TW201542901A - Method for controlling winding a woven cloth and apparatus for winding a woven cloth in loom - Google Patents

Abstract

There is provided a method for controlling winding of a woven cloth in a loom, wherein the cloth delivered through a surface roller is wound on a cloth roller driven by a take-up motor whose torque is controllable. The method includes the steps of setting a change command torque that progressively increases or decreases a torque of the take-up motor, driving the take-up motor according to the change command torque after setting the change command torque, detecting variation of rotation speed of the take-up motor, calculating load torque based on the change command torque, calculating winding torque based on tension and winding diameter of the cloth, calculating winding control torque by adding the load torque and the winding torque, and driving the take-up motor according to the winding control torque. There is also provided an apparatus for winding of a woven cloth in a loom by the above-described method.

Description

Method for controlling winding of woven fabric in looms and device for winding woven fabric

The present invention relates to a method for controlling the winding of a woven fabric and a device for winding a woven fabric in a loom.

There is known a device for winding a woven fabric in a loom in which a roll of cloth fed from a surface roller is driven by a separate motor of controllable torque. Cloth roller. The torque of the independent motor used to control the winding of the cloth is typically calculated based on the tension of the cloth and the diameter of the winding. The independent motor is controlled by a controller to generate the calculated torque.

Japanese Patent Application Publication No. 2012-1825 discloses a controller for a winding device in a loom. The apparatus of the present disclosure has a separate motor for driving the take-up roll and a reduction gear unit operatively coupled to the separate motor. The roll drive motor and the reduction gear unit are movably supported, and a load cell is provided in the device to detect the force applied to the independent motor and the reduction gear system. Based on the force detected by the load cell, the controller calculates a torque for suppressing the winding of a woven fabric, the magnitude of the torque substantially corresponding to the rotation of the woven fabric in the fabric roll Large moment small. Then, the controller calculates the tension of the woven fabric wound on the take-up roll based on the calculated torque and performs control of the independent motor based on the calculated tension of the woven fabric.

A disadvantage of the device of the publication is that a load cell is required to detect the torque for suppressing the winding of the woven fabric, and that the independent motor and the reduction gear unit need to be provided in a movable manner, And, therefore, the winding device becomes complicated in structure and large in size.

The present invention directly provides a method for easily and precisely controlling the winding of a woven fabric and a device for easily and accurately winding the woven fabric.

A method for controlling the winding of a woven fabric in a loom is provided, wherein the cloth conveyed via a bristles is wound around a take-up motor by a controllable torque ) to drive the roll on the roll. The method comprises the steps of: setting a change command torque for gradually increasing or decreasing the torque of the take-up motor; and after setting the change command torque, driving the take-up motor according to the change command torque; Detecting a change in the rotational speed of the take-up motor during the change of the command torque; calculating a load torque based on the change command torque in a transition region between the rotational speed variation region of the take-up motor and the rotational speed stabilization region; Calculating the winding torque by the winding diameter; calculating the winding control torque by adding the load torque to the winding torque; and driving the winding motor according to the winding control torque.

Provided is a device for winding a woven fabric in a looming machine, wherein a cloth conveyed through a bristles roller is wound by one or one The controller controls the winding of the torque to drive the winding roller. The device includes a rotational speed detector for detecting the rotational speed of the take-up motor. The controller includes a change command torque transmitting portion that stores a preset change command torque for gradually increasing or decreasing the torque of the take-up motor and transmitting the change command torque for driving the take-up motor a load torque calculation portion that calculates a load torque based on the change command torque in a transition region between the rotational speed variation region of the take-up motor and the rotational speed stabilization region; a winding torque calculation portion according to the Calculating a winding torque for the tension and winding diameter of the cloth; and a winding control torque command portion that adds the winding torque to the load torque to calculate a winding control torque and command The winding control torque of the take-up motor is driven.

Other aspects and advantages of the invention will be apparent from the description of the appended claims.

