WO2017080718A1

WO2017080718A1 - Method for controlling an impeller-type thread laying device, impeller-type thread laying device, and winding machine

Info

Publication number: WO2017080718A1
Application number: PCT/EP2016/073656
Authority: WO
Inventors: Franz Böni
Original assignee: SSM Schärer Schweiter Mettler AG
Priority date: 2015-11-10
Filing date: 2016-10-04
Publication date: 2017-05-18
Also published as: CN107848726B; EP3374304A1; CN107848726A; DE102015222044B3; EP3374304B1

Abstract

The invention relates to a method (100) for controlling a thread laying device comprising two impellers (26, 28) which can be driven in opposite directions in order to move a thread to be wound on a rotating spool back and forth between two turning points (U₁, U₂) along the spool longitudinal axis by means of a traversing movement with a target traversing stroke width (H_s) of the thread laying device, said target traversing stroke width differing from a base traversing stroke width (H_N). According to the invention, each impeller (26, 28) being moved in the idle traversing stroke, i.e. each idle traversing stroke impeller (26, 28), is first accelerated or braked to an overcompensation angular speed (V_oc) in the idle traversing stroke interval (T_L) of the impeller, said overcompensation angular speed being determined on the basis of a theoretical constant compensation angular speed (V_c) required to transfer the thread in the next turning point (U₁, U₂) of the traversing movement of the thread. The impeller is then moved at its specified operating angular speed (V_w) in order to receive the thread from the other impeller (26, 28) guiding the thread at the operating angular speed (V_w) in the next turning point (U1, U2) of the traversing movement of the thread. The invention further relates to a thread laying device and to a winding machine comprising such a thread laying device.

Description

Method for controlling an impeller thread laying device, impeller Fadenveriegevorrichtung and winder

The invention relates to a method for controlling a Flügelrad- thread laying device, a impeller thread laying device and a winder.

In the textile industry, thread-laying devices are used in thread winding processes, by means of which a thread to be wound up on a rotating bobbin is moved back and forth in the direction of the longitudinal axis of the bobbin by means of a high-frequency traversing movement. In practice, different types of such thread-laying devices have been established. These can be functionally differentiated into those with a variable stroke width and those with a fixed stroke width of the traversing movement.

Yarn laying devices with variable stroke width allow for all the freedom for the winding structure when winding yarn bobbins, such as Chamfering of the coil flanks, rounding of the edges or the free positioning of a Abschlusswickels at a desired longitudinal position of the coil. Due to the high-frequency traversing movement of the yarn and the braking in the reversal points on the sides of the yarn package these designs are subject to heavy wear, lead to undesirable yarn accumulation in the reversal points and a higher energy consumption at high speeds.

Examples of thread-laying devices with a fixed stroke width are those with counter-threaded shafts or so-called impeller thread laying devices. These are mechanically bound to a fixed stroke width, but can be operated with a high double stroke rate per minute (over ΓΟΟ double strokes / min). The high Doppelhubzahlen are achieved in that the drive motor of the yarn laying device is always operated in one direction with a substantially constant engine speed.

The above-mentioned impeller thread laying devices have two impellers, which are driven in opposite directions about their respective axis of rotation. The impellers are usually each provided with two or three wings, which extend away from the axis of rotation of the respective impeller in the radial direction. The aufzuspulende on the bobbin thread is performed during the winding process in constant change to the wings of the one and the other impeller and is thus reciprocated in the sense of a traversing movement relative to the coil in the direction of the coil longitudinal axis in rapid succession. During the working stroke of one of the two impellers, in which this leads the thread, the other impeller is moved in each case in a so-called idle stroke. This impeller can also be referred to as Leerhub impeller.

The thread is usually on a bow disc or plate, ie, guided on a so-called thread guide ruler, emerge from the thread guide contour, the wings of the vanes in operation and in which they dive again in the range of immersion points. A thread transfer between the Vane wheels and a consequent stroke reversal of the traversing movement of the thread takes place in each case in the region of the immersion points of the wings of the vanes, which thus coincide in the axial direction of the coil with the reversal points of the traversing movement of the thread. When winding the thread on the spool, a so-called filament winding is produced whose quality is decisively determined by an exact axial position of the reversal points relative to the longitudinal axis of the spool.

However, in the aforementioned impeller thread laying devices, the thread to be wound up can only be conveyed with said fixed stroke width, i. with a fixed basic stroke width, relative to the spool to be moved back and forth. From WO 2015 007 339 AI a yarn laying device with impellers has become known, in which the stroke width of the traversing movement can be achieved by the adjustment of the impellers separate and quite complex yarn guide elements.

It is therefore an object of the invention to provide a method for controlling a yarn laying device with impellers and such a yarn laying device and a winder in which a aufwickelnder on a spool with low design effort and in a reliable way with a variable stroke to the reiative towards the coil and can be moved to open wider application possibilities.

The task relating to the thread-laying device is achieved by a thread-laying device having the features specified in patent claim 1. The thread laying device according to the invention has the specified in claim 10 and the winder according to the invention the features specified in claim 15. Further advantages and advantageous embodiments of the subject of the invention will become apparent from the description, the dependent claims and the drawings.

