EP3739090A1 - Rotor spinning machine and method for identifying a spinning rotor on a rotor spinning machine - Google Patents

Rotor spinning machine and method for identifying a spinning rotor on a rotor spinning machine Download PDF

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Publication number
EP3739090A1
EP3739090A1 EP20174588.2A EP20174588A EP3739090A1 EP 3739090 A1 EP3739090 A1 EP 3739090A1 EP 20174588 A EP20174588 A EP 20174588A EP 3739090 A1 EP3739090 A1 EP 3739090A1
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EP
European Patent Office
Prior art keywords
rotor
spinning
bearing
spinning rotor
reference value
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
EP20174588.2A
Other languages
German (de)
French (fr)
Other versions
EP3739090B1 (en
Inventor
Peter Dirnberger
Milan Moravec
Andreas Josef Pröll
Jiri Sloupensky
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.)
Maschinenfabrik Rieter AG
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Maschinenfabrik Rieter AG
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Publication of EP3739090A1 publication Critical patent/EP3739090A1/en
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/04—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques imparting twist by contact of fibres with a running surface
    • D01H4/08—Rotor spinning, i.e. the running surface being provided by a rotor
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/04—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques imparting twist by contact of fibres with a running surface
    • D01H4/08—Rotor spinning, i.e. the running surface being provided by a rotor
    • D01H4/10—Rotors
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/04—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques imparting twist by contact of fibres with a running surface
    • D01H4/08—Rotor spinning, i.e. the running surface being provided by a rotor
    • D01H4/12—Rotor bearings; Arrangements for driving or stopping
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/04—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques imparting twist by contact of fibres with a running surface
    • D01H4/08—Rotor spinning, i.e. the running surface being provided by a rotor
    • D01H4/12—Rotor bearings; Arrangements for driving or stopping
    • D01H4/14—Rotor driven by an electric motor
    • 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
    • D01H4/42—Control of driving or stopping
    • D01H4/44—Control of driving or stopping in rotor spinning

