DE4031076A1 - Reel handling equipment with improved safety - comprising frame to enable interchange of full and empty reels with semi-automatic working speeds - Google Patents

Abstract

Reel handling equipment is partly automatic when removing yarn reels from winders. The equipment is based on one frame to enable interchange of full and empty reels, with the ability to move the full reel into a transport position. - The swivel mechanism (7) which is driven from the unit (16) can put the spindles (6,8) into the direction (X, Y or Z) within the framework (12). The ends of the spindles (6a, 8a) are capable of being positioned with exactitude. A torsion unit (11) is based on the frame (12) to give added flexibility.

Description

The invention is directed to a device for little Mostly automatic handling of bobbin tubes and pre-wound spools of spinning machines.

There is an abundance of fibers, threads and the like Spinning machines are wound into spools, be it before Council spools as temporary storage, be it ready-made spools for further processing and the like In the foreground the winding of plastic fibers into coils general. The addressed invention can self ver are also used for the manipulation of Textile bobbins of non-synthetic origin, for wire spools or for spools of threads or cords made of hemp or the like

Some of these coils are so heavy that they are man-made can only be handled with difficulty, d. H. just the removal of completely wound bobbins from the wick Learning or from the coil heads can be very difficult be. In addition, the free as soon as possible put mandrels with empty tubes made of paper or plastic need to be re-populated. These empty tubes must be made from egg removed from a reservoir and placed on the mandrels  are inserted, the finished coils removed must be stored elsewhere for further transport the.

The object of the invention is to provide a solution with which manipulates both finished coils as well be simplified by empty tubes, being a special one The aim of the invention is to decrease and on Automate plugging processes as comprehensively as possible.

With a device of the type described in the introduction solved this problem according to the invention in that on a common device framework a takeover / transition bearm for empty tubes, a takeover / transfer arm for Spu len and an actuating and swivel mechanism for ver bring the arms from a working position to a trans port position is provided.

With the invention it is achieved that the assembly with Empty tubes, the removal of coils and the transport it the empty tubes or the coils of a single front direction can be made since the takeover and Transfer arms then for the empty tubes or the coils work automatically after positioning the device can.  

In an embodiment, the invention provides that the takeover me- / transfer arms via the swivel mechanism by at least a common axis of rotation is pivotally mounted are provided, in a further embodiment can that the takeover / transfer arms within the pre directional frame pivotable about all three spatial axes are stored.

The advantage of this configuration is in particular that the device is designed as a very compact device that can, since the pivoting of the arms around each same spatial axis enables a compact construction.

It is advantageous if the actuating pivot mechanism for at least partially synchronous drive of the arms is formed, as the invention also before sees, including an asynchronous swing, albeit around the same spatial axis is possible.

The invention also provides that the takeover / handover arms at their free ends with positioning heads to stop equal minor positioning inaccuracies are equipped, whereby to compensate for positioning inaccurate in addition to the measure according to the invention just mentioned men can also be provided that the actuating and Swivel mechanism and thus also the takeover / transition arms by means of a torsion bar suspension on the device  frames are stored.

In an embodiment can also be provided according to the invention be that the torsion bar suspension itself on the Vorrich tion frame stored by means of a swivel mechanism is. This swivel mechanism can also be used for this be the working position in the horizontal plane of the Takeover / transfer arms swivel at least 90 ° can.

To enable essentially fully automatic work Lichen, the invention also provides that the takeover / Transfer arms each with a device for pushing and are equipped to slide on the sleeves or coils.

In a preferred embodiment of the invention is also provided that the device frame with a Fahrge stell is equipped, in particular be provided can provide the chassis with all-wheel steering is.

These designs make it possible for the entire device if necessary via microprocessors fully automatically as manipulation lationsrobot to use, since they with the help of the position niereinrichtung, with the help of the all-wheel steering and, if necessary own drive can work fully automatically without personnel would have to be brought in.  

