JPH1077158A - Reciprocating device for moving objects - Google Patents

Abstract

(57) [Problem] In a reciprocating device using a thrust generating mechanism such as a linear motor mechanism, a movement that enables high-speed reciprocating movement with little deceleration after turning back even if the reciprocating range is short. A body reciprocating device is provided. SOLUTION: This is a reciprocating device in which a linear motor mechanism 1 is provided in parallel with a reciprocating path 11 of the moving body 2 to reciprocate the moving body 2. A striking means 4 is provided at a turning portion of the reciprocating path 11, a hit portion 2c made of an elastic material is provided on both side surfaces of the moving body 2, and a speed detection sensor 3 of the moving body 2 is provided in front of the turning portion. Also, the impact timing by the impact means 4 is calculated from the approach speed of the moving body 2 detected by the sensor 3 and the apparent distance obtained by adding the deformation amount of the impacted portion 2c to the distance from the sensor 3 to the turn-back portion. The control unit 5 is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reciprocating moving device for a moving body, and more particularly, to a moving body suitable for high-speed operation such as a yarn traverse device of a yarn winding machine and a shuttle drive mechanism of a loom. The present invention relates to a reciprocating device.

[0002]

2. Description of the Related Art The winding speed of a synthetic fiber melt spinning winder has been increasingly increased from the viewpoint of improving productivity, and accordingly, a yarn traverse device (traverse device) has also been accelerated.
Conventionally, as a reciprocating mechanism of a yarn traversing device, a slider (moving body) is engaged with a cylindrical cam having a spiral cam groove on an outer periphery, and the cylindrical cam is rotated at a high speed to make the thread a thread. One that reciprocates with a guide is widely used.

However, in the reciprocating mechanism using the cylindrical cam, since the speed distribution of the slider depends on the cam groove shape of the cylindrical cam, it is necessary to replace the cylindrical cam itself when changing the speed distribution shape. Therefore, it was difficult to set various speed distribution shapes with one cylindrical cam. Also,
The turning of the reciprocating movement of the slider is performed by inverting the trajectory of the cam groove by 180 °, so that the turning takes a long time, and there is a limit in further increasing the speed.

As a reciprocating mechanism for solving such a problem, there has been proposed a reciprocating mechanism that reciprocates a moving body corresponding to a slide by a linear motor mechanism. However, the problem with the linear motor mechanism is that when the mobile object is turned back, the speed drop before and after the turn is large, so a sufficient acceleration section is required to accelerate the speed after the turn to the speed before the turn,
It was not practical to apply to a yarn traverse device with a short reciprocating movement distance.

To solve such a problem, Japanese Patent Laid-Open No.
In Japanese Patent Application Publication No. 137935, an elastic material such as rubber or a spring is provided at a folded portion of a reciprocating path of a linear motor mechanism.
There has been proposed a device in which the repulsive force of the elastic material is used to suppress the amount of deceleration at the folded portion. However, even with an elastic material, it is clear in light of the law of energy that the speed after turning back is lower than the speed before turning, and the amount of deceleration increases as the moving speed increases, and the coefficient of restitution increases. Since the speed variation after turning becomes larger, it is difficult to increase the speed after turning to the target speed in a short time in high-speed winding simply by providing an elastic member at the turning portion, and it has been difficult to commercialize it.

[0006]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a reciprocating apparatus utilizing a thrust generating mechanism such as a linear motor mechanism. It is an object of the present invention to provide a reciprocating device for a moving body that enables movement.

[0007]

According to the present invention, there is provided a reciprocating moving apparatus for a moving body, wherein a thrust generating mechanism for applying a thrust to the moving body is provided in parallel with the reciprocating path of the moving body. In a reciprocating device for reciprocating the moving body by a mechanism, a hitting means is provided at a folded portion of the reciprocating path, and a hit portion made of an elastic material is provided on both side surfaces of the moving body. A sensor for detecting the speed of the moving body is provided, and an apparent distance obtained by adding the deformation amount of the hit portion to the approach speed of the moving body detected by the sensor and the distance from the sensor to the turnback portion. And a control unit for calculating the impact timing by the impact means.

