EP0419828B1 - Method of running a spinning machine, in particular a ring spinning machine, and a service carriage for carrying out the method - Google Patents

Method of running a spinning machine, in particular a ring spinning machine, and a service carriage for carrying out the method Download PDF

Info

Publication number
EP0419828B1
EP0419828B1 EP90115606A EP90115606A EP0419828B1 EP 0419828 B1 EP0419828 B1 EP 0419828B1 EP 90115606 A EP90115606 A EP 90115606A EP 90115606 A EP90115606 A EP 90115606A EP 0419828 B1 EP0419828 B1 EP 0419828B1
Authority
EP
European Patent Office
Prior art keywords
spinning
spindle
sleeve
service robot
accordance
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
EP90115606A
Other languages
German (de)
French (fr)
Other versions
EP0419828A1 (en
Inventor
Urs Dr. Meyer
Manfred Schreiber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maschinenfabrik Rieter AG
Original Assignee
Maschinenfabrik Rieter AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Publication of EP0419828A1 publication Critical patent/EP0419828A1/en
Application granted granted Critical
Publication of EP0419828B1 publication Critical patent/EP0419828B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • D01H13/14—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a method for operating a spinning machine comprising a plurality of spinning stations, in particular a ring spinning machine, using an operating robot which can be moved along the spinning stations each having a drivable spindle for receiving a spinning sleeve and in particular ensures that a thread break at a relevant spinning station is eliminated. that the material to be spun supplied by a drafting system is rewound onto the spinning tube assigned to the spinning station, for which purpose in particular an auxiliary thread is wound on the spinning tube at one end and is attached to the other end to connect it to the material to be spun.
  • the invention further relates to an operating robot according to the preamble of claim 13.
  • a ring spinning machine is known from US Pat. No. 3,626,680, in which the upper delivery roller of the drafting system is checked by means of an automatic control device to determine whether it is on it Roller has formed a wrap. If such a roll is found, the automatic control unit actuates the sliver clamping device of the relevant spinning station. The doffing takes place separately for the individual spinning positions as required.
  • doffing takes place predominantly by means of a so-called integral doffing device, i.e. a device that removes all spinning heads from one machine side at the same time and replaces them with empty spinning tubes.
  • integral doffing device i.e. a device that removes all spinning heads from one machine side at the same time and replaces them with empty spinning tubes.
  • the invention has for its object to further develop the method and the operating robot of the type mentioned in such a way that errors occurring during the doffing process are recognized reliably and in good time and even in the event of an incorrect doffing process it is ensured that the winding is always carried out without errors.
  • the object is achieved according to the invention in that after each replacement of the spinning heads by empty spinning sleeves serving doffing and / or before each start-up or start-up operation by means of the operating robot automatically A check of the spinning stations is then carried out to determine whether or not a spinning sleeve is attached to the respective spindle, that if the spinning sleeve is missing, a roving stop device assigned to the spinning station concerned is automatically actuated or this spinning station is deactivated and this is at least visibly signaled to the operating robot is, and that by means of the operating robot only yarn breaks at such spinning positions are always remedied, whose roving stop device is not actuated or which are not put out of operation.
  • the invention is based on the knowledge that the detected error cannot be corrected by the operating robot and overall more effective operation is thereby achieved if the spinning station in question is temporarily put out of operation and the operating robot skips the relevant spinning stations until it in particular be put back into operation by an operator.
  • the actuation of the respective roving stop device or the decommissioning of the respective spinning station is preferably also additionally signaled for the relevant operator in a recognizable manner. This can be done, for example, by means of a lever connected to the relevant roving stop device, which lever is particularly raised when it is actuated.
  • the spinning positions are additionally checked by the operating robot as to whether or not a spinning sleeve fitted to a respective spindle assumes a predetermined target position, and also in the case a spinning sleeve having a position deviating from the predetermined target position, the roving stop device assigned to the spinning station in question is actuated or this spinning station is put out of operation.
  • the roving stop device assigned to the spinning station in question is actuated or this spinning station is put out of operation.
  • it is checked, for example, whether a respective spinning sleeve is completely fitted onto the spindle, which is generally shorter than the spinning sleeve. Only if this is the case will the spinning station in question be used or started.
  • the spinning sleeves are reliably recognized even in a case in which these spinning sleeves are only slightly longer than the assigned spindle and accordingly only protrude slightly above the spindle.
  • the position of the upper and / or lower edge of the spinning sleeve is preferably checked. After the two edges of the spinning sleeve are at a predetermined height in the target position, this height range can be scanned or checked for the presence of the relevant edge. In this way, for example, the presence of the spinning sleeve can also be checked at the same time. This means that it can only be rolled up or attached if the relevant edge of the spinning sleeve is at the respective predetermined height, for example the lower edge is seated on a flange connected to the spindle or the upper edge is at a predetermined distance from the upper edge of the spindle.
  • the area directly above the lower edge of a spinning sleeve attached to the spindle and taking up the predetermined position is advantageously scanned.
  • the area immediately above a flange connected to the spindle, on which the spinning sleeve is seated with its lower edge in its desired position If the lower end of the spinning tube enters this area, it has at least essentially already reached its target position, so that when the spinning tube enters this area, the presence of the target position is detected at the same time. In general, it is sufficient to scan this area so that a respective winding or attaching process is permitted even when the spinning sleeve end is detected in this area. On the other hand, however, it is also possible to separately check the presence of the spinning tube and its position.
  • the presence of a spinning sleeve on the respective spindle and / or the position of the spinning sleeve can be checked on the basis of the resulting diameter or cross-sectional difference.
  • the presence of a spinning sleeve on the respective spindle and / or the position of the spinning sleeve can advantageously also be checked by means of detectors which detect different materials and / or colors or the like of the spinning sleeve and spindle or address their surface differently.
  • a troubleshooting ie in particular a thread breakage correction
  • the thread breaks that occurred during the doffing process can already be detected and expediently stored at the same time.
  • the yarn breaks of those spinning positions whose roving stop device is not actuated or which are not deactivated are then eliminated.
  • any yarn residues present on the relevant spinning crown are advantageously removed at the same time. This preferably takes place again during the first pass of the operating robot following a doffing process, which is accordingly determined by a control, monitoring and cleaning function, while other functions of the operating robot are suppressed during this one-time run.
  • the operating robot according to the invention which can be moved along the spinning stations, is distinguished by the fact that it comprises a device for checking the presence of a spinning sleeve on a respective spindle, a device for actuating a roving stop device and means for detecting an actuated roving stop device or a spinning station that has been deactivated. and that the device for actuating the roving stop device and the automatic thread applicator can each be controlled by the electronic control unit in such a way that the roving stop device is actuated in the absence of a spinning sleeve and that the automatic roving device only fixes a thread break present at those spinning stations whose roving stop device is not actuated or not except Operation are set.
  • the device for checking the presence of a spinning sleeve and / or the device for checking the position the spinning sleeve can, for example, be designed as a light barrier, the transmitter and receiver of which are preferably each arranged on the operating robot.
  • the light beam of the light barrier which is directed at least substantially perpendicular to the respective spindle axis A, intersects the spindle axis, this light beam reflecting when there is no spinning sleeve on the spindle or, in the case of a higher light barrier, on a reflector arranged above the spindle on the spinning machine, in particular a ring spinning machine spinning sleeve attached to the spindle is at least partially absorbed by the latter.
  • the spinning sleeves generally consist of cardboard, paper, plastic or the like and the spindles usually consist of steel, aluminum or the like is particularly exploited.
  • the light beam of the reflection light barrier is offset radially outward with respect to the spindle axis or the spindle such that, in the absence of a spinning sleeve, the light beam passing laterally on the spindle reflects on a reflector arranged on the spinning machine, in particular a ring spinning machine, and on the Spindle attached to the spinning sleeve is at least partially absorbed by this.
  • the control unit of the operating robot can in particular be designed in such a way that during the first pass following a doffing operation not only checks the presence of a respective spinning tube and, if necessary, its position, but also expediently also detects the yarn breaks that occurred during the doffing operation.
  • the thread breaks can be determined, for example, by monitoring the rotor rotation, as is described in particular in DE-OS 23 36 079. Furthermore, the reliability of the doffer are monitored in particular by evaluating the thread breaks found.
  • a ring spinning machine 10 with a head part 48 and a foot part 50 is shown in a schematic side view in FIG.
  • a row of spinning stations 14 is provided between the head part 48 and the foot part 50 on both machine sides, of which only one can be seen. For example, 500-600 such spinning stations 14 can be provided on each machine side. In the present case, only seven of these spinning stations 14 are shown for the sake of simplicity. The distance between the head part 48 and the foot part 50 is actually much larger than shown.
  • roving 54 coming from a roving spool 52 is drawn in a drafting device 56 and the drawn yarn is wound onto a spinning tube 18 by means of a ring traveler 58.
  • the resulting package 60 is built up in a known manner from below on the spinning sleeve 18 and results in the so-called spinning cop.
  • the spinning sleeve 18 is driven by a spindle 16, on which it is attached.
  • the drawn roving runs through a yarn sensor 62 and a so-called anti-balloon ring 64 to a ring traveler 58 which is caused to rotate on an annular path 66 due to the rotating movement of the spinning cop, whereby the drawn roving undergoes a rotation.
  • the spindles 16 are driven in pairs by belts 68 rotating in the direction of the arrow 70.
  • the spindles 16 are rotatably mounted in a crossbar 72 of the ring spinning machine 10.
  • the ring tracks 66 are arranged on the so-called ring bench 74, which, in a manner known per se, forms a continuous lifting movement to form a respective spinning cop upwards and this lifting movement is superimposed on an oscillating movement.
  • the roving 54 runs through each of the spinning stations 14 through a funnel 76, which is mounted on a rail 78, which carries out an oscillating back and forth movement in the direction of the double arrow 80.
  • the roving 54 is then passed through a sliver or roving stop device 26.
  • roving stop devices are generally known and are used to break off roving 54 and thus to interrupt the material supply to the subsequent drafting device 56.
  • the drafting device 56 is driven by three driven shafts 82, 84 and 86, which extend over the entire length of the ring spinning machine 10.
  • each drafting device 56 Arranged below each drafting device 56 is a suction nozzle 88 which, in the event of a thread breakage, sucks off the yarn supplied by the drawing device 56. At the first of the three spinning positions 14 shown on the right-hand side in FIG. 1, there is a thread break of this type, so that there the yarn is sucked off through the suction nozzle 88.
  • the ring spinning machine 10 is assigned an operating robot 12 which is guided along an upper guide rail 90 and a lower guide and positioning rail 92.
  • This operating robot 12 can be moved in the direction of the double arrow 94 along the spinning positions 14 by means of a motor (not shown) flanged to the frame of the robot, which drives wheels 98 on the lower guide rail 92 (cf. also FIG. 2).
  • the operating robot 12 has further wheels running on the guide rail 66.
  • a guide roller 100 which runs in the inverted U-shaped guide rail 90, is arranged at the upper end of the frame of the operating robot 12.
  • an automatic thread application device 20 (see FIG. 1) which can be moved up and down in accordance with the double arrow 102 with respect to the robot frame.
  • the operating robot 12 At the free end of an upper, obliquely downward arm 106, the operating robot 12 has a light barrier 104 which detects the yarn at the outlet of the drafting unit 56 and thus checks the relevant spinning station as to whether there is a thread break or not.
  • a thread break monitor 104 In principle, other known thread break monitors can also be provided, for example inductive, capacitive or piezo thread break monitors.
  • each roving stop device has a lever 108, which is pivoted upward for the respective operator when the device is actuated. At the free end of this lever 108 there is also a reflector 110 which cooperates with a light barrier 112 provided on the operating robot 12 (see FIG. 2), so that the operating robot 12 also recognizes whether a respective roving stop device 26 is actuated or not.
  • Both the automatic thread applicator 102 (see FIG. 1) and the light barriers 104 and 102 are connected to a preferably programmable electronic control unit 22 of the operating robot 12, which can have at least one microprocessor.
  • a light barrier 24 for checking the presence of a spinning sleeve 18 on a respective spindle 16 and a light barrier 28 for checking the position of a spinning sleeve 18 plugged onto a respective spindle 16 are also connected to this electronic control unit 22.
  • These light barriers 24 and 28 are reflective light barriers, the transmitters and receivers of which are each arranged on the frame of the operating robot 12 and which are used to monitor the spinning station in the area of the spindle or the spinning sleeve with reflectors arranged on the frame of the ring spinning machine 10 40 and 42 cooperate in the manner described below.
  • a device 46 for actuating the sliver stop device 26 is also connected to the electronic control unit 22 via the lever 108 connected to it (see FIG. 1) and a device 44 for removing spinning residues on the spinning crowns.
  • the spinning sleeve 18 placed on the spindle 16 assumes its desired position, in which its lower edge rests on a flange 114 connected to the spindle 16.
  • the light beam 36 which serves to check the presence of a spinning sleeve 18 on the spindle 16, the light barrier 24 extends perpendicular to the spindle axis A and intersects (in the absence of a spinning sleeve) this spindle axis A.
  • the light barrier 24 and thus the light beam 26 is arranged at such a height, that an area between the upper edge 30 of the spindle 16 and the upper edge 32 of the spinning sleeve 18 taking the desired position according to FIG. 2 is scanned.
  • a reflector 40 is arranged on the frame of the ring spinning machine 10.
  • the light barrier 28 used to check the position of the spinning sleeve 18 plugged onto the spindle 16 in turn also has a transmitter and receiver, both of which are arranged on the outside of the frame of the operating robot 12.
  • the light beam 38 of this light barrier 38 in turn runs perpendicular to the spindle axis A, with its extension intersecting the spindle axis A.
  • This light barrier 28 and thus its light beam 38 is arranged at such a height that a region of the spindle 16 directly above the flange 114 connected to the spindle, on which the spindle is seated in its desired position, is scanned.
  • the spinning sleeve 18 If the spinning sleeve 18 is missing or this spinning sleeve is not completely fitted onto the spindle 16, the light beam 38 strikes the metal spindle, where it is reflected back to the robot-side receiver. If, on the other hand, the spinning sleeve 18 assumes its desired position, as shown in FIG. 2, the beam 38 of the light barrier 28 strikes the spinning sleeve 18, which is usually made of cardboard or the like, where it is at least partially absorbed.
  • the light barriers 24 and 28 are arranged in exactly the same way as in FIG. This means in particular that only the upper light barrier 24 interacts with a machine-side reflector 40.
  • the lower light barrier 28 is also assigned a reflector 42 attached to the frame of the ring spinning machine 10, the robot-side reflection light barrier 28 and the machine-side reflector 42 being arranged such that the light beam 38, which in turn extends perpendicular to the spindle axis A 'this light barrier 28 with respect the spindle axis A or the spindle 16 is offset radially outwards.
  • this light beam 38 ' is displaced outwards to such an extent that, in the absence of a spinning sleeve 18, the light beam 38' passing laterally on the spindle 16 reflects on the reflector 42 arranged on the ring spinning machine 10 and strikes this spinning sleeve with the spinning sleeve 18 attached to the spindle 16 and is at least partially absorbed by this.
  • the presence of the spinning sleeve 18 or its position is thus determined on the basis of the resulting difference in diameter or cross section.
  • the operating robot 12 After each doffing operation using an integral doffer for all spinning positions 14 on one machine side, the operating robot 12 first checks the spinning positions to determine whether or not a spinning sleeve 18 is fitted on the respective spindle 16. This check is carried out by means of the upper light barrier 24, whose light beam 36 is reflected by the machine-side reflector 40 when there is no spinning sleeve (see FIG. 3), while this light beam 36 is present when the spinning sleeve 18 is present on the spindle 16 (see FIGS. 4 and 5) strikes the spinning sleeve 18 made of cardboard, for example, and is at least partially absorbed there.
  • the light barrier 24 supplies the corresponding information to the electronic control unit 22, which controls the device 46 for actuating the roving stop device 26 in the absence of a spinning sleeve 18.
  • This dead center of the relevant spinning position is thus signaled both to the operator concerned and to the operating robot 12 by means of the reflector 110 provided on the lever 108.
  • the operating robot 12 recognizes by means of the light barrier 112 whether the roving stop device 26 of a respective spinning station 14 is actuated or not.
  • the electronic control unit 22 is programmed in such a way that the automatic thread applicator 102 is only ever activated at those spinning stations for the purpose of eliminating thread breaks whose roving stop device is not actuated and which are therefore not dead.
  • the dead spinning stations are only included in the normal monitoring and troubleshooting once an operator concerned has put the spinning station back into operation, i.e. the relevant match stop device is no longer actuated and the lever 108 of the match stop device is pivoted back.
  • the spinning positions 14 are additionally checked by means of the lower light barrier 28 as to whether or not a spinning sleeve fitted to a respective spindle assumes the target position according to FIG. 2.
  • the light beam 38 of the lower reflection light barrier 28 strikes the spindle 16 in the absence of a spinning sleeve, so that it is reflected on the latter.
  • the light barrier can also be arranged as shown in FIG. 6, according to which the light beam 38 'strikes a reflector 42 on the frame of the ring spinning machine when there is no spinning sleeve 18 and is reflected back there to the robot-side receiver.
  • the position of the upper edge 32 and / or the lower edge 34 (cf. FIG. 4) of the spinning sleeve 18 can also be checked directly to check the position or the presence of a spinning sleeve attached to a respective spindle. It is conceivable, for example, to arrange and design a light barrier in such a way that when a relevant sleeve edge is present at a predetermined height for example, half of the emitted light hits the relevant end of the sleeve and the other half hits a reflector and the presence of the edge in question is detected at the desired height by the fact that the quantity of light received is half as large as the quantity of light emitted.
  • this light barrier 28 practically only delivers a corresponding release signal to the electronic control unit 22 when the lower edge 34 of the spinning sleeve 18 (see FIG. 4) sits on the flange 114 and thus the desired position is reached.
  • the yarn breaks that occurred during the doffing process are recorded simultaneously with the monitoring of the spinning tubes and, if necessary, stored for later removal of the yarn breaks. Such thread breaks are detected by means of the reflection light barrier 104 arranged on the arm 106 of the operating robot 12.
  • any spinning residues that may be present on the spinning crowns can also be removed simultaneously via the device 44.
  • the checking of the presence of a respective spinning tube or its position can in principle also be carried out before each winding or piecing process.

