EP0388937B1 - Dispositif de positionnement - Google Patents

Dispositif de positionnement Download PDF

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Publication number
EP0388937B1
EP0388937B1 EP90105373A EP90105373A EP0388937B1 EP 0388937 B1 EP0388937 B1 EP 0388937B1 EP 90105373 A EP90105373 A EP 90105373A EP 90105373 A EP90105373 A EP 90105373A EP 0388937 B1 EP0388937 B1 EP 0388937B1
Authority
EP
European Patent Office
Prior art keywords
sensors
holes
positioning device
rail
markings
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
EP90105373A
Other languages
German (de)
English (en)
Other versions
EP0388937A1 (fr
Inventor
Werner Hartmeier
Giorgio Citterio
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
Publication of EP0388937A1 publication Critical patent/EP0388937A1/fr
Application granted granted Critical
Publication of EP0388937B1 publication Critical patent/EP0388937B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • D01H13/005—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
    • 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
    • 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 positioning device according to the aforementioned EP-A-0 219 017 is used to mark the spinning positions of a spinning machine, a corresponding number of magnets are required which have to be fastened to the machine and in which there is a risk of pre-opening.
  • the signals from the Hall effect sensors of EP-A-0 219 017 can be combined with one another in various ways in order to determine an aligned position between the respective magnet and the two Hall effect sensors. For example, a Differential signal generated and a difference value equal to zero is determined to define the desired position. In order to calibrate this system, however, it is necessary to compensate the output signals of the two Hall effect sensors by means of adjustable amplifiers, so that the zero value of the difference signal always defines an exact relative position between the magnet and the sensors.
  • optical sensors are known which are designed as light barriers and enable the precise alignment of the object with a counterpart, for example with a reflector.
  • Such light barrier arrangements work relatively precisely, but are relatively expensive in practice and, under certain circumstances, relatively sensitive to dirt.
  • the markings provided at the predetermined locations are each formed by two holes, the holes of the markings being arranged in a row, and that the sensors are inductive or capacitive sensors which are arranged in this way that positioning parallel to their active area, ie perpendicular to their longitudinal axes is reached.
  • a system of this type can be implemented, for example, using commercially available displacement transducers as sensors, for example in the form of the inductive displacement transducer IWA 18 U9011 from Baumer Elektrik, in contrast to the normal installation method, where the short relative movement takes place in the axial direction of the displacement transducer and can only be a few millimeters, now perpendicular to the Direction of travel can be installed and positioning tasks over unlimited distances, for example 50 m.
  • the markings in the form of holes have a very simple shape and are therefore inexpensive to manufacture.
  • the holes can be made in a metallic, preferably iron rail.
  • the holes are preferably made in the metal rail used for guiding the mobile unit. This means that only one rail is required. The double use of the rail also benefits the accuracy of the positioning.
  • the holes in each marking are preferably circular, the mutual distance between the circular holes in each marking being chosen to be different from the mutual distance between the two sensors in order to achieve a clear zero crossing.
  • the formation of the difference signal achieves extensive freedom from external influences, since such external influences will generally influence the sensors arranged close to one another evenly. Influences which are attributable to signs of aging of the sensors are largely compensated for by the difference formation according to the invention, so that the effects according to the invention Positioning device works reliably over a long period of time.
  • a sequence of movements of the operating robot along the rail 10 therefore proceeds as follows: We assume that the operating robot is initially at the extreme right end of the rail 10. At this point he receives an approval from the assigned ring spinning machine and starts a patrol movement to the left. He can stop at any spinning station and carry out work tasks there. For precise positioning, it orients itself on the basis of the signals from sensors 14 and 16 according to the middle position between the two holes of the pair of holes marking the relevant spinning position. He can also use the signals from the sensors to enumerate the individual spinning positions and number them for himself, which can also be done in passing without the operating robot actually stopping. As soon as it reaches the right end of the left elongated hole 22, this is detected by the sensor 12 and the operator robot is braked.
  • the operating robot corrects the thread breaks detected by it during its last run, i.e. it stops at the spinning positions where there are thread breaks, and it saves the spinning points in passing where new thread breaks have occurred since its last run. He then repairs these new thread breaks during the return run. At the same time, it saves the new thread breaks during the return run.
  • the characteristic curve 44 of the right position transducer 20 is shown in FIG. 4. It has the same shape as the characteristic curve of the left displacement sensor, but is shifted in time and laterally due to the distance between the two displacement sensors.
  • the sensor 12 the function of which has been described so far, is also constructed in accordance with the same displacement transducer, but additionally has a Schmitt trigger circuit which generates a binary output signal.
  • the holes 26, 28 have exactly the same design as the previously described holes 18, 20 and also the same distance. Hole 30 is, however, provided close to hole 28. This leads to the characteristic of the right sensor being in a position of the operating robot at the right end of the rail, i.e. at the end of his work area, takes a modified course, as indicated at 48 in FIG. 4. This modified course is recorded with a threshold level, i.e. by comparison with a reference voltage.
  • the resonant circuit of the transducer is designed as an LC resonant circuit
  • a capacitive version of the sensor is conceivable, in which a change in the capacitance and therefore the resonance of the resonant circuit by the markings, i.e. through the holes or the material of the rail is brought about.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Manipulator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Claims (8)

