阅读说明：本技术 织机的停止方法及用于实现其停止方法的织机 (Method for stopping a loom and loom for carrying out the method ) 是由 伊藤直幸 小堀裕一朗 于 2019-06-24 设计创作，主要内容包括：本发明公开了一种织机的停止方法及用于实现该停止方法的织机,该织机包括基于预定的指令转速控制主轴的旋转的控制装置和对主轴施加制动的电磁制动器,在稳定运转时,控制装置基于预先设定的稳定转速控制主轴的旋转,织机的停止方法包括：第一制动工序,该工序在发出停止指令的时刻以后开始,且通过将指令转速变更两次以上使主轴的转速朝向低于稳定转速的预定的停止转速下降；以及第二制动工序,该工序在达到停止转速的时刻以后启动电磁制动器而对主轴施加制动,且使主轴的旋转停止。根据本发明,在组合再生制动和电磁制动器的制动来进行制动操作的织机中,可以实现在减轻施加到机械构件等上的负荷的同时,不会产生伴随再生制动而产生的问题。(A method for stopping a loom of kinds, the loom including a control device for controlling rotation of a main shaft based on a predetermined command rotational speed and an electromagnetic brake for applying a brake to the main shaft, the control device controlling the rotation of the main shaft based on a predetermined stable rotational speed during a steady operation, the method for stopping the loom including a -th braking step of starting after a time when a stop command is issued and reducing the rotational speed of the main shaft toward a predetermined stop rotational speed lower than the stable rotational speed by changing the command rotational speed two or more times, and a second braking step of starting the electromagnetic brake after the time when the stop rotational speed is reached to apply the brake to the main shaft and stop the rotation of the main shaft.)

A stopping method of a loom including a control device for controlling rotation of a main shaft based on a predetermined command rotational speed, an electromagnetic brake for applying a brake to the main shaft, the control device controlling the rotation of the main shaft based on a preset steady rotational speed during steady operation,

the method for stopping the loom comprises the following steps:

a braking step of starting after a stop command is issued, and decreasing the rotation speed of the main shaft toward a predetermined stop rotation speed lower than the steady rotation speed by changing the command rotation speed two or more times, and

a second braking step of, after the time point at which the stop rotational speed is reached, activating the electromagnetic brake to apply braking to the main shaft and stopping rotation of the main shaft;

the th braking step is performed with a cycle of or more rotations of the main shaft.

2. The method of stopping a loom according to claim 1, wherein the th braking step is performed based on a rotation speed reduction amount and the period that are set in advance.

3, weaving machine, comprising a driving motor for driving the rotation of a main shaft, an angle detector for detecting the rotation angle of the main shaft, a control device for controlling the driving of the driving motor based on a predetermined command rotation speed, an electromagnetic brake for applying the brake to the main shaft, wherein the control device controls the rotation of the main shaft based on a preset stable rotation speed during the stable operation,

the control device includes:

a storage unit that stores rotation speed information obtained from a predetermined stop rotation speed and a predetermined number of times or more of changes in the command rotation speed, and cycle information specifying a cycle for changing the command rotation speed, the cycle being set to a cycle of or more rotations of the main shaft;

a drive command unit to which angle information obtained from a detection signal from the angle detector is input, and which obtains the command rotation speed corresponding to each change time from the rotation speed information, with respect to the change time of the command rotation speed at th time based on the issuance of the stop command and the change time of the command rotation speed at the second time or later obtained based on the angle information and the cycle information with reference to the change time at th time, and which outputs a drive command based on each of the obtained command rotation speeds at each corresponding change time, and

a drive unit that drives the drive motor based on the drive command from the drive command unit.

4. The loom of claim 3, wherein the rotational speed information includes a predetermined rotational speed drop.

Technical Field

The present invention relates to weaving machines each including a control device for controlling rotation of a main shaft based on a predetermined command rotational speed and an electromagnetic brake for applying a brake to the main shaft, wherein the control device controls the rotation of the main shaft based on a preset stable rotational speed during a steady operation.

