EP0427024B1 - Greif- und Handhabungseinrichtung für Textilmaterialbehälter - Google Patents

Greif- und Handhabungseinrichtung für Textilmaterialbehälter Download PDF

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Publication number
EP0427024B1
EP0427024B1 EP90120038A EP90120038A EP0427024B1 EP 0427024 B1 EP0427024 B1 EP 0427024B1 EP 90120038 A EP90120038 A EP 90120038A EP 90120038 A EP90120038 A EP 90120038A EP 0427024 B1 EP0427024 B1 EP 0427024B1
Authority
EP
European Patent Office
Prior art keywords
gripping device
gripping
holders
disposed
textile material
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
EP90120038A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0427024A1 (de
Inventor
Marcel Siegenthaler
Niklaus Gartenmann
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 EP0427024A1 publication Critical patent/EP0427024A1/de
Application granted granted Critical
Publication of EP0427024B1 publication Critical patent/EP0427024B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/0428—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements for cans, boxes and other receptacles
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/902—Gripping element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Definitions

  • the invention relates to a gripping and handling device for textile material containers on textile machines with a transport vehicle for the material containers, the gripping device being part of a handling device and having container holders.
  • the publication DE-A-34 40 598 describes a transport device for textile material containers, in this case sliver containers. These belong to a spinning machine with a large number of spinning positions.
  • the transport device is a movable carriage on which two extendable articulated arms are arranged.
  • the articulated arms have two joints and each is equipped with a pincer-like receptacle for the sliver container.
  • This pincer-like receptacle consists of a rigid half-shell, which comprises approximately half the circumference of a round sliver container.
  • the pliers-like receptacle is equipped with appropriate clamping elements.
  • the vehicle described with the two articulated arms is relatively bulky and requires a relatively large amount of space between the textile machines to be started and the container positions on the spinning machine. Otherwise the containers cannot be swung out of the spinning machine and moved with the transport trolley.
  • Another disadvantage is the fact that the textile material containers must be carried by the receptacles on the articulated arms or the articulate
  • the device is also intended to enable the container to be gripped without additional supports on the jacket and the necessary space between the containers should be small.
  • the design according to the invention of a gripping and handling device for textile material containers enables a very compact design of the transport vehicle, since the gripping device can be folded into a very narrow space. This is made possible in particular by the multi-section scissor mechanism with the two container holders.
  • the container holders on the scissor mechanism also allow entry into tight spaces between adjacent textile containers and a straight extension of the containers from their position. This enables very small gaps between the individual textile material containers and thus a saving of additional areas on the textile machines.
  • the device allows the detection of containers that are very close to another container stand.
  • the device enables the container to be gripped in the region of the cross-sectional axis, ie the center of gravity, no further auxiliary devices are required which must prevent the container from tipping or swiveling.
  • the inclined contact surfaces on the support strips of the container holders and on the edge of the container result in a self-adjusting detection of the container. This is very simple and reliable and requires only a small feed force.
  • the gripping device By means of the gripping device according to the invention, the textile material containers can also be rotated and positioned in a relatively wide area around their own axis.
  • the drive element which drives the two pairs of guide elements assigned to each container holder permits various known embodiments. The use of guided drive rods or a gear drive is particularly advantageous.
  • the vertical column is either arranged standing between two storage spaces for containers on the transport vehicle or suspended on a portal frame.
  • a fixing device is arranged on the gripping device or on the articulated arm. This fixing device allows the positioning and fixing of a textile material end, for example a textile belt, in the working position necessary for the textile machine. Since the device for fixing the textile material end is built directly onto the gripping device or on the articulated arm and can be rotated with it, the material end is also precisely defined, and no additional device for searching and fixing the material end at the work stations of the textile machine is necessary.
  • the gripping and handling device can be moved and brought into a different position in relation to the container. Furthermore, the gripping device is located completely in the area of the vehicle during the movement process of the transport vehicle, so that no additional free space is required for movement processes. This enables the transport vehicle to move very close to the textile machine, which saves space for the driveway.
  • Figures 1 and 2 show a transport vehicle 1 which can be moved along a driving axis 3 in a lane 26.
  • the transport vehicle 1 has two transport stations 27, 28 for textile material containers 5, 6.
  • a handling device 9 is installed between the two transport stations 27, 28 and consists of a drive and lifting unit 29, a vertical column 35, an articulated arm made up of a first part 19 and a second part 20 and a gripping device 10.
  • the articulated arm 19, 20 has pivot axes 30, 31 and 21.
  • On the axis 21 is the gripping device 10 stored, and above this a fixing device 22 for a textile belt 23 is arranged.
  • the fixing device 22 consists of a known clamping and positioning device for textile tape ends and is moved and positioned together with the gripping device 10 by means of the articulated arm parts 19, 20.
  • the gripping device 10 consists of a multi-section scissor mechanism which has two container holders 11, 12.
  • these container holders 11, 12 have a kink 13 in the rear area and are angled in the direction of the axis 21.
  • a guide element 15, 16 is mounted at the rear end 14 and at the kink 13 of each of the container holders 11 and 12.
  • These guide elements 15, 16 are of equal length and are mounted on a base plate 17 at the other end.
  • the two guide elements 15, 16 form a parallelogram and are designed in a known manner so that the container holders 11, 12 execute the desired sequence of movements into the gripping position.
  • the guide elements 15, 16 can be of unequal length, and they are then not parallel in all positions.