Description

Die Erfindung betrifft ein Verfahren zum Betrieb einer eine Vielzahl von Spinnstellen umfassenden Spinnmaschine, insbesondere Ringspinnmaschine, unter Verwendung eines Bedienroboters, der entlang den jeweils eine antreibbare Spindel zur Aufnahme einer Spinnhülse aufweisenden Spinnstellen verfahrbar ist und insbesondere zur Behebung eines Fadenbruches an einer betreffenden Spinnstelle sicherstellt, daß das von einem Streckwerk gelieferte zu spinnende Material wieder auf die der Spinnstelle zugeordnete Spinnhülse aufgewickelt wird, wozu insbesondere ein Hilfsfaden mit einem Ende auf der Spinnhülse angewickelt und mit dem anderen Ende zu dessen Verbindung mit dem zu spinnenden Material an dieses angesetzt wird. Die Erfindung betrifft ferner einen Bedienroboter gemäß dem Oberbegriff des Patentanspruchs 13.The invention relates to a method for operating a spinning machine comprising a plurality of spinning stations, in particular a ring spinning machine, using an operating robot which can be moved along the spinning stations each having a drivable spindle for receiving a spinning sleeve and in particular ensures that a thread break at a relevant spinning station is eliminated. that the material to be spun supplied by a drafting system is rewound onto the spinning tube assigned to the spinning station, for which purpose in particular an auxiliary thread is wound on the spinning tube at one end and is attached to the other end to connect it to the material to be spun. The invention further relates to an operating robot according to the preamble of claim 13.

Aus der US 4 640 088 ist eine Offen-End-Spinnmaschine bekannt, bei der die Spulhülse einer jeweiligen Spinnstelle zwischen zwei Armen gehalten ist, die zwischen einer unteren Stellung, in der die Spulhülse von einer Reibwalze angetrieben ist, und einer oberen, von der Reibwalze abgesetzten Stellung verschwenkbar sind. Auf ein Rufsignal einer jeweiligen Spinnstelle hin überprüft ein verfahrbarer Bedienautomat, ob die Arme die obere oder die untere Stellung einnehmen und ob eine Spulhülse zwischen den Armen vorhanden ist. Nehmen diese Arme bei fehlender Spulhülse ihre obere Stellung ein, so setzt der Bedienautomat zunächst eine neue Spulhülse ein, bevor er mit dem Ansetzen beginnt. Das Doffen erfolgt je nach Bedarf für die einzelnen Spinnstellen getrennt.From US 4 640 088 an open-end spinning machine is known, in which the winding tube of a respective spinning station is held between two arms, which between a lower position, in which the winding tube is driven by a friction roller, and an upper one, of which Distributor roller position are pivotable. In response to a call signal from a respective spinning station, a movable control device checks whether the arms are in the upper or the lower position and whether there is a winding tube between the arms. If these arms take up their upper position when the winding tube is missing, the automatic control unit first inserts a new winding tube before starting to attach it. The doffing takes place separately for the individual spinning positions as required.

Aus der US 3 626 680 ist eine Ringspinnmaschine bekannt, bei der die obere Lieferwalze des Streckwerks mittels eines Bedienautomaten daraufhin überprüft wird, ob sich auf dieser Walze ein Wickel gebildet hat. Wird ein solcher Wickel festgestellt, so betätigt der Bedienautomat die Luntenklemmvorrichtung der betreffenden Spinnstelle. Das Doffen erfolgt wiederum je nach Bedarf für die einzelnen Spinnstellen getrennt.A ring spinning machine is known from US Pat. No. 3,626,680, in which the upper delivery roller of the drafting system is checked by means of an automatic control device to determine whether it is on it Roller has formed a wrap. If such a roll is found, the automatic control unit actuates the sliver clamping device of the relevant spinning station. The doffing takes place separately for the individual spinning positions as required.

Bei den heutigen Ringspinnmaschinen erfolgt das Doffen überwiegend mittels eines sogenannten Integraldoffers, d.h. einer Vorrichtung, die sämtliche Spinnkopse einer Maschinenseite gleichzeitig entnimmt und durch leere Spinnhülsen ersetzt. Bei einem derartigen, für sämtliche Spinnstellen zumindest einer Maschinenseite gemeinsamen Doffvorgang kann es nun vorkommen, daß eine leere Spinnhülse verloren geht oder das Hülsenmagazin der Doffervorrichtung nicht vollständig beladen wurde.In today's ring spinning machines, doffing takes place predominantly by means of a so-called integral doffing device, i.e. a device that removes all spinning heads from one machine side at the same time and replaces them with empty spinning tubes. With such a doffing process, common to all spinning positions of at least one machine side, it can now happen that an empty spinning tube is lost or the tube magazine of the doffer device has not been fully loaded.

Dies führt dazu, daß möglicherweise nicht sämtliche Spindeln der Ringspinnmaschine mit leeren Spinnhülsen bestückt werden. Somit besteht die Gefahr, daß ein betreffendes Fadenende unmittelbar auf die Spindel einer jeweiligen Spinnstelle angewickelt wird, was in der Regel zu einer beträchtlichen Störung des normalen Betriebsablaufs der Ringspinnmaschine führt.This means that not all spindles of the ring spinning machine may be equipped with empty spinning sleeves. There is therefore a risk that a thread end in question is wound directly onto the spindle of a respective spinning station, which generally leads to a considerable disturbance in the normal operating sequence of the ring spinning machine.

