EP3608457B1 - Procédé de fonctionnement d'un robot de service d'une machine à filer à anneaux et machine à filer à anneaux pour son exécution - Google Patents

Procédé de fonctionnement d'un robot de service d'une machine à filer à anneaux et machine à filer à anneaux pour son exécution Download PDF

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Publication number
EP3608457B1
EP3608457B1 EP19188011.1A EP19188011A EP3608457B1 EP 3608457 B1 EP3608457 B1 EP 3608457B1 EP 19188011 A EP19188011 A EP 19188011A EP 3608457 B1 EP3608457 B1 EP 3608457B1
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EP
European Patent Office
Prior art keywords
spinning
service robot
row
reference element
service
Prior art date
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Active
Application number
EP19188011.1A
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German (de)
English (en)
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EP3608457A1 (fr
Inventor
Milan Moravec
Petr Semrád
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
RIETER AG
Original Assignee
Maschinenfabrik Rieter AG
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Publication of EP3608457A1 publication Critical patent/EP3608457A1/fr
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing
    • D01H15/013—Carriages travelling along the machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/02—Spinning or twisting machines in which the product is wound-up continuously ring type
    • 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
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/005—Service carriages travelling along the machines
    • 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
    • D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
    • 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
    • D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
    • D01H13/145—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements set on carriages travelling along the machines; Warning or safety devices pulled along the working unit by a band or the like
    • 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
    • D01H13/14—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements
    • D01H13/16—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements responsive to reduction in material tension, failure of supply, or breakage, of material
    • D01H13/1616—Warning or safety devices, e.g. automatic fault detectors, stop motions ; Monitoring the entanglement of slivers in drafting arrangements responsive to reduction in material tension, failure of supply, or breakage, of material characterised by the detector
    • 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
    • D01H13/32—Counting, measuring, recording or registering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a method of operating a service robot of a ring spinning machine, in which the service robot is displaceable along a row of spinning units of the spinning machine, each spinning unit comprising a spindle, wherein the service robot can be stopped at a specific spinning unit to perform a service operation at the spinning unit.
  • the invention further relates to a ring spinning machine which comprises a row of spinning units arranged next to each other, each spinning unit comprising a spindle, and a service robot which is displaceable along a row of spinning units with an option of stopping at a selected spinning unit to perform a service operation at the spinning unit.
  • Ring spinning machines comprise a row of identical spinning units arranged next to each other, each of which comprises a roving drafting device, from which the processed fiber roving is fed to a twisting device, from which the produced yarn is withdrawn and wound in a winding device on a tube carried by a spindle, thereby forming cop, i.e., a tube with a yarn package.
  • a yarn manufacturing process is interrupted, e.g., due to a yarn break, the yarn production at the respective spinning unit must be resumed, which is performed either manually by the machine operator or by an automated service robot.
  • the required power output of the drive device of the drafting device is also increased and therefore an intermediate drive is usually arranged in the central part of the machine length to avoid differences in the rotation of long through shafts at the beginning of the machine and at the end of the machine due to elastic deformations caused by torsional load, due to higher torques of the drive device at the beginning of the machine.
  • a parking position of the service robot is usually arranged, where the service robot is moved during the time when it is not carrying out any service operation, for example, during the operation of joint removal of the cop from the spinning spindles at the spinning units or during the placing of the empty tubes on the spindles and during the joint spinning-in of the spinning units.
  • ring spinning machines comprising a row of spinning units arranged next to each other, wherein a displaceable service robot is positioned relative to the other machine parts
  • the service robot Whenever the machine or service robot is started, e.g., after a power failure or after repair or when the machine is put into operation for the first time, etc., the service robot must be positioned correctly with respect to the individual spinning points.
  • the disadvantage of the present state is that in the case when the machine is before the start of the machine for some reason situated on the opposite side of the machine, e.g., after the machine has been stopped or when the service robot has been moved by the operator, the service robot must be moved manually or by the machine before the start of the machine or immediately after the start of the machine, over the entire length of the machine, which is time-consuming, especially for machines with a greater number of spinning units, and also results in lower production efficiency.
  • the accuracy and precision of the execution of individual service operations at the spinning units by the service robot depend on the fast and precise determination of the position of the service robot on the ring spinning machine, since their execution is usually dependent on a sufficiently accurate adjustment of the individual operating mechanisms of the service robot relative to the respective parts of the specific spinning unit.
