JPH05321056A - Method for stopping bobbin rail at specified position in roving frame - Google Patents

Abstract

PURPOSE:To provide the subject method so designed that on stopping winding with a full package, a bobbin rail is moved to a specified position so as to reach the position quickly and be stopped at the position in high accuracy. CONSTITUTION:The relationship between the distance from a bobbin rail to a target position at which the bobbin rail is to be stopped and the number of revolutions for a lift motor corresponding to such distance is set in advance. The lift motor is then driven at slow startup, and, after the initiation of bobbin rail movement, the position of the bobbin rail is determined based on the signal from a position detecting means for the bobbin rail at each specified time. Based on the above-mentioned distance, the lift motor is put to driving control so that the number of revolutions for the lift motor come to a value set in advance corresponding to such distance.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bobbin rail fixed position stopping method for a coarse spinning machine equipped with a variable speed motor capable of driving a bobbin rail independently of a spinning drive system and a winding drive system. The present invention relates to a bobbin rail fixed position stopping method for a roving frame, which is suitable when the bobbin rail is moved to a predetermined position such as a doffing position, an empty bobbin insertion inclination detection position, and a winding start position after the spinning machine is fully stopped.

[0002]

2. Description of the Related Art When a roving machine continues to be wound up in a roving machine and becomes full, the bobbin rail stops at a predetermined position, and then a predetermined doffing position, empty bobbin insertion inclination detection position, and winding start position. Etc. are sequentially moved to a predetermined position. And, in the past, in order to move the bobbin rail to each of the predetermined positions after the full pipe stop, the bobbin rail is driven by an induction motor that can be driven independently of the spinning drive system and the winding drive system, and the stop is performed. The position was detected by the limit switch. That is, as shown in FIG. 5, a dog 52 is provided at one end of the bobbin rail 51, and limit switches LS1 to LS3 are fixed to predetermined positions of the frame 53 of the roving frame corresponding to the ascending / descending range of the bobbin rail 51.

From the full pipe stop position P0 to the doffing position P1, from the doffing position P1 to the empty bobbin insertion inclination detecting position P2
And the moving distance of the bobbin rail 51 from the empty bobbin insertion inclination detection position P2 to the winding start position P3 are different. Empty bobbin insertion tilt detection position P from doffing position P1
The moving distance up to 2 is smaller than the moving distances in other cases, and is about 1/10.

[0004]

However, since the inertia force of the bobbin rail (including the drive system) is large, the inertial force from the output of the limit switch detection signal to the stop of the bobbin rail 51 is large in the conventional stopping method. The distance traveled was different. That is, when the distance to the next target stop position of the bobbin rail in the stopped state is small, the inertial movement distance at the time of stop is small, and when the distance to the target stop position is large, the inertial movement distance at the time of stop is large. became. This is when the stop signal is output from the limit switch,
This is because the moving speed of the bobbin rail 51 is different. Therefore, in order to improve the accuracy of the stop position, the bobbin rail 51
There is a problem that it is necessary to lower the ascending / descending speed of the machine, it takes time to move the bobbin rail, and as a result, the operating efficiency of the roving machine decreases.

Further, a large number of limit switches LS1 to LS
There is also a problem that it takes time to assemble the No. 3 at a predetermined position accurately. The present invention has been made in view of the above problems, the purpose is to move the bobbin rail to a predetermined position such as a doffing position after the winding is stopped due to a full pipe,
It is an object of the present invention to provide a bobbin rail fixed-position stopping method for a roving machine, which can reach a target position quickly and accurately stop the bobbin rail.

[0006]

In order to achieve the above object, the present invention according to claim 1 is provided with a variable speed motor capable of driving the bobbin rail independently of the spinning drive system and the winding drive system. In the roving machine, the relationship between the distance from the current position of the bobbin rail to the target stop position and the moving speed of the bobbin rail at that time is set in advance, and the moving speed of the bobbin rail corresponds to the distance. The variable speed motor is drive-controlled so as to attain the specified speed.

Further, in the invention as set forth in claim 2, in the roving machine equipped with the variable speed motor capable of driving the bobbin rail independently of the spinning drive system and the winding drive system, the target is determined from the current position of the bobbin rail. The relationship between the distance to the stop position and the moving speed of the bobbin rail at that time is set in advance, the variable speed motor is driven by slow start, and after the bobbin rail starts moving, the bobbin rail is moved every predetermined time. The current position of the bobbin rail is obtained based on the detection signal from the position detection means, and the variable speed is set so that the moving speed of the bobbin rail becomes the preset speed based on the distance between the target stop position and the current position. The drive of the motor is controlled.

