EP0445374A1 - Device for removing bobbins and inserting tubes on spinning or twisting machines - Google Patents

Abstract

In a device for the automatic draw-off of bobbins (17) and for the automatic slip-on of tubes (18) on all the spindles (10) of one machine side of a spinning or twisting machine, there is a gripper bar (20) having a driving device (27) which controls its stroke movements and to which is assigned an absolute-value transmitter (31) detecting the height positions of the gripper bar (20), transmitting corresponding height-position signals and connected to a control (33) which contains a memory for the storage of height-position signals assigned to selectable height positions and a device for comparing the particular height-position signals obtained with the stored height-position signals.

Description

The invention relates to a device for the automatic removal of bobbins and for the automatic placement of sleeves on all spindles of a machine side of a spinning or twisting machine with a transport device which has, in alternating sequence, bobbin journals for receiving drawn bobbins and for feeding sleeves to be attached, along the Spinning or twisting machine are movable in such a way that in one position the bobbin journals for receiving drawn bobbins and in another position the bobbin journals for feeding sleeves to be attached are fed to the spindles, and with a gripper bar extending in the longitudinal direction of the machine, which is one of the number of spindles has a corresponding number of grippers on the machine side and which can be extended transversely to the longitudinal direction of the machine by means of a drive device and can be raised and lowered by means of a further drive device, with a control for the drive devices and the grippers eration is provided which controls the drive device for retracting and extending including stopping in predetermined extended positions, the drive device for raising and lowering including stopping in predetermined height positions and opening and closing the grippers in a predetermined sequence of steps.

In a known device of the type mentioned at the outset (DE patent 1 292 563), the gripper bar moves to a plurality of positions by means of its drives, in which the previously actuated drive device is then stopped and the other drive device is actuated and / or in which the movement is reversed and / or in which the grippers of the gripper bar are opened or closed. It is known to specify these individual positions by means of a large number of mechanical limit switches which are connected to the control and which trigger the control program to advance when the relevant position is reached. This device has proven itself in practice. However, it takes a relatively large amount of time to adjust the limit switches. In addition, considerable effort is required if subsequent changes are to be made, for example adapting to other coil formats. This is only possible by readjusting the limit switches, which is associated with machine downtimes.

The invention has for its object to improve a device of the type mentioned in such a way that the individual positions to be approached by the gripper bar can be set easily and quickly and that a subsequent change to adapt to spool formats or the like. is also easy and quick to carry out.

This object is achieved in that an absolute encoder which detects the height positions of the gripper bar and gives corresponding height position signals is provided, which is connected to the control, which has a memory for storing height positions signals associated with selectable height positions and a device for comparing the respectively present height position signals with the stored ones Contains height position signals.

This configuration makes it possible to carry out an adjustment process in such a way that the particularly critical height positions of the gripper bar are approached one after the other by actuating the corresponding drive device, the operator observing when the height positions to be preselected are reached and the corresponding height position signal can be accepted into the memory. The device contained in the control for comparing the respectively present height position signals with the pre-stored height position signals leads to the fact that the positions in question are later approached very precisely with each bobbin changing process. Adaptation to different spool formats is as easy as the original setting.

In a further embodiment of the invention, an absolute value encoder which detects the extension position of the gripper bar and outputs corresponding extension position signals is provided, which is connected to the control, which contains a memory for storing extension position signals assigned to selectable extension positions and a device for comparing the respectively present extension position signals with the stored extension position signals . As a result, the extended position signals can be approached in the same way by corresponding actuation of the associated drive device, after which the associated extended position signals are transferred to the memory. With each subsequent bobbin changing process, the corresponding extended positions are then approached.

In a further embodiment of the invention, an absolute value encoder is provided which detects the positions of at least one spool of the transport device and emits corresponding position signals and which is connected to the control, which has a memory for storing selectable positions of the at least one spool and a device for comparison of the position signals present with the stored position signals. This makes it possible to integrate the transport device into the same control system and to preselect the positions of the bobbin journals and to enter them into the control system.

Fig. 1

zeigt einen Querschnitt durch eine schematisch dargestellte, mit einer erfindungsgemäßen Vorrichtung ausgerüstete Ringspinnmaschine,

Fig. 2

eine Seitenansicht der Ringspinnmaschine nach Fig. 1 in kleinerem Maßstab,

Fig. 3a bis 3g

die verschiedenen Positionen, die ein Greiferbalken bei einem selbsttätigen Abziehen von Spulen und bei einem selbsttätigen Aufstecken von Spulenhülsen einnimmt und

Fig. 4

eine Einzelheit der Fig. 2 mit einer schematischen Darstellung der zugehörigen Steuerung zum Anfahren der Höhenpositionen.

