JPS6335837A - Method for attitude control of automatic machine in spinning machine - Google Patents

Abstract

PURPOSE:To eliminate an installation of a wheel traveling on a floor, by memorizing data of floor condition corresponding to the longer direction of a machine stand of each spinning machine and carrying out attitude control depending upon the memory date. CONSTITUTION:An automatic machine is intermittently traveled by every given distance along a machine stand of each spinning machine and an angle of inclination is measured by a sensor 16 for angle of inclination in a suspended state. Data corresponding to floor condition at a given position are calculated by CPU17 depending upon the detected signal and memorized in a memory zone of a memory 19 for operation. Amount of revolution of scroll cam by a rotary encoder 23 and the travel distance is calculated by the CPU17. When operation such as doffing, change of sliver, etc., is carried out, the necessary amount of rise and fall of a wheel traveling on a floor is calculated by a control device 15 depending upon the memory date and a hydraulic cylinder 11 for raising and dropping the wheel is driven and regulated through an input and output interface 21 and a cylinder drive circuit 22.

Description

[Detailed Description of the Invention] Purpose of the Invention (Field of Industrial Application) This invention is a spinning machine such as a spinning frame, a roving frame, etc. that moves along the upright direction of the spinning machine, and performs doffing, thread changing, thread splicing, etc. The present invention relates to a method for controlling the attitude of a self-controlled machine in a spinning machine such as a doffing machine, a thread changing machine, and a yarn splicing machine.

(Prior Art) Generally, when this type of automatic machine performs work, it is necessary to maintain a constant positional relationship between the automatic machine and the spinning machine.

However, since the floor of a factory is not completely horizontal, when the automatic machine runs directly on the floor to perform work, the positional relationship between the spinning machine and the automatic machine changes depending on the working position, causing problems in the work. For this reason, the conventional method has been to install a rail on the floor with height adjustment parallel to the spindle rail of the spinning machine, and to allow the automatic machine to run on this rail. However, laying these rails requires troublesome work such as digging up the floor surface, which not only requires a great deal of cost and labor, but also requires the operation of machines during a long construction period when installing them in an existing factory. There is an inconvenience that it has to be extended.

In order to solve the above-mentioned problem, Japanese Patent Application Laid-open No. 51-40437 published on April 5, 1978 proposes that at least two guide rollers are installed on the side of the spinning machine stand of the work machine (automatic machine). The machine is equipped with a pair of running riverbed wheels, and the guide rollers are fitted to guide rails attached to the spinning machine, allowing the work machine to run on the floor to perform tasks such as doffing, and automatically adjusts the tilt of the car body while running. A running attitude control device for a working machine has been proposed which is equipped with a detection device that detects and issues a detection signal, and in response to this detection signal moves the running bed wheel up and down to correct the inclination of the working machine while it is running. .

(Problems to be Solved by the Invention) However, since the above device detects the inclination of the vehicle body while it is running and corrects the inclination of the working machine while it is running, there is a disadvantage that the inclination detection accuracy is poor. In other words, when detecting tilt while driving, the sensor is subjected to photographing acceleration, so if responsiveness is improved, it becomes difficult to distinguish between the detection signal due to the tilt of the automatic machine and the detection signal due to the photographing acceleration. In order to distinguish between the two, it becomes necessary to reduce the responsiveness, and the accuracy of detecting the inclination also deteriorates. Therefore, it becomes difficult to horizontally control the attitude of the automatic machine with high accuracy. In addition, when the automatic machine is equipped with a sensor to constantly detect the inclination of the own VJ machine and control the attitude of the automatic machine based on the detection signal,
There is also the problem that it becomes necessary to activate the sensor while driving, which shortens the life of the sensor.