Since the hitting means is provided at the turning portion of the reciprocating path and the hitting portions made of the elastic material are provided on both side surfaces of the moving body, the hitting means hits the hitting portion of the elastic material. The turning speed of the moving body can be increased in a short time by the repulsive energy of the elastic material generated at the time. Furthermore, the control unit calculates the impact timing of the impact means from the approach speed detected by the sensor and the apparent distance obtained by adding the deformation amount of the impacted portion to the distance from the sensor to the turn-back portion. A striking force is applied to the moving body at the position where the amount of deformation of the elastic material of the striking portion is maximum, and the striking energy is synchronized with the maximum repulsive energy of the elastic material, so that the maximum turning speed of the moving body is It can give acceleration effect. Therefore, even in a short reciprocating movement range, the reciprocating movement can be performed at a high speed with almost no deceleration after turning back.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the present invention, a thrust generating mechanism refers to a mechanism that alternately generates a linear thrust in a forward direction and a backward direction with respect to a moving body. Specifically, it is preferable to use a linear motor mechanism in which a coil is wound around a linear iron core, and a magnetic field generated by the coil applies thrust to a permanent magnet provided on the moving body. The direction of this thrust can be alternately switched between the forward direction and the backward direction by alternately switching the direction of the current to the coil.

As the elastic material constituting the struck portion of the moving body, synthetic rubber, natural rubber, elastic resin or the like is preferably used, but a leaf spring or coil spring of spring steel may be used. The struck portions made of the elastic material are provided on both front and rear sides in the moving direction of the moving body. The striking means provided at the turn-back portion of the reciprocating path is not particularly limited as long as it applies a striking force in a direction opposite to the moving direction of the moving body, but a combination mechanism of a piezoelectric element and a hammer is preferable. It is better to Since the piezoelectric element can react quickly and supply energy in a short time,
If this is combined with a hammer, acceleration in the turning direction can be given to the moving body in a short time.

The speed detecting sensor provided in front of the turning portion of the reciprocating path is not particularly limited, but is preferably a non-contact sensor such as an optical sensor or a magnetic sensor. This sensor detects two detection ends provided at a fixed distance apart from each other on the moving body, and detects the moving body of the moving body based on the transit time difference between the two detection ends and the distance between the two detected ends. Speed can be calculated.

The control section provided in the present invention sets the impact timing so that the moving body that has entered the folded section is synchronized with the point at which the elastic material of the impacted section is most compressed and deformed. By this impact timing, the repulsive energy of the elastic material can be used most efficiently. Such an optimal hitting timing can be set by a time t from when the moving body passes through a sensor provided in front of the turning portion to when it reaches the turning portion. Therefore, when it is assumed that the distance L from the position of the sensor to the turn-back portion is constant Lo, from the constant distance Lo and the approach speed Ve of the moving body detected by the sensor, to = Lo / Ve.・ ・ It can be calculated by the following formula.

However, in the moving body used in the present invention, since the struck portion is made of an elastic material, the apparent distance from the sensor to the turn-back portion changes when the struck portion is deformed by the impact. I do. In addition, the apparent distance from the position of the sensor to the turn-back portion increases as the amount of deformation of the hit portion at the time of hitting increases. In particular, when the moving speed of the moving body is increased, since the inertia force of the moving body is increased, the deformation amount of the hit portion is also increased. Therefore, the change in the apparent distance due to the deformation is not negligible.

