EP3620560A1 - Method for feeding the end of a sliver and spinning machine - Google Patents

Method for feeding the end of a sliver and spinning machine Download PDF

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Publication number
EP3620560A1
EP3620560A1 EP19195588.9A EP19195588A EP3620560A1 EP 3620560 A1 EP3620560 A1 EP 3620560A1 EP 19195588 A EP19195588 A EP 19195588A EP 3620560 A1 EP3620560 A1 EP 3620560A1
Authority
EP
European Patent Office
Prior art keywords
spinning
fed
sliver
station
belt
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19195588.9A
Other languages
German (de)
French (fr)
Other versions
EP3620560B1 (en
Inventor
Michael Ueding
Adalbert Stephan
Henning Rave
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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Filing date
Publication date
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Publication of EP3620560A1 publication Critical patent/EP3620560A1/en
Application granted granted Critical
Publication of EP3620560B1 publication Critical patent/EP3620560B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/30—Arrangements for separating slivers into fibres; Orienting or straightening fibres, e.g. using guide-rolls
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/005—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving
    • D01H9/008—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing empty packages or cans and replacing by completed (full) packages or cans at paying-out stations; also combined with piecing of the roving for cans
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H5/00—Drafting machines or arrangements ; Threading of roving into drafting machine
    • D01H5/005—Arrangements for feeding or conveying the slivers to the drafting machine
    • 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
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/48—Piecing arrangements; Control therefor

Definitions

  • the present invention relates to a method for feeding a sliver end of a sliver deposited in a can to a spinning position of a spinning machine.
  • the spinning machine has a multiplicity of spinning stations arranged next to one another with cans placed underneath in at least one row.
  • a robot with a belt gripper grips the end of the belt and feeds it to a spinning station to be fed.
  • a sliver end of a sliver placed in a can is attached to a spinning station of the spinning machine to be fed, whereby for feeding the end of the band, the band gripper is equipped with elements for gripping the end of the band and feeding it to the spinning station.
  • a maintenance device for fiber-processing textile machines with a plurality of work stations which has a handling device for manipulating fiber sliver.
  • the handling device detects the sliver with the aid of a suction tube and a mechanical and / or pneumatic holding device for the sliver.
  • the suction pipe has a flattened suction pipe mouth with which a sliver end hanging over a can can be sucked in over a relatively wide area.
  • the disadvantage here is that if the sliver end does not hang over the edge of the can in the area of the workstation to be supplied, the wide suction tube mouth cannot find the sliver end either.
  • a manipulator which has at its free end a suction nozzle for receiving and fixing the beginning of a sliver.
  • the sliver is attached to the jug in a clamp, so that the end of the sliver can always be found at a defined position.
  • the manipulator can thus specifically reach this point and detect the sliver.
  • the disadvantage here is that each jug must be equipped with a clamp and the jug must be set up in a certain direction of rotation on the machine so that the manipulator can find the end of the belt.
  • the DE 43 21 367 A1 discloses an apparatus for automatically applying a sliver to a feed device of a textile machine.
  • the sliver is gripped and fed to the spinning device. Gripping the sliver is simplified by the use of so-called long cans, which are only under a single spinning station and have a width which is less than the width of the spinning station itself. This limits the area in which the sliver end can be located.
  • long cans are more expensive to buy than round cans and require special machines with which the sliver can be placed in the long cans.
  • the object of the present invention is therefore to provide a method and a spinning machine with which the disadvantages described can be avoided.
  • the method according to the invention serves to feed a sliver end of a sliver deposited in a can to a spinning position of a spinning machine.
  • the spinning machine has a multiplicity of spinning stations arranged next to one another with cans placed underneath in at least one row.
  • the cans are preferably round cans.
  • a robot grips the end of the belt with a belt gripper and feeds it to a spinning station to be fed.
  • the end of the tape becomes at least one of the areas adjacent spinning positions of the spinning position to be fed, preferably in the area of the spinning position to be fed and additionally at least one of the spinning position adjacent to this spinning position, are sought and picked up by the belt gripper.
  • the strip end is then fed to the spinning station to be fed.
  • the feed takes place in that the sliver is introduced into a feed of the spinning station equipped with a feed roller.
  • the feed roller can be driven, whereby the spinning operation is resumed when the sliver is inserted and the sliver is continuously drawn into the spinning station.
  • round cans due to their large diameter, extend along the width of two spinning stations. This makes it possible that when the robot is positioned in relation to a spinning station, the sliver end can be found either in the area of this spinning station to be fed or in the area of the adjacent spinning station. With the aid of the method according to the invention, it is now ensured that the end of the sliver can be reliably grasped, since the sliver gripper searches for the sliver at least in the area of the adjacent spinning station, preferably also in the area of the spinning station to be fed.
  • the robot is moved along the spinning machine and positioned in relation to the spinning station to be fed or to the spinning station adjacent to it.
  • the robot can be precisely assigned to this spinning machine by means of a running rail installed on the spinning machine.
  • the robot usually not only does the feeding of the sliver to the spinning station, but also other activities, which include, for example, attaching a thread, cleaning the spinning station or changing bobbins at the spinning station.
  • the robot can be designed as a can transport vehicle which travels along one or more spinning machines and in addition to feeding the sliver to the spinning station, the spinning cans are also replaced, ie the empty spinning can is replaced by a full spinning can.
  • the robot travels along several spinning machines similar to a can transport vehicle and is essentially only responsible for feeding the sliver to the spinning station.
  • the robot in the event that it has been positioned in relation to a spinning station adjacent to the spinning station to be fed, together with the sliver taken up and before the sliver is fed into the feed of the spinning station into a position in front of the spinning station to be fed becomes.
  • the robot is able to take up the sliver directly on the full can, which is intended for further spinning. Gripping the sliver is particularly easy for the robot in this positioning at the adjacent spinning station, since the robot can carry out the same movements for both adjacent spinning stations.
  • the robot has gripped the sliver, it positions itself exactly in front of the spinning station to be fed and is therefore able to insert the sliver end very precisely into the feed of the spinning station.
  • the belt gripper is advantageously moved relative to the robot along the spinning machine to an adjacent spinning station and / or to a can set up in a second row.
  • the belt gripper is thus able to search for the sliver in a predetermined area, even when the robot is stationary, which can be larger than the actual area which the belt gripper can actually reach.
  • the robot it is possible, if not absolutely necessary, for the robot to be positioned immediately at the spinning station to be fed and for a suitable movement of the belt gripper to find, grasp and in the fiber sliver in the area of the neighboring spinning station or in the second row of the cans set up introduces the feed to the spinning station.
  • the sliver gripper can pick up the sliver simultaneously from several possible positions at adjacent spinning positions. It is thus possible for the belt gripper to search for the fiber sliver both at the spinning station to be fed and at adjacent spinning stations arranged to the left or right of this spinning station and to grasp it there.
  • the belt gripper searches for the sliver on the top of the can and / or on the circumference of the can. If the ribbon gripper is looking for the sliver on the top of the can, it is also advantageous if the end of the sliver is placed, for example, like a string on the top of the can. This defines a defined area in which the ribbon gripper can locate the sliver end. If the sliver is on the circumference of the jug, it is possible that the sliver is fixed there at the jug at a defined position or at least hangs out of the jug at this position. This also makes it easy for the tape gripper to find and grasp the tape end quickly.
  • a spinning machine has a large number of spinning stations arranged next to one another and a robot on which a belt gripper is arranged. At least one row of cans with a sliver is present under the spinning positions.
  • the sliver gripper is equipped in such a way that it can grip the sliver end and feed it to the spinning point.
  • the belt gripper is designed and / or arranged on the robot such that the belt end is in an area of at least one spinning station which is adjacent to the spinning station to be fed, preferably in the area of the spinning station to be fed and additionally at least one of the spinning station adjacent to this spinning station, record and then the feed Can feed spinning station.
  • the belt gripper is thus able to locate the end of the belt safely and to feed it to the spinning point at which the sliver is missing, so that the spinning process can be continued at this spinning point.
  • the invention is based on the consideration that in the case of round spinning cans which have a diameter which corresponds approximately to the width of two spinning positions, the fiber sliver either lies in the area of the spinning position to be fed or else in the area of the adjacent spinning position and is easier to find there . It is particularly advantageous if the robot is designed such that it finds the end of the sliver at only a single spinning position. This increases the likelihood of finding the sliver. As a result, however, it may also be necessary for the robot to be positioned at the adjacent spinning position in order to be able to find the end of the belt.
  • the robot can be moved together with the end of the strip into the correct position in front of the spinning station to be fed and can then feed the end of the strip to the feed of the spinning station.
  • the robot can also be advantageous if the robot is already positioned correctly and immediately in front of the spinning station to be fed and the belt gripper is there to search for and detect the end of the belt. If the end of the strip is located between the two spinning positions, depending on the design of the strip gripper, it may be advantageous for the robot to be positioned either at the adjacent or at the spinning point to be fed in order to find the end of the strip.
  • the robot is advantageously arranged stationary at the spinning station and / or arranged to be movable on a can changer and / or on the spinning machine along the spinning machine, a solution for feeding the end of the strip can be provided individually, depending on the productivity of the machine.
  • the robot is stationary on the Spinning station is arranged, it is necessary that each of the plurality of spinning stations on the spinning machine has a robot that can introduce the sliver into the feed. It is advantageous here that a mobile robot does not have to be requested first and, accordingly, no waiting time is required until the sliver can be attached.
  • the feeding of the sliver or at least a preparation for feeding the sliver to the feed of the spinning station can be carried out. If necessary, the individual spinning station can then grip this sliver or pull it into the feed and continue the spinning process.
  • the robot on the spinning machine can be moved along this spinning machine. This means that the robot is guided on a rail of the spinning machine, for example, and patrols along the spinning machine. After the can has been changed, the robot drives along the spinning machine to the spinning station to be fed and carries out the feeding of the sliver. In this case, it is particularly advantageous that the exact positioning of the robot in front of the spinning station can also be used for further maintenance activities, for example feeding a thread or cleaning the spinning station, at the spinning station.
  • the robot can be moved along several spinning machines.
  • the robot can thus switch from one spinning machine to another spinning machine. Waiting times of the robot until a further maintenance need or sliver change has to be carried out can be kept short.
  • the belt gripper is designed to be movable relative to the robot along the spinning machine to an adjacent spinning station and / or to a can set up in a second row. This makes it possible for the belt gripper to move in front of or next to the one to be fed when it is stationary.
  • the spinning position of the robot is in a larger area than the ribbon gripper would allow, the fiber ribbon end can search and grasp. A repositioning of the robot after finding the end of the belt in order to feed it to the spinning station to be fed can thus be avoided.
  • the sliver gripper it is able to pick up the sliver simultaneously from several possible positions at adjacent spinning positions.
  • a particularly advantageous embodiment of the belt gripper consists, for example, of a very wide belt gripper which picks up both the area of the spinning station to be fed and the neighboring spinning station and at the same time searches for the end of the band. It is advantageous here if the belt gripper has a width in order to be able to grasp the end of the belt at at least two adjacent spinning positions.
  • the tape gripper has a suction unit which is suitable for sucking in the tape end, the tape gripper can simultaneously search for the sliver end in a larger area than with a mechanical gripper.
  • the belt gripper has a blowing unit for feeding the end of the belt into the feed of the spinning station. It is very easy and reliable to insert the end of the strip into the feed of the spinning station.
  • FIG. 1 shows a side view of a spinning machine 1 before gripping a strip end 2.
  • the spinning machine 1 has a plurality of spinning positions 3, which are arranged side by side.
  • a machine frame 4 is arranged at each of the two ends of the spinning machine 1.
  • Each spinning station 3 has a spinning box 5 and a bobbin 6, on which a yarn 7 is wound.
  • the yarn 7 is spun in the spin box 5 from a sliver 8 which is fed to the spin box 5 from a can 9.
  • a feed 11 which consists of at least one driven roller, the fiber sliver 8 is actively fed to the spin box 5.
  • the sliver 8 is guided on the way between the can 9 and the spin box 5 through a loop catcher 10, which is intended to prevent loops in the sliver 8 from being formed when the sliver 8 is removed from the can 8, which could lead to a break in the sliver.
  • the can 9 is exchanged for a full can 9.
  • the band end 2 of the sliver 8 contained therein hangs, for example, as shown in the can 9a, over the upper edge of the can 9a.
  • the sliver 8 is missing at the spinning point 3a to be fed, at which the sliver 8 is to be attached, in order to be able to continue the spinning operation.
  • the neighboring spinning station 3b continues to receive its sliver 8 from a can 9b, which, not visible, is arranged behind the can 9a in a second row.
  • the band end 2, which hangs over the edge of the can 9a can either be located in a region Ba below the spinning station 3a to be fed or in the region Bb below the adjacent spinning station 3b.
  • a robot 12 is located in front of the adjacent spinning station 3b.
  • the robot 12 can be moved along the spinning machine 1 in accordance with the double arrow V. If a spinning station 3 reports to a control device that there is a need for maintenance, for example a missing sliver 8 at a specific spinning station 3, the robot 12 is stopped at this spinning station 3, here the spinning station 3a to be fed or the neighboring spinning station 3b and starts its maintenance work. In the representation of the Figure 1 the robot 12 thus stands in front of the adjacent spinning station 3b.
  • the belt gripper 14 is a suction pipe which is able to suck in the belt end 2.
  • the belt gripper 14 can be pivoted according to the double arrow S, so that it can move the sucked-in end 2 of the belt in the direction of the feed 11 for feeding the end of the band 2 to the spinning station 3a.
  • the belt gripper 14 can of course also be designed differently than by a pneumatically operated suction pipe.
  • a mechanical gripper is also possible, which grips the band end 2 on the can 9a.
  • the robot 12 is located in front of the adjacent spinning station 3b.
  • the belt gripper 14 can find and grip the belt end 2, which can be located in the region Ba or Bb, for example by the pivoting movement S. Because the robot 12 is positioned at the adjacent spinning station 3b, the belt gripper 14 can grip the belt end 2, in particular in its area Bb. But even if the belt end 2 is in the area Ba of the spinning station 3a to be fed, the belt gripper 14 is able to grasp this belt end 2.
  • Figure 2 shows the spinning machine Figure 1 when feeding the tape end 2 at the spinning station 3a.
  • the robot 12 is thus moved according to arrow Va in the direction of the spinning station 3a to be fed and positioned there.
  • the belt gripper 14 has gripped the end of the belt 2 and leads it to the spinning station 3a to be fed.
  • the fiber sliver 8 or the sliver end 2 is moved to the feed 11 of the spinning station 3a to be fed and can be introduced into the feed 11 there, for example by a pressure surge from the sliver gripper 14.
  • either the sliver gripper 14 can have devices which thread the sliver 8 through the sling catcher 10, or the sling catcher 10 is designed such that it is, for example, by a lateral insertion of the sliver 8 into the sling catcher 10, can take up its function.
  • the robot 12 leaves the spinning station 3 a to be fed and carries out further maintenance work on other spinning stations 3.
  • the robot 12 is first positioned in the area of the adjacent spinning station 3b, searches for the end of the tape 2 at least in the area Bb of the adjacent spinning station 3b, but also here in the area Ba of the spinning station 3a to be fed, and picks up the end of the tape 2.
  • the robot 12 then moves in front of the spinning station 3a to be fed, positions itself there and inserts the end of the strip 2 into the feed 11 of the spinning station 3a to be fed.
  • the belt gripper 14 is designed such that, on the one hand, it searches for and grips the end of the belt 2 in the region Bb of the adjacent spinning station 3b, but then, without further movement of the robot 12, for example by an articulated or telescopic movement of the Belt gripper 14, the belt end 2 into the feed 11 of the spinning station 3a to be fed.
  • FIG. 3 shows the spinning machine 1 before gripping a strip end 2 for feeding at another spinning station 3, which in turn is referred to here as the spinning station 3a to be fed.
  • the robot 12 is in this embodiment positioned in front of the spinning station 3a to be fed.
  • the belt gripper 14 is able to grasp the belt end 2 hanging out of the can 9a and located in the region Bb of the adjacent spinning station 3b.
  • the tape gripper 14 pivots, as in FIG Figure 4 shown, upwards in the direction of the feed 11 and introduces the tape end 2 into the feed 11 either independently or with the aid of further insertion elements.
  • FIG Figure 4th shows, it is not necessary here that the robot 12 has to be repositioned after finding the end of the strip 2 in order to feed the end of the strip 2 into the feed 11 of the spinning station 3a.
  • Figure 5 shows an embodiment of a robot 12 with a belt gripper 14 that is movable relative to the robot 12.
  • the belt gripper 14 is moved together with the belt attachment device 13 in the horizontal direction RH to the robot 12.
  • a swiveling movement S of the band gripper 14 it is very easily possible for the band end 2 in the region Bb of the neighboring one Spinning station 3b and possibly additionally in the area Ba of the spinning station 3a to be fed is searched for and found.
  • the belt gripper 14 is operated pneumatically. According to arrow Ls, the belt gripper 14 is able to suck the belt end 2 into the belt gripper 14. To feed the sliver 8 or sliver end 2 into the feed 11 of the spinning station 3a, the suction flow can be switched over to a compressed air flow and thus blow the sliver end 2 into the feed 11 according to arrow Lb. The feeding of the tape end 2 or fiber sliver 8 at the spinning station 3a to be fed can thereby take place very reliably.
  • FIG. 6 shows an embodiment of a robot 12 with a wide belt gripper 14.
  • the belt gripper 14 has a width B, through which it is able to grasp a belt end 2 both in the area Ba and in the area Bb.
  • the air flows L are in accordance with Figure 5 Not provided at the end of the tape gripper 14, but along the tape gripper 14 and suck in the sliver 8 transversely to the tape gripper 14.
  • the tape attachment device 13 together with the tape gripper 14 can be moved vertically according to the double arrow RV relative to the robot 12. It may be sufficient for the belt gripper 14 to be arranged stationary on the belt attachment device 13, that is to say not pivotable.
  • FIG. 7 shows two spinning stations 3a and 3b with a stationarily arranged belt gripper 14.
  • the belt gripper 14 or the belt attachment device 13 is firmly attached with respect to the two spinning stations 3a and 3b.
  • the belt gripper 14 By swiveling the belt gripper 14 according to double arrow S, the belt gripper 14 is able to grasp a belt end 2 both in the region Ba and in the region Bb and to feed it to the spinning station 3a.
  • the belt gripper 14 can Feed the tape end 2 either to the spinning station 3 arranged on the left side of the can 9 or to the spinning station 3 arranged on the right side of the can 9.
  • the tape attachment device 13 can also be designed to be vertically and horizontally displaceable according to the double arrow RV and additionally according to the double arrow RH.
  • Figure 8 shows a top view of several spinning stations 3 with rows of cans 9 arranged underneath.
  • the cans 9 of the first row R1 protrude from the spinning stations 3, while the cans 9 of the second row R2 are arranged entirely below the spinning stations 3.
  • no sliver 8 is inserted at two spinning positions 3a.
  • the corresponding cans 9a are located both in the first row R1 and in the second row R2.
  • the band end 2 of the can 9a shown in the second row R2 is deposited like a string over an upper side 16 of the can 9.
  • a belt gripper 14, not shown here, can be picked up by a swiveling movement which, contrary to the representation of the previous figures, does not allow movement of the belt gripper 14 in front of the spinning stations 3 but under the spinning stations 3. As soon as the band end 2 is gripped on this upper side 16, it is pulled together with the band gripper 14 under the spinning stations 3a, 3b and attached to the spinning station 3a.
  • the band end 2 is placed hanging over the edge of the can.
  • the belt gripper 14 can grip the belt end 2 around the circumference 15 of the can 9a and feed it to the spinning station 3a to be fed.
  • the band end 2 lying over the top 16 can also be in the case of a can 9a of the first row R1 or that over the circumference 15 the tape end 2 depending on the can 9a can also be presented in the case of a can 9a to be fed in the second row R2.

