JP4113995B2 - Reference position measurement control method and apparatus for loom - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a reference position measurement control method and apparatus for a loom.
[0002]
[Prior art]
When one hook frame and one dedicated drive motor are connected on a one-to-one basis and a plurality of hook frames are driven separately by the dedicated motor, the rotation position of the dedicated motor and the height of the hook frame It is necessary to know the relative positional relationship with the position in advance. Therefore, for example, in the apparatus disclosed in Japanese Patent Application Laid-Open No. 9-137340, the position sensor detects when the saddle frame reaches the upper limit (uppermost position) or the lower limit (lowest position), and the intermediate between the upper limit and the lower limit. The phase of the dedicated motor when the saddle frame is arranged at the position is stored as the origin phase.
[0003]
[Problems to be solved by the invention]
An intermediate position between the upper limit and the lower limit of the hull frame is a position where the speed of the hull frame is higher, which is most suitable for specifying the origin phase. However, when the collar frame is at the intermediate position, there are two cases, that is, the middle of the collar frame is rising and the middle is descending. For this reason, the stored phase cannot be determined as the origin phase unless it is grasped whether the frame at the intermediate position is in the middle of ascending or descending. If the stored phase cannot be determined as the origin phase, the relative positional relationship between the rotational position of the drive motor and the height position of the saddle frame cannot be accurately specified.
[0004]
An object of this invention is to enable it to specify correctly the relative positional relationship of the rotational position of an opening drive motor, and the height position of a collar frame.
[0005]
[Means for Solving the Problems]
To this end, the present invention is directed to a loom including an opening device that moves up and down the ridge frame by an opening drive motor independent of the loom drive motor and reciprocates the ridge frame once by a plurality of rotations of the opening drive motor. In the invention of Item 1, a deviation amount between the rotation position of the opening drive motor and the rotation origin position of the opening drive motor when the collar frame is at the uppermost position or the lowermost position is set in advance as a specified amount. ,
When synchronizing the rotation position of the opening drive motor with the loom rotation angle, the opening drive motor is operated to move the hook frame to a specific height position excluding the highest position and the lowest position of the hook frame. And detecting the rotational position of the opening drive motor when the saddle frame reaches the specific height position, and based on the rotation origin position of the opening drive motor and the specified amount, One reciprocating range of the frame is divided by one rotation range of the opening drive motor with the lowest position as a base point, and includes the rotational position of the opening drive motor when the frame reaches the specific height position. Within the one rotation range of the opening drive motor, depending on whether the rotation position of the opening drive motor when the collar frame reaches the specific height position is included in the first half or the second half, The vertical movement direction of the heald frame when allowed to reach the heald frame to the serial specific height position was to identify.
[0006]
According to a second aspect of the present invention, in the first aspect, the collar frame is caused to reach the specific height position twice by the rotation of the opening drive motor so as to pass through the highest position or the lowest position, and the collar The rotational position of each of the opening drive motors when the frame reaches the specific height position twice is detected, and the lowest position is detected from the two detected first rotational positions and second rotational positions. A third rotation position of the opening drive motor when the frame is at the position or the uppermost position is obtained, and the minimum deviation amount between the third rotation position and the rotation origin position of the opening drive motor is defined. I tried to make it an amount.
[0007]
According to a third aspect of the present invention, in the second aspect, the third rotational position is stored as a reference position.
According to a fourth aspect of the present invention, there is provided a rotational position detecting means for detecting the rotational position of the opening drive motor, and a specification for detecting whether or not the collar frame has reached a specific height position excluding the highest position and the lowest position. A height position detecting means, and the rotation position detecting means when the eaves frame reaches the specific height position twice so as to pass through the uppermost position or the lowermost position by rotating the opening drive motor. The third rotation of the opening drive motor when the collar frame is at the uppermost position or the lowermost position based on the two first rotation positions and the second rotation position of the opening drive motor detected by A prescribed amount setting means for obtaining a position and setting a minimum deviation amount between the obtained third rotational position and the rotation origin position of the opening drive motor as a prescribed amount; and operating the opening drive motor to perform the rotation Position detection hand The rotation origin position of the opening drive motor is detected, and the rotation position detection means detects the rotation position of the opening drive motor when the collar frame reaches the specific height position. Specifying means for specifying whether the rotational position is included in the first half or the second half of the one rotation range of the opening drive motor with the third rotational position as a base point; and the third rotational position as a reference position A reference position measurement control device having storage means for storing was configured.
[0008]
In the first to fourth aspects of the present invention, the vertical movement direction of the frame that has reached the specific height position is specified, and the relative positional relationship between the rotational position of the opening drive motor and the height position of the frame is accurate. Identification is possible.
[0009]
According to a fifth aspect of the present invention, in the fourth aspect, the specific height position is an intermediate height position between the highest position and the lowest position, and the plurality of rotations of the opening drive motor are odd rotations.
[0010]
When the plurality of rotations of the opening drive motor are odd rotations, an intermediate height position between the uppermost position and the lowermost position is optimal as the specific height position.
