JPH07300729A - Position-setting unit for doffing bar in simultaneous-type cop changer - Google Patents

Abstract

PURPOSE:To accurately preset the stop position of a doffing bar by relatively simple operations. CONSTITUTION:The doffing bar can be driven to be elevated by rotation of a motor 32 in the normal or reverse direction and the position of the doffing bar is calculated by a CPU 40 based on the count value measured by counting the pulse number of an output signal sent from a rotary encoder 35. The motor 32 can be driven by manually operating a start switch 37 and a stop button 38. The count value corresponding to the position of the doffing bar and detected by the CPU 40 is stored in a working storage 42 by performing a setting operation on the screen equipped with a touch sensor in a display 36 and the count value stored in the working storage 42 can be increased or decreased by a unit of a prescribed value by a fine adjustment button shown on the screen of the display 36. The CPU 40 can output a signal for stopping the motor 32 based on the count value stored in the working storage 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a doffing bar position setting device for a simultaneous pipe changer equipped in a spinning machine such as a ring spinning machine and a ring twisting machine.

[0002]

2. Description of the Related Art In recent years, automation in spinning factories has progressed,
A spinning machine such as a ring spinning machine and a ring twisting machine is equipped with a pipe changing device that automatically performs a doffing operation accompanying a full pipe and a pipe changing operation for inserting a new empty bobbin into a spindle. As a pipe changing device, there is a whole-cylinder simultaneous pipe changing device provided for each spinning machine base (for example, Japanese Patent Publication No. 48-30970).
Issue). The whole spindle simultaneous pipe changer has a doffing bar equipped with bobbin gripping devices arranged at the same pitch as the spindle pitch between the spindle row and the conveyor device arranged below the spindle row by the pantograph mechanism. It is installed so that it can be moved up and down. The entire pantograph mechanism is rotatably provided at a position approaching the spinning machine stand and a position separating it. The pantograph mechanism is operated by the reciprocating movement of a drive shaft extending along the machine base longitudinal direction. Usually, a so-called power cylinder provided with a ball screw mechanism that is normally and reversely driven by a motor is used as a drive means for the drive shaft.

In order to reliably grip the bobbin by the pipe changing device, it is necessary to position the bobbin gripping device at a position (height) corresponding to the top of the bobbin with high position accuracy, and it is important to control the position of the doffing bar. Becomes Conventionally, as a means to stop the doffing bar at each predetermined position, a dog is fixed to the drive shaft, and a number of limit switches are mounted along the drive shaft at predetermined positions on the machine base frame. Based on this, a method of controlling driving / stopping of a motor is implemented. But,
There is a delay due to the inertial force of the motor from when each limit switch detects the dog until the motor is braked and actually stops. Therefore, it is necessary to position the limit switch in consideration of its inertial force, which requires a lot of skill.

In order to solve this problem, the applicant of the present application previously provided a rotary encoder for detecting the amount of rotation of a screw shaft which is normally and reversely rotated by a motor in Japanese Patent Laid-Open No. 2-289130, and based on an output signal from the rotary encoder. We have proposed a pipe replacement device that calculates the position of the doffing bar. This pipe replacement device stores a correction value relating to the inertial characteristic at the time of braking of the motor in a storage device, and based on this correction value and the set value set for each stop position of the doffing bar, the doffing bar is stopped at each stop position. In order to accurately stop, the transmission timing of the motor stop signal is calculated. Therefore, the doffing bar can be accurately stopped at a desired position only by setting a set value corresponding to the stop position of the doffing bar.

[0005]

By the way, as a method of setting this set value in the storage device, a method using an input device equipped with a numeric keypad or the like can be easily considered. However, according to this method, it is necessary to operate the ten-key pad and the like many times until the doffing bar stops at a desired position while the trial operation of the pipe changing device is performed, and to reset the set value. Then, the operation must be performed for each stop position. Therefore, as a setting method to eliminate this trouble, a method of stopping the doffing bar at a desired position and setting a count value representing the position of the doffing bar based on the pulse number of the rotary encoder at that time as a set value is considered. To be In this way, the set value for each stop position of the doffing bar can be initialized in the storage device with a simple operation and with high position accuracy.

However, according to this method, it is necessary to stop the motor by manual operation in consideration of the time when the moving doffing bar reaches a desired position. Although it is possible to stop the doffing bar at a substantially desired position by rotating the motor at a low speed, in order to make the bobbin holding device hold the bobbin with certainty, the doffing bar should be placed at the position of the doffing bar.
Positional accuracy of mm or less is required. Therefore, it is difficult to manually stop the doffing bar at a predetermined position so as to satisfy the required positional accuracy. Since the doffing bar is driven through the pantograph mechanism, the moving speed of the doffing bar near the lowest position is faster than the moving speed near the highest position of the doffing bar even if the motor rotation speed is constant. Therefore, it is more difficult to set the stop position for gripping the empty bobbin on the conveyor device where the doffing bar is most lowered, because the doffing bar stop timing is difficult. Therefore, there is a new problem that the doffing bar cannot be stopped at a desired position at one time and the manual operation must be repeated until the doffing bar stops at the desired position.
Further, the manual operation needs to be repeated for each stop position, and the positional accuracy of the doffing bar is affected by the accuracy of the manual operation when stopping the doffing bar.

