CN1675420A - Method of controlling electric opening device - Google Patents

Abstract

A method of controlling an electric opening device, characterized by comprising the steps of setting one or more weaving conditions, obtaining the torque limit values of electric motors according to the set weaving conditions, and setting the obtained torque limit values for each electric motor, whereby the lowering of the service life of the device by the damage and wear of heald frame drive parts and the electric motors can be avoided to increase a weaving capability.

Description

Control method of electric opening device

Technical field

The invention relates to a control method of an electric shedding device having an electric motor per heald frame.

Background technique

It is known in the electric shedding device to set the loop gain of the position control loop, the speed control loop or the current control loop of the electric motor according to the shedding pattern, so as to avoid the heddle due to the too small loop gain relative to the shedding pattern. The frame response is delayed to weave this technique (Japanese Patent Application Laid-Open No. 11-241250).

However, in the above-mentioned prior art, the loop gain is changed according to the opening pattern, and the maximum torque of the electric motor cannot be properly controlled. Therefore, the acceleration and deceleration of the heald frame may exceed the allowable value due to the setting conditions of the loop gain. , which leads to a reduction in life due to damage and wear of the driving parts of the heald frame and the electric motor. Therefore, the rotational speed of the loom has to be reduced.

Contents of Invention

The purpose of the present invention is to improve the weaving property without reducing the service life of the driving parts of the heald frame and the electric motor due to damage and wear.

The control method of the present invention, no matter which one is applicable to the electric shedding device in which a plurality of heald frames are respectively driven by a dedicated electric motor and the output torque of the electric motor is limited according to a predetermined torque limit value control.

The first control method of the present invention includes obtaining a torque limit value of the electric motor based on a setting status of at least one weaving element, and setting the obtained torque limit value to the electric motor.

In the first control method, a plurality of torque limit values are preset according to the setting conditions of the weaving elements, and when the torque limit value of the electric motor is obtained, the torque limit value selected according to the setting conditions of the weaving elements can be set. The specified torque limit value. And it is more ideal to set a plurality of coefficients for calculating the torque limit value corresponding to the setting situation of the weaving element according to each weaving element. When finding the torque limit value of the electric motor, it can As an element, coefficients corresponding to the setting conditions of the weaving elements are selected, and a torque limit value is calculated and set based on a plurality of selected coefficients.

The second control method of the present invention includes: setting the torque limit value of each electric motor according to the serial number of the heald frame.

The third control method of the present invention includes: obtaining and setting the torque limit value of the electric motor according to the setting status of at least one weaving element and the serial number of the heald frame. More ideally, the coefficients related to the torque limit value can be processed as coefficients in advance corresponding to the setting conditions of the weaving elements and the serial numbers of the heald frames, and according to the setting conditions of the weaving elements and the heald frame The serial number corresponds to the selected coefficient to calculate and set the torque limit value of the electric motor.

The fourth control method of the present invention includes: making at least one of the setting conditions of the weaving elements switchable during the weaving operation, and obtaining the electric motor power corresponding to the switching of the setting conditions of the weaving elements during the weaving operation. Torque limit value and set it.

As an alternative to the above, in the fourth control method, multiple torque limit values can be set corresponding to the switching of the setting conditions of the weaving elements. The torque limit value corresponding to the switching of the constant state is set as the torque limit value.

In the fourth control method, the weaving elements include the continuity of the shedding movement from several picks to the switching time, the constituent elements of the shedding curve, the shedding movement direction from the switching time, the action on the healds At least one selected from the group consisting of the external force of the frame and the rotational speed of the loom.

In any of the above-mentioned second, third and fourth control methods, no matter which one may be: make the setting conditions of a plurality of weaving elements switchable during the weaving operation, and each weaving element corresponds to each setting condition A torque limit value corresponding to switching of the setting status is selected for each weaving element corresponding to a plurality of coefficients for which the torque limit value is set, and when the setting status is switched during the weaving operation, the basis The torque limit value obtained by calculation of multiple selected coefficients.

The fifth control method of the present invention includes: corresponding to the first process of accelerating or decelerating the angular velocity of the spindle rotation and the second process of maintaining the angular velocity of the spindle, the output torque limit value of the electric motor is preset, and the opening is driven. The device drives the electric motor by limiting the output torque of the driving motor in the first and second processes according to the output torque limit values corresponding to the two processes.

The above-mentioned dedicated electric motor is independent from the driving motor of the main shaft of the loom, and belongs to the shedding device. This electric motor can be driven along with the rotation of the main shaft according to the predetermined opening curve.

The aforementioned torque limit value may be any one of the maximum torque value and the maximum current value, since the torque value corresponds to the current. For instantaneous operation, it may be the instantaneous maximum torque or the instantaneous maximum current.

Examples of weaving factors include shedding pattern, angle of repose, loom rotation speed, shedding amount, fabric width, warp tension, number of warp yarns, and the like.

With the present invention, the torque limit value of the special electric motor can be set to the optimum value according to the set weaving conditions, the frame number of the heald frame, or the set torque limit value, thus avoiding excessive The torque causes damage to the drive parts of the heald frame, the electric motor, and the weaving defects caused by the response delay of the heald frame caused by too small torque. In other words, it is possible to avoid damage to the driving parts of the heald frame, the electric motor, and the response delay of the heald frame caused by too small torque, and to obtain the best weaving property.

Description of drawings

Fig. 1 is a circuit block diagram showing an embodiment of the control device of the present invention.

FIG. 2 shows an example of the opening pattern (A) and the driving torque of the servo motor based on the device in FIG. 1 .

FIG. 3 shows another example of the opening pattern (A) based on the device in FIG. 1 and the driving torque of the servo motor.

Fig. 4 is an overall configuration diagram showing an opening device of another embodiment of the control device of the present invention.

FIG. 5 is a block diagram specifically showing a position instruction unit in the opening control device shown in FIG. 4 .

FIG. 6 shows a setting example of the opening curve.

FIG. 7 is a block diagram specifically showing a position control unit shown in FIG. 4 .

FIG. 8 is a block diagram specifically showing the current control circuit shown in FIG. 7 .

FIG. 9 shows a timing diagram of the current control circuit shown in FIG. 7 .

FIG. 10 shows a sequence diagram subsequent to the sequence diagram shown in FIG. 9 .

FIG. 11 is a flowchart for explaining the operation of the aperture selection instruction circuit shown in FIG. 5 .

FIG. 12 shows a subsequent flowchart of the flowchart shown in FIG. 11 .

FIG. 13 shows a subsequent flowchart of the flowchart shown in FIG. 12 .

FIG. 14 shows a subsequent flowchart of the flowchart shown in FIG. 13 .

Detailed ways

[first embodiment]

With reference to Fig. 1, the control device 10 of electric opening device comprises: the main control device 12 of loom; The setter 14 that is connected with main control device 12; Receive the various setting that setter 14 sets from main control device 12 Condition S1, the shedding control device 18 that calculates the torque limit level for each heald frame 16, that is, the torque limit value S2; the servo amplifier 20 equipped with each heald frame 16; the servo amplifier 20 equipped with each heald frame 16; servo motor 22 ; and an encoder 24 that outputs a rotation angle signal θ1 representing a rotation angle of each servo motor 22 to the opening control device 18 .