The inventive method for controlling a yarn laying device with two counter-driven impellers around one on a rotating Spool aufzuspulenden thread by means of a traversing movement with a deviating from a Grundhubbreite H _{N of} the yarn laying device desired stroke width Hs between two reversal points (Ui, U ₂ ) along the coil longitudinal axis back and forth, comprising the following steps:

In a first step, a respective axial position of the Hubendlagen, ie the reversal points Ui, U ₂ , the traversing movement of the thread relative to the coil longitudinal axis defined or predetermined. The reversal points Ui, U _{2 of} the traversing movement of the thread define the desired desired stroke width Hs of the traversing movement of the thread relative to the spool. The axes of rotation of the impellers and an aforementioned thread guide ruler of the yarn laying device are preferably positioned relative to each other depending on the respective predetermined for the traversing movement of the thread target stroke width of the thread such that the respective immersion points of the vanes with the associated reversal points orthogonal to the coil longitudinal axis Direction aligned with each other.

In a further step, a theoretical constant compensation angular velocity V _c during a time Leerhubintervall T _{L of} the respective idle stroke moving impeller (= idle stroke impeller) is calculated with the takeover of the thread by the idle impeller of the respective thread-guiding other impeller in the next predetermined (temporally immediately following) reversal point Ui, U _{2 of} the traversing movement is made possible. The theoretical compensation angular velocity Vc is thus the purely computational angular velocity with which the respective idle stroke impeller would have to be moved from the last reversal point Ui, U ₂ to the next reversal point Ui, U _{2 of} the traversing movement of the yarn, around the yarn at the following reversal point Ui , U ₂ from the other (during the Leerhubintervalls Ti thread-leading) impeller to take over.

In the case of a, compared to the Grundhubbreite H ", smaller desired stroke width Hs of the traversing movement, the reversal points Ui, U _{2 of} the traversing movement in the axial direction are spaced less far from each other, than this at a determined by the constructive features of the yarn laying device Grundhubbreite HN of the yarn laying device, in which the two impellers are moved counter to each other without further control interventions with a constant and matching basic angular velocity. In this case, the theoretical compensation angular velocity V _{c is} therefore greater than the basic angular velocity of the two impellers corresponding to the basic stroke width HN of the yarn laying device.

In the other case that the predetermined target stroke width H $ is greater than the basic stroke width HN, the compensating angular velocity Vc of the idle-stroke impeller is correspondingly smaller than the basic angular velocity of the two impellers.

According to the invention, in a further step, an overcompensation angular velocity V ₀ c for the idle impeller during a first sub-interval Tu of the idle stroke interval T _{L is} calculated on the basis of the theoretical compensating angular velocity Vc of the idling impeller.

Subsequently, the idle stroke Ffügelrad during the first temporal sub-interval T of the Leerhubintervalls with the overcompensation angular velocity V <x is moved. Thereby, the time Leerhubintervall T _L available for the control or regulation of the rotational speed of Leerhub impeller is divided into two time intervals TLi, T _L2 : A time overcompensation interval of the speed control and one for the fine control / fine control of the rotational movement of the Leerhub-impeller on a predetermined working angular velocity control-technically advantageous calming interval.

The rotational movement of the idle-stroke impeller or the idle-stroke impeller is in the adjoining the first temporal sub-interval Tu second temporal sub-interval T _{L2 of} the Leerhubintervalls T _L to a predetermined working angular velocity V _w of Leerhub impeller in the next reversal point Ui, U _{2 of} the traversing motion regulated so that the aufzuspulende on the bobbin thread through the Leerhub impeller from the thread-guiding other impeller in the next turning point Ui, U ₂ of traversing movement with the predetermined working angular velocity V _w and taken in the direction of the subsequent reversal point Ui, U _{2 of} the traversing movement can be moved. As a result, transient unavoidable transient phenomena, such as those caused by a change in the angular velocity of the vanes, at the time of yarn transfer from the thread-guiding impeller to the Leerhub executing Leerhub-impeller, ie in the respective next reversal point Ui, U _{2 of} the traversing movement of the thread completed , If the thread is moved by the impeller leading the thread at a constant speed along the spool, the result is a filament winding or a thread bobbin with a constant hardness. By a corresponding variation of this speed, the coil hardness along the coil beyond can be set freely. As a result, for example, soft edges of the yarn package produced on the bobbin can be realized as needed.

For reciprocating the thread relative to the coil with the predetermined desired stroke width H ₅ , ie. for winding the thread on the spool, the aforementioned steps are repeated as necessary, with or without the first-mentioned step (defining the axial position of the reversal points of the traversing movement of the thread relative to the coil longitudinal axis) accordingly. By repeatedly (re) defining the respective axial position of the reversal points of the traversing movement, for example, an oblique or rounded side edge of the thread winding to be produced on the package can be realized during the respective winding process.