The present invention has been made in order to solve the above-mentioned problems, and its object is a simultaneous pipe replacement capable of setting the stop position of the doffing bar with a relatively simple operation and high positional accuracy. An object of the present invention is to provide a position setting device for a doffing bar in a device.

[0008]

In order to solve the above problems, in the invention according to claim 1, a doffing bar provided with a bobbin holding device is provided with a spindle train and a transfer device arranged below the spindle train. Between the pantograph mechanism for displacing up and down, a drive system provided with a conversion device for converting the rotational force of the motor into the reciprocating motion of the drive shaft for driving the pantograph mechanism, and the entire pantograph mechanism is separated from a position approaching the spinning machine stand. In a simultaneous pipe changer equipped with a moving mechanism that moves to a position, position detection means provided in the drive system and outputting a signal corresponding to a displacement amount of the doffing bar, and each stop of the doffing bar Storage means having a storage area for storing position data corresponding to a position; and the doffing bar based on an output signal of the position detection means. Position calculating means for calculating a position, setting means for storing position data corresponding to each stop position of the doffing bar in the storage means, and increasing or decreasing the position data stored in the storage means by a predetermined value. When the position of the doffing bar calculated by the position calculating unit coincides with the position data stored in the storage unit while controlling the driving of the correction unit and the drive device of the motor and the moving mechanism, And a control unit that outputs a stop signal for stopping the motor.

According to a second aspect of the present invention, the first aspect
In the simultaneous pipe changer according to claim 1, the position detection means which is provided in the drive system and outputs a signal corresponding to the displacement amount of the doffing bar, and the doffing bar of the doffing bar based on the output signal of the position detection means. Position calculating means for calculating a position, storage means having a storage area for storing position data corresponding to each stop position of the doffing bar, and the position calculating means when the doffing bar is stopped at a desired position Setting means for storing the position of the doffing bar calculated by the storage means as position data in the storage means, correction means for changing the position data stored in the storage means, and driving a drive device for the motor and the moving mechanism. When the output signal from the position detecting means coincides with the position data set in the storage means while controlling And control means for outputting a stop signal for stopping the serial motor.

According to a third aspect of the present invention, the correction means includes a display means for graphically displaying a stop position on the moving path of the doffing bar.

[0011]

According to the invention of the first aspect, the position data corresponding to each stop position of the doffing bar is stored in advance in the storage device by the setting means. The doffing bar moves on a predetermined path by the control means driving the drive device of the motor and the moving mechanism, and the position detecting means outputs a signal corresponding to the displacement amount of the doffing bar. The position calculating means inputs the output signal of the position detecting means and calculates the position of the doffing bar based on the output signal. The control means outputs a stop signal for stopping the drive of the motor when the position of the doffing bar calculated by the position calculation means matches the position data stored in the storage means. The driving of the motor is stopped by the transmission of this stop signal, and the doffing bar is stopped at each preset stop position. For example, when the doffing bar stops at a position deviated from a desired position and the position data stored in the storage means is changed, the position data in the storage means should be increased or decreased by a predetermined value using the correction means. Done by.

According to the second aspect of the present invention, when each stop position of the doffing bar is stored in the storage means,
Actually move and place the doffing bar at the desired position,
At that time, the position calculated by the position calculation means based on the output signal from the position detection means is stored in the storage means as position data by operating the setting means. At this time, if the doffing bar is stopped by, for example, a manual operation in order to move the doffing bar to a desired position, the doffing bar often does not stop at the desired position but stops at a position in the vicinity thereof. Here, even if the position of the doffing bar at that time is stored in the storage means as position data by the setting means, the position data stored in the storage means by the correction means after that is set as the desired position for the stop position of the doffing bar. Can be changed to

According to the third aspect of the invention, the stop position on the moving path of the doffing bar is graphically displayed on the display means provided in the correction means. Therefore, it is possible to easily visually recognize the stop position of the doffing bar corresponding to the position data to be corrected.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIG. 2, a large number of spindles 3 are arranged on a spindle rail 2 of a spinning frame 1 at a constant pitch. Below the spindle rail 2, a known bobbin transfer device 5 for transferring the bobbin using the peg tray 4 is disposed (for example, JP-A-63-145438). A support bar 6 is provided on the front side of the spindle rail 2 along the spindle rail 2, and an intermediate peg 7 is provided on the upper surface of the support bar 6 at the same pitch as the spindle pitch. In addition, the spinning machine base is equipped with a pipe changing device 8 of a known structure and having a whole spindle.

The doffing bar 10 provided with the bobbin holding device 9 (shown in FIG. 3) is a so-called pantograph mechanism 11.
The pantograph mechanism 1 is centered around the drive shaft 12 that is moved up and down by the operation of the pantograph mechanism 11.
The whole 1 is configured to be rotatable. Of the links 13 and 14 constituting the pantograph mechanism 11, the first link 13 has a first end connected to the doffing bar 10 and a second end fixed to the drive shaft 12 so as to be integrally movable. It is connected to the moving bracket 15. The second link 14 has half the length of the link 13 and its first
The end portion is pin-connected to the center of the link 13, and the second end portion is pin-connected to the support bracket 16. The support bracket 16 is arranged in a state in which the fixed bracket 17 restricts the movement of the drive shaft 12 in the axial direction and allows the drive shaft 12 to slide.

