US3823538A - Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines - Google Patents

Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines Download PDF

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Publication number
US3823538A
US3823538A US00351976A US35197673A US3823538A US 3823538 A US3823538 A US 3823538A US 00351976 A US00351976 A US 00351976A US 35197673 A US35197673 A US 35197673A US 3823538 A US3823538 A US 3823538A
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Prior art keywords
gripper
rail
lifting mechanism
velocity
reciprocating lifting
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Expired - Lifetime
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US00351976A
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English (en)
Inventor
W Igel
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Oerlikon Textile GmbH and Co KG
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Zinser Textilmaschinen GmbH
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/04—Doffing arrangements integral with spinning or twisting machines

Definitions

  • the present invention relates to an improved reciprocating lifting mechanism for a longitudinally extending gripper-rail which is rectilinearly movable perpendicular to its longitudinal direction and guided in its rectilinear movement by at least two substantially identical, equal-sided rectilinear guidance linkage systems whose motions are coupled with one another and which are disposed at a linearly adjacent distance from one another, the gripper rail being raised and lowered through the rectilinear guidance linkage systems by at least one driving mechanism, with each rectilinear guidance linkage system having a lower joint movable in a horizontal direction, and with at least one of the lower joints being moved by the driving mechanism.
  • the lower joint of at least one of the rectilinear guidance linkage systems is pivotably mounted to a sled member guided rectilinearly on a horizontal guide rail.
  • the sled is reciprocated back-and-forth in the horizontal direction by a hydraulic piston-cylinder unit in order to effect the raising and lowering of the gripper-rail.
  • the regulating velocity of the driving mechanism and therefore the velocity of the horizontally movable joint can be varied in whatever way is appropriate during the reciprocating lifting motion of the gripper-rail so that a desired development of the velocity of the reciprocating lifting of the gripperrail will result.
  • the advantages of the rectilinear guidance linkage systems are fully retained. These advantages consist especially in a precise, stable, and freely moving rectilinear guidance of the gripper-rail.
  • the velocity development of the reciprocating lifting motion of the gripper-rail can be suitably chosen in many cases so that the gripper-rail performs its upward and downward stroke with approximately uniform velocity.
  • the velocity of the gripper-rail is smaller in a region adjacent to the reversal point or the lower limit of travel of the gripper-rail stroke, than it is in the middle of its stroke because in this lower partial region, the grippers arrive at the gripping position where they grip the empty spools or where they deposit the full spools borne by them on a conveyor belt or the like.
  • a velocity reduction of the reciprocating lifting motion can be provided as well, so that the motion of the gripper-rail occurring there, or the entry of the grippers into the spools located on the spindles and the removal and replacement of spools from or onto the spindles does not occur too fast.
  • a particularly advantageous development of the velocity of the reciprocating lifting motion of the gripper-rail can be chosen so that the lifting velocity of the gripperrail, beginning at or in the vicinity of at least one reversal point of the lifting motions, increases continuously with approximately uniform acceleration up to approximately the middle of the corresponding stroke and then decreases again continuously.
  • the lifting movements of the gripper-rail can be executed particularly fast and with relatively low values of acceleration and deceleration. Moreover, this can be achieved with weaker driving motors and weaker transmission links and joints, because of the lower decelerations and accelerations achieved than would be the case if one worked with rapid variations of velocity in the vicinity of the reversal point.
  • the regulating speed of the driving mechanism can be controlled with any suitable devices. It can also be automatically controlled, preferably in dependence on the position of the rectilinear guidance linkage systems.
  • the latter has the advantage that the regulating speed of the driving mechanism is always coupled to the position of the rectilinear guidance linkage systems so that a predetermined time variation of velocity of the lifting motions is particularly precisely effected with unintentional variations of the regulating velocity of the driving mechanism not adding together during the lifting motion.
  • the regulating velocity of the driving mechanism be controlled or regulated by a time-dependent program.
  • the time-dependent program may be stored in program carriers of any type, for example, on cards, and that by simple exchange of such program carriers, different velocity developments of the lifting motion of the gripper-rail can be selected.
  • program carriers for example, program control cards
  • the manufacturer of the lifting mechanism or of the corresponding spinning, twisting or the like type machine provides a single program according to which the regulating velocity of the driving mechanism is altered.
  • the regulating velocity of the driving mechanism is controllable by a mechanical control cam whose motion is directed by at least one of the rectilinear guidance linkage systems. It can also be suitable in may cases to move the control cam directly by means of the driving mechanism and, preferably, to dispose it at one of the movable links of the driving mechanism. In a hydraulic piston-cylinder unit, this can suitably be the piston rod.