  • EP2305864A1 discloses an embodiment where reference points created near both ends of the machine and in the middle of the machine are sensed by a sensor located on aservice assembly.
  • the service assembly measures the distance it has travelled by means of measuring the rotation angle of the rotating part of the drive of the service assembly which correlates with the straight-lined forward movement of the service assembly along the row of spinning units, and the overall path travelled by the service assembly towards a respective spinning unit requesting a service operation is calculated from the rotation angle and the direction of rotation of this measured rotatable portion of the service assembly, from which the control means of the machine determine, on the basis of the speed of the movement of the service assembly, the distance of the service unit from the spinning unit requesting a service operation and determines the position in which the braking procedure of the service assembly is triggered for stopping at the respective spinning unit.
  • Another disadvantage of this solution is the fact that four working areas 3A, 3B or 4A, 4B are created on the machine, separated by the center reference points, where these areas immediately adjoin each other without any parking area provided for the service assembly and thus not allowing parking of the service assembly in the middle of the machine length during the process of group doffing, to prevent collision of the means of the robot for group doffing and the service assembly.
  • the service assemblies must be moved to the end of the mechine, which in the case of ring spinning machines with a great length prolongs the time during which the service assemblies cannot operate after the end of group doffing and the start of the spinning process.
  • US2003036816 A1 discloses a method for the control of the travel movement of a service unit at a rotor-spinning machine, whereby the service unit is assigned to a service zone.
  • the aim of the invention is to remove or at least reduce the disadvantages of the background art.
  • the aim of the invention is as well to create a method, in which a service robot of a ring spinning machine can easily find a reference position during the initial displacement of the service robot along the length of the spinning machine.
  • the aim of the invention is achieved by a method of operating a service robot of a ring spinning machine according to claim 1 and by a ring spinning machine according to claim 8.
  • the service robot detects a false spindle by means of the eddy current sensor as a reference element between both ends of the row of spinning units.
  • the service robot counts the spindles from the reference position to its position before the spinning unit to perform a service operation.
  • the reference element is arranged in a position in which its distance b from the nearest spinning spindle both on the right and on the left is identical and, at the same time, this distance b is greater than the distance a between two adjacent spinning spindles, whereby the spinning spindles and the reference element are detected during the initial displacement of the service robot, and the reference element is detected according to differences in the time intervals and/or the distances between two adjacent spinning spindles and between said nearest spinning spindle and the reference element.
  • the reference element is detected at an intermediate drive of the spinning machine.
  • the service robot before detecting the reference element arrives at the end of the row of spinning units of the spinning machine, the service robot changes direction and continues in detecting the reference element.
  • the method is performed before starting the operation of the service robot such as after switching it on or after a power cut.
  • the service robot comprises an eddy current sensor as a sensor and the reference element is by its outer geometrical configuration identical or close to the outer geometrical configuration of the detected part of the spinning spindles.
  • the reference element is arranged in a position in which its distance from the nearest spinning spindle both on the right and on the left is identical and, at the same time, this distance is greater than the distance between two adjacent spinning spindles.
  • the senor of the position of the service robot is associated with the area below the lower surface of a spindle bench.
  • the reference element is made of the same or approximately the same material as the detected part of the spinning spindles.
  • the reference element is situated with respect to the longitudinal axis of the ring spinning machine and the height of the ring spinning machine in the same position as is situated the part of the spinning spindles being sensed.
  • the service robot is further provided with a sensor for detecting the end of the row of spinning units.
  • the reference element is arranged on the structure of the intermediate drive arranged between both ends of the row of spinning units, where a parking area of the service robot is situated.
  • the service robot and the control device are interconnected by a communication line for transmitting information about the numbers of the spinning units, the total number of the spinning units on the machine, the location of the auxiliary drive with the reference element in the service robot, whereby the service robot is provided with means for storing and processing this information.
  • the advantage of this solution is the fact that in the case of a very long ring spinning machine with a plurality of spinning units in whose central part is arranged an intermediate drive near which is arranged a parking position of the service robot, to which the service robot is moved when performing the group doffing of wound cops, whereby near this intermediate drive is also arranged a reference position of the control device, which is formed in an exemplary embodiment by a synchronizing "false" spindle located on the intermediate drive mechanism.
