EP3222761B1

EP3222761B1 - System with a ring spinning machine and a piecing arrangement and piecing method

Info

Publication number: EP3222761B1
Application number: EP17162192.3A
Authority: EP
Inventors: Srinivasan Varadarajan
Original assignee: Premier Evolvics Pvt Ltd
Current assignee: Premier Evolvics Pvt Ltd
Priority date: 2016-03-21
Filing date: 2017-03-21
Publication date: 2023-11-01
Anticipated expiration: 2037-03-21
Also published as: EP3222761A1; ES2969793T3; JP2017172096A; CN107217349A

Description

TECHNICAL FIELD

The present subject matter described herein, in general, relates to field of textile yarn, and more particularly to a system and a method for automatic yarn piecing after a yarn breakage in a ring spinning machine.

BACKGROUND

Ring spinning is a method of spinning fibres, such as cotton, flax and/or wool, to make a yarn. Ring spinning machine having means for spinning a yarn from a roving supplied by a fly frame and for winding said yarn onto a cop, is well known in the prior-art. The ring spinning technique is normally a labour intensive method.
In ring spinning machine the yarns tends to break because of various reasons like low quality material, fast speed of machine, heat generated during the spinning, and the like reasons. The main job of the labourers involved in the method is to continuously monitor the spinning machine and check if there is an occurrence of the yarn breakage during the process. The labourers may also be responsible for finding spindle defect occurrences that may include but not limited to a yarn breakages, slipping spindles, rogue spindles creating repetitive breaks, or any combination thereof. If the labourers find any such yarn breakage and/or said spindle defect occurrences, they have to promptly attend the yarn breakage and/or spindle defect occurrences to avoid unnecessary production losses occur.
However, as humans are involved, the process of monitoring is not effective and efficient as the human intervention involves substantial delay in detection of the above defects, and even if the defect is detected, attending such defects is a time consuming process. Further, if the defect occurs at multiple points in the machine, it is very difficult to attend the same by a single labourer/person. Hence, a plurality of labourers have to be hired and accordingly the initial cost of the process is increased. Furthermore, the human interventions tend to be unreliable, ineffective and inefficient.
In recent years, technologies have been developed to avoid dependency of humans in the spinning/textile production process. CN 102560770 B discloses automatic detection of yarn breakage, automatic piecing method and apparatus. In the document CN102560770 B , the yarn breakage automatic detection, automatic piecing method, the ring rail flanking additional rail and dolly, moving trolley carrying wire spool is used, the controller controls the moving carriage reciprocates on the guide rail, inductance coil probe detection off head, robot will use the intercepted virtual strip length of wire and yarn pipe.
EP0421157B1 discloses a ring spinning machine having means for spinning a yarn from a roving supplied by a fly frame and for winding said yarn onto a cop, further disclosing a travelling service carriage which carries an auxiliary bobbin with an auxiliary yarn, from which, in the event of rectification of a yarn break, a piece of yarn is applied to the cop and pieced to the roving. The service carriage is provided with means for monitoring the success of an attempt to rectify a yarn break. The means are connected to a control unit with controls means on the service carriage for removing from the cop a piece of auxiliary yarn used in a failed attempt, before a further attempt is made to rectify the yarn break.
DE4010113 discloses systems and methods for automatically repairing broken yarn. To repair a broken yarn automatically, the document proposes that at a ring spinner, an auxiliary yarn is drawn from a supply bobbin by a yarn carrier across the moving yarn sensor to a point below the ring rail. The ring traveller is then blown on to the auxiliary yarn and it is laid in coils round the cops and sleeve. The auxiliary yarn is then threaded into the ballooning limit ring and in the moving yarn sensor by rotating the spindle. The auxiliary yarn is the laid at the broken yarn end projecting at the outlet of the drawing unit, and the auxiliary yarn is severed from its bobbin.
US3905187 discloses a textile yarn piecing apparatus having a servicing assembly positionable in a first location for supplying a free end of auxiliary yarn from an auxiliary yarn bobbin to a revolving spindle having a bobbin onto which said free end is to be wrapped and with a surrounding ring having a traveller which is to be threaded onto said auxiliary yarn and positionable in a second location for piecing an intermediate portion of said auxiliary yarn to roving issuing from roving delivery rolls and cutting the auxiliary yarn to again provide a cut free end thereof. The servicing assembly has a yarn feeding tube for conveying of yarn from the auxiliary yarn bobbin and an air suction yarn storage tube for storing a substantial length of the free end of the auxiliary yarn. The mouth openings of the yarn feeding and storage tubes are spaced from one another to provide a free yarn zone therebetween. There is also provided a yarn release air jet adjacent the free yarn zone, in the first location providing a release jet of air for removing the free end of yarn from the storage tube and propelling it toward the bobbin for wrapping therearound, the air suction yarn storage tube in the second location providing air suction for retrieving the cut free end of auxiliary yarn and storing it in the storage tube.
JPH03199436 discloses a system wherein a traveler is moved to a proper position by blowing air from a finger part and a seed yarn is ejected together with air, wound around a wooden bobbin, passed through a traveler in corporation with the finger part and passed through a ballooning control ring and a snail wire. The seed wire cut with a cutter is clamped with a gripper at a side of a roller to feed a fleece and the seed yarn in superposed state. The seed yarn is supplied by a feed apparatus containing a mechanism to cause slippage when an excessive tension is applied to the seed yarn in the winding of the seed yarn on the wooden bobbin and the treading to the traveler.
US3688486 discloses a textile spinning frame including apparatus for automatically doffing and donning bobbins and, if desired, for rejoining breaks occurring in a strand of yarn. A carriage passes the numerous spinning positions on the frame and automatically delays its travel to service any spinning position requiring attention.
However, the above mentioned prior-art and the traditionally available approaches suffer from several drawbacks, for example: In spite of having an automatic detection of the defects in the machine, the prior-art techniques as well involve humans for attending the defects. For example, when the defect is detected in the machine, the labourers are carried to that particular location using automatic system and then the humans attend the defects. However, due to the involvement of the humans in the process, there still exists the above mentioned issues including the human interventions which are not reliable, effective and efficient. Furthermore, skilled labourers are not frequently available which is one of the major constraints for the spinning the industry. Also, some of the prior-art documents discloses use of an automated device/apparatus/robot for achieving the above mentioned purpose. However, the time taken by these robots is considerably much and there is still exists scope of improvement in the automated process.
The object of the invention is to provide an improved system and method for yarn piecing after a yarn breakage and/or other spindle defects in a ring spinning machine. The system and/or the method can allow for an automated attendance of a defect, an automated yarn piecing after of a defect and/or continuing the spindling of a spindle in which a defect occurred without a manual intervention; and in particular allow an automated yarn piecing after a yarn breakage and/or other spindle defects. The proposed system and/or method can decrease production losses; and/or increase effectiveness and/or efficiency of the yarn production processes.

SUMMARY OF THE INVENTION

The invention concerns a system and a method for yarn piecing after a yarn breakage in a ring spinning machine. The system and the method can be designed for fixing spindle defect occurrences other than a yarn breakage, such as slipping spindles, rogue spindles creating repetitive breaks, idle spindles and/or low quality spindles. Low quality spindles are spindles that create bad quality yarn exceeding a quality limit defined by the user. For example, the system and the method can be designed to exchange spindles in which defects occur with new spindles. The system and the method can be designed for automatic yarn piecing after a yarn breakage and/or other spindle defect occurrences in a ring spinning machine. The system comprises a ring spinning machine and a robotic mechanism for yarn piecing after a yarn breakage in the ring spinning machine. The method can involve the use of the disclosed system.
The robotic mechanism of the system comprises

yarn holding means for holding a yarn and/or a loose end of a yarn of a spindle of a ring spinning machine;
traveller positioning means for positioning of a traveller of a spindle;
first yarn threading means for threading a held yarn and/or a loose end of a yarn into a positioned traveller of a spindle;
second yarn threading means for threading a held yarn and/or a loose end of a yarn into guide elements of a ring spindle machine; and
yarn piecing means for piecing together a held yarn and/or a loose end of a yarn with a drafted material which is provided by delivery rollers of the ring spinning machine.

