Field of the Invention
[0001] The present invention relates to a service carriage control system that operates
in response to a request for a service made by one of a plurality of processing units,
to cause a service carriage to run to the unit to provide the unit with the service.
Background of the Invention
[0002] The Unexamined
Japanese Patent Publication (Tokkai-Hei) 11-107078 discloses a spinning machine having a large number of spinning units installed in
a line, and the spinning units are an example of (yarn) processing units. While the
spinning machine is in operation, when a spun yarn is broken in any of the spinning
units or is forcibly cut owing to a detected yarn defect such as slab, a yarn splicing
carriage is run and then stopped in front of that unit. Then, a knotter, a splicer,
or the like splices a lower yarn drawn from a winding package to an upper yarn of
a draft device side. The Unexamined
Japanese Patent Publication (Tokkai-Hei) 11-107078 also refers to the case in which two such yarn splicing carriages are provided.
[0003] The Unexamined
Japanese Patent Publication (Tokkai-Hei) 6-108331 discloses a configuration in which a yarn splicing carriage and a roving yarn splicing
carriage run on the same running rail. The yarn splicing carriage and the roving yarn
splicing carriage are each provided with an obstacle sensor and controlled so that
priority is always given to the roving yarn splicing carriage over the yarn splicing
carriage in running.
[0004] The Unexamined
Japanese Patent Publication (Tokkai-Hei) 11-107078 discloses the configuration in which the two yarn splicing carriages are provided.
However, it does not refer to how the two yarn splicing carriages share processing
if any spinning unit makes a yarn splicing request. On the other hand, the spinning
units do not make yarn splicing requests in a specified order. The frequency at which
yarn breakage occurs varies with the spinning units. Consequently, for example, yarn
splicing requests may concentrate on one carriage, which thus cannot process the yarn
splicing requests promptly. This reduces working efficiency to prevent the two yarn
splicing carriages from being efficiently operated.
[0005] In this case, it is possible to combine the configuration in the Unexamined
Japanese Patent Publication (Tokkai-Hei) 11-107078 with such control as gives priority to one of the two carriages as described in the
Unexamined
Japanese Patent Publication (Tokkai-Hei) 6-108331. However, with this control, the yarn splicing carriage given priority contributes
to reducing the working range of the yarn splicing carriage not given priority. Consequently,
the efficiency in processing yarn splicing requests decreases. This lowers the efficiency
of yarn splicing carried out by the two carriages as a whole. As a result, it takes
the spinning machine a long time to recover from a yarn breakage state. This lowers
the production efficiency of the spinning machine.
[0006] US-A-4 901 246 describes a method and apparatus for clearing faults at work stations of a textile
machine in which identical robots are disposed on a common track along the textile
machine. The robots are controlled by a central control unit so as to be allocated
to a respective sub-section of the track. The allocation is performed periodically
so as to optimize the operation of each robot for fault clearing purposes.
[0007] The present invention is made in view of these circumstances. It is an object of
the present invention to provide a service carriage control system that provides services
using a plurality of service carriages (for example, yarn splicing carriages such
as those described above) running along the same running path, wherein the system
can provide prompt services and can be efficiently operated.
[0008] A description has been given of the problems to be solved by the present invention,
and the description will be given of means for solving the problems as well as their
effects.
Summary of the Invention
[0009] The present invention provides a control device for controlling at least two service
carriages to each of which a work area is preassigned and which run along the same
running path of a plurality of processing units installed in a line to stop the service
carriages in response to service requests of the processing units at the service requesting
processing units. The control device comprises a central control device connected
to a control device in each processing unit and also connected to a control device
in each service carriage and each service carriage comprises sensing means for sensing
its position along the path.
[0010] The control device performs a control such that the service carriage covering a work
area, to which a service requesting processing unit belongs, is dispatched thereto,
and if no service request processing unit occurs in the adjacent work area, performs,
on the basis of a calculation of the current position of the service carriage for
the adjacent work area and the distance to the service requesting processing unit,
a withdrawing control that causes the service carriage of the adjacent work area to
run in a direction in which the service carriage moves away from the service requesting
processing unit when the distance that is a result of the calculation has at most
a predetermined value.
[0011] This configuration controls the running directions of not only the service carriage
covering the work area to which the service requesting unit belongs but also the service
carriage covering the adjacent area. Consequently, the interference between the service
carriages is suppressed to allow services to be generally smoothly and efficiently
provided.
[0012] Specifically, when the distance between the position of the service carriage for
the adjacent area (referred to as the "adjacent carriage" below) and the service requesting
processing unit has at most the predetermined value, the control device performs the
control that causes the adjacent carriage to run in the direction in which it moves
away from the service requesting processing unit (withdrawing control). This ensures
a distance between the service carriage running toward the service requesting unit
and the adjacent carriage. Accordingly, the simple control avoids the interference
between the carriages.
[0013] The control device preferably comprises an approach sensing means on each service
carriage. If a service requesting processing unit occurs in an arbitrary work area,
the control means dispatches the service carriage covering the work area to which
the processing unit belongs, to the service requesting processing unit. Even if the
approach sensing means senses that the service carriage running toward the service
requesting processing unit is approaching another service carriage, when the withdrawing
control is being or can be performed on the latter service carriage, the control device
performs a control that avoids stopping the running of the service carriage toward
the service requesting processing unit.
[0014] Specifically, when the withdrawing control is being or can be performed on the second
service carriage, even if the approach sensing means of the running service carriage
senses the second service carriage, the control means does not stop the second service
carriage with the expectation that the withdrawing control is being or is to be performed
on the second service carriage. This reasonable control enables the arbitrary service
carriage to reach the intended service requesting unit in a reduced time.
