JPS599247A - Detection of weaving position of fabric - Google Patents

Abstract

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

Description

[Detailed description of the invention] TECHNICAL FIELD The present invention relates to a method for detecting the position of the weave of a woven fabric.

In a textile factory, a large number of looms are generally operated at the same time. These looms stop for various reasons, but the stop signals for each loom and each cause of stop are monitored under a centralized control system.

Conventionally, thread processing of a stopped loom has been carried out by a worker, but automation of this thread processing is desired from the viewpoint of labor saving.

Automation of yarn processing can be realized by using the above-mentioned stop signal to operate a yarn processing robot such as a manipulator or a mobile robot. However, for this to become practical, an effective positioning technology must first be established.

When a yarn processing robot automatically performs necessary yarn processing on a loom, if the relative position between the robot and the loom is not accurate, reliable yarn processing becomes difficult.

Especially when the robot is of a mobile type, it is technically difficult to determine the relative position of each loom and the robot with high precision. Furthermore, in the case of a problem such as incorrect weft insertion, the relative position between the weft stitch position and the loom changes depending on the thread tension, weft density, etc., so the position of the incorrect system to be processed is uncertain and cannot be specified. be. Such changes in the position of the weaving edge and the undefined conditions of the yarn to be processed are unique to looms and are different from positioning in other technical fields.

Therefore, an object of the present invention is to provide a method that can effectively detect the weave position unique to a loom.

Based on the above object, the present invention moves a sensor for detecting the weave position along the warp direction of the loom, and detects the change in the output signal of the sensor at the weaving end position of the woven fabric. The position of the weaving edge of the woven fabric is detected at the same time.

Hereinafter, the method of the present invention will be explained in detail based on specific means shown in the drawings.

FIG. 1 shows a basic example in which a sensor 1 for detecting the position of a textile cloth is constructed of a vertical finger 2 and a limit switch type sensing switch 3. Finger 2 is
The arm 4 is rotatably supported by a horizontal support shaft 5, and the sensing switch 3 is fixed to the lower end of the arm 4, and its response rod 3α comes into contact with the finger 2. In a relationship. The arm 4 is fixed to a horizontal lifting rod 6. This elevating rod 6 is supported by a yarn processing robot 7, is movable up and down by a drive mechanism 8, and is also supported so as to be movable horizontally.

Now, the yarn processing robot 7 receives a stop signal from the central control section, moves to the position of the stopped loom, and first detects the weaving opening 10 of the woven fabric 9 at that position. Initially, the lifting rod 6 is lowered from the raised position, inserting the fingers 2 between the warp threads 11 in the open position and subsequently moving the arm 4 in the direction of the fabric 9. When the finger 2 hits the cloth opening 10, the sensing switch 3 is actuated and generates an output signal, so that the position of the cloth opening 10 can be detected at that moment.

FIG. 2 1 shows an analog servo control system for the robot 7. As shown in FIG. The control circuit 12 controls the operation of the drive mechanism 8, gives vertical movement to the lifting rod 6 under sequence control, and gives forward and backward movement to the arm 4, but it also controls the output signal of the sensor 1 (sensing switch 3). When you receive it, stop the movement immediately. Therefore, the arm 4 immediately stops when the finger 2 lightly contacts the cloth opening 10&C.

This stop position of the arm 4 serves to provide a reference position for yarn processing. Therefore, the yarn processing device (not shown) of the robot 7 uses the stop position of the arm 4 as a reference position to proceed with necessary yarn processing.

Further, FIG. 3 shows a digital servo type control system. The control circuit 13 sequentially operates the drive machine #Iv.
8 to give the necessary movement to the lifting rod 6 and arm 4. During this period, the amount of movement of the finger 2 is detected by the encoder 14 as the number of pulses, and the AND circuit 1
5 and is counted by the counter 16. At this time, the sensing switch 3 is outputting an "H" level output signal.

When the finger 2 contacts the fabric cloth 10, its output signal changes to the rLJ level, so the AND circuit 15 prohibits input of the pulse signal of the encoder 4 to the counter 16. Therefore, the count value of the counter 16 at that time indicates the amount of movement of the finger 2 from its initial position. Therefore, the yarn processing device of the yarn processing robot 7 calculates the moving distance to the cloth opening lO from the count value of the counter 16, that is, the movement amount, and moves toward that position. In this way, the position of the yarn processing device d1 and the cloth opening 10 is determined, and necessary yarn processing, such as insertion or removal of an incorrect weft yarn, is carried out at that position.

