EP0487949A1 - Servicing robot for textile machines - Google Patents

Abstract

A textile machine (M) is operated by means of a travelling robot (W) which has individual sections (W1, W2) possessing a plurality of service stations (a, b, y). The service stations (a, a) can be of identical design or be designed as service stations (a, b, c) for different sequential work cycles on the spinning machine, with the result that high flexibility and a high working capacity of the travelling robot (W) are obtained. <IMAGE>

Description

The present invention relates to an automatic walking machine for a textile machine, in particular a spinning or twisting machine, which is equipped with a number of similar production sites, and also to a method for automated operation of the machine.

Automatic devices are increasingly being used for operations at the production sites, which automatically move along the production machine and stop at the production site in question as required. These devices are referred to below as automatic walking machines.

The automatic walking machines known today are active at a single production site. Once the work to be done at the production site has been completed, the automatic walker controls another production site on request or during a control trip.

If several events coincide in time on a textile machine, which necessitate actions of the automatic walking machine, the capacity of the automatic walking machine is quickly exhausted with the operation of only one single production point. As a result, the efficiency of the textile machine drops because the waiting times of shutdown production sites increase.

When using an automatic walking machine at a production site, waiting times often arise during which the automatic walking machine waits for an operation to be completed in the production site itself. These waiting times are increasing Loads on the capacity of the walking machine and in turn impair the efficiency of the textile machine in those critical periods in which a large number of actions is required.

It is an object of the present invention to provide an operating method for the maintenance of textile machines and an automatic walking machine for carrying out the method while avoiding the disadvantages mentioned, the latter being able to carry out a large number of operating operations at neighboring production sites in a short time.

This task is solved in that the automatic walking machine works with several spatially staggered operating stations simultaneously at several production points of the textile machine. Advantageous developments of the invention are set out in the claims and in the description below.

The functions of the operator stations can be redundant, so that several operator stations can perform identical functions. Furthermore, the functions of the individual operating stations can be in a sequential relationship. This means that the operation of one or more production locations of the textile machine takes place in several partial actions corresponding to several partial functions of the operating station, the partial functions being available in succession or simultaneously in individual operating stations. In principle, a mixture of the concepts mentioned is also conceivable, that is to say the arrangement of redundant operator stations and operator stations that work with different subfunctions. An automatic walking machine according to the invention can make use of its advantages if several textile machine production sites in the immediate vicinity require actions at the same time. If from the Textile machine is expected to have a large working capacity for various tasks of the walking machine, the use of a walking machine according to the invention makes sense.

Fig. 1

schematisch eine Textilmaschine mit einem Wanderautomaten,

Fig. 2, 3a - 3e

Einsatzmöglichkeiten verschiedener Wanderautomaten gemäss der Erfindung an einer Textilmaschine,

Fig. 4

eine schematische Darstellung eines Wanderautomaten beim Einsatz an einer Ringspinnmaschine,

Fig. 5

eine schematische Frontansicht eines Wanderautomaten mit vier Bedienungsstationen,

Fig. 5a

einen Teil eines Wanderautomaten,

Fig. 5b

zeigt zwei Spinnmaschinen mit Einzelautomaten in einer Spinnerei,

Fig. 5c

zeigt einen Serviceautomat und einen Fadenansetzautomat, die zwei Sektionen eines Wanderautomaten bilden können, in koordinierter Bewegung zueinander,

Fig. 5d

zeigt ein Abstandsregelsystem der Einzelautomaten zueinander,

Fig. 5e

beinhaltet eine Uebersicht über mehrere Spinnmaschinen mit einer zentralen Steuerung für die Spinnmaschinen und für einen Serviceautomaten, der sich entlang von Laufbahnen bewegt,

Fig. 6

einen Teil einer Spinnmaschine mit einer Ueberwachungseinrichtung und

Fig. 6a

die Steuerung des Wanderautomaten von der Spinnmaschine aus

The invention is explained in detail below with reference to the figures. Show it:

Fig. 1

schematically a textile machine with a walking machine,

Fig. 2, 3a - 3e

Possible uses of various automatic walking machines according to the invention on a textile machine,

Fig. 4

1 shows a schematic representation of an automatic walking machine when used on a ring spinning machine,

Fig. 5

1 shows a schematic front view of an automatic hiking machine with four operating stations,