[0015] In the control device, preferably, even if the approach sensing means senses that
the service carriage running in the arbitrary work area toward the service requesting
processing unit is approaching another service carriage, when the withdrawing control
is being or can be performed on the latter service carriage, the control device performs
a control that reduces the speed at which the service carriage runs toward the service
requesting processing unit.
[0016] Specifically, if the approach sensing means of the arbitrary service carriage running
toward the service requesting processing unit senses another service carriage, the
arbitrary service carriage decelerates to gain time before the second service carriage
completes the withdrawing control. This makes it possible to avoid collisions. Further,
once the second service carriage completes the withdrawing control and the approach
sensing means stops sensing the second service carriage, the arbitrary service carriage
can recover from the decelerating state and return quickly to the initial running
speed. Consequently, the arbitrary service carriage can reach the intended service
requesting unit in a short time.
[0017] Further, the control device preferably calculates, if a service requesting processing
unit occurs, the distance between the position of the processing unit and the end
of the work area to which it belongs, and causes, when the distance has at most a
predetermined value, the service carriage having finished the service to run toward
the center of the work area to which the service requesting unit belongs.
[0018] Thus, if a service requesting unit occurs and a service carriage is to supply a service
to the service requesting unit, the running direction after the end of the service
is controlled in accordance with the distance to the end of the work area to which
the service requesting unit belongs. It is thus possible to suppress the interference
with the service carriage for the adjacent work area. Therefore; services can be generally
smoothly and efficiently supplied.
[0019] In addition, this serves to avoid stopping a service carriage near the boundary between
work areas. It is thus possible to reliably inhibit carriages from interfering with
each other near the boundary between work areas.
Brief Description of the Drawings
[0020]
Figure 1 is a schematic plan view showing the general configuration of a spinning
machine comprising a service carriage system according to an embodiment of the present
invention.
Figure 2 is a block diagram showing the electrical configuration of the spinning machine.
Figure 3 is a flowchart showing the control of yarn splicing carriages.
Figure 4 is a schematic plan view showing that after the state shown in Figure 1,
a first yarn splicing carriage reaches a yarn splicing requesting unit (no. 16) for
yarn splicing.
Figure 5 is a schematic plan view showing that after the yarn splicing has been finished
as shown in Figure 4, a spinning unit no. 18 makes a yarn splicing request.
Figure 6 is a schematic plan view showing that after the state shown in Figure 5,
the first yarn splicing carriage withdraws, while a second yarn splicing carriage
moves toward the yarn splicing requesting unit no. 18.
Figure 7 is a schematic plan view showing that the first yarn splicing carriage stops
at the spinning unit no. 16 and that the spinning unit no. 18 makes a yarn splicing
request while the second yarn splicing carriage is running near a spinning unit no.
22.
Figure 8 is a schematic plan view showing that after the state shown in Figure 7,
while the second yarn splicing carriage is running toward the spinning unit no. 18,
the collision preventing sensor senses the spinning unit no. 18 to decelerate the
second yarn splicing carriage.
Figure 9 is a flowchart showing another example of control of the yarn splicing carriages.
Figure 10 is a schematic plan view showing that in the example of control shown in
Figure 9, the first yarn splicing carriage having processed the yarn splicing request
made by the spinning unit no. 16 moves toward the center of the work area.
Detailed Description of the Preferred Embodiment
[0021] A preferred embodiment of the present invention will be described below in brief
with reference to the accompanying drawings.
[0022] Figure 1 shows a spinning machine 1 comprising a large number of spinning units (processing
units) 3 installed in a line. The spinning machine 1 further comprises a first yarn
splicing carriage 11 and a second yarn splicing carriage 12 which can run in a direction
in which the spinning units 3 are arranged, and a central control device 4 that controls
the spinning units 3, the first yarn splicing carriage 11 and the second yarn splicing
carriage 12.
[0023] Although not shown in detail, each spinning unit 3 is mainly composed of a draft
device, a spinning section, a yarn defect removing device which detects a yarn defect
such as slab and which then forcibly cuts the yarn, a winding device, and the like.
The spinning section spins a bundle of fibers transferred by the draft device to generate
a yarn. The winding device winds the yarn to form a package.
[0024] Each of the first yarn splicing carriage 11 and second yarn splicing carriage 12
comprises running wheels (not shown in the drawings) that run on a common rail 6 laid
in a main body of the spinning machine 1. The running wheels are driven by a running
motor 22 to run the yarn splicing carriages 11, 12. Each of the yarn splicing carriages
11, 12 comprises a yarn splicing device such as a knotter or a splicer. If in any
of the spinning units 3, the yarn is broken while a package is being formed or the
yarn is cut as a result of detection of a yarn defect, either the first yarn splicing
carriage 11 or the second yarn splicing carriage 12 runs to and stop in front of that
spinning unit 3. The yarn splicing carriage 11 or the yarn splicing carriage 12 then
splices a yarn of the package side to a yarn of the spinning device side so that the
spinning unit 3 can restart spinning.
[0025] Further, each of the yarn splicing carriages 11, 12 is provided with a collision
preventing sensor (approach sensing means) 7. If the collision preventing sensor 7
senses something approaching the other yarn splicing carriage, the control devices
51, 52 perform control that stops the running yarn splicing carriage or causes the
yarn splicing carriage at a stop to run so as to move away from the other yarn splicing
carriages.
