EP3156528B1 - Textile machine with a service unit which can be moved along the working positions and method for positioning a service unit in front of a working position - Google Patents

Textile machine with a service unit which can be moved along the working positions and method for positioning a service unit in front of a working position Download PDF

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Publication number
EP3156528B1
EP3156528B1 EP16193355.1A EP16193355A EP3156528B1 EP 3156528 B1 EP3156528 B1 EP 3156528B1 EP 16193355 A EP16193355 A EP 16193355A EP 3156528 B1 EP3156528 B1 EP 3156528B1
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EP
European Patent Office
Prior art keywords
service unit
hall sensor
workstation
positioning
positioning element
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Application number
EP16193355.1A
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German (de)
French (fr)
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EP3156528A1 (en
Inventor
Robert Geisler
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Saurer Spinning Solutions GmbH and Co KG
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Saurer Spinning Solutions GmbH and Co KG
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Publication of EP3156528A1 publication Critical patent/EP3156528A1/en
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/48—Piecing arrangements; Control therefor
    • D01H4/50—Piecing arrangements; Control therefor for rotor spinning
    • 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
    • D01H13/005—Service carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/04—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques imparting twist by contact of fibres with a running surface
    • D01H4/22—Cleaning of running surfaces
    • D01H4/24—Cleaning of running surfaces in rotor spinning
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/48—Piecing arrangements; Control therefor
    • 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 present invention relates to a textile machine with a plurality of workstations arranged next to one another, a service unit that can be moved along the workstations for operating and / or maintenance of the workstations and a positioning system for positioning the service unit in front of a workstation with a first positioning element and a second positioning element, the one positioning element is arranged on the service unit and the other positioning element at the work station.
  • the invention also relates to a method for positioning a service unit in front of a work station of a textile machine with a plurality of work stations arranged next to one another, the service unit for operating and / or maintaining the work stations being movable along the work stations and for positioning a first and a second positioning element of a positioning system with one another act, one positioning element being arranged on the service unit and the other positioning element being arranged at the work station.
  • Textile machines with a large number of workstations arranged next to one another are, for example, textile machines producing cross-wound bobbins, such as open-end rotor spinning machines or winding machines.
  • a service unit is requested from a work station to carry out a bobbin / empty tube change.
  • service units for cleaning the spinning rotor and / or for spinning the thread after a thread break or a package / empty tube change are also known.
  • the service unit In order to operate and / or maintain the work station, the service unit must be positioned precisely in front of the work station.
  • the EP 2 305 864 A1 and the DE 195 47 068 A1 disclose service units for textile machines
  • the DE 38 41 464 A1 discloses a textile machine with movable service units.
  • Both the service units and work stations are equipped with antennas, which are preferably designed as coils with a ferrite core.
  • the antennas If necessary, the work stations send a signal that indicates the need for operation of the work station. The signal can be picked up by the antennas of the patrolling service units. Using the antennas, the service unit can then be positioned in front of the work station as required. If the service unit is positioned in front of the workplace, the antennas are used for data transmission.
  • Modern textile machines have a bus system for communication between the workstation controls, a central control and the control of the service unit.
  • a work station in need of this can request a service unit via this bus system.
  • the service unit can be moved directly to the workstation in need of service.
  • a positioning sensor system which has an inductive proximity switch arranged on the service unit and a machine-long, perforated, preferably ferromagnetic positioning rail along the work stations.
  • the defined recesses of the positioning rail influence a magnetic field of the proximity switch each time the service unit approaches.
  • the number of recesses passed by the service unit and detected by the proximity switch, in conjunction with a reference position enables conclusions to be drawn about the position of the service unit.
  • the DE 10 2014 001 626 A1 discloses another solution for positioning the service unit in front of a job.
  • An inductive proximity switch is also used. However, this is dampened by an electrically conductive measuring element arranged at the work station.
  • the EP 0 522 598 A2 discloses a generic textile machine.
  • the first positioning element is a magnetic field generating element and the second Positioning element comprises at least a first Hall sensor.
  • the magnetic field generating element and the first Hall sensor are arranged such that the first Hall sensor detects the magnetic field generating element when the service device is positioned in front of the work station.
  • a method for positioning a service unit in front of a work station in which for positioning the service unit in front of the work station, a magnetic field generating element assigned to the first positioning element is detected by at least one first Hall sensor assigned to the second positioning element.
  • the magnetic field generating element is preferably designed as a permanent magnet.
  • a permanent magnet is particularly simple. It does not require any further control and switching.
  • a permanent magnet can be made small and requires only a small installation space.
  • the magnetic field-generating element can, of course, also be designed as a current-carrying coil which, like the permanent magnet, preferably generates a magnetic field that is unchanged in time.
  • a Hall sensor uses the Hall effect to measure magnetic fields. If a Hall sensor is traversed by a current and placed in a perpendicular magnetic field, it provides an output voltage that is proportional to the product of the magnetic field strength and current. The Hall sensor enables, in particular, the measurement of a magnetic field that does not change over time, as is generated by a permanent magnet.
  • the field of the permanent magnet changes with the distance from it.
  • the distance of the Hall sensor from the permanent magnet can thus be inferred from the size of the magnetic field strength. This indirectly results in the distance of the service unit from the work place.
  • the service unit can thus be easily positioned in front of the work station as required.
  • the jobs that have passed can be counted in order to determine the position of the service unit within the textile machine. In this way, a specific requesting job can be found.
  • the second positioning element comprises a second Hall sensor, which is arranged in the direction of the travel path of the service unit next to the first Hall sensor so that the first Hall sensor and the second Hall sensor detect the magnetic field-generating element in the service unit positioned in front of the work station.
  • the permanent magnet is additionally detected by a second Hall sensor assigned to the second positioning element, which is arranged next to the first Hall sensor in the direction of travel of the service unit.