With the method according to the invention, the stroke width and thus the reversal points Ui, U _{2 of} the traversing movement of the thread during a winding process or for different winding processes can be varied variably. Thus, a stroke width between 1 mm and 290 mm, in particular between 5 mm and 290 mm, can be specified for the traversing movement of the thread. As a result, coils of different lengths can be wound on the one hand become. On the other hand thread windings can be generated with oblique to the longitudinal axis side edges. Overall, the inventive method allows unprecedented versatility of impeller thread laying devices. It should be noted that the inventive method can be used in existing retrofit even with existing impeller thread laying devices.

According to a preferred development of the invention the transfer compensation angular velocity V ₀ c preferably is selected such that it deviates by at most 20%, preferably up to 15%, particularly preferably by a maximum of 12% of the calculated theoretical constant compensation angular velocity V _c. As a result, Steuerbzw. Regeleingriffe with respect to the respective rotational speed of the impellers minimized and a particularly precise traversing movement of the thread can be realized. This is for the quality of forming on the bobbin thread winding advantage. This also benefits the life of the electric motors serving as the drive of the impellers, because they do not have to be supplied with excess power for the required accelerations. At the same time, the electric motors - depending on the moving through these masses (impeller / gear) - are made compact. Overall, a particularly energy-efficient operation of the yarn laying device can be realized thereby, which is relevant in today's winding machines with usually several dozen such yarn laying devices.

According to the invention, a time start, ie a start time T ₅ , of the second sub-interval T _{L2 of} the Leerhubintervall T _{L is} preferably based on a continuous integration of at the overcompensation angular velocity Voc from the start time of the Leerhub movement of each Leerhub impeller, ie from a takeover time Ti, T _{2 of} the yarn at the reversal point Ui, U ₂ , by the respective working stroke executing other impeller to a control side continuously redetermined, ie temporally migrating test time TP in Leerhubintervall the Leerhub impeller and at the given work Angular velocity Vw achievable Angle distance of Leerhub-impeller from the test time T _P to the acquisition time of the thread by the respective Leerhub-Flugirad in each subsequent (next) reversal point Ui, U _{2 of} the traversing movement calculated. As soon as the reversal point Ui, U ₂ can be reached at the predetermined working angular velocity V _w during the second partial interval T _{L2 of} the idle stroke interval beginning at the test time TP, the test time T _{P is} predetermined by the control device as the start time of the second partial interval T _L2 . From this starting time, the idle air taxi is adjusted by the control device to the predetermined working angular speed in order to take over the thread in the following turning point Ui, U ₂ exactly at the time of takeover ΤΊ, T ₂ from the respective other impeller coming out of the working stroke. As a result, the speed of the Leerhub impeller for the adoption of the thread in (temporally and spatially) next reversal point Ui, U _{2 of} the traversing movement can be controlled accurately and easily.

The thread laying device particularly preferably has an aforementioned thread guiding device, on which the thread aufzuspulende on the spool is guided along. The thread guide device preferably has a thread guide with a straight or a curved thread guide contour. Malfunction can be counteracted.

To control the speed of the two impellers, the two electric motors are particularly preferably driven by means of a common digital signal processor. As a result, the method can be carried out in a simple and reliable manner and with little technical effort. A particularly reliable and sensitive control of the electric motors can be achieved according to the invention by a so-called vector control of the electric motors. The signal processor of the control device is preferably connected in each case via a vector controller with the electric motors. A detection of the respective rotational position of the impellers about their axes of rotation is preferably carried out in each case with an angular resolution of 0.25 ° or less. As a result, the respective position and speed of the impellers can be determined particularly precisely. This is for the quality of the coil to be produced on the thread winding advantage. For this purpose, the control device preferably has encoders for the electric motors of the impellers, by means of which the position of the impeller (or its vanes) and its respective angular velocity are detected. The encoders can be designed, for example, as so-called 2-channel encoders with 720 pulses. By evaluating all flanks, in this case 2880 measured position results over a 360 ° rotation of the respective electric motor / impeller. Thus, a sufficiently high accuracy of the position detection and positioning accuracy of the vanes can be achieved. It is understood that the accuracy of the position detection and the positioning accuracy can be further increased if necessary.

According to the invention, before the start of a winding process, a so-called zero-compensation of the rotational position of the impellers relative to each other is made. This can be done, for example, that the two impellers are moved with one of their wings against a defined stop. The stop can be moved, for example, in the swept by the two impellers rotation range. This can be done by a translational relative movement of the axes of rotation of the impellers and the stopper in a direction orthogonal to the longitudinal axis of the coil. Thereby, the absolute rotational position of the two impellers is known before the start of a winding process with respect to the respective encoder position and can be used for control purposes. In addition, the electric motors can thereby be controlled by the control device with an optimal load angle,

The thread laying device according to the invention has two impellers, which are each driven in opposite directions about their axes of rotation by means of an electric motor. The Fadenveriegevorrichtung has a control device for the Execution of the above-explained control method is programmed. The control device can also be designed or programmed according to the invention for controlling a coil drive, with which the coil can be driven in rotation.