Der Erfindung liegt die Aufgabe zugrunde, das Verfahren sowie den Bedienroboter der eingangs genannten Art so weiterzubilden, daß während des Doffvorgangs auftretende Fehler zuverlässig und rechtzeitig erkannt werden und selbst bei einem fehlerhaften Doffvorgang sichergestellt ist, daß stets fehlerfrei angewickelt wird.The invention has for its object to further develop the method and the operating robot of the type mentioned in such a way that errors occurring during the doffing process are recognized reliably and in good time and even in the event of an incorrect doffing process it is ensured that the winding is always carried out without errors.

Die Aufgabe wird nach der Erfindung dadurch gelöst, daß nach jedem dem Auswechseln der Spinnkopse durch leere Spinnhülsen dienenden Doffvorgang und/oder vor jedem Anwickel- bzw. Ansetzvorgang mittels des Bedienroboters automatisch zunächst eine Überprüfung der Spinnstellen daraufhin vorgenommen wird, ob auf der jeweiligen Spindel eine Spinnhülse aufgesteckt ist oder nicht, daß bei fehlender Spinnhülse mittels des Bedienroboters automatisch eine der betreffenden Spinnstelle zugeordnete Vorgarnstoppeinrichtung betätigt bzw. diese Spinnstelle außer Betrieb gesetzt und dies zumindest für den Bedienroboter erkennbar signalisiert wird, und daß mittels des Bedienroboters stets nur Fadenbrüche an solchen Spinnstellen behoben werden, deren Vorgarnstoppeinrichtung nicht betätigt ist bzw. die nicht außer Betrieb gesetzt sind.The object is achieved according to the invention in that after each replacement of the spinning heads by empty spinning sleeves serving doffing and / or before each start-up or start-up operation by means of the operating robot automatically A check of the spinning stations is then carried out to determine whether or not a spinning sleeve is attached to the respective spindle, that if the spinning sleeve is missing, a roving stop device assigned to the spinning station concerned is automatically actuated or this spinning station is deactivated and this is at least visibly signaled to the operating robot is, and that by means of the operating robot only yarn breaks at such spinning positions are always remedied, whose roving stop device is not actuated or which are not put out of operation.

Aufgrund dieser Ausbildung wird erreicht, daß stets nur auf eine jeweilige Spinnhülse bzw. einen Spinnkops angewickelt wird und damit durch ein unmittelbares Anwickeln auf die Spindeln bedingte Betriebsstörungen der Ringspinnmaschine zuverlässig ausgeschlossen sind. Dies gilt in erster Linie für den Fall, daß während des insbesondere für sämtliche Spinnstellen einer Maschinenseite gemeinsamen Doffvorgangs Fehler auftreten, die dazu führen, daß die Spindeln bestimmter Spinnstellen nicht mit leeren Spinnhülsen bestückt sind. Erkennt der Bedienroboter einen derartigen Fehler, so wird die betreffende Spinnstelle insbesondere dadurch außer Betrieb gesetzt, daß die zugeordnete Vorgarnstoppeinrichtung betätigt wird. Schon beim nächsten, beispielsweise der Fehlerbehebung dienenden Durchlauf erkennt der Bedienroboter, daß die betreffende Spinnstelle außer Betrieb gesetzt ist, so daß diese Spinnstelle nicht bedient wird. Die Erfindung geht hierbei von der Erkenntnis aus, daß der festgestellte Fehler durch den Bedienroboter nicht behoben werden kann und insgesamt dadurch ein effektiverer Betrieb erreicht wird, wenn die betreffende Spinnstelle vorübergehend außer Betrieb gesetzt wird und der Bedienroboter die betreffenden Spinnstellen solange überspringt, bis sie insbesondere durch eine Bedienungsperson wieder in Betrieb gesetzt werden.Due to this design, it is achieved that only a respective spinning tube or a spinning cop is always wound on and thus operational failures of the ring spinning machine caused by direct winding on the spindles are reliably excluded. This applies primarily to the case that errors occur during the common doffing process, in particular for all spinning positions on one machine side, which lead to the spindles of certain spinning positions not being equipped with empty spinning sleeves. If the operating robot detects such an error, the spinning position in question is deactivated, in particular by the fact that the associated roving stop device is actuated. As soon as the next pass, for example to correct the fault, the operating robot recognizes that the spinning station in question is out of operation, so that this spinning station is not operated. The invention is based on the knowledge that the detected error cannot be corrected by the operating robot and overall more effective operation is thereby achieved if the spinning station in question is temporarily put out of operation and the operating robot skips the relevant spinning stations until it in particular be put back into operation by an operator.

Damit die durch den Bedienroboter außer Betrieb gesetzten Spinnstellen durch eine jeweilige Bedienungsperson nach einer entsprechenden Fehlerbehebung möglichst schnell wieder in Betrieb gesetzt werden können, wird die Betätigung der jeweiligen Vorgarnstoppeinrichtung bzw. das Außerbetriebsetzen der jeweiligen Spinnstelle vorzugsweise zusätzlich auch für die betreffende Bedienungsperson erkennbar signalisiert. Dies kann beispielsweise mittels eines mit der betreffenden Vorgarnstoppeinrichtung verbundenen Hebels erfolgen, welcher bei deren Betätigung insbesondere hochgestellt wird.So that the spinning stations which are put out of operation by the operating robot can be put back into operation as quickly as possible after a corresponding error correction, the actuation of the respective roving stop device or the decommissioning of the respective spinning station is preferably also additionally signaled for the relevant operator in a recognizable manner. This can be done, for example, by means of a lever connected to the relevant roving stop device, which lever is particularly raised when it is actuated.

Es kann nun vorkommen, daß auf einer jeweiligen Spindel zwar eine Spinnhülse vorhanden ist, diese Spinnhülse jedoch nicht vollständig auf die Spindel aufgesetzt ist, so daß die Spindel unterhalb der Unterkante der Spinnhülse noch freiliegt und in diesem Bereich weiterhin ein direktes Anwickeln auf die Spindel möglich ist. Um auch ein derartiges Anwickeln auf die Spindel in jedem Falle zuverlässig auszuschließen, ist vorteilhafterweise vorgesehen, daß die Spinnstellen mittels des Bedienroboters zusätzlich auch daraufhin überprüft werden, ob eine auf eine jeweilige Spindel aufgesteckte Spinnhülse eine vorgegebene Sollage einnimmt oder nicht, und daß auch im Falle einer eine von der vorgegebenen Sollage abweichende Lage aufweisenden Spinnhülse die der betreffenden Spinnstelle zugeordnete Vorgarnstoppeinrichtung betätigt bzw. diese Spinnstelle außer Betrieb gesetzt wird. Hierbei wird beispielsweise überprüft, ob eine jeweilige Spinnhülse vollständig auf die im Vergleich zur Spinnhülse im allgemeinen kürzere Spindel aufgesteckt ist. Nur wenn dies der Fall ist, wird bei der betreffenden Spinnstelle angewickelt bzw. angesetzt.It can now happen that a spinning sleeve is present on a respective spindle, but this spinning sleeve is not completely placed on the spindle, so that the spindle is still exposed below the lower edge of the spinning sleeve and direct winding onto the spindle is still possible in this area is. In order to reliably exclude such a winding on the spindle in any case, it is advantageously provided that the spinning positions are additionally checked by the operating robot as to whether or not a spinning sleeve fitted to a respective spindle assumes a predetermined target position, and also in the case a spinning sleeve having a position deviating from the predetermined target position, the roving stop device assigned to the spinning station in question is actuated or this spinning station is put out of operation. Here it is checked, for example, whether a respective spinning sleeve is completely fitted onto the spindle, which is generally shorter than the spinning sleeve. Only if this is the case will the spinning station in question be used or started.

Zur Überprüfung des Vorhandenseins einer Spinnhülse auf der jeweiligen, im Vergleich zur Spinnhülse kürzeren Spindel wird jeweils ein Bereich zwischen der Oberkante der Spindel und der Oberkante einer auf die Spindel aufgesteckten und die vorgegebene Sollage einnehmenden Spinnhülse abgetastet. Hierbei wird davon ausgegangen, daß die Spinnhülse von oben nach unten auf die betreffende Spindel aufgesteckt wird und in ihrer Sollage mit ihrer Unterkante beispielsweise auf einem mit der Spindel verbundenen Flansch aufsitzt.To check the presence of a spinning sleeve on the respective spindle, which is shorter in comparison to the spinning sleeve an area is scanned between the upper edge of the spindle and the upper edge of a spinning sleeve fitted onto the spindle and taking up the predetermined target position. It is assumed here that the spinning sleeve is plugged onto the spindle in question from top to bottom and, in its nominal position, sits with its lower edge, for example, on a flange connected to the spindle.

Indem zweckmäßigerweise ein Bereich unmittelbar oberhalb der Oberkante der Spindel abgetastet wird, werden die Spinnhülsen auch noch in einem solchen Fall zuverlässig erkannt, bei dem diese Spinnhülsen nur geringfügig länger als die zugeordnete Spindel sind und demnach oben nur geringfügig über die Spindel vorstehen.By expediently scanning an area immediately above the upper edge of the spindle, the spinning sleeves are reliably recognized even in a case in which these spinning sleeves are only slightly longer than the assigned spindle and accordingly only protrude slightly above the spindle.

Zur Überprüfung der Lage einer auf eine jeweilige Spindel aufgesteckten Spinnhülse wird vorzugsweise die Lage der Ober- und/oder Unterkante der Spinnhülse überprüft. Nachdem in der Sollage die beiden Kanten der Spinnhülse in einer vorgegebenen Höhe liegen, kann dieser Höhenbereich auf die Anwesenheit der betreffenden Kante abgetastet bzw. überprüft werden. Damit kann beispielsweise auch gleichzeitig die Überprüfung des Vorhandenseins der Spinnhülse erfolgen. Das heißt, ein Anwickeln bzw. Ansetzen kann nur dann erfolgen, wenn die betreffende Kante der Spinnhülse die jeweils vorgegebene Höhe einnimmt, beispielsweise die Unterkante auf einem mit der Spindel verbundenen Flansch aufsitzt oder die Oberkante einen vorgegebenen Abstand zur Oberkante der Spindel aufweist.To check the position of a spinning sleeve fitted onto a respective spindle, the position of the upper and / or lower edge of the spinning sleeve is preferably checked. After the two edges of the spinning sleeve are at a predetermined height in the target position, this height range can be scanned or checked for the presence of the relevant edge. In this way, for example, the presence of the spinning sleeve can also be checked at the same time. This means that it can only be rolled up or attached if the relevant edge of the spinning sleeve is at the respective predetermined height, for example the lower edge is seated on a flange connected to the spindle or the upper edge is at a predetermined distance from the upper edge of the spindle.