As shown in FIG. 3, the support bracket 16 is pin-connected to the piston rod 18a of the cylinder 18. The cylinder 18 constitutes a drive device of a moving mechanism that moves the entire pantograph mechanism 11 to a position approaching the spinning frame 1 and a position separating it. The operation of the cylinder 18 causes the support bracket 16 to move the drive shaft 1
2, the pantograph mechanism 11 as a whole is rotated around the drive shaft 12 together with the support bracket 16. Further, the drive shaft 12 is adapted to be reciprocated by the operation of a power cylinder 19 as a conversion device arranged at one end of the spinning frame 1.

As shown in FIG. 1, the power cylinders 19 are symmetrically arranged on both left and right sides. Power cylinder 19
The support cylinder 20 constituting the
A screw shaft 22 is rotatably supported at its base end in a shaft 0 by means of a bearing 23. A movable barrel 24 is slidably supported on the support barrel 20 along the longitudinal direction thereof, and a ball nut 25 screwed with a screw shaft 22 is fixed to the proximal end side of the movable barrel 24. Moving tube 2
The base end of the drive shaft 12 is coupled to the tip of the coupling 2
It is connected via 6.

A toothed pulley 27 is fitted and fixed to the base ends of both screw shafts 22. Two toothed pulley 2
7 and the toothed pulley 30 fitted and fixed to the output shafts 29a and 29b of the gear box 28, the toothed belt 31
Is wrapped around. Input shaft 28 of gearbox 28
The rotation of the drive shaft 32a of the motor 32 is transmitted to a through the belt transmission mechanism 33. The output shafts 29a and 29b are adapted to rotate in the same direction and at the same rotational speed. The drive shaft 12 is reciprocated together with the movable barrel 24 by the forward and reverse rotations of the screw shaft 22. The pantograph mechanism 11, the power cylinder 19, the gear box 28, and the motor 32 constitute a drive system for the doffing bar 10.

The motor 32 is equipped with a brake 34. Further, a rotary encoder 35 as a position detecting means is arranged at the end of one screw shaft 22. The rotary encoder 35 outputs a pulse signal corresponding to the rotation amount of the screw shaft 22.
The rotary encoder 35 is of the increment type.

As shown in FIG. 2, on the side surface of the out end 1a, a display device 36 as a display means is provided, which constitutes a setting means and a correction means. Display device 3
Reference numeral 6 includes a panel having a touch sensor (touch sheet) capable of inputting various production conditions and the like by pressing an input area displayed on the screen. A start switch 37 and a stop button 38 for manually operating the pipe changing device 11 are provided on the side surface of the out end 1a. The start switch 37 is used to raise the doffing bar 10.
Each switch button is provided for activating the descending operation and the moving arrangement of the doffing bar 10 to the open position, the intermediate position, and the closed position.

As shown in FIG. 1, a control unit 39 as a control unit constitutes a setting unit and a correction unit, and a central processing unit (hereinafter referred to as CPU) as a position calculation unit.
40 is provided. The control device 39 includes a program memory 41 including a read-only memory (ROM) storing a control program, and a working memory 42 serving as a storage unit including a readable and rewritable memory (RAM).
It has and. The working memory 42 includes an input device 43 equipped with a ten-key pad (not shown) and input data input by an input operation on the screen of the display device 36, and the CPU 40.
The calculation result and so on are temporarily stored. Working memory 42
Uses a non-volatile memory with a backup power supply. The CPU 40 operates based on the program data stored in the program memory 41. The rotary encoder 35, the start switch 37, the stop button 38, and the display device 36 are CPUs via an input interface 44.
It is connected to 40. The motor 32, the brake 34, and the display device 36 are connected to the CPU 40 via an output interface 45 and a drive circuit (not shown).

The CPU 40 counts the pulse signals output from the rotary encoder 35 and calculates the position of the drive shaft 12, that is, the position of the doffing bar 10 based on the counted value. The CPU 40 sets the position of the drive shaft 12 when the doffing bar 10 is arranged at the lowermost position as the origin position, and when a pulse signal is input during the forward rotation drive of the screw shaft 22, adds the pulse signal to the count value and adds it to the screw shaft. When a pulse signal is input at the time of reverse rotation driving of 22, the corresponding count value is subtracted. That is, the count value corresponds to the position of the drive shaft 12.

As shown in FIG. 4, a dedicated screen 36a for setting the control positions PA to PJ, which are reference positions for controlling the position of the doffing bar 10, is displayed on one screen of the display device 36. . The movement path of the doffing bar 10 is drawn on the dedicated screen 36a, and the control positions PA to PJ are set on the movement path. Control position P
The doffing bar 10 of A, PD, and PG is bobbins E and F.
Is a stop position for gripping the top of the. Control position P
B, PC, PE, PF, and PH are opening / closing positions of the doffing bar 10 with respect to the machine base 1, that is, positions where the cylinder 18 is driven, and a control position PI is a position where the full bobbin F is released. For the control position PJ, the moving speed of the doffing bar 10 in the moving section to which the position belongs is set as the moving speed (mm / sec) of the drive shaft 12. The control position PF is an opening / closing position of the doffing bar 10 and also a position for controlling the shift of the vertical movement speed of the doffing bar 10. On the dedicated screen 36a, set value display portions 46a to 46 are provided at positions corresponding to the respective control positions PA to PJ.
j is set, the height (mm) from the original position of the doffing bar 10 is set on the set value display portions 46a to 46h, and the moving speed (mm / sec) of the drive shaft 12 is set on the set value display portions 46i to 46j. Are displayed respectively. Storage areas corresponding to the control positions PA to PH are set in the work memory 42, and the doffing bar 1 is set in each storage area.
A count value corresponding to the height (mm) from the original position of 0 is stored.