Background

When the loom is in a steady operation, the operation is performed by controlling the driving of the prime motor so that the main shaft is driven to rotate at a preset steady rotation speed. The loom further includes a control device, and the drive motor is driven by the control device based on a predetermined command rotational speed. The control device is configured to include, for example, an inverter, and control the drive motor at a rotation speed corresponding to the command rotation speed by setting an output frequency of the inverter to a frequency corresponding to the command rotation speed. Therefore, in the steady operation, the steady rotation speed is set to the command rotation speed to control the driving of the drive motor (the rotation driving of the main shaft).

Further, in a common loom, a braking operation (control of an electromagnetic brake or the like) is performed so that the rotation of the main shaft is stopped at a time point when the main shaft is inertially rotated for cycles (or two cycles) from a time point when the stop command is issued, in other words, the braking operation is performed so that the rotation of the main shaft is stopped within a short stop time (braking time of the electromagnetic brake) of cycles (or two cycles) of the main shaft inertial rotation.

However, depending on weaving conditions and the like, when the rotation of the main shaft is stopped within such a short stop time, an excessive load may be applied to the mechanical member (the main shaft, a portion that moves using the main shaft as a drive source, a drive transmission portion thereof, or the like) and the electromagnetic brake that are driven by the above-described drive motor.

Specifically, for example, if the steady rotation speed is set high, in order to stop the mechanical members that move (rotate) in response to the high rotation speed within the short stop time as described above, the braking operation is performed in a state where a large load is applied to these mechanical members due to inertia corresponding to the speed. In addition, with regard to the electromagnetic brake, since a large braking force is exerted on the main shaft in a state in which the main shaft rotating at such a high rotation speed (a fast rotation speed) is stopped within a short stop time as described above, the load applied to the electromagnetic brake during the braking operation thereof also becomes very large. Further, as described above, even when the steady rotation speed is not set high, for example, when the number of heald frames included in the mechanical member is large, the inertia of the mechanical member driven by the driving motor increases as the weight of the mechanical member increases, and therefore, the braking operation is performed in a state where a large load is applied to the mechanical member, as in the above case.

Further, when a large load is applied to the mechanical member and the electromagnetic brake each time the rotation of the main shaft is stopped, there is a possibility that the mechanical member is damaged, and a brake member such as a brake pad in the electromagnetic brake is worn early. Incidentally, if the wear of the brake components in the electromagnetic brake progresses, the braking force decreases, so replacement is required.

Further, a braking operation may be considered in which the rotation speed of the main shaft is decelerated and the rotation thereof is stopped for a longer stop time (at a more gradual deceleration gradient) by setting the stop time to a longer time in consideration of the load applied to the mechanical elements and the like as described above, instead of the short stop time as described above. However, when the brake operation is performed so as to stop the rotation of the main shaft for a long stop time as described above, the electromagnetic brake performs braking for a long time each time the brake operation is performed, and accordingly, there is a possibility that a problem such as early wear of the brake member in the electromagnetic brake occurs as described above.

Therefore, as disclosed in patent document 2, a braking operation is performed in consideration of a combination of regenerative braking and braking by an electromagnetic brake. Specifically, in the brake operation disclosed in patent document 2, as described above, when a stop command is issued, first the rotation speed of the main shaft is decelerated by regenerative braking, and thereafter the rotation of the main shaft is stopped by the electromagnetic brake starting to operate. Therefore, according to this braking operation, since the rotation speed of the main shaft is lower than the steady rotation speed at the time when the electromagnetic brake starts operating, the load applied to the mechanical element is reduced even if the braking time of the electromagnetic brake is short as described above.

Disclosure of Invention

Problems to be solved by the invention

However, in the brake operation disclosed in patent document 2, there is a possibility that the inverter in the control device described above burns out. Specifically, in the case of the brake operation disclosed in patent document 2, the brake operation is performed in a short time as a whole from the issuance of the stop command to the stop of the rotation of the spindle. Therefore, the braking operation is set to perform the electromagnetic brake braking and the regenerative braking in a short time, and not only the braking time of the electromagnetic brake is relatively short as described above, but also the braking time of the regenerative braking is relatively short. That is, the braking operation is set to perform regenerative braking in a short time to reduce the rotation speed of the main shaft to the rotation speed at which the electromagnetic brake is activated. Therefore, the regenerative braking is performed such that the rotation speed of the main shaft continuously (with a steep deceleration gradient) decreases in a short time.