Definitions

  • the present invention relates to a method for identifying a spinning rotor on a rotor spinning machine, the spinning rotor being suspended in an at least radially acting magnetic bearing and rotating in the bearing during a spinning operation, and at least one variable system variable being compared with at least one reference value.
  • the invention also relates to a rotor spinning machine for using the method.
  • a spinning rotor In a rotor spinning machine, textile fibers are compressed into yarns in a known manner by rotating a spinning rotor at high speed.
  • the spinning rotor usually consists of a rotor cup, in which the yarn is produced, and a rotor shaft, which is used for torque transmission and for coupling to a bearing.
  • modern rotor spinning machines have a large number of individual jobs. These machines are able to produce different yarns from different materials, for example.
  • the permissible operating parameters of the work station or spinning machine can change. In order to ensure consistent yarn quality and high operational reliability, there is therefore a need for methods and devices for the automatic identification of the built-in spinning rotor.
  • the object of the present invention is therefore to further develop the known method in such a way that an identification of a built-in spinning rotor is made possible.
  • the method according to the invention serves to identify a spinning rotor on a rotor spinning machine, the spinning rotor being suspended in an at least radially acting magnetic bearing and rotating in the bearing during a spinning operation.
  • At least one variable system variable is compared with at least one reference value. It is proposed that the at least one variable system variable is an energy consumption of the bearing, a radial position of the spinning rotor and / or a resonance frequency of the spinning rotor.
  • variable system variables mentioned depend directly on the physical properties of the spinning rotor and are therefore particularly suitable for identifying the spinning rotor.
  • the particularly automatic detection of the spinning rotor by the rotor spinning machine can ensure that the spinning machine can, for example, only be operated with operating parameters adapted to the individual spinning rotor. This restriction can ensure safe and efficient operation of the rotor spinning machine.
  • the at least one reference value is preferably established during a calibration.
  • Various spinning rotors are built into the rotor spinning machine and the corresponding variable system sizes are determined.
  • the calibration can be carried out, for example, by the manufacturer before the corresponding rotor spinning machine is delivered. However, it is also conceivable for the user of the rotor spinning machine to carry out any necessary calibration himself.
  • the spinning rotor is mounted in a floating manner in an at least radially acting electromagnetic bearing, at least the radial position of the spinning rotor being actively influenced by the bearing.
  • An active electromagnetic bearing can on the one hand dampen undesired vibrations of the spinning rotor during the spinning operation.
  • the active mounting can also contribute to the identification of the spinning rotor by influencing the radial position of the spinning rotor in a certain way and determining the effects of this influence (see below).
  • prior identification of the spinning rotor is also advantageous for controlling the storage. For example, if the mass of the spinning rotor is known, the effects of damping interventions in the storage can be predicted and dosed accordingly.
  • the bearing also acts axially, it is of course also conceivable that an axial position of the spinning rotor is also actively influenced by the bearing.
  • a radial position of the spinning rotor is detected by at least one sensor and / or by the bearing.
  • the radial position of the spinning rotor can be determined as a variable system variable via the sensor.
  • the sensor can also detect vibrations of the spinning rotor and thus, for example, serve as the basis for damping interventions in the bearing.
  • the sensor can be designed as an inductive, capacitive, magnetic or optical displacement sensor. Also available as an eddy current sensor is conceivable. By measuring vibrations, it is also possible to determine the resonance frequency of the spinning rotor (see below).
  • At least one change in the position of the spinning rotor can also be detected by a signal induced in the bearing.
  • An additional position sensor can possibly be dispensed with, or the accuracy of the position detection can be increased by using at least one sensor and the bearing together. It is also conceivable that an axial position of the spinning rotor is detected by a sensor.
  • the position of the floating spinning rotor is varied in such a way that the energy consumption of the bearing is minimal and the position is then compared with at least one position reference value.
  • a minimized energy consumption of the storage is advantageous for the energy consumption of the rotor spinning machine.
  • the position, in particular the radial position can allow conclusions to be drawn about the physical properties of the spinning rotor when the energy consumption of the bearing is minimized. Fundamental for this is that there is only one position of minimal energy absorption for the bearing for a specific spinning rotor, and this depends, for example, on the mass of the spinning rotor.
  • the variation of the position of the spinning rotor and the minimization of the energy consumption of the bearing can take place while the spinning rotor is not rotating. On the other hand, however, it is conceivable to carry out the method with the spinning rotor rotating.
  • the spinning rotor is brought into a defined radial position and the energy consumption of the bearing is then compared with at least one energy consumption reference value.
  • This energy absorption is again characteristic of the respective spinning rotor, since it depends, for example, on its mass.
  • the method preferably takes place with a non-rotating spinning rotor.
  • the spinning rotor is advantageously set to vibrate from the bearing and the resonance frequency of the spinning rotor is determined from a decay behavior of the vibration. This is then compared with at least one resonance frequency reference value.
  • the resonance frequency of the spinning rotor as a rigid body is characteristic of a certain shape and mass and therefore suitable for identification.
  • the active mounting can give the spinning rotor a movement impulse and the decay time of the resulting oscillation can be determined with the sensor or via the mounting. The respective spinning rotor can be identified from this vibration behavior.
  • the resonance frequency of the spinning rotor is determined from an increase in an amplitude of a vibration of the spinning rotor and this is then compared with at least one resonance frequency reference value.
  • the maximum amplitude of the vibration occurs when the spinning rotor rotates at a speed that corresponds to its resonance frequency. This speed is also called the critical speed.
  • the spinning rotor does not have to be accelerated to the critical speed for the process.
  • the critical speed can be extrapolated from the increase in the amplitude of the vibration. It would, however, be conceivable to accelerate the spinning rotor to above the critical speed and to measure the resonance frequency directly.
  • the amplitude of the vibration can in any case be measured by the sensor already described and / or by signals induced in the bearing.
  • a mass, a shape, a volume and / or a material of the spinning rotor is determined from the comparison of the variable system variable with the reference value.
  • the physical properties mentioned are closely related to one another and directly influence the variable system parameters described. It is conceivable that one of the listed physical properties is the same for different spinning rotors. For example, it is conceivable that two spinning rotors have the same mass but not the same shape or the same volume. It can therefore make sense to determine several of the properties in order to arrive at a clear identification.
  • a functional scope of the spinning operation is determined from the comparison of the variable system variable with the reference value.
  • Different spinning rotors can withstand different loads and are particularly suitable for the production of different yarns.
  • the functional scope of the spinning operation means on the one hand general operating parameters of the rotor spinning machine. For example, the maximum speed or a maximum torque can be limited during the acceleration of the spinning rotor, depending on the result of the identification. Cleaning or maintenance intervals can also be adapted to the spinning rotor.
  • an operator of the rotor spinning machine preferably in connection with an article management system, is offered only certain yarns for production depending on the installed spinning rotor.
  • An article management system manages the settings of the rotor spinning machine for the production of certain yarns. It is conceivable that when selecting a certain yarn or recipe from the installation of a specific spinning rotor is proposed to the article management system.
  • the rotor spinning machine has at least one work station.
  • the at least one work station in turn comprises a spinning rotor mounted in a floating manner in an at least radially acting magnetic bearing, which rotates in a spinning operation within the bearing.
  • the at least one job includes a controller. It is proposed that the control is designed to carry out an identification of the spinning rotor, with at least one variable system variable being compared with at least one reference value, the at least one variable system variable being an energy consumption of the bearing, a radial position of the spinning rotor and / or a resonance frequency of the spinning rotor is.
  • a preferably automated identification of the installed spinning rotor on the basis of its physical properties can improve the safety and the efficiency of the operation of the rotor spinning machine. It goes without saying that the spinning rotor or at least parts of the spinning rotor of the rotor spinning machine are interchangeable. In particular, the rotor cup of the spinning rotor is exchangeable.
  • the rotor spinning machine can have a large number of work stations, which in particular can be operated at least partially independently of one another. Each work station has its own spinning rotor, which is preferably driven by an individual drive. Further features of the work station of the rotor spinning machine can in particular be opening and winding rollers as well as yarn sensors and suction devices.
  • the control of the work station can be connected to controls of other work stations and / or to a higher-level machine control.
  • the controller can for example be designed as an integrated circuit.
  • the bearing is an electromagnetic bearing with at least one electromagnet.
  • Such a storage allows the active regulation of the position of the spinning rotor and thus, for example, an orientation in which there is a low energy consumption of the storage and / or the drive. Vibrations of the spinning rotor can also be dampened by the storage or minimized by an advantageous positioning of the spinning rotor.
  • the active mounting can be used for the method of identifying the spinning rotor by minimizing the energy consumption of the mounting by varying the position of the spinning rotor, or by determining a characteristic energy consumption of the mounting for a given position.
  • the storage can have several bearing elements, for example bearing rings. In particular, two bearing elements are provided.
  • the position of the spinning rotor can be regulated via the current flowing in a coil of the at least one electromagnet.
  • the storage can have both electromagnets and permanent magnets. In the event of a failure of the bearing, an additional safety bearing is preferably provided.
  • control is connected to at least one sensor for detecting a position and / or a movement of the spinning rotor.
  • the sensor can be designed as an inductive, capacitive, magnetic or optical displacement sensor.
  • An embodiment as an eddy current sensor is also conceivable.
  • two sensors are provided.
  • the bearing can alternatively or additionally be used to detect the movement of the spinning rotor. For this purpose, current and / or voltage changes in the coils of the bearing can be evaluated.
  • the bearing also acts axially or if an additional axial bearing is provided. If the bearing has an axial effect, at least one additional axial bearing element may be required.
  • a common control of the position of the spinning rotor in the radial and axial directions can be advantageous in that power consumption and vibrations are further reduced.
  • the additional axial bearing can also be magnetic and in particular active.
  • the axial bearing preferably has at least one electromagnet. It is also conceivable that the axial bearing has at least one permanent magnet.
  • An article management system can provide an operator of the rotor spinning machine with a database of yarns to be produced with the associated operating parameters and setting values for the rotor spinning machine.
  • the corresponding operating parameters and setting values can preferably be used automatically on the rotor spinning machine when a yarn to be produced is selected.
  • the selection of possible yarns can depend on the built-in spinning rotor or a successful identification of the spinning rotor.
  • the article management system can be designed as a central computer, integrated into a control of the rotor spinning machine, or be available from a central point via the Internet. It is conceivable that the database of the article management system also contains reference values for the variable system variables.
  • control has a memory for position reference values, energy consumption reference values and / or resonance frequency reference values.
  • the reference values can be determined, for example, by the manufacturer of the rotor spinning machine and in particular during initial start-up and stored in the memory. Alternatively, it is conceivable that these reference values are stored in a, in particular central, memory and that the controller is connected to the memory or that these reference values are made available by the manufacturer via the Internet, for example.
  • FIG Figure 1 shows a rotor spinning machine 1 according to the invention with several work stations 2 in which textile fibers are spun into yarns 3 in the known rotor spinning process.
  • the yarn 3 is wound onto a bobbin 4 in each case.
  • the work stations 2 each have a spinning rotor 5 with a magnetic bearing 6 and a controller 7 (see FIG Figure 2 ).
  • the controller 7 is designed to identify the spinning rotor 5, whereby at least one energy consumption of the bearing 6, a radial position of the spinning rotor 5 and / or a resonance frequency of the spinning rotor 5 is compared as a variable system variable with at least one corresponding reference value.
  • FIG. 2 shows a view of the spinning rotor 5 installed in one of the work stations 2 with the magnetic bearing 6 and the control 7.
  • the spinning rotor 5 is composed of a rotor cup 8 and a rotor shaft 9, the rotor cup 8 and rotor shaft 9 preferably being detachably connected to one another.
  • the yarn is produced in the rotor cup 8, the rotor cup 8 having a specific shape which is particularly suitable for producing certain yarns 3.
  • the entire spinning rotor 5 or at least the rotor cup 8 can be exchanged, which makes it necessary for the spinning rotor 5 to be identified as automatically as possible by the control 7.
  • the rotor shaft 9 is used for coupling to the bearing 6 and a drive 10.
  • the drive 10 can for example be designed as an electric motor, in which case the rotor shaft 9 can simultaneously be the rotor of the electric motor.
  • the bearing 6 has two bearing elements 11, which are preferably designed as bearing rings.
  • the bearing elements 11 can have electromagnets and possibly permanent magnets and are connected to the controller 7.
  • the controller 7 can, for example, actively regulate the radial position of the floating spinning rotor 5 and, for example, dampen unwanted vibrations during the spinning operation.
  • the bearing elements 11 can serve as position sensors of the spinning rotor 5, since movements of the spinning rotor 5 lead to changes in the current and / or the voltage in the electromagnets of the bearing elements 11.
  • the position of the spinning rotor 5 can be varied in such a way that the energy absorption of the bearing 6, which is necessary to keep the spinning rotor 5 floating, is minimal.
  • the energy consumption of the bearing 6 can be determined at a predetermined position of the spinning rotor 5.
  • the spinning rotor 5 can also be identified on the basis of its resonance frequency.
  • the resonance frequency is characteristic of the mass and the shape of the spinning rotor 5.
  • the resonance frequency can be determined on the basis of the increase in the amplitude of the vibration of the spinning rotor 5 during the accelerated rotation.
  • the spinning rotor 5 can also be set in vibration by the bearing 6 and the resonance frequency can be determined on the basis of the decay behavior, in particular the decay time, of the vibration.
  • a variable system variable is determined which depends on the physical properties of the spinning rotor 5 and which, by means of a comparison with known reference values, allows the spinning rotor 5 installed in the work station 2 of the rotor spinning machine 1 to be assigned.
  • FIG. 3 shows the view of a further spinning rotor 5 of the rotor spinning machine 1 according to the invention.
  • the shape of the spinning rotor 5, in particular the shape of the rotor cup 8 is changed.
  • the identification of the spinning rotor 5 according to the method according to the invention will therefore come to a different result compared to the previous exemplary embodiment.
  • the rotor shaft 9 is connected to an additional axial bearing 12, which is also designed, for example, as a magnetic bearing.
  • the axial bearing 12 can be passive, for example.
  • the control 7 is, in addition to the bearing elements 11 of the radial bearing 6, with a sensor 13 for measuring the radial position of the spinning rotor 5 connected.
  • This sensor 13 can on the one hand only measure the variable system variable of the position of the spinning rotor 5, or on the other hand it can be used together with the position or movement information of the bearing 6. Of course, movements, such as vibrations, of the spinning rotor 5 can also be measured via the sensor 13. Further sensors 13 are also conceivable.
  • the control 7 is also connected to an article management system 14 which contains operating parameters and setting values for the rotor spinning machine 1 for the production of various yarns 3.
  • an article management system 14 which contains operating parameters and setting values for the rotor spinning machine 1 for the production of various yarns 3.

Abstract

Die Erfindung betrifft ein Verfahren zur Identifikation eines Spinnrotors (5) an einer Rotorspinnmaschine (1), wobei der Spinnrotor (5) in einer zumindest radial wirkenden magnetischen Lagerung (6) schwebend gelagert ist und sich während eines Spinnbetriebs in der Lagerung (6) dreht und wobei wenigstens eine variable Systemgröße mit wenigstens einem Referenzwert verglichen wird. Es wird vorgeschlagen, dass die wenigstens eine variable Systemgröße eine Energieaufnahme der Lagerung (6), eine radiale Position des Spinnrotors (5) und/oder eine Resonanzfrequenz des Spinnrotors (5) ist. Weiterhin betrifft die Erfindung eine Rotorspinnmaschine (1), die zur Durchführung des Verfahrens ausgebildet ist.The invention relates to a method for identifying a spinning rotor (5) on a rotor spinning machine (1), the spinning rotor (5) floating in an at least radially acting magnetic bearing (6) and rotating in the bearing (6) during a spinning operation and wherein at least one variable system variable is compared with at least one reference value. It is proposed that the at least one variable system variable is an energy consumption of the bearing (6), a radial position of the spinning rotor (5) and / or a resonance frequency of the spinning rotor (5). The invention also relates to a rotor spinning machine (1) which is designed to carry out the method.