FIG. 1 shows only one heald frame 16, a servo amplifier 20 corresponding to the heald frame 16, a servo motor 22 as an electric motor driving the heald frame 16, and a rotation angle signal θ1 of the servo motor 22. The encoder 24. But actually it includes a plurality of heald frames 16 , and each heald frame 16 is equipped with a servo amplifier 20 , a servo motor 22 and an encoder 24 .

Specifically, a plurality of servo amplifiers 20 corresponding to the number of heald frames 16 are connected to one shedding control device 18 . Moreover, the electric motor, driving device, and control circuit mentioned in the invention correspond to the servo motor 22, the servo amplifier 20, the main control device 12, and the opening control device 18, respectively. Furthermore, a well-known reciprocating motion conversion mechanism for converting the rotational motion of the output shaft into reciprocating motion is incorporated between the output shaft of the servo motor 22 and the heald frame 16 .

The main control device 12 is the same as the conventional main control device used in the loom, and uses the rotation angle signal θ0 output by the encoder 26 to indicate the rotation angle of the main shaft and various weaving information to control the shedding device, the weft insertion device, and the length of the weft yarn. Various mechanical devices of looms such as weft inserting device, warp tension adjusting device, weaving take-up device, etc.

In the setter 14, in order to set the shedding movement mode, each heald frame 16 sets the warp thread shedding pattern, angle of repose, and warp thread shedding amount determined by any one of the upper shedding and the lower shedding for each cotton yarn picking shuttle. The parameters of the motion are to determine the motion curve of the heald frame 16 corresponding to the preset rotation angle of the main shaft of the loom, and to set the weaving elements such as the loom speed, opening amount, weaving width, warp tension, and number of warp f setting data. The weaving elements listed above relate to the load of the servo motor 22 that drives the heald frame, and the main controller 12 is used to perform coefficient processing on the heald frame 16 and various weaving elements for each heald frame. Readout of multiple coefficients. The read coefficients are supplied to the shedding control means 18 for each heald frame as the set condition S1.

These coefficients are converted into coefficients by experiments, calculations, etc., and are set in advance in the main control device 12 so that the durability of driving parts such as weaving and heald frame is most balanced. The main control device 12 reads a plurality of corresponding coefficients according to the setting functions (setting data) of a plurality of weaving elements set by the setter 14, and outputs the read coefficients as setting conditions S1 to the shedding control device 18.

The setter 14 pre-prepares a shedding curve corresponding to the main shaft rotation angle for each heald frame according to the parameters of the shedding movement and the crossing timing of the shedding device, and sends it to the shedding control device 18 through the main control device 12 . The input opening curve is stored in the opening control device 18 .

Therefore, the shedding control device 18 outputs a driving amount signal (not shown) corresponding to the input spindle rotation angle signal θ0 to each servo amplifier 20, 20, … On the other hand, each servo amplifier 20, 20, ... also receives a rotation angle signal θ1 output from an encoder 24 corresponding to the servo motor 22, 22, ....

Each of the servo amplifiers 20, 20, ... can pass a driving amount signal corresponding to the rotation angle of the main shaft input from the shedding control device 18, and a coefficient corresponding to a weaving element as described later that is similarly input. The determined torque limit value signal S2 provides the control of limiting the output torque (current), that is, limiting the output current to the above-mentioned limit value, to each servo motor 22, 22, ... to drive each heald frame 16, 16, . . . …

Moreover, unillustrated loom control signals such as loom operation and stop are input to the shedding control device 18 by the main control device 12, and the shedding control device 18 can also output a driving amount signal and a torque limit value corresponding to the input to drive each shed. wire frame.

Coefficientization processing can be performed as shown in Table 1 below. However, it is also possible to focus on one of the two aspects of the driving parts of the heald frame, the reduction in the life of the electric motor due to damage and wear, and the weaving performance. Therefore, the magnitude of the coefficients in Table 1 is sometimes reversed.

Here, the frame number of the so-called heald frame refers to the serial number added to the plurality of heald frames arranged side by side on the loom, for example, added in ascending order from the front side of the loom to the direction away from the loom. For example, in Table 1, the larger the heald frame with the larger movement amount and the larger frame number, the smaller the coefficient is set, but it can also be the opposite, the larger the movement amount and the larger the frame number of the heald frame, the coefficient is set to be smaller. The larger the setting, the smaller the response delay when the heald frame with the larger frame number is accelerating and decelerating, and the weaving performance will be improved.

Intermittent opening patterns (1/2·2/1, 1/3·3/1, etc.) are prone to follow-up delays during acceleration and deceleration, and cannot obtain sufficient openings. Therefore, in the case of such an opening pattern, by increasing the value of the coefficient, the acceleration force and the braking force during deceleration are increased. Intermittent shedding patterns (1/4·4/1, 1/5·5/1, etc.) with a long stop time, because the stop time of the heald frame is long, even if the coefficient is increased to increase acceleration and deceleration The current value at the time will not burn out.

The opening pattern (1/1) of the flat opening can reduce the acceleration force and braking force during deceleration due to the continuous movement of the heald frame. Therefore, by suppressing the coefficient value to be small, it is possible to suppress an increase in power consumption caused by continuous motion. In other words, even if the value of the coefficient is reduced to increase the rotational speed of the loom by an amount corresponding to the reduced power consumption, it will not be burned.

As far as the frame number is concerned, the larger the heald frame with the larger frame number (the heald frame at the rear of the warp moving direction, that is, the heald frame on the upstream side), the larger the warp opening amount is set, so the movement amount per revolution of the main shaft increases, Therefore, the larger the frame number, the lower the coefficient value to prevent damage to the driving parts.

In terms of the weaving width, the wider the heald frame, the larger the kinetic energy during acceleration and deceleration, so the larger the weaving width, the smaller the coefficient value to prevent damage to the driving parts.

In terms of the angle of repose, the larger it is, the shorter the moving time of the heald frame, the greater the degree of acceleration and deceleration, and thus the larger the angle of repose. By making the coefficient value smaller, damage to the driving parts can be prevented.

In terms of loom speed, the higher the speed of the loom, the greater the acceleration and deceleration, so the higher the speed, the smaller the coefficient value to prevent damage to the driving parts.

Table 1 summarizes the factors of shedding movement such as shedding pattern, frame number, fabric width, and angle of repose as described above, and the coefficient processing of loom speed, and Table 2 shows an example of specific coefficient values.

The opening control device 18 temporarily stores the setting condition S1 provided by the main control device 12 and the final frame number S3 of the heald frame 16 provided by the external device in the internal memory (that is to say, it corresponds to the number of heald frames installed) , based on the stored setting condition S1 and the final frame number S3, the torque limit value is calculated for each heald frame.

By taking out the setting condition S1 and the coefficient values from the initial frame number 1 to the final frame number S3 from the inside of the setter 14 for each heald frame, these coefficient values are compared with the electric motor corresponding to each heald frame. The instantaneous maximum torque (or instantaneous maximum current) is multiplied to obtain the torque limit value of each heald frame, so as to calculate the torque limit value.