In the invention of claim 6, the claim 4 The specific height position is a height position deviating from the middle between the highest position and the lowest position, and the plurality of rotations of the opening drive motor are even rotations.
[0011]
When the plurality of rotations of the opening drive motor are even rotations, a height position other than the intermediate height position between the highest position and the lowest position is appropriate as the specific height position.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
[0013]
Swing levers 12 and 13 are rotatably supported below the collar frame 11. The swing of the swing lever 12 is transmitted to the swing lever 13 via the transmission rod 14, and the swing levers 12 and 13 swing synchronously. Links 15 and 16 are connected to the swing levers 12 and 13, and a collar frame 11 is connected to the upper ends of the links 15 and 16. The swing of the swing levers 12 and 13 is converted into the vertical movement of the eaves frame 11 via the links 15 and 16.
[0014]
A support shaft 17 is disposed on the side of the swing lever 12, and a driven gear 18 is rotatably supported on the support shaft 17. An eccentric shaft 181 is integrally formed on the side surface of the driven gear 18, and a connecting wheel 19 is fitted and connected to the eccentric shaft 181. The rotation of the driven gear 18 is converted into the reciprocating motion of the connecting wheel 19 via the fitting connection between the eccentric shaft 181 and the connecting wheel 19, and the reciprocating motion of the connecting wheel 19 is transmitted to the swing lever 12.
[0015]
An opening drive motor 20 is disposed on the side of the driven gear 18, and the drive gear 201 of the opening drive motor 20 is engaged with the driven gear 18. The opening drive motor 20 is a servo motor type variable speed drive motor. The opening drive motor 20 is rotated through the driving force transmission path including the drive gear 201, the driven gear 18, the eccentric shaft 181, the connecting wheel 19, the swing levers 12 and 13, the transmission rod 14, and the links 15 and 17. Is converted to vertical movement. The opening drive motor 20 receives command control from the opening pattern generation circuit 22 via the drive circuit 21. An opening pattern is input to the opening pattern generation circuit 22. A curve D in FIG. 4 is an example of an opening pattern represented by a change in the height position of the collar frame 11.
[0016]
The loom control computer Co that controls the operation of the loom drive motor Mo outputs a weaving start signal to the opening pattern generation circuit 22 based on an ON operation of a start switch (not shown). Based on the input of the weaving start signal from the loom control computer Co, the opening pattern generation circuit 22 follows the opening pattern based on the loom rotation angle information obtained from the rotary encoder 23 and the reference position information obtained from the measurement control device C1. The drive circuit 21 is commanded to drive the opening drive motor 20. The drive circuit 21 feedback-controls the aperture drive motor 20 based on rotational position information obtained from an incremental encoder type rotary encoder 202 incorporated in the aperture drive motor 20. At the time of weaving, the opening drive motor 20 rotates forward.
[0017]
The measurement control device C1 includes a specified amount setting circuit 24 serving as a specified amount setting unit, and a specifying circuit 25 serving as a specifying unit and a storage unit. The specified amount setting circuit 24 is signal-connected to a rotary encoder 202 serving as a rotational position detecting means. Rotational position information obtained from the rotary encoder 202 is sent to the specified amount setting circuit 24. In addition, a specified amount measurement command switch 26 is connected to the specified amount setting circuit 24 as a signal.
[0018]
A proximity switch 27 is disposed in the vicinity of the swing locus of the output arm 121 of the swing lever 12. The proximity switch 27 serving as the specific height position detecting means is turned on when the tip of the output arm 121 of the swing lever 12 approaches a predetermined distance, and turned off when the tip of the output arm 121 moves away from the predetermined distance. The proximity switch 27 is a swing position of the tip of the output arm 121 corresponding to an intermediate position between the uppermost position of the collar frame 11 indicated by the upper chain line in FIG. 1 and the lowest position of the collar frame 11 indicated by the lower chain line. It arrange | positions so that it may oppose. The proximity switch 27 is signal-connected to the specified amount setting circuit 24 and the specific circuit 25.
[0019]
According to the configuration of the driving force transmission path in the present embodiment, when the connecting wheel 19 shown in FIG. 2 is at the chain line position K1, the collar frame 11 is at the uppermost position shown by the upper chain line in FIGS. is there. When the connecting wheel 19 is at the chain line position K2, the collar frame 11 is at the lowest position indicated by the lower chain line in FIGS. In addition, the front-end | tip part of the connection wheel 19 is abbreviate | omitted in chain line position K1, K2. When the connecting wheel 19 is at the solid line position J1 and the chain line position J2, the collar frame 11 is at an intermediate position Y1 between the uppermost position and the lowermost position. The solid line position of the connecting wheel 19 in FIGS. 1 and 2 indicates the intermediate position Y1. When the connecting wheel 19 is at one dead center position of the reciprocating motion indicated by the chain line position K1, the collar frame 11 is at the uppermost position, and when the connecting wheel 19 is at the other dead center position of the reciprocating motion indicated by the chain line position K2. The collar frame 11 is in the lowest position.
