EP3060506B1 - Godet and method for controlling a godet - Google Patents

Godet and method for controlling a godet Download PDF

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Publication number
EP3060506B1
EP3060506B1 EP14786520.8A EP14786520A EP3060506B1 EP 3060506 B1 EP3060506 B1 EP 3060506B1 EP 14786520 A EP14786520 A EP 14786520A EP 3060506 B1 EP3060506 B1 EP 3060506B1
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EP
European Patent Office
Prior art keywords
godet
shell
motor
electric drive
control electronics
Prior art date
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Application number
EP14786520.8A
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German (de)
French (fr)
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EP3060506A1 (en
Inventor
Jürgen STRÖWER
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.)
Oerlikon Textile GmbH and Co KG
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Oerlikon Textile GmbH and Co KG
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H63/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
    • B65H63/003—Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package responsive to winding of yarns around rotating cylinders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/02—Rotary devices, e.g. with helical forwarding surfaces
    • B65H51/04—Rollers, pulleys, capstans, or intermeshing rotary elements
    • B65H51/08—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements
    • B65H51/12—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements in spaced relation to provide a series of independent forwarding surfaces around which material is passed or wound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/32—Supporting or driving arrangements for forwarding devices
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02J—FINISHING OR DRESSING OF FILAMENTS, YARNS, THREADS, CORDS, ROPES OR THE LIKE
    • D02J1/00—Modifying the structure or properties resulting from a particular structure; Modifying, retaining, or restoring the physical form or cross-sectional shape, e.g. by use of dies or squeeze rollers
    • D02J1/22—Stretching or tensioning, shrinking or relaxing, e.g. by use of overfeed and underfeed apparatus, or preventing stretch
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02J—FINISHING OR DRESSING OF FILAMENTS, YARNS, THREADS, CORDS, ROPES OR THE LIKE
    • D02J13/00—Heating or cooling the yarn, thread, cord, rope, or the like, not specific to any one of the processes provided for in this subclass
    • D02J13/005—Heating or cooling the yarn, thread, cord, rope, or the like, not specific to any one of the processes provided for in this subclass by contact with at least one rotating roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a godet for guiding a thread according to the preamble of claim 1, a method for controlling a godet according to the preamble of claim 10 and a method for operating a godet according to the preamble of claim 16.
  • Such Galette and a method for controlling a galette are for example from the WO 2007/134 732 known.
  • the winding sensor After removal of the filament winding on the circumference of the godet casing of the winding sensor is adjusted in its initial position, so that the interrupted power supply of the electric drive is restored, so that a restart of the drive is possible.
  • the winding sensor can be used directly as a switch to restart the electric drive.
  • godets are also known in the prior art, in which the activation of the electric drive is effected by a separate switch. Regardless of whether the switch perceives additional functions for winding monitoring, complex cabling between the switch and the electric drive are required. The operation of the switch is done by an operator who re-applies the thread to the circumference of the godet after a business interruption.
  • Another object of the invention is to provide a method for operating a galette within a textile machine, which is particularly adapted to a process flow and its requirements.
  • the invention is based on the recognition that the godets used to guide a thread of a textile machine have a relatively low-mass godet casing, which has a relatively low mass inertia.
  • manually generated rotational movements on a godet shell of such a galette without aids by an operator executable. Since it is usual after an interruption in operation that an operator manually re-applies the thread by means of a suction gun and leads the thread from the front side of the godet shell, a manual rotary movement can be initiated by the operator on the godet shell.
  • the manually generated rotational movement on the godet casing is transferred into the electric drive and can be detected and used for a corresponding restart. In that regard, none additional switching means required to perform the activation of the drive.
  • the godet according to the invention is preferably designed such that the electric drive is formed by a brushless synchronous motor with an integrated control electronics, the godet casing firmly connected to a motor shaft of the synchronous motor is.
  • the motor shaft is moved within the synchronous motor.
  • the magnetic coupling between stator and rotor within the synchronous motor can thus be used to generate directly electrically usable signals.
  • control electronics has a voltmeter for detecting an induced voltage and an evaluation unit for generating a start signal.
  • the control electronics is designed with an ammeter for detecting a motor current, wherein the evaluation unit generates a corresponding start signal from the current measured value.
  • the evaluation unit has a differential operator for determining an angular acceleration of the motor shaft of the synchronous motor.
  • a slew rate of the current or voltage change is proportional to an angular acceleration of the motor shaft. Only if there is sufficient angular acceleration of the motor shaft, a restart must be carried out.
  • the evaluation unit has a comparator for comparing an actual value of the angular acceleration with a stored threshold value. This can be eliminated within the electric drive caused by unwanted rotational movements of the godet casing signal generation.
  • the development of the invention in which the godet casing with a short distance, a friction agent is assigned, which opposite to the godet casing has a friction surface and wherein the electric drive has an operating torque monitoring.
  • a friction agent is assigned, which opposite to the godet casing has a friction surface and wherein the electric drive has an operating torque monitoring.
  • a thread is preferably performed with several wraps on the circumference of the godet shell.
  • the godet casing interacts together with a rotatably mounted roller for guiding a yarn in a plurality of wraps.
  • the godet according to the invention is basically also suitable for guiding a plurality of threads at the same time on the circumference of the godet jacket. It is essential here that the godet jacket coupled to the electric drive can be manually converted into a rotary movement.
  • the inventive method for controlling a galette is characterized by the fact that no switching controls for activation of the drive must be bridged. On the contrary, the drive of the godet casing can be restarted directly by a manually generated rotary movement of the godet casing.
  • the godet casing is driven by a motor shaft of a brushless synchronous motor with integrated control electronics.
  • BLDC motors are particularly suitable for being able to execute control algorithms directly on the drive.
  • a current or a voltage of the synchronous motor can be measured during the rotational movement of the motor shaft and directly generate a start signal within the control electronics from the measured values.
  • a temporal increase in current and / or a temporal increase in voltage of the synchronous motor during the rotational movement of the motor shaft is preferably measured and then from the measured values to generate a start signal within the control electronics.
  • the slew rate of a current or voltage induced by a manually generated rotary motion is proportional to an angular velocity of the motor shaft.
  • an angular acceleration of the motor shaft can be determined from the rising speeds of the current changes or voltage changes, which can lead to a start signal as a function of a comparison between an actual value and a threshold value of the angular acceleration.
  • the control of the galette can be further improved, in particular by switching off the drive, by continuously monitoring an operating torque of the electric drive. This can be achieved without further aids when exceeding a predetermined limit operating torque shutdown of the drive.
  • the method according to the invention for operating a godet in a textile machine is characterized in that all the manipulations to be carried out on the godet after a yarn break are directly related to the godet casing. So it is necessary to apply the thread on the circumference of the godet mantle and to restart the godet mantle. Thus, all essential handling directly on the godet coat by the operator executable.
  • the operator To restart the drive, the operator generates a rotary movement of the godet mantle with one hand.
  • the godet casing can be transferred in a rotation with a fast hand movement in the direction of rotation of the godet casing.
  • Within the rotation of the godet roll performs a continuous rotation with several turns. The operator preferably puts the hand flat on the circumference of the godet shell with some force, then to accelerate the godet coat in the direction of rotation with rapid sideways movement of the hand.
  • the rotational movement can be generated preferably both in the direction of rotation of the motor and in opposition to the direction of motor rotation, the godet casing being driven by a brushless synchronous motor with integrated control electronics.
  • the signal generation it does not matter in which direction of rotation of the motor shaft an induction of the signals takes place.
  • the drive is started and stopped by a manually actuated switch.
  • switches can be used as a group switch be designed to control multiple godets or as a single switch for controlling individual godets.
  • Fig. 1 an embodiment of the godet according to the invention is shown in a cross-sectional view.
  • the godet has a cup-shaped godet casing 1, which is non-rotatably attached to a cantilevered free end of a motor shaft 3 of an electric drive 2.
  • the electric drive 2 is designed in this embodiment as a brushless synchronous motor 4, which is also known as a so-called BLDC motor.
  • BLDC motor so-called BLDC motor
  • the electric drive 2 and the godet casing 1 are designed as a structural unit, wherein the electric drive 2 has a multi-part housing.
  • the motor shaft 3 of the synchronous motor 2 is rotatably supported in a bearing housing 8 by a plurality of bearings 9.
  • the motor shaft 3 has an opposite to the godet casing 1 end on which a rotor 10 is arranged.
  • the rotor 10 is formed by a permanent magnet not described here.
  • the rotor 10 is surrounded by a stator 11 which carries a plurality of windings.
  • the stator 11 is held by a motor carrier 12.
  • the motor mount 12 extends between the bearing housing 8 and an electrical housing 13 arranged directly on the synchronous motor 4.
  • the electrical housing 13 contains the control electronics 5.
  • the electrical housing 13 and the bearing housing 8 are interconnected by a plurality of retaining webs 31.
  • the control electronics 5 is symbolically represented in this embodiment by a circuit board 14 and a power module 15, an inverter 17 and an evaluation unit 19.
  • the electronic control unit 5 has a measuring means 16, which is usually associated with the evaluation device 19.
  • a storage means 18 is provided, which is usually integrated in the evaluation unit 19.
  • the storage means 18 and the evaluation unit 19 may be formed as a microprocessor.
  • the control electronics 5 is coupled via a supply line 21 with a voltage source, not shown here.
  • a second connection to the control electronics 5 represents a data line 20, which allows a data exchange with a higher-level machine control unit 22.
  • the control electronics 5 is coupled directly to a switch 23 in order to perform an activation of the electric drive 2 at a process start or a process end.
  • FIG. 1 Galette The function of in Fig. 1 Galette shown below with reference to the other Figures 2.1, 2.2 and 2.3 explained.
  • Fig. 2.1, 2.2 and 2.3 each is a view of the embodiment Fig. 1 shown when used in a textile machine.
  • the Fig. 2.1 shows the godet in operation with a thread guide
  • Fig. 2 the galette is shown in operation in forming a filament winding
  • Fig. 2.3 the godet is shown at a restart of the electric drive 2.
  • the godet according to Fig. 1 held on a support 27.
  • the godet casing 1 is held on a front side of the carrier 27 and the electric drive 2 on a rear side of the carrier 27.
  • the godet 1 is assigned a rotatably mounted roller 28 at a distance.
  • a friction means 24 is fixed to the front side of the carrier 27, which is held with a friction surface 26 at a small distance to the godet casing 1.
  • the friction means 24 is formed in this embodiment by a pin 27 fixed to the carrier 25, which is aligned coaxially with the godet casing 1 and extends substantially over the entire length of the godet casing 1.
  • Fig. 2.1 the situation is shown in which a yarn 29 is guided with several wraps on the circumference of the godet casing 1 and on the circumference of the roller
  • the godet casing 1 is driven in this operating situation by the synchronous motor 4 at a substantially constant speed. Dier control of the synchronous motor 4 via the control electronics 5, wherein the target speed of the control electronics 5 is placed over the data input.
  • any change in the actual value of the operating torque in the control electronics 5 is detected and compared with a stored limit of the operating torque of the synchronous motor 4.
  • the friction surface 26 is exerted to generate an additional operating torque which leads to a very rapid increase in the operating torque of the synchronous motor 4 leads.
  • a switching signal for switching off the synchronous motor 4 is generated in the evaluation unit 19 of the control electronics 5. The motor shaft 3 with the godet casing 1 is stopped, so that the filament winding 30 can be removed on the circumference of the godet casing 1 by an operator.
  • Fig. 2.3 the situation is shown shortly after the end of the business interruption.
  • an operator guides the yarn 29 in a hand injector 32 to apply the yarn to the circumference of the godet roll 1.
  • the godet 1 is previously performed by a hand movement of the operator in a rotary motion.
  • the godet casing 1 is contacted by hand on the circumference, so that the operator effects an accelerated rotation of the godet casing 1 by a fast hand movement generated in the direction of rotation.
  • the godet casing 1 rotates with the motor shaft 3, so that a signal is induced via the rotor 10 within the synchronous motor 4.
  • Fig. 3 is a flowchart for generating a start signal of the synchronous motor 4 is shown schematically.
  • the electronic control unit 5 has a measuring means 16 designed as an ammeter or alternatively as a voltmeter can be.
  • an induced voltage U or an induced motor current I is measured by the measuring means 16 by the manually generated rotational movement of the godet casing and the motor shaft 3.
  • the measured values of the induced voltage or of the induced motor current are supplied to the evaluation unit 19 of the control electronics 5.
  • the amplitudes of the signals and thus the absolute values of the induced voltage and / or induced motor current can not be used unambiguously.
  • the evaluation unit has a differential operator 33, which detects the rate of rise of the induced voltage and / or the induced motor current.
  • the slew rate is in Fig. 3 marked with the quotient d / dt. This slew rate is proportional to a winding speed of the motor shaft 3.
  • an angular acceleration required for starting the synchronous motor 4 is stored as the threshold value as.
  • the threshold values can preferably be stored in the storage means 18 of the control electronics.
  • the evaluation unit has a comparator 34 which determines the determined angular acceleration with the threshold value of the Angular acceleration compares.
  • a control signal for activating the synchronous motor 4 is generated via the evaluation unit 19.
  • the evaluation unit 19 is for this purpose corresponding signals to the inverter 17.
  • no start function is triggered by the evaluation unit 19.
  • FIG. 3 schematically shows a time course of an induced motor current.
  • time t is plotted on the abscissa and motor current I on the ordinate.
  • the diagram in Fig. 4 shows two gradients, which are designated as I 1 and I 2 .
  • the motor current I 1 has been measured on the synchronous motor 4 in the case of the rotational movement of the godet jacket manually generated by an operator.
  • the limit curve labeled I 2 represents, for example, an unwanted rotational movement of the godet casing during the removal of a yarn package.
  • the courses of the induced motor currents I 1 and I 2 differ essentially by a slope, for example, from a time difference t 1 -t 2 visible becomes.
  • the current values I 1 and I 2 are measured, wherein the measured value I 1 is greater than the measured value I 2 .
  • the current values I 1 . and I 2 ' measured.
  • the measured value change per time difference is now registered and evaluated.
  • t 1 - t 2 takes place change of measured value I 1 '- I 1 and I 2' - I 2 is a measure of
  • Fig. 5 is shown a further embodiment of the godet according to the invention, as used for example in a textile machine.
  • the execution example in Fig. 5 shows a total of four godets, which are arranged on a common carrier 27.
  • the carrier 27 holds on a front side a plurality of godet coats 1 and a plurality of rollers 28 which are cantilevered freely rotatably supported on the carrier 27.
  • the godet coats 1 are each coupled via a motor shaft 3 with an electric drive 2 arranged on the rear side of the carrier 27.
  • a total of four electric drives 2 are arranged side by side.
  • the number of drives 2 and the number of godet coats on the carrier 27 are exemplary. In principle, eight, twelve or sixteen or even more godets can be arranged on a godet carrier.
  • the godets 27 held on the carrier are identical to the embodiment according to FIG Fig. 1 executed.
  • the power supply of the electric drives 2 by a supply line 21, which is connected via a group control unit 35 and a group switch 36 with a superordinate supply unit not shown here.
  • a data line 20 which is preferably designed as a bus system, the drives are the second connected to the group control unit 35.
  • the group control unit is coupled to a machine control unit 22.
  • each of the electric drives 2 being individually addressable and controllable.
  • a separate switch 23 could be assigned to each electric drive 2 in order to be able to carry out, for example, a standstill of the godet casing during product change.
  • the switches 23 are shown in dashed lines.
  • the operation and control of the godet according to the aforementioned embodiment is after Fig. 1 and 2 , In that regard, reference is made to the abovementioned description.
  • the godet according to the invention as well as the method according to the invention for controlling the godet and the method according to the invention for operating the godet are particularly suitable for obtaining a fast and reliable process control at a multiplicity of processing points within a textile machine. This can be avoided by using the brushless synchronous motors with integrated control electronics consuming wiring. In addition, fast reaction times can be realized with changed operating states.

