EP0427005B1 - Method and apparatus for exchanging sliver cans in textile machines - Google Patents

Method and apparatus for exchanging sliver cans in textile machines Download PDF

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Publication number
EP0427005B1
EP0427005B1 EP90119705A EP90119705A EP0427005B1 EP 0427005 B1 EP0427005 B1 EP 0427005B1 EP 90119705 A EP90119705 A EP 90119705A EP 90119705 A EP90119705 A EP 90119705A EP 0427005 B1 EP0427005 B1 EP 0427005B1
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EP
European Patent Office
Prior art keywords
sliver
container
textile
textile material
machine
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Expired - Lifetime
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EP90119705A
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German (de)
French (fr)
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EP0427005A1 (en
Inventor
Marcel Siegenthaler
Niklaus Gartenmann
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Maschinenfabrik Rieter AG
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Maschinenfabrik Rieter AG
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Publication of EP0427005A1 publication Critical patent/EP0427005A1/en
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/005—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving
    • D01H9/008—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving for cans

Definitions

  • the invention relates to a method for changing sliver containers on textile machines and providing the sliver end for inclusion in a textile machine absorbing textile material, wherein a sliver container in a textile material-dispensing machine is filled with sliver, the sliver is separated after filling, the filled sliver container is made into a textile material-absorbing textile machine transported and handed over to them there and a device for performing this method.
  • the can transport device having a controllable clamp for the sliver end but core Drechteller.
  • a device for exchanging empty textile material containers in the form of cans for filled cans on spinning machines is known.
  • This device is a transport vehicle on which several cans or textile material containers are placed one behind the other.
  • a can handling device is arranged on the transport vehicle, specifically in the form of a gantry carrier which can be moved along the vehicle and has a boom which can be moved transversely thereto. With this can handling device, individual textile material containers can be lifted and moved between the transport vehicle and the spinning machine and placed at the respective parking spaces.
  • the portal design of the can handling device requires a relatively large amount of space, and the textile material containers can only be moved at right angles to the lane of the transport vehicle.
  • German Offenlegungsschrift DE-A-35 01 875 shows such a device which is attached to a spinning machine.
  • the device is suspended from running rails arranged above the spinning machine and has a gripping device for sliver containers and auxiliary devices for fixing the sliver end.
  • a conveyor belt is arranged in the middle of the spinning machine, on which the full or empty textile material containers are moved along the machine axis.
  • the gripping device on the service unit the containers are moved at right angles to the conveyor belt axis into the working positions on the machine.
  • the end of the sliver is fixed and positioned in a clamp attached to the edge of the textile material container.
  • the gripping device for the containers arranged on the maintenance device is equipped with rollers provided, by means of which the textile material container can be rotated about its axis until the clamp or the sliver end are in a predetermined position. In this position, the textile material container is then placed in its working position on the machine, and the attachment device arranged on the maintenance device can take over the sliver end. It is obvious that this device also does not permit fully automatic operation, since the sliver end must be fixed manually on the textile material container.
  • Another device for feeding the sliver from a textile material container to a textile machine, in particular a draw frame, is known from European patent application EP-A-301 330 A1.
  • the full textile material containers are set up in parallel in front of the workplaces of the machine.
  • a hydraulic shifting device is assigned to each of the containers in the waiting position.
  • a movable carriage with a gripper for the sliver is arranged on a rail above the containers in the waiting position. This gripper can be moved around the outer jacket of a textile material container and a sliver hanging down can be gripped. After gripping, the gripper places the belt on a feed device on the textile machine.
  • the full textile material containers are brought to the machines by known means of transport.
  • the parking at the machine is apparently done manually or with conventional aids, such as sliding devices.
  • the containers must first be parked in a waiting position on the machine so that the sliver end can be sought and transferred to the machine.
  • the full container is pushed into the machine and an empty container is ejected from the machine. This, in turn, must be removed from the machine manually and using the known tools.
  • This device requires a lot of space around the machine, since waiting places for full containers, ejection places for empty containers and space for the shifting devices for each container are necessary.
  • the changeover process is also time-consuming, since several successive work steps are necessary. Since the carriage with the gripper for the belt can only serve one container, the block change described, in which all containers are exchanged, is very time-consuming. During this time, the machine has to be shut down, which leads to high production downtimes.
  • the main advantages of the invention can be seen in the fact that no additional devices are necessary on the machines that deliver textile material and on the textile material containers in order to fix the sliver end on the filled textile material containers. After filling the container, the sliver is simply torn off and dropped over the edge of the textile material container. The sliver end can be at any point on the circumference of the sliver container. Also on the machine holding the textile material, no additional devices are necessary to search for and fix the sliver end and to bring it from the textile material container to the attachment point on the machine.
  • the transport vehicle After the sliver end has been dropped over the edge of the textile material container, the transport vehicle is informed via a control device that a full textile material container is to be picked up at a specific parking space of a machine that dispenses textile material.
  • the transport vehicle is automatically moved into the change position, and the textile material container is removed from the textile machine and moved to a parking space on the transport vehicle.
  • a gripping device for the sliver end is brought into a receiving position in the region of the outer jacket of the container and the textile material container is rotated about its axis until the sliver end is inserted into the gripping device. If both movements occur simultaneously in the opposite direction, the setting process for the sliver end is accelerated.
  • the gripping device moves in the same direction as the container jacket, the fixing process is delayed. As soon as the sliver end is inserted into the gripping device, sensors generate a control command and the gripping device clamps the sliver end firmly.
  • the transport vehicle moves to another changing position, for example on a machine that absorbs textile material, where there is an empty parking space for a textile material container.
  • the full textile material container is then gripped by means of the change device for the containers, which is also arranged on the transport vehicle, and transferred to the empty parking space at the textile machine holding the material.
  • the end of the sliver is brought into a transfer position by the gripping device, ie into a position where the end of the sliver is desired to be attached to the machine that takes up the textile material.
  • the sliver end is also transferred to the machine, and the gripping device for the sliver end and the changing device for the textile material containers are withdrawn into the area of the transport vehicle and are ready for the next changing and / or fixing process. No waiting rooms are required for the containers, neither on the machine that delivers the textile material nor on the material receiving machine.
  • the changing device for the container is not part of the machine, but is arranged on the transport vehicle. It is therefore always there and only available where containers are exchanged.
  • the changing device for the sliver container and the gripping device for searching and fixing the sliver end are used several times in this arrangement on the transport vehicle, since they are used for every changing operation. Only one positioning of the container and the auxiliary devices is necessary for both functions. No corresponding auxiliary devices are required on the individual machines, and this leads to considerable savings in investments. With a large number of machines, several transport vehicles can be used, the combination of different textile machines being possible without difficulty.
  • the process of changing the Textile material containers and the setting of the textile belt end is not determined by the machine types, but in any case takes place through the work steps of the devices arranged on the transport vehicle.
  • the method according to the invention and the corresponding devices enable a fully automatic sequence of the changing process of the containers and the fixing procedure for the sliver ends.
  • the movement space which is covered by the changing device for the testile material containers in a specific change position of the transport vehicle essentially covers at least one parking space on the transport vehicle and the associated parking space on the test machine from which a testile material container is to be removed or into which a testile material container is to be placed.
  • the changing device has a robot arm with container holders.
  • the gripping device for the sliver end can in turn be moved in a movement space which covers at least one parking space for testile material containers on the transport vehicle and the parking space associated with the corresponding changing position of the transport vehicle for the textile material container filled with sliver.
  • the gripping device can still be moved in the space in which the attachment device for the sliver end is arranged on the machine.
  • There are two parking spaces on the transport vehicle is present and the changing device and the gripping device can be moved in the area of both parking spaces, this results in an optimal sequence of the changing process.
  • the robot arm for the changing device and the carrier and movement device for the gripping device are designed in a known manner and consist, for example, of multi-part support arms with corresponding drive, control and sensor elements.
  • the transport vehicle also has known drive devices and control devices which enable the automatic movement between the different material container positions on the textile machines and the positioning and stopping of the transport vehicle in the desired changing positions.
  • FIG. 1 shows the schematic arrangement of various textile machines and a transport vehicle according to the invention in a simplified representation.
  • cards 1, 2 and 3 are arranged as textile-dispensing machines.
  • Each of these cards 1, 2, 3 has a magazine 21 for textile material containers or cans 9, 10, 11. This is on the card 2, or its can magazine 21, the can 9 is a container filled with sliver, the can 10 is a container in which the filling process has just started and the can 11 is an empty container.
  • One or more draw frames 4 are arranged opposite one another parallel to cards 1, 2 and 3. In the example shown, only one section 4 is shown, this section 4 having an infeed table 17 with filled cans, from which sliver is drawn off and fed to section 4.
  • This changing device 7 for moving the textile material container from the transport vehicle 5 into a corresponding parking space on a textile machine and vice versa.
  • This changing device 7 consists of a multi-part robot arm with container holders 20 at the outer end. By means of this container holder 20, a textile material container can be grasped and then raised and moved with the changing device 7.
  • a gripping device 8 for the sliver end which likewise consists of a multi-section robot arm and band clamps arranged at its end.
  • Both changing device 7 and gripping device 8 have known sensors (not shown) for position detection, drives and control devices.
  • the transport vehicle 5 is in a changing position, which corresponds to the parking space with the empty can 11 on the card 2.
  • This empty can 11 has been removed from the empty parking space 19 on the transport vehicle 5 and has been moved into the position shown in the can magazine 21 of the card 2 with the aid of the changing device 7.
  • the can 11 is parked here and then the changing device 7 is withdrawn into the area of the transport vehicle 5.
  • route 4 or whose inlet table 17, an empty can 18, which should be replaced by a full can.
  • An empty reserve space on route 4 can also be provided.
  • the transport vehicle 5 is now moved from the position shown to the change position, which is assigned to the empty textile material container 18 or an empty reserve space on the inlet table 17.
  • the filled can 12 on the transport vehicle 5 is rotated about its longitudinal axis by means of the turntable 14 on which it is placed.
  • the bottom of the material container 12 and the turntable 14 cooperate on the transport vehicle 5 and form a positive connection in a manner not shown.
  • the gripping device 8 is brought into a desired receiving position on the jacket of the can 12.
  • the can 12 is now rotated about its axis until the sliver end 16 is inserted into the gripping device 8 and sensors on this gripping device 8 determine the presence of the sliver end 16. At this moment or with a delay, the sliver end 16 is clamped on the gripping device 8 and the rotary movement of the can 12 is stopped.
  • the gripping device 8 is additionally displaced counter to the direction of rotation of the can 12.
  • a time delay of the fixing process of the sliver end 16 is possible by moving the gripping device 8 in the same direction, but at a lower speed, than the rotary movement of the can 12.
  • the changing device 7 is brought into a position in which it does not hinder the travel process of the transport vehicle 5, but can subsequently grasp the test material container to be replaced as quickly as possible.
  • the change device 7, or its container holders 20 are extended and the test material container 18 is grasped.
  • This empty textile material container 18 is now on the empty parking space 19 parked on the transport vehicle 5.
  • the changing device 7 is then moved so that the container holders 20 can grip the full can 12, which is already on the transport vehicle 5.
  • the full can 12 is moved into the parking space on the can rack 17 by means of the changing device 7, in which the can 18 was previously parked.
  • the sliver end 16 is brought into a transfer position on the infeed table 17 of the path 4 with the aid of the gripping device 8.
  • this transfer position on the infeed table 17 there is an attachment device which can take over the sliver end 16 and introduces the machine, in this case the section 4, into the textile material receiving machine.
  • the changing device 7 and the gripping device 8 are withdrawn into the area of the transport vehicle, and the transport vehicle is ready for a new changing process.
  • the transport vehicle is ready for a new changing process.
  • the driving movements of the transport vehicle are then controlled and optimized accordingly.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Coiling Of Filamentary Materials In General (AREA)

