CN112080833B

CN112080833B - Sectional warping machine and method for operating a sectional warping machine

Info

Publication number: CN112080833B
Application number: CN201911031058.1A
Authority: CN
Inventors: R·科恩; M·富尔
Original assignee: Carlmeyerstol R & D Co ltd
Current assignee: Carlmeyerstol R & D Co ltd
Priority date: 2019-06-12
Filing date: 2019-10-28
Publication date: 2022-04-05
Anticipated expiration: 2039-10-28
Also published as: EP3751033A1; ES2887032T3; EP3751033B1; JP2020200572A; CN112080833A; JP7022785B2

Abstract

The invention relates to a sectional warping machine and a method for operating a sectional warping machine. Sectional warper (1) have warping cylinder (2) and locate other warper platform (3) of warping cylinder (2) side, be equipped with warper reed (5) that are used for the yarn input on this warper platform, wherein this warping cylinder (2) and this warper platform (3) relative movement each other, wherein this sectional warper (1) has arm (8). According to the invention, the mechanical arm (8) of the sectional warping machine (1) has at least one tool for handling the warp threads (9). The invention also relates to a method for operating a sectional warping machine (1), comprising the following steps: make warper cylinder (2) of sectional warper (1) and warper platform (3) of sectional warper (1) relative movement each other, until warper platform (3) and warper primary zone (6) opposition of warper cylinder (2), receive warp yarn (9) from warper platform (3) through arm (8) of this sectional warper (1), fix this warp yarn (9) on this warper cylinder (2) through this arm (8) in this warper primary zone (6).

Description

Sectional warping machine and method for operating a sectional warping machine

Technical Field

The invention relates to a sectional warping machine, comprising a warping drum and a warping table arranged beside the warping drum, wherein a warping reed for inputting yarn is arranged on the warping table, the warping drum and the warping table can move relative to each other, and the sectional warping machine is provided with a mechanical arm.

Background

With the sectional warping machine, individual yarns from the creel can be warped side by side. A set of yarns is fed to the sectional warper through a warper reed, which is mounted on a warper bed of the sectional warper. The yarns are collected into a warp strip in which the yarns are arranged side by side. The warp strands are wound onto a warping drum during the warping process. During the warping process, the warping drum rotates. The warping table and the warping drum are moved parallel to the longitudinal axis of the warping drum and relative to each other, so that the warp threads are wound longitudinally along the circumferential surface of the warping drum. The warping drum has a conical shape at least in some regions, so that adjacent threads can be laterally supported against one another during the warping process. After the warp beam has been beamed onto the beaming drum, the beaming of a further warp beam can be started on its side.

In order to warp each warp sliver, multiple manual processing steps are required. These steps are quickly compounded because many of the warp yarns are beamed onto the beaming drum.

EP2169098a1 describes a sectional warper with a robot arm. The mechanical arm is equipped with a measuring mechanism which allows to determine the warp lap formed on the warping drum during the warping process. In warping, the warping drum and the warping table must be displaced relative to each other, wherein the current circumference of the warp lap must be taken into account. By means of the robot arm, the outer contour of the warp yarn package can be determined, which allows a better control of the process. Thereby improving the warping quality. Nevertheless, the user must manually perform a number of processing steps.

Disclosure of Invention

The invention is therefore based on the object of providing a warping machine in which less manual intervention is required during the warping process.

This object is achieved by providing a sectional warping machine of the type mentioned above, wherein the robot arm has at least one tool for handling the warp threads according to the invention. A tool for handling a warp yarn strip shall mean a tool which is capable of physically interacting with the warp yarn strip and thus, for example, of catching, dividing or otherwise handling the warp yarn strip. The robot arm is therefore an industrial robot. An industrial robot is a robot that allows interaction with its surroundings. Industrial robots can be burdened with processing steps that typically must be performed by human operators. A small amount of manual intervention is required, thereby speeding up the warping process.

Advantageously, the robot arm has a gripping tool. The clamping means can be designed according to the invention as a clamp. The clamping tool can also be designed according to the invention as a humanoid manipulator. According to the invention, it is also possible to use a suction device as a gripping tool, which can suck one or more threads. The warp thread can be gripped by a clamping tool and fixed on the warping drum. It is known from the prior art to fix warp threads on warping drums by means of fixing devices. It is therefore possible according to the invention for the warping drum to have clamping plates into which the warp threads can be inserted. Or it is possible that the warp thread has glue strips and is glued to the warping drum. This can also be done by means of a robotic arm. Other fixing possibilities are also conceivable.

It is particularly advantageous if the robot arm has a separating tool. The robotic arm preferably has a combined grasping and separating tool. The dividing tool is provided with a tool by means of which the material can be divided. The parting tool according to the invention may be a knife, scissors, wedge cutter, laser cutter or other form of parting tool.

