EP0419833B1 - Dispositif de surveillance - Google Patents

Dispositif de surveillance Download PDF

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Publication number
EP0419833B1
EP0419833B1 EP90115828A EP90115828A EP0419833B1 EP 0419833 B1 EP0419833 B1 EP 0419833B1 EP 90115828 A EP90115828 A EP 90115828A EP 90115828 A EP90115828 A EP 90115828A EP 0419833 B1 EP0419833 B1 EP 0419833B1
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EP
European Patent Office
Prior art keywords
sound
signal
electroacoustic transducer
control unit
electronic control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP90115828A
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German (de)
English (en)
Other versions
EP0419833A1 (fr
Inventor
Giorgio Citterio
Werner Hartmeier
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 EP0419833A1 publication Critical patent/EP0419833A1/fr
Application granted granted Critical
Publication of EP0419833B1 publication Critical patent/EP0419833B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/005—Service carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a device for contactless monitoring of an area adjacent to a movable machine part, such as in particular a movable operating robot of a spinning machine, with at least one electroacoustic transducer arranged on the movable machine part and connected to an electronic control unit for emitting a transmitted sound signal and for receiving an on one Object present in the surveillance area or a person receiving sound reflected there.
  • a movable machine part such as in particular a movable operating robot of a spinning machine
  • an electronic control unit for emitting a transmitted sound signal and for receiving an on one Object present in the surveillance area or a person receiving sound reflected there.
  • Non-contact sensing sensors such as capacitive, magnetic, electromagnetic, and optical detectors.
  • Capacitive, magnetic and electromagnetic sensors generally have the decisive disadvantage that the measurement result depends on the respective object material. Furthermore, their range is relatively short.
  • acoustic sensors are already used which meet the requirements with regard to a measurement result that is as independent as possible of the object material (see, for example, the special print "Non-contact distance measurement” in the trade magazine “Electronics", 32nd year, No. 26/1983, Franzis-Verlag, Kunststoff).
  • the known acoustic monitoring systems have the disadvantage that dangerous collisions can no longer be reliably excluded, particularly in the case of defects occurring in the area of the sensor system.
  • a device for detecting objects in the path of a mobile object in which a small area directly in front of the mobile object is monitored by means of a light beam emitted by a transmitter, reflected by a reflector and received by a receiver.
  • the light emitted by the transmitter and reflected by the reflector is converted into a control signal by the receiver. If, for example, the control signal falls below a predetermined value as a result of an interruption of the light signal, a control device stops the mobile object.
  • a disadvantage of this device is that only a very narrowly limited area can be monitored by the light beam. If, for example, an object falls into the space between the light beam and the mobile object, the mobile object is not stopped by this device.
  • a proximity sensor is known from US Pat. No. 4,120,389, which essentially consists of a resonance chamber, an energy source and a detection element.
  • the resonance space is formed by two mutually facing, curved surfaces which are spaced apart along an axis.
  • the energy source introduces energy into the resonance space, which is spatially distributed in a mathematically described manner.
  • a disadvantage of this device is that there must always be a resonance room that generates the spatial energy distribution and that monitoring is only possible within this defined resonance room.
  • the invention has for its object to provide a device for contactless monitoring of an area adjacent to a movable machine part of the type mentioned, which not only ensures reliable monitoring of the area in question with a simple structure, but at the same time ensures that the required personnel and Collision protection is always fully provided even if errors occur that interfere with normal operation, particularly in the field of sensors.
  • the object is achieved according to the invention in that means are provided for dividing the transmitted sound signal into a sound measurement signal directed into the monitoring area and a sound reference signal which is directed at a reference reflector having a predeterminable distance from the electroacoustic transducer and a reference transit time determined by this distance between delivery and receipt, and that the electronic control unit on the one hand delivers an error signal signaling an error in the monitoring device if no sound signal was received by the end of the reference term, and on the other hand one representative of the presence of an object or a person in the monitoring area Detection signal emits as soon as a sound signal is received before this reference term.
