EP0672768A2 - Procédé et dispositif pour l'automisation de l'alimentation du cantre pour métier à filer et à retordre - Google Patents

Procédé et dispositif pour l'automisation de l'alimentation du cantre pour métier à filer et à retordre Download PDF

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Publication number
EP0672768A2
EP0672768A2 EP95105597A EP95105597A EP0672768A2 EP 0672768 A2 EP0672768 A2 EP 0672768A2 EP 95105597 A EP95105597 A EP 95105597A EP 95105597 A EP95105597 A EP 95105597A EP 0672768 A2 EP0672768 A2 EP 0672768A2
Authority
EP
European Patent Office
Prior art keywords
roving
bobbin
bobbins
row
sliver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP95105597A
Other languages
German (de)
English (en)
Other versions
EP0672768A3 (fr
Inventor
Walter Slavik
Daniel Brennwalder
Reto Braunschweiler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maschinenfabrik Rieter AG
Original Assignee
Maschinenfabrik Rieter AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CH349590A external-priority patent/CH683699A5/de
Priority claimed from CH3795/90A external-priority patent/CH684276A5/de
Priority claimed from CH4113/90A external-priority patent/CH684413A5/de
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Publication of EP0672768A2 publication Critical patent/EP0672768A2/fr
Publication of EP0672768A3 publication Critical patent/EP0672768A3/de
Withdrawn legal-status Critical Current

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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/18—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for supplying bobbins, cores, receptacles, or completed packages to, or transporting from, paying-out or take-up stations ; Arrangements to prevent unwinding of roving from roving bobbins
    • D01H9/182—Overhead conveying devices
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/04—Guides for slivers, rovings, or yarns; Smoothing dies
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/005—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving

Definitions

  • 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.
  • the description focuses on a ring spinning machine with a roving template as an example.
  • 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.
  • 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.
  • 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.
  • DD 57523 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the sliver detection means is considerably complicated and complex to set up.
  • the handling device 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 provides a method and an apparatus according to the independent claims.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 5 shows that a "long lane" up to the innermost supply reel row is also possible.
  • 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.
  • 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.
  • the variants to be described below represent the simpler preferred solutions.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 7 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.
  • the pin 106 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.
  • the pin 106 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.
  • 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.
  • 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.
  • Fig. 8 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.
  • the two raised coils 140, 141 are therefore perpendicular to the support pins 106 and 105, respectively.
  • 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.
  • the stroke cycle C FIG. 8
  • 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).
  • 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).
  • the stroke cycle C (FIG. 8).
  • the pin 105 in the direction H
  • the pin 106 in the direction I
  • the rod 132 in the direction J
  • 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).
  • 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.
  • the empty sleeves 147, 148 are then delivered to the trolley pin 152.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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).
  • 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.
  • 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).
  • the robot 52A 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.
  • the empty sleeve 147 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.
  • 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.
  • 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).
  • the robot 52A is now shifted again to the left beyond the start position into the position according to FIG. 12 (VII).
  • 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.
  • 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).
  • 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.
  • the sliver handling device is assigned to the latter trunnion.
  • more than one gate position (with one work coil each in the inner or outer row) can be operated.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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").
  • 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.
  • 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 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 robot can be equipped with a suction device that is suitable for picking up residual slips.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the empty tube is released by unwinding the remaining fuse, which can then be given to the trolley.
  • the pin 238 is rotated about its own longitudinal axis in the appropriate direction.
  • 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.
  • 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).
  • 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) 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 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).
  • the operating devices 26, 28 (FIG. 1).
  • 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 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.
  • each trolley train must be placed in a suitable position opposite the ring spinning machine and locked there.
  • 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.
  • 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.
  • 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.
  • 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.
  • a rotation means 433 is provided on the operating device 416.
  • 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.
  • 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.
  • a sensor 448 in the hose 428 responds, there is a predetermined sliver length in the suction pipe 427 and in the hose 428.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the upper attachment of the support rod 460 is better from a vibration point of view.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
EP95105597A 1990-11-02 1991-11-01 Procédé et dispositif pour l'automisation de l'alimentation du cantre pour métier à filer et à retordre Withdrawn EP0672768A2 (fr)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
CH349590A CH683699A5 (de) 1990-11-02 1990-11-02 Verfahren und Einrichtung zur Handhabung von Vorgarnspulen an einer Feinspinnmaschine.
CH3495/90 1990-11-02
CH3795/90A CH684276A5 (de) 1990-11-30 1990-11-30 Verfahren zum Spulenaustausch im Gatter einer Textilmaschine.
CH3795/90 1990-11-30
CH4113/90 1990-12-21
CH4113/90A CH684413A5 (de) 1990-12-21 1990-12-21 Verfahren zum Spulenaustausch im Gatter einer doppelseitigen Textilmaschine.
EP19910918524 EP0509074A1 (fr) 1990-11-02 1991-11-01 Automatisation de l'alimentation du cantre pour metier a filer et a retordre