[0020]
Rotation positions α1, α2, α3, α4, α5, α6, and α7 in FIG. 4 represent rotation origin positions during one rotation of the aperture drive motor 20. The rotation origin position αn (n is an integer from 1 to 7) is grasped based on the output of the origin signal output once from the rotary encoder 202 for one rotation (360 °) of the aperture drive motor 20. . The rotation origin position αn is a mechanical origin that is not lost even when power supply to the aperture drive motor 20 is stopped. In the present embodiment, when the opening drive motor 20 rotates 5 times, the collar frame 11 reciprocates up and down once. The horizontal axis t in FIG. 4 represents the rotational position of the opening drive motor 20. When the opening drive motor 20 rotates forward, the rotational position shifts to the right side of the horizontal axis t. The rotation position γ1 between the rotation origin positions α1 and α2 represents the rotation position of the opening drive motor 20 when the collar frame 11 is at the uppermost position. The rotation position γ2 between the rotation origin positions α6 and α7 represents the rotation position of the opening drive motor 20 when the collar frame 11 is at the uppermost position. The rotation position β4 between the rotation origin positions α3 and α4 represents the rotation position of the opening drive motor 20 when the collar frame 11 is at the lowest position.
[0021]
Next, a procedure for grasping the positional relationship between the height position of the collar frame 11 and the rotational position of the opening drive motor 20 will be described.
After the assembly of the loom is completed, the eaves frame 11 is placed in the lowest position in advance.
It is assumed that the rotational position when the collar frame 11 is arranged at the lowest position is represented by β4 in FIG. When the power switch 28 is turned on and the specified amount measurement command switch 26 is turned on, the specified amount setting circuit 24 first reverses the opening drive motor 20 at a low speed in order to cause the opening drive motor 20 to perform a specified amount setting operation. The command is output to the drive circuit 21. The drive circuit 21 rotates the aperture drive motor 20 at low speed reverse rotation based on a low speed reverse rotation command that is a control command for setting a specified amount. (Indicated as R1 in FIG. 3 (a)) Let Low speed reverse rotation of the aperture drive motor 20 R1 綜 絖 frame 11 is the highest And Lowest And When the intermediate position Y1 is reached, the tip of the output arm 121 of the swing lever 12 approaches the proximity switch 27 within a predetermined distance, and the proximity switch 27 is turned on. The ON signal of the proximity switch 27 is output to the specified amount setting circuit 24. The specified amount setting circuit 24 reverses the opening drive motor 20 at low speed based on the input of the ON signal from the proximity switch 27. R1 To low-speed forward rotation (Indicated as R2 in FIG. 3 (a)) A command to switch to is output to the drive circuit 21. The specified amount setting circuit 24 temporarily stores the rotational position of the opening drive motor 20 when the ON signal is input from the proximity switch 27 based on the rotational position information obtained from the rotary encoder 202 of the opening drive motor 20. The proximity switch 27 is disposed so as to be relatively close to and away from the position of the tip of the output arm 121 corresponding to the height position where the position change of the collar frame 11 is the largest, and the opening drive motor 20 at this time Low speed reversal R1 In this case, the rotation position when the proximity switch 27 is turned on is represented by δ1 in FIG.
[0022]
The drive circuit 21 rotates the aperture drive motor 20 at low speed based on the switching command. R1 To low-speed forward rotation R2 Switch to. Low speed normal rotation of the aperture drive motor 20 R2 When the saddle frame 11 reaches the intermediate position Y1 again after the proximity switch 27 is turned off, the tip of the output arm 121 of the swing lever 12 approaches the proximity switch 27 within a predetermined distance, and the proximity switch 27 is turned on again. The specified amount setting circuit 24 rotates the aperture drive motor 20 at low speed forward rotation based on the input of the ON signal again from the proximity switch 27. R2 From low speed reverse (Indicated as R3 in FIG. 3 (a)) A command to switch to is output to the drive circuit 21. Based on this switching command, the drive circuit 21 rotates the aperture drive motor 20 at low speed forward rotation. R2 From low speed reverse R3 Switch to. The specified amount setting circuit 24 temporarily stores the rotational position of the aperture drive motor 20 when the ON signal is input again from the proximity switch 27 based on the rotational position information obtained from the rotary encoder 202 of the aperture drive motor 20. . Low speed normal rotation of the opening drive motor 20 at this time R2 In this case, the rotational position when the proximity switch 27 is turned on is represented by δ2 in FIG.
