EP0672768A2 - Procedure and device for automation of the creel feed of a spinning or twisting machine - Google Patents

Abstract

To change the bobbins in the creel of a twin-sided textile machine, where each operating row such as at the spinning stations of a ring spinner assembly has at least one inner and one outer row of supply bobbins, the doffer moves along the longitudinal line of the machine assembly against a stationary transport system, to exchange the bobbins between creel and transport line. The doffer moves along the line of the machine assembly after a bobbin has been taken from the creel and before a fresh bobbin is inserted into the creel. At the outer and inner rows of bobbins, the bobbin at the inner row can be held in a position for handling near the doffer, and only one such position is available for each pair of bobbins to cover one bobbin of the inner row and one bobbin of the outer row. The unit operates with a prepositioned bobbin transport, and has a suction system to extract any residual matter from a bobbin or the unit itself.

Description

The invention relates to a method and a device according to the preambles of the independent claims. The invention is particularly designed for ring spinning machines, the individual spinning positions of which are fed by roving bobbins. In order to avoid complicated formulations, the description focuses on a ring spinning machine with a roving template as an example. However, the invention is not restricted to this type of machine or template. A twisting machine, for example, needs a thread spool as a template. Accordingly, the limitation to a roving as feed material is dispensed with in the claims.

A ring spinning machine is the last link in a chain of processing machines that convert fiber material into a yarn.

The spinning positions of the individual machines are lined up as closely as possible. The space for automatic transport systems and coil handling robots is therefore limited.

The roving bobbins are suspended vertically in the so-called creel on pins. In order to make optimal use of the space in the gate, coils with a diameter larger than the spindle pitch are used. The spools for a row of spinning stations must therefore be arranged in at least two rows above the spinning stations. The roving is pulled off to the side and then runs downwards via guide elements into the drafting system of the spinning station.

• 1. Heranführen von neuen (vollen) Spulen an das Gatter,
• 2. Austauschen der neuen (vollen) Spulen gegen die alten (leeren oder fast leeren) Spulen in den Arbeitsstellen des Gatters,
• 3. Zurückführen der alten Spulen an die Vorspinnmaschinen bei Entsorgung des Restmaterials, falls beim Austausch nicht alles Vorlagematerial von der Hülse abgezogen worden ist,
• 4. Wiederaufnahme des Spinnens an der zutreffenden Spinnstelle, falls beim Austauschverfahren ein Unterbruch der Speisung dieser Spinnstelle entstanden ist.

The overall task of automating gate loading can be divided into the following sub-aspects:

• 1. bringing new (full) coils to the gate,
• 2. replacement of the new (full) spools with the old (empty or almost empty) spools in the work stations of the gate,
• 3. Return the old bobbins to the pre-spinning machines when the residual material is disposed of, if not all of the original material has been removed from the tube during the exchange.
• 4. Resumption of spinning at the relevant spinning station if the feed process for this spinning station has been interrupted during the exchange process.

The advantages and disadvantages of a partial solution essentially depend on the extent to which this partial solution promotes or impairs the other partial solutions required for the overall solution.

A first attempt at automated gate loading is contained in DE-A1 1969002. This document focuses on a transport system for bringing flyer spools to the ring spinning machine and is otherwise limited to hints regarding "automatic devices", which are neither described nor shown.

A partial solution consists in clearing and re-loading a whole row or even a whole machine side at the same time by "longitudinally extending" or "longitudinally retracting". Such proposals can be found in US 3,828,682, US 3,935,821 and DE-A1 3709540 (US 4,827,709), a reserve row being provided in DE-A1 3709540 so that spinning can be continued without interruption. These solutions do not exclude the automatic operation of the newly introduced Coils, that is, they mainly concentrate on the transport task. The question of further expansion to a fully automated system remains open with such partial solutions.

Concrete ideas for an overall solution are contained in DD 57523. The new coils are brought in by means of a conveyor belt. A bobbin exchange device works with the conveyor belt and with the machine gate to carry out the bobbin exchange. Nitscheln is to connect the new roving to the old roving that is still entering the spinning station (roving attachment process) so that spinning is not interrupted. The disposal of the roving residues on the old tubes is also provided. Accordingly, the overall process is consistently well thought out and all the necessary steps are shown. The devices that have been proposed for executing the individual steps are, however, first indicated purely schematically and secondly very complicated and expensive.

A substantially similar system is contained in DE-A1 3208677 (US 4,438,622). The main difference is that according to DE-A1 3208677 no attachment of the new roving to the old roving should take place. However, the description in DE-A1 3208677 is at least incomplete in that it stops inserting the new fuse into a funnel upstream of the spinning station.

The individual work steps for exchanging the bobbins and inserting the new roving up to the mentioned funnel are listed in DE-A1 3208677. The devices required for this are indicated purely schematically and it is doubtful that a device according to this pattern has been used in practice. From this document it is clear in any case that the operation of the rear (inner) coil row in the gate is extremely delicate.

A completely different kind of solution can be found in a group of Japanese publications, namely 48-3333, 48-3334, 48-22848 and 49-143520. The approach of the new coils to the gate is not shown here. The new coils are drawn in a shelf above the gate. JP-48-3333 shows a device which takes the new coils in pairs from this storage and puts them in the gate (presumably after the empty sleeves have been removed from the gate). The subsequent roving handling is shown in JP-48-3334, while the subsequent commissioning of the relevant spinning positions is dealt with in JP-48-22848 or JP-49-14520. In connection with this system, it remains unclear how the new bobbins are to be stacked in the stacker and how the roving inserted in the funnel of the spinning station begins to run through the drafting system. The idea of simultaneous treatment of the inner and outer rows of coils formed the basis for further developments, which can be found in DE-A1 3537727 and EP-A1 0 259 267 (US 4,841,720).

In parallel to the developments in direct connection with the machine creel, the transport systems between the pre-spinning machine and the ring spinning machine were developed in the form of a monorail. The transfer of the flyer spools to such a web is shown in DE-A2 1510593 and further developments of this system can be found in JP 51-38814, JP 50-76341, US 3,935,699 and JP 51-23332. The system comprises trolley trains, each train being provided with pins, so that the roving bobbins hang from the pins of the train as from the pins of a gate.

The transfer of flyer coils from such a trolley directly into the gate is shown in JP 58-81631 and JP 63-31565. However, this plugging takes place in an overall system according to EP-A1 0 213 962, according to which the inner and outer coil rows of the gate are periodically exchanged and the plugging of the new coils takes place only in the outer coil row. This requires a complicated and complex gate construction, which includes an additional robot.

Various possibilities for exchanging coils between a trolley train and a gate without requiring an exchange method within the gate have been shown in the previously mentioned DE-A1 3537727 and EP-A1 259 267 and in DE-A1 3734275. The various proposals include two sets of gripping elements (one set for the new spools and one set for the empty sleeves), empty spaces in the trolley train (EP-A1 0 259 267) and intermediate storage (EP-A1 0 259 267 and DE-A1 3734275) . According to DE-A1 3911765, an intermediate store can then be designed as a sliver preparation station, so that the sliver is processed for further treatment.

A further thrust has been shown in Swiss patent 682 160. In this case, the creel is provided with an empty tube transport path extending in the longitudinal direction of the machine, and the full bobbins are gradually moved inwards from an external reserve position when they supply their roving material to the spinning stations. This arrangement requires a corresponding gate construction, which practically excludes their use in existing machines. For an overall solution (incl. Sliver handling and any new start-up of the spinning station), this arrangement causes some complications, which can be solved but require additional effort.

• 1. Hineingreifen in die innere Reihe beim Unterfahren der äusseren Reihe (z.B. DD 57523, DE-A1 3208677 und DE-A1 3734275).
• 2. Die inneren und äusseren Reihen umtauschen, so dass nur die äussere Reihe bedient werden muss (EP-A1 0 213 962).
• 3. Die inneren und äusseren Spulenreihen gleichzeitig bedienen (z.B. JP 48-3333, DE-A1 3537727 und US 4,841,720).
• 4. Die Spulen in einer vorgegebenen Richtung (von aussen nach innen) beim Beliefern der Spinnstellen verlegen, so dass die Hauptbedienungsarbeit an einem Ende des Bewegungspfades ausgeführt werden kann (CH 682 160).

From the aforementioned publications, it appears that a key problem is the operation of the inner row of coils. In summary, the following four known solutions to this problem can be identified:

• 1. Reach into the inner row when driving under the outer row (eg DD 57523, DE-A1 3208677 and DE-A1 3734275).
• 2. Exchange the inner and outer rows so that only the outer row has to be operated (EP-A1 0 213 962).
• 3. Simultaneously operate the inner and outer coil rows (eg JP 48-3333, DE-A1 3537727 and US 4,841,720).
• 4. Lay the bobbins in a given direction (from the outside inwards) when delivering the spinning stations so that the main operating work can be carried out at one end of the movement path (CH 682 160).

It is the object of this invention to provide a simpler solution for the operation of the inner row of coils, which can serve as the basis for a practical overall solution to the aforementioned problems of gate loading.