1‧‧‧Frame

2‧‧‧bristles

3‧‧‧ traction motor

4‧‧‧ Controller

5‧‧‧ signal line

6‧‧‧guide roller

7‧‧‧pressure roller

8‧‧‧Weaving

9‧‧‧Roller roll

10‧‧‧ worm gear box

11‧‧‧ worm gear

12‧‧‧ worm box

13‧‧‧ worm

14‧‧‧ Gearbox

15‧‧‧ Gear System

16‧‧‧Winding motor

16A‧‧‧Speed detector

17‧‧‧ signal line

18‧‧‧ memory

19‧‧‧ Processor

20‧‧‧ Input device

21‧‧‧ Gradually increase the command torque curve

21A‧‧‧ command torque

21B‧‧‧ command torque

21C‧‧‧ command torque

21D‧‧‧ command torque

21E‧‧‧ command torque

21F‧‧‧ command torque

22‧‧‧ Gradually increase the command torque curve

23‧‧‧ Gradually increase the command torque curve

24‧‧‧guide roller

25‧‧‧Anti-wrinkle roller

26‧‧‧ Gradually reduce the command torque curve

26A‧‧‧ command torque

26B‧‧‧ command torque

26C‧‧‧ command torque

27‧‧‧ Gradually reduce the command torque curve

27A‧‧‧ command torque

28‧‧‧ Gradually reduce the command torque curve

28A‧‧‧Command torque

29‧‧‧ Gradually reduce the command torque curve

30‧‧‧ Gradually reduce the command torque curve

CT‧‧‧Winding control torque

D‧‧‧ reduction torque

D1‧‧‧ reduction torque

D2‧‧‧ reduction torque

D3‧‧‧ reduction torque

FT‧‧‧Speed change zone

FTB‧‧‧ transitional area

L1‧‧‧ torque increment curve

L2‧‧‧ torque increment curve

L3‧‧‧ torque increment curve

L4‧‧‧ Torque declining curve

L5‧‧‧ torque reduction curve

L6‧‧‧ torque reduction curve

LT1‧‧‧ load torque

LT2‧‧‧ load torque

LT3‧‧‧ Unnecessary load torque

LT4‧‧‧ load torque

LT5‧‧‧ load torque

LT6‧‧‧ Unnecessary load torque

R1‧‧‧ rpm

R2‧‧‧ rpm

R3‧‧‧Speed

R4‧‧‧Normal speed

R5‧‧‧rpm

R6‧‧‧Speed

R7‧‧‧Normal speed

R9‧‧‧Normal speed

R10‧‧‧Speed

R11‧‧‧Speed

ST‧‧‧Speed stable zone

TS1‧‧‧Predetermined tension

TS2‧‧‧Predetermined tension

U‧‧‧Incremental torque

U1‧‧‧Incremental torque

U2‧‧‧Incremental torque

U3‧‧‧Incremental torque

The present invention and its objects and advantages will be more fully understood from the following description of the preferred embodiments of the present invention, wherein: FIG. 1 is a device for winding a woven fabric according to a first embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 2 is a line diagram showing the relationship between the gradually increasing command torque and the rotational speed of a motor in the apparatus of Fig. 1; and Fig. 3 is a view showing the apparatus according to the second embodiment of the present invention. A diagram showing the relationship between the command torque and the rotational speed of a motor; FIG. 4 is a diagram showing the relationship between the gradually decreasing command torque and the rotational speed of a motor in the device according to the third embodiment of the present invention. Line diagram; Figure 5 is a line diagram showing an example of reducing load torque in the apparatus according to the third embodiment of the present invention; and Figure 6 is a diagram showing an example of increasing load torque in the apparatus according to the third embodiment of the present invention. Figure 7 is a line diagram showing an example of increasing load torque in a device according to another embodiment of the present invention; and Figure 8 is a view showing an increase in a device according to still another embodiment of the present invention. A line diagram of another example of load torque; FIG. 9 is a line diagram showing an example of reducing load torque in a device according to another embodiment of the present invention; and FIG. 10 is shown in accordance with the present invention. A line graph of an example of reducing load torque in an apparatus of another embodiment.

First embodiment

The apparatus according to the first embodiment of the present invention will be described below based on Figs. 1 and 2. Referring to Fig. 1, a device for winding a woven fabric in a looms has a bristles 2 rotatably supported by the frame 1 of the looms and connected to a woven fabric. A draw motor 3 provided by a machine drive motor (not shown). The traction motor 3 uses a servo motor. The traction motor 3 is electrically connected to a controller 4 via a signal line 5. During the weaving operation of the loom, the traction motor 3 can be rotated in synchronism with the loom drive motor. Furthermore, the traction motor 3 is reversible irrespective of the operation of the loom drive motor.

A guide roller 6 and a press roller 7 are arranged to press the bristle roller 2 . A woven fabric 8 guided by the guide roller 6 is conveyed along the path of the bristles 2 . During the knitting operation of the loom, the cloth 8 is pulled by the bristle roller 2 rotating in the direction of the arrow shown in Fig. 1, and the cloth 8 is conveyed via the pressure roller 7.

A winding roller 9 for winding the cloth 8 is rotatably supported by the frame 1 at a position below the bristle roller 2. The take-up roll 9 is connected to a take-up motor 16 via a worm wheel 11, a worm 13 and a gear train 15, wherein the worm wheel 11, the worm 13 and the gear train 15 They are respectively housed in a worm wheel box 10, a worm box 12 and a gear box 14. The winding motor 16 drives the winding roller 9 at a speed lowered by the gear train 15, the worm 13 and the worm wheel 11 in the direction of the arrow shown in Fig. 1, whereby the cloth 8 is wound around Rolling roller 9 is on. The winding diameter of the winding roller 9 increases as the winding process progresses. The take-up roll 9 is wound from the press roll 7 via a guide roll 24 and an an-crease roller 25, wherein the anti-wrinkle roll 25 is configured to be wound around The cloth 8 on the winding roller 9 is in contact. In the first embodiment, the worm wheel 11 and the worm 13 respectively housed in the worm gear case 10 and the worm case 12 are used as a speed reducer in the driving mechanism of the winding roller 9. In another option, any other type of retarder can be used.