Table 2 shows an example of coefficient values when the instantaneous maximum torque is set to 200% of the rated torque of the servo motor 22 . At this time, the torque limit value can be obtained from the following formula.

Torque limit value = rated torque × 200% × coefficients ... (1)

The calculated torque limit value is stored in the internal memory of the shedding control device 18 as a torque limit value for each heald frame.

The opening control device 18 supplies the stored torque limit value S2 to the corresponding servo amplifier 20 .

Each servo amplifier 20 is driven while controlling the position of the corresponding servo motor 22 based on the driving amount signal (not shown) provided by the opening control device 18 and the torque limit value S2 so that the torque or current value does not exceed the limit value. value. Each servo amplifier 20 drives and controls the corresponding servo motor 22 so as not to exceed the limit value corresponding to the torque or current value.

Figures 2 and 3 shown below, take the shedding device that continuously drives the servo motor in a single direction when the heald frame descends from the upper opening position and then rises back to the original position as an example, respectively showing the positions of the actual heald frames ( Opening curve) and the driving torque value at this time.

Figure 2 shows an example of shedding pattern 1/1 for a heald frame with a frame number of No. 12 when shedding (plain weaving) in Figure 2 (A), and shows the shedding pattern 1/1 in Figure 2 (B). The driving torque of the servo motor 22. In both FIG. 2(A) and FIG. 2(B), the horizontal axis represents the rotation angle (time) of the main shaft. 0° on the horizontal axis of FIG. 2(A) represents the timing of reeding, and the rotation angle of the main shaft at this time is 0°.

In Fig. 2(A), the coefficients and torque limit values are as follows.

Opening pattern (1/1) = 0.6

Frame number (the 12th frame) = 0.9

Weaving width (190cm) = 1.0

Angle of repose (none) = 1.0

Speed (900rpm) = 0.8

Torque limit value = rated torque × 200% × 0.6 × 0.9 × 1 × 1 × 0.8 = rated torque × 86.4%

In FIG. 2(B) , each gentle region on the upper side is at the time of acceleration, and each gentle region on the lower side is at the time of deceleration.

3(A) shows an example of the opening pattern 1/3 for the heald frame whose frame number is No. 1, and the driving torque of the servo motor 22 at this time is shown in FIG. 3(B). . In both FIG. 3(A) and FIG. 3(B), the horizontal axis represents the rotation angle (time) of the main shaft. 0° on the horizontal axis of FIG. 3(A) represents the timing of reeding, and the rotation angle of the main shaft at this time is 0°.

In Fig. 3(A), the coefficients and torque limit values are as follows.

Opening pattern (1/3) = 0.8

Frame number (1st frame) = 1.0

Weaving width (190cm) = 1.0

Angle of repose (none) = 1.0

Speed (550rpm) = 0.95

Torque limit value = rated torque × 200% × 0.8 × 1 × 1 × 1 × 0.95 = rated torque × 152%

In FIG. 3(B) , each gentle region on the upper side is also at the time of acceleration, and each gentle region on the lower side is at the time of deceleration.

Table 3 and Table 4 show that the torque limit value is not calculated according to the setting status of the weaving element as shown in Table 2, but the heald frame number (frame number) is set in advance. An example of this situation. Table 3 shows an example of the case where the torque limit value of the flat opening pattern 1/1 is preset for each heald frame. Table 4 shows an example of the case where the torque limit value of each heald frame is preset for each opening pattern.

Table 1 coefficient Small big opening pattern continuous motion interval exercise frame number Rear frame (large opening) Front frame (small opening on the front side of the loom) Fabric Width big Small angle of repose big Small Rotating speed high speed low speed

Table 2

Example 1

Torque limit value = 200% × coefficient × rated torque opening pattern 1/1 1/2 2/1 1/3 3/1 2/2 1/4 4/1 coefficient 0.6 0.7 0.8 0.9 1.0 frame number 1～4 5～8 9～12 13～16 coefficient 1.0 0.95 0.9 0.85 width ~190cm 210～230 250～290 330～ coefficient 1.0 0.95 0.9 0.85 angle of repose 0°～15° 16°～30° 31°～60° 61°～120° coefficient 1.0 0.95 0.9 0.85 Rotating speed ~500rpm 501～600 601～700 701～800 801～900 coefficient 1.0 0.95 0.9 0.85 0.8

table 3

Example 2 frame number 1～4 5～8 9～12 13～16 Torque limit value 170%×rated torque 160%×rated torque 150%×rated torque 140%×rated torque

Table 4

Example 3 frame number 1～4 1～4 1～4 1～4 1～4 opening pattern 1/1 1/2 2/1 1/3 3/1 2/2 1/4 4/1 Torque limit value 120%×rated torque 140%×rated torque 160%×rated torque 180%×rated torque 200%×rated torque frame number 5～8 5～8 5～8 5～8 5～8 opening pattern 1/1 1/2 2/1 1/3 3/1 2/2 1/4 4/1 Torque limit value 114%×rated torque 133%×rated torque 152%×rated torque 171%×rated torque 190%×rated torque frame number 9～12 9～12 9～12 9～12 9～12 opening pattern 1/1 1/2 2/1 1/3 3/1 2/2 1/4 4/1 Torque limit value 108%×rated torque 126%×rated torque 144%×rated torque 162%×rated torque 180%×rated torque frame number 13～16 13～16 13～16 13～16 13～16 opening pattern 1/1 1/2 2/1 1/3 3/1 2/2 1/4 4/1 Torque limit value 102%×rated torque 119%×rated torque 136%×rated torque 153%×rated torque 170%×rated torque

In the above-mentioned embodiment, when finding the torque limit value, the weaving elements are all of the above-mentioned descriptions, and the calculation (multiplication) result of each coefficient value is used to calculate the torque limit value, but if simplified, it can also be compared with the above-mentioned description. The larger 1 or more conditions are calculated correspondingly. Furthermore, the heald frames for which the torque limit values are obtained as described above may be used as all the heald frames, or may be used as only a part of the heald frames.

[Second embodiment]

The electric shedding device shown below is a configuration example in which the torque limit value can be switched during the operation of the loom relative to the device of the first embodiment. Incidentally, it specifically shows a shedding control device capable of saving the storage capacity of data involved in the driving of shedding curves and the like even for fabrics with complex structures.

Referring to Fig. 4, the control device 30 of the electric shedding device, through the rotation angle signal θ0 of the main shaft 32 output by an encoder such as an encoder that detects the rotation angle of the main shaft 32 of the loom, corresponds to a plurality of heddles. The frame 36 controls the rotation angle (rotation amount) of the electric motor 38 in a one-to-one manner, and controls the rotation angle of the crank 44 connected to the electric motor 38 . The number of heddle frames 36 in this embodiment is, for example, eight.

