EP0401860A2 - Procédé et dispositif de mise en oeuvre du procédé, et agencement pour transférer ou recevoir automatiquement des bobines, en particulier de préparation à ou à partir d'une chaîne de transport - Google Patents

Procédé et dispositif de mise en oeuvre du procédé, et agencement pour transférer ou recevoir automatiquement des bobines, en particulier de préparation à ou à partir d'une chaîne de transport Download PDF

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Publication number
EP0401860A2
EP0401860A2 EP19900110910 EP90110910A EP0401860A2 EP 0401860 A2 EP0401860 A2 EP 0401860A2 EP 19900110910 EP19900110910 EP 19900110910 EP 90110910 A EP90110910 A EP 90110910A EP 0401860 A2 EP0401860 A2 EP 0401860A2
Authority
EP
European Patent Office
Prior art keywords
bobbin
bobbins
transport
transport chain
transfer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19900110910
Other languages
German (de)
English (en)
Other versions
EP0401860A3 (fr
Inventor
Stefan Dathe
Jürgen Fischer
Dieter Grimm
Friedrich Dr. Hagen
Dietrich Haustein
Ralf Pilz
Holger Unger
Holger Wurlitzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Innovatex Automatisierungstechnik GmbH
Original Assignee
Innovatex Automatisierungstechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DD32942489A external-priority patent/DD284918A5/de
Priority claimed from DD33108389A external-priority patent/DD301486A7/de
Application filed by Innovatex Automatisierungstechnik GmbH filed Critical Innovatex Automatisierungstechnik GmbH
Publication of EP0401860A2 publication Critical patent/EP0401860A2/fr
Publication of EP0401860A3 publication Critical patent/EP0401860A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • D01H9/18—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for supplying bobbins, cores, receptacles, or completed packages to, or transporting from, paying-out or take-up stations ; Arrangements to prevent unwinding of roving from roving bobbins