The electric motors are advantageously designed brushless, so that they have a long service life. The electric motors can be designed in particular as three-phase hybrid stepper motors. Such electric motors provide a high torque in relation to the size and inertia of the rotor. Due to the large number of poles of such motors, they can be operated particularly efficiently in the lower speed range at speeds of up to approximately 1500 revolutions / minute. In addition, only 3 half-bridges are needed to control such electric motors. In closed-loop operation with vector control, these motors achieve good overall efficiency. The vector control also enables exact torque control of the electric motors. Together with the well-known mechanical data of the impellers, the control can be optimally adapted to the application, which enables short transient processes and high engine efficiencies.

The phase currents of the motor are preferably detected at the base of a control-side half-bridge circuit of the motors. By synchronizing the sampling point of the current with a PWM of the half bridges, the current can thereby be realized with a low hardware outlay of sufficient quality for the application. The measurement information of the phase currents are needed in the vector control of the electric motors. Furthermore, this measurement information can be used to calculate a protection function of the electric motor (motor temperature calculation, monitoring of malfunctions or detection of mechanical obstacles).

A measurement of the phase currents in Zuieitungspfad the engine is indeed possible. But this results in higher hardware costs and brings no additional advantages for the thread-laying device or its control.

The control device preferably has a digital signal processor, which serves for joint control or regulation of both electric motors of the impellers. As a result, the impellers can be optimally synchronized with one another. It is understood that the power of the signal processor is dimensioned so that the signal processor within 5Q \ S (control cycle) can perform a complete vector control, the calculation of solenoids of the impeller position and the position control. According to the invention, an embodiment is conceivable in which the control device has two signal processors for driving / regulating the electric motors of the impellers. However, this also requires an extremely fast data exchange between the processors and carries an increased risk of malfunction.

According to a preferred development of the invention, the control device is designed to control / regulate a spool drive of a spool holder of the thread-laying device, by means of which the spool can be driven in rotation. As a result, a rotational speed of the spool during the winding or winding process can be dyna mixed to wind the thread with different winding patterns (for example, step precision winding / cross winding) on the Spu le.

The invention relates to summarizing a method for controlling a yarn laying device with two impellers driven in opposite directions to a aufzuspulenden on a rotating spool yarn by means of a traversing m it with a Grundhubbreite HN of the yarn laying device deviating desired stroke width H _S between two reversal points Ui, U ₂ along the coil longitudinal axis back and forth. According to the invention, the respective impeller moved in idle stroke, d. H . the respective idle-stroke impeller, in its Leerhubintervall TL first accelerated or braked to an overcompensation Winkelgeschwindig speed Voc, based on a thread takeover in the next reversal point Ui, U _{2 of} the traversing movement of the thread required theoretical constant compensation angular velocity V _{c is} determined. The Leerhub-impeller is subsequently moved during the Leerhub interval with its predetermined working angular velocity Vw to take the yarn at the next turning point Ui, U _{2 of} the traversing movement of the thread from the yarn leading other impeller with the working angular velocity Vw. The invention further relates to a yarn laying device with a control device programmed for carrying out the method according to the invention and to a winding machine with such a yarn laying device.

The invention will be explained in more detail with reference to an embodiment shown in the drawing.

In the drawing show:

1 shows a dishwasher with a yarn laying device with two electric motor driven impellers for reciprocating a aufzuzuspulenden on a spool yarn relative to the coil longitudinal axis.

Fig. 2, the thread-laying device of FIG. 1 in an exempted

Top view;

3 shows a block diagram with the individual method steps of a method according to the invention for controlling the thread laying device from FIG. 1;

Fig. 4 is a graph in which a percentage difference between a in the process of FIG. 3 for the respective idle stroke moving impeller (= idle impeller) predetermined overcompensation angular velocity and a computed compensation angular velocity of the impeller for a takeover of Thread is shown in the temporal subsequent reversal point of the traversing movement of the yarn as a function of the predetermined desired stroke width for the traversing movement; and

Fig. 5 is a graphical representation of the angular course of both impellers during a winding process of the yarn laying apparatus of FIG. 1, wherein a predetermined desired stroke width of the traversing movement aufzuspulenden on the spool thread is smaller than a Normalhubbreite the Fadenveriegevorrichtung.

Fig. 1 shows a winding unit of a winder 10 with a thread laying device 12 for winding a thread 14 on a spool 16. The aufzuspulende on the spool 16 thread 14 may for example be provided on a not shown in Fig. 1 Voriagespule, the coil 16 is arranged on a coil holder 18 and by means of a coil drive 20 about its coil longitudinal axis 22 in the direction of arrow 24 circumferentially drivable.

The thread laying device 12 is designed as a so-called impeller thread laying and has two impellers 26, 28 in each case. The two impellers 26, 28 are independent of each other by means of an electric motor 30 about their respective axis of rotation 32, 34 driven in opposite directions. The electric motors 30 and the impellers 26, 28 are arranged on a support frame 36. For controlling the electric motors 30 of the two impellers 26, 28 and the motor 20 of the coil holder 18 is a control device 38. The control device 38 has a signal processor 38a for jointly controlling the two electric motors 30 of the impellers (26, 28). The signal processor 38a is connected to the two electric motors 30 via a respective vector regulator 38b.

