JPH0643656B2 - Yarn swing drive device of knitting machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yarn swing driving device for a knitting machine, and more particularly to a yarn swing driving device that drives a yarn swing by a servomotor.

<Prior Art> A yarn swinging mechanism of a knitting machine has a yarn swinging frame fixed on a movably supported yarn swinging frame, and the yarn swinging has holes for supporting and passing a large number of warp yarns at predetermined intervals. A drive mechanism is provided for moving the yarn swinging up and down and back and forth and left and right during the knotting process and immediately after the knotting.

This conventional yarn swinging drive mechanism is provided with a cam follower in each cam groove or cam surface of a vertical swing cam (main cam), a horizontal swing cam, and a front-back swing cam fixed to a main shaft of a knitting machine or a shaft linked to the main shaft. Via the levers and links to connect the thread swing shafts for up / down, front / rear, and left / right driving, and further through the levers and links fixed to the thread swing shafts, the thread swing frame. It is a structure that moves up and down, front and back and left and right at predetermined timing.

<Problems to be Solved by the Invention> As described above, the conventional thread swing drive mechanism is configured to move the thread swing up and down, front and back, and left and right via cams and cam followers fixed to the main shaft or a shaft linked to the main shaft. Therefore, there is a problem that the rotational load of the main shaft is extremely large, a large amount of power is required, the operating speed of the knitting machine is limited, and the increase of the knitting speed is hindered.

Furthermore, if a new braiding method is developed and the braiding method is to be implemented on an existing braiding machine, at least the above 3
It is necessary to newly manufacture or modify the type of cam, and when the cam is newly manufactured or modified, in order to accurately set the timing of the movement of the thread swing in each direction, the cam surface and the cam groove Must be adjusted accurately, and such adjustment work requires a highly skilled technique and a time-consuming task.

The present invention has been made to solve the above problems, and can reduce the load on the main shaft of a knitting machine, enable high-speed operation, and easily control yarn swinging in response to changes in the knitting method and It is an object of the present invention to provide a yarn swinging drive device that can be quickly performed.

<Means for Solving the Problems> In order to achieve the above object, the yarn swing driving device of the present invention is linked to a yarn swing frame via a lever and a connecting member so as to move the yarn swing up and down. And a vertical servo motor that rotationally drives the vertical drive shaft, and a front and rear servo motor that rotationally drives the front and rear drive shaft that is connected to the yarn swing frame via a lever and a rod so as to move the yarn swing back and forth. Left and right servo motors that rotate and drive the screw shafts that are screwed into the left and right drive members that are connected to the thread swing frame so that the thread swing can be moved to the left and right, and are connected to each servo motor, depending on the input pulse signal. A motor drive circuit that rotationally controls each servo motor, each position data memory that stores in advance position data corresponding to vertical movement, forward / backward movement, and left / right movement of yarn swing during knitting, and yarn Direction data memory that stores movement direction data of swing up / down movement, forward / backward movement, and left / right movement in advance, and data is read by specifying an address at a fixed timing from each position data memory and direction data memory. And a control means for sending to the motor drive circuit of the servo motor.

<Operation> First, the upper, lower, front, back, left and right (3
Axis) position data and each swing direction data are created and written in each position data memory and direction data memory.

For example, assuming that the cam mechanism realizes vertical, forward, backward, and left and right swings of the thread swing, each cam curve of the vertical movement cam, the forward-backward movement cam, and the left-right movement cam (the time of the cam follower) during the two-knot process. Position change curve), and position data and direction data of the cam curve with respect to time are extracted.
Then, the vertical, front-rear, and left-right position data are written in the position data memory by specifying addresses in time order, and those direction data are written in the direction data memory. The position data and the direction data during the two-nodule process can be relatively easily created by, for example, a general-purpose personal computer, and can be easily written in the ROM serving as a memory.

When the knitting machine starts the knitting operation, the yarn swing control means
Each position data memory and direction data memory is designated at a predetermined timing to read out each data in order by specifying an address.
As a pulse train signal, a signal is output to each motor drive circuit of the up / down servo motor, the front / rear servo motor, and the left / right servo motor. Each motor drive circuit drives each servo motor by the number of rotations according to the number of input pulses, whereby the thread swing moves up, down, front and back, and left and right at a predetermined timing, and the upper hook rotates and the lower hook moves. A knot is made by a method such as knitting.

<Example> Hereinafter, an example of the present invention is described based on a drawing.

FIG. 1 shows a perspective view of a yarn swinging mechanism in a knitting machine, and FIG. 2 shows a layout explanatory view from the side. Reference numeral 1 denotes a thread swing frame that is movably supported in the up, down, front, back, left and right directions. On the thread swing frame 1, holes for supporting and passing warp threads are formed at regular intervals in a frame member having a U-shaped cross section. The thread swing 2 of the structure is fixed along the longitudinal direction.