Definitions

  • the invention relates to automatic design of the transport processes in spinning mills and relates in particular to the automatic provision of roving bobbins to the spinning or twisting machines.
  • the state of the art also includes from DE-OS 3801832 a transport system for roving bobbins, which has closed orbits around each ring spinning machine, on which hanging trolleys, each equipped with a roving bobbin or empty sleeve, can be moved independently of one another.
  • DE-OS 3240822 a solution is known in which roving bobbins in the area of the ring spinning machines are removed from a bobbin transport wagon coming from the flyer by means of a transfer device and attached to a reserve gate described above.
  • DE-OS 3635578 describes another method and the system for changing roving bobbins on ring spinning machines.
  • the spinning stations are divided into individual sections.
  • an independent bobbin changing device depending on the number of spinning stations that have expired or are recognized as thread breaks, empty tubes are exchanged for full roving bobbins.
  • the thread breaks that occur are automatically corrected and registered by a thread attachment carriage that runs along the long side of the machine.
  • the entire system is associated with a large number of sensors and a large amount of computation, it requires larger investments and is not suitable for retrofitting to existing systems.
  • reserve gates formed as a transport chain on ring spinning machines be equipped with roving bobbins by means of handling technology which can be moved from machine to machine, without a technical arrangement being carried out for this.
  • EP 88116405 shows a solution for supplying and disposing of circulating transport chains, designed as reserve gates on ring spinning machines, by means of translationally moved industrial robot units.
  • the roving rollers required are removed from special bobbin pallets and put in with a pincer gripper when the chain is moving.
  • This solution also uses this industrial robot for sleeve disposal.
  • a disadvantage of this solution is that there is no storage function for roving bobbins in the working area of the industrial robot.
  • the range of coils presented proves to be unsafe to use due to the use of tolerance-sensitive spring elements, which can lead to malfunctions in the working cycle of the industrial robot.
  • the industrial robot By using the industrial robot to both supply and dispose of the transport chain, the time available for manipulating roving bobbins is reduced.
  • this solution there is no possibility of differentiating different parts of the transport chain, so the flexibility of this solution is also limited.
  • the invention has for its object to reduce the mechanical and control engineering effort of providing the roving bobbins on spinning or twisting machines and to ensure high reliability and high flexibility of the bobbin provision.
  • the desired solutions should be characterized by a high transfer speed.
  • Special variants of the invention are intended to ensure both the takeover and the transfer of bobbins from and to transport chains with automatic bobbin take-up devices. These variants are also intended to enable both the provision of coils, for example in pallets, and the provision by means of transport chains.
  • the invention is also intended to create a storage facility for coils and the possibility of enlarging the working area.
  • the object is achieved by a method and a device for carrying out the method, which are characterized by the features set out in claims 1 to 4.
  • the roving bobbins can be transported to the spinning machine by means of pallets or by means of transport chains, which can also be equipped according to the invention.
  • the pallets are advantageously the coil carriers described according to the invention, on which the coils are arranged vertically and at a defined distance from one another. For transfer, these pallets are transported into the receiving area of the movable lifting and positioning device and from there, if necessary, taken over by this device.
  • the control of the lifting and positioning device brings about an exact positioning of a row of coils exactly below the corresponding number of empty bobbin holding devices on a transport chain.
  • the bobbins are only taken over by raising and lowering the pallet itself, all bobbins in a row advantageously being transferred at the same time, thus allowing a high working speed.
  • the next row of coils is positioned under the transport chain and these coils are transferred.
  • the empty pallet is put down and this process is repeated with a next pallet.
  • the high working speed of the transfer makes it possible to supply a substantially larger number of spinning machines with roving bobbins in succession with a movable lifting and positioning device, so that the specific effort is reduced.
  • a further possibility of carrying out the method according to the invention is to transport the entire amount of roving bobbins or a part thereof via a transport chain into the working area of the movable lifting and positioning device on the spinning machine.
  • the transfer from the transport chain can advantageously take place to an empty pallet arranged on the movable lifting and positioning device, this pallet both being parked and also being able to be transferred directly from this pallet to the rotating transport chain of the spinning machine.
  • the removal of bobbins to build a bobbin pallet store can take place independently of the spinning machines, as can the transfer of bobbins to a transport chain from a bobbin pallet store.
  • a variant of this solution according to the invention can advantageously be used in a simplified form.