Description

Die vorliegende Erfindung betrifft ein Verfahren zur Identifikation eines Spinnrotors an einer Rotorspinnmaschine, wobei der Spinnrotor in einer zumindest radial wirkenden magnetischen Lagerung schwebend gelagert ist und sich während eines Spinnbetriebs in der Lagerung dreht und wobei wenigstens eine variable Systemgröße mit wenigstens einem Referenzwert verglichen wird. Weiterhin betrifft die Erfindung eine Rotorspinnmaschine zur Anwendung des Verfahrens.The present invention relates to a method for identifying a spinning rotor on a rotor spinning machine, the spinning rotor being suspended in an at least radially acting magnetic bearing and rotating in the bearing during a spinning operation, and at least one variable system variable being compared with at least one reference value. The invention also relates to a rotor spinning machine for using the method.

In einer Rotorspinnmaschine werden in bekannter Weise durch das Rotieren eines Spinnrotors bei hoher Drehzahl Textilfasern zu Garnen verdichtet. Der Spinnrotor besteht in der Regel aus einer Rotortasse, in der die Garnerzeugung stattfindet, und einem Rotorschaft, der der Drehmomentübertragung und der Kopplung an eine Lagerung dient. Moderne Rotorspinnmaschinen weisen bekanntermaßen eine Vielzahl von individuellen Arbeitsstellen auf. Diese Maschinen sind in der Lage unterschiedliche Garne beispielsweise aus unterschiedlichen Materialien herzustellen. Es können hierbei verschiedene Anforderungen an die Spinnrotoren bestehen. Deshalb ist es üblich, austauschbare Spinnrotoren mit unterschiedlichen Größen und/oder Formen vorzusehen. Insbesondere Umfang und Form der Rotortasse können variiert werden. Mit dem Wechsel der Spinnrotoren können sich die zulässigen Betriebsparameter der Arbeitsstelle bzw. Spinnmaschine verändern. Um eine gleichbleibende Garnqualität und eine hohe Betriebssicherheit zu gewährleisten, besteht daher ein Bedarf an Verfahren und Vorrichtungen zur automatischen Identifikation des eingebauten Spinnrotors.In a rotor spinning machine, textile fibers are compressed into yarns in a known manner by rotating a spinning rotor at high speed. The spinning rotor usually consists of a rotor cup, in which the yarn is produced, and a rotor shaft, which is used for torque transmission and for coupling to a bearing. It is known that modern rotor spinning machines have a large number of individual jobs. These machines are able to produce different yarns from different materials, for example. There may be various requirements for the spinning rotors. It is therefore common to provide interchangeable spinning rotors of different sizes and / or shapes. In particular, the size and shape of the rotor cup can be varied. When the spinning rotors are changed, the permissible operating parameters of the work station or spinning machine can change. In order to ensure consistent yarn quality and high operational reliability, there is therefore a need for methods and devices for the automatic identification of the built-in spinning rotor.

Aus der DE 10 2007 028 935 A1 ist ein Verfahren zum Erkennen von Verschmutzungen oder Fehlern in einer magnetischen Lagerung eines Rotors einer elektrischen Maschine bekannt, bei dem während eines Abhebens des Rotors aus verschiedenen axialen Endstellungen variable Systemgrößen ermittelt und mit Referenzwerten verglichen werden. Bei zu großer Abweichung wird beispielsweise ein Anlaufen der Maschine verhindert. Einerseits wird bei dem bekannten Verfahren nur ein axialer Bewegungsfreiheitsgrad zum Ermitteln der variablen Systemgröße genutzt. Andererseits werden mit dem Verfahren Fehler oder Verschmutzungen identifiziert und nicht der eingebaute Spinnrotor.From the DE 10 2007 028 935 A1 a method for detecting contamination or errors in a magnetic bearing of a rotor of an electrical machine is known, in which during a lifting of the Rotors can be determined from various axial end positions, variable system sizes and compared with reference values. If the deviation is too great, the machine is prevented from starting, for example. On the one hand, in the known method, only one degree of axial freedom of movement is used to determine the variable system size. On the other hand, the method identifies defects or contamination and not the built-in spinning rotor.

Aufgabe der vorliegenden Erfindung ist es somit, das bekannte Verfahren derart weiterzuentwickeln, dass eine Identifikation eines eingebauten Spinnrotors ermöglicht wird.The object of the present invention is therefore to further develop the known method in such a way that an identification of a built-in spinning rotor is made possible.

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

Das erfindungsgemäße Verfahren dient zur Identifikation eines Spinnrotors an einer Rotorspinnmaschine, wobei der Spinnrotor in einer zumindest radial wirkenden magnetischen Lagerung schwebend gelagert ist und sich während eines Spinnbetriebs in der Lagerung dreht. Wenigstens eine variable Systemgröße wird mit wenigstens einem Referenzwert verglichen. Es wird vorgeschlagen, dass die wenigstens eine variable Systemgröße eine Energieaufnahme der Lagerung, eine radiale Position des Spinnrotors und/oder eine Resonanzfrequenz des Spinnrotors ist.The method according to the invention serves to identify a spinning rotor on a rotor spinning machine, the spinning rotor being suspended in an at least radially acting magnetic bearing and rotating in the bearing during a spinning operation. At least one variable system variable is compared with at least one reference value. It is proposed that the at least one variable system variable is an energy consumption of the bearing, a radial position of the spinning rotor and / or a resonance frequency of the spinning rotor.

Die genannten variablen Systemgrößen hängen direkt von den physikalischen Eigenschaften des Spinnrotors ab und eignen sich daher besonders zur Identifikation des Spinnrotors. Die insbesondere automatische Erkennung des Spinnrotors durch die Rotorspinnmaschine kann sicherstellen, dass die Spinnmaschine beispielsweise nur mit auf den individuellen Spinnrotor angepassten Betriebsparametern betrieben werden kann. Diese Einschränkung kann einen sicheren und effizienten Betrieb der Rotorspinnmaschine sicherstellen.The variable system variables mentioned depend directly on the physical properties of the spinning rotor and are therefore particularly suitable for identifying the spinning rotor. The particularly automatic detection of the spinning rotor by the rotor spinning machine can ensure that the spinning machine can, for example, only be operated with operating parameters adapted to the individual spinning rotor. This restriction can ensure safe and efficient operation of the rotor spinning machine.

Vorzugsweise wird der wenigstens eine Referenzwert während einer Kalibration festgelegt. Verschiedene Spinnrotoren werden hierbei in die Rotorspinnmaschine eingebaut und die entsprechenden variablen Systemgrößen ermittelt. Die Kalibration kann beispielsweise durch den Hersteller vor Auslieferung der entsprechenden Rotorspinnmaschine erfolgen. Es ist aber ebenfalls denkbar, dass der Anwender der Rotorspinnmaschine die eventuell notwendige Kalibration selbst vornimmt.The at least one reference value is preferably established during a calibration. Various spinning rotors are built into the rotor spinning machine and the corresponding variable system sizes are determined. The calibration can be carried out, for example, by the manufacturer before the corresponding rotor spinning machine is delivered. However, it is also conceivable for the user of the rotor spinning machine to carry out any necessary calibration himself.

In einer vorteilhaften Weiterbildung des Verfahrens ist der Spinnrotor in einer zumindest radial wirkenden elektromagnetischen Lagerung schwebend gelagert, wobei zumindest die radiale Position des Spinnrotors aktiv von der Lagerung beeinflusst wird. Eine aktive elektromagnetische Lagerung kann einerseits unerwünschte Vibrationen des Spinnrotors während des Spinnbetriebs dämpfen. Andererseits kann die aktive Lagerung ebenfalls zur Identifikation des Spinnrotors beitragen, indem die radiale Position des Spinnrotors in bestimmter Weise beeinflusst wird und die Auswirkungen dieser Beeinflussung ermittelt werden (siehe unten). Umgekehrt ist eine vorherige Identifikation des Spinnrotors ebenfalls für eine Steuerung der Lagerung vorteilhaft. So können beispielsweise bei bekannter Masse des Spinnrotors die Auswirkungen dämpfender Eingriffe der Lagerung vorhergesagt und entsprechend dosiert werden. Falls die Lagerung zusätzlich axial wirkt, ist es selbstverständlich ebenfalls denkbar, dass auch eine axiale Position des Spinnrotors aktiv von der Lagerung beeinflusst wird.In an advantageous development of the method, the spinning rotor is mounted in a floating manner in an at least radially acting electromagnetic bearing, at least the radial position of the spinning rotor being actively influenced by the bearing. An active electromagnetic bearing can on the one hand dampen undesired vibrations of the spinning rotor during the spinning operation. On the other hand, the active mounting can also contribute to the identification of the spinning rotor by influencing the radial position of the spinning rotor in a certain way and determining the effects of this influence (see below). Conversely, prior identification of the spinning rotor is also advantageous for controlling the storage. For example, if the mass of the spinning rotor is known, the effects of damping interventions in the storage can be predicted and dosed accordingly. If the bearing also acts axially, it is of course also conceivable that an axial position of the spinning rotor is also actively influenced by the bearing.