Fig. 5a

part of a walking machine,

Fig. 5b

shows two spinning machines with individual machines in a spinning mill,

Fig. 5c

shows a service machine and a thread setting machine, which can form two sections of a walking machine, in coordinated movement to one another,

Fig. 5d

shows a distance control system of the individual machines to each other,

Fig. 5e

contains an overview of several spinning machines with a central control for the spinning machines and for a service machine that moves along raceways,

Fig. 6

part of a spinning machine with a monitoring device and

Fig. 6a

the control of the automatic walker from the spinning machine

Figure 1 shows the textile machine with a machine head K and production points P, which have the numbers 1,2,3 .... N for their identification. The automatic walker W shifts in the longitudinal direction of the textile machine to take up its working position.

In a first embodiment, Figure 2 shows the basic structure of the automatic walking machine W with different operating stations a, b, c, d, e. These are each designed for different functions. A certain production point P of a textile machine M is in contact with individual operating stations a, b, c as the walking machine W progresses. After completion of operations at the production points P, in front of which the automatic walking machine is located, it can advance by one or more positions. The entire action at a production site can run sequentially in individual sections. This requires additional time for moving the walking machine from one position to the next. However, as soon as several neighboring production points P require actions, the automatic wanderer works simultaneously with several operating stations a, b, c at several production points 1, 2, 3. Its working speed is thus significantly increased without the individual sub-functions having to run particularly quickly.

If an even better availability of the automatic walking machine W is sought, this can be achieved by arranging several similar operating stations a, a, b, b in the automatic walking machine W, as shown in Figure 3a. Here too, a much higher working speed is achieved than with conventional automatic controls. However, the multiple arrangement of similar operating stations a, a, the so-called redundant arrangement, is associated with greater effort.

Figure 3b shows a variant of the automatic walking machine with a sequential arrangement of operating stations a, b. The two operating stations a, b each perform a partial function in succession. An empty position 0 is inserted as an example into the row of operating stations. This can be useful if waiting times in the course of the operating operations are necessary, which may be necessary at a certain production site for technological reasons.

Figure 3c shows a mixed form of the sequential and redundant arrangement of operator stations a, b. The operating station b is designed twice, whereby one of the two stations can serve as a hidden reserve in the event that one of the stations becomes unusable.

It is also possible to combine functions in a walking machine that are not directly related, but only use the vehicle to get around. Such an example is shown in the image 3d with the sequential row of the operating station a, b, c, a station x intended for a completely different activity and a further operating station y which is in permanent operation.

Figure 3e shows a further design of the concept. In the case of production sites arranged very closely next to one another, the space required for the individual operating stations a, b, c may be greater than the division of the production sites 1, 2, 3. In this case, it makes sense to leave enough space between two operating stations a, b so that there is enough space for the drive elements of the neighboring operating station. In this case, the division between the operating stations a, b is chosen twice as large as the division of the production locations 1, 2. The automatic walking machine can each advance by the division, that is to say the distance between two production locations 1, 2, or it can advance by two positions, in which case only every second production location is operated during a journey. The production sites that were not initially visited are then served in a second trip.

Fig. 4 shows the structure of a walking machine W on a ring spinning machine.

A single production site of a ring spinning machine M is subdivided into a roving feed device 119, a drafting device 130, a ring traveler combination 151, 152 and a spindle 114.

• Die Bedienungsstation a entnimmt einer Vorgarnspule 120 Vorgarn 121 und führt es ins Streckwerk 130 ein. Anschliessend kann sie den Läufer 152 der betreffenden Produktionsstelle suchen und nötigenfalls einen neuen Läufer 152 einsetzen.
• Die Bedienungsstation b sucht das Fadenende 118 auf einem Spinnkops 116 und übernimmt eine Reinigungsaufgabe, beispielsweise an einer Auslaufwalze 130' des Streckwerkes 130.
• Die Bedienungsstation c setzt den Faden 118 von unten her bei der Auslaufwalze 130' des Streckwerkes 130 an.
• Die Bedienungsstation x wechselt Vorgarnspulen 120, die mehr oder weniger verbraucht sind, mit neuen Vorgarnspulen 120'. Sie sorgt bei einer gesonderten Fahrt des Wanderautomaten W durch einen Abschnitt der Ringspinnmaschine M für das Abtrennen von Vorgarn 121 bei nicht ausgelaufenen Vorgarnspulen 120.
• Die Bedienungsstation y besteht aus einem Saug- und Blasgerät, das ununterbrochen arbeitet und alle Elemente einer einzelnen Produktionsstelle reinigt.