  • the monitoring device works faultlessly and there is no operator or no disturbing object in the monitoring area, then after the transmission of the transmission sound signal, after a time which corresponds to the reference running time, a sound signal is received, which is the sound reference signal reflected at the reference reflector. In this case, the monitoring device remains passive since neither an object in the monitoring area nor an error in the device was detected. In this case, there is no reason to intervene in the drive control, for example the operating robot.
  • the electronic control unit of the monitoring device recognizes that either a disturbing object is present in the endangered monitoring area or that an operator is located in this monitoring area.
  • the electronic control unit recognizes therein an error or a defect, particularly in the sensor system of the device.
  • Possible sources of error are, for example, that as a result of a faulty one No sound pulses were emitted by the transmitter, despite the fact that no reflected reference sound was received despite the sound pulses being emitted, in particular due to contamination of the transducers, the received signals are too weak or a new adjustment of the sensor arrangement is necessary.
  • the personal and collision protection according to the invention can be used, for example, on machines such as robots, in particular spinning machines, moving machines or machine parts, vehicles and transport systems, in particular in spinning plants.
  • machines such as robots, in particular spinning machines, moving machines or machine parts, vehicles and transport systems, in particular in spinning plants.
  • a preferred area of application is the operating robots of spinning machines.
  • the solution according to the invention in particular also ensures reliable collision protection when using two or more operating robots. In the latter case, each of the operating robots is expediently equipped with a monitoring device according to the invention.
  • An ultrasonic transducer is preferably provided as the electro-acoustic transducer, so that the device is particularly insensitive to the normally occurring industrial noise.
  • the electroacoustic transducer preferably forms a sound transmitter and sound receiver at the same time.
  • the electroacoustic transducer is operated alternately as a transmitter and receiver in this case.
  • the structure of the entire arrangement can be kept particularly simple in this case.
  • the means for splitting the transmitted sound signal comprise at least one passive sound deflection element, which can be a reflector, for example, which is arranged in this way is that part of the transmitted sound component is passed to the monitoring area, while the other sound component is redirected to the differential reflector.
  • passive sound deflection element which can be a reflector, for example, which is arranged in this way is that part of the transmitted sound component is passed to the monitoring area, while the other sound component is redirected to the differential reflector.
  • the distance between the electroacoustic transducer and the reference reflector is adjustable and, for this purpose, the reference reflector is preferably adjustable. Since the distance that can still be measured, for example of an object present in the monitoring area, depends on the distance of the reference reflector from the transducer, the distance that can still be measured of the object can also be varied with this distance.
  • the floor or surface on which the machine in question is installed can serve as a reference reflector.
  • a reference reflector can also expediently be arranged on a fixed part of the machine in question, for example on a spinning machine along which an operating robot travels back and forth.
  • the distance between the electroacoustic transducer and the reference reflector remains the same regardless of the respective position of the movable machine part or operating robot.
  • the reference reflector is arranged on the movable machine part, for example on a movable operating robot of a spinning machine.
  • At least one electroacoustic transducer is preferably provided for each direction movable movable machine part or operating robot in a respective direction of travel, only the electroacoustic transducer assigned to this direction can be controlled by the electronic control unit. This ensures that the signals received are always clear and that the area that is endangered as a result of the machine part being led into this area is monitored in any case.
  • the drive of the movable machine part for example the operating robot in question