[0026] Now, with reference to Figure 2, a description will be given of the electrical configuration
of the main body of the spinning machine 1, the first yarn splicing carriage 11 and
the second yarn splicing carriage 12, shown above.
[0027] As shown in Figure 2, the central control device 4, provided in the main body of
the spinning machine 1, is connected via a signal line to a control device 53 provided
in each of the large number of spinning units 3. This configuration enables the central
control device 4 to receive, from the spinning unit 3, signals concerning the status
of the spinning unit 3. The signals concerning the status of the spinning unit 3 include,
for example, one indicating that the need for yarn splicing has resulted from yarn
breakage (yarn splicing request signal), one indicating that the need for doffing
has resulted from a full package, and one indicating that the spinning unit 3 has
been stopped owing to a certain error.
[0028] As shown in Figure 1, consecutive unit numbers 1, 2, 3, ... are assigned to the spinning
units 3 starting at one end of the frame of the spinning machine 1. The control device
53 of each spinning unit 3 memorizes the corresponding number. The information on
the unit number is contained in a yarn splicing request signal or the like transmitted
by the spinning unit 3 to the central control device 4. This enables the central control
device 4 to recognize the number of a spinning unit 3 now requesting yarn splicing.
The figure does not show all the spinning units 3. The spinning machine 1 according
to the present invention comprises 34 spinning units 3 numbered 1 to 34.
[0029] Further, the central control device 4 is connected via signal lines to the control
device 51 of the first yarn splicing carriage 11 and to the control device 52 of the
second yarn splicing carriage 12. The central control device 4 can thus transmit various
pieces of information to the control devices 51, 52, or conversely, acquire various
pieces of information from the yarn splicing carriages 11, 12.
[0030] In addition to the yarn splicing device 21 such as a knotter or a splicer previously
described, each of the two yarn splicing carriages 11, 12 comprises, for example,
the running motor 22 that drives the running wheels (not shown in the drawings) of
the yarn splicing carriages 11, 12, the collision preventing sensor 7, and a dog sensor
23 that senses a dog (not shown in the drawings) provided on each spinning unit 3,
as shown in Figure 2.
[0031] With this electrical configuration, the control devices 51, 52 of the yarn splicing
carriages 11, 12, respectively, drive the running motors 22 to run the yarn splicing
carriages 11, 12 toward a requesting spinning unit 3. On the basis of the result of
sensing by the dog sensor 23, the control device 51, 52 position and stop the yarn
splicing carriages 11, 12 at the spinning unit 3. The control devices 51, 52 then
drive the yarn splicing devices 21 for yarn splicing.
[0032] The first yarn splicing carriage 11 and the second yarn splicing carriage 12 comprise
output sections 71, 72, respectively, which output signals to a sensor 61 in the spinning
unit 3. With this configuration, when the first yarn splicing carriage 11 (or second
yarn splicing carriage 12) arrives and stops at the intended spinning unit 3, the
output section 71 (72) outputs a signal to the sensor 61 of the spinning unit 3 located
opposite the stop position. Then, the spinning unit 3 corresponding to the sensor
61 having received the signal outputs a signal containing its own unit number to the
control device 51 (52) of the yarn splicing carriage 11 (12) at a stop, via the central
control device 4.
[0033] Thus, the yarn splicing carriage 11 (12) can recognize at which of the plurality
of spinning units 3 the yarn splicing carriage 11 (12) is now stopped (that is, their
own positional information). When the yarn splicing carriages 11, 12 start running
from their positions, they can recognize the current running positions by counting
sensing of the dog sensor 23 on the basis of the positional information.
[0034] As shown in Figure 1, work areas A1, A2 for the spinning units 3 are assigned to
the two yarn splicing carriages 11, 12, respectively, so as not to overlap. Specifically,
according to the present embodiment, yarn splicing operations are divided among the
yarn splicing carriages, for example, the first splicing carriage 11 performs a yarn
splicing operation on the spinning units 3 nos. 1 to 17, and the second yarn splicing
carriage 12 performs a yarn splicing operation on the spinning units 3 nos. 18 to
34. Information on the assignment of the work areas A1, A2 is stored in the storage
devices 51, 52 of the yarn splicing carriages 11, 12.
[0035] Now, a description will be given of the control of each of the yarn splicing carriages
11, 12. The control device of each of the yarn splicing carriages 11, 12 is configured
as a well-known microcomputer having a CPU, a ROM, a RAM, and the like (not shown
in the drawings). The ROM or the like stores a program such as the one the flow of
which is shown in Figure 3. That is, hardware such as the CPU cooperates with software
such as that shown in Figure 3 to allow the control devices 51, 52 to function as
calculating means and control means. Exactly the same program is executed on the first
yarn splicing carriage 11 and the second yarn splicing carriage 12.
[0036] In the specific description of the control below, it is assumed that the first yarn
splicing carriage 11 is stopped in front of the spinning unit 3 no. 13, while the
second yarn splicing carriage 12 is stopped in front of the spinning unit 3 no. 24,
as shown in Figure 1.
[0037] The flow in Figure 3 will be described. The yarn splicing carriages 11, 12 first
determine in step S101 whether or not a yarn splicing request has been made. Specifically,
it is assumed that a yarn is broken in any (for example, no. 16) of the spinning units
3 nos. 1 to 34 and that this unit (yarn splicing requesting unit) transmits a yarn
splicing request signal to the central control device 4. Then, upon receiving the
yarn splicing request signal, the central control device 4 transmits a signal to the
control devices 51, 52 of the yarn splicing carriages 11, 12, the signal indicating
that the spinning unit 3 no. 16 is requesting yarn splicing. In step S101, the yarn
splicing carriages 11, 12 check whether or not they have received this signal. If
the yarn splicing carriages 11, 12 have not received the signal, they will wait until
they receive one.