The impellers 26, 28 serve to aufzuspulenden the coil 16 thread 14 in the direction of the coil longitudinal axis 22 relative to the rotating coil 16 in to move quickly back and forth to form during the Aufspulprozesses designated 40 filament winding on the spool.

The support frame 36 in the present case comprises two mutually parallel extending longitudinal profiles 42, which are interconnected in a manner not shown in detail. At the two longitudinal profiles 42 of the support frame 36, a (bearing) carriage 44 is arranged, which is displaceably mounted relative to the support frame 36 by means of a Versteilantriebs 46 along a reference axis designated 48. The two impellers 26, 28 are rotatably mounted on the bearing carriage 44. The Versteilantrieb 46 can be designed as an electric motor, in particular as a stepper motor.

To guide the thread 14, a so-called thread guide ruler 50 is used. The thread guide ruler 50 may, in particular, have an arcuate (convex) thread guide contour 52, against which the thread 14 to be wound is tensioned and guided during the winding process. It is understood that the thread guide ruler 50 can be made in several parts.

On the support frame 36, a stop means 54 is arranged for a Nuilabgleich the rotational position of the two vanes. The stop means 54 is movable by moving the bearing carriage 44 in the direction of the stop means 54 in a swept by the two Fügelrädern 26, 28 rotation range and serves to calibrate the control device 38 to a defined by the stop means 54 rotational position of the vanes 26, 28. Thereby The impellers 26, 28 can be exactly synchronized in their respective rotational position about their axis of rotation 32, 34 in a simple manner before the beginning of the winding process. For detecting a respective rotational position (rotational position) of the impellers 26, 28 are encoder 56. The encoder 56 are connected for the purpose of data transmission in unspecified reproduced manner with the control device 38.

FIG. 2 shows the thread laying device 12 from FIG. 1 in an exposed plan view. The two impellers 26, 28 each have three wings 26a, 26b, 26c; 28a, 28b, 28c. It is understood that the impellers 26, 28 also two or have four or even five wings. The axes of rotation 32, 34 of the two impellers 26, 28 are arranged laterally offset from one another in the direction of the coil longitudinal axis 22 shown in FIG.

The aufzuspulende thread 14 is in the winding process in a conventional manner in quick change to the wings 26a, 26b, 26c; 28a, 28b, 28c of the counter-rotating impellers 26, 28 guided. The wings 26a, 26b, 26c; 28a, 28b, 28c of the impellers 26, 28 respectively emerge at respective points of emergence Ai, A ₂ from the thread guide contour 52 of the thread guide ruler 50 and enter the thread guide contour 52 of the thread guide ruler 50 in the region of immersion points Ei, E ₂ again. A thread transfer between the impellers 26, 28 is in each case in the area or at the dipping points Ei, E. ₂ The emergence points Ai, A ₂ and the immersion points Ei, E _{2 of} the two impellers 26, 28 do not coincide due to the mutually offset (in the direction of the coil longitudinal axis 22) axes of rotation 32, 34 of the impellers 26, 28. The above-described rotation range of the two impellers is shown in FIG. 2 denoted by Ri, R ₂ .

If the two impellers 26, 28 are constantly moved against each other at an identical angular velocity, as is the case with known yarn laying devices with mechanically coupled impellers, the traversing movement of the yarn can be in the direction of the longitudinal axis of the coil 22 (FIG. 1) or in the direction of the same parallel arranged traverse axis 58 (Fig. 2) only a fixed stroke width, ie, a so-called normal stroke width H _N , have. Their measure results inter alia from the diameter of the impellers 26, 28, the number of wings 26a, 26b, 26c; 28a, 28b, 28c, the distance of the thread guide contour 52 to the axis of rotation 32, 34 of the impellers 26, 28 and the distance between the axes of rotation 32, 24 of the impellers 26, 28 itself.

In the yarn laying device 12 according to the invention, the thread 14 can be displaced relative to the nominal stroke width H _s deviating from the normal stroke width H _N Coil longitudinal axis 22 (Fig. L) and oscillating axis 58 are moved. In Fig. 2, a target stroke width Hs is entered with reversal points Ui, U _{2 of} the traversing movement of the thread 14, the example smaller than the normal stroke width H _{N of} the thread-laying device 12 elected est. The center of the respective traversing movement of the thread 14 is designated by Hc.

The inventive method 100 for controlling the yarn laying device 12 explained above in connection with FIGS. 1 and 2 will be explained below with additional reference to FIGS. 3, 4 and 5.

FIG. 3 shows the individual steps of the method 100 according to the invention as a block diagram. In a first step 102, the respective axial position of the reversal points Ui, U ₂ of the traversing movement of the thread 14 relative to the coil longitudinal axis 22 (Fig. 1), and thus the desired Soli stroke width H _{s of} the thread in the direction of the traversing axis defined or predetermined , The axes of rotation 32, 34 of the two impellers 26, 28 and the thread guide ruler 50 are preferably positioned relative to one another in dependence on the Sol! Stroke width Hs of the thread 14 predetermined for the traversing movement such that the respective immersion points Ei, E _{2 of} the impellers 26, 28 are aligned with the respectively corresponding predetermined reversal point Ui, U ₂ in the direction of the traverse axis 58.

