EP0337339B1 - Steuerbares Bewegungssystem - Google Patents

Steuerbares Bewegungssystem Download PDF

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Publication number
EP0337339B1
EP0337339B1 EP89106261A EP89106261A EP0337339B1 EP 0337339 B1 EP0337339 B1 EP 0337339B1 EP 89106261 A EP89106261 A EP 89106261A EP 89106261 A EP89106261 A EP 89106261A EP 0337339 B1 EP0337339 B1 EP 0337339B1
Authority
EP
European Patent Office
Prior art keywords
thread
movement
yarn
rotor
control
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.)
Expired - Lifetime
Application number
EP89106261A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0337339A1 (de
Inventor
Urs Meyer
Walter Slavik
Giorgio Citterio
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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Priority to AT89106261T priority Critical patent/ATE70317T1/de
Publication of EP0337339A1 publication Critical patent/EP0337339A1/de
Application granted granted Critical
Publication of EP0337339B1 publication Critical patent/EP0337339B1/de
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/48—Piecing arrangements; Control therefor
    • D01H4/50—Piecing arrangements; Control therefor for rotor spinning

Definitions

  • This invention relates to a controllable movement system for moving an elongated structure, e.g. a thread, a fuse or a ribbon.
  • the invention is especially designed for use in attaching devices for spinning machines, but is also not restricted to such applications.
  • attachments to spinning machines are controlled on a time-dependent basis.
  • the individual processes such as the switching on and off of motors, the actuation of clutches and solenoid valves, are determined with a time sequence Program controlled.
  • the execution of the relevant actions is monitored by sensors such as limit switches, pressure switches, light barriers. This monitoring makes it possible to cancel certain processes when they have reached their destination and, if necessary, to start another process after the completion of a certain process (see DE 3634992 and CH 640576).
  • German Offenlegungsschrift 2130690 describes a method according to which the length of the piece of thread spun back in an attachment process is controlled by counting pulses and these pulses are generated as a function of the rotation of a feed roller. The counting process is triggered by determining the end of the piece of thread to be fed back. Such a method only tries to determine the beginning and the end of the thread end movement.
  • the invention provides a system for controllably moving an elongated structure with a movable element, means for coupling the structure with the element and drive means for controllably moving the element.
  • the invention is characterized in that the drive means has a control loop includes which can effect the continuous or pseudo-continuous regulation of the position of the movable element.
  • the drive means may advantageously include a motor with a rotatable shaft.
  • the movable element can then be a roller, which is preferably rigidly coupled to the motor shaft.
  • the control loop can be a programmable device that can calculate a preprogrammed movement sequence on the basis of a determinable start position and a predetermined end position and that compares the actual sequence continuously or pseudo-continuously during the movement with this target sequence and forwards corresponding corrections to the drive means.
  • the device can also be programmable with respect to the desired speed or acceleration.
  • Such devices are commercially available today, e.g. by Galil Motion Control, Inc., 1054 Elwell Court, Palo Alto, California under the designation MCC-3000 (Motion Control Chip Set).
  • MCC-3000 Motion Control Chip Set
  • the theory and the mode of operation of such devices are in the publication "Motion Control by micro Processors" by Jakob Tal, which publication is available from Galil Motion Control, Inc.
  • the thread 1 to be moved is clamped and conveyed by a drive roller 2 and a pressure roller 3.
  • the thread end, not indicated, is guided by a guide, not shown, in a known manner, e.g. during rotor spinning through the extraction channel of the rotor spinning unit back into the rotor.
  • the driving roller 2 sits on the shaft of a motor 4.
  • An incremental rotary encoder 5 is arranged on the same shaft.
  • the electronic power actuator 6 uses the supply voltage 8 to generate the regulated current 10 required to operate the motor.
  • the current setpoint 9 is fed to this actuator by the digital position controller 7.
  • the digital position control device 7 receives as setting information signals on the one hand the target values for the target position 12 of the thread end, the desired speed 13 and the desired acceleration 14, on the other hand the output signal 11 of the incremental rotary encoder 5.
  • the position control device 7 calculates the speed assigned to each point of the route to be traveled from the setpoint signals input to it Speed setpoint.
  • the same circuit determines the actual value of the position from the output signal 11 and the actual speed by differentiating according to the time.
  • the control signal for the power actuator is determined from the three available values actual position, target speed and actual speed with the aid of known controller algorithms.
  • a suitable position controller for use on the position device 7 is available from the above-mentioned company Galil Motion Control, Inc. under the name Motion Control Chip Set MCC-3000.
  • FIG. 2 and FIG. 3 show the difference between the time-dependent and the route-dependent control of the thread feed.
  • the speed (vertical axis) is shown in the left part by the solid line as a function of time.