[0008]

The bobbin rail is driven by a variable speed motor that can be driven independently of the spinning drive system and the winding drive system. The relationship between the distance from the current position of the bobbin rail to the target stop position and the moving speed of the bobbin rail at that time, which is suitable for accurately stopping the bobbin rail at a predetermined stop position, is preset. The variable speed motor is drive-controlled so that the moving speed of the bobbin rail is a preset speed corresponding to the distance from the current position to the target stop position. Therefore, the speed of the bobbin rail during the stop operation is always constant regardless of the distance between the position of the bobbin rail and the target stop position when the variable speed motor is started, and the stop position does not vary.
According to the second aspect of the invention, when the bobbin rail in the stopped state is moved to the predetermined position, the variable speed motor is driven with a slow start. After the bobbin rail starts moving, the current position of the bobbin rail is obtained based on the detection signal from the bobbin rail position detecting means at predetermined time intervals. Then, based on the distance between the target stop position and the current position, the variable speed motor is drive-controlled so that the moving speed of the bobbin rail becomes the preset speed. Therefore, the speed of the bobbin rail during the stop operation is always constant regardless of the distance between the position of the bobbin rail and the target stop position when the variable speed motor is started, and the stop position does not vary.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. First, a drive system of a roving machine for carrying out the method of the present invention will be described with reference to FIG. This drive system is basically the same as that previously proposed by the applicant of the present application (Japanese Patent Laid-Open No. 63-264923, etc.), but the bobbin rail up / down switching mechanism is different. The drive system includes a spinning drive system, a winding drive system, and a lifting drive system, and each drive system is provided with a different speed change motor.
The spinning drive system includes a draft section 1 and a flyer 2, and the rotation of the driving shaft 3 driven by the main motor M1 is transmitted via the belt transmission mechanisms 4 and 5 and the gear train 6. A pulse encoder E1 for detecting the rotation speed of the front roller 7 is connected to one end of a rotary shaft 7a provided with the front roller 7.

A bobbin wheel 8 constituting a winding drive system is mounted on a bobbin rail 9. Bobbin wheel 8
The rotational force of the driving shaft 3 and the rotational force of the winding motor M2 are combined and transmitted by the differential gear mechanism 11 to the rotating shaft 10 that drives the. A pulse encoder E2 is attached to the winding motor M2.

A lifter rack 12 constituting a lifting drive system is fixed to the bobbin rail 9. The rotation of the lifting motor M3 is transmitted to the rotary shaft 14 fitted with the pinion 13 that meshes with the lifter rack 12 through the belt transmission mechanism 15 and the gear train 16. An up-and-down switching mechanism 19 equipped with a pair of electromagnetic clutches 17 and 18 is arranged in the middle of the gear train 16. The rotation direction of the rotary shaft 14, that is, the direction in which the bobbin rail 9 moves up and down is changed according to the switching of the excitation and demagnetization of the electromagnetic clutches 17 and 18.

An absolute encoder E3 is connected to one end of the rotary shaft 14 as a position detecting means for detecting the absolute position of the bobbin rail 9 in the vertical direction. Both electromagnetic clutches 17 and 18 are de-energized based on a command from the control device 20, and both electromagnetic clutches 17 and 18 are not simultaneously energized. The bobbin rail 9 is moved upward when one electromagnetic clutch 17 is excited, and is moved downward when the other electromagnetic clutch 18 is excited. Each of the motors M1 to M3 is an induction motor and is driven at a variable speed via independent inverters 21 to 23 controlled based on a command from the control device 20.

As shown in FIG. 4, the microcomputer 24 constituting the control device 20 is a central processing unit (hereinafter referred to as CP).
25), a program memory 26 including a read-only memory (ROM) storing a control program,
Input data input by the input device 27 and the CPU 2
Work memory 28 comprising a readable and rewritable memory (RAM) for temporarily storing the arithmetic processing result in FIG.
The CPU 25 operates based on the program data stored in the program memory 26. Control device 2
At 0, an input device 27 for inputting spinning conditions (operating conditions) to the work memory 28 is integrally incorporated as a keyboard.

The CPU 25 uses the input / output interface 29 and the D / A converters 30 to 32 to give speed instructions to the main motor M1, the winding motor M2, and the lifting motor M3 based on the spinning conditions input by the input device 27. It outputs to the inverters 21-23 via.
Further, the electromagnetic clutches 17 and 18 are controlled in their excitation / demagnetization via an electromagnetic clutch excitation / demagnetization circuit 33 based on a signal from the CPU 25, so that the bobbin rail 9 is switched up and down.

