JPS63273110A - Running method for carrier equipment in textile machine - Google Patents

Abstract

PURPOSE:To attain carrier control with high degree of freedom without relaying on complicated and expensive system architecture by incorporating a means selecting the running direction at a branch point of a magnetic guiding wire to a carrier equipment. CONSTITUTION:A carrier controller 2 incorporating a microcomputer and a mount controller are mounted before and after a truck 1 such as a warp beam 45, and a steering mechanism 4 of the carrier controller 2 is controlled based on a searching signal from forward/backward one pair of searches C1 searching the magnetic generated on the magnetic guide wire L installed on the floor and the direction of the drive front wheel 1a is controlled. In turning an operation knob from the running direction selecting position to a running direction selection position, the carrier controller 2 responds only to a searching signal obtained fro a left pickup coil C1l of the searchers C1 and the truck 1 is turned to the left the at the branch point. Thus, the running direction is set property without relying upon a complicated and expensive system architecture.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Field of Industrial Application) The present invention relates to a traveling method of a device for conveying heavy objects such as a warp beam or cross roller in a loom.

(Prior art) In systems that automate the transportation of heavy objects such as warp beams and cross rollers, a common method is to use a traveling method that sets the traveling direction of the transportation device by detecting the magnetism generated on the installed magnetic guide wire. It can be considered.

(Problems to be Solved by the Invention) However, it is not possible to achieve fully automatic travel in the magnetic guide line laying method by relying solely on magnetic detection means on the conveyor, and the direction of travel at the branch point of the magnetic guide line is In order to perform automatic selection, a central device is required that selects the magnetic induction line to which current is to be applied along a predetermined running course. Adopting such a central control device means constructing a complex system, and even if the system is modified in a conventional weaving factory, a large amount of expense will be unavoidable, and a large number of conveying devices will be used. For example, a new system system is required to control the standby and running of each transport device.

Structure of the Invention (Means for Solving Problems) Therefore, in the present invention, a conveying device for conveying replacement parts of a loom such as a warp beam or a cross roller is made to run along a magnetic guiding line, and the magnetic guiding line is generated. A running direction selection means incorporated in a running direction setting means that sets the running direction of the conveying device while detecting magnetism is activated at a guide line branch point, and the running direction of the conveying device at this branch point is selected. I made it.

(Function) That is, at locations other than the branch points of the magnetic guide line, the running direction setting function of the running direction setting means for detecting the generated magnetism is activated, and the conveyance device runs along the magnetic guide line. When the conveyance device approaches a branch point, the conveyance device travels in the selected direction by disabling the travel direction setting action of the travel direction setting means and enabling the travel direction selection means. By incorporating a means for selecting the running direction at the branch point of the magnetic guide line into the transport device, it is possible to perform transport control with a high degree of freedom without relying on complex and expensive system construction. .

(Example) Hereinafter, an example in which the present invention is embodied in a working system will be described based on the drawings.

As shown in Figs. 1 to 3, a micro convenience store is built in the front and rear (left and right in Fig. 3) of a planar U-shaped transport vehicle 1 supported by driving front wheels 1a and rear wheels 1b that are driven in forward and reverse directions. The transport control device 2 is equipped with a transport control device 2 and a transfer control device 3, and the transport control device 2 detects the generated magnetism from a pair of front and rear detectors CI and C2 on a magnetic guide line laid on the floor. controlling the steering mechanism 4 based on the signal;
The direction of the driving front wheel 1a is controlled along the magnetic induction line. The detectors CI and C2 each include a pair of left and right pickup coils Plr, P1j2. P2j! One detector C1 is for forward movement, and the other pickup coil C2 is for backward movement.

A planar U-shaped auxiliary stand 5 is placed on the carrier 1 via wheels 6.7 and rails 8, 9, and the rear wheel 6 (on the right side in FIG. 2) is mounted on the rail 8°. 9 and can ride forward from the front wheels 7 and rails 8 and 9 tips. A pinion 10.11 is attached to both ends of a wheel shaft 6a driven by a hydraulic motor M1 on the auxiliary stand 5, and the pinion 10.11 meshes with the holding rack 12.13 arranged in parallel with the rails 8, 9 and is transferred. The auxiliary stand 5 can be moved back and forth. The auxiliary stand 5 is equipped with a hydraulic cylinder 14.
The leg levers 16 and 17 whose tilting positions are regulated by the levers 15 are supported by auxiliary wheels 16a and 17a at the lower end, and can be moved forward from above the transport vehicle 1. Note that 18 is an oil pump, and 19 is a speed reduction mechanism.

