JPH02234929A - Controlable transfer system - Google Patents

Abstract

PURPOSE: To provide a controllable movement system improved in accuracy for the movement of an elongated textile structure through such a design as to furnish a drive means for a movable element with a control circuit for the purpose of the continuous or pseudocontinuous control of movable element position. CONSTITUTION: This controllable movement system works as follows: a textile structure 1 to be moved such as a yarn, roving or sliver is nipped with a drive roller 2 and a pressure contact roller 3 and fed, wherein the drive roller 2 is mounted on the shaft of a motor 4 and an increment synchronizer 5 is disposed on the identical shaft; a current set value 9 is fed to an electronic power control element 9 by a digital position controller 7 which has the function to calculate the speeds associated with the respective points of the distance to be covered based on the set value signals for a yarn end target position 12, necessary speed 13 and necessary acceleration 14 and calculate the present value of the position based on an output signal 11 and the present speed based on the difference involved in the lapse of time.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a controllable movement system for moving elongated structures such as yarns, slubbing or slivers. The invention is more particularly intended for use in piecing devices for spinning machines, but is not limited to such use.

According to the current state of the art, piecing devices for spinning machines are controlled in a time-dependent manner. Individual operations such as starting and stopping the motor, and coupling
) and the activation of the solenoid valve are controlled by a time-varying program. Completion of proper action is monitored by sensors such as limit switches, pressure switches, and light barriers. This monitoring allows a certain action to be interrupted when the device has reached its goal, or, if necessary, another action to be started after the end of the certain action (DE 3634992 and Swiss 640576).

The type of control described originates from the technology of mechanical program switches, where the Program sequence is determined by a number of cam discs rotated at a constant speed by a motor. The latest microprocessor (m
icroprocessor) technology has inherited exactly this structure. Instead of a constant speed rotating shaft and cam disc, a simple internal time counter is now used. A highly complex sequence is divided into separate actions that are in turn individually controlled in time and sequence and processed individually by a microprocessor. This type of control is shown in FIG. 6 of Swiss Patent No. 640,576.

The fundamental drawback with the type of control described is that any speed deviations, for example due to voltage fluctuations or motor overheating, result in significant deviations in the yarn length delivered by the drive within a given time.

To eliminate this, two steps are applied: (a) Before the end is reached, the thread drive is switched to inching, and then progresses at a slow speed until the specific end position is reached. do.

This is a solution found in conventional control techniques and provides the necessary accuracy of terminal position at the cost of increased time.

The thread movement is caused by a mechanical lever with a fixed stop (DE 3634992 3).
(see figure). In this method, the distance traveled is precisely limited, but the velocity is left to the free movement of magnitude and force;
This results in incomplete reproducibility of the time sequence.

DE 21 30 690 A1 describes a method in which the length of the yarn section drawn back into the splicing process is controlled by counting pulses, which are emitted as a function of the rotation of the feed roller. The counting process begins by detecting the end of the thread section to be pulled back. This type of method is used only to determine the beginning and end of the yarn end movement.

It is an object of the invention to provide a measurable improvement in the accuracy of a movement system for the movement of elongated structures.

The present invention provides a system for controllable movement of an elongated structure, comprising a moveable element, means for coupling a structure to the element, and drive means for controllable movement of the element. I will provide a. The invention is characterized in that the drive means includes a control circuit that allows continuous or quasi-continuous control of the position of the movable element to be achieved.

The control circuit is preferably a closed-loop control circuit, providing closed-loop control of the position of the movable element.
control).

The drive means may conveniently include a motor with a rotating shaft, the moving element then preferably comprising:
Preferably, it is a roller rigidly connected to the motor shaft.

The control circuit is capable of counting a preprogrammed movement sequence starting from a determinable initial position and a predetermined end position, and is capable of counting a preprogrammed sequence of movements, starting from a determinable initial position and a predetermined end position, and calculating a real continuous or pseudo continuous sequence while moving in the setpoint sequence. It is a programmable device that can be compared to the actual vehicle and communicate appropriate corrections to the driving hand. The device may also be programmable to a desired velocity or acceleration.