The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means are comprised in the robotic mechanism, in particular can be realized as one or multiple arms of a robotic mechanism. An arm moves pneumatically, mechanically, electronically and/or hydraulically.
The first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise the yarn holding means. For example, a movement of the yarn holding means holding a yarn can allow for threading this yarn into the traveller and/or the guide elements. The holding means can comprise and/or be realized by two mechanical fingers, whose movement are used for piecing together a held yarn and/or a loose end of a yarn with a drafted material, thus being part of the yarn piecing means. In another example, the holding means can comprise and/or be realized by a suction; and the piecing can be realized by a pneumatic twisting in and/or by the suction. The second yarn threading means can comprise the first yarn threading means; the yarn piecing means can comprise the first and/or the second yarn threading means.
Here and throughout the application, the term "a suction" can be used synonymously with "a suction element" or "a vacuum element" or "a vacuum exhaust".
The drafted material can be provided by a ring spinning machine, wherein the drafted material is typically provided by delivery rollers of the spinning machine. The drafted material can be a fibrous and/or sticky drafted material. The yarn and/or the drafted material can comprise cotton, flax and/or wool. The drafted material can be untwisted. Yarn can be produced by twisting the drafted material.
The system can comprise pneumatic means and/or mechanical means and/or magnetic means. For example, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise pneumatic means and/or mechanical means and/or magnetic means.
A piecing can be made by keeping a loose end of a yarn close to drafted material and applying a rotation to the yarn and/or the drafted material. By this, the fibrous loose end of the yarn and the fibrous drafted material can get caught up and can get twisted into each other, which can result in a twisted connection of the loose end of the yarn and the drafted material.
The piecing can be performed mechanically, for example wherein the twist is applied mechanically. For example, the loose end of the yarn can be held by two fingers and the finger can move in opposite direction, thus inducing a rotation of the yarn and of its loose end. In particular, the two fingers can change the opposing directions, thereby rotating the yarn back and forth.
The piecing can be performed pneumatically. For example, the loose end of the yarn and/or the drafted material can be sucked into a suction of the system and/or the ring spinning machine. A rotation of the yarn and/or the drafted material can be induced pneumatically, e.g. by a suction.
The yarn piecing means can be designed to piece together a held yarn and/or a loose end of a yarn with a drafted material by pneumatic means and/or mechanical means and/or magnetic means and/or a motor twisting and/or electrical means. The yarn piecing means can be designed to piece together a held yarn and/or a loose end of a yarn with a drafted material pneumatically by a suction. The yarn piecing means can be designed to piece together a held yarn and/or a loose end of a yarn with a drafted material mechanically by two mechanical fingers.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can be designed for replacing spindles, e.g. slipping spindles, rogue spindles creating repetitive breaks, idle spindles and/or low quality spindles.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can be designed for attaching an auxiliary yarn to a spindle (in particular a replacing spindle) and/or for piecing together a yarn of a spindle (in particular a yarn of a replacing spindle; and/or an auxiliary yarn of a spindle and/or a replacing spindle) to a drafted material.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can be designed for the yarn piecing after other spindle defect occurrences; for example by replacing a spindle, optionally attaching an auxiliary yarn to the replacing spindle, and piecing a yarn of the replacing spindle to the drafted material provided to the spinning position in which the spindle was replaced.
The system can comprise a guiding system. The guiding system can be designed to guide the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system. The guiding system can comprise optical guiding means, e.g. an optical sensor. In particular, the system can comprise optically guided mechanical fingers.
The system can comprise detection means for detecting of a yarn breakage and/or a spindle defect occurrence. Such detection means can comprise a spindle monitoring system.
The system can comprise transmitting means for transmitting information associated with a detected a yarn breakage and/or a spindle defect occurrence to the system. The information can be provided by detection means of the system. A transmitting means can be wire-bound and/or wireless. A transmitting means can comprise an optical and/or an electronical transmission. For example, a transmitting means can comprise optical emitters at each spindle and optical detectors, such as a camera, to detect the signal of the optical emitters.
The system can be designed to be automatically controllable based upon a yarn breakage and/or another spindle defect occurrences in a spindle of a ring spinning machine.
The system can comprise transportation means for transporting a part of the system, e.g. the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means; and/or a robotic mechanism comprising one or more of such means, to a spindle. A transportation means can be moved based on information detected by detections means of the system and/or information transmitted by a transmitting means of the system. A transportation means can be designed to automatically move, in particular to automatically move to a spindle of which a detections means has detected a problem and has communicated that problem to the transportation means via the transmitting means. A transportation means can be land bound. A transportation means can be guided by rails. A transportation system can be rail-free. A transportation system can comprise a navigation system. A transportation system can comprise an optimization system to efficiently attend to multiple breakages/occurrences. For example, a transportation system can be designed to first attend the breakage/occurrence which the transportation system can reach fastest. A transportation can comprise a storage for providing an auxiliary yarn. A transportation system can be designed to traverse along the entire longitudinal axis of the ring spinning machine. A transportation system can be designed to for attending problems of one or multiple ring spinning machines.
The system can comprise stopping means for stopping and/or starting the rotation of a spindle. In particular, a stopping means can be means for activating and/or releasing a spindle brake of a ring spinning machine. A stopping means can be comprise in a robotic arm of the system. A stopping means can be designed to stop an individual spindle by sending an electronical and/or optical signal to this individual spindle. A stopping means can be designed to start the rotation of the spindle, e.g. after the yarn is threaded into the traveller and/or after the yarn is threaded into the guide elements. Stopping means for example can comprise a spindle stopper arm.
The system can comprise attraction means for attracting a yarn and/or a loose end of a yarn. An attraction means can comprise a suction. An attractions means can be used to search for a yarn and/or a loose end of a yarn. For example, an attraction means can be moved along a spindle in which a yarn breakage has occurred until the broken yarn resp. the loose end thereof is attracted. An attraction of a yarn and/or a loose end of a yarn can be sensed by a sensor. Such a sensor and/or a different sensor can be comprised in the attraction means. A sensor can be designed for sensing the position of a yarn and/or a loose end of a yarn; and/or for sensing if a yarn and/or a loose end of a yarn is attracted by an attraction means. The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise attraction means. For example, a continuously attracting attraction means can function as the yarn holding means.
The system can comprise a robotic mechanism comprising the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means, detection means, transmitting means, transportation means, the stopping means, the attraction means and/or part of these means.
The yarn holding means, the first yarn threading means, the second yarn threading means, the yarn piecing means can for example comprise a yarn picker arm. A picker arm, in particular a picker arm of the yarn piecing means, can comprise a twisting arm. A twisting arm can be used to apply a twist to a yarn and/or a loose end of a yarn and thereby support piecing together thereof with a drafted material.
The system can comprise a storage for providing an auxiliary yarn. Auxiliary yarn can be used if a spindle comprises no yarn or not enough yarn to be pieced with drafted material. Such a case can for example occur if the spindle was exchange and/or the yarn breakage occurred very early after a start of new spindle. A segment of auxiliary yarn can be attached to the spindle and/or pieced together with a short yarn segment of the spindle by auxiliary yarn piecing means, which can be identical to and/or comprised in the yarn piecing means. The auxiliary yarn segment can be long enough, so that the other end of the auxiliary yarn piece can be pieced together with the drafted material provided by the ring spinning machine. Piecing together the loose end of the auxiliary yarn segment to the drafted material can be performed by the yarn piecing means, the mentioned auxiliary yarn piecing means and/or an additional auxiliary yarn piecing means.
The system, in particular the means of the system, can comprise a magnet. For example, the holding means can comprise two magnets in between which a yarn and/or a loose end of a yarn can be held. A magnet can be a magnetic strip, an electromagnet and/or a permanent magnet.
In another example, the traveller positioning means can comprise a magnet. The traveller positioning means can comprise a magnetic arm which contains two magnets, for example wherein the arm comprises two parts, each part comprising a magnet. The two parts can be designed to be moved around a spindle, e.g. designed to be moved along different sides of a spindle. In particular, the two parts can be designed to be extended and to be retracted along different sides of a spindle. The arm can be designed to move the traveller by magnetic attraction when the two parts extend and/or retract.
The first yarn threading means and/or the second threading means comprises yarn positioning means, e.g. in the form of a yarn positioning arm. Yarn positioning means can be designed to positioning a yarn, a loose end of a yarn and/or a segment of a yarn, e.g. in a pre-determined position. The positioning can be designed to allow, support and/or simplify a threatening of a yarn into a traveller and/or another guide elements of a ring spinning machine.
