JPH089180Y2 - Loom servo motor controller - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device for controlling a servomotor that drives a feeding device or a winding device that applies a predetermined tension to a warp during weaving.

2. Description of the Related Art As a feeding device for a loom, for example, Japanese Patent Laid-Open No. 63-270
The one disclosed in Japanese Patent No. 842 is known. As shown in FIG. 4, the warp beam 50 is rotated by the feed servomotor 64 of a drive system independent of the drive system of the loom main shaft (not shown), and the warp 51 is fed while keeping the tension constant. is there.

Specifically, the warp 51 sent out by the rotation of the warp beam 50 reaches the cloth fell 55 via the back roller 52, the heald 53 and the reed 54, and the weft insertion means (not shown) causes the weft to open the opening of the warp 51. After being wefted into the cloth, the cloth is beaten by the comb 54 to form the cloth 56, and the cloth 56 is passed through the breast beam 57, the surface roller 58, the press roller 59 and the guide roller 60 to the cross roller 61. In the loom to be wound up, the feeding control of the warp yarn 51 is performed as follows.

The output of the tension sensor 62 that detects the displacement of the backrest roller 52 that performs the easing operation is captured by the control circuit 63. In the control circuit 63, a motor speed command value, for example, a current value, which is given to the output servomotor 64 so that the output of the tension sensor 62, that is, the detected warp tension value becomes a preset warp tension value, is set. The rotation speed of the feed-out servomotor 64 is controlled by the size of the. Then, the rotation speed of the warp beam 50 is controlled by the rotation speed control of the feed-out servomotor 64, and the tension of the warp 51 is maintained at the set tension value.

More specifically, a rotary encoder 65 is attached to the rotary shaft of the feed servo motor 64, and the control circuit 63 detects the position detection output of the rotary encoder 65 from the feed servo motor 64 corresponding to the rotation speed of the warp beam 50. The rotation speed is calculated, and the motor speed command value is set so that the detected rotation speed becomes the target rotation speed set based on the difference between the detected warp tension value and the set tension value. Further, a transmission shaft 66 is connected to the rotary shaft of the feed-out servomotor 64, and a worm 67 is fixedly mounted on the tip of the transmission shaft 66.
Worm wheel 68 fixed to the rotating shaft of 50 meshes,
The warp beam 50 is rotationally driven by the delivery motor 64 by these power transmission mechanisms.

By the way, when a loom main spindle stop command is generated in the loom main unit control panel (not shown) from the feeler detection signal from the feeler that detects the occurrence of weft insertion failure, the stop button ON signal, etc. Is stopped by rotating the loom main shaft, but with the stop of the main shaft of the loom, the above-mentioned feeding device is also stopped as follows. When the loom spindle stop command is generated, the control circuit 63 determines the loom spindle target stop position based on
A target stop position of the feed servo motor 64 corresponding to the target stop position of the warp beam 50 is set, and a positioning operation is performed to stop the feed servo motor 64 at the target stop position while keeping the warp tension constant at a set value.

Further, during the inching operation of the loom, which is performed when the cloth fell 55 is formed in front of the reed 54 in the weaving preparation work, based on the target stop position of the loom spindle and the set warp tension set for each inching. The target stop position of the feed motor 64 is sequentially set, and the servo motor that feeds to the target stop position while keeping the warp tension constant at the set value is set in the same manner as the above-described spindle stop operation.
A positioning operation to stop 64 is performed.

Problems to be Solved by the Invention When positioning the delivery servomotor of the delivery device as described above, foreign matter is caught in the meshing portion of the worm 67 and the worm wheel 68, and the warp tension value set before the weaving preparation work is incorrect. If the inching operation is performed during the weaving preparation work, the load on the feed-out servo motor becomes larger than the allowable value and the feed-out motor 64
Excessive current will flow to. If this state is left as it is and an excessive current continues to flow, there is a problem that the feed-out servomotor 64 is burnt out.

Further, in the loom, a servo motor is used in a winding device that applies a predetermined tension to a warp (woven fabric) at the time of weaving, in addition to the above-described feeding device, and the same positioning operation of the servo motor is performed. The problem occurs.

Therefore, an object of the present invention is to provide a servomotor control device for a loom that prevents an excessive current from continuing to flow to the servomotor due to the abnormal positioning operation of the servomotor as described above.

Means for Solving the Problems As shown in FIG. 1, the present invention relates to a rotational position detecting means 2 for detecting the rotational position of a servomotor 1 for driving a device for applying a predetermined tension to a warp during weaving, and a loom spindle stop. The target stop position setting means 3 for setting the target stop position of the servo motor 1 according to the command, and the rotational position detection means 2 for positioning the servo motor 1 at the target stop position according to the loom spindle stop command. Positioning means 4 for outputting a current command to the servomotor 1 according to the current position, and whether or not the current position reaches within a predetermined width with respect to the target stop position by the positioning operation of the servomotor by the positioning means 4 is determined. Then, the positioning end determination means 5 which outputs a positioning end signal when reaching and the positioning end signal within a predetermined time after the start of the servo motor positioning operation Is output, the positioning means 4 outputs a positioning operation stop command to the positioning means 4.

