EP0394671B1 - Verfahren zum Betrieb einer Ringspinnmaschine sowie Bedienroboter zur Durchführung des Verfahrens - Google Patents

Verfahren zum Betrieb einer Ringspinnmaschine sowie Bedienroboter zur Durchführung des Verfahrens Download PDF

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Publication number
EP0394671B1
EP0394671B1 EP90105387A EP90105387A EP0394671B1 EP 0394671 B1 EP0394671 B1 EP 0394671B1 EP 90105387 A EP90105387 A EP 90105387A EP 90105387 A EP90105387 A EP 90105387A EP 0394671 B1 EP0394671 B1 EP 0394671B1
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EP
European Patent Office
Prior art keywords
operating robot
yarn
spinning
robot
operating
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
EP90105387A
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German (de)
English (en)
French (fr)
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EP0394671A3 (de
EP0394671A2 (de
Inventor
Giorgio Citterio
Walter Slavik
Peter Stamm
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
Priority claimed from DE19893909746 external-priority patent/DE3909746A1/de
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Publication of EP0394671A2 publication Critical patent/EP0394671A2/de
Publication of EP0394671A3 publication Critical patent/EP0394671A3/de
Application granted granted Critical
Publication of EP0394671B1 publication Critical patent/EP0394671B1/de
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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
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
    • D01H13/145—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements set on carriages travelling along the machines; Warning or safety devices pulled along the working unit by a band or the like
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H7/00—Spinning or twisting arrangements
    • D01H7/02—Spinning or twisting arrangements for imparting permanent twist
    • D01H7/04—Spindles
    • D01H7/22—Braking arrangements
    • D01H7/2208—Braking arrangements using mechanical means
    • D01H7/2233—Braking arrangements using mechanical means by suppressing the driving means, e.g. by declutching
    • D01H7/2241—Braking arrangements using mechanical means by suppressing the driving means, e.g. by declutching the belt being moved off the driven whorl
    • D01H7/225—Braking arrangements using mechanical means by suppressing the driving means, e.g. by declutching the belt being moved off the driven whorl and the spindle being braked simultaneously

Definitions

  • the present invention relates to a method for operating an operating robot for reattaching broken threads on a ring spinning machine, the operating robot patrolling along a number of spinning positions, and an operating robot for operating a ring spinning machine and for carrying out the method.
  • This document relates to a method for the automatic removal of automatically felt thread breaks on a thread-producing spinning machine having a plurality of spinning positions by means of a piecing carriage, an error check for the presence of an error which eliminates the thread breakage being carried out prior to the respective attempt to repair the thread break at the relevant spinning position at the spinning position in question, is carried out and, if such a fault is detected, the attempt to correct the thread breakage is omitted, the fault check being carried out from the piecing carriage.
  • a separate thread break sensor is provided for each spinning station.
  • the thread break sensor is arranged on the piecing carriage.
  • the yarn breakage sensor senses this and triggers the stopping of the piecing carriage in a predetermined position at this spinning station.
  • the attachment carriage is stopped, it is first checked by means of further sensors whether there is an error which causes this Eliminating the thread break makes it impossible, ie whether the roving is missing, whether there is a winding on the delivery roller of the drafting system or whether the ring traveler is missing. If there is at least one such error in the known arrangement, this is reported to an evaluator and he triggers the continuation of the piecing carriage without attempting to repair the thread breakage.
  • the evaluator signals this to a control device which now carries out the attempt to correct the thread break by means of the equipment of the piecing carriage which serves to fix the thread break. It can be provided in a known manner that if the first thread attachment attempt does not already lead to the removal of thread breakage, one or more such thread breakage removal attempts are made and if a predetermined number of thread breakage removal attempts fails, the piecing carriage continues to run and this spinning position is possibly negative Spinning station registered.
  • a roving stop device can also be provided for each spinning station, which is then actuated from the piecing carriage when it is determined by means of the aforementioned sensors that there is no ring traveler or that there is a winding on the Delivery cylinder drafting device has formed.
  • the piecing carriage runs along the ring spinning machine in the search for thread breaks and, when a thread break is found, first examines whether the thread break is to be regarded as recoverable. In the affirmative, the piecing carriage immediately tries to fix the thread break before continuing its search. This means that it is checked at every point whether there is a thread break or not and an attempt is made at the same time if possible to fix the thread break.
  • the roving stop devices are actuated by the sensors which are responsible for determining whether the ring traveler or a winding is present. In the example with one thread break sensor per spinning position, however, the roving stop device can already be actuated from this sensor when a thread break is detected.
  • the known method is also set up in such a way that in the determination of defects which cannot be rectified by the piecing carriage, it continues without stopping to the next spinning station, in order not to lose time for fruitless thread piecing attempts, with the aim of making better use of the capacity of the piecing carriage to eliminate thread breaks. If, on the other hand, a thread break is found that can possibly be remedied, the attachment carriage is braked immediately in order to carry out thread attachment tests.
  • the object of the present invention is to provide a method for operating an operating robot for reattaching broken threads on a ring spinning machine and an operating robot for operating the ring spinning machine and for carrying out the method, the method leading to a simplified structure of the operating robot so that it can be operated with a reasonable effort can be produced and can also be used universally in existing ring spinning machines, which are not equipped from the outset for cooperation with an operating robot, but which, due to the design according to the invention, should be easy to retrofit for this purpose.
  • the method mentioned at the outset is further developed according to the invention in such a way that the operating robot stores the spinning positions at which there is a thread break in a first movement along the row of spinning positions, and only in a further movement, preferably in the next movement along this row tries to fix the previously determined thread breaks. After this attempt, the operating robot preferably checks whether it has succeeded. If this is not the case, the thread break is classified as not repairable by him and this fact is indicated to the operator or made clear.