Insbesondere zur Überprüfung der Lage einer auf eine jeweilige Spindel aufgesteckten Spinnhülse wird vorteilhafterweise jeweils der Bereich unmittelbar über der Unterkante einer auf die Spindel aufgesteckten und die vorgegebene Lage einnehmenden Spinnhülse abgetastet. Dies kann beispielsweise der Bereich unmittelbar oberhalb eines mit der Spindel verbundenen Flansches sein, auf dem die Spinnhülse in ihrer Sollage mit ihrer Unterkante aufsitzt. Tritt die Spinnhülse mit ihrem unteren Ende in diesen Bereich ein, so hat sie zumindest im wesentlichen bereits ihre Sollage erreicht, so daß mit dem Erfassen des Eintretens der Spinnhülse in diesen Bereich gleichzeitig das Vorliegen der Sollage erfaßt wird. Im allgemeinen genügt es, diesen Bereich abzutasten, so daß bereits bei in diesem Bereich erfaßtem Spinnhülsenende ein jeweiliger Anwickel- bzw. Ansetzvorgang zulässig ist. Andererseits ist es jedoch auch möglich, das Vorhandensein der Spinnhülse sowie deren Lage getrennt zu überprüfen.In particular, to check the position of a spinning sleeve attached to a respective spindle, the area directly above the lower edge of a spinning sleeve attached to the spindle and taking up the predetermined position is advantageously scanned. For example the area immediately above a flange connected to the spindle, on which the spinning sleeve is seated with its lower edge in its desired position. If the lower end of the spinning tube enters this area, it has at least essentially already reached its target position, so that when the spinning tube enters this area, the presence of the target position is detected at the same time. In general, it is sufficient to scan this area so that a respective winding or attaching process is permitted even when the spinning sleeve end is detected in this area. On the other hand, however, it is also possible to separately check the presence of the spinning tube and its position.

Insbesondere dann, wenn innerhalb eines durch die Spindellänge vorgegebenen Bereiches abgetastet wird, kann das Vorhandensein einer Spinnhülse auf der jeweiligen Spindel und/oder die Lage der Spinnhülse anhand der sich jeweils ergebenden Durchmesser- bzw. Querschnittsdifferenz überprüft werden.In particular, when scanning within a range predetermined by the spindle length, the presence of a spinning sleeve on the respective spindle and / or the position of the spinning sleeve can be checked on the basis of the resulting diameter or cross-sectional difference.

Wird innerhalb des durch die Länge der Spindel vorgegebenen Bereiches abgetastet, so kann vorteilhafterweise das Vorhandensein einer Spinnhülse auf der jeweiligen Spindel und/oder die Lage der Spinnhülse auch mittels Detektoren überprüft werden, welche auf verschiedene Materialien und/oder Farben oder dergleichen von Spinnhülse und Spindel bzw. deren Oberfläche unterschiedlich ansprechen.If scanning is carried out within the range predetermined by the length of the spindle, the presence of a spinning sleeve on the respective spindle and / or the position of the spinning sleeve can advantageously also be checked by means of detectors which detect different materials and / or colors or the like of the spinning sleeve and spindle or address their surface differently.

Bevorzugt wird während eines ersten, auf einen Doffvorgang folgenden Durchlaufs des Bedienroboters entlang zumindest eines Teils der Spinnstellen lediglich eine Überprüfung des Vorhandenseins der jeweiligen Spinnhülsen und gegebenenfalls deren Lage vorgenommen, während eine Fehlerbehebung, d.h insbesondere eine Fadenbruchbehebung, erst während eines darauffolgenden, insbesondere während des nächsten Durchganges durchgeführt wird. Während des ersten, auf den Doffvorgang folgenden Durchlaufs des Bedienroboters können gleichzeitig auch bereits die während des Doffvorgangs entstandenen Fadenbrüche erfaßt und zweckmäßigerweise gespeichert werden. Im zweiten Durchlauf werden dann die Fadenbrüche jener Spinnstellen behoben, deren Vorgarnstoppeinrichtung nicht betätigt ist, bzw. die nicht außer Betrieb gesetzt sind.Preferably, during a first pass of the operating robot following at least a part of the spinning stations, only a check of the presence of the respective spinning sleeves and, if appropriate, their position is carried out, while a troubleshooting, ie in particular a thread breakage correction, is only carried out during a subsequent one, in particular during the next run is carried out. During the first, on the doffing process following pass of the operating robot, the thread breaks that occurred during the doffing process can already be detected and expediently stored at the same time. In the second pass, the yarn breaks of those spinning positions whose roving stop device is not actuated or which are not deactivated are then eliminated.

Mit der Überprüfung des Vorhandenseins einer jeweiligen Spinnhülse und gegebenenfalls deren Lage werden vorteilhafterweise gleichzeitig eventuell vorhandene Garnreste auf der betreffenden Spinnkrone entfernt. Dies erfolgt vorzugsweise wiederum während des ersten, auf einen Doffvorgang folgenden Durchlaufs des Bedienroboters, welcher demnach durch eine Kontroll-, Überwachungs- und Reinigungsfunktion bestimmt ist, während andere Funktionen des Bedienroboters während dieses einmaligen Durchlaufs unterdrückt werden.By checking the presence of a respective spinning sleeve and, if necessary, its position, any yarn residues present on the relevant spinning crown are advantageously removed at the same time. This preferably takes place again during the first pass of the operating robot following a doffing process, which is accordingly determined by a control, monitoring and cleaning function, while other functions of the operating robot are suppressed during this one-time run.

Der erfindungsgemäße, entlang der Spinnstellen verfahrbare Bedienroboter zeichnet sich dadurch aus, daß er eine Einrichtung zur Überprüfung des Vorhandenseins einer Spinnhülse auf einer jeweiligen Spindel, eine Einrichtung zur Betätigung einer Vorgarnstoppeinrichtung sowie Mittel zur Erfassung einer betätigten Vorgarnstoppeinrichtung bzw. einer außer Betrieb gesetzten Spinnstelle umfaßt, und daß die Einrichtung zur Betätigung der Vorgarnstoppeinrichtung sowie der Fadenansetzautomat jeweils derart durch die elektronische Steuereinheit ansteuerbar sind, daß bei fehlender Spinnhülse die Vorgarnstoppeinrichtung betätigt und der Fadenansetzautomat stets nur bei solchen Spinnstellen einen vorliegenden Fadenbruch behebt, deren Vorgarnstoppeinrichtung nicht betätigt ist bzw. die nicht außer Betrieb gesetzt sind.The operating robot according to the invention, which can be moved along the spinning stations, is distinguished by the fact that it comprises a device for checking the presence of a spinning sleeve on a respective spindle, a device for actuating a roving stop device and means for detecting an actuated roving stop device or a spinning station that has been deactivated. and that the device for actuating the roving stop device and the automatic thread applicator can each be controlled by the electronic control unit in such a way that the roving stop device is actuated in the absence of a spinning sleeve and that the automatic roving device only fixes a thread break present at those spinning stations whose roving stop device is not actuated or not except Operation are set.

Die Einrichtung zur Überprüfung des Vorhandenseins einer Spinnhülse und/oder die Einrichtung zur Überprüfung der Lage der Spinnhülse kann beispielsweise jeweils als Lichtschranke ausgebildet sein, deren Sender und Empfänger vorzugsweise jeweils am Bedienroboter angeordnet sind.The device for checking the presence of a spinning sleeve and / or the device for checking the position the spinning sleeve can, for example, be designed as a light barrier, the transmitter and receiver of which are preferably each arranged on the operating robot.

Vorzugsweise schneidet der zumindest im wesentlichen senkrecht zur jeweiligen Spindelachse A gerichtete Lichtstrahl der Lichtschranke die Spindelachse, wobei dieser Lichtstrahl bei fehlender Spinnhülse an der Spindel bzw. bei höher angeordneter Lichtschranke an einem oberhalb der Spindel an der Spinnmaschine, insbesondere Ringspinnmaschine, angeordneten Reflektor reflektiert und bei auf die Spindel aufgesteckter Spinnhülse von dieser zumindest teilweise absorbiert wird. Dabei wird insbesondere auch der Umstand ausgenutzt, daß die Spinnhülsen im allgemeinen aus Karton, Papier, Kunststoff oder dergleichen und die Spindeln üblicherweise aus Stahl, Aluminium oder dergleichen bestehen.Preferably, the light beam of the light barrier, which is directed at least substantially perpendicular to the respective spindle axis A, intersects the spindle axis, this light beam reflecting when there is no spinning sleeve on the spindle or, in the case of a higher light barrier, on a reflector arranged above the spindle on the spinning machine, in particular a ring spinning machine spinning sleeve attached to the spindle is at least partially absorbed by the latter. The fact that the spinning sleeves generally consist of cardboard, paper, plastic or the like and the spindles usually consist of steel, aluminum or the like is particularly exploited.

Gemäß einer anderen vorteilhaften Ausführungsvariante ist der Lichtstrahl der Reflexionslichtschranke bezüglich der Spindelachse bzw. der Spindel derart radial nach außen versetzt, daß bei fehlender Spinnhülse der seitlich an der Spindel vorbeilaufende Lichtstrahl an einem an der Spinnmaschine, insbesondere Ringspinnmaschine, angeordneten Reflektor reflektiert und bei auf die Spindel aufgesteckter Spinnhülse von dieser zumindest teilweise absorbiert wird.According to another advantageous embodiment variant, the light beam of the reflection light barrier is offset radially outward with respect to the spindle axis or the spindle such that, in the absence of a spinning sleeve, the light beam passing laterally on the spindle reflects on a reflector arranged on the spinning machine, in particular a ring spinning machine, and on the Spindle attached to the spinning sleeve is at least partially absorbed by this.

Die Steuereinheit des Bedienroboters kann insbesondere derart ausgelegt sein, daß während des ersten auf einen Doffvorgang folgenden Durchlaufs nicht nur das Vorhandensein einer jeweiligen Spinnhülse und gegebenenfalls deren Lage überprüft, sondern zweckmäßigerweise zusätzlich auch die während des Doffvorgangs entstandenen Fadenbrüche erfaßt werden. Die Fadenbrüche können beispielsweise durch eine Überwachung der Läuferrotation festgestellt werden, wie dies insbesondere in der DE-OS 23 36 079 beschrieben ist. Ferner kann die Zuverlässigkeit des Doffers insbesondere dadurch überwacht werden, daß eine Auswertung der festgestellten Fadenbrüche vorgenommen wird.The control unit of the operating robot can in particular be designed in such a way that during the first pass following a doffing operation not only checks the presence of a respective spinning tube and, if necessary, its position, but also expediently also detects the yarn breaks that occurred during the doffing operation. The thread breaks can be determined, for example, by monitoring the rotor rotation, as is described in particular in DE-OS 23 36 079. Furthermore, the reliability of the doffer are monitored in particular by evaluating the thread breaks found.

Weitere vorteilhafte Ausführungsvarianten der Erfindung sind in den Unteransprüchen angegeben.Further advantageous embodiments of the invention are specified in the subclaims.

Die Erfindung wird im folgenden anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnung näher erläutert; in dieser zeigt:

Fig. 1
eine schematische Seitenansicht einer Ringspinnmaschine mit zugeordnetem Bedienroboter,
Fig. 2
eine schematische Seitenansicht einer Spinnstelle der Ringspinnmaschine sowie des gegenüber dieser Spinnstelle positionierten Bedienroboters,
Fig. 3
eine vereinfachte schematische Darstellung der Spindel der Spinnstelle bei fehlender Spinnhülse sowie der zur Abtastung des Spindelbereichs dienenden Lichtschranken,
Fig. 4
eine Figur 3 vergleichbare Darstellung, wobei jedoch eine Spinnhülse teilweise auf die Spindel aufgesteckt ist,
Fig. 5
einen Schnitt durch die Spindel/Spinnhülsen-Anordnung gemäß der Linie I - I in Figur 4, wobei der zur Abtastung verwendete Lichtstrahl der unteren Lichtschranke die Spindelachse schneidet, und
Fig. 6
eine Figur 5 vergleichbare Darstellung, wobei jedoch der zur Abtastung verwendete Lichtstrahl der unteren Lichtschranke bezüglich der Spindelachse bzw. der Spindel radial nach außen versetzt ist.
The invention is explained below using exemplary embodiments with reference to the drawing; in this shows:
Fig. 1
1 shows a schematic side view of a ring spinning machine with an associated operating robot,
Fig. 2
2 shows a schematic side view of a spinning station of the ring spinning machine and of the operating robot positioned opposite this spinning station,
Fig. 3
a simplified schematic representation of the spindle of the spinning station in the absence of a spinning sleeve and of the light barriers serving to scan the spindle area,
Fig. 4
3 shows a representation comparable to that of FIG. 3, but with a spinning sleeve partially fitted onto the spindle,
Fig. 5
a section through the spindle / spinning tube arrangement according to the line I - I in Figure 4, wherein the light beam used for scanning the lower light barrier intersects the spindle axis, and
Fig. 6
a figure 5 comparable representation, but with the light beam used for scanning the lower light barrier with respect to the spindle axis or the spindle is offset radially outwards.