CH Patent 682 160 describes a handling device for roving bobbins on a creel of a fine spinning machine, the creel having an inner and an outer longitudinal row of roving bobbins on each side of the machine center plane and means for introducing roving bobbins into the creel, means for conveying the roving bobbins into Direction towards the machine center plane, means for detecting a sliver end of a roving spool at a reference point in the creel and means for guiding the sliver end to a drafting device are used. The means for detecting the end of the match contains a suction tube with a sensor arranged therein, which responds to the presence of a fuse, which suction tube is attached to the end of a movable holding arm, such that the suction tube can be moved on all sides. The latter means also contains a means of rotation for rotating the roving bobbin to bring the sliver end towards the suction tube. This application therefore suggests that the suction tube be brought up to the surface of the roving bobbin. However, this proposal requires two reference points, one for a roving bobbin in the outer longitudinal row and one for a roving bobbin in the inner longitudinal row. As a result, the sliver detection means is considerably complicated and complex to set up. Apart from this, it is doubtful whether the search and the detection of the sliver end of a roving bobbin of the inner longitudinal row because of the narrow Space in the gate is feasible at all. The handling device according to the above-mentioned application still has the following negative aspect. The roving bobbins are conveyed to the machine center level with running fuses. These fuses are guided around a deflecting rod provided with grooves and arranged in the area of the machine center plane. When a roving bobbin is moved, a sliver loop is inevitable, which can have dangerous consequences due to the risk of entanglement. In addition, guiding a fuse around this deflecting rod is tedious for an operator and complicated for an operating device.

The invention

The invention provides a method and an apparatus according to the independent claims.

The dependent claims relate to further developments of the general inventive concept.

Preferably, each row of work stations of the machine is assigned only the aforementioned inner and outer supply coil rows; there are no spare rows.

An inner row coil can be held in a treatment position in or near the device for treatment. Preferably only one treatment position is provided per pair of coils, a pair of coils comprising a coil of the inner row and a coil of the outer row. All four spools of a particular spool change operation, i.e. the two old and the two new coils must pass through this single treatment position.

The invention is applicable both in a system according to which a new roving is set up with a roving still running as well as in a system according to which the new roving has to be re-threaded into the appropriate spinning position.

A device according to this invention can be equipped with its own carried magazine for new and old coils. However, it can be provided for cooperation with a traveling coil transport device or for cooperation with a pre-positioned coil transport device. Empty spaces can be provided in the magazine or in the transport device and / or the device can be provided with a buffer and / or a set of coil grippers for the new coils and a set of coil grippers for the old coils can be provided. The coil-gripping elements can be provided with pins or with gripper jaws. The necessary movements of the various coils between the magazine or transport device and the gate can be carried out by repositioning and / or by moving the coils along a guide.

In a preferred arrangement, all necessary relative movements are accomplished by moving the device or moving elements mounted on the device relative to a stationary transport device (and a stationary gate).

The residual material from the old coils can be disposed of on the device or on the transport device or in a suitable location in the overall system.

Individual embodiments of the invention will now be explained in more detail as examples with reference to the drawings.

Fig. 1

einen schematischen Querschnitt durch eine Ringspinnmaschine nach dieser Erfindung,

Fig. 2

einen Grundriss von sechs benachbarten Vorlagespulenstellen im Gatter einer Maschine nach Fig. 1, zur Erklärung der bevorzugten Anordnung nach dieser Erfindung, und

Fig. 3, 4 und 5

ähnliche Grundrisse von alternativen Anordnungen,

Fig. 6

schematisch einen Mechanismus zum Ausführen von Bewegungen, die für eine Spulenwechseloperation nach der bevorzugten Ausführung erforderlich sind,

Fig. 7

ein Tragzapfenpaar gegenüber Spulen bzw. Hülsen im Gatter und auf einem Trolley,

Fig. 8

die gleiche Anordnung wie Fig. 7, aber mit zusätzlichen Pfeilen zur Andeutung auf Bewegungen,

Fig. 9 und 10

die Elemente der Fig. 7 und 8 in je einem anderen Zustand,

Fig. 11

Zustandsdiagramme, die zusammen eine Wechseloperation bei einer Ausführung mit einem Zwischenspeicher darstellen,

Fig. 12

vierzehn einzelne Zustandsdiagramme, die eine einfachere, bevorzugte Wechseloperation darstellen, wobei gewisse Zwischenschritte nicht aufgezeigt werden,

Fig. 13

eine Seitenansicht einer bevorzugten Lösung zum Ausführen des "Hubzyklus", der im Zusammenhang mit Fig. 6 und 7 erläutert wird,

Fig. 14

eine schematische Seitenansicht einer Vorrichtung für das Luntenhandling,

Fig. 15

ein schematisches Layout einer Anlage, die Roboter nach dieser Erfindung umfasst,

Fig. 16

eine schematische Darstellung einer Gattersektion, die zur Erklärung einer geeigneten "Wechselstrategie" dienen soll,

Fig. 17

sechs Diagramme zur Erläuterung dieser Wechselstrategie,

Fig. 18

einen Teilquerschnitt durch eine Feinspinnmaschine und ein Bediengerät,

Fig. 19

eine Draufsicht nach Fig. 18 ohne Bediengerät und mit einem Luntenführer einer ersten und einer zweiten Ausführungsform in etwas kleinerem Massstab,

Fig. 20

eine perspektivische, vergrösserte Darstellung des Luntenführers gemäss der ersten Ausführungsform,

Fig. 21

eine perspektivische, vergrösserte Darstellung des Luntenführers gemäss einer zweiten Ausführungsform und

Fig. 22

eine Teildraufsicht auf das Bediengerät nach Fig.18.

It shows:

Fig. 1

2 shows a schematic cross section through a ring spinning machine according to this invention,

Fig. 2

a floor plan of six neighboring ones Supply coil stations in the gate of a machine according to Fig. 1, for explaining the preferred arrangement according to this invention, and

3, 4 and 5

similar floor plans of alternative arrangements,

Fig. 6

schematically shows a mechanism for executing movements which are required for a bobbin changing operation according to the preferred embodiment,

Fig. 7

a pair of trunnions opposite coils or sleeves in the gate and on a trolley,

Fig. 8

the same arrangement as Fig. 7, but with additional arrows to indicate movements,

9 and 10

7 and 8 in a different state,

Fig. 11

State diagrams, which together represent a switch operation when executed with a buffer,

Fig. 12

fourteen individual state diagrams, which represent a simpler, preferred change operation, with certain intermediate steps not being shown,

Fig. 13

3 shows a side view of a preferred solution for carrying out the “lifting cycle”, which is explained in connection with FIGS. 6 and 7,

Fig. 14

1 shows a schematic side view of a device for sliver handling,

Fig. 15

1 shows a schematic layout of a system comprising robots according to this invention,

Fig. 16

1 shows a schematic representation of a gate section which is intended to explain a suitable "change strategy",

Fig. 17

six diagrams to explain this change strategy,

Fig. 18

a partial cross section through a fine spinning machine and an operating device,

Fig. 19

18 without a control device and with a sliver guide of a first and a second embodiment on a somewhat smaller scale,

Fig. 20

2 shows a perspective, enlarged illustration of the match guide according to the first embodiment,

Fig. 21

a perspective, enlarged view of the match guide according to a second embodiment and

Fig. 22

a partial plan view of the control unit according to Fig. 18.

The machine according to FIG. 1 comprises a double-sided frame 10 with two rows of spinning positions 12 and 14, which are directed in opposite directions from a central plane ME of the machine. In a modern machine, each such row of spinning positions 12, 14 contains between 500 and 600 closely spaced spinning positions. Each spinning station comprises a drafting unit 16, thread guide elements 18 and a unit 20 forming the cop. The unit 20 contains individual working elements such as, for example, a spindle, ring and rotor, which, however, do not play a role in this invention and are not shown individually. These elements are known to the person skilled in the art and can be seen, for example, from EP-A1-A 382 943. For each row of spinning stations 12 and 14, a doffing machine 22, 24 is provided, which contains all the spinning stations of the row of spinning stations assigned to it operated at the same time. This automat is also not described in more detail here, details of which can be found in EP-A1 0 303 877.

Each row of spinning stations 12 and 14 is also assigned to at least one operating device 26 and 28, which can be moved along the respective row and can perform operating operations at the individual spinning stations. Details of such an operating device are e.g. from EP-A1 0 388 938.

The frame 10 carries a gate 30 which is formed from vertical bars 32 and cross members 34. Rails 36 are mounted on the outer ends of the cross members 34 and extend in the longitudinal direction of the machine. Each rail 36 serves as a guideway for a trolley train 38 which leads new coils 40 to the gate 30. Details of such a trolley train can be found in EP-A1 0 431 268.

The gate 30 comprises carriers 42 for supply spools 44, 46, which supply the individual spinning stations with roving. The supports 42 are drawn as transverse rails, but this arrangement is of no importance for this invention. In the example according to FIG. 1, the supply bobbins for each row of spinning positions 12 and 14 are arranged in two rows, namely in an inner row 44 in the vicinity of the central plane ME and an outer row 46 which is distant from the central plane ME. For each row of spinning stations 12 and 14, a bobbin of the inner row 44 and an adjacent bobbin of the outer row 46 form a pair of feed bobbins, which supplies a respective pair of adjacent spinning stations with roving. The part of a gate which contains a pair of supply coils can be referred to as a "gate position".