  • the process is therefore characterized in the further course so that with each further movement along the row of operating robots, the thread breaks that have arisen since its last pass are determined, but only attempts to correct those that were determined during its last pass and not as by it are not classified as repairable.
  • the operating robot preferably determines the thread breaks automatically, so that only one thread break sensor is required.
  • the operating robot according to the invention with a ring spinning machine in which thread break sensors are provided at the individual spinning positions. In the latter case, communication between the individual spinning positions and the operating robot is required.
  • such a solution is not particularly desirable since the provision of the required number of thread break sensors (currently up to 1200 per ring spinning machine) nevertheless leads to considerable costs and the thread break sensors themselves are susceptible to faults, so that these sensors can also represent sources of error.
  • an operating robot that automatically determines the thread breaks, it is only necessary to check a thread break sensor for its functionality.
  • the method according to the invention is preferably carried out in such a way that the operating robot operates or patrols at most one side of the ring spinning machine and possibly only part of this side.
  • This embodiment takes into account that thread attachment attempts take a certain amount of time, which is typically less than 20 seconds in the operating robot according to the invention, the operation of the ring spinning machine at a reasonable number of thread breaks per hour and the high patrol speed according to the invention it is able to operate about 500 to 600 spindles. On average, a back and forth patrol movement takes about 10 minutes under the intended working conditions. This means that in the worst case, the maximum time until a thread break is eliminated or the corresponding spinning station is stopped by actuating the roving stop device. It is known from experience that at the intended spinning speed of a ring spinning machine, a yarn package that arises around an outlet cylinder of the drafting system will not be so large in this time that damage to the drafting system can occur. For this reason, too, a thread winding sensor is not necessary, since it is known that the diameter increase of a resulting winding is stopped at the latest within the same time, in the example given within 10 minutes.
  • the procedure according to claim 5 is such that after the detection of a thread break, the entry of the roving into the drafting device is not stopped, that the operating robot automatically tries to correct the thread break once, and that in the event of a failure, the operating robot automatically switches to the concerned roving stop device actuated.
  • the fact that the roving stop device is only operated when the thread attachment attempt has failed means that the roving continues to run during the thread attachment attempt, which according to the invention leads to a simplification of the thread attachment process and thus also to a further simplification of the operating robot.
  • the method according to the invention is further characterized in that the operating robot brings the end of a yarn which has already been spun and is wound around the relevant spinning cop into the area of the drawn roving emerging from the drafting device, preferably in the yarn running direction in front of the delivery rollers at the outlet, in the course of the removal of the yarn break of the drafting system.
  • the yarn end is taken over by the drafting system and twisted with the fiber stream running through the drafting system, so that the piecing process is carried out successfully. Because this procedure increases the safety of the thread application method, ie the thread application rate, the number of thread application attempts can be reduced to 1, so that a time saving is achieved and the operating robot works economically.
  • the roving stop device When the roving stop device is actuated, this is preferably indicated or made clear to the operator. The same signal can be used for this, which is generated to actuate the roving stop device, thereby further simplifying the operating robot.
  • the operating robot tries to remedy thread breaks by first winding one end of a foreign thread around the spinning head without attaching this one end to the broken end of the thread and then the other end of the foreign thread with the fiber stream still running at the exit tried to connect the drafting system.
  • the operating robot carries a foreign thread supply with him and, when removing a broken thread, proceeds by first sucking in a predetermined length of foreign thread from the supply spool by means of a suction flow into a storage tube connected to a suction gun, which feed tube ends the foreign thread when leaving
  • the supply spool is attached to a winder that can be moved around the spinning cop, the foreign thread is severed between the winder and the supply spool, the drive disengages from the spindle in question so that it can be freely rotated, and the winder is moved around the spinning cop, due to the friction between the foreign thread and the spinning cop rotates with the winder and pulls the foreign thread out of the supply tube and wraps it around the spinning cop to form windings, which the spinning cop then holds, drives the suction gun in the region of the windings to adjust the height, by means of the wound windings of the foreign thread Kre to anchor the laid windings, then the foreign thread by the sinking of the winder or a part assigned to it onto
  • connection of the yarn end of the foreign thread with the yarn emerging from the drafting device is preferably carried out in that the yarn end held by the suction gun is brought to the side next to the delivery cylinder pair of the drafting device by a corresponding movement of the suction gun and then by a movement in the axial direction of the delivery cylinder pair, whereby the foreign thread is brought into the fiber stream entering the gap in the delivery cylinder pair and the desired connection is brought about with the yarn end of the foreign thread.
  • the robot knows the end of its working area and stops there until it is released by the ring spinning machine to carry out another patrolling movement automatically.
  • the patrolling movement is preferably a back and forth movement along one side of the ring spinning machine or, in the case of using two operating robots per machine side, along a partial length of this side.
  • the robot would have to drive around relatively tight curves at the ends of the ring spinning machine in a loop-like movement, which would normally be difficult due to the lack of space and the dimensions of the robot.
  • the operating robot is programmed such that when it is inserted into the ring spinning machine or when the ring spinning machine is switched on or on again, it first travels in one direction along the row of spinning positions until it either reaches the end of its working area or a reversal point which it can recognize , wherein in the latter case it turns around and moves to the end of its working area and that after the release from the ring spinning machine it executes a first movement along its working area and stores the spinning positions at which there are at least initially recoverable thread breaks.