  1. Dispositif de positionnement pour une unité se déplaçant le long d'un trajet, par exemple un robot d'asservissement, un traîneau ou un waggon, qui est à positionner dans des lieux prédéterminés le long de ce trajet, et où deux détecteurs (14, 16) possédant, dans le sens de déplacement, une distance l'un par rapport a l'autre, sont prévus sur l'unité, et les lieux prédéterminés (34) sont marqués par des marquages (18, 20) effectuant un changement de la perméabilité respectivement des constantes diélectriques dans la zone de détection des détecteurs, et ou chaque détecteur produit un signal analogique (42, 44) correspondant au changement, et les deux signaux sont soustraits l'un de l'autre, et un signal de commutation est exploite du signal de différence (46) qui correspond à l'atteinte du lieu prédéterminé (34), et où la distance réciproque des deux détecteurs (14, 16) est choisie en vue de la forme et de la grandeur des marquages (18, 20), de telle manière que le signal de différence présente un passage par zéro univoque (52)
    caractérisé par le fait que
    les marquages prévus dans les lieux prédéterminés sont formés chacun par deux trous, et où les trous de marquage sont disposés en une rangée, et que les détecteurs sont des détecteurs inductifs ou capacitifs qui sont disposés de telle manière que l'on obtient un positionnement parallèle a leurs faces actives, c'est-à-dire perpendiculaire à leurs axes longitudinaux.
  2. Dispositif de positionnement selon revendication 1,
    caractérisé par
    un détecteur à passage par zéro.
  3. Dispositif de positionnement selon l'une des revendications précédentes,
    caractérisé par le fait que
    les trous sont prévus dans un rail métallique, de préférence en fer.
  4. Dispositif de positionnement selon revendication 3,
    caractérisé par le fait que
    les trous sont formes d'une manière circulaire ou allongée, dans le dernier cas, de préférence avec des arêtes terminales arrondies.
  5. Dispositif de positionnement selon revendication 4,
    caractérisé par le fait que
    les trous (18, 20) sont disposés dans un rail métallique (10) qui, de préférence, est également utilisé pour le guidage de l'unité mobile.
  6. Dispositif de positionnement selon l'une des revendications précédentes,
    caractérisé par le fait que
    la distance réciproque des trous circulaires (18, 20) de chaque marquage est choisie différemment de la distance axiale réciproque des deux détecteurs (14, 16).
  7. Dispositif de positionnement selon l'une des revendications précédentes,
    caractérisé par le fait que
    les détecteurs sont des capteurs de déplacement du type commercial.
  8. Dispositif de positionnement selon l'une des revendications précédentes,
    caractérisé par le fait que
    des marquages différents (32 respectivement 26, 28, 30) sont prévus à l'extrémité gauche respectivement droite du rail (10), et que la présence de ces marquages différents (32 respectivement 26, 28, 30) est déterminée a partir des signaux respectifs des détecteurs gauche et droite (14, 16).
EP90105373A 1989-03-23 1990-03-21 Dispositif de positionnement Expired - Lifetime EP0388937B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3909745A DE3909745A1 (de) 1989-03-23 1989-03-23 Positioniereinrichtung
DE3909745 1989-03-23

Publications (2)

Publication Number Publication Date
EP0388937A1 EP0388937A1 (fr) 1990-09-26
EP0388937B1 true EP0388937B1 (fr) 1995-06-14