The control unit according to the present invention determines the distance from the sensor to the turn-back portion when calculating the impact timing t from the background as described above, and apparently is determined by the following equation in consideration of the deformation amount of the impacted portion. Is adopted, and the impact timing tr is set by the equation. Lr = Lo + (Coefficient of deformation of struck portion) × Ve ² ... Tr = Lr / Ve The control unit of the present invention further allows the moving body to move arbitrarily at any intermediate position in the reciprocating path. It is preferable that a control for realizing the speed can be performed. In the control of the moving speed of the moving body at such an intermediate position, when the speed of the moving body is not feedback-controlled, the amount of change in the speed of the moving body changes according to the amount of external force applied to the moving body. For example, if the force acting on the moving body is only the thrust of the drive source, the moving speed has a first-order correlation with the thrust value, and thus the speed of the moving body can be controlled by managing the thrust. .

However, when an external force other than the thrust of the drive source acts on the moving body, information on the speed of the moving body is insufficient due to only managing the thrust value, and complete control cannot be performed. Therefore, when the speed is controlled by a mechanism in which a disturbance acts, it is necessary to control the speed of the moving body. As a method of managing the speed of the moving body, a method of measuring the position of the moving body at two points and calculating the speed from the time required for moving between the two points, or the moving body itself becomes the moving speed together with the movement. There is a method of managing an electromotive force value by providing a structure that generates an appropriate electromotive force.

[0016] The former is a digital speed measurement, while the latter is an analog speed detection. Therefore, the latter method is superior in performing high-accuracy speed control. . Since the permanent magnet moving body provided in the linear motor mechanism itself has a structure that generates back electromotive force when moving, the thrust of the moving body is controlled by the output current value according to the back electromotive force and the moving body Speed can be controlled.

Hereinafter, the present invention will be specifically described based on an embodiment shown in the drawings. FIG. 1 shows a reciprocating device of a moving body when the present invention is applied to a yarn traverse device (traverse device) of a yarn winding machine, and FIGS. 2 to 5 show components of the reciprocating device. It is shown separately for each main part. FIG.
As shown in FIG. 2, reference numeral 10 denotes a pair of guide rails provided vertically in parallel, and a reciprocating path 11 is formed inside the guide rails. The moving body 2 is inserted into the reciprocating path 11 and reciprocates along the guide rail 10. Each of the turning portions at both ends of the reciprocating movement path 11 is provided with a hitting means 4, and a sensor 3 for detecting the speed of the moving body 2 is provided at a position before the turning portion. The sensor 3 is provided with an optical sensor in this embodiment.

A linear motor mechanism 1 for applying a thrust to the moving body 2 inserted in the reciprocating moving path 11 is provided in each of the upper and lower guide rails 10. As shown in FIGS. 3A and 3B, the linear motor mechanism 1 has an iron core 1a.
Is wound around the coil 1b, and a current is supplied from the linear motor driver 1c to the coil 1b to generate a magnetic field.
, A thrust in the direction along the reciprocating path 11 is applied.

As shown in FIG. 4, the moving body 2 has a base 2a made of a resin material such as nylon or polyimide, and a permanent magnet 2b is embedded in the base 2a. A hit portion 2c made of elastic rubber is attached to each side surface of the base portion 2a in the movement direction, and two detection ends 2d, 2d are attached to the rear end surface so as to be separated in the movement direction. A thread guide 2e is attached to the front end face on the side.

When the moving body 2 passes through the optical sensor 3, the two detection ends 2 d and 2 d sequentially cross the optical sensor 3, so that the time difference between the two ends is measured.
The moving speed of the moving body 2 is calculated from the distance between the detection ends 2d and 2d. Further, the yarn guide 2e hooks the yarn on the hook portion and reciprocates with the moving body 2 to give a traverse to the yarn.

The striking means 4 is a means for striking the moving body 2 in the opposite direction at the folded portion of the reciprocating path 11, and as shown in FIGS. 5A and 5B, the piezoelectric element 4c is attached to the frame 4b.
Is fixed, and a hammer 4a is attached to an end of the piezoelectric element 4c via a displacement magnifying mechanism 4d composed of a link mechanism. When a voltage waveform is applied from the function generator 4f via the amplifier 4e to the piezoelectric element 4c, the piezoelectric element 4c instantaneously expands as shown in FIG. 5B, and the expansion is expanded by the displacement expanding mechanism 4d to operate the hammer 4a. hand,
The moving body 2 is hit in the opposite direction.