In a further step 104, a theoretical constant compensating angular velocity V _{c is determined} for the idle stroke during idle stroke interval T _L (ie the thread respectively not leading during the idle stroke interval T _L ), and consequently the respective idle stroke vane 26, 28, for a takeover of the thread 14 (Fig. 1) by the idle stroke impeller 26, 28 of the respective thread-guiding other impeller 26, 28 in the temporally subsequent predetermined reversal point Ui, U _{2 of} the traversing movement of the thread 14 (Fign ). In a subsequent step 106, an overcompensation angular velocity Voc for the idle impeller 26, 28 during a first fractional interval T _L i of the idle stroke interval is calculated based on the theoretical constant compensation angular velocity V _c .

In step 108, the idle impeller 26, 28 is driven at the overcompensation angular velocity Voc during the first temporal sub-interval T _L i. This is done by appropriate control of the electric motor 30 of the idle stroke moving idle stroke impeller 26, 28 on the part of the control device 38th

In a further step 110, the idle impeller 26, 28 during an on the first sub-interval T _L i immediately following the second sub-interval T _L2 Leerhubintervall T _L of the overcompensation angular velocity V ₀ c to a predetermined working angular velocity V _w of Leerhub-impeller 26, 28 in the following reversal point Ui, U ₂ adjusted the traversing movement to the thread 14 with the idle impeller 26, 28 from the thread leading other impeller 26, 28 in the next turning point Ui, U _{2 of} the traversing movement with the predetermined working angular velocity Vw take.

The above-mentioned steps 102 to 110 or 104 to 110 are repeated for winding the thread 14 on the spool 16 with the predetermined desired stroke width Hs, preferably continuously.

If the predetermined desired stroke width H _S narrower than the normal stroke H _Nl so that impeller 26, 28, which does not lead the thread 14 just (= Leerhub- impeller) compensate the angular difference by a higher rotational speed. In a complete revolution, the impeller 26, 28 is therefore accelerated a total of three times to the overcompensation angular velocity Voc due to its dreiflügligen construction and braked to the working angular velocity Vw when the selected desired stroke width H _{s is selected to be} narrower than the normal stroke described above HM , in the industrial use, this process can be done 500 times a minute or more frequently.

Thus, the idle stroke impeller 26, 28, ie, that the two impellers 26, 28, that just does not cause the yarn 14 during a Leerhubintervalls T _L, the thread 14 with the predetermined working Winkeigeschwindigkeit V _w exactly at the respective following reversal point Ui, U ₂ of which the impeller 14 leading impeller 26, 28 can take over, the second sub-interval T _L2 of Leelaufintervall T _L serves as a control technology calming before the immediately following phase of the Leerhub impeller 26, 28. This allows the control device 38 (FIG. 1), the respective Leerhub impeller 26, 28 (Fig. 2) with the required accuracy on the working Winkeigeschwindigkeit V _w regulate. The respective working stroke of the impellers 26, 28 upstream calming phase has the consequence that without a speed adjustment of the impellers 26, 28 at the desired time, the yarn transfer at the reversal point Ui, U _{2 is} possible.

The settling phase is therefore compensated according to the invention by an overshoot of the theoretical compensation angular velocity V _{c of} the impeller 26, 28 to an overcompensation angular velocity Voc. Although a long calming phase favors a working-speed V _{w of} the impeller 26, 28 in a small tolerance range. The resulting high overcompensation angular velocity Voc, however, requires a great dynamics of the system. It is therefore advantageous to keep the settling phase, ie the second subinterval T of the Leerhubtntervalls T _L , each as small as necessary, since this allows an overcompensation angular velocity Voc close to the theoretical constant compensation angular velocity V _c . The overcompensation angular velocity Voc for the narrowest, usable nominal stroke width Hs of the yarn laying apparatus is in each case equal to or less than 120%, preferably equal to or less than 112%, of the theoretical constant compensating angular velocity V _c . If the desired lifting rakes H _{s of} the traversing movement of the thread 14 are greater than the normal stroke width HN of the thread laying device 12, the vanes 26, 28 are moved more slowly in the respective idle stroke interval T _L than in their respective working phase. Again, there results a theoretical compensating angular velocity V _{c of} the respective idling impeller 26, 28, which serves as a basis for the calculation of the overcompensation angular velocity Voc.