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

Abstract

Verfahren zum Zuführen eines Bandendes (2) eines in einer Kanne (9) abgelegten Faserbandes (8) an eine Spinnstelle (3) einer Spinnmaschine (1), wobei die Spinnmaschine (1) eine Vielzahl von nebeneinander angeordneten Spinnstellen (3) mit darunter in zumindest einer Reihe aufgestellten Kannen (9) aufweist und wobei ein Roboter (12) mit einem Bandgreifer (14) das Bandende (2) ergreift und einer zuzuführenden Spinnstelle (3a) zuführt. Erfindungsgemäß ist, dass das Bandende (2) in einem Bereich zumindest einer der benachbarten Spinnstellen (3b) der zuzuführenden Spinnstelle (3a), vorzugsweise im Bereich (Ba) der zuzuführenden Spinnstelle (3a) und zumindest einer der zu dieser Spinnstelle (3a) benachbarten Spinnstelle (3b), gesucht, von dem Bandgreifer (14) aufgenommen und sodann der zuzuführenden Spinnstelle (3a) zugeführt wird. Bei einer entsprechenden Spinnmaschine ist der Bandgreifer (14) derart ausgeführt und/oder an dem Roboter (12) angeordnet, dass er das Bandende (2) in einem Bereich (Bb) zumindest einer Spinnstelle (3b), welche der zuzuführenden Spinnstelle (3a) benachbart ist, vorzugsweise im Bereich (Ba, Bb) der zuzuführenden Spinnstelle (3a) und zumindest einer der zu dieser Spinnstelle (3a) benachbarten Spinnstelle (3b), aufnehmen und sodann der zuzuführenden Spinnstelle (3a) zuführen kann.Method for feeding a sliver end (2) of a sliver (8) deposited in a can (9) to a spinning station (3) of a spinning machine (1), the spinning machine (1) having a plurality of spinning stations (3) arranged next to one another, including in Has at least one row of cans (9) and a robot (12) with a belt gripper (14) grasps the belt end (2) and feeds it to a spinning station (3a) to be fed. According to the invention, the belt end (2) is located in an area of at least one of the adjacent spinning positions (3b) of the spinning position (3a) to be fed, preferably in the area (Ba) of the spinning position (3a) to be fed and at least one of those adjacent to this spinning position (3a) Spinning station (3b), sought, picked up by the belt gripper (14) and then fed to the spinning station (3a) to be fed. In a corresponding spinning machine, the belt gripper (14) is designed and / or arranged on the robot (12) in such a way that it holds the end of the belt (2) in an area (Bb) of at least one spinning station (3b) which corresponds to the spinning station (3a) to be fed. is adjacent, preferably in the area (Ba, Bb) of the spinning station (3a) to be fed and at least one of the spinning station (3b) adjacent to this spinning station (3a), and can then feed the spinning station (3a) to be fed.