  • the operating robot does not have to be designed from the electronic side for a specific ring spinning machine, but can be used on all existing ring spinning machines of the conventional type after carrying out a few mechanical adjustments.
  • the operating robot learns the length of its working area and the number of spinning positions to be operated by it when it moves to the end of its working area and to the reversal point.
  • no electronic adjustments are required.
  • the operating robot is equipped with its programming to learn its working area again. Because only a single electronic version is required for the operating robot, these can be produced inexpensively in small series.
  • the storage of spare parts is also influenced favorably by this. It is also important that an operating robot can be easily transferred from one machine to another in a particular spinning mill, provided that the management considers this to be expedient, for example to use two robots on one machine for night shift work.
  • each operating robot has a position at a respective end of the ring spinning machine that represents the end of its working area at which it is stopped, for example to enable a doffing operation, and in that each operating robot recognizes the other operating robot as soon as it comes into its immediate vicinity and, based on the spinning position reached by it during the detection, determines the deflection point applicable to it.
  • the two robots patrol in opposite directions along the ring spinning machine until they come in close proximity to one another.
  • this signal is electronically evaluated as a reversal point, so that the two operating robots reverse. So the two Working areas of the operating robots are determined elastically, so to speak, the respective length simply depends on the location where the two operating robots come in close proximity to each other. Since the thread breaks that occur are generally not distributed uniformly over the ring spinning machine, the location where the operating robots come in close proximity to one another is generally not in the middle of the ring spinning machine.
  • the programming is preferably carried out so that the one operating robot that comes from one direction reverses immediately, while the operating robot that comes from the other direction turns one certain number of spinning positions continues in the same direction until it reverses.
  • This is not a problem for programming, it simply means that the markings on the rail, which mark the reversal point for him when using a single operating robot, are to be attached in such a way that the operating robot still detects a certain number of points even after this reversal point has been recognized Spinning positions continue to move before it actually reverses.
  • It is also particularly advantageous in the inventive design of the method or of the operating robot if, when using two operating robots on one machine side, both can be operated at the upper limit of their thread breakage removal capacity and the work between them automatically takes place accordingly share this capacity.
  • a ring spinning machine If a ring spinning machine is equipped with two operating robots, it must also be able to recognize that two operating robots are in use and, for example, during a doffing process both operating robots stop at the two predetermined ends of their working areas (usually at the two ends of the ring spinning machine) until the Doff process initiated, carried out and ended.
  • the ring spinning machine has the option of communicating with the operating robot at both ends, as has already been described in connection with a single operating robot.
  • the or each operating robot is preferably designed in such a way that it at least temporarily stores the spinning position-related thread breaks it has determined, as well as thread breaks that it has successfully remedied or thread breaks that it has not successfully remedied, and the stored information at intervals or during a stay at the end of its working area forwards to the ring spinning machine or to a system processing this information.
  • This signal transmission can also take place via the busbars, which supply the energy for driving the operating robot.
  • the operating robot should save the thread break points which it has not successfully repaired until the relevant spinning points have been repaired by the intervention of the operating person or a repair robot.
  • the thread break points detected by the operating robot should only be deleted from its memory when they have been successfully remedied and the machine control or the data system has been informed of this. However, this can also be determined automatically by the operating robot, for example by means of a light barrier which determines whether the roving stop device is actuated or not.
  • This version assumes that after a fault has been successfully eliminated, the operator switches the roving feed back on and leaves it up to the operating robot to correct the thread breakage. As usual with ring spinning machines, the roving stretched by the drafting system is suctioned off in cases where the thread breaks.
  • the method according to the invention is preferably also designed in such a way that the robot has an attaching machine which follows the height adjustment of the ring bench during the operation of the ring spinning machine and that the operating robot only after the machine has been inserted or the machine has been switched on or on again explored the lower limit of the height adjustment range of the automatic attachment.
  • This means that the operating robot not only gets to know the length of its work area, but also its height, which also simplifies its programming and benefits universal use.
  • the present invention also includes an operating robot which is designed to carry out the method variants described above, the operating robots which are constructed in a correspondingly advantageous manner being described in more detail in subclaims 20 to 46.
  • FIG. 1 shows a side view of a ring spinning machine 10, which has a head part 12 and a foot part 14. Between the head part 12 and the foot part 14 there are on both sides of the machine, only one of which can be seen in FIG. 1, a number of individual spinning positions, which are usually present today in the number from 500 to 600. For the sake of illustration, however, only seven such spinning positions are shown in FIG. 1, in fact the distance between the head part and the foot part 14 is much larger.
  • Each Spinning station for example 16, serves to draw roving 20 coming from a roving spool 18 in a drafting device 22 and to wind the drawn yarn on a spinning tube 26 by means of a ring traveler 24.
  • the resulting package 28 is built up in a known manner on the spinning sleeve 26 from below and results in the so-called spinning cop.
  • the spinning sleeve 26 is driven by a spindle 30 for a rotary movement.
  • the drawn roving passes through a yarn guide 32 and a so-called anti-balloon ring 34 to the ring traveler 24, which is caused to rotate on an annular path 36 due to the rotating movement of the spinning cop, whereby the drawn roving undergoes a rotation that produces its strength.
  • the spindles 30 are driven in pairs by revolving belts 38, which run in the direction of the arrow 40, for rotary movement.
  • the spindles 30 themselves are rotatably mounted in a crossbar 42 of the ring spinning machine.
  • the ring tracks 36 are located on the so-called ring bench 44, which, in a manner known per se, executes a steady upward lifting movement when it forms the spinning heads and an oscillating movement superimposed thereon.