The cross members 34 also carry a rail arrangement 48 or 50 on each machine side, which serves as a guideway for a respective mobile robot 52 or 54. The robot 52 or 54 therefore runs between the outer Supply coil row 46 and the new coils 40 carried by the trolley train 38 and above the respective operating device 26 or 28. The robot 52 is designed to operate the two supply coil rows of the gate, as will be explained in more detail below with reference to the diagrams in FIGS. 2 to 5.

FIG. 2 again shows the center plane ME of the machine according to FIG. 1 together with supply coils 56, 58, 60, the inner coil row 44 and supply coils 62, 64 of the outer supply coil row 46. A part of the robot 52 is also indicated schematically. The supply coils 56, 62 form a first pair of coils and the supply coils 60, 64 form a second pair of coils. In normal operation, a further coil 66 of the outer row 46 is assigned to the coil 58 in order to form a third pair of supply coils. In the state according to FIG. 2, this coil 66 has been removed from the gate 30 by the robot 52 in order to form an “alley” 70 between the coils 62 and 64 of the outer row 46. This alley 70 enables access to the coil 48 (or the corresponding suspension point of the gate) of the inner row 44, whereby the operation of this coil 48 of the inner row is made considerably easier.

It is assumed that the "bobbins" 58 and 66 only consist of empty tubes because they have delivered all of their roving to their respective spinning positions. The empty sleeve 66 can be hung on a spigot of the trolley train 38, after which the empty sleeve 58 can be removed from the gate 30 and hung on the trolley train. A full spool 40 (FIG. 1) can now be removed from the trolley train 38 and, after a suitable treatment, which is described in more detail below, can be introduced through the alley 70 into the work station of the inner row 44. After the work place of the inner row 44 has been completely operated, e.g. attaching the new roving to the old roving or threading the new roving into the drafting device 16 of the relevant spinning position, a further spool 40 can be removed from the trolley train 38 and into the appropriate work place of the outer one Row 46 will be introduced. There will be examples of the various operating operations are described in more detail below for the sake of completeness. For now, however, alternative arrangements according to FIGS. 3, 4 and 5 will be described to explain the inventive principle.

In the arrangement according to FIG. 2, the alley 70 forms approximately a right angle together with the central plane MA. FIG. 3 shows that this is not absolutely necessary, where the elements of FIG. 2 are shown again and provided with similar reference numerals. Since the coils 62, 64 and 66 of the outer row 64 are unchanged from FIG. 2, they have the same reference numerals. In FIG. 3, however, it is assumed that the second bobbin 58A of the third pair of bobbins still has a lot of stock material, while the yarn supply of the bobbins 56A and 60A of the first and second pair of bobbins is exhausted. In this case, the "alley" 72 extends diagonally between the coils 62, 58A or diagonally between the coils 64, 58A. The arrangement according to FIG. 2 is preferred, but where the space is suitable, the arrangement according to FIG. 3 is possible.

Figures 2 and 3 each show an arrangement, according to which the alley 70 and 72 has a width which corresponds approximately to the diameter of a full coil. Fig. 4 shows an arrangement according to which a "wide alley" with a width of three coil diameters facilitates the operation of the suspension points of the inner row. However, this additional relief has to be bought with certain difficulties in the overall process and will normally not be worthwhile compared to the preferred arrangement according to FIG. 2. The additional difficulties mentioned become apparent from the following description of the individual operating operations.

Finally, FIG. 5 shows that a "long lane" up to the innermost supply reel row is also possible. Of course, this requires the corresponding longer operating elements on the robot 52 and in particular can cause problems in connection with the operation of roving guide elements for the roving of the innermost row.

So far it has been assumed that the used coils (in FIG. 2 the coils 58, 66) are removed individually and sequentially from the gate. However, if it can be ensured that no residual material remains on these coils when changing the bobbin, it is not necessary to remove the bobbins of a pair from the gate one after the other. They can be removed from the gate at the same time. However, this does not apply to the re-insertion of the full bobbins. When a reel is introduced, it is necessary to carry out at least certain sliver handling operations, so that the presence of the alley is essential for the operation of the inner row of reels during the reinsertion and requires the new reels to be introduced sequentially.

Individual aspects are now explained in more detail:
In a first section the bobbin changing process is dealt with, in a second section the sliver end handling and in a third section the overall process and the necessary control of the system.

In the following description it is assumed that the new spools are to be introduced into the gate directly from a transport device in the form of a trolley and the used spools are to be transferred directly from the gate to the trolley, i.e. the automatic bobbin changer does not have its own magazine; it is not necessary to transfer it from a transport trolley to such a magazine. However, the variants to be described below represent the simpler preferred solutions.

• Es sind Elemente vorzusehen, welche die erforderlichen Bewegungen zuverlässig bewerkstelligen, und
• es müssen während des ganzen Ablaufes die Standorte aller in diesem Wechselablauf beteiligten Spulen, sowohl der verbrauchten als auch der neu einzuführenden, jederzeit eindeutig definiert sein. Dies bedeutet, dass beim Spulenwechsel in Zusammenhang mit einem zweireihigen Gatter insgesamt vier Spulen je einen bedienbaren Platz im Gatter oder auf dem automatischen Gerät oder auf dem Trolley finden müssen.

Two subtasks have to be solved to automate the spool change:

• Elements are to be provided which reliably achieve the required movements, and
• The locations of all the coils involved in this change process, both the used and the new ones to be introduced, must be clearly defined at all times during the entire process. This means that when changing the bobbin in connection with a double-row creel, a total of four bobbins must each find an operable space in the creel or on the automatic device or on the trolley.

The movements required depend in part on the shape of the coil-engaging elements provided. It is assumed that the coils have to be repositioned so that they are carried by the gripping elements of the automatic device during a movement. At the beginning of such a movement, the gripper must take over the spool from a predetermined hanging spigot and at the end of the movement transfer the spool to another predetermined hanging spigot. Such a system differs from a system, e.g. according to DE-A1 3817910, according to which a coil is constantly carried by its own adapter, the adapter being suitable for cooperation with a guide present in the gate. In such a system, the automatic device only has to cause the adapter to move along the applicable guide without having to carry the coil or adapter. Such a system can also be built according to this invention.

It is further assumed that the gripper element is provided in the form of a supporting pin which engages into the sleeve from below. The considerations are of course exactly the same for a gripper enclosing the sleeve base, e.g. according to DE-A1 3305991.

• hin und her in einer Richtung quer zur Längsachse der Maschine,
• auf und ab,
• in der Längsrichtung der Maschine

Fig. 6 zeigt ein einfaches Beispiel einer Vorrichtung zur Durchführung der ersten und zweiten Bewegungsarten. Die Vorrichtung umfasst eine Trägerpartie 100 mit einer Schiebebahn 102. In dieser Bahn 102 läuft ein länglicher Schieber 103, der durch einen Antrieb, z.B.einen Linearmotor, zwischen einer in Richtung der Zentralebene der Maschine ausgestreckten Stellung und einer zurückgezogenen Stellung bewegbar ist. Der Schieber selbst hat eine Führungsbahn 101 für einen Schlitten 104, der mit einem senkrecht stehenden Zapfen 106 versehen ist. Der Schlitten 104 hat eine sich in Längsrichtung des Schiebers 103 erstreckende Durchbohrung 108, die mit einer Gewindemutter 110 versehen ist. Die Gewindemutter 110 arbeitet zusammen mit einer Gewindespindel 112, die an beiden Enden (nicht gezeigt) in je einem Lagerbock auf dem Schieber 103 getragen wird, derart, dass die Gewindespindel um die eigene Längsachse drehbar aber gegen eine Bewegung in der eigenen Längsrichtung gesichert ist.The movements required for a preferred two-row gate arrangement according to FIG. 2 will now be described. In one such a system, movements must be carried out in three directions, namely:

• back and forth in a direction transverse to the longitudinal axis of the machine,
• back and forth,
• in the longitudinal direction of the machine

6 shows a simple example of a device for carrying out the first and second types of movement. The device comprises a carrier section 100 with a sliding track 102. An elongated slide 103 runs in this track 102 and can be moved by a drive, for example a linear motor, between a position extended in the direction of the central plane of the machine and a retracted position. The slider itself has a guideway 101 for a carriage 104, which is provided with a perpendicular pin 106. The carriage 104 has a through-bore 108 which extends in the longitudinal direction of the slide 103 and is provided with a threaded nut 110. The threaded nut 110 works together with a threaded spindle 112, which is supported at both ends (not shown) in a bearing block on the slide 103, in such a way that the threaded spindle is rotatable about its own longitudinal axis but is secured against movement in its own longitudinal direction.

A suitable transmission (e.g. a toothed belt, not shown) connects the threaded spindle 112 to the drive shaft of a drive motor (not shown), this motor being carried by the slide 103. The motor is reversible so that, depending on the direction of rotation of the motor shaft, the carriage 104 is moved along the path 101 via the threaded spindle 112 in the direction A or B.

• (1) Schieber 103 zurückgezogen / Schlitten 104 zurückgezogen;
• (2) Schieber 103 zurückgezogen / Schlitten 104 ausgestreckt;
• (3) Schieber 103 ausgestreckt / Schlitten 104 zurückgezogen;
• (4) Schieber 103 ausgestreckt / Schlitten 104 ausgestreckt.

