CZ201849A3 - A method of positioning a spinning machine service device, a device for doing this and a spinning machine - Google Patents

Abstract

In the positioning method of the spinning machine service station, the service machine moves along a series of spinning stations and stops at a desired position relative to the selected spinning station, the sensor (2) generates a signal of the position of the operator relative to the spinning point reference point (1). evaluation device. A pair of side-by-side transformers (20, 21) move along a series of spinning stations, each of the transformers (20, 21) comprising primary and secondary windings (200, 201, 210, 211); the primary windings (200, 210) of the RF transformers (20, 21) and the source (26) generate an electromagnetic field, while simultaneously detecting voltages induced in the secondary windings (201, 211) of the RF transformers (20, 21) and generated from the detected induced voltages of the pair of signals, compared to each other by a first differential amplifier (24) to obtain a first output signal (Out1) indicative of the position of the sensor (2) relative to the reference point (1). 25) with a reference voltage to obtain a second output signal (Out2) to acknowledge the occurrence of a reference point (1) upstream of the sensor (2); and then evaluating the position of the sensor (2) with respect to the reference point (1) on the basis of the output signals (Out1, Out2). The invention further relates to a device for positioning a service device with respect to a reference point (1) of a spinning station and also to a spinning machine having such a device.

Description

CZ 2018-49 A3

Method of positioning of the spinning machine service device, apparatus for its implementation and spinning machine

Technical field

The present invention relates to a method of positioning a spinning machine service station, wherein the service machine moves along a series of spinning stations and stops at a desired position relative to a selected spinning station, whereby a sensor generates a position signal relative to the metal reference point of the spinning station. is evaluated by an evaluation device.

The invention also relates to a device for positioning a service device relative to a reference point of a spinning station by a method according to any one of the claims, comprising a sensor connected to the evaluation device.

The invention further relates to a spinning machine comprising a plurality of juxtaposed spinning stations and further comprising a service device displaceable along a plurality of spinning stations capable of stopping at a desired position relative to the selected spinning station, the spinning station having a reference point and the motion control device of the control device.

BACKGROUND OF THE INVENTION

On machines on which the movable device is positioned relative to other machine parts, it is necessary to set the movable device to the desired position relative to the respective machine part. E.g. on textile machines that contain a plurality of workstations adjacent to each other and wherein the service robot is movably arranged along the row of workstations, the usual situation is to position the service robot sufficiently precisely with respect to a particular workstation. The precise positioning of the robot relative to the workstation depends on the reliability and accuracy of the execution of the individual operation operations by the robot, since these are usually dependent on a sufficiently precise alignment of the individual operating bodies of the service robot relative to the respective parts of the workstation. The required positioning accuracy of the operating robot is also determined by the pitch of the operating positions of the machine being operated, for example, on ring machines, these are pitches of the order of several tens of mm, which is a considerably short distance.

It is known to position the operating robot by means of mechanical tilting stops or optical position detectors utilizing either the detection of direct light from one part to the detector on the other part or using the reflection of radiation from a suitable area on one part to the detector located on the other part. Various electromagnetic proximity detecting devices, etc. are also known. It is also known to measure the distance traveled by a robot along a number of workstations, etc.

The disadvantage of mechanical stops is their complexity, the disadvantage of optical detectors is their sensitivity to ambient light and dirt. The disadvantage of electromagnetic sensors is their influence on the environment and on the environment. The usual problem of existing solutions is also durability, eg limited by aging of some elements of known devices, accuracy and, last but not least, price.

It is an object of the invention to overcome or at least alleviate the disadvantages of the prior art.

SUMMARY OF THE INVENTION

The object of the invention is achieved by a method of detecting the position of the movable mechanism relative to a reference point whose essence is

- 1 GB 2018 - 49 A3

a pair of HF transformers arranged side by side, each of the HF transformers comprising primary and secondary windings;

- excitation of the electromagnetic field by the primary windings of the RF transformers and by the source of the high-frequency excitation signal; and

moving the service device along a series of spinning stations detects the voltages induced in the secondary windings of the RF transformers and generates a pair of signals from the detected induced voltages;

comparing the pair of signals from the detected induced voltages to each other by a first differential amplifier to obtain a first output signal indicative of the position of the sensor relative to the reference point; and

simultaneously comparing the pair of signals from the detected induced voltages with a second differential amplifier and comparing them with a reference voltage to obtain a second output signal to confirm the occurrence of a reference point in front of the sensor; and

- evaluating the position of the sensor relative to the reference point based on these two output signals by the evaluation device.