  • the roving 20 runs through a respective funnel 46 at each spinning station, the funnels 46 being mounted on a rail 48 which carries out an oscillating back and forth movement in the direction of the double arrow 50.
  • the roving 20 then runs through a so-called roving stop device 52.
  • roving stop devices also known as sliver stop devices, are well known and can be actuated to break off the roving 20 and thus to stop the supply of material to the respectively assigned drafting system 22.
  • the drafting system which is also well known and can be seen in a side view in FIG. 2, is driven by means of three driven shafts 54, 56 and 58, these shafts extending over the entire length of the ring spinning machine and usually being driven on both end faces to prevent excessive shaft rotation.
  • Beneath each drafting system is a suction nozzle 60 which, in the event of a yarn breakage, sucks the yarn produced by the drafting system, thus keeping the machine clean and largely preventing the formation of unwanted yarn packages around the individual rolls of the drafting system.
  • the left spinning station 16 at the right end of the machine is shown in FIG. 1 as if there was a thread break, the stretched yarn running into the corresponding suction nozzle 60.
  • the roving bobbins 18 are arranged as usual on rails above the ring spinning machine and can be replaced, for example.
  • the roving 20 coming from the bobbins 18 is deflected via deflection rails such as 62, for example, before it runs into the funnel 46.
  • the ring spinning machine as far as described so far, is known per se in practice.
  • Two rails are mounted on this ring spinning machine, namely an upper guide rail 64 and a lower guide and positioning rail 66, both of which extend at least substantially over the entire length of the ring spinning machine and serve to carry and guide an operating robot 68 and an accurate one To enable positioning of the same.
  • the operating robot 68 can be moved in the direction of the double arrow 70, and by means of a motor 74 flanged to the frame 72 of the operating robot, which, as can also be seen in FIG. 2, drives wheels 76 that can be rolled on the lower rail.
  • the power supply to the drive motor 74 and to the other electrical and electronic parts of the operating robot takes place via the lines 75, 77, which are in contact with current paths 79, 81 in the rail 66 via sliding contacts (not shown).
  • an attaching machine 80 which is arranged to move up and down in accordance with the double arrow 83.
  • the batching machine 80 is guided on two vertically extending rods 82 and 84.
  • the rod 82 is a pure guide rod, but the rod 84 is designed as a threaded spindle and can be driven by a motor 86.
  • the threaded spindle 84 runs within a ball nut attached to the automatic attachment 80 and thus forms the drive for the automatic attachment 80.
  • a first light barrier 88 which detects the edge of the ring rail 44 and, via the computer installed in the frame 72, control signals to the drive motor 86 sends so that the automatic attachment 80 always follows the movement of the ring bench.
  • limit switches 90 and 92 are also attached at the top and bottom, which determine the upper and lower limits of the displacement path of the automatic attachment machine.
  • the automatic attachment has a further light barrier 94. It detects the yarn at the outlet of the drafting system and in this way determines whether there is a thread break or not.
  • the piecing machine 80 also carries a supply spool 96 for foreign thread 98 for the piecing process described later.
  • the foreign thread 98 is introduced by this bobbin 96, which can also be any spinning cop, into a holding chamber 100 which is equipped with a separating knife 102.
  • a winder 104 Above the chamber 100 there is a winder 104 which can be advanced in the direction of the double arrow 106 until its U-shaped front end 108 engages around the spinning cop.
  • the front of winder 104 is shown on a large scale in plan view in FIG. 4 and in side view in FIG. 5.
  • a slotted ring 110 which is rotatably guided by the winder 104, is located within the U-shaped opening of the winder 104.
  • the ring 110 is driven by two pinions 112 spaced apart from one another, only one of which can be seen in FIG. 4.
  • the purpose of these two pinions is to ensure that the ring 110 is always in drive with at least one of the pinions. In order to keep the two pinions synchronized, they mesh with intermediate gears, which are not shown.
  • the drive motor for the pinion 112 is also simple not shown here for the sake of it.
  • a pin 114 with a button-like head 116 is mounted in the ring 110.
  • the pin 114 can be pressed down by a lever 118 and an electromagnet 120 in the direction of the arrow 122 in order to push the head 116 away from the underside of the ring.
  • the foreign thread as will be described later, can be held between the head 116 and the underside of the ring 110.
  • a holding member 124 which is also adjustable in the direction of arrow 106 and which can be advanced independently of the winder 104 by a separate drive in order to position the foreign thread.
  • a brush 111 attached to it.
  • an arm device consisting of a shoulder 123, an upper arm 126, a forearm 128 and a hand 130 which carries a suction pistol 132.
  • the axes 134, 135 and 136 enable targeted movements of the suction gun 132, as will be described in more detail below.
  • a separate motor is provided for each axis 134, 135 and 136, these motors not being shown for the sake of simplicity. However, these motors allow targeted positions of the shoulder, arm and hand parts of the arm device around the corresponding axes.
  • hose 140 At the end of the suction gun 132 facing away from the winder 104 there is a hose 140 which is bent approximately in a U-shape and is connected to a suction source 142 at its end remote from the suction gun. Another light barrier 144 is located within the suction source 142.
  • a brake device is fastened to the frame 72 below the automatic attachment machine with an arm 146, which serves to decouple the spindle from the drive belt 38 and to brake the individual spindles.
  • the adjustment mechanism for the brake arm 146 is not shown here for the sake of brevity.
  • the brake arm 146 is controlled so that it can perform the following movements. First of all, it should be said that the arm 146 has at its front end an upstanding brake shoe, which is not shown in FIG. 2, but is arranged between the pairs of spindles 13, within the loop of the drive belt 38. This brake shoe therefore stands 2 vertically upwards in the drawing according to FIG. Arm 146 can be pulled in the direction of arrow 148 and simultaneously pivoted to the left or right in Fig. 1, i.e.
