JPS63235556A - Method for controlling operation of machine device apparatus 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 Purpose of the Invention (Field of Industrial Application) The present invention provides a mechanism for controlling the operation of a device that is used to attach and detach a warp beam and a member through which the warp threads are passed from the loom to and from the loom. It is about the method.

(Prior art) In order to reduce the time required for the above-mentioned work, which will lead to improved operating efficiency of the loom, the process of attaching a warp beam to a loom and passing the warp threads to the weaving device is carried out before installing a new warp beam. Generally, a work procedure is adopted in which the warp threads are inserted in advance through a plurality of warp passing members such as heald frames and reeds.

An example of a device for transporting and transferring warp beams and warp members through which warp threads are inserted is disclosed in Japanese Patent Publication No. 59-44420, in which a loom supported movably on a mole rail above the loom is connected to the device. The warp beam transfer means and the passage member transfer means are moved up and down, and the warp beam and the passage member are transferred in the vertical direction by manual operation of the lifting switch. However, manual 0
In the N-OFF operation, it is difficult to position the transfer means with high precision, and it is also difficult to shorten the time for the transfer operation.

(Problems to be solved by the invention) In order to solve such problems, it is desirable to adopt a program control method as much as possible, and the efficiency and work safety of transfer operations based on preset programs can be greatly improved. improve. However, it is unreasonable to expect the preset transfer operation to be performed accurately by simply following a program, and for this purpose, it is also possible to consider adopting a single point position detection means such as a limit switch or a magnetic displacement sensor as a feed bank mechanism. However, as the transfer operation becomes more complicated in order to achieve smooth transfer operations, it is inevitable that the required number of single-point position detection means such as limit switches and magnetic displacement sensors will increase and the mechanisms will become more complex.

Structure of the Invention (Means for Solving Problems) Therefore, in the present invention, the operating position of each drive mechanism of the through member transfer means and the warp beam transfer means is detected by a position detection means capable of detecting the positions of at least multiple points. When the detected operating position coincides with a preset operating position, the subsequent operation of the transfer means is selectively controlled.

(Function) That is, the operating position of the drive mechanism of the transfer means is detected by a multi-point position detection means such as a row encoder or a continuous position detection means such as a potentiometer.
If this detection activation position fails once to the preset activation position, the subsequent transfer operation by this drive mechanism or the transfer operation of another part by another drive mechanism will be the preset transfer operation. Performed based on program selection.

Feedback control based on detection of the operating position of the transfer drive mechanism enables accurate and efficient execution of preset transfer operation programs, and also enables smooth transfer operation. The complexity of the operation can be dealt with by using the minimum number of position detection means, and the degree of freedom in setting the transfer operation is increased without complicating the mechanism.

(Example) Hereinafter, an example embodying the present invention will be described based on the drawings.

As shown in Figs. 1 to 3, the left and right sides (left and right in Fig. 3) of a planar cross-shaped transport vehicle 1 supported by drive wheels 1a.
is equipped with a transfer control device 2 and a transfer control device 3 having a built-in computer. Based on the detection signal, the travel route of the transport vehicle 1 is set on the lead line. This lead wire is set to pass through the work position of the loom at the rear of the loom 4, and the conveyance control device 2 determines whether the loom at the rear of the loom is at work based on a signal from a stop position detection means (not shown). Controls the stop of the transport vehicle 1 to the position.

As shown in FIG. 3, rails 5.
6 and holding racks 7.8 are arranged in parallel in the front-rear (left-right in FIG. 2) direction, and on top of the carrier 1, a planar cross-shaped auxiliary stand 9 supports a pair of left and right wheels 10.11. It is placed on the rail 5 via the rail 5. The rear wheels 10 are rails 5
, 6, and the front wheels 11 can ride forward from the tips of the rails 5, 6. A pinion 12.13 is attached to both ends of the wheel shaft 10a of the rear wheel 1o, and is adapted to mesh with the holding rack 7.8 and shift.

Leg levers 14 and 15 are supported on the front side of both left and right sides of the auxiliary stand 9 so as to be tiltable in the front and back direction, and auxiliary wheels 16 and 17 are attached to the lower ends of these levers so as to face in the movement direction of the auxiliary stand 9. ing. The leg levers 14.15 are hydraulic cylinders 18
．． 19, the tilting position is regulated, and is always regulated to the retracted position shown in FIG. 2.3.