Description

Die Erfindung betrifft ein Verfahren zum Wechseln von Faserbandbehältern an Textilmaschinen und Bereitstellen des Faserbandendes zur Aufnahme in eine Textilmaterial aufnehmende Textilmaschine, wobei ein Faserbandbehälter in einer Textilmaterial abgebenden Maschine mit Faserband gefüllt, das Faserband nach dem Füllen abgetrennt, der gefüllte Faserbandbehälter zu einer Textilmaterial aufnehmenden Textilmaschine transportiert und dort an diese übergeben wird sowie eine Vorrichtung zur Durchführung dieses Verfahrens.The invention relates to a method for changing sliver containers on textile machines and providing the sliver end for inclusion in a textile machine absorbing textile material, wherein a sliver container in a textile material-dispensing machine is filled with sliver, the sliver is separated after filling, the filled sliver container is made into a textile material-absorbing textile machine transported and handed over to them there and a device for performing this method.

Aus der DE-A-26 46 313 ist ein Verfahren und eine Vorrichtung zum Auswechseln von Faserbandkonnen bekannt, wobei die Kannentransportvorrichtung eine steuerbare Klemme für das Faserbandende aber kernen Drechteller besitzt.From DE-A-26 46 313 a method and a device for exchanging sliver bones is known, the can transport device having a controllable clamp for the sliver end but core Drechteller.

Gemäss der Offenlegungsschrift DE-A-35 24 922 ist eine Vorrichtung zum Austauschen von leeren Textilmaterialbehältern in der Form von Kannen gegen gefüllte Kannen an Spinnmaschinen bekannt. Bei dieser Vorrichtung handelt es sich um ein Transportfahrzeug, auf welchem hintereinander mehrere Kannen, bzw. Textilmaterialbehälter abgestellt sind. Am Transportfahrzeug ist eine Kannenhandhabungsvorrichtung angeordnet, und zwar in der Form eines entlang des Fahrzeuges verfahrbaren Portalträgers mit einem quer dazu verfahrbaren Ausleger. Mit dieser Kannenhandhabungsvorrichtung können einzelne Textilmaterialbehälter angehoben und zwischen Transportfahrzeug und Spinnmaschine verfahren und an den jeweiligen Stellplätzen abgestellt werden. Die Portalausführung der Kannenhandhabungsvorrichtung benötigt relativ viel Platz, und die Textilmaterialbehälter können nur rechtwinklig zur Fahrbahn des Transportfahrzeuges versetzt werden.According to the published patent application DE-A-35 24 922, a device for exchanging empty textile material containers in the form of cans for filled cans on spinning machines is known. This device is a transport vehicle on which several cans or textile material containers are placed one behind the other. A can handling device is arranged on the transport vehicle, specifically in the form of a gantry carrier which can be moved along the vehicle and has a boom which can be moved transversely thereto. With this can handling device, individual textile material containers can be lifted and moved between the transport vehicle and the spinning machine and placed at the respective parking spaces. The portal design of the can handling device requires a relatively large amount of space, and the textile material containers can only be moved at right angles to the lane of the transport vehicle.