  • the spindle 30 can be regarded as freely rotating; due to the bearing in the hollow beam 42 by means of ball bearings, there is very little friction.
  • the brake arm 146 can then also be advanced in the direction of the arrow 150 in order to press the brake pad provided on the front of the upstanding finger against the spindle 30 and to be held or braked by the latter.
  • the suction gun 132 is brought from the location shown in FIG. 2 to the exit hole 152 of the foreign thread chamber 100, whereby the suction air from the suction source 142 brings the foreign thread into the suction gun and sucks into the tube 140 until the foreign thread end is detected by the light barrier 144.
  • the foreign thread can now be clamped (but not yet cut), for example by the delivery system, which pulls the foreign thread from the supply spool 196.
  • the suction gun 132 now moves around the front of the winder 104 to the other side of the foreign thread chamber 100.
  • the foreign thread is brought into the area of the button 116 by this movement, which is now pressed down by means of the electromagnet 120 and the lever 118 .
  • the electromagnet 120 is set in the de-energized state, as a result of which the pin 114 moves up again due to a built-in spring (not shown), and the end facing the foreign thread chamber 100 of the foreign thread.
  • the knife 102 is now operated to separate the foreign thread from the supply spool.
  • the brake arm 146 is now actuated so that the drive 38 is decoupled from the spindle 30.
  • the winder 104 moves up to a position above the top position of the ring bench and then forward until the spinning cop is within the U-shaped opening of the winder.
  • the ring 110 is now driven to rotate about the ring axis, as a result of which the foreign thread, pulled by the pin 114, lies in a backing movement around the spinning head mounted on the freely rotatable spindle 30 and the resulting friction is finally sufficient to rotate the spindle, pulling the foreign thread out of tube 140 and creating windings on the spinning cop.
  • the suction gun 132 moves due to the preprogrammed movements of the arm device so that a cross turn occurs; then another, for example four windings are placed around the spinning cop, and the suction gun moves up again.
  • one end of the foreign thread is now wrapped around the spinning head.
  • the holding member 124 is now pushed forward, i.e. to the right in Fig. 2 to prepare the foreign thread for threading.
  • the brake arm 146 is pushed forward to now stop the spindle.
  • the suction gun 132 is moved into a position where the foreign thread, which is still partially inside the tube 140, runs obliquely downwards and tangentially to the ring path.
  • the ring traveler is now rotated on the ring track 36 by means of the brush 111. He moves over the foreign thread and this is threaded into the ring traveler.
  • the holding member 124 is withdrawn and the suction gun 132 is raised up to the balloon ring 34 by changing the geometry of the arm device.
  • the foreign thread is controlled by specific movements of the suction gun 132 (caused by specific movements of the arm device) such that the foreign thread is threaded through the insertion slot 154 of the anti-balloon ring 34.
  • the attaching machine then moves upward and the suction gun is again controlled so that the foreign thread is threaded through the threading slot 156 of the thread guide 32.
  • the attaching machine is then moved further upward and the arm device is stretched so that the tip of the suction gun assumes the position shown in FIG. 2 with 132.1.
  • the foreign thread now comes to rest on the front side of the upper roller 158 of the pair of rollers on the feed side of this pair of rollers.
  • a targeted movement of the suction gun in the axial direction of the delivery cylinders is carried out.
  • the foreign thread is gripped by the stretched roving executing a traversing movement and twisted with it, so that a connection is created between the foreign thread and the stretched roving.
  • the newly spun yarn is then wound over the foreign thread on the spinning head 26 in the usual manner.
  • the repair of the thread break ie the preparation process, is now over.
  • the light barrier 94 is now used to check whether the thread and therefore the ring traveler 24 runs normally. If this is not the case, then this is a clear indication that there is an error of some other kind that cannot be remedied by the operating robot.
  • the roving stop device 52 is actuated by the operating robot, for example in a manner known per se by means of a compressed air blast, whereby the further supply of roving to the drafting system 22 is prevented.
  • a lever 160 of the roving stop device 52 folds up, the reflecting end 162 of which is regarded by the operator as an indication of a defective spinning position, so that the necessary corrective measures can be taken.
  • the operating robot 68 also carries a further light barrier 164 which, as the operating robot passes, can determine whether such levers 160 are folded up. If the operating robot 68 determines that this is the case at a specific spinning position, then it knows that it cannot remedy this thread break.
  • the automatic attachment device 80 detects the upper edge of the ring bank via the light barrier 88, and it is always held at a height corresponding to the respective uppermost position of the ring bank. While a thread break is being repaired, however, the piecing machine remains largely at a constant height during the winding on the spinning cop, but moves up slightly to form the cross-windings on the thread tube (approximately 5 mm). Only when the foreign thread is threaded in by the ring traveler does the automatic piecing machine move with the holding member 124 downward, so that the holding member comes near the ring rail 36 but does not touch it. This downward movement is also controlled by the light barrier 88, starting from the previous position, which corresponds to the uppermost position of the ring rail.
  • the long leg 66 of the guide and positioning rail 66 has two holes 166, 167 aligned with each spinning position, which are detected by two correspondingly arranged inductive sensors 170, 172 and ensure the exact positioning of the operating robot 68.
  • the rail 66 On its upper short leg, the rail 66 has elongated holes 174 and 176 at both ends. In order to scan these elongated holes, ie to detect them, the frame 72 carries a further inductive sensor 178.