  • Two Hall sensors make it possible to compensate for electromagnetic interference or distance tolerances between the work stations and the service unit. Compensation is possible because the disturbances and tolerances affect both Hall sensors equally.
  • An interference-free useful signal can be generated by suitably linking the signals of the two Hall sensors.
  • the textile machine preferably has a control device for evaluating and linking the signals of the Hall sensors.
  • the control device is preferably arranged on the service unit or at the work station, depending on where the second positioning element is arranged. So the signal paths can be kept short.
  • the difference between the signals of the first Hall sensor and the second Hall sensor is determined and the difference is used to position the service unit in front of the work station.
  • the interference signals are eliminated and a useful signal suitable for positioning is generated.
  • the useful signal can no longer be measured, the element generating the magnetic field is located between the two Hall sensors.
  • To position the service unit one could therefore define a threshold value close to zero, below which the service unit is correctly positioned. If only one Hall sensor was used, a maximum magnetic field strength would have to be sought. Due to the fluctuating amplitudes of the magnetic field due to interference, the positioning is then correspondingly more complex.
  • the textile machine according to the invention therefore has means adapted for subtracting the signals of the first Hall sensor and the second Hall sensor.
  • the means are preferably part of the control device already mentioned.
  • the second positioning element comprises a third Hall sensor and a fourth Hall sensor, the third and fourth Hall sensors being arranged on both sides of the first and second Hall sensors in the direction of the travel path of the service unit.
  • the permanent magnet can first be detected by the third Hall sensor or the fourth Hall sensor depending on the direction of travel.
  • the arrangement of the third and fourth Hall sensors offers various advantages.
  • the magnetic field generating element is recognized earlier.
  • the speed of the service unit can be reduced in order to then carry out the exact positioning of the service unit in front of the work place by means of the first and second Hall sensors.
  • the third or fourth Hall sensor can also be used to detect the work stations that have passed while the service unit is traveling.
  • the use of different Hall sensors for the detection of the work places and for the exact positioning in front of the work place makes it possible to set different sensitivities of the Hall sensors for the different applications. That is, the first Hall sensor and the second sensor preferably have a different sensitivity than the third and fourth Hall sensors.
  • the sensitivity of the first Hall sensor and the second Hall sensor is preferably set as a function of the signal from the third or fourth Hall sensor. This can also be used to adapt to the fluctuating amplitudes of the magnetic field strength and to further increase the positioning accuracy of the service unit in front of the work site.
  • the first positioning element is preferably arranged at the work station and the second positioning element at the service unit.
  • the magnetic field-generating element preferably the permanent magnet
  • the structure is designed correspondingly easier because the larger number of work stations are equipped with the simpler positioning element.
  • the textile machine according to the invention can additionally have a signal device for direct communication between a work station and the service unit positioned in front of the work station.
  • a signaling device enables a check to be made as to whether the service unit has also been positioned in front of the correct work location.
  • a simple signal device with an optical transmitter and an optical receiver is sufficient.
  • the optical transmission device is preferably arranged on the service unit and, after successful positioning, sends a signal to the optical reception device of the work station.
  • An infrared transmitter and an infrared receiver can be considered as the optical transmitting and receiving device.
  • the Fig. 1 shows a textile machine 1 according to the invention with a plurality of work stations 2 arranged next to one another.
  • An infrared receiver 13 and a permanent magnet 4 are arranged at each work station 2.
  • a service unit 3 is arranged to be movable along the work stations 2.
  • the double arrow 10 illustrates the route or the direction of travel of the service unit 3.
  • the service unit 3 has a sensor 9, which enables the service unit 3 to be positioned in front of a textile machine which is in need of service or maintenance.
  • the Fig. 2 shows further details of the sensor 9 and a permanent magnet 4 of a work station 2.
  • the north pole N and the south pole S of the permanent magnet 4 are indicated.
  • the permanent magnet 4 is arranged that its magnetization points perpendicular to the direction of travel 10 of the service unit 3.
  • the Hall sensors 5, 6, 7, 8 used are one-dimensional Hall sensors. That is, the Hall sensors 5, 6, 7, 8 only measure the magnetic field strength in a certain direction.
  • the Hall sensors 5, 6, 7, 8 are arranged in such a way that they measure the magnetic field strength in a direction perpendicular to the direction of travel 10 of the service unit 3.
  • the first Hall sensor 5 is arranged next to the second Hall sensor 6 in the direction of the travel path of the service unit 3. In the direction of the travel path of the service unit 3, a third Hall sensor 7 and a fourth Hall sensor 8 are arranged on both sides of the first and second Hall sensors 5, 6.
  • the first and second Hall sensors 5, 6 have a different sensitivity compared to the third and fourth Hall sensors 7, 8, since they each perform different tasks.
  • the signals from the Hall sensors 5, 6, 7, 8 are evaluated by the control device 11.
  • the control device 11 makes it possible to set threshold values for the evaluation.
  • the sensitivity of the Hall sensors 5, 6, 7, 8 can be set via the control device 11.
  • the sensor 9 also includes an infrared transmitter 12.
  • a work station 2 requests the service unit 3 via a bus system, not shown.
  • the service unit 3 moves in the direction of the requesting work station 2.
  • the hall sensor 7 or the hall sensor 8 detects the magnetic field of the permanent magnets 4 of the passed work stations 2, depending on the direction of travel.
  • the hall sensor 7, 8 is used, which is in the direction of travel of the service unit 3 has.
  • a job 2 can be regarded as recorded or passed if a predetermined threshold value has been exceeded. The detection of the magnetic fields of the permanent magnets 4 of the work stations 2 enables a counting of the passed work stations 2 and thus a determination of the position of the service unit 3 within the textile machine.
  • the amplitudes of the magnetic field strength can be determined by means of the measured values of the Hall sensors 7, 8. Since the amplitudes can fluctuate greatly due to manufacturing tolerances and interference, the sensitivity of the Hall sensors 5 and 6 is preferably set as a function of the determined amplitudes. As soon as the Hall sensor 7 or 8 detects that the work station requiring operation has been reached, the speed of the service unit 3 is reduced. Then the exact positioning of the service unit 3 in front of the work station 2 takes place. The end position is reached when the Hall sensors 5 and 6 deliver the same signal. This is the case when the permanent magnet 4 is positioned exactly between the Hall sensors 5 and 6. In order to evaluate the signals from the Hall sensors 5 and 6, the control device 11 forms the difference between the signals.
  • the infrared transmitter 12 of the service unit 3 sends a signal.
  • the signal is received by the infrared receiver 13 of the work station 2. In this way, a check is made as to whether the service unit 3 has also been positioned in front of the requesting work station.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Looms (AREA)

