EP0391110A2 - Method of, and device for, threading a thread being partially wound onto a bobbin in a spinning machine - Google Patents

Abstract

For threading a yarn from a cop into yarn-guide elements of a ring spinning machine, the yarn (6.1) coming from the cop is held at its free end in an elastically acting retention store (15) and is clamped against the stationary yarn carrier (40). The clamped yarn piece (6.1) is supported in a specific position (25) directly above the spinning ring (23) on the same side as the yarn carrier (40) and is guided up to the spinning ring (23) tangentially relative to the latter and at an inclination ("alpha") relative to the plane of the spinning ring (23) by means of the controlledly positionable mouth (16) of the retention store (15). Subsequently, the runner (24) is drawn onto the yarn out of the region of the lower clamping point of the yarn piece (6.1) in the direction of the higher clamping point. The controlled movement cycles afford a high accuracy of yarn guidance during threading and therefore an especially high degree of success. The method can be integrated into winding and piecing operations taking place automatically. <IMAGE>

Description

The invention relates to a method and an operating robot for threading a thread from a yarn carrier located at the spinning position of a spinning machine in thread guide elements, according to the preambles of claims 1 and 4. Under a yarn carrier is an empty tube or an empty tube with a wound auxiliary thread or understood a sleeve with a package. The process and the operating robot can be e.g. use for threading a thread or an auxiliary thread into the rotor and other thread guide elements during the repair of thread breaks during the spinning process and in connection with the robot-assisted piecing or winding after doffing on a ring spinning machine.

Some operating robots are known from the patent literature, which are designed to correct thread breaks on a ring spinning machine. Examples are found in U.S. Patent 3,445,997, DAS 1,760,259, DAS 2,501,338 and U.S. Patent 3,628,320. With all such robots, it is necessary to carry out certain work on the spindle of the processing position (spinning station). Such work includes, for example, finding the end of the thread on the bobbin (the bobbin) carried by the spindle or winding an auxiliary thread on the bobbin, threading a thread with the runner, etc. Then the free one The end of the thread is connected to the fiber stream coming from the drafting unit of the spinning machine and attached to it.

All known solutions only work from the "front", i.e. the robot normally runs along a machine side, which can be referred to as the "front" with respect to the corresponding row of spinning positions. If the robot has to do work at a certain point, it first positions at this point and then extends working elements from this front into the spinning position. In such circumstances, it is almost impossible to make controlled movements of the working elements around the entire circumference of the spindle.

Various methods and devices are known for threading the yarn into the runner, e.g. as shown in CH-PS 515'172, using an air stream with which the runner is brought into a certain position on the spinning ring, whereupon it is pushed onto the yarn brought in by the cop over the runner path of the ring. In practice, however, this principle, which is known per se, could not be implemented with a reliability that meets today's requirements, so that the experts followed a number of other suggestions for threading a thread into the rotor of a spinning machine.

It is an object of the present invention to further develop the threading principle mentioned to the extent that it is suitable for practical use in connection with an operating robot.

According to the invention, this object is achieved by the characterizing features of claims 1 and 4. The advantage of this solution lies in the high precision of the thread guide, which is essentially a result of the controlled, precisely specified movement sequences during the manipulation of the thread, so that threading takes place with the greatest reliability, e.g. following an automatically controlled winding process, in the course of which a piece of thread clamped on both sides is wound with high reliability to any location on the thread carrier that can be determined as desired. Since this winding can also be carried out on an empty tube with the same high level of reliability, the subsequent threading process can be used not only after thread breaks, but also after doffing or after a batch change or when the spinning machine is started up. All of these processes run fully automatically when the method proposed here is supported by an operating robot. Operating personnel are no longer required for the actual work processes.

Overall, the measures outlined here result in unprecedented success in threading and a broader range of uses when starting up the machine, removing threads, doffing and changing lots, with the tools used being simple and particularly well suited to an already proposed method for fully automatic winding of a thread, eg an auxiliary thread.

If a malfunction occurs, an operating robot uses the methods known hitherto to set the spinning station affected by the malfunction by means of a suitable measure, e.g. by interrupting the fuse, out of service. The cause of the fault is then remedied by the operating personnel at a suitable time. Unoccupied working shifts, e.g. at night, can lead to a failure of some of the spinning stations, so that the production volume is lower than expected, which means that production planning is burdened with undesirable uncertainties. When starting work, a considerable amount of work and time is required to remedy the malfunctions.

In practice, apart from thread breakage, the most common cause of failure is the end of the auxiliary thread supply. In general, the supply of auxiliary thread is carried as a package, bobbin or bobbin by the operating robot. Even in automated, unattended spinning plants, it is difficult to recognize the right time at which the used supply of auxiliary thread has to be replaced. Recognizing the right time is also not always easy for the staff, as it is used by a variety of tasks and activities. The fact that in known systems the auxiliary thread consumption varies greatly with each individual process, for example when removing thread breaks, and it is difficult to estimate how far a certain stock will last. If the stock is not replaced in time, time-consuming unsuccessful thread attachment attempts run automatically, which ultimately lead to the final stopping of the spinning station in question. For the operating personnel, there is later an undesirable increased workload.

An operating device for spinning machines, which has a carriage or carriage which can be moved along the spinning positions and which automatically carries out certain operations for eliminating thread breaks, is known in principle from DE 21 39 881. The device also has feeler switches to indicate the presence or break of the roving.

On the other hand, a method for blowing a free auxiliary thread end onto a take-up spool is known from DE 25 01 338, in which the free end of the auxiliary thread is stored in a storage device in such a way that it can be held under tension and thus without slack relative to the auxiliary thread spool. The yarn of the auxiliary thread should keep its twist so that no loops are formed. The auxiliary thread remains connected to the supply spool until a sufficiently long piece of the auxiliary thread is wound on the package. The length of the auxiliary thread required is not determined, but varies from case to case. The problem mentioned above with the insufficient possibility of estimating the auxiliary thread consumption is therefore not solved by the known method.

It is therefore a further object of the present invention, based on the shortcomings described, to develop a method and an apparatus which control manipulation of a thread end and, when using an auxiliary thread, an exact determination of the required auxiliary thread length and thus a simplified and predictive monitoring and replacement allow the supply of auxiliary threads. As an additional task, the desired solution should fit organically into a ring spinning machine system, for example also using an operating robot, which enables simple and reliable thread manipulation in the area between the spinning station and the drafting device on ring spinning machines.

According to the invention, this object is achieved by the features of claims 17 and 21.

Due to a certain length of auxiliary thread in the thread store, which e.g. Given its design or operating mode, a supply of auxiliary threads can be monitored precisely and the replacement can be planned precisely. In connection with sensors that detect and report the presence of the thread at selected positions on the thread store or along the thread path, e.g. the operating robot is moved into a park position when the thread supply is no longer sufficient for a further piecing process or a further thread break treatment. After manual or automatic replacement of the thread supply, any necessary piecing processes or thread break treatments are continued. This avoids the uncontrollable operations on ring spinning machines mentioned at the beginning, and the efficiency and reliability of the system are increased. In addition, more reliable production planning can be implemented.

The thread store can be used in particular as a thread guide element if, for example, its mouth is connected to a coordinate-controlled guide. The combined storage and guiding function enables the thread stretched between the storage and the bobbin to be guided precisely, gently and in a computer-controlled manner that is gentle on the thread. This controlled guide can be used universally in such a way that it is suitable for winding the thread onto the package or directly onto the sleeve, for example when doffing, further for threading the free thread end into the runner and for attaching the thread end to the fiber stream coming from the fuse . These manipulations can also be carried out one after the other without the thread end out of control device and would have to be searched again for one of the partial operations.