Further configurations and advantages of the invention result itself from the further subclaims, whereby here in particular which is advantageous if the chassis as a three wheel chassis designed with driven single wheel is what can be provided according to the invention in a modification can.

The takeover / transfer arms can be advantageous for taking me and delivery of several elements, where the facility can be made so that a Tax transfer or takeover or pushing movement in this way bar is that the sleeves or coils close together and / or can be positioned at a distance from one another.

All movements of the device as for the takeover me- / transfer arms as well as for the up and push-off movements gene can each with magnetic couplings and / or magnet brakes are provided for positioning the movement conditions at the different positions of the work cycle.

Hysteresis clutches can also be used in the drives be seen to be an adjustable force to every movement limit, which also allows each of the movements end points against fixed stops.  

Touching or non-contact limit switches are only ever provided starting point (zero ref.).

Positioning of the drives can be done by digital pulse counters ler be carried out in that is at the actual value the movement by means of their magnetic coupling equals the setpoint and / or magnetic brake at the desired position positio is renated.

The invention is below with reference to the drawing explained in more detail, for example. This shows in:

Fig. 1 is a simplified spatial representation of the front of directions in front of the coil heads of a Spinnmaschi ne,

Fig. 2 is an enlarged view of elements of the apparatus,

Fig. 3 is a view similar to FIG. 2 geringfü gig weitereren enlarged details of the on gear,

Fig. 4 is a partial view of a tube or pusher arm,

Fig. 5 is a further partial view of a transfer / Überga bearmes,

Fig. 6 is a partial view of a chassis of the tung Vorrich,

Fig. 7 is an enlarged view of the torsion bar suspension on the takeover / transfer arms and in

Fig. 8 is a plan view of the route of a fully automatically controlled device according to the invention in the area of the bobbins of several spinning machines.

In Fig. 1, the generally designated 1 device according to the invention is reproduced before with 2 a and 2 b designated th coil ends of spinning machines not shown. The coil ends 2 a and 2 b have 3 a, 3 a 'and 3 b, 3 b' designated winding mandrels. In the example presented Darge two coils 4 and two empty sleeves 5 are provided on the mandrels 3 .

The handling device 1 according to the invention has a pivotable up and down sliding mandrel 6 about a horizontal axis “X” on a turret 7 and a pivoting up and down pushing mandrel 8 for sleeves about the same horizontal axis “X” that can be pivoted ver on a turret 9 is stored. The revolver heads 7 and 8 can be seen uniaxially mounted on the device 1 on a Tragele element 10 .

The support member 10 is in turn attached by means of a torsion bar 11 to the 12 designated Vorrichtungsrah men, the device frame 12 with a generally designated 13 chassis possibly with its own drive only hinted ben in Fig. 1 and 14 equipped .

In the following, the mandrel for loading and unloading the coils is referred to as "spool arm 6 ", the mandrel for the empty tubes as "sleeve arm 8 ".

From Fig. 1 it follows that the coil arm 6 and the sleeve arm 8 chen by their coaxial arrangement on the spatial axis "X" over a common circular arc designated 15 , which is geometrically designed so that the positioning in front of a spinning head both spaced winding mandrels 3 a and 3 a 'or 3 b and 3 b' can be approached one after the other.

In Fig. 1, the spatial axis "Y" is still drawn in the area of the torsion bar 11 and the spatial axis "Z" in the area of the turret 9 . The support plate 10 can be pivoted about the spatial axis "Y" in the region of the torsion axis 11 , as can be seen somewhat more clearly from FIG. 7. The brackets of the coil arm 6 and the sleeve arm 8 are designed so that the arms can also be pivoted ver, the spatial axis "Z" is only mentioned here as an example. This pivoting option is clearly shown in FIG. 2.