Description

Die vorliegende Erfindung betrifft ein Verfahren zum Zuführen eines Bandendes eines in einer Kanne abgelegten Faserbandes an eine Spinnstelle einer Spinnmaschine. Die Spinnmaschine weist eine Vielzahl von nebeneinander angeordneten Spinnstellen mit darunter in zumindest einer Reihe aufgestellten Kannen auf. Ein Roboter mit einem Bandgreifer ergreift das Bandende und führt es einer zuzuführenden Spinnstelle zu. Bei einer Spinnmaschine mit einer Vielzahl von nebeneinander angeordneten Spinnstellen und mit einem einen Bandgreifer aufweisenden Roboter sowie mit unter den Spinnstellen in zumindest einer Reihe aufgestellten Kannen mit einem Faserband, wird ein Bandende eines in einer Kanne abgelegten Faserbandes an eine zuzuführende Spinnstelle der Spinnmaschine angesetzt, wobei zum Zuführen des Bandendes der Bandgreifer mit Elementen ausgestattet ist, um das Bandende zu ergreifen und der Spinnstelle zuzuführen.The present invention relates to a method for feeding a sliver end of a sliver deposited in a can to a spinning position of a spinning machine. The spinning machine has a multiplicity of spinning stations arranged next to one another with cans placed underneath in at least one row. A robot with a belt gripper grips the end of the belt and feeds it to a spinning station to be fed. In the case of a spinning machine with a large number of spinning stations arranged next to one another and with a robot having a belt gripper and with cans set up under the spinning stations in at least one row with a sliver, a sliver end of a sliver placed in a can is attached to a spinning station of the spinning machine to be fed, whereby for feeding the end of the band, the band gripper is equipped with elements for gripping the end of the band and feeding it to the spinning station.

Aus der DE 10 2005 009 766 A1 ist eine Wartungseinrichtung für faserverarbeitende Textilmaschinen mit einer Mehrzahl von Arbeitsstellen bekannt, welche ein Handhabungsgerät zur Manipulation von Faserband aufweist. Das Handhabungsgerät erfasst das Faserband mithilfe eines Saugrohres und einer mechanischen und/oder pneumatischen Haltevorrichtung für das Faserband. Das Saugrohr weist eine abgeflachte Saugrohrmündung auf, mit welcher ein über eine Kanne hängendes Faserbandende über einen relativ breiten Bereich angesaugt werden kann. Nachteilig hierbei ist, dass, wenn das Faserbandende nicht im Bereich der zuzuführenden Arbeitsstelle über den Kannenrand hängt, auch die breite Saugrohrmündung das Faserbandende nicht finden kann.From the DE 10 2005 009 766 A1 A maintenance device for fiber-processing textile machines with a plurality of work stations is known, which has a handling device for manipulating fiber sliver. The handling device detects the sliver with the aid of a suction tube and a mechanical and / or pneumatic holding device for the sliver. The suction pipe has a flattened suction pipe mouth with which a sliver end hanging over a can can be sucked in over a relatively wide area. The disadvantage here is that if the sliver end does not hang over the edge of the can in the area of the workstation to be supplied, the wide suction tube mouth cannot find the sliver end either.

Aus der DE 42 04 044 A1 ist ein Manipulator bekannt, der an seinem freien Ende eine Saugdüse zur Aufnahme und Festlegung des Anfangs eines Faserbandes aufweist. Das Faserband ist an der Kanne in einer Klemme festgelegt, sodass das Ende des Faserbandes stets an einer definierten Position zu finden ist. Der Manipulator kann somit gezielt an diese Stelle greifen und das Faserband erfassen. Nachteilig ist hierbei, dass jede Kanne mit einer Klemme ausgestattet sein muss und die Kanne in einer bestimmten Drehrichtung an der Maschine aufgestellt sein muss, damit der Manipulator das Bandende finden kann.From the DE 42 04 044 A1 a manipulator is known which has at its free end a suction nozzle for receiving and fixing the beginning of a sliver. The sliver is attached to the jug in a clamp, so that the end of the sliver can always be found at a defined position. The manipulator can thus specifically reach this point and detect the sliver. The disadvantage here is that each jug must be equipped with a clamp and the jug must be set up in a certain direction of rotation on the machine so that the manipulator can find the end of the belt.

Die DE 43 21 367 A1 offenbart eine Vorrichtung zum automatischen Anlegen eines Faserbandes an eine Speisevorrichtung einer Textilmaschine. Das Faserband wird ergriffen und der Spinnvorrichtung zugeführt. Das Ergreifen des Faserbandes ist dadurch vereinfacht, dass sogenannte Langkannen verwendet werden, welche lediglich unter einer einzigen Spinnstelle stehen und eine Breite aufweisen, welche geringer als die Breite der Spinnstelle selbst ist. Hierdurch ist der Bereich, in welchem sich das Faserbandende befinden kann, eingeschränkt. Langkannen sind allerdings in der Anschaffung teurer als Rundkannen und erfordern spezielle Maschinen, mit welchen das Faserband in die Langkannen abgelegt werden kann.The DE 43 21 367 A1 discloses an apparatus for automatically applying a sliver to a feed device of a textile machine. The sliver is gripped and fed to the spinning device. Gripping the sliver is simplified by the use of so-called long cans, which are only under a single spinning station and have a width which is less than the width of the spinning station itself. This limits the area in which the sliver end can be located. However, long cans are more expensive to buy than round cans and require special machines with which the sliver can be placed in the long cans.

Aufgabe der vorliegenden Erfindung ist es somit, ein Verfahren und eine Spinnmaschine zu schaffen, mit denen die beschriebenen Nachteile zu vermeiden sind.The object of the present invention is therefore to provide a method and a spinning machine with which the disadvantages described can be avoided.

Die Aufgabe wird gelöst durch ein Verfahren und eine Spinnmaschine mit den Merkmalen der unabhängigen Patentansprüche.The object is achieved by a method and a spinning machine with the features of the independent claims.

Das erfindungsgemäße Verfahren dient zum Zuführen eines Bandendes eines in einer Kanne abgelegten Faserbandes an eine Spinnstelle einer Spinnmaschine. Die Spinnmaschine weist eine Vielzahl von nebeneinander angeordneten Spinnstellen mit darunter in zumindest einer Reihe aufgestellten Kannen auf. Die Kannen sind vorzugsweise Rundkannen. Ein Roboter ergreift mit einem Bandgreifer das Bandende und führt es einer zuzuführenden Spinnstelle zu. Das Bandende wird in einem Bereich zumindest einer der benachbarten Spinnstellen der zuzuführenden Spinnstelle, vorzugsweise im Bereich der zuzuführenden Spinnstelle und zusätzlich zumindest einer der zu dieser Spinnstelle benachbarten Spinnstelle, gesucht und von dem Bandgreifer aufgenommen. Anschließend wird das Bandende der zuzuführenden Spinnstelle zugeführt.The method according to the invention serves to feed a sliver end of a sliver deposited in a can to a spinning position of a spinning machine. The spinning machine has a multiplicity of spinning stations arranged next to one another with cans placed underneath in at least one row. The cans are preferably round cans. A robot grips the end of the belt with a belt gripper and feeds it to a spinning station to be fed. The end of the tape becomes at least one of the areas adjacent spinning positions of the spinning position to be fed, preferably in the area of the spinning position to be fed and additionally at least one of the spinning position adjacent to this spinning position, are sought and picked up by the belt gripper. The strip end is then fed to the spinning station to be fed.

Die Zuführung erfolgt dadurch, dass das Faserband in eine mit einer Speisewalze ausgestatteten Speisung der Spinnstelle eingeführt wird. Die Speisewalze kann angetrieben werden, wodurch bei eingelegtem Faserband der Spinnbetrieb wieder aufgenommen und das Faserband kontinuierlich in die Spinnstelle eingezogen wird.The feed takes place in that the sliver is introduced into a feed of the spinning station equipped with a feed roller. The feed roller can be driven, whereby the spinning operation is resumed when the sliver is inserted and the sliver is continuously drawn into the spinning station.

Typischerweise erstrecken sich Rundkannen durch ihren großen Durchmesser entlang der Breite von zwei Spinnstellen. Dadurch ist es möglich, dass, wenn der Roboter in Bezug auf eine Spinnstelle positioniert ist, das Faserbandende entweder im Bereich dieser zuzuführenden Spinnstelle oder im Bereich der benachbarten Spinnstelle aufzufinden ist. Mithilfe des erfindungsgemäßen Verfahrens ist nunmehr sichergestellt, dass das Faserbandende sicher erfasst werden kann, da der Bandgreifer zumindest in dem Bereich der benachbarten Spinnstelle, vorzugsweise auch zusätzlich im Bereich der zuzuführenden Spinnstelle, das Faserband sucht.Typically, round cans, due to their large diameter, extend along the width of two spinning stations. This makes it possible that when the robot is positioned in relation to a spinning station, the sliver end can be found either in the area of this spinning station to be fed or in the area of the adjacent spinning station. With the aid of the method according to the invention, it is now ensured that the end of the sliver can be reliably grasped, since the sliver gripper searches for the sliver at least in the area of the adjacent spinning station, preferably also in the area of the spinning station to be fed.

In einer vorteilhaften Ausführung der Erfindung wird der Roboter entlang der Spinnmaschine verfahren und in Bezug auf die zuzuführende oder die zu dieser benachbarten Spinnstelle positioniert. Der Roboter kann dabei mittels einer an der Spinnmaschine verlegten Fahrschiene dieser Spinnmaschine genau zugeordnet sein. In der Regel erledigt der Roboter in diesem Falle nicht nur das Zuführen des Faserbandes an die Spinnstelle, sondern auch weitere Tätigkeiten, welche beispielsweise das Ansetzen eines Fadens, das Reinigen der Spinnstelle oder das Auswechseln von Spulen an der Spinnstelle umfassen. Alternativ kann der Roboter als Kannentransportfahrzeug ausgebildet sein, welches entlang einer oder mehrerer Spinnmaschinen verfährt und neben dem Zuführen des Faserbandes an die Spinnstelle auch noch das Auswechseln der Spinnkannen, d. h. das Ersetzen der leeren Spinnkanne durch eine volle Spinnkanne, durchführt. Selbstverständlich ist es auch möglich, dass der Roboter ähnlich einem Kannentransportfahrzeug entlang mehrerer Spinnmaschinen verfährt und im Wesentlichen nur für das Zuführen des Faserbandes an die Spinnstelle zuständig ist.In an advantageous embodiment of the invention, the robot is moved along the spinning machine and positioned in relation to the spinning station to be fed or to the spinning station adjacent to it. The robot can be precisely assigned to this spinning machine by means of a running rail installed on the spinning machine. In this case, the robot usually not only does the feeding of the sliver to the spinning station, but also other activities, which include, for example, attaching a thread, cleaning the spinning station or changing bobbins at the spinning station. Alternatively, the robot can be designed as a can transport vehicle which travels along one or more spinning machines and in addition to feeding the sliver to the spinning station, the spinning cans are also replaced, ie the empty spinning can is replaced by a full spinning can. Of course, it is also possible that the robot travels along several spinning machines similar to a can transport vehicle and is essentially only responsible for feeding the sliver to the spinning station.