A particular advantage lies in the combination of these processes and in the implementation by a single manipulator in the form of the thread store, since the constant auxiliary thread length defined by the thread store under all circumstances allows the auxiliary piece of auxiliary thread used to be safely removed by a cleaning cut in the winder. This makes it possible to use a preferred auxiliary thread quality, which can even differ considerably from the quality of the spinning thread. The quality of the auxiliary thread can be optimally selected with regard to special requirements for individual process steps when winding, threading and / or attaching, without this having adverse effects on the uniform yarn quality of the product.

If the thread supply carried by the robot is changed manually, the behavior of the operating robot can be changed in such a way that only when the staff is absent does the absence of the auxiliary thread lead to it being taken out of service, i.e. to interrupting the sliver supply at the spinning points affected by thread breaks. In this way, the disturbed spinning station is shut down in the production time not monitored by the operating personnel, but at the same time the risk of mechanical damage to the drafting system or other elements of the spinning machine is prevented. In the presence of the personnel, for example at the start of the shift, the affected spinning positions are then reactivated by the operating personnel and the program of the operating robot is switched to the above-mentioned mode of operation with the temporary approach to the parking position.

Details and further advantages of the invention are explained in more detail below on the basis of preferred exemplary embodiments with the aid of the drawings. The selected exemplary embodiments are intended to show the principle of the invention. The invention is not restricted to the embodiments described here.

• Fig. 1 einen Bedienroboter mit einem Fadenspeicher, in Verbindung mit einer Ringspinnmaschine,
• Fig. 2 eine Einfädelvorrichtung in Unteransicht,
• Fig. 3 die perspektivische Prinzipdarstellung des Einfädelvorganges mit dem Gerät nach Fig. 2,
• Fig. 4 Luftdüsen zur Positionierung des Läufers,
• Fig. 5 den Fadenspeicher gemäss Fig. 1 als Hilfsmittel beim Anwickeln,
• Fig. 6 den Fadenspeicher als elastische Rückhaltevorrichtung beim Anwickeln eines Hilfsfadens,
• Fig. 7 eine schematische Darstellung eines Be­dienungsroboters mit einem Bedienungsgerät gemäss dieser Erfindung,
• Fig. 8 eine schematische Darstellung einer Steuerung für das Bedienungsgerät,
• Fig. 9 ein Draufsicht des Bedienungsgerätes in seiner Arbeitsposition an einer Spindel,
• Fig. 10 eine Ansicht in der Längsrichtung der Ring­spinnmaschine gesehen mit dem Bedienungsgerät in eine erste Arbeitsstellung,
• Fig. 11 eine Draufsicht in Richtung des Pfeils A der Figur 10 mit einem Bedienungsläufer des Gerätes in einer Bereitschaftsstellung
• Fig. 12 eine ähnliche Draufsicht nachdem der Bedie­nungsläufer begonnen hat, sich aus der Bereitschaftsstellung zu bewegen,
• Fig. 13 eine Seitenansicht entsprechend Figur 10 mit dem Bedienungsgerät in einer zweiten Ar­beitsstellung,
• Fig. 14 eine Draufsicht in Richtung des Pfeils A in Figur 13 mit dem Bedienungsläufer wieder in seiner Bereitschaftsstellung,
• Fig. 15 eine Draufsicht entsprechend Figur 14 mit dem Bedienungsgerät in einer zurückgezogenen Position und mit einem vorverschobenem Fadenumlenkorgan,
• Fig. 16 eine schematische, perspektivische Dar­stellung eines Kops und Ringläufers zur Erklärung der Anforderungen beim Einfädeln des Fadens mit dem Ringläufer,
• Fig. 17 eine Draufsicht entsprechend Figur 15, aber nach Verschiebung von einem der Fadenfüh­rungselemente,
• Fig. 18 eine Draufsicht entsprechend Figur 15, aber mit den Bedienungsgerät wieder in seiner zweiten Arbeitsstellung,
• Fig. 19 eine Seitenansicht in Längsrichtung der Maschine mit dem Bedienungsgerät in einer Dritten Arbeitsstellung, und
• Fig. 20 eine Draufsicht in Richtung des Pfeils A der Figur 19 nach nochmaliger Verschiebung von einem der Fadenführungselemente.

The figures show schematically:

• 1 shows an operating robot with a thread store in connection with a ring spinning machine,
• 2 a threading device in a bottom view,
• 3 shows the perspective illustration of the threading process with the device according to FIG. 2,
• 4 air nozzles for positioning the rotor,
• 5 shows the thread store according to FIG. 1 as an aid during winding,
• 6 the thread store as an elastic retention device when winding an auxiliary thread,
• 7 shows a schematic illustration of an operating robot with an operating device according to this invention,
• 8 shows a schematic representation of a control for the operating device,
• 9 is a plan view of the operating device in its working position on a spindle,
• 10 is a view seen in the longitudinal direction of the ring spinning machine with the operating device in a first working position,
• 11 is a plan view in the direction of arrow A of FIG. 10 with an operating runner of the device in a standby position
• 12 is a similar top view after the operator has started moving from the standby position;
• 13 shows a side view corresponding to FIG. 10 with the operating device in a second working position,
• 14 is a plan view in the direction of arrow A in FIG. 13 with the service runner again in its standby position,
• 15 is a plan view corresponding to FIG. 14 with the operating device in a retracted position and with a thread deflecting element advanced,
• 16 shows a schematic, perspective illustration of a cop and ring traveler to explain the requirements when threading the thread with the ring traveler,
• 17 shows a plan view corresponding to FIG. 15, but after displacement of one of the thread guide elements,
• 18 shows a plan view corresponding to FIG. 15, but with the operating device again in its second working position,
• 19 is a side view in the longitudinal direction of the machine with the operating device in a third working position, and
• 20 shows a plan view in the direction of arrow A in FIG. 19 after another displacement of one of the thread guide elements.

Although the invention is described below using an example for threading an auxiliary thread with an operating robot carrying an auxiliary thread supply, it is equally advantageous in connection with a direct detection of the spinning thread from the cop. In the manner described here, the spinning thread can also be advantageously threaded into thread guide elements of the spinning machine by manipulating the operating robot.

According to the preferred embodiment described, an operating robot 1 can be moved along a ring bench 2 of a spinning machine. Upon a corresponding signal, it automatically positions itself at a specific spinning position, for example to correct a thread break or to Piecing. The robot is stored and guided via guide elements, for example guide rails 3 and 4, which are connected to the spinning machine. The robot contains, for example, a supply spool 5 for an auxiliary thread 6, a delivery mechanism 7 for pulling the auxiliary thread 6 from the supply spool 5, and a cutting device 9 for cutting a defined piece of auxiliary thread 6.1 from the auxiliary thread supply.

Auxiliary devices 12, for example a thread winding device and / or a threading guide, may also be present in the robot 1, which are height-adjustable in the Z direction, for example, by means of a threaded spindle 13 and horizontally displaceable in the X direction, for example, by means of a linear drive 14. This allows parts of the auxiliary device 12 to be pushed laterally or axially over the yarn tube 40 or over the yarn body, for example.
Furthermore, a thread store in the form of a suction pipe 15 is provided, which is connected by a hose 19 to a vacuum source 20. The suction pipe 15 is designed to receive a thread section of a certain length. The mouth 16 of the suction pipe 15 can be moved three-dimensionally under the influence of a program-controlled control 50, as is indicated by a servo axis 22 shown schematically in FIG. 1.

The controller 50 can be designed, for example, as an autonomous robot controller in the form of a processor-equipped programmable control device which ensures automatic operation.