Incidentally, when regenerative braking is performed, accordingly, regenerative electric power is generated from the drive motor side to the inverter side. When such generation of regenerative power is a problem, a capacitor or a resistor (hereinafter also referred to as a "resistor or the like") is usually provided in a circuit connected to the inverter, and the generated regenerative power is absorbed in the form of being stored in the capacitor or converted into heat energy in the resistor to be released to the outside, so that the excessive regenerative power does not flow to the inverter side.

However, for example, as described above, in the case where the rotation speed during steady operation is high (in the case where the difference between the rotation speed of the main shaft and the steady rotation speed at the time of activating the electromagnetic brake determined in consideration of the above-mentioned load is large), that is, in the case where regenerative braking is continuously performed for a short period of time as described above, the generated regenerative power becomes extremely large. Therefore, the regenerative power may not be completely absorbed by the resistor, and in this case, an excessive regenerative power may flow to the inverter side, which may cause a problem associated with regenerative braking, such as burnout of the inverter. In order to prevent such burning of the inverter, it is conceivable to use a resistor having a large tolerance, but this also has a problem of an increase in the cost of the apparatus.

Accordingly, an object of the present invention is to provide types of loom stopping methods and looms capable of realizing the same, in which braking operations are performed by combining regenerative braking and braking by an electromagnetic brake as described above, and in which the load applied to the mechanical elements and the like as described above is reduced and the problems related to regenerative braking as described above are not caused.

Means for solving the problems

In order to achieve the above object, a method for stopping a loom and a loom for realizing the method are premised on: the loom includes a control device for controlling the rotation of the main shaft based on a predetermined command rotational speed and an electromagnetic brake for applying a brake to the main shaft.

In addition, the present invention provides a method for stopping a -type loom, including a -th braking step of starting after a time point when a stop command is issued and reducing the rotation speed of a main shaft to a predetermined stop rotation speed lower than a steady rotation speed by changing a command rotation speed two or more times, and a second braking step of applying a brake to the main shaft by activating an electromagnetic brake after the time point when the stop rotation speed is reached and stopping the rotation of the main shaft, wherein the change of the command rotation speed in the -th braking step is performed at a cycle of or more revolutions of the main shaft rotation.

The present invention provides weaving machines including an angle detector for detecting a rotation angle of a main shaft, wherein a control device includes a storage unit for storing rotation speed information and cycle information, the rotation speed information being information on a command rotation speed and being information obtained from a predetermined stop rotation speed and a predetermined number of times of change of the command rotation speed two or more times, the cycle information being information for specifying a cycle for changing the command rotation speed, and the cycle information being information in which the cycle is set to a cycle for cycles or more of the main shaft rotation, and the control device further includes a drive command unit for receiving the angle information obtained from a detection signal from the angle detector, obtaining the command rotation speed corresponding to each change time from the rotation speed information, and outputting the drive command from the drive command unit for driving a motor at the corresponding change time based on the obtained rotation speed at the second time and subsequent time of change of the command rotation speed obtained based on the angle information and the cycle information with respect to the th time of issuance of the stop command and the change time of the th time as a reference.

However, the above-described "stop rotation speed" is determined as a rotation speed lower than the steady rotation speed, and is determined as a rotation speed at which the load applied to the mechanical element and the like as described above with braking of the electromagnetic brake is within the allowable load range even if the braking time of the electromagnetic brake is a short time as described above. The "allowable load" referred to herein is a load of the following magnitude: in addition to the short braking time of the electromagnetic brake, the above-described problem does not occur in which the load applied to the mechanical element or the like becomes excessively large as the electromagnetic brake is braked.

In the stop method of the loom, the th braking step may be performed based on a preset rotation speed decrease amount and the period.

Effects of the invention

According to the stop method of the loom and the loom of the present invention, the brake operation from the time point when the stop command is issued to the stop of the rotation of the main shaft is performed by the th brake step of braking (i.e., regenerative braking) in which the rotation speed of the main shaft is changed (the rotation speed of the decelerated main shaft) by changing the command rotation speed and the second brake step of braking by the electromagnetic brake, and the deceleration of the th brake step (regenerative braking) is performed so that the rotation speed of the main shaft is reduced to the stop rotation speed.

