JPS59163447A - Constant position stopping control in loom - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for controlling foot position and stop in a loom which is directly controlled by a microcomputer.

BACKGROUND OF THE INVENTION With the spread of microcomputers in recent years, we have seen the emergence of looms that are directly controlled by microcomputers. According to this microcomputer control, (1) defective production due to incorrect operation or stop motion failure is prevented; (2) the detection function for abnormalities and failures in the control system is improved, making maintenance easier; (3) Diversification of specifications through programs and increased freedom to change them;
The following advantages are expected.

Therefore, special control, which is almost impossible with conventional looms that do not rely on microcomputer control, can be achieved relatively easily. As this special control, the present invention refers to a fixed position stopping operation in a loom. Stopping at a fixed position refers to stopping the entire loom system at a predetermined position when the motor of the loom is stopped due to warp breakage, weft breakage, or other abnormalities. The position referred to here specifically refers to the crankshaft (
means the crank angle of the main shaft). The crank angle of this crankshaft defines the operating timing system of the loom.

However, when stopping the motor, it cannot be guaranteed that the motor will always stop at a constant crank angle.

This occurs because a constant braking force cannot be maintained for a long period of time due to various factors such as wear of the brake connected to the motor. If stopping at a fixed position is not ensured, the loom will stop in a manner that is not convenient for the movement of the weft or warp threads, for example.

Furthermore, for example, in a loom equipped with an air jet type weft insertion device, there is a risk that the loom may stop while air continues to be blown out.

Conventionally, when such a shift in the fixed position occurs, an operator manually adjusts the position and stops the motor at the original fixed position. However, with the help of a microcomputer, special fixed-position stop control that does not require such manual operations can be realized. In order to realize this special fixed position stop control, the present applicant has published Japanese Patent Application No. 56-57822 (Japanese Unexamined Patent Publication No. 57-176242).
We have already proposed (details will be explained later). This is to stop the loom at a predetermined fixed position in the operation timing system by starting the brake operation when the operation timing system of the loom reaches a predetermined brake operation start position. In the fixed position stop control method of A step of performing calculations to correct the operation start position using the deviation stored in the step, and detecting the operation timing system and reaching the brake operation start position with the correction added. This method is characterized by comprising a step of starting a brake operation, and a step of detecting the deviation in the current brake operation and storing it for the next brake operation.

In this way, automatic correction for stopping at fixed positions is added,
The operation timing system always stops at a proper fixed position. Moreover, this frees the operator from monitoring the fixed position stoppage, which is effective in saving labor. However, on the other hand, it is up to the operator to determine whether the crank angle stopped at the fixed position during one specified rotation, or whether the crank angle stopped at the fixed position after spinning several revolutions beyond the specified range. I don't know because there will be no monitoring. Usually, a series of operations such as warp insertion and reed beating are performed repeatedly, and each of these series of operations starts and ends during a period corresponding to one revolution of the crank angle. If the above-mentioned idle running occurs over several revolutions of the crank angle, the series of operations described above will be performed several times without warp threads. As a result, weave
Sushi appears on the cloth with the upper side corresponding to the empty running (
(equivalent to a so-called stop step) which significantly deteriorates quality.

The reason why the above-mentioned crank angle idling occurs even though the automatic correction for stopping at a fixed position is performed is mainly due to a sudden decrease in the braking force. For example, various causes include rapid wear of the brake, intrusion of fluff into the brake surface, and formation of an oil film on the brake surface. In any case, the fixed position stop control must be completed within one crank rotation angle. If the rotation is not completed within one crank rotation angle, a contradiction arises in that the braking operation in the automatic correction for stopping at a fixed position must be started before the braking force suddenly decreases.

Purpose of the Invention In view of the above-mentioned circumstances, an object of the present invention is to propose a fixed-position stop control method for a loom that does not cause the quality deterioration described above.

Structure of the Invention In accordance with the above object, the present invention includes a step of comparing the crank angle required for the brake with a predetermined crank angle,
When it is detected that the crank angle exceeds the crank angle, the time period during which the brake is initially overexcited is extended. The present invention is characterized in that a warning is generated when the initial overexcitation has to be extended beyond the permissible time. In addition, due to this warning, you can either cancel the automatic correction for stopping at a fixed position and switch to manual operation, or
■Adjust and replace the main brake, but ■Whether or not to ignore the quality deterioration and continue weaving depends on the decision of the user of the loom.