[0023]
The specified amount setting circuit 24 calculates and temporarily stores the third rotational position of the opening drive motor 20 when the collar frame 11 is at the lowest position from the first rotational position δ1 and the second rotational position δ2. . This third rotational position (indicated by β4 in FIG. 4) is obtained by the calculation of (δ1 + δ2) / 2. The specified amount setting circuit 24 reverses the opening drive motor 20 at a low speed until the rotation position of the opening drive motor 20 reaches the third rotation position β4. R3 When the rotation position of the opening drive motor 20 reaches the third rotation position β4, the opening drive motor 20 rotates at a low speed. R3 Stop. Then, the specified amount setting circuit 24 is connected to the opening drive motor 20. From the intermediate position Y1 to the third rotational position β4 Low speed reverse R3 A shift amount between the rotation origin position (α4 in the example of FIG. 4) and the third rotation position (δ1 + δ2) / 2 = β4 calculated based on the origin signal output from the rotary encoder 202 is calculated. When the origin signal is output only once during the low-speed reverse rotation of the aperture driving motor 20 as in the example of FIG. 4, the specified amount setting circuit 24 uses the deviation amount (α4-β4) = Xo as the specified amount. 25. Low speed reverse rotation of the aperture drive motor 20 R3 When the origin signal is output a plurality of times during the rotation, the rotation origin position corresponding to each origin signal and the third rotation position β 4 Is calculated. Then, the specified amount setting circuit 24 stores the minimum deviation amount among them as the specified amount Xo in the specifying circuit 25.
[0024]
The rotation position βn (where is an integer from 1 to 7) in FIG. 4 represents a position that is shifted from the rotation origin position αn by a specified amount Xo. The prescribed amount Xo depends on the assembled state of the driving force transmission path from the opening drive motor 20 to the collar frame 11.
[0025]
3A and 3B are diagrams for explaining the relationship among the rotational position of the opening drive motor 20, the height position of the collar frame 11, and the position where the proximity switch 27 is disposed. A circle E represents the height position of the collar frame 11 and the rotational position of the opening drive motor 20. In the present embodiment, moving on the circle E counterclockwise rotates the aperture drive motor 20, and moving on the circle E clockwise rotates the aperture drive motor 20 in the reverse direction. Accordingly, the right half of the circle E is the one-way side that moves the heel frame 11 from the lowest position to the highest position, and the left half of the circle E moves the heel frame 11 against the forward rotation of the opening drive motor 20 during weaving. The one-way side moves from the highest position to the lowest position. The alternate long and short dash line represents the height position of the collar frame 11 when the output arm 121 contacts and separates from the proximity switch 27, that is, the intermediate position Y1. The proximity switch 27 is illustrated in FIGS. 3A and 3B in order to express that the hook switch 11 is turned on when it reaches the intermediate position Y1. Intersections α2, α3, α4, α5, and α6 between the broken radial line and the circle E represent the rotation origin position of the aperture driving motor 20, and the intersections β2, β3, β4, β5 between the solid radial line and the circle E , Β6 represent rotational positions deviated from the rotational origin positions α2, α3, α4, α5, α6 by a specified amount Xo. The intersection β4 represents the third rotational position and the lowest position of the collar frame 11. The intersections β2, β3, β4, β5, and β6 are defined as one rotation range of the opening drive motor 20 (hereinafter referred to as one rotation range) with respect to one reciprocation range of the frame 11 with the lowest position represented by the intersection β4 as a base point. Represents the position divided. An arrow R1 in FIG. 3A indicates a state in which the opening drive motor 20 is reversely rotated at a low speed as the specified amount measurement command switch 26 is turned on. An arrow R2 indicates a state in which the opening drive motor 20 is rotated forward at a low speed as the proximity switch 27 is turned on, and an arrow R3 indicates a state in which the opening drive motor 20 is rotated at a low speed as the proximity switch 27 is turned on again. .
[0026]
When the power switch 28 is turned on again after the power switch 28 is turned off, the rotational position of the opening drive motor 20 needs to be synchronized with the loom rotation angle. In order to perform this synchronization, it is necessary to specify the relative positional relationship between the rotational position of the opening drive motor 20 and the height position of the collar frame 11. Therefore, when the power switch 28 is turned on again after the power switch 28 is turned off, the collar frame 11 is disposed in the vicinity of the intermediate position Y1 in advance. The intersection L1 of the two-dot chain line radial direction line H1 and the circle E in FIG. 3B is the height position of the collar frame 11 disposed near the intermediate position Y1 and the rotational position of the opening drive motor 20 (in FIG. 4). L1). The intersection L2 between the radial direction line H2 of the two-dot chain line in FIG. 3B and the circle E is the height position of the collar frame 11 disposed near the intermediate position Y1 and the rotational position of the opening drive motor 20 (in FIG. 4). L2).
[0027]
When the power switch 28 is turned on again, the specific circuit 25 that stores the specified amount Xo outputs a command to the drive circuit 21 so that the aperture drive motor 20 is rotated in half rotation at low speed and then rotated forward in one rotation at low speed. To do. Based on this command, the drive circuit 21 reverses the aperture drive motor 20 by half rotation at low speed and then forwardly rotates one rotation at low speed.