In addition, according to the present invention, the braking in the th braking step is performed so as to change the commanded rotational speed two or more times, that is, the th braking step reduces the rotational speed of the main shaft from the stable rotational speed to the stopped rotational speed by the regenerative braking divided into a plurality of times, so that the amount of reduction in the rotational speed by times of regenerative braking is naturally reduced, and the regenerative power generated by times of regenerative braking is also reduced.

In the present invention, the change of the command rotational speed twice or more as described above is performed in a cycle of cycles or more of the main shaft rotation, that is, the multiple regenerative braking in the th braking step is performed in a cycle of cycles or more of the main shaft rotation from the last times of braking until the next times of braking, whereby the small regenerative power generated per regenerative braking is completely absorbed by the resistor or the like every time it is generated.

Drawings

FIG. 1 is a block diagram of the periphery of a drive control device of a loom of the present invention;

fig. 2 is an explanatory diagram showing a flow of series until the rotation of the main shaft is stopped by the stopping method of the loom of the present invention.

Description of the symbols

10 spindle

20 driving motor

30 drive control device

32 main control part

34 drive command unit

34a storage part

36 inverter

40 input setting device

50-degree detector

60 electromagnetic brake

Detailed Description

Next, an embodiment of the present invention will be described with reference to fig. 1 and 2.

As shown in fig. 1, the loom includes a main shaft 10, a drive motor 20 for driving the main shaft 10 to rotate, and a drive control device 30 for controlling the drive of the drive motor 20. The loom further includes a warp shedding device (not shown) for forming and closing a warp shedding, and a reed (not shown). In a typical loom, the warp shedding device and the like are coupled to the main shaft 10 via a drive transmission mechanism (not shown). This warp shedding device or the like is driven in a predetermined manner during weaving using the main shaft 10 as a drive source.

The loom further includes an input setter 40 for inputting setting values indicating a stable rotational speed as the rotational speed of the main shaft 10 during the stable operation and a shedding pattern of the shedding order of the heald frames in the above-described warp shedding device, and the like, into the input setter 40. The input setter 40 is connected to the drive control device 30.

The drive control device 30 includes a main control unit 32 to which the input setter 40 is connected, and a drive command unit 34 connected to the main control unit 32. The drive command unit 34 includes a storage unit 34a in which the set values such as the above-described steady rotation speed are stored. The set value input such as the steady rotation speed is set in the input setter 40, and is transmitted from the input setter 40 to the drive command unit 34 via the main control unit 32 to be stored.

The drive control device 30 further includes an inverter 36 that controls the drive of the drive motor 20. The inverter 36 is connected to the drive command unit 34. In addition, the drive control device 30 outputs a frequency command signal (drive command) corresponding to the rotation speed of the target main shaft 10 from the drive command unit 34 to the inverter 36, and controls the inverter 36 to control the drive of the drive motor 20 in accordance with the output. Specifically, for example, when the loom is in a steady operation, in the drive control device 30, the drive command unit 34 outputs a frequency command signal corresponding to the steady rotation speed stored in the storage unit 34a to the inverter 36. Then, the inverter 36 generates an output frequency corresponding to the frequency command signal, and controls the driving of the drive motor 20 so that the drive motor 20 is driven at a rotational speed corresponding to the steady rotational speed. That is, the drive motor 20 is controlled to be driven at a rotation speed corresponding to the output frequency of the inverter 36.

The loom further includes an angle detector 50 for detecting the rotation angle of the main shaft 10, the angle detector 50 being configured to detect the rotation angle in units of revolutions of the main shaft 10, and the angle detector 50 being connected to the main control unit 32 of the drive control device 30, whereby the angle detector 50 outputs a detection signal based on the detected rotation angle of the main shaft 10 to the main control unit 32, and the main control unit 32 being configured to obtain angle information of the main shaft 10 based on the input detection signal and output an angle signal based on the angle information to the drive command unit 34.

The loom is provided with an electromagnetic brake 60 for applying a braking force to the main shaft 10 to stop the rotation of the main shaft 10. The electromagnetic brake 60 is connected to the drive command unit 34. In addition, the electromagnetic brake 60 is configured to apply a braking force to the main shaft 10 by inputting a braking command signal output from the drive command unit 34.