According to the invention, it is possible for the robot arm to have a knotting tool. The yarns may be knotted to each other using a knotting tool. According to the invention it is possible that a mechanical arm is used for tying one end of the warp sliver. Furthermore, two yarns may be connected. Various advantageous application possibilities of the knotting tool thus arise during the warping process.

According to a special embodiment of the invention, the robot arm has two clamping tools spaced apart from each other for holding the warp thread sliver and a separating tool for separating the warp thread sliver. The parting tool is preferably arranged between the holding tools. The mechanical arm can thus first fix the warp thread strip on both sides of the predetermined dividing line and subsequently divide it. According to the invention, the warping machine can be equipped with additional mechanical arms for placing warp threads into clamping tools spaced apart from each other. According to an alternative embodiment of the invention, the warping machine has a mechanism for fixing the warp threads on the warping table. In this case, the mechanical arm is used only for dividing the warp sliver.

The sectional warping machine preferably has a platform which is arranged laterally to the warping drum and on which the robot arm is mounted, wherein the warping drum and the platform can be displaced relative to each other. According to the invention, the platform can be mounted on side rails oriented parallel to the longitudinal axis of the warping drum. On the side rails, the platform can be moved parallel to the warping drum. According to the invention, the movement can be performed by means of a drive mechanism. The radius of motion of the arm is ultimately limited by its length. The robot arm can be moved by means of the platform in order to bring the initially inaccessible surface area of the warping drum into its radius of action.

According to an advantageous embodiment of the invention, the platform is formed by the warping table. Thus, the mechanical arm always moves with the warping table. Since the warping table is typically located where the warp strands should be manipulated, the robotic arm is optimally positioned in embodiments of the present invention.

The robot arm preferably has more than one axis of rotation or axis of displacement. The robot arm is therefore extremely flexible and can be mounted with its tools in different positions in the area of the warping table and the warping drum.

The invention also relates to an operation method of the sectional warping machine, which comprises the following steps: the warping drum of the sectional warping machine and the warping table of the sectional warping machine move relative to each other until the warping table is opposite to the warping initial area of the warping drum, the mechanical arm of the sectional warping machine receives warp yarns from the warping table, and the warp yarns are fixed on the warping drum through the mechanical arm in the warping initial area.

The warping process begins in the warping initiation zone. The warping machine first receives the warp threads placed on the warping table. This means that the warping machine grips, holds or otherwise obtains one end of the warp thread or warp thread sliver. The mechanical arm delivers the warp sliver to the warping drum and fixes it on the warping drum in the warping initiation zone. It is possible to provide a clamping device in the warping starting zone, in which the warp threads can be clamped. In this case, the mechanical arm inserts one end of the warp sliver into the clamping device. According to the invention, it is also possible for the robot arm to fix the warp beam to the warping drum by means of a rubber strip. According to another inventive variant of the method, the mechanical arm ties the warp threads on the warping drum. However, it is also conceivable for the warp threads to be fastened to the warping drum in another way.

The method is preferably designed such that the robot arm receives the warp threads and/or is fastened to the warping drum by means of a clamping tool. However, as already mentioned, other variants for receiving warp threads are also conceivable according to the invention.

The method advantageously further comprises the steps of: the warp beam is beamed onto the warping drum while the warping drum is rotating, and the warping drum and the warping table are moved relative to each other until the warping table is opposite to a warping end zone of the warping drum, the warp beam is divided manually or mechanically, so that a warp lap formed by the warp beam on the warping drum is separated from the input warp lap, and one end of the warp lap is fixed on the warping drum by a robot arm in the warping end zone.

The warping end zone is the area of the warping drum in which the warping process is ended and the warp threads are fixed on the warping drum. During the warping process, the warp threads are wound onto the warping drum and now form warp thread loops which lie against the warping drum. The warp yarn strip is divided according to the invention in order to separate the warp yarn strip lap from the warp yarn strip remainder. The warp yarn can be cut manually by an assistant, for example with scissors. However, it is also possible for the warp threads to be cut by a machine, for which purpose the sectional warping machine can have a cutting device. One end of the warp lap is then fixed to the warping drum by the mechanical arm so that it does not sag. Preferably, for this purpose, one end of the warp lap is fixed to the warping drum by means of a clamp. This can be done in such a way that one end of the warp yarn package is clamped into the warp yarn package itself.

It is particularly preferred that the mechanical arm secures the end of the warp beam to the warping drum by clamping the end of the warp beam between the two warp beam layers of the warp beam. To this end, according to the invention, at least one warp thread layer can be lifted by the robot arm or on both sides and the one end of the warp thread is moved into the gap in the warp thread roll which occurs at this time. Alternatively, it is possible that the one end of the warp thread package is fixed in or at the warp thread package in another way or directly on the warping drum. According to another inventive variant of the method, the one end of the warp beam is fixed in a clamping device of the warping drum in the warping end zone.