Vorzugsweise ist vorgesehen, dass der Roboter für den Fall, dass er in Bezug auf eine zu der zuzuführenden Spinnstelle benachbarte Spinnstelle positioniert wurde, zusammen mit dem aufgenommenen Faserband und vor dem Zuführen des Faserbandes in die Speisung der Spinnstelle in eine Position vor der zuzuführenden Spinnstelle verfahren wird. Hierdurch ist der Roboter in der Lage das Faserband direkt an der vollen Kanne aufzunehmen, welche für das weitere Spinnen vorgesehen ist. Das Ergreifen des Faserbandes ist bei dieser Positionierung an der benachbarten Spinnstelle für den Roboter besonders einfach, da er für beide benachbarte Spinnstellen jeweils dieselben Bewegungen durchführen kann. Sobald der Roboter das Faserband ergriffen hat, positioniert er sich exakt vor der zuzuführenden Spinnstelle und ist damit in der Lage das Faserbandende sehr genau in die Speisung der Spinnstelle einzuführen.It is preferably provided that the robot, in the event that it has been positioned in relation to a spinning station adjacent to the spinning station to be fed, together with the sliver taken up and before the sliver is fed into the feed of the spinning station into a position in front of the spinning station to be fed becomes. As a result, the robot is able to take up the sliver directly on the full can, which is intended for further spinning. Gripping the sliver is particularly easy for the robot in this positioning at the adjacent spinning station, since the robot can carry out the same movements for both adjacent spinning stations. As soon as the robot has gripped the sliver, it positions itself exactly in front of the spinning station to be fed and is therefore able to insert the sliver end very precisely into the feed of the spinning station.

Vorteilhafterweise wird der Bandgreifer relativ zu dem Roboter entlang der Spinnmaschine zu einer benachbarten Spinnstelle und/oder zu einer in einer zweiten Reihe aufgestellten Kanne bewegt. Der Bandgreifer ist damit in der Lage auch bei einem stillstehenden Roboter das Faserband in einem vorgegebenen Bereich zu suchen, welcher größer sein kann als der eigentliche Bereich, den der Bandgreifer an sich erreichen kann. In diesem Falle ist es möglich, wenn auch nicht zwingend nötig, dass der Roboter sofort an der zuzuführenden Spinnstelle positioniert wird und durch eine entsprechende Bewegung des Bandgreifers das Faserband im Bereich der benachbarten Spinnstelle oder in der zweiten Reihe der aufgestellten Kannen sucht, ergreift und in die Speisung der Spinnstelle einführt.The belt gripper is advantageously moved relative to the robot along the spinning machine to an adjacent spinning station and / or to a can set up in a second row. The belt gripper is thus able to search for the sliver in a predetermined area, even when the robot is stationary, which can be larger than the actual area which the belt gripper can actually reach. In this case it is possible, if not absolutely necessary, for the robot to be positioned immediately at the spinning station to be fed and for a suitable movement of the belt gripper to find, grasp and in the fiber sliver in the area of the neighboring spinning station or in the second row of the cans set up introduces the feed to the spinning station.

Vorzugsweise ist vorgesehen, dass der Bandgreifer das Faserband gleichzeitig aus mehreren möglichen Positionen an benachbarten Spinnstellen aufnehmen kann. Damit ist es möglich, dass der Bandgreifer sowohl an der zuzuführenden Spinnstelle, als auch an links oder rechts von dieser Spinnstelle angeordneten benachbarten Spinnstellen nach dem Faserband sucht und dieses dort ergreift.It is preferably provided that the sliver gripper can pick up the sliver simultaneously from several possible positions at adjacent spinning positions. It is thus possible for the belt gripper to search for the fiber sliver both at the spinning station to be fed and at adjacent spinning stations arranged to the left or right of this spinning station and to grasp it there.

In einer vorteilhaften Ausführung der Erfindung ist vorgesehen, dass der Bandgreifer das Faserband auf der Oberseite der Kanne und/oder am Umfang der Kanne sucht. Wenn der Bandgreifer das Faserband an der Oberseite der Kanne sucht, ist es weiterhin vorteilhaft, wenn das Faserbandende beispielsweise sehnenartig an der Oberseite der Kanne abgelegt ist. Damit ist ein definierter Bereich vorgegeben, in welchem der Bandgreifer das Faserbandende auffinden kann. Wenn sich das Faserband am Umfang der Kanne befindet, ist es möglich, dass das Faserband dort an der Kanne an einer definierten Position festgelegt oder zumindest an dieser Position aus der Kanne hängt. Auch damit ist es für den Bandgreifer einfach möglich, dass er das Bandende schnell finden und ergreifen kann.In an advantageous embodiment of the invention it is provided that the belt gripper searches for the sliver on the top of the can and / or on the circumference of the can. If the ribbon gripper is looking for the sliver on the top of the can, it is also advantageous if the end of the sliver is placed, for example, like a string on the top of the can. This defines a defined area in which the ribbon gripper can locate the sliver end. If the sliver is on the circumference of the jug, it is possible that the sliver is fixed there at the jug at a defined position or at least hangs out of the jug at this position. This also makes it easy for the tape gripper to find and grasp the tape end quickly.

Eine erfindungsgemäße Spinnmaschine weist eine Vielzahl von nebeneinander angeordneten Spinnstellen und einen Roboter auf, an dem ein Bandgreifer angeordnet ist. Unter den Spinnstellen sind in zumindest einer Reihe aufgestellte Kannen mit einem Faserband vorhanden. Zum Zuführen eines Bandendes eines in einer Kanne abgelegten Faserbandes an eine zuzuführende Spinnstelle der Spinnmaschine ist der Bandgreifer so ausgestattet dass er das Bandende ergreifen und der Spinnstelle zuführen kann. Hierfür ist der Bandgreifer derart ausgeführt und/oder an dem Roboter angeordnet, dass er das Bandende in einem Bereich zumindest einer Spinnstelle, welche der zuzuführenden Spinnstelle benachbart ist, vorzugsweise im Bereich der zuzuführenden Spinnstelle und zusätzlich zumindest an einer der zu dieser Spinnstelle benachbarten Spinnstelle, aufnehmen und sodann der zuzuführenden Spinnstelle zuführen kann. Der Bandgreifer ist damit in der Lage das Bandende sicher aufzufinden und der Spinnstelle, an welcher das Faserband fehlt, gezielt zuzuführen, sodass der Spinnvorgang an dieser Spinnstelle fortgesetzt werden kann.A spinning machine according to the invention has a large number of spinning stations arranged next to one another and a robot on which a belt gripper is arranged. At least one row of cans with a sliver is present under the spinning positions. For feeding a sliver end of a sliver deposited in a can to a spinning point of the spinning machine to be fed, the sliver gripper is equipped in such a way that it can grip the sliver end and feed it to the spinning point. For this purpose, the belt gripper is designed and / or arranged on the robot such that the belt end is in an area of at least one spinning station which is adjacent to the spinning station to be fed, preferably in the area of the spinning station to be fed and additionally at least one of the spinning station adjacent to this spinning station, record and then the feed Can feed spinning station. The belt gripper is thus able to locate the end of the belt safely and to feed it to the spinning point at which the sliver is missing, so that the spinning process can be continued at this spinning point.

Die Erfindung geht dabei von der Überlegung aus, dass bei runden Spinnkannen, welche einen Durchmesser aufweisen, der in etwa der Breite zweier Spinnstellen entspricht, das Faserband entweder im Bereich der zuzuführenden Spinnstelle oder aber auch im Bereich der benachbarten Spinnstelle liegt und dort besser aufzufinden ist. Dabei ist es besonders vorteilhaft, wenn der Roboter derart ausgeführt ist, dass er das Faserbandende an nur einer einzigen Spinnstelle findet. Die Wahrscheinlichkeit das Faserband zu finden ist damit größer. Hierdurch kann es aber auch erforderlich sein, dass der Roboter an der benachbarten Spinnstelle positioniert sein muss, um das Bandende auffinden zu können. Sobald das Bandende durch den Bandgreifer ergriffen ist, kann der Roboter zusammen mit dem Bandende in die richtige Position vor der zuzuführenden Spinnstelle verfahren werden und dort das Zuführen des Bandendes an die Speisung der Spinnstelle vornehmen. Liegt das Bandende allerdings vor der zuzuführenden Spinnstelle und nicht an der benachbarten Spinnstelle, so kann es auch von Vorteil sein, wenn der Roboter bereits richtig und unmittelbar vor der zuzuführenden Spinnstelle positioniert wird und der Bandgreifer dort das Bandende sucht und erfasst. Sofern das Bandende sich zwischen den beiden Spinnstellen befindet, kann es je nach Ausführung des Bandgreifers vorteilhaft sein, dass der Roboter zum Auffinden des Bandendes entweder an der benachbarten oder an der zuzuführenden Spinnstelle positioniert wird.The invention is based on the consideration that in the case of round spinning cans which have a diameter which corresponds approximately to the width of two spinning positions, the fiber sliver either lies in the area of the spinning position to be fed or else in the area of the adjacent spinning position and is easier to find there . It is particularly advantageous if the robot is designed such that it finds the end of the sliver at only a single spinning position. This increases the likelihood of finding the sliver. As a result, however, it may also be necessary for the robot to be positioned at the adjacent spinning position in order to be able to find the end of the belt. As soon as the end of the strip is gripped by the strip gripper, the robot can be moved together with the end of the strip into the correct position in front of the spinning station to be fed and can then feed the end of the strip to the feed of the spinning station. However, if the end of the strip lies in front of the spinning station to be fed and not at the neighboring spinning station, it can also be advantageous if the robot is already positioned correctly and immediately in front of the spinning station to be fed and the belt gripper is there to search for and detect the end of the belt. If the end of the strip is located between the two spinning positions, depending on the design of the strip gripper, it may be advantageous for the robot to be positioned either at the adjacent or at the spinning point to be fed in order to find the end of the strip.