In the loom as described above, in the present invention, the drive control device 30 performs the control of the braking operation from the time when the stop command is issued to the stop of the rotation of the main shaft 10 by braking, including the braking (regenerative braking) in which the rotational speed (main shaft rotational speed) of the main shaft 10 is changed (decelerated) by changing the command rotational speed that is the basis of the frequency command signal from the drive command section 34, and the braking (brake braking) by the electromagnetic brake 60 described above, and the regenerative braking is performed in such a manner that the rotational speed of the main shaft 10 rotating at the steady rotational speed is reduced to the stop rotational speed determined to be a rotational speed lower than the steady rotational speed.

First, regarding the stop rotational speed, the stop rotational speed is a rotational speed determined in consideration of the load applied to mechanical elements such as the warp shedding device and the like connected to the main shaft 10 and the drive transmission mechanism as described above when the main shaft 10 is stopped by braking with the brake, and is naturally a rotational speed lower than the steady rotational speed. For example, if the steady rotation speed is set to a rotation speed much higher than the rotation speed in normal weaving, if a brake is applied to the main shaft 10 rotating at the steady rotation speed, the load applied to the mechanical elements and the like may become excessive, which may cause the above-described problem. Therefore, an allowable rotation speed (allowable rotation speed) at which the above-described problem does not occur is determined based on a load applied to a mechanical element or the like during brake application, and the stop rotation speed is determined to be a rotation speed equal to or less than the allowable rotation speed.

In addition, in the present embodiment, taking as an example a case where the steady rotation speed is set to 1800rpm as the very high rotation speed as described above, an example of the case is described below. As described above, although the load applied to the mechanical elements and the like at the time of brake braking differs depending on the specifications of the loom and weaving conditions, in the present embodiment, the allowable rotation speed obtained based on the load is set to 1000 rpm. In addition, as described above, the stop rotation speed is determined as the rotation speed equal to or less than the allowable rotation speed, and is determined as 1000rpm which is the upper limit of the allowable rotation speed. The set value of the stop rotational speed is input to the input setter 40 and stored in the storage unit 34a of the drive command unit 34, similarly to the set value of the steady rotational speed and the like.

Further, as described above, the rotational speed of the main shaft is reduced from the stable rotational speed to the stop rotational speed by regenerative braking divided into a plurality of times. Therefore, in the descending process, the frequency command signal as the drive command output from the drive command unit 34 is changed a plurality of times in order to perform the regenerative braking a plurality of times. That is, the command rotational speed that is the basis of the frequency command signal is changed a plurality of times. Thus, the change of the command rotation speed means a change of the frequency command signal output from the drive command unit 34.

In the present embodiment, the drop amount of the rotation speed is determined to be 200rpm as a total of , in other words, the command rotation speed is changed four times in such a manner that the command rotation speed is dropped by 200rpm each time when the rotation speed of the main shaft is dropped from the steady rotation speed of 1800rpm to the stop rotation speed of 1000 rpm.

In addition, in the present embodiment, in order to achieve the reduction of the spindle rotation speed, the rotation speed reduction amount determined as 200rpm as described above is stored as a set value in the drive control device 30, and the drive command unit 34 in the drive control device 30 is configured to calculate the command rotation speed for each change in a form of subtracting the rotation speed reduction amount (200rpm) from the command rotation speed which is the basis of the frequency command signal output last times.

Each of the regenerative brakes described above is performed in a cycle of or more revolutions of the main shaft 10 after the braking starts times and until the braking starts times, that is, the command rotational speed is changed (the frequency command signal after the change is output) in a plurality of times in a cycle of or more revolutions of the main shaft 10.

However, when regenerative braking is performed in accordance with a change in the commanded rotational speed, regenerative power is generated as described above, and therefore, the resistor and the like must be in a state capable of absorbing the regenerative power generated as described above at each change time of the commanded rotational speed (output time of the frequency command signal). therefore, this cycle needs to be determined so that the resistor and the like are in such a state at each change time of the commanded rotational speed.accordingly, in the present embodiment, this cycle (set cycle) is determined by the system as a cycle corresponding to two revolutions of the main shaft 10. that is, in the present embodiment, the commanded rotational speed is changed (decreased by 200rpm) times every two revolutions of the main shaft 10 from the change time of the upper commanded rotational speeds, and the set value of this set cycle is stored in the storage unit 34a in the drive command unit 34 by being input-set in the input setter 40, as described above.