Description

Die vorliegende Erfindung betrifft eine Textilmaschine mit einer Vielzahl nebeneinander angeordneter Arbeitsstellen, einem entlang der Arbeitsstellen verfahrbaren Serviceaggregat zur Bedienung und/oder Wartung der Arbeitsstellen und einem Positioniersystem zur Positionierung des Serviceaggregates vor einer Arbeitsstelle mit einem ersten Positionierelement und einem zweiten Positionierelement, wobei das eine Positionierelement an dem Serviceaggregat und das andere Positionierelement an der Arbeitsstelle angeordnet ist. Die Erfindung betrifft außerdem ein Verfahren zur Positionierung eines Serviceaggregats vor einer Arbeitsstelle einer Textilmaschine mit einer Vielzahl nebeneinander angeordneter Arbeitsstellen, wobei das Serviceaggregat zur Bedienung und/oder Wartung der Arbeitsstellen entlang der Arbeitsstellen verfahrbar ist und zur Positionierung ein erstes und ein zweites Positionierelement eines Positioniersystems miteinander agieren, wobei das eine Positionierelement an dem Serviceaggregat und das andere Positionierelement an der Arbeitsstelle angeordnet ist.The present invention relates to a textile machine with a plurality of workstations arranged next to one another, a service unit that can be moved along the workstations for operating and / or maintenance of the workstations and a positioning system for positioning the service unit in front of a workstation with a first positioning element and a second positioning element, the one positioning element is arranged on the service unit and the other positioning element at the work station. The invention also relates to a method for positioning a service unit in front of a work station of a textile machine with a plurality of work stations arranged next to one another, the service unit for operating and / or maintaining the work stations being movable along the work stations and for positioning a first and a second positioning element of a positioning system with one another act, one positioning element being arranged on the service unit and the other positioning element being arranged at the work station.

Textilmaschinen mit einer Vielzahl nebeneinander angeordneter Arbeitsstellen sind zum Beispiel Kreuzspulen herstellende Textilmaschinen, wie Offenend-Rotorspinnmaschinen oder Spulmaschinen. Bei beiden Textilmaschinen wird zum Beispiel von einer Arbeitsstelle ein Serviceaggregat angefordert, um einen Kreuzspulen-/ Leerhülsenwechsel durchzuführen. Bei einer Offenend-Rotorspinnmaschine sind außerdem Serviceaggregate zur Reinigung des Spinnrotors und/oder zum Anspinnen des Fadens nach einem Fadenbruch oder einem Kreuzspulen-/Leerhülsenwechsel bekannt.
Zur Bedienung und/oder Wartung der Arbeitsstelle ist eine genaue Positionierung des Serviceaggregats vor der Arbeitsstelle erforderlich.Textile machines with a large number of workstations arranged next to one another are, for example, textile machines producing cross-wound bobbins, such as open-end rotor spinning machines or winding machines. For both textile machines, for example, a service unit is requested from a work station to carry out a bobbin / empty tube change. In an open-end rotor spinning machine, service units for cleaning the spinning rotor and / or for spinning the thread after a thread break or a package / empty tube change are also known.
In order to operate and / or maintain the work station, the service unit must be positioned precisely in front of the work station.

Die EP 2 305 864 A1 und die DE 195 47 068 A1 offenbaren Serviceaggregate für Textilmaschinen
Die DE 38 41 464 A1 offenbart eine Textilmaschine mit verfahrbaren Serviceaggregaten. Sowohl die Serviceaggregate als auch Arbeitsstellen sind mit Antennen ausgestattet, die vorzugsweise als Spulen mit Ferritkern ausgebildet sind. Die Antennen der Arbeitsstellen senden im Bedarfsfall ein Signal, das die Bedienbedürftigkeit der Arbeitsstelle anzeigt. Das Signal kann von den Antennen der patrouillierenden Serviceaggregate erfasst werden. Mittels der Antennen kann das Serviceaggregat dann auch bedarfsgerecht vor der Arbeitsstelle positioniert werden. Wenn das Serviceaggregat vor der Arbeitsstelle positioniert ist, werden die Antennen zur Datenübermittlung genutzt.The EP 2 305 864 A1 and the DE 195 47 068 A1 disclose service units for textile machines
The DE 38 41 464 A1 discloses a textile machine with movable service units. Both the service units and work stations are equipped with antennas, which are preferably designed as coils with a ferrite core. The antennas If necessary, the work stations send a signal that indicates the need for operation of the work station. The signal can be picked up by the antennas of the patrolling service units. Using the antennas, the service unit can then be positioned in front of the work station as required. If the service unit is positioned in front of the workplace, the antennas are used for data transmission.