Devices of this type are currently available, for example in the 1054 flilwel
l Court, Palo Alto, California
Galil Motion Control Co., Ltd. (Galil)
Motion Control, Inc.) to M
CC-3000 (Motion Control Ch.
ip Set). The theory and operation of such devices are described by Jacob Tal (J.
'Motion Cont' by Akob Tal)
role by Micro Processors", which is published by Messe
It can be obtained from rsGalil Motion Control1 company.

The invention is particularly advantageous for use in splicing processes on spinning machines. In this type of process, of course, it is necessary to precisely control the movement of the yarn end so that other functions (eg, fiber feeding) can be precisely accomplished in conjunction with this controlled movement. This applies, for example, to splicing of rotor spinning processes as described in our US Pat. No. 4,689,945, and also to air jets and It can also be applied to the splicing process for friction spinning. Yarn movement of this kind is achieved satisfactorily in the system according to the invention, in which the moving element is formed by a rotating roller and a coupling means by a companion roller. In that case, only the first roller is actively driven by the drive means and the companion roller is only driven in contact with the first roller. A pair of rollers of this type is known per se from DE 27 11 554 A1.

One embodiment of the invention will be described in detail below with reference to the accompanying drawings.

〔Example〕

First, the diagram shown in FIG. 1 will be described. The thread 1 to be moved is moved between the drive roller 2 and the pressure roller 3.
It is gripped and supplied with. The yarn end (not shown) is pulled back into the rotor by means of a guide (not shown), for example a pull-out channel in a rotor spinning device in the case of rotor spinning. The drive roller 2 is attached to the shaft of a motor 4. incremental Sync
hro) 5 are arranged on the same shaft. An electronic power control element 6 generates from the supply voltage 8 the control circuit 10 necessary for motor operation. A current setpoint 9 is supplied to this control element by a digital position controller 7.

The regulating data signals received by the digital position controller 7 are on the one hand the setpoints for the yarn end target position 12, the required speed 13 and the required acceleration 14, and on the other hand the output signal 11 of the incremental synchronizer 5. .

From the setpoint signal received by the human power section, the position controller 7
calculates the velocity associated with each point 1 of the distance to be covered, and this velocity is the setpoint velocity.

The same circuit calculates the current value of the position from the output signal 11 and the current velocity by the difference over time.

From the three available values: current position, speed setpoint, and current speed, the control signal for the power control element is determined by a known controller algorithm.

A suitable position controller for use in the positioning unit 7 is:
Motio from the aforementioned Galil Motion Control Company.
n Control Chip Set MCC-30
Used under the name 00.

21st! The diagrams in FIG. 1 and FIG. 3 show the time-dependent and distance-dependent control of yarn feeding. In the left hand part of each diadem, velocity (vertical axis) is shown against time by a solid line. The same diadem includes the distance covered by the dashed line. The right-hand part shows velocity as opposed to distance independently at the relevant location.

FIG. 2 shows a conventional type of control. The transfer action begins at time 1. After a constant acceleration condition, the desired feed rate is obtained at time 2 and then maintained until time 3. At that time, deceleration begins. If relatively large tolerances are accepted at the stop point, this deceleration state ends directly at the stop.

This method accumulates errors, so
Approaching the desired final position is usually carried out gradually.

The change to low speed occurred at time 4, and the brakes were applied at time 4.
5, and the end position is time 6.

In contrast, Figure 3 shows distance-dependent control.

The increase in speed and the supply at constant speed up to switching point 3 take place basically in the same way in a time-dependent control.

The switching point 3 is then determined distance-dependently rather than time-dependently, and the deceleration effect is also controlled distance-dependently. The target point X is thus achieved without any loss of time and without any irregularities in movement. Distance-dependent control of the yarn speed obviates deviations in the position of the yarn end in the twisting means and the residence time of the yarn end, and thus provides a guarantee for reproducible splicing operations.