  • the electronic control unit when a detection signal occurs in such a way that the movement of the movable machine part is interrupted or reversed at least temporarily.
  • the respective danger is therefore automatically eliminated without any action on the part of an operator.
  • the direction of movement can be reversed when a risk of collision occurs.
  • a renewed reversal of the direction of movement can then take place at certain, predetermined path locations.
  • the occurrence of the error signal can preferably be signaled by the electronic control unit so that it can be recognized by a respective operator. It is also expediently provided that, in the event of a detected fault, the movable machine part or the operating robot is automatically shut down for safety reasons.
  • FIG. 1 shows a schematic representation of one side of a ring spinning machine 10 with a plurality of spinning stations 34 which are arranged between a head part 36 and a foot part 38 of the spinning machine. An equal number of spinning positions are provided on the opposite machine side, which cannot be seen.
  • roving 42 coming from a roving bobbin 40 is drawn in a drafting device 44 and the drawn yarn is wound onto a spinning sleeve 48 by means of a ring traveler 46 to form a package 50.
  • the ring spinning machine 10 is assigned an operating robot 12 which runs along an upper guide rail 52 and a lower guide and positioning rail 54 is guided.
  • This operating robot 12, which represents a movable machine part, can be moved in the direction of the double arrow 56 along the spinning stations 34.
  • the operating robot 12 can have an automatic attachment and winding machine (not shown) and further units (also not shown) for operating the respective spinning stations.
  • the operating robot 12 which can be moved along the guide rails 52, 54, is equipped with a device for contactless monitoring of the areas 14 adjoining its two sides.
  • This monitoring device has on each of the two opposite sides of the operating robot 12 an electroacoustic transducer 18 for emitting a transmitted sound signal S S and for receiving a received sound signal S E (see also FIG. 2). These two electroacoustic transducers are connected to an electronic control unit 16.
  • This electronic control unit can be part of the control unit assigned to the operating robot 12 and in particular also serving to drive control this robot.
  • each electroacoustic transducer 18 is assigned a passive sound deflection element 22, which in the present case is a simple flat reflector, which is pivoted by 45 ° with respect to the vertical, so that the horizontally incident sound signal is perpendicular to the bottom Ring spinning machine-carrying floor is reflected, which, as will be explained in more detail below, serves as a reference reflector 24.
  • a passive sound deflection element 22 which in the present case is a simple flat reflector, which is pivoted by 45 ° with respect to the vertical, so that the horizontally incident sound signal is perpendicular to the bottom Ring spinning machine-carrying floor is reflected, which, as will be explained in more detail below, serves as a reference reflector 24.
  • the passive sound deflection element 22 serves to divide the Transmitted sound signal S S emitted by the relevant electroacoustic transducer 18 into a sound measurement signal S SM directed into the monitoring area 14 and a sound reference signal S SR . A corresponding division accordingly also takes place for the received sound signal S E received by the electroacoustic transducer 18.
  • the sound measurement signal S SM used to monitor the monitoring room 14 thus runs from the electroacoustic transducer 18 into the monitoring room 14 and, in the case of an object 20 or 20 ′ present there or a person present in this monitoring room 14, back to the transducer 18 as a result of the reflection taking place.
  • the noise reference signal S SR-forming portion is the coming from the transducer 18 transmit sound signal S S is reflected on the passive Schallumlenkelement 22 down to the bottom or the reference reflector 24, then this noise reference signal S SR in imgeParker direction again via the passive Schallumlenkelement 22 back to the transducer 18 arrives where it forms part of the received sound signal S E received by the converter 18.
  • the floor or reference reflector 24 is measured along the simple beam path of the sound reference signal S SR at a predetermined distance a from the electroacoustic transducer 18.
  • the distance X m of the object 20 present in the monitoring space 14 is greater than the above-defined distance a of the floor or reference reflector 24 from the transducer 18.
  • the object 20 ' has a smaller distance X' m from the transducer 18 compared to the distance a .
  • the electronic control unit 16 comprises a microprocessor 26 with an input 60 connected, for example, to an input unit (not shown) and an output 62, via which the microprocessor sends an error signal U F in the case of a faulty monitoring device and a detection signal when an object 20 'present in the monitoring area 14 or a person present there is detected U E delivers.