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  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Quality & Reliability (AREA)
  • Winding Filamentary Materials (AREA)
  • Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)
  • Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
  • Forwarding And Storing Of Filamentary Material (AREA)
  • Rolls And Other Rotary Bodies (AREA)

Description

Die Erfindung betrifft eine Galette zur Führung eines Fadens gemäß dem Oberbegriff des Anspruchs 1, ein Verfahren zur Steuerung einer Galette gemäß dem Oberbegriff des Anspruchs 10 sowie ein Verfahren zur Bedienung einer Galette gemäß dem Oberbegriff des Anspruchs 16.The invention relates to a godet for guiding a thread according to the preamble of claim 1, a method for controlling a godet according to the preamble of claim 10 and a method for operating a godet according to the preamble of claim 16.

Bei der Herstellung und Behandlung von Fäden ist es allgemein bekannt, dass zum Führen, Fördern oder Verstrecken die Fäden am Umfang rotierender Galettenmäntel von Galetten mit einer oder mehreren Teilumschlingungen geführt sind. Derartige Galetten gewährleisten den Transport des Fadens innerhalb einer Textilmaschine oder eines Herstellungsprozesses. So wird beispielsweise in einem Texturierprozess zum Verstrecken und Texturieren ein unbehandelter Faden als eine Vorlagespule bereitgestellt und innerhalb einer Texturiermaschine durch mehrere hintereinander angeordnete Galetten innerhalb einer Bearbeitungsstelle geführt. In der Bearbeitungsstelle wird der jeweilige Faden verstreckt und texturiert und anschließend zu einer Spule aufgewickelt.In the production and treatment of threads, it is well known that for guiding, conveying or stretching the threads are guided on the circumference of rotating godet coats of godets with one or more Teilumschlingungen. Such godets ensure the transport of the thread within a textile machine or a manufacturing process. Thus, for example, in a texturing process for drawing and texturing, an untreated thread is provided as a feed bobbin and fed within a texturing machine through a plurality of godets arranged one behind the other within a processing point. In the processing point of the respective thread is stretched and textured and then wound into a coil.

Eine derartige Galette sowie ein Verfahren zur Steuerung einer Galette sind beispielsweise aus der WO 2007/134 732 bekannt.Such Galette and a method for controlling a galette are for example from the WO 2007/134 732 known.