The essence of the device for detecting the relative position of the movable mechanism relative to the reference point is that:

- the sensor comprises a pair of side-by-side RF transformers, which are arranged towards the reference point location,

- each RF transformer comprises a primary winding and a secondary winding, the primary winding of each RF transformer being connected to a source of high-frequency excitation signal,

- the secondary winding of the first RF transformer is connected to the first detector and the secondary winding of the second RF transformer is connected to the second detector, the output of the first detector is connected to the first input of each pair of differential amplifiers and the output of the second detector is connected to the second input of each pair of differential amplifiers ,

wherein the first differential amplifier is provided with means for generating a first output signal of the position of the sensor relative to the reference point a

- a second differential amplifier is connected to a reference voltage source of magnitude corresponding to the voltages induced in the secondary windings when influenced by eddy currents at the reference point opposite the sensor, and is provided with means for generating a second output signal confirming the center position of the sensor relative to the reference and the outputs of both differential amplifiers are connected to an evaluation device provided with means for determining the position of the sensor relative to the reference point.

The principle of the spinning machine is that the service device is provided with a position sensor according to the invention connected to the motion control device of the service device.

The invention utilizes the eddy current phenomenon with differential signal processing and allows for a substantial simplification of the device for detecting the position of a moving part of a textile machine relative to another part of a textile machine, with the advantage of reliability and long-term stability, high accuracy and low cost.

-2GB 2018 - 49 A3

Clarification of drawings

The invention is schematically illustrated in Fig. 1, which shows a schematic diagram of the invention for positioning the service device relative to the spinning point of the annular spinning machine, more specifically relative to the ring at the spinning point of the annular spinning machine. FIG. 2 shows an exemplary sensor design according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The invention will be described, by way of example, of a device for detecting the relative position of the movable mechanism with respect to a reference point, wherein the movable mechanism is formed by an operating device displaceably arranged along a series of spinning points of the textile machine. The spinning points arranged side-by-side are the same, i.e. they contain the same groups and subgroups, the service device serving for automated service or servicing of the individual spinning points and is optionally stopable at the spinning point which requires service. In the following, the word "service" will be used for simplicity, but it is understood in principle to mean any intervention of the service equipment at the spinning station (service, operation, maintenance, etc.). An example of a textile machine with a plurality of spinning sites side by side is, for example, an annular spinning machine, a rotor spinning machine, a jet spinning machine, etc.

For proper service by the service station at the spinning station, the service station needs to stop at the spinning station with the required accuracy in the desired position. Ideally, the service device stops at the same position at each spinning station.

In order to position the service device correctly with respect to the spinning station, a suitable reference point 1 is selected at the spinning station against which the sensor 2 located in the corresponding position on the service station is positioned. Ideally, at the spinning points, a fixed element occurring in the same position at each spinning point is selected as the reference point 1, for example a spinning unit cover of a rotor or jet spinning machine or a ring on an annular bench of an annular spinning machine. eg a projection on an annular bench or spinning unit etc. in the region of the spinning station of the annular spinning machine or other suitable fixed component of the spinning station etc.

In order to position the service device in relation to the spinning station, the service device is provided in the corresponding position with respect to the position of the reference points 1 at the spinning stations with the aforementioned sensor 2.

The sensor 2 comprises a pair of side-by-side high-frequency transformers 20, 21, which are arranged towards the reference point 1 at the spinning station. Each RF transformer 20, 21 has a primary winding 200, 210 and a secondary winding 201, 211.

The primary winding 200, 210 of each RF transformer 20, 21 is coupled to a radio frequency signal source 26. The high-frequency excitation signal source 26 is preferably common to both RF transformers 20, 21. Any fluctuation of the source 26 will then be the same for both RF transformers 20, 21 and will be subtracted due to differential processing, so that any fluctuation of the source 26 is not an obstacle. functionality of the invention.

The secondary winding 201 of the first RF transformer 20 is connected to the first rectifier detector 22. The secondary winding 211 of the second RF transformer 21 is connected to the second rectifier detector 23.