The first yarn threading means comprise yarn tensioning means for tensioning a part of a yarn, for example a yarn guide rods. The first yarn threading means can comprise one, two, three or more tensioning means. A yarn tensioning means can be movable. A yarn tensioning means can be movable in one, two or more directions. For example, a yarn tension means can be designed to move in a first direction, so that when it is moved to a second direction, it tensions a held yarn. Two yarn tensioning means can be movable in different directions. For example, a yarn can be held in between two yarn tensioning means; by moving the two yarn tensioning means in different directions, the yarn in tensioned in between the two yarn tensioning means, having a direction from the final placement of a first of the two yarn tensioning means to the final placement of a second of the two yarn tensioning means. The first yarn threading means and the tensioning means are designed so that a tensioned part of a yarn is positioned in parallel to a tangent of a traveller guide of the ring spinning machine. If a traveller is positioned at the base point of this tangent, threading of the yarn into the traveller can be simplified. Yarn tensioning means are comprised in a yarn positioning arm.
The first yarn threading means and/or a yarn positioning means can comprise yarn moving means for moving a tensioned part of a yarn. Yarn moving means can for example comprise yarn pusher and/or bottom guides. Yarn moving means can be designed to be movable in one, two or more directions. For example, yarn moving means can be designed to move in a first direction, so that the yarn moving means can move a tensioned part of a yarn when moving in a second direction. Yarn moving means can for example be comprised in a yarn positioning arm.
The second yarn threading means can be designed to be movable in a swivelling direction. For example, a second yarn threading means can be designed to hold a yarn and/or a loose end of a yarn and moving in swivelling direction, whereby the held yarn and/or the loose end of a yarn is threaded into guide elements of a ring spindle machine. The swivelling movement can be adapted to the form of one or more guide elements of the ring spinning machine, so that by the swivelling movement a held yarn and/or a loose end of a yarn is threaded into the one or more guide elements.
The system and/or the second yarn threading means can be designed for threading a yarn in guide elements, in particular by a swivelling movement, while the spindle to which the yarn is attached is rotating.
The yarn piecing means can be designed to position a yarn and/or a loose end of a yarn in proximity to a drafted material. In particular, the yarn piecing means can be designed to position a yarn and/or a loose end of a yarn in contact with a drafted material. The yarn piecing means can be designed to rotate a yarn and/or a loose end of a yarn. The yarn piecing means can comprise pneumatic, mechanical and/or magnetic means and/or electrical means and/or motor twisting means for piecing, in particular for positioning a yarn and/or a loose end of yarn in proximity to a drafted material and/or for rotating a yarn and/or a loose end of yarn. Pneumatic means of the yarn piecing means can comprise a suction. Mechanical means of the yarn piecing means can comprise two or more fingers. An example of yarn piecing means is a yarn piecing arm.
The system and/or the yarn piecing means can be designed to piece together a yarn and/or a loose end of a yarn with drafted material when the yarn and/or a loose end of the yarn and the drafted material are sucked into a suction, in particular wherein the suction is comprised in the system, for example as a part of the yarn piecing means, and/or a ring spinning machine.
For example, the system can be designed so that a yarn and/or a loose end of a yarn that is moved in proximity to drafted material being sucked into a suction of the ring spinning machine is as well sucked into the suction of the ring spinning machine. The yarn piecing means can comprise two or more mechanical fingers that are designed to perform the piecing together a yarn and/or a loose end of a yarn with a drafted material while both are sucked into the suction of the ring spinning machine. In another example, the system can be designed so that a suction of the yarn piecing means that holds a yarn and/or a loose end of a yarn can be moved in proximity to drafted material being sucked into a suction of the ring spinning machine. The system can be designed, so that when the suction of the system is in proximity to drafted material sucked into the suction of the ring spinning machine, the drafted material is as well sucked into the suction of the yarn piecing means. The yarn piecing means' suction can be designed to piece together a yarn and/or a loose end of a yarn with a drafted material while both are sucked into the yarn piecing means' suction.
Yarn piecing means can for example be comprised in a yarn piecing arm.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can be combined in a single arm, in particular arms of a robotic mechanism.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can comprise a hook. A hook can be a non-straight piece that is designed to hook the yarn, in particular to hook to held yarn. A hook can be used to alter a straight segment of a yarn, in particular a straight segment of a tensioned/held yarn, into two straight segments of yarn, wherein the corner of the two straight segments is located at the hook. A hook and/or a component comprising a hook can de designed to move a yarn or a segment thereof. For example, a hook can be comprised in the first yarn threading means and be designed for threading a held yarn into a positioned traveller of a spindle. In another example, a hook can be comprised in the second yarn threading means and be designed for threading a held yarn into guide elements of a ring spindle machine. A hook can be comprised in a hooker arm of the system.
A hooker arm can be designed to hook a yarn whose loose end is fixed (e.g. by a holding means) and changing the form of the yarn by pulling the yarn with the hook. The hooker arm can be designed to thereby move the yarn. The hooker arm can be configured to move the on one side of the traveller. The hooker arm can be configured to move the yarn in circular paths, thereby laying the yarn in the traveller. The hooker arm can be adapted to make rotary movements in such way to lay the yarn in one or more guide elements of the ring spinning machine. The fixation of the loose end can be designed to be moved to support threading by the hooker arm. The hooker arm can be designed to move back into its initial position after the yarn has been threaded into the traveller and/or the guide elements that are located between the spindle and the delivery roller of the spindle.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can comprise a suction. A suction can suck in air and light objects, such as a loose end of a yarn. A suction can be designed for searching for a loose end of a yarn, e.g. the suction can be moved along the spindle while sucking and thereby attracting the loose end. The suction can comprise a sensor which senses if a yarn and/or a loose end thereof is sucked in. A suction can be designed to hold a yarn and/or a loose end of a yarn. The system can be designed to more the suction, in particular to move the suction while holding a yarn and/or a loose end of a yarn. A suction can be comprised in a suction slot and/or a suction tube.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can comprise a gripper. A gripper can be designed for gripping a yarn and/or a loose end of a yarn. A gripper can be designed for gripping a yarn and/or a loose end of a yarn that is sucked in a suction and/or otherwise attracted. The system can comprise a sensor that is designed to sense if a yarn and/or a loose end of a yarn is sucked in a suction and/or otherwise attracted; the gripper can be designed for gripping a yarn and/or a loose end of a yarn based on the information by such a sensor and/or another sensor. A gripper can be designed for gripping a spindle. A gripper can be designed for replacing spindles, e.g. slipping spindles, rogue spindles creating repetitive breaks, idle spindles and/or low quality spindles.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can comprise two or more fingers. Two or more fingers can be designed for gripping a yarn and/or a loose end of a yarn. Two or more fingers can be designed for gripping a spindle. Two or more fingers can be designed for replacing spindles, e.g. slipping spindles, rogue spindles creating repetitive breaks, idle spindles and/or low quality spindles. Two or more fingers can be designed for holding, moving and/or twisting a yarn and/or a loose end of yarn; in particular two or more fingers can be designed for piecing together a yarn and/or a loose end of yarn with a drafted material.
The yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means, the yarn piecing means and/or other parts of the system can comprise a magnet, in particular two magnets. A magnet can be used to find, attract, move and/or position a magnetically attractable object, e.g. a ring traveller. The system can comprise two magnets, which are designed to hold a yarn and/or a loose end of a yarn and/or a spindle in between the two magnets.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor. The sensor can be an optical and/or a capacitive and/or an impedance sensor and/or a magnetic sensor.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing the position of a yarn and/or a loose end of a yarn.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn is attracted by an attraction means.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn is held by the holding means.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing the position of a traveller of a spindle.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if the traveller is moved and/or has been moved.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn is threaded into the traveller of a spindle.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn is threaded into guide elements of a ring spindle machine.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn and/or drafted material is sucked into a suction of the system, of the yarn piecing means and/or of a ring spinning machine.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn is held by an arm, in particular an specific arm, of the system.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing if a yarn and/or a loose end of a yarn has been pieced with a drafted material.
The system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can comprise a sensor for sensing for sensing if the spindle is rotating.
A sensor of the system, the yarn holding means, the traveller positioning means, the first yarn threading means, the second yarn threading means and/or the yarn piecing means can be designed for one, two, more or all of the following purposes:

for sensing the position of a yarn and/or a loose end of a yarn; and/or
for sensing if a yarn and/or a loose end of a yarn is attracted by an attraction means; and/or
for sensing if a yarn and/or a loose end of a yarn is held by the holding means; and/or
for sensing the position of a traveller of a spindle; and/or
for sensing if the traveller is moved and/or has been moved; and/or
for sensing if a yarn and/or a loose end of a yarn is threaded into the traveller of a spindle; and/or
for sensing if a yarn and/or a loose end of a yarn is threaded into guide elements of a ring spindle machine; and/or
for sensing if a yarn and/or a loose end of a yarn and/or drafted material is sucked into a suction of the system, of the yarn piecing means and/or of a ring spinning machine; and/or
for sensing if a yarn and/or a loose end of a yarn is held by an arm, in particular an specific arm, of the system;
for sensing if a yarn and/or a loose end of a yarn has been pieced with a drafted material,
for sensing if a spindle is rotating.

A sensor can be equipped for sensing a movement of a traveller, e.g. by a magnetically sensitive means.
A sensor being equipped for sensing a movement of a traveller can be used for sensing the successful threading of a yarn into a traveller of a spindle: The system can be designed to move the yarn such that the movement of the yarn cause a movement of the traveller, in particular a specific movement, only if the yarn is threaded into the traveller; and thereby sensing of a movement, in particular a specific movement of the traveller, while the system performs the moment of the yarn can allow for sensing if the yarn is threaded into the traveller.
A sensor being equipped for sensing a movement of a traveller can be used for sensing a yarn and /or a loose end of a yarn of a spindle is successfully pieced to a drafted material provided by the ring spinning machine: If the piecing is successfully made and the spindle is rotating, yarn will be spun on the spindle and the traveller will rotate on the traveller ring; a sensor capable of sensing a movement of a traveller can sense whether or not the traveller is rotating on the traveller ring, thereby sensing if the piecing was successful or not.
In one embodiment, the system comprises a ring spinning machine and a robotic mechanism for yarn piecing after a yarn breakage. The system and/or the robotic mechanism can be automatically controllable, e.g. based on a yarn breakage and/or a spindle defect occurrence. The system can comprise a detection means in the form of a monitoring system, which is designed to detect a yarn breakage and/or a spindle defect occurrence; the system can further comprise a transmitting means that is designed to transmit the information of a detected yarn breakage and/or a detected spindle defect occurrence. The robotic mechanism can be designed to move and/or be moved to the spindle in which a problem (yarn breakage and/or a detected spindle) was detected. The system can be designed to perform the movement based upon transmitted information. The system can be designed to transport textile material with the robotic mechanism, e.g. a storage comprised in a transportation system. Such textile material can be used as an auxiliary yarn. The robotic mechanism can comprise a picker arm, a first arm, a positioning arm, a piecing arm. The first arm can be designed to act as the stopping means of the system. The robotic mechanism can comprise a suctions slot, which e.g. can be comprised in the spindle arm stopper. The suctions slot can be designed to suck in the broken yarn of the spindle (and/or a loose end thereof). The suctions slot can act as the holding means of the system. By the traveller positioning means of the system the traveller can be positioned at a predetermined position along the traveller's ring. The traveller position means can e.g. be realized by a magnetic strip of the first arm, which can be designed to pull the traveller by a magnetic force. A sensor of the system, which e.g. can be comprised in the yarn stopper arm, can be designed to sense the positioning and/or the correct positioning of the traveller. The holding means can comprise a yarn gripper. A yarn gripper can in particular be designed to grip a yarn that is sucked into a suction. The yarn gripper can be comprised in the first arm. The system comprises yarn tensioning means, which are comprised in the system's first yarn threading means. A yarn position arm can comprise at least two yarn guide rods. The system can be designed to move a held yarn such that is passes through tensioning means such as at least two yarn guide rods. Two yarn guide rods can be designed to move into inverse directions to each other, thereby tensioning a yarn that passes though the prior location of the two yarn guide rods. The system is designed so that a yarn tensioned by yarn tensioning means is parallel to a tangent of the traveller ring. The tangent can be located in a predetermined position of the traveller along the traveller ring. The system's first yarn threading means can further comprise a yarn pusher. A yarn pusher can be designed to move a yarn, e.g. a tensioned yarn, in particular a tensioned yarn being parallel to a tangent of a predetermined position of the traveller, towards the traveller's ring, in particular towards the traveller. A yarn pusher can in particular be designed to push a yarn into a positioned traveller. The first arm can be designed to release the spindle brake and thereby resume the rotation of the spindle, e.g. after the yarn has been threaded into the traveller by the system's first yarn threading means. The second yarn threading means can be designed to move - after the yarn has been threaded into the traveller - the yarn in swivelling direction and thereby threading the yarn in the respective guide element. A movement in swivelling directions can be adapted to the form of the respective ring guide. The second yarn threading means can comprise a yarn picker arm that hold the yarn and performs movements in swivelling directions. The system's yarn piecing means can comprise a yarn piecing arm. A yarn piecing arm can comprise two fingers and/or can be designed to receive the yarn (e.g. by grabbing by using two fingers), e.g. from another arm of the system. The system's yarn piecing means can be designed to move a yarn and/or a loose end of a yarn in proximity of the delivery rollers, which provide drafted material to the spinning position. The spinning position can comprise a suction which sucks in provided drafted material in case of a yarn break to prevent that provided drafted material interacts with the other spinning positions. The system can be designed so that the broken yarn of the spindle and/or the loose end thereof is sucked into a common suction with the drafted material provided by delivery rollers;
the common suction can be a suction of the ring spinning machine and/or the suction of the system (e.g. a suction of the yarn piecing means, in particular a suction of a yarn piecing arm). The system's yarn piecing means can be designed so that the broken yarn and/or the loose end thereof and a drafted material (e.g. a drafted material provided by delivery rollers of the spinning position of the spindle in which a problem occurred) are brought in proximity and/or contact and that a twist/rotation is applied to at least one of the textile materials. In particular, piecing can be performed by applying a rotation/twist to at least one of broken yarn and/or the loose end thereof and a drafted material being sucked in a common suction; the twist can for example be applied by the common suction. The twist can be applied by (mechanical) fingers, e.g. fingers of a yarn piecing arm.
In one embodiment, the system comprises a ring spinning machine and a robotic mechanism for yarn piecing after a yarn breakage. The system and/or the robotic mechanism can be automatically controllable, e.g. based on a yarn breakage and/or a spindle defect occurrence. The robotic mechanism can comprise a spindle arm, a magnetic arm and/or a yarn picker. The spindle stopper arm can be designed to stop and/or (re)start the spindle. The magnetic arm can comprise two magnetic plates joined together at one end. The yarn picker can be designed to take a yarn and/or a loose end of a yarn from the spindle and/or to facilitate the piecing of the yarn and/or the loose end of a yarn and a drafted material. The robotic mechanism can be designed