The threading guide 12 is provided with a holder 26 for further components. A controllably rotatable ring 27 is mounted on the underside of the holder 26. The ring 27 is connected to a controllable drive 34. As can be seen from FIG. 2, the ring 27 is provided with a passage 29. The bushing 29 is dimensioned such that the ring 27 can be pushed laterally over the thread tube 40 or over the thread body. However, the ring can also be closed and can be guided axially on or around the yarn tube 40.

The entire holder 26 can be moved under the action of the drive 14 in the X direction e.g. move linearly towards the sleeve 40 between the ring bank 3 and the thread balloon ring 41 and slide with the ring opening 29 over the sleeve until the ring 27 is coaxial with the axis of rotation of the sleeve 40. Activation of the drive 34 causes the ring 27 to rotate a defined distance along the spinning ring 23.

In the example, a small brush 31 is placed on the underside of the ring 27, which is used to move the rotor along the circumference of the ring 27, for example to temporarily keep the rotor out of a certain area of the ring, or also to hold the rotor during that described later Threading process to slide over the thread.

Alternatively, one or more blowing nozzles 32 according to FIG. 4 can be attached to the holder 26, which are provided with an air supply and can be activated in a controlled manner. They direct their blowing jet approximately tangentially to the spinning ring 23 in order to temporarily fix the rotor 24 on the opposite side of the spinning ring 23 when the compressed air is activated. E.g. two blowing nozzles 32A and 32B act on the spinning ring 23 in different directions of rotation. An air blast blows the runner outside the working area of the thread guide 25, while a time-controlled counter air blast positions the runner on the opposite side of the threading device.

A slide 28 is attached to the holder 26 and can be displaced in the X direction under the influence of a drive 37, for example a pneumatic drive. The slide sits on the holder 26 off-center so that its main axis leads into the peripheral region of the sleeve 40 according to FIG. 3, preferably approximately tangentially to the spinning ring 23, so that its tip can be easily positioned over the upper sliding surface of the spinning ring 23. The slider 28 serves for the exact positioning of the thread during the threading into the runner described later by pushing the runner onto the thread.

As a preparatory step for the winding or threading process of the robot 1, e.g. an auxiliary thread piece 6.1 of a certain length, e.g. about 150 cm, sucked into the tube of the thread store 15. This is done by activating the delivery mechanism 7 with a specific positioning of the thread store 15, e.g. in position P.1 according to Fig. 5. By means of suitable control means, the delivery mechanism 7 is switched off as soon as the desired length of auxiliary thread is in the tube of the thread store 15, e.g. when the auxiliary thread start 6.3 reaches a thread sensor 36 at the rear area of the thread store 15.

As mentioned, under the influence of a servo control, the thread store 15, in the example its mouth 16, can be manipulated three-dimensionally. In the example according to FIG. 5, which shows the further program-controlled sequence when the thread is wound onto the cop or onto the empty sleeve 40, the mouth 16 of the thread store 15 then makes a pendulum movement in the inner region of a winding ring 27, for example along the one in FIG 5 indicated path 39 in position P.2. The auxiliary thread is placed on a clamping device 35 on the underside of the winding ring 27. The mouth 16 of the thread store 15 is then moved back again, around the clamping device 35, into the starting position P.1, the auxiliary thread 6 being clamped in by the clamping device. Now the cutting device 9 separates the auxiliary thread 6 from the feed, so that a finite auxiliary thread piece 6.1 of a defined length is produced. In the further course of the process, this known auxiliary thread length is used, as a result of which various process steps can be better planned in advance and involve fewer uncertainties in the execution of the control programs.

The auxiliary thread start 6.3 is still in the position of the sensor 36 within the thread store 15. The thread is held in the thread store 15 by the suction effect with a slight pull relative to the clamping pin 35. With the mouth 16 of the thread store 15, the controlled guidance of the auxiliary thread elastically retained in the thread store now takes place.

The mouth 16 of the thread store 15 with the auxiliary thread piece is now servo-controlled in a lower unwinding position P.4, e.g. performed within the range of the ring bench movement, as shown schematically in Fig. 6. The ring 27 is caused to rotate a defined number of times, so that it winds the auxiliary thread end 6.2 held on the clamping device 35 around the sleeve 40 or around its package 43. During this winding process, the auxiliary thread is increasingly pulled out of the elastic retaining thread store 15.

After taking over a certain length of auxiliary thread from the thread store 15, the sleeve 40 is braked to a standstill by means of a spindle brake, so that on the one hand a remaining auxiliary thread length is guaranteed in the thread store 15 and on the other hand the wound end of the auxiliary thread 6.2 cannot be pulled off the package, e.g. in a subsequent threading process.

In the processes described, auxiliary thread start and end are held by components, the positions of which are clearly determined. The auxiliary thread, which is thus elastically clamped between two "grippers", can be manipulated three-dimensionally in this way, so that the winding location on the sleeve 40, furthermore the type of winding formation and also the length of the auxiliary thread to be wound from the operating device, for example can be controlled by program specifications. Under these conditions, winding is ensured with a high degree of reliability. The winding process is controlled with the help of the thread storage device in a clearly defined sequence of movements, which is no longer influenced by coincidences, as was the case, for example, when blowing a free auxiliary thread end onto the package according to the prior art.

Following the winding-up process, the operating robot 1 can feed the auxiliary thread start 6.3 from the thread store 15 to the spinning station or the various thread guide elements, thread it into thread guide elements and finally attach it to the running fiber stream. A corresponding example for threading is shown below in connection with the schematic representation in FIG. 3.

For the further description it is assumed that a piece of thread 6.1 with one end already lies on the sleeve 40 and is held thereon. The other end 6.3 of the thread piece 6.1 is located in the suction pipe 15, where it is retained by the suction effect exerted by the vacuum source 20, so that the outer, free thread piece between the mouth 16 of the suction pipe 15 and the sleeve 40 is kept constantly under slight tension .

To prepare the following method steps, the sleeve 40 is taken by suitable measures, for example by actuating a spin that is not shown in detail in the figures del brake, braked to a standstill. Now the holder 26 is moved in the above-mentioned manner in the X direction towards the sleeve 40 by activation of the drive 14 and pushed with its opening 29 over the sleeve 40, so that the ring 27 is now coaxial with the sleeve 40.

By activating the rotary drive 34, the ring 27 and with it the brush 31 are rotated around the sleeve 40 to such an extent that the brush 31 pushes the rotor 24 out of the working area of the slide 28. Thereafter, the holder 26 with the slide 28 located thereon is pushed back into the starting position outside the sleeve 40. Alternatively, the blowing nozzles 32 can also be activated for the same purpose instead of the rotary drive.

In a next method step, the slide 28 is extended, for example by the slide drive 37, into the working position according to FIG. 3, just above the effective area of the now free spinning ring 23. During this manipulation, the mouth of the suction pipe 15 assumes position A according to FIG. 3. With a notch 25 attached to its front rod end, the slider 28 engages in the thread piece 6.1. The notch 25 is designed and adapted to the surface of the spinning ring in such a way that it holds the thread in the respective position on the one hand and protects it on the other hand, so that the brush 31 does not damage, strip or take away the thread when it moves the rotor 24 can.

Subsequently, the suction pipe 15 is guided with the thread piece 6.1 over the slide 28 and lowered with its mouth 16 into a position B which is lower than that of the slide 28. The tensioned thread piece 6.1 is located at a certain radial distance from the spinning ring 23. The in this way, part of the thread 6.1 clamped between the notch 25 and the mouth 16 of the suction pipe 15 is thus directed obliquely downwards. In these manipulations, the thread 6 is pulled out of the elastically restraining suction pipe 15, if necessary, so that it remains taut throughout the entire course of movement.