In the servomotor control device for a loom according to the present invention, when the loom spindle stop command is generated in the loom body by detecting an abnormal operation of the loom body or operating the stop button, the target stop position generation means 3 causes the target stop position of the servomotor 1 to be stopped. Is set, and a current command is output from the positioning means 4 to the servo motor 1 according to the current position of the servo motor 1 detected by the rotational position detection means so that the servo motor 1 is positioned at the target stop position. . On the other hand, the positioning end determination means 5 determines whether or not the current position reaches within the predetermined width with respect to the target stop position by the above-described positioning operation, and the positioning operation stop means 6 determines the position after the start of the positioning operation. Time is timed. Then, if the positioning end determination means 5 does not output the positioning end signal even if the time reaches the predetermined time, the positioning operation stop means 6 outputs the positioning operation stop command to the positioning means 4, and the positioning operation is stopped.

Embodiment An embodiment embodying the present invention will be described with reference to FIGS. 2 and 3. FIG. 2 is a block diagram showing the construction of a feeding device to which an embodiment of the servomotor control device for a loom according to the present invention is applied, and FIG. 3 is a flow chart showing the positioning operation stopping operation of this embodiment.
In the following description, elements common to those of the conventional apparatus shown in FIG. 5 will be assigned the same reference numerals and detailed description thereof will be omitted.

In FIG. 2, reference numeral 10 is a loom main body control panel that mainly controls the rotation of the main spindle motor 12 in accordance with an operator's operation and output signals of various sensors such as the main spindle angle sensor 11 arranged at various parts of the loom, and 13 is a loom main body control. Based on the loom status signal from the board 10 (loom start preparation signal, loom operation signal, loom forward rotation inching signal, loom reverse rotation inching signal, loom angle signal, loom stop request signal, etc.) and tension detection signal from the tension sensor 62. The sending controller outputs commands, data, and signals described below to the servo driver 14.

When the loom is in operation, the loom operation signal output from the loom body control panel 10 to the controller 13 is turned on, and a predetermined warp tension value that is the warp tension value detected from the tension detection signal of the tension sensor 62 is set. Based on the difference between the motor speed and the acceleration / deceleration rate, the feed-out controller 13 provides the motor speed / acceleration setter 15 of the servo driver 14 with each data. Servo driver 14 speed calculator
The rotation position detection output of the rotary encoder 65 is given to the 16 and the actual rotation speed of the feed servo motor 64 calculated by this speed calculator 16 and the motor speed / acceleration setting based on the motor speed and acceleration / deceleration rate data. The target rotation speed set by the device 15 is compared, and the speed deviation is given to the current value setting device 17. In the current value setter 17, the target current value is set based on the speed deviation, the actual current value output to the feed servo motor 64 and the target current value are compared, and the current deviation value is the current value control. The output of the current value controller 18 is applied to the power amplifier 19, and the output of the power amplifier 19 drives the servomotor 64 to rotate. By this operation, the warp beam is rotationally driven by the feeding servo motor 64 so that the warp tension is maintained at the set tension value during operation.

Next, the operation of the feeding device when the loom main spindle is stopped by an operator's operation of a stop button due to an abnormal operation of the loom main body, which should be noted in this invention, will be described.

In the loom main body control panel 10, when the loom main spindle stop command is generated by the operation abnormality detection or the stop button operation and the loom main spindle stop operation is started, the positioning operation of the feeding servo motor 64 is performed in synchronization with the loom main spindle positioning operation. Be started.

Referring to FIG. 3, in the positioning operation of the feed servo motor 64, first, the target stop position of the feed servo motor 64 is set by the feed controller 13 based on the target stop position of the spindle motor 12 and the set warp tension value. A clear signal is output from the sending controller 13 to the servo driver 14 to clear the target stop position register 20 (step S1). Then, the set target stop position is output from the feed-out controller 13 to the servo controller 14 and registered in the target stop position register 20 (step S
2). At this time, the delivery controller 13
The motor speed and acceleration / deceleration rate data output from the servo driver 14 to the servo driver 14 are no longer output, and the target stop position registered in the target stop position register 20 changes the output of the rotary encoder 65 to the pulse magnification setter 21. It is compared with the current position of the feed servo motor 64 that is cyclically entered in the given current position register 22, and the speed command value is set by the motor speed / acceleration setter 15 based on the position deviation. 64 positioning operations are started.

When the positioning operation of the feed-out servomotor 64 is started, the feed-out controller 13 starts the timer count (step S3), and the timing for determining whether or not the positioning operation is completed within a predetermined time (step S6) Is done. Further, the servo driver 14 determines whether the positional deviation between the target stop position and the current position is less than or equal to a predetermined value, that is, whether or not the current position has reached within a predetermined width with respect to the target stop position, and the positioning operation ends. Is confirmed. When the position deviation becomes equal to or smaller than the predetermined value, the positioning end signal output from the servo driver 14 to the controller 13 is turned on.