Es ist von Vorteil, wenn eine radiale Position des Spinnrotors durch wenigstens einen Sensor und/oder durch die Lagerung erfasst wird. Über den Sensor kann die radiale Position des Spinnrotors als variable Systemgröße ermittelt werden. Auch kann der Sensor Vibrationen des Spinnrotors erfassen und damit beispielsweise als Grundlage für dämpfende Eingriffe der Lagerung dienen. Der Sensor kann als induktiver, kapazitiver, magnetischer oder optischer Wegsensor ausgebildet sein. Auch eine Ausführung als Wirbelstromsensor ist denkbar. Durch die Messung von Vibrationen ist es ebenfalls möglich die Resonanzfrequenz des Spinnrotors zu ermitteln (siehe unten).It is advantageous if a radial position of the spinning rotor is detected by at least one sensor and / or by the bearing. The radial position of the spinning rotor can be determined as a variable system variable via the sensor. The sensor can also detect vibrations of the spinning rotor and thus, for example, serve as the basis for damping interventions in the bearing. The sensor can be designed as an inductive, capacitive, magnetic or optical displacement sensor. Also available as an eddy current sensor is conceivable. By measuring vibrations, it is also possible to determine the resonance frequency of the spinning rotor (see below).

Zumindest eine Veränderung der Position des Spinnrotors kann auch durch ein in der Lagerung induziertes Signal erfasst werden. So kann eventuell auf einen zusätzlichen Positionssensor verzichtet werden oder eine Genauigkeit der Positionserfassung kann durch die gemeinsame Nutzung wenigstens eines Sensors und der Lagerung erhöht werden. Es ist ebenfalls denkbar, dass eine axiale Position des Spinnrotors durch einen Sensor erfasst wird.At least one change in the position of the spinning rotor can also be detected by a signal induced in the bearing. An additional position sensor can possibly be dispensed with, or the accuracy of the position detection can be increased by using at least one sensor and the bearing together. It is also conceivable that an axial position of the spinning rotor is detected by a sensor.

Weiterhin stellt es einen Vorteil dar, wenn die Position des schwebenden Spinnrotors derart variiert wird, dass die Energieaufnahme der Lagerung minimal wird und die Position anschließend mit wenigstens einem Positionsreferenzwert verglichen wird. Einerseits ist eine minimierte Energieaufnahme der Lagerung an sich für den Energieverbrauch der Rotorspinnmaschine vorteilhaft. Andererseits kann die Position, insbesondere die radiale Position, bei minimierter Energieaufnahme der Lagerung Rückschlüsse auf die physikalischen Eigenschaften des Spinnrotors zulassen. Grundlegend hierfür ist, dass es für einen bestimmten Spinnrotor nur eine Position minimaler Energieaufnahme der Lagerung gibt, und diese beispielsweise von der Masse des Spinnrotors abhängt. Die Variation der Position des Spinnrotors und das Minimieren der Energieaufnahme der Lagerung kann stattfinden während der Spinnrotor nicht rotiert. Andererseits ist es aber denkbar das Verfahren bei rotierendem Spinnrotor durchzuführen.Furthermore, it is advantageous if the position of the floating spinning rotor is varied in such a way that the energy consumption of the bearing is minimal and the position is then compared with at least one position reference value. On the one hand, a minimized energy consumption of the storage is advantageous for the energy consumption of the rotor spinning machine. On the other hand, the position, in particular the radial position, can allow conclusions to be drawn about the physical properties of the spinning rotor when the energy consumption of the bearing is minimized. Fundamental for this is that there is only one position of minimal energy absorption for the bearing for a specific spinning rotor, and this depends, for example, on the mass of the spinning rotor. The variation of the position of the spinning rotor and the minimization of the energy consumption of the bearing can take place while the spinning rotor is not rotating. On the other hand, however, it is conceivable to carry out the method with the spinning rotor rotating.

Es ist vorteilhaft, wenn der Spinnrotor in eine definierte radiale Position gebracht wird und die Energieaufnahme der Lagerung anschließend mit wenigstens einem Energieaufnahmereferenzwert verglichen wird. Im Gegensatz zu der zuvor beschriebenen Vorgehensweise ist es möglich die radiale Position des Spinnrotors festzulegen und die Energieaufnahme der Lagerung bei dieser Position zu bestimmen. Diese Energieaufnahme ist entsprechend wieder charakteristisch für den jeweiligen Spinnrotor, da sie beispielsweise von seiner Masse abhängt. Wie zuvor findet das Verfahren vorzugsweise bei einem nicht in Rotation befindlichen Spinnrotor statt. Es ist aber ebenfalls denkbar bei in einer festgelegten radialen Position rotierendem Spinnrotor die Energieaufnahme der Lagerung zu bestimmen. Diese hängt dann von den Vibrationen bzw. charakteristischen Unwuchten des Spinnrotors ab und kann daher zur Identifikation herangezogen werden.It is advantageous if the spinning rotor is brought into a defined radial position and the energy consumption of the bearing is then compared with at least one energy consumption reference value. In contrast to the procedure described above, it is possible to determine the radial position of the spinning rotor and the energy consumption of the bearing to determine this position. This energy absorption is again characteristic of the respective spinning rotor, since it depends, for example, on its mass. As before, the method preferably takes place with a non-rotating spinning rotor. However, it is also conceivable to determine the energy consumption of the bearing when the spinning rotor is rotating in a fixed radial position. This then depends on the vibrations or characteristic imbalances of the spinning rotor and can therefore be used for identification.

Vorteilhafterweise wird der Spinnrotor von der Lagerung in Schwingung versetzt und aus einem Abklingverhalten der Schwingung die Resonanzfrequenz des Spinnrotors ermittelt. Anschließend wird diese mit wenigstens einem Resonanzfrequenzreferenzwert verglichen. Auch die Resonanzfrequenz des Spinnrotors als starrer Körper ist charakteristisch für eine bestimmte Form und Masse und daher zur Identifikation geeignet. Die aktive Lagerung kann dem Spinnrotor einen Bewegungsimpuls geben und die Abklingzeit der entstehenden Schwingung kann mit dem Sensor oder über die Lagerung bestimmt werden. Aus diesem Schwingungsverhalten kann der jeweilige Spinnrotor identifiziert werden.The spinning rotor is advantageously set to vibrate from the bearing and the resonance frequency of the spinning rotor is determined from a decay behavior of the vibration. This is then compared with at least one resonance frequency reference value. The resonance frequency of the spinning rotor as a rigid body is characteristic of a certain shape and mass and therefore suitable for identification. The active mounting can give the spinning rotor a movement impulse and the decay time of the resulting oscillation can be determined with the sensor or via the mounting. The respective spinning rotor can be identified from this vibration behavior.

Zusätzlich ist es von Vorteil, wenn während einer Beschleunigung des Spinnrotors aus einem Anstieg einer Amplitude einer Schwingung des Spinnrotors die Resonanzfrequenz des Spinnrotors ermittelt wird und diese anschließend mit wenigstens einem Resonanzfrequenzreferenzwert verglichen wird. Hier wird ausgenutzt, dass der Spinnrotor während der Rotation von selbst vibriert. Die maximale Amplitude der Vibration entsteht, wenn der Spinnrotor mit einer Drehzahl rotiert, die seiner Resonanzfrequenz entspricht. Diese Drehzahl wird auch kritische Drehzahl genannt. Für das Verfahren muss der Spinnrotor aber nicht bis zur kritischen Drehzahl beschleunigt werden. Aus dem Anstieg der Amplitude der Vibration kann die kritische Drehzahl extrapoliert werden. Es wäre allerdings denkbar den Spinnrotor bis über die kritische Drehzahl zu beschleunigen und die Resonanzfrequenz direkt zu messen.In addition, it is advantageous if, during an acceleration of the spinning rotor, the resonance frequency of the spinning rotor is determined from an increase in an amplitude of a vibration of the spinning rotor and this is then compared with at least one resonance frequency reference value. This makes use of the fact that the spinning rotor vibrates by itself during rotation. The maximum amplitude of the vibration occurs when the spinning rotor rotates at a speed that corresponds to its resonance frequency. This speed is also called the critical speed. However, the spinning rotor does not have to be accelerated to the critical speed for the process. The critical speed can be extrapolated from the increase in the amplitude of the vibration. It would, however, be conceivable to accelerate the spinning rotor to above the critical speed and to measure the resonance frequency directly.

Eine Extrapolation wäre hierbei dann nicht notwendig. Die Amplitude der Vibration kann in jedem Fall über den bereits beschriebenen Sensor und/oder durch in der Lagerung induzierte Signale gemessen werden.An extrapolation would then not be necessary. The amplitude of the vibration can in any case be measured by the sensor already described and / or by signals induced in the bearing.