Reference numeral 3 is a front-rear drive shaft supported by the main body frame along the thread swing 2, a lever 4 is fixed to a part of the shaft, and the lever 4 is connected to the upper portion of the thread swing frame 1 via an adjusting rod 5 to drive the front-back drive. In accordance with the rotation of the shaft 3, the thread swing 2 moves back and forth in the knitting machine. Reference numeral 6 denotes a front-rear servomotor that rotationally drives the front-rear drive shaft 3, and its rotating shaft is linked to the front-rear drive shaft 3 via a speed reducer 7 and a gear 8. Front-back servo motor 6
As a result, the front-rear drive shaft rotates, and the thread swing frame 2 moves in the front-rear direction via the lever 4 and the adjusting rod 5.

A vertical drive shaft 10 is provided near the lower portion of the thread swing frame 1 and is supported by the main body frame along the thread swing 2.
The lever 11 is fixed to a part thereof, and the tip of the lever 11 is connected to the lower end portion of the thread swing frame 1 via the connecting member 12. Reference numeral 13 denotes a vertical servomotor that rotationally drives the vertical drive shaft 10. The rotary shaft is linked to the vertical drive shaft 10 via a speed reducer 7 and a gear 8. The vertical drive shaft 10 is rotated by the vertical servomotor 13, and the thread swing frame 1 moves vertically via the lever 11 and the connecting member 12.

Reference numeral 14 denotes a left / right drive mechanism fixed on the main body frame near the lower portion of the thread swing frame 1, and a screw shaft 16 is pivotally supported on a base frame 15. The screw shaft 16 has left and right sides supported by guide shafts. The drive member 17 is screwed together, and the left and right drive members 17 are moved along the yarn swinging 2, that is, in the left and right direction of the braiding machine by the rotation of the screw shaft 16. The left and right drive members 17 are adjustment rods 1.
It is connected to the lower part of the thread swing frame 1 via 8. 19
Is a left / right servomotor for driving the left / right driving member 17, and its rotation shaft is connected to the screw shaft 16 via a coupling. The left and right servomotors 19 allow the screw shaft 16
Rotates, whereby the left-right drive member 17 moves left and right, and the thread swing frame 2 connected thereto moves left and right.

Next, the control system of each servo motor 6, 13, 19 will be described with reference to the block diagram of FIG. 5. Reference numerals 21, 22, 23 are ROMs which serve as position data memories, and the ROM 21 stores the vertical position data and the ROM 22. The front and rear position data is
The ROM 23 stores the left and right position data. Each position data corresponds to the position of each cam curve when the yarn swinging device 2 is moved virtually up and down, front and back, and left and right by one knotting process by using a cam. Are written in the ROMs 21 to 23 as 8-bit data at addresses 0000 to FFFF in order.

Reference numeral 24 is a ROM which serves as a direction data memory for storing the data of the moving direction of the thread swing (the rotating direction of the motor).
The direction data is stored for each bit at addresses corresponding to the vertical, front-back, left-right position data stored in the OMs 21-23.

25 is a 16-bit binary counter, which is 0000 above.
The numbers (0 to 65535) corresponding to the addresses of ˜FFFF are incremented and the signals are connected to the ROMs 21 to 24, respectively.

A clock generator 26 generates a clock signal f1 having a predetermined frequency and a clock signal f2 having a frequency eight times that of the clock signal. The clock signal f1 is sent to the counter 25, and the clock signal f2 is sent to shift registers 27 to 29 described later. Connected to send to.

A shift register 27 is provided on each of the output sides of the ROMs 21-23.
~ 29 are connected. The shift registers 27 to 29 operate so that the 8-bit data read from the ROMs 21 to 23 are output one bit at a time in response to the input of the clock signal f2.

The output side of each shift register 27-29 has a motor drive circuit 30-for the above-mentioned servomotors 13, 6, 19 respectively.
32 is connected. The motor drive circuits 30 to 32 are
An amplifying unit that arithmetically amplifies a position deviation between a signal from a rotational position detector provided in the motor and a target value of the input pulse signal, and a power converting unit that controls power supplied to the motor according to the output of the amplifying unit. The servo motors 13, 6 and 19 are accurately driven according to the number (frequency) of input pulse signals.

The output side of the ROM 24 that stores and reads the data of the rotation direction is connected to the above-mentioned motor drive circuits 30 to 32, and gives a command signal of the rotation direction to each of the motor drive circuits 30 to 32. The counter 25, the clock generator 26, and the shift registers 27 to 29 constitute a control means.