3, the suction pipe 15 is now moved into the position C, so that the thread 6.1 is tangent to the spinning ring 23 and still runs downwards from the notch 25 to the mouth 16 of the suction pipe 15. The tangential direction is inclined by an angle "alpha" with respect to the plane of the spinning ring 23, as indicated in FIG. 3. In the example, the value of "alpha" can be approximately 10 degrees.

In the following phase, the holder 26 or the threading guide 12 is moved to the sleeve 40 by the drive 40, so that the ring 27 is again coaxial with the spinning ring 23 and the sleeve 40. The Z position is selected in a program-controlled manner such that the threading guide 12 is coupled to the holder 26 on the ring bench 3 according to FIG. 1, so that the holder 26 follows the lifting movements of the ring bench 3. By pressing the Rotary drive 34 for the ring 27, the brush 31 on the spinning ring 23 is rotated clockwise in the example shown in FIG. 3, whereby it pushes the rotor 24 over the thread piece 6.1 lying obliquely downwards on the spinning ring 23 and thus the actual threading process of the thread in takes the runner. The slide 28 and its holder 26 are then retracted into their starting positions. The entire device is uncoupled from the moving ring bench 3.

The operating robot 1 can then be used to thread the part of the thread piece 6.1 remaining in the suction pipe 15 into corresponding thread-guiding elements in a similar manner by corresponding program-controlled manipulations. Finally, the thread start 6.3 is attached to the current fiber stream. This last step is no longer part of the actual threading and is not described further here.

As mentioned, the suction pipe 15 acts as a thread store in the context described. It brings about an elastic retention of the thread against the tensile force emanating from the braked sleeve 40. However, the thread storage device does not have to be designed as a suction tube, but it can also have any other design that is suitable for the elastically yielding retention of a thread piece.

Even during threading, as with the winding described above, the thread to be threaded is held by components, the positions of which are clearly determined during each phase of the process sequence. The threading is thus controlled in a clearly defined movement sequence, which is no longer influenced by randomness and uncertainties, as was the case with known proposed solutions according to the prior art. In this application, too, the manipulable thread store achieves significantly improved reliability as a prerequisite for a fully automatic process sequence.

In the example, the described method steps are triggered and coordinated by a central process control, in the example by a processor-equipped programmable control device, which is housed in the operating robot and ensures automatic operation. Certain sub-processes, such as synchronization with processes on the spinning machine or the triggering of machine-specific spindle brakes, are coordinated and controlled via interfaces to the machine control. However, other suitable forms of sequence control can also be implemented. The sequence of the method steps described is preferably contained in a program which, in conjunction with a process control, initiates the automatic execution of the method steps, for example using standardized computers.

The improvement in reliability achieved with the described threading method in connection with a method proposed by the applicant for winding an auxiliary thread even on bare tubes is particularly noticeable. The complete winding, threading and attachment process can be fully robot-controlled. Furthermore, a batch change can also be carried out fully automatically, avoiding the manual and time-consuming manipulations that have previously been time-consuming and personnel-intensive.

The manipulable thread store is particularly advantageous when the winding, threading and attachment process is carried out in combination. On the other hand, the thread storage device can in principle only be used for threading or for threading with subsequent attachment, without prior winding. In these cases, too, the advantages mentioned, which result from the precisely controllable thread manipulation, have a positive effect.

If the thread store 15 is part of the operating robot 1 and is designed to store an auxiliary thread piece from an auxiliary thread supply carried along, there are particular advantages for monitoring the auxiliary thread supply. For example, the presence of the auxiliary thread can be arranged by arranging an auxiliary thread sensor 52 according to FIG. 1 Monitor gear of the delivery plant 7 within the operating robot 1. If the auxiliary thread is missing, the operating robot is put out of operation with regard to its subroutines "thread break repair or spinning" or "threading the auxiliary thread". This operating state is signaled to the outside by suitable optical signaling devices and / or signal paths to a computer or a signal processing device 50.

In addition, in the absence of the auxiliary thread, the operating robot is moved to a predetermined position, e.g. at the end of the ring spinning machine, moved into a waiting position to wait for the auxiliary thread supply to be completed. When this operating situation occurs, the operator robot does not correct any further thread breaks during the journey to the waiting position. The operating robot is not automatically restarted until the auxiliary thread supply has been replaced. The auxiliary thread supply can be supplemented manually by operating personnel or automatically by a suitable auxiliary device.

A further exemplary embodiment for determining the auxiliary thread consists in the arrangement of sensors of any type, for example optical or mechanical scanning sensors 54, which scan the diameter of the auxiliary thread package. If a given dimension for the diameter falls below, the above-mentioned state occurs, but in this If the auxiliary thread supply can be added before it is completely exhausted.

According to a further exemplary embodiment, the length of the auxiliary thread supply is measured and known. With the help of a revolution counter connected to the delivery unit 7, the thread quantity emitted by the auxiliary bobbin is continuously measured and recorded in a connected process computer in order to continuously calculate the remaining quantity therefrom and to initiate the refill measures described above when the value falls below a predetermined threshold.

Although the thread storage device 15 is shown in the examples as a suction tube, it can also have a different design, which is suitable for the elastically yielding retention of a piece of thread and for program-controlled spatial manipulation.

Although the invention was mainly described in connection with the manipulation of an auxiliary thread in an operating robot carrying an auxiliary thread supply, the freely manipulable thread store is also advantageous for other thread manipulations, for example when threading through direct detection of the spinning thread by the bobbin. In the manner described above, the spinning thread can also be safely and securely threaded directly into thread guide elements of the spinning machine by manipulating the thread store.

In order to more clearly illustrate the threading process described above, a detailed description is given below with reference to FIGS. 7 to 20. For the sake of simplicity, other reference symbols are used here, although many parts or method steps described below have already been explained in connection with FIGS. 1 to 6. The numbering used in FIGS. 7 to 20 also allows a clear assignment to the corresponding priority application.

In FIG. 7, reference numeral 100 indicates the chassis of the operating robot for operating spinning positions on a ring spinning machine. Each such spinning station contains an assembly 101 for imparting twist and for unwinding the yarn; this unit 101 here comprises a spindle 102, a spinning ring 106 carried by a ring bench 104 and a rotor (not shown) mounted on the spinning ring 106. The chassis 100 runs along a machine side on bicycles 105 guided by a guide rail 103. A support arm 107 carries a guide roller 109 which runs in a further guide rail 113 carried by the machine and holds the chassis 100 in a predetermined position with respect to the machine. The guide rail 113 is mounted on the machine frame (not shown) by a suitable holder 115.

To carry out operating work at a spinning station, the operating robot comprises both an attaching device 150, which should be explained in more detail below, and a handling device 124, which is described in detail in the aforementioned sister application and therefore only in this application has been treated sketchily. The handling device 124 namely comprises a suction tube 134 for receiving a predetermined thread length (not shown) with a mouth part 136 and a connection 138 to a vacuum source 132 carried by the chassis 100. The mouth part 136 of the suction tube 134 can be indicated by a controllable articulation system 140 (only schematically indicated) ) can be moved relative to the chassis 100.