to stop the spindle, e.g. by locking a brake of the spindle, e.g. by a spindle stopper arm; and/or
to bring the magnetic arm near the spindle, to open the two magnetic plates, to cover the spindle with the two magnetic plates, to close the two magnetic plates; and/or
to attract the traveller to positioning; and/or
to search the spindle, e.g. from bottom to top, for a yarn and/or a loose end of a yarn, e.g. by using a yarn picker, e.g. comprising a suction slot; and/or
to thread a held yarn (e.g. by a yarn picker) through the traveller and possibly through guide elements, e.g. by moving the yarn (e.g. moving a yarn holding yarn picker); and/or
to move a yarn held by a suction of the system, e.g. the suction of a yarn picker, close to the drafted material being sucked into the suction of the ring spinning machine; and/or
to suck drafted material being sucked into the suction of the ring spinning machine into a suction of the system already sucking a yarn and/or a loose end of a yarn of the spindle; and/or
to piece together, e.g. by be pneumatic means such as air rotation and/or by mechanical means such as by twisting arms (e.g. twisting arms of the yarn picker), a yarn and/or a loose and of a yarn with a drafted material being sucked in the same suction of the system.

The invention further concerns a method according to claim 14.
The method can be a method for automated yarn piecing after yarn breakage and/or other spindle defect occurrences in a ring spinning machine.
The method can further comprise at least one of the following steps:

detecting a yarn breakage in a spindle; and/or
transmitting information associated with the detected yarn breakage to the system; and/or
transporting a part of the system, in particular a robotic mechanism, to a spindle in which a yarn breakage has occurred; and/or
stopping the spindle in which a yarn breakage has occurred; and/or
attracting a yarn and/or a loose end of a yarn, and/or
- o in particular by a suction
sensing the success or failure of a step of the method by a sensor; and/or
repeating a step of the method,
- o in particular if the failure of a step as sensed; and/or
positioning a traveller of the spindle by means of magnetism;
threading the held yarn into the positioned traveller by means of tensioning a part of a yarn,
- o in particular by positioning a tensioned part of a yarn in parallel to a tangent of the traveller guide, and/or
- ∘ in particular by moving a tensioned part of a yarn; and/or
threading the held yarn into guide elements of a ring spindle machine by a swivelling movement; and/or
piecing together the held yarn and a drafted material
- ∘ by positioning a yarn and/or a loose end of a yarn in proximity - in particular in contact - to a drafted material, and/or
- ∘ while both being sucked in a suction.
starting the spindle in which a yarn breakage has occurred,
- ∘ in particular after the yarn is threaded into the traveller and/or the guide elements.

A method comprising two or more steps of the above list can comprise said two or more steps in the order of the above list.
At least one of the steps of the method, in particular at least one of the steps mentioned above, can be performed by using a hook; and/or a gripper; and/or two or more mechanical fingers and/or a magnet of the system.
In a variant, the method can comprise one or more of the following steps:

detecting, e.g. by a monitoring mechanism, a spindle with a yarn breakage and/or a spindle defect occurrence;
transmitting information associated with said yarn breakage a yarn breakage and/or a spindle defect occurrence;
receiving, by the system, e.g. from the monitoring mechanism, information associated with the yarn breakage and/or the spindle defect occurrence detected;
stopping, e.g. by a spindle stopper arm of the system, e.g. by applying a spindle brake, a rotation of the spindle;
sucking, e.g. by using a suction slot of a spindle stopper arm, the yarn of the spindle;
positioning the traveller of the spindle;
optionally verifying, e.g. by using at least one sensor of e.g. a spindle stopper arm, the positioning of the traveller;
holding, e.g. by using at least one yarn gripper of e.g. a spindle stopper arm, said yarn sucked;
pulling, e.g. by a magnetic force produced by using a magnet strip of e.g. a spindle stopper arm, said traveller;
moving the yarn, e.g. by one yarn positioning arm of the system, such that the yarn passes through yarn tensioning means, e.g. two yarn guide rods of e.g. a yarn positioning arm;
paralleling the yarn to the tangent of the traveller ring of the spindle, e.g. by moving yarn guide rods in inverse directions,
inserting, e.g. by using a yarn positioning arm of the system, the yarn into the traveller, e.g. by moving the yarn, e.g. by using a yarn pusher;
starting the rotation of the spindle, e.g. by releasing the spindle's brake e.g. by the spindle stopper arm,
threading the yarn into one or more guide elements of a ring spinning machine, e.g. by moving the yarn, e.g. by a yarn picker arm, in swivelling direction thereby;
receiving, e.g. by using two fingers of e.g. a yarn piecing arm, the yarn, e.g. from a yarn picker arm;
approaching, e.g. by using a yarn piecing arm, delivery rollers associated to the spindle;
piecing together, e.g. by moving fingers of a yarn piecing arm in opposite directions, the yarn and the drafted material provided by the ring spinning machine, e.g. by joining and twisting.

A method comprising two or more steps of the above list can comprise said two or more steps in the order of the above list.
In a further embodiment, a system as described before is designed to perform one of the methods described before. In particular, the system can comprise a program module and/or a software designed to perform the steps of the chosen method.
In the following, ways to carry out the invention and embodiments are described referring to drawings. The drawings schematically show:

Fig. 1: a system for yarn piecing after a yarn breakage and/or other spindle defect occurrences in a ring spindle machine;
Fig. 2: a spindle stopper arm and a yarn picker arm;
Fig. 3: the same with the yarn picker arm having been moved;
Fig. 4: the same and a yarn positioning arm;
Fig. 5: the same with the yarn positioning arm having been moved;
Fig. 6: the same, wherein guide rods of the yarn positioning arms having been moved;
Fig. 7: the same, wherein a yarn pusher of the yarn positioning arms having been moved;
Fig. 8: the same, wherein the yarn pusher has been moved back and the successful threading into the traveller is sensed;
Fig. 9: the yarn held having been threaded in a guide element and the yarn being transferred from the yarn picker arm to a yarn piecing arm;
Fig. 10: the yarn being pieced together with drafted material by the yarn piecing arm;
Fig. 11: a robotic mechanism of the system;
Fig. 12: the same, replacing a spindle;
Fig. 13: the piecing arm activating the roving stop motion of a ring spinning machine;
Fig. 14: an alternative system;
Fig. 15: the alternative system comprising a hook;
Fig. 16: the hook's movement;
Fig. 17: the hook's movement for threading the yarn in to the traveller;
Fig. 18: the hook's movement for threading the yarn into guide elements;
Fig, 19: the piecing of the yarn with the drafted material;
Fig. 20: the yarn breakage being resurrected;
Fig. 21: yet another alternative system comprising a magnetic arm;
Fig. 22: the magnetic arm from above;
Fig. 23: the magnetic plates of the magnetic arm being withdrawn;
Fig. 24: the yarn picker being coming down;
Fig. 25: the yarn being threaded into the traveller;
Fig. 26: the yarn being threaded into the guide elements and pieced together with the drafted material.