The upper hooks and the feed mechanism other than the thread swinger are driven by a cam mechanism fixed or connected to the main shaft of the knitting machine, but the main shaft is controlled by a servo motor controlled by a pulse signal synchronized with the above clock signal. Are driven and each mechanism is operated in synchronization.

A ROM was used as the data memory, but of course R
It is also possible to use the OM. In this case, the data may be created in advance, the data may be stored in a magnetic disk or the like, and may be moved to the RAM when used. If it is used as a dual port RAM, it is possible to change data during operation.

Next, a method of creating the position data and the direction data of the thread swing will be described with reference to FIGS. 3 and 4.

First, assuming that the vertical, forward, backward, and left and right movements of the thread swing 2 are realized by a cam mechanism, the vertical movement cam, the forward-backward movement cam, and the left-right movement cam (cam followers) in the two-knot process are assumed. The peak value is placed on the position coordinates with respect to time (a in FIG. 3). The data for two knots is created because the movement of the yarn swinger to the left or right between the combs at the end of each knotting process is performed alternately for each knot. The above-mentioned peak value data is input to a personal computer or the like, and linear velocity data whose velocity is the inclination of a line connecting the peak values is created (b in FIG. 3).

Since this linear speed data has a large speed change when the direction changes, it is converted to curve speed data that has a small speed change when the direction changes. That is, curve velocity data of a sine curve having an area of each periodic portion equal to the area of each periodic portion shaded as shown in FIG. 3b is created by calculation (c in FIG. 3). . Then, the curve position data is obtained as shown in FIG. 3d by integrating the curve velocity data at time t.

This curve position data is a position change curve of the virtual cam follower with respect to time, and the position data and direction data of the curve with respect to time are extracted as shown in FIG.

That is, as shown in FIG. 4, the clock signal f1,
The above curve position data (curve A) is arranged on the time axis where f2 is arranged, and the time axis is divided for each cycle of the clock signal f1 (8 clocks for the clock signal f2), and the vertical axis indicating the position is further divided. Is divided into, for example, 5 and horizontal lines 1 to 5 are drawn.

Then, the intersections of the curve A and the horizontal lines 1 to 5 are obtained, and one output pulse signal is generated in synchronization with the rising edge of the clock signal f2 closest to the intersections.
Create position data of 8 bits. Therefore, for example, in the case of FIG. 4, the position data of the address 0008 is 00001000 and the position data of the address 0009 is 10001000.

On the other hand, when the position output pulse signal is generated, the direction data is compared with the previous position data, and if the position is increased, the code 0 indicating the positive direction is given, and if the position is decreased, the backward direction data is given. It is made with one bit so that it is designated by reference numeral 1.

In this way, the top, bottom, front and back of the thread swing 2 during the two-knot process,
Left and right position data and direction data are created. These position data are specified by specifying an address of 0000 to FFFF, and the up and down ROM 21, the front and back ROM 22, and the left and right ROM 2 are designated.
3 and the direction data are written to the corresponding addresses in the ROM 24. Since the position data and the direction data of the yarn swing as described above can be created and written on a general-purpose personal computer, it is possible to easily and quickly deal with the change of the knitting method.

Next, the operation of the yarn swing driving device having the above configuration will be described.

When entering the knotting process, for example, the thread swing 2 holding the warp thread 20 first rises to the uppermost portion. In this case, counter 2
Address signals of 5 to 8 bits are output to the ROMs 21 to 24, and vertical position data is output from the ROM 21 to the ROMs.
Direction data is read from 24. The position data is sent to the shift register 27 and output to the motor drive circuit 30 as a pulse train signal synchronized with the clock signal f2. The direction data is output from the ROM 24 to the motor drive circuit 30.

The motor drive circuit 30 supplies a drive current to the up / down servo motor 13 according to the input pulse, and the up / down servo motor 13 rotates in the designated direction by the number corresponding to the number of pulses. As a result, the vertical drive shaft 10 in FIG. 1 rotates, and the thread swing frame, that is, the thread swing 2 is lifted up to a predetermined position via the lever 11 and the connecting member 12.

As described above, during the operation of the knitting machine, the yarn swinger 2 controls and drives the servo motor by using the data directly read from the ROM without performing any calculation or the like. Controlled.

Next, while the upper hook rotates, the thread swing 2 descends and the warp thread 20 is wound around the upper hook. In this case, the reverse rotation direction data is read from the ROM 24, the up / down servo motor 13 rotates in the opposite direction to the above, and the yarn swinging 2 moves downward to a predetermined position.

Next, for example, the lower hook penetrates the lower part of the upper hook, and the thread swing 2 moves vertically like a triangle, that is, it moves to the right while rising, and moves to the left while descending to lower the warp thread 20. Wrap it around the hook and move backwards at the end.

