JPH03193943A - Working robot for operating fine spinning machine - Google Patents

Abstract

PURPOSE: To surely and correctly make an automatic operating device required to be moved with a movable fine spinning machine part with a simple means by providing a specific detecting means in the automatic operating device. CONSTITUTION: This robot has a transmitter 58 of a means 56 detecting a position of a movable fine spinning machine 36 in an automatic operating device 48 movable in vertical direction to a robot stage to generate a detecting field 62. A detector 60 is connected to an electron control unit to control every diving devices in the device 48. In an objective position, a detecting field 62 is divided to two field regions at a bordering position according to an objective material to be detected to be affected by different effect.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention provides a spinning frame having a large number of spinning units arranged in parallel, particularly a ring spinning machine, which can run along the spinning units. An operating robot, an automatic operating device capable of vertical movement up and down with respect to a robot stand and supporting at least one movable operating member; a drive device for the operating member and the automatic operating device; The present invention relates to a type of operating robot equipped with an electronic control unit disposed in a drive device.

[Prior Art] By using the above type of operating robot, it becomes possible to automatically carry out various operating tasks in each spinning section of the spinning machine. Such operating robots are generally movable to spinning stations, each of which has a drivable spindle for mounting a winding tube, and are used, for example, to remove yarn breaks in the spinning station. In this case, for example, it is ensured by each operating robot that the yarn material to be spun supplied from the draft device is re-wound onto the winding tube belonging to the spinning station in question, in which case in particular one end of the auxiliary yarn is It is wrapped around a tube and the other end can be set in the yarn material to be spun for bonding thereto. For example, in order to automatically perform the winding start operation, an automatic operating device or an automatic yarn setting device that can be raised and lowered vertically relative to the robot stand must be raised and lowered at least temporarily together with the ring support rail of the spinning machine. It is necessary to exercise.

In automatic devices known, for example, from German Patent Application No. 25 01 388 and from U.S. Pat. The ring is supported on the ring support rail during movement. In this case, the respective relative position of the automatic operating device with respect to the ring support rail is precisely defined. However, the disadvantage is that the ring support rail drive as well as the ring support rail itself are additionally loaded.

According to U.S. Pat. No. 3,445,997, a corresponding automatic device is provided with a mechanical detector which detects the inner end position or the reversal point of the ring support rail movement and which detects the end position or the reversal point of the ring support rail movement and It is used to control the drive motor accordingly. The drive motor must therefore at least sometimes move the automatic operating device at a speed higher than the speed of the ring support rail. In this case, it is particularly desirable to improve the tracking accuracy of the automatic operating device.

[Problem to be Solved by the Invention] The object of the present invention is to improve the operating robot of the type mentioned in the introduction so that the automatic operating device, which has to move at least temporarily together with the movable spinning machine part, can be A reliable and very precise tracking is possible by simple means, without any additional loading on the moving parts of the spinning machine, for example the ring support rails, and each target position of the operating member is The objective is to be able to control the system accurately without any problems.

[Means for Solving the Problems 1] Constituent means of the present invention for solving the above-mentioned problems are based on the instantaneous relative position of the automatic operating device with respect to the spinning machine parts movable in the same direction and the instantaneous relative position of the operating member with respect to the automatic operating device. Detection means for continuously and non-contactly detecting the relative position or the instantaneous relative position thereof is disposed in the automatic operating device, and the detection means is configured to detect optical and electrical positions, respectively. at least one transmitter for generating a magnetic, magnetic or acoustic localized detection field;
at least one detector connected to an electronic control unit, each drive being controlled or adjusted by said electronic control unit in relation to a detection signal to maintain a predetermined relative target position; The predetermined relative target position consists in that the detection field is divided by a predetermined boundary position into two field areas which are affected particularly differently by the object to be detected.

[Effect]

Based on said configuration of the invention, even when a spinning machine part, for example a ring support rail of a ring spinning machine, moves, an automatic operating device that is movable in the same direction as said spinning machine part is attached to said spinning machine part. It becomes possible to accurately position the object in a non-contact manner. In this case, no additional loads are placed on the movable spinning machine parts, such as the ring support rails. For example, during the winding start operation, the automatic operating device or automatic thread setting device can follow the ring support rail precisely.