The program memory 26 has a bobbin rail 9
Distance L from the current position to the target stop position, and the lifting motor M corresponding to the moving speed of the bobbin rail 9 at that time.
The relationship with the rotation speed of 3 is stored as drive control data for the bobbin rail 9 after the full pipe stop. According to the control data, the bobbin rail 9 is accurately stopped at a predetermined position,
Moreover, a value obtained in advance from a test or a calculation formula is used so that the relationship is suitable for reaching the predetermined position as soon as possible.

The CPU 25 is an absolute encoder E
The present position of the bobbin rail 9 is obtained based on the output signal from the No. 3, and the distance L from that value to the target stop position is calculated, and the rotation speed of the lifting motor M3 corresponding to the distance L is used for the drive control. Calculate from data. Then, a command signal for instructing the inverter 23 to output the frequency corresponding to the speed is output to the inverter 23 via the input / output interface 29 and the D / A converter 32.

Next, the operation of the apparatus configured as described above will be described. Prior to the operation of the machine stand, the spinning condition and the position data of each predetermined stop position of the bobbin rail 9 after the full pipe stop is input by the input device 27. The predetermined stop position is a doffing position, an empty bobbin insertion inclination detection position, and a winding start position.

When the operation of the machine base is started, the draft section 1 and the flyer 2 are driven by driving the main motor M1. Further, the rotational force of the main motor M1 input to the differential gear mechanism 11 and the rotational force of the winding motor M2 are combined by the differential gear mechanism 11, and the combined rotational force is transmitted to the rotary shaft 10. The bobbin wheel 8 on which the bobbin B is mounted is rotationally driven. As a result, the roving R drawn in the draft section 1 is twisted by the flyer 2 and wound in layers on the bobbin B rotating at a higher speed than the flyer 2.

Further, the belt transmission mechanism 15, the gear train 16, the switching mechanism 19, and the rotary shaft 14 are driven by driving the lifting motor M3.
The bobbin rail 9 is moved up and down together with the lifter rack 12 via the pinion 13. Control device 20 (CPU
25), the rotation speeds of the winding motor M2 and the lifting motor M3 are changed, and the winding speed and the lifting speed of the bobbin rail 9 are changed.

When the winding of the roving is continued and becomes full,
The bobbin rail 9 is stopped at a predetermined full pipe stop position. After the full pipe stop, the bobbin rail 9 is first moved from the full pipe stop position to the doffing position. Next, after the doffing is completed, the doffing position is moved to the empty bobbin insertion tilt detection position, and then the empty bobbin insertion tilt detection position is moved to the winding start position.

During acceleration / deceleration of the motor, a load inertial force is added to the load torque. Then, if the speed command for the motor is largely changed in a short time, the actual rotation speed of the motor causes a large delay with respect to the speed command of the motor. Therefore, in order to accurately stop at the predetermined position, when the stop command, that is, the speed command of zero rotation speed, is output to the lifting motor M3, the rotation speed needs to be equal to or less than the predetermined value Nmin. Also, the lifting motor M3 is set to the maximum rotation speed Nmax.
From the current position of the bobbin rail 9 to the target stop position when smoothly decelerating from the above to the predetermined value Nmin and as quickly as possible, the relationship between the rotation speed of the lifting motor M3, that is, the drive control data is For example, as shown in FIG. Then, the bobbin rail 9 moves the distance Lc between the start and the stop of the deceleration operation of the lifting motor M3 driven at the maximum rotation speed Nmax. When the distance between the current position of the bobbin rail 9 and the target stop position is L0 or less, the rotation speed of the lifting motor M3 becomes Nmin.

The distance from the full pipe stop position to the doffing position and the distance from the empty bobbin insertion inclination detection position to the winding start position are long. As a result, the distance L between the position of the bobbin rail 9 and the target stop position at the time when the bobbin rail 9 moves until the rotation speed of the lifting / lowering motor M3 reaches the maximum rotation speed Nmax is larger than the distance Lc. Therefore, in this case, the bobbin rail 9 can be accurately stopped at the predetermined stop position even after the elevating motor M3 is driven at the maximum rotation speed Nmax and then the deceleration operation is started. On the other hand, the distance from the doffing position to the empty bobbin insertion tilt detection position is 1 /
Since it is about 10, the distance L between the position of the bobbin rail 9 and the predetermined stop position during the speed increasing operation of the lifting motor M3.
Becomes the distance Lc or less. Therefore, in this case, it is necessary to shift to the deceleration operation before the lifting motor M3 reaches the maximum rotation speed Nmax.