  • the service robot moves to the right or to the left towards the spinning units requesting service operations, thereby shortening the distance and also the time for moving the service robot to the spinning unit requesting service operations, thus improving the efficiency of the service robot utilization as compared with the background art, in which the reference position is created at the beginning an/or at the end of the machine, which is manifested also during the initialization of the service robot when the machine is started up for the first time or when the service robot is restarted after repair, after a power cut, after being shifted manually by the machine operator, etc.
  • the determination of the position of the service robot relative to the entire row of spinning points, as well as to the reference point, is carried out by means of a sensor arranged on the service robot which senses a gap between adjacent spindles and a gap between the spinning spindles and the reference point and which is also able to determine the direction of the movement of the service robot.
  • Another advantage of the solution according to the invention is the fact that the lower part of the mounting of the spinning spindles at the spinning units below the spindle bench is sensed as already existing place of the machine construction.
  • a further advantage is the fact that the reference point is sensed in the form of a "false” spindle which is in terms of geometry and material identical or very similar to a functional spinning spindle at the spinning units, which means that the detection of all the operating spindles as well as of the synchronizing "false” spindle can be carried out by one common sensor, whereby the identification of the "false” spindle is made possible due to its distance from the production spinning spindles, which is different from the distance between the individual production spinning spindles.
  • the advantage of the invention is also the fact that it allows a substantial acceleration of the initialization of the service robot relative to the entire row of spinning units, or, more specifically, allows quick synchronization of the position of the control device relative to the reference point and to the entire row of spinning units.
  • a main drive 8 is arranged at one end of the machine, whereby an end-piece C of the machine is arranged at the opposite end of the machine.
  • At least one intermediate drive D or an intermediate drive mechanism is located between both ends of the row of spinning units. In the illustrated exemplary embodiment, there is one intermediate drive D and is situated in the central part of the machine.
  • a service robot 4 provided with unillustrated means for performing service operations at the spinning units A.
  • the service robot 4 moves along a running rail 3 which is arranged along the entire length of the ring spinning machine and can be stopped at a selected spinning unit A requesting a service operation.
  • Fig. 4 is a cross-secton of a ring spinning machine according dotted line IV-IV in Fig. 3 .
  • the position of the service robot 4 is essential for the position of the service robot 4 to be initialized before starting the actual service operations at the spinning units A, i.e. coordinated or synchronized with the row of spinning units A relative to an initial, reference position on the machine, so that, to put it differently, the service robot 4 can orient itself on the machine.
  • control unit can commence controlling the process of the activities of the service robot 4 along the row of spinning units A, e.g., the direction of the movement of the service robot 4 along the row of spinning units A, the speed of movement, the process of stopping or determining the position of the particular spinning unit A at which service operation is to be performed, scheduling the sequence of operations at the individual spinning units A, etc.
  • This initialization of the position of the service robot 4 must be done after each start-up of the machine or after the service robot 4 has been manually moved along its running rail or after restarting the service robot 4 on which service activity has been performed outside the machine, etc.
  • the spinning unit as such is principally well-known and therefore it will only be described in a simplified manner. Those parts, elements and nodes of the spinning unit that are of significance to the present invention will be described in greater detail.
  • Each spinning unit A of the ring spinning machine comprises an unillustrated roving drafting device, below which a yarn twisting and winding device is arranged. From an unillustrated supply package a roving is fed to a drafting device from which the yarn being formed passes through a guide eyelet, a balloon limiter and then through a traveller circulating around the circumference of the ring which is mounted in a holder which is mounted on a ring bench 5, wherepon the produced yarn after passing through the traveller is wound on a tube which is placed on a rotating spindle 1, thereby forming the cop.
  • the yarn package on the tube is formed by a stepwise reversible vertical movement of the ring bench 5 in the vertical direction F.
  • the spindle 1 is usually driven in its lower part by a flat belt from the drive shaft and is rotatably mounted in a closed bearing body G which is mounted on a fixed spindle bench 9.
  • an intermediate drive D near which is provided a parking position 8 of the service robot 4.
  • a reference element H of the position of the service robot 4 is arranged on the intermediate drive D, formed, for example, by a "false" spindle 2, which is in the area of the intermediate drive D of the machine, or in the area of the parking position 8 of the service robot 4 arranged in a defined position which is with respect to the longitudinal axis of the machine and the height of the machine the same as the position of the production spinning spindles 1.