Besonders vorteilhaft ist es, wenn aus dem Vergleich der variablen Systemgröße mit dem Referenzwert eine Masse, eine Form, ein Volumen und/oder ein Material, des Spinnrotors bestimmt wird. Die genannten physikalischen Eigenschaften stehen untereinander in engem Zusammenhang und beeinflussen direkt die beschriebenen variablen Systemgrößen. Es ist denkbar, dass bei unterschiedlichen Spinnrotoren eine der aufgezählten physikalischen Eigenschaften gleich ist. Beispielsweise ist es denkbar, dass zwei Spinnrotoren zwar die gleiche Masse nicht aber die gleiche Form bzw. das gleiche Volumen aufweisen. Es kann deshalb sinnvoll sein mehrere der Eigenschaften zu bestimmen, um zu einer eindeutigen Identifikation zu kommen.It is particularly advantageous if a mass, a shape, a volume and / or a material of the spinning rotor is determined from the comparison of the variable system variable with the reference value. The physical properties mentioned are closely related to one another and directly influence the variable system parameters described. It is conceivable that one of the listed physical properties is the same for different spinning rotors. For example, it is conceivable that two spinning rotors have the same mass but not the same shape or the same volume. It can therefore make sense to determine several of the properties in order to arrive at a clear identification.

Für einen sicheren und effizienten Betrieb der Rotorspinnmaschine ist es besonders vorteilhaft, wenn aus dem Vergleich der variablen Systemgröße mit dem Referenzwert ein Funktionsumfang des Spinnbetriebs festgelegt wird. Unterschiedliche Spinnrotoren sind unterschiedlich belastbar und für die Herstellung unterschiedlicher Garne besonders geeignet. Mit dem Funktionsumfang des Spinnbetriebs sind einerseits allgemeine Betriebsparameter der Rotorspinnmaschine gemeint. Beispielsweise können die maximale Drehzahl oder ein maximales Drehmoment während des Beschleunigens des Spinnrotors beschränkt werden, je nach Ergebnis der Identifikation. Auch Reinigungs- oder Wartungsintervalle können an den Spinnrotor angepasst werden. Andererseits ist es ebenfalls denkbar, dass einem Bediener der Rotorspinnmaschine, vorzugsweise in Verbindung mit einem Artikelverwaltungssystem, nur bestimmte Garne in Abhängigkeit des eingebauten Spinnrotors zur Herstellung angeboten werden. Ein Artikelverwaltungssystem verwaltet Einstellungen der Rotorspinnmaschine zur Herstellung bestimmter Garne. Es ist denkbar, dass bei Auswahl eines bestimmten Garns bzw. Rezepts aus dem Artikelverwaltungssystem der Einbau eines bestimmten Spinnrotors vorgeschlagen wird.For safe and efficient operation of the rotor spinning machine, it is particularly advantageous if a functional scope of the spinning operation is determined from the comparison of the variable system variable with the reference value. Different spinning rotors can withstand different loads and are particularly suitable for the production of different yarns. The functional scope of the spinning operation means on the one hand general operating parameters of the rotor spinning machine. For example, the maximum speed or a maximum torque can be limited during the acceleration of the spinning rotor, depending on the result of the identification. Cleaning or maintenance intervals can also be adapted to the spinning rotor. On the other hand, it is also conceivable that an operator of the rotor spinning machine, preferably in connection with an article management system, is offered only certain yarns for production depending on the installed spinning rotor. An article management system manages the settings of the rotor spinning machine for the production of certain yarns. It is conceivable that when selecting a certain yarn or recipe from the installation of a specific spinning rotor is proposed to the article management system.

Die erfindungsgemäße Rotorspinnmaschine weist wenigstens eine Arbeitsstelle auf. Die wenigstens eine Arbeitsstelle umfasst wiederum einen in einer zumindest radial wirkenden magnetischen Lagerung schwebend gelagerten Spinnrotor, der sich in einem Spinnbetrieb innerhalb der Lagerung dreht. Weiterhin umfasst die wenigstens eine Arbeitsstelle eine Steuerung. Es wird vorgeschlagen, dass die Steuerung ausgebildet ist eine Identifikation des Spinnrotors vorzunehmen, wobei wenigstens eine variable Systemgröße mit wenigstens einem Referenzwert verglichen wird, wobei die wenigstens eine variable Systemgröße eine Energieaufnahme der Lagerung, eine radiale Position des Spinnrotors und/oder eine Resonanzfrequenz des Spinnrotors ist. Wie bereits beschrieben, kann eine vorzugsweise automatisierte Identifikation des eingebauten Spinnrotors anhand seiner physikalischen Eigenschaften die Sicherheit und die Effizienz des Betriebs der Rotorspinnmaschine verbessern. Selbstverständlich ist der Spinnrotor oder sind zumindest Teile des Spinnrotors der Rotorspinnmaschine austauschbar. Insbesondere ist die Rotortasse des Spinnrotors austauschbar.The rotor spinning machine according to the invention has at least one work station. The at least one work station in turn comprises a spinning rotor mounted in a floating manner in an at least radially acting magnetic bearing, which rotates in a spinning operation within the bearing. Furthermore, the at least one job includes a controller. It is proposed that the control is designed to carry out an identification of the spinning rotor, with at least one variable system variable being compared with at least one reference value, the at least one variable system variable being an energy consumption of the bearing, a radial position of the spinning rotor and / or a resonance frequency of the spinning rotor is. As already described, a preferably automated identification of the installed spinning rotor on the basis of its physical properties can improve the safety and the efficiency of the operation of the rotor spinning machine. It goes without saying that the spinning rotor or at least parts of the spinning rotor of the rotor spinning machine are interchangeable. In particular, the rotor cup of the spinning rotor is exchangeable.

Die Rotorspinnmaschine kann eine Vielzahl von Arbeitsstellen aufweisen, die insbesondere zumindest teilweise unabhängig voneinander betrieben werden können. Jede Arbeitsstelle weist einen eigenen Spinnrotor auf, der vorzugsweise von einem Einzelantrieb angetrieben wird. Weitere Merkmale der Arbeitsstelle der Rotorspinnmaschine können insbesondere Auflöse- und Spulwalzen sowie Garnsensoren und Absaugvorrichtungen sein. Die Steuerung der Arbeitsstelle kann mit Steuerungen anderer Arbeitsstellen und/oder mit einer übergeordneten Maschinensteuerung verbunden sein. Die Steuerung kann beispielsweise als integrierter Schaltkreis ausgebildet sein.The rotor spinning machine can have a large number of work stations, which in particular can be operated at least partially independently of one another. Each work station has its own spinning rotor, which is preferably driven by an individual drive. Further features of the work station of the rotor spinning machine can in particular be opening and winding rollers as well as yarn sensors and suction devices. The control of the work station can be connected to controls of other work stations and / or to a higher-level machine control. The controller can for example be designed as an integrated circuit.

In einer vorteilhaften Ausgestaltung der Rotorspinnmaschine ist die Lagerung eine elektromagnetische Lagerung mit wenigstens einem Elektromagneten.In an advantageous embodiment of the rotor spinning machine, the bearing is an electromagnetic bearing with at least one electromagnet.

Eine derartige Lagerung erlaubt das aktive Regulieren der Position des Spinnrotors und damit beispielsweise eine Ausrichtung, in der eine geringe Energieaufnahme der Lagerung und/oder des Antriebs gegeben ist. Auch können Vibrationen des Spinnrotors durch die Lagerung gedämpft oder durch eine vorteilhafte Positionierung des Spinnrotors minimiert werden. Wie bereits beschrieben, kann die aktive Lagerung für das Verfahren zum Identifizieren des Spinnrotors genutzt werden, indem einerseits die Energieaufnahme der Lagerung durch die Variation der Position des Spinnrotors minimiert wird, oder indem bei gegebener Position eine charakteristische Energieaufnahme der Lagerung ermittelt wird. Die Lagerung kann mehrere Lagerelemente, beispielsweise Lagerringe, aufweisen. Insbesondere sind zwei Lagerelemente vorgesehen. Die Position des Spinnrotors kann über den in einer Spule des wenigstens einen Elektromagneten fließenden Strom reguliert werden. Die Lagerung kann sowohl Elektromagnete als auch Permanentmagnete aufweisen. Für den Fall eines Ausfalls des Lagers ist vorzugsweise ein zusätzliches Fanglager vorgesehen.Such a storage allows the active regulation of the position of the spinning rotor and thus, for example, an orientation in which there is a low energy consumption of the storage and / or the drive. Vibrations of the spinning rotor can also be dampened by the storage or minimized by an advantageous positioning of the spinning rotor. As already described, the active mounting can be used for the method of identifying the spinning rotor by minimizing the energy consumption of the mounting by varying the position of the spinning rotor, or by determining a characteristic energy consumption of the mounting for a given position. The storage can have several bearing elements, for example bearing rings. In particular, two bearing elements are provided. The position of the spinning rotor can be regulated via the current flowing in a coil of the at least one electromagnet. The storage can have both electromagnets and permanent magnets. In the event of a failure of the bearing, an additional safety bearing is preferably provided.