In the configuration described above, the moving body 2 in the reciprocating path 11 moves by the thrust of the linear motor mechanism 1,
Further, when the direction of the thrust is switched at the turning portion, at the same time, the striking means 4 applies a striking in the opposite direction and reverses the direction. Such thrust of the linear motor mechanism 1 and switching of thrust,
The timing of hitting the hitting means 4 is controlled by the control unit 5 of the computer.

The hitting timing of the hitting means 4 calculated by the control unit 5 takes into account the approach speed Ve of the moving body 2 to the turn-back portion measured by the sensor 3 and the amount of deformation of the hitting portion 2c of the moving body 2. It is set based on the formula from the apparent distance Lr shown in the above-described formula which is determined as follows. At the same time when the time te calculated by the control unit 5 elapses, the control unit 5 sends a striking start pulse to the function generator 4f, which outputs a voltage waveform of a striking command and is amplified by the amplifier 4e. In order to drive the piezoelectric element 4d of the striking means 4, the hammer 4a strikes. In addition, simultaneously with the impact timing signal, a thrust direction switching timing signal is also output.
The forward direction and the backward direction of the thrust of the linear motor mechanism 1 are switched.

The control unit 5 further receives a speed signal of the moving body 2 from the sensor 3, compares the speed signal with a preset target speed, and drives the linear motor driver 1d based on the difference, thereby driving the linear motor driver 1d. The thrust of the mechanism 1 is corrected, and the moving speed of the moving body 2 is corrected so as to reach the target speed. Such a moving speed correction control method includes a method of feeding back the moving speed data of the moving body 2 detected by the sensor 3 to a current control value of the linear motor driver 1d, and a method of moving the moving body 2 on the coil 1b. The back electromotive force generated when moving is measured, and the speed of the moving body 2 calculated indirectly based on the correlation between the back electromotive force and the moving speed of the moving body 2 is fed back to the linear motor driver 1d. Alternatively, a method of controlling the pressure may be used.

If the moving speed of the moving body at the intermediate position of the reciprocating path 11 is also controlled as described above, the traverse speed distribution during the traverse motion is changed when applied to the yarn traversing device. As a result, the distribution of the yarn density in the wound yarn package can be controlled by changing the traverse speed distribution.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure shown in FIG. 1 has a reciprocating movement distance of a moving body of 100 mm, a total mass of the moving body of 0.5 g, and a deformation coefficient of an elastic rubber of a struck portion of 1.72 × 10 ^-4 s. ² / m, the maximum extension of the piezoelectric element of the striking means is 20 μm, the link mechanism 4
A reciprocating device (Example 1) of the present invention in which the displacement magnification of d was 30 times was manufactured.

Further, as a comparative device, in the device of the present invention, a reciprocating device (Comparative Example 1) in which the struck portion of the moving body is made of a steel ball instead of elastic rubber, and the effect of the deformation coefficient on the impact timing is shown. For the sake of clarity, devices (Comparative Example 2) in which the deformation coefficient of the elastic rubber was set to 0 for control in Comparative Example 1 were manufactured. The moving body is driven reciprocally for each of these three types of reciprocating devices, and a total of 10
When the approach speed and the turning speed of the moving body before and after the zero turn were plotted on a graph of the XY axis, the device of Example 1 was FIG. 6, the device of Comparative Example 1 was FIG. The device obtained the result as shown in FIG.

In the apparatus of Comparative Example 1 in which the hit portion is a steel ball, as shown in FIG. 7, since the repulsive energy of the elastic rubber cannot be used, the moving speed of the moving body cannot be increased.
The maximum speed was only 3.5 m / s. Further, in the apparatus of Comparative Example 2 in which the moving body is provided with a hitting portion made of elastic rubber and the deformation coefficient is 0, the maximum speed of the moving body is 8.0 as shown in FIG.
m / s, but the speed variation was very large as a whole, and it was not possible to carry out a stable turning movement.