3e and 4, the automatic walking machine W can now perform the following tasks:

• Operating station a takes roving spool 121 from roving spool 120 and introduces it into drafting system 130. Then she can search for the runner 152 of the relevant production site and, if necessary, insert a new runner 152.
• The operating station b searches for the thread end 118 on a spinning cop 116 and takes over a cleaning task, for example on an outlet roller 130 'of the drafting system 130.
• The operating station c starts the thread 118 from below at the outlet roller 130 'of the drafting system 130.
• The operating station x changes roving bobbins 120, which are more or less used up, with new roving bobbins 120 '. During a separate travel of the automatic walking machine W through a section of the ring spinning machine M, it ensures that roving 121 is cut off in the case of roving bobbins 120 that have not run out.
• The operating station y consists of a suction and blowing device that works continuously and cleans all elements of a single production site.

The ring spinning machine M carries roving bobbins 120 in a frame upper part 101, including the drafting system 130, under which there is a suction tube 141 which opens into a suction channel 140. In the lower frame part 102 of the ring spinning machine M there is a pulley 112, which drives spindles 114 via a belt 113, which are seated in a spindle bearing 115. The spindles 114 carry a spinning cop 116 with the wound thread 118 on a sleeve 117. The winding is carried out by a rotor 152 on a ring 151 which is seated in a ring frame 150. Above it is a balloon ring 161 on a balloon ring holder 160, and above it a thread guide 171 in a thread guide holder 170. Drives 153, 163 and 173 in the form of tension elements are attached to ring frames 150, balloon ring holder 160 and thread guide holder 170. The drives 153, 163 and 173 are guided in a channel 190 parallel to the longitudinal axis of the ring spinning machine M.

4 and 5, the automatic walking machine W can be divided into two sections W1 and W2, which are different Wear operating stations a, y, c, x. As mentioned, the operating station x changes roving bobbins 120. However, it can also be used, for example, to check the condition of roving bobbins 120 with a sensor x2 on arm x1. A gripper x3 on the arm x1 can on the one hand grasp roving bobbins 120 or operate a clamping device 123 for roving 121 by the gripper 130 pressing a clamping lever 125 against a stop 124 if the supply of roving 121 into the drafting system 130 is to be interrupted.

The operating station a with a swivel arm a3 and a telescopic tube a1 can, for example, replace runners 152 which are pushed inside the telescopic tube a1. The telescopic tube a1 can be moved according to the double arrow a2 and additionally pivoted with the movement of the swivel arm a3. A swivel arm a4 with the telescopic tube a1 can also be swiveled. The automatic walking machine W can carry an operating station y on another level, which externally resembles the operating station a, but the operating station y, as mentioned, carries out suction and blowing operations by means of the telescopic tube a1.

Another similar operating station c can take auxiliary thread H from a removal point E with a telescopic tube a1 on the same automatic walking machine W, the length of the auxiliary thread being controlled by a metering station Z.

In the lower part of the automatic walking machine W, a vehicle F can be seen which carries the sections W1, W2. A traction motor F1 and an impeller F2, which runs in a raceway L1, serve to drive the automatic walking machine W. Another track L in the upper part of the automatic walking machine W provides additional guidance.

FIG. 5 shows the configuration of an automatic walking machine with the vehicle F, traction motors, seen from the machine F1 in the raceway L1 and the sections W1, W2 sitting on the vehicle F. The sections W1, W2 can in principle be of the same design and carry different structures W3, W4, which in turn carry the operating stations c, x. Other operating stations a, b can be arranged directly on a section W1, so that different working heights of the operating stations result. The vehicle F can also be adapted to the respective requirements from modules F3, F4, which can be combined as desired.

The automatic walker can also be understood as a machine group, with at least two individual machines being coupled or operated in a coordinated manner.