Ist der Roboter vorteilhafterweise stationär an der Spinnstelle angeordnet und/oder an einem Kannenwechsler und/oder an der Spinnmaschine entlang der Spinnmaschine verfahrbar angeordnet, so kann je nach erforderlicher Produktivität der Maschine individuell eine Lösung zum Zuführen des Bandendes vorgesehen werden. In dem Fall, dass der Roboter stationär an der Spinnstelle angeordnet ist, ist es erforderlich, dass jede der Vielzahl von Spinnstellen an der Spinnmaschine einen Roboter aufweist, welcher das Faserband in die Speisung einführen kann. Vorteilhaft ist hierbei, dass nicht erst ein fahrbarer Roboter angefordert werden muss und dementsprechend keine Wartezeit erforderlich ist, bis das Faserband angesetzt werden kann. Ist der Roboter an einem Kannenwechsler angeordnet, so kann zusammen mit dem Auswechseln einer leeren Kanne gegen eine neue, volle Kanne das Zuführen des Faserbandes oder zumindest ein Vorbereiten des Zuführens des Faserbandes an die Speisung der Spinnstelle durchgeführt werden. Die einzelne Spinnstelle kann dann bei Bedarf dieses vorgelegte Faserband ergreifen bzw. in die Speisung einziehen und den Spinnvorgang fortsetzen. In einer weiteren Alternative ist der Roboter an der Spinnmaschine entlang dieser Spinnmaschine verfahrbar. Das bedeutet, dass der Roboter beispielsweise an einer Schiene der Spinnmaschine geführt ist und entlang der Spinnmaschine patrouilliert. Nachdem ein Kannenwechsel erfolgt ist, fährt der Roboter entlang der Spinnmaschine bis zu der zuzuführenden Spinnstelle und führt das Zuführen des Faserbandes durch. In diesem Falle ist es besonders vorteilhaft, dass das genaue Positionieren des Roboters vor der Spinnstelle auch für weitere Wartungstätigkeiten, beispielsweise das Zuführen eines Fadens oder das Reinigen der Spinnstelle, an der Spinnstelle verwendet werden kann.If the robot is advantageously arranged stationary at the spinning station and / or arranged to be movable on a can changer and / or on the spinning machine along the spinning machine, a solution for feeding the end of the strip can be provided individually, depending on the productivity of the machine. In the event that the robot is stationary on the Spinning station is arranged, it is necessary that each of the plurality of spinning stations on the spinning machine has a robot that can introduce the sliver into the feed. It is advantageous here that a mobile robot does not have to be requested first and, accordingly, no waiting time is required until the sliver can be attached. If the robot is arranged on a can changer, then, together with the replacement of an empty can for a new, full can, the feeding of the sliver or at least a preparation for feeding the sliver to the feed of the spinning station can be carried out. If necessary, the individual spinning station can then grip this sliver or pull it into the feed and continue the spinning process. In a further alternative, the robot on the spinning machine can be moved along this spinning machine. This means that the robot is guided on a rail of the spinning machine, for example, and patrols along the spinning machine. After the can has been changed, the robot drives along the spinning machine to the spinning station to be fed and carries out the feeding of the sliver. In this case, it is particularly advantageous that the exact positioning of the robot in front of the spinning station can also be used for further maintenance activities, for example feeding a thread or cleaning the spinning station, at the spinning station.

In einer ganz besonders vorteilhaften Ausführung der Erfindung ist der Roboter entlang mehrerer Spinnmaschinen verfahrbar. Der Roboter kann damit von einer Spinnmaschine zu einer anderen Spinnmaschine wechseln. Wartezeiten des Roboters, bis ein weiterer Wartungsbedarf bzw. Faserbandwechsel durchgeführt werden muss, können hierdurch kurz gehalten werden.In a very particularly advantageous embodiment of the invention, the robot can be moved along several spinning machines. The robot can thus switch from one spinning machine to another spinning machine. Waiting times of the robot until a further maintenance need or sliver change has to be carried out can be kept short.

Vorteilhaft ist es, wenn der Bandgreifer relativ zu dem Roboter entlang der Spinnmaschine zu einer benachbarten Spinnstelle und/oder zu einer in einer zweiten Reihe aufgestellten Kanne bewegbar ausgebildet ist. Damit ist es für den Bandgreifer möglich, dass er bei stillstehendem, vor oder neben der zuzuführenden Spinnstelle sich befindendem Roboter in einem größeren Bereich als es der Bandgreifer an sich zulassen würde, das Faserbandende suchen und ergreifen kann. Eine erneute Positionierung des Roboters nach dem Auffinden des Bandendes, um dieses der zuzuführenden Spinnstelle zuzuführen, kann damit vermieden werden.It is advantageous if the belt gripper is designed to be movable relative to the robot along the spinning machine to an adjacent spinning station and / or to a can set up in a second row. This makes it possible for the belt gripper to move in front of or next to the one to be fed when it is stationary The spinning position of the robot is in a larger area than the ribbon gripper would allow, the fiber ribbon end can search and grasp. A repositioning of the robot after finding the end of the belt in order to feed it to the spinning station to be fed can thus be avoided.

In einer vorteilhaften Ausführung des Bandgreifers ist dieser in der Lage, das Faserband gleichzeitig aus mehreren möglichen Positionen an benachbarten Spinnstellen aufzunehmen.In an advantageous embodiment of the sliver gripper, it is able to pick up the sliver simultaneously from several possible positions at adjacent spinning positions.

Eine besonders vorteilhafte Ausführung des Bandgreifers besteht beispielsweise aus einem sehr breiten Bandgreifer, welcher sowohl den Bereich der zuzuführenden Spinnstelle als auch der benachbarten Spinnstelle abgreift und gleichzeitig das Bandende sucht. Vorteilhaft ist es hierbei, wenn der Bandgreifer eine Breite aufweist, um das Bandende an zumindest zwei benachbarten Spinnstellen erfassen zu können.A particularly advantageous embodiment of the belt gripper consists, for example, of a very wide belt gripper which picks up both the area of the spinning station to be fed and the neighboring spinning station and at the same time searches for the end of the band. It is advantageous here if the belt gripper has a width in order to be able to grasp the end of the belt at at least two adjacent spinning positions.

Weist in einer vorteilhaften Ausführung der Erfindung der Bandgreifer eine Saugeinheit auf, die zum Ansaugen des Bandendes geeignet ist, so kann der Bandgreifer gleichzeitig in einem größeren Bereich nach dem Faserbandende suchen als mit einem mechanischen Greifer.If, in an advantageous embodiment of the invention, the tape gripper has a suction unit which is suitable for sucking in the tape end, the tape gripper can simultaneously search for the sliver end in a larger area than with a mechanical gripper.

Bei einer besonders vorteilhaften Ausführung der Erfindung weist der Bandgreifer eine Blaseinheit zum Zuführen des Bandendes in die Speisung der Spinnstelle auf. Das Einführen des Bandendes in die Speisung der Spinnstelle ist damit sehr einfach und zuverlässig durchzuführen.In a particularly advantageous embodiment of the invention, the belt gripper has a blowing unit for feeding the end of the belt into the feed of the spinning station. It is very easy and reliable to insert the end of the strip into the feed of the spinning station.

Weitere Vorteile der Erfindung sind in den nachfolgenden Ausführungsbeispielen beschrieben. Es zeigt:

Figur 1
eine Seitenansicht einer Spinnmaschine vor dem ergreifen eines Bandendes,
Figur 2
die Spinnmaschine aus Figur 1 beim Zuführen eines Bandendes an einer Spinnstelle,
Figur 3
die Spinnmaschine aus Figur 1 vor dem Ergreifen eines Bandendes zum Zuführen an einer anderen Spinnstelle,
Figur 4
die Spinnmaschine aus Figur 1 beim Zuführen eines Bandendes an die andere Spinnstelle,
Figur 5
ein Ausführungsbeispiel eines Roboters mit einem relativ zu dem Roboter fahrbaren Bandgreifer,
Figur 6
ein Ausführungsbeispiel eines Roboters mit einem breiten Bandgreifer,
Figur 7
zwei Spinnstellen mit einem stationär angeordneten Bandgreifer und
Figur 8
eine Draufsicht auf mehrere Spinnstellen mit darunter angeordneten Reihen von Kannen.
Further advantages of the invention are described in the following exemplary embodiments. It shows:
Figure 1
a side view of a spinning machine before gripping a strip end,
Figure 2
the spinning machine Figure 1 when feeding a tape end at a spinning station,
Figure 3
the spinning machine Figure 1 before gripping one end of the belt for feeding at another spinning station,
Figure 4
the spinning machine Figure 1 when feeding one end of the strip to the other spinning position,
Figure 5
An embodiment of a robot with a belt gripper that can be moved relative to the robot.
Figure 6
an embodiment of a robot with a wide belt gripper,
Figure 7
two spinning positions with a stationary belt gripper and
Figure 8
a plan view of several spinning stations with rows of cans arranged below.

Bei der nachfolgenden Beschreibung der in den Figuren dargestellten alternativen Ausführungsbeispielen werden für Merkmale, die im Vergleich in ihrer Ausgestaltung und/oder Wirkweise identisch und/oder zumindest vergleichbar sind, gleiche Bezugszeichen verwendet. Sofern diese nicht nochmals detailliert erläutert werden, entspricht deren Ausgestaltung und/oder Wirkweise der Ausgestaltung und Wirkweise der vorstehend bereits beschriebenen Merkmale.In the following description of the alternative exemplary embodiments shown in the figures, the same reference numerals are used for features that are identical in their design and / or mode of operation and / or at least comparable. Unless these are explained again in detail, their design and / or mode of operation corresponds to the design and mode of operation of the features already described above.

Figur 1 zeigt eine Seitenansicht einer Spinnmaschine 1 vor dem Ergreifen eines Bandendes 2. Die Spinnmaschine 1 weist eine Vielzahl von Spinnstellen 3 auf, welche nebeneinander angeordnet sind. An den beiden Enden der Spinnmaschine 1 ist jeweils ein Maschinengestell 4 angeordnet. Jede Spinnstelle 3 weist eine Spinnbox 5 sowie eine Spule 6 auf, auf welche ein Garn 7 aufgewickelt wird. Das Garn 7 wird in der Spinnbox 5 aus einem Faserband 8, das der Spinnbox 5 aus einer Kanne 9 zugeführt wird, gesponnen. Durch eine Speisung 11, welche aus zumindest einer angetriebenen Walze besteht, wird das Faserband 8 aktiv der Spinnbox 5 zugeführt. Das Faserband 8 wird auf dem Weg zwischen der Kanne 9 und der Spinnbox 5 durch einen Schlingenfänger 10 geführt, welcher verhindern soll, dass beim Entnehmen des Faserbandes 8 aus der Kanne 9 Schlingen in dem Faserband 8 entstehen, welche zu einem Bandbruch führen könnten. Figure 1 shows a side view of a spinning machine 1 before gripping a strip end 2. The spinning machine 1 has a plurality of spinning positions 3, which are arranged side by side. A machine frame 4 is arranged at each of the two ends of the spinning machine 1. Each spinning station 3 has a spinning box 5 and a bobbin 6, on which a yarn 7 is wound. The yarn 7 is spun in the spin box 5 from a sliver 8 which is fed to the spin box 5 from a can 9. Through a feed 11, which consists of at least one driven roller, the fiber sliver 8 is actively fed to the spin box 5. The sliver 8 is guided on the way between the can 9 and the spin box 5 through a loop catcher 10, which is intended to prevent loops in the sliver 8 from being formed when the sliver 8 is removed from the can 8, which could lead to a break in the sliver.

Wenn das in der Kanne 9 enthaltene Faserband 8 aufgebraucht ist, wird die Kanne 9 gegen eine volle Kanne 9 ausgetauscht. Das Bandende 2 des darin enthaltenen Faserbandes 8 hängt beispielsweise, wie bei der Kanne 9a dargestellt, über den oberen Rand der Kanne 9a heraus. Das Faserband 8 fehlt an der zuzuführenden Spinnstelle 3a, an welcher das Faserband 8 anzusetzen ist, um den Spinnbetrieb fortsetzen zu können. Die benachbarte Spinnstelle 3b empfängt weiterhin ihr Faserband 8 aus einer Kanne 9b, welche, nicht sichtbar, hinter der Kanne 9a in einer zweiten Reihe angeordnet ist. Das Bandende 2, das über den Rand der Kanne 9a hängt, kann sich entweder in einem Bereich Ba unterhalb der zuzuführenden Spinnstelle 3a oder in dem Bereich Bb unterhalb der benachbarten Spinnstelle 3b befinden.When the sliver 8 contained in the can 9 is used up, the can 9 is exchanged for a full can 9. The band end 2 of the sliver 8 contained therein hangs, for example, as shown in the can 9a, over the upper edge of the can 9a. The sliver 8 is missing at the spinning point 3a to be fed, at which the sliver 8 is to be attached, in order to be able to continue the spinning operation. The neighboring spinning station 3b continues to receive its sliver 8 from a can 9b, which, not visible, is arranged behind the can 9a in a second row. The band end 2, which hangs over the edge of the can 9a, can either be located in a region Ba below the spinning station 3a to be fed or in the region Bb below the adjacent spinning station 3b.