  • the service robot 4 moves to the parking position 8, for example during the process of group doffing of the wound cops, putting empty tubes onto the spindles 1, spinning-in, etc., whereby the service robot 4 moves from the parking position 8 to the right or to the left towards the spinning units A requesting a service operation.
  • the first and second sensors A1, A2 Arranged on the service robot 4 are the first and second sensors A1, A2 of the position of the service robot 4 along the row of spinning units A.
  • the first sensor A1 is adapted to sense the presence of the individual spinning spindles 1 of the row of spinning units A as well as the presence of the reference element H, here, for example, the "false" spindle 2, during the movement of the service robot 4 along the row of spinning units A.
  • the second sensor A2 is adapted to sense the vertical surface 30 of the guide rail of the running rail 3 of the service robot 4.
  • the vertical surface 30 of the guide rail of the running rail 3 is provided with an end marker, e.g., with an opening 7 at the beginning and the end of the row of spinning units A, for example 3 to 4 pitches between the spinning spindles 1 before the last (end) spinning spindle 1 on the respective side of the row of spinning units A.
  • the running rail 3 is further provided at its initial and end parts with a mechanical safety stop 6 which limits the range of movement of the service robot 4 from the central part of the machine to the ends.
  • the end marker (opening 7) at both ends of the running rail 3 constitutes end reference positions of the service robot 4 and at the same time determines a point for starting the braking of the service robot 4 before stopping at the first or last spinning unit A of the respective row of spinning units A, or for changing the direction of movement of the service robot 4 into the opposite direction.
  • the reference element H in the form of the "false" spindle 2 is mounted in the holder on the body of the intermediate drive D in the area of the parking position and at the level of the height of the production spindles 1 at the spinning units A.
  • the distance of the reference element H of the position of the service robot 4, that is the "false” spindle 2 in the illustrated exemplary embodiment, i.e. the "false” spindle 2, from the active part of the sensor A1 is the same as the distance of the production spindles 1 from the active part of the sensor A1, see Fig. 2 .
  • the distance b between the reference element H, that is the "false” spindle 2 in the illustrated exemplary embodiment, and the closest production spindle 1 from both the right and left sides of the row of spinning units A is larger than the distance a between two adjacent production spindles 1.
  • the distance b is at least twice as large than the distance a.
  • the reference element H that is, in the illustrated exemplary embodiment, the "false" spindle 2 is in terms of the material and structure identical or very close to the production spindles 1, which means that the same detection properties of the sensor A1 are maintained in the production spindles 1, as well as in the reference element H.
  • the reference element H is formed by a metal pin or roller mounted in the corresponding position on the body of the intermediate drive D of the machine.
  • the device according to the invention operates in such a manner that during putting the ring spinning machine into operation after the previous shutdown or after moving the service robot 4 manually along the running rail 3, or after the installation of the service robot 4 on which service activities have been performed outside the machine, etc., the service robot 4 automatically begins to move initially from its random and precisely not defined position in the direction of the row of spinning units A towards one end of the row of spinning units A. During this movement, the service robot 4 detects by means of the sensor A1 the presence of the production spindles 1 which is determined by means of the set distance a of two adjacent production spindles 1 depending on the speed of the movement of the service robot.
  • the reference element H is detected by the sensor A1, because a greater distance b between adjacent spindles 1 and 2 is detected by the sensor than the corresponding distance a between adjacent production spindles 1, or, in other words, the distance which corresponds to the set distance b of the reference element H (the "false” spindle 2) from the closest production spindle 1, the spindle thus detected is registered as a reference element (the "false” spindle 2) in the area of the intermediate drive D and the parking position 8 and the control system, or the respective controller, now knows exactly where the service robot 4 is situated and past how many spinning units A it has travelled, because it counts the spinning units A past which it has travelled, and so it determines the number of the spinning units A of the row of spinning units A both to the right and and to the left from the reference element H.
  • the information about the total number of the spinning units and the location of the intermediate drive D with the reference element H is sent to the service robot 4 through a communication line, such as a CAN bus, from the control unit of the machine after switching on the power supply of the robot and/or the machine.
  • a communication line such as a CAN bus
  • the service robot 4 knows the number of the spinning units A on one side of the machine, the number of spinning units A before the reference element H and after the reference element H and also knows the numbers of the spinning units at the end marker, whereby the service robot 4 is provided with means for storing and processing this information for the operation of the service robot, and therefore for the synchronization of the machine with the service robot 4 it is not necessary to wait until the reference element H has been found by the service robot 4.