Beim Abstellen oder Aufnehmen von Behältern an der Spinnmaschine ergeben sich weitere Schwierigkeiten, da die Greifeinrichtung für die Kannen von oben an die Behälter zugefahren werden muss und deshalb der Raum über dem Behälter frei von Maschinenaufbauten oder Abdeckungen sein muss. Bei verschiedenen Maschinen ist dies nicht möglich, und diese Wechselvorrichtung für Textilmaterialbehälter kann in diesen Fällen nicht eingesetzt werden. Im weiteren bleibt beim Einsatz dieser Kannenwechselvorrichtung auch der Nachteil bestehen, dass nach dem Einbringen einer gefüllten Kanne in eine Spinnmaschine das Bandende manuell gesucht und festgestellt und anschliessend in die Anspinnvorrichtung eingebracht werden muss. Dadurch wird der in neuen Maschinenanlagen gewünschte automatische Ablauf erheblich gestört, und es treten immer wieder Betriebsunterbrüche an den Maschinen auf.When placing or picking up containers on the spinning machine, there are further difficulties, since the gripping device for the cans must be closed from above the containers and therefore the space above the container must be free of machine structures or covers. This is not possible with different machines and this change device for textile material containers cannot be used in these cases. Furthermore, when this can changing device is used, there is also the disadvantage that after the filled can has been introduced into a spinning machine, the end of the belt has to be manually searched for and ascertained and then introduced into the piecing device. This considerably disrupts the automatic process required in new machine systems, and there are always interruptions in operation on the machines.

Es ist bekannt, das Ansetzen des Faserbandes an einer Textilmaterial aufnehmenden Textilmaschine durch an dieser Maschine angebaute Vorrichtungen zu automatisieren. Die Deutsche Offenlegungsschrift DE-A-35 01 875 zeigt eine derartige Einrichtung, welche an einer Spinnmaschine angebaut ist. Die Vorrichtung ist an über der Spinnmaschine angeordneten Laufschienen aufgehängt und verfügt über eine Greifeinrichtung für Faserbandbehälter sowie Hilfseinrichtungen zum Festlegen des Faserbandendes. Für den eigentlichen Wechselvorgang von vollen, bzw. leeren Behältern ist in der Mitte der Spinnmaschine ein Förderband angeordnet, auf welchem die vollen, bzw. leeren Textilmaterialbehälter entlang der Maschinenachse verschoben werden. Mittels der am Wartungsgerät angeordneten Greifeinrichtung werden die Behälter rechtwinklig zur Förderbandachse in die Arbeitspositionen an der Maschine verschoben. Bevor die vollen Textilmaterialbehälter auf das Förderband aufgebracht werden, wird das Ende des Faserbandes in einer am Rand des Textilmaterialbehälters angebrachten Klemme festgelegt und positioniert. Die am Wartungsgerät angeordnete Greifeinrichtung für die Behälter ist mit Rollen versehen, mittels welcher die Textilmaterialbehälter um ihre Achse gedreht werden können bis die Klemme, bzw. das Faserbandende, in einer vorbestimmten Position liegen. In dieser Position wird dann der Textilmaterialbehälter in seinem Arbeitsstellplatz an der Maschine abgestellt, und die am Wartungsgerät angeordnete Ansetzvorrichtung kann das Faserbandende übernehmen. Es ist offensichtlich, dass auch diese Vorrichtung keinen vollautomatischen Betrieb zulässt, da das Faserbandende manuell am Textilmaterialbehälter festgelegt werden muss. Zudem müssen die leeren und vollen Textilmaterialbehälter durch zusätzliche Hilfseinrichtungen vom Förderband entfernt oder auf das Förderband zugebracht werden. An jeder Maschine ist auf jeder Seite ein Wartungsgerät notwendig, was zu einem erheblichen Investitionsaufwand führt. Zudem ist diese Art des Textilmaterialbehälterwechsels nur bei den entsprechend gebauten Maschinen möglich und kann bei Kombinations- oder Gesamtanlagen nur bei diesen Spezialmaschinen verwendet werden. Alle anderen Maschinen müssen durch andere Geräte oder von Hand bedient werden.It is known to automate the attachment of the fiber sliver to a textile machine receiving textile material by means of devices attached to this machine. German Offenlegungsschrift DE-A-35 01 875 shows such a device which is attached to a spinning machine. The device is suspended from running rails arranged above the spinning machine and has a gripping device for sliver containers and auxiliary devices for fixing the sliver end. For the actual changing process of full or empty containers, a conveyor belt is arranged in the middle of the spinning machine, on which the full or empty textile material containers are moved along the machine axis. Using the gripping device on the service unit, the containers are moved at right angles to the conveyor belt axis into the working positions on the machine. Before the full textile material containers are placed on the conveyor belt, the end of the sliver is fixed and positioned in a clamp attached to the edge of the textile material container. The gripping device for the containers arranged on the maintenance device is equipped with rollers provided, by means of which the textile material container can be rotated about its axis until the clamp or the sliver end are in a predetermined position. In this position, the textile material container is then placed in its working position on the machine, and the attachment device arranged on the maintenance device can take over the sliver end. It is obvious that this device also does not permit fully automatic operation, since the sliver end must be fixed manually on the textile material container. In addition, the empty and full textile material containers must be removed from the conveyor belt or brought onto the conveyor belt by additional auxiliary devices. A maintenance device is required on every side of every machine, which leads to a considerable investment. In addition, this type of textile material container change is only possible with the correspondingly built machines and can only be used with these or special machines in combination or complete systems. All other machines must be operated by other devices or by hand.

Aus der europäischen Patentanmeldung EP-A-301 330 A1 ist eine weitere Vorrichtung zum Zuführen des Faserbandes von einem Textilmaterialbehälter zu einer Textilmaschine, insbesondere einer Strecke, bekannt. Bei dieser Vorrichtung sind die vollen Textilmaterialbehälter parallel vor den Arbeitsplätzen der Maschine aufgestellt. Jedem der Behälter ist in der Warteposition eine hydraulische Verschiebeeinrichtung zugeordnet. Ueber den Behältern in Warteposition ist an einer Schiene ein verfahrbarer Wagen mit einem Greifer für das Faserband angeordnet. Dieser Greifer kann um den Aussenmantel eines Textilmaterialbehälters bewegt und dabei ein herabhängendes Faserband erfasst werden. Nach dem Erfassen legt der Greifer das Band auf eine Zuführeinrichtung an der Textilmaschine. Bei dieser Einrichtung werden die vollen Textilmaterialbehälter durch bekannte Transportmittel zu den Maschinen gebracht. Das Abstellen bei der Maschine erfolgt offenbar manuell oder mit üblichen Hilfsmitteln, wie Schiebeinrichtungen. Die Behälter müssen an der Maschine vorerst in einer Warteposition abgestellt werden, damit das Faserbandende gesucht und an die Maschine übergeben werden kann. In einem weiteren Arbeitsschritt wird der volle Behälter in die Maschine geschoben und dabei ein leerer Behälter aus der Maschine ausgestossen. Dieser muss wiederum manuell und mit den bekannten Hilfsmitteln von der Maschine entfernt werden. Diese Einrichtung benötigt sehr viel Platz um die Maschine, da Warteplätze für volle Behälter, Ausstossplätze für leere Behälter und Platz für die Verschiebeeinrichtungen zu jedem Behälter notwendig sind. Zudem ist der Wechselvorgang zeitaufwendig, da mehrere aufeinanderfolgende Arbeitsschritte nötig sind. Da der Wagen mit dem Greifer für das Band nur einen Behälter bedienen kann, ist der beschriebene Blockwechsel, bei welchem alle Behälter ausgetauscht werden, sehr zeitaufwendig. Während dieser Zeit muss die Maschine abgestellt werden, was zu hohen Produktionsausfällen führt.Another device for feeding the sliver from a textile material container to a textile machine, in particular a draw frame, is known from European patent application EP-A-301 330 A1. In this device, the full textile material containers are set up in parallel in front of the workplaces of the machine. A hydraulic shifting device is assigned to each of the containers in the waiting position. A movable carriage with a gripper for the sliver is arranged on a rail above the containers in the waiting position. This gripper can be moved around the outer jacket of a textile material container and a sliver hanging down can be gripped. After gripping, the gripper places the belt on a feed device on the textile machine. With this device, the full textile material containers are brought to the machines by known means of transport. The parking at the machine is apparently done manually or with conventional aids, such as sliding devices. The containers must first be parked in a waiting position on the machine so that the sliver end can be sought and transferred to the machine. In a further step, the full container is pushed into the machine and an empty container is ejected from the machine. This, in turn, must be removed from the machine manually and using the known tools. This device requires a lot of space around the machine, since waiting places for full containers, ejection places for empty containers and space for the shifting devices for each container are necessary. The changeover process is also time-consuming, since several successive work steps are necessary. Since the carriage with the gripper for the belt can only serve one container, the block change described, in which all containers are exchanged, is very time-consuming. During this time, the machine has to be shut down, which leads to high production downtimes.