Example The present invention will be explained below with reference to the drawings.

FIG. 1 is a schematic diagram schematically showing the general configuration of a loom to which the present invention is applied. In this figure, 101 is a yarn beam, and a large number of warps 102 are wound in parallel. These warp yarns 102 reach a warp fixing device 105 via a back roller 103 and a tension roller 104. The warp stop device 105 has a dropper 4' (not shown) for each warp thread, and when one of the warp threads becomes S@, the corresponding dropper detects this and performs operations such as stopping the machine. Start. The warp that has passed through the device 105 is moved to the warp presser bar 10
Because it can't be held down by 6, heald frame 107-1.

The opening 108 is alternately divided into upper and lower halves by 107-2.
form. A weft yarn is inserted into this opening 108 at a high speed from a weft supply device (not shown), for example, an air jet nozzle. The guide for this insertion is provided by a weft insert provided in the slay 109 to the id 110. This sleigh 109 Kuill is also provided. The reed 111 hits the right side in the figure every time a weft is inserted due to the swinging movement of the slay 109, thereby forming the cloth 112 here. Note that the rocking motion is performed by the locking shaft 114 via the SLEY 1'09 II: SVC chair 113.

The cloth 112 which has been made up of paper passes through a presto beam 115°, a surface roller 116 and a press roller 117, and is then wound up by a winding roller 118.

119 is a wound woven fabric.

The driving source for the above operation is the motor 120 and the
- Driving pulley 1 via Tahu IJ 121
22 and rotates the crankshaft 123.

This rotational driving force is applied to a predetermined location along the route of the wavy arrow in the figure. Note that the rotational driving force for the yarn beam 101 is transmitted via the transmission 124.
A feedback signal from the tension roller lO4 is supplied to the oscillator 104 along the route indicated by the dotted waveform arrow in the figure. This is to apply a predetermined tension to the warp threads 102.

The looms to which the present invention is preferably applied are directly controlled by a microcomputer provided for each loom, and the overall operation is managed. This microcomputer is schematically shown at 130 in Figure 1, and the microcomputer 130 and its various parts are schematically shown by dashed lines in the figure (actually, the microcomputer 130 130
(This is a signal line that should be connected to various I10 ports (Input 10 output ports).

FIG. 2 is a perspective view depicting the portions of FIG. 1 particularly relevant to the present invention in slightly more detail. In this figure, 120~
123 has been explained in FIG. A brake device 21 is directly connected to the main shaft of the motor 120 (the brake device may be provided at a predetermined position of the loom drive system, such as the crankshaft). When stopping the motor 120, the motor power P is turned off and the brake power B is supplied to the brake device 21.

Then, via pulleys 121 and 122.

The rotating crankshaft 123 suddenly stops. Typically, this stop is completed within 12,301 revolutions of the crankshaft (as previously described). In this case, the crankshaft 12
3 must stop at one foot stop position (crank angle position). For this purpose, the crankshaft is usually provided with a crank angular position detection device 22, which constantly monitors the current crank angular position. The device 22 consists of, for example, a disk 22-1 having teeth formed on its periphery at equal intervals and a sensor 22-2 fixed close to the disk.

Every time each tooth approaches the sensor 22-2, a crank angle pulse CP is outputted from the sensor 22-2 in the form of a pulse train due to, for example, magnetic coupling. In order to define the absolute angle of the crank angle pulse CP, a permanent magnet 22-3 is provided at a predetermined location on the disc 22-1, and this location is a so-called home position.

In addition to the crank angle position detection device that counts /e pulses as shown in the figure, there is also an absolute encoder (which forms a code pattern such as a binary code on a disc that directly represents the angle, and directly detects the angle as a numerical value). You may also use

Thus, when a stop request signal to temporarily stop the loom is generated, the brake starts to apply to a predetermined crank angle position, and the crankshaft 123 stops rotating at a predetermined position.