  • the service robot 4 travels to the position at the last spinning unit (detects the last production spindle 1), or, more specifically, travels to the end of the row of spinning units A, where the direction of movement of the service robot is changed, whereupon the service robot continues to detect the reference element H in the opposite direction of its movement.
  • control unit finds out that the service robot 4 is at the particular end of the row of spinning units A, whereby from the direction of the movement from which the service robot 4 has travelled to the particular end of the row of spinning units A it is determined which end (right, left) of the row of spinning units A it is.
  • the service robot 4 travels from its previously not defined position to a defined position a substantially shorter distance before it is found with certainty where the service robot 4 along the row of spinning units currently is situated.
  • This information about the defined position of the service robot 4 is transmitted to the control unit (controller) and the position of the service robot 4 along the row of spinning units A is thus known with certainty, i.e. is synchronized, according to the reference element H, or according to the machine end (by the end marker, or the opening 7).
  • This makes it possible for the control unit, or the controller, to start the activities of the service robot 4 along the row of spinning units A a lot earlier than is the case with the prior art.
  • the control unit, or the controller to start the activities of the service robot 4 along the row of spinning units A a lot earlier than is the case with the prior art.
  • the service robot 4 passes past the reference element H this is recorded and thus the defined determination of the position, i.e. synchronization of the service robot 4 and the row of spinning units A, is continuously maintained.
  • the production spindles 1 are continuously detected and counted, namely with respect to the path travelled by the service robot 4 between two adjacent production spindles 1, or, to put it differently, with respect to the time interval between the registration of the presence of two adjacent production spindles 1.
  • the distance b between the reference element H and the two closest production spindles 1 both from the right and left sides is greater than the distance a between two adjacent production spindles 1, and so the time interval between the detection of the reference element H and the production spindle 1 closest to it with the service robot 4 moving along the machine at a constant speed is longer than the time interval between the detection of two production spindles 1 arranged next to each other.
  • the sensor according to CZ patent application no. PV 2018-49 is used as a sensor A1 of the reference element H and the production spindles 1, which is, in addition, able to determine also the direction of movement of the service robot 4 from the course of its signal when detecting consecutive spinning units A along which the service robot 4 moves.
  • the direction of movement of the service robot is determined by the control unit or the controller, e.g., from the data of the frequency converter of the drive of the service robot 4 which serves as additional input information for the control of movement of the service robot 4 along the row of spinning units A.
  • This information and the information from the sensors A1 and A2 makes it possible for the control unit to perform fast and accurate positioning, including the inicialization process after starting the machine, after the start-up of the service robot 4, after a power failure, etc.
  • the above-mentioned counting of the spinning units A, along which the service robot 4 has travelled is, for example, advantageous for the control of the service robot 4 since the service robot 4 or a control device or a controller, etc., counts the spinning units A or the production spindles 1 beginning from the reference element H, in other words, from the defined position, as far as to the desired position of the service robot 4 in front of the specific spinning unit A requesting a service operation, and so it is not necessary to measure the distance travelled by the service device 4 or measure the duration of the travel of the service robot for fast and precise positioning of the service robot 4 relative to a specific spinning unit A in the row of spinning units A along the entire length of the spinning units A.
  • only one reference element H is arranged in the row of spinning units A.
  • two reference elements H or even more, are arranged in the row of spinning units A, which is especially advantageous in the case of very long ring spinning machines which comprise in one row of spinning units A as many as over 1 000 units A.
  • a higher number of reference elements H in the row of spinning units A contributes to fast initialization of the service robot 4 on the machine, or, to put it more specifically, relative to the row of spinning units A.