An important factor for high precision of thread movement is that the drive roller must be rotationally rigidly coupled to the motor shaft. Conveniently, the drive roller is therefore mounted directly on the motor shaft or
The two elements are connected by short joints that are at least rotationally rigid.

Other important factors regarding the accuracy of splicing work are:
The end of the seed yarn must be connected precisely as a link for total movement.

Two different methods are possible for this and details are shown in FIGS. 4 and 5.

In the first method (FIG. 4), the end of the thread 30 is drawn into a pair of drive rollers 31 (corresponding to the pair 3.2 shown in FIG. 1) and then pulled and is cut at a distance of

A suction tube 32 in conjunction with a thread cutter 33 is used for this purpose.

This method is already known in connection with uncontrolled thread drives.

The drawback is that the clearly delimited cutting of the yarn ends has a detrimental effect on the splice formation. In this respect,
More preferred are those of the type in which the open thread ends are formed, for example by an abrasion effect. Cutting the thread by abrasion, however, means that the precisely defined distance between the drive roller and the cutting point is lost.

The second method newly proposed here (FIG. 5) is therefore based on splitting and entangling of yarn ends. The thread 30 is cut by a friction disc 34. The thread is then pulled back by the drive itself and during this action passes a break edge detector 35, for example in the form of a photoelectric barrier. As soon as the yarn end passes the barrier 35, a "no yarn" signal is given, and then a yarn length value of the distance between the pair of drive rollers 31 and the photoelectric barrier 35 is prepared in the drive control system. . Galil motion control chipset (Galil
Motion Control Chip Set)
Citing this, this signal corresponds to "Definelame" of the control DH.

The invention is not limited to the described embodiments.

For example, other electronic control circuits are known apart from the variant train by Galil Motion Control. Digital systems based on microprocessor technology are preferred, but analog systems are also possible. The sequence shown in FIG. 3 is not essential to the invention. For example, in the context of jet spinning methods, it is not always necessary to precisely control the pullback conditions. In some cases, an initial position of the yarn end is determined and the yarn end is pulled from this initial position through the yarn forming location using the moving system according to the invention, and the yarn end is pulled through the yarn forming location. It is sufficient that the bond is formed when the bond is applied. A controlled movement in the sense of the invention therefore takes place in only one direction. Nor is the invention limited to the use of rotatable elements.

With a linear motor it is also possible, for example, to control a linear movement and pass it onto the thread by means of a gripping element.

In order to explain the possible uses and advantages of the invention, the example of use already described for splicing in a rotor spinning machine will now be detailed with reference to FIGS. 6 and 7. FIG. 6 shows a rotor 60, a rotor bearing 62, a housing 64,
1 schematically illustrates a rotor spinning unit consisting of a suction duct 66 and a cover 68; The cover can be moved relative to the housing 64 to close the housing (FIG. 6) or open it and simultaneously expose the rotor.

The cover 68 protects the rotor 6 when the housing is closed.
It has a protrusion 70 that protrudes into the open end of 0. A supply duct 72 extends within projection 70 between a fiber supply device (not shown) and an orifice 74 . The fiber is rotor groove 7
A fiber ring is fed into the rotor 60 through a duct 72 to form a fiber ring with an air stream within the rotor 60 . Air flows between the rotor wire and the cover and exits the housing through the suction duct 66.

The cover 68 also includes an extraction duct 78 through which the formed yarn is extracted during normal operation;
For splicing purposes, an auxiliary yarn 8a is then fed into the rotor 60 as described below. sensor 8
2 is also provided within the cover 68 and the supply duct 72
can respond to a signal transmitter 84 to initiate fiber feed through.

The signal transmitter 84, along with a pair of rollers 86, 88 and a control system 90 (FIG. 7), is carried by a possible piecing device (not shown). The device is positioned as a necessity at the spinning station shown in FIG. 6 to carry out the splicing operation. In this context, "splicing" is equivalent to "one spinning start".