With this arrangement, the pin 106 can be brought into four positions, namely:

• (1) slider 103 retracted / carriage 104 retracted;
• (2) slider 103 retracted / carriage 104 extended;
• (3) slider 103 extended / carriage 104 retracted;
• (4) Slide 103 extended / slide 104 extended.

The carrier section 100 is mounted in the automatic device in such a way that the directions A and B are transverse to the longitudinal direction of the machine. The width of the slider 103 is selected such that the slider 103 can be moved back and forth along a lane 70 (FIG. 2) if the automatic device is suitably positioned, without touching the full bobbins shown here.

The carrier section 100 has three vertical through-holes 114, 116 and 118, one of which is aligned with the axis 114 of a threaded nut 120 fixedly mounted on the carrier section 100. The threaded nut 120 works together with a vertical threaded spindle 122, which is rotatably mounted about its own longitudinal axis in the chassis (not shown) of the automatic device. The threaded spindle 122 is connected at one end (not shown) to the rotor of a reversible drive motor (not shown), so that the rotation of this rotor brings about an up and down movement of the carrier part 100 along the threaded spindle 122. The bores 116, 118 cooperate with guide rods 124 which are mounted in the chassis mentioned.

In a first variant according to FIGS. 7 to 11, the bobbin changer has a buffer 130 (FIG. 7). The intermediate store comprises a rod 132 with three hanging pins 134, 136, 138. The rod 132 extends in the longitudinal direction of the machine in the space left between the trolley 38 and the gate, which in this case is provided with an inner longitudinal member 142 and an outer longitudinal member 144 is. Each side member 142, 144 carries hanging pins 146 for the work coils in the gate. The hanging pins 146 in the gate, the hanging pins 134, 136, 138 in the buffer and the Hanging pins 152 on the pin carrier 143 of the trolley 38 are arranged at the same height.

Only two hanging pins 146 with empty sleeves 147, 148 are shown in FIG. 7, these two sleeves forming a "pair of coils" which is to be replaced. The gate naturally comprises a large number of such pins 146 and further partially full coils, which have been omitted in FIG. 7 for the sake of clarity. The full bobbins carried by the trolley 38 and to be inserted into the gate are indicated by 140 and 141, respectively.

The carriage 104 (FIG. 6) with its pin 106 is shown again in FIG. 7. The carriage 104 is movable on the carrier section 100 (FIG. 6) between a retracted position shown in FIG. 7 and a fully extended position, not shown. In the retracted position and with suitable positioning of the support section 100 along the threaded spindle 122 (FIG. 6), the pin 106, as shown in FIG. 7, is located directly below the foot 150 of a coil 140 on the trolley 38. In the fully extended position , with the same positioning of the support part 100 along the threaded spindle 122, the pin 106 is just below the foot 150 of the sleeve 148 on the inner support 142. In between, the pin 106 can be positioned directly below the foot 150 of the sleeve 147 on the outer longitudinal support 144 .

The overall order of course presupposes that the trolley 38 is positioned opposite the gate such that a full spool 140 is aligned on the trolley 38 with a pair of spools to be exchanged. This requires suitable means to position the mobile trolley in relation to the gate.

In this case, the bobbin changer comprises a second pin 105, which is also supported by a suitable slide (not shown) in a sliding track (not shown) for movements in directions parallel to the directions of movement of the Carriage 104 is guided. However, the movements of the second pin 105 are restricted in such a way that it can only move between the trolley 38 and the intermediate storage 130. The arrangement is selected such that when the pin 106 is in its retracted position below the spool 140 on the trolley 38, the pin 152 is directly below the foot 150 of the adjacent spool 141 on the trolley.

The rod 132 with its three hanging pins is movably mounted on the bobbin changing device in such a way that it can be moved in a controlled manner in the longitudinal direction of the machine when the running gear of the device is stationary. The required movements of the buffer are first described in connection with FIGS. 8 to 10 and then in connection with the flow diagrams of FIG. 11. FIGS. 8 to 11 show the same elements that were explained in connection with FIG. 7, so that the same reference numerals are used for the same parts in FIGS. 7 to 11.

The arrangement in Fig. 8 is identical to the arrangement in Fig. 7. However, Fig. 8 is provided with arrows to explain movements of the parts shown. The arrangement shown in FIG. 8 corresponds to a starting or starting position, which is apparent from the description of FIG. 7. From this starting position, the pins ("supporting pins") 106, 105 are initially moved directly upwards and then downwards again (according to the double arrow C) ("stroke cycle C"). In the course of the upward movements of the pins 106, 105, the two coils 140, 141, which are aligned with these pins, are slightly raised. The hanging pins 152 on the trolley 38 as well as the hanging pins 134, 136, 138 in the intermediate store and the hanging pins 146 in the gate are structurally identical, in such a way that each pin releases this coil when a coil carried by it is lifted. At the end of the up and down movement C, the two raised coils 140, 141 are therefore perpendicular to the support pins 106 and 105, respectively.

By moving the pins 106, 105 in the direction D, these two coils 140, 141 are aligned with the pins 136 and 138 of the intermediate store. By repeating the up and down movement C in this new position, the two new coils 140, 141 to be introduced are suspended on the pins 136, 138. The rod 132 is then moved in the direction E until it reaches the position shown in FIG. 9. In this position, the hanging pin 134 of the rod 132 is aligned with the pair of pins 146 in the gate.

The spigot 106 of the bobbin changer is then moved in such a way that it first fetches the empty sleeve 147 on the outer side member 144 (FIG. 7) down from its spigot 146 and then by moving in the direction F this sleeve with the spigot 134 aligns the rod 132. By repeating the stroke cycle C (FIG. 8) in this position, the sleeve 147 removed from the gate is suspended on the pin 134 (FIG. 9). The rod 132 is then moved in the direction of arrow G until it is in the position shown in FIG. 10.

The pin 106 is now moved to its fully extended position so that it is directly below the empty sleeve 148 on the inner side member 142 in the gate (FIG. 10). At the same time, the pin 105 is moved in order to align it with the empty sleeve 147 in the buffer. The two empty sleeves 147, 148 are brought onto their respective trunnions 106, 105 by the stroke cycle C (FIG. 8). There now follow coordinated movements of the pin 105 (in the direction H), as well as the pin 106 (in the direction I) and the rod 132 (in the direction J). At the end of these movements, the two empty sleeves 147, 148 stand directly below the previously released hanging pins 152 on the trolley 38. By repeating the lifting cycle C (FIG. 8), the empty sleeves 147, 148 can be hung on the trolley.

The state diagrams in FIG. 11 show individual steps which are necessary to carry out a changeover operation from the 7 starting position. 11 contains a total of 7 state diagrams. Each state diagram shows schematically the inner coil row P2 on one machine side, the outer coil row P1 on the same machine side and a row T of new coils on a trolley (not shown) which has been positioned opposite the machine gate. Each diagram also shows a bobbin changing robot 52 (see also FIG. 1) with the intermediate storage 130. The bobbin pair 147, 148 (FIGS. 7 to 10) is shown again and is intended to be replaced by the bobbin pair 140, 141, which is still in the state according to FIG. 11 (I) on the trolley is to be replaced. Fig. 11 (I) corresponds to the start position (Figs. 7 and 8).

In Fig. 11 (II) no change compared to Fig. 11 (I) is visible, but the coils 140, 141 are now on the trunnion 106, 105 (Fig. 7) and are no longer carried by the trolley.

In Fig. 11 (III) the pair of coils 140, 141 is below the pins 136, 138 of the intermediate store and in Fig. 11 (IV) the pair of coils has been delivered to the pins 136, 138.

In FIG. 11 (V), the intermediate store 130 has been shifted to the left (FIG. 9) so that the pin 134 (FIG. 9) of the intermediate store is aligned with the pair of pins 146 in the gate. The pin 106 is below the empty sleeve 147 in the outer row P1.

In Fig. 11 (VI) the sleeve 147 is taken over by the support pin 106 and in Fig. 11 (VII) the sleeve 147 removed from the gate is below the pin 134 (Fig. 9) of the buffer.

The further sequences are described without reference to figures. The sleeve 147 removed from the gate is then delivered to the pin 134.

Furthermore, the intermediate storage 130 is moved back to an intermediate position, while the pin 106 with the empty sleeve 148 in the inner row P2 and the pin 105 with the empty sleeve 147 are aligned in the intermediate storage.

In a next step, the two empty sleeves 147, 148 are taken over by the support pins 106, 105.

The coordinated movements already mentioned then follow, so that a state is reached where the intermediate storage is shifted all the way to the left again, while the pair of sleeves 147, 148 stands below the pins 152 (FIG. 10) of the trolley.

The empty sleeves 147, 148 are then delivered to the trolley pin 152.

Next, the intermediate storage 130 is moved back into the intermediate location, and the pin 106 stands below the coil 141, which hangs from the pin 136 (FIG. 10) in the intermediate storage.

Now the intermediate storage 130 is pushed back into the starting position, while the pin 106 with the new coil 141 is below the hanging pin 146 (FIG. 10) of the inner row P2.