Zur Führung eines Fadens weist die bekannt Galette einen antreibbaren Galettenmantel auf, der mit einem elektrischen Antrieb gekoppelt ist. Der Faden wird hierbei am Umfang des angetriebenen Galettenmantels geführt. Nun besteht die Gefahr, dass z.B. bei einem Spulenwechsel innerhalb einer nachgeordneten Aufwickeleinrichtung eine Verschlappung oder eine Fehlübergabe oder innerhalb der Bearbeitungsstelle sogar ein Fadenbruch entsteht. Derartige Änderungen der Fadenzugspannung innerhalb der Fadenführung kann jedoch zu ungewünschten Fadenwickeln an den angetriebenen Galettenmänteln der Galetten führen. Um möglichst kurze Unterbrechungszeiten zu realisieren, wird bei der bekannten Galette die Fadenführung des Galettenmantels durch einen Wickelfühler überwacht, um eine schnelle Abschaltung des elektrischen Antriebes zu ermöglichen. Nach Beseitigung der Fadenwickelung am Umfang des Galettenmantels wird der Wickelfühler in seiner Ausgangsposition verstellt, so dass die unterbrochene Spannungsversorgung des elektrischen Antriebes wieder hergestellt ist, so dass ein Neustart des Antriebes möglich wird. Hierbei lässt sich der Wickelfühler direkt als ein Schalter zum Neustart des elektrischen Antriebes nutzen.To guide a thread, the known godet on a drivable godet shell, which is coupled to an electric drive. The thread is guided here on the circumference of the driven godet casing. Now there is the danger that, for example, when a bobbin change within a downstream winding a Verschlappung or a faulty transfer or even a thread break arises within the processing station. However, such changes in the yarn tension within the thread guide can lead to unwanted filament winding on the driven godet Galettenmänteln. In order to realize the shortest possible interruption times, in the known godet, the thread guide of the godet jacket is monitored by a winding sensor in order to enable a rapid shutdown of the electric drive. After removal of the filament winding on the circumference of the godet casing of the winding sensor is adjusted in its initial position, so that the interrupted power supply of the electric drive is restored, so that a restart of the drive is possible. Here, the winding sensor can be used directly as a switch to restart the electric drive.

Grundsätzlich sind jedoch auch Galetten im Stand der Technik bekannt, bei welcher die Aktivierung des elektrischen Antriebes durch einen separaten Schalter erfolgt. Unabhängig davon, ob der Schalter zusätzliche Funktionen zur Wickelüberwachung wahrnimmt, sind aufwändige Verkabelungen zwischen dem Schalter und dem elektrischen Antrieb erforderlich. Die Betätigung des Schalters erfolgt durch eine Bedienperson, die nach einer Betriebsunterbrechung den Faden neu am Umfang der Galette anlegt.Basically, however, godets are also known in the prior art, in which the activation of the electric drive is effected by a separate switch. Regardless of whether the switch perceives additional functions for winding monitoring, complex cabling between the switch and the electric drive are required. The operation of the switch is done by an operator who re-applies the thread to the circumference of the godet after a business interruption.

Es ist nun Aufgabe der Erfindung, eine Galette der gattungsgemäßen Art sowie ein Verfahren zur Steuerung einer Galette der gattungsgemäßen Art derart weiterzubilden, dass eine Aktivierung des elektrischen Antriebes der Galette nach einer Betriebsunterbrechung ohne zusätzliche Hilfsmittel möglich ist.It is an object of the invention to provide a godet of the generic type and a method for controlling a galette of the generic type in such a way that an activation of the electric drive of Galette after a business interruption without additional aids is possible.

Ein weiteres Ziel der Erfindung liegt darin, ein Verfahren zur Bedienung einer Galette innerhalb einer Textilmaschine zu schaffen, das besonders einem Prozessablauf und dessen Erfordernissen angepasst ist.Another object of the invention is to provide a method for operating a galette within a textile machine, which is particularly adapted to a process flow and its requirements.

Diese Aufgabe wird erfindungsgemäß für eine Galette mit den Merkmalen des Anspruchs 1, für ein Verfahren zur Steuerung einer Galette mit den Merkmalen des Anspruchs 10 sowie für ein Verfahren zur Bedienung einer Galette mit den Merkmalen nach Anspruch 16 gelöst.This object is achieved for a godet with the features of claim 1, for a method for controlling a godet with the features of claim 10 and for a method of operating a godet with the features of claim 16.

Vorteilhafte Weiterbildungen der Erfindung sind durch die Merkmale und Merkmalskombinationen der definiert.Advantageous developments of the invention are defined by the features and feature combinations of.

Die Erfindung beruht auf der Erkenntnis, dass die zur Führung eines Fadens verwendeten Galetten einer Textilmaschine einen relativ massearmen Galettenmantel aufweisen, der eine relativ geringe Massenträgheit besitzt. Insoweit sind manuell erzeugte Drehbewegungen an einem Galettenmantel einer derartigen Galette ohne Hilfsmittel durch eine Bedienperson ausführbar. Da es nach einer Betriebsunterbrechung üblich ist, dass eine Bedienperson den Faden mittels einer Saugpistole manuell wieder anlegt und den Faden von der Stirnseite des Galettenmantels her heranführt, lässt sich eine manuelle Drehbewegung über eine Hand der Bedienperson an dem Galettenmantel einleiten. Die manuell erzeugte Drehbewegung an dem Galettenmantel wird in den elektrischen Antrieb hinein übertragen und lässt sich dedektiert und zu einem entsprechenden Neustart nutzen. Insoweit sind keine zusätzlichen Schaltmittel erforderlich, um die Aktivierung des Antriebes vorzunehmen.The invention is based on the recognition that the godets used to guide a thread of a textile machine have a relatively low-mass godet casing, which has a relatively low mass inertia. In that regard, manually generated rotational movements on a godet shell of such a galette without aids by an operator executable. Since it is usual after an interruption in operation that an operator manually re-applies the thread by means of a suction gun and leads the thread from the front side of the godet shell, a manual rotary movement can be initiated by the operator on the godet shell. The manually generated rotational movement on the godet casing is transferred into the electric drive and can be detected and used for a corresponding restart. In that regard, none additional switching means required to perform the activation of the drive.

Um durch die Drehbewegung des Galettenmantels unmittelbar in dem elektrischen Antrieb ein dedektierbares Signal zu erzeugen, ist die erfindungsgemäße Galette bevorzugt derart ausgeführt, dass der elektrische Antrieb durch einen bürstenlosen Synchronmotor mit einer integrierten Steuerelektronik gebildet ist, wobei der Galettenmantel fest mit einer Motorwelle des Synchronmotors verbunden ist. Somit wird durch Drehung des Galettenmantels die Motorwelle innerhalb des Synchronmotors bewegt. Über die magnetische Kopplung zwischen Stator und Rotor innerhalb des Synchronmotors lassen sich somit unmittelbar elektrisch verwertbare Signale erzeugen.In order to generate a dedektierbares signal by the rotational movement of the godet casing directly in the electric drive, the godet according to the invention is preferably designed such that the electric drive is formed by a brushless synchronous motor with an integrated control electronics, the godet casing firmly connected to a motor shaft of the synchronous motor is. Thus, by rotation of the godet casing, the motor shaft is moved within the synchronous motor. The magnetic coupling between stator and rotor within the synchronous motor can thus be used to generate directly electrically usable signals.

Als messbare Signale können eine induzierte Spannung oder ein induzierter Motorstrom genutzt werden. Insoweit ist die Weiterbildung der Erfindung vorteilhaft, bei welcher die Steuerelektronik einen Spannungsmesser zur Erfassung einer induzierten Spannung und eine Auswertungseinheit zur Erzeugung eines Startensignals aufweist. Alternativ ist die Steuerelektronik mit einem Strommesser zur Erfassung eines Motorstromes ausgeführt, wobei die Auswertungseinheit aus dem Strommesswert ein entsprechendes Startsignal generiert.As measurable signals an induced voltage or an induced motor current can be used. In that regard, the development of the invention is advantageous in which the control electronics has a voltmeter for detecting an induced voltage and an evaluation unit for generating a start signal. Alternatively, the control electronics is designed with an ammeter for detecting a motor current, wherein the evaluation unit generates a corresponding start signal from the current measured value.

Bei den Bedienungen der Galette insbesondere beim Entfernen der ungewünschten Fadenwickel am Umfang eines Galettenmantels treten jedoch unbeabsichtigte Drehbewegungen an dem Galettenmantel auf. Um bei derartigen ungewünschten Drehbewegungen des Galettenmantels keinen vorzeitigen Neustart des elektrischen Antriebes zu erhalten, ist die Weiterbildung der erfindungsgemäßen Galette bevorzugt ausgeführt, bei welcher die Auswertungseinheit einen Differentialoperator zur Ermittlung einer Winkelbeschleunigung der Motorwelle des Synchronmotors aufweist. So ist eine Anstiegsgeschwindigkeit der Strom- oder Spannungsänderung proportional einer Winkelbeschleunigung der Motorwelle. Nur wenn eine ausreichende Winkelbeschleunigung der Motorwelle vorliegt, ist ein Neustart auszuführen.In the operations of the godet, however, in particular when removing the unwanted filament winding on the circumference of a godet casing, however, unintentional rotational movements occur on the godet casing. To premature in such unwanted rotational movements of the godet shell Restart of the electric drive, the development of the godet according to the invention is preferably carried out, in which the evaluation unit has a differential operator for determining an angular acceleration of the motor shaft of the synchronous motor. Thus, a slew rate of the current or voltage change is proportional to an angular acceleration of the motor shaft. Only if there is sufficient angular acceleration of the motor shaft, a restart must be carried out.