The take-up motor 16 is a torque controllable motor like a servo motor or a torque motor and can be driven regardless of the main drive motor of the loom. The take-up motor 16 is electrically connected to the signal line 17 Controller 4. During the knitting operation of the loom, the take-up motor 16 is rotated in synchronization with the main drive motor and the traction motor 3. However, the take-up motor 16 is reversible irrespective of the operation of the main drive motor and the traction motor 3. Controlling the torque of the take-up motor 16 in response to a command transmitted from the controller 4 so that the cloth 8 maintains a predetermined tension while the winding diameter of the take-up roll 9 is wound with the cloth 8 And increase.

The controller 4 includes a memory 18 for data storage and a processor 19 for data calculation and also for signal transmission and reception. The controller 4 further includes an input device 20 in the form of a functional panel (not shown). The input device 20 includes a data display, a data input device, a take-up motor control switch, a loom control switch, and various other switches (not shown).

Information such as the rotational speed of the loom, the weft density, the weaving tension, the diameter of the bristle roller 2, and the reduction ratio of the worm wheel 11, the worm 13 and the gear train 15 are input and stored via the input device 20. This memory 18 is in the middle. The controller 4 receives the rotational speed data from the rotation detector (not shown) of the traction motor 3 via the signal lines 5, and receives the rotational speed data from the rotational speed detector 16A of the winding motor 16 via the signal lines 17. And receiving a rotational speed data from a rotational speed detector (not shown) of the loom drive motor, and storing such data in the memory 18.

Various programs for the processor 19 will be described below, which are stored in the memory 18 of the controller 4. These programs are a series of steps used to control the weaving operation.

(1) calculating the cloth 8 on the winding roller 9 based on the rotation speed of the main driving motor, the weft density, the rotation speed of the traction motor 3, and the ratio between the diameters of the bristle roller 2 and the winding roller 9. The winding diameter program (a woven fabric winding diameter calculation section).

(2) A program (a winding torque calculation portion) for calculating the weaving torque of the woven fabric based on the tension of the cloth 8 and the winding diameter of the cloth 8 on the winding roller 9.

(3) calculating a program of the ordinary rotation speed of the winding motor 16 based on the rotation speed of the main drive motor, the weft density, the winding diameter of the cloth, and the reduction ratio, that is, allowing the bristles from the bristles The cloth 8 conveyed by the roller 2 is wound around the winding roller 9 without a slack of the rotational speed of the winding motor 16 (a normal rotational speed calculating portion).

(4) It should be noted that the command torque according to the present invention represents a command torque that is predetermined to gradually increase or decrease the torque of the take-up motor 16. The take-up motor 16 is controlled to respond to a program (a change torque command portion) of the command signal from the controller 4 based on the gradually increasing command torque curve 21 (see FIG. 2) stored in the memory 18. ). It should be noted that the gradual increase command torque curve 21 is set so that, as shown in Fig. 2, after a predetermined time T elapses, the torque is gradually increased by the incremental torque U.

(5) A program (a comparison portion) for detecting the rotation speed of the winding motor 16 and the normal rotation speed detected when the torque is changed according to the gradually increasing command torque curve 21.

(6) when the take-up motor 16 stops its speed change because the detected rotational speed of the take-up motor 16 coincides with the normal rotational speed, The calculation of the load torque by the command torque 21C in the transition region FT (see Fig. 2) between the rotational speed variation region FT (see Fig. 2) and the rotational speed stabilization region ST (see Fig. 2) (a load torque calculation) section).

(7) A program (a winding control torque command portion) for controlling the driving of the winding motor 16 by adding the load torque and the winding control torque calculated by the winding torque.

The control for the weaving operation will be described below. After unloading a cloth roll having a cloth wound and installing a new roll roll in position in the loo machine, winding the end of a new cloth on the newly installed roll roller 9 and The loom is activated for the weaving operation. After the start of the knitting operation, as shown in Fig. 2, the controller 4 transmits a signal to the take-up motor 16 based on the gradually increasing command torque curve 21 of the program stored in the memory 18.

Since the take-up motor 16 is in a stop, the cloth 8 extended from the bristle roll 2 is slack between the press roll 7 and the roll roll 9, and therefore, the tension of the cloth 8 is zero. When the controller 4 generates a signal to the take-up motor 16 according to the command torque 21A, the rotation of the take-up motor 16 is started and its rotation speed is rapidly increased as indicated by the broken line R1 of FIG. 2 and the roll is wound. The machine 9 winds the cloth 8. However, when the load torque, particularly the load torque due to the frictional resistance of the anti-wrinkle roller 25, exceeds the command torque 21A, the take-up motor 16 is stopped. After the time T after the winding motor 16 is stopped, the controller 4 generates a command signal to the take-up motor 16 to increase the motor rotation from the command torque 21A to the incremental torque U of the command torque 21B. Moment. As a result, the rotational speed of the take-up motor 16 is again fast as indicated by the broken line R2 in FIG. The winding motor 16 is added and wound around the cloth 8. When the load torque due to the frictional resistance of the anti-wrinkle roller 25 exceeds the command torque 21B, the take-up motor 16 is stopped again.