  • the path covered is shown as a dashed line.
  • the speed is shown as a function of the path on a separate diagram part on the right.
  • Figure 2 shows the conventional type of control.
  • the movement process begins at time 1. After a phase of constant acceleration, the desired feed rate is reached in time 2 and then maintained until time 3. At this point the delay begins. If larger tolerances are accepted in the stopping point, this delay phase ends directly with the standstill. Since errors add up in this process, the approximation to the Desired end position normally carried out in creep speed. Switch to slow speed at time 4, the brake is applied at time 5 and the end position is reached at time 6.
  • Figure 3 shows the route-dependent regulated process. Start-up and feed at constant speed up to changeover point 3 (initiation of the braking process) are basically the same as for the time-dependent control.
  • the switchover point 3 is now determined not as a function of time, but as a function of the travel and the delay process is also regulated as a function of travel.
  • the target point X is thus reached without loss of time and without irregularity in the movement sequence.
  • the path-dependent control of the thread speed avoids scatter in the position of the thread end and in the length of time the thread end stays in the twist element and thus provides a reproducible attachment process.
  • the torsionally rigid coupling of the drive roller to the motor shaft is important for high accuracy of the thread movement. It is therefore advisable to mount the drive roller directly on the motor shaft or at least to connect both elements with a short, torsionally rigid coupling.
  • the first method is the end of the thread 30 after being drawn into the drive roller pair 31 (which corresponds to the roller pair 3, 2 shown in FIG. 1) and to be cut off at a certain distance.
  • a suction pipe 32 is used in connection with a thread cutting device 33.
  • This method is already known in connection with unregulated thread drives. Its disadvantage is that a clearly defined cut of the thread end is disadvantageous for the formation of the piecing. In this regard, a loosened thread end is cheaper, for example, as a result of a grinding process. However, when the thread is cut by grinding, the precisely defined distance between the drive roller and the cutting point is lost.
  • a second method proposed here is therefore based on a separate detection of the thread end.
  • the thread 30 is separated by the grinding wheel 34. Then it is pulled back by the drive itself and passes a thread monitor 35 during this process, for example in the form of a photoelectric barrier. As soon as the end of the thread passes the barrier 35, the signal "no thread" arises, which in turn sets the value for the thread length in the drive control to the distance between the drive roller pair 31 and the photoelectric barrier 35. Relating to the Galil Motion Control Chip Set this signal corresponds to the command DH "Define Home".
  • the invention is not restricted to the described embodiment.
  • further electronic control loops are known as the variants mentioned by Galil Motion Control, Inc.
  • a digital system based on microprocessor technology is advantageous, but an analog system is conceivable.
  • the sequence shown in FIG. 3 is not essential to the invention.
  • it is not always important to control the recycling phase precisely. It would then under certain circumstances be sufficient to determine the starting position of the thread end and to pull the thread end by means of a movement system according to this invention from this starting position through a thread formation point, a piecing tool being formed by this thread formation point when pulling the thread end.
  • a taxed movement in the sense of this invention then only takes place in one direction.
  • the invention is also not restricted to the use of rotatable elements.
  • a linear drive e.g. a linear movement can be controlled and transmitted to a thread by means of a clamping element.
  • FIG. 6 schematically shows a rotor spinning unit with a rotor 60, rotor bearing 62, housing 64, suction channel 66 and cover 68.
  • the cover 68 can be moved relative to the housing 64 in order to close the housing (FIG. 6) or to open it and thereby the rotor to expose.
  • the cover 68 comprises a projection 70 which, when the housing is closed, extends into the open end of the rotor 60 protrudes.
  • a feed channel 72 extends between a fiber feed (not shown) and an orifice 74 in the projection 70. Fibers can be conveyed into the rotor 60 in an air stream through the channel 72 to form a fiber ring in the rotor groove 76. The air flows between the rotor edge and the cover and out of the housing through the suction channel 66.
  • the cover 68 further comprises a withdrawal channel 78, through which the yarn formed can be withdrawn during normal operation and an auxiliary yarn 80 can be fed into the rotor 60 for attachment, as will be described below.
  • a sensor 82 is also provided in the cover 68 and can respond to a signal generator 84 to trigger the feeding of fibers through the feed channel 72.
  • the signal generator 84 together with a pair of rollers 86, 88 and controller 90 (FIG. 7), is carried by a mobile attachment device, not shown. If necessary, the device can be positioned at the spinning position shown in FIG. 6 in order to carry out a preparation process.
  • “attaching” is equated with “piecing”, i.e. no difference is made between restarting spinning after a thread break and restarting after the machine has been switched off.
