CN110093694B - Device for handling bobbins, method for transporting bobbins, maintenance robot for ring spinning machines and ring spinning machine - Google Patents

Device for handling bobbins, method for transporting bobbins, maintenance robot for ring spinning machines and ring spinning machine Download PDF

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Publication number
CN110093694B
CN110093694B CN201910093225.9A CN201910093225A CN110093694B CN 110093694 B CN110093694 B CN 110093694B CN 201910093225 A CN201910093225 A CN 201910093225A CN 110093694 B CN110093694 B CN 110093694B
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Prior art keywords
bobbin
vertical
handling device
tube
spindle
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CN201910093225.9A
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CN110093694A (en
Inventor
M.莫拉维克
T.布洛泽克
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Maschinenfabrik Rieter AG
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Maschinenfabrik Rieter AG
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/38—Arrangements for winding reserve lengths of yarn on take-up packages or spindles, e.g. transfer tails
    • D01H1/385—Removing waste reserve lengths from spindles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/04—Doffing arrangements integral with spinning or twisting machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/02—Spinning or twisting machines in which the product is wound-up continuously ring type
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H7/00—Spinning or twisting arrangements
    • D01H7/02—Spinning or twisting arrangements for imparting permanent twist
    • D01H7/04—Spindles
    • D01H7/16—Arrangements for coupling bobbins or like to spindles
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/001—Bobbin-taking arrangements
    • D01H9/003—Graspers operating under the action of a fluid
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/08—Doffing arrangements independent of spinning or twisting machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/08—Doffing arrangements independent of spinning or twisting machines
    • D01H9/10—Doffing carriages ; Loading carriages with cores

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

The invention relates to a bobbin handling device for transporting bobbins from the spindles of a spinning station of a ring spinning machine to a yarn end (4) search position, said device being displaceable between a rest position, a clamping position for clamping the bobbins at the spinning station and a yarn end (4) search position. The manipulating device includes: a support portion (6) coupled to a drive for vertical reversible linear movement; a gripper (7) of the bobbin, mounted on the supporting portion (6) and coupled to the drive for reversible horizontal linear movement; a vertical clamping mandrel (8) mounted on the clamp (7) and coupled to a rotary drive (82) for rotation about a longitudinal axis (X); and a controlled gripping element (9) provided at the lower end of the vertical gripping mandrel (8) for insertion into the cavity of the upper end of the tube (1) of the bobbin. The invention also relates to a method for transporting a bobbin by means of a bobbin handling device. In addition, the invention relates to a maintenance robot of a ring spinning machine and a ring spinning machine like this.