Es ist Aufgabe der vorliegenden Erfindung, ein Verfahren und eine Vorrichtung zu schaffen, mittels welcher der Wechsel von Textilmaterialbehältern zwischen verschiedenen Textilmaschinen und die gleichzeitige Bereitstellung des Faserbandendes für das Ansetzen vollständig automatisch erfolgen können, das Verfahren, bzw. Verschieben der Textilmaterialbehälter von einer Maschine zur andern gleichzeitig mit dem Festlegen des Faserbandendes erfolgt, die Wechsel-, bzw. Verschiebevorgänge für die Textilmaterialbehälter sowie die Festlegung des Faserbandendes von einem Transportfahrzeug aus ausgeführt und gesteuert werden sowie durch die Ausführung der notwendigen Verfahrensschritte vom Transportfahrzeug aus und die Anordnung der entsprechenden Einrichtung auf diesem Transportfahrzeug der Arbeitsablauf vereinfacht und die notwendigen Geräte mehrfach genutzt werden können.It is an object of the present invention to provide a method and a device by means of which the change of textile material containers between different textile machines and the simultaneous provision of the sliver end for the attachment can take place completely automatically, the method, or moving the textile material containers from one machine to other takes place simultaneously with the determination of the sliver end, the changing or shifting processes for the textile material containers as well as the determination of the sliver end are carried out and controlled by a transport vehicle as well as by the execution of the necessary procedural steps from the transport vehicle and the arrangement of the corresponding device on it Transport vehicle simplifies the workflow and the necessary equipment can be used multiple times.

Diese Aufgabe wird bei einem Verfahren nach dem Patentanspruch 1 erfindungsgemäss gelöst und bei einer entsprechenden Vorrichtung zur Durchführung des Verfahrens nach den kennzeichnenden Merkmalen des Patentanspruches 4. Vorteilhafte Weiterbildungen der Erfindung ergeben sich nach den Merkmalen der abhängigen Patentansprüche.This object is achieved according to the invention in a method according to claim 1 and in a corresponding device for performing the method according to the characterizing features of claim 4. Advantageous further developments of the invention result from the features of the dependent claims.

Die wesentlichen Vorteile der Erfindung sind darin zu sehen, dass an den Textilmaterial abgebenden Maschinen und an den Textilmaterialbehältern keine Zusatzeinrichtungen notwendig sind um das Faserbandende an den gefüllten Textilmaterialbehältern festzulegen. Das Faserband wird nach dem Füllen des Behälters einfach abgerissen und über den Rand des Textilmaterialbehälters fallengelassen. Dabei kann sich das Faserbandende an einer beliebigen Stelle am Umfang des Faserbandbehälters befinden. Auch an der Textilmaterial aufnehmenden Maschine sind keine Zusatzeinrichtungen notwendig, um das Faserbandende zu suchen und festzulegen und vom Textilmaterialbehälter zur Ansetzstelle an der Maschine zu bringen. Nachdem das Faserbandende über den Rand des Textilmaterialbehälters fallengelassen wurde, wird dem Transportfahrzeug über eine Steuereinrichtung mitgeteilt, dass an einem bestimmten Stellplatz einer Textilmaterial abgebenden Maschine ein voller Textilmaterialbehälter abgeholt werden soll. Das Transportfahrzeug wird automatisch in die Wechselposition verfahren, und der Textilmaterialbehälter aus der Textilmaschine entnommen und auf einen Abstellplatz auf dem Transportfahrzeug versetzt. Auf dem Transportfahrzeug wird eine Greifeinrichtung für das Faserbandende im Bereiche des Aussenmantels des Behälters in eine Aufnahmeposition gebracht und der Textilmaterialbehälter um seine Achse gedreht bis das Faserbandende in die Greifeinrichtung eingelegt wird. Erfolgen beide Bewegungen gleichzeitig in entgegengesetzter Richtung, so wird der Festlegevorgang für das Faserbandende beschleunigt. Bewegt sich die Greifeinrichtung in gleicher Richtung wie der Behältermantel, so wird der Festlegevorgang verzögert. Sobald das Faserbandende in die Greifeinrichtung eingelegt ist, erzeugen Sensoren einen Steuerbefehl, und die Greifeinrichtung klemmt das Faserbandende fest. Während dieses Such- und Festlegevorganges des Faserbandendes am vollen Textilmaterialbehälter verfährt das Transportfahrzeug zu einer anderen Wechselposition, beispielsweise an einer Textilmaterial aufnehmenden Maschine, wo ein leerer Stellplatz für einen Textilmaterialbehälter vorhanden ist. Anschliessend wird der volle Textilmaterialbehälter mittels der ebenfalls auf dem Transportfahrzeug angeordneten Wechselvorrichtung für die Behälter erfasst und in den leeren Abstellplatz an der Material aufnehmenden Textilmaschine übergeben. Gleichzeitig wird das Faserbandende durch die Greifeinrichtung in eine Uebergabeposition gebracht, d.h. in eine Stellung, wo das Ansetzen des Faserbandendes an die Textilmaterial aufnehmende Maschine gewünscht ist. Das Faserbandende wird ebenfalls an die Maschine übergeben, und die Greifeinrichtung für das Faserbandende sowie die Wechselvorrichtung für die Textilmaterialbehälter werden in den Bereich des Transportfahrzeuges zurückgezogen und sind bereit für den nächsten Wechsel- und/oder Festlegevorgang. Weder an der Textilmaterial abgebenden noch an der Material aufnehmenden Maschine werden Warteräume für die Behälter benötigt. Die Wechselvorrichtung für die Behälter ist nicht Bestandteil der Maschinen, sondern am Transportfahrzeug angeordnet. Sie ist deshalb immer dort, und nur dort vorhanden, wo Behälter ausgewechselt werden.The main advantages of the invention can be seen in the fact that no additional devices are necessary on the machines that deliver textile material and on the textile material containers in order to fix the sliver end on the filled textile material containers. After filling the container, the sliver is simply torn off and dropped over the edge of the textile material container. The sliver end can be at any point on the circumference of the sliver container. Also on the machine holding the textile material, no additional devices are necessary to search for and fix the sliver end and to bring it from the textile material container to the attachment point on the machine. After the sliver end has been dropped over the edge of the textile material container, the transport vehicle is informed via a control device that a full textile material container is to be picked up at a specific parking space of a machine that dispenses textile material. The transport vehicle is automatically moved into the change position, and the textile material container is removed from the textile machine and moved to a parking space on the transport vehicle. On the transport vehicle, a gripping device for the sliver end is brought into a receiving position in the region of the outer jacket of the container and the textile material container is rotated about its axis until the sliver end is inserted into the gripping device. If both movements occur simultaneously in the opposite direction, the setting process for the sliver end is accelerated. If the gripping device moves in the same direction as the container jacket, the fixing process is delayed. As soon as the sliver end is inserted into the gripping device, sensors generate a control command and the gripping device clamps the sliver end firmly. During this search and fixing process of the sliver end on the full textile material container, the transport vehicle moves to another changing position, for example on a machine that absorbs textile material, where there is an empty parking space for a textile material container. The full textile material container is then gripped by means of the change device for the containers, which is also arranged on the transport vehicle, and transferred to the empty parking space at the textile machine holding the material. At the same time, the end of the sliver is brought into a transfer position by the gripping device, ie into a position where the end of the sliver is desired to be attached to the machine that takes up the textile material. The sliver end is also transferred to the machine, and the gripping device for the sliver end and the changing device for the textile material containers are withdrawn into the area of the transport vehicle and are ready for the next changing and / or fixing process. No waiting rooms are required for the containers, neither on the machine that delivers the textile material nor on the material receiving machine. The changing device for the container is not part of the machine, but is arranged on the transport vehicle. It is therefore always there and only available where containers are exchanged.