  • the operating robot 68 Upon detecting the hole 174 or the hole 176, the operating robot 68 knows that it is at the end of its working area on the machine head 12 or at its reversal point on Machine foot 14 is located and initiates a corresponding braking process so that it stops in time at the respective end of the rail 66 is coming.
  • the operating robot is positioned exactly opposite the machine head at the end of its working area, so that information can be transmitted from the operating robot to the machine head or from the machine head to the robot.
  • each inductive sensor forms part of an oscillating circuit, with a change in the inductance of the oscillating circuit due to the arrangement of the holes, which leads to a change in the oscillation amplitude, which leads to the generation of the actuating signals or the determination of the exact position of the operating robot 68 is used.
  • two operating robots 68 of exactly the same design can operate the same side of the ring spinning machine.
  • a slightly modified rail 66.1 is used, the arrangement of the holes on the left end of the rail being symmetrical to the hole arrangement on the right end of the rail, as a result of which the two rail ends determine the ends of the respective working areas of the two operating robots.
  • the left robot 28 stops at the machine base 14 at the end of its working area
  • the right robot 68 stops at the machine head 12 at the end of its working area.
  • Each operating robot carries respective light barriers 186, 188 on the left and right, the left and right light barriers 186, 188 being displaced relative to one another on an operating robot 68 in the direction perpendicular to the plane of FIG. 3.
  • the light barrier 188 is on the right side of the left operating robot, opposite the retroreflector 192.
  • the retroreflector 190 of the left operating robot 68 of FIG. 3 is opposite the light barrier 186 of the left side of the right operating robot 68.
  • the operating robots can carry further light barriers on both sides, which serve for personal protection. For example, a certain spinning station may be repaired by an operator while the operating robot is approaching. He will then recognize and reverse the operating person with the additional light barrier, so that there is no collision between the operating robot and the operating person. Such light barriers are also useful since an operator can at any time cause an operating robot to make a reversing movement by placing his hand in the area of the personal protective light barrier.
  • the operating robot is put into operation by placing it on the spinning machine and switching it on at some point.
  • elongated hole 174 in FIG. 1 If the operating robot then reaches an elongated hole, for example elongated hole 174 in FIG. 1, it knows that it is at the end of its working area.
  • the working head of the ring spinning machine could itself detect the presence of the operating robot, for example by means of a light barrier which is directed towards a special retroreflector on the operating robot.
  • the ring spinning machine itself gives the operating robot an enable signal, provided that a doffing process is not imminent or another obstacle is present.
  • the operating robot is informed in a first run about the operating behavior of the spinning stations, i.e. he remembers those spinning positions where there are no thread breaks, those spinning positions where there are thread breaks and possibly those spinning positions which have been put out of operation, which he can recognize from the levers 160 of the roving stop devices.
  • the assignment of the thread breaks to the individual spinning positions is determined on the basis of the signals from the positioning devices, by passing the spinning positions, i.e. starting from the end of his working area, he counts the number of ring spinning stations on the basis of the signals from the positioning device and stores these numbers with the associated information about the operating state at the individual spinning stations.
  • the operating robot waits for an enable signal from the spinning machine at the end of its working area. As soon as he receives the corresponding release signal, he runs again in the direction of his reversal point and corrects the thread breaks found in the previous pass, at the same time detecting those thread breaks that have arisen in the meantime. At the reversal point he turns around again, the work cycle just described is repeated until the spinning heads are so full that a doffing operation is required. In this case, the operating robot is held by the ring spinning machine at the starting position and the doffing process is carried out, in which the full spinning heads are exchanged for empty spinning tubes 26, but not when the operating robot is on the move.
  • the procedure runs essentially as described, except that no fixed reversal point is specified for each operating robot, but the reversal point is determined electronically each time the operating robot runs, depending on where it is meet both operating robots.
  • the altitudes or the mutual distances between the antiballoon ring 34 of the thread guide 156 and the drafting system are the same for all common types, so that the relevant facts can be incorporated into the programming of the microprocessor of the operating robot.
  • Another possibility is to have the appropriate movements of the suction pistol and the attaching machine carried out manually by an operator after inserting the operating robot on the ring spinning machine, and the programming of the microprocessor can be such that the movements to be carried out by him from this movement learns. It would also be possible to read these movements into the microprocessor in the form of a program specific to a specific ring spinning machine or to use them in the form of a corresponding program module.
  • the operating robot remembers the newly formed thread breaks during a run and only corrects these thread breaks during the subsequent run, it is possible to have it patrolled at high speed along the ring spinning machine; a distance corresponding to twice the mutual distance from spinning positions is usually sufficient to the operating robot braking from its patrol speed to crawl speed. At this creep speed, it automatically determines the exact positioning in relation to a specific spinning position using the two holes, as previously described.
  • Thread breaks are always corrected in order, but only those that were determined during the previous run of the operating robot.
  • an operating robot with a spindle brake device is known from DE-OS 32 09 814.
  • This device has a carrier which can be displaced transversely to the direction of travel of the robot and has an auxiliary belt which, in the extended position of the carrier, lies against a cylindrical surface of the spindle shaft and brakes it.
  • the drive belt or the drive belt of the spindle grinds on the spindle shaft.
  • the auxiliary belt can be driven by a motor so that the spindle rotates against its normal direction of rotation.
  • This type of spindle brake device is tailored to the appropriate type of threading a new thread.
  • the present invention is also based on the object of providing a spindle brake device which can be used universally. This object is achieved by the characterizing features of claim 41, the preamble of which takes into account the prior art according to DE-OS 32 09 814.
