.

As shown in FIG. 3, the control device 23 is a central processing unit (hereinafter referred to as CPU) that inputs the detection signal output from the tilt angle sensor 22 and performs arithmetic processing.
24, and a program memory 25 consisting of a read-only memory (ROM) that stores a control program.
and a working memory 26 consisting of a readable and rewritable memory (RAM) for temporarily storing arithmetic processing results, etc., and the CPU 24 operates according to a program stored in the program memory 25. Further, the CPU 24 inputs the detection signal of the tilt angle sensor 22 via the A/D converter 27 and the input/output interface 28, and controls the drive of the hydraulic cylinder 19 via the input/output interface 28 and the cylinder drive circuit 29. do.

Next, the operation of the apparatus configured as described above will be explained. The automatic machine 3 moves along the spinning frame frame 1 while being supported on the guide rail 2 by a pair of guide rollers 4, so that the horizontal direction in the front and back direction is always maintained and perpendicular to the longitudinal direction of the spinning frame frame 1. The inclination within the plane changes depending on the position of the floor running wheels 5 corresponding to the unevenness of the floor surface. The tilt angle sensor 22 always outputs a detection signal, but the signals output while the automatic machine 3 is running include signals due to the tilt of the automatic machine 3 and signals due to vibration acceleration accompanying the running of the automatic machine 3. It does not correspond to the exact angle of inclination. Therefore, control based on the detection signal of the tilt angle sensor 22 while the vehicle is running is not performed because it lacks reliability.

After the automatic machine 3 stops at a predetermined working position, the control device 23 starts the posture control operation after a certain amount of time has elapsed for the output signal of the inclination angle sensor 22 to become stable. That is, in response to the attitude control start signal, the CPU 24 calculates the inclination angle of the automatic machine 3 based on the signal input from the inclination angle sensor 22 through the A/D converter 27 and the input/output interface 28, and the calculation result is applied to the work. It is determined whether or not it is within a predetermined setting range in which no bearing occurs, and if it is outside the predetermined setting range, a cylinder drive signal is output to the cylinder drive circuit 29.

When the automatic machine 3 is tilted toward the spinning machine stand, the hydraulic cylinder 19 is operated in the direction to pull in the piston rod 20, and the support lever 16 is moved toward the spindle 1.
6 in the counterclockwise direction in FIG. 6, the floor running wheels 5 are moved upward. Also, if the automatic machine 3 is tilted to the opposite side, the piston rod 20
The hydraulic cylinder 19 is operated in the direction in which the
The support lever 16 is rotated clockwise and the floor running wheels 5 are lowered. Even when the hydraulic cylinder 19 is operating, the detection signal of the tilt angle sensor 22 is always sent to the CPU 2.
4, the CPU 24 continuously calculates the tilt angle of the automatic machine 3, and outputs a cylinder drive stop signal when the value falls within a predetermined range. As a result, the movement of the piston rod 20 is stopped, the floor running wheels 5 are held in that position, and the attitude of the automatic machine 3 is maintained in a state where there is no support for the work. or,
Simultaneously with the output of the cylinder drive stop signal, an attitude control completion signal is output, and at the same time as the attitude control signal is turned off, work such as refilling is started. Then, after the work is completed, the automatic machine 3 starts traveling again, moves to the next work position, and stops at the same position, and thereafter the above-mentioned attitude control and work of the automatic machine are performed in the same manner.