[0038] If, for example, the spinning unit 3 no. 16 is requesting yarn splicing, the central
control device 4 transmits the corresponding signal not only to the first yarn splicing
carriage 11 but also to the second yarn yarn splicing carriage 12. Accordingly, the
first yarn splicing carriage 11 can recognize the position of a yarn splicing requesting
unit belonging to its work area A1. Further, the second yarn splicing carriage 12
can recognize the position of the yarn splicing requesting unit belonging to the work
area A1, which is adjacent to its work area A2.
[0039] In step S101, if the signal has been received from the central control device 4,
the control devices 51, 52 of the yarn splicing carriages 11, 12 analyze the signal
to acquire information indicating the number of the spinning unit 3 making a yarn
splicing request (the position at which the yarn splicing requesting unit is occurring).
Then, the yarn splicing carriages 11, 12 check the information against the information
on the assignment of their own work areas to determine whether or not the yarn splicing
requesting unit belongs to their own work areas. The processing in step S102 has been
described.
[0040] In this example, the yarn splicing requesting unit is the spinning unit 3 no. 16,
which belongs to the work area of the first yarn splicing carriage 11 (Al; nos. 1
to 17). Accordingly, as a result of the processing in step S102, the first yarn splicing
carriage 11 determines that the yarn splicing requesting unit belongs to its work
area A1. The first yarn splicing carriage 11 then shifts to processing in step S103.
On the other hand, as a result of the processing in step S102, the second yarn splicing
carriage 12 determines that the yarn splicing requesting unit does not belongs to
its work area (A2; nos. 18 to 34). The second yarn splicing carriage 12 then shifts
to processing in step S110.
[0041] In step S103, the running motor 22 is driven to cause the first yarn splicing carriage
11 to start running toward the splice requesting unit. Specifically, the first yarn
splicing carriage 11 starts running toward the spinning unit 3 no. 16.
[0042] After starting to run in step S103, the first yarn splicing carriage 11 runs while
using the collision preventing sensor 7 to monitor whether or not it is close to the
adjacent second yarn splicing carriage 12 (S104). In this example, as shown in Figure
1, the second yarn splicing carriage 12 is stopped at the position of the spinning
unit 3 no. 24 and is away from the first yarn splicing carriage 11. Accordingly, the
collision preventing sensor 7 does not sense the second yarn splicing carriage 12.
As a result, the first yarn splicing carriage 11 continues to run (S105), stops at
the spinning unit 3 no. 16, which is the yarn splicing requesting unit, and then performs
a yarn splicing operation (S106). After the yarn splicing, the first yarn splicing
carriage 11 returns to step S101 to wait for a new yarn splicing request while remaining
at a stop.
[0043] Since the yarn splicing requesting unit is the spinning unit n. 16 and does not belong
to the work area of the second yarn splicing carriage 12 (A2; nos. 18 to 34), the
second yarn splicing carriage 12 shifts from step S102 to step S110 to calculate and
acquire the distance between the yarn splicing requesting unit and itself. In the
example shown in Figure 1, since the yarn splicing requesting unit is the spinning
unit no. 16 and the second yarn splicing carriage 12 is stopped at the position of
the spinning unit no. 24, the distance corresponds to | 16 - 24 | = 8 units.
[0044] Then, the second yarn splicing carriage 12 determines whether or not the distance
determined is equal to three or less units (S111). If the distance is equal to three
or less units, the second yarn splicing carriage 12 withdraws and moves away from
the yarn splicing requesting unit a distance equal to at least four units (withdrawing
control; S112). In the example shown in Figure 1, the distance is equal to eight units,
(exceeds three units) the second yarn splicing carriage 12 executes the withdrawing
movement but maintains the stopped state. The second yarn splicing carriage 12 returns
to step S101 to wait for a new yarn splicing request.
[0045] With the above control, as shown in Figure 1, if the spinning unit 3 no. 16 makes
a yarn splicing request, the first yarn splicing carriage 11, which covers the work
area A1 to which the spinning unit no. 3 belongs, runs to and stops at the spinning
unit 3 no. 16. In the resulting state shown in Figure 4, a yarn splicing is carried
out. The second yarn splicing carriage 12 remains at a stop.
[0046] Now, a description will be given of control performed if after the completion of
a yarn splicing operation on the spinning unit 3 no. 16 in the state shown in Figure
4, yarn breakage occurs in the spinning unit 3 no. 18, which then makes a yarn splicing
request, as shown in Figure 5.
[0047] A description will be given with reference to the flowchart in Figure 3.
[0048] In step S101, the first yarn splicing carriage 11 senses the generation of a yarn
splicing request and proceeds to step S102. The first yarn splicing carriage 11 then
checks whether or not the spinning unit 3 no. 18, requesting a yarn splicing, is located
within its work area A1. In the example shown in Figure 5, the yarn splicing requesting
spinning unit 3 is outside the work area of the first yarn splicing carriage 11 (A1;
nos. 1 to 17).
[0049] Accordingly, the processing by the first yarn splicing carriage 11 proceeds to step
S110 to calculate the distance between the yarn splicing requesting unit and the first
yarn splicing carriage 11. Since the yarn splicing requesting unit is the spinning
unit 3 no. 18 and the first yarn splicing carriage 11 is stopped at the spinning unit
3 no. 16, |18 - 16 | = 2 units. In step S111, the distance is determined to be equal
to at least three units. Consequently, in step S112, the first yarn splicing carriage
11 withdraws and moves away from the yarn splicing requesting unit a predetermined
distance. In the present embodiment, the distance for withdrawing movement is predetermined
to be equal to four units.