  • the number of intermediate drives D and, if necessary, the number of parking positions 8 of the service robot is also adequately increased.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)

Claims (15)

  1. Procédé de fonctionnement d'un robot d'entretien d'un métier à filer continu à anneaux,
    • le robot d'entretien étant déplaçable le long d'une rangée d'unités de filage (A) d'un métier à filer, chaque unité de filage (A) comprenant une broche (1), le robot d'entretien (4) pouvant être arrêté au niveau d'une unité de filage spécifique (A) afin de mettre en oeuvre une opération d'entretien au niveau de l'unité de filage (A) ; dans lequel il comprend les étapes suivantes :
    • déplacement du robot d'entretien (4) initialement le long de la rangée d'unités de filage (A) afin de détecter une position de référence ; et
    • pendant le déplacement du robot d'entretien (4) détection au moyen d'un capteur à courants de Foucault (A1) d'au moins un élément de référence (H) localisé entre l'une et l'autre des extrémités de la rangée d'unités de filage (A), l'au moins un élément de référence détecté (H) indiquant une position de référence respective ; et
    • utilisation de l'au moins une position de référence pendant le fonctionnement du robot d'entretien (4) pour positionner le robot d'entretien devant une unité de filage spécifique (A) de la rangée des unités de filage (A) en cas de besoin d'une opération d'entretien au niveau de l'unité de filage particulière (A), et dans lequel
    • l'au moins un élément de référence (H) est par sa configuration géométrique externe identique à, ou proche de, la configuration géométrique externe d'une partie détectée des broches à filer (1).
  2. Procédé selon la revendication 1, caractérisé en ce que le robot d'entretien (4) détecte une fausse broche (2) au moyen du capteur à courants de Foucault (A1) en guise d'élément de référence (H) entre l'une et l'autre des extrémités de la rangée d'unités de filage (A)
  3. Procédé selon l'une quelconque des revendications 1 ou 2, caractérisé en ce que le robot d'entretien compte les broches (1) à partir de la position de référence jusqu'à sa position devant l'unité de filage (A) pour mettre en oeuvre une opération d'entretien.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'au moins un élément de référence (H) est agencé dans un position dans laquelle sa distance (b) par rapport aux broches à filer les plus proches (1) à la fois à droite et à gauche est identique et, en même temps, cette distance (b) est supérieure à la distance (a) entre deux broches à filer adjacentes (1), moyennant quoi les broches à filer (1) et l'élément de référence (H) sont détectés pendant le déplacement initial du robot d'entretien (4), et l'au moins un élément de référence (H) est détecté selon des différences dans les intervalles de temps et/ou les distances entre deux broches à filer adjacentes (1) et entre lesdites broches à filer les plus proches (1) et l'au moins un élément de référence (H).
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'au moins un élément de référence (H) est détecté au niveau d'un entraînement intermédiaire (D) du métier à filer.
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que si le robot d'entretien (4) avant de détecter l'au moins un élément de référence (H) arrive à la fin de la rangée d'unités de filage (A) du métier à filer, le robot d'entretien (4) change de direction et continue à détecter l'au moins un élément de référence (H).
  7. Procédé selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le procédé est mis en oeuvre avant le début de l'opération du robot d'entretien (4) tel qu'après l'avoir activé ou après une coupure de courant.
  8. Métier à filer continu à anneaux destiné à mettre en oeuvre le procédé selon l'une quelconque des revendications 1 à 7, comprenant :
    • une rangée d'unités de filage (A) agencées les unes à côté des autres, chaque unité de filage (A) comprenant une broche (1),
    • un robot d'entretien (4) qui est déplaçable le long de la rangée d'unités de filage (A) avec une option d'arrêt au niveau d'une unité de filage sélectionnée (A) afin de mettre en oeuvre une opération d'entretien au niveau de l'unité de filage (A) ; moyennant quoi
    • le robot d'entretien (4) est pourvu d'un capteur (A1) permettant de capter la position du robot d'entretien (4) le long de la rangée d'unités de filage (A),
    • au moins un élément de référence (H) est agencé entre l'une et l'autre des extrémités de la rangée d'unités de filage (A) en guise de position de référence du robot d'entretien (4) le long de la rangée d'unités de filage (A), la position de référence étant utilisée pendant le fonctionnement du robot d'entretien (4) pour positionner le robot d'entretien (4) devant une unité de filage spécifique (A) de la rangée d'unités de filage (A) nécessitant une opération d'entretien ; et
    • un organe de commande conçu pour déplacer le robot d'entretien (4) initialement le long de la rangée d'unités de filage (A) afin de détecter la position de référence ; et
    • le robot d'entretien (4) comprend un capteur à courants de Foucault (A1) en guise de capteur et l'au moins un élément (H) est par sa configuration géométrique externe identique à, ou proche de, la configuration géométrique externe d'une partie détectée des broches à filer (1).