Furthermore, based on the configuration of the present invention, for example, an operating member that can move relative to an automatic operating device can easily move to a target each time without requiring an expensive step motor as conventionally used. brought into position. Each relative target position is determined such that the detection field is
This results when the field is divided into two differently affected field areas.

In this case, the detector of the detection means supplies the electronic control unit with a measurement signal related to the boundary position between the two differently influenced field regions. The desired relative target position is obtained if a predetermined division of the detection field takes place or if a boundary appears at a particular part of the detection field.

The automatic operating device which is vertically movable or the operating member which is movable relative to the automatic operating device is driven by the electronic f14 control so as to occupy and maintain a target position.

The operating robot of the invention not only makes it possible to detect the position of the ring support rail during operating operations in a particular spinning station, but also to determine the height of the ring support rail during the movement of the operating robot along the spinning machine. It also makes it possible to detect.

In this way, the vertically movable automatic operating device is already brought into its current working position relative to the ring support and kept in this position before reaching the relevant spinning station, so that As soon as a section is reached, the current working operation is started, and it is ensured that the automatic operating device is correctly linked to the spinning machine section in question.

Advantageous Configuration It is advantageous if the detection field is divided into two differently influenced field areas of equal size so that a predetermined relative target position is ascertained by the electronic control unit. be. In the simplest case, i.e. if only one detector is used, the predetermined relative target position can be determined by emitting a corresponding measurement signal, for example when the detection signal level is equal to the maximum value 172. Confirmation is obtained.

In a particularly advantageous embodiment of the invention, each detection means has two detectors, and the boundary between the two differently influenced field areas is the boundary between the detection ranges detected by the two detectors. A predetermined relative target position is obtained if there is at least approximately a match. When the target position is reached, for example, one detector can send out a signal with a maximum level, and the other can send out a signal with a voltage value of zero. The affected field area may be generated by surfaces of different reflectivity of each object to be detected or of objects movable relative to each other, or by different reflectivities of the object and its surroundings. can.

If the part of the spinning machine which is movable in the same direction as the automatic operating device is, for example, a ring support rail, the boundaries of the two different field loadings of the detection field are set by the ring support rail penetrating into said detection field. Advantageously, it is determined by the longitudinal edges, especially the lower edges. In this case, for example, the ring support rail itself can have a reflective surface, so that the area adjacent to the ring support rail does not reflect or transmit that part of the detection field. In this case, it is not necessary to subject the ring support rail to any special treatment, such as applying reflective tape or the like.

However, in principle it is of course also possible to exert such an influence on the detection field by tapes, markings, etc. applied to the object in question.

In particular, in order to detect operating elements movably arranged on the automatic operating device, control rims or control slots which are arranged offset from one another in the direction of movement of the operating elements and which are provided on the movable operating element are responsive. If at least two detection means are provided and a plurality of predetermined relative target positions are set, one detection field of the generated detection fields is placed in two different affected field areas in a predetermined manner. divided, whereas the other detection field is entirely changed or unchanged, or entirely occupies one or the other of two specific states, and the electronic control unit It is advantageous if different predetermined target positions are distinguished from one another on the basis of each combination of the states of the detection field or the corresponding detection signal.

In this case, in order to maintain a precise target position, the boundaries of the two differently influenced field masses of the detection field have a predetermined course position. By means of additional detection means, a plurality of relative target positions can be set and clearly distinguished from one another. The electronic control unit recognizes the individual target position in each case on the basis of the combination of the detection signals. The combination of these detection signals is stored in a memory (memory 7) of the electronic control unit and can be called up if necessary, and the combination of the supplied measurement signals can be used to obtain or maintain the target position. can be compared with.

In this case, the detection means can be responsive to the radial control edge of the control disk movable together with the operating member as well as the slot edge of the control slot.

Both the radial control edge and the slot edge also serve as control edges delimiting the two field loadings which are affected differently after entering the detection field. In this case, the control disk as well as the area located in front of said control disk in the radial direction of the detection field can also have different reflectivities, for example.