Daher weist die Auswertungseinheit einen Komparator zum Vergleich eines Ist-Wertes der Winkelbeschleunigung mit einem hinterlegten Schwellwert auf. Damit kann ein durch ungewünschte Drehbewegungen des Galettenmantels verursachte Signalerzeugung innerhalb des elektrischen Antriebes eliminiert werden.Therefore, the evaluation unit has a comparator for comparing an actual value of the angular acceleration with a stored threshold value. This can be eliminated within the electric drive caused by unwanted rotational movements of the godet casing signal generation.

Um im Betrieb der Galette eine Überbelastung des elektrischen Antriebes zu vermeiden, ist die Weiterbildung der Erfindung vorgesehen, bei welcher dem Galettenmantel mit einem kurzen Abstand ein Reibmittel zugeordnet ist, welcher gegenüberliegend zum Galettenmantel einer Reibfläche aufweist und bei welcher der elektrische Antrieb eine Betriebsdrehmomentenüberwachung aufweist. Im Fall einer Fadenwickelbildung am Umfang des Galettenmantels besteht somit die Möglichkeit, das Betriebsdrehmoment des elektrischen Antriebes sprunghaft zu erhöhen, so dass ein schnelles Abschalten zur Vermeidung einer Überbelastung möglich wird.In order to avoid overloading of the electric drive during operation of the godet, the development of the invention is provided, in which the godet casing with a short distance, a friction agent is assigned, which opposite to the godet casing has a friction surface and wherein the electric drive has an operating torque monitoring. In the case of a thread winding formation on the circumference of the godet casing, it is thus possible to increase the operating torque of the electric drive abruptly, so that a rapid shutdown to avoid overloading is possible.

Zur Erhöhung einer Fadenzugkraft wird ein Faden bevorzugt mit mehreren Umschlingungen am Umfang des Galettenmantels geführt. Hierzu ist die Weiterbildung der erfindungsgemäßen Galette vorgesehen, bei welcher der Galettenmantel gemeinsam mit einer drehbar gelagerten Rolle zum Führen eines Fadens in mehreren Umschlingungen zusammenwirkt.To increase a thread tension a thread is preferably performed with several wraps on the circumference of the godet shell. For this is the Further development of the godet according to the invention is provided, in which the godet casing interacts together with a rotatably mounted roller for guiding a yarn in a plurality of wraps.

In Textilmaschinen ist es zudem üblich, dass eine Vielzahl von Bearbeitungsstellen nebeneinander angeordnet sind und somit mehrere Galetten als eine Gruppe nebeneinander gemeinsam zu Beginn eines Prozesses und zum Ende eines Prozesses gesteuert werden. Insoweit ist es vorteilhaft, dem Antrieb einen manuellen Schalter zum Starten und Stoppen des Galettenmantels zuzuordnen.In textile machines, it is also common that a plurality of processing stations are arranged side by side and thus several godets are controlled as a group next to each other together at the beginning of a process and at the end of a process. In that regard, it is advantageous to associate the drive with a manual switch for starting and stopping the godet casing.

Die erfindungsgemäße Galette ist grundsätzlich auch geeignet, um mehrere Fäden gleichzeitig am Umfang des Galettenmantels zu führen. Wesentlich hierbei ist, dass der mit dem elektrischen Antrieb gekoppelte Galettenmantel manuelle in eine Drehbewegung überführbar ist.The godet according to the invention is basically also suitable for guiding a plurality of threads at the same time on the circumference of the godet jacket. It is essential here that the godet jacket coupled to the electric drive can be manually converted into a rotary movement.

Das erfindungsgemäße Verfahren zur Steuerung einer Galette zeichnet sich dadurch aus, dass keine Schaltsteuerungen zur Aktivierung des Antriebes überbrückt werden müssen. Im Gegenteil lässt sich der Antrieb des Galettenmantels direkt durch eine manuell erzeugte Drehbewegung des Galettenmantels neu starten.The inventive method for controlling a galette is characterized by the fact that no switching controls for activation of the drive must be bridged. On the contrary, the drive of the godet casing can be restarted directly by a manually generated rotary movement of the godet casing.

Damit der Startvorgang automatisiert ohne zusätzliche Hilfsmittel ausgeführt werden kann, ist der Galettenmantel durch eine Motorwelle eines bürstenlosen Synchronmotors mit integrierter Steuerelektronik angetrieben. Derartige BLDC-Motore sind besonders geeignet, um Steueralgorithmen direkt am Antrieb ausführen zu können.So that the starting process can be carried out automatically without additional aids, the godet casing is driven by a motor shaft of a brushless synchronous motor with integrated control electronics. Such BLDC motors are particularly suitable for being able to execute control algorithms directly on the drive.

So lässt sich ein Strom oder eine Spannung des Synchronmotors während der Drehbewegung der Motorwelle messen und aus den Messwerten unmittelbar ein Startsignal innerhalb der Steuerelektronik generieren.Thus, a current or a voltage of the synchronous motor can be measured during the rotational movement of the motor shaft and directly generate a start signal within the control electronics from the measured values.

Um insbesondere ungewünschte Drehbewegungen des Galettenmantels, die beispielsweise beim Loslösen eines Fadenwickels von einer Bedienperson erzeugt werden könnten, für einen Neustart auszuschließen, wird bevorzugt ein zeitlicher Stromanstieg und / oder ein zeitlicher Spannungsanstieg des Synchronmotors während der Drehbewegung der Motorwelle gemessen und um dann aus den Messwerten ein Startsignal innerhalb der Steuerelektronik zu generieren.In order to exclude in particular unwanted rotational movements of the godet shell, which could be generated, for example, when releasing a thread winding by an operator for a restart, a temporal increase in current and / or a temporal increase in voltage of the synchronous motor during the rotational movement of the motor shaft is preferably measured and then from the measured values to generate a start signal within the control electronics.

Es hat sich gezeigt, dass die Anstiegsgeschwindigkeit einer durch eine manuell erzeugte Drehbewegung induzierter Strom oder Spannung proportional einer Winkelgeschwindigkeit der Motorwelle ist. Insoweit lässt sich aus den Anstiegsgeschwindigkeiten der Stromänderungen oder Spannungsänderungen eine Winkelbeschleunigung der Motorwelle bestimmen, die in Abhängigkeit von einem Vergleich zwischen einem Ist-Wert und einem Schwellwert der Winkelbeschleunigung zu einem Startsignal führen kann.It has been found that the slew rate of a current or voltage induced by a manually generated rotary motion is proportional to an angular velocity of the motor shaft. In that regard, an angular acceleration of the motor shaft can be determined from the rising speeds of the current changes or voltage changes, which can lead to a start signal as a function of a comparison between an actual value and a threshold value of the angular acceleration.

Die Steuerung der Galette lässt sich insbesondere zum Abschalten des Antriebes noch dadurch verbessern, indem ein Betriebsdrehmoment des elektrischen Antriebes fortlaufend überwacht wird. Damit lässt sich bei Überschreitung eines vorgegebenen Grenzbetriebsdrehmomentes eine Abschaltung des Antriebes ohne weitere Hilfsmittel erzielen.The control of the galette can be further improved, in particular by switching off the drive, by continuously monitoring an operating torque of the electric drive. This can be achieved without further aids when exceeding a predetermined limit operating torque shutdown of the drive.

Das erfindungsgemäße Verfahren zur Bedienung einer Galette in einer Textilmaschine zeichnet sich dadurch aus, dass alle die nach einer Fadenunterbrechung an der Galette auszuführenden Handhabungen unmittelbar den Galettenmantel betreffen. So ist ein Anlegen des Fadens am Umfang des Galettenmantels sowie ein Neustart des Galettenmantels erforderlich. So sind alle wesentlichen Handhabungen unmittelbar am Galettenmantel durch die Bedienperson ausführbar. Zum Neustart des Antriebes erzeugt die Bedienperson mit einer Hand eine Drehbewegung des Galettenmantels. Hierzu lässt sich der Galettenmantel mit einer schnellen Handbewegung in Umlaufrichtung des Galettenmantels in einer Rotation überführen. Innerhalb der Rotation führt der Galettenmantel eine kontinuierliche Drehbewegung mit mehreren Umdrehungen aus. Die Bedienperson legt die Hand dabei vorzugsweise flach am Umfang des Galettenmantels mit etwas Kraft an, um dann mit schneller Seitwärtsbewegung der Hand in Drehrichtung den Galettenmantel zu beschleunigen.The method according to the invention for operating a godet in a textile machine is characterized in that all the manipulations to be carried out on the godet after a yarn break are directly related to the godet casing. So it is necessary to apply the thread on the circumference of the godet mantle and to restart the godet mantle. Thus, all essential handling directly on the godet coat by the operator executable. To restart the drive, the operator generates a rotary movement of the godet mantle with one hand. For this purpose, the godet casing can be transferred in a rotation with a fast hand movement in the direction of rotation of the godet casing. Within the rotation of the godet roll performs a continuous rotation with several turns. The operator preferably puts the hand flat on the circumference of the godet shell with some force, then to accelerate the godet coat in the direction of rotation with rapid sideways movement of the hand.