  • FIG. I is a schematic illustration of a reciprocating lifting mechanism according to the present invention within the automatic spool changing mechanism not shown in further detail for a spinning, twisting and the like type machine, not shown.
  • the lifting mechanism includes a driving'mechanism and one exemplary embodiment of a control mechanism according to the present invention for influencing the regulating velocity of the driving mechanism.
  • FIG. 2 schematically illustrates an exemplary alternative embodiment of the control mechanism according to the present invention for influencing the regulating velocity of the driving mechanism.
  • FIG. 3 schematically illustrates a further exemplary alternative embodiment of the control mechanism of FIG. 2.
  • FIG. 4 is a schematic illustration of still another exemplary embodiment of the present invention according to which a change in the output velocity of the driving mechanism is effected by means of an infinitely variable transmission.
  • FIG. 5 is a schematic illustration of yet another exemplary embodiment of the present invention according to which a change in the output velocity of the driving mechanism is effected by means of a controlled electric motor.
  • FIG. 1 illustrates only the important components within an automatic spool changing mechanism of a spinning, twisting or the like type machine necessary for an understanding of the present invention. For the sake of clarity, further details of the machine are not shown.
  • the illustrated installation includes a gripper-rail 11 which is movable up-and-down in a reciprocating fashion in the direction of the double arrow A by means of a driving mechanism which is preferably a hydraulic piston-cylinder unit 50, through the intermediary action of two substantially identical, equal-sided rectilinear guidance linkage systems 17 and 18.
  • the driving mechanism can be pneumatic piston cylinder unit or the like.
  • the piston-cylinder unit includes a horizontal guide rod 24 which serves as a piston rod for the unit 50 and as a mounting rod for a portion of each rectilinear guidance linkage system 17 and 18.
  • the guide rod 24 is rectilinearly guided through bearings 7.
  • the bearings 7 are in turn mounted within stationary bearings 7 to be rotatable but not axially slidable.
  • the guide rod 24 is fixedly connected with the piston 52 of the piston-cylinder unit 50 so that it is movable back-and-forth or reciprocated in the horizontal direction in indicated by the double arrow C.
  • two bearing blocks 24 are fixedly mounted. To these bearing blocks are pivotably mounted by means of joints 23 the long rods 20 of rectilinear guidance linkage systems 17 and 18. The upper ends of the long rods 20 are in turn pivotably mounted at 21 to the gripper-rail l l.
  • the linkage systems 17 and 18 further comprise short rods 19 whose lower ends are pivotably mounted at 29 to a respective bearing 7 and whose upper ends are pivotably mounted at 30 to a respective rod 20.
  • the mounting at 30 is located approximately at the midpoint of the respective rod 20.- It should be noted that all the pivotable mountings are of a conventional nature.
  • the joints 23 are movable horizontally back-and-forth by means of the driving mechanism 50, and in consequence of the axial motion of the guide rod 24. In this way, a vertical lifting movement of the gripper-rail 11 is effected.
  • the regulating velocity of the piston-cylinder unit 50 is controlled by control means including an adjustable volumetric valve 55.
  • the valve 55 is preferably interposed in the hydraulic feed line of the piston-cylinder unit 50.
  • the volumetric valve 55 is a throttle valve, whose throttling action is controlled in dependence on the position of the gripper-rail 11 by means of a chain drive 56.
  • the chain drive 56 comprises two rotatably mounted chain sprockets 57, which are mounted to be stationary rela tive to the machine, and an endless chain 58.
  • the chain 58 is connected with the gripper-rail 11 at 53 so that a control rod 59, which is driven by the lower chain sprocket 57 via a sector drive which is not shown, is positively coupled to the gripper-rail 11.
  • the throttle valve 55 can be suitably constructed so that it varies the regulating velocity of the piston-cylinder unit 50 in dependence on the position of the gripper-rail 11, and therefore in dependence on the position of the linkage systems 17 and 18.
  • a 4/2-way valve 49 which, in the position shown, has the effect that piston 52 is moved to the right (FIG. 1). In its other position, the valve 49 causes the piston 52 to move toward the left.
  • the hydraulic circuit is completed by a reservoir 62 from which hydraulic fluid is pumped by a pump 60 and to which the hydraulic fluid is delivered from the pistoncylinder unit 50.
  • the pump 60 is driven by a motor 61.
  • FIG. 2 an alternate embodiment of the control means for the control of the volumetric valve 55 is shown. Except for the changed structure shown, the other parts of the control means correspond to that of the embodiment of FIG. 1.
  • the adjustable volumetric valve 55 has a rotatably mounted positioning arm 59 which regulates, depending on its relative position, the throughput volume of the fluid from the hydraulic circuit and therefore the velocity of the guide rod 24.
  • the positioning arm 59' always abuts the control edge 63 of a mechanical cam-piece 64, which is positively connected wit the gripper-rail 11. In this way the control edge 63 controls the velocity of the hydraulic pistoncylinder unit 50 (not shown in this illustration), and therefore the velocity of the guide rod 24 in dependence on the position of the gripper-rail 11.
