EP0308711A1 - Procédé et dispositif pour remédier à des perturbations aux postes de travail d'une machine textile - Google Patents

Procédé et dispositif pour remédier à des perturbations aux postes de travail d'une machine textile Download PDF

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Publication number
EP0308711A1
EP0308711A1 EP88114417A EP88114417A EP0308711A1 EP 0308711 A1 EP0308711 A1 EP 0308711A1 EP 88114417 A EP88114417 A EP 88114417A EP 88114417 A EP88114417 A EP 88114417A EP 0308711 A1 EP0308711 A1 EP 0308711A1
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EP
European Patent Office
Prior art keywords
robots
robot
control unit
central control
textile machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP88114417A
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German (de)
English (en)
Other versions
EP0308711B1 (fr
Inventor
Urs Meyer
Stefan Hüppi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maschinenfabrik Rieter AG
Original Assignee
Maschinenfabrik Rieter AG
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Publication of EP0308711A1 publication Critical patent/EP0308711A1/fr
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Publication of EP0308711B1 publication Critical patent/EP0308711B1/fr
Anticipated expiration legal-status Critical
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
    • D01H13/145—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements set on carriages travelling along the machines; Warning or safety devices pulled along the working unit by a band or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/005—Service carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a method according to the preamble of claim 1.
  • the invention also relates to a device for carrying out the method according to the preamble of claim 8.
  • Robots are known which scan each spinning position and, if necessary, remedy a malfunction. The time for scanning many correctly functioning spinning positions is at the expense of the actual remedial work. Robots are also known which, in the event of a fault message from the spinning point in this regard, specifically drive to the next fault location. Here it can happen that two neighboring spinning stations continuously report a malfunction one after the other, so that the robot shuttles back and forth between these two, whereby its capacity for other operating spinning stations that are in use is exhausted.
  • a rail network extends around two rows of textile machines in such a way that several robots are constantly on a closed one Move the ready-to-go lane between the two rows of textile machines, from which the robots are guided to circular or loop-shaped work lanes along the spinning positions of the textile machine in the event of malfunctions via switches.
  • Each spinning station has a thread monitor which, in the event of a fault, feeds a corresponding signal to a central control unit via a collective signal transmitter assigned to the textile machine.
  • This central control unit opens the corresponding switch in the rail network and directs a robot onto the working lane of the textile machine reporting a malfunction. Once here, the robot checks all spinning positions step by step. At the same time, the working lane is blocked for other robots to avoid collisions. With this arrangement, however, it is possible that the robot loses too much time with its inspection work and is simply not available for a long time for necessary work on other textile machines because of a spinning station that requires operation.
  • the robots are directed to their assigned sections, they automatically remain spatially separated, so that no complex measures have to be taken to protect against possible collisions. In that every robot If an equal number of malfunctions is assigned, it is ensured that all robots are constantly in useful use. Because the robots are directed to malfunctions, time is saved for monitoring and control work. If necessary, additional robots can be switched on. It is now possible to troubleshoot an entire system of textile machines with the least number of robots. By redistributing the sections are adjusted to the changing needs for actions.
  • FIG. 1 Parallel to one or more ring spinning textile machines, generally represented by a line 1, whose work or spinning positions S1, S2, S3 etc. are identified by points on line 1, are for example three robots R1, R2, R3 with a left Fl and a right-hand direction of travel F2 can be moved on a movement or roadway generally designated by a line 2.
  • the robots are all identical and of the multifunctional type, which means that each robot can carry out all of the intended operations such as threading, sliver insertion, winding removal, etc.; they can move on floor rails, on mounting rails attached to the textile machine or on the floor with automatic steering.
  • All spinning stations S1, S2, S3 etc. are connected via a signaling line 7 to a central control unit or computer ZE and also to a counter ZS for the spinning stations or fault points which are to be operated.
  • All robots R1, R2, R3 are connected by a signal line 8 both to the central control unit ZE and to a counter ZR for the robots actively used or available. In the counter ZS, the number of faults transmitted by means of electrical signals via the signal line 7 is recorded. The numerical recording of the robots used takes place in the counter ZR.
  • the corresponding signals of the Counters ZS and ZR are fed via signaling lines 9 and 10 to a division module S / R, in which the division between the number of fault locations and the number of available robots takes place, whereby the number of fault locations per robot is determined.
  • the corresponding signal goes from the division module S / R via a signaling line 11 to the central control unit ZE. All these signals are recorded and evaluated in the central control unit ZE according to their position and number and partial areas or partial sections A, B, C (FIG. 2) of the roadway 2 are determined in such a way that the same number of fault points T1, T2 is found in each partial section , T3 etc., regardless of whether the defects are on one or more textile machines.