  • the movement of the container holders 11, 12 or the guide elements 15, 16 is effected via a drive element 18, in the example shown two drive rods 37, which are connected to the guide elements 15 and are mounted in a guide 32 on the base plate 17.
  • the drive element 18 can also be formed in a manner known per se by a gear drive with a toothed rack, a toothed belt or a worm wheel.
  • the length of the container holders 11, 12 is determined such that the textile material container 5 is gripped approximately in the area of the cross-sectional axis 25, this cross-sectional axis 25 intersecting the vertical central axis of the container 5.
  • This cross-sectional axis 25 corresponds to a horizontal axis in the vertical center of gravity of the textile material container 5, ie that the textile material container 5 can be raised or lowered vertically without tilting movement.
  • a plurality of textile material containers 5, 7 and 8 are set up along an installation axis 4.
  • empty material containers 5, 7, 8 must be exchanged for full ones.
  • full containers must be exchanged for empty containers, which is obviously possible in the same way with the device according to the invention.
  • FIG. 3 shows the gripping device 10 shown in the gripping position in FIG. 1 in the waiting position.
  • the two container holders 11, 12 are retracted into the area of the axis of rotation 21 and placed on the base plate 17. Only a minimal space is necessary between the axis of rotation 21 and the jacket of the textile material container 5, since the majority of the gripping device 10 is in the waiting position on the opposite side of the axis 21.
  • the gripping device 10 can move without difficulty along the jacket of a textile material container 5, and in the desired gripping position the container holders 11, 12 can be extended and placed on the jacket of the container 5.
  • the base plate 17 can be pivoted about the axis 21, the axis 21 being positioned by means of the two articulated arm parts 19, 20 and by pivoting about the axes 30, 31.
  • a sensor 34 is arranged on the base plate 17 and determines the distance between the gripping device 10 and the wall of the textile material container 5. By means of the sensor 34, the gripping device 10 is brought into the exact gripping position and stopped there.
  • the transport vehicle 1 is operated by control devices, not shown brought into the correct position in front of the textile material container 5 and fixed here.
  • An empty textile material container 6 is initially removed from the installation axis 4 and placed on the transport station 28 of the transport vehicle 1.
  • the transport vehicle 1 is then brought into a new position, by means of the handling device 9 and the gripping device 10 a full textile material container 5 placed on the transport station 27 is grasped and brought into the position shown in FIG.
  • the fixing device 22 detects the end of the material band 23 and brings it into a position in which it can be transferred to the relevant take-over devices of the textile machine 2.
  • the textile material contained in the textile material container 5 is thus reconnected to the textile machine 2 and the operational readiness is thus established. Since the container holders 11, 12 can be retracted practically at right angles to the installation axis 4 between the textile material containers 5, 7 and 5, 8, only a small space is required between the containers. This saves space along the installation axis 4, or more containers can be set up.
  • the feed movements of the container holders 11, 12 to the container 5 are monitored and controlled by sensors 38 on these holders.
  • the distance between the driving axis 3 and the positioning axis 4 of the textile material containers on the textile machine 2 is also reduced to a minimum.
  • the transport vehicle 1 shown in FIG. 4 is equipped with a portal frame 36. It also has two parking spaces 27, 28 for empty and / or full textile material containers 5, 6. Above the material containers 5, 6, the vertical column 35, the articulated arms 19, 20 and the gripping device 10 are suspended and stored on the portal frame 36. A drive, not shown, enables the method of Vertical column 35 along the longitudinal axis of the vehicle 1.
  • the vertical column 35 is equipped with the necessary lifting elements in order to lower or raise the gripping device 10 or the containers 5, 6 vertically. Otherwise, this embodiment has the same features as described for FIGS. 1 to 3.
  • the vehicle 1 can be built shorter and is therefore more maneuverable.
  • the upper edge 44 of the containers 5 is specially designed and the gripping devices 11, 12 have support strips 39. These support strips 39 are provided with an upper support surface 40, this support surface 40 being inclined outwards, ie being elevated in the direction of the lateral surface 41 of the container 5.
  • the support bar 39 On the side directed against the jacket 41, the support bar 39 has two deflecting surfaces 42, 43 with opposite angles of attack. In the example shown, the surface 42 has an angle of 30 ° to a vertical line and the surface 43 has an angle of 20 °.
  • the support surface 40 is inclined to an imaginary horizontal surface by 15 °.
  • the container edge 44 consists of a double sheet which is rolled up in the areas 48 and forms a bearing surface 45 on the lower part of this rolled up collar 48.
  • the radius of the collar 48 is chosen so that the point of contact lies in a surface 45 which is inclined outwards and downwards or is curved accordingly.
  • the upper end 46 of the container wall is clamped between the two sheets of the edge 44, namely by means of rolled-in beads 47.
  • the deflecting surfaces 42, 43 on the support strips 39 serve to allow the container holders 11, 12 to slide over these beads if they are from can be closed at the bottom of the collar 48. In this embodiment, only small feed and holding forces are necessary, since the positive connection between the container holders 11, 12 and the edge 44 of the container 5 is ensured by the special shape of these parts. In addition, the containers are protected from damage and the susceptibility to faults is reduced.
  • FIG. 6 again shows an enlarged partial view of FIG. 1, in which the gripping device 10 or the adjustment mechanism for pivoting the guide elements 15, 16 is shown in more detail.
  • the pivoting takes place via the drive rods 37, which are articulated on the one hand on the guide elements 15 and on the other hand on a guide element 50.
  • the guide element 50 projects into the guide slot 32 on its lower side and, when actuated, is displaced in the longitudinal direction of the guide slot 32 via a piston rod connected to it and of a linear motor fastened to the base plate 17.
  • the gripping device 10 is moved into the pivoted-in position shown in FIG.
  • This embodiment is indicated in Figures 2 and 4.
  • the guide element 30 is firmly connected above and below the base plate by the web sliding in the guide slot 32, only one guide part 50 via the linear motor 18 is sufficient for displacement.