The control device 30 includes: input the rotation angle signal θ0 of the main shaft 32, and a position instruction unit 40 for instructing the vertical positions of the first to eighth heald frames 36, 36, . . . First to eighth position control sections 42, 42, . . . of the first to eighth position control signals Sp1, Sp2, . . . , Sp8.

The position control unit 42 is in one-to-one correspondence with the electric motor 38 which is an opening motor. The electric motors 38 are in one-to-one correspondence with the heald frames 36 . As each electric motor 38, the same servo motor as that of the first embodiment can be employed.

The rotation of each electric motor 38 is controlled by the driving power output from the corresponding position control unit 42 . The electric motor 38 rotates the crank 44 for opening movement by the rotational force of the output shaft, and moves the corresponding heald frame 36 up and down through the link 46 .

The heald frame 36 moving up and down makes a plurality of warp wires 50 open and move through the plurality of heald wires 48 assembled thereon. Since the crank 44, the connecting rod 46 and the heald frame 36 have a considerable mass, there is a relatively large inertial force when they start to rotate from a standstill, move up and down, and stop the motion from these states of motion. Acts on the electric motor 38 .

The position instruction unit 40 will be described with reference to FIG. 5 .

The position instruction unit 40 controls the rotation of the first to eighth electric motors 38 one by one according to the opening pattern described later in a state synchronized with the rotation of the main shaft 32 of the loom, and outputs the first to eighth position control signals. Signals Sp1 , Sp2 , . . . , Sp8 , and first to eighth torque limit values S21 , S22 , .

Therefore, the position command section 40 includes: a driving amount output circuit 52 that outputs a position control signal Spn; a torque limit value generating circuit 54 that outputs a torque limit value S2n; an opening selection command circuit 56 that outputs a selection command signal Sk to command the opening curve . Where n=1, 2, ..., m, m is the number of heald frames to be operated.

The opening selection command circuit 56 includes: according to the rotation angle signal θ0 of the main shaft 32, the main shaft 32 is rotated forward or reverse and passes through a specified angle, and selectively output the forward step signal F and the reverse step signal R according to the rotation direction of the main shaft 32 The step signal generator 58; Store the shedding command setter 60 of the shedding pattern of each revolution of the main shaft corresponding to each heald frame 36; The opening pattern set by the setter 60 is used to select the opening curve number selection controller 62 for making each heald frame 36 move up and down.

The shedding pattern is a pattern representing the rise and fall of the heald frame 36 and is used to indicate the direction of shedding movement of the heald frame 36 . The opening curve is a curve indicating the vertical position of the heald frame 36 when moving up and down, and is used as a speed command for the opening movement of the heald frame 36 .

The step signal generator 58, when the main shaft 32 rotates forward and the rotation angle signal θ0 of the main shaft 32 is 110 °, it will generate a pulse-like forward step signal F representing that the main shaft 32 rotates forward and has passed 110 °, and when When the main shaft 32 reverses and the rotation angle signal θ0 of the main shaft 32 is 110°, a pulse-shaped reverse step signal R indicating that the main shaft 32 reverses and passes through 110° is generated.

The forward advance signal F is supplied to the selection controller 62 and the torque limit value generation circuit 54 . The reverse step signal R is provided to the selection controller 62 .

The shedding pattern of one shedding step corresponding to each heald frame 36 is set and stored in advance in the shedding instruction setter 60 for a plurality of picks.

As shown in Table 5, the opening pattern in this embodiment uses the symbol indicating that each heald frame 36 should be in the rising position (shown by "1" outside the brackets in Table 5) and the symbol that should be in the down position (shown by "1" outside the brackets in Table 5) "0" shown) symbol to represent.

table 5 Opening step number Heald frame number 1 2 3 4 5 6 7 8 1 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 2 1(2) 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 3 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 4 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 0(1) 5 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 6 1(2) 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 7 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 0(1) 1(3) 8 1(3) 1(3) 1(2) 0(1) 1(3) 1(3) 1(2) 0(1)

The selection controller 62 has a calculation circuit for adding or subtracting the opening step value (picking count value) according to the input forward step signal F or reverse step signal R while maintaining the opening step value. Therefore, the selection controller 62 adds "1" or subtracts "1" to the pick count value every time the forward step signal F or the reverse step signal R output from the step signal generator 58 is input.

The selection controller 62 returns the pick count value to 0 (or the upper limit repeat value) when the pick count value reaches the upper limit repeat value (or is 0 of the lower limit repeat value).

The selection controller 62 reads the shedding pattern stored in the setter 60 for each heald frame 36 using the picking count value, and commands the shedding curve corresponding to the read shedding pattern for each heald frame 36. The selection command signal Sk is output to the drive amount output circuit 52 and the torque limit value generation circuit 54 .

The driving amount output circuit 52, in addition to the switching controller 64, also includes: a timing generator 66 that generates a timing signal St indicating the start time of one opening step; The opening curve setter 68 of the opening curve of the vertical direction position of the heald frame 36.

The timing generator 66 generates a pulse-shaped timing signal St when, for example, the spindle rotation angle θ0 is 120°. The timing signal St is supplied to both the switching controller 64 and the torque limit value generation circuit 54 .

The timing generator 66 outputs a pulse-shaped timing signal St of “start” to the switching controller 64 every time the input rotation angle signal θ0 is 120°.

As shown in FIG. 6 , the shedding curve setter 68 presets and stores a plurality of shedding curves, which are used to set the position of the heald frame 36 when the loom rotates one revolution, that is, the main shaft rotation angle is between 0° and 360°. . These opening curves respectively correspond to predetermined heald frame moving patterns (1 ), (2) and (3), which are read out by the switching controller 64.

The heald frame movement patterns (1), (2) and (3) respectively correspond to when the heald frame 36 moves from top to bottom, when the heald frame 36 moves from bottom to top, and when the heald frame 36 moves from top to top as shown by the solid line. when moving (i.e. when not moving) or from bottom to down as indicated by the dotted line (i.e. when not moving).

The opening curve setter 68 also presets and stores a target phase curve (refer to FIG. 6 ) that gives the output shaft of the electric motor 38 and the rotation angle of the crank 44 with respect to the main shaft rotation angle.

The direction of rotation of the electric motor is the same when the heald frame 36 moves from top to bottom and from bottom to top, so the target phase curves of the electric motor 38 when the heald frame moves in patterns (1) and (2) are all in the form of Right rising edge pattern.

The horizontal axis in FIG. 6 shows the rotation angle signal θ0 of the main shaft 32 . The vertical axes in the columns of opening curve, target phase curve and rotation amount pulse represent the vertical position of the heald frame 36, the rotation angle of the electric motor 38 and the peak value of the pulse, respectively.

Therefore, the target phase curve of the heald frame moving pattern (1) is formed such that the rotation angle of the electric motor 38, that is, the rotation angle of the crank 44, is from the rotation angle signal θ0 of the main shaft 32 = 0° to the next shedding step. The rotation angle signal θ0=0° is 15° (345°) before the moment and increases linearly from 0° to 180°, and the rotation angle signal θ0 of the main shaft 32 = 0° moment (the remaining 15° interval) is maintained at 180° ° curve.