[0028]
The rotational position of the opening drive motor 20 and the height position of the collar frame 11 when the collar frame 11 is arranged in the vicinity of the intermediate position Y1 are the positions indicated by L1 in FIG. If it is in a position that is descending toward the lowest position, an arrow Q1 in FIG. 3 (b) shows a state in which the opening drive motor 20 is reversed by half rotation at a low speed, and an arrow Q2 shows the opening drive motor 20 at a low speed. The state rotated forward by one rotation is shown. The rotary encoder 202 outputs the origin signal at least once by the low-speed forward / reverse rotation of the opening drive motor 20, and the proximity switch 27 is turned on at least once. In the illustrated example, the rotary encoder 202 outputs the origin signal twice during the low speed forward / reverse rotation, and the proximity switch 27 is turned on once.
[0029]
The rotation position of the opening drive motor 20 and the height position of the collar frame 11 when the collar frame 11 is arranged in the vicinity of the intermediate position Y1 are the positions indicated by L2 in FIG. If it is in the position where it is ascending toward the highest position, the arrow Q3 in FIG. 3 (b) shows a state in which the opening drive motor 20 is reversed by half rotation at a low speed, and the arrow Q4 shows the opening drive motor 20 at a low speed. The state rotated forward by one rotation is shown. The rotary encoder 202 outputs the origin signal at least once by the low-speed forward / reverse rotation of the opening drive motor 20, and the proximity switch 27 is turned on at least once. In the illustrated example, the rotary encoder 202 outputs the origin signal once during low-speed forward / reverse rotation, and the proximity switch 27 is turned ON twice.
[0030]
Based on the input of the origin signal and the input of the ON signal of the proximity switch 27, the specifying circuit 25 grasps the rotational position δ1 or δ2 when the ON signal of the proximity switch 27 is input. The rotational position at the time of inputting the ON signal of the proximity switch 27 is indicated by the intersection δ1 or δ2 of the one-dot chain line and the circle E in FIG. The rotation position range (one rotation range) for one rotation of the opening drive motor 20 is determined with the third rotation position β4 as a base point. 3A and 3B, the range from one of the adjacent solid radial lines to the other is the one rotation range of the opening drive motor 20. A and B in FIG. 3B are examples of the one rotation range, and the one rotation ranges A and B correspond to the intermediate position Y1 that is the specific height position. The specifying circuit 25 specifies the one rotation ranges A and B corresponding to the intermediate position Y1 based on the detection of the rotation origin position when the power switch 28 is turned ON again and the ON of the proximity switch 27. When the one rotation range when the aperture drive motor 20 is rotating forward is divided into the first half and the second half, the first half of the one rotation range A is indicated by A1, and the second half of the one rotation range A is indicated by A2. is there. The first half of one rotation range B is indicated by B1, and the second half of one rotation range B is indicated by B2.
[0031]
Assuming that the recognized rotational position of the opening drive motor 20 is included in the second half A2 of one rotation range A, the specific circuit 25 indicates that the saddle frame 11 is descending when an ON signal is input to the proximity switch 27. Is specified to be δ1. On the other hand, if the grasped rotational position of the opening drive motor 20 is included in the first half B1 of the one rotation range B, the specific circuit 25 indicates that the saddle frame 11 is rising when the proximity switch 27 is turned on. That is, the rotational position at that time is specified as δ2. That is, the specifying circuit 25 specifies whether the detected rotational position δ1 or δ2 is included in the first half or the second half in one rotation range A or B of one rotation of the aperture drive motor 20.
[0032]
When the rotational position δ1 or δ2 grasped by the specific circuit 25 is included in the latter half of one rotation range of the opening drive motor 20, the collar frame 11 is in the left half of the circle E. That is, with respect to the normal rotation of the opening drive motor 20, the eaves frame 11 is on one way which moves from the highest position to the lowest position. When the rotation position δ1 or δ2 grasped by the specific circuit 25 is included in the first half of one rotation range of the opening drive motor 20, the collar frame 11 is in the right half of the circle E. That is, with respect to the normal rotation of the opening drive motor 20, the eaves frame 11 is on one way which moves from the lowest position to the highest position.
[0033]
The specifying circuit 25 stores the third rotational position β4 as a reference position based on the rotational position δ1 or δ2 when the proximity switch 27 is turned on. For example, when the rotation position when the proximity switch 27 is turned on is δ1, the rotation position obtained by subtracting the shift amount Xo from the position where the opening drive motor 20 has rotated forward twice from the rotation origin position α2 is the reference position of the opening drive motor 20. Remember as. The reference position β4 of the opening drive motor 20 stored in the specifying circuit 25 is used to specify the relative positional relationship between the rotational position of the opening drive motor 20 and the height position of the collar frame 11.
[0034]
The reference position measurement control as described above is performed every time the power switch 28 is turned on, and the stored reference position β4 is updated every time the power switch 28 is turned on.
The following effects can be obtained in the first embodiment.