The output of the first rectifier 22 is applied to the first input of the first differential amplifier 24 and the first input of the second differential amplifier 25.

-3 EN 2018 - 49 A3

The output of the second rectifier 23 is applied to the second input of the first differential amplifier 24 and the second input of the second differential amplifier 25.

One of the pair of differential amplifiers 24, 25, in the illustrated embodiment the second differential amplifier 25, is connected to a reference voltage source 26, the magnitude of which is derived from the voltage value corresponding to the voltages induced in the secondary windings 201, 211 point L

The output of both differential amplifiers 24, 25 is connected to an evaluation device provided with means for evaluating the output signal Out1 and Out2 of each of the differential amplifiers 24, 25 and determining the position of the sensor 2 relative to the reference point 1.

In the embodiment of FIG. 2, the sensor 2 comprises a main electronics board 3 on which the individual electronic elements of the sensor 2 are mounted. The main board 3 is preferably formed by a printed circuit board manufacturing technology. Each of the HF transformers 20, 21 comprises a longitudinal ferrite magnetic core 302, 312 that faces M toward the reference point 1. The magnetic cores 302, 312 are received at their ends in openings in the coil plates 30, 31. The coil plates 30, 31 are transverse to the longitudinal direction (direction M) of the magnetic cores 302, 312, wherein in each coil plate 30, 31 an electric coil 300, 310, 301, 311 is formed around the magnetic core 302, 312. In the illustrated embodiment, the electric coils 300, 310, 301, 311 on the spool plates 30, 31 produced by a printed circuit board technology that is fast, cheap and accurate. The coils 300 and 310 in the rear coil plate 30 form the primary winding 200, 210 of the transformers 20, 21, and the coils 301, 311 in the front coil plate 31 form the secondary winding 201, 211 of the transformers 20, 21. In addition, a memory 32 adapted to store reference values and correction constants of the individual elements of the sensor 2 is stored, so that the sensor can be calibrated directly during manufacture and the corresponding reference values and calibration constants can be stored in the memory 32 or calibration can be performed on a specific machine or equipment. The memory 32 is preferably electronic, allowing automation of the sensor 2 setting on the machine.

In the illustrated embodiment, to improve operability and overall simplicity, the sensor 2 is provided with a microprocessor 33 mounted on the main motherboard 3, wherein the microprocessor 33 performs signal processing and evaluation and can be adapted to communicate with the machine master and / or service equipment data line. The microprocessor 33 is preferably provided with a memory which, in addition to the microprocessor program itself, also functions as a memory of 32 reference values and calibration constants. According to one preferred embodiment, the microprocessor 33 is programmable and is connected to the update port 34 on the main motherboard 3, which is further provided with a power and communication port 37 for powering and communicating with the machine master and / or operator system with analog signals and / or data signals. and / or data link.

The device according to the invention operates in such a way that the primary winding 200, 210 of both RF transformers 20, 21 is excited by a high-frequency excitation signal from source 26. If there is a material capable of generating eddy currents, e.g. electrically conductive reference point material 1 at the spinning station, the transfer of energy from the primary winding 200, 210 of each RF transformer 20, 21 to the secondary winding 201, 211 of this RF transformer 20, 21 is affected, the closer the respective RF transformer 20, 21 is to said The lower secondary voltage is induced in the secondary winding 201, 211 of this RF transformer 20, 21. The secondary voltages thus induced from each RF transformer 20, 21 are rectified in the respective detector 22, 23 and are then as DC voltages (signals), differential processing is controlled by differential amplifiers 24, 25 to produce output signals Out1 and Out2, according to which the evaluation device determines the position of the sensor 2 relative to the reference point 1 and the control device then controls the movement

A3 of the operator device in the direction of arrow A along a series of spinning stations and positions the operator device relative to the respective spinning station.

The first differential amplifier 24 generates a first output signal Out1 having the position of the longitudinal axis of the sensor 2 relative to the reference point 1 with an analogue accuracy in the order of tenths of mm. the device and the polarity of this signal corresponds to whether the sensor 2 is to the right or to the left of the reference point E The output signal Outl has zero value at the exact center position of the longitudinal axis of the sensor 2 sensor 2 between two adjacent reference points 1 and 2 respectively. in a situation where there is no reference point 1 in the proximity of the sensor 2, because in these situations the induced voltages in the secondary windings 201, 211 are the same. Essentially, the first differential amplifier 24 thus produces a simple differential signal between the voltages induced in the secondary windings 201, 211 of the transformers 20, 21.