Die Wechselvorrichtung für die Faserbandbehälter und die Greifeinrichtung zum Suchen und Festlegen des Faserbandendes werden bei dieser Anordnung auf dem Transportfahrzeug mehrfach genutzt, da sie bei jedem Wechselvorgang eingesetzt werden. Für beide Funktionen ist jeweils nur eine Positionierung des Behälters und der Hilfseinrichtungen notwendig. An den einzelnen Maschinen sind keine entsprechenden Hilfseinrichtungen notwendig, und dies führt zu erheblichen Einsparungen an Investitionen. Bei einer grossen Zahl von Maschinen können mehrere Transportfahrzeuge eingesetzt werden, wobei die Kombination von unterschiedlichen Textilmaschinen ohne Schwierigkeiten möglich ist. Der Wechselvorgang der Textilmaterialbehälter und das Festlegen des Textilbandendes ist nicht durch die Maschinentypen bestimmt, sondern erfolgt in jedem Falle durch die Arbeitsschritte der auf dem Transportfahrzeug angeordneten Einrichtungen. Das erfindungsgemässe Verfahren und die entrsprechenden Vorrichtungen ermöglichen einen vollautomatischen Ablauf des Wechselvorganges der Behälter und des Festlegevorgances für die Faserbandenden. Dadurch ist es möglich, entsprechende automatische Steuerungen einzusetzen und das Transportfahrzeug mit den entsprechenden Einrichtungen optimal auszunutzen. Dies führt zu einer höheren Betriebssicherheit und zu einer besseren Wirtschaftlichkeit der Gesamtanlage. Für das Wechseln der Textilmaterialbehälter und das Festlegen sowie das Uebergeben des Faserbandendes in die Ansetzposition sind keine manuellen Handlungen notwendig, da diese alle vollautomatisch und von einer Einrichtung aus erfolgen und zwar, gemäss der Erfindung, für verschiedene Textilmaschinen von einem automatisch verfahrbaren Transportfahrzeug aus.The changing device for the sliver container and the gripping device for searching and fixing the sliver end are used several times in this arrangement on the transport vehicle, since they are used for every changing operation. Only one positioning of the container and the auxiliary devices is necessary for both functions. No corresponding auxiliary devices are required on the individual machines, and this leads to considerable savings in investments. With a large number of machines, several transport vehicles can be used, the combination of different textile machines being possible without difficulty. The process of changing the Textile material containers and the setting of the textile belt end is not determined by the machine types, but in any case takes place through the work steps of the devices arranged on the transport vehicle. The method according to the invention and the corresponding devices enable a fully automatic sequence of the changing process of the containers and the fixing procedure for the sliver ends. This makes it possible to use appropriate automatic controls and to make optimum use of the transport vehicle with the appropriate facilities. This leads to higher operational reliability and better economy of the entire system. No manual actions are required for changing the textile material container and for setting and transferring the sliver end into the attachment position, since these are all fully automatic and from one device, according to the invention, for various textile machines from an automatically movable transport vehicle.

Der Bewegungsraum, welcher, in einer bestimmten Wechselposition des Transportfahrzeuges von der Wechselvorrichtung für die Testilmaterialbehälter bestrichen wird, bedeckt im wesentlichen mindestens einen Abstellplatz am Transportfahrzeug und den zugehörigen Stellplatz an der Testilmaschine, aus welcher ein Testilmaterialbehälter entnommen oder in welche ein Testilmaterialbehälter abgesetzt werden soll. Um diesen Bewegungsraum bestreichen zu können, weist die Wechselvorrichtung einen Roboterarm mit Behälterhalterungen auf. Die Greifeinrichtung für das Faserbandende ist ihrerseits in einem Bewegungsraum verschiebbar, welcher mindestens einen Abstellplatz für Testilmaterialbehälter am Transportfahrzeug bedeckt sowie den der entsprechenden Wechselposition des Transportfahrzeuges zugeordneten Stellplatz für den mit Faserband gefüllten Textilmaterialbehälter. Zusätzlich ist die Greifeinrichtung noch in dem Raum bewegbar, in welchem die Ansetzvorrichtung für das Faserbandende an die Maschine angeordnet ist. Sind auf dem Transportfahrzeug zwei Abstellplätze vorhanden und die Wechselvorrichtung und die Greifeinrichtung im Bereiche beider Abstellplätze bewegbar, so ergibt sich ein optimaler Ablauf des Wechselvorganges. Der Roboterarm zur Wechselvorrichtung sowie die Träger- und Bewegungseinrichtung für die Greifeinrichtung sind in bekannter Weise ausgeführt und bestehen beispielsweise aus mehrgliedrigen Tragarmen mit entsprechenden Antriebs-, Steuerungs- und Sensorelementen. Das Transportfahrzeug weist ebenfalls bekannte Antriebseinrichtungen sowie Steuereinrichtungen auf, welche das automatische Verfahren zwischen den verschiedenen Materialbehälterstellplätzen an den Textilmaschinen sowie das Positionieren und Anhalten des Transportfahrzeuges in den gewünschten Wechselpositionen ermöglichen.The movement space which is covered by the changing device for the testile material containers in a specific change position of the transport vehicle essentially covers at least one parking space on the transport vehicle and the associated parking space on the test machine from which a testile material container is to be removed or into which a testile material container is to be placed. In order to be able to cover this movement space, the changing device has a robot arm with container holders. The gripping device for the sliver end can in turn be moved in a movement space which covers at least one parking space for testile material containers on the transport vehicle and the parking space associated with the corresponding changing position of the transport vehicle for the textile material container filled with sliver. In addition, the gripping device can still be moved in the space in which the attachment device for the sliver end is arranged on the machine. There are two parking spaces on the transport vehicle is present and the changing device and the gripping device can be moved in the area of both parking spaces, this results in an optimal sequence of the changing process. The robot arm for the changing device and the carrier and movement device for the gripping device are designed in a known manner and consist, for example, of multi-part support arms with corresponding drive, control and sensor elements. The transport vehicle also has known drive devices and control devices which enable the automatic movement between the different material container positions on the textile machines and the positioning and stopping of the transport vehicle in the desired changing positions.

Im folgenden wird die Erfindung sowie weitere Vorteile und Einzelheiten anhand eines Ausführungsbeispieles unter Bezugnahme auf die beiliegende Zeichnung näher erläutert.In the following the invention and further advantages and details are explained in more detail using an exemplary embodiment with reference to the accompanying drawings.