Further features and advantages of the invention result from the following description of the embodiment shown in the drawing.

Fig. 1

2 shows a cross section through a ring spinning machine shown schematically and equipped with a device according to the invention,

Fig. 2

2 shows a side view of the ring spinning machine according to FIG. 1 on a smaller scale,

3a to 3g

the various positions that a gripper bar assumes when the bobbins are automatically removed and the bobbin tubes are automatically attached and

Fig. 4

a detail of FIG. 2 with a schematic representation of the associated control for moving to the height positions.

The ring spinning machine shown has on both sides of the machine a large number of spindles (10) arranged in a row next to one another, which are mounted in spindle banks (11) and are driven in a manner not shown. Above the spindles (10) there is a ring bench (12) with a ring and a rotor for each spindle (10) on each machine side, above which a thread guide element (13) is arranged. The fiber material to be spun is fed to each spindle (10) by a drafting system (14), which also withdrawing spinning roving material from roving bobbins, not shown, which are suspended from a creel (15) in a manner not shown.

A device (16) for automatically removing bobbins (17) and for automatically inserting sleeves is arranged on both sides of the machine and serves all spindles (10) on one side of the machine at the same time. The right side of the machine in Fig. 1 is in the operating phase, i.e. a spinning process is carried out on all spindles (10). The device (16) is therefore in the rest position. The machine side on the left in FIG. 1 is in the phase of a bobbin change, which will be explained in more detail later with reference to FIGS. The device (16) is in a movement phase in which empty sleeves (18) are fed to the spindles (10) and plugged onto them, from which the full bobbins (17) have previously been removed.

A transport device (19) runs below the spindle banks (11) on both sides, which is used to supply empty sleeves (18) and to remove full bobbins (17). The empty tubes (18) are fed in as long as the spinning process is running and the device (16) is in the rest position (right machine side Fig. 1). The transport device consists, for example, of a conveyor belt rotating on each side of the machine, which is provided with spool pins onto which empty sleeves (18) and full spools (17) can be attached. The number of bobbins corresponds to twice the number of spindles (10) on each side of the machine. They are arranged in half the machine division. The transport device (19) is thus alternately provided with bobbin pins for receiving the removed bobbins (17) and for receiving sleeves (18) to be attached. Instead of a transport device (18) formed from a transport belt, a transport device can also be provided, which is formed from individual plates arranged in series, each of which has a spool pin exhibit. The device (16) contains a gripper bar (20) which is provided with a number of grippers (21), the number of which corresponds to the number of spindles (10). The gripper bar can be moved in such a way that the grippers (21) in the exemplary embodiment can be fed to the sleeves (18) and the coils (17) from above, ie both when these are on the transport device (19) or on the spindles (10). are located.

The gripper bar (20) on each side of the machine is held with a scissor-type linkage which is formed from a plurality of support arms (22) and a plurality of pull arms (23). The support arms (22), which are articulated to the gripper bar (20), ² extend from the gripper bar to a spindle (24) running in the machine longitudinal direction, on which spindle nuts (25) are arranged, which are connected to the support arms (22) are. The tie rods (23) engage the support arms (22) in an approximately articulated manner and are fixed in place at the height of the threaded spindle (24). The gripper bar can thus be raised and lowered from the lowered position (FIG. 1 on the right, FIG. 2 on the left) into a raised position (FIG. 1 on the left, FIG. 2 on the right) by means of a corresponding rotary drive of the threaded spindle (24).