  • a signal generator 58 (see FIG. 1) can be controlled by means of the error signal U F, for example, a respective detection signal U E can be used for a corresponding intervention in the drive control of the operating robot 12.
  • the electroacoustic transducer 18 delivering ultrasound pulses simultaneously forms a sound transmitter and a sound receiver.
  • the converter 18 is alternatively controlled by the electronic control unit 16 as a transmitter or receiver.
  • the electronic control unit 16 comprises transmission electronics 28 connected to the microprocessor 26 and also receiver electronics 30 also connected to the microprocessor, which can have a reception amplifier, for example.
  • the microprocessor 26 of the electronic control unit 16 is assigned a counter 32, by means of which the respective transit times of the sound signals received can be determined.
  • the two electroacoustic transducers 18 provided on opposite sides of the operating robot 12 are controlled individually as a function of the respective direction of travel of the robot 12.
  • the electronic control unit 16 of the monitoring device or of the operating robot 12 controls the electroacoustic transducer 18, which is connected to the operating robot 12 adjacent monitoring area delivers ultrasonic pulses into which the operating robot is moved.
  • the other converter is deactivated.
  • FIG. 3 shows a time-of-flight diagram for the ultrasound pulses as they result from an object 20 present in the monitoring area 14, which is further away from the electroacoustic transducer 18 than the distance a of the floor or reference reflector 24 from this transducer 18 defined above corresponds.
  • FIG. 4 shows a time-of-flight diagram of the ultrasound pulses, which shows their course in the case of an object 20 ′ present in the monitoring area 14, which is closer to the electroacoustic transducer 18 than corresponds to the distance a defined above. While the time is plotted on the abscissa, the ordinate indicates the respective object distance. Accordingly, it can be seen that the respective ultrasound pulse runs from the electroacoustic transducer 18 to the target object, ie to the object 20 or 20 ', is reflected there at the time t m / 2 or t' m / 2 and the transducer 18 again at time t m or t ' m reached (solid lines).
  • This transit time t m or t ' m of the sound measurement signal S SM (see FIG. 2) is directly proportional to the object distance X m or X' m .
  • the relationship applies X m 1/2 ct m , respectively.
  • X ' m 1/2 ct ' m .
  • the ultrasound pulse of the sound reference signal S SR runs from the electro-acoustic transducer 18 to the passive sound deflection element 22, is reflected there to the floor or reference reflector 24 and there again at the time T R / 2 back to the passive sound deflection element 22 and there again reflected to the transducer 18, where it follows a reference term T R arrives.
  • the monitoring device works as follows:
  • the transducer 18 If the monitoring device works correctly and there is an object 20 in the monitoring room 14 that is relatively far away from the electroacoustic transducer 18, the transducer 18 first receives the sound reference signal S SR reflected on the floor or reference reflector 24 (see FIGS. 2 and 3). The sound measurement signal S SM reflected at the more distant object 20 occurs at a later time t m . By receiving a signal, namely the sound reference signal S SR , until the reference runtime T R has expired, the electronic control unit 16 recognizes that the monitoring device is operating without errors.
  • the ultrasound pulses as shown in FIG. 4 follow over time. Accordingly, the sound measurement signal S SM reflected on the object 20 'becomes one Receive time t ' m before the expiry of the specified reference running time T R. After t ' m ⁇ T R , the electronic control unit 16 supplies a detection signal U E , which is the same for the presence of the object 20' or one distant person in the surveillance area 14 is representative.
  • the sound reference signal S SR is received only after the predetermined reference time T R , which has been stored, for example, or not at all. This is evaluated by the electronic control unit 16 as an error in the monitoring device. Consequently, the electronic control unit 16 supplies the error signal U F , via which the signal transmitter 58 (see FIG. 1) in particular can be controlled. At the same time, the operator robot 12 will be shut down for safety reasons.
  • the detection signal U E occurs , which is representative of the presence of an object or a person in the monitoring area, it is not absolutely necessary to stop the operating robot 12. Rather, it can be expedient to control the drive of the operating robot 12 in the sense of reversing the direction of travel.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Manipulator (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Claims (10)