According to a further advantageous embodiment, the actuating member is an actuating arm which can be pivoted about a pivot axis which is mounted on the automatic operating device, the actuating arm having a plurality of radial control edges in the area of said pivot axis. and a sector-shaped control disk having at least one control slot with radial slot edges, in which case the surface of said sector-shaped control disk and of the automatic operating device loaded by the detection field is The detectors of the detection means are made of different materials or have different colours, and the detectors of the detection means supply detection signals to the electronic control unit in relation to the position of the sector-shaped control disk and thus to the position of the radial control edge and the control slot. do. Each detection field can therefore, for example, be completely or partially covered by a control disk or be uninfluenced by the control disk.

It is particularly advantageous if at least two detection means are provided which have different radial distances from each other with respect to the pivot axis of the operating arm and are offset from each other in the circumferential direction, in which case the sector-shaped control disc is , each having a radial control edge and/or at least one control slot influencing the detection field in the ring-shaped area defined by said bidirectional radial distances. This results in two separately detected ring-shaped areas, in which case the detection fields and the radial control edges or control slots associated with both ring-shaped areas are such that a series of different target positions has different combinations of detection signals. arranged to occur.

In an advantageous embodiment of the operating robot according to the invention, the detection means are stationary with respect to the automatic operating device and are arranged on the side of the sector-shaped control disk facing away from the automatic operating device, and are connected to the sector-shaped control disk and the automatic operating device. The detection field oriented towards the operating device can be influenced differently due to different materials or different colors of the sector-shaped control disc and the automatic operating device. Depending on the position of the operating arm and thus the position of the sector-shaped control disc associated with the operating arm, the detection field or the detection radiation beam may be directed partially or partially onto the sector-shaped control disc or with respect to the detection field. Advantageously, a light barrier, in particular a reflective light barrier, is provided in each case as the detection means, which projects onto the surface of the automatic operating device which has a different influence than the sector-shaped control disc.

[Example 1 Next, embodiments of the present invention will be explained in detail based on the drawings.

The schematic side view of FIG. 1 shows a ring spinning frame 10 with a head 12 and a bottom 14.

Between the head part 12 and the local part 14, there are provided a number of spinning parts 16 arranged in a row on both sides of the spinning machine (although only one side is shown in the drawing). For example, 500 to 600 such spinning units 16 are provided on each side of the spinning machine. In this example, to simplify the illustration, only 7
Only the spinning section 16 of the unit is shown. Therefore, the distance between the head 12 and the private part 14 is actually significantly greater than shown.

In each spinning section 16 , the roving yarn 20 fed out from the roving bobbin 18 is drafted in a drafting device 38 , and the drafted yarn is wound onto a winding tube 26 by a ring traveler 22 . The resulting yarn winding 24 is wound in a known manner onto a winding tube 26 from bottom to top to form a so-called spinning tip. For this winding, the winding tube 26 is attached to a spindle 28.
and is driven by the spindle. The drafted roving runs through a yarn feeler 30 and a so-called balloon plackling 32 to the ring traveler 22, and the ring traveler performs a circular movement along a ring track 34 based on the rotational movement of the spinning tip. The ring orbit 34 by which twist is applied to the draft roving
is arranged on a so-called ring support rail 36 which, as is well known, carries out a continuous upward stroke movement in order to wind each spinneret, the upward stroke movement being accompanied by a traverse movement. are superimposed.

A suction nozzle 94 is arranged below each draft device 38, and is one of the three spinning units 16 shown on the right in FIG. 1 that sucks the roving fed from the draft device 38 when yarn breakage occurs. Such yarn breakage occurs in the first spinning section from the left, and the roving is therefore sucked up by the saxilan nozzle 94 there.

An operating robot 40 is disposed in the ring spinning frame IO, and the operating robot is guided along an upper guide rail 42 and a lower guide/positioning rail 44. The operating robot 40 is movable along the spinning section 16 in the direction of the double arrow 46 by means of a motor (not shown) which is flange-fastened to the robot frame, and the motor is mounted on a lower guide and positioning rail 44. Drives wheels (not shown) that transfer. The operating robot 40 additionally has wheels (not shown) that run on upper guide rails 42 .

An automatic thread setting device 4 is installed on the stand of the operating robot 40.
8 is provided as an automatic operating device, which automatic thread setting device can be moved up and down relative to the robot frame, as indicated by the double arrow 50. The automatic thread setting device 48 is therefore movable in the same direction as the ring support rail 36, ie vertically.