Figur 1 zeigt die schematische Anordnung von verschiedenen Textilmaschinen und eines erfindungsgemässen Transportfahrzeuges in vereinfachter Darstellung. Als Textilmaterial abgebende Maschinen sind im dargestellten Beispiel Karden 1, 2 und 3 angeordnet. Jede dieser Karden 1, 2, 3 weist ein Magazin 21 für Textilmaterialbehälter, bzw. Kannen 9, 10, 11 auf. Dabei handelt es sich an der Karde 2, bzw. deren Kannenmagazin 21 bei der Kanne 9 um einen mit Faserband gefüllten Behälter, bei der Kanne 10 um einen Behälter, bei welchem der Füllvorgang gerade begonnen hat und bei der Kanne 11 um einen leeren Behälter. Parallel zu den Karden 1, 2 und 3 sind gegenüberliegend eine oder mehrere Strecken 4 angeordnet. Im dargestellten Beispiel ist nur eine Strecke 4 gezeigt, wobei diese Strecke 4 über einen Einlauftisch 17 mit gefüllten Kannen verfügt, aus welchen Faserband abgezogen und der Strecke 4 zugeführt wird. Zwischen den Karden 1, 2, 3 und den Strecken 4 befindet sich ein Transportfahrzeug 5, welches entlang einer Fahrachse 6 auf einer vorbestimmten Bahn automatisch verfahrbar ist.Figure 1 shows the schematic arrangement of various textile machines and a transport vehicle according to the invention in a simplified representation. In the example shown, cards 1, 2 and 3 are arranged as textile-dispensing machines. Each of these cards 1, 2, 3 has a magazine 21 for textile material containers or cans 9, 10, 11. This is on the card 2, or its can magazine 21, the can 9 is a container filled with sliver, the can 10 is a container in which the filling process has just started and the can 11 is an empty container. One or more draw frames 4 are arranged opposite one another parallel to cards 1, 2 and 3. In the example shown, only one section 4 is shown, this section 4 having an infeed table 17 with filled cans, from which sliver is drawn off and fed to section 4. There is a transport vehicle 5 between cards 1, 2, 3 and routes 4, which can be moved automatically along a travel axis 6 on a predetermined path.

Auf diesem Transportfahrzeug 5 befinden sich zwei Abstellplätze 19 für Textilmaterialbehälter. Diese Abstellplätze 19 verfügen je über einen Drehteller 14, welcher in Richtung der Pfeile 15 drehbar ist. Im dargestellten Beispiel ist einer der Abstellplätze 19 leer, und auf dem zweiten befindet sich eine gefüllte Kanne 12. Bei dieser Kanne 12 hängt das Faserbandende 16 lose über den Kannenrand und befindet sich im Bereiche des Aussenmantels der Kanne 12. Zwischen den beiden Abstellplätzen 19 ist eine Wechselvorrichtung 7 zum Verschieben der Textilmaterialbehälter vom Transportfahrzeug 5 in einen entsprechenden Stellplatz an einer Textilmaschine und umgekehrt angeordnet. Diese Wechselvorrichtung 7 besteht aus einem mehrgliedrigen Roboterarm mit Behälterhalterungen 20 am äusseren Ende. Mittels dieser Behälterhalterung 20 kann ein Textilmaterialbehälter erfasst und dann mit der Wechselvorrichtung 7 angehoben und verschoben werden. Zwischen den Abstellplätzen 19 ist zusätzlich eine Greifeinrichtung 8 für das Faserbandende angeordnet, welche ebenfalls aus einem mehrgliedrigen Roboterarm und an ihrem Ende angeordneten Bandklemmen besteht. Sowohl Wechselvorrichtung 7 wie Greifeinrichtung 8 weisen nicht dargestellte bekannte Sensoren für die Positionserfassung, Antriebe und Steuervorrichtungen auf.There are two parking spaces 19 for textile material containers on this transport vehicle 5. These parking spaces 19 each have a turntable 14 which can be rotated in the direction of the arrows 15. In the example shown, one of the parking spaces 19 is empty, and on the second there is a filled can 12. In this can 12, the sliver end 16 hangs loosely over the edge of the can and is located in the area of the outer jacket of the can 12. There is 19 between the two parking spaces a changing device 7 for moving the textile material container from the transport vehicle 5 into a corresponding parking space on a textile machine and vice versa. This changing device 7 consists of a multi-part robot arm with container holders 20 at the outer end. By means of this container holder 20, a textile material container can be grasped and then raised and moved with the changing device 7. Between the parking spaces 19 there is additionally a gripping device 8 for the sliver end, which likewise consists of a multi-section robot arm and band clamps arranged at its end. Both changing device 7 and gripping device 8 have known sensors (not shown) for position detection, drives and control devices.