[0050] That is, the first yarn splicing carriage 11 waiting while remaining stopped at the
position of the spinning unit 3 no. 16 moves away from the spinning unit 3 no. 18,
that is, leftward in Figure 5, a distance equal to four units. The first yarn splicing
carriage 11 then stops at the position of the spinning unit 3 no. 12 as shown in Figure
6.
[0051] The control of the second yarn splicing carriage 12 will be described. The second
yarn splicing carriage 12 senses the generation of a yarn splicing request in step
S101 in Figure 3. The second yarn splicing carriage 12 then checks whether or not
the yarn splicing requesting unit is within its work area A2.
[0052] In this case, the yarn splicing requesting unit is the spinning unit 3 no. 18, which
is included in the work area of the second yarn splicing carriage 12 (A2; nos. 18
to 34). Accordingly, as a result of the processing in step S103, the second yarn splicing
carriage 12 starts to run toward the spinning unit 3 no. 18. The first yarn splicing
carriage 11 stopped at the position of the spinning unit 3 no. 16 moves as previously
described in the direction in which it moves away from the yarn splicing requesting
unit (no. 18) at almost the same time when the second yarn yarn splicing carriage
12 starts to run (withdrawing movement in step S111). Thus, when the second yarn splicing
carriage 12 runs to the yarn splicing requesting unit (no. 18), the first yarn splicing
carriage 11 does not obstruct the second yarn splicing carriage 12. This withdrawing
control for avoiding interference enables the second yarn splicing carriage 12 to
move fast to the yarn splicing requesting unit (no. 18). This improves working efficiency.
[0053] In other words, with the above control, if a yarn splicing requesting unit (no. 18)
occurs, the second yarn splicing carriage 12, which covers the work area A2 to which
the yarn splicing requesting unit belongs, is dispatched to the yarn splicing requesting
unit (S103 to S105). Further, the first yarn splicing carriage 11, which covers the
work area (adjacent area) A1 adjacent to the work area A2 to which the unit belongs,
has its running direction controlled so that the first yarn splicing carriage 11 runs
away from the yarn splicing requesting unit (no. 18) when the predetermined condition
(S111) is met (S112). Thus, control is preformed not only on the second yarn splicing
carriage 12 for the work area A2, to which the yarn splicing requesting unit belongs,
but also on the first yarn splicing carriage 11 for the adjacent work area A1. This
suppresses the interference between the yarn splicing carriages 11, 12. It is thus
possible to generally improve the efficiency of yarn splicing operations.
[0054] Further, if a yarn splicing requesting unit occurs, the distance between the current
position of the second yarn splicing carriage 12, which covers the adjacent area A2,
and the yarn splicing requesting unit is calculated (S110). Then, the running direction
of the second yarn splicing carriage 12 is controlled on the basis of the result of
the calculation (S111, S112). Consequently, the simple control makes it possible to
suppress the interference between the yarn splicing carriages 11, 12. In particular,
the result of the calculation indicates that the distance has at most a predetermined
value, the first yarn splicing carriage 11 is subjected to the withdrawing control
so as to move away from the yarn splicing requesting unit (S111, S112). This ensures
a distance between the second yarn splicing carriage 12 dispatched to the yarn splicing
requesting unit and the first yarn splicing carriage 11, as shown in Figure 6.
[0055] Now, with reference to the example shown in Figure 7, a description will be given
of the control in steps S104 and S107 to S109 of the flow shown in Figure 3. In Figure
7, the first yarn splicing carriage 11 is stopped in front of the spinning unit 3
no. 16. The spinning unit 3 no. 18 makes a yarn splicing request at the instant the
second yarn splicing carriage 12, running toward the left end of the drawing, passes
by the spinning unit 3 no. 22.
[0056] In this case, the first yarn splicing carriage 11 executes the withdrawing movement
in step S112 in accordance with the flow in Figure 3. However, before the withdrawing
movement is completed, the second yarn splicing carriage 12 may run to the spinning
unit 3 no. 18 in accordance with the processing in step S103. The second yarn splicing
carriage 12 may thus near the first yarn splicing carriage 11 and be sensed by the
collision preventing sensor 7 (Figure 8). In this case, the second yarn splicing carriage
12 determines in step S104 that the collision preventing sensor 7 is sensing another
yarn splicing carriage. However, if this yarn splicing carriage (first yarn splicing
carriage 11) is executing or can execute the withdrawing movement, the second yarn
splicing carriage 12 does not stop running to the spinning unit 3 no. 18 but only
reduces its speed (S108). Then, once the first yarn splicing carriage 11 completes
the withdrawing movement and the collision preventing sensor 7 stops sensing the first
yarn splicing carriage 11, the second yarn splicing carriage 12 returns to the normal
running (S104, S105). The second yarn splicing carriage 12 then reaches the spinning
unit 3 no. 18 for yarn splicing (S106).
[0057] In other words, even if the collision preventing sensor 7 senses the second yarn
splicing carriage 12 running toward the yarn splicing requesting unit, provided that
the first yarn splicing carriage 11 is executing or can execute the withdrawing movement,
the service carriage control system performs control such that the second yarn splicing
carriage 12 is not stopped with the expectation that the first yarn splicing carriage
11 is executing or is to execute the withdrawing movement. This enables faster movement
to the yarn splicing requesting unit, thus further improving the working efficiency.