Description

Device for handling bobbins, method for transporting bobbins, maintenance robot for ring spinning machines and ring spinning machine
Technical Field
The present invention relates to a bobbin handling device for transporting a bobbin from a spindle of a spinning station of a ring spinning machine to a yarn end search position, the bobbin handling device being displaceable between a rest position, a clamping position for clamping the bobbin at the spinning station, and a yarn end search position.
The invention also relates to a method for transporting a bobbin from a spindle of a spinning station of a ring spinning machine to a thread end search position by means of a bobbin handling device, wherein the bobbin tube is gripped by the handling device, pulled off the spindle, moved to the thread end search position, whereupon the thread end on the bobbin is detected and the bobbin is then placed back on the spindle.
The invention further relates to a maintenance robot of a ring spinning machine, comprising a bobbin handling device. In addition, the invention relates to a ring spinning machine.
Background
Ring spinning machines comprise a row of spinning stations arranged adjacent to each other, each comprising a roving-drafting device from which the manipulated roving is carried to a twisting device from which the produced yarn is drawn and wound in a winding device on a tube carried by a spindle, thus forming a bobbin, or in other words a cop (cop), i.e. a tube with a package (package). If yarn production is interrupted (e.g. due to breakage), it is necessary to resume yarn production at a given spinning station. During resumption of the spinning process at the spinning station, when the spinning is interrupted, the roving feed roller of the drafting device is stopped, or the drafting device is operated and the fibers from the roving are sucked into the waste, etc., and then the movement of the traveller on the ring (ring) is terminated, which is usually registered by a traveller movement sensor. Subsequently, it is necessary to find the end of the yarn on the bobbin, to unwind the yarn from the package, to pass it through the traveller, balloon cover (balloon limiter) and guide eyelet, and finally to bring the end of the yarn back between the end rollers of the roving drafting device, so that during the spinning recovery, the end of the yarn is coupled to the end of the roving. The spinning station is thus ready for restarting the yarn production. All these service operations are performed during the permanent vertical reversible movement of the ring plate (ring bench) and the balloon-cap carrier, as the other spinning stations continue to produce yarn. In order to avoid undesired contact between the device for detecting the end of the thread and the ring plate, the bobbin is lifted to a safety height above the ring plate and above the spindle for detecting the end of the thread. A bobbin handling device is used for this purpose, for example a device according to EP 394671.
For handling the thread reels, for example for changing thread reels, further handling devices are known, for example according to EP410021a1, which comprise grippers by means of which the outer circumferential part of the tube is gripped and the tube is lifted and handled. Another possibility of handling the bobbin is to have the inner wall of the tube gripped through the upper opening, as described for example in EP2031104, which is however primarily intended for removing residual yarn from the tube by means of an external picker member.
The space at the spinning stations of a ring spinning machine is very small, since the spacing between the spinning stations is only 70 or 75 mm, for example, and the requirements on the handling device are therefore challenging in terms of the size of the handling device and in terms of its reliability and design in an uncomplicated manner.
Disclosure of Invention
The aim of the present invention is to propose a handling device that is reliable and manageable both from a constructional point of view and from a daily operating point of view.
The object of the invention is achieved by a bobbin handling device according to the invention for transporting bobbins from the spindles of a spinning station of a ring spinning machine, characterized in that it comprises:
-a support portion coupled to a drive for vertical linear reversible movement;
-a bobbin gripper mounted on the support portion and coupled to the drive for reversible horizontal linear movement;
-a vertical clamping mandrel mounted on the bobbin holder and coupled to a rotary drive for rotation about a longitudinal axis, and
-a controlled gripping element provided on the lower end of the vertical gripping mandrel to be inserted into the cavity of the upper end of the tube.