FIG. 3 is a block diagram showing an example of a configuration for implementing the method proposed in Japanese Patent Application Laid-Open No. 57-176242. Motor 120 in this figure. The brake device 21 and the crank angle position detection device 22 have already been described in FIG. These motor 120 and brake device 21 are controlled by a control circuit 32. When the stop request signal S is applied to the control circuit 32, the crankshaft is braked toward the home position set by the stop position setting device 31. 33 is a comparison/arithmetic circuit, and 34 is a storage circuit. Although these circuits are depicted as discrete modules in this figure, they are actually included in the microcomputer 130 and controlled by a program. The method disclosed in Japanese Unexamined Patent Publication No. 57-176242 will be explained in detail below. FIG. 4 is a graph schematically showing the concept of crank angle, and FIG. 5A and FIG. 5B are flowcharts showing the method disclosed in Japanese Unexamined Patent Publication No. 57-176242 broken down into steps. Fourth
In the figure, a is the crank angle position at which the brake operation starts, and C
is the crank angle position representing the home position at which the motor should stop. This crank angle position Qc is digitally preset by a stop position setter 31 shown in Fig. 3. According to the settings shown in Figure 4, it is approximately 300°. However, since the braking force is not always constant, the engine actually deviates from the crank angle Kc and stops at the crank angle d. However, the crank angle d is variable. Crank angle means the angle required for braking. In FIG. 5A, first, a stop request signal (S in FIG. 3) is generated (step ■).

The digital preset value (C in Fig. 4) set in the stop position setter (31 in Fig. 3) is compared with the digital preset value (C in Fig. 4)
Enter the information in 33) in the figure (step ■).

The timing is determined by instructions from the control circuit (32 in FIG. 3). Note that the double-line arrows in FIG. 3 indicate the flow of data, and the single-line arrows indicate the flow of control signals. The comparator/calculator 33 executes the calculation e4-c-b (step 2). It should be noted here that the value of b indicates data detected in the immediately previous braking operation. The positional deviation of the last time when the brake was stopped at a fixed position is stored and used as data for adjusting the current brake operation.

The data on the positional deviation caused by the current braking operation is reflected in the next braking operation. Therefore, data b
will be stored in the memory circuit (34 in FIG. 3).

Since this data b must be reflected in the next restart of operation even if the loom is stopped for a while (power cut off), the storage circuit must be a non-volatile memory.

Thus, in step (2), data e is calculated.

This data e is a value in the middle of calculation, and if this data e
It means a value that would have stopped at a fixed position if it were used instead of data a. Furthermore, in step ■, g←
(ea) Calculate Xγ+a.

Here, γ indicates a so-called correction factor, and for example, γ=mass is selected. If this correction factor γ is γ=1, then 10
A 0% correction will be made, but if a 1'O0% correction is made, the shift feedback will turn into vibration due to various disturbances and errors9, and there is a possibility that it will not converge to the crank angle position C. Therefore, a value of 1 or less is generally selected for γ.

Since this data g was a positive or negative value in the previous calculation, it is determined whether it is positive or negative (step 2). If it is correct (
yEs), replace g with a as is (step ■),
If negative (No), add 360° to g and replace it with a (step ■). All the above operations are performed by the comparison/operation unit 33.
is the center and 7 is 0. Here, the crank angle position detection device (22 in Fig. 3) indicates that the crank angle position a (brake operation start angle) is g (or g +
360°) (step ■). If they do not match (NO), until they match (YES)
Continue to detect. If they match, the loom starts to stop (step ■). That is, the control circuit 32 in FIG.
The brake 21 is energized at the same time as the brake 20 is de-energized.

In this way, stopping at a fixed position is almost ensured. In this case, for the next brake operation, it is necessary to measure the actual stopped crank angle that should be detected during the current brake operation.

Therefore, the flowchart moves from ■ in FIG. 5A to ■ in FIG. 5B. First, in step (2), wait for the loom to completely stop. After stopping, the position is read in step [phase]. This reading is performed by the crank angular position detection device 22. Here is the actual stopping position (crank angle position d
) is found (step ■). Based on this data d, (d
- Calculate a) Step ■), next adjustment data b
get.

In the end, the data b used in step (Fig. 5A) is the data obtained in step @ in the previous brake operation mode.

Next, the present invention will be described, but most of the steps are exactly the same as those already described, and the flowchart shown in FIG. 5B described above is changed (steps are added).