The operating robot 40 can have a yarn breakage monitor that checks whether yarn breaks occur in each spinning s16.

Automatic thread setting device 48 that can move up and down in the vertical direction
is driven by an electric motor M (see FIG. 5), which can be controlled by an electronic control unit 54. ``The electronic control unit 54 is simultaneously arranged so that it can also control the horizontal drive of the handling robot 40 and has at least one microprocessor.

181! As can be seen from FIGS. 1 to 8, the automatic yarn setting device 48, which can move vertically up and down with respect to the robot stand, is supported by the automatic yarn setting device and is parallel to the longitudinal axis of the spinning machine. It has an operating arm 52 that is pivotable about a shaft 84.

The operating arm 52, which can pivot from a slightly downwardly inclined position (see FIG. 6) to an upwardly inclined position (see FIG. 8), is connected to a sector-shaped control disk 82 within the range of a pivot axis 84. and the control disc is connected to the operating arm 5 for the automatic thread setting device 48, as described below.
2 of the automatic thread setting device 48 used to detect the relative position of the Il! 88 , on the side opposite said control disk 82 the operating arm 52 or its pivot axis 84 is connected to a further sector disk 92 with an externally toothed rim 96 .
The externally toothed rim meshes with the drive gear 90.

According to the variant embodiment shown in FIG. 2, the automatic thread setting device 48, which is vertically movable, has an instantaneous connection between the ring support rail 36 supporting the ring track 34 and the automatic thread setting device 48. A detection means 56 is provided for continuously detecting the relative position in a non-contact manner. The detection means 56 includes a light transmitter 58 and an optical detection 1160.

The transmitter 58 has a detection field 62 oriented toward the ring support rail 36 and localized to a circular cross section.
(See Figure 3). The optical detector 60 is the fifth
It is connected to the electronic control unit 54 shown in the figure. Ring support rail 36 is made of a material that reflects the portion of detection field 62 directed toward ring support rail 36 toward optical detector 60;
Alternatively, a surface that reflects in this way is provided near the detection means 56. When the detection field 620 portion is incident on a lower range than the lower edge 72 of the ring support rail 36,
This detection field portion is reflected to the optical detector 60.
has virtually no effect on the detected part.

The drive motor M (see FIG. 5) which produces the vertical movement of the automatic thread setting device 48 is controlled or regulated by the electronic control unit 54 in relation to the detection signal U, (see FIG. 4) in the following manner. Ru.

The detection means 56 or the electronic control unit 54 is such that the detection field 62 generated by the light transmitter 58 is divided into two equally sized field areas 64, as shown in FIG.
．． 66, a predetermined relative target position of the automatic thread setting device 48 with respect to the ring support rail 36 is detected.

In this case, the boundary 68 extending through the detection field 62 and dividing from each other the two differently influenced field areas 64,66 is the lower edge 72 of the ring support rail 36.
determined by In the embodiment described, the relative target position is ascertained by the electronic control unit 54 when both field areas 64,66 are of equal size, or when the target position X10 of the automatic thread setting device 48 is determined. ．． When the optical detector 60 detects substantially the maximum value U
This is the case when a detection signal Un having a value U +all corresponding to 172 of □8 is supplied to the electronic control unit (see FIG. 4).

As can be seen based on FIGS. 2 and 3, the relative target positions are determined. If the optical detection field 6
2 is reflected towards the optical detector 60 at the ring support rail 36, whereas the lower half of the detection field 62 is unaffected, ie not reflected.

In other words, the optical detector 60 supplies the electronic control unit 54 with an output signal U, which is related to the elapsed position of the boundary 68 in the detector field 62, and the target position is such that the boundary 68 is at the midpoint of the detection field 62. will be entered if the location is exactly at .

Detection means 5 responsive to lower edge 72 of ring support rail 36
6 may have two optical detectors 60. In this embodiment, the predetermined relative target positions of the automatic thread setting device 48 and the ring support rail 36 are received by the electronic control unit 54 between the two differently influenced field areas 64 and 66. The boundary 68 located at
This is a case where the boundary between the detection ranges detected by both optical detectors 60 coincides at least approximately. Therefore, as soon as the target position is reached, one optical detector supplies, for example, a maximum output voltage, and the applied voltage becomes zero at the output terminal of the other optical detector.