The second yarn splicing carriage 12 (first yarn splicing carriage 11) can determine
whether or not the first yarn splicing carriage 11 (second yarn splicing carriage
12) is executing or can execute the withdrawing movement, by receiving an operational
status signal for the first yarn splicing carriage 11 (second yarn splicing carriage
12) via the central control device 4. For example, if the power supply to the first
yarn splicing carriage 11 is off, the second yarn splicing carriage 12 determines
that the first yarn splicing carriage 11 cannot execute the withdrawing movement.
[0058] According to the present embodiment, if the first yarn splicing carriage 11 is withdrawing
or can withdraw, the second yarn splicing carriage 12 reduces it running speed. The
second yarn splicing carriage 12 thus waits until the withdrawing movement of the
first yarn splicing carriage 11 is completed (S107, S108). Consequently, the speed
is reduced to gain time to facilitate the avoidance of collision of the second yarn
splicing carriage 12 against the first yarn splicing carriage 11. Further, once the
withdrawing movement of the first yarn splicing carriage 11 is completed and the collision
preventing sensor 7 stops sensing the first yarn splicing carriage 11, the second
yarn splicing carriage 12 can recover from the reduced speed state and return quickly
to the normal speed (S104, S105). The second yarn splicing carriage 12 can reach the
yarn splicing requesting unit in a short time.
[0059] If the first yarn splicing carriage 11 cannot execute the withdrawing movement because
it is performing a yarn splicing operation or is at a stop owing to an error, the
second yarn splicing carriage 12 of course stops running in order to prevent collisions
(S107, S109). Alternatively, the second yarn splicing carriage 12 may execute the
withdrawing movement. Although not shown in the flow in Figure 3, even if the first
yarn splicing carriage 11 is executing or can execute the withdrawing movement, if
the distance between the first yarn splicing carriage 11 and the second yarn splicing
carriage 12 has at most a predetermined value (for example, a value equal to four
units), the service carriage control system performs control that brings the second
yarn splicing carriage 12 to an emergency stop or executes the withdrawing movement.
Thus, collisions are reliably avoided.
[0060] Now, another preferred example of control will be described with reference to Figure
9. The example of control in Figure 9 is obtained by adding processing in steps S113,
S114 to the processing in step S106 in the example of control shown in Figure 3.
[0061] That is, in the example of control in Figure 9, if a yarn splicing requesting unit
occurs near an end of the work area (for example, within three units from the end)
and a yarn splicing is executed on this unit (S113), the service carriage control
system performs control that stops the yarn splicing carriage after running it toward
the center of its work area by a predetermined distance (for example, a distance equal
to four units). The remaining part of the control is exactly the same as that in the
example shown in Figure 3.
[0062] With reference to the example of control in Figure 9, a description will be given
of how the running of the yarn splicing carriage 11 is controlled, for example, in
the case of Figure 1. In Figure 1, when the spinning unit 3 no. 16 makes a yarn splicing
request, the first yarn splicing carriage 11 runs to the spinning unit 3 no. 16 (S103
to S105 in Figure 9). As shown in Figure 4, the first yarn splicing carriage 11 reaches
the spinning unit 3 no. 16 for yarn splicing (S106).
[0063] Subsequently, in step S113 in Figure 9, the first yarn splicing carriage 11 determines
whether or not the yarn splicing requesting unit on which it has performed a yarn
splicing operation has occurred near the end of its work area A1 (specifically, whether
or not the yarn splicing requesting unit is located within three units from the end).
In the example shown in Figures 1 and 4, the yarn splicing requesting unit is the
spinning unit 3 no. 16 and the work area A1 of the first yarn splicing carriage 11
includes the spinning units 3 nos. 1 to 17. Accordingly, the distance between the
end of the work area A1 (no. 17) and the yarn splicing requesting unit (no. 16) is
|17 -16 | = 1 unit. Thus, the distance is equal to less than three units. Therefore,
the first yarn splicing carriage 11 shifts to the processing in step S114 to run toward
the center of its work area A1 (in the example shown in Figure 4, toward the left
end of the drawing) by a distance equal to four units. In other words, the first yarn
splicing carriage 11 performs a yarn splicing operation on the spinning unit 3 no.
16 and then immediately runs leftward in Figure 4 by the distance equal to four units.
Then, as shown in Figure 10, the first yarn splicing carriage 11 stops in front of
the spinning unit 3 no. 12.
[0064] As described above, in the example of control in Figure 9, if a yarn splicing requesting
unit occurs near an end of the work area and the corresponding yarn splicing carriage
performs a yarn splicing operation on the unit, then after the yarn splicing operation,
the yarn splicing carriage immediately moves toward the inside of its work area regardless
of whether or not a yarn splicing request is occurring in the adjacent work area.
Consequently, it is possible to prevent the yarn splicing carriages 11, 12 from stopping
near the boundary between the work area A1 and the work area A2 as shown in Figure
10 except when a yarn splicing request is made by the spinning unit 3 located near
the boundary between the work area A1 and the work area A2. Accordingly, in Figure
10, if, for example, the spinning unit 3 no. 18 makes a yarn splicing request, it
is possible to simply dispatch the second yarn splicing carriage 12 to the spinning
unit 3 no. 18 without the need to withdraw or move the first yarn splicing carriage
11. In other words, the first yarn splicing carriage 11 is pre-withdrawn to the center
of the work area A1. This reduces the need to decelerate the second yarn splicing
carriage 12 (step S108) as shown in Figure 8. As a result, the second yarn splicing
carriage 12 can reach the yarn splicing requesting unit in a short time.