FIG. 6 is a graph for explaining the present invention using crank angles, and is a slightly enlarged version of FIG. 4. In FIG. 6, d indicates the crank angular position at which the crank actually stopped, and this crank angular position d varies forward or backward relative to a predetermined crank angular position [c. In the present invention, the crank angle position t
The case where d significantly exceeds the crank angular position C is considered an incident. That is, crank angle position C (for example, 270° to 30°
Let's proceed further by specifying a reference crank angle h (a to bK! crank angle, for example, set at a crank angle position of 350 degrees), and determining the crank angle required for braking. However, if the brake force decreases to an extent that exceeds this crank angle, this decrease in brake force is compensated to maintain normal fixed position stop control. If normal operation cannot be maintained even after paying this compensation, an oath will be issued. Although the crank angle position corresponding to the crank angle is, for example, 350°, it is preferably set as appropriate by the user of the loom. In short, the crank angle is a reference value that indicates the limit at which the next series of operations to be restarted cannot be completely executed if the engine stops at an advanced angle. Therefore, it is necessary to add a block to the blocks shown in FIG. 3 for setting the reference value in advance. Furthermore, it is necessary to add a block (initial overexcitation time setting block) for presetting the standard value of the brake force to the blocks shown in FIG. 3. The meaning of this initial overexcitation time will be explained below. FIG. 7 is a diagram showing the waveform of a control signal applied from the control circuit 32 of FIG. 3 to the brake device 21 of FIG. 2. In this figure, the hatched part in the lower left is the initial overexcitation, and the hatched part in the lower right is the rated excitation, and the brake device 21 generates braking force by the pair of these excitations. .

For example, the initial overexcitation is 72V, and the rated excitation is 24V. Although overexcitation of 72V should not be performed, there is no problem in practical use if it is for a short period of time (for example, 25 mS). By performing this initial overexcitation, the brake torque can be rapidly saturated to a predetermined value, and brake operation can be started quickly and effectively. In addition, such a two-stage (72
V+24V) control itself is well known in brake systems.

In the present invention, the initial overexcitation time shown in FIG. 7 is Tl-+
It is made variable like T2 to compensate for a decrease in braking force. FIG. 8 is a block diagram showing a configuration example for carrying out the method of the present invention, in which a new block 81 is set with a reference value (crank angle h), and this is set via a comparison/calculation circuit 33. , are stored in the memory circuit 34, and a new block 82 stores the initial overexcitation time (TI in FIG.
) is set and stored in the storage circuit 34 via the comparison/arithmetic circuit 33. In this way, the reference value (h, +
and setting value (r1), and then changes are made to the flowcharts shown in FIGS. 5A and 5B.

In particular, several steps are added to the flowchart of FIG. 5B. FIG. 9 is a diagram showing a new flowchart that is modified from the flowchart of FIG. 5B according to the present invention. 9th
In the figure, steps [phase] to (2) are particularly added in accordance with the present invention. Step [phase] is optional. The data b (crank angle required for braking) obtained in step ■ will be reflected as the next adjustment data for step (↓) in Figure 5A, but this data b is exactly the current brake force. This indicates whether or not the braking force is appropriate.
・Since comparison is sufficient, first read the already set reference value from the memory circuit 34 in FIG. Perform step ``■'' and b) If it is not h (NO), it is normal and return to step ■.

If b) h (YES), the brake force has decreased.

When such a decrease in brake force occurs, a routine is entered to compensate for this decrease. This is the step [phase] in FIG. In step [phase], the time T1 is extended to Tz, and the answer in the memory circuit 340 is written down to Tz. This time T1 is shown in FIG. 7 and is a standard value of the initial overexcitation time. Now, since the braking force is insufficient at this standard value T1, this is extended to Tz to strengthen the braking force. For example, if Tl -25mS, Tz”=30m
It is S. In this way, the set value is changed to 'p, -+T2, and the process returns to step (2). As a result, the next foot position stop will be performed normally. However, the set value T2k cannot be extended indefinitely. This is because over-excitation (72V) is higher than rated excitation (24V), and if the allowable limit value TU is exceeded due to over-excitation, the brake device 21 will be damaged. Therefore, by step ■,
Always make sure that Tz is less than TU. If, T
If overexcitation must be performed with Tz greater than U, this must be treated as an abnormality in the loom and a warning will be issued immediately (step ①). As I have already mentioned, based on this order, I have two options: - Remove the automatic correction for stopping at a fixed position and switch to manual operation, - Urgently adjust or replace the brakes, or - Ignore quality deterioration and replace the brakes. Whether or not to continue weaving is at the discretion of the user of the loom, so this is indicated as a step ("treatment").