Structure of the Invention (Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention is equipped with wheels for running on the floor and moves along the spinning machine stand to perform tasks such as doffing and changing the spinning machine. A record for storing the floor surface condition of the running position corresponding to the wheel lifting device that moves the wheels up and down, the control a device that drives and controls the lifting device, and the separate spinning machine stand in the self-e machine that performs
f device, the automatic machine is moved once along the spinning machine frame, the floor surface condition corresponding to each tFj machine frame is stored in the storage device, and thereafter the control device is controlled based on the stored data. Therefore, a method was adopted in which the wheel lifting device was moved to the drive side to control the attitude.

(Function) In this invention, the automatic machine (spinning machine) moves along the spinning machine stand with the floor running wheels in contact with the floor surface, and doffs while moving or in a stopped state. Carry out work such as replacement. And myself! 1Jti is moved once along the spinning machine stands, the floor surface condition corresponding to each spinning machine stand is stored in the storage device, and attitude control is thereafter performed based on the stored data.

Therefore, once the floor condition corresponding to each spinning machine frame is stored in the storage device, the detection device that directly or indirectly detects the unevenness of the floor surface is operated, and the detection device is no longer required. do not.

<Embodiment> An embodiment in which the present invention is embodied in an automatic spinning machine will be described below with reference to FIGS. 1 to 5. As shown in FIG. 2, a guide rail 2 is horizontally extended along the longitudinal direction of the spinning machine 111 on the side surface of the spinning machine 1. As shown in FIG.

The automatic machine 3 has two guide rollers 4 that can be fitted with the guide rails 2 on the side of the spinning machine stand, and a floor running roller on the lower side of the opposite side at a position corresponding to the center of both guide rollers 4. Wheels 5 are respectively arranged. Further, guide bins 2a are protruded from the outside of the guide rail 2 at predetermined intervals, and the automatic machine 3 is provided with a scroll cam 3a that engages with the guide pins 2a. The automatic machine 3 is similar to conventionally known automatic machines, and includes a carrier (not shown) that moves on a rail (not shown) laid outside the spinning machine frame 1 in a state perpendicular to the longitudinal direction of the spinning machine frame. The spinning machine frame 1 is loaded onto the spinning machine and transported to the position corresponding to the spinning machine frame 1 that requires work. Thereafter, the scroll cam 3a is rotationally driven by a drive motor (not shown), so that the scroll cam 3a moves intermittently by a predetermined distance along the spinning frame frame 1 with the idle roller 4 fitted to the guide rail 2, and the automatic machine The doffing device or sashing device installed on the machine is operated to carry out the specified work.

As shown in FIGS. 3 and 4, a support bracket 6 is protruded from the outside of the lower part of the self-vehicle vehicle 13, and a support lever 8 is rotatably supported on a support shaft 7 fixed to the support bracket 6. A floor running wheel 5 is rotatably supported by a support lever 8 via a support shaft 9. A bracket 10 is fixed to the front end of the base 1113, and a hydraulic cylinder 11 is rotatably supported at the base end of the bracket 10, and the piston rod 12 of the hydraulic cylinder 11 and one end of the support lever 8 are connected to each other. They are rotatably connected by a bin 13. A double-acting cylinder is used as the hydraulic cylinder 11,
Pressure oil is supplied by a variable displacement pump (not shown). The support lever 8 and the hydraulic cylinder 1
1 constitutes a wheel lifting device 14, and a control device 15
The wheel lifting device 14 is drive-controlled via the variable discharge m pump.

The control device 15 includes a central processing unit (hereinafter referred to as CPU) 17 that inputs a detection signal output from a tilt angle sensor 16 detachably installed in the automatic machine 3 and performs arithmetic processing, and a read-only memory that stores programs. It consists of a program memory 18 consisting of a ROM (ROM), and a working memory 19 as a storage device consisting of a readable and replaceable memory (RAM) for temporarily storing arithmetic processing results, etc.
PU 17 operates according to a program stored in program memory 18. The inclination angle sensor 16 is a well-known potentiometer type or torque balance type sensor using a pendulum, which detects the inclination of the automatic machine 3 in a plane perpendicular to the longitudinal direction of the spinning machine frame 1 and adjusts the inclination angle. A corresponding detection signal is output, and the detection signal is sent to the CPU via the A/D converter 2o and the input/output interface 21.
17.