Regarding the elapse of another time T, the controller 4 transmits a command signal to the take-up motor 16 to increase the command torque from 21B to 21C with the incremental torque U. Then, the rotation speed of the take-up motor 16 is rapidly increased and wound again as shown by R3 in Fig. 2 . The speed of the take-up motor 16 is then rapidly changed in a region adjacent to the region of the rotational speed R3. The rotational speed R3 is then greater than the normal rotational speed described above. Regarding the elapse of yet another time T, the controller 4 transmits a command signal to the take-up motor 16 to increase the command torque from 21C to 21D with the incremental torque U. In this case, due to the driving force of the command torque 21D, the rotational speed of the take-up motor 16 does not rapidly change, but converges to the normal rotational speed R4.

Thereafter, the take-up motor 16 maintains the normal rotation speed R4 during the torque increase of the take-up motor 16 in accordance with the gradual increase command torque curve 21. That is, two different rotation conversion regions appear in the control of the winding motor 16, that is, the rotation speed variation region FT between the command torques 21A and 21C and the rotation speed stabilization region ST at the command torque 21D. In the rotation speed variation region FT, the command torques 21A and 21B are lower than the load torque, particularly the load torque caused by the frictional resistance of the anti-wrinkle roller 25, and as a result, the winding motor 16 is caused to be driven. The rotation stops. On the other hand, at the command torque 21C, the command torque 21C does not stop the take-up motor 16, but its rotational speed is larger than the normal rotational speed R4 and varies greatly. The rotation speed of the take-up motor 16 becomes higher than the normal rotation speed R4 is big because a loose cloth is being wound at that time. The rotation speed of the take-up motor 16 fluctuates greatly because the load torque approaches the command torque 21C, and therefore, the control of increasing or decreasing the torque is repeated in a short time.

In the rotational speed stabilization region ST, the command torque 21D is greater than the sum of the winding torques, the tension of the cloth 8 and the load torque, which means that the take-up motor 16 is transported according to the bristles 2 The speed of the cloth 8 is stably rotated by the winding roller 9. In the rotational speed variation region FT, the transition region FTB is a transition region between the rotational speed fluctuation region FT and the rotational speed stabilization region ST, wherein the rotational speed changes greatly at the command torque 21C. When the controller 4 calculates the normal rotation speed R4 of the winding motor 16 according to the program and generates a command signal for the command torque 21D, the controller 4 compares the rotation speed detector 16A of the winding motor 16 to detect And the transmitted rotational speed and the calculated normal rotational speed R4.

When the rotational speed detected by the rotational speed detector 16A converges and stabilizes at the normal rotational speed R4, the controller 4 determines to end the fluctuation of the rotational speed of the take-up motor 16. The controller 4 calculates a load torque for controlling the take-up motor 16 based on the command torque 21C in the transition region FTB in which the rotational speed fluctuation region FT is shifted to the rotational speed stabilization region ST. In the first embodiment, the value of the command torque 21C is calculated as the load torque. The load torque calculation section is stored in the memory 18 of the controller 4.

Then, the controller 4 calculates the winding control torque and generates a command signal for the winding control torque by adding the calculated winding torque to the load torque of the command torque 21C. The take-up motor 16 is. Controlling the torque of the take-up motor 16 to respond to the controller 4 A signal for the winding control torque is sent to drive the take-up roll 9 to wind the cloth 8 under a predetermined tension.

In the first embodiment, the take-up motor 16 should be reversely rotated by a predetermined amount before the actual knitting operation is started and the take-up motor 16 should be operated in accordance with the incrementally increasing command torque curve 21. The tension of the cloth 8 can be reduced to zero by reversing the take-up motor 16, so that the knitting operation can be carried out according to the gradually increasing command torque curve 21 without considering the tension of the cloth 8, and can be woven at any The load torque is accurately calculated in the cloth machine.

Since the load torque changes as the winding diameter of the cloth 8 on the winding roller 9, the load torque should be calculated regularly or randomly according to the winding diameter of the winding roller 9. The winding torque thus calculated should be used to calculate the winding control torque.

In the first embodiment, during the driving of the winding roller 9, a load for winding the cloth against the tension of the cloth and the inertia moment of the winding roller 9 is generated and The winding torque of the sliding resistance caused by the shaft of the winding roller 9. When the anti-wrinkle roller 25, for example, a touch roller or a nip roller is used, the frictional resistance of the anti-wrinkle roller 25 generates a large load torque at the time of wrinkle prevention.