Advantageously the mechanical arm divides the warp sliver. According to the invention, the mechanical arm can divide the warp thread strip by shearing, by means of laser radiation or in another way. It is also possible according to the invention that the dividing step is not performed by a robot arm, but by other forms of dividing means. It is therefore conceivable to provide a dividing device on the warping table, which divides the warp threads.

The mechanical arm preferably performs the following steps to divide the warp sliver: the warp yarn strip is fixed on both sides of a predetermined dividing line and is divided along the dividing line. This can be achieved according to the invention in that the robot arm grips the warp thread strip with two gripping tools and inserts a dividing tool between them in order to divide the warp thread strip along the dividing line.

In carrying out the method, the sectional warper platform carrying the robot arm and the warping drum are preferably moved relative to each other such that the surface area of the warping drum comes within the radius of action of the robot arm. Preferably, the platform and the warping drum are moved relative to each other and parallel to the longitudinal axis of the warping drum. The relative movement ensures that the robot arm can complete the coming processing steps in the warping initial area or the warping end area of the warping drum. Preferably the robotic arm moves with the warping table. It is thus possible according to the invention for the robot arm to be placed on the warping table, i.e. for the platform to be formed by the warping table. It is particularly preferred to move independently of the warping table when carrying out the method according to the invention. In this case, the robot arm is not mounted on the warping table, but on a platform that is movable independently of the warping table.

Drawings

An advantageous embodiment of the invention is shown in the figures, where:

figure 1 shows a schematic view of a sectional warping machine according to the invention,

fig. 2 shows a schematic view of a part of a warping drum of a sectional warping machine, the mechanical arms of which fix the warp threads on the warping drum,

FIG. 3 shows a schematic view of a grasping and cutting tool of a robot arm, an

Figure 4 shows a schematic view of a warp strip roll section with a mechanical arm securing the warp strip thereto.

List of reference numerals

1 sectional warping machine

2 warping drum

3 warping table

4 side guide rail

5 warping reed

6 warping initial zone

7 end zone of warping

8 mechanical arm

9 warp yarn strip

10 opening

11 manipulator end

12 holding seat

13 clamping tool

14 segmentation tool

15 warp yarn strip coil

16 warp yarn strip layer

17 gap

Detailed Description

Fig. 1 shows a schematic view of a sectional warping machine 1 according to the invention. The sectional warper 1 has a warping drum 2 and a warping table 3. The warping drum 2 can be driven in rotation by a motor and can also be moved parallel to its longitudinal axis. The warping table 3 is guided on a side rail 4 and can be moved thereon, wherein the warping table 3 is moved parallel to the longitudinal axis of the warping drum 2. A warping reed 5 is mounted on the warping table 3, by means of which the yarn, for example from a yarn creel, is fed to the sectional warping machine and collected. The bundled yarns together form a warp sliver.

To start the warping process, the warping drum 2 and the warping table 3 are first moved relative to one another such that the warping table 3 is opposite the warping staging area 6 of the warping drum 2. The warp threads are now fixed on the warping drum 2 in the warping starting zone 6.

The warping drum 2 is then driven in rotation. The warping drum 2 and the warping table 3 are moved relative to each other until the warping table 3 is opposite to a warping end zone 7 of the warping drum 2. The warp threads are now wound in the longitudinal direction onto the warping drum 2 and a warp lap is formed on the warping drum 2. The warp beam is broken and the loose end of the warp beam is fixed on the warping drum 2 in the warping finishing zone 7. This process is repeated a number of times, so that a number of warp layers are beamed onto the warping drum 2.

The mechanical arm 8 is used for assisting a user in the warping process, and the mechanical arm is placed on the warping table 3. The processing steps performed by the robot arm 8 are described below.

Fig. 2 shows a schematic view of a warping starting zone 6 of a warping drum 2 of a sectional warping machine, on which a mechanical arm 8 of the sectional warping machine 1 fixes a warp thread 9. The warping drum 2 has a plurality of openings 10 in which the clamping devices are arranged. The robot arm 8 grips the warp thread 9, which is placed on a warping table, not shown here, by means of a robot arm head 11 and fixes it in the opening 10 of the warping drum 2 by means of a clamping device. The warp threads 9 can now be beamed onto the warping drum 2.