A support bar 22 is vertically movably installed between the upper parts of columns 20.degree.
6 through guide base frames 23 and 24 so that vertical movement is regulated. The support bar 22 has arm links 27°28.29.30 and connecting links 31.
A parallel six-bar linkage mechanism consisting of 32 is supported, and the arm.

A crank-shaped drive link 33 is linearly connected and fixed to the link 29 . The tip of the drive link 33 is threadedly connected to a screw shaft 34 that is rotated forward and backward by a hydraulic motor M2, so that the drive link 33 is threadedly moved from side to side along the screw shaft 34, and the connecting link 32 is Move straight forward and backward.

On the front side of the connecting link 32, there is a hanging member 3 for hanging the heald frame.
5.36 are attached, and on the rear side, hooking members 37 and 38 for hanging the warp cut detection device are attached, and the hooking members 37 and 38 are connected to hydraulic motors M3. It is rotated forward and backward by M4.

A hydraulic cylinder 39.4 is installed between the base ends of both struts 20.21.
A prismatic shaft 41 that can be rotated in forward and backward directions by the shaft 41 is supported on the shaft 41, and a transfer lever 42 for transferring the warp beam is mounted on the shaft 41.
．． 43 is installed.

The aforementioned hydraulic cylinders 14.15.25, 26°39.
40 and the hydraulic motors M1 to M4 are controlled by a transfer program input and set in advance to the transfer control device 3 and by the ON operation of the transfer control button on the transfer control device 3. As shown in the figure, the loom at the rear of the loom 44A is moved along the magnetic induction line to the working position, and the equipment transferred to the loom is carried out. The loom shown in Figures 1 to 3 is in its initial state, with an empty warp beam 45 on the loom 44A, a warp cut detection device 46 through which the warp threads T are passed, a plurality of heald frames 47, and a reed 4B. By the above-described transfer operation of the threading member, the machine workpiece is transferred from the LA machine 44A side to the apparatus side. This transfer operation is carried out by the auxiliary wheels 16a and 17.
The transfer levers 42 and 43 are moved by an appropriate combination of the back and forth movement of the auxiliary platform 5, the vertical movement of the straight six-bar link mechanism, and the straight parallel movement of the six-bar link mechanism.
And transfer operation paths of the hanging members 35 to 38 are set. The transfer of the full warp beam and the warp threading member through which the warp threads have been passed from the device side to the loom 44A side is also performed by an appropriate combination of the above-mentioned transfer operations.

On the transfer control device 3, operation buttons 49, 50, 55 for travel control, and an operation knob 51 are installed together with buttons for transfer control.
Reverse travel is selected by turning on the operating button 50, and the driving direction of the device is selected by switching the operating knob 51 to the driving direction selection positions r, M, and 1. The operation button 55 is for starting and stopping, and running is started and stopped by turning on the even/odd selection.

As shown in Fig. 4, magnetic induction wires for setting running routes are laid between the preparation room 52 and the large number of looms 44A housed in the weaving room 53, and the weaving process is completely covered. Induction! A current is flowing through vil L. As shown by the chain lines in FIG. 4, the loom work is waiting in the preparation room 52.The loom work is moved from its standby position by a device 54 to the loom that requires work.
For example, in order to move toward 44A), first switch the operating knob 51 to the traveling direction selection position M on the operating step IC on the guided vehicle l, turn on the operating button 49, and then operate Turn on the button 55. Based on this command, the transport control device 2 controls both the left and right pickup coils P1r, P1j! of the detector C1! In response to the detection signal obtained from the pickup coils Plr, Pl
A control command is sent to the steering mechanism 4 so that the signal level from f is within the set level range. As a result, the traveling direction of the guided vehicle 1 is set along the magnetic induction \aL1, and the guided vehicle 1 heads toward the branch point B1.

When the conveyance vehicle 1 approaches the branch point B1, the operating knob 51 is switched from the running direction selection position M to the running direction selection position β. With this switching arrangement, the conveyance control device 2 responds only to the detection signal obtained from the left pickup coil 01N of the detector C1, and gives a control command to the steering mechanism 4 so that the signal level from the left pickup coil C1l is within the set level range. send. As a result, transport vehicle 1
Head toward the magnetic induction line L2 side and turn left at the branch point B1.

As shown in FIG. 5, after the guided vehicle 1 turns left at the branch point B1, the operating knob 51 is switched from the running direction selection position 1 to the running direction control position WM. As a result, the right side pickup coil C1r of the detector C1 returns to effective state, and both the left and right pickup coils C1r.

The traveling direction of the guided vehicle 1 is controlled based on the detection signal from 01N, and the guided vehicle 1 travels along the magnetic guide line L3.