After positioning the robot at a spinning position, the mouth part 136 is brought to a delivery point 128 for receiving thread 144 from a thread supply 122 carried by the chassis 100. The thread is delivered from a delivery mechanism 126 mounted on the chassis 100 via the delivery point 128 into the suction pipe 134 until this pipe has taken up a predetermined thread length. The articulation system 140 of the handling device is then actuated in order to establish a “connection” with the winding device 150. This "connection" will be described in more detail below and has also been dealt with in the aforementioned Swiss patent application No. 4852/88. After this connection has been made, the thread 144 is separated between the delivery mechanism 126 and the winding device 150 (separating means not shown), so that the thread length picked up can now be manipulated by the handling device 124 and winding device 150 independently of the supply 122 in accordance with a predetermined control program .

The schematic representation in FIG. 7 is favorable for identifying the different parts in that these parts have been shown far apart. However, the illustration is unrealistic in that the mouth part 136 and the winding device 150 are sealed must be guided side by side after they have entered a single spinning station via the "surface line" 117 of the machine. For driving, on the other hand, both the handling device 124 and the winding device 150 can be retracted into the chassis 100, so that the robot has a clear distance L from the surface line 117 when driving along the machine (with the exception of the guide system 107, 109). It follows that the winding device 150 must be movable in a direction (the “X direction”) transverse to the vertical longitudinal axis of the spindle 102. In addition, the device must be movable in one direction (the "Z direction") along the spindle axis, as is clear from the description below.

FIG. 8 schematically shows a drive system for moving the winding device 150 both in the X and in the Z direction. In the system according to the figure, the device 150 is mounted on the piston rod 200 of a piston-cylinder unit 202. By feeding compressed air from a suitable source (not shown) to the cylinder, the piston is pressed from its retracted position to the right according to the side view in FIG. 8 against the spindle 102. This movement is limited by a suitable stop (not shown) in order to hold the winding device 150 in a suitable, still to be described working position relative to the spindle 102. When the compressed air supply to the unit 202 is canceled, the device 150 will return from its working position to a retracted position.

The unit 202 is mounted on a slide 186, which in turn is mounted on a threaded spindle 196 via a carrier 184. Spindle 196 is in Chassis 100 is mounted vertically (ie essentially parallel to the longitudinal axis of spindle 102) and coupled at one end to a drive motor 204. When the motor shaft (not shown) rotates, the spindle 196 is rotated about its own longitudinal axis in order to move the slide 186 in the Z direction (up or down). The drive motor 204 is controlled by a microprocessor with suitable programming (software); However, in order to depict the control method visually, the control program is indicated schematically by control loops or a control box. In a first state, the motor 204 is controlled by a sensor 206 via a first controller 208, in a second state by the same sensor 206 via a second controller 210 and in a third state by a controller 212.

The sensor 206 responds to the position of the ring bench 104 in order to position the slide 186 with the winding device 150 accordingly in the Z direction. The signal emitted by the sensor 206 is delivered to the first controller 208 via the switching means 214 while the robot is traveling and is delivered by switching from the switching means 214 to the second controller 210 during a certain phase of the operating work (as will be explained in more detail below). The controller 212 controls the drive motor 204 when the position of the carriage 186 needs to be controlled independently of the ring bench position, e.g. when picking up the auxiliary thread at delivery point 128 (FIG. 7).

Before going into the workflow and the corresponding control, you should first use the FIG. 9 the working head of the winding device 150 are explained in more detail.

The individual spinning positions of a ring spinning machine are shielded from one another in the longitudinal direction of the machine by so-called separators 194. The working head shown in FIG. 9 comprises a carrier section 220 which remains outside the spinning station space defined by the separators 194 and a C-shaped part 222 which projects into the space of the spinning station to be operated in all working positions of the winding device 150. The C-shaped part 222 surrounds (in part) a C-shaped operating runner 224 and forms a guide in the form of a track 226 for the operating runner. These two C-shaped parts 222, 224 have a common axis P, which in all working positions of the winding device is aligned with the longitudinal axis of the spindle 102 or in the vicinity of the spindle axis and approximately parallel to it. The operator runner 224 is rotatable in the track 226 about the axis P relative to the C-shaped part 222. For this purpose, the operating rotor 224 is provided with a ring gear 228 (indicated by dashed lines) and this ring gear meshes with two toothed rollers 230. The rollers 230 in turn mesh with the ring gear a drive pulley 232 which is rotatably mounted in the carrier section 220 and by a suitable one Drive motor 234 can be rotated.

In order to move the device 150 into a working position on a spindle 102 by moving in the X direction (FIG. 8) from a retracted position (without first having to move the device above the spindle tip), the opening 236 of the operating rotor 224 with the opening must be 238 of the C-shaped Part 222 be aligned. The operator runner 224 is therefore provided with a suitable marking (not shown) and the C-shaped part 222 carries a sensor 240 which reacts to this marking in order for this "ready position" of the operator runner 224 relative to its holder 222 to the controller (not shown) ) for the engine 234.

The access opening 240 formed thereby is wide enough to receive the spindle 102 and a sleeve 112 carried by it (FIG. 10, not indicated in FIG. 9), but not a cop 116 formed on the sleeve 112 (FIG. 10). The feed device 150 must therefore be fed to the spindle 102 at a height (along the spindle axis) which lies above the currently highest winding position of the spinning ring 16 (FIG. 10). The distance between the transfer rollers 230 in the circumferential direction of the operating rotor 224 is selected such that if one roller 230 no longer meshes with the ring gear 228 due to the discontinuity caused by the access opening 240, the transmission of the drive forces from the disk 232 to the others remains Guaranteed roles on the operator runner 224.

The operating rotor 224 carries two working elements 242, 244. The element 242 comprises a pin which runs vertically through a suitable bore in the operating rotor 224 and is provided with a clamping head 246 on the underside of the rotor 224. The pin is pushed up by a suitable spring load (not shown) to hold the clamping head 246 in a clamping position contacting the underside of the operator rotor. When the operator runner 224 is positioned in its standby position, can this clamping device can be opened by an actuating mechanism 248 mounted on the carrier section 220. This mechanism includes a rocker arm 250 with a head 252 which is just above the pin when the operator runner 224 is in its ready position (Figures 9 and 10). By tilting the lever 250 (e.g. by means of a pneumatic device on the carrier part 220, not shown) in a clockwise direction according to FIG. 10, the head 242 can initially be brought into contact with the pin and then moved on to the pin with the clamping head 246 against the spring load to push down.

Before the auxiliary thread has already been picked up, the device 150 is brought near the delivery point 128 by the actuation of the motor 204 (FIG. 8) by the controller 212, the operator runner 224 being held in its ready position in relation to the part 222. By suitable movements of the mouth part 136 (see in this connection the Swiss patent application No. 4852/88) and the opening of the clamping device by the actuating mechanism 248, an auxiliary thread extending between the mouth part 136 and the delivery point 128 is moved into the clamping device and by releasing the Mechanism 248 is connected to the operator runner 224 by clamping. After the auxiliary thread has been separated from the supply 122, the winding device 150 and the handling device 124 together form an attachment unit, which can first connect the stored auxiliary thread to the winding unit 101, then thread it with the thread guide elements of the spinning station and finally with one of a drafting system (not shown). supplied roving.

The second working element 244 is a flexible element e.g. a brush to strip the upward surface of the ring 106. This element is used to move the rotor on the spinning ring 106 as should be described in more detail below.

After an auxiliary thread length has been picked up from the suction pipe 134 at the delivery point 128 and has been connected to the service runner 224, the carriage 186 is moved upward by actuating the motor 204 in order to move the device 150 into a predetermined position with respect to the currently uppermost turns W (FIG 10) to bring the cop. For this purpose, the highest position of the ring bench 104 is sensed and stored while the robot is moving, so that the controller 208 is able to bring the slide 186 immediately to the appropriate working height (along the threaded spindle 196) after leaving the delivery point 128 . When the carriage 186 has reached the working height, the unit 202 is actuated to move the device 150 against the spindle 102 into the first working position (FIG. 10).