Moderne Textilmaschinen weisen zur Kommunikation zwischen den Arbeitsstellensteuerungen, einer zentralen Steuerung und der Steuerung des Serviceaggregats ein Bussystem auf. Über dieses Bussystem kann eine bedienbedürftige Arbeitsstelle ein Serviceaggregat anfordern. Das Serviceaggregat kann direkt zu der bedienbedürftigen Arbeitsstelle verfahren werden. Zur Positionserkennung und zur Positionierung des Serviceaggregats vor der Arbeitsstelle wird gemäß der DE 10 2007 048 721 A1 vorgeschlagen, eine Positioniersensorik zu verwenden, die einen an dem Serviceaggregat angeordneten induktiven Näherungsschalter und entlang der Arbeitsstellen eine maschinenlange, gelochte, vorzugsweise ferromagnetische Positionierschiene aufweist. Die definiert angeordneten Ausnehmungen der Positionierschiene beeinflussen bei jeder Annäherung des Serviceaggregats ein Magnetfeld des Näherungsschalters. Die Anzahl der von dem Serviceaggregat passierten und dem Näherungsschalter erfassten Ausnehmungen ermöglicht in Verbindung mit einer Referenzposition Rückschlüsse auf die Position des Serviceaggregats.Modern textile machines have a bus system for communication between the workstation controls, a central control and the control of the service unit. A work station in need of this can request a service unit via this bus system. The service unit can be moved directly to the workstation in need of service. For position detection and positioning of the service unit in front of the job, according to the DE 10 2007 048 721 A1 proposed to use a positioning sensor system which has an inductive proximity switch arranged on the service unit and a machine-long, perforated, preferably ferromagnetic positioning rail along the work stations. The defined recesses of the positioning rail influence a magnetic field of the proximity switch each time the service unit approaches. The number of recesses passed by the service unit and detected by the proximity switch, in conjunction with a reference position, enables conclusions to be drawn about the position of the service unit.

Die DE 10 2014 001 626 A1 offenbart eine weitere Lösung zur Positionierung des Serviceaggregats vor einer Arbeitsstelle. Es wird ebenfalls ein induktiver Näherungsschalter verwendet. Allerdings wird dieser von einem an der Arbeitsstelle angeordneten elektrisch leitenden Messelement bedämpft.The DE 10 2014 001 626 A1 discloses another solution for positioning the service unit in front of a job. An inductive proximity switch is also used. However, this is dampened by an electrically conductive measuring element arranged at the work station.

Die EP 0 522 598 A2 offenbart eine gattungsgemäße Textilmaschine.The EP 0 522 598 A2 discloses a generic textile machine.

Es ist eine Aufgabe der vorliegenden Erfindung, eine alternative Möglichkeit der bedarfsgerechten Positionierung des Serviceaggregats vor einer Arbeitsstelle zu ermöglichen.It is an object of the present invention to provide an alternative possibility of positioning the service unit in front of a work station as required.

Zur Lösung der Aufgabe wird eine Textilmaschine vorgeschlagen, bei der das erste Positionierelement ein magnetfelderzeugendes Element und das zweite Positionierelement mindestens einen erster Hallsensor umfasst. Das magnetfelderzeugende Element und der erste Hallsensor sind so angeordnet, dass der erste Hallsensor bei einer Positionierung des Serviceaggreats vor der Arbeitsstelle das magnetfelderzeugende Element detektiert.To achieve the object, a textile machine is proposed in which the first positioning element is a magnetic field generating element and the second Positioning element comprises at least a first Hall sensor. The magnetic field generating element and the first Hall sensor are arranged such that the first Hall sensor detects the magnetic field generating element when the service device is positioned in front of the work station.

Ferner wird zur Lösung der Aufgabe ein Verfahren zur Positionierung eines Serviceaggregats vor einer Arbeitsstelle vorgeschlagen, bei dem zur Positionierung des Serviceaggregates vor der Arbeitsstelle ein dem ersten Positionierelement zugeordnetes magnetfelderzeugendes Element von mindestens einem ersten dem zweiten Positionierelement zugeordneten Hallsensor detektiert wird.Furthermore, to achieve the object, a method for positioning a service unit in front of a work station is proposed, in which for positioning the service unit in front of the work station, a magnetic field generating element assigned to the first positioning element is detected by at least one first Hall sensor assigned to the second positioning element.

Das magentfelderzeugende Element ist vorzugsweise als Permanentmagent ausgebildet. Ein Permantmagnet ist besonders einfach. Er bedarf keiner weiteren Ansteuerung und Schaltung. Ein Permantmagnet kann klein ausgebildet werden und benötigt nur einen geringen Einbauraum. Alternativ kann das magnetfelderzeugende Element natürlich auch als stromdurchflossene Spule ausgebildet sein, die vorzugsweise wie der Permanentmagnet ein zeitlich unverändertes Magnetfeld erzeugt. Ein Hallsensor nutzt den Hall-Effekt zur Messung von Magnetfeldern. Wird ein HallSensor von einem Strom durchflossen und in ein senkrecht dazu verlaufendes Magnetfeld gebracht, liefert er eine Ausgangsspannung, die proportional zum Produkt aus magnetischer Feldstärke und Strom ist. Der Hallsensor ermöglicht insbesondere die Messung eines zeitlich unveränderten magnetischen Feldes, wie es von einem Permanentmagneten erzeugt wird. Das Feld des Permanentmagneten ändert sich mit dem Abstand von demselben. So kann anhand der Größe der magnetischen Feldstärke auf den Abstand des Hallsensors von dem Permanentmagneten geschlossen werden. Damit ergibt sich mittelbar der Abstand des Serviceaggregates von der Arbeitsstelle. Das Serviceaggregat kann damit auf einfache Weise bedarfsgerecht vor der Arbeitsstelle positioniert werden. Außerdem besteht beim Vorbeifahren des Serviceaggregates an einer Arbeitsstelle die Möglichkeit, das Magnetfeld ihres Permanentmagneten zu erfassen. Die passierten Arbeitsstellen können damit abgezählt werden, um auf die Position des Serviceaggregates innerhalb der Textilmaschine zu schließen. So kann eine bestimmte anfordernde Arbeitsstelle aufgefunden werden.The magnetic field generating element is preferably designed as a permanent magnet. A permanent magnet is particularly simple. It does not require any further control and switching. A permanent magnet can be made small and requires only a small installation space. Alternatively, the magnetic field-generating element can, of course, also be designed as a current-carrying coil which, like the permanent magnet, preferably generates a magnetic field that is unchanged in time. A Hall sensor uses the Hall effect to measure magnetic fields. If a Hall sensor is traversed by a current and placed in a perpendicular magnetic field, it provides an output voltage that is proportional to the product of the magnetic field strength and current. The Hall sensor enables, in particular, the measurement of a magnetic field that does not change over time, as is generated by a permanent magnet. The field of the permanent magnet changes with the distance from it. The distance of the Hall sensor from the permanent magnet can thus be inferred from the size of the magnetic field strength. This indirectly results in the distance of the service unit from the work place. The service unit can thus be easily positioned in front of the work station as required. In addition, when the service unit drives past a work station, it is possible to record the magnetic field of your permanent magnet. The jobs that have passed can be counted in order to determine the position of the service unit within the textile machine. In this way, a specific requesting job can be found.