  • the adjustable volumetric valve 55 is controlled by means of a cam plate 66 which is positively connected with a shaft 65 of the lower joint 29 of one of the short rods 19.
  • the shaft 65 is mounted to the bearing 7.
  • the cam plate has a spiral-shaped control edge 63' which is fashioned in such a way that a desired development of the velocity of the lifting strokes of the gripper-rail ll is achieved.
  • one end of the guide rod 24 is developed as a rack-rod 76, and is further supported in a bearing 77 at some distance from one of the bearings 7.
  • An electric motor 78 which can have several constant drive speeds, and which can run in the clockwise as well as the counterclockwise directions through an infinitely variable transmission 79, drives a pinion 90 which meshes with the rack-rod 76.
  • the step-down ratio of the transmission 79 is adjustable by means of a lever 91 which is pivotable in dependence on the position of the gripper-rail 11 via a connecting rod 92.
  • the connecting rod 92 is in turn pivotably mounted to the gripper-rail 11.
  • the transmission ratio to the gripper-rail 11 is changed in such a way that a desired development of the velocity of the gripper-rail 11 during its lifting movements or strokes is achieved. It is particularly suitable to have a motor 78 which has two different rotational speeds, so that it is possible to change from the higher to the lower rotational speed in the vicinity of the reversal point of the lifting stroke, that is in the vicinity of that point where the stroke changes direction.
  • the horizonal guide rod 24 is equipped with an external thread at the end shown, for the purpose of its axial displacement. This thread meshes with an internal thread of a rotatably mounted threaded nut 67 which is driven by an electric motor 69 through the gear set 70.
  • the electric motor 69 is a direct current motor which can be switched for clockwise and counterclockwise rotation by means of a switch (not shown).
  • an adjustable ohmic resistance 71 is connected, by means of which the rotational speed of the motor 69, and therefore the velocity of advance of the guide rod 24, can be infinitely varied.
  • this resistance 71 could, for example, in a manner not further shown, occur in principle in the same way as the variation of the volumetric valves 55, according to FIGS. 1 3, or in some other suitable way. If desired, however, a servo-control of the lifting velocity of the gripper-rail 11 can also be provided, for example, with the components shown in broken lines. The method of operation of these components will be explained more fully below.
  • the variation of the regulating velocity of the driving mechanisms is achieved by means of control means and not by means of regulating or servo-control means. Since control installations are constructionally simpler than servo-control installations, and since in generalthe precision of the intended time-variation of the velocity of the lifting stroke of the gripper-rail 11 does not have to be high, such control means are usually completely sufficient. However, if in special cases the gripper-rail 11 must be moved, during at least part of its stroke, with a precisely constant velocity, and/or if its velocity must be varied exactly according to a preset program, then a regulating or servo-control of the lifting velocity of the gripper-rail 11 may be provided.
  • the velocity of the gripper-rail 11 or of the movable parts of the rectilinear guidance linkage systems 17 and 18 must be continuously measured and compared with a constant nominal value or with a nominal value varying according to a program, and from the difference between the actual value and the nominal value, a regulating or servo-control signal must be derived, by means of which the regulating velocity of the drive mechanism is continuously influenced in such a way that the deviation between the nominal value and the actual value is continuously regulated away, that is, continuously regulated toward zero.
  • a simple example of a servo-control is explained with the aid of the broken-line drawing in FIG. 5.
  • the lifting velocity may be measured continiously by means, for example, of a tacho generator 95 driven, for example, by a rack-rod driver 94.
  • the output of the tacho-generator 95 can be imposed on a controller 96 which compares it with a constant nominal value and forms a control deviation signal.
  • the resistance 71 is in turn automatically adjusted, for example, by means of a setting motor 97 in dependence on the control signal, which is diminished in the sense described above.
  • a reciprocating lifting mechanism for raising and lowering a longitudinally extending and rectilinearly movable gripper-rail within an automatic spool changing installation for spinning, twisting and the like type machines, the gripper-rail having at least one gripper for gripping full and empty spools of these machines,
  • said improvement means includes a motor means, and control means for controlling the drive speed of said motor means and wherein the regulating velocity of the driving mechanism is varied by adjustment of the drive speed of said motor means by said control means.
  • said motor means comprises a direct current electric motorand a setting member, said setting member comprising an adjustable ohmic resistance member which is connected in the field current circuit of said electric motor, and wherein the rotational speed of said electric motor is adjustable by said ohmic resistance member.
  • said motor means comprises a hydraulic piston-cylinder unit, and a setting member, said setting member comprising an adjustable volumetric valve.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Treatment Of Fiber Materials (AREA)
US00351976A 1972-04-17 1973-04-17 Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines Expired - Lifetime US3823538A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2218580A DE2218580A1 (de) 1972-04-17 1972-04-17 Hubvorrichtung