When the conveyance vehicle 1 approaches the next branch point B2, the operating knob 51 is moved from the traveling direction selection position M to the traveling direction selection position r.
Switch to and place. With this switching arrangement, the conveyance control device 2 responds only to the detection signal obtained from the right pickup coil C1r of the detector C1, and
A control command is sent to the steering mechanism 4 so that the signal level from r is within the set level range. As a result, the conveyance vehicle 1 heads toward the magnetic induction vALA side and turns right at the branch point B1.

Then, after the guided vehicle 1 turns left at the branch point B1, if the operating knob 51 is switched from the running direction selection position r to the running direction selection position M, the left pickup coil Cl of the detector C1 is returned to effective. Both left and right pickup coils C
1r, C1j! Based on the detection signal from the loom 44A, the conveyance vehicle 1 moves along the magnetic induction vAL5 toward a predetermined loom 44A.

The loom at the rear of the loom 44A is stopped at the working position by turning on the operation button 55. If it is not possible to place and stop the loom at a predetermined position with one stop operation, the operation button 55 is repeatedly turned on.

After completing the transfer of the empty warp beam 45 and the through members 46, 47, 48 at the work position, the gear is returned to the preparation room 52 while the device 54 is under the same traveling control as described above. The loom is loaded with a new warp beam 56 and a threading member that are waiting in the preparation room 52, and is dispatched toward the loom 44A while the device 57 receives the same traveling control as described above.

When moving backward by turning on the fear button 50, the transport control device! 2 responds to a detection signal obtained from the rear detector C2, and the same driving control as in the case of forward driving is performed.

Detector C is used as a traveling direction setting means using detectors C1 and C2.
By incorporating a running direction selection means to disable and enable the detection signals from I and C2, and by providing the running direction selection function on the device 54 and 57 side, the mechanism is magnetic induction which requires complicated and expensive system construction. It is possible to freely select a travel route without relying on route setting by applying current to the wire. In particular, due to the nature of the work, it is difficult for workers to remove warp beams and warp threading members from the loom and install new warp beams and warp threading members on the loom in their place. It is difficult to eliminate the intervention of fully automatic machines, and it is reasonable to require operator intervention in the travel control of the conveyor device in the work system in pursuit of efficient semi-automation. .

In addition, the loom 4 is manually operated by a worker who intervenes in running control.
The mechanism behind 4A is the device 54.5 that moves the mechanism to the working position.
The arrangement stop of No. 7 eliminates the need for a stop method that employs a high-precision device such as a room scanner or a photoelectric sensor, and further contributes to improving the efficiency of semi-automation and reducing costs.

The present invention is, of course, not limited to the above-mentioned embodiments. For example, a program method is adopted in which the running route is input and set for the loom before the equipment is dispatched, and the loom is set at each point on the running route leading to the loom that requires work. The direction to be selected at the branch point is input and set in advance in the machine before the device is dispatched, and the running direction is determined from the setting program according to the detection signal of the mark plate for confirming the branch point installed at each branch point. You can also do this.

Furthermore, the present invention can also be applied to a traveling method of a warp beam independent conveyance device or a cross roller conveyance device.

Effects of the Invention As detailed above, the present invention provides a running direction selection means incorporated in a running direction setting means that sets the running direction of a conveyance device while detecting the generated magnetism of a magnetic guide line at a guide line branch point. Since the system is operated in the following manner, the driving direction can be appropriately set without relying on the construction of a complicated and expensive system, which is an excellent effect.

[Brief explanation of drawings]

The drawings show an embodiment in which the present invention is embodied in a work system, in which Fig. 1 is a perspective view of a machine, and Fig. 2 shows a machine in which the machine has been moved to a working position. Fig. 3 is a partially cutaway front view of the equipment, Fig. 4 is a plan view of the road surface showing the running route of the equipment, and Fig. 5 is the same running route. FIG. A transport vehicle 1 as a transport device, a driving front wheel la, a transport control device 2 constituting a travel direction setting means, a steering mechanism 4, an operation button 49°50.55, detectors C1 and C2, and a travel direction selection means. The operating knob 51, magnetic induction wire, Ll, L2. L3. L4. L5
, branch point Bl. B2゜

Claims (1)

[Claims] 1. A traveling direction in which a conveying device that conveys replacement parts in a loom, such as a warp beam or cross roller, runs along a magnetic guide line, and the traveling direction of the conveying device is set while detecting the generated magnetism of the magnetic guide line. A method of running a conveying device in a loom, in which a running direction selection means incorporated in a setting means is activated at a guide line branch point, and the running direction at the guide line branch point is selected.