That is, there is no distinction between restarting spinning after a yarn break and restarting after the machine has been stopped.

The pair of rollers 86 and 88 are the pair of rollers 2 and 3 (first
As shown in the figure, the rollers 86 are rotated by a motor 92 in operation, and the rollers 88 are arranged so that the movement of the yarn in the direction of the length of the yarn 80 itself (at least within the nip line of the rollers 86, 88) It is connected to the roller 86 by a rotationally determined attachment (not shown). Movement of yarn end 80A corresponds to movement at the nip line, which generally defines that the yarn is held taut between the nip line and the yarn end. This is accomplished by introducing the yarn end 80A into the take-off duct 78 and causing an air flow through the duct by suction 66 so that the speed of the yarn does not exceed the speed of the air flow.

The armature of motor 92 is rigidly coupled to roller 86 via shaft 94 and also includes a tacho generator (tach) that communicates signals to control system 90.
o-generator) 96. In order to set these signals, the known characteristics of the motor 92 and the scheduled "driving program", the input unit 9
From the setpoints determined by 8, the control system advances the operating program for the motor 92.
Calculate the required power signal delivered to the

For this purpose, the tachogenerator 96 has a high number of pulses per revolution of the motor shaft 940 (e.g. 200
0) to the control system. This is equivalent to a fine subdivision of the thread movement into “digital positions” (e.g. 12
For a delivery roller with mm diameter and 2000 pulses per revolution, the tachogenerator transmits approximately 53 pulses/flm yarn movement to the control system). Under the above conditions,
The position of the yarn end is therefore determined continuously (or quasi-continuously with the required precision due to costs) and moved from a known starting position.

The control system 90 consists of the following (a) to (ii).

(b) Control Processor 1000 (B) Digital position controller 102 (in the form of a microprocessor), which receives the "driving program" in the form of setpoints from processor 100 and pulses from tachogenerator 96.

(c) power section
HO4, which receives signals from processor 102 and communicates a corresponding power signal to motor 92;

(2) Signal generator 106, which initiates fiber feeding via generator 84 and receiver 82;

For each “position” of “thread end”, the microprocessor 1
02 calculates both the current speed and current acceleration and compares these values to the setpoints determined by the driving program. This comparison determines the output signal delivered to the power section and thus prepares the power signal delivered to motor 92.

This comparison is performed for each new pulse by the tacho generator 96 so that the yarn end position control is "continuous". "Continuity" is enhanced by increasing the number of pulses per revolution of the motor shaft, although this higher accuracy comes at a higher cost (especially in signal processing).

If lower precision is sufficient, it can be achieved by eliminating the need to calculate acceleration (or even velocity) for each position, reducing the associated costs. Even under these conditions, the present system differs from known proposals ( For example JB2711554
) are discriminated against.

Signal processing within processor 102 is performed using algorithms defined by the control system product.
). Suitable control systems are available from the following companies: GALIL, PaloA1to, Califor
nia, USA and}1ewlett Packard
, available from .

FIG. 8 is a time/distance diagram for a system of the type shown in FIGS. 6 and 7, with yarn end position shown on the vertical axis and time on the horizontal axis.

The "zero position" corresponds to rotor groove 76 (FIG. 6). At time T, the control system 90 transmits a signal through the generator 84 to begin fiber feeding and the yarn end 8
0A maintains the predetermined distance A (FIG. 8, e.g. 40+11 [11) from the rotor groove.

Time T. , the yarn end is in the take-off duct 78 or at least in the rotor 60 and the yarn is pulled back along the duct 78 and ensures continuous tensioning of the yarn according to the program defined by the control system 90. We are implementing this.

At time T1, before the formation of the fiber ring in the rotor groove 76 is complete, the movement of the thread for penetration into this ring is started. According to the program, this movement is carried out at a predetermined speed and completed at a time T, the position of the yarn end being continuously controlled as described above.