Die Drehbewegung lässt sich dabei bevorzugt sowohl im Motordrehsinn als auch in entgegen dem Motordrehsinn erzeugen, wobei der Galettenmantel durch einen bürstenlosen Synchronmotor mit integrierter Steuerelektronik angetrieben wird. Für die Signalerzeugung ist es dabei unerheblich, in welcher Drehrichtung der Motorwelle eine Induzierung der Signale erfolgt.The rotational movement can be generated preferably both in the direction of rotation of the motor and in opposition to the direction of motor rotation, the godet casing being driven by a brushless synchronous motor with integrated control electronics. For the signal generation, it does not matter in which direction of rotation of the motor shaft an induction of the signals takes place.

Um insbesondere bei einer Mehrzahl von Galetten einen Prozessstart und ein Prozessende unabhängig von dem jeweiligen Betriebszustand ausführen zu können, wird der Antrieb durch einen manuell zu betätigen Schalter gestartet und gestoppt. Derartige Schalter können dabei als Gruppenschalter zur Steuerung mehrerer Galetten oder als Einzelschalter zur Steuerung einzelner Galetten ausgeführt sein.In order to be able to execute a process start and a process end independently of the respective operating state, in particular in the case of a plurality of godets, the drive is started and stopped by a manually actuated switch. Such switches can be used as a group switch be designed to control multiple godets or as a single switch for controlling individual godets.

Die Erfindung wird nachfolgend anhand einiger Ausführungsbeispiele der erfindungsgemäßen Vorrichtung unter Bezug auf die beigefügten Figuren näher erläutert.The invention will be explained in more detail with reference to some embodiments of the device according to the invention with reference to the accompanying figures.

Es stellen dar:

Fig. 1
schematisch eine Querschnittsansicht eines Ausführungsbeispiels der erfindungsgemäßen Galette
Fig. 2
schematisch eine Seitenansicht des Ausführungsbeispiels aus Fig. 1 in unterschiedlichen Betriebssituationen in einer Textilmaschine
Fig. 3
schematisch ein Ablaufschema zur Generierung eines Startsignals des elektrischen Antriebes
Fig. 4
schematisch ein zeitlicher Verlauf eines Messsignals des elektrischen Antriebes bei manuell erzeugter Drehbewegung
Fig. 5
schematisch eine Seitenansicht eines weiteren Ausführungsbeispiels der erfindungsgemäßen Galette
They show:
Fig. 1
schematically a cross-sectional view of an embodiment of the godet according to the invention
Fig. 2
schematically a side view of the embodiment of Fig. 1 in different operating situations in a textile machine
Fig. 3
schematically a flowchart for generating a start signal of the electric drive
Fig. 4
schematically a time course of a measuring signal of the electric drive with manually generated rotational movement
Fig. 5
schematically a side view of another embodiment of the godet according to the invention

In Fig. 1 ist ein Ausführungsbeispiel der erfindungsgemäßen Galette in einer Querschnittsansicht dargestellt. Die Galette weist einen topfförmigen Galettenmantel 1 auf, der drehfest an einem auskragenden freien Ende einer Motorwelle 3 eines elektrischen Antriebes 2 befestigt ist. Der elektrische Antrieb 2 ist in diesem Ausführungsbeispiel als bürstenloser Synchronmotor 4 ausgeführt, der auch als sogenannter BLDC-Motor bekannt ist. Der elektrische Antrieb 2 umfasst somit den Synchronmotor 4 und eine integrierte Steuerelektronik 5.In Fig. 1 an embodiment of the godet according to the invention is shown in a cross-sectional view. The godet has a cup-shaped godet casing 1, which is non-rotatably attached to a cantilevered free end of a motor shaft 3 of an electric drive 2. The electric drive 2 is designed in this embodiment as a brushless synchronous motor 4, which is also known as a so-called BLDC motor. Of the Electric drive 2 thus comprises the synchronous motor 4 and an integrated control electronics. 5

Der elektrische Antrieb 2 und der Galettenmantel 1 sind als eine Baueinheit ausgeführt, wobei der elektrische Antrieb 2 ein mehrteiliges Gehäuse aufweist. So ist die Motorwelle 3 des Synchronmotors 2 in einem Lagergehäuse 8 durch mehrere Wälzlager 9 drehbar gelagert. Die Motorwelle 3 weist ein zum Galettenmantel 1 gegenüberliegendes Ende auf, an dem ein Rotor 10 angeordnet ist. Der Rotor 10 wird durch einen hier nicht näher beschriebenen Permanentmagneten gebildet. Der Rotor 10 ist von einem Stator 11 umgeben, der mehrere Wicklungen trägt. Der Stator 11 ist durch einen Motorträger 12 gehalten. Der Motorträger 12 erstreckt sich zwischen dem Lagergehäuse 8 und einem unmittelbar an dem Synchronmotor 4 angeordneten Elektrogehäuse 13. Das Elektrogehäuse 13 enthält die Steuerelektronik 5. Das Elektrogehäuse 13 und das Lagergehäuse 8 sind durch mehrere Haltestege 31 miteinander verbunden.The electric drive 2 and the godet casing 1 are designed as a structural unit, wherein the electric drive 2 has a multi-part housing. Thus, the motor shaft 3 of the synchronous motor 2 is rotatably supported in a bearing housing 8 by a plurality of bearings 9. The motor shaft 3 has an opposite to the godet casing 1 end on which a rotor 10 is arranged. The rotor 10 is formed by a permanent magnet not described here. The rotor 10 is surrounded by a stator 11 which carries a plurality of windings. The stator 11 is held by a motor carrier 12. The motor mount 12 extends between the bearing housing 8 and an electrical housing 13 arranged directly on the synchronous motor 4. The electrical housing 13 contains the control electronics 5. The electrical housing 13 and the bearing housing 8 are interconnected by a plurality of retaining webs 31.

Die Steuerelektronik 5 ist in diesem Ausführungsbeispiel symbolisch durch eine Platine 14 sowie einem Leistungsmodul 15, einem Wechselrichter 17 und einer Auswertungseinheit 19 dargestellt. Insbesondere weist die Steuerelektronik 5 ein Messmittel 16 auf, das üblicherweise mit der Auswerteeinrichtung 19 verknüpft ist. Desweiteren ist ein Speichermittel 18 vorgesehen, das üblicherweise in der Auswertungseinheit 19 integriert ist. So können das Speichermittel 18 und die Auswertungseinheit 19 als ein Mikroprozessor ausgebildet sein.The control electronics 5 is symbolically represented in this embodiment by a circuit board 14 and a power module 15, an inverter 17 and an evaluation unit 19. In particular, the electronic control unit 5 has a measuring means 16, which is usually associated with the evaluation device 19. Furthermore, a storage means 18 is provided, which is usually integrated in the evaluation unit 19. Thus, the storage means 18 and the evaluation unit 19 may be formed as a microprocessor.

Die Steuerelektronik 5 ist über eine Versorgungsleitung 21 mit einer hier nicht dargestellten Spannungsquelle gekoppelt. Eine zweite Verbindung zur Steuerelektronik 5 stellt eine Datenleitung 20 dar, die einen Datenaustausch mit einer übergeordneten Maschinensteuereinheit 22 ermöglicht. Zusätzlich ist in diesem Ausführungsbeispiel die Steuerelektronik 5 direkt mit einem Schalter 23 gekoppelt, um bei einem Prozessstart oder einem Prozessende eine Aktivierung des elektrischen Antriebes 2 ausführen zu können.The control electronics 5 is coupled via a supply line 21 with a voltage source, not shown here. A second connection to the control electronics 5 represents a data line 20, which allows a data exchange with a higher-level machine control unit 22. In addition, in this embodiment, the control electronics 5 is coupled directly to a switch 23 in order to perform an activation of the electric drive 2 at a process start or a process end.

Die Funktion der in Fig. 1 dargestellten Galette wird nachfolgend unter Bezug der weiteren Figuren 2.1, 2.2 und 2.3 erläutert. In den Fig. 2.1, 2.2 und 2.3 ist jeweils eine Ansicht des Ausführungsbeispiels aus Fig. 1 beim Einsatz in einer Textilmaschine dargestellt. Die Fig. 2.1 zeigt die Galette im Betrieb mit einer Fadenführung, in Fig. 2 ist die Galette im Betrieb bei Bildung eines Fadenwickels gezeigt und in Fig. 2.3 ist die Galette bei einem Neustart des elektrischen Antriebes 2 gezeigt.The function of in Fig. 1 Galette shown below with reference to the other Figures 2.1, 2.2 and 2.3 explained. In the Fig. 2.1, 2.2 and 2.3 each is a view of the embodiment Fig. 1 shown when used in a textile machine. The Fig. 2.1 shows the godet in operation with a thread guide, in Fig. 2 the galette is shown in operation in forming a filament winding and in Fig. 2.3 the godet is shown at a restart of the electric drive 2.