An oil tank 2o is mounted and fixed on the left and right center of the auxiliary stand 9, and an oil pump 21 is mounted on the oil tank 2o.
, a hydraulic motor 22 capable of forward and reverse rotation, and a speed reduction mechanism 23 are installed. An output shaft 24 is operatively connected to a drive shaft 22a of the hydraulic motor 22 via a speed reduction mechanism 23, and a sprocket wheel 25 is fixed to the tip of the output shaft 24. A sprocket wheel 26 is fixed to the wheel shaft 10a directly below the sprocket wheel 25, and a chain 2 is connected between both sprocket wheels 25 and 26.
7 is attached. Therefore, the wheel axle 10a rotates forward and backward by the forward and reverse rotation of the hydraulic motor 22, and the auxiliary platform 9 moves back and forth along the rails 5, 6 and the holding rack 7.8.

Posts 28 and 29 are erected on the rear side of both the left and right sides of the auxiliary stand 9, and a reinforcing bar 3 between the intermediate parts of both branches 28 and 29 is installed.
A second oil tank 31 is attached to the rear surface of the vehicle. A support pipe 32 is installed between the upper parts of the columns 28 and 29 so as to be movable up and down via guide base frames 33 and 34.
, lift cylinder 35 attached to the front of the column 28°29
．． 36 via guide base frames 33 and 34 so that the vertical movement position is regulated. A connecting shaft 90 is disposed within the support pipe 32, and both ends of the connecting shaft 90 are rotatably supported within the guide base frames 33, 34. Fourth
As shown in the figure, a connecting shaft 90 is installed within one guide base frame 34.
A sprocket wheel 91 is fixed to one end, and a pair of upper and lower sprocket wheels 92 and 93 are rotatably supported near the sprocket wheel 91, and a chain 94 fixed at both ends connects each sprocket wheel 91. ．．
92.93 is wrapped around and guided. Such a mechanism is similarly installed in the other guide base frame 33, thereby synchronizing the vertical movements of both guide base frames 33 and 34.

A pair of support brackets 37 are provided on the rear surface of the support pipe 32.
38 are fixedly attached, and a parallel six-bar link mechanism consisting of arm links 39, 40, 41, 42, and connecting links 43, 44 is supported at their tips. A square pipe-shaped cover 45 is installed and supported between the guide base frames 33 and 34, and a screw shaft 46 is rotatably housed in the cover 45 directly below the base end support shaft of the parallel six-bar link. . A crank-shaped drive link 47 linearly connected and fixed to the arm link 41 is threadedly connected to the screw shaft 46 through a slit in the lower surface of the cover 45. A hydraulic motor 48 capable of forward and reverse rotation is mounted on the front of the cover 45, and
The drive bevel gear 48a is meshed and connected to a driven bevel gear 49 fixed to the screw shaft 46, and the hydraulic motor 4
8 are screwed together and moved left and right along the screw shaft 46, and the connecting link 44 is moved in parallel in a straight line back and forth.

A pair of hanging arms 50.51 and 52.53 are fixed to the front and back of both ends of the second connecting link 44, respectively, and the front side hanging arm 50.51 has a hook for hanging the heald frame. Members 54 and 55 are tightened and fixed so that their vertical positions can be adjusted. Hydraulic motors 56 and 57 capable of forward and reverse rotation are attached to the rear hanging arms 52 and 53, and their drive bars 56a.

57a has a hanging member 58° for hanging the warp cut detection device;
59 is tightened and fixed. The latching members 58 and 59 are always maintained in the rotational position shown in FIG.

A prismatic shaft 6° is rotatably supported between the base ends of the two branches 28, 29, and a pair of left and right transfer levers 61, 62 are provided at both ends of the shaft 60 for transferring the warp beam. and a drive lever 63 (only one of which is shown) is fixed. Hydraulic cylinders 64, 65 are mounted on the rear faces of both branches 28, 29, and their drive rods 64a, 65a are connected to a drive lever 63. The transfer levers 61 and 62 are operated by hydraulic cylinders 64. According to '65, it is always restricted to the position shown in FIG.

In this embodiment, the hydraulic motor 2 is operated as shown in Fig. 1.2.
A first rotary encoder E1 is connected to a chain 27 that constitutes a part of the drive transmission path of the first,
As shown in FIG. 4, a second rotary encoder E2 is connected to the chain 94 within the guide base frame 34. Furthermore, as shown in FIG. 1.3, a third rotary encoder E3 is connected to the drive bevel gear 48a of the hydraulic motor 48 within the cover 45, and is connected to the shaft 60 as shown in FIG. Fixed sprocket wheel (as shown)
A fourth low-resolution encoder E4 is connected via a chain (path shown).

Pulse signals from each of the row reencoders E1 to E4 are input to the transfer control device 3, and the transfer control device 3 operates the hydraulic cylinders 1B, 19 described above based on these input pulse signals.
, 35, 36, 64, 65 and the hydraulic motors 22, 48.