It should be noted that although the initiation of fiber feeding is a quick operation, it is not controlled during its course. It is initiated by a start signal, which at the same time signifies a reference point for the equal action of the thread feed. The check in this regard is by time.

With controlled thread feeding, control functions are conveniently divided across control processor 100 and digital thread feeding controller 102. The overall operation is performed by the processor 100.
will be started. This processor can now provide a start signal for both time offset and digital yarn feed controller action to produce the necessary accuracy. Alternatively, the position of the yarn, which is equivalent to a position control circuit, is compared to a limit value, which in turn initiates fiber feeding in accordance with the yarn position only.

The two actions are basically coordinated by the processor 100, which on the one hand directly starts the fiber feed, and on the other hand inputs and starts the setpoint sequence for the yarn feed. Yarn feeding usually starts at an earlier time than fiber feeding.

After the predetermined dwell time T, the control system 90
At this point, taking out the thread 80 is started. Removal is carried out in two stages. That is, the first stage P is the removal of a predetermined draw-off thread length at a predetermined speed, and the subsequent second stage is of an indefinite duration but at a predetermined working speed (manufacturing). speed) higher than the yarn speed during the first stage. The second stage is
A mechanical take-out system (
The process is terminated by passing the thread over the thread (not shown).

It has been found that during splicing on rotor spinning machines, it is of paramount importance, with respect to the quality of the splice, how the linear movement is advanced in the area corresponding to the initial rotor periphery.

There is of course a fiber ring in the rotor groove, and its cross section has not yet reached the level for continuous feeding and spinning, and the fiber ring has a stated non-uniformity due to being torn open by the withdrawn seed yarn. have. It is numerically accurate in this area that the individual application can be assembled with a digital control system and a reduced withdrawal speed L across the initial rotor circumference applies in the case of the illustrated example (see diagram in FIG. 8). It is possible.

With digital technology, it is possible to precisely control and connect the feed yarn movement with the fibers in a rapid time-sequenced sequence over a length that corresponds to the circumference of the rotor 2.

Each variant of the movement sequence is created by software (soft
ware) or by a 10 unit value adjustment.

The mechanism is generally possible over a wide range or applicable to a wide range of conditions.

Last but not least, the cost for a simple mechanical system is to obtain some precision in the manipulation of the thread by means of clips, movable nippers, and drive elements via restraints and levers. for fairly complex arrays must be chosen.

The quality variation % (10 samples) of yarn splicing using digital position control method is currently better than conventional automatic splicing. Although this result was targeted, the increase in strength and uniformity was surprising, and the magnitude of this effect was not anticipated even by those in the art.

Comparison yarn grade: Cotton Nel6 Test object Tear strength P Thread from bobbin 352 6.
5 Servo component joining (device of the invention) 274 (78%) 14 The principle of controlled yarn movement allows a controlled introduction of the yarn end throughout the area into the spinning unit.

The yarn is always strictly connected to the feeding motor, and the speed of movement is always adapted to the technical requirements with a controlled drive, so that the ends are placed in such a way that the air flow always guarantees a tensioned position. , is introduced through the center into the rotor. Too fast a movement at the entrance to the rotor chamber causes bounces of the thread ends on the opposite wall and results in deformation of the thread ends into a configuration that adversely affects the quality of the joint.

For quick control, the yarn position is always forced to follow the set value, so that the yarn end is guided precisely in alignment with the fiber feed, and without losing control of its precise position at any time. taken out.

It is therefore always possible to traverse the same distance, which should be a minimum in technical experimentation, for the individual stages of the splicing operation at the same speed, and at the same time to switch the fiber supply on and off appropriately and precisely.

As already mentioned, the invention is not only for use in connection with rotor spinning. The invention can be used for determining the movement of an elongate structure wherever it is applied to be coupled to a drive system controllable by a position control circuit.