In the following, the new coil 140 stands below the hanging pin 146 (FIG. 9) of the outer row P1; this new spool 140 is delivered to the latter hanging pin.

The change process as such is now over. Before the bobbin changer can be moved to the next gate position, the pins 106, 105 must be moved back to the start position, after which the positioning can take place at the next gate position to be operated.
This next gate position to be operated is not directly adjacent to the new work coil pair 140, 141. Instead every second gate position (pair of work coils) is operated. This procedure is not absolutely necessary. It is dealt with in more detail in the third section (overall procedure) of this description.

A simpler preferred variant according to FIG. 12 will now be described. Fig. 12 again shows a series of state diagrams, which are sequentially designated with Roman numerals I-XIV. 13 again shows the pin 106, slide 104 and slide 103, together with the trolley 38, the coil 140 and the empty sleeve pair 147, 148 in the gate. The slider 103 now runs on a lifting platform 100A, which is carried in the chassis (not shown) of the robot via pivoting lever 170. The lift 100A can be moved up and down via an eccentric drive 172 in order to carry out the “lifting cycle C” (see also FIG. 8). Before the diagrams of FIG. 12 are described individually, certain aspects of the overall arrangement should be noted.

In connection with FIG. 7, it was said that when using a buffer, it is necessary to align four hanging pins (within given tolerances) on a line (for example, in FIG. 7, the pair of pins 146 in the gate, the pin 138 in the buffer and the pin 152 with the coil 140 on the trolley 38). For this purpose, the system with the intermediate store has the advantage that only the intermediate store (130, FIG. 7) has to move in the longitudinal direction of the machine during a change sequence. If a pair of trunnions 105, 106 (FIG. 7) is used for this purpose, a single changeover operation (FIG. 11), with a pair of empty sleeves 147, 148 being replaced by full spools 140, 141, can be carried out quickly.

The diagrams of FIG. 12 schematically show a robot 52A, which according to FIG. 13 is provided with a single support pin 106, only the pin 106 being indicated schematically in FIG. 12. The robot 52A does not include a buffer 130 (FIG. 7) and a second support pin 105 (FIG. 7).

It is nevertheless desirable to replace an empty tube pair 147, 148 (FIGS. 7 and 12) in the gate with new coils 140, 141 (FIGS. 7 and 12).

FIG. 12 (like FIG. 11) shows in each diagram the inner row of coils P2 in the gate, the outer row of coils P1 in the gate and a row of coils T on the trolley train 38. In this case, however, the latter row contains two empty hanging pins 160, 161, which in the start position according to FIG. 12 (I) connect to the full coils 140, 141 to be exchanged - cf. EP-A1 0 259 267 and DE-A1 3208677 (Fig. 7-25).

For the sake of clarity, it has been assumed in the diagrams according to FIG. 12 that in the starting position an empty pin 160 is aligned with the pair of empty sleeves 147, 148 to be exchanged. This is also the preferred arrangement in practice, but is not absolutely necessary for the process. In any case, it is no longer necessary to maintain tight tolerances for the positioning of the trolley train. This advantage is achieved in that all necessary movements in the longitudinal direction of the machine are accomplished by moving the robot 52A in the appropriate direction, as will be described in more detail below. The same effect could of course be achieved in that the coil-contacting elements are mounted on a carrier which is itself movable in the longitudinal direction of the machine in the chassis of the robot. However, provided that the robot has a lightweight design and is as simple as possible, a movable carrier does not bring any significant advantage.

In the start position according to FIG. 12 (I), the robot 52A is positioned in the longitudinal direction of the machine in such a way that its (single) support pin 106 is aligned with the pair of empty sleeves 147, 148 in the gate. By partially extending the slide 104 (FIG. 6) and a lifting cycle C (FIG. 8), the empty sleeve 147 is received on the support pin 106. This intermediate state of the change sequence is shown in Fig. 12 (II) shown schematically. By withdrawing the carriage 104 and a further lifting cycle C, the empty sleeve 147 can then be hung on the empty hanging pin 160 - FIG. 12 (III).

The carriage 104 is now fully extended to retrieve the empty sleeve 148 of the inner row (Fig. 12 (IV)). The carriage 104 is then retracted so far (FIG. 12 (V)) that the support pin 106 with the empty sleeve 148 is in the "travel space" 162 of the robot.

The robot 52A is now shifted to the right into the position according to FIG. 12 (VI), where the support pin 106 with the empty hanging pin 161 is aligned with the trolley. By a further movement of the slide 104, the pin 106 is first moved below the hanging pin 161, so that the empty sleeve 148 can be suspended on the hanging pin 161 by a lifting cycle C (FIG. 8). This is the state shown in Fig. 12 (VI). The robot 52A is now shifted again to the left beyond the start position into the position according to FIG. 12 (VII).

Through a stroke cycle C and the partial extension of the slide 104, the state according to FIG. 12 (VIII) is then reached, where the full spool 140 stands on the support pin 106 in the travel space 162 of the robot. The robot 52A is then again shifted to the right into the position according to FIG. 12 (IX), where the slide 104 is first extended and then raised and the full coil 140 is thereby suspended in the gate, which corresponds to the state according to FIG. 12 (IX) corresponds. The robot 52A is then returned to the start position, which corresponds to the state according to FIG. 12 (X), after which there is a shift to the left and the carriage 104 is withdrawn, so that the second full spool 141 is removed from the trolley by a further lifting cycle C. - Fig. 12 (XI). This is followed by the partial extension of the carriage 104 to place the full coil 141 in the robot's travel space 162 - FIG. 12 (XII).

In the next step, the robot 52A is again shifted to the right into the position according to FIG. 12 (XIII), so that the pin 106 is aligned with the relevant hanging pin pair 146 (FIG. 7) in the gate. A renewed partial extension of the slide 104 then aligns the support pin 106 together with the coil 140 carried by it with the suspension pin 146 in the outer row P1 of the gate. By a further repetition of the lifting cycle C (FIG. 8), the new coil 140 is then suspended on its hanging pin 146 in the outer row P1, after which the carriage 104 is withdrawn again from the gate and the robot can be moved to the next gate position to be operated . This corresponds to the state shown in Fig. 12 (XIV).

Without further description, it will be clear that the duration of such an exchange operation could be reduced by providing a pair of trunnions (instead of a single trunnion 106). It would then first have to remove both empty sleeves 147, 148 from the gate and place them on the respective trunnions of the robot in the driving space 162. Through the movement of the robot, the two empty sleeves 147, 148 with the empty hanging pins 160, 161 can then be aligned with the trolley and then hung on this hanging pin. Both new coils 140, 141 can also be taken over simultaneously by the robot's trunnion, after which they can be suspended sequentially on their trunnions in the gate. With regard to the necessary steps of the sliver handling, as described below, doubling the number of trunnions on the robot brings only limited time advantages, unless each trunnion is assigned its own sliver handling device, which makes the robot more expensive.

The invention is of course not limited to a pair of trunnions on the robot. Any number of such trunnions can be provided, in particular, for example, a pair of trunnions for removing empty sleeves from the gate and at least one additional trunnion (pair of pins) for insertion from new coils into the gate. In the case of a single additional trunnion, the sliver handling device is assigned to the latter trunnion. In principle, more than one gate position (with one work coil each in the inner or outer row) can be operated. Compared to the simpler variant according to FIG. 12, however, all of these additional measures require substantial complications or a doubling of the handling devices, which at most lead to an impairment of the reliability of the robot.

The necessary relative movements in the machine longitudinal direction can also be achieved by moving the trolley e.g. according to DE-A1 3536702 or EP-A1 0 380 930. However, it is preferred to move the relatively smaller mass of the robot compared to a stationary trolley train.

The necessary steps of the sliver handling as described below essentially depend on whether or not the new sliver should be connected to the sliver still entering the drafting system. If a start is to be made, a remaining fuse on the used reel must be expected each time, and this remaining fuse must be disposed of, e.g. was described in the last paragraph of the description of DE-A1 3911765. Disposal is a complicated and time-consuming operation and should therefore be avoided if possible. It should also be noted that a robot that is designed to set the match depends on the presence of a still running match in the gate. The robot is therefore helpless in the face of a spinning station where a match has occurred in the creel. Such events occur relatively rarely, but still affect the full automation of a system that is unable to handle them. This is particularly true if there is a risk of a broken rupture during the change process.

On the other hand, there is the important advantage of using a match, that (assuming a successful change operation) the spinning itself is not interrupted. The Accordingly, the relevant spinning position remains "continuously" in operation, unless a yarn breakage occurs for other reasons. However, known sliver piecing methods lead to a yarn defect which must be cut out ("cleaned") during the subsequent rewinding.

If the sliver is not attached when changing the roving bobbin, the yarn will inevitably break, so that spinning will be interrupted at least temporarily. In this case, the robot 52 (or 54) can be designed such that each new fuse is re-inserted into the relevant drafting system (e.g. according to U.S. Patent 4,845,935). In this case, however, the corresponding spinning station must then be put into operation again each time, which can be carried out by the operating devices 26 or 28 (FIG. 1). A rational mode of operation of the overall system then requires the coordination of the bobbin change with the removal of the associated thread breaks, which is described below in section 3 (chapter "overall process").