  • the central control unit ZE then issues command signals via a control or command line 12 to each of the robots R1, R2, R3, in such a way that these robots do not obstruct or are in the way on the way to their subsections, ie that one Assuming the situation shown in FIG. 2, the robot R3 in FIG. 2 first receives the travel command and is assigned to the subsection C, and then the robot 2 is directed to the subsection B, after which the robot 1 is controlled to the subsection A. Since all of these components ZS, ZR, S / R and ZE represent electronic functions which are known per se, an exact description is dispensed with; they can each be implemented as a printed circuit board, as an integrated circuit or as a program module for a microprocessor.
  • the robots R1, R2, R3 are first on a siding or station 17. This situation would be conceivable when commissioning a system.
  • the defects T1, T2 etc. are indicated by a cross on line 1.
  • the central control unit ZE determines the sections A, B and C, which are separated from one another in the drawing by a dash-dotted line 18. As described above, first the robot R3 is set in motion, then the robot R2 follows, then the robot R1. All robots move to the right in the same direction, and all robots first control the disturbance or fault location closest to the same end of the section. Here it is the left end of each section A, B, C.
  • the robot R3 accordingly first corrects the fault at the fault point T5, after which it takes on the fault point T6. If no further fault messages arrive, the robot R3 remains in position P3, that is the position opposite the fault point T6 that has been eliminated. In an analogous manner, the robot R2 first removes the fault point T3 and remains in the position P2 after the fault point T4 has been remedied. The robot R1 first corrects the damage to the fault point T1, continues and repairs the damage to the fault point T2 and comes to a standstill in the position P1 in relation to the fault point T2 which has been eliminated.
  • FIG. 3a Another situation is shown in FIG. 3a, where the robots R1, R2, R3 have come to a standstill arbitrarily along the roadway 2, which is not shown for reasons of clarity. Now, for example, twelve faults are reported at positions T7 - 18. After determining the subsections A, B, C, the robots are given the command to identify the fault location that is closest to the dash-dotted line Dividing or border line 18 is to be assumed. In the case shown in FIG. 3a, all robots are moved to the right. A common direction of travel for all robots to the left would also be possible. The suitable direction of travel is determined by the central control unit ZE and depends on the distance the robots have to travel.
  • the central control unit ZE After a predetermined time interval, the central control unit ZE will determine the sections A, B, C again. Until this redefinition of the sections, the robot R1 takes care of the defects T10 and T9 one after the other and is currently in the vicinity of the defect T8. Robot R2 eliminates the fault at fault points T14 and T13 and moves towards fault point T12. The robot R3 takes care of the faults at fault points T18 and T17. At the time of redetermining the sections, the robots are in the position according to FIG. 3b. During this time interval, the central control unit ZE six new fault points T19 to T24, which are marked with a circled cross, were determined.
  • the new division of subsections A.1, B.1, C.1 is such that each new subsection again contains the same number of defects or faults.
  • the robots R1, R2, R3 now receive the command to move to the left as a whole and to bypass the fault points T19-21 or T11, 12 or T15, 16 the fault point that is closest to the end of the respective section. In the case shown in FIG. 3b, these are the defects T7 or T8 or T23. It would also be possible to control the fault points T21 or T22 or T24 here. Due to the fact that the robots all have the same driving speed and also have to fix the same number of defects, there is a collision with other robots excluded.
  • Fig. 4 shows a linear roadway 2a, which includes a textile machine 1a U-shaped.
  • Fig. 5 shows another embodiment of a linear roadway, which extends on both sides of the textile machines 1b and 1c. Both lanes 2a and 2b have no branches and each have two ends 20 and 21. At the end 20, the siding 17 is connected.
  • the robot R1 will first operate the fault location T25, that is the fault location which is closest to the left end of section A, bypassing the fault location T33, which is located in front of the robot R1 in the direction of travel.
  • the robot R2 will first control the fault location T28 and the robot R3 will first control the fault location T31.
  • the robot R1 is located opposite the fault location T27
  • the robot R2 is located opposite the fault location T30
  • the robot R3 is located opposite the fault location T33. It can be clearly seen that the mutual distance between the robots remains essentially the same both in the starting position shown in FIG. 6 and in the end position after eliminating the defects T27, T30, T33.
  • FIG. 7 shows an advantageous, endless, linear track 2c, which winds around textile machines 1d-i aligned parallel to one another, such that there are no larger track areas beyond the reach of the spinning positions.
  • An endless, linear roadway is also possible, which comprises textile machines arranged in a star shape.
  • the roadway arrangement 2c has no branches, junctions or points with which only exception of a siding 17 necessary for the introduction of spare robots 17.
  • the present invention can be used in all suitable textile machines, but is particularly advantageous in ring spinning machines.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Manipulator (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Looms (AREA)
EP88114417A 1987-09-24 1988-09-03 Procédé et dispositif pour remédier à des perturbations aux postes de travail d'une machine textile Expired - Lifetime EP0308711B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH372487 1987-09-24
CH3724/87 1987-09-24