[0065] In other words, with the above control, if a yarn splicing requesting unit (no. 16)
occurs, the distance between the position of the unit and the end of the work area
A1 to which the unit belongs is calculated. Then, on the basis of the result of the
calculation, the service carriage control system controls the running direction, after
the end of the yarn splicing, of the first yarn splicing carriage 11, which executes
yarn splicing on the yarn splicing requesting unit, spinning unit 3 no. 16. This makes
it possible to suppress the interference with the second yarn splicing carriage 12
for the adjacent work area A2. Further, when the distance corresponding to the result
of the calculation has at most the predetermined value, the first yarn splicing carriage
11 is run toward the center of the work area A1 after the yarn splicing operation
has been finished. This avoids stopping the first yarn splicing carriage 11 near the
boundary of the work area A1. Consequently, the interference can be reliably inhibited.
[0066] The preferred embodiment of the present invention has been described. However, the
above embodiment may be changed as described below.
- (1) In step S111 in Figure 3 and Figure 9, when the distance between the yarn splicing
requesting unit and the yarn splicing carriage is equal to three or less units, the
withdrawing movement is executed in step S112. However, the distance condition for
the withdrawing movement is not limited to the three units. An appropriate condition
may be specified taking into account the lengths of the yarn splicing carriages 11,
12 in the running direction, the sensible distance of the collision preventing sensor
7, or the like. Likewise, for the distance of the withdrawing movement in step S112,
an appropriate withdrawing movement distance may be specified taking into account
the sensible distance of the collision preventing sensor 7 or the like, so as to avoid
obstructing another carriage.
- (2) The following may also be determined taking into account the lengths of the yarn
splicing carriages 11, 12 in the running direction, the sensible distance of the collision
preventing sensor 7, or the like: the number of units from the end of the work area
on the basis of which the yarn splicing carriage determines that the yarn splicing
requesting unit is near the end of the work area in step S113 in Figure 9. This also
applies to the distance over which the yarn splicing carriage runs toward the center
of the work area in step S114.
- (3) The distance between the yarn splicing requesting unit and the yarn splicing carriage
may be measured and conditioned, for example, in centimeter units instead of using
the distance in terms of spinning units. Further, in order to determine the positions
of the yarn splicing carriages 11, 12, it is possible to provide each of the yarn
splicing carriages 11, 12 with, for example, a rotary encoder to obtain information
from the encoder instead of using the signal from the central control device 4 as
well as the dog sensor 23 as described above. In this case, the number of pulses output
by the rotary encoder may be used as a distance unit. The predetermined distance (the
predetermined number of units) used for the above control may be set by, for example,
causing the central control device 4 to set a distance and transmitting and storing
the information to and in the control devices 51, 52.
- (4) The service carriage control system performs control such that the yarn splicing
carriages 11, 12 carries out yarn splicing on the yarn splicing requesting unit and
are then stopped and stand by according to the above embodiment. This is advantageous
in that energy is not wasted. This control is also excellent in the following point.
After yarn breakage has occurred once in a spinning unit 3, this spinning unit 3 is
likely to frequently undergo yarn breakage. The above control promptly deals with
this case without the need to move the yarn splicing carriages.
However, the service carriage control system may perform control such that the yarn
splicing carriages 11, 12 runs along the work areas A1, A2, respectively, after the
yarn splicing operation. In this case, when a yarn splicing requesting unit occurs
in the adjacent work area and the distance between the yarn splicing requesting unit
and the current running position of the yarn splicing carriage is equal to three or
less units (S111), if the yarn splicing carriage is running toward the yarn splicing
requesting unit, the service carriage control system may perform control that reverses
the running direction to execute the withdrawing movement (S112).
- (5) The central control device 4 of the spinning machine 1 can be used in place of
the control devices 51, 52 of the yarn splicing carriages 11, 12 to execute the flows
shown in Figures 3 and 9, perform the control. Specifically, for example, in Figure
5, upon receiving a yarn splicing requesting signal from the spinning unit 3 no. 18,
the central control device 4 sends a signal to the control device 52 of the second
yarn splicing carriage 12 so as to dispatch the second yarn splicing carriage 12 to
the spinning unit 3. The central control device 4 also calculates the distance between
the position of the first yarn splicing carriage 11 and the yarn splicing requesting
unit (no. 18). When the result of the calculation indicates three or less units, the
central control device 4 sends a signal to the control device 51 of the first yarn
splicing carriage 11 so as to run the first yarn splicing carriage 11 toward the left
end of Figure 5 by a distance equal to, for example, four units.
In this case, the operation described below may be performed instead of providing
each of the yarn splicing carriages 11, 12 with the collision preventing sensor 7.
The central control device 4 constantly acquires the positions of the yarn splicing
carriages 11, 12 to calculate the distance between them. Then, in step S104 in Figure
3, when the distance has at most a predetermined value, the central control device
4 may determine that the yarn splicing carriages 11, 12 are approaching each other.
In this case, the central control device 4 also functions as approach sensing means.
However, the above embodiment is more advantageous in that loads on the central control
device 4 can be reduced: in the above embodiment, the control devices 51, 52 of the
yarn splicing carriages 11, 12, so to speak, autonomously perform the withdrawing
control and the like. This effect is notably marked in a large-scale spinning machine
comprising a large number of yarn splicing carriages.
