EP0308711B1 - Method and device to remedy defects in the work stations of a textile machine - Google Patents

Description

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, which means that its capacity for other operating spinning stations requiring operation is exhausted.

As soon as two robots on the same rail or When using the carriageway, there are coordination problems to be dealt with so that the robots do not interfere with each other and so that their work capacity is not distributed unevenly. So proposals have become known to reverse the direction of travel of two robots when they meet (DE-A-27 36 849) or to keep the mutual distance by stopping a robot (DE-A-30 39 932) or by interrupting the function of the obtained robot a distance between the to create both robots (FR-A-2 396 107). If three or more robots are used, the coordination problems are aggravated, since it should be avoided that robots are enclosed by their neighbors. In the case of robots with different tasks on a rail, the correct sequence of the work to be carried out must be ensured, which entails additional control effort. To compensate for the different working hours, for example, the driving speeds of the different robots must also be different, for which complex measures are necessary.

It is becoming increasingly common to use more flexible systems instead of rigidly assigning one or more robots to a single textile machine, so that a number of robots operate several textile machines, so that the free capacity of a robot on one textile machine can be used on another textile machine. The principle of such a system is already known from DE-A-2460375. 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 faults 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. Arrived 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.

It is an object of the invention to eliminate the disadvantages mentioned above and to create a method and a device, the working capacities of the robots used being brought to full advantage in an economical manner with simple means or measures. According to the invention, this object is achieved by the characterizing features of claims 1 and 8.

Because 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: ein erfindungsgemässes Schaltbild,
• Fig. 2: ein Ausführungsbeispiel nach der Erfindung mit Robotern auf einem Abstellgleis,
• Fig. 3a und 3b: ein zweites Ausführungsbeispiel nach der Erfindung, das die Positionen der Roboter vor und nach einem Zeitintervall veranschaulicht,
• Fig. 4 und 5: Beispiele einer linienförmigen Fahrbahn mit Enden,
• Fig. 6: ein drittes Ausführungsbeispiel nach der Erfindung auf einer endlosen Fahrbahn, und
• Fig. 7: ein Beispiel einer linienförmigen Fahrbahn ohne Enden.

Due to the inventive feature of claim 2, the re-division of the sections is not constantly changed, so that the travel movements to change the section are restricted. The feature of claim 3 according to the invention additionally ensures that the mutual distances are maintained, which is particularly important when faults have to be remedied near the common ends of the sections. The inventive feature of claim 4, according to which the robots are stopped after their remedial work until a fault transmitted in the assigned partial section of the movement path can be remedied, ensures that the ready positions of the robots are appropriately staggered even after work has been carried out or apart. The additional advantage is that the robots are distributed almost evenly over the entire length of the movement path or lane, so that travel times to new application areas or sections remain short. According to the feature of claim 5, it is advantageous if the robots drive at the same speed, since this makes the drives uniform or uniform the robot is preserved, which benefits the cost. The feature of claim 6 is advantageous, since this prevents overloading of the robot capacity and thus a drop in the system efficiency. The advantageous development of the invention according to claim 7 has the effect that permanent disturbances are no longer operated by robots, which means that the robot capacity is relieved. The cause of a permanent disorder should be investigated by a monitoring person. The advantageous embodiments of the device emerge from claims 9 to 11. This is advantageous because there is no need for costly interlocks for collision protection on a road without switches. The training of the robots for a single direction of travel also has a cost-effective effect. The invention will now be explained in more detail with reference to the schematic drawing. It shows

• 1: a circuit diagram according to the invention,
• 2: an embodiment according to the invention with robots on a siding,
• 3a and 3b: a second embodiment according to the invention, which illustrates the positions of the robots before and after a time interval,
• 4 and 5: Examples of a linear roadway with ends,
• Fig. 6: a third embodiment of the invention on an endless road, and
• Fig. 7: an example of a linear road without ends.

The general, control-technical relationships are shown in FIG. 1. Three robots R1, R2, R3 with a left F1 and are, for example, parallel to one or more ring spinning textile machines, generally represented by line 1, whose work or spinning positions S1, S2, S3 etc. are identified by points on line 1 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. Each spinning station S1, S2, S3, etc. is assigned a fixed, fault-transmitting thread monitor or thread sensor, which is integrated in the drawing at the point of spinning station S1, S2, S3, etc. 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 actively used or available robots. 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.