As shown in FIG. 4, the dedicated screen 36a has a plus button 47a, a minus button 47b and an ES button.
The fine adjustment button 47 and the current height display section 53 that constitute the correction means including the C button 52 are displayed. Below the dedicated screen 36a, a select key 48, a final set key 49, a position key 50, and a return key 51 that can be input by operating the screen are set. Two input states of initial setting and correction setting can be selected by operating the select key 48, and it becomes possible to select any of the control positions PA to PJ by operating the position key 50 in each input state. ing. In addition, instead of the position key 50, the set value display portions 46a to 46h
Is composed of a touch switch, and the set value display section 46a
It is also possible to select by pressing ~ 46h.

When the control positions PA to PH are set, it is possible to store the count value corresponding to the position when the doffing bar 10 is actually moved and arranged in the working memory 42. That is, the count value corresponding to the position (mm) displayed on the set value display portions 46a to 46h selected when the doffing bar 10 is actually moved and arranged in the initial setting state of the dedicated screen 36a is the return key 51. By pressing, the data is stored in the working memory 42. In this case, the disposition of the doffing bar 10 is performed by operating the start switch 37 and the stop button 38. The control positions PI and PJ are set by operating the ten-key pad of the input device 43, and the work memory 4
The moving speed (mm / sec) of the drive shaft 12 is stored in each storage area set in 2 corresponding to the control positions PI and PJ. The control positions PA to PJ can also be set by operating the ten-key pad of the input device 43.

The set values of the control positions PA to PJ can be changed by operating the fine adjustment button 47 in the correction setting state of the dedicated screen 36a. Control position PA ~
The set value of PH is incremented by 0.2 mm each time the plus button 47a is pressed, and decremented by 0.2 mm each time the minus button 47b is pressed. Further, the setting values of the control positions PI and PJ are set by the fine adjustment button 4
By the operation of 7, the value is increased or decreased by a predetermined value (mm / sec) and changed. Then, by operating the fine adjustment button 47, the count value corresponding to the selected control positions PA to PH stored in the work memory 42 or the moving speed (mm / sec) corresponding to the control positions PI and PJ is changed. It is like this. The value after the fine adjustment can be returned to the value before the fine adjustment by operating the ESC button 52 before it is officially stored by the operation of the return key 51.

In the working memory 42, a storage area for storing an offset amount OS relating to the braking characteristic of the motor 32 is set for each of the control positions PA to PH. The offset amount OS is an output signal value of the rotary encoder 35 corresponding to the difference between the predetermined stop position and the position of the drive shaft 12 when the stop signal is output. The offset amount OS is input by operating the ten-key pad of the input device 43. Based on the count value for each control position PA to PH and the offset amount OS stored in the work memory 42 at the time of starting the operation of the pipe changing device 8, the CPU 40 transfers from the control device 39 to the motor 32 during the pipe changing work. The stop signal output timing of is set. The CPU 40 drives and stops the motor 32, the brake 34, and the cylinder 18 based on the data for each of the control positions PA to PJ that have been initialized, the output signal from the rotary encoder 35, the retracting completion signal of the cylinder 18, and the program data. Is output.

Next, the operation of the device configured as described above will be described. Control positions PA to P of the doffing bar 10
The setting of J is performed at the time of start-up when the pipe changing device 8 is installed on the machine base 1. This setting work is performed as follows.
In order to confirm the gripping state of the bobbins E and F by the bobbin gripping device 9, the peg tray 4 with the empty bobbin E mounted thereon is carried into the bobbin transfer device 5 at a position corresponding to the spindle 3, and the bobbin F is moved to the spindle. It is in a state of being fitted in No. 3.

First, the pipe changing device 8 is brought into an operating state during manual operation. Next, the screen of the display device 36 is selected to display the dedicated screen 36a shown in FIG. Since the dedicated screen 36a is initially displayed in the correction setting state, the select key 48 is pressed on the screen to select the initial setting. Next, the position keys 50 are used to select the control positions PA to PJ to be set.
After selecting the control positions PA to PJ, the pipe changing device 8 is manually operated by operating the start switch 37 and the stop button 38, and the doffing bar 10 is set at a position to be set as a set value of the selected control positions PA to PJ. Perform the work of moving and arranging. The doffing bar 10 is initially arranged at the standby position (closed position corresponding to the control position PB).

For example, when setting the control position PA,
It is necessary to move the doffing bar 10 to a position where the empty bobbin E is gripped on the bobbin transfer device 5. Start switch 37 to move the doffing bar 10 downward.
When is operated, the doffing bar 10 descends from the standby position at a low speed. Then, when the doffing bar 10 reaches the desired position, the stop button 3
When 8 is pressed, the rotation of the motor 32 is stopped with the braking by the brake 34. Doffing bar 10 stopped
The position (mm) is displayed on the current height display section 53.