The working memory 19 is provided with a number of storage areas corresponding to the number of spinning frame frames 1 that the automatic machine 3 has, and each storage area is provided with a number of memory areas corresponding to the number of spinning frame frames 1 that the automatic machine 3 has.
Data corresponding to the state of the floor surface along the longitudinal direction of the spinning machine frame 1 that has been arithmetic processed in U17 is stored. The CPU operates the automatic machine 3 at each predetermined position along the longitudinal direction of the spinning machine frame 1 based on the stored data stored in the working memory 19.
The distance between the displacements of the floor running wheels 5 from the reference position required to maintain the floor running wheels 5 in a horizontal state, that is, the amount of movement of the piston rod 12 of the hydraulic cylinder 11 is calculated, and the piston rod 12 is moved for a period equal to the amount of movement. Thus, the hydraulic cylinder 11 is driven and controlled via the input/output interface 21 and the cylinder drive circuit 22.

Next, the operation of the apparatus configured as described above will be explained. Since the automatic machine 3 moves along the spinning frame frame 1 while being supported on the idle rail 2 by a pair of guide rollers 4,
The horizontal direction in the front direction is always maintained, and the inclination in a plane perpendicular to the longitudinal direction of the spinning frame frame 1 changes depending on the position of the floor running wheels 5 corresponding to the unevenness of the floor surface. When using this automatic machine 3, first, it is moved intermittently by a predetermined distance along the plurality of spinning frame frames 1 that the automatic machine 3 is in charge of, and when it is stopped, the tilt angle is measured by the tilt angle sensor 16. Based on the detection signal, the CPU 17 calculates data corresponding to the floor surface condition at a predetermined position, and stores the data in the storage area of the working memory 19. Since the tilt angle is detected by the tilt angle sensor 16 when the automatic machine 3 is stopped, the tilt state of the automatic machine 3 is accurately detected. Further, the position along the longitudinal direction of the spinning frame frame 1 is indicated by the distance moved from the reference position, with the automatic machine 3 waiting on a rail provided on one side of the spinning frame frame 1 as a reference position. It will be done. The moving distance is calculated by detecting the rotation amount of the scroll cam 3a by the rotary encoder 23, and based on the detection signal by the CPtJ17. In this way, data corresponding to the floor surface condition at a predetermined position along the longitudinal direction of each spinning frame frame 1 is stored in the storage area of the working memory 19.

After storing the floor surface condition and corresponding data for each spinning machine frame 1 in the working memory 19 as described above, the self-a
When machine 3 performs work such as doffing or adding one piece,
Based on the stored data, the control system M15 calculates the required landing area of the floor running wheels 5, and drives and controls the hydraulic cylinder 11 via the input/output interface 21 and the cylinder drive circuit 22. The drive control of the hydraulic cylinder 11 does not have to be performed while the automatic machine 3 is stopped at a predetermined working position, but may be performed while the automatic machine 3 is moving. For example, as shown in FIG. 5, when the state of the floor surface F is continuously inclined downward to a predetermined working position, the floor surface traveling wheels 5 are continuously moved downward in accordance with the inclination. The hydraulic cylinder 11 may also be controlled. In this way, while the automatic machine is moving, the hydraulic cylinder 1
1, when the automatic machine 3 stops at a predetermined work position, it is possible to immediately start doffing, refilling, etc., reducing the work time for one spinning machine frame. can do. Furthermore, even if the slope provides support for the work, there are many cases in which there is no problem for the automatic machine 3 to simply run along the guide rail 2, such as when the automatic machine 3 returns to its original position after the work is completed. The CPU 17 separately sets necessary control conditions for work and travel, and does not necessarily need to control the drive of the hydraulic cylinder 11 even if the tilt is a hindrance to work, as long as it does not hinder travel. or,
In this device, once the floor surface condition along the longitudinal direction of the spinning machine frame is stored in the storage area of the working memory 19, there is no need to use the inclination angle sensor 16 in the automatic machine, so the inclination angle The sensor can be shared by a plurality of automatic machines, and the inclination angle sensor 16 is used less frequently, resulting in a longer life span of the inclination angle sensor 16.