Figure 1 shows the system according to the invention. The system comprises

yarn holding means for holding a yarn and/or a loose end of a yarn of a spindle of a ring spinning machine in form of a yarn picker arm (15)and a yarn piecing arm (18);
traveller positioning means for positioning of a traveller of a spindle in form of a yarn picker arm (15);
first yarn threading means for threading a held yarn and/or a loose end of a yarn into a positioned traveller of a spindle in form of a yarn picker arm (15) and a yarn positioning arm (29);
second yarn threading means for threading a held yarn and/or a loose end of a yarn into guide elements of a ring spindle machine in form of a yarn picker arm (15) and/or a yarn piecing arm (18); and
yarn piecing means for piecing together a held yarn and/or a loose end of a yarn with a drafted material in form of a yarn piecing arm (18).

The displayed system further comprises

detection means comprising a spindle monitoring system (1);
transmitting means comprising a control system (2); and
a transportation means in form of a transportation system (3).

The displayed system further comprises a robotic mechanism (14), comprising the mentioned arms.
The transportation system (3) can be designed to navigate and facilitate the movement of the robot mechanism (14) for attending to the yarn breakage and other spindle defects upon detection by the spindle monitoring system (1) and the information related to yarn breakage occurrence and other spindle defects in the spindles being sensed by the individual spindle monitoring system (1) and communicated to the transporting system (3). The transportation system (3) is capable of carrying the robotic mechanism (14), optionally together with required textile material e.g. in a storage, along the entire longitudinal axis of the ring spinning machine for attending to the yarn breakage and other spindle defects. This can allow for ensuring quicker restoration of the yarn spinning process of the spindle of the ring spinning machine and eliminating the production of inferior yarns due to other spindle defects. The system resp. the transportation system (3) can be effectively used for one or multiple ring spinning machines. The displayed system is designed to automatically performed yarn piecing after a yarn breakage and/or other spindle defect occurrences in a ring spinning machine without human interaction.
In one implementation, the transportation system (3) can carry a robotic mechanism (14) which is fitted on the transportation system (3) whose operations are automatically controllable based on the yarn breakage and other spindle defect occurrences in the ring spinning machine. The operation of the robotic mechanism (14) can be controlled by the control system (2).
In another implementation, the robotic mechanism (14) can be a general purpose robotic mechanism. Alternatively, the special robotic mechanism tailor made for the system described above. A robotic mechanism can for example comprise pneumatics, hydraulic and/or electrical drives. A robotic mechanism tailor can be a vision guided robotic mechanism. A robotic mechanism can comprise one or more sensors, e.g. like a camera, optical sensor, magnetic sensor and/or magnetic elements.
In one implementation, the transportation system (3) upon receiving signals for its navigation from the Individual spindle monitoring system (1) can get ready for its operating cycle. If there are two or more occurrences of yarn breakages or spindle defects simultaneously in the ring frame (9), the transportation system can get a signal for it to first navigate to the spindle break (12) or spindle defect position closest from its current position. Upon arrival transportation system (3) stops and the robotic mechanism (14) starts its operations.
Figure 2 shows how the yarn (28) from the cop (25) can get picked by the yarn picker arm (15). In one implementation, first, the spindle stopper arm (16) lowers down and catches the spindle brake (23) and pulls upward; thus acting s stopping means. This makes the spindle brake (23) to stop the spindle (24) which makes the ring cop (25) to stop rotating. The yarn picker arm (15) can be designed to move forward above the ring cop (25). Suction Air can be used to suck the yarn (28) through a suction slot (20), e.g. a suction slot (20) of the yarn picker arm (15). Once air is sucked, the yarn (28) from the cop gets attracted, whereby the suctions slot (20) acts as an attraction means. By the sucking attraction, the yarn is picked and passes through the suction slot (20). The successful picking of yarn (28) can verified by a sensor (22). This sensor (22) can for example be a capacitive or image based sensor, which can be designed to recognize the yarn (28). Once the yarn (28) is sucked, a yarn gripper (21) of the yarn picker arm (15) catches the yarn (28) so that it will not fall back again to the cop (25). The yarn gripper (21) can thereby serve as a yarn holding means.
Figure 3 shows the yarn picker arm (15) after it has moved from a first position, e.g. the top position, to the front position of the ring cop (25). In one implementation, the yarn picker can be designed to moves a little side wards. The magnet strip (39) can be energize, thereby attracting the traveller (27), which gets pulled by magnetic force of the magnet strip (39); and now the traveller comes to the front position of the ring (26). The yarn picker arm (15) with the magnet strip (39) thus can serve as traveller positioning means for positioning of a traveller of a spindle. The yarn picker arm can comprise a vision sensor (40), which can be used to sense a positioning of the traveller, e.g. if the traveller is positioned of exactly in the front of the ring (26).
Figure 4 shows that a yarn positioning arm (29) is moved upward in such a way that the yarn passes in between the three yarn guide rods (30) of the yarn positioning arm (29).
Figure 5 shows the stage where the yarn positioning arm (29) has been moved to the top most position.
Figure 6 shows the setting of Figure 5, where two of the yarn guiding rods (30) have been moved in opposite direction; and a third yarn guiding rod (30) has been moved in the direction of the spindle. The yarn that formerly was in between the guiding rods (30) have thereby be tensioned; the yarn guiding rods (30) thereby can serve as yarn tensioning means. These yarn tensioning means and their movement were designed so that a segment of the yarn is now parallel to the tangent of the ring in the point where the traveller is positioned.
Figure 7 shows that a yarn pusher (31) pushes the positioned yarn segment forward and positions the yarn segment just below the traveller (27). Two bottom guides (41) can be made available below the yarn. The yarn positioning arm (29) moves a little upward, whereby the yarn can get threaded into the traveller (27). The yarn positioning arm including the yarn guiding rods and the yarn pusher in combination with the yarn picker arm (15), resp. its yarn gripper (21), thereby can act as first yarn threading means for threading a held yarn and/or a loose end of a yarn into a positioned traveller of a spindle.