Finally, in Fig. 1 (only indicated as boxes), a drive 16 for the turrets 7 and 9 with the sleeve arms 6 and 8 , a pivoting drive 17 for the sleeve arm 6 and a pivoting drive 18 on the arm 8 is Darge. Details of these drives result from the other figures, in particular from FIG. 3.

From Fig. 2 it can be seen that the coil arm 6 from the position shown in Fig. 1 already z. B. is moved upwards by 135 ° after it has taken over two coils 4 . From this position shown in solid lines, the coil arm 6 can be pivoted 90 ° upwards. This position is indicated with a coil 4 'and by a further 90 ° this position with a coil 4 ''dotted. The swivel circle bears the reference character 19th

As indicated above, the pivot axis is essentially designated with the spatial axis "Z", and pivoting can also be carried out in other positions of the spatial axis "Z". The upward-facing position "4 '" represents a transport position for the spools 4 , the position "4''" can represent the push-off position of the full spools in a bearing or the like, not shown.

The sleeve arm 8 can be pivoted in the same way. The 90 ° upward position is marked with 8 'be, the 180 ° pivoted position is also shown in dashed lines, is marked with 8''. The pivoting circle bears the reference numeral 20 , the Darge presented position of the sleeve arm 8 also pivoted by 90 ° compared to the position shown in Fig. 1 is shown here.

As can be seen both from FIG. 1 and from FIG. 2, a slide-on and slide-out device 21 arranged parallel to the sleeve arm 8 is provided with clamping and push arms 22 for manipulating the empty sleeves positioned there, a somewhat more precise illustration results from FIG. 3rd

For a description of the torsion bar suspension shown generally in FIG. 3 in the lower figure, generally designated 11 , reference is made to FIG. 7 to be described below.

As is apparent from Fig. 3, the spool arm 6 is rotatably supported by means of egg ner bracket 23 on the rotary or turret 7 about the pivot axis "X". The rotary drive takes place via an internal electric motor 24 .

The rotational movement about the spatial axis "X" of the sleeve arm 8 it follows in a similar manner, the sleeve arm 8 being attached to the turret 9 via a support element 25 .

The control and thus the synchronous or asynchronous Ro movement movement about the axis "X" of the arms 6 and 8 takes place by means of worm gear 26 and a V-belt drive 27 , which is only indicated here, as well as the associated electromagnetic clutches and brakes, which are only for example are designated at one point with 28 .

The pivoting movements according to the radius 19 of the coil arm 6 is effected by a drive designated generally with 29 with an electric motor 30 , gears, brakes and the like. While the linear movement of a push-off sleeve 31 according to the double arrow 31 'of the coils 4 is effected via a generally with 32 designated drive, also with electric motor 33 , a hysteresis clutch 34 with toothed belt drive and the like.

The pivoting movement according to radius 20 ( Fig. 2) of the sleeve arm is caused by the rotation of a gear 35 with rolling on a fixed on the turret 9 Be fastening toothed ring 36 ( Fig. 4).

The clamping control of the clamping jaws 22 takes place via a lever drive 40 , again by means of corresponding motors and clutches and a four-link chain 37 , with reference to FIG. 4, the elevator or extension movement, for example via a toothed belt drive, generally designated 38 in FIG. 4, can be done.

In Fig. 5 a possible, soft-spring centering of the sleeves is shown in order to center them to the much smaller sleeve mandrel 8 . These centering cams 39 are pressed radially outwards by a spring arranged in the interior of the sleeve mandrel 8 until the cam lugs rest against the inner diameter of the mandrel 8 and thus ensure a slight play between the sleeves and the centering cam.

When the sleeves are pushed onto the winder mandrel by means of linear unit 21 , the soft sleeve centering permits considerable relative movements of the sleeves in order to avoid misalignments to the winder mandrel.

In Fig. 6 shows a possible manner of a four-wheel steering of the wheel frame 13 is shown, wherein the drive motor itself is not shown there, only the designated with 43 steering motor. About a pivot lever system 42 who also acts on the rear rollers 43 , the type that a corresponding all-wheel steering who made the. Of course, depending on the design and type of use, the swivel lever system can be dispensed with.