The automatic walker W is advantageously designed so that it can also be used for special tasks. Due to a modular structure, which allows a configuration of the automatic walker adapted to the application, great flexibility can be achieved with moderate equipment expenditure. According to FIG. 5, the automatic walking machine W can also be composed of at least two units, which are referred to below as the service automatic machine W5 and the automatic thread applicator W6. Both machines can be coupled via the coupling element K, for example in the lower part of the vehicle modules F3 and F4, it being possible for this coupling to be elastic or rigid. In the case of an elastic coupling, which only ensures the distance of the machines from one another, according to FIG. 5 additional wheels F2 'are required in each case on a vehicle F3, F4. If the coupling element K is missing, the automatic service machine W5 and automatic thread application machine W6 can be operated individually, although it can be useful if they work in a coordinated manner and run along the textile machine M at a short distance from one another. Such an operating mode can be used, for example, for a preventive replacement of the rotors 152 of a spinning machine M. make sense. In a ring spinning system, the W5 service machine replaces the runners 152. It moves freely from one spinning machine M to another in the manner of a driverless transport device. He automatically sits on a career path L1, which is intended for the automatic thread applicator W6, which is always operating on the spinning machine, and travels behind the automatic thread applicator W6 to one end of the spinning machine M. If the automatic service device W5 is to travel independently from one spinning machine M to another he an additional chassis F ', as indicated schematically in Fig. 4.

For the coordinated use of two individual machines, for example the service machine W5 and the thread application machine W6, various additional devices must be available, which are explained with reference to FIGS. 5b ... 5e. Several spinning machines M, M ', M''stand side by side in a spinning mill, each of which is divided into a central part M2, a gear part M1 and, for example, a control part M3. Runways L1, along which the individual machines can move, run along the middle part M2 on both machine sides. If, for example, a runner change is to be carried out at the individual spinning stations on the spinning machine M ', the service machine W5 must be controlled to the spinning machine M'. It is oriented along a career path L2 that can have a non-contact effect on the W5 service automat. The raceway L2 and the raceways L3 and L3 'branching off in the direction of spinning machines are advantageously embedded in the floor of the spinning mill and act inductively on the service automat W5. The spinning machines M, M ', M''are connected via signal lines E1, E2, E3 to a central control system EZ according to FIG. 5e. There is also a connection to the track L2 and the tracks L3, L3 'via signal lines, only one signal line E4 being shown in FIG. 5e. Such controls for ground-based vehicles that are in certain directions in one Manufacturing buildings are supposed to move are known from transport technology. It is assumed that the service machine W5, after leaving the track L2, moves along the track L3 ″ to the spinning machine M ′ in order to change the rotor there. Via the central control EZ, the automatic thread applicator W6 can receive the command on the spinning machine M 'to move in the direction of the gear part M1' along the track L1 in order to expect the service automat W5 there at the end of the track L1. After the arrival of the W5 service machine, both can move in a coordinated manner as a machine group. The coordinated machine group forms, as described above, the automatic walker W. Conversely, the service machine W5 can also wait for the arrival of the thread applicator W6 at the end of the track L3 '' at the gear part M1 ', which moves monotonously back and forth along the track L1 under program control . When the service machine W5 and the thread applicator W6 have started moving together, they drive to the other end of the spinning machine at the control unit M3, M3 ', where the runners of a number of spinning positions are then exchanged. The step-by-step movement of the automatic service machine W5 and the automatic thread application machine W6 can be determined by the working rhythm of, for example, the automatic automatic thread application machine W6, the service machine W5 then following the movements of the automatic thread application machine W6. The individual machines orient themselves with sensors W50 and W60 relative to markings M50 and M60 on the spinning machine M ', as indicated in FIG. 5d. In addition, a distance control system can be present, which consists, for example, of a light transmitter W52 on the service automat W5, whose beam W55 reflected by the thread applicator W6 is received by one of the receivers W54a, W54b, W54c. For distance control, the speeds of the individual machines are controlled by their drives so that the reflected light beam W55 is incident between the receivers W54a and W54c at the receiver W54b. In addition, there may be other recipients For example, receiver W53, which reports the maximum distance between the individual machines in the case of the receiver W53 when a light beam W56 is incident there, or a minimum distance between the individual machines to their control systems SW5 and SW6. The control systems SW5 and SW6 of the individual machines W5 and W6 are connected to the traction motors F1 and F1 '. The control signals of the receivers W53, W54 etc. determine the running speed of the traction motor F1 and thus the speed of the service automat W5 in relation to the speed of the attaching automat W6 via the control SW5 of the service automat W5. Since the service machine W5 can move in the spinning mill along the track L2, L3, L3 'etc., it must have a collision protection, for example in the form of an elastic bracket W51 according to FIG. 5c, when the drive motor F1 of the service machine W5 deforms instantaneously is stopped to avoid damage or injury. The W52 transmitter and the W54 receiver can also be used for backup.