The target phase curve of the heald frame movement pattern (2) is formed so that the rotation angle of the crank 44 is maintained at 180° from the time when the rotation angle signal θ0 = 0° of the main shaft 32 to 15°, and thereafter until the main shaft of the next shedding step The rotation angle signal θ0 of 32 is a curve that increases linearly from 180° to 360° until the moment of 0°.

The switching controller 64 selects the opening curve according to the input selection command signal Skn, and at the same time outputs the pulse-shaped position control signal Spn corresponding to each electric motor 38 to the position control unit 42 so that the rotation angle signal θ0 relative to the main shaft 32 The rotation angle of the electric motor 38 is the target phase curve shown in FIG. 6 .

Specifically, the switch controller 64 reads the shedding curve stored in the setter 68 for each heald frame according to the rotation angle signal θ0 of the main shaft 32, the timing signal St and the first to eighth selection command signals Skn, according to The read opening curve corresponds to the rotation angle signal θ0 of the main shaft 32 and generates first to eighth position control signals Spn respectively corresponding to the heald frame 36 .

The torque limit value generation circuit 54 includes: a torque limit element setter 72 that sets and stores torque limit values corresponding to the rated torque limit values of the electric motor 38, such as 120%, 70% and 30%; And the torque limit value read from the torque limit element setter 72 is output to the torque limit value generator 74 of the position control part 42 .

More specifically, when the torque limit value generating circuit 54 makes the main shaft 32 rotate one revolution as one motion cycle, the torque limit value is switched between level A, level B, and Any one of grade C. Class A, class B, and class C of the torque limit value have a relationship of A>B>C, and class A is set to a continuous rated value (100%) or a set value near it, or within a short period of time A value within the range of the rated value but higher than the continuous rated value (for example, 120%).

Class A is set to 120% of the rated current of the electric motor 38 when the electric motor 38 is started and stopped so that the electric motor 38 can be reliably driven.

Level B is set to 70% of the rated current of the electric motor 38 during the continuous motion of the electric motor 38, so as to suppress the heating of the electric motor 38 and save energy by utilizing the inertial force.

Level C is set to 30% of the rated current of the electric motor 38 by further reducing the torque limit value while the electric motor 38 remains in the stopped state.

The specific numerical values of grade A, grade B, and grade C are just examples, and may be appropriately determined according to actual conditions such as electric motor standards.

As will be described later, the torque limit value generator 74 is based on the selection command signal Sk of the opening curve updated when the forward progress signal F occurs (110°) and the selection command signal Sk before several opening patterns in the past. The continuity is judged, and the torque limit value S2 is output when the timing signal St occurs (120°).

The torque limit value generator 74 carries out: (A) before the loom starts running and reaches the specified number of picks (3 picks in this embodiment), the torque limit value is set to the rated speed of the electric motor 38. 120% of the moment when this operation starts; and (B) thereafter by taking 1 pick as a unit to carry out instructions, according to the opening selection instruction corresponding to the previous pick, the previous previous pick and the current pick ( The output mode of the selection command of the opening curve) makes the torque limit value set to 120% (level A), 70% (level B) and 30% (level B) of the rated torque of the electric motor 38 from the continuity of the opening motion. C) The action of any such continuous operation in the group.

As shown in FIG. 7 , each position control unit 42 performs feedback control on the electric motor 38 according to the position control signal Spn and the torque limit value S2n to control the rotation angle of the electric motor 38 and even the rotation angle of the crank and the up and down movement of the heald frame. . The rotation angle of each electric motor 38 can be detected by the encoder 76 as a pulse signal Se generated according to the rotation of the electric motor 38 .

Each position control unit 42, representing the pulse signal Se of the rotation angle of the electric motor 38 corresponding thereto, is received by the deviation detection circuit 78, and is received by the speed control circuit 80 through the speed signal conversion circuit 83, and then passed through the rotation angle conversion circuit 85 by the rotation angle conversion circuit 85. The current control circuit 82 receives, thereby controlling the rotation angle of the electric motor 38 according to the position control signal Spn.

The speed signal conversion circuit 83 is a frequency-voltage conversion circuit that converts the input pulse signal Se into a voltage corresponding to the frequency to generate a speed signal Sv indicating the actual speed. The rotation angle conversion circuit 85 counts the input pulse signal Se to generate an angle signal θt indicating the rotation angle of the electric motor 38 .

The deviation detection circuit 78 receives the position control signal Sp and the pulse signal Se. The forward and reverse counter is used to input the two signals Spn and Se into the built-in forward and reverse counter, detect the deviation of the input number of the two pulse signals, and output the detected deviation as the deviation signal ΔP to Speed control circuit 80.

The speed control circuit 80 calculates a speed deviation from the deviation signal ΔP and the speed signal Sv input thereto, and outputs the calculated speed deviation to the current control circuit 82 as a speed deviation signal ΔV.

The current control circuit 82 calculates a current command value corresponding to the two deviations from the speed deviation signal ΔV and the current value signal Sif detected by the current sensor 81 . Further, the current control circuit 82 controls the electric motor 38 by outputting a current to the electric motor 38 based on the current command value determined not to exceed the torque limit value S2 and the angle signal θt to limit the torque.

Accordingly, the position control unit 42 limits the current supplied to the electric motor 38 so that the output torque value of the electric motor 38 does not exceed the torque limit value S2. That is, the current control circuit 82 can drive the electric motor 38 in a state where the output torque can be controlled within the range of the torque limit value S2 according to the speed deviation signal ΔV.

More specifically, as shown in FIG. 8, the current control circuit 82 includes: a current calculator 84 that calculates the current command value I corresponding to the speed deviation signal ΔV and outputs it to the addition terminal of the addition point 86; The current value signal Sif of the current flowing in the multiplied value of the current loop gain g is output to the multiplier 88 of the subtraction terminal of the addition point 86; the deviation current value ΔI representing the result calculated by the addition point 86 does not exceed the torque limit A limiter circuit 90 that outputs a current command value signal Si within the range of the value S2; and a current generating circuit that generates a current supplied to the electric motor 38 based on the current command value signal Si so that the electrical angle signal θt of the electric motor 38 is within a prescribed angle range 92.

The above-described control device 30 moves the heald frame 36 up and down as shown in the timing charts in FIGS. 9 and 10 .

9 and 10 are timing charts showing the operation flow of the above-mentioned continuous operation of the first heald frame 36 in the shedding pattern (1/3·3/1) in time series.

The timing diagram shown in Fig. 10 is based on the results of comparing the shedding pattern of the previous shedding step with the shedding pattern of this shedding step in the shedding movement switching sequence during the operation of the loom, and distinguishing the continuity of the shedding movement Example of determining the torque limit value. The timing chart shown in FIG. 9 is an example of further specifying different torque limit values during acceleration at the start of loom operation and in a state of constant speed rotation thereafter, compared with FIG. 10 . This operation can be realized according to the flow charts shown in Fig. 11 to Fig. 14 described later.