Here, since the control positions PA, PD, PH are gripping positions of the bobbins E, F, a positional accuracy of 1 mm or less is required, but the doffing bar 10 is manually operated with a positional accuracy of 1 mm or less. It is difficult to stop at the position where Normally, the doffing bar 10 will stop slightly above or below the desired position. In this embodiment, the return key 51 is pressed to temporarily set the count value at that time as the set value of the control position PA in the working memory 42 and display it on the set value display section 46a.

When the doffing bar 10 is stopped at the desired position with good position accuracy, the desired count value is set by pressing the return key 51, and the process proceeds to the next control position setting. On the other hand, doffing bar 1
When 0 cannot be stopped at a desired position with a position accuracy of 1 mm or less and the count value that is temporarily set needs to be changed, the dedicated screen 36a of the display device 36 is set by switching from the initial setting to the correction setting state. Correct the value.

That is, first, the select key 48 is pressed on the dedicated screen 36a to switch to the correction setting state. Then, from the positional relationship between the top of the empty bobbin E and the bobbin gripping device, an appropriate position of the doffing bar 10 is read as a distance difference from the current stop position. When it is desired to correct the stop position (control position PA) of the doffing bar 10 to the current position where it is manually stopped by, for example, 1 mm upward, press the plus button 47a five times to set the set value (mm) on the set value display section 46a.
Is adjusted upward by 1 mm. By this operation, the count value corresponding to the control position PA stored in the working memory 42 is upwardly corrected by a value corresponding to 1 mm. In addition, when it is desired to correct the provisional set value (mm) downward by, for example, 0.8 mm, the minus button 47b is pressed four times and the work memory 4 is pressed.
The count value stored in 2 is corrected downward. Hereinafter, the setting at each of the control positions PD and PG that requires position accuracy is performed in the same procedure.

Control positions PB, PC, PE, PF, PH
Is the reference position of the opening / closing operation of the doffing bar 10 with respect to the machine base 1, so that the control positions PA, PD, PG are
Positional accuracy is not required. Therefore, the position setting is performed by the same method as the control positions PA, PD, PG, or the ten keys are input from the input device 43. Even when the position is set by the ten-key input, the setting value is corrected by the fine adjustment button 47 if necessary.

Since the control positions PI and PJ are set by speed, they are set by operating the ten keys of the input device 43. The correction of the set value (mm / sec) is performed by changing the set value by a predetermined value using the fine adjustment button 47. The relationship between the moving speed of the drive shaft 12 and the moving speed of the doffing bar 10 is not linear due to the pantograph mechanism 11. Therefore, the moving speed of the drive shaft 12 is set to a low speed (mm / sec) at the control position PI where the moving speed of the doffing bar 10 is relatively faster than the moving speed of the drive shaft 12. In addition, the control position P
Since the moving section in which the moving speed is regulated by J has a relatively long moving distance, the control position P is set in order to shorten the moving time.
In J, the moving speed of the drive shaft 12 is set to a high speed (mm / sec).

When the count values for each of the control positions PA to PJ are stored in the working memory 42 by the above operation, the final set key 49 is pressed to finalize these count values. Next, the offset amount OS considering the inertial force during braking of the motor 32 is input to the work memory 42 by the input device 43 for each of the control positions PA to PH.

When the input of the set value and the offset amount OS at each of the control positions PA to PJ is completed, the pipe replacement device 8 is tested, and it is determined whether the set values set for each of the control positions PA to PJ are appropriate. The actual stop position, opening / closing position, and moving speed of the doffing bar 10 are checked. When the automatic operation of the pipe changing device 8 is started for the test operation, the CPU 40 sets the offset amount OS from the working memory 42 to each control position PA.
.. PH for each control position PA to PH, a value obtained by subtracting each offset amount OS from the count value is obtained, and the count value is stored in the working memory 42 as the stop signal output time. After that, the CPU 40 sets the motor 3
2 is started.

When the driving of the motor 32 is started, the CPU
40 receives the output signal from the rotary encoder 35 and counts the number of pulses. The CPU 40 compares the count value with the count value of the stop signal output timing stored in the working memory 42, and outputs a stop signal to the motor 32 and an operation signal to the brake 34 when the two values match. Stop signal of motor 32 and brake 34
The doffing bar 10 outputs the operation signal of each control position PA.
〜PH is transmitted earlier than the time when the position corresponding to the set value (mm) of PH is reached in consideration of the delay in braking the motor 32 due to inertial force. As a result, the doffing bar 10
Will stop and open / close at the set value (mm). Further, the doffing bar 10 moves at a moving speed that is equal to the set value (mm / sec). That is, the pipe changing device 8 is driven as follows based on each set value set for each control position PA to PJ. As shown in FIG. 4, the control positions PA to PJ
Each set value is L1 to L8 (mm), V1, V2
(Mm / sec) is set.