Das zweite Positionierelement umfasst einen zweiten Hallsensor, der in Richtung des Fahrweges des Serviceaggregats neben dem ersten Hallsensor so angeordnet ist, dass der erste Hallsensor und der zweite Hallsensor bei dem vor der Arbeitsstelle positionierten Serviceaggregats das magnetfelderzeugende Element detektieren.The second positioning element comprises a second Hall sensor, which is arranged in the direction of the travel path of the service unit next to the first Hall sensor so that the first Hall sensor and the second Hall sensor detect the magnetic field-generating element in the service unit positioned in front of the work station.

Gemäß dem erfindungsgemäßen Verfahren wird zur Positionierung des Serviceaggregates vor der Arbeitsstelle der Permanentmagnet zusätzlich von einem zweiten dem zweiten Positionierelement zugeordneten Hallsensor detektiert, der in Fahrtrichtung des Serviceaggregates neben dem ersten Hallsensor angeordnet ist.According to the method according to the invention, for positioning the service unit in front of the work station, the permanent magnet is additionally detected by a second Hall sensor assigned to the second positioning element, which is arranged next to the first Hall sensor in the direction of travel of the service unit.

Durch zwei Hallsensoren ist es möglich, elektromagnetische Störungen oder Abstandstoleranzen zwischen den Arbeitsstellen und dem Serviceaggregat zu kompensieren. Die Kompensation ist möglich, da die Störungen und Toleranzen gleichermaßen auf beide Hallsensoren wirken. Durch geeignete Verknüpfung der Signale der beiden Hallsensoren lässt sich ein störungsfreies Nutzsignal erzeugen. Zur Auswertung und Verknüpfung der Signale der Hallsensoren weist die Textilmaschine vorzugsweise eine Steuereinrichtung auf. Die Steuereinrichtung ist vorzugsweise an dem Serviceaggregat oder an der Arbeitsstelle angeordnet, je nachdem, wo das zweite Positionierelement angeordnet ist. So können die Signalwege kurz gehalten werden.Two Hall sensors make it possible to compensate for electromagnetic interference or distance tolerances between the work stations and the service unit. Compensation is possible because the disturbances and tolerances affect both Hall sensors equally. An interference-free useful signal can be generated by suitably linking the signals of the two Hall sensors. The textile machine preferably has a control device for evaluating and linking the signals of the Hall sensors. The control device is preferably arranged on the service unit or at the work station, depending on where the second positioning element is arranged. So the signal paths can be kept short.

Erfindungsgemäß wird die Differenz der Signale des ersten Hallsensors und des zweiten Hallsensors ermittelt und die Differenz wird zur Positionierung des Serviceaggregates vor der Arbeitsstelle verwendet. Durch die Bildung der Differenz werden die Störsignale eliminiert und ein für die Positionierung geeignetes Nutzsignal erzeugt. Wenn das Nutzsignal nicht mehr messbar ist, befindet sich der das magnetfelderzeugende Element zwischen den beiden Hallsensoren. Zur Positionierung des Serviceaggregates könnte man also einen Schwellwert nahe Null definieren, bei dessen Unterschreiten das Serviceaggregat richtig positioniert ist. Bei der Verwendung nur eines Hallsensors müsste nach einem Maximum der magnetischen Feldstärke gesucht werden. Aufgrund der durch Störeinflüsse schwankenden Amplituden des Magnetfeldes gestaltet sich die Positionierung dann entsprechend aufwendiger.According to the invention, the difference between the signals of the first Hall sensor and the second Hall sensor is determined and the difference is used to position the service unit in front of the work station. By forming the difference, the interference signals are eliminated and a useful signal suitable for positioning is generated. When the useful signal can no longer be measured, the element generating the magnetic field is located between the two Hall sensors. To position the service unit, one could therefore define a threshold value close to zero, below which the service unit is correctly positioned. If only one Hall sensor was used, a maximum magnetic field strength would have to be sought. Due to the fluctuating amplitudes of the magnetic field due to interference, the positioning is then correspondingly more complex.

Die erfindungsgemäße Textilmaschine weist deshalb Mittel angepasst zur Subtraktion der Signale des ersten Hallsensors und des zweiten Hallsensors auf. Die Mittel sind vorzugsweise Bestandteil der bereits erwähnten Steuereinrichtung.The textile machine according to the invention therefore has means adapted for subtracting the signals of the first Hall sensor and the second Hall sensor. The means are preferably part of the control device already mentioned.

Das zweite Positionierelement umfasst einen dritten Hallsensor und einen vierten Hallsensor, wobei der dritte und vierte Hallsensor in Richtung des Fahrweges des Serviceaggregats auf beiden Seiten des ersten und zweiten Hallsensors angeordnet sind. Bei Annäherung des Serviceaggregates an die Arbeitsstelle kann der Permanentmagnet zunächst in Abhängigkeit von der Fahrtrichtung von dem dritten Hallsensor oder dem vierten Hallsensor detektiert werden.The second positioning element comprises a third Hall sensor and a fourth Hall sensor, the third and fourth Hall sensors being arranged on both sides of the first and second Hall sensors in the direction of the travel path of the service unit. When the service unit approaches the work site, the permanent magnet can first be detected by the third Hall sensor or the fourth Hall sensor depending on the direction of travel.