9 and 10, for the first heald frame 36, the horizontal axis provides the rotation angle signal θ0 of the main shaft 32, the vertical axis (A) provides the operation start signal So, (B) provides the forward advance signal F, ( C) provides the sequence number of the shedding step, (D) provides the sequence number of the heald frame moving pattern specified by the selection instruction signal Sk output by the selection instruction circuit 56 of the opening, (E) provides the timing signal St, and (F) provides The opening amount of the heald frame 36 in the up-down direction, (G) gives the state of the drive pulse output to the electric motor 38, and (H) gives the torque limit value.

Furthermore, the torque limit value generator 74 determines the torque limit value according to the flow charts shown in FIGS. 11 to 14 during the control operation.

The operation of the control device 30 during continuous operation will be described with reference to FIGS. 11 to 14 .

Assume that the loom stops at the state where the shedding step number (that is, the picking count value) is "1" and the main shaft angle is 300°. FIG. 9 shows an operation sequence diagram of the first heald frame 36 whose frame number is 1 (ie, the frontmost row) for the heald frame 36 . In the loom that is stopped in this state, the selection controller 62 outputs the selection command signal Sk of the state "0" in the shedding step number 1 as shown in Table 5, and the first heald frame 36 is in the state where the pulse is pressed by the position command unit 40. The position command signal SP1 outputted in the form moves to a position slightly in the lower opening state, thereby synchronizing with the rotation angle θ0 of the main shaft of the loom.

Fig. 9 is an example in which the rotation speed of the loom reaches a constant rotation speed, the torque limit value generator 74 judges the continuity of the opening movement of the frame number 1 of the heald frame 36, and switches the corresponding torque limit value, At the same time, during the period from the start of the loom to a plurality of picks (3 picks in the illustrated example), the torque limit value generator 74 is always replaced by switching to Example of high torque limit value.

(1) Explanation of the picking after the loom starts running

Before the operation of the loom is started, the rotational speed change flag A of the torque limit value generator 74 is set to "OFF".

In the above state, as shown in FIG. 9 , when the rotation angle signal θ0 of the main shaft 32 is, for example, 300°, the operator can temporarily put the operation start signal So in the "on" state.

At this time, since the shedding pattern is the shedding step number 1 shown in Table 5, the position instruction unit 40 outputs the position control signal Sp for moving the first heald frame 36 to the bottom dead center.

The torque limit value of the pick (No. 1 pick) immediately after the start of the loom operation at this time is calculated as follows.

When the operation start signal So is in the "start" state, the operation of the loom starts. Thereby, as shown in FIG. 11 , the torque limit value generator 74 determines whether the flag A is "on" or "off" (step 101 ).

11 to FIG. 14, the control process is not only executed when the operation start signal So is input and the rotation speed change signal SA is input, but also during the operation of the loom, whenever the forward advance signal F ( Execute after 110°). Also, a flag A described later is a flag set by the input of the operation start signal So or the input of the rotational speed change signal SA.

Torque limit value generator 74, once the result of determination in step 101 is "start", then transfer to the opening curve selection processing flow shown in Figure 12 via B, once flag A is "close", then transfer to determine whether to input This operation start signal So is "started" (step 102).

In the torque limit value generator 74, once the result of determination in step 102 is that the operation start signal So of "start" is input, it transfers to the opening curve selection processing flow shown in FIG. 12 via B, otherwise transfers to FIG. 13 via A. The rotation speed change processing flow is shown.

In the opening curve selection processing flow shown in FIG. 12 , the torque limit value generator 74 again determines whether the flag A is "on" or "off" (step 201 ).

At the moment when step 201 is executed, the flag A should have been in the "off" state as mentioned above, but sometimes it is in the "on" state.

Therefore, once the result of determination in the step 201 is that the flag A is "closed", the torque limit value generator 74 makes the flag A "start", and simultaneously makes the pick count value of the selection controller 62 "0" (step 202) , Next, the torque limit value IL0 of the torque limit value generator 74 is set to 120% of the rated torque of the electric motor 38 (that is, level A) (step 203 ).

Thus, the torque limit value IL0 can be set as a level-A value. The torque limit generator 74 then proceeds to step 401 shown in FIG. 14 .

As shown in Figure 14, in step 401, the torque limit value IL0 is immediately changed to IL, and the torque limit value generator 74 outputs the torque limit value IL as the torque limit value S2 to the position control part 42, and the loom is finished immediately. Calculation of the torque limit value for the pick after the start of operation (in other words, the first pick after the start of operation).

The switching controller 64 of the drive amount output circuit 52 outputs the position control signal Sp1 to the first position control unit 42 as shown in FIG. 9(G) and FIG.

As a result of the above, the first position control unit 42 drives the first electric motor with a current within the range below the torque limit value S2 of 120% of the rated torque set to level A according to the position control signal Sp1 and the torque limit value S21 38.

The first electric motor 38 stopped before is rapidly driven according to the position control signal Sp, but there is a large inertial force of the crank 44 which is not in rotational motion acting on the electric motor 38 .

However, if the torque limit value S21 is set to level A of 120% of the rated torque, even if the electric motor 38 is temporarily in an overload state, the electric motor 38 will still be in a state of overload due to a current greater than the rated current flowing through the electric motor 38. The stronger rotating force (torque) makes the crank 44 rotate, so that the heald frame 36 moves rapidly from top to bottom.

(2) Description of the 2nd and 3rd picks immediately after the loom starts running

At this time, the control device 30 outputs a pulse-shaped forward step signal F from the step signal generator 58 when the rotation angle signal θ0 of the main shaft 32 is 110° (see FIG. 9(B) ).

The selection controller 62 selects the set values corresponding to opening steps 2 and 3 in Table 5, and outputs the selection command signal Sk of the opening curve in (2) in Table 5.

On the other hand, in the torque signal generator 74, in step 101, it is judged that flag A is "start", and as a result of the judgment in step 201, once flag A is in the state of "start", the control device 30 will make the switch as shown in Figure 12 The shuttle count value is incremented by "1" (step 204). So the count value is 1 or 2.

Next, the torque limit value generator 74 uses the selection command signal Sk of the previous pick, the previous selection command signal Sk, and the current selection command signal Sk as the third selection command signal Sk of the selection command signal Sk of the previous pick, respectively. The command, the second selection command and the first selection command are stored (step 205).

After the operation starts now, once it is the 2nd pick, the 3rd selection command is not stored. The 1st and 2nd selection commands in the 2nd picking hold the numerical value "1" or "0" which shows the vertical direction position of the heald frame 36 shown in Table 5. The 1st, 2nd and 3rd selection commands in the 3rd picking keep the values "1", "1" and "0" respectively.

Next, the torque limit value generator 74 judges whether the pick count value has reached a predetermined value (3 in this embodiment) (step 206 ), and then proceeds to step 401 .

As a result of the above, in the second pick and the third pick, since the torque limit value IL0 is set with the value of the first pick (the value of level A), the value of the torque limit value IL remains the same in step 401. is the value of level A, and the torque limit value generator 74 waits for the input of the timing signal St to output as the torque limit value S2.