First, the doffing bar 10 is arranged at L2 (mm) at the standby position (control position PB). When the doffing bar 10 is moved down from the standby position at a predetermined speed (speed corresponding to V1) and placed at L1 (mm),
The bobbin holding device 9 is arranged in a state corresponding to the top of the empty bobbin E on the peg tray 4, and the bobbin holding device 9 holds the empty bobbin E. Next, as shown in FIG. 5A, the doffing bar 10 is moved up to L3 (mm), and the empty bobbin E is pulled out from above the peg 4a. Next, after the cylinder 18 is operated and the entire pantograph mechanism 11 is rotated to a position away from the spinning frame 1, the doffing bar 10 is moved to L5 at a predetermined speed (speed corresponding to V2).
(mm), the empty bobbin E is located above the intermediate peg 7. In this state, the entire pantograph mechanism 11 is slightly rotated toward the spinning machine base 1 side, then the doffing bar 10 is moved down to L4 (mm), and the empty bobbin E is inserted onto the intermediate peg 7.

Then, after the bobbin holding device 9 releases the empty bobbin E, as shown in FIG. 5B, the doffing bar 10 is moved up and placed at L6 (mm). The entire pantograph mechanism 11 is rotated and the doffing bar 10 is arranged such that the bobbin holding device 9 corresponds to the top of the full bobbin F as shown in FIG. 6A. Then, the doffing bar 10 is moved down and placed at L7 (mm), and the bobbin holding device 9 holds the full bobbin F. After that, the full bobbin F is pulled out from the spindle 3 by moving the doffing bar 10 upward, and the doffing bar 10 is moved to the position L8 (mm) where the full bobbin F does not interfere with the empty bobbin E. Next, after the entire pantograph mechanism 11 is rotated, the doffing bar 10 is moved down to be placed at L3 (mm), and the bobbin holding device 9 is positioned below and in front of the spindle rail 2. Then, the entire pantograph mechanism 11 is rotated so that the bottom portion of the full bobbin F is disposed above the peg 4a, and then the doffing bar 10 is moved down to L1 (mm), as shown in FIG. 6 (b). The full bobbin F is inserted into the peg 4a on the bobbin transfer device 5.

Next, the doffing bar 10 is raised again, the pantograph mechanism 11 is rotated as a whole, and the doffing bar 10 is moved.
The descending motions of the doffing bar 1
0 is arranged at the control position PD at L4 (mm), and the bobbin holding device 9 is arranged at a position corresponding to the top of the empty bobbin E on the intermediate peg 7. When the empty bobbin E on the intermediate peg 7 is gripped by the bobbin gripping device 9, the doffing bar 10 is raised, the pantograph mechanism 11 is rotated as a whole, and the doffing bar 10 is lowered, whereby the doffing bar 10 is moved. The empty bobbin E is placed at the control position PG at L7 (mm) and is inserted into the spindle 3. After that, the doffing bar 10 is raised, the pantograph mechanism 11 is rotated as a whole,
The descending operation of the doffing bar 10 is performed in a predetermined order so that the doffing bar 10 is in the standby position (control position PB).
Return to.

When the bobbin E or F is gripped by mistake, for example, due to the stop position of the doffing bar 10, during the trial run of the pipe changing device 8, the dedicated screen 3 of the display device 36 is displayed.
6a is used to select a correction setting and the fine adjustment button 47 is operated to appropriately change the set values of the control positions PA, PD, PG to correct the stop position of the doffing bar 10. Further, if correction is required for other control positions, the set value is changed. As a result of performing the trial run and changing the set value, if the doffing bar 10 moves on an appropriate path at an appropriate speed and there is no problem in the gripping state of the bobbins E and F, the position setting of the doffing bar 10 is completed. To do.

After that, during the pipe replacement work by the pipe replacement device 8,
Due to the stop position of the doffing bar 10, bobbins E, F
If a gripping error or the like occurs, the correction setting is selected on the dedicated screen 36a of the display device 36, and the fine adjustment button 47 is selected.
The stop position of the doffing bar 10 is corrected by operating. Also, the gripping position of the doffing bar 10,
When it is desired to change the open / close position and the moving speed, each set value is changed by a predetermined value by pressing the fine adjustment button 47 as many times as necessary.

As described in detail above, the pipe replacement device 8 of this embodiment
According to the above, a procedure for manually moving the doffing bar 10 to a predetermined position, storing the count value at that time in the work memory 42, and correcting the count value by operating the fine adjustment button 47 is described. Can be taken.
Therefore, the count value that is very close to the desired position can be provisionally set in the working memory 42 by arranging the doffing bar 10 by one manual operation. Next, the doffing bar 1 temporarily set in the working memory 42
0 corresponds to the difference between the stop position and the desired position,
The count value may be corrected using the fine adjustment button 47. Therefore, the doffing bar 10 can be operated with one manual operation.
Even if it is difficult to accurately stop at a desired position with high position accuracy, the position of the doffing bar 10 is set by a relatively simple operation in combination with the fine adjustment button 47 for correcting the count value. be able to.

In addition, the screen of the display device 36 is configured by a panel having a touch sensor, and the fine adjustment button 47 displayed on the dedicated screen 36a which is one screen of the plurality of display screens is operated on the screen. Thus, it is possible to finely adjust the set value after the temporary setting and change the set value that has been established. Therefore, since the fine adjustment button 47 is displayed on the dedicated screen 36a only when necessary, it is not necessary to secure a dedicated location for the fine adjustment button 47.