Next, FIGS. 4 and 5 show an example in which the sensing switch 3 serving as the sensor 1 is installed in an inclined or horizontal position, and the finger 2 is installed in an inclined or substantially horizontal position. In this embodiment, the direction of movement of the arm 4 during the detection operation is opposite to that in FIG. The output signal of the sensing switch 3 is therefore generated when the finger 2 leaves the responsive rod 3α of the sensing switch 3.

Further, FIGS. 6 and 7 show an example in which the sensor 1 is configured with a light emitter 21 and a light receiver 22 facing each other.

The light projector 21 and the light receiver 22 are located at the edge of the woven fabric 9 so as to sandwich them, and when the arm 4 moves in either direction, the boundary between the woven fabric 9 and the warp yarns 11, that is, the weaving opening. 10 is detected by a change in the amount of light.

Now, if the robot 7 always stops parallel to the loom, one sensor 1 is sufficient. However, if the robot 7 cannot be reliably stopped parallel to the loom, the parallelism between the two can be determined by detecting the weaving openings 10 at both ends of the woven fabric 9, respectively.

FIG. 8 shows an example in which the cloth opening 10 is detected at both ends. A first arm 19 is attached to the left and right sides of the robot body 17 so as to be freely rotatable on a horizontal plane by joint shafts 18 in a vertical direction, and a second arm 20 is attached to this first arm 19 so as to be movable in the horizontal direction. ing. The second arm 20 rotatably supports the sensing switch 3 and the horizontal finger 2 in the same manner as the arm 4 described above.

This robot 7 moves to the position of the loom.

Rotate the left and right first arms 9 to insert each finger 2 into the opening of the warp thread 11, and then pull the second arm 20 toward you to bring each finger 2 into contact with the cloth opening 10. let In this way, the positions of the left and right cloth openings 10 are detected simultaneously.

Therefore, when both fingers 2 detect the Fc cloth opening 10 at the same time, the robot 7 determines that they are parallel to the loom, but when any finger 2 detects the cloth opening 10 first, the robot 7 determines that the robot 7 is parallel to the loom. While the movement of the second arm 20 is stopped, the other finger 2 moves while rotating in any direction until it detects the weave 10, and determines the parallel position with respect to the loom. Thereafter, the yarn processing device of the robot 7 determines the position of the cloth opening 10 using the left and right fingers 2 as reference positions, and performs necessary yarn processing such as removing illegal threads and inserting threads.

In any of the embodiments, during the detection operation of the cloth opening position,
When the sleigh of the loom is in the forward position, that is, when its reed is near the position of the stitch 10, the two-loom position detection operation is impossible. Therefore, the detection operation is performed only when the sley is in the backward position, and when the sley is in the forward position,
, detection operation is prohibited. In addition, mechanical parts such as the nozzle and length measuring device of a water jet or air jet type loom do not change depending on the position of the loom, so a reference plane is provided at an appropriate position on the loom, and the robot 7 The work position is determined using the reference plane as the operating position, and necessary processing is performed.

In addition, in each of the above embodiments, the sensor 1 is connected to the robot 7.
Although the sensor 1 is shown supported on the side of the loom, the sensor 1 may be supported on the main body of the loom.

When the loom stops, the arm 4 attached to the loom
moves the sensor l, detects the position of the weaver o, and provides the robot 7 with a reference position for yarn processing. Of course, this robot 7 may not be mobile but may be attached to each loom. Note that in the above description, a method for detecting the vertical position of the woven fabric was not described, but the vertical position is detected using the above-mentioned sensor or a sensor provided separately.

According to the present invention, as the sensor moves in the warp direction, it is possible to accurately detect the uncertain position of the weaving edge, so the reference position or reference plane for yarn processing by a manipulator, robot, etc. can be easily determined, and yarn processing can be ensured. And it can be done efficiently. Therefore, it is possible to automate yarn processing even under the varying conditions of the weave position peculiar to a loom.

[Brief explanation of drawings]

Figure 1 is a side view showing the positional relationship between the sensor (sensing switch) and the weaving cloth, Figures 2 and 3 are block diagrams of the control system, and Figures 4 and 5 are the support parts of the sensing switch. A side view showing another embodiment, FIG. 6 is a side view of a photoelectric sensor, FIG. 7 is a front view of a photoelectric sensor, and FIG. 8 is a plan view showing the relative position of the robot and the weave. It is. 1...Sensor, 2...Finger, 3...
Detection switch, 10... Cloth opening, 11... Warp thread, 21... Emitter, 22... Light receiver. Patent applicant Tsudakoma Kogyo Co., Ltd.

Claims (1)

[Claims] A sensor for detecting the weave position is moved along the warp direction of the loom, and the weave position of the woven fabric is detected at the time when an output signal of the sensor is generated at the weave position of the woven fabric. A method for detecting the weave position of woven fabric.