  • the pair of rollers 86, 88 corresponds to the pair of rollers 2, 3 (FIG. 1) - the roller 86 is rotated in operation by a motor 92 and the roller 88 is thereby held by a holder 80 (not shown) with the roller 86 in the sense " coupled "that the movement of the yarn 80 in the direction of its own length (at least in the nip line of the rollers 86, 88) by the Rotation of the roller 86 is determined.
  • the movement of the 80 A yarn end will correspond to the movement in the nip line, provided, of course, that the yarn is kept stretched between the nip line and the yarn end. This can be ensured by inserting the yarn end 80 A into the extraction duct 78, an air flow being generated through the duct by the suction 66, provided that the speed of the yarn end does not exceed that of the air flow.
  • the armature of the motor 92 is rigidly connected to the roller 86 via a shaft 94 and is also connected to a tachometer 96, which emits signals to the controller 90.
  • the controller calculates the necessary power signal that is supplied to the motor 92 in order to run through the “driving program” via the motor .
  • the tachometer 96 emits a large number (eg 2000) of pulses per revolution of the motor shaft 94 to the control. This corresponds to a fine subdivision of the movement of the yarn into "digital sections" (eg with a diameter of the delivery roller of 12 mm and 2000 pulses per revolution, the tachometer transmits approx. 53 pulses per mm of yarn movement to the control). Under the above-mentioned conditions, the position of the yarn end can be determined continuously (or pseudo-continuously - with any accuracy depending on the effort), starting from a known starting position.
  • the microprocessor 102 calculates both an actual speed and an actual acceleration for each “position” (position) of the “yarn end” and compares these values with the target values determined by the travel program. This comparison determines the output signal which is output to the power section and thereby defines the power signal delivered to the motor 92. This comparison is carried out for each new pulse by tachometer 96, so that the position control (position control) of the yarn end is "continuous” - the "continuity" can be increased by an increase in the number of pulses per revolution of the motor shaft - but this must be higher Accuracy can be bought through greater effort (especially in signal processing).
  • the system can be distinguished from the previously known proposals (eg JE 2711554) in that the known solutions do not include a control loop, but rely on the drive system to follow the control signals supplied to it. The new system will continuously check the response of the system to the control signals and improve it if necessary.
  • the signal processing in processor 102 is carried out according to algorithms determined by the manufacturer of the controller. Suitable controls are available from: GALIL, Palo Alto, California, USA and Hewlett Packard.
  • FIG. 8 shows a time / path diagram for a system according to FIGS. 6 and 7, the position of the yarn end on the vertical axis and the time on the horizontal axis being shown.
  • the "zero position" corresponds to the rotor groove 76 (FIG. 6).
  • the controller 90 emits a signal to trigger the fiber feed via the transmitter 84, the yarn end 80 A maintaining a predetermined distance A (FIG. 8 - for example 40 mm) from the rotor groove.
  • the end of the yarn lies in the draw-off channel 78, possibly in the rotor 60, the yarn being returned along the channel 78 also according to a program determined by the controller 90 in order to ensure the continuous stretching of the yarn.
  • initiation of fiber feeding is a quick process, but its course is uncontrolled. It is triggered by a start signal, which simultaneously represents the reference point for the reference to the parallel thread feed process.
  • the reference to this reference is temporal in nature.
  • control tasks are expediently divided into a control processor (100) and digital thread feed regulator (102).
  • the process as a whole is triggered by processor 100.
  • This processor can now give the start signal for both processes in a staggered manner, whereby the digital thread feed controller generates the required precision.
  • Both processes are fundamentally coordinated by the processor 100, on the one hand, by starting the fiber feeding directly, on the other hand, entering the setpoint curve for the thread feed and also triggering it. In general, the thread feed starts earlier than the start the fiber feeding.
  • the controller 90 triggers the withdrawal of the yarn 80 at the time T.
  • the withdrawal is carried out in two phases, namely a first phase P, which corresponds to the withdrawal of a predetermined withdrawn yarn length L at a predetermined speed, and a second subsequent phase, which is of indefinite duration but at a predetermined operating speed (production speed) higher than the yarn speed is during the first phase.
  • the second phase is ended in that the yarn is delivered from the pair of rollers 86, 87 to the take-off system, not shown, of the machine.
  • Every modification of the motion sequence is carried out in the software or by adjusting decade values.
  • the mechanics can be used universally over a wide range or can be adapted to the conditions.
  • AA automatic attachment (without servo component)
  • servo component device according to the invention.
  • the principle of the controlled yarn movement allows a controlled insertion of the thread end into the spinning unit in the whole area.
  • the end can be inserted into the rotor through the extraction nozzle so that the air flow is always in an extended position worries. It is known that too fast a movement when entering the rotor space causes the yarn end to strike the opposite wall, which leads to changes in its structure which have a negative effect on the quality of the piecing.