Family

ID=6377136

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90105373A Expired - Lifetime EP0388937B1 (fr) 1989-03-23 1990-03-21 Dispositif de positionnement

Country Status (3)

Country Link
EP (1) EP0388937B1 (fr)
JP (1) JPH0364538A (fr)
DE (2) DE3909745A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4117954A1 (de) * 1991-05-31 1992-12-03 Rieter Ag Maschf Servicestation fuer einen bedienungsroboter
EP0534897A1 (fr) * 1991-09-24 1993-03-31 Maschinenfabrik Rieter Ag Communication entre une commande automatisée et une machine textile
GB9202603D0 (en) * 1992-02-07 1992-03-25 Technological Research Company Improvements in or relating to bobbin transport systems
DE4216512C2 (de) * 1992-05-19 2001-06-28 Schlafhorst & Co W Verfahrbare Wartungseinrichtung mit Sensor zur Feststellung von Hindernissen
US5768876A (en) * 1994-08-10 1998-06-23 Technological Research Company Limited Bobbin transport systems
DE102007048721A1 (de) * 2007-10-11 2009-04-16 Oerlikon Textile Gmbh & Co. Kg Serviceaggregat
DE102014001626A1 (de) * 2014-02-07 2015-08-13 Saurer Germany Gmbh & Co. Kg Kreuzspulen herstellende Textilmaschine und Verfahren zum Betreiben der Textilmaschine
DE102015013486A1 (de) * 2015-10-16 2017-04-20 Saurer Germany Gmbh & Co. Kg Textilmaschine mit einem entlang der Arbeitsstellen verfahrbaren Serviceaggregat und Verfahren zur Positionierung eines Serviceaggregats vor einer Arbeitsstelle
CN107416594A (zh) * 2016-12-12 2017-12-01 江苏海马智能装备有限公司 一种络筒机自动值车装置
CH714195A1 (de) * 2017-09-28 2019-03-29 Rieter Ag Maschf Verfahren zur Positionierung eines Wartungswagens einer Ringspinnmaschine und Ringspinnmaschine.

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH336671A (de) * 1953-12-31 1959-02-28 British Thomson Houston Co Ltd Vorrichtung an zwei relativ zueinander beweglichen Teilen zum präzisen Einstellen des einen Teils in eine aus einer Anzahl vorbestimmter Stellungen ausgewählte Stellung bezüglich des andern Teils
DE1217085B (de) * 1957-04-25 1966-05-18 Siemens Ag Induktiver Messfuehler zur Umsetzung insbesondere linearer Bewegungen in elektrische Groessen
US3348133A (en) * 1962-10-25 1967-10-17 Sogenique Electronics Ltd Position responsive apparatus including a capacitive potentiometer
US3562514A (en) * 1969-03-05 1971-02-09 Gen Electric Coke oven charging car locating control
SE411392B (sv) * 1977-12-09 1979-12-17 Inst Mikrovagsteknik Vid Tekni Metanordning for kapacitiv bestemning av det inbordes leget hos tva relativt varandra rorliga delar
DE3426302C1 (de) * 1984-07-17 1986-02-20 Jagenberg AG, 4000 Düsseldorf Einrichtung zum Einstellen des gegenseitigen Abstandes mehrerer nebeneinander angeordneter Werkzeugelemente, insbesondere Längsmessereinheiten
DE3511468A1 (de) * 1985-03-29 1986-10-09 ANT Nachrichtentechnik GmbH, 7150 Backnang Durch einen motor stellbarer pegelsteller
DE3513661A1 (de) * 1985-04-16 1986-10-23 A 2000 Industrie-Elektronik GmbH, 7632 Friesenheim Positioniersystem fuer einen linearantrieb
AT383212B (de) * 1985-07-10 1987-06-10 Rsf Elektronik Gmbh Laengenmesssystem fuer werkzeugmaschinen
DE3703725A1 (de) * 1987-02-05 1988-08-18 Mannesmann Ag Transportsystem
DE8704521U1 (de) * 1987-03-26 1987-05-14 Gkss - Forschungszentrum Geesthacht Gmbh, 2054 Geesthacht Längensensor

Also Published As

Publication number Publication date
DE3909745A1 (de) 1990-09-27
JPH0364538A (ja) 1991-03-19
EP0388937A1 (fr) 1990-09-26
DE59009225D1 (de) 1995-07-20

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