The drive motor M of the automatic thread setting device 48 is thus controlled or regulated by the electronic control unit 54 so as to always cause the automatic thread setting device 48 to accurately follow the ring support rail 36 while maintaining a predetermined relative position. To this end, the closed control circuit R shown in FIG. 5 includes an electronic control unit 54 as well as a drive motor M, in which case the variables to be controlled are
8 or the detected voltage U Dr U 'D.

This control variable is continuously detected via the optical detection 1B60 and compared with the guided variable W, which is retrieved from a memory belonging to the electronic control unit 54, for example. Drive motor M
is thus controlled to make the controlled amount equal to the predetermined induced amount W. This allows the lower edge 72 of the ring support rail 36 to always penetrate into the detection field 62, effectively dividing it into two (see Figure @3).

In this example, the two differently influenced field areas 64, 66 of the detection field 62 are located on the ring support rail 3.
6 and the area following the ring support rail. However, other ways of influencing the detection field are also conceivable in principle. In any case, the chronological position of the boundary of the differentially influenced partial field coverage of this detection field is determined by the detection means 56.
It is important that it be detectable by the electronic control unit 54.

After the spinning machine is connected, for example, the automatic yarn setting device 48 is first driven to a position below the spinning station and from there rises to the area of the lower edge 72 of the ring support rail 36. The first appearance of said predetermined detection signal or the first occurrence of two differently affected predetermined field regions in the detection field signals that the automatic thread setting device 48 has reached the desired target position. .

In the embodiment described based on FIGS. 2 to 5, only one detection means 56 was provided in order to follow the automatic thread setting device 48, whereas a sixth
In order to determine the respective target position of the pivotable operating arm shown in FIGS. . Rain detection means 5 not shown in detail
6.56' is arranged on the side of the sector-shaped control disk 82, which is connected to the operating arm 52 in the region of the pivot axis 84, and does not face the wall 88 of the automatic thread setting device 48. The detection field 62 . 62 ′ of the rain detection means 56 .
Or the automatic thread setting device 48! ! It is oriented towards 88.

Rain detection means 56, 56' or rain detection field 62
．． 62' are radially offset to avoid mutual overlap. The rain detection means or rain detection fields are also offset from each other in the circumferential direction.

The radially outer upper detection field 62 detects the radially outer ring-shaped area of the sector-shaped control disk 82, whereas the radially inner lower detection field 62' detects the radially outer ring-shaped area of the sector-shaped control disk 82. The radially inner ring-shaped area of the sector-shaped control disk 82 is scanned, and the radially outer ring-shaped area of the sector-shaped control disk 82 is scanned by two radial control edges 7 offset in the circumferential direction.
4.76, to which the radially outer detection means 56 respond.

The ring-shaped area of the sector-shaped control disk 82, which follows said radially outer ring-shaped area radially inwardly, forms a control slot 80 with substantially radial slot edges as well as one of said (in the drawings) It has a radial control edge 78 that extends further to the left than the radial control edge 74 (as seen from the left hand). In this case, the radially inner sub-sensing means 56 are responsive to the control slot 80 or to the radial slot edge of the control slot as well as to the radial control edge 78 .

In FIG. 6, the operating arm 52 occupies a slightly downwardly inclined position, in which the radially inner detection field 62' is completely covered by the sector-shaped control disc 82 and is reflected. , the control disk 8
The radial control edge 76 of the second radially outer ring-shaped area (on the right hand in the drawing) divides the detection field 62 into two differently influenced field areas 64 and 66 of exactly equal size. do. The left-hand field area 64 of the detection field 62 is therefore reflected towards the optical detector, whereas the right-hand field area 66 is substantially absorbed by the wall of the automatic thread setting device 48. However, in this case in principle , other ways of dividing the absorption capacity are also conceivable. The important point here is that upon entry of the radial control edge 76 into the detection field 62, field regions 64, 66 are generated which are differently influenced in a defined manner. ``occupies a slightly upward pivoting position in which the radially outer upper detection field 62 is completely covered and reflected by the sector-shaped control disk 82, whereas the radially inner upper detection field 62 The lower detection field 62' is covered on its right half by a sector-shaped control disk 82, while its left half illuminates the wall 88 of the automatic thread setting device 48 based on the control slot 80. The right radial slot edge of the control slot 80 thus determines the boundary position between the differently influenced field areas 6466 of the radially inner lower detection field 62'. The swivel position shown in FIG. 7 can thus be distinguished from the swivel position shown in FIG. 6, since a different combination of detection signals occurs in this case compared to the swivel position shown in FIG. This identification is carried out by an electronic control unit 54, by which the motor assigned to the drive gear 90 is controlled in such a way that it reaches and maintains the target position.