Simultaneously with the first output signal Out1, a second output signal Out2 is generated to acknowledge the occurrence of the reference point 7 in front of the pair of RF transformers 20, 21, since the output signal Outl has a zero value in three states. 1 and also in the exact center position of the longitudinal axis of the sensor 2 between two adjacent reference points 7 or if there is no reference point 1 in the active zone of the sensor 2. The output signal Out2 is generated by comparing the two voltages induced in the secondary windings 201, 211 of transformers 20, 21 with the reference voltage described above to determine if the magnitude of the voltage induced in the secondary windings 201, 211 of the transformers 20, 21 corresponds to the magnitude of the induced voltages affected by the eddy currents at reference point 1. It is clear from the logic that n and the voltages induced in the secondary windings 201, 211 greater than the reference voltage (whose magnitude corresponds to the induced voltage eddy currents) then there is no reference point 1 upstream of the sensor 2, even if the signal Outl is zero. Conversely, if the magnitude of the voltage induced in the secondary windings 201, 211 is less than the reference voltage (whose magnitude corresponds to the induced voltage eddy current), then the reference point 1 is in front of the sensor 2 and the signal Outl is now of course zero.

By introducing the reference voltage and comparing it with the voltages induced in the secondary windings 201, 211, it is easy to see whether the induced voltages at full induced magnitude without the eddy current at reference point 1 were read in the case of zero output signal Outl. of this zero output signal Out1 subtracted the induced voltages whose magnitude was reduced due to eddy currents at reference point 1, as shown in the right part of Fig. 1. The output signal Out2 has the character of a digital signal.

Based on the signals Out1 and Out2, the control device (not shown) controls the movement of the control device in the direction of the arrow A along a series of spinning stations and positions the control device according to the signals Out1 and Out2 to an accuracy of tenths of mm relative to each spinning station.

Industrial applicability

The invention is useful in the textile industry for positioning two elements relative to one another, in particular for positioning an operating device adjustable along a number of spinning stations of a spinning machine with the possibility of stopping at a precise position at a selected work station.

PATENT CLAIMS

Claims (17)