In addition, the gripper bar (20) can be moved in and out transversely to the machine longitudinal direction. For this retraction and extension, which is carried out as a pivoting movement in the exemplary embodiment, the gripper bar (20) together with its scissor-like linkage (22, 23) can be pivoted about an axis running in the machine longitudinal direction, that is to say about the spindle lying close to the ground (24). For this purpose, the scissor-like linkage of the gripper bar (20) is provided with a lever (26) projecting inwards towards the inside of the machine, on which a drive device (27) indicated only in FIG. 1 for the right machine side acts. Hydraulic cylinders, for example, are provided as such a drive device (27), which are connected to a control valve Pressure medium supply device are connected. The bobbin changing process is explained with reference to FIGS. 3a to 3g. The gripper bar (20) with the grippers (21) is initially (Fig. 3a) in the rest position, in which the grippers (21) are at a vertical distance above the sleeves (18) from the transport device (19) below the Spindles (10) have been provided. The gripper bar (20) is first lowered (Fig. 3b), after which the grippers (21) are closed. The lowering position and the swivel position around the threaded spindle (24) must be set exactly so that the sleeves (18) are not damaged when lowering and gripping. The gripper bar (20) with the grippers (21), which have gripped the sleeves (18), is then lifted for removal from the coil journals of the transport device (19) (FIG. 3c). The gripper bar (20) is then pivoted outward about the threaded spindle (24) (FIG. 3d). In this pivoted-out position, the gripper bar (20) is raised until the lower end of the sleeve (18) is at a sufficient height above the level of the upper ends of the spindles (10) (Fig. 3e). The gripper bar (20) is then pivoted back until the sleeves (18) are exactly vertically above the spindles (10) (Fig. 3f). This swiveled-in position must in turn be observed exactly so that the sleeves (18) are not damaged when the sleeves are subsequently attached to the spindles (10). This attachment takes place in that the gripper bar (20) is lowered (Fig. 3g). The grippers (21) are then opened. Then the gripper bar (20) is raised again so that it is moved back into the position shown in Fig. 3f, but without the sleeves (18). The gripper bar (20) is then reset in such a way that the positions according to FIGS. 3e, 3d, 3c, 3b and finally the position according to FIG. 3a are moved to one after the other.

Before placing the sleeves (18) on the spindles (10) as described, the full spools (17) must of course be withdrawn from the spindles (10). This is also done by means of the gripper bar (20) and the grippers (21), which move according to FIGS. 3a to 3f. The gripper bar (20) with the gripper (21) is moved from the basic position according to FIG. 3a to the position according to FIG. 3g, wherein it runs through all intermediate positions according to FIGS. 3b, 3c, 3d, 3e, 3f. The gripper bar (20) then moves with the grippers (21), which then close in the position according to FIG. 3g and take over the coils (17), in accordance with the steps according to FIGS. 3f, 3e, 3d, 3c into position 3b back, in which the full bobbins are placed on the bobbin of the transport device (19). The transport device (19) is alternately provided with empty bobbin pins and with the bobbin pins carrying the sleeves (18). The bobbins are placed on the empty bobbin pins. Then the grippers (21) are opened and the gripper bar (20) is brought into the position according to FIG. 3a. In this position, the transport device is then moved by half a spindle pitch, so that the sleeves (18) according to FIG. 3a are then under the grippers (21) of the gripper bar (20).

From the above it can be seen that the gripper bar (20) with the grippers (21) in particular has to move precisely to a variety of different height positions, but also two swivel positions, namely the swivel position above the spindles (10) and the swivel position via the spool pin of the transport device (19). These individual positions must be set precisely in order to enable trouble-free operation.

The setting of the height positions of the gripper bar (20) is described below with reference to FIG. 4. In the embodiment according to FIG. 4, the threaded spindle (24 ') can be moved back and forth in the axial direction, ie in the machine longitudinal direction. The support rods (22) are firmly articulated on the threaded spindle (24 ') and the gripper bar (20). The tie rods (23) engage the support rods (22) and stationary spindle bearings (36). The threaded spindle (24 ') is driven by an electric drive motor (28) which can be driven in both directions of rotation and which drives a spindle nut (30) which is stationary in the axial direction of the threaded spindle (24') via a gear wheel (29).

An absolute encoder (31) is assigned to the threaded spindle (24) '), for example an incremental encoder which cooperates with a ruler attached to the threaded spindle (24') and is connected to a controller (33). Since the axial position of the threaded spindle (24 ') corresponds to the height position of this gripper bar (20) due to the mechanical connection to the gripper bar (20), the absolute encoder (31) sends a height position signal of the gripper bar (20) to the control (33). The controller (33), which is connected to the motor (28), contains cursor keys (34), via which the motor (28) can be switched on for forward or backward running. This enables the operator to use the cursor keys (34) to move to any height position with the gripper bar and to stop the gripper bar (20) in this height position, which the operator has exactly in relation to the spindles (10) or the spool pins of the transport device ( 19) can be checked. The control (33) is provided with an input unit (not shown), with which the height position signals of the gripper bar (20) obtained in the approached position can be input into a memory of the control (33). Furthermore, the controller (33) is to be compared with a device for comparing these stored height position signals with the height position signals transmitted by the absolute value encoder (31) during the movement of the gripper bar (20), so that when the predetermined, stored height position signals are reached, a stop with subsequent Triggering of further program steps can be initiated. The controller (33) is expediently provided with a display (35), via which a dialog can be conducted with the operator. The controller (33) can therefore guide the operator via the display (35) so that the operator moves to the individual height positions in accordance with Fig. 3a, Fig. 3b, Fig. 3c, Fig. 3f and Fig. 3g and each time from stores the preselected values as height position signals of the gripper bar in the memory.