The above-mentioned hydraulic cylinder 1B, 19, 35, 36°64.
65, the hydraulic motors 22, 48, and 56, 57 are operated as shown in FIG.
It is controlled according to the cycle charts shown in a) and (b), and the transfer operation of the device will be explained below based on this cycle chart and the flow chart in FIG.

In the initial state shown in FIGS. 1 to 3, the machinery is waiting in the preparation room, and the machinery travels along the laid lead wire,
As shown in FIG. 2, the loom at the rear of the loom 4 is moved to a working position. By turning on the push button for automatic program mode selection at the working position, the transfer control device 3 sequentially issues control commands based on a preset transfer program. First, the hydraulic cylinders 18, 19 are operated to project, so that the auxiliary wheels 16, 17 are brought into contact with the floor, and this grounded state is maintained until the work is completed.

Next, as shown in FIG. 6(a), the lift cylinder 35.
36 is operated to protrude, and the support vibrator 32 moves upward. Along with this upward movement, a pulse signal is output from the low reencoder E2, and this output signal is input to the transfer control device 3. The transfer control device 3 operates the lift cylinder 3 until the amount of pulses from the row reencoder E2 reaches a predetermined value p(al).
5゜36 ejection operation is commanded, and rotary encoder E2
When the amount of pulses from reaches a predetermined value p(al), a command is given to stop the ejection operation of the lift cylinder 35, 35, and
The normal rotation operation of the hydraulic motor 22 is commanded at predetermined intervals. As a result, the support pipe 32 is moved upwardly to a predetermined height position as shown in FIG.
While moving forward with the support of 7, a pulse signal is output from the low reencoder E1.

The amount of pulses from the low reencoder E1 is set to a predetermined value p(b
1), the transfer control device 3 activates the hydraulic cylinder 64.
Command the immersion operation of 65. As a result, while the auxiliary platform 9 is moving forward, the hydraulic cylinders 64 and 65 are operated to protrude, the transfer levers 61 and 62 are moved downward, and the low reencoder E is moved downward.
A pulse signal is output from 4. When this pulse amount reaches the specified value p(cl), the transfer control device 3 instructs the hydraulic cylinders 64, 65 to stop retracting, and transfers the levers 61, 61.
62 moves down to a predetermined position. Thereafter, when the amount of pulses from the row re-encoder E1 reaches a predetermined value p (b2), the transfer control bag ri13 commands the normal rotation of the hydraulic motor 22 to stop, and at a predetermined interval, the hydraulic cylinder 6
4. Command the ejection operation of 65. As a result, as shown by the chain line in FIG.
1a (only one shown) is placed directly under the shaft 67a of the empty warp beam 67 which is supported on a pair of left and right support brackets 66 (only one shown) at the rear of the weaving m4, and then the transfer levers 61 and 62 are supported. The empty warp beam 67 is moved upward through the groove 61a.

The amount of pulses from rotary encoder E4 is a predetermined value p (
c2), the transfer control device 3 activates the hydraulic cylinder 64.
．． 65 is commanded to stop the protruding operation, and at a predetermined interval, the hydraulic motor 22 is commanded to reverse operation, and the empty warp beam 67 is pulled out on the support bracket 66. The amount of pulses from rotary encoder E1 is a predetermined value p (b3)
When the rotation speed of the hydraulic motor 22 is reached, the reverse operation of the hydraulic motor 22 is stopped, and the hydraulic cylinders 64 and 65 are retracted at predetermined intervals.
7 is temporarily placed on the tip side of the support bracket 66. After this temporary placement, when the pulse amount from the low-return encoder E4 reaches a predetermined value p (c3), a command is given to stop the retraction operation of the hydraulic cylinders 64 and 65, and the hydraulic motor 22 is started to rotate forward at a predetermined interval. The operation is commanded, and the auxiliary table 9 moves forward until the amount of pulses from the row encoder E1 reaches a predetermined value p (b4), and is placed at the position shown in FIG.

Subsequently, the transfer control device 3 instructs the hydraulic motor 48 to operate in the forward direction based on the input pulse amount p(b4), and the heald frame transfer locking members 54 and 55 move straightly in the parallel six-bar linkage mechanism. Move forward by parallel movement. When the amount of pulses from the low-return encoder E3 reaches a predetermined value p (d), a command is given to stop the forward rotation of the hydraulic motor 48, and a command is given to retract the lift cylinders 35 and 36 at predetermined intervals. . As a result, the locking member 54.55 on the tip side of the straight parallel six-bar link mechanism advances to the upper side of the plurality of heald frames 68 on the tSS machine, and then the lift cylinder 34.35 is retracted and moved downward from there. 20 Downward movement is rotary encoder E
2 continues until the amount of pulses from 2 reaches a predetermined value p(a2), and the latching members 54 and 55 are placed at an engaging height position where they can latching the heald frame 68 through which the warp threads T of the empty warp beam 67 are passed. Ru.