Außerdem ist es von Vorteil, wenn die Steuerung mit wenigstens einem Sensor zur Erfassung einer Position und/oder einer Bewegung des Spinnrotors verbunden ist. Der Sensor kann als induktiver, kapazitiver, magnetischer oder optischer Wegsensor ausgebildet sein. Auch eine Ausführung als Wirbelstromsensor ist denkbar. Insbesondere sind zwei Sensoren vorgesehen. Wie bereits beschrieben, kann alternativ oder zusätzlich das Lager zur Erfassung der Bewegung des Spinnrotors herangezogen werden. Hierzu können Strom- und/oder Spannungsänderungen in Spulen der Lagerung ausgewertet werden.It is also advantageous if the control is connected to at least one sensor for detecting a position and / or a movement of the spinning rotor. The sensor can be designed as an inductive, capacitive, magnetic or optical displacement sensor. An embodiment as an eddy current sensor is also conceivable. In particular, two sensors are provided. As already described, the bearing can alternatively or additionally be used to detect the movement of the spinning rotor. For this purpose, current and / or voltage changes in the coils of the bearing can be evaluated.

Insbesondere ist es vorteilhaft, wenn die Lagerung zusätzlich axial wirkt oder eine zusätzliche Axiallagerung vorgesehen ist. Bei einer axialen Wirkung der Lagerung ist gegebenenfalls wenigstens ein zusätzliches axiales Lagerelement erforderlich. Eine gemeinsame Steuerung der Position des Spinnrotors in den radialen und axialen Richtungen kann vorteilhaft sein, indem Energieverbrauch und Vibrationen weiter verringert werden.In particular, it is advantageous if the bearing also acts axially or if an additional axial bearing is provided. If the bearing has an axial effect, at least one additional axial bearing element may be required. A common control of the position of the spinning rotor in the radial and axial directions can be advantageous in that power consumption and vibrations are further reduced.

Die zusätzliche Axiallagerung kann ebenfalls magnetisch und insbesondere aktiv sein. Vorzugsweise weist die Axiallagerung wenigstens einen Elektromagneten auf. Es ist ebenfalls denkbar, dass die Axiallagerung wenigstens einen Permanentmagneten aufweist.The additional axial bearing can also be magnetic and in particular active. The axial bearing preferably has at least one electromagnet. It is also conceivable that the axial bearing has at least one permanent magnet.

Ein weiterer Vorteil zeigt sich, wenn die Steuerung mit einem Artikelverwaltungssystem verbunden ist. Ein Artikelverwaltungssystem kann einem Bediener der Rotorspinnmaschine eine Datenbank von herzustellenden Garnen mit den damit verbundenen Betriebsparametern und Einstellwerten für die Rotorspinnmaschine zur Verfügung stellen. Die entsprechenden Betriebsparameter und Einstellwerte können bei Auswahl eines herzustellenden Garns vorzugsweise automatisch an der Rotorspinnmaschine angewendet werden. Die Auswahl an möglichen Garnen kann hierbei von dem eingebauten Spinnrotor bzw. einer erfolgreichen Identifikation des Spinnrotors abhängen. Das Artikelverwaltungssystem kann als zentraler Rechner ausgebildet sein, in eine Steuerung der Rotorspinnmaschine integriert sein, oder über das Internet von zentraler Stelle zur Verfügung stehen. Es ist denkbar, dass die Datenbank des Artikelverwaltungssystems ebenfalls Referenzwerte für die variablen Systemgrößen enthält.Another advantage is shown when the control is connected to an article management system. An article management system can provide an operator of the rotor spinning machine with a database of yarns to be produced with the associated operating parameters and setting values for the rotor spinning machine. The corresponding operating parameters and setting values can preferably be used automatically on the rotor spinning machine when a yarn to be produced is selected. The selection of possible yarns can depend on the built-in spinning rotor or a successful identification of the spinning rotor. The article management system can be designed as a central computer, integrated into a control of the rotor spinning machine, or be available from a central point via the Internet. It is conceivable that the database of the article management system also contains reference values for the variable system variables.

Einen weiteren großen Vorteil stellt es dar, wenn die Steuerung einen Speicher für Positionsreferenzwerte, Energieaufnahmereferenzwerte und/oder Resonanzfrequenzreferenzwerte aufweist. Mittels des Speichers ist es besonders einfach diese Werte für jede Arbeitsstelle individuell zur Verfügung zu stellen und für die erfindungsgemäße Identifikation des Spinnrotors zu verwenden. Die Referenzwerte können beispielsweise beim Hersteller der Rotorspinnmaschine und insbesondere im Rahmen einer Erstinbetriebnahme ermittelt und im Speicher hinterlegt werden. Es ist alternativ denkbar, dass diese Referenzwerte in einem, insbesondere zentralen, Speicher hinterlegt sind und dass die Steuerung mit dem Speicher verbunden ist oder dass diese Referenzwerte beispielsweise über das Internet vom Hersteller zur Verfügung gestellt werden.Another great advantage is when the control has a memory for position reference values, energy consumption reference values and / or resonance frequency reference values. By means of the memory, it is particularly easy to provide these values individually for each job and to use them for the identification of the spinning rotor according to the invention. The reference values can be determined, for example, by the manufacturer of the rotor spinning machine and in particular during initial start-up and stored in the memory. Alternatively, it is conceivable that these reference values are stored in a, in particular central, memory and that the controller is connected to the memory or that these reference values are made available by the manufacturer via the Internet, for example.

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

Figur 1
eine Frontansicht einer erfindungsgemäßen Rotorspinnmaschine,
Figur 2
einen Spinnrotor der erfindungsgemäßen Rotorspinnmaschine mit Lagerung und Antrieb, und
Figur 3
ein weiteres Ausführungsbeispiel eines Spinnrotors der erfindungsgemäßen Rotorspinnmaschine.
Further advantages of the invention are described in the following exemplary embodiments. It shows:
Figure 1
a front view of a rotor spinning machine according to the invention,
Figure 2
a spinning rotor of the rotor spinning machine according to the invention with storage and drive, and
Figure 3
a further embodiment of a spinning rotor of the rotor spinning machine according to the invention.

Bei der nachfolgenden Beschreibung der Figuren werden für in den verschiedenen Figuren jeweils identische und/oder zumindest vergleichbare Merkmale gleiche Bezugszeichen verwendet. Die einzelnen Merkmale, deren Ausgestaltung und/oder Wirkweise werden meist nur bei ihrer ersten Erwähnung ausführlich erläutert. Werden einzelne Merkmale nicht nochmals detailliert erläutert, so entspricht deren Ausgestaltung und/oder Wirkweise der Ausgestaltung und Wirkweise der bereits beschriebenen gleichwirkenden oder gleichnamigen Merkmale.In the following description of the figures, the same reference symbols are used for features that are identical and / or at least comparable in the various figures. The individual features, their design and / or mode of action are usually only explained in detail when they are first mentioned. If individual features are not explained again in detail, their design and / or mode of action corresponds to the design and mode of action of the already described identically acting or identically named features.

Figur 1 zeigt eine erfindungsgemäße Rotorspinnmaschine 1 mit mehreren Arbeitsstellen 2, in denen im bekannten Rotorspinnverfahren Textilfasern zu Garnen 3 gesponnen werden. Das Garn 3 wird jeweils auf eine Spule 4 gewickelt. Die Arbeitsstellen 2 weisen jeweils einen Spinnrotor 5 mit einer magnetischen Lagerung 6 und einer Steuerung 7 auf (siehe Figur 2). Die Steuerung 7 ist jeweils ausgebildet eine Identifikation des Spinnrotors 5 vorzunehmen, wobei wenigstens eine Energieaufnahme der Lagerung 6, eine radiale Position des Spinnrotors 5 und/oder eine Resonanzfrequenz des Spinnrotors 5 als variable Systemgröße mit wenigstens einem entsprechenden Referenzwert verglichen wird. Figure 1 shows a rotor spinning machine 1 according to the invention with several work stations 2 in which textile fibers are spun into yarns 3 in the known rotor spinning process. The yarn 3 is wound onto a bobbin 4 in each case. The work stations 2 each have a spinning rotor 5 with a magnetic bearing 6 and a controller 7 (see FIG Figure 2 ). The controller 7 is designed to identify the spinning rotor 5, whereby at least one energy consumption of the bearing 6, a radial position of the spinning rotor 5 and / or a resonance frequency of the spinning rotor 5 is compared as a variable system variable with at least one corresponding reference value.