  • the ring spinning machine has a series of spinning units arranged side by side, of which only the spindles 30 are shown.
  • Each spindle 30 comprises a spindle bearing 203, a spindle shaft 204 mounted in the bearing 203 and a coil 205 seated on the shaft 204.
  • the bearings 203 are mounted in a row at a uniform distance in a crossbeam 42.
  • Two adjacent shafts 204 are driven by a common belt 38 which wraps around a cylindrical section 208 of shaft 204 at approximately 90 °. Between the two jointly driven shafts 204, the band 38 has a section 209 running parallel to the longitudinal extent of the crossbar 42. Above section 208, the spindle 30 has a cylindrical braking surface 210.
  • the operating robot 68 can be moved in a direction X parallel to the longitudinal extent of the crossbar 42 and the row of spindles on wheels which are not shown. It has a sensor 214, which interacts with marks 215 on the crossbar 42 for stopping and positioning the operating robot 68 in front of a spinning unit to be operated if a thread break has been found in this unit. All marks 215 have the same distance from the associated spindle axis.
  • the spindle brake device 217 is accommodated in the operating robot 68.
  • a parallelogram linkage 219 with two swivel arms 220, 221 and a connecting leg 222 is pivotably attached to the housing 218 of the operating robot 68.
  • the movement of the linkage 219 is limited by two stops 223, 224.
  • a DC gear motor 225 connected to the arm 220 serves to pivot the linkage 219.
  • a plate-shaped holder 228 is fastened to the leg 222.
  • a pivot arm 229 is pivotally mounted about a vertical pin 230 adjacent to the front edge of the holder 228.
  • the arm 229 has a toothed segment 231 which meshes with a pinion 232 of a further DC geared motor 233.
  • the pivoting range of the arm 229 is limited by a pin 234 seated in the holder 228, which protrudes into an arcuate slot 235 of the arm 229.
  • the arm 229 can be locked in the middle between the two end positions N, O by a sensor 236 in a central position M (FIG. 7).
  • the sensor 236 scans an edge of the arm 229 and is connected to the motor 233 via a control, not shown.
  • the stops 223, 224, 235 can be supplemented or replaced by limit switches for limiting the stroke of the linkage 219 and the arm 229.
  • a brake arm 146 is pivotally mounted on arm 229 about a horizontal axis 241 running perpendicular to pin 230.
  • the brake arm 146 can be pivoted between the horizontal engagement position E shown in FIG. 8 and the release position F shown in solid lines in FIG. 6.
  • the pivot angle is also limited by stops 239, 242 which are rigidly connected to the arm 229.
  • An electromagnet 243 which acts on an extension 244 of the brake arm 146, is used to lift the carrier from the E position to the F.
  • the free end has the Brake arm 146 an approximately vertically downwardly projecting belt guide member 245 with a crescent-shaped cross section and a replaceable brake shoe 246 with a concave-cylindrical braking surface 247 for engagement with the braking surface 210 of the spindle shaft 204 of the spinning unit to be operated.
  • a roller 248 Adjacent to the free end of the brake arm 146, a roller 248 is rotatably mounted on its underside about a vertical axis 249.
  • the roller 248 interacts with a guide curve 250 fixed to the housing.
  • the curve 250 extends in the direction X and is concave towards the row of spindles and symmetrical to the central position of the brake arm 146 shown in FIGS. 10 and 11.
  • the braking device described works as follows: When the operating robot 68 is moved along the row of spinning units in the direction X, the holder 228 is in the basic position A shown in FIG. 7, the arm 229 in the central position M and the brake arm 146 in the lowered engagement position E. The operating robot 68 is centered in front of the spinning unit to be operated by means of the sensor 214. The arm 229 is now pivoted into one of the end positions N, O by means of the motor 233, depending on whether the spindle 30 to be operated is on the left or right of the belt or belt section 209. In the example shown, the left spindle 30 is operated.
  • the brake arm 146 is swiveled up into the release position F by means of the magnet 243 and the holder 228 is advanced into the position B by means of the motor 225. In this position, the free end of the brake arm 146 with the guide member 245 projects beyond the belt section 209 (position B, N shown in broken lines in FIG. 7). In this position, the brake arm 146 is lowered so that both the guide member 245 engages behind the belt section 209 and the roller 248 the guide curve 250. Now the holder 228 is withdrawn until the roller 248 abuts the curve 250 (position C, N in FIG. 11) and the arm 229 is pivoted into the central position M (position C, M in FIG. 11).
  • the continuously rotating belt 38 grinds on the convex surface of the guide member 245.
  • the band 38 is spaced from the section 208 of the shaft 204 and the braking surface 247 is spaced from the braking surface 210 of the shaft 204, so that the shaft 204 can rotate freely.
  • the holder 228 is advanced by means of the motor 225 into the position B, M in FIG. 10, the stroke limitation being formed here by the contact of the braking surfaces 210, 247.
  • the swivel arm 221 is therefore still slightly spaced from the stop 224.
  • a predetermined length of an auxiliary or foreign thread is stored in a suction pipe, as already explained.
  • the free end of the auxiliary thread is attached to the ring 110 rotatable about the spindle axis.
  • the ring 110 rotates, the auxiliary thread is pulled out of the suction tube and wound onto the bobbin 205 with a few turns.
  • the coil 205 must also rotate, so that the guide member 245 is in the position C, M shown in FIG. 11.
  • the spindle 30 is braked (position B, M in Fig. 10), the auxiliary thread is threaded and attached to the drafting system.