  • a pallet store on the spinning machine can be omitted and a simplified movable lifting and positioning device can transfer the bobbins from one transport chain to another, for example to a transport chain on the spinning machine, in such a way that a and positioning device attached coil carrier or a plurality of fixedly attached coil carriers the coil transfer is carried out.
  • the common bobbin or several bobbins are rotatably attached about an axis arranged between the chains in such a way that after the lowering step, a change of position is effected only by rotating about an axis symmetrically arranged between the transport chains by 180 °.
  • several bobbins in a row can also be transferred from one transport chain to another at the same time, so that a high transfer speed results.
  • an industrial robot consisting of numerical translation units in a portal construction comprises a plurality of transport chains on ring spinning machines which belong to a technical work area, depending on technological data and specific operating states , programmed with bobbins, preferably roving bobbins, that each transport chain is divided into coded sections with a certain number of bobbin receiving devices, which advantageously corresponds to the number of bobbins per bobbin pallet, that a disposal device on each transport chain, which is arranged outside the work area of the industrial robot but in the area of the transport chain and thus takes over the task of disposing of the transport chain of empty tubes, that before each ring spinning machine, a device for storage, the capacity of which is such that the automatic loading is unattended Guaranteed period, and is arranged for the intermittent feeding of bobbins, preferably roving bobbins.
  • the gripper guide mechanism of the industrial robot preferably consists of three numerical translation units, one translation unit advantageously being designed as a portal of any length with a portal carriage, which thus enables the industrial robot to move to the ring spinning machines and individual gripping positions and also serves to feed the roving bobbins with a rotating transport chain, ie, the gantry trolley moves synchronously with the transport chain at the same speed.
  • a translation unit is arranged vertically on the gantry carriage and, by means of its movement, transfers the bobbins from a removal position above a bobbin pallet, in which the bobbins are arranged standing, to the bobbin receiving devices.
  • a third horizontally arranged translation unit is attached to the travel bar of the vertical axis.
  • This axis has the task of executing an infeed movement to the transport chain.
  • This advantageous arrangement of the translation unit makes it possible to guide the gripper into a cubic space.
  • a detection device is arranged in the area of the coil feed, which transmits information about the occupancy state of the transport chain to the control of the industrial robot.
  • the work area of the industrial robot there is a device for storing and clocked transfer of spool pallets in front of each ring spinning machine.
  • An autonomous sleeve disposal facility is located outside the work area of the industrial robot, in the area of the transport chain. This works independently of the industrial robot and constantly disposes of the circulating transport chain from empty tubes.
  • the coils of the pallet can be fed in cycles to the gripper of the industrial robot by means of a combined lifting and shifting unit.
  • the coil pick-up devices are loaded by superimposing the movements of the three NC axes of the industrial robot.
  • the number of bobbins per pallet advantageously coincide with the number of bobbin take-up devices of a chain section, as a result of which the transport chain can be defined in sections with roving bobbins of a certain batch, with the chain sections being coded.
  • FIG. 1 An application of the method and the device for carrying out the method for the automatic supply and disposal of a working area of a spinning machine is described. This example is shown in FIG. 1.
  • the bobbins 1, here roving bobbins 27, are transported in bobbins 2, designed as pallets, into the operating area of the spinning machine 3.
  • Three coils 1 are arranged in one of four rows. These bobbins 1 are fixed in their vertical position and at a distance from one another by position-fixing elements 4, designed as pins, the distance between the bobbins 1 of a row corresponding to the distance between the automatic bobbin receiving device 5 of the transport chain 6 of the spinning machine 3.
  • a movable lifting and positioning device 7 is arranged on the front side of a row of spinning machines and is positioned on a spinning machine 3 if required.
  • This device independently takes over the pallet provided in the pallet rack 8 and positions the first row of bobbins 1 exactly under the bobbin holding devices 5 of the transport chain 6.
  • the bobbins 1 are transferred by lifting the pallet with the transport chain 6 stationary and then lowering the pallet. After the transfer process, the next row of the pallet is positioned under the transport chain 6, in the meantime the transport chain 6 being conveyed on by the corresponding section.
  • the movable lifting and positioning device 7 is available in an analogous manner for further transfer processes on other spinning machines 3.
  • bobbins 1 can optionally be conveyed to the spinning machine 3 via this transport chain 6.
  • the spools 1 of this transport chain 6 can also be transferred to the pallet only by lifting the pallet itself.
  • the loaded pallets can be stored temporarily or used immediately for transfer to the transport chain 6 of the spinning machine 3.
  • a further advantageous modification of this example is the transfer with the transport chain 6 running. For this purpose, it is necessary to carry out a synchronous movement of the pallet during the lifting and lowering processes.