Die Anordnung des dritten und vierten Hallsensors bietet verschiedene Vorteile. Das magnetfelderzeugende Element wird früher erkannt. Die Geschwindigkeit des Serviceaggregates kann reduziert werden, um dann die genaue Positionierung des Serviceaggregates vor der Arbeitsstelle mittels des ersten und zweiten Hallsensors durchzuführen. Der dritte oder vierte Hallsensor kann außerdem dazu verwendet werden, während der Fahrt des Serviceaggregats die passierten Arbeitsstellen zu erfassen. Die Verwendung unterschiedlicher Hallsensoren für die Erkennung der Arbeitsstellen und für die genaue Positionierung vor der Arbeitsstelle ermöglicht es, für die unterschiedlichen Anwendungen unterschiedliche Empfindlichkeiten der Hallsensoren einzustellen. Das heißt, der erste Hallsensor und der zweite Sensor haben vorzugsweise eine andere Empfindlichkeit als der dritte und der vierte Hallsensor.The arrangement of the third and fourth Hall sensors offers various advantages. The magnetic field generating element is recognized earlier. The speed of the service unit can be reduced in order to then carry out the exact positioning of the service unit in front of the work place by means of the first and second Hall sensors. The third or fourth Hall sensor can also be used to detect the work stations that have passed while the service unit is traveling. The use of different Hall sensors for the detection of the work places and for the exact positioning in front of the work place makes it possible to set different sensitivities of the Hall sensors for the different applications. That is, the first Hall sensor and the second sensor preferably have a different sensitivity than the third and fourth Hall sensors.

Vorzugsweise wird in Abhängigkeit von dem Signal des dritten oder vierten Hallsensors die Empfindlichkeit des ersten Hallsensors und des zweiten Hallsensors eingestellt. Damit kann zusätzlich eine Anpassung an die schwankenden Amplituden der magnetischen Feldstärke erfolgen und die Positioniergenauigkeit des Serviceaggregats vor der Arbeitsstelle weiter erhöht werden.The sensitivity of the first Hall sensor and the second Hall sensor is preferably set as a function of the signal from the third or fourth Hall sensor. This can also be used to adapt to the fluctuating amplitudes of the magnetic field strength and to further increase the positioning accuracy of the service unit in front of the work site.

Vorzugsweise sind das erste Positionierelement an der Arbeitsstelle und das zweite Positionierelement an dem Serviceaggregat angeordnet. Bei Anordnung des magnetfelderzeugende Element, vorzugsweise des Permanentmagneten, an den Arbeitsstellen und der Sensorik an dem Serviceaggregat gestaltet sich der Aufbau entsprechend einfacher, weil die in größerer Zahl vorhandenen Arbeitsstellen mit dem einfacheren Positionierelement ausgestattet werden.The first positioning element is preferably arranged at the work station and the second positioning element at the service unit. When the magnetic field-generating element, preferably the permanent magnet, is arranged at the work stations and the sensors on the service unit, the structure is designed correspondingly easier because the larger number of work stations are equipped with the simpler positioning element.

Die erfindungsgemäße Textilmaschine kann zusätzlich eine Signaleinrichtung zur direkten Kommunikation zwischen einer Arbeitsstelle und dem vor der Arbeitsstelle positionierten Serviceaggregat aufweisen. Eine solche Signaleinrichtung ermöglicht eine Kontrolle, ob das Serviceaggregat auch vor der richtigen Arbeitsstelle positioniert wurde. Zu diesem Zweck ist eine einfache Signaleinrichtung mit einer optischer Sendeeinrichtung und einer optischen Empfangseinrichtung ausreichend. Vorzugsweise ist die optische Sendeeinrichtung an dem Serviceaggregat angeordnet und sendet nach erfolgreicher Positionierung ein Signal an die optische Empfangseinrichtung der Arbeitsstelle. Als optische Sende- und Empfangseinrichtung kommen ein Infrarot-Sender und ein Infrarot-Empfänger in Frage.The textile machine according to the invention can additionally have a signal device for direct communication between a work station and the service unit positioned in front of the work station. Such a signaling device enables a check to be made as to whether the service unit has also been positioned in front of the correct work location. For this purpose, a simple signal device with an optical transmitter and an optical receiver is sufficient. The optical transmission device is preferably arranged on the service unit and, after successful positioning, sends a signal to the optical reception device of the work station. An infrared transmitter and an infrared receiver can be considered as the optical transmitting and receiving device.

Die Erfindung wird nachfolgend anhand eines in den Zeichnungen dargestellten Ausführungsbeispiels näher erläutert.The invention is explained in more detail below with reference to an embodiment shown in the drawings.

Es zeigen:

Fig. 1
eine erfindungsgemäße Textilmaschine mit einem Sensor zur Positionierung eines Serviceaggregates;
Fig. 2
einen Sensor zu Positionierung eines Serviceaggregates.
Show it:
Fig. 1
a textile machine according to the invention with a sensor for positioning a service unit;
Fig. 2
a sensor for positioning a service unit.