  • the invention is not only applicable in connection with the rotor spinner.
  • this invention can be used to determine the movement of the structure.
  • Figure 9 shows the working head of a device 150 for the controlled formation of yarn turns around a body having a longitudinal axis P, e.g. a spindle 102 and a sleeve (not shown) carried by spindle 102.
  • the device 150 comprises a carrier section 220, a C-shaped holder 222 and a C-shaped operating runner 224 (which can be rotated about the axis P in a track 226 formed by the holder 222).
  • the operator runner has a ring gear 228 which meshes with two pinions 230, which in turn mesh with a ring gear 232 on a disk 231.
  • the disk 231 is directly connected to the shaft (not shown) of a drive motor 234.
  • the operating rotor 224 is provided with a clamping device 241 (FIG. 10) which has a pin 242 with a clamping head 246 and a spring load 244 (indicated schematically).
  • Pin 242 extends through a bore in the operator runner and protrudes from the bore at both ends.
  • the spring load 244 exerts a prestress on the pin, which normally presses the clamping head 246 into contact with the underside of the operating rotor 224 and thus forms a clamping point K. By overcoming the spring load, the pin can be moved along the bore to open the clamping device.
  • a thread end to be moved with the clamping device 244 open is between the clamping head 246 and the Service runner 224 brought and held by closing the clamping device (connected to the service runner 224).
  • a controlled winding operation can then be performed (after appropriate positioning of the elements) by starting the motor 234 and transmitting the rotation of the motor shaft to the operator rotor 224 via the pinion 230.
  • the thread to be wound is dragged along by the clamping device (eg from a suitable storage device) and forms thread windings on the spindle 102 (or sleeve).
  • FIGS 11, 12 and 13 show another controllable movement system for a thread.
  • This system comprises two levers 172, 176, which are connected to one another via a pivot axis 174 with a motor drive (not particularly indicated).
  • Lever 176 is connected to a housing 190 via a further pivot axis 188 (which is also provided with a motor (not indicated)).
  • the latter is finally connected to a carrier 180 via a further, vertical pivot axis 178 (also with its own motor, not indicated).
  • the lever 172 carries at its free end a holder 168 for the mouth part 167 of a thread store in the form e.g. a suction pipe 165, which is coupled to a suction system, not shown.
  • the stored thread F must be connected to an anchor point A.
  • This location could, for example, be a clamping device according to FIG. 8.
  • Figure 13 shows two other options.
  • the thread F is an auxiliary thread that was wound on a cop or on a sleeve after a thread break in order to enable the resumption of spinning.
  • the thread F has been unwound from the yarn body of the cop 116 itself (after a search process). In both cases, the thread F has been threaded with a ring traveler carried by a spinning ring 106.
  • the motors of the axes 174, 178, 188 can now be started in order to move the mouth M of the part 167 in space in a controlled manner and to move the thread length between this mouth M and the rotor 108 accordingly.
  • the suction system keeps the thread taut and the light width of the mouth M can be limited such that the predetermined (programmed) movement of the part 167 is converted into a corresponding specific movement of the thread.
  • FIG. 14 shows a block circuit diagram of a system for controlling the arrangements according to FIGS. 9 and 10 or FIGS. 11, 12 and 13, with a control system for the axes 174, 178, 188 each having to be provided in FIG. 11.
  • Each drive motor MT has a shaft MW, which is coupled to the part to be moved (indicated by L in FIG. 14) and cooperates with an encoder E for determining the position (angular position) of the shaft.
  • the motor MT is supplied with energy via an amplifier AMP, the power supplied by the amplifier being determined by a digital / analog converter DAC.
  • the output signal of the converter DAC is controlled by a controller R, which in turn works in dependence on a comparator VGL.
  • the comparator VGL receives, on the one hand, a signal supplied by the encoder E, which corresponds to the actual position of the shaft MW, and, on the other hand, a setpoint, which is from the Program part PR is delivered.
  • the controller R controls the motor MT in order to eliminate any deviations between the actual position (from the encoder E) and the target position (determined by the programming).
  • the system can be designed such that the shaft moves from any start position with a predetermined driving characteristic to the end position defined by the programming.
  • the senor S When initializing the system, the sensor S indicates the position of the motor shaft MW or of the part L to be moved relative to a reference (e.g. a frame, not shown). Further movements of the motor MT or the shaft MW can be determined in relation to this initial position.
  • a reference e.g. a frame, not shown.
  • the movements of the three axes (shafts) 174, 178, 188 can be coordinated with one another in order to move the mouth part along a programmable path in space.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Control Of Position Or Direction (AREA)
  • Vehicle Body Suspensions (AREA)
  • Preparation Of Compounds By Using Micro-Organisms (AREA)
EP89106261A 1988-04-14 1989-04-08 Steuerbares Bewegungssystem Expired - Lifetime EP0337339B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89106261T ATE70317T1 (de) 1988-04-14 1989-04-08 Steuerbares bewegungssystem.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH138588 1988-04-14
CH1385/88 1988-04-14