  • Example 2 analogous to the first example, describes an application in a cotton mill with a narrow range of yarns.
  • the transport to the spinning machines 3 takes place by means of a transport chain 6, which is arranged in sections parallel to the path of a movable lifting and positioning device 7 on the end face of the spinning machine 3 and a segment of the rotating transport chain 6.
  • the movable lifting and positioning device 7 used in the second example is of simple construction and has a rotatably mounted coil carrier 2 with position-fixing elements 4 arranged symmetrically to the axis of rotation in a row on both sides of the axis, for example three on each side. The distance between the two rows is exactly identical to the distance between the transport chains 6.
  • the lifting and positioning device 7 is arranged in such a way that the position-fixing elements 4 are positioned exactly under the respective bobbin receiving devices 5 of both transport chains 6.
  • the bobbins are transferred by lifting the bobbin 2 and taking over bobbins 1 from the conveying chain 6 approaching and at the same time the ones on the other row coils 1 which have already been taken over are passed to the circulating transport chain 6. After the bobbin 2 has been lowered, the bobbin 2 is rotated by 180 ° and the chain transport of both transport chains 6 takes place, so that a further transfer process can follow. After the placement of a spinning machine 3 has been completed, the movable lifting and positioning device 7 can carry out the bobbin transfer in the same way on another spinning machine 3.
  • a combined form of both examples is available if e.g. B. in a storage room a transport chain 6 analogous to Example 1 is equipped with coils 1, which are temporarily stored in the pallets described in the invention. From this transport chain 6 the transfer takes place according to the invention with a simplified movable lifting and positioning device 7 according to Example 2 to the circulating transport chain 6.
  • This variant is particularly advantageous for companies with a wide range of yarns, since the transport of pallets to the spinning machine 3 can also be omitted .
  • the number of coils 1 transferred simultaneously at the different lifting and positioning devices 7 coincides.
  • a working area of an industrial robot 9 in portal construction consists of four spinning machines 3, in particular ring spinning machines, with bobbins (not shown) and a large number of spinning stations.
  • a circumferential transport chain 6 which is designed, for example, as a roller chain, with a large number of bobbin receiving devices 5 for roving bobbins 27 or sleeves 18, forty bobbin receiving devices 5 being combined to form a chain section 11.
  • An industrial robot 9 in portal construction is located on the end faces of the ring spinning machine 3.
  • pallet stations 13 are arranged for the storage and for the intermittent feeding of bobbin pallets 14.
  • bobbin pallets 14 loaded with roving bobbins 27 are stored in a pallet cassette 23 on three floors by means of, preferably autonomous, industrial trucks with a lifting device.
  • a combined lifting and shifting unit 24 removes the coil pallets 14 located on the top floor from the pallet cassette 23 and moves them on a pallet table 25 in cycles and thus feeds them to the gripper 10 of the industrial robot 9.
  • a gripper guide gear consisting of three numerical translation units 19, 20, 21, which can be moved to each individual pallet station 13 on a portal 22, implements the following movement cycle for loading the bobbin receiving device 5 of a chain section 11 with roving bobbins 27.
  • a gripper 10 is gripped from the bobbin chain 14 , which is provided, for example, with position positioning elements 26 arranged in a grid of 8 ⁇ 5, the middle roving bobbin 27 from the first row.
  • the roving bobbin 27 is pulled vertically from the position positioning element 26 by the translation unit 20 and brought into a waiting position below the bobbin receiving device 5 by a further upward movement of the translation unit 20. After information from the detection system 12 to the central control system about the presence of the first empty coil take-up device 5 of a chain section 11 and thus about the beginning of this section, this causes the translation unit 19 to travel synchronously with the transport chain 6 and at the same time the movement of the translation unit is superimposed 21, wherein the roving bobbin 27 is transferred to the moving bobbin receiving devices 5. After opening the gripper 10 and moving back the translation unit 21, the roving bobbin 27 is released.
  • the next roving bobbin 27 of the first row is transferred to the transport chain 6 in the same sequence as described above. If all roving bobbins 27 of the first row of the bobbin pallet 14 are attached to the transport chain 6, the combined lifting and shifting unit 24 moves the bobbin pallet 14 on the pallet table 25 in cycles. Thus, all rows of the bobbin pallet 14 can be processed by the industrial robot 9.
  • the number of bobbin receiving devices 5 per chain section 11 advantageously corresponds to the number of roving bobbins 27 per bobbin pallet 14. This can be advantageously ensured, for example, that the chain sections 11 are covered with roving bobbins 27 of different lots.
  • the bobbin holding devices 5 of a chain section 11 of sleeves 18 are disposed of one after the other when the transport chain 6 is moving by a disposal device 15, which has an integrated sensor device, which works independently of the detection system 12, for detecting the sleeves 18. Via a funnel-shaped channel 17, the falling sleeves 18 reach a provided sleeve container 16. After the complete disposal of a chain section 11 of sleeves 18 consisting of, for example, forty bobbin receiving devices 5, the latter is ready for re-loading with roving bobbins 27.