In step [phase], initial overexcitation time Tl is set to T
2, the extension time (ΔT=T2-T
+ ) can be determined appropriately. For example, ΔT is 5
It is possible to extend one splice like m5-+10m5-+15mS. Eventually, in step (2), it should settle down when b≦h.

Alternatively, the extension time ΔT may be calculated by the comparison/calculation circuit 33 in FIG. 8.

That is, when b)h is reached, an extension time ΔT corresponding to (b−h) can be calculated, and T2 can be determined by adding Tl+ΔT.

The reduction in braking force is thus compensated.

As described in detail, according to the present invention, it is possible to monitor on the machine side abnormal running when the brake is applied, which has become difficult to monitor due to the introduction of automatic correction for stopping in a fixed position. In addition to this, a maintenance-free loom with high reliability can be realized.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram schematically showing the general configuration of a loom to which the present invention is applied, FIG. 2 is a perspective view depicting parts of FIG. 1 particularly related to the present invention in slightly more detail, and FIG. The figure is a block diagram showing an example of a configuration for implementing the method proposed in JP-A-57-176242, FIG. 4 is a graph schematically showing the concept of crank angle, and FIGS. 5A and 5B are A flowchart showing the method disclosed in JP-A-57-176242 broken down into steps, FIG. 6 is a graph for explaining the present invention using crank angles, and FIG.
FIG. 8 is a block diagram showing a configuration example for carrying out the method of the present invention, and FIG. 9 is a diagram showing the waveform of a control signal applied from the control circuit 32 of the figure to the brake device 21 of FIG. 5B is a diagram showing a new flowchart that is modified from the flowchart of FIG. 5B; FIG. 120・morph, 123...crankshaft, 21
...Brake device, 22-1゜22-2.22-3・
... Crank angle position detection device, a... Brake operation start position, b... Crank angle required for braking, C...
- Stop position, h...reference value, T1, T2...initial overexcitation time setting value, TU...limit value. % Applicant Toyota Industries Corporation Patent Application Representative Patent Attorney Akira Ki Ki Patent Attorney Yasuyuki Nishidate Patent Attorney Akiyuki Yamaguchi Figure 61 Figure 71 Ot+t2b t→Figure 8n1 120

Claims (1)

[Claims] 1. A brake device that generates a brake force by a pair of initial overexcitation and rated excitation, and starts the brake operation when the operation timing system of the loom reaches a predetermined brake operation start position. A fixed position stop control method for stopping the loom at a predetermined fixed position in the operation timing system by stopping the loom at a predetermined fixed position in the operation timing system, the method comprises: A first step of detecting and storing the deviation from the position, a second step of performing calculations for adding correction using the current shake, and detecting the operation timing system and applying the correction. a third step of starting the brake operation when the brake operation start position is reached; a fourth step of detecting the deviation in the current brake operation and storing it for the next brake operation;
In the fixed position stop control method for a loom, the method includes storing a predetermined reference value permissible for the deviation between the fixed position and the actual stopping position detected in the first step in a predetermined storage part. and a sixth step of comparing the read reference value with the actual deviation.
A process is inserted between the first process and the second process, and when the actual deviation does not exceed the reference value, the process goes directly to the second process, and vice versa. When the reference value is exceeded, the initial overexcitation time setting value T1 stored in the predetermined storage section is changed to T2 (T2>T
I) A fixed position stop control method for paper, which is characterized by reaching the second step through the seventh step of extending and rewriting. 2. The allowable limit value for the initial overexcitation is TU
Then, the eighth step of comparing the magnitude with the extended and rewritten set value T2 is inserted immediately after the seventh step, and if T2<TU, the process directly goes to the second step.
On the other hand, if T2≧TU, the method proceeds to the ninth step of generating a warning. 3. In the seventh step, the extended setting value T
Claim 2: When adding 2 to 0, an extension amount corresponding to the amount by which the deviation exceeds the reference value is calculated and determined by adding it to the set value T1. A fixed position stop control method for a loom as described in Section 3. 4. Claim 2, from the ninth step of generating the warning to the second step again through a predetermined warning cancellation procedure.
A fixed position stop control method for a loom as described in Section 3.