  • the holder 228 is pulled back into the position C and the arm 229 is pivoted into the position N, whereby the spindle shaft is driven again. Because the curve 250 is convex, the belt 38 is hardly additionally tensioned during the pivoting movement of the arm 229 or the tensioning roller of the belt 38 is hardly deflected additionally.
  • the holder 228 is advanced to the B position, the brake arm 146 is raised to the F position and the holder 228 is moved to the basic position A, the arm 229 to the M position and the brake arm 146 to the E position. This is the starting point again.
  • the spindle shaft 204 of the spinning unit to be operated can be braked or rotated freely from the belt 38.
  • This enables economical, reliable attachment of the thread after a thread break. It is very difficult to bring the end of an auxiliary thread to the spindle and to overlap the following part on this end.
  • the auxiliary thread end can be held on a rotor rotating around the spindle. This enables a safe and reliable winding of the auxiliary thread end onto the bobbin.
  • the free rotatability of the spindle 30 is also advantageous for locating the broken thread end on the bobbin 205 if the broken thread end is to be used instead of the previously described auxiliary thread.
  • the spindle must be rotated slowly by means of a separate motor to search for the thread end.
  • This slow rotary movement can also be achieved with the device according to the invention by asymmetrical suction of the broken thread end or by asymmetrical blowing on the bobbin 205.
  • the device according to the invention can therefore be used universally for automatic controls.
  • An important aspect of the present invention is that the spindle brake for setting up a rotation in the thread is released in a precisely defined time before the depositing movement.
  • the transmission path from the robot to the controller normally leads, but not exclusively, via the machine head in the sense of a place name.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
EP90105387A 1989-03-23 1990-03-21 Verfahren zum Betrieb einer Ringspinnmaschine sowie Bedienroboter zur Durchführung des Verfahrens Expired - Lifetime EP0394671B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19893909746 DE3909746A1 (de) 1989-03-23 1989-03-23 Verfahren zum betrieb einer ringspinnmaschine sowie bedienroboter zur durchfuehrung des verfahrens
DE3909746 1989-03-23
CH1433/89 1989-04-14
CH143389 1989-04-14

Publications (3)

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EP0394671A2 EP0394671A2 (de) 1990-10-31
EP0394671A3 EP0394671A3 (de) 1991-03-20
EP0394671B1 true EP0394671B1 (de) 1996-05-22

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EP (1) EP0394671B1 (cs)
JP (1) JPH0340825A (cs)
CS (1) CS136690A2 (cs)
DE (1) DE59010333D1 (cs)

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US6907309B2 (en) 2001-07-28 2005-06-14 Rieter Ingolstadt Spinnermaschau Ag Textile machine with at least one service unit

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EP0534897A1 (de) * 1991-09-24 1993-03-31 Maschinenfabrik Rieter Ag Kommunikation zwischen einem Bedienungsautomat und einer Textilmaschine
DE102011053811A1 (de) * 2011-09-21 2013-03-21 Rieter Ingolstadt Gmbh Spinnmaschine und Verfahren zur Unterbrechung der Garnherstellung an einer Spinnmaschine
DE102011053813A1 (de) * 2011-09-21 2013-03-21 Maschinenfabrik Rieter Ag Spinnmaschine sowie Verfahren zum Abführen eines Endabschnitts eines Garns an einer Spinnmaschine vor einem anschließenden Anspinnvorgang
JP2014169511A (ja) * 2013-03-01 2014-09-18 Toyota Industries Corp 紡機の糸切れ検出装置
CN103668607B (zh) * 2013-12-13 2015-12-09 上林海润丝业有限公司 弹力包芯丝自动刹车装置
JP5979178B2 (ja) * 2014-06-04 2016-08-24 株式会社豊田自動織機 精紡機の繊維束供給停止装置
CH711651A1 (de) 2015-10-16 2017-04-28 Rieter Ag Maschf Verfahren zum Betreiben einer Ringspinnmaschine nach einem Fadenbruch.
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DE102016107994A1 (de) * 2016-04-29 2017-11-02 Rieter Ingolstadt Gmbh Textilmaschine sowie Verfahren zum Betreiben derselben
CZ2017674A3 (cs) 2017-10-24 2019-05-02 Rieter Cz S.R.O. Způsob řízení obslužného zařízení pracovního místa textilního stroje pro výrobu příze a textilní stroj
CN109797464B (zh) * 2017-11-17 2022-04-19 拉克施米机械制造有限公司 用于支撑纺织机器的拼接单元的平台和相关方法
CZ201835A3 (cs) * 2018-01-24 2019-07-31 Rieter Cz S.R.O. Automatické obslužné zařízení prstencového spřádacího stroje, prstencový spřádací stroj a způsob řízení skupin manipulačních prostředků
WO2020058775A1 (en) 2018-09-19 2020-03-26 Maschinenfabrik Rieter Ag Method of operating a service robot of a ring spinning machine
CH715390A1 (de) 2018-09-27 2020-03-31 Rieter Ag Maschf Verfahren zum Betreiben einer Ringspinnmaschine.
CZ2019390A3 (cs) 2019-06-19 2020-12-30 Rieter Cz S.R.O. Obslužný robot prstencového spřádacího stroje, prstencový spřádací stroj a způsob činnosti obslužného robota
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CN116103804A (zh) * 2022-12-28 2023-05-12 海茵兰茨（天津）工业技术有限公司 便携式纺纱质量在线检测装置

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Also Published As

Publication number Publication date
JPH0340825A (ja) 1991-02-21
DE59010333D1 (de) 1996-06-27
EP0394671A3 (de) 1991-03-20
EP0394671A2 (de) 1990-10-31
CS136690A2 (en) 1991-12-17

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