In FIG. 8, the pivotable operating arm 52 occupies a significantly upward pivoting position in which the radially outer upper detection field 62 is covered on its right half by the sector-shaped control disk 82. , and based on the radial control edge 74, the left half illuminates the wall 88 of the automatic thread setting device 48. The radial control edge 74 thus determines the boundary between the two differently influencing field regions 64 and 66 of the radially outer superior detection field 62. The target position is both field areas 64.6
Obtained when 6 become equal in size.

Furthermore, in the pivoted position of the operating arm shown in FIG. , so that this detection field 62' completely illuminates the wall 88 of the automatic thread setting device 48. This results in a different combination of the two detection signals, so that the swivel position shown in FIG. 8 can be clearly distinguished from the swivel position shown in FIGS. 6 and 7.

In principle, depending on the number and position of the radial control edges and control slots, other positionings are also possible. It is also possible to provide more than one detection means, thus
The number of pivot positions that can be distinguished from one another is further increased.

[Brief explanation of drawings]

Figure 1 is a schematic side view of the ring spinning machine and its associated operating robot, Figure 2 is a partial side view of the automatic operating device and ring support rail as seen in the direction of arrow F in Figure 1, and Figure 3 is the target. a front view of the ring support rail section and the implied detection field when the position is reached; FIG. 4 is a voltage curve diagram of the detection signal in relation to the position of the automatic operating device with respect to the ring support rail;
Figure 5 is a wiring configuration diagram of the drive motor for the automatic operating device, Figure 6 is a side view of the automatic operating unit with the operating arm swiveled downward, and Figure 7 is the operating arm in a nearly horizontal position. FIG. 8 is a side view of the automatic operating device shown with the operating arm pivoted upward. FIG. lO...Ring spinning machine, 12...Head, 14...
Local part, 16... Spinning part, 18... Rover pobbin, 20
... Roving yarn, 22 ... Ring traveler, 24 ...
Yarn winding body, 26... Winding tube, 28... Spindle, 30... Yarn feeler, 32... Balloon break ring, 34... Ring track, 36... Ring support rail, 38... ...Draft device, 40...Operating robot, 42...Guide rail, 44...Guide and positioning rail, 46...Double arrow indicating running direction, 48...Auto as automatic operating device - Thread setting device, 50...Double arrow indicating the direction of lifting and lowering movement, 52
...Operation arm, 54...Electronic control unit, 56
．． 56'...detection means, 58...light transmitter, 60...
- Optical detector, 62.62'...detection field 64
．． 66...Field area, 68...Boundary, 72...
・Lower edge, 74.76.78...Radial direction control edge 80・
...Control slot, 82...Sector-shaped control disk, 84...Swivel axis, 88...!・Wall, 90... Drive gear, 92... Sector disk, 94... Sakushi."
Nozzle, 96... External tooth rim Fzg, 2 Fig, 5

Claims (1)