-5 EN 2018 - 49 A3 A method of positioning a spinning machine control device, in which the service device moves along a series of spinning stations and stops at a desired position relative to the selected spinning point, wherein a sensor (2) generates a signal indicating the position of the control device relative to the metal reference point (1). ) of the spinning station, and the signal is evaluated by an evaluation device characterized by - a pair of HF transformers (20, 21) arranged side by side, each of the HF transformers (20, 21) comprising primary and secondary windings (200, 201, 210, 211); - driving the electromagnetic field through the primary windings (200, 210) of the RF transformers (20, 21) and the source (26) of the high-frequency excitation signal; and - moving the service device along a series of spinning stations detects the voltages induced in the secondary windings (201, 211) of the RF transformers (20, 21) and generates a pair of signals from the detected induced voltages; - comparing a pair of signals from the detected induced voltages to each other by a first differential amplifier (24) to obtain a first output signal (Out1) indicative of the position of the sensor (2) relative to the reference point (1); and - simultaneously comparing the pair of signals from the detected induced voltages with the second differential amplifier (25) and comparing them with a reference voltage to obtain a second output signal (Out2) to confirm the occurrence of a reference point (1) in front of the sensor (2); and - evaluating the position of the sensor (2) with respect to the reference point (1) on the basis of these output signals (Out1, Out2) by the evaluation device. Method according to claim 1, characterized in that it comprises the step of subtracting a pair of signals from the detected induced voltages in the first differential amplifier (24) and generating a first output signal (Out1) of the sensor position (2) relative to the reference point (1). Method according to claim 1 or 2, characterized in that adjusting the voltage level of the reference voltage to a magnitude corresponding to the voltages induced in the secondary windings (201, 211) when they are affected by eddy currents at the reference point (1) opposite sensors (2). Method according to claims 1 to 3, characterized in that the positioning step comprises determining the magnitude and polarity of the signal (Out1) and determining the magnitude of the signal (Out2). Method according to claims 1 to 4, characterized in that reference values and correction constants of the sensor elements (2) are stored in the internal memory (28, 32). Method according to claims 1 to 5, characterized in that reference values and correction constants of the sensor elements (2) are stored in the internal memory of the microprocessor (33). Method according to one of Claims 1 to 6, characterized in that the center position of the sensor (2) relative to the reference point (1) is determined as a position in which the signal (Out1) is zero in size and at the same time in which the signal (Out2) is logical level confirming the center position of the sensor. Method according to claims 1 to 7, characterized by positioning the reference point (1) with respect to the ring on the annular bench or by forming a reference point (1) on the annular bench -6GB 2018 - 49 A3 of an annular spinning machine or forming a reference point (1) on a rotor or jet spinning machine body. Apparatus for positioning a service device with respect to a reference point (1) of a spinning station by a method according to any one of claims 1 to 8, comprising a sensor (2) connected to the evaluation device, characterized in that - the sensor (2) comprises a pair of adjacent transformers (20, 21) arranged next to one another, which are arranged towards the region of occurrence of the reference point (1), - each RF transformer (20, 21) comprises a primary winding (200, 210) and a secondary winding (201, 211), the primary winding (200, 210) of each RF transformer (20, 21) being connected to a source (26) of a high frequency excitation signal, - the secondary winding (201) of the first RF transformer (20) is connected to the first detector (22) and the secondary winding (211) of the second RF transformer (21) is connected to the second detector (23), the output of the first detector (22) is the first input of each of the pair of differential amplifiers (24, 25) and the output of the second detector (23) are routed to the second input of each of the pair of differential amplifiers (24, 25), - wherein the first differential amplifier (24) is provided with means for producing a first output signal (Out1) of the position of the sensor (2) relative to the reference point (1), and - the second differential amplifier (25) is connected to a reference voltage source (27) corresponding to the voltages that are induced in the secondary windings (201, 211) when eddy currents affect the reference point (1) opposite the sensor (2) and is provided with means for generating a second output signal (Out2) to acknowledge the occurrence of a reference point (1) in front of the sensor (2) and the outputs of both differential amplifiers (24, 25) are connected to an evaluation device provided with means for positioning the sensor (2) against the reference point (1). A positioning device according to claim 9, characterized in that the HF transformers (20, 21) comprise longitudinal magnetic cores (302, 312) which are arranged at their ends in coil plates (30, 31) which are transverse to the a longitudinal direction (M) of the magnetic cores (302, 312), wherein in each coil plate (30, 31) an electric coil (300, 310, 301, 311) is formed around the magnetic core (302, 312) forming the primary winding (200, 210) RF transformers (20, 21) or secondary windings (201, 211) of the RF transformers (20, 21), the coil plates (30, 31) being spaced apart from each other on the main plate (3) and perpendicular to the longitudinal direction the main board (3). The device for positioning the service device according to claim 10, characterized in that the electrical coils (300,310,301,311) are formed by a printed circuit board manufacturing technology. A device for positioning a service device according to claims 9 to 11, characterized in that the position determining means are formed by means for evaluating the magnitude and polarity of the signals (Out1 and Out2). A device for positioning a service device according to any one of claims 9 to 12, characterized in that the sensor (2) comprises a memory (28, 32) adapted to store reference values and correction constants of the elements of the sensor (2). The device positioning device according to any one of claims 9 to 13, characterized in that the sensor (2) comprises a microprocessor (33) adapted to communicate with analog and / or data signals and / or data link. -7 GB 2018 - 49 A3 A device positioning device according to any one of claims 9 to 14, characterized in that the sensor (2) comprises a microprocessor (33) with internal memory adapted to store reference values and correction constants of the elements of the sensor (2). A spinning machine comprising a plurality of juxtaposed spinning stations and further comprising a servo device displaceable along a plurality of spinning stations with the possibility of stopping at a desired position relative to the selected spinning station, the spinning station having a reference point (1) and the service device having a sensor (2). a position 10 according to any one of claims 9 to 15 connected to the motion control device of the service device. Spinning machine according to claim 16, characterized in that the reference point (1) is formed by a ring on the annular bench of the annular spinning machine or by a formation on the annular spinning machine. 15 shows an annular bench of an annular spinning machine or a formation on a spinning unit of a rotor or jet spinning machine.