In the configuration according to the first embodiment, the load torque is easily calculated based on the command torque in the transition region FTB between the rotational speed fluctuation region FT and the rotational speed stabilization region ST in the configuration without a load cell. The load torque generated in the device for winding a woven fabric can be easily calculated according to the fluctuation of the speed of the winding motor 16 according to the fluctuation of the gradual increase command torque curve 21, wherein the gradual increase command is turned The moment curve 21 has a value T that is gradually increased each time. Since the winding motor 16 is controlled based on the winding control torque calculated based on the load torque, the winding tension of the cloth can be controlled with high accuracy.

Second embodiment

Next, a second embodiment of the present invention will be described based on Fig. 3. The same element symbols will be used to denote those components or elements corresponding to the similarities of the first embodiment and the description thereof will not be repeated. This second embodiment differs from the first embodiment in that the second embodiment relates to a method for calculating the load torque in controlling the winding of the cloth during operation of a loom. During operation of the loom, the large load torque applied to the take-up motor 16 for some reason may cause the take-up motor 16 to stop.

Referring to FIG. 3, when the winding motor 16 is driven by the winding control torque CT in response to an instruction from the controller 4, the rotation speed of the winding motor 16 is reduced due to a large load torque and The take-up motor 16 is stopped (see R5). It should be noted that the bristle roller 2 continues to rotate at that time and the slack of the cloth 8 occurs and the cloth 8 is relaxed between the bristle roller 2 and the winding roller 9. The controller 4 transmits a signal to the take-up motor 16 which controls the take-up motor 16 to operate at a command torque 21E corresponding to the sum of the current winding control torque CT and the incremental torque U. At that time, the take-up motor 16 that winds the slack cloth 8 rapidly increases its rotational speed (see R6). Since the load torque approaches the command torque 21E, the rotational speed of the take-up motor 16 changes rapidly, which causes a change in the rotational speed of the take-up motor 16 in the rotational speed variation region FT.

When the time T elapses, the controller 4 transmits a signal commanding the command torque 21F corresponding to the sum of the command torque 21E and the incremental torque U, so that the rotational speed of the take-up motor 16 is at the rotational speed The stable region ST converges and stabilizes at the normal rotational speed R7. FTB indicates a region between the rotational speed fluctuation region FT and the rotational speed stabilization region ST, wherein the rotational speed of the take-up motor 16 has a large fluctuation under the command torque 21E. The controller 4 calculates the load torque based on the command torque 21E in the transition region FTB. It should be noted that the load torque is calculated in the same manner as the first embodiment. The controller 4 calculates a next winding torque and transmits a signal for the calculated winding torque to the take-up motor 16 by adding the calculated load torque to the current winding torque. In the description of the second embodiment, although the torque increase of only one step in the rotation speed variation region FT is shown in Fig. 3, if the winding motor 16 is stopped in the rotation speed variation region FT Then, a plurality of gradual torque increase steps can be implemented in a manner similar to that described in the first embodiment.

In the second embodiment, the load torque can be easily calculated during the winding of the cloth 8 after the knitting operation of the loom is started, so that the second embodiment is provided in the same manner as the first embodiment. The beneficial effect.

Third embodiment

Referring to Fig. 4 showing a third embodiment of the present invention, a part of the control function of the mechanical structure and the controller is substantially the same as the first embodiment. The same element symbols will be used to denote those components or elements corresponding to the similarities of the first embodiment and the description thereof will not be repeated. This third embodiment uses a gradual reduction torque command instead of the gradual increase torque of the first embodiment. The take-up motor in the taking-up operation is driven in accordance with the gradual reduction command torque. The load torque during the weaving operation of the loom is not fixed but varies because the winding diameter of the cloth 8 increases as the winding operation progresses. For example, the frictional resistance of the anti-wrinkle roller 25 disposed in contact with the cloth 8 wound on the winding roller 9 varies, and therefore, the load torque due to such frictional resistance follows The winding diameter of the cloth 8 is increased by an increase.

If the winding of the cloth 8 is carried out according to the load torque calculated at the beginning of the knitting operation, it is feared that when the load torque is increased, the tension of the cloth 8 is reduced, and when the load torque tends to increase When the tension of the cloth 8 is increased, and when the load torque tends to decrease, the tension of the cloth 8 is increased. In either case, the tension of the cloth tends to exceed a predetermined tension, with the result that the quality of the cloth 8 may be degraded. This third embodiment uses a method in which the predetermined diameter is increased at any suitable time during operation of the loom, for example, each time the winding diameter of the cloth 8 is increased by a predetermined amount, or each time due to a mispicking (mispicking) Or, when the looms are stopped and the looms are stopped, the load torque is calculated when the looms are restarted, so that the winding torque of the cloth can be smoothly controlled.

Referring to Fig. 4, the gradual decrease command torque curve 26 will be described below, which shows the relationship between the command torque and the rotational speed of the motor in the third embodiment. In the third embodiment, the programs (4)-(6) in the programs (1)-(7) of the first embodiment are stored in the manner described below. The controller 4 is in the memory 18. The remaining programs are stored in the same manner as the first embodiment.