The principle of the method for transporting a bobbin by means of a bobbin manipulator consists in: moving a vertical clamping mandrel by a set of linear movements over an upper end of a bobbin, the bobbin being placed on a spindle at a spinning station, inserting an elastic clamping element at a lower end of the vertical clamping mandrel into a cavity at an upper end of a tube and expanding the elastic clamping element for gripping the bobbin, removing the bobbin from the spindle by the set of linear movements and moving the bobbin to a yarn end detection device on a maintenance robot outside the spinning station, and after detecting the yarn end, placing the bobbin back on the spindle at the spinning station of the machine by the set of linear movements.
The principle of maintenance of automatic mechanical equipment of ring spinning frames lies in: comprising a bobbin handling device according to the invention.
Preferably, the drive for the horizontal linear reversible movement of the bobbin gripper is formed by a pneumatic linear drive.
Preferably, the drive for rotation of the vertical clamping mandrel is formed by a rotary motor, the output shaft of which is coupled to the vertical clamping mandrel by a toothed belt.
Preferably, the rotary motor is formed by a stepping motor.
Preferably, the controlled gripping element is formed by a resilient member for gripping the tube in a cavity at the upper end of the tube.
Preferably, the elastic member is formed by a reversibly deformable ring which abuts by its upper end against the lower end of the vertical clamping mandrel and by its lower end against the upper side of an end collar which is mounted at the lower end of a vertical control rod which is arranged in a vertically reversibly displaceable manner in the opening of the hollow vertical clamping mandrel and which is connected to a driver of a vertically reversible sliding movement.
Preferably, the drive for the vertical reversible sliding movement of the vertical control rod is formed by a pneumatic linear drive.
Preferably, the support portion is coupled to the vertical linear guide.
Preferably, the bobbin holder is coupled to the horizontal linear guide.
The invention also relates to a maintenance robot for a ring spinning machine, comprising such a bobbin handling device. Furthermore, the principle of ring spinning machines is that: which comprises the above-mentioned maintenance robot.
The object of the invention is achieved by a method according to the invention for transporting bobbins by means of a bobbin handling device, which method is characterized in that,
-positioning a vertical clamping mandrel over the upper end of a bobbin mounted on a spindle at a spinning station by a set of linear movements;
-inserting a resilient gripping element on the lower end of the vertical gripping mandrel into the cavity of the upper end of the tube and expanding the resilient gripping element in order to grip the tube of the bobbin;
-removing the bobbin from the spindle and moving the bobbin to a yarn end search position on a maintenance robot outside the spinning station by a set of linear movements; and
-after detecting the end of the thread, the bobbin is put back on the spindle at the spinning station by a set of linear movements.
Preferably, during the search for the thread end on the bobbin, the tube is rotated due to the rotation of the vertical clamping mandrel.
Preferably, after returning the bobbin to the spindle position (positioning), the bobbin handling device is returned to a rest position at a maintenance robot outside the spinning station.
Preferably, the rotation of the vertical clamping mandrel is rotated by a rotation motor that drives a toothed belt coupled to the vertical clamping mandrel.
Preferably, the step of expanding the elastic gripping element in order to grip the tube of the bobbin consists of a vertical displacement of a vertical control rod which is arranged in the opening of the hollow vertical gripping spindle and which is connected to a drive of a vertical reversible sliding movement, so that a reversibly deformable ring is expanded, which abuts by its upper end against the lower end of the vertical gripping spindle and by its lower end against the upper side of an end collar mounted at the lower end of the vertical control rod.
The invention makes it possible to grip the bobbin reliably and simultaneously in a direct manner through the cavity of the tube and to manipulate it outside the spinning station to find the end of the yarn and then to return it correctly to the spinning station, all at the required speed and accuracy. The invention allows the above-mentioned grasping of the spool through the cavity of the tube to be accomplished by only one of the following actions: the bobbin is firmly held by its inner opening, so that the tube can not only be reliably handled, but also be rotated during the search for the thread end. Manipulation of the bobbin based on a set of linear motions is also advantageous in terms of ease of management and position control along individual axes of a rectangular coordinate system (i.e., in space).
Drawings
The invention is illustrated schematically in the drawings, in which
FIG. 1 shows the arrangement of a bobbin handling device at a spinning station of a ring spinning machine before clamping the bobbin, and
figure 2 shows a detail of the system for gripping a spool through the inner wall of the cavity of the tube.
Detailed Description