It is not necessary to use a pair of rolls for the delivery of yarn or other elongated objects. It is also conceivable to provide the lever with two non-rotating clamping elements in order to move the thread along a curved or straight path. A curved path may extend only along an arc, and it is necessary to ensure a fine division of the path into its components in order to ensure "continuous" control of the movement. The same applies to a pair of linearly movable clamp elements.

To confirm this statement, two further examples according to the invention are described below. Both embodiments are suitable for use in robots used in conjunction with ring spinning machines.

FIG. 9 shows a body having a longitudinal axis P, for example a spindle 10.
2 and 1500 show the working head of a device 1500 for forming a controlled spool around a tube (not shown) supported by a spindle 102. The device 150 includes a support portion 220, a C-shaped holder 222, and a holder 2.
A C-type service element (C-sh) rotatable about an axis P in a track 226 provided at 22
aped servicing element) 22
Contains 4. The service element has a toothed outer surface, and the toothed outer surface is adapted for rotation to the disc 2.
31 and two pinions 230 that mesh with toothed outer surfaces 232 of 31 . Disk 231 is directly coupled to the shaft of drive motor 234 (not shown).

The service element 224 has a pin 242 with a gripping head 246 and a spring bias
) 244 (FIG. 10),
It is equipped with Bin 242 extends through a hole in the service element and projects from the hole end. Spring bias 244 exerts a biasing force (deflection force) on the pin, which normally forces gripping head 246 toward service element 2.
24 to form a gripping position K. The pin is moved along the hole by overcoming the action of the spring load to open the clamping device.

In effect, the thread end to be moved is positioned between the gripping head 246 and the service need s224, and at the same time the clamping device 241 is opened. The yarn end is then secured by closing the clamping device.

That is, the yarn end is coupled to the service element 224. Thereafter (after proper positioning of the element) a controlled winding operation is carried out by activating the motor 234 and transmitting the rotation of the motor shaft to the service element 224 by means of the pinion 230.

The yarn to be wound is pulled in a clamping device, for example from a suitable store, and forms a yarn wrap around the spindle 102 (or tube).

Figures 11.12 and 13 show other controllable movement systems for threads. This system has two levers 172, 176 connected together by a motor drive (not shown) and a pivot shaft 174. The lever 176 is further connected to the housing 190 by a pivot shaft 188; the pivot shaft 188 also includes a motor, not shown. Housing 190 is further connected to carrier 180 by a vertical pivot shaft 178, which also has its own motor, not shown.

At its free end, the lever 172 carries a holder for the opening part of the thread storage, for example in the form of a suction tube 165, which is connected to a suction system, not shown.

The stored thread F is at the anchor point.
int) Must be connected to A. This point may be, for example, the clamping device in FIG.

However, FIG. 13 shows two further possibilities. According to the first possibility (solid line), the yarn F is an auxiliary yarn wound onto a cap or tube in order to resume spinning after yarn cutting. In the variant shown in dotted lines, the thread F is a thread that is drawn out from the thread body of the cop 116 itself after a thread removal operation. In both cases, the yarn F is attached to the traveler 10 supported by the spinning ring 107.
8 has been passed.

Each motor of the pivot shafts 174 , 178 , and 188 is set in operation to cause a controlled movement with respect to the space of the mouth end M of the part 167 and thereby between this mouth M and the traveler 108 . This causes a corresponding shift in the thread length. The suction system maintains the thread tension and the opening at the mouth M is dimensioned such that a predetermined (preprogrammed) movement of the part 167 is converted into a correspondingly limited movement of the thread. There is.

FIG. 14 shows a block diagram of a system for controlling the apparatus according to FIGS. 9 and 10 or 11.12 and 13. In FIG. 11, one control system must be provided for each of the axes 174, 178, and 188. Each drive motor MT has a shaft connected to the part to be moved (pointed L in FIG. 14) and cooperates with an encoder E to determine the position (angular position) of the shaft. Motor M
T is energized by an amplifier AMP, the power delivered by the amplifier being determined digitally up to the analog converter DAC. The output signal of the converter DAC is controlled by a regulator A which itself acts in response to a comparator VGL.