On the other hand, the measuring device 13 includes the spinning machine stand 1 and the automatic machine 3.
It detects whether the distance between the automatic machine 3 and the spinning machine frame 1 is within a certain range that prevents the automatic machine 3 from contacting the spinning frame frame 1 or tilting beyond the running limit, and if it is out of range, the automatic machine 3 is moved based on the detection signal. will be stopped. That is, since the support member 9 to which the iron piece 11 is fixed moves along the guide rail 7 via the rollers 10, the iron piece 11
A predetermined distance is always maintained between the spinning frame and the spinning machine frame 1,
When the automatic machine 3 tilts toward the spinning machine stand, the distance between one proximity switch 12a and the iron piece 11 becomes shorter, and when the automatic machine 3 tilts toward the opposite side, the distance between the other proximity switch 12b and the protruding piece 11 becomes shorter. is getting closer. and,
iron piece 11 and one of the proximity switches 12a,
When the distance to the scroll cam 3a becomes less than a predetermined value, the proximity switches 12a and 12b are activated, and the drive motor for the scroll cam 3a is stopped based on the differential signal. Then, in the stopped state, the control device 23 is activated and attitude control is performed. Posture control in this case only needs to be in a state where there is no support for traveling, so it is sufficient to perform postural control more roughly than the postural control for the above-mentioned work. That is, the CPU 24 operates the proximity switch 12a,
In the control operation when the automatic machine 3 is stopped based on the detection signal 12b, control is performed based on a reference control range wider than the reference range at the time of work stoppage. As the measuring device 13 constantly detects the state of the automatic machine 3, there is a risk that the automatic machine 3 may come into contact with the spinning frame frame 1 or tilt beyond its running limit while moving between predetermined working positions. The situation is definitely prevented. Furthermore, when the automatic machine 3 returns to its original position after the work is completed, posture control is performed only when the measuring device 13 tilts the automatic machine 3 close to its travel limit, unlike during forward movement.
The number of stops and starts is reduced, allowing you to return to your original position in a short time.

Note that this invention is not limited to the above embodiment, and for example, as shown in FIG. 7, a pair of photoelectric detectors 3 may be used instead of the proximity switches 12a and 12b.
0a and 30b, a rod 31 is attached to the support member 9 in place of the iron piece 11, a limit switch is provided in place of the proximity switches 12a and 12b, and a potentiometer is used to directly measure the distance to the spinning machine frame. Alternatively, a ball screw mechanism driven by a motor may be used instead of the hydraulic cylinder 19 as the wheel lifting device. Furthermore, the present invention may be applied to automatic spinning machines other than spinning machines, such as roving machines and yarn twisting machines.

Effects of the invention As detailed above, according to this invention, by moving the floor running wheels up and down in response to the unevenness of the floor surface, the posture of the automatic machine can be supported for tasks such as changing the surface and doffing. Since the machine can be controlled to a horizontal state without any bumps, there is no need to lay running rails on the floor, unlike conventional machines, and it can be easily used on machines in existing factories. In addition, since attitude control is performed when stopped, unlike when attitude control is performed while running, only the signal due to the inclination of the automatic machine is output without adding vibration acceleration to the detection signal of the inclination detection device, which improves the accuracy of inclination detection. It is possible to perform stable and highly accurate attitude control, and it can be carried out without any problems even when highly accurate tilt control is required, such as in the case of a spinning machine.Moreover, the spinning machine base and the automatic machine are always connected to each other while the spinning machine is running. Since it is detected whether the spacing is such that it does not interfere with running, it is possible to reliably prevent the automatic machine from coming into contact with the spinning machine stand while running, or from tilting beyond the running limit. It has excellent effects.

[Brief explanation of the drawing]

Figures 1 to 6 show an embodiment of this invention, in which Figure 1 is a schematic side view showing the relationship between a spinning machine and an automatic machine, and Figure 2 is a perspective view showing a measuring device. , Fig. 3 is a block diagram, Fig. 4 is a timing chart showing the posture control state at the working position, Fig. 5 is a plan view of the lifting device, Fig. 6 is a side view, and Fig. 7 is an example of a modification of the measuring device. FIG. Spinning machine frame...1, Guide rail...2, Automatic machine...3, Guide roller...4, Floor running wheel...5, Measuring device...13, Hydraulic cylinder...1
9. Tilt angle sensor...22, Control device...23.

Claims (1)

[Scope of utility model registration request] An automatic machine that is equipped with wheels for running on the floor and moves along a spinning machine stand to perform tasks such as doffing and changing the spinning machine, includes a wheel lifting device that moves the wheels up and down, and a wheel lifting device for detecting the inclination of the automatic machine. an inclination detection device; a measuring device that constantly measures the distance between the spinning machine stand and the automatic machine;
a stop device that stops the movement of the automatic machine when the measured value by the measuring device deviates from a predetermined range; and a stop device that stops the movement of the automatic machine when the measured value by the measuring device deviates from a predetermined range; An attitude control device for an automatic machine in a spinning machine, which is equipped with a control device for driving and controlling a lifting device.