• Der Serviceautomat W5 greift gemäss Fig. 5a und 4 oberhalb des Ringes 151 mit dem Entnahmehaken b' am Rohr b1 in den Umlaufbereich des Fadens 118, wodurch dieser bricht. Dann legt das Rohr b1 einer Bedienungsstation a gemäss Fig. 5 und 5a den Entnahmehaken b', der im Endbereich elastisch gestaltet ist, an den Ring 151, wodurch der Läufer 152 auf den Entnahmehaken b' aufläuft. Durch Zurückziehen des Rohres b1 gemäss Pfeil b1' wird der Läufer 152 vom Ring 151 gelöst und durch das Rohr b1 abgesogen. Der Entnahmehaken b' muss so relativ zur Mündung des Rohres b1 angebracht sein, dass der Läufer 152 sicher in das Innere des Rohres b1 gelangt. Von dort wird er in einen Speicher gesaugt.
• Für die Funktion des Läuferauswechselns kann es auch zweckmässig sein, eine zusätzliche Bedienungsstation d gemäss Fig. 5,6 im Serviceautomat anzuordnen, wenn die Spindel 114 mittels eines Riemens 113 angetrieben wird. Die Bedienungsstation d arbeitet in der Ebene der Bedienungsstation a gemäss Fig. 5 und kann nach Fig. 6 eine Bremse BR für die Spindel mittels eines Armes d1 betätigen, bevor sich der Entnahmehaken b' in Fig. 5a dem Ring 151 nähert. Das Anlegen des Entnahmehakens b' erfolgt dann während eines kurzzeitigen Stillstands der Spindel 114 und somit des Läufers 152. Der Arm d1 löst dann nochmals kurzzeitig die Bremse BR, wodurch der mit der Spindel 114 rotierende Faden 118 den Läufer 152 auf den Entnahmehaken b' aufschleppt. Nach Auflaufen des Läufers 152 am Entnahmehaken b' reisst der Faden ohne Eingriff eines weiteren Bedienungsorgans von selbst. Wenn für jede Spindel 114 ein Motor EM anstatt eines Riemens 113 vorgesehen ist, kann nach Fig. 6a die Steuerung ST1 der Spinnmaschine, welche mit der Steuerung ST2 des Wanderautomaten W in Verbindung steht, den betreffenden Motor EM vor dem Anlegen des Entnahmehakens b' kurzzeitig ausschalten und nachher nochmals kurz einschalten, womit der Läufer 152 wie oben beschrieben sicher auf den Entnahmehaken b' gelangt und entsorgt werden kann. Das Ein- und Ausschalten des Motors M kann auch durch den Arm d1 und den Schalter MS nach Fig. 6 bewerkstelligt werden.
• Nun wird ein neuer Läufer aus dem Teleskoprohr a1 der Bedienungsstation b nach Art eines handelsüblichen Handgerätes aufgesetzt. Ein rohrförmiges Einsetzgerät für Läufer ist beispielsweise im deutschen Gebrauchsmuster Nr. G 83 29 000.1 publiziert.
• Der dem Serviceautomat W5 folgende Fadenansetzautomat W6 wird darauf vor die Spinnstelle mit dem neuen Läufer 152 bewegt und setzt mit der Bedienungsstation c den Faden 118 neu an.
• Für das Doffen, das möglicherweise während des Läuferaustausches an der Spinnmaschine M nötig wird, können beide Automaten je an ein Maschinenende fahren.