Innerhalb der Textilmaschine wird die Galette gemäß Fig. 1 an einem Träger 27 gehalten. Hierbei ist der Galettenmantel 1 auf einer Vorderseite des Trägers 27 und der elektrische Antrieb 2 auf einer Rückseite des Trägers 27 gehalten. An der Vorderseite des Trägers 27 ist dem Galettenmantel 1 im Abstand eine drehbar gelagerte Rolle 28 zugeordnet. Desweiteren ist an der Vorderseite des Trägers 27 ein Reibmittel 24 befestigt, das mit einer Reibfläche 26 im geringen Abstand zum Galettenmantel 1 gehalten ist. Das Reibmittel 24 wird in diesem Ausführungsbeispiel durch einen am Träger 27 befestigten Stift 25 gebildet, der koaxial zum Galettenmantel 1 ausgerichtet ist und sich im wesentlichen über die gesamte Länge des Galettenmantels 1 erstreckt.Within the textile machine, the godet according to Fig. 1 held on a support 27. In this case, the godet casing 1 is held on a front side of the carrier 27 and the electric drive 2 on a rear side of the carrier 27. At the front of the carrier 27, the godet 1 is assigned a rotatably mounted roller 28 at a distance. Furthermore, a friction means 24 is fixed to the front side of the carrier 27, which is held with a friction surface 26 at a small distance to the godet casing 1. The friction means 24 is formed in this embodiment by a pin 27 fixed to the carrier 25, which is aligned coaxially with the godet casing 1 and extends substantially over the entire length of the godet casing 1.

In Fig. 2.1 ist die Situation gezeigt, in welcher ein Faden 29 mit mehreren Umschlingungen am Umfang des Galettenmantels 1 und am Umfang der Rolle 28 geführt wird. Der Galettenmantel 1 wird in dieser Betriebssituation durch den Synchronmotor 4 mit einer im wesentlichen konstanten Drehzahl angetrieben. Dier Steuerung des Synchronmotors 4 erfolgt über die Steuerelektronik 5, wobei die Solldrehzahl der Steuerelektronik 5 über den Dateneingang aufgegeben wird.In Fig. 2.1 the situation is shown in which a yarn 29 is guided with several wraps on the circumference of the godet casing 1 and on the circumference of the roller The godet casing 1 is driven in this operating situation by the synchronous motor 4 at a substantially constant speed. Dier control of the synchronous motor 4 via the control electronics 5, wherein the target speed of the control electronics 5 is placed over the data input.

Für den Fall, dass aufgrund eines Fadenbruches vor oder hinter der Galette oder eine Verschlappung vor oder hinter der Galette sich am Umfang des Galettenmantels 1 ein Fadenwickel bildet, führt jede am Galettenmantel 1 veränderte Zugwirkung des Fadens zu einer Veränderung des Betriebsdrehmomentes des Synchronmotors 4. Diese Situation ist in Fig. 2.2 dargestellt, bei welcher ein Fadenwickel 30 am Umfang des Galettenmantels 1 sich durch Aufwicklung eines zulaufenden Fadens 29 einstellt. Der Fadenwickel 30 könnte jedoch auch alternativ durch einen bereits abgelaufenen Faden entstehen, so dass ein rücklaufender Faden zum Fadenwickel 30 geführt wird.In the event that due to a thread break in front of or behind the godet or a Verschlappung before or behind the galette forms a thread winding on the circumference of the godet 1, each leads to the godet 1 traction effect of the thread to a change in the operating torque of the synchronous motor 4. This Situation is in Fig. 2.2 represented, in which a thread winding 30 adjusts the circumference of the godet casing 1 by winding a tapered yarn 29. However, the filament winding 30 could alternatively be formed by an already expired thread, so that a returning thread to the filament winding 30 is guided.

Unabhängig von der Art der Entstehung des Fadenwickels 30 am Umfang des Galettenmantels 1 wird jede Änderung im Ist-Wert des Betriebsdrehmomentes in der Steuerelektronik 5 erfasst und mit einem hinterlegten Grenzwert des Betriebsdrehmomentes des Synchronmotors 4 verglichen. Sobald der Fadenwickel 30 mit dem Reibmittel 24 in Kontakt kommt, wird übe die Reibfläche 26 ein zusätzliches Betriebsdrehmoment erzeugt, das zu einer sehr schnellen Erhöhung des Betriebsdrehmomentes des Synchronmotors 4 führt. Sobald eine unzulässige Überhöhung des Betriebsdrehmomentes festgestellt wird, wird in der Auswertungseinheit 19 der Steuerelektronik 5 ein Schaltsignal zum Abschalten des Synchronmotors 4 erzeugt. Die Motorwelle 3 mit dem Galettenmantel 1 wird gestoppt, so dass der Fadenwickel 30 am Umfang des Galettenmantels 1 von einer Bedienperson entfernt werden kann.Regardless of the nature of the formation of the thread winding 30 on the circumference of the godet casing 1, any change in the actual value of the operating torque in the control electronics 5 is detected and compared with a stored limit of the operating torque of the synchronous motor 4. As soon as the filament winding 30 comes into contact with the friction means 24, the friction surface 26 is exerted to generate an additional operating torque which leads to a very rapid increase in the operating torque of the synchronous motor 4 leads. Once an impermissible increase in the operating torque is detected, a switching signal for switching off the synchronous motor 4 is generated in the evaluation unit 19 of the control electronics 5. The motor shaft 3 with the godet casing 1 is stopped, so that the filament winding 30 can be removed on the circumference of the godet casing 1 by an operator.

In Fig. 2.3 ist die Situation kurz von Ende der Betriebsunterbrechung gezeigt. In dieser Situation führt eine Bedienperson den Faden 29 in einem Handinjektor 32, um den Faden am Umfang des Galettenmantels 1 anzulegen. Dabei wird der Galettenmantel 1 zuvor durch eine Handbewegung der Bedienperson in eine Drehbewegung geführt. Der Galettenmantel 1 wird hierzu am Umfang mit der Hand kontaktiert, so dass die Bedienperson durch eine schnelle in Drehrichtung erzeugte Handbewegung eine beschleunigte Andrehung des Galettenmantels 1 bewirkt. Der Galettenmantel 1 rotiert mit der Motorwelle 3, so dass über den Rotor 10 innerhalb des Synchronmotors 4 ein Signal induziert wird.In Fig. 2.3 the situation is shown shortly after the end of the business interruption. In this situation, an operator guides the yarn 29 in a hand injector 32 to apply the yarn to the circumference of the godet roll 1. In this case, the godet 1 is previously performed by a hand movement of the operator in a rotary motion. For this purpose, the godet casing 1 is contacted by hand on the circumference, so that the operator effects an accelerated rotation of the godet casing 1 by a fast hand movement generated in the direction of rotation. The godet casing 1 rotates with the motor shaft 3, so that a signal is induced via the rotor 10 within the synchronous motor 4.

Zur weiteren Erläuterung des Startvorgangs des elektrischen Antriebes 2 wird zu der Fig. 3 Bezug genommen. In der Fig. 3 ist ein Ablaufschema zur Generierung eines Startsignales des Synchronmotors 4 schematisch dargestellt.To further explain the starting process of the electric drive 2 is to the Fig. 3 Referenced. In the Fig. 3 is a flowchart for generating a start signal of the synchronous motor 4 is shown schematically.

Durch die Drehung der Motorwelle 3, erfolgt in dem Synchronmotor 4 eine Induzierung eines Motorstromes sowie eine Induzierung einer Spannung. Wie aus der Fig. 1 bekannt, weist die Steuerelektronik 5 ein Messmittel 16 auf, das als ein Strommesser oder alternativ als ein Spannungsmesser ausgeführt sein kann. Insoweit wird durch das Messmittel 16 eine durch die manuell erzeugte Drehbewegung des Galettenmantels und der Motorwelle 3 eine induzierte Spannung U oder ein induzierter Motorstrom I gemessen. Die Messwerte der induzierten Spannung oder des induzierten Motorstromes wird der Auswertungseinheit 19 der Steuerelektronik 5 zugeführt.By the rotation of the motor shaft 3, an induction of a motor current and an induction of a voltage takes place in the synchronous motor 4. Like from the Fig. 1 As is known, the electronic control unit 5 has a measuring means 16 designed as an ammeter or alternatively as a voltmeter can be. In that regard, an induced voltage U or an induced motor current I is measured by the measuring means 16 by the manually generated rotational movement of the godet casing and the motor shaft 3. The measured values of the induced voltage or of the induced motor current are supplied to the evaluation unit 19 of the control electronics 5.