(4) The take-up motor 16 is controlled to respond to a program (a change torque command portion) based on a command signal from the controller 4 that gradually reduces the command torque curve 26 stored in the memory 18. It should be noted that, as shown in Fig. 4, the gradual decrease command torque curve 26 is set so that the torque is gradually reduced by the decrease torque D after the lapse of the time T of the predetermined length.

(5) A program (a comparison portion) for detecting the rotation speed of the winding motor 16 and zero when the torque is changed in accordance with the gradual decrease command torque curve 26.

(6) When the fluctuation of the rotation speed of the winding motor 16 is ended by the stop of the winding motor 16, the calculation is based on the command torque 26A in the transition region FTB between the rotation speed variation region FT and the rotation speed stabilization region ST. A program (a load torque calculation portion) of the load torque when the speed of the winding motor 16 is stopped due to the stop of the winding motor 16.

As shown in FIG. 4, in accordance with the gradual decrease command torque curve 26, the controller 4 transmits a signal to the take-up motor 16 for the gradual decrease command torque curve 26 having the reduced torque D for each time T. The controller 4 sequentially transmits signals for the individual target command torques 26A, 26B, and 26C. When the signal of the command torque 26C is transmitted, the rotational speed of the take-up motor 16 changes from the normal rotational speed R9 to as indicated by R10. After this change, the take-up motor 16 is stopped and the rotation speed becomes zero R11 at time T2. When the command torque 26C is commanded, a large fluctuation in the rotational speed occurs because the load torque approaches the target command torque 26C and thus, a speed change occurs as in the case of the first embodiment.

Therefore, the rotational speed of the winding motor 16 in the rotational speed stabilization region ST is different between the command torques 26A and 26B and the command torque 26C in the rotational speed fluctuation region FT. The rotational speed variation region FT includes the transition region FTB, which appears after the rotational speed stabilization region ST. When the command torque 26C becomes smaller than the load torque, the take-up motor 16 stops its rotation as indicated by R11. After the time T1, the rotation speed detector 16A detects the rotation speed of the winding motor 16 and the controller 4 determines whether the detection rotation speed is zero via the comparison of the comparison portion.

When the rotational speed detected by the rotational speed detector 16A becomes zero, the controller 4 determines that the change in the rotational speed of the take-up motor 16 has ended. The controller 4 also calculates a load torque for controlling the operation of the take-up motor 16 based on the command torque 26C in the transition region FTB. In the third embodiment, the value of the command torque 26C is calculated as the load torque.

After calculating the load torque (or the command torque 26C), the winding control torque command portion in the controller 4 calculates the volume by adding the calculated winding torque to the load torque. A signal for the winding control torque is transmitted to the take-up motor 16 about the control torque. Controlling the torque of the take-up motor 16 for driving the take-up roll 9 in accordance with a signal from the controller 4 for the winding control torque, and the roll roll 9 is wound under a predetermined tension Cloth 8.

Referring to Fig. 5 showing an example of the third embodiment, a method for calculating the load torque when the load torque LT1 is decreasing during the operation of the loom will be described below. The predetermined target command torque is represented by the gradual decrease of the command torque curve 27 and includes the cloth 8 Predetermined tension and load torque. Although the gradually decreasing command torque curve 27 is set to be linearly reduced, it can be set to be gradually changed in the same manner as the third embodiment shown in Fig. 4. It should be noted that in order to compare with the gradually decreasing command torque curve 27, the fixed winding control torque CT during the operation of the loom is indicated by a broken line.

When the winding diameter of the cloth 8 reaches a predetermined value during the operation of the loom at an optional time T1, the controller 4 transmits a signal for the predetermined decreasing command torque curve 27 to the Winding motor 16. After transmitting the signal for the gradual decrease command torque curve 27, the command torque 27A at time T2 becomes equivalent to the predetermined tension TS1 of the cloth 8 and the load torque LT2 in the load torque LT1 being reduced. And the torque. Therefore, the take-up motor 16 is stopped, so that the rotational speed of the take-up motor 16 becomes zero in the transition region FTB.

When the rotation speed detected by the rotation speed detector 16A becomes zero, the controller 4 determines that the change of the rotation speed of the winding motor 16 has ended and according to the transition between the rotation variation region FT and the rotation speed stabilization region ST. The command torque 26A in the zone FTB calculates the load torque LT2 for controlling the drive of the take-up motor 16. In the third embodiment, the value of the calculated load torque LT2 is used as the command torque 27A. The calculated load torque LT2 is obtained by subtracting the predetermined tension TS1 from the command torque 27A.

After calculating the load torque LT2, the controller 4 calculates a new winding by adding the load torque LT2 to the winding torque calculated by the program in the winding control command torque portion. Control torque and A signal for the calculation of the winding control torque is transmitted to the take-up motor 16. The take-up motor 16 is controlled in accordance with the new winding control torque transmitted by the controller 4, and the take-up motor 16 drives the take-up roll 9 and thus restarts winding of the cloth 8. In the third embodiment, the new calculated winding control torque is appropriately modified by subtracting the unnecessary load torque LT3 from the conventional winding control torque CT set to be greater than a desired value, and thus Wind the cloth 8. Therefore, the control of the winding of the cloth 8 can be carried out with high accuracy without increasing the tension of the cloth 8.