Figure 3 shows a schematic view of the robot arm's robot tip 11. After warping of the warp yarn 9, the yarn should be divided. Two clamping tools 13, each having two clamping fingers and being spaced apart from each other, are arranged on the holder 12 of the robot head 11. Between the clamping means 13, parting means 14 with a grooving edge are arranged. The dividing means 14 can be moved relative to the holder 12 by means of a motor to cut off the warp strips 9 held by the gripping means 13. After cutting, the end of the warp thread 9 belonging to the warp lap should be fixed to the warping drum. To this end, one end of the warp strip 9 can be sandwiched between two warp strip layers of a warp strip roll.

Fig. 4 shows a schematic view of a section of a warp beam 15, wherein the mechanical arm 8 of the beamer clamps one end of the warp beam 15 into the warp beam 15. The warp lap 15 is formed by a plurality of warp thread layers 16, the warp thread layers 16 being the lapped and wound warp threads 9 which are beamed onto a warping drum. The robot arm 8 moves one warp yarn layer 16 aside and places one end of the warp yarn package 15 with its robot hand head 11 in the gap 17 thus created. The robot tip 11 is then withdrawn from the gap 17, so that the gap 17 is closed. One end of the warp yarn package 15 is now sandwiched between adjacent warp yarn layers 16 within the warp yarn package 15. The warping process can now be restarted with another portion of the warp yarn 9.

Claims

1. A sectional warper (1), this sectional warper has a warping cylinder (2) and locates this warping cylinder (2) side by warping platform (3), this warping platform loads into warper reed (5) that are used for the yarn input, wherein the warping cylinder (2) with warping platform (3) can move relatively each other, wherein sectional warper (1) has arm (8), and wherein, arm (8) are set up and are used for fixing warp yarn (9) on warping cylinder (2), characterized by, arm (8) have be used for controlling at least one instrument of warp yarn (9) and more than one axis of rotation or lapse axis.

2. The sectional warping machine (1) according to claim 1, wherein the robot arm (8) has a holding tool (13).

3. The sectional warping machine (1) according to any one of the preceding claims, wherein the robot arm (8) has a dividing tool (14).

4. The sectional warping machine (1) according to claim 1, wherein the robot arm (8) has a knotting tool.

5. The sectional warping machine (1) according to claim 1, wherein the mechanical arm (8) has two clamping means (13) spaced apart for holding the warp threads (9) and a splitting means (14) for splitting the warp threads (9).

6. The sectional warper (1) of claim 1, wherein the sectional warper (1) has a platform disposed laterally to the warping drum (2), the robot arm (8) being mounted on the platform, wherein the warping drum (2) and the platform are movable relative to each other.

7. The sectional warping machine according to claim 6, wherein the platform is constituted by the warping table (3).

8. A method for operating a sectional warping machine (1), comprising the following steps:

-moving a warping drum (2) of the sectional warping machine (1) and a warping table (3) of the sectional warping machine (1) relative to each other until the warping table (3) is opposite a warping initiation area (6) of the warping drum (2),

-receiving a warp sliver (9) from the warping table (3), and

-fixing the warp thread (9) on the warping drum (2) in the warping initiation area (6) by a robot arm (8) of the sectional warping machine (1), characterized in that the warp thread (9) is received by the robot arm (8) from the warping table (3), wherein the robot arm (8) has at least one tool for handling a warp thread (9) and more than one axis of rotation or axis of displacement.

9. Method according to claim 8, characterized in that the robot arm (8) receives the warp thread (9) by means of a clamping means (13) and/or fixes the warp thread on the warping drum (2) by means of a clamping means.

10. A method according to claim 8 or 9, characterized in that the method has the following additional steps:

-warping the warp threads (9) onto the warping drum (2) with the warping drum (2) rotating and moving the warping drum (2) and the warping table (3) relative to each other until the warping table (3) is opposite a warping end zone (7) of the warping drum (2),

-splitting the warp thread (9) manually or mechanically so that a warp lap (15) formed by the warp thread (9) on the warping drum (2) is separated from the input portion of the warp thread (9), and

-fixing one end of the warp lap (15) on the warping drum (2) by means of the mechanical arm (8) in the warping end zone (7).

11. Method according to claim 10, characterized in that the mechanical arm (8) secures the one end of the warp lap (15) on the warping drum (2) by clamping the one end of the warp lap (15) between two warp layers (16) of the warp lap (15).

12. Method according to claim 11, characterized in that the mechanical arm (8) divides the warp sliver (9).

13. A method as claimed in claim 12, wherein said robotized arm (8) carries out the following steps:

-fixing the warp strip (9) on both sides of a predetermined dividing line,

-dividing the warp strip (9) along the dividing line.

14. Method according to claim 8, characterized in that the platform of the sectional warper (1) on which the robot arm (8) is loaded and the warping drum (2) are moved relative to each other in order to place the surface area of the warping drum (2) into the radius of action of the robot arm (8).