Note that the present invention is not limited to the above-mentioned embodiment, and for example, as shown in FIG. 6.7, a ball screw mechanism driven by a motor M may be used as the wheel lifting device 14 instead of the hydraulic cylinder 11. It's okay. That is, the threaded rod 25 of the ball screw mechanism 24, which is driven by the motor M to rotate in forward and reverse directions, is arranged in the vertical direction on the frame of the automatic machine 3, and the bracket 27 supported so as to be vertically movable is fixed to the nut body 26. The floor running wheels 5 are rotatably supported on the bracket 27, and the floor running wheels 5 are moved up and down by the forward and reverse rotation drive of the motor M, and the rotation field of the threaded rod 25 is detected by the rotary encoder 28. You may also do so. In this case CP
U17 inputs the output signal of the rotary encoder 28 via the input/output interface 21, and uses the input signal to record the amount of displacement of the floor running wheels 5 from the reference position and stores it in the working memory 19. , based on the value and the stored data corresponding to the unevenness of the floor surface, calculates the forward/reverse rotation drive amount of the motor M, and controls the drive of the motor M. It can also be applied to automatic spinning machines other than spinning machines, such as roving machines or yarn twisting machines, or can be used to directly detect the uneven state of the floor surface instead of detecting the value corresponding to the unevenness of the floor surface using an inclination angle sensor. The information may be detected by the device and stored in the storage area.

Effects of the Invention As detailed above, according to the present invention, data on the floor surface condition corresponding to the longitudinal direction of each spinning machine stand is stored, and the posture of the automatic machine is controlled based on the stored data. By accurately detecting the condition of the floor surface when memorizing it, subsequent posture control can be performed accurately and easily without interfering with tasks such as doffing and changing the slag.
Unlike the conventional method, there is no need to sink running rails into the floor surface, and it can be easily used on machines in existing factories. In addition, since the detection device that detects the inclination of the automatic machine corresponding to the floor surface condition is required only when storing data, it is not necessary to always equip the automatic machine with the detection device and it can be shared by multiple automatic machines. Moreover, since the detection device is used less frequently, the life span of the detection device is extended, which is an excellent effect.

[Brief explanation of drawings]

Figures 1 to 5 show an embodiment embodying the present invention, in which Figure 1 is a block diagram, Figure 2 is a schematic side view showing the relationship between a spinning machine and an automatic machine, and Figure 3 is an elevator lift. top view of the device,
FIG. 4 is a side view thereof, FIG. 5 is a schematic diagram showing the state of the floor surface, FIG. 6 is a front view showing a modified example of the elevating device, and FIG.
The figure is a sectional view taken along line 8-A in FIG. 6. Automatic machine 3, guide rollers 4, floor running wheels 5, wheel lift @14, control device 15, working memory 19° as a storage device

Claims (1)

[Claims] 1. An automatic machine that is equipped with wheels for running on the floor and moves along the spinning machine stand to perform tasks such as doffing and changing the frame, includes a wheel lifting device that moves the wheels up and down, and a control that drives and controls the lifting device. The apparatus is provided with a storage device for storing floor condition data at the traveling position corresponding to the spinning machine table, and the automatic machine is once moved along the spinning machine table, and the floor condition data corresponding to each spinning machine table is stored in the above-mentioned manner. 1. A method for controlling the attitude of an automatic machine in a spinning machine, which is stored in a storage device and thereafter controls the attitude of the wheel lifting device by the control device based on the stored data.