EP0445374B1 - Device for removing bobbins and inserting tubes on spinning or twisting machines - Google Patents

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 succession, bobbin pins for receiving drawn bobbins and for supplying sleeves to be attached, which 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 raised and lowered by means of a further drive device, with a control for the drive devices and the grippers tion 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 beginning (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 spool 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 simply 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 height position signals associated with a memory for storing selectable height positions and a device for comparing the respectively present height position signals with the stored ones Contains height position signals.

With this design, it is 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 selected are reached and the corresponding height position signal can be transferred to the memory. The device contained in the control for comparing the respectively present height position signals with the pre-stored height position signals means that the positions in question are then approached very precisely later 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 controller, which contains a memory for storing selectable extension position signals and an arrangement 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 sensor is provided which detects the positions of at least one spool of the transport device and emits corresponding position signals and is connected to the control, which has a memory for storing selectable positions of the at least one spool and a device for comparing of the position signals present with the stored position signals. This makes it possible to integrate the transport device into the same control and to preselect the positions of the bobbin journals and to enter them into the control.

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

shows a cross section through a schematically illustrated ring spinning machine 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 a plurality of spindles (10) arranged in a row next to one another on both machine sides, 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 spun 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. 3a to 3g. The device (16) is in a movement phase, in which empty sleeves (18) are fed to and placed on the spindles (10), from which the full bobbins (17) have previously been removed.

On both sides, below the spindle banks (11), a transport device (19) is used, which serves to feed empty sleeves (18) and to remove full bobbins (17). The empty tubes (18) are fed 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 bobbin pins onto which empty sleeves (18) and full bobbins (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 (19) 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, ie around 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 in FIG. 1 only 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 spool pins 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 located 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 approach a large number of different height positions exactly, 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 exactly 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 gearwheel (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) outputs 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 controller (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 controller (33). Furthermore, the control (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 thus 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, the absolute value transmitter (31) giving a corresponding swivel position signal. 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 with each doffing operation using 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 lifting 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 system. For this purpose, an absolute value encoder is provided, which is assigned to the transport device and which gives a position signal to the control (33) which is assigned to at least one coil journal. If the position of one 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 taken over into a corresponding memory of the control, which is also equipped with a comparison device for the stored position signals of the bobbin and the respectively reported position signals, 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 bobbin 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 again when the operator has remedied the error that has occurred.

Claims (3)

1. A device for the automatic removal of bobbins (17) and for the automatic mounting of sleeves (18) on all spindles (10) on one side of a spinning or twisting machine, comprising a transport device which provides, in an alternating sequence, bobbin pins for receiving removed bobbins and for supplying sleeves to be mounted, said sleeves being movable along the spinning or twisting machine such that the bobbin pins are arranged, in one position, for receiving removed bobbins and in another position, for supplying sleeves to be mounted on the spindle, and comprising a jaw bar (20) extending in the longitudinal direction of the machine, said jaw bar having a number of jaws (21) which corresponds to the number of spindles (10) on one side of the machine and which may be moved at right angles to the longitudinal direction of the machine by means of the drive device, and may be lifted and lowered by means of a further drive device, a control (33) being provided for the drive devices and the jaws, said control controlling, in a given sequence, the in-movement and out-movement of the drive device including the stopping thereof in specified moved-out positions, the lifting and lowering of the drive device including the stopping thereof in specified height positions and the opening and closing of the jaws, characterised in that an absolute value transducer (31) is provided which detects the height position of the jaw beam (20) and emits corresponding height-position signals, said transducer being connected to the control (33) which has a store for storing height-position signals associated with selectable height positions and a device for comparing the height-position signals present at a given time with the stored-height positions signals.
2. A device according to claim 1, characterised in that an absolute value transducer (31) is provided which detects the moved-out position of the jaw beam (20) and emits corresponding moved-out position signals, said transducer having a store for storing moved-out position signals associated with selectable moved-out positions, and a device for comparing the moved-out position signal present at a given time with the stored moved-out position signal.
3. A device according to either claim 1 or 2, characterised in that an absolute value transducer is provided which detects the positions of at least one bobbin pin of the transport device (19) and emits corresponding position signals, said absolute value transducer being connected to the control (33) which has a store for storing selectable positions of at least one bobbin pin, and a device for comparing the position signals present at a given time with the stored position signals.

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