Next, the case where the bobbin rail 9 is moved from the full pipe stop position to the doffing position will be described. The activation of the lifting motor M3 is started at time t1 in FIG. First, the CPU 25 outputs an excitation / demagnetization signal to the electromagnetic clutches 17 and 18 via the electromagnetic clutch excitation / demagnetization circuit 33, and the other electromagnetic clutch 18 is kept in an excited state, that is, the bobbin rail 9 is held in a movable state. It CPU
25 outputs a command signal to the D / A converter 32 via the input / output interface 29.
2 converts the digital signal into an analog voltage signal and outputs it to the inverter 23. The inverter 23 drives and controls the lifting motor M3 at a rotation speed corresponding to the input voltage signal. The rotation shaft 14 is driven by the lifting / lowering switching mechanism 19 and the gear train 16 by driving the lifting / lowering motor M3, and the bobbin rail 9 moves downward.

In order to quickly reach the doffing position of the bobbin rail 9, it is necessary to drive the lifting motor M3 at the maximum rotation speed Nmax. However, if a speed command that immediately reaches the maximum rotation speed Nmax is issued immediately after startup, the rotation speed of the lifting / lowering motor M3 not only causes a large delay with respect to the speed command, but also an overcurrent or overvoltage is applied to the inverter 23. .. Therefore, the CPU 25 sets the rotation speed of the lifting / lowering motor M3 to a predetermined time Δt so that the lifting / lowering motor M3 is slowly started.
A command signal is output so as to increase the predetermined rotation Δn step by step.

The CPU 25 obtains the current position of the bobbin rail 9 based on the output signal from the encoder E3, and based on the value and the doffing position data stored in the working memory 28, the distance L from the current position to the target position L. Is calculated.
Then, the number of rotations of the lifting motor M3 corresponding to the distance L is obtained from the drive control data. When the rotation speed of the lifting / lowering motor M3 has not reached the maximum value Nmax, the above-described stepwise acceleration is continued. After the rotation speed of the lifting / lowering motor M3 reaches the maximum value Nmax, the CPU 25 outputs a speed command at which the rotation speed of the lifting / lowering motor M3 reaches the maximum value Nmax until the distance L to the target position becomes the distance Lc. ..

When the distance L to the target position becomes the distance Lc, the CPU 25 starts the deceleration operation of the bobbin rail 9. The CPU 25 obtains the rotation speed of the lifting motor M3 corresponding to the distance L from the current position of the bobbin rail 9 to the target stop position from the drive control data, and outputs a speed command corresponding to the value to the D / A converter 32. .. The interval of the rotation speed change command of the lifting / lowering motor M3 is shorter than the change command interval Δt at the time of startup. As a result, as shown in FIG. 1, the rotation speed of the lifting motor M3 changes substantially continuously. When the distance between the current position of the bobbin rail 9 and the target stop position becomes L0, the rotation speed of the lifting / lowering motor M3 becomes Nmin, and the CPU 25 outputs a stop command at a predetermined position, that is, a speed command of zero rotation speed. The bobbin rail 9 accurately stops at the doffing position.

Next, the case where the bobbin rail 9 is moved from the doffing position to the empty bobbin insertion inclination detecting position will be described. The activation of the lifting motor M3 is started at time t2 in FIG. First, an excitation / demagnetization signal is output from the CPU 25 to the electromagnetic clutches 17 and 18 via the electromagnetic clutch excitation / demagnetization circuit 33, and one electromagnetic clutch 17 is excited, that is, the bobbin rail 9 is held in a movable state. It Next, similarly to the above, the CPU 25 outputs a command signal to the D / A converter 32 so as to increase the number of rotations of the lifting / lowering motor M3 stepwise by a predetermined rotation Δn at every predetermined time Δt. Since the distance from the doffing position to the empty bobbin insertion tilt detection position is short, the relationship between the rotational speed and the distance L becomes a state corresponding to the drive control data during the deceleration operation during the acceleration of the lifting motor M3. ..

At this point, that is, as shown in FIG. 2, the CPU 25 starts the deceleration operation of the bobbin rail 9 from the time when the number of rotations of the lifting motor M3 becomes N and the distance to the empty bobbin insertion inclination detection position becomes La. To do. Similarly to the above, the CPU 25 sequentially obtains the rotation speed of the lifting motor M3 corresponding to the distance L from the current position of the bobbin rail 9 to the target stop position from the drive control data, and the speed command corresponding to the value is D / A. Output to the converter 32. As a result, as shown in FIG. 1, the rotation speed of the lifting / lowering motor M3 decreases from N almost continuously. Then, the number of rotations of the lifting motor M3 is N.
At the time of min, a stop command, that is, a speed command of zero rotation speed is output from the CPU 25, and the bobbin rail 9 accurately stops at the empty bobbin insertion tilt detection position.