Further, the fine adjustment button 47 displayed on the dedicated screen 36a of the display device 36 is the plus button 47a.
Alternatively, each time the minus button 47b is pressed, the set value can be added or subtracted by a predetermined value (for example, 0.2 mm) set in advance. Therefore, the difference in the distance between the actual stop position of the doffing bar 10 and the stop position to be corrected and changed is visually grasped, and the plus button 47a or the minus button 47 is repeated a number of times proportional to the difference in the distance.
Since it is sufficient to press b, the set value can be changed by a sensory operation that is familiar to human senses. Further, since the operation is just a push of the plus button 47a or the minus button 47b, the operation can be performed while actually gazing at the positional relationship between the doffing bar 10 and the bobbins E and F. as a result,
Since it is possible to press the fine adjustment button 47 while visually measuring the difference in distance, the setting value can be finely adjusted.

Further, the movement path of the doffing bar 10 is drawn on the dedicated screen 36a of the display device 36, and the set value display portions 46a to 46j for the respective control positions PA to PJ on the drawing.
Since the fine adjustment button 47 is displayed on the same screen, it is possible to change the set value while confirming the set position and the set value. Therefore, it is possible to prevent mistakes in the control positions PA to PJ for changing the setting and the set values thereof.

Further, from the input device 43, each control position PA
Since it is possible to set the set value for each PJ, the set value can be set by a simple operation by the input setting by the input device 43 when the set value to be set in advance is known or the like.

The present invention is not limited to the above embodiments, but may be constructed as follows, for example, within the scope of the present invention. (1) The correction amount by one pressing of the fine adjustment button 47 is not limited to 0.2 mm, and an appropriate numerical value (mm) may be set. Further, the fine adjustment button 47 may be provided with two types of buttons for coarse adjustment and fine adjustment, or the fine adjustment button 47 may be configured to be able to change the correction amount by pressing the button once.

(2) In the above embodiment, the dedicated screen 36a of the display device 36 is a graphic display screen for displaying the drawing of the movement path of the doffing bar 10, etc., but the display device 36 has only characters and numerical values. May be displayed. For example, a character display screen for displaying several lines (for example, two lines) of characters and numerical values may be used, and the difference between the set value already set on the screen and the set value to be newly set may be input by ten key operation or the like. . (3) In the above-described embodiment, the setting value is changed by the operation on the screen of the display device 36 by the fine adjustment button 47. However, a predetermined place different from the display device 36 (for example, the side surface of the out end 1a). ) May be provided with a fine adjustment button.
In the case of this configuration, the lever operation may be performed instead of the push button operation.

(4) The control device 39 is the doffing bar 1
Each control position P is not provided with the function of storing the count value corresponding to the position from the arrangement position of 0 in the working memory 42.
The configuration of A to PJ may be performed by operating the numeric keypad of the input device 43. Also in this configuration, since the set value is corrected by pressing the fine adjustment button 47 a number of times according to the distance difference to the position to be changed that is read by visual measurement, the set value can be easily and sensibly operated. Can be changed.

(5) In the above embodiment, the control positions PA to P are set.
Although H is individually set, the CPU 40 may calculate and set other set values based on a predetermined set value. For example, the lowest position P of the doffing bar 10
The set values of the other control positions PB to PH may be automatically set by the calculation of the CPU 40 based on the set value of A. According to this configuration, it is not necessary to manually set the doffing bar 10 for each control position.
The position setting work is further simplified.

(6) Instead of setting the moving speed of the drive shaft 12 in the control position PJ as in the above embodiment,
For example, a low-speed and high-speed two-speed motor may be used as a drive motor for the drive shaft 12, and the height position for switching between the low speed side and the high speed side may be set and implemented. In this case, control becomes easier than speed setting.

(7) The display values on the set value display sections 46a to 46h and the current height display section 53 are not limited to the display of numerical values converted into mm, but may be displayed by the number of detected pulses based on the original position. Good.

(8) The setting method of the control positions PA to PJ is as follows.
The method is not limited to the method of performing fine adjustment for each position and setting as in the above-described embodiment, but the mode of the fine adjustment button 47 is changed unless the position is set by the return key 51 for all control positions. The setting method may be such that the operation cannot be performed.

(9) CP without setting the offset amount OS
The timing at which the count value counted by U40 and the count value for each of the control positions PA to PH stored in the work memory 42 match each other may be used as the transmission timing of the stop signal of the motor 32. In this configuration, the doffing bar 10 does not stop at the set stop position due to the stop delay of the motor 32 caused by the inertial force, but the doffing bar 10 is operated appropriately from the result of the trial operation by operating the fine adjustment button 47. It is only necessary to set a count value different from the count value of the stop position desired to stop at the position. Further, when the stop position of the doffing bar 10 deviates from the proper position while performing the pipe replacement work many times, the fine adjustment button 47 is added each time.
You can correct the set value by operating. According to this configuration, it is not necessary to store the offset amount OS as data in the work memory 42, or to perform a calculation process for calculating the stop signal transmission timing and program data. Working memory 42 and C
The load on the PU 40 can be reduced.

(10) The offset amount OS is not a predetermined value but is set in the working memory 42 at each control position PA.
It is possible to store a plurality of offset amounts OS for each PH.
A new offset amount OS may be configured by averaging the offset amount OS of the past multiple times.