Referring to Fig. 6 showing another example of the third embodiment, a method for calculating the load torque when the load torque LT4 is increasing during the operation of the loom will be described below. For example, when the winding diameter of the cloth 8 reaches a predetermined value, the controller 4 transmits a signal for the predetermined gradual decrease of the command torque curve 28 to the take-up motor 16. The command torque 28A at time T1 becomes a torque corresponding to the sum of the predetermined tension TS2 of the cloth 8 and the increased load torque LT5 at time T2. Therefore, the take-up motor 16 is stopped, and thus, the rotational speed of the take-up motor 16 becomes zero in the transition region FTB.

When the rotational speed detected by the rotational speed detector 16A becomes zero, the controller 4 determines that the change in the rotational speed of the take-up motor 16 has ended. The controller 4 calculates the load torque LT5 based on the command torque 28A in the transition region FTB. The calculated load torque LT5 is obtained by subtracting the predetermined tension TS2 of the cloth 8 from the command torque 27A. The calculated load torque LT5 is used to calculate the winding control torque in the same manner as the example shown in FIG. Subtracting unnecessary load torque LT6 from conventional winding control torque CT set to be greater than a desired value The new calculated winding control torque is appropriately modified, and thus, the cloth 8 is wound. Therefore, the control of the winding of the cloth 8 can be performed with high accuracy.

In the third embodiment including the examples of FIGS. 5 and 6, even when the variation of the load torque occurs in the device for winding a woven fabric, the command torque curve can be gradually reduced according to the gradual decrease The load torque is easily calculated by the fluctuation of the rotational speed of the take-up motor 16 at 26, 27 and 28. The control of the winding of the cloth 8 can be carried out with high accuracy because the winding motor 16 is controlled in accordance with the winding control torque calculated from the calculated load torque. Therefore, the control of the winding of the cloth 8 can be carried out with high accuracy.

The present invention is not limited to the above embodiments, but may be modified in various ways as exemplified below within the scope of the invention.

(1) As shown in Fig. 7, the gradually increasing command torque curve 22 may be replaced by the gradual increase command torque curve 22 (which is represented by the double dotted line of Fig. 7) ), wherein the gradually increasing command torque curve 22 includes torque increase curves L1, L2, and L3 having incremental curves U1, U2, and U3 connected in a continuous curve, respectively. Each of the torque increase curves L1, L2, and L3 represents a torque increase for a predetermined time T.

(2) As shown in Fig. 8, the gradually increasing command torque curve 23 may be replaced by the gradually increasing command torque curve 23 (which is represented by the double dotted line of Fig. 8). And wherein the torque is continuously increased along a curve according to the gradual increase command torque curve 23.

(3) As shown in FIG. 9, the gradual decrease command torque curve 26, 27, 28 according to the third embodiment may be replaced with a gradual decrease command torque curve 29, wherein the gradual decrease command torque curve 29 includes There are torque decrement curves L4, L5 and L6 which are connected to form a continuous curve of the reduction torques D1, D2 and D3, respectively. Each of the torque decrement curves L4, L5, and L6 represents a torque reduction for a predetermined time T.

(4) As shown in Fig. 10, the gradual decrease command torque curve 26, 27, 28 according to the third embodiment may be replaced with a gradual decrease command torque curve 30, wherein the command torque curve 30 is gradually reduced according to the gradual decrease. The torque is continuously reduced along a curve.

(5) The time T and the incremental torque U in the gradually increasing command torque curve 21 according to the first embodiment need not be fixed. For example, in a case where the command torque 21A becomes the command torque 21B, if the take-up motor is detected to be stopped, the command torque 21A may become the command torque 21B before the time T elapses.

(6) The controller 4 may be configured to indicate the gradually increasing command torque curves 21, 22, 23, the gradually decreasing command torque curves 26, 27 on a display of the input device 20 of the controller 4, 28, 29, 30, the rotational speed of the take-up motor 16 driven by the commanded torque curves 21-23, 26-30 and the calculated load torque.

(7) In the first embodiment, it may be configured such that when the command torque is increased, the controller 4 determines the take-up motor by recognizing that the rotation of the take-up motor 16 has not changed. The rotation speed of 16 is stabilized instead of comparing the rotation speed of the take-up motor 16 with the normal rotation speed.

(8) In the first embodiment, when the winding roller 9 is reinstalled, the load torque is calculated so as to be based on the winding control calculated by adding the load torque to the current winding control torque Torque is used to drive the take-up motor 16.

(9) In the first embodiment, if a large load torque is generated during the winding of the cloth 8, or if the winding of the cloth 8 continuously changes the load torque, the load torque is quickly detected and And the winding motor 16 is driven according to the winding control torque calculated by adding the load torque to the current winding control torque. Therefore, the winding tension of the cloth can be controlled with high accuracy during the operation of the loom.