[Scope of Claims] 1. An operating robot (40) that can run along a spinning unit in order to operate a spinning machine, particularly a ring spinning machine, which has a large number of spinning units (16) arranged in parallel. an automatic operating device (48) which is movable up and down in the vertical direction with respect to the robot mount and supports at least one movable operating member (52); and the operating member (52) and the automatic operating device (48). In an operating robot of the type equipped with a drive device (M) for The instantaneous relative position of the automatic operating device (48) and the instantaneous relative position of the operating member (52) with respect to the automatic operating device (48), or the instantaneous relative position of any of them, in a continuous and non-contact manner. Detection means (56, 56') for detecting the automatic operating device (48)
), said detection means (56, 56') each comprising at least one optical, electrical, magnetic or acoustic localized detection field (62, 62'). one transmitter (58) and at least one detector (60) connected to said electronic control unit (54), and each drive (M) is activated by said electronic control unit (54) to receive a detection signal (U_D). , U′_
D) is controlled or adjusted to maintain a predetermined relative target position, and in said predetermined relative target position said detection field (62, 62') is controlled or adjusted to maintain a predetermined relative target position; for operating a spinning frame, characterized in that it is divided at a predetermined boundary (68) into two field areas (64, 66) which are affected in particular differently by objects (36, 52). Operation robot. 2. The detection field (62, 62') is divided into two equally sized field areas (64, 6') that are affected differently.
6) The operating robot according to claim 1, wherein a predetermined relative target position can be obtained when divided into 6). 3. Each detection means (56, 56') has two detectors (60
) and which are differently influenced by the boundary (68) between the two field regions (64, 66),
60) The operating robot according to claim 1 or 2, wherein the predetermined relative target position is obtained when the detection ranges at least substantially coincide with the boundaries between detection ranges detected by 60). 4. The detection means are optical detection means (56, 56'), and the field areas (64, 66) are differently affected.
are generated by surfaces of different reflectivity of each object to be detected or of objects movable relative to each other, or by different reflectivities of the object and its surroundings. The operating robot according to any one of the preceding items. 5. The part of the spinning machine movable in the same direction as the automatic operating device (48) is the ring support rail (36), and the detection field (62) has two different field areas (
64, 66) is the detection field (62).
5. The handling robot according to claim 1, wherein the ring support rail (36) is defined by a longitudinal edge, in particular a lower edge (72), which penetrates into the ring support rail (36). 6. In particular, in order to detect operating members (52) movably arranged on the automatic operating device (48), the movable operating members (52) are arranged offset from one another in the direction of movement of said operating members (48).
at least two detection means (52) responsive to control edges (74, 76, 78) or control slots (80)
56, 56'), and when multiple predetermined relative target positions are set, the generated detection field (
one of the detection fields (62 or 62')
’) is affected by two different field regions (6
4,66), while
The other detection field (62' or 62) is entirely changed or unchanged, or entirely occupies one or the other of two specific states, and the electronic control unit (54) Detection field (62, 62
6. The operation according to claim 1, wherein different predetermined target positions are distinguished from each other on the basis of each combination of states of `) or the corresponding detection signal (U_D, U'_D). robot. 7. The detection means (56, 56') are connected to the radial control edge (7) of the control disk (82) movable together with the operating member (52).
7. The operating robot of claim 6, wherein the robot is responsive to a slot edge of a control slot (80). 8. An operating arm (52) in which the operating member is rotatable about a pivot shaft (84) supported by an automatic operating device (48).
), the operating arm having a plurality of radial control edges (74, 76, 78) and at least one control slot (8) with a radial slot edge in the region of the pivot axis.
0), the surface of said sector-like control disc (82) as well as the automatic operating device (48) being loaded by a detection field (62, 62'). consisting of different materials or having different colors and detecting means (56, 56
The detector (60) of the sector-like control disk (82
) and thus the radial control edges (74, 76, 78)
and a detection signal (
8. The operating robot according to claim 1, wherein the operating robot supplies the electronic control unit (54) with the control unit (54). 9. At least two detection means (56, 56') are provided which have different radial distances from each other with respect to the pivot axis (84) of the operating arm (52) and are offset from each other in the circumferential direction; and a sectored control disk (82),
radial control edges (74, 76, 78) and at least one control slot (80) influencing the detection field (62, 62') respectively in the ring-shaped area defined by said two radial distances; have,
The operating robot according to claim 8. 10. The detection means (56, 56') is connected to the automatic operation device (48
) and located on the side of the sector-shaped control disk (82) that is remote from the automatic operating device (48), and the sector-shaped control disk (82) and the automatic operating device (48) ) and a detection field (62, 62') oriented towards said sector-like control disk (
82) and the automatic operating device (48) are affected differently due to mutually different materials or different colors;
The operating robot according to any one of claims 1 to 9. 11. The operating robot according to claim 1, further comprising a light barrier, in particular a reflective light barrier, as the detection means (56, 56').