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EP3521489B1 - Device for handling a bobbin, a method for transporting a bobbin, a service robot of a ring spinning machine and a ring spinning machine - Google Patents

Device for handling a bobbin, a method for transporting a bobbin, a service robot of a ring spinning machine and a ring spinning machine Download PDF

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Publication number
EP3521489B1
EP3521489B1 EP19152785.2A EP19152785A EP3521489B1 EP 3521489 B1 EP3521489 B1 EP 3521489B1 EP 19152785 A EP19152785 A EP 19152785A EP 3521489 B1 EP3521489 B1 EP 3521489B1
Authority
EP
European Patent Office
Prior art keywords
bobbin
vertical
handling device
drive
clamping mandrel
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.)
Active
Application number
EP19152785.2A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3521489A1 (en
Inventor
Milan Moravec
Tomas Brozek
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.)
Maschinenfabrik Rieter AG
Original Assignee
Maschinenfabrik Rieter AG
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
Application filed by Maschinenfabrik Rieter AG filed Critical Maschinenfabrik Rieter AG
Publication of EP3521489A1 publication Critical patent/EP3521489A1/en
Application granted granted Critical
Publication of EP3521489B1 publication Critical patent/EP3521489B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/04—Doffing arrangements integral with spinning or twisting machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/38—Arrangements for winding reserve lengths of yarn on take-up packages or spindles, e.g. transfer tails
    • D01H1/385—Removing waste reserve lengths from spindles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/02—Spinning or twisting machines in which the product is wound-up continuously ring type
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H7/00—Spinning or twisting arrangements
    • D01H7/02—Spinning or twisting arrangements for imparting permanent twist
    • D01H7/04—Spindles
    • D01H7/16—Arrangements for coupling bobbins or like to spindles
    • 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
    • D01H9/001—Bobbin-taking arrangements
    • D01H9/003—Graspers operating under the action of a fluid
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/08—Doffing arrangements independent of spinning or twisting machines
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/08—Doffing arrangements independent of spinning or twisting machines
    • D01H9/10—Doffing carriages ; Loading carriages with cores