[0035]
(1-1) The state in which the rotation position of the aperture drive motor 20 when the proximity switch 27 is ON is included in the first half of the rotation range of the aperture drive motor 20 determined with the third rotation position β4 as a base point. This corresponds to the state in which the eaves frame 11 is on the one-way side of ascent. The state in which the rotation position of the opening drive motor 20 when the proximity switch 27 is ON is included in the latter half of the one rotation range corresponds to the state in which the collar frame 11 is on the one-way side of the lowering. Therefore, when the specific circuit 25 grasps the rotational position δ1 or δ2, the vertical movement direction of the collar frame 11 at this time is uniquely determined as one of the one-way side and the other one-way side of the collar frame 11. The That is, the vertical movement direction of the collar frame 11 when the collar frame 11 reaches the specific height position is identified. Further, when the specifying circuit 25 grasps the rotational position δ1 or δ2, the specific height position of the saddle frame 11 on one of the one-way side and the other one-way side of the saddle frame 11 and the stored reference position And one-to-one. Therefore, the rotational position δ1 or δ2 in the opening drive motor 20 becomes information for accurately specifying the relative positional relationship between the rotational position of the opening drive motor 20 and the height position of the collar frame 11, and The relative positional relationship between the rotational position and the height position of the collar frame 11 can be accurately specified.
[0036]
(1-2) In the present embodiment, when the opening drive motor 20 rotates five times, the collar frame 11 moves as much as one reciprocation between the uppermost position and the lowermost position. The proximity switch 27 is turned on when the collar frame 11 reaches a specific height position, which is an intermediate position Y1 between the highest position and the lowest position. Depending on whether the rotational position δ1 or δ2 grasped by the specific circuit 25 is included in the first half or the second half of the one rotation range of the opening drive motor 20 determined with the third rotational position β4 as a base point, the eaves frame 11 is lowered It is possible to specify whether it is on the one-way and the one-side of the ascending side by allowing the opening drive motor 20 to rotate five times for one reciprocation of the saddle frame 11 and for the specific height of the saddle frame 11 to be an intermediate position Y1. According to the configuration, the proximity switch 27 is arranged so as to be turned on when the position is reached. If the arrangement configuration of the proximity switch 27 is not changed, the number of rotations of the opening drive motor 20 for one reciprocation of the saddle frame 11 may be an odd number of rotations other than five. An intermediate height position Y1 between the uppermost position and the lowermost position of the collar frame 11 is the place where the position change of the collar frame 11 is the largest. That is, the swing position of the output arm 121 corresponding to the intermediate position Y1 of the collar frame 11 is the place where the position change is the largest. The configuration in which the proximity switch 27 is arranged so as to have a detection region in the vicinity of such a position is optimal for accurately specifying the rotational position of the opening drive motor 20 when the proximity switch 27 is ON. Therefore, when the plurality of rotations of the opening drive motor 20 are odd rotations, the intermediate position Y1 between the uppermost position and the lowermost position of the collar frame 11 is specified by the proximity switch 27 to specify the height position of the collar frame 11. It is optimal as a height position.
[0037]
(1-3) The rotary encoder 202 of the aperture drive motor 20 is an incremental encoder type, and if the aperture drive motor 20 rotates when the power switch 28 is OFF, the rotational position of the aperture drive motor 20 cannot be determined. After storing the specified amount Xo, automatically measuring the reference position of the opening drive motor 20 every time the power switch 28 is turned on is simple in understanding the rotation position of the opening drive motor 20 as necessary information for weaving. It is a piece.
[0038]
Next, a second embodiment of FIGS. 5 to 7 will be described. The same components as those in the first embodiment are denoted by the same reference numerals.
In this embodiment, the opening drive motor 20 rotates four times for one reciprocation of the collar frame 11, and the proximity switch 27 corresponds to the intermediate position Y1 of the collar frame 11 as shown by a solid line in FIG. The position is slightly above the swing position of the tip. The chain line position of the proximity switch 27 in FIG. 5 is the same position as in the first embodiment. 6 (a) and 6 (b) represents the specific height position Y2 of the saddle frame 11 when the proximity switch 27 is turned on.
[0039]
Rotation positions α1, α2, α3, α4, α5, and α6 in FIG. 7 represent rotation origin positions during one rotation of the aperture drive motor 20. This rotation origin position αn (n is an integer from 1 to 6) is grasped based on the output of the origin signal output once from the rotary encoder 202 for one rotation (360 °) of the aperture drive motor 20. . The rotational positions β2 and β6 represent rotational positions of the opening drive motor 20 when the collar frame 11 is at the uppermost position. The rotational position β4 represents the rotational position of the opening drive motor 20 when the collar frame 11 is at the lowest position.
[0040]
The procedure for grasping the positional relationship between the height position of the collar frame 11 and the rotation position of the opening drive motor 20 is the same as that in the first embodiment. An arrow R1 in FIG. 6A indicates a state in which the opening drive motor 20 is reversely rotated at a low speed as the specified amount measurement command switch 26 is turned on. An arrow R2 indicates a state in which the opening drive motor 20 is rotated forward at a low speed as the proximity switch 27 is turned on, and an arrow R3 indicates a state in which the opening drive motor 20 is rotated at a low speed as the proximity switch 27 is turned on again. . Arrows Q1 and Q3 in FIG. 6B indicate a state in which the opening drive motor 20 is rotated reversely by half rotation at a low speed, and arrows Q2 and Q4 indicate a state in which the opening drive motor 20 is rotated forward by one rotation at a low speed.