In Figur 1 ist in schematischer Seitenansicht eine Ringspinnmaschine 10 mit einem Kopfteil 48 und einem Fußteil 50 gezeigt.A ring spinning machine 10 with a head part 48 and a foot part 50 is shown in a schematic side view in FIG.

Zwischen Kopfteil 48 und Fußteil 50 ist auf beiden Maschinenseiten, von denen nur eine zu sehen ist, jeweils eine Reihe von Spinnstellen 14 vorgesehen. Auf jeder Maschinenseite können beispielsweise 500 - 600 derartige Spinnstellen 14 vorgesehen sein. Im vorliegenden Falle sind der einfacheren Darstellung halber lediglich sieben dieser Spinnstellen 14 gezeigt. So ist der Abstand zwischen Kopfteil 48 und Fußteil 50 tatsächlich wesentlich größer als dargestellt.A row of spinning stations 14 is provided between the head part 48 and the foot part 50 on both machine sides, of which only one can be seen. For example, 500-600 such spinning stations 14 can be provided on each machine side. In the present case, only seven of these spinning stations 14 are shown for the sake of simplicity. The distance between the head part 48 and the foot part 50 is actually much larger than shown.

An jeder der Spinnstellen 14 wird von einer Vorgarnspule 52 kommendes Vorgarn 54 in einem Streckwerk 56 verstreckt und das verstreckte Garn mittels eines Ringläufers 58 auf eine Spinnhülse 18 gewickelt. Der entstehende Garnkörper 60 wird in bekannter Weise von unten auf der Spinnhülse 18 aufgebaut und ergibt den sogenannten Spinnkops. Zu diesem Zweck wird die Spinnhülse 18 von einer Spindel 16 angetrieben, auf die sie aufgesteckt ist. Das verstreckte Vorgarn läuft durch einen Garnfühler 62 und einen sogenannten Antiballonring 64 zu einem Ringläufer 58, welcher aufgrund der Drehbewegung des Spinnkopses zu einer Drehbewegung auf einer Ringbahn 66 veranlaßt wird, wodurch das gestreckte Vorgarn eine Drehung erfährt.At each of the spinning stations 14, roving 54 coming from a roving spool 52 is drawn in a drafting device 56 and the drawn yarn is wound onto a spinning tube 18 by means of a ring traveler 58. The resulting package 60 is built up in a known manner from below on the spinning sleeve 18 and results in the so-called spinning cop. For this purpose, the spinning sleeve 18 is driven by a spindle 16, on which it is attached. The drawn roving runs through a yarn sensor 62 and a so-called anti-balloon ring 64 to a ring traveler 58 which is caused to rotate on an annular path 66 due to the rotating movement of the spinning cop, whereby the drawn roving undergoes a rotation.

Die Spindeln 16 werden paarweise von in Pfeilrichtung 70 umlaufenden Bändern 68 angetrieben. Die Spindeln 16 sind in einem Querbalken 72 der Ringspinnmaschine 10 drehbar gelagert. Dagegen sind die Ringbahnen 66 auf der sogenannten Ringbank 74 angeordnet, welche in an sich bekannter Weise zur Bildung eines jeweiligen Spinnkopses eine stetige Hubbewegung nach oben und dieser Hubbewegung überlagert eine changierende Bewegung ausführt.The spindles 16 are driven in pairs by belts 68 rotating in the direction of the arrow 70. The spindles 16 are rotatably mounted in a crossbar 72 of the ring spinning machine 10. In contrast, the ring tracks 66 are arranged on the so-called ring bench 74, which, in a manner known per se, forms a continuous lifting movement to form a respective spinning cop upwards and this lifting movement is superimposed on an oscillating movement.

Vor dem Einlauf in das Streckwerk 56 läuft das Vorgarn 54 bei jeder Spinnstelle 14 jeweils durch einen Trichter 76, der auf einer Schiene 78 montiert ist, die eine changierende Hin- und Herbewegung in Richtung des Doppelpfeiles 80 ausführt.Before entering the drafting unit 56, the roving 54 runs through each of the spinning stations 14 through a funnel 76, which is mounted on a rail 78, which carries out an oscillating back and forth movement in the direction of the double arrow 80.

Anschließend ist das Vorgarn 54 durch eine sogenannte Lunten- oder Vorgarnstoppeinrichtung 26 geführt. Derartige Vorgarnstoppeinrichtungen sind allgemein bekannt und dienen zum Abbrechen des Vorgarnes 54 und damit zur Unterbrechung der Materialzufuhr zum sich jeweils anschließenden Streckwerk 56.The roving 54 is then passed through a sliver or roving stop device 26. Such roving stop devices are generally known and are used to break off roving 54 and thus to interrupt the material supply to the subsequent drafting device 56.

Der Antrieb des Streckwerkes 56 erfolgt über drei angetriebene Wellen 82, 84 und 86, die sich über die gesamte Länge der Ringspinnmaschine 10 erstrecken.The drafting device 56 is driven by three driven shafts 82, 84 and 86, which extend over the entire length of the ring spinning machine 10.

Unterhalb jedes Streckwerks 56 ist eine Saugdüse 88 angeordnet, welche im Falle eines Fadenbruches das vom Streckwerk 56 gelieferte Garn absaugt. Bei der ersten der auf der rechten Seite in Figur 1 gezeigten drei Spinnstellen 14 liegt ein derartiger Fadenbruch vor, so daß dort das Garn durch die Saugdüse 88 abgesaugt wird.Arranged below each drafting device 56 is a suction nozzle 88 which, in the event of a thread breakage, sucks off the yarn supplied by the drawing device 56. At the first of the three spinning positions 14 shown on the right-hand side in FIG. 1, there is a thread break of this type, so that there the yarn is sucked off through the suction nozzle 88.

Der Ringspinnmaschine 10 ist ein Bedienroboter 12 zugeordnet, welcher entlang einer oberen Führungsschiene 90 sowie einer unteren Führungs- und Positionierschiene 92 geführt ist. Dieser Bedienroboter 12 ist in Richtung des Doppelpfeiles 94 entlang der Spinnstellen 14 mittels eines an den Rahmen des Roboters angeflanschten, nicht gezeigten Motors verfahrbar, welcher auf der unteren Führungsschiene 92 rollbare Räder 98 (vergl. auch Fig. 2) antreibt. Der Bedienroboter 12 weist weitere, auf der Führungsschiene 66 laufende Räder auf. Ferner ist am oberen Ende des Gestells des Bedienroboters 12 eine Führungsrolle 100 angeordnet, welche in der umgekehrt U-förmigen Führungsschiene 90 läuft.The ring spinning machine 10 is assigned an operating robot 12 which is guided along an upper guide rail 90 and a lower guide and positioning rail 92. This operating robot 12 can be moved in the direction of the double arrow 94 along the spinning positions 14 by means of a motor (not shown) flanged to the frame of the robot, which drives wheels 98 on the lower guide rail 92 (cf. also FIG. 2). The operating robot 12 has further wheels running on the guide rail 66. Furthermore, a guide roller 100, which runs in the inverted U-shaped guide rail 90, is arranged at the upper end of the frame of the operating robot 12.

Am Gestell des Bedienroboters 12 ist ferner ein Fadenansetzautomat 20 (vergl. Fig. 1) vorgesehen, welcher entsprechend dem Doppelpfeil 102 bezüglich dem Robotergestell auf- und abbewegbar ist.On the frame of the operating robot 12 there is also an automatic thread application device 20 (see FIG. 1) which can be moved up and down in accordance with the double arrow 102 with respect to the robot frame.

Der Bedienroboter 12 weist am freien Ende eines oberen, schräg nach unten gerichteten Armes 106 eine Lichtschranke 104 auf, welche das Garn am Auslauf des Streckwerkes 56 erfaßt und damit die betreffende Spinnstelle daraufhin überprüft, ob ein Fadenbruch vorliegt oder nicht. Grundsätzlich können auch andere bekannte Fadenbruchwächter vorgesehen sein, beispielsweise induktive, kapazitive oder Piezo-Fadenbruchwächter.At the free end of an upper, obliquely downward arm 106, the operating robot 12 has a light barrier 104 which detects the yarn at the outlet of the drafting unit 56 and thus checks the relevant spinning station as to whether there is a thread break or not. In principle, other known thread break monitors can also be provided, for example inductive, capacitive or piezo thread break monitors.

Wie in Figur 1 zu erkennen ist, weist jede Vorgarnstoppeinrichtung einen Hebel 108 auf, der für die jeweilige Bedienungsperson erkennbar bei einer Betätigung der Vorrichtung nach oben verschwenkt wird. Am freien Ende dieses Hebels 108 ist ferner ein Reflektor 110 angeordnet, welcher mit einer am Bedienroboter 12 oben vorgesehenen Lichtschranke 112 (vergl. Fig. 2) zusammenwirkt, so daß auch der Bedienroboter 12 erkennt, ob eine jeweilige Vorgarnstoppeinrichtung 26 betätigt ist oder nicht.As can be seen in FIG. 1, each roving stop device has a lever 108, which is pivoted upward for the respective operator when the device is actuated. At the free end of this lever 108 there is also a reflector 110 which cooperates with a light barrier 112 provided on the operating robot 12 (see FIG. 2), so that the operating robot 12 also recognizes whether a respective roving stop device 26 is actuated or not.

Sowohl der Fadenansetzautomat 102 (vergl. Fig. 1) als auch die Lichtschranken 104 und 102 sind mit einer vorzugsweise programmierbaren elektronischen Steuereinheit 22 des Bedienroboters 12 verbunden, welche zumindest einen Mikroprozessor aufweisen kann.Both the automatic thread applicator 102 (see FIG. 1) and the light barriers 104 and 102 are connected to a preferably programmable electronic control unit 22 of the operating robot 12, which can have at least one microprocessor.

An diese elektronische Steuereinheit 22 sind ferner eine Lichtschranke 24 zur Überprüfung des Vorhandenseins einer Spinnhülse 18 auf einer jeweiligen Spindel 16 sowie eine Lichtschranke 28 zur Überprüfung der Lage einer auf eine jeweilige Spindel 16 aufgesteckten Spinnhülse 18 angeschlossen. Bei diesen Lichtschranken 24 bzw. 28 handelt es sich jeweils um eine Reflexionslichtschranke, deren Sender und Empfänger jeweils am Gestell des Bedienroboters 12 angeordnet sind und die bei der Überwachung der Spinnstelle im Bereich der Spindel bzw. der Spinnhülse mit am Rahmen der Ringspinnmaschine 10 angeordneten Reflektoren 40 bzw. 42 in der weiter unten beschriebenen Art und Weise zusammenwirken.A light barrier 24 for checking the presence of a spinning sleeve 18 on a respective spindle 16 and a light barrier 28 for checking the position of a spinning sleeve 18 plugged onto a respective spindle 16 are also connected to this electronic control unit 22. These light barriers 24 and 28 are reflective light barriers, the transmitters and receivers of which are each arranged on the frame of the operating robot 12 and which are used to monitor the spinning station in the area of the spindle or the spinning sleeve with reflectors arranged on the frame of the ring spinning machine 10 40 and 42 cooperate in the manner described below.