Publications (2)

Publication Number Publication Date
EP0337339A1 EP0337339A1 (de) 1989-10-18
EP0337339B1 true EP0337339B1 (de) 1991-12-11

Family

ID=4209193

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89106261A Expired - Lifetime EP0337339B1 (de) 1988-04-14 1989-04-08 Steuerbares Bewegungssystem

Country Status (5)

Country Link
EP (1) EP0337339B1 (es)
JP (1) JPH02234929A (es)
AT (1) ATE70317T1 (es)
DE (1) DE58900549D1 (es)
ES (1) ES2029092T3 (es)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20032005A1 (it) 2003-10-16 2005-04-17 Savio Macchine Tessili Spa Carrello di servizio ai filatoi open end
ITMI20032004A1 (it) * 2003-10-16 2005-04-17 Savio Macchine Tessili Spa Dispositivo introduttore-estrattore del bandolo nel rotore di filatura open-end
DE102006006390A1 (de) * 2006-02-11 2007-08-16 Saurer Gmbh & Co. Kg Fadenspleißvorrichtung für eine Kreuzspulen herstellende Textilmaschine

Also Published As

Publication number Publication date
JPH02234929A (ja) 1990-09-18
DE58900549D1 (de) 1992-01-23
ES2029092T3 (es) 1992-07-16
ATE70317T1 (de) 1991-12-15
EP0337339A1 (de) 1989-10-18

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