(3) Description of the 4th picking immediately after the loom starts running

At this time, the control device 30 determines that the flag A is "start" in step 101, determines that the flag A is "start" again in step 201, and then increases the pick count value of the torque limit value generator 74 in step 204. "1". Therefore, the pick count value of the torque limit value generator 74 is three.

Next, in step 205, the torque limit value generator 74 uses the selection command signal Sk of the previous pick, the previous selection command signal Sk, and the current selection command signal Sk as the selection command signal Sk of the selection command signal Sk of the previous pick as The 3rd selection command, the 2nd selection command and the 1st selection command are stored.

The pick number at this time is the fourth pick after the start of the operation, so the first to third selection command signals Sk are already stored in the torque limit value generator 74 .

Next, the torque limit value generator 74 judges in step 206 whether the pick count value of the torque limit value generator 74 has reached a predetermined value (3 in this embodiment).

As a result, since the pick count value has reached a predetermined value, the torque limit value generator 74 turns flag A "OFF", and then transfers to step 302 shown in FIG. 13 .

As shown in FIG. 13 , in order to set the torque limit value, the torque limit value generator 74 judges in step 302 whether the first selection command and the second selection command are the same.

Torque limit generator 74, if the selection instruction for the 1st time and the selection instruction for the 2nd time are both different, in step 303, it is judged whether the selection instruction for the 2nd time and the selection instruction for the 3rd time are the same, if the selection instruction for the 1st time is If both are the same as the second selection command, it is judged in step 304 whether the second selection command is the same as the third selection command.

As a result of the determination in step 303, once the selection command for the second time and the selection command for the third time are different but the selection command for the second time and the selection command for the third time are the same, the torque limit value generator 74 will limit the torque to The numerical value of value IL0 is set as the numerical value of level A (step 305 ), and the process proceeds to step 401 .

As a result of the determination in step 302, if the second selection command and the third selection command are different, the torque limit value generator 74 sets the value of the torque limit value IL0 as the value of level B, thereby transferring to Step 401.

If the second selection command and the third selection command are different, the value of the torque limit value IL0 is set as the value of level B (step 306 ), and the process proceeds to step 401 .

As a result of the determination in step 304, if both the second selection command and the third selection command are the same, the torque limit value generator 74 sets the value of the torque limit value IL0 as the value of level C (step 307) , thus moving to step 401.

As a result of the determination in step 304, if the second selection command and the third selection command are different, the torque limit value generator 74 sets the value of the torque limit value IL0 as the value of level A (step 308) , thus moving to step 401.

In step 401, the value of the torque limit value IL is set as the value of the torque limit value IL0, and the torque limit value generator 74 waits for the input of the timing signal St to output as the torque limit value S2.

For example, for a stationary heald frame during loom operation, when the movement of the heald frame (opening movement) is regenerated by increasing the shedding step number by 1, the torque limit value of grade A can be selected through step 305, and output The torque required for the heald frame to start moving.

And when the heald frame does not move even if the opening step number is increased by 1, the torque limit value of level C is selected in step 307, which can be limited to the output torque required for maintaining the position of the heald frame.

On the other hand, when the movement of the heald frame (shedding motion) is continued as it is by increasing the shedding step number by 1 for the heald frame moving during the weaving operation, the output torque is limited by selecting the torque limit value of class B through step 306, and thus Useless motion involved in deceleration and acceleration to correctly follow the opening curve can be limited. Therefore, the inertial force can be effectively utilized to drive the heald frame.

On the other hand, when the heald frame is in a stationary state where no movement occurs, the torque limit value of level A is selected through step 308, and the deceleration torque required to stop the moving heald frame can be output.

In this way, every time the opening step increases by 1, the motion continuity of the heald frame of the previous 2 picks and the subsequent 1 pick is judged, when the heald frame (also including the heald frame is stationary) moves When there is continuity, more specifically, when the heald frames of the past 2 picks and the following 1 pick continue to move or continue to stand still, the rotation in the subsequent 1 pick period will be corresponding to this. The torque limit value is set lower.

And when the movement of the heald frame is not continuous, more specifically, when the heald frame moving in the past two picks does not move in the next pick and is at rest, or the previous two picks When the stationary heald frame moves in the following 1 picking, the torque limit value in the following 1 picking period is set to be higher accordingly.

In other words, through the processing through steps 301 to 401, when the movement of the heald frame is continuous, the torque limit value is set lower, so that useless deceleration and acceleration can be suppressed, and the heald frame can be effectively used. Driven by the force (inertial force) during the movement, and the required torque can be output by setting the torque limit value higher during the time required for the heald frame to move and stand still. Energy saving effect can be improved.

The torque limit value is set corresponding to whether the heald frame motion is continuous or not, but it can also correspond to the movement mode of the heald frame for the next pick, for example, according to the time when moving from a standstill and from the moving process Set different torque limit values for the two when they start to stand still.

(4) Explanation of the operation during continuous operation

At this time, the loom has started to run, and when the rotation angle signal θ0 of the main shaft 32 is 110°, the control device 30 will output a pulse-shaped forward step signal F from the step signal generator 58, and the torque limit value generator 74 will execute again. Processing of the above flowchart. And the running start signal So is in the "closed" state as shown in Figure 9 (A), and in addition, the sign A has been in the "closed" state in the previous step 207, so the torque limit value generator 74 is in the step 101 that the sign A is judged. If it is judged as “closed”, the torque limit value generator 74 proceeds to step 102 .

In step 102, the torque limit value generator 74 is in the "OFF" state of the motion start signal So as described above, and the rotational speed change command of the main shaft 32 is not input, so the torque limit value generator 74 shifts to the operation shown in FIG. Step 301.

As shown in FIG. 13 , in step 301, the torque limit value generator 74 converts the selection command signal Sk of the previous pick, the previous selection command signal Sk, and the current selection command signal Sk to the previous pick selection command signal Sk. Sk is stored as the third selection command, the second selection command, and the first selection command, respectively, and the process proceeds to step 302 .

In steps 302, 303, and 304, the torque limit value generator 74 judges whether the first, second, and third selection instructions are the same as described above, and transfers to steps 305, 306, 307, or 308 according to the result. , set the torque limit value IL0 to any one of level A, level B, and level C, and then go to step 401 .

In step 401, the value of torque limit value IL is set as the value of torque limit value IL0, and torque limit value generator 74 waits for the input of sequence signal St, and outputs it as torque limit value S2. Therefore, when the number of all shedding steps is 8, and the shedding patterns shown in Table 5 are set as shown in Table 5 with respect to the shedding patterns of the first to eighth heald frames, the torque limit value generator 74 in each The torque limit value S2 corresponding to the class shown in Table 6 is output for each heald frame in the shedding step.

Table 6 opening step Heald frame number 1 2 3 4 5 6 7 8 1 A C A B A C A B 2 B A C A B A C A 3 A B A C A B A C 4 C A B A C A B A 5 A C A B A C A B 6 B A C A B A C A 7 A B A C A B A C 8 C A B A C A B A

The above control device 30 (torque limit value generator 74) may also be modified as described below.

As an alternative to judging the continuity of the opening movement during operation, it is also possible to pre-judgment before operation and generate a selection signal corresponding to the torque limit value corresponding to the number of picks. The count value generates a selection signal to switch the torque limit value.