Up to now, the transfer operation has been carried out by control commands from the transfer control device 3 based on a preset transfer program, but as shown in FIG. Advancing the catch member 54,55 to the desired position is effected by pressing a push button. Along with this operation, hanging members 58 and 59 for transferring the warp cut detection device are placed near the inner side of the warp cut detection device 69 on the loom 4, and the hydraulic motors 56 and 57 are moved in place by pressing the button. When the fixed amount forward rotation operation is shifted, the latching members 58 and 59 are rotated to a position where they can latching the pair of left and right latching portions 69a of the warp cut detection device 69. Following the final manual transfer operation of latching the reed 70 on the loom 4, through which the warp threads T of the empty warp beam 67 have been passed, to the tip end of the latching member 54, 55, the push button for automatic program mode selection is pressed. By turning on, the hydraulic motor 22, lift cylinders 35, 36, hydraulic motor 48
and a program in which the subsequent operation and stop of the hydraulic cylinder rotor 4.65 is preset, and each rotary encoder El.
, E2. E3. Controlled by feedback from E4.

The cycle chart in Fig. 6(b) shows a program for transferring the loom weaving beam from the device to the loom side, as well as the warp threading member through which the warp threads have been threaded, and this program control is also performed by the rotary system as described above. This is performed while receiving feedback from encoders El to E4.

The transfer operation of the machinery and equipment based on a preset pulse amount is controlled by the hydraulic motor 22 and the lift cylinders 35 and 36.
, it is extremely easy to set the transfer operation after placing each part at a predetermined operating position by the operation of the hydraulic motor 48 and hydraulic cylinder 64, 65, and the means for obtaining the predetermined operating position information is a row encoder. It is appropriate to adopt E1 to E4. Such feedback control based on the detection of the operating position of the transfer drive mechanism enables accurate and efficient execution of a preset transfer operation program, and also facilitates the transfer operation.

It is possible to easily cope with the complication of the transfer operation for other people without complicating the mechanism. Single-point position detection means such as limit switches and magnetic displacement sensors can be used to collect predetermined operation position information, but such single-point position detection means inevitably increase the number of units used to detect multiple positions. However, it is unavoidable that the arrangement and electrical wiring of these detection means become mechanically complicated.

The present invention is of course not limited to the above embodiments, and for example, a linear potentiometer is used to detect the operating position of a linear drive mechanism such as a hydraulic cylinder, and a linear potentiometer is used to detect the operating position of a rotary drive mechanism such as a hydraulic motor. It is also possible to employ continuous position detection means such as a rotary potentiometer.

Effects of the Invention As detailed above, the present invention detects the operating position of each drive mechanism of the transfer means using a position detecting means capable of detecting at least multiple points, and the detected operating position is set in advance. Since the subsequent operation of the transfer means is selectively controlled when the actuation position coincides with the actuation position, the actuation position of each drive mechanism can be detected at short intervals or continuously and used as information for feedback control. This provides an excellent effect in that the transfer operation program can be executed with high precision and without complicating the mechanism.

[Brief explanation of drawings]

The drawings show an embodiment embodying the present invention, and FIG. 1 shows a perspective view of the machine, and FIG. 2 shows a side sectional view of the machine and a spinning machine. side view,
Fig. 3 is a front view of the device, Fig. 4 is a side sectional view showing the straight parallel six-bar linkage mechanism moved upward, Fig. 5 is a side sectional view showing the transfer operation in progress, Fig. 6 (a) is a cycle chart explaining the removal of the empty warp beam and the threading member from the loom, Figure 6(b) is a cycle chart explaining the attachment of the full warp beam and the threading member to the loom, and Figure 7 is the transfer chart. 3 is a flowchart showing part of the loading operation. Transport vehicle 1, transfer control device 3, auxiliary stand 9, hydraulic cylinder 1B for transfer operation, 19, 35, 36, 64°65, hydraulic motor for transfer operation 22, 48, 56°57, warp beam 67, Heald frame 68, warp cut detection device 69, reed 70, row reencoders El, E2. E3. E4, warp T.

Claims (1)

[Claims] 1. A warp thread member transfer means for transferring warp thread members such as multiple heald frames and reeds through which the warp threads of the warp beam are inserted, and a warp member for mounting the full warp beam on the loom and removing the empty warp beam from the loom. In a weaving device equipped with a beam transfer means, the operating position of each drive mechanism of the through member transfer means and the warp beam transfer means is detected by a position detection means capable of detecting positions at at least multiple points. A method for controlling the operation of a weaving device in a loom, which selectively controls the subsequent operation of the transfer means when the detected operating position matches a preset operating position.