The invention will be described with reference to an exemplary embodiment of a bobbin handling device at a spinning station of a ring spinning machine, whereby the machine comprises a row of identical spinning stations arranged next to each other. In principle, spinning stations are well known and therefore the whole spinning station will be described below only in a simplified manner. Those parts, elements and nodes of the spinning station which are of significance for the invention will be described in more detail. The spinning station of a ring spinning machine comprises a roving drawing device, not shown, below which a yarn twisting and winding device is arranged. The roving is fed from a supply package, not shown, to a drafting device, after which the yarn formed passes through a guide eyelet, a balloon cover and then a traveller (which circulates circumferentially around the ring 3 in a holder mounted on the ring plate 2), immediately after passing through the ring, the yarn produced is wound on a package 40 on a tube 1, thus forming a bobbin or cop placed on a driving spindle which rotates about an axis Y. The tube 1 constitutes a basic supporting body for the winding yarn.
The bobbin, i.e. the tube 1 with package 40, is formed by a continuous reversible vertical movement of the ring plate interacting with the yarn winding device after the yarn has passed through the traveller (not shown) circulating on the upper part of the ring 3, whereby a twist is produced on the yarn as the traveller delays behind the spindle by a few revolutions, thereby turning the manipulated roving into a yarn with the desired properties. The spindles are usually driven in their lower part by means of a flat belt driven by a drive shaft.
A maintenance robot is displaceably arranged along the row of spinning stations, which maintenance robot comprises means and members for performing service operations at the spinning stations or for performing at least some of these service operations at the spinning stations.
One of these operations is the manipulation of the drum for the purpose of finding the end of the thread 4 on the bobbin or package 40. The control wire barrel includes: the bobbin is gripped, lifted above the level of the upper end of the spindle and of the ring plate 2, and ejected from the spinning station towards the maintenance robot, i.e. outside the spinning stations of the machine, in order to find the thread end 4 on the bobbin, and then put it back in the respective spinning station.
In order to perform this operation, the maintenance robot is provided with a bobbin manipulator, hereinafter referred to as bobbin manipulator only, at a spinning station of the ring spinning machine.
The bobbin manipulator is mounted by its support part 6 on a vertical linear guide 5 of the service robot in such a way that it can be displaced vertically reversibly in the directions a + and a-. The support part 6 is coupled to a rotary or linear drive which is coupled to a control device. As a result, the support part 6 can be positioned on the guide 5 in a controlled and reversible manner in the vertical direction.
The bobbin holder 7 is mounted on the support part 6 on a horizontal linear guide 10 in such a way that it can be displaced reversibly horizontally in the directions B + and B-relative to the support part 6. The gripper 7 is coupled to a rotary or linear drive which is coupled to a control device. The gripper 7 can thus be positioned in a controlled and reversible manner in the horizontal direction with respect to the support portion 6. In the illustrated example of embodiment, the drive of the linear reversible movement of the gripper 7 consists of a pneumatic linear drive.
A vertical clamping mandrel 8 is mounted by its upper end on the clamp 7 in a rotatable manner about its longitudinal axis (which is positioned vertically). The vertical clamping mandrel 8 is coupled to its rotary drive, preferably a bidirectional rotary actuator. In the illustrated example of embodiment, the drive for the rotation of the vertical clamping mandrel 8 consists of a bidirectional rotary actuator (in particular a stepper motor) comprising a rotary motor 82, the output shaft of the rotary motor 82 or a toothed pulley 820 mounted on the output shaft of the rotary motor 82 being wrapped around a toothed belt 83, which is wrapped around the upper part of the vertical clamping mandrel 8 in a manner not illustrated, for example also by means of a toothed pulley mounted on the vertical clamping mandrel 8. At its free bottom end, the vertical clamping mandrel 8 comprises a vertical control rod 81 and a vertical drive 811, and is provided with a clamping element 9 of a bobbin. In the exemplary embodiment shown, the clamping element 9 of the spool consists of a resilient member for clamping the spool by means of the inner wall of the upper end of the cavity of the tube 1 of the spool. The resilient member is formed, for example, by a deformable ring 90 which rests with its upper end against the lower end 80 of the vertical clamping mandrel 8 and with its lower end abuts the upper side of an end collar 810 which is mounted at the lower end of the vertical control rod 81. The control rod 81 is mounted in a vertically reversibly slidable manner in the vertical directions C + and C-in the cavity of the vertical clamping mandrel 8, whereby at its end above the upper end of the vertical clamping mandrel 8 it is connected to a vertical drive 811 which is reversibly slidable in the vertical directions C + and C-. The vertical drive 811 is formed, for example, by a linear drive, for example, a pneumatic linear drive or a rotary drive with a linear transmission, for example, comprising a gear drive on a rotary motor, which is associated with a rack drive on the vertical control rod 81.