On the other hand, in the position of the first embodiment of the present invention, as apparent from FIG. 6, the maximum speed of the moving body can be increased to 9.0 m / s, and the speed variation is very small. Could be made smaller. Therefore,
Even when applied to a yarn traverse device, the winding speed is 4
It was able to correspond to an ultra high speed winder exceeding 000 m / min.

[0030]

As described above, according to the present invention, in a reciprocating apparatus using a thrust generating mechanism such as a linear motor mechanism, even if the reciprocating movement range is short, high-speed operation with little deceleration after turning back occurs. Reciprocating movement can be made possible. In particular, when the present invention is applied to a yarn traverse device, a high-speed yarn traverse device with a short reciprocating movement distance can be obtained.

[Brief description of the drawings]

FIG. 1 is a basic explanatory diagram showing an example of a reciprocating device for a moving body according to the present invention.

FIGS. 2A and 2B schematically show a main part of a reciprocating device of the present invention, wherein FIG. 2A is a plan view taken along line BB in FIG. 2B, FIG. ) Is A- in FIG.
It is a transverse side view shown by A arrow.

3A and 3B schematically show a main part of a linear motor mechanism of the reciprocating device of the present invention, in particular, FIG. 3A is a view taken along the line CC in FIG. Plan view,
(B) is a front view with a part broken away.

FIG. 4 is a plan view showing an example in which the moving body used in the reciprocating device of the present invention is used as a yarn traverse guide.

FIG. 5 is a schematic plan view showing a hitting means in the reciprocating device of the present invention, wherein (A) shows a state before a hitting operation;
(B) is a schematic plan view showing a state at the time of a striking operation.

FIG. 6 is a graph showing the relationship between the approach speed and the turning speed before and after the turning of the moving body in the reciprocating device of the first embodiment of the present invention.

FIG. 7 is a graph showing the relationship between the approach speed and the turning speed before and after the turning of the moving body in the reciprocating device of Comparative Example 1.

FIG. 8 is a graph showing the relationship between the approach speed and the turning speed before and after the turning of the moving body in the reciprocating device of Comparative Example 2.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Linear motor mechanism (thrust generating mechanism) 1a Iron core 1b Coil 2 Moving body (traverse guide) 2b Permanent magnet 2d Detection end 3 Optical sensor 4 Striking means 4a Hammer 4c Piezoelectric element 5 Control unit (computer) 10 Guide rail 11 Reciprocating path

Claims (6)

[Claims] 1. A reciprocating device for providing a thrust to a moving body in parallel with a reciprocating movement path of the moving body, wherein the thrust generating mechanism reciprocates the moving body. Attaching means to the part,
A hit portion made of an elastic material is provided on both side surfaces of the moving body,
A sensor for detecting the speed of the moving body is provided in front of the turning portion, and a deformation amount of the hit portion is added to an approach speed of the moving body detected by the sensor and a distance from the sensor to the turning portion. A reciprocating device for a moving body, comprising a control unit for calculating a timing of hitting by the hitting means from an apparent distance. 2. The reciprocating device for a moving body according to claim 1, wherein the thrust generating mechanism is a linear motor mechanism. 3. The reciprocating device for a moving body according to claim 1, wherein the hitting means includes a piezoelectric element and a hammer. 4. The apparatus according to claim 3, wherein a displacement enlarging mechanism is interposed between the piezoelectric element and the hammer. 5. The moving body according to claim 1, wherein the control section controls the thrust of the thrust generating mechanism based on the speed of the moving body detected by the sensor. Reciprocating device. 6. A reciprocating device according to claim 1, wherein the reciprocating device is applied to a yarn traversing device, and a yarn guide is attached to the moving body to reciprocate in a traverse region of the yarn. A yarn traverse device configured.