Wie durch eine Mittellinie M angedeutet ist, befindet sich ein Roboter 12 vor der benachbarten Spinnstelle 3b. Der Roboter 12 kann entsprechend dem Doppelpfeil V entlang der Spinnmaschine 1 verfahren werden. Wenn eine Spinnstelle 3 an eine Steuereinrichtung meldet, dass ein Wartungsbedarf, beispielsweise ein fehlendes Faserband 8 an einer bestimmten Spinnstelle 3, vorhanden ist, so wird der Roboter 12 an dieser Spinnstelle 3, hier der zuzuführenden Spinnstelle 3a bzw. der benachbarten Spinnstelle 3b, angehalten und beginnt seine Wartungsarbeiten. In der Darstellung der Figur 1 steht der Roboter 12 somit vor der benachbarten Spinnstelle 3b.As indicated by a center line M, a robot 12 is located in front of the adjacent spinning station 3b. The robot 12 can be moved along the spinning machine 1 in accordance with the double arrow V. If a spinning station 3 reports to a control device that there is a need for maintenance, for example a missing sliver 8 at a specific spinning station 3, the robot 12 is stopped at this spinning station 3, here the spinning station 3a to be fed or the neighboring spinning station 3b and starts its maintenance work. In the representation of the Figure 1 the robot 12 thus stands in front of the adjacent spinning station 3b.

An dem Roboter 12 ist eine Bandansetzeinrichtung 13 angeordnet, an welcher sich ein Bandgreifer 14 befindet. Bei dem hier dargestellten Ausführungsbeispiel ist der Bandgreifer 14 ein Saugrohr, welches in der Lage ist, das Bandende 2 einzusaugen. Der Bandgreifer 14 kann gemäß Doppelpfeil S geschwenkt werden, sodass er das eingesaugte Bandende 2 in Richtung der Speisung 11 zum Zuführen des Bandendes 2 an die Spinnstelle 3a bewegen kann.A belt attachment device 13, on which a belt gripper 14 is located, is arranged on the robot 12. In the exemplary embodiment shown here, the belt gripper 14 is a suction pipe which is able to suck in the belt end 2. The belt gripper 14 can be pivoted according to the double arrow S, so that it can move the sucked-in end 2 of the belt in the direction of the feed 11 for feeding the end of the band 2 to the spinning station 3a.

Der Bandgreifer 14 kann selbstverständlich auch anders als durch ein pneumatisch betriebenes Saugrohr ausgeführt sein. So ist beispielsweise auch ein mechanischer Greifer möglich, welcher das Bandende 2 an der Kanne 9a ergreift.The belt gripper 14 can of course also be designed differently than by a pneumatically operated suction pipe. For example, a mechanical gripper is also possible, which grips the band end 2 on the can 9a.

Gemäß dem Ausführungsbeispiel der Figur 1 befindet sich der Roboter 12 vor der benachbarten Spinnstelle 3b. Der Bandgreifer 14 kann das Bandende 2, welches sich in dem Bereich Ba oder Bb befinden kann, beispielsweise durch die Schwenkbewegung S auffinden und ergreifen. Dadurch, dass der Roboter 12 an der benachbarten Spinnstelle 3b positioniert ist, kann der Bandgreifer 14 das Bandende 2 insbesondere in deren Bereich Bb ergreifen. Aber auch, wenn sich das Bandende 2 im Bereich Ba der zuzuführenden Spinnstelle 3a befindet, ist der Bandgreifer 14 in der Lage dieses Bandende 2 zu erfassen.According to the embodiment of the Figure 1 the robot 12 is located in front of the adjacent spinning station 3b. The belt gripper 14 can find and grip the belt end 2, which can be located in the region Ba or Bb, for example by the pivoting movement S. Because the robot 12 is positioned at the adjacent spinning station 3b, the belt gripper 14 can grip the belt end 2, in particular in its area Bb. But even if the belt end 2 is in the area Ba of the spinning station 3a to be fed, the belt gripper 14 is able to grasp this belt end 2.

Figur 2 zeigt die Spinnmaschine aus Figur 1 beim Zuführen des Bandendes 2 an der Spinnstelle 3a. So wird der Roboter 12 gemäß Pfeil Va in Richtung der zuzuführenden Spinnstelle 3a bewegt und dort positioniert. Der Bandgreifer 14 hat bei dieser Bewegung das Bandende 2 ergriffen und führt es mit zur zuzuführenden Spinnstelle 3a. Durch eine Schwenkbewegung S des Bandgreifers 14 in Richtung auf die Speisung 11 der zuzuführenden Spinnstelle 3a wird das Faserband 8 bzw. das Bandende 2 zur Speisung 11 der zuzuführenden Spinnstelle 3a bewegt und kann dort, beispielsweise durch einen Druckstoß aus dem Bandgreifer 14, in die Speisung 11 eingeführt werden. Zum Einführen des Faserbandes 8 in den Schlingenfänger 10 kann entweder der Bandgreifer 14 Einrichtungen aufweisen, welche das Faserband 8 durch den Schlingenfänger 10 hindurch fädeln, oder der Schlingenfänger 10 ist derart ausgeführt, dass er, beispielsweise durch ein seitliches Einführen des Faserbandes 8 in den Schlingenfänger 10, seine Funktion aufnehmen kann. Figure 2 shows the spinning machine Figure 1 when feeding the tape end 2 at the spinning station 3a. The robot 12 is thus moved according to arrow Va in the direction of the spinning station 3a to be fed and positioned there. During this movement, the belt gripper 14 has gripped the end of the belt 2 and leads it to the spinning station 3a to be fed. By a swiveling movement S of the belt gripper 14 in the direction of the feed 11 of the spinning station to be fed 3a, the fiber sliver 8 or the sliver end 2 is moved to the feed 11 of the spinning station 3a to be fed and can be introduced into the feed 11 there, for example by a pressure surge from the sliver gripper 14. To insert the sliver 8 into the sling catcher 10, either the sliver gripper 14 can have devices which thread the sliver 8 through the sling catcher 10, or the sling catcher 10 is designed such that it is, for example, by a lateral insertion of the sliver 8 into the sling catcher 10, can take up its function.

Wenn das Bandende 2 in die Speisung 11 eingeführt ist und der Spinnvorgang zum erneuten Spinnen von Garn 7 vorbereitet oder wieder im Gange ist, verlässt der Roboter 12 die zuzuführende Spinnstelle 3a und führt weitere Wartungsarbeiten an anderen Spinnstellen 3 durch.When the end of the band 2 is introduced into the feed 11 and the spinning process is prepared for the re-spinning of yarn 7 or is in progress again, the robot 12 leaves the spinning station 3 a to be fed and carries out further maintenance work on other spinning stations 3.

Wie aus dem Ausführungsbeispiel der Figuren 1 und 2 ersichtlich ist, wird der Roboter 12 also zuerst im Bereich der benachbarten Spinnstelle 3b positioniert, sucht das Bandende 2 zumindest im Bereich Bb der benachbarten Spinnstelle 3b, hier aber auch im Bereich Ba der zuzuführenden Spinnstelle 3a, und nimmt das Bandende 2 auf. Anschließend fährt der Roboter 12 vor die zuzuführende Spinnstelle 3a, positioniert sich dort und führt das Bandende 2 in die Speisung 11 der zuzuführenden Spinnstelle 3a ein.As from the embodiment of the Figures 1 and 2nd It can be seen that the robot 12 is first positioned in the area of the adjacent spinning station 3b, searches for the end of the tape 2 at least in the area Bb of the adjacent spinning station 3b, but also here in the area Ba of the spinning station 3a to be fed, and picks up the end of the tape 2. The robot 12 then moves in front of the spinning station 3a to be fed, positions itself there and inserts the end of the strip 2 into the feed 11 of the spinning station 3a to be fed.

Alternativ könnte es auch sein, dass der Bandgreifer 14 derart ausgeführt ist, dass er zwar einerseits im Bereich Bb der benachbarten Spinnstelle 3b das Bandende 2 sucht und ergreift, anschließend aber, ohne weitere Bewegung des Roboters 12, beispielsweise durch eine gelenkige oder teleskopartige Bewegung des Bandgreifers 14, das Bandende 2 in die Speisung 11 der zuzuführenden Spinnstelle 3a einführt.Alternatively, it could also be that the belt gripper 14 is designed such that, on the one hand, it searches for and grips the end of the belt 2 in the region Bb of the adjacent spinning station 3b, but then, without further movement of the robot 12, for example by an articulated or telescopic movement of the Belt gripper 14, the belt end 2 into the feed 11 of the spinning station 3a to be fed.

Figur 3 zeigt die Spinnmaschine 1 vor dem Ergreifen eines Bandendes 2 zum Zuführen an einer anderen Spinnstelle 3, die hier wiederum als zuzuführende Spinnstelle 3a bezeichnet wird. Der Roboter 12 ist in diesem Ausführungsbeispiel vor der zuzuführenden Spinnstelle 3a positioniert. Der Bandgreifer 14 ist durch eine Schwenkbewegung S in der Lage, das aus der Kanne 9a heraushängende Bandende 2, welches sich in dem Bereich Bb der benachbarten Spinnstelle 3b befindet, zu erfassen. Sobald das Bandende 2 von dem Bandgreifer 14 erfasst ist, schwenkt der Bandgreifer 14, wie in Figur 4 dargestellt, nach oben in Richtung zur Speisung 11 und führt das Bandende 2 entweder selbstständig oder unter Zuhilfenahme weiterer Einführelemente in die Speisung 11 ein. Wie dieses Ausführungsbeispiel der Figuren 3 und 4 zeigt, ist es hier nicht erforderlich, dass der Roboter 12 nach dem Auffinden des Bandendes 2 zum Zuführen des Bandendes 2 in die Speisung 11 der Spinnstelle 3a neu positioniert werden muss. Figure 3 shows the spinning machine 1 before gripping a strip end 2 for feeding at another spinning station 3, which in turn is referred to here as the spinning station 3a to be fed. The robot 12 is in this embodiment positioned in front of the spinning station 3a to be fed. By means of a swiveling movement S, the belt gripper 14 is able to grasp the belt end 2 hanging out of the can 9a and located in the region Bb of the adjacent spinning station 3b. As soon as the tape end 2 is gripped by the tape gripper 14, the tape gripper 14 pivots, as in FIG Figure 4 shown, upwards in the direction of the feed 11 and introduces the tape end 2 into the feed 11 either independently or with the aid of further insertion elements. How this embodiment of the Figures 3 and 4th shows, it is not necessary here that the robot 12 has to be repositioned after finding the end of the strip 2 in order to feed the end of the strip 2 into the feed 11 of the spinning station 3a.