Analogously to the narrowest predefinable setpoint stroke width Hsmin, for the widest or maximum predefinable setpoint stroke width Hsmax, the overcompensation angular velocity Voc is not less than 88% of the theoretical compensation angular velocity Vc. Thus, the overcompensation angular velocity Voc moves from the normal stroke HN, for example, in a range of -12% to + 12% of the theoretical compensation angular velocity V _c . The ratio between the superelevation (= AV) About the compensation angular velocity Voc compared to the theoretical mathematical compensation angular velocity Vc and the selected target stroke width H _s can be represented as a linear curve as shown in FIG. 4

In Figure 5, the Winkeiverlauf both impellers 26, 28, for example, for a predetermined desired stroke width H _s , which is smaller than the normal stroke width H _N (Fig. 2) of the yarn laying device 12, applied for two double strokes over time t. The slope of the curves corresponds to the respective angular velocity of the impellers 26, 28 (Figure 2).

The starting point is, for example, at the first reversal point Ui to the left of the lifting center H _C (FIG. 2) with the first vane 26a of the first vane wheel 26.

During the working stroke, the first vane 26a of the first impeller 26 moves the yarn at the working angular velocity Vw required for the winding or winding process. At the transfer or reversal point U _{2 to the} right of Lifting center H _c , the thread 14 is taken over by the second impeller 28 with the first wing 28a and the working angular velocity Vw.

The first wing 26a of the first impeller 26 is now moved by driving the electric motor 30 of the first impeller 26 in the first sub-interval T _L i of the Leerhubintervalls TL with the Uberkompensations angular velocity Voc. The temporal beginning of the second sub-interval T _{L2 of} the Leerhubintervalfs T _L - in other words the control - or control-technical calming - is by the intersection of the overcompensation angular velocity Voc and the predetermined working angular velocity Vw of each Leerhub impeller in the following reversal point U _2nd characterized. Since the three vanes 26a, 26b, 26c of the first impeller 26 are rigidly connected to each other, the speed changes of the first impeller 26 affect all three vanes 26a, 26b, 26c of the first impeller 26 equally. The second wing 26b is therefore also like the first wing 26a in the first subinterval T _L i Leerhubintervall T _L with the overcompensation angular velocity Voc and in the second subinterval T _L2 of Leerhubintervall T _L , ie the subsequent calming phase T _L2 , with the working Angular velocity V _w moves to take over the thread 14 exactly at the transfer time T ₂ at the reversal point Ui left of the lifting center H _c from the second impeller 28.

The starting point Ts of the second subinterval T _{L2 of} the Leerhubintervails T _L , ie the control-technical calming phase, control side in particular by means of continuous mathematical integration of the resulting angular distance with the overcompensation angular velocity Voc of the respective Leerhub moved (idle stroke) impeller 26, 28 from the respective acquisition time Ti, T ₂ (= start time) of its idle stroke, ie from the time of thread transfer to the respective thread-leading other impeller 26, 28 in the corresponding reversal point Ui, U _{2 of} the traversing movement of the thread 14 (Fig. 1) to one of the control device 38 continuously re-determined, ie a time-varying test time point T _P i, T ₂ , Tp _n in Leerhubintervall T _L and the respective achievable angular distance with the working Angular velocity V _w from the respective test time T _Pi , T _p2 , T _Pn up to the respective subsequent transfer time T ₂ in the following reversal point Ui, U _{2 are} calculated or specified. As soon as the next transfer point Ui, U _{2 can be reached} at the beginning of the second sub-interval TL ₂ at the test time TPI, Tp ₂ , Tp _n at the predetermined working angular speed Vw, this test time T _P i, T _P2 , T _{Pn is determined} by the Control device as the starting time T _{s of} the second Leerhubintervall T _L2 predetermined. This can be done in real time. The electric motor 30 of the (idle stroke) impeller 26, 28 is controlled by the control device 38 from the start time T _S such that the idle stroke impeller 26, 28 is adjusted during the second Leerhubintervall T _L2 to the predetermined working angular velocity Vw, so the idle-stroke impeller 26, 28 takes over the thread 14 in the following reversal point Ui, U _{2 of} the nominal stroke width H _s exactly in the respective takeover time Ti, T ₂ of the respective other impeller 26, 28 coming from the working stroke. The thread 14 is subsequently from the impeller 26, 28, after this has taken over the thread 14, with the respective desired working Winkeigeschwindigkeit V _w on the desired stroke width H _s in the direction of the traverse axis 58 (FIG. 2) or the coil longitudinal axis 22 (Figure 1) moves to the next reversal point UI, U2. Upon reaching the next reversal point Ui, U ₂ turn coming from the idle stroke impeller 26, 28 at the working angular velocity V _w the thread 14 of the coming of the working impeller 26, 28, so that the thread 14 in rapid succession on the predetermined desired stroke width H _s along the longitudinal axis of the coil 22 is oscillatable with respect to the spool 16 back and forth.