- (6) A plurality of yarn splicing carriages 11, 12 must be provided along the same
running path (in the above embodiment, the rail 6). However, the number of yarn splicing
carriages may be three instead of two. In this case, the spinning units 3 nos. 1 to
34 are allotted to three work areas. Further, in the above embodiment, there are 34
spinning units 3 numbered from 1 to 34. However, there may be more or less spinning
units 3.
- (7) The above embodiment relates to a service carriage control system for a yarn splicing
operation (yarn splicing service) in a spinning machine. However, the present invention
is not limited to this but is applicable to, for example, a doffing operation in a
spinning machine. Further, the present invention is not limited to a textile machine
such as a spinning machine but is applicable to service carriage control systems in
general which are used for a plurality of processing units that request a certain
service operation.
1. Steuervorrichtung zur Steuerung von wenigstens zwei Wartungswägen (11, 12), von denen
jedem ein Arbeitsbereich (A1, A2) zuvor zugeordnet ist und die längs der gleichen
Laufbahn (6) mehrerer Verarbeitungseinheiten (3) laufen, die in einer Linie angeordnet
sind, um die Wartungswägen (11, 12) in Abhängigkeit von Wartungsanforderungen der
Verarbeitungseinheiten (3) an den eine Wartung anfordernden Verarbeitungseinheiten
anzuhalten,
wobei die Steuervorrichtung eine Zentralsteuervorrichtung (4) aufweist, die an ein
Steuergerät (53) in jeder Verarbeitungseinheit (3) und auch an ein Steuergerät (51,
52) in jedem Wartungswagen (11, 12) angeschlossen ist, und wobei jeder Wartungswagen
(11, 12) eine Sensoreinrichtung (32) aufweist, um seine Position längs der Bahn (6)
zu erfassen,
dadurch gekennzeichnet, dass
die Steuervorrichtung eine Steuerung derart durchführt, dass der Wartungswagen (11),
der einen Arbeitsbereich (A1) erfasst, zu dem eine eine Wartung anfordernde Verarbeitungseinheit
(3) gehört, dorthin geschickt wird, und,
wenn keine eine Wartung anfordernde Verarbeitungseinheit in dem benachbarten Arbeitsbereich
(A2) vorhanden ist,
auf der Grundlage einer Berechnung (S110) der aktuellen Position des Wartungswagens
(12) für den benachbarten Arbeitsbereich (A2) und des Abstandes von der eine Wartung
anfordernden Verarbeitungseinheit eine Rückzugssteuerung (S112) durchführt, die den
Wartungswagen (12) des benachbarten Arbeitsbereichs (A2) veranlasst, in einer Richtung
zu laufen, in der sich der Wartungswagen (12) von der eine Wartung anfordernden Verarbeitungseinheit
entfernt, wenn der Abstand, der ein Ergebnis der Berechnung ist, höchstens einen vorbestimmten
Wert (S111) hat.
2. Steuervorrichtung nach Anspruch 1,
gekennzeichnet durch eine Annäherungserfassungseinrichtung (7) an jedem Wartungswagen (11, 12), und
dadurch, dass, wenn eine eine Wartung anfordernde Verarbeitungseinheit in einem beliebigen
Arbeitsbereich (A1, A2) auftritt, die Steuervorrichtung den Wartungswagen, der den
Bereich erfasst, zu dem die Verarbeitungseinheit gehört, zu der eine Wartung anfordernden
Verarbeitungseinheit schickt, und selbst wenn die Annäherungserfassungseinrichtung
feststellt (S204), dass der Wartungswagen, der zu der eine Wartung anfordernden Verarbeitungseinheit
fährt, sich einem anderen Wartungswagen nähert, wenn die Rückzugssteuerung (S207)
an letzterem Wartungswagen durchgeführt wird oder durchgeführt werden kann, die Steuervorrichtung
eine Steuerung durchführt, die das Anhalten des Laufs des Wartungswagens zu der eine
Wartung anfordernden Verarbeitungseinheit in dem beliebigen Arbeitsbereich vermeidet.
3. Steuervorrichtung nach Anspruch 2,
dadurch gekennzeichnet, dass,
selbst wenn die Annäherungserfassungseinrichtung (7) feststellt (S204), dass sich
der Wartungswagen, der in dem beliebigen Arbeitsbereich zu der eine Wartung anfordernden
Verarbeitungseinheit fährt, einem anderen Wartungswagen nähert, wenn die Rückzugssteuerung
(S207) an letzterem Wartungswagen durchgeführt wird oder durchgeführt werden kann,
die Steuervorrichtung eine Steuerung durchführt, die die Geschwindigkeit reduziert,
mit der der Wartungswagen zu der die Wartung anfordernden Verarbeitungseinheit in
dem beliebigen Arbeitsbereich fährt.
4. Steuervorrichtung nach einem der Ansprüche 1 bis 3,
dadurch gekennzeichnet, dass
die Steuervorrichtung, wenn eine eine Wartung anfordernde Verarbeitungseinheit auftritt,
den Abstand zwischen der Position der Bearbeitungseinheit und dem Ende des Arbeitsbereichs,
zu dem sie gehört, berechnet, und
wenn der Abstand höchstens einen vorbestimmten Wert hat, den Wartungswagen veranlasst
(S114), der die Wartung beendet hat, zur Mitte des Arbeitsbereichs zu fahren, zu dem
die eine Wartung anfordernde Verarbeitungseinheit gehört, und zwar unabhängig davon,
ob eine eine Wartung anfordernde Verarbeitungseinheit in dem benachbarten Arbeitsbereich
auftritt oder nicht.