Landscapes

  • 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)
EP19900110910 1989-06-09 1990-06-08 Procédé et dispositif de mise en oeuvre du procédé, et agencement pour transférer ou recevoir automatiquement des bobines, en particulier de préparation à ou à partir d'une chaíne de transport Withdrawn EP0401860A3 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DD329424 1989-06-09
DD32942489A DD284918A5 (de) 1989-06-09 1989-06-09 Anordnung zum automatisierten ver- und entsorgen eines arbeitsbereiches in der ringspinnerei und -zwirnerei mit spulen, vorzugsweise vorgarnspulen
DD33108389A DD301486A7 (de) 1989-07-24 1989-07-24 Verfahren und Vorrichtung zur automatischen Übergabe oder Übernahme vonSpulen, vorzugsweise Vorgarnspulen, an Transportketten
DD331083 1989-07-24

Publications (2)

Publication Number Publication Date
EP0401860A2 true EP0401860A2 (fr) 1990-12-12
EP0401860A3 EP0401860A3 (fr) 1991-06-12

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900110910 Withdrawn EP0401860A3 (fr) 1989-06-09 1990-06-08 Procédé et dispositif de mise en oeuvre du procédé, et agencement pour transférer ou recevoir automatiquement des bobines, en particulier de préparation à ou à partir d'une chaíne de transport

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EP (1) EP0401860A3 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110485006A (zh) * 2019-07-12 2019-11-22 广州赫伽力智能科技有限公司 一种加捻机机器人智能上丝系统
CN111172683A (zh) * 2020-01-13 2020-05-19 武汉智达纺织科技有限公司 一种方便更换筒子纱的染色脱水设备
CN113649777A (zh) * 2021-07-15 2021-11-16 江苏兴达智能制造有限公司 一种800工字轮自动更换系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2846833A (en) * 1953-03-25 1958-08-12 Whitin Machine Works Apparatus for loading bobbins on pin-boards
FR2405880A1 (fr) * 1976-12-15 1979-05-11 Toray Industries Procede de manutention de bobines
DE3240822A1 (de) * 1982-11-05 1984-05-10 Zinser Textilmaschinen Gmbh, 7333 Ebersbach Ringspinnmaschine mit einem spulengatter
DE3601832C2 (de) * 1986-01-22 1995-04-06 Zinser Textilmaschinen Gmbh Transportsystem für Vorgarnspulen an Spinnmaschinen
DD247706A1 (de) * 1986-04-04 1987-07-15 Textima Veb K Spulentransportwagen
DE3872477D1 (de) * 1987-10-05 1992-08-06 Und Heiztechnik Gmbh Maschbau Anordnung zur automatischen ver- und entsorgung eines technischen bedienbereiches in der ringspinnerei und -zwirnerei mit spulen, vorzugsweise vorgarnspulen.

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110485006A (zh) * 2019-07-12 2019-11-22 广州赫伽力智能科技有限公司 一种加捻机机器人智能上丝系统
CN111172683A (zh) * 2020-01-13 2020-05-19 武汉智达纺织科技有限公司 一种方便更换筒子纱的染色脱水设备
CN111172683B (zh) * 2020-01-13 2022-11-01 陕西浩昌纺织机械设备有限公司 一种方便更换筒子纱的染色脱水设备
CN113649777A (zh) * 2021-07-15 2021-11-16 江苏兴达智能制造有限公司 一种800工字轮自动更换系统
CN113649777B (zh) * 2021-07-15 2023-08-15 江苏兴达智能制造有限公司 一种800工字轮自动更换系统

Also Published As

Publication number Publication date
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