Figur 2 zeigt eine Ansicht des in einer der Arbeitsstellen 2 verbauten Spinnrotors 5 mit der magnetischen Lagerung 6 und der Steuerung 7. Der Spinnrotor 5 setzt sich aus einer Rotortasse 8 und einem Rotorschaft 9 zusammen, wobei Rotortasse 8 und Rotorschaft 9 vorzugsweise lösbar miteinander verbunden sind. In der Rotortasse 8 findet im Spinnbetrieb die Garnerzeugung statt, wobei die Rotortasse 8 eine bestimmte Form hat, die besonders für die Erzeugung bestimmter Garne 3 geeignet ist. Je nach Bedarf kann der ganze Spinnrotor 5 oder zumindest die Rotortasse 8 ausgetauscht werden, was eine möglichst automatische Identifikation des Spinnrotors 5 durch die Steuerung 7 notwendig macht. Figure 2 shows a view of the spinning rotor 5 installed in one of the work stations 2 with the magnetic bearing 6 and the control 7. The spinning rotor 5 is composed of a rotor cup 8 and a rotor shaft 9, the rotor cup 8 and rotor shaft 9 preferably being detachably connected to one another. During the spinning operation, the yarn is produced in the rotor cup 8, the rotor cup 8 having a specific shape which is particularly suitable for producing certain yarns 3. Depending on requirements, the entire spinning rotor 5 or at least the rotor cup 8 can be exchanged, which makes it necessary for the spinning rotor 5 to be identified as automatically as possible by the control 7.

Der Rotorschaft 9 dient der Kopplung an die Lagerung 6 und einen Antrieb 10. Der Antrieb 10 kann beispielsweise als Elektromotor ausgebildet sein, wobei in diesem Fall der Rotorschaft 9 gleichzeitig der Rotor des Elektromotors sein kann. Die Lagerung 6 weist in diesem Beispiel zwei Lagerelemente 11 auf, die vorzugsweise als Lagerringe ausgebildet sind. Die Lagerelemente 11 können Elektromagnete und eventuell Permanentmagnete aufweisen und sind mit der Steuerung 7 verbunden.The rotor shaft 9 is used for coupling to the bearing 6 and a drive 10. The drive 10 can for example be designed as an electric motor, in which case the rotor shaft 9 can simultaneously be the rotor of the electric motor. In this example, the bearing 6 has two bearing elements 11, which are preferably designed as bearing rings. The bearing elements 11 can have electromagnets and possibly permanent magnets and are connected to the controller 7.

Die Steuerung 7 kann beispielsweise aktiv die radiale Position des schwebenden Spinnrotors 5 regeln und beispielsweise ungewollte Vibrationen während des Spinnbetriebs dämpfen. Die Lagerelemente 11 können als Lagesensoren des Spinnrotors 5 dienen, da Bewegungen des Spinnrotors 5 zu Veränderungen des Stroms und/oder der Spannung in den Elektromagneten der Lagerelemente 11 führen.The controller 7 can, for example, actively regulate the radial position of the floating spinning rotor 5 and, for example, dampen unwanted vibrations during the spinning operation. The bearing elements 11 can serve as position sensors of the spinning rotor 5, since movements of the spinning rotor 5 lead to changes in the current and / or the voltage in the electromagnets of the bearing elements 11.

Zur Identifikation des Spinnrotors 5 sind, wie bereits beschrieben, mehrere Vorgehensweisen denkbar. Beispielsweise kann die Position des Spinnrotors 5 derart variiert werden, dass die Energieaufnahme der Lagerung 6, die notwendig ist um den Spinnrotor 5 in der Schwebe zu halten, minimal wird. Andererseits kann die Energieaufnahme der Lagerung 6 bei einer vorgegebenen Position des Spinnrotors 5 ermittelt werden.As already described, several procedures are conceivable for identifying the spinning rotor 5. For example, the position of the spinning rotor 5 can be varied in such a way that the energy absorption of the bearing 6, which is necessary to keep the spinning rotor 5 floating, is minimal. On the other hand, the energy consumption of the bearing 6 can be determined at a predetermined position of the spinning rotor 5.

Ebenfalls kann der Spinnrotor 5 anhand seiner Resonanzfrequenz identifiziert werden. Die Resonanzfrequenz ist charakteristisch für die Masse und die Form des Spinnrotors 5. Einerseits kann die Resonanzfrequenz anhand des Anstiegs der Amplitude der Vibration des Spinnrotors 5 während der beschleunigten Rotation ermittelt werden. Andererseits kann der Spinnrotor 5 auch von der Lagerung 6 in Schwingung versetzt werden und anhand des Abklingverhaltens, insbesondere der Abklingzeit, der Schwingung die Resonanzfrequenz ermittelt werden. In jedem dieser Fälle wird eine variable Systemgröße ermittelt, die von den physikalischen Eigenschaften des Spinnrotors 5 abhängt und die mittels eines Vergleichs mit bekannten Referenzwerten eine Zuordnung des in die Arbeitsstelle 2 der Rotorspinnmaschine 1 eingebauten Spinnrotors 5 erlaubt.The spinning rotor 5 can also be identified on the basis of its resonance frequency. The resonance frequency is characteristic of the mass and the shape of the spinning rotor 5. On the one hand, the resonance frequency can be determined on the basis of the increase in the amplitude of the vibration of the spinning rotor 5 during the accelerated rotation. On the other hand, the spinning rotor 5 can also be set in vibration by the bearing 6 and the resonance frequency can be determined on the basis of the decay behavior, in particular the decay time, of the vibration. In each of these cases, a variable system variable is determined which depends on the physical properties of the spinning rotor 5 and which, by means of a comparison with known reference values, allows the spinning rotor 5 installed in the work station 2 of the rotor spinning machine 1 to be assigned.

Figur 3 zeigt die Ansicht eines weiteren Spinnrotors 5 der erfindungsgemäßen Rotorspinnmaschine 1. In diesem Ausführungsbeispiel ist die Form des Spinnrotors 5, insbesondere die Form der Rotortasse 8, verändert. Die Identifikation des Spinnrotors 5 nach dem erfindungsgemäßen Verfahren wird also im Vergleich zu dem vorherigen Ausführungsbeispiel zu einem anderen Ergebnis kommen. Der Rotorschaft 9 ist mit einer zusätzlichen Axiallagerung 12 verbunden, die beispielsweise ebenfalls als magnetisches Lager ausgebildet ist. Im Gegensatz zur vorzugsweise aktiven radialen Lagerung 6, kann die Axiallagerung 12 beispielsweise passiv sein. Die Steuerung 7 ist in diesem Beispiel zusätzlich zu den Lagerelementen 11 der radialen Lagerung 6 mit einem Sensor 13 zur Messung der radialen Position des Spinnrotors 5 verbunden. Dieser Sensor 13 kann einerseits ausschließlich die variable Systemgröße der Position des Spinnrotors 5 messen, oder andererseits zusammen mit den Positions- bzw. Bewegungsinformationen der Lagerung 6 verwendet werden. Selbstverständlich können über den Sensor 13 ebenfalls Bewegungen, wie beispielsweise Vibrationen, des Spinnrotors 5 gemessen werden. Weitere Sensoren 13 sind ebenfalls denkbar. Figure 3 shows the view of a further spinning rotor 5 of the rotor spinning machine 1 according to the invention. In this exemplary embodiment, the shape of the spinning rotor 5, in particular the shape of the rotor cup 8, is changed. The identification of the spinning rotor 5 according to the method according to the invention will therefore come to a different result compared to the previous exemplary embodiment. The rotor shaft 9 is connected to an additional axial bearing 12, which is also designed, for example, as a magnetic bearing. In contrast to the preferably active radial bearing 6, the axial bearing 12 can be passive, for example. In this example, the control 7 is, in addition to the bearing elements 11 of the radial bearing 6, with a sensor 13 for measuring the radial position of the spinning rotor 5 connected. This sensor 13 can on the one hand only measure the variable system variable of the position of the spinning rotor 5, or on the other hand it can be used together with the position or movement information of the bearing 6. Of course, movements, such as vibrations, of the spinning rotor 5 can also be measured via the sensor 13. Further sensors 13 are also conceivable.

Die Steuerung 7 ist weiterhin mit einem Artikelverwaltungssystem 14 verbunden, das Betriebsparameter und Einstellwerte für die Rotorspinnmaschine 1 zur Herstellung verschiedener Garne 3 enthält. Mit dem erfindungsgemäßen Verfahren zur Identifikation des Spinnrotors 5 kann beispielsweise in Abhängigkeit des aktuellen Spinnrotors 5 eine Vorauswahl der vom Artikelverwaltungssystem 14 bereitgestellten Rezepte zur Herstellung von Garnen 3 getroffen werden. Ebenfalls ist es denkbar, dass ein von einem Bediener ausgewähltes Rezept erst nach erfolgreicher Identifikation des Spinnrotors 5 ausgeführt wird oder der Bediener zum Einbau eines anderen Spinnrotors 5 aufgefordert wird.The control 7 is also connected to an article management system 14 which contains operating parameters and setting values for the rotor spinning machine 1 for the production of various yarns 3. With the method according to the invention for identifying the spinning rotor 5, for example, depending on the current spinning rotor 5, a preselection of the recipes for the production of yarns 3 made available by the article management system 14 can be made. It is also conceivable that a recipe selected by an operator is only executed after the spinning rotor 5 has been successfully identified, or that the operator is requested to install another spinning rotor 5.