Die unterschiedlichen Ansetzverfahren mit und ohne Bewegung des Roboters 12 gemäß Figur 1 und Figur 2 bzw. Figur 3 und Figur 4 resultieren unter anderem auch daraus, dass die Kannen 9 eine Breite bzw. einen Durchmesser K aufweisen, welcher etwa der doppelten Breite einer Spinnstelle 3 entspricht. Dies bedeutet, dass die zuzuführende Spinnstelle 3a entweder auf der linken Seite oder auf der rechten Seite der Kanne 9, welche unter den beiden Spinnstellen 3a und 3b steht, angeordnet sein kann. Dementsprechend unterschiedlich kann es vorteilhaft sein, dass einerseits der Roboter 12, wie in Figur 1 und Figur 2 dargestellt, nach dem Auffinden des Bandendes 2 zur zuzuführenden Spinnstelle 3a hin verfahren wird, oder, wie in Figur 3 und 4 dargestellt, bei welcher die zuzuführende Spinnstelle 3a auf der linken Seite der Kanne 9 angeordnet ist, ein Verfahren des Roboters 12 nicht erforderlich ist.The different attachment methods with and without movement of the robot 12 according to Figure 1 and Figure 2 respectively. Figure 3 and Figure 4 result, inter alia, from the fact that the cans 9 have a width or a diameter K which corresponds approximately to twice the width of a spinning station 3. This means that the spinning station 3a to be fed can either be arranged on the left side or on the right side of the can 9, which is located under the two spinning stations 3a and 3b. Accordingly, it can be advantageous that on the one hand the robot 12, as in FIG Figure 1 and Figure 2 shown, after finding the end of the strip 2 to the feed point 3a to be fed, or, as in Figure 3 and 4th shown, in which the spinning station 3a to be supplied is arranged on the left side of the can 9, a movement of the robot 12 is not required.

Figur 5 zeigt ein Ausführungsbeispiel eines Roboters 12 mit einem relativ zu dem Roboter 12 fahrbaren Bandgreifer 14. Der Bandgreifer 14 wird bei diesem Ausführungsbeispiel zusammen mit der Bandansetzeinrichtung 13 in horizontaler Richtung RH zum Roboter 12 verfahren. Damit, gegebenenfalls zusammen mit einer Schwenkbewegung S des Bandgreifers 14, ist es sehr einfach möglich, dass das Bandende 2 im Bereich Bb der benachbarten Spinnstelle 3b und gegebenenfalls zusätzlich im Bereich Ba der zuzuführenden Spinnstelle 3a gesucht und gefunden wird. Figure 5 shows an embodiment of a robot 12 with a belt gripper 14 that is movable relative to the robot 12. In this embodiment, the belt gripper 14 is moved together with the belt attachment device 13 in the horizontal direction RH to the robot 12. Thus, possibly together with a swiveling movement S of the band gripper 14, it is very easily possible for the band end 2 in the region Bb of the neighboring one Spinning station 3b and possibly additionally in the area Ba of the spinning station 3a to be fed is searched for and found.

Wie in dem Ausführungsbeispiel der Figur 5 weiter angedeutet ist, wird der Bandgreifer 14 pneumatisch betrieben. Entsprechend Pfeil Ls ist der Bandgreifer 14 in der Lage das Bandende 2 in den Bandgreifer 14 einzusaugen. Zum Zuführen des Faserbandes 8 bzw. Bandendes 2 in die Speisung 11 der Spinnstelle 3a kann die Saugströmung in eine Druckluftströmung umgeschaltet werden und damit gemäß Pfeil Lb das Bandende 2 in die Speisung 11 einblasen. Das Zuführen des Bandendes 2 bzw. Faserbandes 8 an der zuzuführenden Spinnstelle 3a kann hierdurch sehr zuverlässig erfolgen.As in the embodiment of the Figure 5 is further indicated, the belt gripper 14 is operated pneumatically. According to arrow Ls, the belt gripper 14 is able to suck the belt end 2 into the belt gripper 14. To feed the sliver 8 or sliver end 2 into the feed 11 of the spinning station 3a, the suction flow can be switched over to a compressed air flow and thus blow the sliver end 2 into the feed 11 according to arrow Lb. The feeding of the tape end 2 or fiber sliver 8 at the spinning station 3a to be fed can thereby take place very reliably.

Ein weiteres Ausführungsbeispiel der Erfindung ist in Figur 6 dargestellt. Die Figur 6 zeigt ein Ausführungsbeispiel eines Roboters 12 mit einem breiten Bandgreifer 14. Der Bandgreifer 14 weist eine Breite B auf, durch welche er in der Lage ist, ein Bandende 2 sowohl im Bereich Ba als auch im Bereich Bb zu erfassen. Die Luftströmungen L sind im Gegensatz zu der Ausführung gemäß Figur 5 nicht an dem Ende des Bandgreifers 14, sondern entlang des Bandgreifers 14 vorgesehen und saugen das Faserband 8 quer zu dem Bandgreifer 14 ein. Um das Bandende 2 sicher ergreifen zu können, kann es vorteilhaft sein, dass die Bandansetzeinrichtung 13 zusammen mit dem Bandgreifer 14 vertikal gemäß Doppelpfeil RV relativ zum Roboter 12 bewegbar ist. Dabei kann es ausreichend sein, dass der Bandgreifer 14 stationär an der Bandansetzeinrichtung 13, d. h. nicht schwenkbar, angeordnet ist.Another embodiment of the invention is in Figure 6 shown. The Figure 6 shows an embodiment of a robot 12 with a wide belt gripper 14. The belt gripper 14 has a width B, through which it is able to grasp a belt end 2 both in the area Ba and in the area Bb. In contrast to the design, the air flows L are in accordance with Figure 5 Not provided at the end of the tape gripper 14, but along the tape gripper 14 and suck in the sliver 8 transversely to the tape gripper 14. In order to be able to grasp the tape end 2 securely, it can be advantageous that the tape attachment device 13 together with the tape gripper 14 can be moved vertically according to the double arrow RV relative to the robot 12. It may be sufficient for the belt gripper 14 to be arranged stationary on the belt attachment device 13, that is to say not pivotable.

Figur 7 zeigt zwei Spinnstellen 3a und 3b mit einem stationär angeordneten Bandgreifer 14. Der Bandgreifer 14 bzw. die Bandansetzeinrichtung 13 ist dabei fest in Bezug auf die beiden Spinnstellen 3a und 3b befestigt. Durch eine Schwenkbewegung des Bandgreifers 14 gemäß Doppelpfeil S ist der Bandgreifer 14 in der Lage ein Bandende 2 sowohl im Bereich Ba als auch im Bereich Bb zu erfassen und der Spinnstelle 3a zuzuführen. Je nachdem, an welcher Spinnstelle 3 das Faserband 8 fehlt, kann der Bandgreifer 14 das Bandende 2 entweder der auf der linken Seite der Kanne 9 angeordneten Spinnstelle 3 oder der der rechten Seite der Kanne 9 angeordneten Spinnstelle 3 zuführen. Figure 7 shows two spinning stations 3a and 3b with a stationarily arranged belt gripper 14. The belt gripper 14 or the belt attachment device 13 is firmly attached with respect to the two spinning stations 3a and 3b. By swiveling the belt gripper 14 according to double arrow S, the belt gripper 14 is able to grasp a belt end 2 both in the region Ba and in the region Bb and to feed it to the spinning station 3a. Depending on which spinning position 3 the sliver 8 is missing, the belt gripper 14 can Feed the tape end 2 either to the spinning station 3 arranged on the left side of the can 9 or to the spinning station 3 arranged on the right side of the can 9.

Selbstverständlich kann die Bandansetzeinrichtung 13 auch gemäß Doppelpfeil RV und zusätzlich gemäß Doppelpfeil RH sowohl vertikal als auch horizontal verschiebbar ausgebildet sein.Of course, the tape attachment device 13 can also be designed to be vertically and horizontally displaceable according to the double arrow RV and additionally according to the double arrow RH.

Figur 8 zeigt eine Draufsicht auf mehrere Spinnstellen 3 mit darunter angeordneten Reihen von Kannen 9. Die Kannen 9 der ersten Reihe R1 ragen unter den Spinnstellen 3 hervor, während die Kannen 9 der zweiten Reihe R2 komplett unter den Spinnstellen 3 angeordnet sind. Wie aus der skizzierten Darstellung zu entnehmen ist, ist an zwei Spinnstellen 3a kein Faserband 8 eingelegt. Die entsprechenden Kannen 9a befinden sich sowohl in der ersten Reihe R1 als auch in der zweiten Reihe R2. Das Bandende 2 der in der zweiten Reihe R2 dargestellten Kanne 9a ist sehnenartig über eine Oberseite 16 der Kanne 9 abgelegt. Ein hier nicht dargestellter Bandgreifer 14 kann durch eine Schwenkbewegung, welche entgegen der Darstellung der vorherigen Figuren nicht vor den Spinnstellen 3, sondern unter den Spinnstellen 3 eine Bewegung des Bandgreifers 14 ermöglicht, aufnehmen. Sobald das Bandende 2 an dieser Oberseite 16 ergriffen ist, wird es zusammen mit dem Bandgreifer 14 unter den Spinnstellen 3a, 3b hindurchgezogen und an der Spinnstelle 3a angesetzt. Figure 8 shows a top view of several spinning stations 3 with rows of cans 9 arranged underneath. The cans 9 of the first row R1 protrude from the spinning stations 3, while the cans 9 of the second row R2 are arranged entirely below the spinning stations 3. As can be seen from the sketched illustration, no sliver 8 is inserted at two spinning positions 3a. The corresponding cans 9a are located both in the first row R1 and in the second row R2. The band end 2 of the can 9a shown in the second row R2 is deposited like a string over an upper side 16 of the can 9. A belt gripper 14, not shown here, can be picked up by a swiveling movement which, contrary to the representation of the previous figures, does not allow movement of the belt gripper 14 in front of the spinning stations 3 but under the spinning stations 3. As soon as the band end 2 is gripped on this upper side 16, it is pulled together with the band gripper 14 under the spinning stations 3a, 3b and attached to the spinning station 3a.

In einer anderen Alternative ist, wie in der Kanne 9a der ersten Reihe R1 dargestellt ist, das Bandende 2 über den Kannenrand hängend vorgelegt. In diesem Falle kann der Bandgreifer 14, wie zuvor in den anderen Ausführungsbeispielen beschrieben, das Bandende 2 um Umfang 15 der Kanne 9a ergreifen und der zuzuführenden Spinnstelle 3a zuführen.In another alternative, as shown in the can 9a of the first row R1, the band end 2 is placed hanging over the edge of the can. In this case, as previously described in the other exemplary embodiments, the belt gripper 14 can grip the belt end 2 around the circumference 15 of the can 9a and feed it to the spinning station 3a to be fed.

Selbstverständlich kann das über die Oberseite 16 liegende Bandende 2 auch bei einer Kanne 9a der ersten Reihe R1 bzw. das über den Umfang 15 der Kanne 9a herabhängende Bandende 2 auch bei einer zuzuführenden Kanne 9a der zweiten Reihe R2 vorgelegt sein.Of course, the band end 2 lying over the top 16 can also be in the case of a can 9a of the first row R1 or that over the circumference 15 the tape end 2 depending on the can 9a can also be presented in the case of a can 9a to be fed in the second row R2.