Before both machines start moving, the speed of the spinning machine M is reduced to the initial speed of a runner run-in program. The replacement of the rotors 152 now begins with the spinning machine M running, with only one spindle 114, on which the rotor exchange takes place, being stopped. The function works as follows:

• The service automat W5 reaches according to FIGS. 5a and 4 above the ring 151 with the removal hook b 'on the tube b1 into the circulation area of the thread 118, whereby this breaks. 5 and 5a, the tube b1 of an operating station a places the removal hook b ', which is elastic in the end region, on the ring 151, as a result of which the runner 152 runs onto the removal hook b'. By withdrawing the tube b1 according to arrow b1 ', the rotor 152 is released from the ring 151 and through the tube b1 sucked. The removal hook b 'must be mounted relative to the mouth of the tube b1 in such a way that the rotor 152 safely reaches the interior of the tube b1. From there it is sucked into a storage tank.
• For the function of changing the rotor, it can also be expedient to arrange an additional operating station d according to FIGS. 5, 6 in the service machine if the spindle 114 is driven by a belt 113. The operating station d works in the level of the operating station a according to FIG. 5 and according to FIG. 6 can actuate a brake BR for the spindle by means of an arm d1 before the removal hook b 'in FIG. 5a approaches the ring 151. The removal hook b 'is then applied during a brief standstill of the spindle 114 and thus the rotor 152. The arm d1 then briefly releases the brake BR again, as a result of which the thread 118 rotating with the spindle 114 drags the rotor 152 onto the removal hook b' . After the runner 152 has run up on the removal hook b ', the thread breaks by itself without the intervention of another operating member. If a motor EM instead of a belt 113 is provided for each spindle 114, the control ST1 of the spinning machine, which is connected to the control, can be operated according to FIG ST2 of the automatic walking machine W is connected, briefly switch off the relevant motor EM before applying the extraction hook b 'and then switch it on again briefly, as a result of which the runner 152 can safely get onto the extraction hook b' and be disposed of as described above. Switching the motor M on and off can also be accomplished by the arm d1 and the switch MS according to FIG. 6.
• Now a new rotor is placed from the telescopic tube a1 of the operating station b in the manner of a commercially available hand-held device. A tubular insertion device for runners, for example, is published in German Utility Model No. G 83 29 000.1.
• The automatic thread applicator W6 following the service machine W5 is then moved in front of the spinning station with the new runner 152 and repositions the thread 118 with the operating station c.
• For the doffing, which may be necessary on the spinning machine M during the rotor exchange, both machines can each drive to one end of the machine.

For example, an inductive guide strip L3, L3 'in the floor of the hall is sufficient for moving the service machine W5 from one spinning machine M to another. A battery charger for the batteries B of the service machine W5 can be omitted, since these are only required when moving from one spinning machine M to another. The service life of the service machine W5 on a spinning machine is used to recharge the batteries B according to FIG. 4, a pantograph S being scanned in the spinning machine M or the electrical energy being transmitted inductively. 4, an electrical conductor EL is provided between the automatic walking machine W and the spinning machine M.

The rotor change can take place independently of doffing on the spinning machine M and of changing the roving bobbins 120. The reduced speed of the spinning machine during the change of the rotor results in a lower number of thread breaks, so that the automatic thread application machine W6 is largely free for the application of the thread 118 at the production points P after each change of the rotor. With a consequent monitoring of the roving or thread run in a spinning machine M, the individual operating stations a, b can be controlled in such a way that only the absolutely necessary operating operations have to take place. 6 For example, sensors S1, S2, S3 can be arranged before, in or after the drafting device 130 for the roving. Further sensors S4, S5 can track the thread running below the drafting device 130 up to the spindle 116. If, for example, the roving 121 breaks above the drafting device 130, it is sufficient to switch off the relevant production point P of the textile machine by the control ST1 stopping the motor M. At the same time, a thread clamp 123 'must be operated. In this case, only the roving has to be drawn back into the drafting unit 130 again, for example by the operating station a, from the roving spool 120. The other operator stations remain unloaded and the commissioning of the production site concerned takes place earlier. The automatic walker can rather continue its control path in order to turn to another production site P. The thread clamp 123 'according to FIG. 6 can be operated by the spinning machine itself and can be reset by the operating station a after or during the removal of the thread break. If, for example, sensor S5 reports that the thread 118 is no longer present at the thread guide 171 and, on the other hand, sensor S3 does not give a signal which indicates the absence of roving beneath the drafting system 130, there is another malfunction that requires the use of another operating station b makes, which winds up or searches the thread on the spinning head 116 as described above and pulls it up to the drafting device 130. A controller ST1 of the spinning machine according to FIG. 6a evaluates the signals from the sensors S1 ... S5 and communicates via, for example, the electrical conductor EL with a controller ST2 of the automatic walking machine W, which then activates the operating station a, b, etc. to be used in each case.