In a not shown example of embodiment, mounted at the lower end of the vertical clamping mandrel 8 is an elastic member in the form of an inflatable body, which is connected to a source of compressed air, for example by compressed air distribution in the cavity of the vertical clamping mandrel 8. The clamping element 9 at the lower end of the vertical clamping mandrel 8 has an outer diameter which is smaller than the diameter of the upper opening of the tube 1 when the bobbin is not clamped, whereby the clamping element 9 has a diameter which is larger than the diameter of the upper opening of the tube 1 when the bobbin is clamped, and thus the clamping element 9 abuts with its outer circumference against the inner wall of the cavity of the tube 1, as shown in fig. 2.
The device operates such that if it is necessary to manipulate the bobbin by removing it from the spinning station in order to find the thread end 4 on the yarn package 40, the gripper 7 is inserted in its rest position in a maintenance robot outside the spinning station (see figure 1). The clamping element 9 at the lower end of the vertical clamping mandrel 8 is arranged above the level of the upper end of the bobbin and at a distance of the displacement V. Subsequently, the gripper 7 is moved forward along the horizontal linear guide 10 until the vertical longitudinal axis X of the vertical gripping spindle 8 reaches the axis of rotation Y of the bobbin (displacement V). After that, the support part 6 is moved down on the vertical linear guide 5 and the clamping element 9 at the lower end of the vertical clamping mandrel 8 is inserted into the opening of the upper end of the tube 1 of the bobbin. Next, the spool is gripped by the inner wall of the cavity of the tube 1, this operation being performed by controlled deformation of the gripping element 9, which expands in the inner space of the cavity of the tube 1 (see fig. 2), here by movement of the control rod 81 in the direction C +.
Subsequently, the support part 6 is moved upwards on the vertical linear guide 5, which means that the bobbin is removed from the not shown spindle at the spinning station, whereupon the lower end of the bobbin exceeds the upper end of the spindle and the level of the ring rail 2. Subsequently, the gripper 7 moves back along the horizontal linear guide 10, which causes the gripper 7 to move together with the bobbin on the vertical gripping spindle 8 away from the spinning station towards the maintenance robot and set the bobbin to the desired search position in order to find the thread end 4 on the bobbin outside the spinning station by means of a thread end detection device, not shown. During the search for the thread end 4, the bobbin is rotated about its longitudinal axis in the desired direction, so that the vertical clamping mandrel 8 is rotated about its longitudinal axis X. After detection of the thread end 4, the gripper 7 moves back into the space of the spinning station together with the bobbin on the vertical gripping spindle 8, so that the vertical longitudinal axis X of the vertical gripping spindle 8 reaches the rotation axis Y of the bobbin at the spinning station again. Subsequently, the support part 6 moves downwards on the vertical linear guide 5 and puts the bobbin back through the tube 1 onto the spindle, not shown, of the spinning station. After that, the clamping element 9 at the lower end of the vertical clamping mandrel 8 releases the tube 1 of the reel, here by movement of the control rod 81 in the direction C-. Subsequently, upon upward ejection of the support part 6 on the vertical linear guide 5, the gripping element 9 at the lower end of the vertical gripping spindle 8 is ejected from the tube 1 cavity above the level of the bobbin upper end, whereupon the gripper 7 is withdrawn along the horizontal linear guide 10 to its rear, i.e. rest position in the maintenance robot outside the spinning station, as shown in fig. 1. By this, the entire cycle is completed.
Reference numerals
1 pipe
2 Ring rail
3 ring
4 yarn end
40 roll of yarn
5 vertical linear guide
6 support part
7 bobbin holder
8 centre gripping dabber
80 clamping mandrel 8 lower end
81 control rod
810 end shaft ring
811 driver
82 rotating motor
820 toothed belt pulley
83 toothed belt
9 clamping element
90 deformable ring
10 horizontal linear guide
A + -A - Moving vertically
B + -B - Moving horizontally
C + -C - In the vertical direction
V displacement
Longitudinal axis of Y-line bobbin
X holds the longitudinal axis of the mandrel 8.