Figure 8 shows a stage where the yarn pusher (31) has come back. Now the yarn picker arm (15) moves up and takes the yarn (28) held by its yarn gripper (21) upward. The yarn picker arm (15) moves side wards and comes to its home position which makes the traveller to move along with the direction of the yarn picker arm (15). This movement can be sensed by sensor, e.g. a vision sensor (42) available in front of the yarn positioning arm (28). When the movement of the traveller is recognized by the sensor, it means the yarn is successfully threaded inside the traveller (27). If successful threading is not achieved, then the sequence of operations can be restarted.
The yarn that is now held by the yarn gripper (21) and threaded into the traveller is taken upward by the yarn picker arm (15). At this stage, the spindle stopper arm (16) releases the spindle brake (23) which makes the spindle (24) and cop (25) start rotating. This further makes the traveller (27) rotating over the ring (26). Now, the yarn picker arm (15) moves in swivelling direction in such a way that the yarn (28) is threaded into any guide elements of ring frame, e.g. a lappet hook (32). Thereby the yarn picker arm (15) can act as second yarn threading means for threading a held yarn and/or a loose end of a yarn into guide elements of a ring spindle machine.
Figure 9 shows the stage where the yarn is held, threaded into the traveller and threaded into the guide elements. At this stage, the yarn piecing arm (18) comes forward and fingers (19) of the yarn piecing arm (18) pick the yarn (28) from the yarn picker arm (15). Successful picking can be verified by a sensor, e.g. comprised in the piecing arm (18), which e.g. can work on capacitive or optical principle. After the piecing arm (18) has successfully picked up the yarn, the yarn picker arm (15) moves back facilitating for the next stage i.e. yarn piecing or yarn joining.
Figure 10 shows the yarn (28) being taken - the fingers (19) of the yarn piecing arm (18) - in proximity to (in particular in contact with) the yarn delivery from the front delivery rollers (35, 36) associated with the spindle. The drafted material (34) comes out from the front delivery rollers (35, 36) and gets sucked by a suction tube (33). The fingers (19) holding the yarn (28) keeps the yarn (28) near the drafted material (34) and the fingers move in opposite direction which inserts a rotation/twist to the yarn. As described before, this rotation can lead to that the yarn and the fibres of the drafted material get caught up and get twisted into each other; thereby piecing the yarn and the drafted material. After successful piecing is achieved, the yarn (28) starts inserting twist to the drafted material (34) continuously and yarn production starts; and the spindle breakage is successfully resurrected. Thereby, the yarn piecing arm (18) with its fingers (19) can act as yarn piecing means for piecing together a held yarn and/or a loose end of a yarn with a drafted material.
During production of yarn by a ring spinning machine, the spindle - and by design - the traveller (26) continuously rotate. A sensor for sensing the movement of the traveller, e.g. by magnetic means, can thus be used to determine if the spindle is turning. Thus a sensor for sensing the movement of the traveller can act as an individual spindle sensor (6).
Figure 11 shows the stage where the piecing of yarn (28) completed successfully and the yarn (28) starts running. The various components of robotic mechanism (14) can return to their initial positions and are ready to attend a next spindle defect.
Figure 12 explains the function of the robotic mechanism (14) as a defective material segregator. In one implementation, the fingers (19) of the yarn piecing arm (18) act as a defective material remover. In case of defective materials like slip and rogue spindles, the spindle stopper arm (16) stops the spindle (24) by means of pulling the spindle brake (23) upward. Now, the fingers (19) of the yarn piecing arm (18) pick the defective cop and loads it in the respective containers (4). By this way, automated segregation of defective textile materials is possible by means of the robotic mechanism (14).
Figure 13 explains the function of the robotic mechanism (14) for activating the roving stop motion (38). In one implementation, the fingers (19) of the yarn piecing arm (18) is capable of switching ON the roving stop motion thereby resuming the supply of input roving material automatically to the drafting zone (37). After resumption of supply of roving, the robotic mechanism (14) once again starts its piecing operations, e.g. as explained earlier through Figures 2 to Figure 10.
Figure 14 shows an alternate embodiment of the system. This embodiment as well comprises a robotic mechanism (14) wherein a spindle stopper arm (16) is designed to apply the spindle brake (23), this stopping the spindle (24). A yarn picker (15) of the robotic mechanism is designed to pick the yarn (28) from the cop (25) pneumatically and/or mechanically and/or through electrical drives. In the embodiment, the yarn picker (15) can act as yarn holding means for holding a yarn and/or a loose end of a yarn of a spindle of a ring spinning machine.
Figure 15 shows the spindle stopper arm (16), the yarn picker arm (15), a yarn hook arm (43) and a magnetic strip (45) of the robotic mechanism. The yarn hook (44) of the yarn hooker arm (43) is designed to pull the yarn (28), which is on one end picked by the yarn picker arm; and on the other end attached to the spindle. The magnetic strip (45) is designed to come forward and to attract the traveller (27) to the front position in the ring (26) for facilitating easy insertion of the yarn (28) into the traveller (27). Thereby, the magnetic strip (45) can act as traveller positioning means for positioning of a traveller of a spindle.
Figure 16 explains the stage where the yarn hook (44) of the yarn hooker arm (43) has pulled the yarn (28), so that a part of the yarn is positioned in front of the positioned traveller (27).
Figure 17 shows that the yarn hook (44) of the yarn hooker arm (43) moves further in order to insert the yarn (28) into the traveller (27). The yarn hooker arm (43) with its yarn hook (44) in combination with the yarn picker arm (15) thereby can act as first yarn threading means for threading a held yarn and/or a loose end of a yarn into a positioned traveller of a spindle.
Figure 18 shows how the yarn hook (44) of the yarn hooker arm (43) carries the yarn (28) and inserts into the lappet hook (32) and/or any other such guide elements associated to the spindle. The magnetic strip (45) can be moved backward to set the traveller (27) free; and the spindle stopper arm (16) can be moved backward and set the spindle brake (23) free so as to enable the spindle (24) to start rotating. Simultaneously, the yarn piecing arm (15) which is carrying the one end of the yarn (28) moves upward towards the front delivery rollers (35 and 36). The hook can be moved in circling directions for threading the yarn into the guide elements associated with the spindle. Thereby, the yarn hooker arm (43) with its yarn hook (44) in combination with the yarn picker arm (15) can act as the second yarn threading means for threading a held yarn and/or a loose end of a yarn into guide elements of a ring spindle machine.
Figure 19 shows that the yarn hooker arm (43) moves away from the yarn (28); and the yarn picker arm (15) moved the yarn in proximity to (in particular in contact with) the delivery rollers (35, 36). The picker arm can comprise a suction slot, which is designed such that the drafted material is sucked into the suction slot of the picker arm when in proximity to said suction. The yarn piecing inside the suction slot of the yarn picker arm can takes place