The invention can be used both when a piecing process has to be carried out and when the new fuse has to be introduced into the drafting system. An embodiment that provides for the roving is not described here. The necessary steps can e.g. from EP-A1 0 213 962 or DE-A1 3734275 or from DE-A1 3911765. The following description assumes that the drafting system must be re-threaded each time.

In the assumed case, the system can be designed in such a way that each coil has run out as far as possible before a replacement operation is carried out. The thread breakage occurs when the sliver end of the old bobbin reaches the spinning position. The spinning station then remains out of operation as long as no new fuse has been threaded into the drafting system and the thread break has not been remedied.

In fully automatic operation, where the presence of the operating personnel is not assumed during a change process, the complete delivery of the old fuse to the spinning station at the time of a change process cannot be accepted as a prerequisite. If e.g. for other reasons a single spinning station has been out of operation for a long time and the time for a roving bobbin changing process is determined by the running time of the spinning stations, then the old fuse still runs into the mentioned single spinning station at the time when a roving bobbin change should take place for this spinning station. Furthermore, in the aforementioned case of a match break in the creel, the partially used bobbin must be exchanged for a new bobbin when changing the roving bobbin.

To remove a coil from the gate:
The preferred embodiment of the invention accordingly provides for a sliver handling operation both when removing a spool from the creel and when reinserting a coil into the creel, although according to the preferred arrangement, the slips of the old coils are to be delivered entirely to the appropriate spinning positions, ie normally empty tubes must be exchanged for new coils. If no sliver handling operation is carried out when a sleeve is removed from the creel, there is a considerable risk that a so-called drag line will occasionally occur, which can lead to a considerable disruption of the overall process.

• Die noch laufende Lunte sollte möglichst schnell aufgebraucht werden, so dass das Streckwerk zum Neueinfädeln bereitgestellt wird, und
• falls es sich um eine Spinnstelle mit einem Luntenbruch im Gatter handelt, so dass die alte Lunte nicht mehr in die Spinnstelle läuft, sollte möglichst wenig Abfall von der alten Lunte abgeschnitten werden und in die Maschine fallen.

In the simple case, according to this system, therefore, the removal of an old coil from the gate consists only of the movement of the empty sleeve. This movement can be carried out without any problems after the change sequence already described. In the more complicated case, which is described in more detail below, an existing fuse of the "used" coil must be treated. As a first step in the treatment of such a fuse, a cutting operation is carried out so that the old fuse is cut at a predetermined location. If the old fuse is still in the correct one If the spinning position is running, the newly formed sliver end on the still running fuse will lead to a thread break in the spinning position. The separation operation should therefore be carried out close to the drafting system, for two reasons:

• The fuse which is still running should be used up as quickly as possible so that the drafting system is provided for re-threading, and
• if there is a spinning position with a match break in the creel, so that the old fuse no longer runs into the spinning station, as little waste as possible should be cut off from the old fuse and fall into the machine.

The robot can accordingly be provided with an extendable arm with a cutting device which, after the arm has been extended, can cut through the old fuse in the vicinity of the condenser from the drafting system. If the machine or the robot is provided with a sensor which can determine the state of the spinning position or the old spool, it would ideally be possible to determine an empty tube in the creel and to suppress this separation step in order to save time. However, where there is no sensor system, the separation operation will be carried out every time, although in most cases there is no fuse in the spinning station and the separation device accordingly carries out a "dry run". The separating or cutting device can be provided in a device which is provided for threading the drafting system (in a "manipulator").

However, where a sliver clamping device is provided in the ring spinning machine for each spinning station (for example according to EP-A1 0388938), the robot can be designed to actuate this clamping device, which simplifies the construction of the robot itself.

The old fuse must now either be wound up cleanly on the old spool or removed from this spool in order to be delivered to the trolley as an empty tube. In the case of winding, e.g. the trunnion 106 (FIG. 6), which removes the old spool from the gate, is rotatably mounted on the carriage 104. A suitable drive (not shown) e.g. Be provided on a belt to turn the old spool and thereby rewound a severed sliver length. The free match end should then preferably be secured on the old spool before this spool is delivered to the trolley. This can e.g. by pressing or gluing from the end of the match at the beginning of the coil. The sleeve can e.g. be provided with a catch for the fuse and the fuse to be wound up can be passed over this catch at the appropriate time.

The final phase of disposal, namely the removal of sliver residues, will then no longer be carried out by the robot, but in the overall system (e.g. in a suitable sleeve cleaning station). The entire system must then be designed in such a way that the trolley is guided through such a cleaning station before it is led back to the flyer for reloading. Such cleaning stations are e.g. known from EP-A1 0 323 400 and are not described here in detail.

In order to relieve the load on the tube cleaning station and, if necessary, to make it superfluous, it can be provided that the remaining fuse is removed by the robot from the carrier tube before this tube is released to the trolley. For this purpose, the robot can be equipped with a suction device that is suitable for picking up residual slips. In order to reliably carry out such a disposal operation, however, the old coil is preferably first moved to a "treatment position" for disposal, which is either within the robot itself or in its immediate vicinity. This arrangement ensures the necessary Access of the sliver handling elements to the coil surface without having to dig deep into the gate.

• das Auffinden des Luntenendes auf der neuen Spule
• das Einfädeln der Luntenführungselemente im Gatter
• das Neueinfädeln des Streckwerks.

As far as the sliver handling is concerned, the reinsertion of a coil comprises the following partial aspects:

• finding the end of the match on the new spool
• threading the sliver guide elements into the gate
• the re-threading of the drafting system.

Finding the sliver end of the new coil is preferably carried out in a treatment position which is located in the robot itself or in its immediate vicinity. This treatment position is preferably the same for removing an old spool from the drafting system and for treating a new spool when reinserting it.

In order to simplify the threading of the gate guide elements, these elements are preferably formed according to US Pat. No. 4,408,731. The re-threading of the guide elements can then be carried out by simply hanging the fuse in the open guide hook, this hook not being located at the inner end of the alley 70 (FIG. 2) but at an intermediate point along this alley.

The drafting device threading is preferably carried out according to EP-A1 0472962, wherein a sliver handling device with servo drives according to EP-A1 0 419 968 can be used.

14 schematically shows a side view of a robot according to CH patent 683 699 with additions to take account of the aforementioned developments. The central plane of the machine is indicated by 200 and a cross member of the two-row gate by 202. This cross member has two "work stations" 204, 206 (each with a hanging pin 208), of which the inner work station 206 is still occupied by an empty sleeve 210.

Viewed in the longitudinal direction of the machine, there is a vertical rod 212 with guide hooks 214 (according to US Pat. No. 4,408,731) between the rows of work stations, the rod 212 also being between two adjacent gate positions. Between the work stations in the gate and the drafting system 216 there is a horizontal bar 218 which serves as a carrier for a sliver guide or clamping device 220 according to FIGS. 15 to 18 of EP-A1 0 388 938.

The robot is indicated at 222 and runs over rollers 224 on a rail 226 at gate height. The carriage 228 carries a manipulator 230 (in the form of an arm) and a lever 234 provided with a fork 232, both of which were explained in Swiss Patent 683,699.

In this case, the chassis carries a platform 236 with a supporting pin 238 for carrying an empty sleeve or a partially used coil. The platform 236 is movable in order to bring the sleeves / coils out of the gate or to reinsert them into the gate, but this can be carried out according to FIG. 12. The platform also carries a friction wheel 240 (and a suitable drive, not shown) to cause the pin 238 to rotate about its own axis. FIG. 14 shows on the platform 236 a partially used coil 242, of which the fuse 244 still extends over the guides 214 into the clamping device 220, although the coil 242 through the platform 236 out of the gate into the “treatment position” shown (in the robot 222 ) has been moved.

The fuse 244 no longer runs into the spinning station because the clamping device 220 has been actuated by the lever 234 and holds the fuse 244 in place. Since the drafting system 216 is still running, an interruption 246 has arisen between the clamping device 220 and the pair of feed rollers of the drafting system. Clamping device 220 is opened again soon after actuation in order to release the sliver piece still connected to coil 242.

In this embodiment, the chassis 228 also carries a suction box 250 (with a fan 252) and an aspirator 253, which is connected to a pivotable suction pipe 256. This suction tube 256 has a joint 258 and a mouthpiece 260, which is suitable for sucking in a sliver loop.

By means of a suitable servo drive, the mouthpiece 260 is initially brought to a position near the guide 214 (solid lines in FIG. 14), so that the suction effect generated by the aspirator 254 sucks in the fuse 244 (after its release in the clamping device 220). The suction effect is so great that the sliver structure is largely dissolved in the aspirator 254. The fiber material is collected as waste in the suction box 250.

The suction tube 256 thus sucks the fuse from at least the clamp 220 and the guide 214 and is pivoted back against the coil 242 (dashed line). It is now determined whether the remaining fuse can be disposed of or not. This can e.g. in that a light barrier (not shown) scans the coil diameter or that a sensor (not shown) in the suction tube determines whether the coil 242 is still being wound after a predetermined duration of suction.

If the remaining amount is above a predetermined limit, the disposal is switched off on the robot. Instead, the fuse is wound up by rotating the pin 238 and, if necessary, fixed to the spool. This coil can then be placed in the trolley, but could also be treated differently as a "special case", e.g. be handed over to a suitable place on the machine.