Die vorliegende Erfindung ist nicht auf die dargestellten und beschriebenen Ausführungsbeispiele beschränkt. Abwandlungen im Rahmen der Patentansprüche sind ebenso möglich wie eine Kombination der Merkmale einzeln oder in beliebiger Kombination, auch wenn diese in unterschiedlichen Ausführungsbeispielen dargestellt und beschrieben sind.The present invention is not limited to the exemplary embodiments shown and described. Modifications within the scope of the claims are possible as well as a combination of the features individually or in any combination, even if these are shown and described in different exemplary embodiments.

BezugszeichenlisteReference list

11
SpinnmaschineSpinning machine
22nd
BandendeBand end
33rd
SpinnstelleSpinning station
3a3a
zuzuführende Spinnstellespinning station to be fed
3b3b
benachbarte Spinnstelleneighboring spinning station
44th
MaschinengestellMachine frame
55
SpinnboxSpinning box
66
SpuleKitchen sink
77
Garnyarn
88th
FaserbandSliver
99
KanneJug
9a9a
zuzuführende Kannecan to be fed
9b9b
benachbarte Kanneneighboring jug
1010th
SchlingenfängerLoop catcher
1111
SpeisungFeeding
1212th
Roboterrobot
1313
BandansetzeinrichtungBelt attachment device
1414
BandgreiferBelt gripper
1515
Umfangscope
1616
OberseiteTop
SS
SchwenkbewegungSwivel motion
VV
VerfahrbewegungMovement
VaVa
Verfahrbewegung in Richtung der zuzuführenden SpinnstelleMovement in the direction of the spinning station to be fed
BaBa
Bereich der zuzuführenden SpinnstelleArea of the spinning station to be fed
BbBb
Bereich der benachbarten SpinnstelleArea of the neighboring spinning station
R1R1
erste Reihefirst row
R2R2
zweite Reihesecond row
RHRH
horizontaler Richtunghorizontal direction
RVRV
vertikale Richtungvertical direction
LL
LuftströmungAir flow
LsLs
eingesaugte Luftsucked in air
LbLb
ausgeblasene Luftblown air
bb
Breite des BandgreifersBand grab width
MM
MittellinieCenter line
KK
KannendurchmesserCan diameter

Claims (14)

Verfahren zum Zuführen eines Bandendes (2) eines in einer Kanne (9) abgelegten Faserbandes (8) an eine Spinnstelle (3) einer Spinnmaschine (1), - wobei die Spinnmaschine (1) eine Vielzahl von nebeneinander angeordneten Spinnstellen (3) mit darunter in zumindest einer Reihe aufgestellten Kannen (9) aufweist und - wobei ein Roboter (12) mit einem Bandgreifer (14) das Bandende (2) ergreift und einer zuzuführenden Spinnstelle (3a) zuführt, dadurch gekennzeichnet, dass - das Bandende (2) in einem Bereich zumindest einer der benachbarten Spinnstellen (3b) der zuzuführenden Spinnstelle (3a), vorzugsweise im Bereich (Ba) der zuzuführenden Spinnstelle (3a) und zumindest einer der zu dieser Spinnstelle (3a) benachbarten Spinnstelle (3b), gesucht, - von dem Bandgreifer (14) aufgenommen und - sodann der zuzuführenden Spinnstelle (3a) zugeführt wird. Method for feeding a sliver end (2) of a sliver (8) deposited in a can (9) to a spinning station (3) of a spinning machine (1), - wherein the spinning machine (1) has a plurality of juxtaposed spinning positions (3) with cans (9) erected underneath in at least one row and - A robot (12) with a belt gripper (14) grips the belt end (2) and feeds it to a spinning station (3a) to be fed, characterized in that - The band end (2) in an area of at least one of the adjacent spinning stations (3b) of the spinning station (3a) to be fed, preferably in the area (Ba) of the spinning station (3a) to be fed and at least one of the spinning station (3b) adjacent to this spinning station (3a) ), searched, - Picked up by the belt gripper (14) and - Then the spinning station (3a) to be fed is fed. Verfahren nach dem vorherigen Anspruch, dadurch gekennzeichnet, dass der Roboter (12) entlang der Spinnmaschine (1) verfahren und in Bezug auf die zuzuführende oder die zu dieser benachbarten Spinnstelle (3a, 3b) positioniert wird.Method according to the preceding claim, characterized in that the robot (12) travels along the spinning machine (1) and is positioned in relation to the spinning station (3a, 3b) to be supplied or adjacent to it. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Roboter (12) für den Fall, dass er in Bezug auf eine zu der zuzuführenden Spinnstelle (3a) benachbarte Spinnstelle (3b) positioniert wurde, zusammen mit dem aufgenommenen Faserband (8) und vor dem Zuführen in eine Position vor der zuzuführenden Spinnstelle (3a) verfahren wird.Method according to one of the preceding claims, characterized in that the robot (12), in the event that it has been positioned with respect to a spinning station (3b) adjacent to the spinning station (3a) to be fed, together with the sliver (8) and before being fed into a position in front of the spinning station (3a) to be fed. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) relativ zu dem Roboter (12) entlang der Spinnmaschine (1) zu einer benachbarten Spinnstelle (3b) und/oder zu einer in einer zweiten Reihe (R2) aufgestellten Kanne (9) bewegt wird.Method according to one of the preceding claims, characterized in that the belt gripper (14) relative to the robot (12) along the spinning machine (1) to an adjacent spinning station (3b) and / or to a can set up in a second row (R2) (9) is moved. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) das Faserband (8) gleichzeitig aus mehreren möglichen Positionen an benachbarten Spinnstellen (3b) aufnehmen kann.Method according to one of the preceding claims, characterized in that the belt gripper (14) can pick up the fiber sliver (8) simultaneously from several possible positions at adjacent spinning positions (3b). Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) das Faserband (8) auf der Oberseite (16) der Kanne (9a) und/oder am Umfang (15) der Kanne (9a) sucht.Method according to one of the preceding claims, characterized in that the belt gripper (14) searches for the sliver (8) on the top (16) of the can (9a) and / or on the circumference (15) of the can (9a). Spinnmaschine - mit einer Vielzahl von nebeneinander angeordneten Spinnstellen (3) und - mit einem einen Bandgreifer (14) aufweisenden Roboter (12) und - mit unter den Spinnstellen (3) in zumindest einer Reihe aufgestellten Kannen (9) mit einem Faserband (8), - wobei zum Zuführen eines Bandendes (2) eines in einer Kanne (9) abgelegten Faserbandes (8) an eine zuzuführende Spinnstelle (3a) der Spinnmaschine (1), der Bandgreifer (14) ausgestattet ist das Bandende (2) zu ergreifen und der Spinnstelle (3a) zuzuführen, dadurch gekennzeichnet, dass
der Bandgreifer (14) derart ausgeführt und/oder an dem Roboter (12) angeordnet ist, dass er das Bandende (2) in einem Bereich (Bb) zumindest einer Spinnstelle (3b), welche der zuzuführenden Spinnstelle (3a) benachbart ist, vorzugsweise im Bereich (Ba, Bb) der zuzuführenden Spinnstelle (3a) und zumindest einer der zu dieser Spinnstelle (3a) benachbarten Spinnstelle (3b), aufnehmen und sodann der zuzuführenden Spinnstelle (3a) zuführen kann.Spinning machine - With a plurality of spinning stations (3) and arranged side by side - With a belt gripper (14) having robot (12) and - With cans (9) with a sliver (8) set up under the spinning positions (3) in at least one row, - Wherein for feeding a band end (2) of a sliver (8) deposited in a can (9) to a feed point (3a) to be fed to the spinning machine (1), the band gripper (14) is equipped to grasp the band end (2) and Feed spinning station (3a), characterized in that
the belt gripper (14) is designed and / or is arranged on the robot (12) such that it preferably the belt end (2) in an area (Bb) of at least one spinning station (3b) which is adjacent to the spinning station (3a) to be fed in the area (Ba, Bb) of the spinning station (3a) to be fed and at least one of the spinning stations Spinning station (3a) can take up adjacent spinning station (3b) and then feed it to the spinning station (3a) to be fed. Spinnmaschine nach dem vorherigen Anspruch, dadurch gekennzeichnet, dass der Roboter (12) stationär an der Spinnstelle (3) angeordnet ist und/oder an einem Kannenwechsler und/oder an der Spinnmaschine (1) entlang der Spinnmaschine (1) verfahrbar angeordnet ist.Spinning machine according to the preceding claim, characterized in that the robot (12) is arranged stationary at the spinning station (3) and / or is arranged to be movable on a can changer and / or on the spinning machine (1) along the spinning machine (1). Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Roboter (12) entlang mehrerer Spinnmaschinen (1) verfahrbar ist.Spinning machine according to one of the preceding claims, characterized in that the robot (12) can be moved along a plurality of spinning machines (1). Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) relativ zu dem Roboter (12) entlang der Spinnmaschine (1) zu einer benachbarten Spinnstelle (3b) und/oder zu einer in einer zweiten Reihe aufgestellten Kanne (9) bewegbar ausgebildet ist.Spinning machine according to one of the preceding claims, characterized in that the belt gripper (14) relative to the robot (12) along the spinning machine (1) to an adjacent spinning station (3b) and / or to a can (9) set up in a second row. is designed to be movable. Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) das Faserband (8) gleichzeitig aus mehreren möglichen Positionen an nebeneinander angeordneten Spinnstellen (3a, 3b) aufnehmen kann.Spinning machine according to one of the preceding claims, characterized in that the belt gripper (14) can simultaneously pick up the fiber sliver (8) from several possible positions at spinning stations (3a, 3b) arranged next to one another. Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) eine Breite aufweist, um das Bandende (2) an zumindest zwei benachbarten Spinnstellen (3a, 3b) erfassen zu können.Spinning machine according to one of the preceding claims, characterized in that the belt gripper (14) has a width in order to be able to grasp the end of the belt (2) at at least two adjacent spinning positions (3a, 3b). Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) eine Saugeinheit aufweist zum Ansaugen des Bandendes (2).Spinning machine according to one of the preceding claims, characterized in that the belt gripper (14) has a suction unit for sucking in the belt end (2). Spinnmaschine nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Bandgreifer (14) eine Blaseinheit aufweist zum Zuführen des Bandendes (2) in die Spinnstelle (3).Spinning machine according to one of the preceding claims, characterized in that the belt gripper (14) has a blowing unit for feeding the end of the belt (2) into the spinning station (3).
EP19195588.9A 2018-09-07 2019-09-05 Method for feeding the end of a sliver and spinning machine Active EP3620560B1 (en)

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DE102018121906.7A DE102018121906A1 (en) 2018-09-07 2018-09-07 Process for feeding a tape end and spinning machine

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DE102020131089A1 (en) * 2020-11-24 2022-05-25 Maschinenfabrik Rieter Ag Method for carrying out an automatic can changing process at a spinning station of a spinning machine and spinning machine and movable can changer

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US11585019B2 (en) 2023-02-21
EP3620560B1 (en) 2023-10-25
US20200080238A1 (en) 2020-03-12
CN110886035A (en) 2020-03-17
CN110886035B (en) 2023-03-14

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