• je ein Einzelautomat zum Fadenansetzen und Reinigen, wobei für die Reinigungsoperation Blas- und Saugdüsen eingesetzt werden können,
• Einzelautomaten zum Ansetzen eines Fadens auf dem Spinnkops sowie zur Drehzahlmessung der Spindeln,
• Einzelautomaten zum Fadenansetzen und zur Entfernung des Unterwindfadens an einer Spindel.

The hiking machine can also include sections with the following individual functions:

• One individual machine each for threading and cleaning, whereby blowing and suction nozzles can be used for the cleaning operation,
• Individual machines for placing a thread on the spinning cop and for measuring the speed of the spindles,
• Individual machines for threading and for removing the underwind thread on a spindle.

The individual machines can be coordinated, i.e. work interdependently, or work independently.

In summary, it can be stated that, according to the present invention, an automatic walking machine W can consist of several sections W1, W2, which can be coupled to one another or each operated with its own drive next to one another with a gap. The sections W1, W2 can perform various special tasks, for example that of a service machine W5 for exchanging the runners 152 or a thread applicator W6 that can attach or take up thread 118 on the spinning head 116, into the spinning organs above it, e.g. Can pull in balloon ring 161 and then attach to the drafting system 130. Depending on the requirements, a further section W3, W4 can perform another function, for example the replacement of a roving spool 120 or the insertion of the roving 119 into the drafting system 130. The combined mode of operation of several special modularly designed machines W1 ... W6 can be used for a reasonable one Effort great flexibility and a high degree of utilization of the machines can be achieved.

Claims (19)

Automatic walking machine for a textile machine, in particular spinning or twisting machine, which is equipped with a number of similar production sites, characterized in that the automatic walking machine consists of a machine group with several sections, with at least two sections being coupled as individual machines (W1, W2, W5, W6) or can only be operated in a coordinated manner. Automatic machine according to claim 1, characterized in that an individual machine (W6) consists of at least two operating stations (a, b). Automatic machine according to claim 1 or 2, characterized in that the individual automatic machines (W5, W6) can at times be used separately on different textile machines (M, M '). Automatic machine according to claim 3, characterized in that a single automatic machine (W1, W2) forms a section which carries at least one operating station (a, b, c) for the machine. Automatic machine according to one of the preceding claims, characterized in that a section of the automatic walking machine (W) serves as a service machine (W5) for changing the runner and that a further section can be operated as a thread-setting machine (W6) after the change of the runner. Automatic machine according to one of the preceding claims, characterized in that the sections (W1 ... W6) are coupled to one another. Automatic machine according to one of the preceding claims, characterized characterized that the sections (W1 ... W6) are coordinated, but can be used separately. Automatic machine according to one of the preceding claims, characterized in that individual operating stations (a, b, c, x, y) are provided as sections, which are designed for sequential operating operations on the machine. Automatic machine according to one of the preceding claims, characterized in that individual sections are designed as similar operating stations (a, a, b, b). Automatic machine according to one of the preceding claims, characterized in that a traveling machine (W) with a plurality of operating stations a, b ... y) has at least one empty space between the operating stations which is not occupied by any operating station. Automatic machine according to one of the preceding claims, characterized in that the sections (W1, W2) or operating stations (a, b, ... y) are mounted on a common vehicle (F). Automatic machine according to one of claims 1 to 10, characterized in that individual operating stations (a, b, y) have individual chassis (F '). Spinning or twisting machine with an automatic walking machine according to one of the preceding claims. A method of operating a spinning or twisting machine according to claim 13, characterized in that depending on the cause of a thread break or roving break, which is determined by sensors (S1 ... S5), for Eliminating the break, a special operating station (a, b) of the hiking machine (W) is activated. A method according to claim 14, characterized in that in the absence of the roving (119) and the thread (118), a first operating station (a) and a second operating station (b) are used in succession. Automatic machine according to one of claims 1-13, characterized in that an additional section can be operated optionally for cleaning the spinning positions by means of blowing or suction nozzles. Automatic machine according to one of Claims 1-13, characterized in that a further section for measuring the speed of the spindles can be operated. Automatic machine according to one of claims 1-13, characterized in that a further section has a device for removing the underwind thread. Automatic machine according to one of claims 1-13 and 16-18, characterized in that the individual machines coordinate, i.e. work independently or independently.

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