Publications (2)

Publication Number Publication Date
EP0308711A1 true EP0308711A1 (fr) 1989-03-29
EP0308711B1 EP0308711B1 (fr) 1991-05-08

Family

ID=4262140

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88114417A Expired - Lifetime EP0308711B1 (fr) 1987-09-24 1988-09-03 Procédé et dispositif pour remédier à des perturbations aux postes de travail d'une machine textile

Country Status (6)

Country Link
US (1) US4901246A (fr)
EP (1) EP0308711B1 (fr)
JP (1) JPH0197228A (fr)
DE (1) DE3862728D1 (fr)
ES (1) ES2023239B3 (fr)
IN (1) IN171673B (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3942916A1 (de) * 1989-12-23 1991-07-04 Zinser Textilmaschinen Gmbh Spinnmaschinenanlage
EP0534898A1 (fr) * 1991-09-23 1993-03-31 Maschinenfabrik Rieter Ag Chariot de service pour machine textile
WO2006007889A1 (fr) * 2004-07-21 2006-01-26 Saurer Gmbh & Co. Kg Procede pour actionner une machine textile produisant des bobinages croises
DE102006007922A1 (de) * 2006-02-21 2007-08-30 Saurer Gmbh & Co. Kg Serviceaggregat für eine Kreuzspulen herstellende Textilmaschine
CN103014964A (zh) * 2011-09-21 2013-04-03 村田机械株式会社 纤维机械