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP91918524.9 Division 1991-11-01
EP19910918524 Division EP0509074A1 (fr) 1990-11-02 1991-11-01 Automatisation de l'alimentation du cantre pour metier a filer et a retordre

Publications (2)

Publication Number Publication Date
EP0672768A2 true EP0672768A2 (fr) 1995-09-20
EP0672768A3 EP0672768A3 (fr) 1995-11-02

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EP19910918524 Withdrawn EP0509074A1 (fr) 1990-11-02 1991-11-01 Automatisation de l'alimentation du cantre pour metier a filer et a retordre
EP95105597A Withdrawn EP0672768A2 (fr) 1990-11-02 1991-11-01 Procédé et dispositif pour l'automisation de l'alimentation du cantre pour métier à filer et à retordre

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EP19910918524 Withdrawn EP0509074A1 (fr) 1990-11-02 1991-11-01 Automatisation de l'alimentation du cantre pour metier a filer et a retordre

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JP (1) JPH05503327A (fr)
WO (1) WO1992007980A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1602757A1 (fr) * 2004-06-01 2005-12-07 Marzoli S.p.A. Dispositif pour un métier à filer avec une structure de support et de guidage d'un support de bobine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4333011A1 (de) * 1992-09-28 1994-03-31 Rieter Ag Maschf Steuerung von Blockwechseln in einer Spinnereianlage

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473997A (en) * 1983-04-29 1984-10-02 Howa Kogyo Kabushiki Kaisha Method and apparatus for switching roving bobbins in a spinning frame
EP0213962A2 (fr) * 1985-09-04 1987-03-11 Howa Machinery Limited Procédé et dispositif pour rattacher des mèches dans des métiers de filature
EP0258188A2 (fr) * 1986-08-25 1988-03-02 Howa Machinery Limited Procédé pour rattacher des mèches et pour échanger des bobines de mèche dans un métier à filer à anneau et machine pour la mise en oeuvre de ce procédé
EP0392482A2 (fr) * 1989-04-13 1990-10-17 Maschinenfabrik Rieter Ag Système de transport pour des bobines de mèche

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES8203999A1 (es) * 1981-03-10 1982-05-01 Pons Ubach Antonia Aparato automatico para la alimentacion de mecha en maquinascontinuas de hilar
IT1182628B (it) * 1984-10-23 1987-10-05 Toyoda Automatic Loom Works Metodo per il cambio di bobina in un filatoio
IT1213855B (it) * 1987-12-02 1990-01-05 Gualchierani System Attrezzatura per il rifornimento di filatoi con materiale in bobine
DE69021641D1 (de) * 1989-06-09 1995-09-21 Murao Boki Kk Transportsystem für Vorgarnspulen mit einer Vorrichtung zur Entfernung von Vorgarnresten.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473997A (en) * 1983-04-29 1984-10-02 Howa Kogyo Kabushiki Kaisha Method and apparatus for switching roving bobbins in a spinning frame
EP0213962A2 (fr) * 1985-09-04 1987-03-11 Howa Machinery Limited Procédé et dispositif pour rattacher des mèches dans des métiers de filature
EP0258188A2 (fr) * 1986-08-25 1988-03-02 Howa Machinery Limited Procédé pour rattacher des mèches et pour échanger des bobines de mèche dans un métier à filer à anneau et machine pour la mise en oeuvre de ce procédé
EP0392482A2 (fr) * 1989-04-13 1990-10-17 Maschinenfabrik Rieter Ag Système de transport pour des bobines de mèche

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1602757A1 (fr) * 2004-06-01 2005-12-07 Marzoli S.p.A. Dispositif pour un métier à filer avec une structure de support et de guidage d'un support de bobine

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EP0509074A1 (fr) 1992-10-21
JPH05503327A (ja) 1993-06-03
WO1992007980A1 (fr) 1992-05-14
EP0672768A3 (fr) 1995-11-02

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