When the thread swing 2 moves up and down, front and back, and left and right at approximately the same time, in the up and down direction, the data is read from the ROM 21 as described above and the up and down servo motor 13 is rotationally driven to move the thread swing 2 up and down. Move to. Then, in the left-right direction, the position data and RO for the left and right are read from the ROM 23.
The direction data is read from M24, the position data signal is sent to the shift register 29, the pulse train signal is output from the shift register 29 to the motor drive circuit 32, and the direction data is also sent to the motor drive circuit 32. Then, the motor drive circuit 32 supplies a drive current to the left and right servo motors 19 according to the input pulses, and the left and right servo motors 19 rotate in the designated direction by the number corresponding to the number of pulses. As a result, the screw shaft 16 in FIG. 1 rotates, the left and right driving members 17 are moved, and the thread swing frame, that is, the thread swing 2 is moved to the right or left via the adjusting rod 18.

Regarding the front-back direction, front-back position data is read from the ROM 22 and direction data is read from the ROM 24. The position data is sent to the shift register 28 and the clock signal f
The motor drive circuit 31 outputs the pulse train signal synchronized with the signal 2 of FIG. The direction data is output from the ROM 24 to the motor drive circuit 31.

The motor drive circuit 31 supplies a drive current to the front-rear servo motor 6 according to the input pulse, and the front-rear servo motor 6 rotates in the designated direction by the number corresponding to the number of pulses. As a result, the front-rear drive shaft 3 shown in FIG. 1 is rotated, and the yarn swing frame, that is, the yarn swing 2 is moved to a predetermined front or rear position via the lever 4 and the adjusting rod 5.

Then, with the warp thread 20 hung on the lower hook, the lower hook moves forward to pull out the warp thread 20 from the lower portion of the upper hook, and the thread passes under the boat shape, that is, the weft thread.
Then, the knots are removed from the upper hooks, the eyes are tightened, and the knots in a horizontal row are formed.

After that, the thread swing 2 operates so as to transfer the warp thread 20 to the concave portion on the left or right side of the comb, and in this case also, in the same manner as above, the thread swinging is performed by the three servo motors 13, 6, and 19. 2 moves up and down, front and back, and right and left by a predetermined distance to change the position of the comb of the warp thread 20.

<Effects of the Invention> As described above, according to the yarn swinging drive device of the present invention, the data calculated in advance and written in the memory is read as it is during operation and used for drive control of the servo motor. Since the yarn swing is moved, it does not take time for calculation processing or the like during the operation, and the yarn swing can be controlled to be driven up and down, forward and backward, and right and left extremely accurately. Also, when changing the knitting method, position data and direction data according to the movement of the yarn swing can be easily created on a personal computer, etc.
You can respond quickly. Further, compared to the conventional braiding machine, the number of large-sized cams driven by the main spindle is reduced, the load on the main spindle is significantly reduced, and high-speed operation is possible with small power.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a perspective view of a yarn swinging mechanism, FIG. 2 is a side view of the yarn swinging mechanism, and FIG. 3 is an explanation when creating curve position data of the yarn swinging. FIG. 4 is an explanatory diagram for creating position data and direction data from curve position data, and FIG. 5 is a block diagram of the control system of the yarn swinging drive device. 2 ... Thread swinger, 3 ... Front-rear drive shaft, 6 ... Front-rear servo motor, 10 ... Vertical drive shaft, 13 ... Vertical servo motor, 17 ... Left-right drive member, 19 ... Left-right servo motor , 20 ... warp thread, 21-24 ... ROM (data memory), 30-32 ... motor drive circuit.

Claims (1)

[Claims] 1. A vertical servomotor for rotationally driving a vertical drive shaft linked to a thread swing frame via a lever so as to move the thread swing up and down, and for moving the thread swing back and forth. As described above, a front-rear servomotor that rotationally drives a front-rear drive shaft that is connected to the thread swing frame via a lever and a left and right servomotor that is connected to the thread swing frame to move the thread swing left and right. Left and right servomotors that rotate and drive screw shafts that are screwed into drive members; motor drive circuits that are connected to the servomotors and that control the rotation of the servomotors according to the input pulse signals; Each position data memory in which position data corresponding to vertical movement, forward / backward movement, and left / right movement of the thread swing is stored in advance, and movement direction data of the vertical movement, forward / backward movement, and left / right movement of the thread swing. A direction data memory stored in advance; a control means for reading data by designating an address from each position data memory and the direction data memory at a constant timing, and sending the data to a motor drive circuit of each servo motor; A yarn swinging drive device of a knitting machine characterized by being provided.