Further, when the bobbin rail 9 is moved from the empty bobbin insertion inclination detection position to the winding start position, the electromagnetic clutches 17 and 18 hold the bobbin rail 9 so that the bobbin rail 9 can be moved upward. The lifting motor M3 is controlled as in the case of the movement from the stop position to the doffing position.

As described above, the stop command is output to the lifting motor M3 when the moving speed of the bobbin rail 9 is constant regardless of the distance to the next target stop position of the bobbin rail 9 in the stopped state. , The bobbin rail 9 accurately stops at a predetermined position. Further, since the lifting / lowering motor M3 is controlled to be driven at the maximum rotation speed as much as possible, the bobbin rail 9 can reach the target position quickly.

The present invention is not limited to the above embodiment, and for example, before the bobbin rail 9 starts moving, a preset distance from the current position of the bobbin rail 9 to the target stop position and at that time. Of the bobbin rail 9 based on the relational data with the moving speed of the bobbin rail 9.
It is also possible to calculate a shift program for the moving speed and to drive-control the motor based on this shift program.
Further, instead of detecting the position of the bobbin rail 9 by the absolute encoder E3, a so-called magnet scale in which a large number of permanent magnets whose N poles and S poles are alternately arranged may be used. In this case, a magnet scale is arranged near the ascending / descending range of the bobbin rail 9, and its detection unit is fixed to the bobbin rail 9 so that it can move integrally. Detect the position of. Further, the rotary shaft 10 is directly driven only by the winding motor M2 without providing the differential gear mechanism 11, or a motor capable of forward and reverse rotation driving is used as the lifting motor M3, and the lifting switching mechanism 19 is omitted. Good. In addition, each motor M1, M2
Instead of using a motor that is variable-speed driven through an inverter as M3, another variable speed motor such as a servo motor may be used. Furthermore, the present invention is not limited to the case where the bobbin rail 9 is moved to the predetermined position after the full pipe stop, but may be applied when the bobbin rail 9 is moved to the predetermined position after the roving frame is stopped.

[0032]

As described above in detail, according to the present invention, when the bobbin rail is moved to a predetermined position such as a doffing position after the winding is stopped due to the full pipe, the bobbin rail reaches the target position quickly and the predetermined position is reached. It can be stopped accurately at the position. Therefore, the time required to start winding again after the full pipe stop is shortened, and the operating efficiency of the roving frame is improved.

[Brief description of drawings]

FIG. 1 is a diagram showing changes in the number of rotations of a lifting motor when a bobbin rail is moved.

FIG. 2 is a diagram showing a relationship between a distance between a current position of a bobbin rail and a target stop position and a rotation speed of a lifting motor.

FIG. 3 is a schematic perspective view of a drive mechanism of a roving frame.

FIG. 4 is a block diagram of a control device.

FIG. 5 is a diagram showing a relationship between a limit switch and a bobbin rail in a conventional example.

[Explanation of symbols]

9 ... Bobbin rail, 19 ... Elevating switching mechanism, 20 ... Control device, 25 ... CPU, E3 ... Absolute encoder as bobbin rail position detecting means, L ... Distance, M3 ... Elevating motor.

Claims (2)

[Claims] 1. A roving machine equipped with a variable speed motor capable of driving a bobbin rail independently of a spinning drive system and a winding drive system, and a distance from a current position of the bobbin rail to a target stop position and a distance at that time. The relationship with the moving speed of the bobbin rail is set in advance, and the bobbin rail constant of the roving machine that drives and controls the variable speed motor so that the moving speed of the bobbin rail becomes the preset speed corresponding to the distance. Position stop method. 2. A roving machine equipped with a variable speed motor capable of driving a bobbin rail independently of a spinning drive system and a winding drive system, and a distance from a current position of the bobbin rail to a target stop position and a distance at that time. The relationship with the moving speed of the bobbin rail is set in advance, the variable speed motor is driven by slow start, and after the bobbin rail starts moving, it is based on the detection signal from the bobbin rail position detecting means at every predetermined time. The present position of the bobbin rail is obtained by controlling the variable speed motor based on the distance between the target stop position and the present position so that the moving speed of the bobbin rail becomes the preset speed corresponding to the distance. Method for stopping bobbin rail fixed position on roving machine.