Landscapes

  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
EP90120038A 1989-11-07 1990-10-19 Greif- und Handhabungseinrichtung für Textilmaterialbehälter Expired - Lifetime EP0427024B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH4013/89 1989-11-07
CH4013/89A CH679774A5 (ja) 1989-11-07 1989-11-07

Publications (2)

Publication Number Publication Date
EP0427024A1 EP0427024A1 (de) 1991-05-15
EP0427024B1 true EP0427024B1 (de) 1993-09-08

Family

ID=4268170

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90120038A Expired - Lifetime EP0427024B1 (de) 1989-11-07 1990-10-19 Greif- und Handhabungseinrichtung für Textilmaterialbehälter

Country Status (6)

Country Link
US (1) US5158417A (ja)
EP (1) EP0427024B1 (ja)
JP (1) JPH03166175A (ja)
CH (1) CH679774A5 (ja)
CS (1) CS544790A3 (ja)
DE (1) DE59002637D1 (ja)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4123747C2 (de) * 1991-07-15 1994-09-01 Grosenhainer Textilmaschbau Kannentransportvorrichtung
DE4125383A1 (de) * 1991-07-31 1993-02-04 Schlafhorst & Co W Kannentransportwagen zum automatischen kannenwechsel
DE4125382A1 (de) * 1991-07-31 1993-02-04 Schlafhorst & Co W Kannentransportwagen zum automatischen kannenwechsel
DE4127292C2 (de) * 1991-08-17 2001-05-23 Truetzschler Gmbh & Co Kg Verfahren und Vorrichtung zum Transport mindestens einer Kanne in einer Spinnerei
DE4204967A1 (de) * 1992-02-19 1993-08-26 Truetzschler Gmbh & Co Kg Vorrichtung zum transport mindestens einer kanne zwischen einer faserbandabliefernden spinnereimaschine und einer faserbandgespeisten spinnereimaschine
US5570990A (en) * 1993-11-05 1996-11-05 Asyst Technologies, Inc. Human guided mobile loader stocker
DE19618615A1 (de) * 1996-05-09 1997-11-13 Schlafhorst & Co W Faserbandkanne
CN109110574A (zh) * 2018-07-04 2019-01-01 合肥欧语自动化有限公司 一种线筒的绕线装置