In this first working position, the clamping plane formed by the clamping head 246 and the operating rotor 224 lies above the uppermost windings W of the cop at a predetermined distance (not shown). In FIG. 10 it is assumed that the cop is almost finished, so that the uppermost windings W are in this case close to the upper end E of the sleeve 112. However, a thread break can already occur in the first phase of the bobbin formation, so that the first working position would then lie much further down relative to the spindle 102 and sleeve 112. If the thread breaks during a doffing process, it can even happen that the the corresponding spinning station is not started at all, so that the auxiliary thread must be connected to the "bare" sleeve. The correct first job can still be determined in relation to the uppermost position of the ring bench 104 during its traversing movement.

As can be seen from FIG. 11, the operating runner 224 is held in its standby position during this infeed movement, so that the access opening 240 for receiving the spindle 102 and sleeve 112 is present. The mouth part 136 is brought to a corresponding work station, so that the mouth M (FIG. 1 lies below the clamping plane at a distance to be described. The auxiliary thread F extends between the mouth M and the clamping head 246 with a vertical distance between the Mouth M and inclination corresponding to the clamping plane (solid line in FIG. 10).

The motor 234 (FIG. 9) is now actuated in order to rotate the operator runner 224 in its career 226 (FIG. 9) clockwise according to FIG. 6 about the axis P. This rotation initially shortens the distance between the mouth M and the clamping head 246, the "unnecessary" length of the thread F being absorbed by the suction in the tube 134. The thread F is pulled out of the suction tube 134 again by further rotations of the operating rotor 224 with the clamping head 246 and placed on the sleeve 112 or the outer turns of the cop 116 (FIG. 12). The first turn of the thread F runs down a spiral around the sleeve 112 and cop 116 until the thread F lies in a horizontal plane containing the mouth M (dashed line in FIG. 10). By further rotation of the Operating rotor 224, some connecting turns V (FIG. 10) are formed in this plane.

The aforementioned distance between the mouth M and the clamping plane is selected such that, if a cop 116 is present at all, these first connecting windings V lie below the uppermost winding W of the cop. The work site of the mouth M is therefore below the uppermost position of the ring bench 104 during its traversing movement, so that this work site must be kept outside the movement area of the ring bench 104 (see FIG. 11).

It will be apparent that the first turns V are formed by rotating the operating rotor 224 both with respect to the spindle 102 or sleeve 112 and with respect to the C-shaped holder 222. The thread F is pulled directly from the suction pipe 134 by the rotation of the operating rotor 224. After the formation of only a few turns V, however, the rope effect between the thread F and the cop 116 becomes so great that a weaker thread F would break between the clamping head 246 and the turns V when the spindle 102 was stationary. In order to avoid this and still be able to form further turns V, the spindle 102 is released from its drive (not shown) during the winding process, so that it can currently be freely rotated (see in this connection the Swiss patent application No. 4852/88) .

In order to achieve a secure connection between the auxiliary thread and the sleeve 112 or cop 116, it is advisable to overcome the first spiral turns. This requires a slight lifting of the winding device 150 in the direction of the upper end E of the sleeve 112 in FIG a second working position (Figure 13). Since the length of the thread piece between the clamping head 246 and the first connecting turns V can no longer be changed, the spiral shape of the first turn of this thread piece around the sleeve 112 and cop 116 must be removed.

The mouth part 136 is also moved upwards in order to wind further binding turns B (FIG. 13) on the sleeve 112, these turns B securely binding the above-mentioned piece of thread to the sleeve 112. The turns B also serve another purpose, but this only becomes clear when a later phase of the process is explained and is therefore only discussed later in this description. In order to form these last bindings B, the spindle 102 must still be able to rotate freely and the thread F must remain intact between the bindings formed on the sleeve and the clamping head 246. However, after this second winding phase has been completed, the spindle 102 is braked by suitable means (not shown) while the operator runner 224 continues to run. The thread F is thereby pulled out of the clamping head 246 and forms a free end FA (FIG. 14).

The operator runner 224 is now brought back into its ready position, so that the access opening 240 is restored (FIG. 14). The application of compressed air to the unit 202 (FIG. 8) is now canceled, so that the winding device 150 is withdrawn (FIG. 15). It is now necessary to prepare the attachment unit for threading the auxiliary thread F with the ring traveler 108 (FIG. 16). The various steps of this preparatory process will be described before the reasons for these steps are explained in more detail. During the threading, the angular position of the spindle is held by braking.

As a first step after the device 150 has been withdrawn, the mouth part 136 is brought from its second working position (FIG. 13 and FIG. 15, solid lines) to a third working position on the other side of the spindle 102 and winding device (dashed lines in FIG. 15) . A slide 260 carried by the carriage 186 is now moved from a retracted position (FIGS. 10 and 13) to an advanced position (FIGS. 14 and 17 to 20) by a suitable actuating means (for example by a pneumatic piston and cylinder unit, not shown) . A V-shaped guide part 262 (FIGS. 10, 13 and 19) engages in the free thread length between the sleeve 112 and the mouth part 136. Slider 260 is advanced so far that the thread length mentioned is deflected by the guide part 262 and finally held in a predetermined position becomes. This position is determined by a suitable end stop (not shown) for the slide 260.

The mouth part 136 is now moved upwards and then brought back onto the first side of the spindle 102 and angling device 150 (FIG. 17). The mouth M is moved downwards so that the thread F runs underneath the winding device 150 and between the mouth M and the edge of a guide surface FF (FIG. 15) on the uppermost surface of the slide 260 a predetermined inclination upwards (in FIG 12 not visible). The slider 260 is provided with a constriction 261 (FIG. 15) in order to guide the thread on the surface FF. The position of the mouth part 136 is now selected so far away from the ring bench 104 that the thread F lies outside the movement space of the ring 106 (FIG. 17). The winding device 150 is now shifted back into its second working position (FIG. 18), after which the threading preparation phase is completed.

The reasons for this sequence will be evident from FIGS. 15, 17 and 18 together with FIG. 16. FIG. 16 schematically shows the cop 116, the yarn G during normal spinning and the runner 108, the direction of rotation of the cop being indicated by the arrow R. This direction of rotation is also indicated by an arrow on the spindle 102 in FIG. 15, although the spindle may not actually rotate during the preparation phase. In order to restore the operating conditions indicated in FIG. 16, certain geometrical relationships must prevail when threading the auxiliary thread F with the rotor 108.

If one looks at the relevant spinning position in the direction of arrow L (FIGS. 15, 17 and 18), the thread length to be threaded must extend from the left to the right from the slide 260 to the mouth part 136. For this purpose, this thread length must have a slight inclination from above on the slide 260 downward at the mouth 136. This inclination α is indicated in FIG. 18 (in this figure part of the cop 116 has been "cut away" to show the guide head of the slider 260). Furthermore, the runner 108 has to be pushed onto the thread F by moving along the spin ring 106 in a clockwise direction according to FIG. The auxiliary thread length extending between the runner 108 and the mouth part 136 can then be pulled upwards in order to correspond to the position of the thread length G (FIG. 16).

The conditions previously described depend on the direction of rotation of the spindle 102, which in turn depends on the yarn rotation (S or Z rotation). The conditions described are adapted for a yarn with an S twist, which corresponds to the products of most spinning mills. When producing yarn with a Z twist, the slide 260 would have to be laid on the other side of the spindle 102 (again in the direction of the arrow L, viewed in FIGS. 10, 12 and 13) and the thread length to be threaded would have to be from the right to the left of the slide 260 extend to the mouth part 136.