Further, the storage unit 34a of the drive command unit 34 stores an information reading program (hereinafter, simply referred to as "program") for reading the set cycle determined at each change timing of the command rotational speed (each output timing of the frequency command signal) and stored in the storage unit 34a as described above, and in addition, the drive command unit 34 is configured to change the next command rotational speeds based on the set cycle read by the program, and therefore, the set value of the set cycle stored in the storage unit 34a of the drive command unit 34 and the program correspond to the cycle information in the present invention.

However, in the present embodiment, since (common) cycles (cycles corresponding to two rotations of the spindle 10) are set as the setting cycles stored in the storage unit 34a, the program is set to read the common setting period at each change timing of the command rotational speed, and the common setting cycle is read from the storage unit 34a in the drive command unit 34 at each change timing by the program.

In the loom provided with the drive control device 30 as described above, the stop operation for stopping the loom (main shaft 10) from the steady operation state in which the main shaft 10 rotates at the steady rotation speed is performed by, for example, an operator operating a stop button in the input setter 40. In this case, the stop signal is output from the input setter 40 to the main control portion 32. In addition, the stopping operation is performed as usual even when weaving abnormality (for example, weaving failure such as yarn breakage or weft insertion failure) occurs during weaving. In this case, an abnormality signal is output from a detection device (not shown) that detects the weaving abnormality to the main control unit 32.

When such a stop signal and an abnormality signal are input to the main control unit 32, the main control unit 32 generates a stop command, and the stop command is output to the drive command unit 34. the timing of issuing the stop command is determined to be a predetermined timing in cycles ( revolutions of the main shaft 10) of the loom.

Specifically, the drive command unit 34 calculates a th calculated rotation speed (1600rpm) by subtracting a rotation speed drop amount (200rpm) from the steady rotation speed (1800rpm) at a predetermined regenerative braking start timing (for example, a timing at which the rotation angle of the spindle 10 reaches 360 ° (0 °) at th after the stop command is input), changes the command rotation speed from the steady rotation speed to a -th calculated rotation speed, outputs a frequency command signal as a drive command based on the -th calculated rotation speed to the inverter 36, and as a result, the inverter 36 controls the drive of the drive motor 20 at an output frequency based on the frequency command signal, whereby the spindle rotation speed is decreased from the steady rotation speed to 1600rpm, and the predetermined regeneration brake start timing is changed to -th rotation speed corresponding to the predetermined regenerative braking start timing in the present invention.

Specifically, the drive command unit 34 determines the second time change of the commanded rotational speed as a time when a period corresponding to two rotations of the spindle 10 has elapsed from the th time change of the commanded rotational speed, and the drive command unit 34 is configured to monitor the rotational angle of the spindle 10 from the th time change of the commanded rotational speed based on an angle signal (angle information) output from the main control unit 32.

The drive command unit 34 calculates the command rotation speed (second calculated rotation speed) corresponding to the second time of change of the command rotation speed between the th time of change of the command rotation speed and the second time of change of the command rotation speed at the predetermined time of calculation of the command rotation speed, specifically, the calculation time is determined to be, for example, a time when the rotation angle of the spindle 10 reaches the second time of 100 ° after the th time of change of the command rotation speed, and then, the drive command unit 34 reads again the rotation speed decrease amount stored in the storage unit 34a at a time when it is determined as the monitoring result that the rotation angle of the spindle 10 reaches the calculation time, and the drive command unit 34 calculates the second calculated rotation speed (1400rpm) by subtracting the read rotation speed decrease amount (200rpm) from the th calculated rotation speed (1600 rpm).

Then, at the time when it is determined as the monitoring result that the rotation angle of the main shaft 10 reaches the second change timing of the command rotation speed, the drive command unit 34 changes the command rotation speed from the -th calculated rotation speed to the second calculated rotation speed, and outputs a frequency command signal based on the calculated rotation speed to the inverter 36, whereby the main shaft rotation speed is decreased from 1600rpm to 1400 rpm.