Die Fig. 1 zeigt eine erfindungsgemäße Textilmaschine 1 mit einer Vielzahl nebeneinander angeordneter Arbeitsstellen 2. An jeder Arbeitsstelle 2 sind ein Infrarot-Empfänger 13 und ein Permanentmagnet 4 angeordnet. Ein Serviceaggregat 3 ist entlang der Arbeitsstellen 2 verfahrbar angeordnet. Der Doppelpfeil 10 veranschaulicht den Fahrweg beziehungsweise die Fahrtrichtung des Serviceaggregates 3.
Das Serviceaggregat 3 weist einen Sensor 9 auf, der eine bedarfsgerechte Positionierung des Serviceaggregates 3 vor einer bedien- oder wartungsbedürftigen Textilmaschine ermöglicht. Die Fig. 2 zeigt weitere Einzelheiten des Sensors 9 und einen Permanentmagneten 4 einer Arbeitsstelle 2. Es sind der Nordpol N und der Südpol S des Permanentmagneten 4 angedeutet. Der Permanentmagnet 4 ist so angeordnet, dass seine Magnetisierung senkrecht zur Fahrtrichtung 10 des Serviceaggregats 3 weist. Die verwendeten Hallsensoren 5, 6, 7, 8 sind eindimensionale Hallsensoren. Das heißt, die Hallsensoren 5, 6, 7, 8 messen nur die magnetische Feldstärke in einer bestimmten Richtung. Die Hallsensoren 5, 6, 7, 8 sind so angeordnet, dass sie die magnetische Feldstärke in einer Richtung senkrecht zur Fahrtrichtung 10 des Serviceaggregats 3 messen. Der erste Hallsensor 5 ist in Richtung des Fahrweges des Serviceaggregats 3 neben dem zweiten Hallsensor 6 angeordnet. In Richtung des Fahrweges des Serviceaggregats 3 sind auf beiden Seiten des ersten und zweiten Hallsensors 5, 6 ein dritter Hallsensor 7 und ein vierter Hallsensor 8 angeordnet. Der erste und zweite Hallsensor 5, 6 haben im Vergleich zum dritten und vierten Hallsensor 7, 8 eine andere Empfindlichkeit, da sie jeweils unterschiedliche Aufgaben wahrnehmen. Die Signale der Hallsensoren 5, 6, 7, 8 werden von der Steuereinrichtung 11 ausgewertet. Die Steuereinrichtung 11 ermöglicht es, Schwellwerte für die Auswertung einzustellen. Außerdem kann über die Steuereinrichtung 11 die Empfindlichkeit der Hallsensoren 5, 6, 7, 8 eingestellt werden. Der Sensor 9 umfasst außerdem einen Infrarot-Sender 12.The Fig. 1 shows a textile machine 1 according to the invention with a plurality of work stations 2 arranged next to one another. An infrared receiver 13 and a permanent magnet 4 are arranged at each work station 2. A service unit 3 is arranged to be movable along the work stations 2. The double arrow 10 illustrates the route or the direction of travel of the service unit 3.
The service unit 3 has a sensor 9, which enables the service unit 3 to be positioned in front of a textile machine which is in need of service or maintenance. The Fig. 2 shows further details of the sensor 9 and a permanent magnet 4 of a work station 2. The north pole N and the south pole S of the permanent magnet 4 are indicated. The permanent magnet 4 is arranged that its magnetization points perpendicular to the direction of travel 10 of the service unit 3. The Hall sensors 5, 6, 7, 8 used are one-dimensional Hall sensors. That is, the Hall sensors 5, 6, 7, 8 only measure the magnetic field strength in a certain direction. The Hall sensors 5, 6, 7, 8 are arranged in such a way that they measure the magnetic field strength in a direction perpendicular to the direction of travel 10 of the service unit 3. The first Hall sensor 5 is arranged next to the second Hall sensor 6 in the direction of the travel path of the service unit 3. In the direction of the travel path of the service unit 3, a third Hall sensor 7 and a fourth Hall sensor 8 are arranged on both sides of the first and second Hall sensors 5, 6. The first and second Hall sensors 5, 6 have a different sensitivity compared to the third and fourth Hall sensors 7, 8, since they each perform different tasks. The signals from the Hall sensors 5, 6, 7, 8 are evaluated by the control device 11. The control device 11 makes it possible to set threshold values for the evaluation. In addition, the sensitivity of the Hall sensors 5, 6, 7, 8 can be set via the control device 11. The sensor 9 also includes an infrared transmitter 12.

Bei Bedarf fordert eine Arbeitsstelle 2 das Serviceaggregat 3 über ein nicht dargestelltes Bussystem an. Das Serviceaggregat 3 bewegt sich in der Richtung der anfordernden Arbeitsstelle 2. Während der Fahrt erfasst je nach Fahrtrichtung der Hallsensor 7 oder der Hallsensor 8 das Magnetfeld der Permanentmagneten 4 der passierten Arbeitsstellen 2. Es wird der Hallsensor 7, 8 verwendet, der in die Fahrtrichtung des Serviceaggregates 3 weist. Eine Arbeitsstelle 2 kann dabei als erfasst beziehungsweise passiert gelten, wenn ein vorgegebener Schwellwert überschritten wurde. Die Erfassung der Magnetfelder der Permanentmagnete 4 der Arbeitsstellen 2 ermöglicht ein Abzählen der passierten Arbeitsstellen 2 und damit eine Positionsbestimmung des Serviceaggregats 3 innerhalb der Textilmaschine. Mittels der Messwerte der Hallsensoren 7, 8 können die Amplituden der magnetischen Feldstärke ermittelt werden. Da die Amplituden aufgrund von Fertigungstoleranzen und Störeinflüssen stark schwanken können, wird vorzugsweise die Empfindlichkeit der Hallsensoren 5 und 6 in Abhängigkeit der ermittelten Amplituden eingestellt. Sobald der Hallsensor 7 oder 8 das Erreichen der bedienbedürftigen Arbeitsstelle detektiert, wird die Geschwindigkeit des Serviceaggregats 3 reduziert. Dann erfolgt die genaue Positionierung des Serviceaggregats 3 vor der Arbeitsstelle 2. Die Endposition ist erreicht, wenn die Hallsensoren 5 und 6 das gleiche Signal liefern. Das ist der Fall, wenn der Permanentmagnet 4 genau zwischen den Hallsensoren 5 und 6 positioniert ist. Um die Signale der Hallsensoren 5 und 6 auszuwerten, bildet die Steuereinrichtung 11 die Differenz der Signale. Wenn die Differenz einen vorgegebenen Schwellwert nahe Null unterschreitet, ist die Positionierung erfolgt. Nach erfolgter Positionierung sendet der Infrarot-Sender 12 des Serviceaggregats 3 ein Signal. Das Signal wird von dem Infrarot-Empfänger 13 der Arbeitsstelle 2 empfangen. Auf diese Weise erfolgt eine Überprüfung, ob das Serviceaggregat 3 auch vor der anfordernden Arbeitsstelle positioniert wurde.If necessary, a work station 2 requests the service unit 3 via a bus system, not shown. The service unit 3 moves in the direction of the requesting work station 2. Depending on the direction of travel, the hall sensor 7 or the hall sensor 8 detects the magnetic field of the permanent magnets 4 of the passed work stations 2, depending on the direction of travel. The hall sensor 7, 8 is used, which is in the direction of travel of the service unit 3 has. A job 2 can be regarded as recorded or passed if a predetermined threshold value has been exceeded. The detection of the magnetic fields of the permanent magnets 4 of the work stations 2 enables a counting of the passed work stations 2 and thus a determination of the position of the service unit 3 within the textile machine. The amplitudes of the magnetic field strength can be determined by means of the measured values of the Hall sensors 7, 8. Since the amplitudes can fluctuate greatly due to manufacturing tolerances and interference, the sensitivity of the Hall sensors 5 and 6 is preferably set as a function of the determined amplitudes. As soon as the Hall sensor 7 or 8 detects that the work station requiring operation has been reached, the speed of the service unit 3 is reduced. Then the exact positioning of the service unit 3 in front of the work station 2 takes place. The end position is reached when the Hall sensors 5 and 6 deliver the same signal. This is the case when the permanent magnet 4 is positioned exactly between the Hall sensors 5 and 6. In order to evaluate the signals from the Hall sensors 5 and 6, the control device 11 forms the difference between the signals. If the difference falls below a predefined threshold value close to zero, the positioning has taken place. After positioning, the infrared transmitter 12 of the service unit 3 sends a signal. The signal is received by the infrared receiver 13 of the work station 2. In this way, a check is made as to whether the service unit 3 has also been positioned in front of the requesting work station.