(11) The present invention may be applied to spinning machines other than the ring spinning machine. For example, it may be applied to a ring twisting machine. The technical idea grasped from the above embodiment and not described in the scope of the claims will be described below together with the effect thereof.

(1) In any one of claims 1 and 2, the correction means corrects the output signal value stored in the storage means for defining an approaching operation and a separating operation of the doffing bar with respect to the spinning machine stand. Also served as a means. According to this configuration, it is possible to correct the stop position of the doffing bar and the position that defines the approaching and separating operations of the doffing bar with respect to the spinning machine stand by the same correcting means.

(2) In any one of claims 1 and 2 and the technical idea (1), the correction means includes an output signal value stored in the storage means for defining a moving speed of the doffing bar. Also served as a correction means. According to this configuration, the stop position of the doffing bar and the speed can be corrected by the same correction means.

(3) In either claim 1 or claim 2, second storage means for storing a correction value relating to the braking characteristic of the motor, the output signal value set in the storage means and the second And a calculation means for calculating the transmission timing of the stop signal to the motor, which is transmitted from the control means, based on the correction value of the second storage means. According to this configuration, the stop signal of the motor is transmitted from the control means earlier than the time when the doffing bar reaches the position corresponding to the position data by the delay time required from the start to the stop of the motor. It is possible to surely stop the doffing bar at a desired position.

[0062]

As described in detail above, according to the first aspect of the present invention, the position data stored in the storage means by the setting means is changed by the correction means by a predetermined value. Since the correction means only needs to be operated a number of times according to the distance difference between the stop position of the doffing bar and the position to be visually grasped, the position data can be easily changed by a sensory operation. It has an excellent effect.

According to the second aspect of the invention, first, the position data of the position calculation means corresponding to the position where the doffing bar is stopped by the setting means is stored in the storage means, and then the position data is stored. Since the correction can be made by the correction means, the stop position of the doffing bar can be set with high position accuracy by a relatively simple operation.

Further, according to the third aspect of the invention, since the stop position on the movement path of the doffing bar is displayed graphically on the display means provided in the correction means,
This has an excellent effect that the stop position of the doffing bar corresponding to the position data to be corrected can be easily visually recognized.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an embodiment embodying the present invention.

FIG. 2 is a front view showing a spinning frame and a pipe changing device.

FIG. 3 is a side view of the pipe replacement device.

FIG. 4 is a schematic diagram showing a screen of a display device.

FIG. 5 is a schematic side view showing the operation of the pipe replacement device.

FIG. 6 is a schematic side view showing the operation of the pipe replacement device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Spinning machine stand, 3 ... Spindle, 5 ... Bobbin transfer device as a transfer device, 8 ... Tube changing device, 9 ... Bobbin holding device, 10 ... Duffing bar, 11 ... Pantograph mechanism, 12 ... Drive shaft, 18 ... Cylinder that constitutes moving mechanism, 19 ... Power cylinder as conversion device, 32
... motor, 35 ... rotary encoder as position detecting means, 36 ... display device as display means which constitutes setting means and correction means, 39 ... control device as control means, 40 ... setting means, correction means and control means And a working memory as a storage means and a second storage means, and a CPU as position calculating means, 43 ...
Input device as setting means, 47 ... Button for fine adjustment constituting correction means.

Claims (3)

[Claims] 1. A pantograph mechanism for vertically moving a doffing bar equipped with a bobbin gripping device between a spindle row and a transfer device arranged below the spindle row, and a drive for driving the pantograph mechanism with a rotational force of a motor. A drive system having a conversion device for converting the shaft into reciprocating motion,
In a simultaneous pipe changer equipped with a moving mechanism that moves the entire pantograph mechanism to a position approaching and a position separating from the spinning machine stand, a signal corresponding to the displacement amount of the doffing bar provided in the drive system is provided. Position detecting means for outputting, storage means having a storage area for storing position data corresponding to each stop position of the doffing bar, and a position for calculating the position of the doffing bar based on an output signal of the position detecting means A computing means, a setting means for storing position data corresponding to each stop position of the doffing bar in the storage means, and a correction means for changing the position data stored in the storage means by increasing or decreasing by a predetermined value. And drive control of the drive device of the motor and the moving mechanism, and at the same time the dot calculation calculated by the position calculation means. The setting apparatus of Doffinguba in unison type pipe replacement device and control means for the position of Inguba outputs a stop signal for stopping said motor when said storage means is coincident with the position data stored. 2. The simultaneous pipe changer according to claim 1, wherein the position detection means is provided in the drive system and outputs a signal corresponding to a displacement amount of the doffing bar, and the position detection means. Position calculating means for calculating the position of the doffing bar based on an output signal, storage means having a storage area for storing position data corresponding to each stop position of the doffing bar, and the doffing bar at a desired position Setting means for storing the position of the doffing bar calculated by the position calculating means when stopped in the storage means as position data; correction means for changing the position data stored by the storage means; And before the drive signal of the moving mechanism is controlled and the output signal from the position detecting means is set in the storage means. A position setting device for a doffing bar in a simultaneous transfer device, the control device outputting a stop signal for stopping the motor when the position data matches the position data. 3. The doffing in the simultaneous pipe changer according to claim 1, wherein the correction means includes a display means for graphically displaying a stop position on the movement path of the doffing bar. Bar position setting device.