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04352827A (ja) * 1991-05-30 1992-12-07 Toray Eng Co Ltd 紡績機
DE10137056C5 (de) 2001-07-28 2018-09-06 Rieter Ingolstadt Gmbh Verfahren zur Wartung einer Textilmaschine
US6690994B1 (en) * 2002-04-22 2004-02-10 Storage Technology Corporation System and method for recovering an automated robotic device in a data storage library
JP4020098B2 (ja) * 2004-05-18 2007-12-12 村田機械株式会社 サービス台車制御システム
JP2007262607A (ja) * 2006-03-28 2007-10-11 Murata Mach Ltd 糸処理装置の作業台車の制御方法、および糸処理装置
US8046102B2 (en) * 2007-05-17 2011-10-25 Fanuc Robotics America, Inc. Control method for synchronous high speed motion stop for multi-top loaders across controllers
MX343473B (es) * 2010-05-28 2016-11-07 Solarcity Corp Sistema y método de reposicionamiento de heliostatos.
CN103119380B (zh) * 2010-07-15 2015-07-15 克博蒂克斯公司 机器人定日镜系统和操作方法
US8442790B2 (en) 2010-12-03 2013-05-14 Qbotix, Inc. Robotic heliostat calibration system and method
JP2015078474A (ja) * 2013-10-18 2015-04-23 村田機械株式会社 繊維機械
JP5979178B2 (ja) * 2014-06-04 2016-08-24 株式会社豊田自動織機 精紡機の繊維束供給停止装置
CA3035607A1 (fr) 2016-09-08 2018-03-15 Fives Line Machines Inc. Station d'usinage, systeme de retenue de piece et procede d'usinage d'une piece

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2460375A1 (de) * 1974-12-20 1976-06-24 Fritz Stahlecker Offenend-spinnmaschinenanlage
FR2396107A1 (fr) * 1977-07-01 1979-01-26 Alsacienne Constr Meca Installation de nettoyage et de rattache de fils casses par chariots automates pour machines a filer
DE2736849A1 (de) * 1977-08-16 1979-03-01 Zinser Textilmaschinen Gmbh Spinnanlage mit bedienlaeufern
DE3039932A1 (de) * 1980-10-23 1982-05-27 Zinser Textilmaschinen Gmbh, 7333 Ebersbach Spinn- oder zwirnanlage

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07113843B2 (ja) * 1982-10-22 1995-12-06 株式会社日立製作所 サブシステムの協調化方法
JPS60242941A (ja) * 1984-05-15 1985-12-02 Murata Mach Ltd 可搬ロボツトシステム
EP0162670B1 (fr) * 1984-05-19 1991-01-02 British Aerospace Public Limited Company Systèmes de travail et de fabrication industriels

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2460375A1 (de) * 1974-12-20 1976-06-24 Fritz Stahlecker Offenend-spinnmaschinenanlage
FR2396107A1 (fr) * 1977-07-01 1979-01-26 Alsacienne Constr Meca Installation de nettoyage et de rattache de fils casses par chariots automates pour machines a filer
DE2736849A1 (de) * 1977-08-16 1979-03-01 Zinser Textilmaschinen Gmbh Spinnanlage mit bedienlaeufern
DE3039932A1 (de) * 1980-10-23 1982-05-27 Zinser Textilmaschinen Gmbh, 7333 Ebersbach Spinn- oder zwirnanlage

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3942916A1 (de) * 1989-12-23 1991-07-04 Zinser Textilmaschinen Gmbh Spinnmaschinenanlage
EP0534898A1 (fr) * 1991-09-23 1993-03-31 Maschinenfabrik Rieter Ag Chariot de service pour machine textile
WO2006007889A1 (fr) * 2004-07-21 2006-01-26 Saurer Gmbh & Co. Kg Procede pour actionner une machine textile produisant des bobinages croises
DE102004035261A1 (de) * 2004-07-21 2006-02-16 Saurer Gmbh & Co. Kg Verfahren zum Betreiben einer Kreuzspulen herstellenden Textilmaschine
DE102006007922A1 (de) * 2006-02-21 2007-08-30 Saurer Gmbh & Co. Kg Serviceaggregat für eine Kreuzspulen herstellende Textilmaschine
CN103014964A (zh) * 2011-09-21 2013-04-03 村田机械株式会社 纤维机械

Also Published As

Publication number Publication date
ES2023239B3 (es) 1992-01-01
DE3862728D1 (de) 1991-06-13
JPH0197228A (ja) 1989-04-14
IN171673B (fr) 1992-12-05
EP0308711B1 (fr) 1991-05-08
US4901246A (en) 1990-02-13

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