Um die aus der Drehbewegung der Motorwelle resultierenden induzierten Signale eindeutig einem manuelle erzeugten Vorgang zuzuordnen, sind die Amplituden des Signale und damit die Absolutwerte der induzierten Spannung und / oder es induzierten Motorstromes nicht eindeutig verwertbar. So können beim Entfernen eines Fadenwickels am Umfang des Galettenmantels 1 ebenfalls Drehbewegungen der Motorwelle erzeugt werden, die einen Strom oder eine Spannung induzieren. Um die Drehbewegungen zu unterscheiden, wird das erfasst Signal differenziert. Hierzu weist die Auswertungseinheit einen Differentialoperator 33 auf, der die Anstiegsgeschwindigkeit der induzierten Spannung und / oder des induzierten Motorstromes erfasst. Die Anstiegsgeschwindigkeit ist in Fig. 3 mit dem Quotienten d/dt gekennzeichnet. Diese Anstiegsgeschwindigkeit ist proportional einer Wickelgeschwindigkeit der Motorwelle 3. Somit führt die Differenzierung der Messsignale zu einem Maß für die Winkelbeschleunigung a.In order to unambiguously associate the induced signals resulting from the rotational movement of the motor shaft with a manually generated process, the amplitudes of the signals and thus the absolute values of the induced voltage and / or induced motor current can not be used unambiguously. Thus, when removing a thread winding on the circumference of the godet casing 1 also rotational movements of the motor shaft can be generated, which induce a current or voltage. In order to distinguish the rotational movements, the detected signal is differentiated. For this purpose, the evaluation unit has a differential operator 33, which detects the rate of rise of the induced voltage and / or the induced motor current. The slew rate is in Fig. 3 marked with the quotient d / dt. This slew rate is proportional to a winding speed of the motor shaft 3. Thus, the differentiation of the measurement signals leads to a measure of the angular acceleration a.

Ein für den Startvorgang des Synchronmotors 4 erforderliche Winkelbeschleunigung ist als Schwellwert as hinterlegt. So lassen sich derartige Schwellwerte vorzugsweise im Speichermittel 18 der Steuerelektronik hinterlegen. Um den Vergleich zwischen dem Ist-Zustand mit dem Schwellwert durchzuführen, weist die Auswertungseinheit einen Komparator 34 auf, der die ermittelte Winkelbeschleunigung mit dem Schwellwert der Winkelbeschleunigung vergleicht. Für den Fall, dass der Schwellwert der Winkelbeschleunigung überschritten wird, wird über die Auswertungseinheit 19 ein Steuersignal zu Aktivierung des Synchronmotors 4 erzeugt. Die Auswertungseinheit 19 gibt hierzu entsprechende Signale an den Wechselrichter 17. Für den Fall, dass der Schwellwert der Winkelbeschleunigung nicht überschritten ist, wird durch die Auswertungseinheit 19 keine Startfunktion ausgelöst.An angular acceleration required for starting the synchronous motor 4 is stored as the threshold value as. Thus, such threshold values can preferably be stored in the storage means 18 of the control electronics. In order to carry out the comparison between the actual state and the threshold value, the evaluation unit has a comparator 34 which determines the determined angular acceleration with the threshold value of the Angular acceleration compares. In the event that the threshold value of the angular acceleration is exceeded, a control signal for activating the synchronous motor 4 is generated via the evaluation unit 19. The evaluation unit 19 is for this purpose corresponding signals to the inverter 17. In the event that the threshold value of the angular acceleration is not exceeded, no start function is triggered by the evaluation unit 19.

Das in Fig. 3 dargestellte Ablaufschema zur Generierung eines Startsignals ist beispielhaft. Grundsätzlich besteht jedoch auch die Möglichkeit, ein Startsignal unmittelbar aus den induzierten Signalen zu generieren. So ist beispielsweise in Fig. 4 schematisch ein zeitlicher Verlauf eines induzierten Motorstromes dargestellt. In dem Diagramm ist Zeit t auf der Abszisse und der Motorstrom I auf der Ordinate eingetragen. Das Diagramm in Fig. 4 zeigt zwei Verläufe, die als I1 und I2 bezeichnet sind. Der Motorstrom I1 ist beispielsweise bei der durch eine Bedienperson manuelle erzeugte Drehbewegung des Galettenmantels an dem Synchronmotor 4 gemessen worden. Die Grenzkurve mit der Bezeichnung I2 stellt beispielsweise eine ungewollte Drehbewegung des Galettenmantels während dem Entfernen eines Fadenwickels dar. Die Verläufe der induzierten Motorströme I1 und I2 unterscheiden sich im wesentlichen durch eine Steigung, die beispielsweise aus einer Zeitdifferenz t1-t2 ersichtlich wird. Zum Zeitpunkt t1 werden die Stromwerte I1 und I2 gemessen, wobei der Messwert I1 größer ist als der Messwert I2. Dementsprechend wird zum Zeitpunkt t2 die Stromwerte I1. und I2' gemessen. Zur Differenzierung wird nun die pro Zeitdifferenz erfolgte Messwertänderung registriert und ausgewertet. Diese in der Zeitdauer t1 - t2 stattfindende Messwertänderung I1' - I1 und I2' - I2 stellt ein Mass für die Änderungsgeschwindigkeit des Stromwertes dar. So lassen sich durch Abgleich der Ist-Werte mit einem zuvor hier nicht eingetragenen Schwellwert jede an dem Galettenmantel erzeugte Drehbewegung identifizieren und zu einem Neustart des Elektroantriebes nutzen.This in Fig. 3 illustrated flowchart for generating a start signal is exemplary. In principle, however, it is also possible to generate a start signal directly from the induced signals. For example, in Fig. 4 schematically shows a time course of an induced motor current. In the diagram, time t is plotted on the abscissa and motor current I on the ordinate. The diagram in Fig. 4 shows two gradients, which are designated as I 1 and I 2 . For example, the motor current I 1 has been measured on the synchronous motor 4 in the case of the rotational movement of the godet jacket manually generated by an operator. The limit curve labeled I 2 represents, for example, an unwanted rotational movement of the godet casing during the removal of a yarn package. The courses of the induced motor currents I 1 and I 2 differ essentially by a slope, for example, from a time difference t 1 -t 2 visible becomes. At time t 1 , the current values I 1 and I 2 are measured, wherein the measured value I 1 is greater than the measured value I 2 . Accordingly, at time t 2, the current values I 1 . and I 2 ' measured. For differentiation, the measured value change per time difference is now registered and evaluated. These in the period t 1 - t 2 takes place change of measured value I 1 '- I 1 and I 2' - I 2 is a measure of Thus, by comparing the actual values with a threshold value not previously entered here, each rotational movement generated on the godet casing can be identified and used to restart the electric drive.

In Fig. 5 ist ein weiteres Ausführungsbeispiel der erfindungsgemäßen Galette gezeigt, wie sie beispielsweise in einer Textilmaschine eingesetzt wird. Das Ausführungsbespiel in Fig. 5 zeigt insgesamt vier Galetten, die an einem gemeinsamen Träger 27 angeordnet sind. Der Träger 27 hält an einer Vorderseite mehrere Galettenmäntel 1 und mehrere Rollen 28, die auskragend frei drehbar an dem Träger 27 gehalten sind. Die Galettenmäntel 1 sind jeweils über eine Motorwelle 3 mit einem auf der Rückseite des Trägers 27 angeordneten elektrischen Antrieb 2 gekoppelt. In diesem Ausführungsbeispiels sind insgesamt vier elektrische Antriebe 2 nebeneinander angeordnet. Die Anzahl der Antriebe 2 sowie die Anzahl der Galettenmäntel an dem Träger 27 sind beispielhaft. Grundsätzlich können acht, zwölf oder sechszehn oder noch mehr Galetten an einem Galettenträger angeordnet sein.In Fig. 5 is shown a further embodiment of the godet according to the invention, as used for example in a textile machine. The execution example in Fig. 5 shows a total of four godets, which are arranged on a common carrier 27. The carrier 27 holds on a front side a plurality of godet coats 1 and a plurality of rollers 28 which are cantilevered freely rotatably supported on the carrier 27. The godet coats 1 are each coupled via a motor shaft 3 with an electric drive 2 arranged on the rear side of the carrier 27. In this embodiment, a total of four electric drives 2 are arranged side by side. The number of drives 2 and the number of godet coats on the carrier 27 are exemplary. In principle, eight, twelve or sixteen or even more godets can be arranged on a godet carrier.

Die an dem Träger gehaltenen Galetten 27 sind identisch zu dem Ausführungsbeispiel nach Fig. 1 ausgeführt. Bei dem in Fig. 5 dargestellten Ausführungsbeispiel erfolgt die Leistungsversorgung der elektrischen Antriebe 2 durch eine Versorgungsleitung 21, die über eine Gruppensteuereinheit 35 und einen Gruppenschalter 36 mit eine hier nicht näher dargestellten übergeordneten Versorgungseinheit verbunden ist. Über eine Datenleitung 20, die vorzugsweise als ein BUS-System ausgeführt ist, sind die Antriebe 2 mit der Gruppensteuereinheit 35 verbunden. Die Gruppensteuereinheit ist mit einer Maschinensteuereinheit 22 gekoppelt.The godets 27 held on the carrier are identical to the embodiment according to FIG Fig. 1 executed. At the in Fig. 5 illustrated embodiment, the power supply of the electric drives 2 by a supply line 21, which is connected via a group control unit 35 and a group switch 36 with a superordinate supply unit not shown here. Via a data line 20, which is preferably designed as a bus system, the drives are the second connected to the group control unit 35. The group control unit is coupled to a machine control unit 22.