  9. Métier à filer continu à anneaux selon la revendication 8, caractérisé en ce que l'au moins un élément de référence (H) est agencé dans une position dans laquelle sa distance (b) par rapport aux broches à filer les plus proches (1) à la fois à droite et à gauche est identique et, en même temps, cette distance (b) est supérieure à la distance (a) entre deux broches à filer adjacentes (1).
  10. Métier à filer continu à anneaux selon l'une quelconque des revendications 8 à 9, caractérisé en ce que le capteur (A1) de la position du robot d'entretien (4) est associé à la zone en dessous de la surface inférieure d'un banc à broches (9).
  11. Métier à filer continu à anneaux selon l'une quelconque des revendications 8 à 10, caractérisé en ce que l'au moins un élément de référence (H) est constitué du même, ou à peu près du même, matériau que la partie détectée des broches à filer (1).
  12. Métier à filer continu à anneaux selon l'une quelconque des revendications 8 à 11, caractérisé en ce que l'au moins un élément de référence (H) est situé par rapport à l'axe longitudinal du métier à filer continu à anneaux et à la hauteur du métier à filer continu à anneaux dans la même position que celle où est située la partie des broches à filer (1) qui est captée.
  13. Métier à filer continu à anneaux selon l'une quelconque des revendications 8 à 12, caractérisé en ce que le robot d'entretien (4) est en outre pourvu d'un capteur (A2) permettant de détecter la fin de la rangée d'unités de filage (A).
  14. Métier à filer continu à anneaux selon l'une quelconque des revendications 8 à 13, caractérisé en ce que l'au moins un élément de référence (H) est agencé sur la structure d'un entraînement intermédiaire (D) agencé entre l'une et l'autre des extrémités de la rangée d'unités de filage (A), où une zone de stationnement du robot d'entretien (4) est située.
  15. Métier à filer continu à anneaux selon la revendication 14, caractérisé en ce que le robot d'entretien (4) et l'organe de commande sont interconnectés par une ligne de communication permettant de transmettre des informations concernant les nombres des unités de filage (A), le nombre total des unités de filage sur le métier, la localisation de l'entraînement intermédiaire (D) avec l'au moins un élément de référence (H) dans le robot d'entretien (4), moyennant quoi le robot d'entretien (4) est pourvu de moyens de stockage et de traitement de ces informations.
EP19188011.1A 2018-08-07 2019-07-24 Procédé de fonctionnement d'un robot de service d'une machine à filer à anneaux et machine à filer à anneaux pour son exécution Active EP3608457B1 (fr)

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CN113533359A (zh) * 2020-04-16 2021-10-22 杭州慧知连科技有限公司 丝锭表面缺陷视觉检测方法及其检测装置
CN114687026B (zh) * 2020-12-30 2023-05-12 苏州多道自动化科技有限公司 全自动纺纱管理系统及纺纱控制方法

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DE3909746A1 (de) 1989-03-23 1990-10-18 Rieter Ag Maschf Verfahren zum betrieb einer ringspinnmaschine sowie bedienroboter zur durchfuehrung des verfahrens
ITMI20021605A1 (it) * 2001-07-28 2004-01-22 Rieter Ingolstadt Spinnerei Comando del movimento di marcia di almeno un dispositivo di manutenzione in una macchina tessile
FR2894258B1 (fr) * 2005-12-02 2008-02-08 Superba Sas Dispositif de positionnement du tapis transporteur en defilement dans des machines de traitement thermique de fils
EP2017376A1 (fr) * 2007-07-16 2009-01-21 Maschinenfabrik Rieter Ag Procédé destiné au fonctionnement d'un métier à tisser
DE102009036777A1 (de) 2009-08-08 2011-02-10 Oerlikon Textile Gmbh & Co. Kg Verfahren zum Betreiben eines Serviceaggregats und Serviceaggregat
JP6028767B2 (ja) * 2014-06-02 2016-11-16 株式会社豊田自動織機 リング式紡機の糸継ぎ作業支援装置
EP3009388A3 (fr) * 2014-09-29 2016-08-03 Premier Evolvics PVT. Ltd. Système intégré et procédé pour améliorer l'efficacité et la qualité de processus de fabrication de fil textile
CZ308004B6 (cs) 2018-01-31 2019-10-16 Rieter Cz S.R.O. Způsob polohování obslužného zařízení spřádacího stroje, zařízení k jeho provádění a spřádací stroj

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CN110820091A (zh) 2020-02-21

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