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US00351976A Expired - Lifetime US3823538A (en) 1972-04-17 1973-04-17 Reciprocating lifting mechanism for the gripper-rail in an automatic spool change installation of spinning, twisting and the like type machines

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Country Link
US (1) US3823538A (zh)
JP (1) JPS4914736A (zh)
CA (1) CA991146A (zh)
CH (1) CH556404A (zh)
DE (1) DE2218580A1 (zh)
FR (1) FR2180911B1 (zh)
GB (1) GB1424576A (zh)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4014161A (en) * 1976-05-26 1977-03-29 Platt Saco Lowell Corporation Stop-motion device for automatic doffer apparatus
US4658575A (en) * 1983-09-19 1987-04-21 Societe Anonyme Des Ateliers Houget Duesberg Bosson Method of and apparatus for replacing full bobbins on a continuous spinning machine
US5546740A (en) * 1994-08-12 1996-08-20 Zinser Textilmaschinen Gmbh Actuating linkage for bobbin changer
CN102534876A (zh) * 2011-12-02 2012-07-04 常熟市浩通市政工程有限公司 细纱机升降装置
CN103774301A (zh) * 2014-01-22 2014-05-07 日照裕鑫动力有限公司 环锭纺细纱机自动插空纱管装置及方法
CN103774302A (zh) * 2014-01-22 2014-05-07 日照裕鑫动力有限公司 环锭纺细纱机管纱自动拔取装置及方法
CN106676691A (zh) * 2017-02-17 2017-05-17 江苏海马纺织机械有限公司 一种握纱器横梁水平移动装置
CN109850722A (zh) * 2019-02-18 2019-06-07 王家孟 高层建筑消防救援系统
CN110777459A (zh) * 2019-11-12 2020-02-11 徐州达娇物资贸易有限公司 一种纺织用框纱整理装置及其使用方法

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS566971B2 (zh) * 1973-02-12 1981-02-14
JPS5140438A (en) * 1974-10-02 1976-04-05 Toyoda Automatic Loom Works Jidokudakaeki niokeru kudakaehoho
JPS55142581U (zh) * 1980-04-04 1980-10-13
DE3943698C2 (de) * 1989-10-27 1995-12-14 Rieter Ag Maschf Höhenverstellbarer Dofferbalken
DE4210494B4 (de) * 1992-03-31 2005-09-15 Maschinenfabrik Rieter Ag Hubeinrichtung
DE19510239C2 (de) * 1995-03-21 1997-01-23 Rieter Ag Maschf Verfahren und Vorrichtung zum Auf- und/oder Abbewegen eines Dofferbalkens einer Spinnmaschine
CN108938204B (zh) * 2018-08-02 2023-10-03 江西省美满生活用品有限公司 一种便于包芯的纸尿裤生产用封装装置
CN110844709B (zh) * 2019-12-19 2020-07-03 安徽联丰制丝有限公司 用于蚕丝加工的绕丝架
CN111422786B (zh) * 2020-04-22 2020-10-23 福州市长乐区密斯特电子科技有限公司 一种运输安装变压器的推车