In order to produce the conditions already described, the device 150 must in any case be moved into its retracted position, at least in order to enable the orifice part 136 to be moved after the thread F has been brought into contact with the guide part 262 of the slide 260. For the winding it does not matter whether the mouth part 136 is placed to the left or to the right (viewed in the direction of the arrow L) relative to the winding device 150. The position of the clamping point 242 in the circumferential direction of the operating rotor 224 also does not play a major role in this regard. However, the clamping point 242 can preferably be brought as close as possible to the separating means (not shown) for separating the thread between the clamping point and the delivery mechanism 126 (FIG. 7) in order to avoid a long thread end which depends on the clamping point.

After the preparation phase is completed (FIG. 18), the switching means 214 is switched to the controller 210 (FIG. 9) and the motor 204 is activated in order to move the slide 186 down the threaded spindle 196 until the sensor 206 has the ring bench 104 "finds". The mouth part 136 is moved accordingly, so that the already prepared conditions are maintained. The sensor 206 scans contactlessly for the ring bank 104.

After the sensor 206 has "found" the ring bench 104, the sensor sends a signal to the controller 210 to keep the motor in continuous operation, so that the carriage 186 together with the winding device 150 follows the movements of the ring bench 104. The clamping plane of the operating rotor 224 is obtained at a predetermined distance S (FIG. 19) above the upward surface of the ring bench 104. In this third working position of the winding device (on the ring bench 104), the second working element (the brush) 244 is held in contact with the upwardly facing surface of the ring 106.

The vertical movements of the ring bench 104 are followed without contact as previously indicated and therefore without loading the ring bench drive (not shown). The positioning of the winding device 150 in the X direction (FIG. 7) to ensure that the brush 244 is in contact with the spinning ring 106 is, however, effected by a feeler roller 264 mounted on the device 150. This touch does not burden the ring bench drive.

FIG. 20 shows the last movement of the threading process, the operating runner 224 being rotated again clockwise around the axis P, thereby also moving the runner 108 (not visible in FIG. 20) clockwise along the spinning ring 106 along the thread length between the mouth part 136 and to move the slider 260. As from a comparison of Figures 19 and 20 can be seen, the mouth part 136 is to be brought in the direction of the ring bank 104 into the position shown in FIG. 20 and the thread piece to be threaded is placed close to the spinning ring 106, the inclination α (FIG. 20) being maintained.

Before the last movement indicated in FIG. 20, it must also be ensured that the runner 108 is at a suitable location opposite the spinning ring 106 so that the brush 244 can push it in the desired direction. This is actually preferably the first step in the whole process and is even carried out before the auxiliary thread length is fetched. As already mentioned before, when the robot is patrolling, the winding device is continuously held along its "working height" along the threaded spindle 196 by the control system shown in FIG. For this purpose, the sensor 206 senses the upper reversal point of the ring bench movement while the robot is traveling and uses it to adjust the position of the slide 186.

When a thread break is detected or after positioning at the spinning position to be operated, the device can be immediately delivered to the spindle 102 in question (in the first working position, FIG. 10) and the carriage 186 can then be moved down to the device Dock ring ring 104 (in the third working position, Figure 19 - as already described for threading). The operator runner can then be actuated to place the runner in a predetermined position (eg, position X in Figure 20) where it will neither interfere with nor prepare for threading.

The motor 204 can then be started again in order to uncouple the device from the ring bench and return it to the first working position (FIG. 10), so that it can be pulled back into the robot for picking up the auxiliary thread from the delivery point 28. As already indicated by the "controller" 212 (Figure 8), the motor 204 is controlled independently of the position of the ring bench 104 in order to e.g. to the lower end of the spindle 196 and thereby in the vicinity of the delivery point 28. As already mentioned, the "working height" (the height of the first working position along the spindle 102) is saved, so that after the auxiliary thread has been picked up, the attachment unit (winding device 150 and handling device 124) can be brought back to the working height immediately. The procedure already described can then be carried out.

The movement of the operating rotor 224, indicated in FIG. 20, encompasses one full revolution of this organ, so that the brush 244 runs over the thread length extending between the sleeve 112 and the slide 260. Contact between the bust 244 and the thread length F should, however, be avoided if possible, since otherwise the thread run could be destroyed. The guide part 262 of the slide 260 is therefore provided with a screen piece 266 (best seen in FIGS. 15 and 17), which in the threading position (FIG. 18) lies directly above a section of the spinning ring 106 and the thread F from the brush 244 during the shields the aforementioned threading revolution of the operating rotor 224.

The first sister registration shows that the handling device 124 is also carried by the slide 186. The other phases are in the same application As was mentioned in connection with FIG. 16, the thread F (after the slide 108 has been pushed on) can be moved upwards by the handling device 124. However, the auxiliary thread F remains threaded with the rotor 108 and is pulled out of the suction pipe 134. A thread length also remains between the runner 108 and the cop 116.

The tensile force that is exerted on the auxiliary thread F, however, acts in the opposite direction to the tensile force that is exerted during normal spinning (starting from the cop 116). If the auxiliary thread F now runs in a substantially horizontal position from the runner 108 to the cop 116, the forces exerted by the auxiliary thread F on the runner 108 could under certain circumstances be sufficient to move the runner along the spinning ring 106, in that for the Spinning normal direction (clockwise in Figure 15). However, since the spindle 102 was still stationary at this time, this movement of the runner would mean the pulling of thread windings from the bobbin, which could lead to a further thread break when attaching for various reasons.

In order to avoid this, the upper turns during winding (ie the binding turns B, FIG. 13) are formed above the uppermost turns W of the cop 116. As a result, the thread length extending from the windings B to the rotor 108 always has an upward slope as seen away from the rotor 108. The of the thread lengths on both sides of the runner on these forces exerted during the further threading phases only partially compensate for one another and give a resultant that raises the runner 108 upwards against the underside of the spinning ring 106 rather than moving the runner along the spinning ring. An unfavorable development of wound binding turns B is avoided.

It is apparent from the above description that the connection of the auxiliary thread piece with the yarn carrier finally takes place due to the rotational movement of the one holder in the form of the winding ring with a clamping device around the yarn carrier. As a result, as described in detail above, a connection between the auxiliary thread piece and the thread carrier is achieved at a desired point in time by the action of friction. It is obvious that this principle can also be implemented in other ways. The essence of the invention therefore lies in a method for applying an auxiliary thread to a yarn carrier of a spinning machine located at the spinning position, the method being characterized in that an auxiliary thread piece clamped on two sides in holders is placed on the thread carrier and with one of the holders around the thread carrier is looped until the auxiliary thread piece is connected to the yarn carrier by friction.

According to the current opinion, this principle can best be achieved when the yarn carrier stands still during the wrap movement, and is preferably also freely rotatable.

However, it is recognized according to the invention that the standstill of the yarn carrier and / or its free rotational mobility are not necessarily basic requirements for realizing the method according to the invention.

For example, it is quite possible to drive the yarn carrier separately, during or after the wrap-around movement, in order to achieve a gentle but secure connection between the auxiliary thread piece and the yarn carrier. One can imagine this, for example, in that the yarn carrier is first uncoupled from the normal drive of the spinning station and then driven by a separate rotary drive, for example by a drive that is located on the operating device and the sleeve or the spindle, for example, with drives a rubber wheel to rotate by friction.