e.g. pneumatically through twisting and joining the yarn (28) and the drafted material (34) together) and/or
e.g. through mechanical means, e.g. by means of piecing fingers (46) which moves in opposite direction to make twisting and thereby piecing of yarn (28) with the drafted material (34).

Thereby, the yarn picker arm (15) with its suction slot and its pneumatic and/or mechanical piecing means can act as yarn piecing means for piecing together a held yarn and/or a loose end of a yarn with a drafted material.
Figure 20 shows the stage where the yarn piecing was done successfully and the various components of the robotic mechanism (14) return to their respective initial position and thus are ready for attending next defective spindle position.
Figure 21 shows yet another embodiment of the system. This embodiment as well comprises a robotic mechanism (14). Magnetic plates (49) available in the magnetic arm (48) of the robotic mechanism (14) are designed to covers the cop (25). The spindle stopper arm (46) activates the spindle brake (23) thus the spindle (24) is stopped from rotation. The yarn picker (50) having a suction slot (51) travels in multiple axis in search of the broken yarn (28). In the embodiment, the yarn picker (50) resp. its suction slot (51) can act as yarn holding means for holding a yarn and/or a loose end of a yarn of a spindle of a ring spinning machine.
Figure 22 shows the magnetic arm (48) of Figure 21 from above. The magnetic plates (49) attract the traveller (27) which is locked by the traveller ring (26).
Figure 23 shows the magnetic plates (49) being moves backward inside the magnetic arm (48), whereby the traveller (27) is moved over the ring (26) and comes to the front position to facilitate easy insertion of the yarn (28) inside the traveller (27). Thereby, the magnetic arm (48) resp. its the magnetic plates (49) can act as traveller positioning means for positioning of a traveller of a spindle.
Figure 24 shows that the traveller (27) is in front position and the yarn picker (50) is ready to come down for insertion of yarn (28) into the traveller (27) which is positioned by the magnetic force of the magnetic plates (49).
Figure 25 shows that the yarn picker (50) carries the yarn (28) downward in front of the traveller and moves in such a way that the yarn (28) gets inserted into the traveller (27). The yarn picker (50) with its suction slot (51) thereby can act as first yarn threading means for threading a held yarn and/or a loose end of a yarn into a positioned traveller of a spindle.
Figure 26 shows that the yarn (28) is taken through the lappet hook (32) and any other such guide elements by the yarn picker (50). Thereby, the yarn picker (50) with its suction slot (51) can act as the second yarn threading means for threading a held yarn and/or a loose end of a yarn into guide elements of a ring spindle machine. The yarn (28) - which is being sucked by the suction slot (51) of the yarn picker (50) - is then moved by the yarn picker to be positioned in front of the delivery rollers (35, 36) from where the drafted material (34) is coming out and getting in a suction (33) of the ring spinning machine. When the suction slot (51) of yarn picker (50) is positioned near the delivery rollers (35 and 36), the drafted material (34) gets sucked into the suction slot (51) of the yarn picker (50) and yarn piecing takes place pneumatically by means of air twisting inside the suction slot (51) and/or mechanically by means of piecing arms inside the suction slot (51) of the yarn picker (50). Thereby, the yarn picker (50) with its suction slot (51) and its pneumatic and/or mechanical piecing means can act as yarn piecing means for piecing together a held yarn and/or a loose end of a yarn with a drafted material.
The spindle stopper arm (46) can be designed to release the spindle brake (23) thereby enabling the spindle (24) to rotate and this makes the yarn (28) to start running and gets wound over the cop (25) by means of rotation of traveller (27) over the ring (26) which is a part of usual ring spinning process. Once yarn runs successfully the various components of the robotic mechanism like the magnetic arm (48), yarn picker (50), spindle stopper arm (46) return to their home position and gets ready to attend the next defective spindle position.
In one embodiment, the movement of the arm, movement lengths, rotary and/or swivel actions can be controlled by a program unit and/or a software, which e.g. can be comprised in a robotic mechanism and/or in a control system (2). The air that can be required for various activities can also be through controlled by a program unit and/or a software, which e.g. can be comprised in a robotic mechanism and/or in a control system (2). A control system (2) can be a centralized control system (2) that usually is not designed to move. A control system (2) can control one or multiple robotic mechanism for one or more ring spinning machine.

Claims

A system with a ring spinning machine and a robotic mechanism (14) for yarn piecing after a yarn breakage in the ring spinning machine, the robotic mechanism (14) comprising:
• yarn holding means for holding a yarn (28) and/or a loose end of a yarn (28) of a spindle (24) of the ring spinning machine;

• traveller positioning means for positioning of a traveller (27) of the spindle (24);

• first yarn threading means for threading a held yarn (28) and/or a loose end of a yarn into the positioned traveller (27) of the spindle (24);

• second yarn threading means for threading the held yarn (28) and/or the loose end of the yarn (28) into guide elements of the ring spinning machine; and

• yarn piecing means for piecing together the held yarn (28) and/or the loose end of the yarn (28) with a drafted material (34) which is provided by delivery rollers (35, 36) of the ring spinning machine,
characterised in that
the first yarn threading means comprise a yarn positioning arm (29) with yarn tensioning means (30) for tensioning a part of the yarn (28), wherein the first yarn threading means further comprise yarn moving means for moving the tensioned part of the yarn (28) and are designed to position the tensioned part of the yarn (28) in parallel to a tangent of a traveller guide (26) of the ring spinning machine for threading of the yarn (28) into the traveller (27).
The system of claim 1, wherein the yarn tensioning means comprise at least two yarn guide rods (30) for tensioning a part of a yarn (28) passing through the at least two yarn guide rods (30).
The system of one of the preceding claims, wherein the traveller positioning means comprise pneumatic means and/or mechanical means and/or magnetic means (49).
The system of one of the preceding claims, further comprising
• detection means for detecting of a yarn breakage and/or a spindle defect occurrence,
o in particular a spindle monitoring system (1); and

• transmitting means for transmitting information associated with a detected yarn breakage and/or a spindle defect occurrence to the system.
The system of one of the preceding claims, further comprising transportation means (3) for transporting the robotic mechanism (14) to the spindle (24).
The system of one of the preceding claims, further comprising stopping means (46) for stopping and/or starting the rotation of the spindle (24), in particular wherein the stopping means (46) are means for activating and/or releasing a spindle brake (23) of the ring spinning machine.
The system of one of the preceding claims, further comprising attraction means for attracting a yarn (28) and/or a loose end of a yarn (28), designed as a suction (15, 20).
The system according to claim 7, wherein the attraction means are comprised in the yarn holding means.
The system of claims 4 to 7, wherein the robotic mechanism (14) comprising the detection means, the transmitting means, the transportation means (3), the stopping means (46), the attraction means and/or a part thereof.
The system of one of the preceding claims, wherein the yarn tensioning means (30) are movable, in particular movable in two or more directions.
The system of one of the preceding claims, wherein the yarn piecing means are designed to position the yarn and/or a loose end of the (28) in proximity to the drafted material (34), in particular to position the yarn and/or the loose end of the yarn (28) in contact with the drafted material (34).
The system of one of the preceding claims, wherein the yarn holding means (15, 50) comprise a suction tube with a suction slot (20, 51).
The system of one of the preceding claims, wherein the system comprises a sensor (6, 22, 40, 42),
• in particular a sensor (6, 22, 40, 42)
∘ for sensing the position of a yarn (28) and/or a loose end of a yarn (28); and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) is attracted by an attraction means; and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) is held by the yarn holding means; and/or

∘ for sensing the position of the traveller (27) of the spindle (24); and/or

∘ for sensing if the traveller (27) is moved and/or has been moved; and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) is threaded into the traveller (27) of the spindle (24); and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) is threaded into guide elements of the ring spinning machine; and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) and/or drafted material (34) is sucked into a suction (33) of the system, of the yarn piecing means and/or of the ring spinning machine; and/or

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) is held by an arm of the system;

∘ for sensing if a yarn (28) and/or a loose end of a yarn (28) has been pieced with a drafted material (34),

o for sensing if the spindle (24) is rotating,

• in particular wherein the sensor (6, 22, 40, 42) is an optical and/or a capacitive and/or a impedance sensor.
A method for yarn piecing after a yarn breakage in a ring spinning machine, using a system with a ring spinning machine and a robotic mechanism for yarn piecing after a yarn breakage in the ring spinning machine according to one of claims 1 to 13, said method comprising:
• holding a yarn (28) and/or a loose end of yarn (28) of a spindle (24) of Z the ring spinning machine;

• positioning a traveller (27) of the spindle (24);

• threading the held yarn (28) into the positioned traveller (27);

• threading the held yarn (28) into guide elements (32) of the ring spinning machine;

• piecing together the held yarn (28) and a drafted material (34),
characterised by threading the held yarn (28) into the positioned traveller (27) by means of tensioning a part of a yarn (28) by the tensioning means (30), and by positioning the tensioned part of the yarn (28) in parallel to a tangent of the traveller guide (26) by moving the tensioned part of the yarn (28).
The method of claim 14, comprising the following steps:
• detecting a yarn breakage in the spindle (24);

• transporting the robotic mechanism (14) of the system to the spindle (24) in which the yarn breakage has occurred;

• stopping the spindle (24) in which the yarn breakage has occurred;

• attracting a yarn (28) and/or a loose end of a yarn (28) by a suction (20);

• piecing together the held yarn (28) and a drafted material (34) by positioning the yarn (28) and/or a loose end of the yarn (28) in proximity, in particular in contact to a drafted material (34),

• starting the spindle (24) in which a yarn breakage has occurred, in particular after the yarn (28) is threaded into the traveller (27) and/or the guide elements (32).
The method according to one of the claims 14 to 15, wherein the system comprises a program module and/or a software designed to perform the method steps.