Then, the same control is repeated in the drive command unit 34, and the command rotation speeds (calculated rotation speeds) corresponding to the times of changing the command rotation speeds of the third and fourth times are calculated and the command rotation speed at the times of changing is changed, whereby the spindle rotation speed is reduced from 1400rpm described above to 1000rpm which is the stop rotation speed in the form of a 200rpm reduction.

Further, as described above, the drive command unit 34 calculates the command rotation speed (calculated rotation speed) corresponding to the change time of the next command rotation speeds at the calculation timing from the change time of the command rotation speed to the change time of the next command rotation speeds, and in addition, the drive command unit 34 has a function of comparing the calculated rotation speed and the stop rotation speed stored in the storage unit 34a at each calculation time and determining whether or not both of them are equal to , and the drive command unit 34 is configured to disable the calculation function after the calculation time of the calculated rotation speed of when it is determined that the calculated rotation speed and the stop rotation speed are equal to as a result of the comparison, and to set a brake activation flag of the electromagnetic brake 60 in its own interior.

Thus, at the time of calculating the calculated rotation speed (1000rpm) corresponding to the time of changing the fourth command rotation speed, the calculation function after the calculation time is disabled in the drive command unit 34. Therefore, even if the rotation angle of the main shaft 10 reaches the calculation timing after the calculation time, the calculation function is not effective, and therefore the calculation of the calculated rotation speed is not performed.

Further, at this calculation time, the start flag of the brake is set in the drive command unit 34, and then, when it is determined as a result of monitoring the rotation angle of the main shaft 10 that the rotation angle of the main shaft 10 has reached the fourth change time of the command rotation speed as a result of the monitoring of the rotation angle of the main shaft 10, the drive command unit 34 starts the electromagnetic brake 60 and applies the brake to the main shaft 10, that is, the second braking step by the electromagnetic brake 60 is started, whereby the rotation speed of the main shaft is decreased from the stop rotation speed, the rotation of the main shaft 10 is stopped in this second braking step, and thereafter, the state of invalidation of the calculation function in the drive command unit 34 is released at the next start times of the loom.

Incidentally, with regard to the drop in the spindle rotation speed of the present embodiment described above, the actual change in the spindle rotation speed is as shown by the broken line in fig. 2. In addition, the solid line in fig. 2 represents a process in which the command speed changes a plurality of times.

As described above, according to the stop method of the loom of the present embodiment, the operation of the loom is stopped so that the rotation of the main shaft 10 is stopped by the brake in the second braking step after the rotation speed of the main shaft is reduced to the stop rotation speed by the regenerative braking in the th braking step, and therefore, according to the stop method of the loom, the brake is applied to the main shaft 10 after the rotation speed of the main shaft is reduced to the stop rotation speed by the regenerative braking, and therefore, the load applied to the mechanical elements and the like accompanying the brake braking is reduced.

Further, in the braking step, the main shaft rotation speed is reduced from the steady rotation speed to the stop rotation speed by the regenerative braking as described above, and the regenerative braking is performed in a plurality of times, and the change amount of the command rotation speed (rotation speed reduction amount) in each regenerative braking is set to 200 rpm.

In the above, the embodiment of the loom of the present invention (hereinafter, referred to as "the above-described example") was described, but the present invention is not limited to the description of the above-described example, and may be an example in another embodiment (modification) as described below.

(1) In the above-described embodiment, the present invention was described by taking as an example the case where the steady rotation speed is high at 1800rpm, but the steady rotation speed is not limited to such a high case, and the present invention can be applied also to the case where the steady rotation speed is low. That is, the case where the load applied to the mechanical element or the like becomes excessive when the brake is applied to the main shaft is not limited to the case where the stable rotation speed is high as described above, and may occur even when the rotation speed is low, and in such a case, the present invention can be applied. Specifically, even if the stable rotation speed is 1000rpm or less, for example, when the weight of mechanical components or the like is large due to a large number of heald frames in the warp shedding device or the like, the inertia thereof becomes large. As a result, since the load applied to the mechanical element and the like with braking of the brake becomes excessive, in this case, the present invention can be applied.