It could also be imagined that the winding ring initially produces a few loose turns around the thread carrier and that the sleeve and therefore the thread carrier is then driven to a separate rotary movement in order to tighten these loose windings and therefore the required friction connection between the auxiliary thread piece and to establish the thread carrier. This could be done, for example, in that at the beginning of the wrap the separate drive for the yarn carrier drives the yarn carrier at the same rotational speed as that of the winding ring and then changes the rotational speed of the thread carrier with respect to the winding ring, preferably accelerates, in order to tighten the wraps that have taken place and at the right moment pull the end of the auxiliary thread piece out of the clamping device or release it by releasing the clamping device. The separate drive could then be detached from the thread carrier and the process continued, as previously described in detail, until the spinning station produced again.

Claims (27)

1. A method for threading a thread from a thread carrier located at the spinning position of a ring spinning machine into thread guide elements by pushing the rotor (24) onto the thread, characterized in that a thread (6.1) located on the thread carrier (40) has its free end in an elastically acting retention memory (15) is held and tensioned against the stationary yarn carrier (40) such that the clamped thread piece (6.1) is supported on the side of the yarn carrier (40) in a defined position (25) immediately above the spinning ring (23) and with the help of the controlled positionable mouth (16) of the retention memory (15) tangential to the spinning ring (23) and at an inclination ("alpha") relative to the plane of the spinning ring (23) is brought up to the spinning ring, whereupon the rotor (24) is dragged onto the thread from the area of the lower-lying clamping point of the thread piece (6.1) in the direction of the higher-lying clamping point. 2. The method according to claim 1, characterized in that the introduction of the tensioned thread piece (6.1) takes place in stages (B, C), with the thread piece (6.1) from one of the by appropriate positioning of the mouth (16) of the retaining memory (15) Spinning ring removed position (B), which already determines the final inclination ("alpha") of the thread piece relative to the plane of the spinning ring (23), is brought in a radial direction to the spinning ring (23) (position C). 3. The method according to claim 2, characterized in that the mouth (16) of the retention memory (15) is first brought into an end position (C) approximately diametrically opposite starting position (A), which is at the level of the support point (25) lies, and is then lowered via the support point in the direction of the end position (C) to the intermediate position (B) radially distant from the spinning ring (23). 4. Apparatus for performing the method according to claim 1, with a cooperating with a process control operating robot, for optionally controlling the spinning positions of a spinning machine, and with a manipulator holder (26) attached to the operating robot, characterized in that one with the holder (26) coordinated thread holder (25, 28) can be displaced in a controlled manner into the effective area of the spinning ring (23) and that the mouth of a retention memory (15) for a free thread piece (6.1) is defined in Opposing positions (A, B, C) to the thread holder (25, 28) can be guided in a controlled manner, the thread piece in between being held elastically tensioned by the retention memory (15). 5. The device according to claim 4, characterized in that the holder (26) with the thread holder (25, 28) guided thereon can be coupled to and uncoupled from the ring bench (3) of the spinning machine. 6. The device according to claim 4, characterized in that the retention memory (15) is provided with means for exercising an elastic force acting on the stored piece of thread. 7. The device according to claim 4, characterized in that the thread holder is designed as a slide (28) which is guided on the holder (26) and has a thread guide (25) on its rod-shaped tip. 8. The device according to claim 7, characterized in that the thread guide (25) is provided at its tip with a design adapted to the surface of the spinning ring, so that an element for pushing the rotor (24) onto the thread (6.1) is used ( 31) does not touch the thread wound around the thread guide (25). 9. The device according to claim 7, characterized in that the tip (25) of the thread holder (25, 28) is positively approximated to the spinning ring (23). 10. The device according to claim 4, characterized in that with the holder (26) positioning elements (31; 32) for controlled displacement of the rotor (24) on the spinning ring (23) are coupled. 11. The device according to claim 7, characterized in that on the holder (26) a concentrically to the yarn carrier (40) positionable rotating ring (27) is provided with controlled activatable rotary action, which has a towing device (31) for the runner (24). 12. The device according to claim 7, characterized in that on the holder (26) a controlled activatable nozzle device (32A, 32B) for positioning the rotor (24) is connected in a defined position on the spinning ring (23). 13. The apparatus according to claim 12, characterized in that for positioning the rotor (24), the nozzle device (32A, 32B) is designed such that an air blast blows the runner outside the working area of the thread guide (25) and a time-controlled counter air blast the runner on the opposite side of the threading device. 14. The device according to claim 12, characterized in that a nozzle device (32A, 32B) for positioning the rotor (24) is provided in an area outside the working area of the thread guide (25) and that its mode of operation is coordinated with a towing device (31) which drags the runner on the thread. 15. The apparatus according to claim 4, characterized in that the holder (26) together with the thread holder (25, 28) in the horizontal direction (X) on the yarn carrier (40) to and from this can be moved. 16. The apparatus according to claim 15, characterized in that the holder (26) together with the thread holder (25, 28) in the vertical direction (Z) can be adjusted in a controlled manner and can be coupled to or decoupled from the ring rail (3). 17. A method for thread manipulation on a ring spinning machine, using a thread store and a program control, characterized in that a piece of thread of a predetermined length is stored in the thread store, with a free thread end at the mouth of the thread store remaining accessible from the outside, and that by coordinate-controlled manipulation of the Thread store mouth the free thread end is guided against an elastic retention force of the thread store at predetermined points in the area between the spinning station and the drafting unit of the ring spinning machine and program-defined movements of the thread store mouth are carried out there. 18. The method according to claim 17, characterized in that a plurality of points of the ring spinning machine are controlled with the thread storage mouth in succession and a specific, program-controlled movement sequence is carried out at each of the controlled points. 19. The method according to claim 18, characterized in that the sub-programs "wind thread on sleeve or package", "thread thread into guide elements" and "thread in the area of the drafting system exit" are carried out. 20. The method according to claim 17, characterized in that an operating robot which can be moved along the spinning positions on the ring spinning machine and in which the thread store is contained is automatically switched from a normal program to a parking program as soon as an auxiliary thread supply carried has fallen below a predetermined minimum quantity, and that automatically switches back to the normal program after filling up the auxiliary thread supply. 22. The apparatus according to claim 21, characterized in that a length counter (52) for the auxiliary thread running out of the supply spool (5) is connected to a supply mechanism (7) for supplying the thread store (15) from an auxiliary thread supply spool (5) and that Output of the length counter (52) is connected to a signal processing device (50). 23. The device according to claim 21, characterized in that an auxiliary thread supply spool (5) for supplying the thread store (15) is provided with a diameter sensor (54), the output of which is connected to a signal processing device (50). 24. Device according to one of claims 21 to 23, characterized in that a thread break sensor (52) is arranged between the thread store (15) and the auxiliary thread supply spool (5) for supplying the thread store (15), the output of which is connected to the signal processing device (50). communicates. 25. The device according to any one of claims 21 to 24, characterized in that a control signal is generated on the signal processing device (50) when an auxiliary thread sensor (52, 54) responds, for blocking individual operating processes on the ring spinning machine and / or on the operating robot until the auxiliary thread supply is replaced is. 26. The apparatus according to claim 25, characterized in that the occurrence of the control signal is associated with the appearance of an optical warning signal. 27. The apparatus according to claim 25, characterized in that the control signal influences the sequence control of the operating robot in such a way that the latter passes into a agreed waiting position drives. 28. The apparatus according to claim 21, characterized in that auxiliary thread supply spools (5) are provided with a known auxiliary thread length for supplying the thread store (15) and that comparison devices are provided in a sensor-controlled signal processing device (50) for continuous comparison of the current auxiliary thread consumption with the known auxiliary thread length , wherein the sensor used to control the signal processing device is designed to detect the current auxiliary thread consumption.

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