[0041]
The specific circuit 25 grasps the rotational position when the proximity switch 27 is turned on based on the input of the origin signal after the power switch 28 is turned on and the ON signal of the proximity switch 27. The rotational position at the time of input of the ON signal of the proximity switch 27 is indicated by the intersection δ3 or δ4 of the one-dot chain line and the circle E in FIG. F and G in FIG. 3B are examples of the one rotation range, and the one rotation range F and G corresponds to the specific height position Y2. The specifying circuit 25 specifies one rotation range F and G corresponding to the specific height position Y2 based on detection of the rotation origin position when the power switch 28 is turned ON again and ON of the proximity switch 27. When the one rotation range when the aperture drive motor 20 is rotating forward is divided into the first half and the second half, the first half of the one rotation range F is indicated by F1, and the second half of the one rotation range F is indicated by F2. is there. The first half of one rotation range G is indicated by G1, and the second half of one rotation range G is indicated by G2.
[0042]
When the grasped rotational position is δ3, in the illustrated example, the specifying circuit 25 specifies that the rotational position δ3 is included in the second half F2 of the one rotation range F. When the grasped rotational position is δ4, in the illustrated example, the specifying circuit 25 specifies that the rotational position δ4 is included in the first half G1 of the one rotation range G. That is, the specifying circuit 25 specifies whether the detected rotational position δ3 or δ4 is included in the first half or the second half of the one rotation range F or G of the aperture driving motor 20.
[0043]
When the rotational position δ3 or δ4 grasped by the specific circuit 25 is included in the latter half of one rotation range of the opening drive motor 20, the collar frame 11 is in the left half of the circle E. That is, with respect to the normal rotation of the opening drive motor 20, the eaves frame 11 is on one way which moves from the highest position to the lowest position. When the rotational position δ3 or δ4 grasped by the specific circuit 25 is included in the first half of one rotation range of the opening drive motor 20, the collar frame 11 is in the right half of the circle E. That is, with respect to the normal rotation of the opening drive motor 20, the eaves frame 11 is on one way which moves from the lowest position to the highest position.
[0044]
The specifying circuit 25 stores the third rotational position β4 as a reference position based on the rotational position δ3 or δ4 when the proximity switch 27 is turned on. For example, when the rotation position when the proximity switch 27 is turned on is δ3, the time when the opening drive motor 20 rotates forward (360 ° −Xo) from the rotation origin position α3 is stored as the reference position of the opening drive motor 20. The reference position β4 of the opening drive motor 20 stored in the specifying circuit 25 is used to specify the relative positional relationship between the rotational position of the opening drive motor 20 and the height position of the collar frame 11.
[0045]
The reference position measurement control as described above is performed every time the power switch 28 is turned on, and the stored reference position β4 is updated every time the power switch 28 is turned on.
In the second embodiment, when the opening drive motor 20 rotates four times, the collar frame 11 moves as much as one reciprocation between the uppermost position and the lowermost position. Then, the proximity switch 27 is turned on when the collar frame 11 reaches the specific height position Y2. Depending on whether the rotational position δ3 or δ4 grasped by the specific circuit 25 is included in the first half or the second half of one rotation range of the opening drive motor 20 determined with the third rotational position β4 as a base point, the eaves frame 11 is lowered It is possible to specify whether it is on the one-way or the one-side of the ascending side, so that the opening drive motor 20 rotates four times for one reciprocation of the collar frame 11, and the collar frame 11 is in the highest position and the lowest position. The proximity switch 27 is arranged so as to be turned on when reaching a specific height position Y2 slightly above the intermediate position. If the arrangement configuration of the proximity switch 27 is not changed, the number of rotations of the opening drive motor 20 for one reciprocation of the saddle frame 11 may be an even number other than four.
[0046]
In the present invention, the following embodiments are also possible.
(1) The rotation position of the opening drive motor 20 corresponding to the uppermost position of the collar frame 11 is set as the third rotation position. In this case, the third rotation position may be detected by moving the collar frame 11 on the upper side of the specific height position.
(2) In the first embodiment, when the power switch 28 is in the OFF state, the eaves frame 11 is disposed at a height position where the rotational position of the opening drive motor 20 is L1 or L2. The opening drive motor 20 is rotated in one direction to turn on the proximity switch 27 twice so as to grasp the third rotational position.
(3) In the second embodiment, the specific height position is set below the intermediate position Yo between the uppermost position and the lowermost position of the collar frame 11. That is, the proximity switch 27 is turned on when the collar frame 11 reaches a specific height position below the intermediate position Yo.