If the remaining amount is below the limit mentioned, the empty tube is released by unwinding the remaining fuse, which can then be given to the trolley. For unwinding, the pin 238 is rotated about its own longitudinal axis in the appropriate direction.

In principle, the manipulator 230 (with its own suction system) could carry out the disposal. However, this is not desirable because the manipulator has to extend relatively far from the chassis to a point and should precisely position the in the guided fuse. The suction pipe 256, on the other hand, only has to extend to the guide 214 and does not have to perform any essential match guide task.

Fig. 15 shows an example of the layout of a plant operated by robots according to this invention. A flyer 300 supplies spools to four ring spinning machines 304, 306, 308 and 310 via a rail network 302 (with buffer 304) for trolleys (not shown). AK or EK denote the drive head or the end head for each machine. A trolly can be guided on any machine side via switch points 312. Accordingly, each machine is assigned a U-shaped section of the network. The system (transport function) is controlled by a central computer 314.

A rail network 316 is also provided for the coil change or sliver handling robot 318. The network 316 also includes a respective U-shaped section for each machine, but this is directed in the opposite direction to the corresponding U-shaped section of the transport network 302. The robot 318 can be guided from one machine to another via connecting pieces 320.

Fig. 17 shows in eight diagrams, which are sequentially designated by the Roman numerals I-XIV, a method for loading a ring spinning gate with full coils. For the sake of simplicity, it is assumed that there are no old coils in the gate, so that only the introduction of new coils into the gate has to be described. Only a few gate positions have been shown, since the principles to be described are readily applicable to a large number of gate positions. The representation of the gate is initially explained on the basis of the larger diagram in FIG. 16.

Each diagram in FIGS. 17 and 16 schematically shows two outer rows AR1, AR2 of work stations for sliver coils in the gate, two inner rows IR1 and IR2 of such work stations and a trolley TR, which is designed with six full bobbins and two empty spaces a bobbin changing operation according to FIG. 12 is fully loaded. The rows of workplaces in the gate have been indicated by the horizontal lines, the individual workplaces being indicated by the intersection of these horizontal lines with the vertical lines. Accordingly, each inner and outer row contains a total of twelve jobs (intersections).

In a first exchange operation, which is indicated by the arrows in FIG. 17 (I), the six coils of the fully loaded trolley are loaded into the gate positions G1, G3 and G5 of the rows IR1 and AR1.

17 (II), the six full bobbins of a trolley are loaded into the gate positions G12, G10 and G8 of the rows IR2 and AR2.

In a third exchange operation, the coils of a fully loaded trolley are loaded into the gate positions G2, G4 and G6 of the rows IR1 and AR1, as indicated in FIG. 17 (III). Thereafter, as indicated in Fig. 17 (IV), the gate positions G7, G9 and G11 of the rows IR2 and AR2 are occupied. Fig. 17 (V) then shows the occupation of the gate positions G7, G9 and G11 of the rows IR1 and AR1 and Fig. 17 (VI) shows the occupation of the gate positions G2, G4 and G6 of the rows IR2 and AR2. Fig. 17 (VII) shows the occupation of the gate positions G8, G10 and G12 of the series IR1 and ARI and Fig. 17 (VIII) the occupation of the gate positions G1, G3 and G5 of the series IR2 and AR2.

The occupation of every second gate position for a given change operation is necessary because the trolley carries only a single row of coils and the coil division in the Trolley is equal to the division of the gate positions. There are two rows of coils in the gate. Obviously, a time saving could be gained if the trolley were designed to carry a double row of coils. At best, however, this would result in problems in the layout of the overall system.

The changing operations are carried out alternately on one or the other side of the machine in order to reduce the workload of the operating devices 26, 28 (FIG. 1). As previously indicated, it is necessary to coordinate a bobbin change operation with a thread break repair every time the re-threading of the drafting system is carried out, so that the operating device 26 or 28 should always be present at the spinning positions concerned when changing the bobbin. Of course, this means that the operating device for operating other spinning stations is not available, although other malfunctions (which require thread breakage elimination) may occur at these other spinning stations. The preferred machine arrangement therefore comprises at least two operating devices (FIG. 1), each of which is assigned to one machine side. While an operating device can therefore be assigned to work on a bobbin changing operation on one machine side, the operating device on the other machine side is free to operate the spinning stations that do not require a bobbin changing operation.

The order does not have to be exactly according to FIG. 17. However, it will be clear to the person skilled in the art from FIG. 17 that the bobbin changing operations are preferably carried out alternately on one or the other machine side.

The request in the form of a signal to bring a fully loaded trolley train from the overall system to a specific ring spinning machine is preferably generated by this machine itself (for example in accordance with EP-A1 0 392 482). The positioning of this trolley train in relation to the ring spinning machine then depends on the overall arrangement. For example, an entire Each time the machine side is filled with trolley trains, after which bobbin changing operations are carried out by the robot. In this case too, at least two positions of the trolleys in relation to the gate must be provided, in accordance with the gate position groups that are to be operated. The information regarding the gate positions which are to be occupied from these trolleys should be available in the ring spinning machine or in the robot rather than in the central control of the system.

In the more likely case that the trolley train is shorter than the total length of the machine and that the bobbin changing operations take place section by section (e.g. according to Fig. 17), each trolley train must be placed in a suitable position opposite the ring spinning machine and locked there. In this case, an interface between the control of the overall system and the control of the ring spinning machine should preferably be defined so that the movements of the trolley train are coordinated by the ring spinning machine control system from this interface (e.g. according to EP-A1 0 392 482). The suitable position information can either be delivered by the robot to the ring spinning machine or it can be present in the ring spinning machine controller and transmitted to the robot.

• die Zeit (bzw. die abgelieferte Menge) ist derart gerechnet, dass keine der Lunten der auszutauschenden Spulen ausgelaufen ist (dieser Zustand ist natürlich bei einer Wechseloperation mit Luntenansetzen wünschbar),
• die Zeit (bzw. die abgelieferte Menge) ist derart gerechnet, dass alle Lunten der auszutauschenden Spulen ausgelaufen sind,
• die Zeit (bzw. die abgelieferte Menge) ist derart gerechnet, dass der Auslauf der Lunten der auszutauschenden Spulen begonnen, aber nicht bei allen solchen Spulen stattgefunden hat.

The triggering of a bobbin change operation can be calculated by the ring spinning machine either according to time or (preferably) according to the amount of sliver delivered (ie depending on the machine speed). There are three options in this context:

• the time (or the quantity delivered) has been calculated in such a way that none of the fuses of the spools to be exchanged have expired (this state is of course desirable in the case of a replacement operation with fusible attachments),
• the time (or the quantity delivered) is calculated in such a way that all fuses of the spools to be replaced have expired,
• the time (or the quantity delivered) has been calculated in such a way that the fuselage of the spools to be exchanged has started to run out, but has not taken place for all such spools.

The last two variants are possible where the drafting system has to be re-threaded. The third variant has the advantage that it enables the overall machine (all spinning stations) to be more efficient, but larger quantities of lunches and corresponding disposal problems can be expected. If this variant is selected, it is absolutely necessary to provide a sliver cutting operation, although the drafting system has to be reinserted. The first variant can also be selected (despite the threading of the drafting system) and gives minimal production losses when there are large quantities of slips left on the partially used bobbins.

15 (with a connection for the robot between two or more, (four in FIG. 15, machines) is possible or not) depends on the bobbin change frequency, which in turn depends on the thread number. If the connection is possible, the transition from one machine to another should be coordinated by the central control depending on the delivery of the machines with trolleys.

FIGS. 18 and 19 show a creel of a ring spinning machine on one side of its machine center plane 405, which has an inner roving bobbin length 406 and an outer roving bob length 407. Roving bobbins 408, 409 can be displaced by means of slide carriers 411 on crossbar rails 412 arranged at right angles to the machine center plane 405 in the case shown, so that the roving bobbins also cross rows of roving bobbin work stations 413, 414, 415. An operating device 416 as part of a handling device can be moved by means of rollers 417 on rails 418 running parallel to the ring spinning machine. The operating device 416, based on an embodiment shown in EP-A1 0 392 482, carries with it fully wound roving bobbins 419, the sliver end 420 of which is wrapped around the upper part of the roving bobbin tube 421 a few times to avoid unintentional unwinding. If it is ensured that at least one of the two roving bobbins of a cross rail 412 has been completely unwound, both roving bobbins are picked up by the operating device 416 and a roving bobbin 419 reaches the position of the roving bobbin 409, for example, via an arch piece 424 from the operating device 416 onto the empty crossbar 412. More details of this transfer of roving bobbins can be found in EP-A1 0 491 019. The operating device 416 also contains a telescopic holding arm 425, which is connected to a fixed ball joint 426, for example. A suction pipe 427 is attached to the free end of the arm 425 and is connected to a vacuum source 429 via a hose 428, so that the suction pipe 427 can be moved on all sides. Furthermore, a rotation means 433 is provided on the operating device 416.