Mit der elektronischen Steuereinheit 22 sind ferner eine Einrichtung 46 zur Betätigung der Luntenstoppeinrichtung 26 über den mit dieser verbundenen Hebel 108 (vergl. Fig. 1) sowie eine Einrichtung 44 zur Entfernung von Spinnresten auf den Spinnkronen verbunden.A device 46 for actuating the sliver stop device 26 is also connected to the electronic control unit 22 via the lever 108 connected to it (see FIG. 1) and a device 44 for removing spinning residues on the spinning crowns.

In Fig. 2 nimmt die auf die Spindel 16 aufgesteckte Spinnhülse 18 ihre Sollage ein, in der sie mit ihrem unteren Rand auf einem mit der Spindel 16 verbundenen Flansch 114 aufsitzt.In FIG. 2, the spinning sleeve 18 placed on the spindle 16 assumes its desired position, in which its lower edge rests on a flange 114 connected to the spindle 16.

Der Lichtstrahl 36, der zur Überprüfung des Vorhandenseins einer Spinnhülse 18 auf der Spindel 16 dienenden Lichtschranke 24 verläuft senkrecht zur Spindelachse A und schneidet (bei fehlender Spinnhülse) diese Spindelachse A. Die Lichtschranke 24 und damit der Lichtstrahl 26 ist auf einer solchen Höhe angeordnet, daß ein Bereich zwischen der Oberkante 30 der Spindel 16 und der Oberkante 32 der die Sollage gemäß Figur 2 einnehmenden Spinnhülse 18 abgetastet wird. Auf gleicher Höhe wie die roboterseitige Lichtschranke 24 und mit dieser ausgerichtet ist am Gestell der Ringspinnmaschine 10 ein Reflektor 40 angeordnet.The light beam 36, which serves to check the presence of a spinning sleeve 18 on the spindle 16, the light barrier 24 extends perpendicular to the spindle axis A and intersects (in the absence of a spinning sleeve) this spindle axis A. The light barrier 24 and thus the light beam 26 is arranged at such a height, that an area between the upper edge 30 of the spindle 16 and the upper edge 32 of the spinning sleeve 18 taking the desired position according to FIG. 2 is scanned. At the same height as and aligned with the robot-side light barrier 24, a reflector 40 is arranged on the frame of the ring spinning machine 10.

Auch die zur Überprüfung der Lage der auf die Spindel 16 aufgesteckten Spinnhülse 18 dienende Lichtschranke 28 weist wiederum einen Sender und Empfänger auf, die beide außen am Gestell des Bedienroboters 12 angeordnet sind. Der Lichtstrahl 38 dieser Lichtschranke 38 verläuft wiederum senkrecht zur Spindelachse A, wobei seine Verlängerung die Spindelachse A schneidet. Diese Lichtschranke 28 und somit deren Lichtstrahl 38 ist in einer derartigen Höhe angeordnet, daß ein Bereich der Spindel 16 unmittelbar oberhalb des mit der Spindel verbundenen Flansches 114, auf dem die Spindel in ihrer Sollage aufsitzt, abgetastet wird.The light barrier 28 used to check the position of the spinning sleeve 18 plugged onto the spindle 16 in turn also has a transmitter and receiver, both of which are arranged on the outside of the frame of the operating robot 12. The light beam 38 of this light barrier 38 in turn runs perpendicular to the spindle axis A, with its extension intersecting the spindle axis A. This light barrier 28 and thus its light beam 38 is arranged at such a height that a region of the spindle 16 directly above the flange 114 connected to the spindle, on which the spindle is seated in its desired position, is scanned.

Fehlt die Spinnhülse 18 bzw. ist diese Spinnhülse nicht vollständig auf die Spindel 16 aufgesteckt, so trifft der Lichtstrahl 38 auf die aus Metall bestehende Spindel, wo er zurück zum roboterseitigen Empfänger reflektiert wird. Nimmt die Spinnhülse 18 dagegen, wie in Figur 2 gezeigt, ihre Soll- lage ein, so trifft der Strahl 38 der Lichtschranke 28 auf die üblicherweise aus Pappe oder dergleichen bestehende Spinnhülse 18, wo er zumindest teilweise absorbiert wird.If the spinning sleeve 18 is missing or this spinning sleeve is not completely fitted onto the spindle 16, the light beam 38 strikes the metal spindle, where it is reflected back to the robot-side receiver. If, on the other hand, the spinning sleeve 18 assumes its desired position, as shown in FIG. 2, the beam 38 of the light barrier 28 strikes the spinning sleeve 18, which is usually made of cardboard or the like, where it is at least partially absorbed.

Bei den Darstellungen gemäß den Figuren 3 bis 5 sind die Lichtschranken 24 und 28 in genau derselben Weise wie in Figur 2 angeordnet. Das heißt insbesondere, daß lediglich die obere Lichtschranke 24 mit einem maschinenseitigen Reflektor 40 zusammenwirkt.3 to 5, the light barriers 24 and 28 are arranged in exactly the same way as in FIG. This means in particular that only the upper light barrier 24 interacts with a machine-side reflector 40.

Demgegenüber ist gemäß der in Figur 6 dargestellten Ausführungsvariante auch der unteren Lichtschranke 28 ein am Gestell der Ringspinnmaschine 10 angebrachter Reflektor 42 zugeordnet, wobei die roboterseitige Reflektionslichtschranke 28 und der maschinenseitige Reflektor 42 derart angeordnet sind, daß der sich wiederum senkrecht zur Spindelachse A erstreckende Lichtstrahl 38' dieser Lichtschranke 28 bezüglich der Spindelachse A bzw. der Spindel 16 radial nach außen versetzt ist. Hierbei ist dieser Lichtstrahl 38' soweit nach außen versetzt, daß bei fehlender Spinnhülse 18 der seitlich an der Spindel 16 vorbeilaufende Lichtstrahl 38' an dem an der Ringspinnmaschine 10 angeordneten Reflektor 42 reflektiert und bei auf die Spindel 16 aufgesteckter Spinnhülse 18 auf diese Spinnhülse auftrifft und von dieser zumindest teilweise absorbiert wird. Das Vorhandensein der Spinnhülse 18 bzw. deren Lage wird hierbei somit anhand des sich ergebenden Durchmesser- bzw. Querschnittsunterschieds erfaßt.In contrast, according to the embodiment variant shown in FIG. 6, the lower light barrier 28 is also assigned a reflector 42 attached to the frame of the ring spinning machine 10, the robot-side reflection light barrier 28 and the machine-side reflector 42 being arranged such that the light beam 38, which in turn extends perpendicular to the spindle axis A 'this light barrier 28 with respect the spindle axis A or the spindle 16 is offset radially outwards. Here, this light beam 38 'is displaced outwards to such an extent that, in the absence of a spinning sleeve 18, the light beam 38' passing laterally on the spindle 16 reflects on the reflector 42 arranged on the ring spinning machine 10 and strikes this spinning sleeve with the spinning sleeve 18 attached to the spindle 16 and is at least partially absorbed by this. The presence of the spinning sleeve 18 or its position is thus determined on the basis of the resulting difference in diameter or cross section.

Das erfindungsgemäße Verfahren sowie die Funktionsweise des erfindungsgemäßen Bedienroboters 12 wird nun insbesondere anhand der Figuren 3 bis 5 erläutert:The method according to the invention and the functioning of the operating robot 12 according to the invention will now be explained in particular with reference to FIGS.

Nach jedem Doffvorgang mittels eines Integraldoffers für sämtliche Spinnstellen 14 einer Maschinenseite erfolgt mittels des Bedienroboters 12 zunächst eine Überprüfung der Spinnstellen daraufhin, ob auf der jeweiligen Spindel 16 eine Spinnhülse 18 aufgesteckt ist oder nicht. Diese Überprüfung erfolgt mittels der oberen Lichtschranke 24, deren Lichtstrahl 36 bei fehlender Spinnhülse (vergl. Fig. 3) vom maschinenseitigen Reflektor 40 reflektiert wird, während bei auf der Spindel 16 vorhandener Spinnhülse 18 (vergl. Fig. 4 und 5) dieser Lichtstrahl 36 auf die beispielsweise aus Pappe bestehende Spinnhülse 18 trifft und dort zumindest teilweise absorbiert wird.After each doffing operation using an integral doffer for all spinning positions 14 on one machine side, the operating robot 12 first checks the spinning positions to determine whether or not a spinning sleeve 18 is fitted on the respective spindle 16. This check is carried out by means of the upper light barrier 24, whose light beam 36 is reflected by the machine-side reflector 40 when there is no spinning sleeve (see FIG. 3), while this light beam 36 is present when the spinning sleeve 18 is present on the spindle 16 (see FIGS. 4 and 5) strikes the spinning sleeve 18 made of cardboard, for example, and is at least partially absorbed there.

Die Lichtschranke 24 liefert die entsprechenden Informationen an die elektronische Steuereinheit 22, welche bei fehlender Spinnhülse 18 die Einrichtung 46 zur Betätigung der Vorgarnstoppeinrichtung 26 ansteuert.The light barrier 24 supplies the corresponding information to the electronic control unit 22, which controls the device 46 for actuating the roving stop device 26 in the absence of a spinning sleeve 18.

Mit der Betätigung der Vorgarnstoppeinrichtung 26 wird der mit dieser verbundene Hebel 108 nach oben verschwenkt.When the roving stop device 26 is actuated, the lever 108 connected to it is pivoted upward.

Dieses Totstellen der betreffenden Spinnstelle wird somit sowohl der betreffenden Bedienungsperson als auch mittels des am Hebel 108 vorgesehenen Reflektors 110 dem Bedienroboter 12 signalisiert.This dead center of the relevant spinning position is thus signaled both to the operator concerned and to the operating robot 12 by means of the reflector 110 provided on the lever 108.

Während eines späteren Durchlaufs erkennt der Bedienroboter 12 mittels der Lichtschranke 112, ob die Vorgarnstoppeinrichtung 26 einer jeweiligen Spinnstelle 14 betätigt ist oder nicht.During a later run, the operating robot 12 recognizes by means of the light barrier 112 whether the roving stop device 26 of a respective spinning station 14 is actuated or not.

Die elektronische Steuereinheit 22 ist derart programmiert, daß der Fadenansetzautomat 102 stets nur bei solchen Spinnstellen zur Fadenbruchbehebung angesteuert wird, deren Vorgarnstoppeinrichtung nicht betätigt ist und die damit nicht totgestellt sind. Die totgestellten Spinnstellen werden erst dann wieder in die normale Überwachung und Fehlerbehebung mit einbezogen, wenn eine betreffende Bedienungsperson die Spinnstelle wieder in Betrieb gesetzt hat, d.h. die betreffende Luntenstoppvorrichtung nicht mehr betätigt und der Hebel 108 der Luntenstoppvorrichtung zurückgeschwenkt ist.The electronic control unit 22 is programmed in such a way that the automatic thread applicator 102 is only ever activated at those spinning stations for the purpose of eliminating thread breaks whose roving stop device is not actuated and which are therefore not dead. The dead spinning stations are only included in the normal monitoring and troubleshooting once an operator concerned has put the spinning station back into operation, i.e. the relevant match stop device is no longer actuated and the lever 108 of the match stop device is pivoted back.

Beim ersten Durchgang des Bedienroboters 12 werden die Spinnstellen 14 mittels der unteren Lichtschranke 28 zusätzlich daraufhin überprüft, ob eine auf eine jeweilige Spindel aufgesteckte Spinnhülse die Sollage gemäß Figur 2 einnimmt oder nicht.During the first pass of the operating robot 12, the spinning positions 14 are additionally checked by means of the lower light barrier 28 as to whether or not a spinning sleeve fitted to a respective spindle assumes the target position according to FIG. 2.