[0047]
【The invention's effect】
As described in detail above, in the present invention, the opening drive motor is operated to reach the specific height position excluding the uppermost position and the lowest position of the vertical frame, and the vertical frame is moved to the specific height position. The rotational position of the opening drive motor when the frame is reached is detected, and the uppermost position or the lowermost position is used as a base point based on the rotation origin position of the opening drive motor and a preset specified amount. One reciprocation range of the frame is divided by one rotation range of the opening drive motor, and the one rotation of the opening drive motor includes the rotation position of the opening drive motor when the collar frame reaches the specific height position. Within the range, the collar frame reaches the specific height position depending on whether the rotation position of the opening drive motor when the collar frame reaches the specific height position is included in the first half or the second half. Since so as to identify the vertical movement direction of the heald frame obtained while the relative positional relationship between the height position of the rotational position and the heald frames of shedding drive motor can be accurately specified.
[Brief description of the drawings]
FIG. 1 is a combination diagram of an opening device and a control block diagram showing a first embodiment.
FIG. 2 is a front view showing a part of a driving force transmission path.
FIGS. 3A and 3B are explanatory diagrams for explaining reference position measurement. FIGS.
FIG. 4 is a graph showing the relationship between the height position of the eaves frame and the rotational position of the opening drive motor 20;
FIG. 5 is a combination diagram of an opening device and a control block diagram showing a second embodiment.
6A and 6B are explanatory views for explaining reference position measurement. FIG.
FIG. 7 is a graph showing the relationship between the height position of the collar frame and the rotational position of the opening drive motor 20;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 11 ... Persimmon frame, 20 ... Opening drive motor, 202 ... Rotary encoder used as rotational position detection means, 24 ... Prescribed quantity setting circuit which comprises prescribed quantity setting means, 25 ... Specific circuit used as specifying means and storage means, A prescribed amount measurement command switch constituting the prescribed amount setting means, 27... Proximity switch to be a specific height position detection stage, 28... Power switch for turning off and on power, C1.

Claims (6)

In a loom including an opening device that moves up and down the reed frame by an opening drive motor independent of the loom drive motor, and reciprocates the reed frame once by a plurality of rotations of the opening drive motor,
The amount of deviation between the rotation position of the opening drive motor and the rotation origin position of the opening drive motor when the collar frame is at the uppermost position or the lowermost position is set in advance as a specified amount,
When synchronizing the rotation position of the opening drive motor with the loom rotation angle, the opening drive motor is operated to move the hook frame to a specific height position excluding the highest position and the lowest position of the hook frame. And detecting the rotational position of the opening drive motor when the saddle frame reaches the specific height position, and based on the rotation origin position of the opening drive motor and the specified amount, One reciprocating range of the frame is divided by one rotation range of the opening drive motor with the lowest position as a base point, and includes the rotational position of the opening drive motor when the frame reaches the specific height position. Within the one rotation range of the opening drive motor, depending on whether the rotation position of the opening drive motor when the collar frame reaches the specific height position is included in the first half or the second half, Reference position measurement control method in a weaving machine for identifying the vertical movement direction of the heald frame when allowed to reach the heald frame to the serial specific height position. The hook frame is caused to reach the specific height position twice by the rotation of the opening drive motor so as to pass through the uppermost position or the lowest position, and the hook frame is made to reach the specific height position twice. When the rotational position of each of the opening drive motors is detected, and the saddle frame is at the lowest position or the highest position from the two detected first and second rotational positions. 2. The reference in the loom according to claim 1, wherein a third rotational position of the opening drive motor is determined, and a minimum deviation amount between the third rotational position and the rotation origin position of the opening drive motor is the specified amount. Position measurement control method. The reference position measurement control method for a loom according to claim 2, wherein the third rotational position is stored as a reference position. In a loom including an opening device that moves up and down the reed frame by an opening drive motor independent of the loom drive motor, and reciprocates the reed frame once by a plurality of rotations of the opening drive motor,
Rotational position detecting means for detecting the rotational position of the opening drive motor;
Specific height position detecting means for detecting whether or not the frame has reached a specific height position excluding the highest position and the lowest position;
The opening drive detected by the rotational position detecting means when the opening drive motor is rotated to reach the specific frame position twice so as to pass the uppermost position or the lowermost position. Based on the two first rotational positions and the second rotational position of the motor, a third rotational position of the opening drive motor when the collar frame is at the uppermost position or the lowermost position is obtained, and the obtained A specified amount setting means for setting a minimum deviation amount between the third rotation position and the rotation origin position of the opening drive motor as a specified amount;
The opening drive motor is operated to cause the rotation position detection means to detect the rotation origin position of the opening drive motor, and the rotation position of the opening drive motor when the saddle frame reaches the specific height position. Specification that causes the rotational position detection means to detect and to determine whether the detected rotational position is included in the first half or the second half of the one rotation range of the opening drive motor with the third rotational position as a base point Means,
A reference position measurement control device in a loom comprising storage means for storing the third rotational position as a reference position. 5. The reference position measurement control device for a loom according to claim 4, wherein the specific height position is an intermediate height position between the uppermost position and the lowermost position, and the plurality of rotations of the opening drive motor are odd rotations. . 5. The reference position measurement in a loom according to claim 4, wherein the specific height position is a height position deviating from an intermediate position between the uppermost position and the lowermost position, and the plurality of rotations of the opening drive motor are even rotations. Control device.

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