The comparator VGL receives on the one hand the signal supplied by the encoder E which corresponds to the current position of the shaft end W, and on the other hand the set value supplied by the program section PR.

Regulator A controls motor MT to eliminate possible differences between the current position (from encoder E) and the setpoint (determined in the program).

The system is designed in such a way that the shaft moves from any starting position to a program-defined end position with predetermined travel characteristics.

Sensor S is connected to the motorshaft during system initial value setting.
The MW, or the position of the length to be moved, is indicated in relation to the match (eg, a frame not shown). Furthermore, the movement of the motor MT or the shaft MW can be determined in relation to this starting position. A complex system according to Figures 11.12 and 13, with three axes 174, 178,
The movements of 188 are predetermined with respect to each other to move the mouth parts along a programmed path in space.

[Brief explanation of the drawing]

FIG. 1 is a diagram of a mobile system according to the invention. FIG. 2 is a movement sequence diagram of the prior art related to yarn splicing in rotor spinning. FIG. 3 is a movement sequence diagram applied to the same process as FIG. 2 using the movement system of the present invention. FIG. 4 shows a device according to the invention combined with a device for determining the starting position of a yarn end; FIG. 5 is a diagram showing a modification of FIG. 4. FIG. 6 is a schematic diagram of a rotor spinning unit. FIG. 7 is a control system diagram for use with the unit of FIG. 6. FIG. 8 is a movement diagram regarding the driving program provided by the control system of FIG. 7. FIG. 9 is a plan view of the spindle portion of ring spinning to which the system of the present invention is applied, and FIG. 10 is a schematic cross-sectional view of the clamping device. 11, 12, and 13 are schematic illustrations of other embodiments of the present invention, respectively. FIG. 14 is a block diagram of the control system of the apparatus of FIGS. 9.10 or 11.12 and 13. 1... Thread, 2.3... Roller pair,
4...Motor, 5...Incremental synchronization,
6... Power control element, 7... Digital position controller, 8... Supply voltage, 9... Current setting value, 10
... Control circuit, 30 ... Thread, 31 ... Roller pair, 32 ... Suction tube, 33 ... Cutter, 34 ... Friction disk, 35 ... Broken end detector, 60. ...Rotor 62...Rotor bearing, 64...Housing, 66...Suction duct,
68...Cover, 70...Protrusion, 72...
... Supply duct, 74 ... Orifice, 76.
...Rotor groove, 78...Takeout duct, 80
...Auxiliary thread, 82...Sensor, 84.
... Signal transmitter, 86.88 ... Roller pair, 90
...Control system, 92...Motor, 94...
- Shaft, 96... Tacho generator unit, 98... Human power unit, 100... Control processor, 102... Digital position controller, 104... Power section, 106... Signal generator unit, 107 ...Ring, 108...Traveler, 116
...Cup, 165...Suction tube, 1
72. 176...lever, 174, 178. 188...Pivot axis. (/l −t f”n υwaqflY'1 cSJ!-

Claims (1)

[Claims] 1. A movable element, means for connecting an elongated structure (yarn, roving or thread) to the element, and drive means for controllable movement of the element. A system for controllable movement of an elongate structure, characterized in that the drive means includes a control circuit for continuous or pseudo-continuous control of the position of the movable element during movement. 2. The system of claim 1, wherein the control circuit processes digital signals. 3. The system of claim 1 or 2, wherein the control circuit controls the speed of the element at each controlled position of the element. 4. The system according to claim 1, wherein the system is used in conjunction with a splicing device for a spinning machine to control the movement of the yarn fragments during the splicing process. . 5. The spinning machine is a rotor spinning machine, and the system controls the movement of the yarn during the withdrawal into the spinning unit and
5. The system of claim 4, wherein the system controls both during removal of thread fragments as well as newly deposited threads. 6. The system of claim 4, wherein the spinning machine is an air jet spinning machine and the system is used to control the movement of yarn pieces in one direction through the yarn forming station.