In the exemplary embodiment according to FIG. 2, 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. As already described, 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.

Another situation is shown in FIG. 3a, where the robots R1, R2, R3 have come to a standstill arbitrarily along the road 2, which is not shown for the sake 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. 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 the same number of defects to be eliminated, there is a collision with other robots locked out. If it turns out that the robots R1, R2, R3 in use are insufficient to remedy the faults within a useful period of time, new robots can be added to the system from the siding 17 or switched on. The malfunctions of each spinning station are recorded by the central control unit ZE, and if it turns out that the accumulation of malfunctions exceeds a certain value within a predetermined time period, this spinning station is no longer operated by the robots, and the central control unit ZE only shows that relevant spinning position on the control panel, whereupon a monitoring person can inspect the relevant fault point.

Fig. 4 shows a linear roadway 2a, which comprises 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.

6 shows defects on line 1, which, as mentioned at the outset, represents one or more textile machines, the robots R1, R2, R3 on an endless, linear, self-contained roadway 2, but not shown due to the clarity, only in are designed to be movable in one direction. In this case, the robots first control those imperfections that the robots encounter in the direction of travel just after the dash-dotted boundary line 18. Assume that the central control unit ZE at the position of the robots shown by the Dash-dotted boundary lines 18 divided sections A, B, C determined as shown, wherein the robot R1 is assigned to section A, robot R2 to section B and robot R3 to section C, the robots move overall in a right-handed, by the dashed lines Lines indicated driving direction clockwise. Accordingly, 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. According to the same command from the central control unit ZE, the robot R2 will first control the fault location T28 and the robot R3 will first control the fault location T31. After completion of the operating or remedial work, assuming that no new fault locations are reported, the robot R1 will be located opposite the fault location T27, the robot R2 will be located opposite the fault location T30 and the robot R3 will be located opposite the fault location T33. It can be clearly seen that the mutual distance between the robots is essentially retained both in the starting position shown in FIG. 6 and in the end position after the defects T27, T30, T33 have been eliminated.

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.

Claims (11)

1. A method of chearing faults at fault-reporting work stations of at least one textile machine with the assistance of at least two centrally controlled robots movable along a track alongside the machine, both faults and robots being determined by position and numerically, characterised in that:

the faults are uniformly distributed to the robots numerically;

a sub-section of the track is allotted to each robot;

the robots are then directed to their associated sub-sections, and

the faults of each sub-section are cleared solely by the robot allotted to such sub-section.

2. A method according to claim 1, charaterised in that the determination of faults and robots is repeated after a predetermined time interval.

3. A method according to claim 1, characterised in that the robots move in the same direction or their way to their sub-sections and the faults nearest the same end of the sub-section are cleared first.

4. A method according to claim 1, characterised in that the robots are stopped after completing their fault clearance work.

5. A method according to claim 1, charaterised in that the robots all move at the same speed.

6. A method according to claim 1, characterised in that an additional robot is brought into operation at a predetermined number of faults.

7. A method according to claim 1, characterised in that faults at each work station are detected individually in numerical form but in the event of an accumulation of faults within a predetermined period of time faults at any work station are indicated but are not cleared by the robots.

8. An apparatus for performing the method according to claim 1 on at least one textile machine having a number of work stations, the apparatus comprising at least two robots movable or a track along the textile machine and controllable by a central control unit, stationary yarn monitors associated with each work station reporting faulty stations to the central control unit, characterised in that all the work stations (S1, S2, S3) communicate by way of a reporting line (7) with a counter (ZS) of the faulty stations (T1, T2, T3) and with the central control unit (ZE);
all the robots (R1, R2, R3) communicate by way of a reporting line (8) with a counter (ZR) of the in-use robots and with the central control unit;
a division module (S/R) is provided to transmit via a reporting line (11) to the central control unit a report corresponding to the numerical division between the faulty stations and the robots, and
the central control unit is adapted to detect and evaluate the faulty stations and the in-use robots numerically and by position in order to determine the sub-sections (A, B, C) of the track (2) for each robot and to direct the robots to their sub-sections by way of a control line (12).

9. An apparatus according to claim 8, characterised in that the track (2a, 2b) is linear and without branches and has two ends (20, 21).

10. An apparatus according to claim 8, characterised in that the track (2c) is an endless linear track without branches.

11. Am apparatus according to claim 10, characterised in that the robots are movable in just one direction.

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