Innerhalb der Gruppensteuereinheit 35 sind die zum Betrieb der zugeordneten Galetten vorgegebenen Betriebsparameter hinterlegt, wobei jeder der elektrischen Antriebe 2 individuell adressierbar und ansteuerbar ist.Within the group control unit 35, the operating parameters predetermined for the operation of the associated godets are stored, each of the electric drives 2 being individually addressable and controllable.

In diesem Ausführungsbeispiel könnte jedem elektrischen Antrieb 2 ein separater Schalter 23 zugeordnet, um beispielsweise einen Stillstand des Galettenmantels bei Produktwechsel ausführen zu können. In Fig. 5 sind die Schalter 23 gestrichelt dargestellt. Für den Fall, dass an einer der Galettenmäntel 1 ein Fadenwickel und damit eine Betriebsunterbrechung erforderlich ist, erfolgt die Bedienung und Steuerung der Galette entsprechend dem vorgenannten Ausführungsbeispiel nach Fig. 1 und 2. Insoweit wird zu der vorgenenannten Beschreibung Bezug genommen.In this embodiment, a separate switch 23 could be assigned to each electric drive 2 in order to be able to carry out, for example, a standstill of the godet casing during product change. In Fig. 5 the switches 23 are shown in dashed lines. In the event that on one of the godet coats 1, a filament winding and thus an operation interruption is required, the operation and control of the godet according to the aforementioned embodiment is after Fig. 1 and 2 , In that regard, reference is made to the abovementioned description.

Die erfindungsgemäße Galette sowie das erfindungsgemäße Verfahren zur Steuerung der Galette und das erfindungsgemäße Verfahren zur Bedienung der Galette sind besonders geeignet, um bei einer Vielzahl von Bearbeitungsstellen innerhalb einer Textilmaschine eine schnelle und sichere Prozessführung zu erhalten. Hierbei können durch Verwendung der bürstenlosen Synchronmotoren mit integrierter Steuerelektronik aufwändige Verkabelungen vermieden werden. Zudem lassen sich schnelle Reaktionszeiten bei veränderten Betriebszuständen realisieren.The godet according to the invention as well as the method according to the invention for controlling the godet and the method according to the invention for operating the godet are particularly suitable for obtaining a fast and reliable process control at a multiplicity of processing points within a textile machine. This can be avoided by using the brushless synchronous motors with integrated control electronics consuming wiring. In addition, fast reaction times can be realized with changed operating states.

Claims (18)

  1. Godet for guiding a thread, having a godet shell (1) which can be driven and which is coupled to an electric drive (2),
    characterized in that
    the electric drive (2) is designed in such a way that the drive (2) can be re-started following an interruption to operation, by a manually produced rotational movement of the godet shell (1).
  2. Godet as claimed in claim 1,
    characterized in that
    the electric drive (2) is formed by a brushless synchronous motor (4) with integrated control electronics (5), wherein the godet shell (1) is firmly connected to a motor shaft (3) of the synchronous motor (4).
  3. Godet as claimed in claim 2,
    characterized in that
    the control electronics (5) has a voltmeter (16) for measuring an induced voltage (U) and an evaluation unit (19) for generating a starting signal.
  4. Godet as claimed in claim 2,
    characterized in that
    the control electronics (5) has an ammeter (16) for measuring a motor current (I) and an evaluation unit (19) for generating a starting signal.
  5. Godet as claimed in claim 3 or 4,
    characterized in that
    the evaluation unit (19) has a differential operator (33) for determining an angular acceleration (a) of the motor shaft (3) of the synchronous motor (4).
  6. Godet as claimed in claim 5,
    characterized in that
    the evaluation unit (19) has a comparator (34) for comparing an actual value of the angular acceleration (a) with a stored threshold value (as).
  7. Godet as claimed in one of claims 1 to 6,
    characterized in that
    the godet shell (1) is assigned a frictional means (24) at a short distance, which has a frictional surface (26) opposite the godet shell, and in that the electric drive (2) has operational torque monitoring (16, 19).
  8. Godet as claimed in one of claims 1 to 7,
    characterized in that
    the godet shell (1) interacts together with a rotatably mounted roller (28) in order to guide a thread (29) in multiple wrappings.
  9. Godet as claimed in one of claims 1 to 8,
    characterized in that
    the drive (2) is assigned a manual switch (23) for starting and stopping the godet shell (1).
  10. Method for controlling a godet, in which a godet shell (1) of the godet is driven by an electric drive (2),
    characterized in that
    following an interruption to operation, the drive (2) is re-started by a manually produced rotational movement of the godet shell.
  11. Method as claimed in claim 10,
    characterized in that
    the godet shell (1) is driven by a motor shaft (3) of a brushless synchronous (4) motor with integrated control electronics (5).
  12. Method as claimed in claim 11,
    characterized in that
    a current and/or a voltage of the synchronous motor (4) are/is measured during the rotational movement of the motor shaft (3), and in that a starting signal is generated within the control electronics (5) from the measured values.
  13. Method as claimed in claim 11,
    characterized in that
    a current rise over time and/or a voltage rise over time of the synchronous motor (4) during the rotational movement of the motor shaft (3) are/is measured, and in that a starting signal is generated within the control electronics (5) from the measured values.
  14. Method as claimed in claim 12 or 13,
    characterized in that
    an angular acceleration (a) of the motor shaft (3) is determined, and in that the starting signal is generated depending on a comparison between an actual value and a threshold value (as) of the angular acceleration (a).
  15. Method as claimed in one of claims 10 to 14,
    characterized in that
    an operating torque of the electric drive (2) is monitored continuously.
  16. Method for operating a godet in a textile machine, in which, in an operating state, a godet shell (1) is driven by an electric drive (2) in order to guide a thread,
    characterized in that
    following an interruption to operation, the drive (2) is re-started by a rotational movement of the godet shell (1) produced manually by an operator.
  17. Method as claimed in claim 16,
    characterized in that
    the godet shell (1) is driven by a brushless synchronous motor (4) with integrated control electronics (5), and in that the manually produced rotational movement of the godet shell (1) to re-start the synchronous motor (4) is carried out in a motor direction of rotation or counter to the motor direction of rotation.
  18. Method as claimed in claim 16 or 17,
    characterized in that
    in the case of a group circuit of multiple drives (2) of multiple godet shells (1), the drive (2) is started and stopped by a switch (23) to be actuated manually.
EP14786520.8A 2013-10-26 2014-10-21 Godet and method for controlling a godet Active EP3060506B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013017865 2013-10-26
PCT/EP2014/072549 WO2015059142A1 (en) 2013-10-26 2014-10-21 Godet and method for controlling a godet

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Publication Number Publication Date
EP3060506A1 EP3060506A1 (en) 2016-08-31
EP3060506B1 true EP3060506B1 (en) 2018-03-28

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EP (1) EP3060506B1 (en)
JP (1) JP6366724B2 (en)
CN (1) CN105683074B (en)
TR (1) TR201808177T4 (en)
WO (1) WO2015059142A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3153609B1 (en) * 2015-10-05 2021-11-10 Hanning Elektro-Werke GmbH & Co. KG Drive assembly for a textile machine
EP3153610B1 (en) * 2015-10-05 2021-05-05 Hanning Elektro-Werke GmbH & Co. KG Control device
WO2017080899A1 (en) * 2015-11-11 2017-05-18 Oerlikon Textile Gmbh & Co. Kg Method for monitoring quality during texturing, and texturing apparatus
WO2019101717A1 (en) * 2017-11-25 2019-05-31 Oerlikon Textile Gmbh & Co. Kg Method for monitoring a winding device, and winding device

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI46268C (en) * 1971-02-19 1973-02-12 Kemira Oy Motorized Galetti.
JP3367717B2 (en) * 1993-08-03 2003-01-20 株式会社リケン DC motor control circuit and DC motor
JP2002154749A (en) * 2000-11-21 2002-05-28 Murata Mach Ltd Detecting device with bobbin for yarn feeder roller
FR2870837A1 (en) * 2004-05-26 2005-12-02 Rieter Textile Machinery Fr Friction drive for filiform element such as textile yarn has track on outer surface of hollow cylindrical body forming rotor of motor with permanent magnets
DE102005029937B4 (en) * 2005-06-28 2014-02-20 Saurer Germany Gmbh & Co. Kg Method for determining the quality parameters of a thread
TW200804163A (en) 2006-05-18 2008-01-16 Saurer Gmbh & Co Kg Delivery mechanism
DE102009058827A1 (en) * 2009-12-18 2011-06-22 Oerlikon Textile GmbH & Co. KG, 42897 Method for operating a workstation of a winder and workstation of a winder

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JP6366724B2 (en) 2018-08-01
CN105683074B (en) 2019-03-08
WO2015059142A1 (en) 2015-04-30
EP3060506A1 (en) 2016-08-31
JP2016535713A (en) 2016-11-17
TR201808177T4 (en) 2018-07-23
CN105683074A (en) 2016-06-15

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