In Figur 1 befindet sich das Transportfahrzeug 5 in einer Wechselposition, welche dem Stellplatz mit der leeren Kanne 11 an der Karde 2 entspricht. Diese leere Kanne 11 ist dem leeren Stellplatz 19 auf dem Transportfahrzeug 5 entnommen und mit Hife der Wechselvorrichtung 7 in die dargestellte Position im Kannenmagazin 21 der Karde 2 versetzt worden. Durch Oeffnen der Behälterhalterungen 20 wird die Kanne 11 hier abgestellt und anschliessend die Wechselvorrichtung 7 in den Bereich des Transportfahrzeuges 5 zurückgezogen. Im dargestellten Beispiel befindet sich in der Strecke 4, bzw. deren Einlauftisch 17, eine leere Kanne 18, welche durch eine volle Kanne ersetzt werden sollte. Es kann aber auch ein leerer Reserveplatz an der Strecke 4 vorgesehen werden. Das Transportfahrzeug 5 wird nun von der dargestellten Position in die Wechselposition verfahren, welche dem leeren Textilmaterialbehälter 18 oder einem leeren Reserveplatz am Einlauftisch 17 zugeordnet ist. Während dieses Verfahrvorganges wird die gefüllte Kanne 12 auf dem Transportfahrzeug 5 mittels des Drehtellers 14, auf welchem sie abgestellt ist, um ihre Längsachse gedreht. Dazu wirken der Boden des Materialbehälters 12 und der Drehteller 14 am Transportfahrzeug 5 zusammen und bilden in nicht dargestellter Weise eine formschlüssige Verbindung. Gleichzeitig wird die Greifeinrichtung 8 in eine gewünschte Aufnahmeposition am Mantel der Kanne 12 gebracht. Die Kanne 12 wird nun so lange um ihre Achse gedreht, bis das Faserbandende 16 in die Greifeinrichtung 8 eingelegt wird und Sensoren an dieser Greifeinrichtung 8 das Vorhandensein des Bandendes 16 feststellen. In diesem Moment oder mit einer Verzögerung wird das Faserbandende 16 an der Greifeinrichtung 8 festgeklemmt und die Drehbewegung der Kanne 12 gestoppt. Soll der Such-, bzw. Festlegevorgang des Bandes beschleunigt werden, so wird die Greifeinrichtung 8 entgegen der Drehrichtung der Kanne 12 zusätzlich verschoben. Eine zeitlich Verzögerung des Festlegevorganges des Faserbandendes 16 ist möglich, indem die Greifeinrichtung 8 in gleicher Richtung, jedoch mit geringerer Geschwindigkeit, wie die Drehbewegung der Kanne 12 bewegt wird. Während des Verfahrens des Transportfahrzeuges 5 wird die Wechselvorrichtung 7 in eine Position gebracht, in welcher sie den Verfahrvorgang des Transportfahrzeuges 5 nicht behindert, jedoch anschliessend möglichst rasch den auszuwechselnden Testilmaterialbehälter erfassen kann. Sobald das Transportfahrzeug 5 die gewünschte neue Wechselposition erreicht hat, wird es dort festgelegt, und die Wechselvorrichtung 7, bzw. deren Behälterhalterungen 20, werden ausgefahren und der Testilmaterialbehälter 18 erfasst. Dieser leere Textilmaterialbehälter 18 wird nun auf dem leeren Abstellplatz 19 am Transportfahrzeug 5 abgestellt. Anschliessend wird die Wechselvorrichtung 7 so verfahren, dass die Behälterhalterungen 20 die volle Kanne 12, welche sich bereits auf dem Transportfahrzeug 5 befindet, erfassen können. Nun wird mittels der Wechselvorrichtung 7 die volle Kanne 12 in den Stellplatz am Kannengestell 17 verschoben, in welcher vorher die Kanne 18 abgestellt war. Gleichzeitig mit dem Verschiebevorgang der Kanne 12 mittels der Wechselvorrichtung 7 wird das Faserbandende 16 mit Hilfe der Greifeinrichtung 8 in eine Uebergabeposition am Einlauftisch 17 der Strecke 4 gebracht. In dieser Uebergabeposition am Einlauftisch 17 befindet sich eine Ansetzvorrichtung, welche das Faserbandende 16 übernehmen kann und in die Textilmaterial aufnehmende Maschine, in diesem Falle die Strecke 4, einführt. Sobald die Kanne 12 am Einlauftisch 17 abgestellt und das Faserbandende 16 an die Ansetzvorrichtung übergeben wurde, werden die Wechselvorrichtung 7 und die Greifeinrichtung 8 in den Bereich des Transportfahrzeuges zurückgezogen, und das Transportfahrzeug ist bereit für einen neuen Wechselvorgang. Je nach Anzahl der Kannenstellplätze an den Maschinen und den entsprechenden Reserveplätzen ist es auch möglich, auf dem Transportfahrzeug nur einen Abstellplatz vorzusehen. Die Fahrbewegungen des Transportfahrzeuges werden dann entsprechend gesteuert und optimiert.In Figure 1, the transport vehicle 5 is in a changing position, which corresponds to the parking space with the empty can 11 on the card 2. This empty can 11 has been removed from the empty parking space 19 on the transport vehicle 5 and has been moved into the position shown in the can magazine 21 of the card 2 with the aid of the changing device 7. By opening the container holders 20, the can 11 is parked here and then the changing device 7 is withdrawn into the area of the transport vehicle 5. In the example shown there is route 4 or whose inlet table 17, an empty can 18, which should be replaced by a full can. An empty reserve space on route 4 can also be provided. The transport vehicle 5 is now moved from the position shown to the change position, which is assigned to the empty textile material container 18 or an empty reserve space on the inlet table 17. During this process, the filled can 12 on the transport vehicle 5 is rotated about its longitudinal axis by means of the turntable 14 on which it is placed. For this purpose, the bottom of the material container 12 and the turntable 14 cooperate on the transport vehicle 5 and form a positive connection in a manner not shown. At the same time, the gripping device 8 is brought into a desired receiving position on the jacket of the can 12. The can 12 is now rotated about its axis until the sliver end 16 is inserted into the gripping device 8 and sensors on this gripping device 8 determine the presence of the sliver end 16. At this moment or with a delay, the sliver end 16 is clamped on the gripping device 8 and the rotary movement of the can 12 is stopped. If the search or fixing process of the belt is to be accelerated, the gripping device 8 is additionally displaced counter to the direction of rotation of the can 12. A time delay of the fixing process of the sliver end 16 is possible by moving the gripping device 8 in the same direction, but at a lower speed, than the rotary movement of the can 12. During the movement of the transport vehicle 5, the changing device 7 is brought into a position in which it does not hinder the travel process of the transport vehicle 5, but can subsequently grasp the test material container to be replaced as quickly as possible. As soon as the transport vehicle 5 has reached the desired new change position, it is fixed there, and the change device 7, or its container holders 20, are extended and the test material container 18 is grasped. This empty textile material container 18 is now on the empty parking space 19 parked on the transport vehicle 5. The changing device 7 is then moved so that the container holders 20 can grip the full can 12, which is already on the transport vehicle 5. Now the full can 12 is moved into the parking space on the can rack 17 by means of the changing device 7, in which the can 18 was previously parked. Simultaneously with the displacement process of the can 12 by means of the changing device 7, the sliver end 16 is brought into a transfer position on the infeed table 17 of the path 4 with the aid of the gripping device 8. In this transfer position on the infeed table 17 there is an attachment device which can take over the sliver end 16 and introduces the machine, in this case the section 4, into the textile material receiving machine. As soon as the can 12 is placed on the infeed table 17 and the sliver end 16 has been transferred to the attachment device, the changing device 7 and the gripping device 8 are withdrawn into the area of the transport vehicle, and the transport vehicle is ready for a new changing process. Depending on the number of pitches on the machines and the corresponding reserve spaces, it is also possible to provide only one parking space on the transport vehicle. The driving movements of the transport vehicle are then controlled and optimized accordingly.

Es ist offensichtlich, dass die Anordnung der Wechselvorrichtung 7 für die Textilmaterialbehälter und der Greifeinrichtung 8 für das Faserbandende 16 auf dem Transportfahrzeug 5 und die Kombination dieser Einrichtungen mit den beiden Abstellplätzen 19 auf dem Transportfahrzeug zu einer ausserordentlich kompakten Ausführung dieser Hilfseinrichtung führt. Gleichzeitig werden alle diese Einzel-Einrichtungen möglichst intensiv genutzt, da sie bei jedem Wechselvorgang einsetzbar sind. An den Karden 1, 2, 3, bzw. den Strecken 4, sind keine zusätzlichen Wechselvorrichtungen, bzw. Greifeinrichtungen notwendig, was zu Einsparungen und Vereinfachungen an jeder Maschine führt. Bei Störungen an der Wechselvorrichtung 7, der Greifeinrichtung 8 oder den Drehtellern 14 muss nicht eine der Textilmaschinen 1, 2, 3 oder 4 stillgelegt werden, sondern das Transportfahrzeug 5 kann durch ein Ersatzfahrzeug ersetzt werden, d.h. der Betrieb der Textilmaschinen muss nicht unterbrochen werden. Dies führt zu einer höheren Betriebssicherheit und einem besseren Ausnutzungsgrad der Gesamtanlage. Da das Suchen und Festlegen des Faserbandendes 16 an gefüllten Kannen 12 während des Verfahrvorganges des Transportfahrzeuges 5 erfolgt, wird zusätzlich Zeit eingespart, da gefüllte Kannen 9 sofort automatisch von einer der Karden 1, 2, 3 übernommen werden können, ohne dass zuerst an der Karde das Faserbandende festgelegt werden müsste. Am Ende des Transportvorganges können die gefüllten Kannen 9 direkt an die Strecke 4 übergeben werden, da alle Vorbereitungshandlungen bereits während des Transportes ausgeführt wurden und das Bandenende 16 nun festgelegt ist. Dies vereinfacht den ganzen Arbeitsablauf und ermöglicht insbesondere die Einsparung von zusätzlichen manuellen Eingriffen.It is obvious that the arrangement of the changing device 7 for the textile material container and the gripping device 8 for the sliver end 16 on the transport vehicle 5 and the combination of these devices with the two parking spaces 19 on the transport vehicle leads to an extremely compact design of this auxiliary device. At the same time, all of these individual devices are used as intensively as possible since they can be used with every change process. No additional changing devices or gripping devices are necessary on the cards 1, 2, 3 or the lines 4, which leads to savings and simplifications on each machine. In case of malfunctions the changing device 7, the gripping device 8 or the turntables 14 does not have to shut down one of the textile machines 1, 2, 3 or 4, but the transport vehicle 5 can be replaced by a replacement vehicle, ie the operation of the textile machines does not have to be interrupted. This leads to a higher level of operational safety and a better degree of utilization of the entire system. Since the search and fixing of the sliver end 16 on filled cans 12 takes place during the moving process of the transport vehicle 5, additional time is saved since filled cans 9 can be automatically taken over immediately by one of the cards 1, 2, 3, without first having to use the card the sliver end would have to be determined. At the end of the transport process, the filled cans 9 can be transferred directly to the line 4, since all preparatory actions have already been carried out during the transport and the end of the band 16 is now fixed. This simplifies the entire workflow and in particular enables additional manual interventions to be saved.