  1. Dispositif pour la surveillance sans contact d'une zone (14) adjacente à une partie de machine mobile (12), comme en particulier un robot de service déplaçable, d'une machine à filer (10), avec au moins un convertisseur électro-acoustique (18) disposé sur la partie de machine mobile et relié avec une unité de commande électronique (16), servant à l'émission d'un signal acoustique émis (SS) ainsi qu'à la réception d'un signal acoustique reçu (SE), réfléchi par un objet (20) respectivement par une personne présent dans la zone de surveillance (14),
    caractérisé par le fait que
    des moyens (22) sont prévus pour la répartition du signal acoustique émis (SS) en un signal acoustique mesuré (SSM) dirigé dans la zone de surveillance (14), et un signal acoustique de référence (SSR) qui est dirigé vers un réflecteur de référence (24) possédant une distance (a) prédéterminable par rapport au convertisseur électro-acoustique (18), et possède un temps d'écoulement de référence (TR) compris entre l'émission et la réception et déterminé par cette distance (a), et que l'unité de commande électronique (16) livre, d'une part, un signal d'erreur (UF) signalisant une erreur dans le dispositif de surveillance dans le cas où aucun signal acoustique n'a été reçu jusqu'à l'expiration du temps d'écoulement de référence (TR) et, d'autre part, émet un signal de reconnaissance (UE) représentatif pour la présence d'un objet (20) respectivement d'une personne dans la zone de surveillance (14), dès qu'un signal acoustique est reçu avant l'expiration de ce temps d'écoulement de référence (TR).
  2. Dispositif selon revendication 1,
    caractérisé par le fait
    qu'un convertisseur ultrason (18) est prévu comme convertisseur électro-acoustique.
  3. Dispositif selon revendication 1 ou 2,
    caractérisé par le fait que
    le convertisseur électro-acoustique (18) forme simultanément un émetteur acoustique et un récepteur acoustique.
  4. Dispositif selon l'une des revendications précédentes,
    caractérisé par le fait que
    les moyens (22) servant à la répartition du signal acoustique émis (SS) comprennent au moins un élément passif de déviation de son.
  5. Dispositif selon l'une des revendications précédentes,
    caractérisé par le fait que
    la distance (a) comprise entre le convertisseur électroacoustique (18) et le réflecteur de référence (24) est réglable et, dans ce but, le réflecteur de référence (24) est de préférence déplaçable.
  6. Dispositif selon l'une des revendications précédentes,
    caractérisé par le fait que
    le réflecteur de référence (24) est disposé sur une partie fixe de la machine en question, particulièrement de la machine à filer à anneaux, ou est formé par le socle portant la machine, ou est disposé sur celui-ci.
  7. Dispositif selon l'une des revendications 1 à 5,
    caractérisé par le fait que
    le réflecteur de référence (24) est disposé sur la partie de machine mobile (12), et particulièrement sur un robot de service déplaçable.
  8. Dispositif selon l'une des revendications précédentes,
    caractérisé par le fait
    qu'au moins un convertisseur électro-acoustique (18) est prévu pour chaque direction, dans une partie de machine (12), particulièrement un robot de service, déplaçable dans au moins deux directions différentes, et que, lors d'un mouvement de la partie de machine (12) déplaçable respectivement mobile dans une direction de déplacement respective, seul le convertisseur électro-acoustique (18) adjoint à cette direction peut être dirigé par l'unité de commande électronique (16).
  9. Dispositif selon l'une des revendications précédentes,
    caractérisé par le fait que,
    lors de l'apparition du signal de reconnaissance (UE), l'entraînement de la partie de machine mobile (12) est commandable, particulièrement par l'unité de commande électronique (16), de telle manière qu'il en résulte une interruption ou une inversion, au moins temporaire, du mouvement de la partie de machine mobile (12).
  10. Dispositif selon l'une des revendications précécentes,
    caractérisé par le fait que
    l'apparition du signal d'erreur (UF) est signalisable par l'unité de commande électronique (16), d'une manière reconnaissable pour une personne de service respective.
EP90115828A 1989-09-29 1990-08-17 Dispositif de surveillance Expired - Lifetime EP0419833B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3932665 1989-09-29
DE3932665A DE3932665A1 (de) 1989-09-29 1989-09-29 Ueberwachungsvorrichtung

Publications (2)

Publication Number Publication Date
EP0419833A1 EP0419833A1 (fr) 1991-04-03
EP0419833B1 true EP0419833B1 (fr) 1993-06-09

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Application Number Title Priority Date Filing Date
EP90115828A Expired - Lifetime EP0419833B1 (fr) 1989-09-29 1990-08-17 Dispositif de surveillance

Country Status (5)

Country Link
US (1) US5083298A (fr)
EP (1) EP0419833B1 (fr)
JP (1) JPH03218487A (fr)
CS (1) CS450290A2 (fr)
DE (2) DE3932665A1 (fr)

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CN111876865A (zh) * 2020-08-13 2020-11-03 东台远欣机械有限公司 一种捻线机用结构可调式预警装置
CN111876865B (zh) * 2020-08-13 2021-10-22 东台远欣机械有限公司 一种捻线机用结构可调式预警装置

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CS450290A2 (en) 1991-09-15
EP0419833A1 (fr) 1991-04-03
DE59001695D1 (de) 1993-07-15
JPH03218487A (ja) 1991-09-26
US5083298A (en) 1992-01-21
DE3932665A1 (de) 1991-04-11

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