Claims (6)

  1. Textile machine (1), comprising a plurality of workstations (2) arranged next to one another, a service unit (3) movable along the workstations (2) for operating and/or maintaining the workstations (2), and a positioning system for positioning the service unit (3) in front of a workstation (2), having a first positioning element and a second positioning element, the one positioning element being arranged on the service unit (3) and the other positioning element being arranged on the workstation (2), wherein:
    - the first positioning element comprises a magnetic-field-producing element (4);
    - the second positioning element comprises at least one first Hall sensor (5);
    - the magnetic-field-producing element (4) and the first Hall sensor (5) are arranged in such a way that the first Hall sensor (5) detects the magnetic-field-producing element (4) when the service unit (3) is positioned in front of the workstation (2);
    - the second positioning element comprises a second Hall sensor (6), which is arranged next to the first Hall sensor (5) in the direction of the travel path of the service unit (3) in such a way that the first Hall sensor (5) and the second Hall sensor (6) detect the magnetic-field-producing element (4) when a service unit (3) is positioned in front of the workstation (2);
    - means (11) suitable for subtracting the signals of the first Hall sensor (5) and of the second Hall sensor (6) are provided,
    characterised in that the second positioning element comprises a third Hall sensor (7) and a fourth Hall sensor (8), the third and fourth Hall sensors (7, 8) being arranged on both sides of the first and second Hall sensors (5, 6) in the direction of the travel path of the service unit (3), and that the textile machine is designed to reduce the speed of the service unit as soon as the third or fourth Hall sensor detects that the workstation has been reached and to then exactly position the service unit in front of the workstation by means of the first and second Hall sensors.
  2. Textile machine (1) according to claim 1, characterised in that the first positioning element is arranged on the workstation (2) and the second positioning element is arranged on the service unit (3).
  3. Textile machine (1) according to claim 1 or 2, characterised in that a signal device for direct communication between a workstation (2) and the service unit (3) positioned in front of the workstation (2) is provided.
  4. Textile machine (1) according to claim 3, characterised in that the signal device comprises an optical transmitting device (12) and an optical receiving device (13).
  5. Method for positioning a service unit (3) in front of a workstation (2) of a textile machine (1) having a plurality of workstations (2) arranged next to one another, wherein: - the service unit (3) can be moved along the workstations (2) in order to operate and/or maintain the workstations (2), and, for positioning, a first and a second positioning element of a positioning system interact with one another, the one positioning element being arranged on the service unit (3) and the other positioning element being arranged on the workstation (2); - in order to position the service unit (3) in front of the workstation (2), a magnetic-field-producing element (4) associated with the first positioning element is detected by at least one first Hall sensor (5) associated with the second positioning element;
    - - in order to position the service unit (3) in front of the workstation (2), the magnetic-field-producing element (4) is additionally detected by a second Hall sensor (6) associated with the second positioning element, which second Hall sensor (6) is arranged next to the first Hall sensor (5) in the direction of travel of the service unit (3);
    - the difference of the signals of the first Hall sensor (5) and of the second Hall sensor (6) is determined and the difference is used to position the service unit (3) in front of the workstation (2),
    characterised in that, when the service unit (3) approaches the workstation (2), the magnetic-field-producing element (4) is first detected by a third Hall sensor (7) or a fourth Hall sensor (8) depending on the direction of travel, the third and fourth Hall sensors (7, 8) being associated with the second positioning element and being arranged on both sides of the first and second Hall sensors (5, 6) in the direction of the travel path of the service unit (3), and that the speed of the service unit is reduced as soon as the third or fourth Hall sensor detects that the workstation has been reached and then the service unit is exactly positioned in front of the workstation by means of the first and second Hall sensors.
  6. Method according to claim 5, characterised in that the sensitivity of the first Hall sensor (5) and of the second Hall sensor (6) is set in dependence on the signal of the third or fourth Hall sensor (7, 8).
EP16193355.1A 2015-10-16 2016-10-11 Textile machine with a service unit which can be moved along the working positions and method for positioning a service unit in front of a working position Active EP3156528B1 (en)

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CH714195A1 (en) * 2017-09-28 2019-03-29 Rieter Ag Maschf Method for positioning a maintenance trolley of a ring spinning machine and ring spinning machine.
TR201817098A2 (en) * 2017-11-16 2019-01-21 Lakshmi Machine Works Ltd POSITIONING DEVICE FOR TEXTILE MACHINE
CN110255293B (en) * 2019-06-05 2023-09-22 青岛宏大纺织机械有限责任公司 Position identification device and method for bobbin winder

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