Beim Beispiel gemäß Figur 4 ist zwar eine Spinnhülse 18 auf der Spindel 16 vorhanden, diese Spinnhülse 18 sitzt jedoch nicht auf dem mit der Spindel 16 verbundenen Flansch 114 auf, so daß die Spindel im Bereich unmittelbar oberhalb des Flansches 114 freiliegt und der Lichtstrahl 38 der unteren Lichtschranke 28 somit an der Spindel reflektiert wird. Somit signalisiert diese untere Lichtschranke 28 der elektronischen Steuereinheit 22 eine fehlerhafte Lage der auf die Spindel aufgesteckten Spinnhülse, worauf mittels der Einrichtung 46 beispielsweise mittels eines Luftstrahls wiederum die betreffende Vorgarnstoppeinrichtung 56 betätigt wird. Dasselbe Fehlersignal liefert diese untere Lichtschranke 28 auch dann, wenn wie im Falle der Figur 3, die Spinnhülse vollständig fehlt.In the example according to FIG. 4, although a spinning sleeve 18 is present on the spindle 16, this spinning sleeve 18 is not seated on the flange 114 connected to the spindle 16, so that the spindle is exposed in the region immediately above the flange 114 and the light beam 38 is lower light barrier 28 is thus reflected on the spindle. This lower light barrier 28 thus signals the electronic control unit 22 of an incorrect position on the Spindle attached to the spinning sleeve, whereupon the relevant roving stop device 56 is actuated by means of the device 46, for example by means of an air jet. This lower light barrier 28 also delivers the same error signal if, as in the case of FIG. 3, the spinning sleeve is completely missing.

Während bei den beschriebenen Ausführungsbeispielen getrennte Einrichtungen bzw. Lichtschranken 24, 38 zur Überprüfung des Vorhandenseins der Spinnhülse und deren Lage vorgesehen sind, ist grundsätzlich auch denkbar, beispielsweise lediglich eine untere Lichtschranke zu verwenden, welche den Bereich unmittelbar oberhalb des Flansches 114 der Spindel 16 abtastet. Eine derartige Lichtschranke liefert nämlich sowohl im Falle einer fehlenden Spinnhülse als auch im Falle einer falsch auf die Spindel aufgesetzten Spinnhülse ein entsprechendes Fehlersignal.While in the described exemplary embodiments separate devices or light barriers 24, 38 are provided for checking the presence of the spinning sleeve and their position, it is also conceivable in principle, for example, to use only a lower light barrier which scans the area immediately above the flange 114 of the spindle 16 . Such a light barrier provides a corresponding error signal both in the case of a missing spinning sleeve and in the case of a spinning sleeve incorrectly placed on the spindle.

Wie bereits erwähnt, trifft beim Ausführungsbeispiel gemäß den Figuren 1 bis 5 der Lichtstrahl 38 der unteren Reflexionslichtschranke 28 bei fehlender Spinnhülse auf der Spindel 16 auf, so daß er an dieser reflektiert wird. Grundsätzlich kann die Lichtschranke jedoch auch so angeordnet sein, wie dies in Figur 6 dargestellt ist, wonach der Lichtstrahl 38' bei fehlender Spinnhülse 18 auf einen Reflektor 42 am Gestell der Ringspinnmaschine auftrifft und dort zum roboterseitigen Empfänger zurückreflektiert wird.As already mentioned, in the exemplary embodiment according to FIGS. 1 to 5, the light beam 38 of the lower reflection light barrier 28 strikes the spindle 16 in the absence of a spinning sleeve, so that it is reflected on the latter. In principle, however, the light barrier can also be arranged as shown in FIG. 6, according to which the light beam 38 'strikes a reflector 42 on the frame of the ring spinning machine when there is no spinning sleeve 18 and is reflected back there to the robot-side receiver.

Andererseits kann zur Überprüfung der Lage bzw. des Vorhandenseins einer auf eine jeweilige Spindel aufgesteckten Spinnhülse auch unmittelbar die Lage der Oberkante 32 und/oder der Unterkante 34 (vergl. Fig. 4) der Spinnhülse 18 überprüft werden. Es ist beispielsweise denkbar, eine Lichtschranke derart anzuordnen und auszulegen, daß bei Vorliegen einer betreffenden Hülsenkante auf einer vorgegebenen Höhe zum Beispiel die Hälfte des abgestrahlten Lichts auf das betreffende Hülsenende und die andere Hälfte auf einen Reflektor trifft und das Vorhandensein der betreffenden Kante in der gewünschten Höhe dadurch erfaßt wird, daß die empfangene Lichtmenge halb so groß wie die ausgestrahlte Lichtmenge ist.On the other hand, the position of the upper edge 32 and / or the lower edge 34 (cf. FIG. 4) of the spinning sleeve 18 can also be checked directly to check the position or the presence of a spinning sleeve attached to a respective spindle. It is conceivable, for example, to arrange and design a light barrier in such a way that when a relevant sleeve edge is present at a predetermined height for example, half of the emitted light hits the relevant end of the sleeve and the other half hits a reflector and the presence of the edge in question is detected at the desired height by the fact that the quantity of light received is half as large as the quantity of light emitted.

Wird mittels der unteren Lichtschranke 28 bzw. deren Lichtstrahl 38 jeweils der Bereich unmittelbar über dem mit der Spindel 16 verbundenen Flansch 114 abgetastet, so liefert diese Lichtschranke 28 praktisch erst dann ein entsprechendes Freigabesignal an die elektronische Steuereinheit 22, wenn die Unterkante 34 der Spinnhülse 18 (vergl. Fig. 4) auf dem Flansch 114 aufsitzt und damit die gewünschte Sollage erreicht ist.If the area directly above the flange 114 connected to the spindle 16 is scanned by means of the lower light barrier 28 or its light beam 38, this light barrier 28 practically only delivers a corresponding release signal to the electronic control unit 22 when the lower edge 34 of the spinning sleeve 18 (see FIG. 4) sits on the flange 114 and thus the desired position is reached.

Während des auf den Doffvorgang folgenden ersten Durchlaufs des Bedienroboters 12 werden gleichzeitig mit der Überwachung der Spinnhülsen die während des Doffvorgangs entstandenen Fadenbrüche erfaßt und gegebenenfalls für eine spätere Fadenbruchbehebung gespeichert. Die Erfassung derartiger Fadenbrüche erfolgt mittels der am Arm 106 des Bedienroboters 12 angeordneten Reflexionslichtschranke 104.During the first run of the operating robot 12 following the doffing process, the yarn breaks that occurred during the doffing process are recorded simultaneously with the monitoring of the spinning tubes and, if necessary, stored for later removal of the yarn breaks. Such thread breaks are detected by means of the reflection light barrier 104 arranged on the arm 106 of the operating robot 12.

Während dieses ersten Durchlaufs des Bedienroboters 12 können ferner über die Einrichtung 44 gleichzeitig auch auf den Spinnkronen eventuell vorhandene Spinnreste entfernt werden.During this first pass of the operating robot 12, any spinning residues that may be present on the spinning crowns can also be removed simultaneously via the device 44.

Ist dieser erste Durchlauf beendet, so erfolgt während eines zweiten Durchlaufs des Bedienroboters 12 mittels des Fadenansetzautomaten 20 an solchen Spinnstellen eine Fadenbruchbehebung, deren Vorgarnstoppeinrichtung nicht betätigt ist. Sobald die betreffende Bedienungsperson die totgestellten Spinnstellen wieder in Betrieb gesetzt hat, was der Bedienroboter 12 anhand des zurückgeschwenkten Hebels 108 der betreffenden Vorgarnstoppeinrichtung 26 erkennt, werden auch diese Spinnstellen wieder in die normale Überprüfung und Fehlerbehebung miteinbezogen.If this first run is ended, during a second run of the operating robot 12 by means of the thread application machine 20, thread breakage removal is carried out at such spinning positions, the roving stop device of which is not actuated. As soon as the operator concerned has put the dead spinning positions into operation again, which the operating robot 12 uses the lever 108 pivoted back from the operator concerned Detects roving stop device 26, these spinning stations are again included in the normal checking and troubleshooting.

Insbesondere die Überprüfung des Vorhandenseins einer jeweiligen Spinnhülse bzw. deren Lage kann grundsätzlich auch vor jedem Anwickel- bzw. Ansetzvorgang erfolgen.In particular, the checking of the presence of a respective spinning tube or its position can in principle also be carried out before each winding or piecing process.

Claims (25)