In the third embodiment, even when the variation of the load torque occurs in the apparatus for winding the woven fabric 8, the load can be calculated regularly or randomly without stopping the operation of the looms Torque. Therefore, the load torque can be calculated as needed during the operation of the loom, and the take-up motor 16 can wind the control cloth to appropriately wind the cloth 8 .

21‧‧‧ Gradually increase the command torque curve

21A‧‧‧ command torque

21B‧‧‧ command torque

21C‧‧‧ command torque

21D‧‧‧ command torque

FT‧‧‧Speed change zone

FTB‧‧‧ transitional area

R1‧‧‧ rpm

R2‧‧‧ rpm

R3‧‧‧Speed

R4‧‧‧Normal speed

ST‧‧‧Speed stable zone

T‧‧‧ time

U‧‧‧Incremental torque

Claims (7)

A method for controlling the winding of a woven fabric (8) in a looming machine, wherein a winding roller (9) is driven by a take-up motor (16) to be wound via a bristles roller (2) conveying the cloth (8), the torque of the take-up motor (16) is controllable, characterized in that the method comprises the steps of: setting a gradually increasing or decreasing the take-up motor (16) Torque change command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30); The command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30) is changed according to the change command. The torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30) drives the take-up motor (16); Detecting this change command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30) The change in the rotational speed of the take-up motor (16); the rotational speed variation region (FT) of the take-up motor (16) and According to the change command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A) in the transition region (FTB) between the rotational speed stabilization regions (ST) , 28, 28A, 29, 30) calculate the load torque; Calculating the winding torque according to the tension and the winding diameter of the cloth (8); calculating the winding control torque (CT) by adding the load torque to the winding torque; and according to the winding control Torque (CT) drives the take-up motor (16). A method for controlling winding of the woven fabric (8) in the looms according to claim 1, wherein the change command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23) , 28, 28A) is a gradually increasing command torque that gradually increases the torque of the take-up motor (16), wherein the step of driving the take-up motor (16) is based on the gradually increasing command torque (21, 21A) , 21B, 21C, 21D, 21E, 21F, 22, 23, 28, 28A) the step of driving the take-up motor (16) at the time of stopping, and wherein the step of calculating the load torque is performed on the take-up motor (16) The transitional region (FTB) when the rotational speed variation region (FT) transitions to the rotational speed stabilization region (ST) is based on the gradual increase command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22) , 23, 28, 28A) The step of calculating the load torque. A method for controlling winding of the woven fabric (8) in the loom according to claim 1, wherein the change command torque (26, 26A, 26B, 26C, 27, 27A, 29, 30) is a step-down command torque that gradually reduces the torque of the take-up motor (16), wherein the step of driving the take-up motor (16) is based on the step-down command torque (26, 26A, 26B, 26C, 27) , 27A, 29, 30) the step of driving the take-up motor (16) during the take-up operation, and wherein the step of calculating the load torque is performed by the take-up motor (16) from the speed stabilization region (ST) The step of calculating the load torque based on the gradually decreasing command torque (26, 26A, 26B, 26C, 27, 27A, 29, 30) in the transition region (FTB) to the rotational speed fluctuation region (FT). The method of claim 2 for controlling the winding of the woven fabric (8) in the looms, further comprising the step of counter-rotating the take-up motor (16) at the stop, wherein the reverse is reversed After the step of rotating the take-up motor (16), a step of calculating the load torque is performed. A method for controlling winding of the woven fabric (8) in the looms according to any one of claims 1 to 4, wherein when the operation of the looms is started, calculation of the load torque is performed step. A method for controlling winding of the woven fabric (8) in the looms according to any one of claims 1 to 4, wherein when the looms are started and the woven fabric is wound at the same time (8) When the step of calculating the load torque is performed. A device for winding a woven fabric (8) in a looming machine, wherein a winding roller (9) is driven by a take-up motor (16) to be wound via a bristles roller (2) The cloth (8) is conveyed, and the torque of the winding motor (16) is controlled by a controller (4), characterized in that the device comprises: a rotation speed detector (16A), which detects the The rotation speed of the take-up motor (16), the controller (4) includes: a change command torque transmitting portion that stores a preset change command torque that gradually increases or decreases the torque of the take-up motor (16) (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30) and in order to drive the take-up motor (16) Transmitting the change command torque (21, 21A, 21B, 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30); a load torque calculation portion that is based on the change command torque (21, 21A, 21B) in a transition region (FTB) between the rotational speed variation region (FT) of the take-up motor (16) and the rotational speed stabilization region (ST) , 21C, 21D, 21E, 21F, 22, 23, 26, 26A, 26B, 26C, 27, 27A, 28, 28A, 29, 30) calculate a load torque; a winding torque calculation portion according to the Calculating a winding torque for the tension and winding diameter of the cloth (8); and a winding control torque (CT) command portion that adds the winding torque to the load torque to calculate a winding control Torque (CT) and commands are used to drive the winding control torque (CT) of the take-up motor (16).