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3357535A (en) * 1966-07-11 1967-12-12 Deering Milliken Res Corp Apparatus for simultaneously donning a plurality of empty bobbins
US3398519A (en) * 1966-09-29 1968-08-27 Zinser Textilmaschinen Gmbh Transporting apparatus for the tube changer of a textile machine
US3403494A (en) * 1966-05-31 1968-10-01 Barber Colman Co Apparatus for loading bobbins and the like
US3550368A (en) * 1967-08-30 1970-12-29 Nuova San Giorgio Spa Automatic spinning machine having a device for the automatic doffing of the bobbins and replacing of the tubes
US3566598A (en) * 1968-10-30 1971-03-02 Byars Machine Co Automatic ring-rail downing system
US3686847A (en) * 1968-12-12 1972-08-29 Hispano Suizo Suisse Sa Apparatuses for removing and replacing bobbins in a spindle type spinning machine, and a method of using such apparatuses

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3403494A (en) * 1966-05-31 1968-10-01 Barber Colman Co Apparatus for loading bobbins and the like
US3357535A (en) * 1966-07-11 1967-12-12 Deering Milliken Res Corp Apparatus for simultaneously donning a plurality of empty bobbins
US3398519A (en) * 1966-09-29 1968-08-27 Zinser Textilmaschinen Gmbh Transporting apparatus for the tube changer of a textile machine
US3550368A (en) * 1967-08-30 1970-12-29 Nuova San Giorgio Spa Automatic spinning machine having a device for the automatic doffing of the bobbins and replacing of the tubes
US3566598A (en) * 1968-10-30 1971-03-02 Byars Machine Co Automatic ring-rail downing system
US3686847A (en) * 1968-12-12 1972-08-29 Hispano Suizo Suisse Sa Apparatuses for removing and replacing bobbins in a spindle type spinning machine, and a method of using such apparatuses

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4014161A (en) * 1976-05-26 1977-03-29 Platt Saco Lowell Corporation Stop-motion device for automatic doffer apparatus
US4658575A (en) * 1983-09-19 1987-04-21 Societe Anonyme Des Ateliers Houget Duesberg Bosson Method of and apparatus for replacing full bobbins on a continuous spinning machine
US5546740A (en) * 1994-08-12 1996-08-20 Zinser Textilmaschinen Gmbh Actuating linkage for bobbin changer
CN102534876A (zh) * 2011-12-02 2012-07-04 常熟市浩通市政工程有限公司 细纱机升降装置
CN103774301A (zh) * 2014-01-22 2014-05-07 日照裕鑫动力有限公司 环锭纺细纱机自动插空纱管装置及方法
CN103774302A (zh) * 2014-01-22 2014-05-07 日照裕鑫动力有限公司 环锭纺细纱机管纱自动拔取装置及方法
CN103774302B (zh) * 2014-01-22 2016-06-29 日照裕鑫动力有限公司 环锭纺细纱机管纱自动拔取装置及方法
CN103774301B (zh) * 2014-01-22 2016-07-06 日照裕鑫动力有限公司 环锭纺细纱机自动插空纱管装置及方法
CN106676691A (zh) * 2017-02-17 2017-05-17 江苏海马纺织机械有限公司 一种握纱器横梁水平移动装置
CN109850722A (zh) * 2019-02-18 2019-06-07 王家孟 高层建筑消防救援系统
CN110777459A (zh) * 2019-11-12 2020-02-11 徐州达娇物资贸易有限公司 一种纺织用框纱整理装置及其使用方法

Also Published As

Publication number Publication date
JPS4914736A (zh) 1974-02-08
CA991146A (en) 1976-06-15
CH556404A (de) 1974-11-29
DE2218580A1 (de) 1973-10-25
FR2180911B1 (zh) 1977-02-04
GB1424576A (en) 1976-02-11
FR2180911A1 (zh) 1973-11-30

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