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US78566A (en) * 1868-06-02 Add iso f barker
US3194422A (en) * 1963-11-14 1965-07-13 Jr Robert Cross Shinn Multi-drum carrier device
US3223267A (en) * 1964-09-30 1965-12-14 Crown Controls Corp Lift truck
FR1426753A (fr) * 1965-03-19 1966-01-28 Perfectionnements aux chariots élévateurs
DE2326950A1 (de) * 1973-05-26 1974-12-19 Schubert & Salzer Maschinen Kannenwechselvorrichtung fuer spinnereivorbereitungsmaschinen
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
EP0001686B1 (en) * 1977-10-20 1981-11-04 Imperial Chemical Industries Plc An industrial manipulator for placing articles in close proximity to adjacent articles and a method of close packing articles therewith
IT1104290B (it) * 1978-12-15 1985-10-21 Rossi Mario Dispositivo cambia-vasi automatico per carde
SU841962A1 (ru) * 1979-08-06 1981-06-30 Институт Технической Кибернетики Анбелорусской Ccp Захват промышленного робота
US4591007A (en) * 1983-02-22 1986-05-27 Spetsialnoe Konstruktorskoe Bjuro Seismicheskoi Tekhniki Well tubing handling apparatus
DE3440598A1 (de) * 1984-11-07 1986-05-15 Fritz 7347 Bad Überkingen Stahlecker Spinnmaschine mit einer vielzahl nebeneinander angeordneter spinnstellen
DE3501875A1 (de) * 1985-01-22 1986-07-24 Fritz 7347 Bad Überkingen Stahlecker Verfahren zum ansetzen eines neuen faserbandes bei einer oe-spinnvorrichtung
IT1187368B (it) * 1985-05-10 1987-12-23 Gd Spa Sistema di alimentazione automatizzata di materiale di produzione e/o confezionamento da un magazzino a linee di lavoro
DE3519299A1 (de) * 1985-05-30 1986-12-04 Nitzke, Paul, 4790 Paderborn Vorrichtung zur befoerderung eines behinderten-fahrstuhls
DE3524922C2 (de) * 1985-07-12 1995-11-30 Manfred Langen Vorrichtung zum Austauschen leerer Kannen gegen gefüllte Kannen an einer Kannenstellplätze aufweisenden Spinnmaschine
DE8525743U1 (de) * 1985-09-10 1987-02-26 Truetzschler Gmbh & Co Kg, 4050 Moenchengladbach Vorrichtung zum Transport mindestens einer Kanne zwischen einer faserbandabliefernden Spinnereimaschine und einer faserbandgespeisten Spinnereimaschine
JPH0710510B2 (ja) * 1986-06-03 1995-02-08 フアナツク株式会社 工業用ロボツトの腕構造
DE3618857C2 (de) * 1986-06-04 1996-08-14 Truetzschler Gmbh & Co Kg Vorrichtung zum fliegenden Wechsel von Spinnkannen für eine Spinnereivorbereitungsmaschine
JP2717810B2 (ja) * 1988-08-16 1998-02-25 本田技研工業株式会社 自走型作業ロボット
DE3831637A1 (de) * 1988-09-17 1990-04-05 Schlafhorst & Co W Aggregat aus einem oe-spinnautomaten und einer kannenwechselvorrichtung
DE3831639A1 (de) * 1988-09-17 1990-03-22 Schlafhorst & Co W Verfahren und vorrichtung zur versorgung der spinnstellen eines spinnautomaten mit faserband

Also Published As

Publication number Publication date
JPH03166175A (ja) 1991-07-18
US5158417A (en) 1992-10-27
CS544790A3 (en) 1992-02-19
DE59002637D1 (de) 1993-10-14
EP0427024A1 (de) 1991-05-15
CH679774A5 (ja) 1992-04-15

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