(2) In the above-described embodiment, the stop rotational speed is determined as the upper limit (i.e., the allowable rotational speed) by determining the allowable rotational speed in consideration of the load applied to the mechanical element or the like in association with the braking of the brake, as described above. However, in the present invention, the stop rotational speed may be determined to be a rotational speed equal to or less than the allowable rotational speed thus determined, and therefore may be determined to be a rotational speed lower than the allowable rotational speed (preferably, a rotational speed close to the upper limit thereof).

(3) In the present invention, the reduction of the spindle rotation speed from the steady rotation speed to the stop rotation speed is performed by regenerative braking divided into a plurality of times, but in the above-described embodiment, the change amount of the command rotation speed (rotation speed reduction amount) in each regenerative braking is set to 200rpm as the total .

Specifically, the rotation speed decrease amount may be, for example, 400rpm which is larger than 200rpm of the above embodiment, and the 400rpm may be used as the rotation speed decrease amount as long as the generated regenerative electric power does not exceed the allowable amount, and in this case, when the steady rotation speed and the stop rotation speed are the same as those of the above embodiment and the rotation speed decrease amount is the same as that of the above embodiment as in the case of the , the regenerative braking is performed twice.

For example, if the number of revolutions per minute is 200rpm or 400rpm, the number of revolutions per minute in the regeneration braking operation after th time is set to 400rpm, and the number of revolutions per minute in the regeneration braking operation after th time is set to 200rpm, the number of revolutions per minute is changed to 200 rpm.

(4) In the above-described embodiment, the command rotational speed serving as the basis of the drive command (frequency command signal) output at each change timing is stored in the storage unit, and the command rotational speed is obtained by calculation using the rotational speed drop amount. However, in the present invention, the command rotational speed corresponding to each change time is not limited to being obtained by calculation using the rotational speed decrease amount, and may be stored in the storage unit in advance and then read at the corresponding change time.

Specifically, for example, in the case where the spindle rotation speed is lowered from 1800rpm (steady rotation speed) to 1000rpm (stop rotation speed) four times at a speed of 200rpm each time as in the above-described example , the rotation speeds after the change (intermediate rotation speed) in the lowering process (1600rpm, 1400rpm, 1200 rpm) are stored in the storage unit as the command rotation speeds.

(5) In the present invention, the set period is determined so as to satisfy the condition that the resistor or the like is in a state (a state in which the regenerative power generated by the regenerative braking can be absorbed) at the time of each output (change).

Specifically, in comparison with the above-described embodiment, even if the rotation speed drop amount is the same and 200rpm, in the case of using a resistor or the like having a high capability, the set period is a period shorter than the above-described embodiment, but since the set period is determined in units of rotations of the main shaft, the set period corresponds to a period of rotations of the main shaft in this case, in addition, in the case of using a resistor or the like having a low capability, the set period is a period longer than the above-described embodiment.

Further, as described above, since the set period is only a period satisfying the above condition (a period longer than the absorbable period), when the shortest period satisfying the above condition corresponds to a period of n rotations of the spindle (n is an integer of 1 or more), the set period may be a period corresponding to n +1 rotations of the spindle. However, the set period is preferably determined to be the shortest period described above in consideration of the entire stop time from the issuance of the stop command to the stop of the rotation of the spindle.

Further, as described above, the rotation speed decrease amount in each regenerative braking in the th braking step is not limited to 200rpm in the above-described embodiment, nor to the period of the standard , and therefore, each set period in the th braking step is not limited to the period of the standard as in the above-described embodiment, and may be determined to be a different period depending on the rotation speed decrease amount.

However, even if the rotation speed decrease amount in each regenerative braking is not uniform as described above, the set period can be determined in the system as long as the above conditions are satisfied, and even if the rotation speed decrease amount in each regenerative braking is the period of the system , the set periods are not limited to the period determined in the system , and may be determined to be different periods.

As described above, the setting period may be arbitrarily set according to the capacity of the resistor or the like and the rotation speed drop amount as long as the condition is satisfied.

(6) The present invention is not limited to any of the above embodiments, and various modifications can be made without departing from the scope of the present invention.