Claims (15)

1. Bobbin handling device for transporting a bobbin from a spindle of a spinning station of a ring spinning machine to a yarn end (4) search position, the bobbin handling device being displaceable between a rest position, a gripping position for gripping a tube (1) of the bobbin at the spinning station and the yarn end (4) search position, the bobbin handling device being characterized in that it comprises:
-a support portion (6) coupled to a drive for vertical linear reversible movement;
-a bobbin gripper (7) mounted on said supporting portion (6) and coupled to a drive for reversible horizontal linear movement;
-a vertical clamping mandrel (8) mounted on the bobbin holder (7) and coupled to a rotary drive for rotation about a longitudinal axis (X) of the vertical clamping mandrel (8), and
-a controlled gripping element (9) provided on the lower end of the vertical gripping mandrel (8) to be inserted into the cavity of the upper end of the tube (1).
2. Bobbin handling device according to claim 1, in which the drive for the horizontal linear reversible movement of the bobbin gripper (7) is formed by a pneumatic linear drive.
3. Bobbin handling device according to claim 1, characterized in that the drive for rotation of the vertical clamping mandrel (8) is formed by a rotary motor (82), the output shaft of which is coupled to the vertical clamping mandrel (8) by a toothed belt (83).
4. Bobbin handling device according to claim 3, wherein the rotation motor (82) is formed by a stepper motor.
5. Bobbin handling device according to any of claims 1-4, characterized in that the controlled gripping element (9) is formed by a resilient member for gripping the tube (1) in a cavity in the upper end of the tube (1).
6. Bobbin handling device according to claim 5, characterised in that the vertical clamping mandrel (8) is hollow and the elastic member is formed by a reversibly deformable ring (90) which abuts by its upper end against the lower end (80) of the vertical clamping mandrel (8) and by its lower end against the upper side of an end collar (810) mounted at the lower end of a vertical control rod (81) which is arranged in an opening of the vertical clamping mandrel (8) in a vertically reversibly displaceable manner and is connected to a driver (811) of a vertical reversible sliding movement.
7. Bobbin handling device according to claim 6, characterized in that the drive (811) of the vertical control rod (81) for vertical reversible sliding movement is formed by a pneumatic linear drive.
8. Bobbin handling device according to any of claims 1 to 4, wherein the support part (6) is coupled to a vertical linear guide (5).
9. Bobbin handling device according to any of claims 1 to 4, wherein the bobbin gripper (7) is coupled to a horizontal linear guide (10).
10. A maintenance robot of a ring spinning machine, comprising a bobbin manipulator according to any one of claims 1 to 9.
11. A ring spinning machine comprising a maintenance robot according to claim 10.
12. Method for transporting a bobbin from a spindle of a spinning station of a ring spinning machine to a thread end (4) search position by means of a bobbin handling device according to any one of claims 1 to 9, wherein the bobbin tube (1) is gripped by a handling device, removed from the spindle and transferred into the thread end (4) search position, whereupon the thread end (4) is detected on the bobbin and the bobbin is then placed back on the spindle, characterized in that,
-positioning a vertical gripping spindle (8) over the upper end of the bobbin mounted on a spindle at the spinning station by a set of linear movements;
-inserting a controlled gripping element (9) on the lower end of the vertical gripping mandrel (8) into the cavity of the upper end of the tube (1) and expanding the controlled gripping element (9) in order to grip the tube of the bobbin;
-removing the bobbin from the spindle and moving it to the yarn end (4) search position on a maintenance robot outside the spinning station by a set of linear movements; and
-after detecting the thread end (4), the bobbin is put back on the spindle at the spinning station by a set of linear movements,
wherein during said search for the thread end (4) on the bobbin, the tube (1) is rotated due to the rotation of the vertical clamping mandrel (8).
13. The method according to claim 12, characterized in that after returning the bobbin to the spindle position, the bobbin handling device is returned to a rest position at the maintenance robot outside the spinning station.
14. Method according to claim 12 or 13, characterized in that the rotation of the vertical clamping mandrel (8) is rotated by a rotary motor (82) driving a toothed belt (83) coupled to the vertical clamping mandrel (8).
15. Method according to claim 12 or 13, characterized in that the vertical clamping mandrel (8) is hollow and the step of expanding the controlled clamping element (9) for clamping the tube of the bobbin consists of a vertical displacement of a vertical control rod (81) which is arranged in an opening of the vertical clamping mandrel (8) and which is connected to a drive (811) of vertical reversible sliding movement, so that a reversibly deformable ring (90) is expanded which abuts by its upper end against the lower end (80) of the vertical clamping mandrel (8) and by its lower end against the upper side of an end collar (810) which is mounted at the lower end of the vertical control rod (81).
CN201910093225.9A 2018-01-31 2019-01-30 Device for handling bobbins, method for transporting bobbins, maintenance robot for ring spinning machines and ring spinning machine Active CN110093694B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CZPV2018-47 2018-01-31
CZ2018-47A CZ201847A3 (en) 2018-01-31 2018-01-31 Coil handling device, coil transport method, annular spinning machine service device and annular spinning machine

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CN110093694A CN110093694A (en) 2019-08-06
CN110093694B true CN110093694B (en) 2022-08-02

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EP (1) EP3521489B1 (en)
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CN110093694A (en) 2019-08-06
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ES2898694T3 (en) 2022-03-08
EP3521489B1 (en) 2021-08-18

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