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, auch wenn diese in unterschiedlichen Ausführungsbeispielen dargestellt und beschrieben sind.The present invention is not restricted to the illustrated and described exemplary embodiments. Modifications within the scope of the patent claims are just as possible as a combination of the features, even if these are shown and described in different exemplary embodiments.

BezugszeichenlisteList of reference symbols

11
RotorspinnmaschineRotor spinning machine
22
Arbeitsstelleplace of work
33
Garnyarn
44th
SpuleKitchen sink
55
SpinnrotorSpinning rotor
66
Lagerungstorage
77th
Steuerungcontrol
88th
RotortasseRotor cup
99
RotorschaftRotor shaft
1010
Antriebdrive
1111
LagerelementBearing element
1212
AxiallagerungThrust bearing
1313th
Sensorsensor
1414th
ArtikelverwaltungssystemArticle management system

Claims (15)

Verfahren zur Identifikation eines Spinnrotors (5) an einer Rotorspinnmaschine (1), wobei der Spinnrotor (5) in einer zumindest radial wirkenden magnetischen Lagerung (6) schwebend gelagert ist und sich während eines Spinnbetriebs in der Lagerung (6) dreht und wobei wenigstens eine variable Systemgröße mit wenigstens einem Referenzwert verglichen wird,
dadurch gekennzeichnet, dass
die wenigstens eine variable Systemgröße eine Energieaufnahme der Lagerung (6), eine radiale Position des Spinnrotors (5) und/oder eine Resonanzfrequenz des Spinnrotors (5) ist.Method for identifying a spinning rotor (5) on a rotor spinning machine (1), wherein the spinning rotor (5) is floatingly mounted in an at least radially acting magnetic bearing (6) and rotates in the bearing (6) during a spinning operation and at least one variable system variable is compared with at least one reference value,
characterized in that
the at least one variable system variable is an energy consumption of the bearing (6), a radial position of the spinning rotor (5) and / or a resonance frequency of the spinning rotor (5). Verfahren gemäß dem vorangegangenen Anspruch, dadurch gekennzeichnet, dass der Spinnrotor (5) in einer zumindest radial wirkenden elektromagnetischen Lagerung (6) schwebend gelagert ist, wobei zumindest die radiale Position des Spinnrotors (5) aktiv von der Lagerung (6) beeinflusst wird.Method according to the preceding claim, characterized in that the spinning rotor (5) is floatingly mounted in an at least radially acting electromagnetic bearing (6), at least the radial position of the spinning rotor (5) being actively influenced by the bearing (6). Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die radiale Position des Spinnrotors (5) durch wenigstens einen Sensor (13) und/oder durch die Lagerung (6) erfasst wird.Method according to one of the preceding claims, characterized in that the radial position of the spinning rotor (5) is detected by at least one sensor (13) and / or by the bearing (6). Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die radiale Position des schwebenden Spinnrotors (5) derart variiert wird, dass die Energieaufnahme der Lagerung (6) minimal wird und die Position anschließend mit wenigstens einem Positionsreferenzwert verglichen wird.Method according to one of the preceding claims, characterized in that the radial position of the floating spinning rotor (5) is varied in such a way that the energy consumption of the bearing (6) is minimal and the position is then compared with at least one position reference value. Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass der Spinnrotor (5) in eine definierte radiale Position gebracht wird und die Energieaufnahme der Lagerung (6) anschließend mit wenigstens einem Energieaufnahmereferenzwert verglichen wird.Method according to one of the preceding claims, characterized in that the spinning rotor (5) is brought into a defined radial position and the energy consumption of the bearing (6) is then compared with at least one energy consumption reference value. Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass der Spinnrotor (5) von der Lagerung (6) in Schwingung versetzt wird und aus einem Abklingverhalten der Schwingung die Resonanzfrequenz des Spinnrotors (5) ermittelt wird und diese anschließend mit wenigstens einem Resonanzfrequenzreferenzwert verglichen wird.Method according to one of the preceding claims, characterized in that the spinning rotor (5) is set in vibration by the bearing (6) and the resonance frequency of the spinning rotor (5) is determined from a decay behavior of the vibration and this is then compared with at least one resonance frequency reference value . Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass während einer Beschleunigung des Spinnrotors (5) aus einem Anstieg einer Amplitude einer Schwingung des Spinnrotors (5) die Resonanzfrequenz des Spinnrotors (5) ermittelt wird und diese anschließend mit wenigstens einem Resonanzfrequenzreferenzwert verglichen wird.Method according to one of the preceding claims, characterized in that during an acceleration of the spinning rotor (5) the resonance frequency of the spinning rotor (5) is determined from an increase in an amplitude of an oscillation of the spinning rotor (5) and this is then compared with at least one resonance frequency reference value. Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass aus dem Vergleich der variablen Systemgröße mit dem Referenzwert eine Masse, eine Form, ein Volumen und/oder ein Material, des Spinnrotors (5) bestimmt wird.Method according to one of the preceding claims, characterized in that a mass, a shape, a volume and / or a material of the spinning rotor (5) is determined from the comparison of the variable system variable with the reference value. Verfahren gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass aus dem Vergleich der variablen Systemgröße mit dem Referenzwert ein Funktionsumfang des Spinnbetriebs festgelegt wird.Method according to one of the preceding claims, characterized in that a functional scope of the spinning operation is determined from the comparison of the variable system variable with the reference value. Rotorspinnmaschine (1) mit wenigstens einer Arbeitsstelle (2) mit einem in einer zumindest radial wirkenden magnetischen Lagerung (6) schwebend gelagerten Spinnrotor (5), der sich in einem Spinnbetrieb innerhalb der Lagerung (6) dreht, wobei die Arbeitsstelle (2) weiterhin eine Steuerung (7) aufweist, dadurch gekennzeichnet, dass die Steuerung (7) ausgebildet ist eine Identifikation des Spinnrotors (5) vorzunehmen, wobei wenigstens eine variable Systemgröße mit wenigstens einem Referenzwert verglichen wird, wobei die wenigstens eine variable Systemgröße eine Energieaufnahme der Lagerung (6), eine radiale Position des Spinnrotors (5) und/oder eine Resonanzfrequenz des Spinnrotors (5) ist.Rotor spinning machine (1) with at least one work station (2) with a magnetic bearing (6) that acts at least radially floating spinning rotor (5) which rotates in a spinning operation within the bearing (6), the work station (2) also having a control (7), characterized in that the control (7) is designed to identify the spinning rotor ( 5), at least one variable system variable being compared with at least one reference value, the at least one variable system variable being an energy consumption of the bearing (6), a radial position of the spinning rotor (5) and / or a resonance frequency of the spinning rotor (5). Rotorspinnmaschine (1) gemäß dem vorangegangenen Anspruch, dadurch gekennzeichnet, dass die Lagerung (6) eine elektromagnetische Lagerung (6) mit wenigstens einem Elektromagneten ist.Rotor spinning machine (1) according to the preceding claim, characterized in that the bearing (6) is an electromagnetic bearing (6) with at least one electromagnet. Rotorspinnmaschine (1) gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Steuerung (7) mit wenigstens einem Sensor (13) zur Erfassung einer Position und/oder einer Bewegung des Spinnrotors (5) verbunden ist.Rotor spinning machine (1) according to one of the preceding claims, characterized in that the control (7) is connected to at least one sensor (13) for detecting a position and / or a movement of the spinning rotor (5). Rotorspinnmaschine (1) gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Lagerung (6) zusätzlich axial wirkt oder eine zusätzliche Axiallagerung (12) vorgesehen ist.Rotor spinning machine (1) according to one of the preceding claims, characterized in that the bearing (6) also acts axially or an additional axial bearing (12) is provided. Rotorspinnmaschine (1) gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Steuerung (7) mit einem Artikelverwaltungssystem (14) verbunden ist.Rotor spinning machine (1) according to one of the preceding claims, characterized in that the control (7) is connected to an article management system (14). Rotorspinnmaschine (1) gemäß einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass die Steuerung (7) einen Speicher aufweist oder dass die Steuerung (7) mit einem Speicher, insbesondere einem zentralen Speicher, verbunden ist, zur Speicherung von Positionsreferenzwerten, Energieaufnahmereferenzwerten und/oder Resonanzfrequenzreferenzwerten .Rotor spinning machine (1) according to one of the preceding claims, characterized in that the controller (7) has a memory or that the controller (7) is connected to a memory, in particular a central memory, for storing position reference values, energy consumption reference values and / or Resonance frequency reference values.
EP20174588.2A 2019-05-15 2020-05-14 Rotor spinning machine and method for identifying a spinning rotor on a rotor spinning machine Active EP3739090B1 (en)

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DE102019112735A1 (en) 2020-11-19
EP3739090B1 (en) 2022-11-30

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