In Fig. 7 the suspension is shown via a torsion bar system. This torsion bar suspension 11 consists essentially of a torsion bar 45 fixed at the top in a bearing bush 44 , which is held at the bottom in the worm wheel of the gear 47 A, the position of which via a servomotor 47 relative to the stationary support frame 10, which is only hinted at here, according to the double arrow 48 is adjustable. This arrangement allows first of all the entire device 1 with the support frame 10 on the bearing bush 44 fastened by means of servo motor 47 to pivot horizontally if the coil bearing for the spool removal and the sleeve magazine requires this orientation.

The fork 46 includes the nose of the support frame 10 with egg nem game of z. B. about 2 mm and only serves as Schwenkhil fe so as not to leave the torsion bar 45 here. Secondly, the arrangement enables the torsion bar 45 to compensate for inaccuracies in the horizontal positions of the transfer / take-over of spools and sleeves in each horizontal position of the pivoting 48 .

The function or mode of operation of the device is explained as follows with reference to FIG. 1 in conjunction with FIG. 8:

In a generally designated 51 , hinted in Fig. 8 factory hall, two rows of spinning machines are set up with a to 52 and 53 indicated gear heads 2 , the mandrels 3 are directed towards the gears 52 and 53 out . To remove the fertiggewickel th on the winding mandrels coils 4, the inventive device 1 is used before, for example, is controlled by ground contact lines automatically each position to drive a spinning machine in the region of the winding heads 2 in the situation. It is assumed that, starting from a designated transfer station 54, a device 1 be tee t with empty tubes through the passage 52 in the position 1 a shown in Fig. 8, is traveling. Here the Vorrich device 1 a is positioned so that the mandrels 3 b and 3 b 'can be swept over the pivot radius 15 ( Fig. 1). For precise positioning or alignment rela tive to the mandrels 3 , both the spool arm 6 and the sleeve arm 8 have corresponding positioning heads 6 a and 8 a, which enable precise alignment. A slight torsion is also possible through the torsion bar suspension 11 . This supports positioning in the event of minor malpositions.

In addition, repositioning of the device 1 can be carried out electronically, for example via a force measurement or a torsion measurement, be it that the drive on the floor of the workshop moves the device 1 for a short distance, ie via the pivoting fork 46 ( FIG. 7), ie by means of the servomotor 47, the suspension 10 is adjusted accordingly.

If the device 1 is in position, the coil arm 6 swivels onto a winding mandrel which is filled with one or more coils 4 . Will now be a wicklereigenen linear drive, as shown in Fig. 1 b in winder 2, a fork G pushed with means of the full bobbins 4 on the bobbin mandrel 6.

Are the coils 4 pushed, the coil arm 6 can be moved to the next in the Fig. 2 with 4 ' , pivoted position. Thereafter, the sleeve arm 8 is pivoted in the appropriate aligned position for just emptying th winding mandrel and up through the scho Ausschubmechanis mechanism the empty tubes 5 to the empty winding mandrel ben.

Now the sleeve mandrel 8 can also be swung open, the coils 4 can be moved with the device 1 for delivery to the station 54 , as can also be seen in FIG. 8.

At this point it should be noted that the entire device can also be designed as a tandem device 1 AB, each because of the synchronous handling of two adjacent coils pairs of spinning heads, this is also indicated in FIG. 8.

Of course, the described embodiment is the Er change in many ways without the To leave basic ideas. So instead of here structurally specified handling elements, such as linear drive be, clamping jaws for inside or outside clamping of elements Adapter sleeves for gripping the free ends of the coil sleeves and the like. More other constructive elements are used will. For example, the inner centering of the Pa pier sleeves by means of inflatable pneumatic elements the control can be via contactless or be touch-sensitive limit switches take place and immediately.