Claims

claims

A method (100) for controlling a Fadenverlegevorrtchtung (12) with two counter - driven impellers (26, 28) to aufzuspulenden on a rotating spool (16) thread (14) by means of a traversing movement with one of a Grundhubbreite (HN) of Yarn moving device (12) reciprocating desired stroke width (Hs) between two reversal points (Ui, U ₂ ) along the coil longitudinal axis (22) reciprocate, comprising the following steps:

a) defining (102) a respective axial position of the reversal points (Ui, U ₂ ) of the desired stroke width (Hs) of the traversing movement of the thread (14) relative to the coil longitudinal axis (22);

b) calculating (104) a theoretical constant compensation angular velocity (Vc), with which the respective one Leerhub exporting impeller (26, 28), ie. the Leerhub impeller (26,28) would have to be moved during a Leerhubintervalls (T _L ) to take the thread (14) of the respective thread-leading other impeller (26, 28) in the following reversal point (Ui, U ₂ ) of traversing movement ;

c) calculating (106) overcooling velocity (Voc) of the idle impeller (26, 28) during a first sub-interval (TLI) of the idle stroke interval (T _L ) based on the theoretical compensation angular velocity (Vc);

d) driving (108) the electric motor (30) of the idle-stroke impeller (26, 28) such that it is driven during the first temporal sub-interval (T _LI ) with the overcompensation angular velocity (Voc); subsequent

e) adjusting (110) the Leerhub-impeller (26, 28) of the overcompensation angular velocity (Voc) to a predetermined working angular velocity (V _w ) in the following reversal point (Ui, U ₂ ) of the traversing movement during a on the first sub-interval (TL _I ) following the second sub-interval (TU) of the Leerhubintervalls (T _L ) to the thread (14) with the Leerhub-impeller (26, 28) from the thread-leading another impeller (26, 28) in the next reversal point (Ui, U ₂ ) of the traversing movement with the predetermined working angular velocity (V _w ) to take over; and

f) repeating steps b) - e) to move the thread (14) back and forth with the predetermined desired stroke width (H _s ) relative to the spool (22),

2. The method according to claim 1, characterized in that the overcompensation angular velocity (Voc) is selected such that it is a maximum of 20%, preferably by a maximum of 15%, more preferably by a maximum of 12%, of the calculated theoretical constant target compensation Angular velocity (V _c ) deviates.

3. The method according to claim 1 or 2, characterized in that a start time (T _s ) of the second sub-interval (Tu>) of the Leerhubintervalls (T _L ) based on a continuous integration of the overcompensation angular velocity (Voc) from the acquisition time (Ti ) of the Leerhub movement of the respective Leerhub-impeller (26, 28) to a continuously newly determined test time (TPI, Tp ₂ , TPN) in Leerhubintervall (T _L ) of the Leerhub-impeller (26, 28) and at the given Working angular velocity (Vw) achievable angular distance of the idle stroke impeller (26, 28) from the test time (TPI, T _P2 , TPN) to the time of takeover (T ₂ ) of the thread (14) by the respective idle impeller (26, 28) in the respective next reversal point (Ui, U ₂ ) of the traversing movement of the thread (14) is determined or calculated.

4. The method according to any one of the preceding claims, characterized in that the thread laying device (12) has a thread guide ruler (50), wherein the thread guide ruler (50) and the axes of rotation (32, 34) of the two impellers (26, 28) in dependence for the traversing movement of the thread (14) each predetermined set stroke width (H _s ) are positioned relative to each other.

5. The method according to any one of the preceding claims, characterized in that for the traversing movement of the thread (14) a desired stroke width (Hs) between 1 mm and 290 mm, in particular between 5 mm and 290 mm is specified.

6. The method according to any one of the preceding claims, characterized in that the electric motors (30) by means of a common digital signal processor (38a) are driven.

7. The method according to claim 6, characterized in that the electric motors (30) of the impellers (26, 28) are controlled by the control device (38) by means of a vector control.

8. The method according to any one of the preceding claims, characterized in that a metrological detection of a respective rotational position of the impellers (26, 28) about their axes of rotation (32, 34) each with an encoder (56) with an angular resolution of preferably 0.25 ° or less.

9. The method according to any one of the preceding claims, characterized in that the thread-guiding impeller (26, 28) is driven during its working stroke with a constant or with a variable working angular velocity (V _w ).

A yarn laying apparatus (12) for winding a yarn (14) on a spool (22), comprising:

two impellers (26, 28), each by means of an electric motor (30) about its axes of rotation (32, 34) are driven in opposite directions;

control means (38) for controlling the electric motors (30) programmed to carry out a control method (100) according to any one of the preceding claims.

11. Thread laying device according to claim 10, characterized in that the electric motors (30) are brushless, in particular as three-phase hybrid stepping motors, are executed.

12. yarn laying device according to claim 10 or 11, characterized in that the control device (38) has a signal processor (38a), by means of which the two electric motors (30) of the impellers (26, 28) are synchronized controlled.

13. yarn laying device according to one of claims 10 to 12, characterized in that the control device (38) each have an encoder (56) for detecting a respective rotational position and speed of the impellers (26, 28).

14. Fadenveriegevorrichtung according to one of claims 10 to 13, characterized in that the control device (38) for controlling / regulating a coil drive (20) for the yarn (14) to be wound coil (16) is formed.

15. Winding machine (10) with a bobbin holder (18) with a bobbin drive (20) for circulating a drive on the bobbin holder (18) arranged coil (16) and with a Fadenveriegevorrichtung (12) according to any one of the preceding claims 10 to 14.