The switching during the weaving operation is not limited to the continuity of the above-mentioned shedding movement in terms of the weaving elements. The following elements can also be considered to determine the torque limit value, and two or more can be combined.

For example, as in the aforementioned first embodiment, the coefficients used to calculate the torque limit value are predetermined according to the setting conditions of the weaving elements described later. The coefficient is set by calculating the torque limit value. For the torque limit value in this case, it is ideal to obtain the torque limit value corresponding to the combination of each setting situation through calculation before the weaving operation, and set them by selecting them during the weaving operation. method, but it is also possible to perform calculation setting every time the setting status is switched during the weaving operation.

It is also possible to try to select a shedding curve with different constituent elements of the shedding curve, such as the static angle during the weaving operation (the angle at which the maximum shedding state is maintained), the crossing timing of the shedding movement, and the shedding amount. At this time, the torque limit value is also set according to these opening curves, and it is possible to try to switch, for example, the torque limit value can also be set higher when an opening curve with a shortened driving time is selected.

The torque limit value can also be switched according to the direction of motion of the heald frame 36 (from up to down or from down to up). More specifically, when the self-weight of the heald frame 36 has a large effect on the rotation of the electric motor 38, the torque limit value may be set lower.

In order to improve the picking performance of the weft thread, the tension of the warp thread is changed according to the weft picking and picking during the operation of the loom. It is also possible to switch the aforementioned torque limit value of the shedding device in accordance with such a change. More specifically, the torque limit value is also set lower as the warp tension decreases.

In order to pick a variety of weft yarns with different degrees of difficulty in weft picking, when the rotation speed of the main shaft 32 of the loom is changed corresponding to the weft picking during the operation of the loom, the torque limit can be switched corresponding to the change. value. More specifically, when the rotational speed of the main shaft 32 is slow, the torque limit value is set lower. At this time, in step 102 shown in FIG. 11 , the control device 30 of the electric opening device becomes "closed" in step 101, and in step 102, it is judged that the rotational speed of the main shaft 32 changes. , the process proceeds to step 202 via step 201 in FIG.

For the switching of the torque limit value, in the above-mentioned second embodiment, it can be switched every time the loom main shaft 32 rotates one cycle, but it is also possible to try to set the angle at a specified angle of less than one cycle or one cycle or more, and then two weeks or more. unit to switch.

The switching of the torque limit value can determine the continuous change of the opening movement, and can also correspond to the switching of the fabric structure.

For example, in the case of a flat stitch (that is, the heald frame is not stationary during constant operation, but is always in motion), compared with the first process corresponding to the start of operation, the second process after reaching a uniform rotation speed can also be used. Switch to a lower torque limit value.

A loom that changes the rotational speed of the loom corresponding to the weft and pick picks according to the degree of difficulty of weft insertion can also try to switch the torque limit value corresponding to the change of the rotational speed of the loom. At this time, the switching signal of the rotational speed of the loom can be input to the torque limit value generating circuit.

The switching of the torque limit value may be switched according to the rotation angle of the main shaft 32, but may be switched according to the elapsed time from the reference angle.

In the second embodiment described above, the torque limit value may be set differently in consideration of the number of the heald frame (frame number) as in the first embodiment.

The internal configuration of the opening control device may be processed by hardware for a series of processes as shown in the figure, or may be processed by a microcomputer and software.

The present invention is not limited to the above-described embodiments, and various changes can be made without departing from the spirit thereof.

Claims (10)

1. A control method of an electric opening device, characterized in that, The electric shedding device is an electric shedding device in which a plurality of heald frames are respectively driven by a dedicated electric motor, and the output torque of the electric motor is limited according to a predetermined torque limit value. The torque limit value of the electric motor is obtained in a given situation, and the obtained torque limit value is set to the electric motor. 2. The control method according to claim 1, characterized in that, comprising A plurality of torque limit values are preset in accordance with the setting conditions of the weaving elements, and when the torque limit value of the electric motor is obtained, the torque limit value selected in accordance with the setting conditions of the weaving elements is set. 3. The control method according to claim 1, characterized in that, comprising Set a plurality of coefficients for calculating the torque limit value corresponding to the setting situation of the weaving element according to each weaving element, and when finding the torque limit value of the electric motor, select the coefficient corresponding to the weaving element for each weaving element Set the coefficient corresponding to the situation, and set the torque limit value obtained by calculation based on the selected coefficients. 4. A control method for an electric opening device, characterized in that, The electric shedding device is an electric shedding device in the form of driving a plurality of heald frames respectively by a dedicated electric motor, and limiting the output torque of the electric motor according to a predetermined torque limit value, It includes setting the torque limit value of the electric motor according to the serial number of the heald frame. 5. A control method for an electric opening device, characterized in that, The electric shedding device is an electric shedding device in the form of driving a plurality of heald frames respectively by a dedicated electric motor, and limiting the output torque of the electric motor according to a predetermined torque limit value, It includes obtaining and setting the torque limit value of the electric motor based on the setting status of at least one weaving element and the serial number of the heald frame. 6. A control method for an electric opening device, characterized in that, The electric shedding device is an electric shedding device in the form of separately driving a plurality of heald frames by a dedicated electric motor, and limiting the output torque of the electric motor according to the determined torque limit value, Including making at least one of the setting conditions of the weaving elements switchable during the weaving operation, and obtaining and setting the torque limit value of the electric motor corresponding to the switching of the setting conditions of the weaving elements during the weaving operation . 7. The control method of the electric opening device according to claim 6, characterized in that, comprising A plurality of torque limit values are set corresponding to the switching of the setting status of the weaving element, and when the setting status is switched during the weaving operation, the torque limit value corresponding to the switching of the setting status is selected. value and set it as the torque limit value. 8. The control method according to claim 7, wherein the weaving elements include the continuity of the shedding movement from before including several picks to the time of the switching, the constituent elements of the shedding curve, and the time of the switching. At least one selected from the group consisting of the direction of shedding movement, the external force acting on the heald frame, and the rotational speed of the loom. 9. The control method of the electric opening device according to any one of claims 6 to 8, characterized in that, comprising During the weaving operation, each setting status of a plurality of weaving elements can be switched, and a plurality of coefficients of torque limit values are set corresponding to each setting status in each weaving element, and each weaving element is selected from the above-mentioned The torque limit value corresponding to the switching of the setting status is set, and when the setting status is switched during the weaving operation, the torque limit value obtained through calculation according to the selected coefficients is set. 10. A control method for an electric shedding device, characterized in that the electric shedding device is driven by a dedicated electric motor for a plurality of heald frames respectively, and the output torque of said electric motor is limited according to a predetermined torque limit value. Various forms of electric opening device, Including pre-setting the output torque limit value of the electric motor corresponding to the first process of accelerating or decelerating the angular velocity of the spindle rotation and the second process of maintaining the angular velocity of the spindle, the first and second In the second process, the electric motor is driven by limiting the output torque of the drive motor according to the output torque limit value corresponding to the two processes.

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