Claims (8)

  1. Method for changing sliver containers in textile machines and for making available the sliver end for taking in in a textile machine for receiving textile material, whereby a sliver container is filled with sliver in a machine supplying textile material, the sliver is separated after the filling, the filled sliver container is conveyed to a textile machine for receiving textile material and is supplied thereto, the end of the sliver is allowed to fall over the edge of the container at any random position after the filling of the sliver container, the full container is moved onto a conveying vehicle and deposited thereon, the sliver container is rotated about the container axis on the conveying vehicle and a gripping means for the sliver is moved into a receiving position in the zone of the outer shell of the container, the sliver is inserted into the gripping means by rotation of the container and held in the gripping means during the rest period of the container on the conveying vehicle, the conveyig vehicle is moved to the changing position of the textile machine for receiving textile material and the gripping means with the sliver end is brought to a handover position, the container containing the textile material is handed over to the machine receiving the material and simultaneously the sliver end is handed over with the help of the gripping means to the take-up means of the textile machine receiving the textile material.
  2. Method as claimed in claim 1, characterized in that the sliver container on the conveying vehicle is placed on a turntable and rotated by means of said turntable about the container axis.
  3. Method as claimed in claim 1 or 2, charcterized in that the insertion of the sliver into the gripping means is determined by means of sensors and that the sensors produce control signals.
  4. Method as claimed in one of the claims 1 to 3, characterized in that the gripping means for the sliver and the handling means for the container are combined into one constructional unit and are jointly movable around the outer shell of the sliver container.
  5. Device for carrying out the method as claimed in claim 1, whereby a conveying vehicle (5) for textile material containers (12) is arranged and moveable between the texile machines for receiving and the textile machines for supplying textile material and changer devices (7) are provided for the displacement of textile material containers between the conveying vehicle and the textile machine, characterized in that the conveying vehicle (5) comprises at least one depositing position (19) provided with a turntable (14) for a textile material container (12), a changer device (7) is provided on the conveying device (5) for the textile material container and comprises a multi-member robot arm and container fixing devices (20), whereby in the changing position of the conveying vehicle (5) the freedom of movement of the changer device (7) covers at least one depositing position (19) on the conveying vehicle and the respective parking position of the material container (11, 18) in the textile machine (3, 4) and the gripping means (8) for sliver ends (16) is arranged on the conveying vehicle (5) and movable between all depositing positions (19) of the conveying vehicle (5) and the respective parking position (4) in the textile machine.
  6. Device as claimed in claim 5, characterized in that the floor in the material container (12) and the turntable (14) on the conveying vehicle (5) cooperate and form an interlocking connection.
  7. Device as claimed in one of the claims 5 or 6, characterized in that the gripping means (8) for the sliver end (16) is provided on the robot arm of the changer device (7).
  8. Device as claimed in one of the claims 5 to 7, characterized in that two depositing positions (19) with turntables (14) are provided on the conveying vehicle (5).
EP90119705A 1989-11-07 1990-10-15 Method and apparatus for exchanging sliver cans in textile machines Expired - Lifetime EP0427005B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4014/89A CH679775A5 (en) 1989-11-07 1989-11-07
CH4014/89 1989-11-07

Publications (2)

Publication Number Publication Date
EP0427005A1 EP0427005A1 (en) 1991-05-15
EP0427005B1 true EP0427005B1 (en) 1993-06-16

Family

ID=4268194

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90119705A Expired - Lifetime EP0427005B1 (en) 1989-11-07 1990-10-15 Method and apparatus for exchanging sliver cans in textile machines

Country Status (6)

Country Link
US (1) US5081744A (en)
EP (1) EP0427005B1 (en)
JP (1) JP2839697B2 (en)
CH (1) CH679775A5 (en)
CZ (1) CZ283891B6 (en)
DE (1) DE59001783D1 (en)

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DE4029303A1 (en) * 1990-09-15 1992-03-19 Schlafhorst & Co W Rotor spinning frame - has automatic can changeover system with double can storage facility and transporter to bring or remove cans
DE4113296A1 (en) * 1991-04-24 1992-10-29 Fritz Stahlecker Spinning frame - has conveyor system to changeover blocks of card cans contg. fine sliver with empty cans removed during interruption of spinning
DE9210363U1 (en) * 1992-08-03 1993-01-21 Gebr. Leitz Gmbh & Co, 7082 Oberkochen Cutter head, especially profile cutter head
US5535581A (en) * 1993-04-22 1996-07-16 Murata Kikai Kabushiki Kaisha Sliver cans exchanging system and sliver piecing system
US20070063089A1 (en) * 2002-02-07 2007-03-22 Fa. Trutzschler Gmbh & Co.Kg Apparatus on a spinning machine, especially a spinning preparation machine, for depositing fibre sliver
US7748658B2 (en) * 2002-02-07 2010-07-06 Truetzschler Gmbh & Co. Kg Sliver discharge device
US20070069058A1 (en) * 2002-02-07 2007-03-29 Trutzschler Gmbh & Co. Kg Apparatus on a spinning machine, especially a spinning preparation machine, for depositing and discharging fibre sliver
US20080029637A1 (en) * 2002-02-07 2008-02-07 Trutzschler Gmbh & Co.Kg Apparatus on a spinning room machine, especially a spinning preparation machine, for depositing and discharging fibre sliver
US20070063088A1 (en) * 2002-02-07 2007-03-22 Trutzchler Gmbh & Co. Kg Apparatus in a spinning room for making available a can-less fibre sliver package (feed material) for a sliver-fed spinning machine, for example a draw frame
US20070069059A1 (en) * 2002-02-07 2007-03-29 Trutzschler Gmbh & Co. Kg Apparatus in a spinning room for transporting a can-less fiber sliver package
US7748315B2 (en) * 2005-09-19 2010-07-06 Truetzschler Gmbh & Co., Kg System and method for packaging cotton sliver
DE102007016340A1 (en) * 2007-04-03 2008-10-09 TRüTZSCHLER GMBH & CO. KG Device on a spinning machine, in particular spinning preparation machine, for depositing sliver
CN105236201B (en) * 2015-09-30 2017-11-03 迈得医疗工业设备股份有限公司 A kind of coiler device of transfusion device automatic assembling machine
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CN105480779B (en) * 2015-12-17 2018-09-18 迈得医疗工业设备股份有限公司 Winding device

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Also Published As

Publication number Publication date
DE59001783D1 (en) 1993-07-22
CH679775A5 (en) 1992-04-15
US5081744A (en) 1992-01-21
CS545090A3 (en) 1992-08-12
EP0427005A1 (en) 1991-05-15
JPH03166171A (en) 1991-07-18
JP2839697B2 (en) 1998-12-16
CZ283891B6 (en) 1998-06-17

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