  1. A method of operating a spinning machine incorporating a plurality of spinning stations, in particular a ring spinning machine, using a service robot which can move along the spinning stations which each include a drivable spindle for receiving a spindle sleeve and which ensures, in particular for the alleviation of a thread break at a relevant spinning station, that the material to be spun and delivered from a drafting mechanism is again wound onto the spinning sleeve associated with the spinning station, for which purpose one end of an auxiliary thread in particular is wound onto the spinning sleeve and is pieced at its other end onto the material to be spun to effect a connection therewith, characterized in that after each doffing procedure which serves for the replacement of the spinning cops by empty spinning sleeves, and/or before each winding-on or piecing process a check is first automatically made of the spinning stations by means of the service robot, to see whether a spinning sleeve is mounted on the relevant spindle or not; in that with a missing spinning sleeve a roving stop device associated with the relevant spinning station is automatically actuated by means of the service robot, or this spinning station is set out of operation, and this is signalized at least in a manner recognizable by the service robot; and in that thread breaks are always only alleviated by means of the service robot at spinning stations where the roving stop device is not actuated, or which are not set out of operation.
  2. Method in accordance with claim 1, characterized in that the actuation of the respective roving stop device or the setting out of operation of the respective spinning station is additionally signalled in a manner recognizable to the relevant oeprator.
  3. Method in accordance with claim 1 or claim 2, characterized in that the spinning stations are additionally checked by means of the service robot to see whether a spinning sleeve mounted onto a respective spindle adopts a desired position or not; and in that, in the event of a spinning sleeve having a position which differs from the preset desired position, the roving stop device associated with the relevant spinning station is also actuated, or this spinning station is set out of operation.
  4. Method in accordance with one of the preceding claims, characterized in that for checking the presence of a spinning sleeve on the respective spindle, which is shorter than the spinning sleeve, a region is sensed between the top edge of the spindle and the top edge of a sleeve mounted on the spindle and adopting the preset desired position.
  5. Method in accordance with claim 4, characterized in that the region directly above the top edge of the spindle is sensed.
  6. Method in accordance with one of the preceding claims, characterized in that for the checking of the position of a spinning sleeve mounted on the respective spindle the position of the upper and/or lower edge of the spinning sleeve is checked.
  7. Method in accordance with one of the preceding claims, characterized in that for the checking of the position of a spinning sleeve mounted onto a respective spindle the region directly above the lower edge of a spinning sleeve mounted on the spindle and adopting the predetermined position is in each case sensed.
  8. Method in accordance with one of the preceding claims, characterized in that the presence of a spinning sleeve on the respective spindle and/or the position of the spinning sleeve is checked with respect to the respectively resulting difference in diameter or cross section.
  9. Method in accordance with one of the preceding claims, characterized in that the presence of a spinning sleeve on the respective spindle and/or the position of the spinning sleeve is checked by means of detectors which respond differently to different materials and/or colours of the spinning sleeve and spindle, or of their surface.
  10. Method in accordance with one of the preceding claims, characterized in that during a first passage of the service robot along at least a part of the spinning stations following a doffing process only a check is made of the presence of the respective spinning sleeves and optionally of their position, and that the alleviation of faults, in particular of thread breaks is first carried out during a subsequent passage, in particular during the next passage.
  11. Method in accordance with one of the preceding claims, characterized in that during the first passage of the service robot along at least a part of the spinning stations following a doffing process a check is additionally made of the presence of the respective spinning sleeves and optionally of their position by means of a service robot, and the thread breaks which have occurred during the doffing process are also already automatically detected.
  12. Method in accordance with one of the preceding claims, characterized in that with the checking of the presence of a respective spinning sleeve, and optionally of its position, any eventually present yarn remainders on the relevant spinning crown are removed.
  13. Service robot for operating a spinning machine, in particular a ring spinning machine (10) having a plurality of spinning stations (14) each having a spindle (16) for receiving a spinning sleeve (18), with an automatic thread piecing unit (20) and also an electronic control unit (22), in particular a programmable control unit, in particular for carrying out the method of one of the preceding claims, characterized in that the service robot (12) which is movable along the spinning stations (14) includes a means (24) for checking the presence of a spinning sleeve (18) on a respective spindle (16), a means (46) for actuating a roving stop device (26) and also means (28) for detecting an actuated roving stop device (26), or a spinning station (14) which has been set out of operation; and in that the means (46) for actuating the roving stop device (26) and also the thread piecing unit (20) can each be respectively controlled by the electronic control unit (22) in such a way that when the spinning sleeve (18) is missing the roving stop device (26) is actuated and the automatic thread piecing unit (20) always only alleviates a thread break present at spinning stations (14) where the roving stop device (26) is not actuated, or which have not been set out of operation.
  14. Service robot in accordance with claim 13, characterized in that a means (28) is additionally provided for checking the position of a spinning sleeve (18) mounted onto a respective spindle (16); and in that the means (46) for actuating the roving stop device (26) can be controlled by the electronic control unit (22) even when the spinning sleeve (18) is present, in so far as its position on the spindle (16) differs from a preset desired position.
  15. Service robot in accordance with claim 13 or claim 14, characterized in that the means (24) for checking the presence of a spinning sleeve (18) on the respective spindle (16) which is shorter in comparison to the spinning sleeve (18) is laid out and arranged to sense a region between the upper edge (30) of the spindle (16) and the upper edge (32) of a spinning sleeve (18) which is mounted onto the spindle (16) and adopts the predetermined desired position.
  16. Service robot in accordance with claim 15, characterized in that a means (24) for checking the presence of a spinning sleeve (18) is laid out and arranged to sense the region directly above the upper edge (30) of the spindle (16).
  17. Service robot in accordance with one of the preceding claims, characterized in that a means (28) for checking the position of a respective spinning sleeve (18) responds to the upper edge (32) and/or to the lower edge (34) of the spinning sleeve (18).
  18. Service robot in accordance with one of the preceding claims, characterized in that the means (28) for checking the position of a respective spinning sleeve (18) is laid out and arranged to sense a region directly above the lower edge (34) of a spinning sleeve (18) which is mounted onto the spindle (16) and adopts the preset desired position.
  19. Service robot in accordance with one of the preceding claims, characterized in that the means (24) for checking the presence of a spinning sleeve (18) and/or the means (28) for checking the position of the spinning sleeve (18) responds to the respectively resulting differences in diameter or cross section in the monitored region.
  20. Service robot in accordance with one of the preceding claims, characterized in that the means (24) for checking the presence of a spinning sleeve (18) and/or the means (28) for checking the position of the spinning sleeve (18) is laid out such that it responds differently to different materials and/or colours or the like of the spinning sleeve (18) and spindle (16), or of their surface.
  21. Service robot in accordance with one of the preceding claims, characterized in the means (24) for checking the presence of a spinning sleeve (18) and/or the means (28) for checking the position of a spinning sleeve (18) is in each case formed as a light barrier (24 or 28) respectively, the transmitter and receiver of which are preferably each arranged on the service robot (12).
  22. Service robot in accordance with claim 20, characterized in that the light beam (36, 38) of the light barrier (24 or 28 respectively) is directed at least substantially perpendicular to the respective spindle axis (A) and intersects this spindle axis (A), with the light beam (36, 38) being reflected when the spinning sleeve (18) is missing at the exposed spindle (16) or at a reflector arranged above the spindle (16) on the spinning machine, in particular the ring spinning machine (10), and being at least partially absorbed by the spinning sleeve (18) when the latter is mounted on the spindle (16).
  23. Service robot in accordance with claim 20, characterized in that the light beam (38') of the light barrier (28) which extends at least substantially perpendicular to the respective spindle axis (A) is displaced radially outwardly relative to the spindle axis (A) or relative to the spindle (16) in such a way that when the spinning sleeve (18) is missing the light beam (38') which passes laterally past the spindle (16) is reflected at a reflector (42) arranged on the spinning machine, in particular on the ring spinning machine (10), and is at least partially absorbed by the spinning sleeve (18) when the latter is mounted onto the spindle (16).
  24. Service robot in accordance with one of the preceding claims, characterized in that the electronic control unit (22) is laid out in such a way that during a first passage of the service robot (12) following a doffing process it is only the means (24) for checking the presence of a spinning sleeve (18), optionally the means (28) for checking the position of the spinning sleeve (18) and optionally a means (44) which is likewise associated with the service robot (12) for removing spinning residues on the spinning crowns, which are capable of activation and are actuable during a subsequent passage of the automatic thread piecing unit (20) in particular for the alleviation of faults, in particular during the next passage.
  25. Service robot in accordance with claim 24, characterized in that a means (46) for detecting the thread breaks which have arisen during a doffing process is additionally activatable via the control unit (22) during the first passage.
EP90115606A 1989-09-29 1990-08-14 Method of running a spinning machine, in particular a ring spinning machine, and a service carriage for carrying out the method Expired - Lifetime EP0419828B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3932664 1989-09-29
DE3932664A DE3932664A1 (en) 1989-09-29 1989-09-29 METHOD FOR OPERATING A SPINNING MACHINE, IN PARTICULAR RING SPINNING MACHINE, AND OPERATING ROBOT FOR IMPLEMENTING THE METHOD

Publications (2)

Publication Number Publication Date
EP0419828A1 EP0419828A1 (en) 1991-04-03
EP0419828B1 true EP0419828B1 (en) 1993-09-22

Family

ID=6390549

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90115606A Expired - Lifetime EP0419828B1 (en) 1989-09-29 1990-08-14 Method of running a spinning machine, in particular a ring spinning machine, and a service carriage for carrying out the method

Country Status (4)

Country Link
EP (1) EP0419828B1 (en)
JP (1) JPH03124824A (en)
CS (1) CS470090A2 (en)
DE (2) DE3932664A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4132243C2 (en) * 1991-09-27 1994-06-16 Zinser Textilmaschinen Gmbh Method and device for operating a ring spinning or twisting machine
DE4400601A1 (en) * 1993-01-14 1994-07-21 Rieter Ag Maschf Systemic efficiency control
AU768356B2 (en) * 1999-12-06 2003-12-11 Gregory John Dixon Grader device
CN105274681A (en) * 2015-11-10 2016-01-27 中国科学院合肥物质科学研究院 Spinning machine yarn breakage detecting device
CN108048971B (en) * 2017-11-09 2019-11-15 铜陵松宝智能装备股份有限公司 Drive disk device, doff robot and control method for the robot that doffs
CH715390A1 (en) * 2018-09-27 2020-03-31 Rieter Ag Maschf Method for operating a ring spinning machine.

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE759950A (en) * 1969-12-15 1971-06-07 Leesona Corp DEVICE TO CONTROL THE ADVANCE OF A WIRE
US3728852A (en) * 1971-06-03 1973-04-24 Maremont Corp Servicing assembly for automatic yarn piecing apparatus
US3902308A (en) * 1973-09-19 1975-09-02 Leesona Corp Optical sensing system for textile apparatus
US4081949A (en) * 1977-01-28 1978-04-04 Automatic Material Handling, Inc. Doffer with pneumatic control system
DE2757956A1 (en) * 1977-12-24 1979-06-28 Schlafhorst & Co W Ring traveller monitor - is operated by a remote control to keep it at ring rail height
GB2185833B (en) * 1983-05-24 1988-03-23 Rieter Ag Maschf Service tender signalling system
JPS60252573A (en) * 1984-05-29 1985-12-13 Murata Mach Ltd Article sorting device
DE3536913C2 (en) * 1985-10-16 1997-06-12 Zinser Textilmaschinen Gmbh Method and device for controlling a sliver stop arrangement of a drafting system of a spinning machine
DE3635140A1 (en) * 1986-10-15 1988-04-21 Zinser Textilmaschinen Gmbh Optical scanning device for detecting a feed bobbin running empty in a spinning or twisting machine

Also Published As

Publication number Publication date
EP0419828A1 (en) 1991-04-03
DE3932664A1 (en) 1991-04-11
CS470090A2 (en) 1991-12-17
DE59002833D1 (en) 1993-10-28
JPH03124824A (en) 1991-05-28

Similar Documents

Publication Publication Date Title
EP1749906B1 (en) Piecing arrangement for a rotor type open-end spinning machine
DE102007056561A1 (en) Textile machine cross-winding thread onto spools, employs data transmission system to change workstation spinning- and spinning-on parameters during spool replacement
EP2338818B1 (en) Procedure for operating a workstation of a winding machine and workstation of a winding machine
EP0394671B1 (en) Method for running a spinning machine and service robot for carrying out this method
DE19923047A1 (en) Method and device for controlling a component of a textile machine having a plurality of similar workplaces next to one another
DE3918788C2 (en)
DE19917968B4 (en) Service unit for a textile machine producing cross-wound bobbins
EP0427990B1 (en) Device for performing automatically thread splicing as well as cop changing, presenting operations in a fixed order, at a winding position of a winding machine
DE3817493A1 (en) SPINNING MACHINE WITH A VARIETY OF SPINNING DEVICES TO GENERATE AS REPLACEMENT SPOOLS FOR A TWISTING REEL
EP2192213B1 (en) Service device for supplying the workplaces of an open-end spinning machine
DE3711793C2 (en)
EP0016940B1 (en) Travelling control apparatus for successively controlling the operating conditions at each spinning station of a ring spinning machine
EP0419828B1 (en) Method of running a spinning machine, in particular a ring spinning machine, and a service carriage for carrying out the method
DE19905860A1 (en) Method for operating a work station of a textile machine producing cross-wound bobbins
DE3902548A1 (en) Apparatus for producing bobbins serving as feed bobbins for twisting
DE4032617A1 (en) Automatic cops change
EP1151951B1 (en) Method for operating a textile machine producing crosswound bobbins
EP2078770B1 (en) Method of operating a spinning station of a semiautomatic open end spinning frame and spinning station to implement the method
EP0421157B1 (en) Method for piecing broken yarn in a ring spinning machine
DE2224688A1 (en) DEVICE FOR CUTTING A THREAD OF THREAD INTO A SUPPLY
DE3909746A1 (en) Method for operating a ring-spinning machine and service robot for carrying out the method
CH684836A5 (en) Method of controlling the workflows between a service machine and a spinning station of a textile machine.
DE3937824A1 (en) Precision winder - has electronic control to prevent cop change when not empty or attempted threading up when cop tube is empty
DE10201533A1 (en) Open-end rotor spinning machine, has a dedicated yarn splicer at each workstation with a controlled cutter to sever the yarn when it is to be transferred to the splicer
DE2226077A1 (en) Method and device for monitoring the exchange of bobbins for tubes on spindles on ring spinning and ring twisting machines

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): CH DE ES FR GB IT LI

17P Request for examination filed

Effective date: 19910517

17Q First examination report despatched

Effective date: 19930126

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): CH DE ES FR GB IT LI

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Effective date: 19930922

Ref country code: FR

Effective date: 19930922

Ref country code: ES

Free format text: THE PATENT HAS BEEN ANNULLED BY A DECISION OF A NATIONAL AUTHORITY

Effective date: 19930922

REF Corresponds to:

Ref document number: 59002833

Country of ref document: DE

Date of ref document: 19931028

ITF It: translation for a ep patent filed

Owner name: GUZZI E RAVIZZA S.R.L.

EN Fr: translation not filed
GBV Gb: ep patent (uk) treated as always having been void in accordance with gb section 77(7)/1977 [no translation filed]

Effective date: 19930922

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed
PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 19960722

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19970831

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19970831

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 19990727

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20010501

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 20050814