It is also essential for the invention that the paper sleeve sen and / or the coils are pushed close together or can be deported. However, this can also be done in the Ab stood to each other, can use appropriate brakes elements are retained, and the like.

Claims (18)

1. An apparatus for at least partially automatic handling of empty bobbin tubes and ready-wound bobbins from spinning machines, characterized in that on a common device frame ( 12 ) a takeover / transfer arm ( 8 ) for empty tubes ( 5 ), a takeover / transfer arm ( 6 ) for coils ( 4 ) and an actuation and swivel mechanism ( 16 , 18 ) for moving the arms ( 6 , 8 ) from a locking position into a transport position is easily seen. 2. Device according to claim 1, characterized in that the takeover / transfer arms ( 6 , 8 ) on the Schwenkme mechanism ( 7 , 9 ) about at least one common rotational axis ("X") are pivotally mounted. 3. Apparatus according to claim 2, characterized in that the takeover / transfer arms within the device frame ( 12 ) about all three spatial axes (X, Y, Z) are pivotally mounted GE. 4. Device according to one of the preceding, characterized in that the actuating swivel mechanism ( 7 , 9 , 16 ) for the least least regionally synchronous drive of the takeover / transfer arms ( 6 , 8 ) is formed. 5. Device according to one of the preceding claims, characterized in that the takeover / transfer arms ( 6 , 8 ) at their free ends are equipped with positioning heads ( 6 a, 8 a) to compensate for positioning imperfections. 6. Device according to one of the preceding claims, characterized in that the actuating and pivoting mechanism ( 16-18 ) and since also the takeover / transfer arms ( 6 , 8 ) by means of a torsion bar suspension ( 11 ) on the device frame ( 12 ) are stored. 7. The device according to claim 6, characterized in that the torsion bar suspension ( 11 ) itself on the Vorrich processing frame ( 12 ) by means of a pivot mechanism ( 47 , 47 A) is mounted. 8. Device according to one of the preceding claims, characterized in that the takeover / transfer arms ( 6 , 8 ) are each equipped with a device for pushing and pushing ( 38 , 22 ) of the sleeves ( 5 ) or coils ( 4 ) . 9. Device according to one of the preceding claims, characterized in that the device frame ( 12 ) is equipped with a chassis ( 13 ). 10. The device according to claim 9, characterized in that the chassis ( 13 ) is provided with an all-wheel steering. 11. The device according to claim 9, characterized in that the chassis ( 13 ) is designed as a three-wheel chassis with driven single wheel ( 49 ). 12. Device according to one of the preceding claims, characterized in that the takeover / transfer arms ( 6 , 8 ) for receiving or from a plurality of sleeves ( 5 ) or coils ( 4 ) are formed. 13. The apparatus according to claim 12, characterized in that the takeover / transfer arms ( 6 , 8 ) with a Einrich device for transfer or takeover are set up such that the sleeves ( 5 ) or coils ( 4 ) close to each other and / or can be positioned at a distance from one another. 14. Device according to one of the preceding claims, characterized in that the takeover / transfer arms ( 6 , 8 ) are equipped with a holding brake for non-extendable sleeves ( 5 ) or coils ( 4 ). 15. Device according to one of the preceding claims, characterized in that the drives ( 16-18 ) with hysteresis clutches ( 34 ) and / or magnetic clutches ( 28 ) and / or magnetic brakes are seen ver. 16. Device according to one of the preceding claims, characterized in that linear actuators ( 38 ) are provided for making the opening or pushing-off movement. 17. Device according to one of the preceding claims, characterized, that to limit and / or trigger the rotation / swivel - / - Pushing or pulling movements touching or touching tion-free switches are provided.   18. Device according to one of the preceding claims, characterized in that the takeover / transfer arms ( 6 , 8 ) are equipped with diameter equalization cams ( 39 ) ( Fig. 5) for the sleeves ( 5 ).