After the roving spool 409 has reached its position in the outer longitudinal row 407, the fork-shaped rotating means 433 is extended horizontally and at an angle 438 to the machine center plane 405 and guided around the roving sleeve 421 until a driven roller 439 abuts the sleeve 421. Two other guide rollers 440, which can be pivoted horizontally by means of pivoting levers 441, engage behind the roving sleeve 421, after which the roller 439 is driven, so that the roving spool 409 is set in rotation. This fork construction is considered more suitable than a fold-up ring gripper, which can possibly result in the roving bobbin 409 being released. Simultaneously with the rotation of the roving bobbin 409, the suction effect in the suction tube 427 is activated, which is in its starting point the height of the dividing line between the sliver winding 446 and the roving sleeve 421 and near the sleeve. This is the reference point for recording the fuse. When a sensor 448 in the hose 428 responds, there is a predetermined sliver length in the suction pipe 427 and in the hose 428. Upon the signal from the sensor 448, the driven roller 439 is also stopped and the rotating means 433 can be retracted. The suction tube 427, which still grips the sliver end 420, is guided downwards to a sliver guide 450 arranged centrally between the inner longitudinal row 406 and the outer longitudinal row 407 and also centrally between the transverse rows 414 and 415. In the event that the rotating means 433 is not retracted and is still in engagement with the roving sleeve 421 in order to thus give the roving bobbin 409 stability, the inclination with respect to the machine center plane 405, as shown in FIG. 22, is advantageous because the movement of the suction pipe 427 is at least hindered in this way.

The suction tube 427 guides the fuse, also known as roving, either alone or with the aid of a pressure arm, not shown but explained in more detail in EP A1 0 472 962, through a slot 451 in the sliver guide 450, subsequently through a hook or a hook attached to a longitudinal rod 453. Match stop 454, after which the fuse is not only introduced from the suction tube 427 but into a drafting device 455. Then the suction pipe 427 is moved back to its starting position. The roving bobbin 409 is now moved by means of a slide 456 present on the operating device 416 from the outer longitudinal row 407 in the direction of the machine center plane 405 into the inner longitudinal row 406, into the position of the roving bobbin 408, the fuse 458 from it being shown in FIG. 18 dashed position, in its extended position. This arrangement of the sliver guide 450 effectively prevents the formation of a sliver loop since the distance from the sliver guide 450 to the roving spool 409 is approximately equal to the distance from the roving guide 450 to the roving spool 408. So that the pivoting movement of the fuse 458 is not hindered, one is Holding rod 460 is fastened to the sliver guide 450 in the region facing the inner longitudinal row 406. The holding bar 460 is in turn attached above the match guide 450 to the frame of the ring spinning machine, most suitably to the crossbar 412. Compared to US 4,473,997, where the support rod is attached to the frame below the match guide, the upper attachment of the support rod 460 is better from a vibration point of view. In addition, there is no additional fastening means to be provided in the middle height range of the ring spinning machine, which is to be kept as free as possible. Now a new roving spool 419 is brought into the position of roving spool 409.1, the fuse 458.1 of which is also guided by the sliver guide 450. The movements of the suction tube 427 are programmed in such a way that, starting from an empty cross rail 412, the fuse 458 of a first roving spool 408 is inserted into a first drafting device, after which this roving spool 408 is conveyed further from the outer longitudinal row 407 to the inner longitudinal row 406 , and that the fuse 458.1 of a roving spool 409.1 pushed on the same transverse row 413, 414 or 415 is inserted into an adjacent drafting arrangement, this roving spool 409.1 remaining in its position in the outer longitudinal row 407. The reference point for the detection of the sliver ends 420 of both roving bobbins 408, 409 is the same. However, other embodiments of the handling device are also possible. Thus, unwound roving bobbins 408 can be moved towards the machine center plane 405 in order to be removed in the area of the machine center plane 405. The full and empty roving bobbins move in one direction. The movement of the roving bobbins along the cross rail 412 can also be accomplished by operating devices that are separate from the operating device 416. The rescheduling of full roving bobbins 419 to the crossbar 412 can also be carried out by a separate operating device. In one possible embodiment with an additional longitudinal row of reserve roving bobbins which are brought onto the free end parts of the cross rail 412, the reserve bobbin can first be removed from any one suitable operating device are brought into the outer longitudinal row 407, that is to say into that position at which the reference point for the sliver detection is located.

In the transverse row 413, a plan view of a cross rail 412 is shown, where a longitudinal slot 465 can also be seen, through which the hanging pins 466 connected to the slide carriers 411 protrude. In the transverse regions 414, the state of two running matches 458 and 458.1 is illustrated, which are passed through a common, essentially vertically oriented passage space 469 of the match guide 450 shown in FIG. The side slot 451, which is continuous and runs obliquely, is located on the side of the sliver guide 450 facing away from the roving bobbins 408, 409.1, for threading the slivers 458, 458.1 through the suction tube 427 in the upper region thereof. The upper lip 472 formed thereby against the side slot 451 prevents the fuse 458.1 from inadvertently sliding out and can protrude somewhat in order to facilitate the insertion of the matches 458, 458.1. The lower lip 473 can also be designed somewhat above to enable the fuses 458, 458.1 to be hooked in. Another configuration of a sliver guide 450.1 shown in FIG. 21 is used in the transverse row 15. The handrail 460.1 and the match guide 450.1 are in one piece. The bent end of the rod creates a through opening 476 for the fuse near the holding rod 460.1.

All the facts presented in the description, the claims and the drawing can be essential to the invention both individually and in any meaningful combination, and features of claims with the same reference can be used together.

Claims (14)

Method for handling roving bobbins on a creel of a fine spinning machine, the creel (30) having an inner (406) and an outer (407) roving bobbin work station longitudinal row on each side of the machine center plane (407) and wherein roving bobbins (408, 409) from the outer longitudinal row further into the creel (30) and form roving bobbin work station cross rows (413,414,415),
characterized in that a coil (408) for treatment provided for the inner row (406) is held in a treatment position in or near a device (52a) for handling the coils (408, 409). Method according to Claim 1, characterized in that only one treatment position is provided per pair of coils (408, 409), a pair of coils (408, 409) comprising a coil of the inner (406) and a coil of the outer (407) row (Fig. 18) Method according to claim 1 or 2, characterized in that the sliver detects a roving bobbin (409) initially located in the outer longitudinal row (407), is guided by a sliver guide (450) and is brought to a drafting device (454, 45), after which this roving bobbin (409) intended for the inner longitudinal row (406) is conveyed inward along the relevant transverse row. A method according to claim 1, characterized in that movements of the bobbin changing device (416) relative to a stationary transport means (38) are carried out in the longitudinal direction of the machine for the exchange of bobbins between a transport means and the gate. Method for exchanging bobbins in the creel of a textile machine by a bobbin changing device, characterized in that residual material of a bobbin (409) is disposed of on the device ((416). A method according to claim 5, characterized in that the disposal is carried out by suction. Handling device for roving bobbins on a creel of a fine spinning machine, the creel having an inner (406) and an outer (407) roving bobbin work station longitudinal row on each side of the machine center plane (405), with means (424) for introducing the roving bobbins (408, 409) into the creel (30) and with means (456,412) for continuing the roving bobbins from the outer (407) into the inner (406) longitudinal row and with an operating device (416) which can be moved along the machine to detect the sliver end (420) of a roving bobbin (409) a reference point in the creel (30) and for the subsequent guiding thereof through a sliver guide (450) and to a drafting system (454, 455),
characterized in that the reference point (420) for all roving bobbins (408, 409) is a predetermined height range in the outer longitudinal row (407). Device according to Claim 7, the operating device (416) having a holding arm (425) which can be moved on all sides, a suction tube (427) having a sensor (448) which responds to the presence of a fuse, and a rotating means (433) for rotating the roving bobbin (409) is equipped,
characterized in that the rotating means (433) has at least three rollers (439,440) which can be brought into engagement with the outer surface of the roving bobbin tube (421) and of which one roller (439) can be driven. Device according to claim 8, characterized in that the rotation means (433) is horizontally movable and fork-shaped and that at least one roller (440) is horizontally pivotable. Device according to claim 9, characterized in that the rotation means (433) can be moved in a straight line in a direction inclined to the machine center plane (405). Device according to one of claims 7 to 10, characterized in that for the roving of both roving bobbins (408, 409) in a common roving passage space (469, 469.1) halfway between an outer (407) and an inner (406) roving bobbin work station longitudinal row, a roving guide (450, 450.1 ) is arranged, the sliver guide being arranged between roving bobbins (408, 409) of two successive transverse rows (413, 414, 415). Device according to claim 11, characterized in that the sliver guide (450) with a substantially vertically oriented sliver passage space (469) has a continuous side slot (451) on its side facing away from the respective roving bobbins (408, 409), which side slot obliquely upwards in the direction of the machine center plane (405) is directed. Device according to claim 11, characterized in that the sliver guide (450.1) and the holding rod (460.1), which has a substantially horizontally oriented sliver passage space (469.1), and in one piece, and that the sliver guide is continuous on the upper side of the sliver passage space and adjacent to the holding rod Has opening (476). Roving bobbin creel according to one of claims 11 to 13, characterized in that the sliver guide (450) has an upper (472) and a lower lip (473) on both sides of a side slot (451), which are formed above.

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