The positioning operation of the feed servo motor 64 is started,
When the positioning end signal input from the servo driver 14 by the sending controller 13 is turned on within the predetermined time,
The positioning operation has ended normally (step S4
~ S6). If the positioning end signal does not turn on within the predetermined time, a clear signal is output from the delivery controller 13 to clear the numerical value of the target position register 20, and the delivery controller 13 also controls the loom body control panel.
A loom stop request signal is output to 10 (steps S7, S
8). When the numerical value of the target position register 20 is cleared,
The speed command value is set to zero, and the positioning operation of the feed servo motor 64 is immediately stopped. Further, when a loom stop request signal is given to the loom main body control panel 10, the positioning operation of the loom main shaft is immediately stopped.

Thus, in this embodiment, the feed servo motor 64
By determining whether or not the positioning operation of is completed within a predetermined time, it is determined whether or not the positioning operation is abnormal,
When the positioning operation is abnormal, the positioning operation of the feed-out servomotor 64 is immediately stopped, and a loom stop request signal for stopping the positioning operation of the loom main shaft is output to the loom body control panel 10. Therefore, an abnormality occurs in the drive transmission mechanism between the warp beam and the feed servo motor 64, the load of the feed servo motor 64 becomes larger than the allowable value, the positioning operation is not performed, and an excessive current flows to the feed servo motor 64. In this case, the positioning operation of the feed-out servo motor 64 is immediately stopped, so that the situation in which the feed-out servo motor 64 is burned by an excessive current is avoided.

Further, when preparing the weaving, first, the warp tension is set to a predetermined value, and then the operation of forming the weave is performed by the inching operation. The positioning operation as described above is also performed during the inching operation. That is, at the time of inching operation, the target stop position of the loom main spindle is reset for each inching so that the loom main spindle rotates forward or reverse at predetermined intervals. Based on this, the target stop position of the feed motor 64 is also reset for each inching, and the positioning operation for each target stop position is performed for each inching.
If the warp tension set before this inching operation is mistakenly set excessively, the warp beam is rotationally driven so that the warp tension reaches the set value, and then the time required for positioning the feed servo motor 64 is increased. The positioning end signal does not turn on within a predetermined time and the positioning operation is immediately stopped. Even when the warp tension is set excessively, the load of the feed servo motor 64 becomes larger than the allowable value and an excessive current flows to the feed servo motor 64, but the positioning operation of the feed servo motor 64 is immediately stopped. Therefore, burnout of the feed-out servomotor 64 due to excessive current does not occur. Even when the inching operation causes an abnormal positioning operation due to an abnormality in the drive transmission mechanism described above, the feed-out servomotor 64 is not burned by the excessive current.

In the above-described embodiment, the loom stop request signal is output when the positioning operation abnormality is detected, but it is also possible to issue an alarm notifying the operator of the positioning operation abnormality when the loom is stopped.

In the above description, only the case where the servomotor control device of the loom according to the present invention is applied to the feeding device is described, but also in the winding device of the loom, by providing the same controller and servo driver as this embodiment, If the positioning operation of the servo motor of the winding device is not completed within a predetermined time when the loom is stopped or the inching operation is performed, the positioning operation can be immediately stopped, and the same effect as this embodiment can be obtained. . It may also be used for both the feeding device and the winding device.

As described above, according to the present invention, when the positioning operation of the servo motor is not completed within a predetermined time when the loom is stopped or the inching operation is performed, the positioning operation is immediately stopped. Even if an excessive current flows to the motor, the situation is immediately avoided. Therefore, it is possible to prevent the servo motor from being burned out due to the continuous flow of the excessive current.

[Brief description of drawings]

FIG. 1 is a block diagram showing the construction of the present invention, FIG. 2 is a block diagram showing the construction of a feeding device to which an embodiment of a servomotor control device for a loom according to the present invention is applied, and FIG. FIG. 4 is a schematic configuration diagram of a conventional example, which is a flowchart showing the operation at the time. 1 ... Servo motor, 2 ... Rotation position detecting means, 3 ...
Target stop position setting means, 4 ... Positioning means, 5 ... Positioning end judging means, 6 ... Positioning operation stopping means.

Claims (1)

[Scope of utility model registration request] 1. A rotary position detecting means for detecting a rotary position of a servo motor for driving a device for applying a predetermined tension to a warp during weaving, and a target stop position for setting a target stop position of the servo motor by a loom spindle stop command. Setting means, and positioning means for outputting a current command to the feed-out servomotor according to the current position detected by the rotational position detecting means so that the servomotor is positioned at the target stop position by the loom spindle stop command. The servo motor positioning operation by the positioning means determines whether or not the current position reaches within a predetermined width with respect to the target stop position, and when it reaches, a positioning end determination means for outputting a positioning end signal, and the servo motor Positioning to the positioning means when the positioning end signal is not output within a predetermined time after the start of positioning operation A servomotor control device for a loom, comprising: a positioning operation stopping means for outputting an operation stop command.