4 is combined in a further embodiment of the invention with a rotary signal transmitter. This rotary signal transmitter, which is also designed as an absolute value transmitter, then detects the angular position of the threaded spindle (24 ') and thus also the angular position of the gripper bar (20) rigidly connected to it. The controller (33) is connected in a manner similar to the drive motor (28) to the drive device (27) for the swivel drive of the gripper bar (20), that is to say, for example, to a control valve which controls the pressure medium supply and discharge. The operator can use the cursor keys (34) to move to all swivel positions in the swivel range, with a corresponding swivel position signal being given by the absolute value encoder (31). When reaching and stopping in the swivel position determined as suitable by the operator, the swivel position signal in question is then stored via the input device (not shown), so that this swivel position can then be approached in each doffing process by means of a comparison device of the control. For this setting, too, it is provided that the operator is guided over the display (35). The control is expediently designed such that the normal sequence according to FIGS. 3a to 3g is carried out using the cursor keys (34), the positions to be observed in each case being set and stored exactly by the operator, ie the stroke positions and the pivoting positions in the order explained. It is also very easy to readjust the individual positions in the manner described if, for example, the next batch is to be spun with a different spool format or tube format.

Using the same basic principle, it is also possible to install the drive for the transport device (19) in the overall control. For this purpose, an absolute value encoder is then provided, which is assigned to the transport device and which gives a position signal to the controller (33) which is assigned to at least one coil journal. If the position of a bobbin is fixed, the positions of the other bobbin are automatically determined. The controller (33) is then connected in a corresponding manner to the drive device of the transport device (19), i.e. using the cursor keys (34), so that a fast forward and rewind is possible to set the desired exact position. This position can then be transferred to a corresponding memory of the controller, which is also equipped with a comparison device for the stored position signals of the coil spindles and the position signals respectively reported, so that even before the actual doffing process described above, it is always ensured that the prerequisites for a trouble-free doffing process are met, ie that the transport device (19) with the empty spool and the sleeves is in the correct position.

The control explained also has the advantage that the entire program circuit can be designed in a simple manner so that the movements and / or the reaching of the individual positions are continuously queried and monitored via the absolute value transmitters (31). If, due to a malfunction, there are no more movements and / or predetermined positions are not reached, the control can then simply switch off the doffing process and set an error signal which is only deleted when the operator has corrected the error that has occurred.

Claims (3)

Device for the automatic removal of bobbins and for the automatic placement of sleeves on all spindles on one machine side of a spinning or twisting machine with a transport device which, in alternating sequence, has bobbin pins for receiving drawn bobbins and for feeding sleeves to be attached, which run along the spinning or twisting machine are movable in such a way that in one position the bobbin journals for receiving drawn bobbins and in another position the bobbin journals for feeding sleeves to be attached are fed to the spindles, and with a gripper bar extending in the longitudinal direction of the machine, which is one of the number of spindles on one side of the machine of grippers and which can be extended transversely to the longitudinal direction of the machine by means of a drive device and raised and lowered by means of a further drive device, a control being provided for the drive devices and the grippers a predetermined sequence of steps controls the drive device for retracting and extending including stopping in predetermined extended positions, the drive device for raising and lowering including stopping in predetermined height positions and the opening and closing of the grippers, characterized in that one controls the height positions of the gripper bar (20) absolute value encoder (31) which detects and gives corresponding height position signals is provided, which is connected to the control (33) which contains a memory for storing height position signals associated with selectable height positions and a device for comparing the respectively present height position signals with the stored height position signals. Apparatus according to claim 1, characterized in that an absolute value transmitter (31) which detects the extended positions of the gripper bar (20) and outputs corresponding extended position signals is provided, which is connected to the controller (33) which has a memory for storing selectable extended positions and assigned extended positions contains a device for comparing the respectively present extended position signals with the stored extended position signals. Apparatus according to claim 1 or 2, characterized in that an absolute encoder is provided which detects the positions of at least one bobbin of the transport device (19) and outputs corresponding position signals, which is connected to the controller (33) which has a memory for storing selectable positions of the contains at least one bobbin pin and a device for comparing the respectively present position signals with the stored position signals.

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