Definitions

  • the invention relates to a bobbin handling device for transporting a bobbin from a spindle of a spinning station of a ring spinning machine to a yarn end searching position, which is displaceable between a resting position, a clamping position for clamping a bobbin at a spinning station and the yarn end searching position.
  • the invention also relates to a method for transporting a bobbin by means of a bobbin handling device from a spindle of a spinning station of a ring spinning machine to a yarn end searching position, in which a tube of the bobbin is gripped by the handling device, pulled off the spindle, moved to the yarn end searching position, whereupon the yarn end on the bobbin is detected and afterwards the bobbin is put back on the spindle.
  • the invention further relates to a service robot of a ring spinning machine comprising a bobbin handling device. In addition, it relates to a ring spinning machine.
  • Ring spinning machines comprise a row of spinning stations arranged next to each other, each of which comprises a roving drafting device, from which the processed roving is carried to a twisting device, from which the produced yarn is withdrawn and wound in a winding device on a tube carried by a spindle, thus forming a bobbin, or, in other words, a cop, i.e. a tube with a package. If the yarn production is interrupted, e.g., owing to breakage, it is necessary to resume the yarn production at a given spinning station.
  • the spinning station is prepared for the renewal of the yarn production. All these service operations are performed during permanent vertical reversible motion of a ring bench and a balloon limiter carrier, since the other spinning stations continue to produce the yarn.
  • the bobbin is lifted to a safe height above the ring bench and above the spindle for detecting the yarn end.
  • a bobbin handling device is used for this purpose, e.g., the device according to EP394671 .
  • a handling device for handling a bobbin, for example, for its replacement, other handling devices are known, e.g., a handling device according to EP410021A1 , which comprises a gripper, by which the tube is gripped by the outer circumference, lifted and handled.
  • a handling device according to EP410021A1
  • Another possibility of manipulating the bobbin is gripping the tube by the inner walls through the upper opening, as described, for example, in EP2031104 , which is, however, primarily intended for removing the residual yarns from the tubes by means of an external picker member.
  • the goal of the invention is to propose a reliable and manageable handling device, both from the point of view of construction and from the point of view of day-to-day operation.
  • a bobbin handling device for transporting a bobbin from a spindle of a spinning station of a ring spinning machine according to the preamble of the independent claim 1, characterized in that the handling device comprises
  • the principle of the method for transporting a bobbin by the bobbin handling device consists in moving the vertical clamping spindle by a set of linear motions above the upper end of the bobbin, the bobbin being placed on a spindle at the spinning station, inserting an elastic clamping element at the lower end of the vertical clamping spindle into the cavity of the upper end of the tube and expanding the elastic clamping element for gripping the bobbin, removing the bobbin by a set of linear motions from the spindle and moving the bobbin to a yarn end detecting device on a service robot outside the spinning station and, after detecting the yarn end, putting the bobbin back on the spindle at the spinning station of the machine by a set of linear motions.
  • the principle of the service robot of a ring spinning machine consists in that it comprises the bobbin handling device according to any of claims 1 to 9.
  • the drive of the horizontal linear reversible motion of the bobbin clamp is formed by a pneumatic linear drive.
  • the drive of the rotation of the vertical clamping mandrel is formed by a rotary motor, whose output shaft is coupled to the vertical clamping mandrel by a toothed belt.
  • the rotary motor is formed by a stepper motor.
  • the controlled clamping element is formed by an elastic means for clamping the tube in the cavity of the upper end of the tube.
  • the vertical clamping mandrel is hollow and the elastic means is formed by a reversibly deformable ring which abuts by its upper end against the lower end of the vertical clamping mandrel and by its lower end abuts against the upper side of an end collar, which is mounted at the lower end of a vertical control rod, which is arranged vertically reversibly displaceable in the opening of the vertical clamping mandrel and is connected to a drive of vertical reversible sliding motion.
  • the drive of the vertical reversible sliding motion of the vertical control rod is formed by a pneumatic linear drive.
  • the supporting part is coupled to a vertical linear guide.
  • bobbin clamp is coupled to a horizontal linear guide.
  • the invention relates as well to a service robot of a ring spinning machine comprising such a bobbin handling device. Furthermore, the principle of the ring spinning machine consists in that it comprises the above-described service robot.
  • the aim of the invention is also achieved by a method according to claim 12.
  • the bobbin handling device After returning the bobbin to the spindle positioning the bobbin handling device returns to a resting position outside of the spinning station at the service robot.
  • rotating of the vertical clamping mandrel is rotated by a rotary motor driving a toothed belt coupled to the vertical clamping mandrel.
  • the step of expanding the elastic clamping element for clamping the tube of the bobbin consists of the vertical displacing of the vertical control rod, which is arranged in the opening of the hollow vertical clamping mandrel and which is connected to a drive of the vertical reversible sliding motion, so that a reversibly deformable ring which abuts by its upper end against a lower end of the vertical clamping mandrel and by its lower end abuts against the upper side of the ending collar, which is mounted at the lower end of the vertical control rod, expands.
  • the invention enables to grip the bobbin reliably, and at the same time in a straightforward manner, by the cavity of the tube and handle it to find the yarn end outside the spinning station and afterwards return the bobbin correctly to the spinning station, all this being performed with required speed and accuracy.
  • the invention allows this to be done by just one act of clamping the bobbin firmly by the inner opening of the bobbin, so that not only can the tube be reliably handled, but also rotated during the search for the yarn end.
  • the handling of the bobbin, based on a set of linear motions, is also advantageous in terms of easy manageability and position control in the individual axes of the rectangular coordinate system, i.e. in space.
  • the invention will be described with reference to an exemplary embodiment of a bobbin handling device at a spinning station of a ring spinning machine, whereby the machine comprises a row of identical spinning stations arranged next to each other.
  • the spinning station is well-known and therefore the entire spinning station will only be described hereinafter in a simplified manner. Those parts, elements and nodes of the spinning station that are of significance to the present invention will be described in greater detail.
  • the spinning station of a ring spinning machine comprises an unillustrated roving drafting device, below which a yarn twisting and winding device is arranged.
  • the roving is fed from an unillustrated supply package to the drafting device, behind which the yarn being formed passes through a guide eyelet, a balloon limiter and then through a traveler which circulates around the circumference of a ring 3 mounted in a holder on the ring bench 2, whereupon after the passage through the traveler, the produced yarn is wound on a package 40 on a tube 1, thus forming a bobbin or cop, which is placed on a drive spindle, which rotates about the axis Y.
  • the tube 1 constitutes the basic supporting body for winding yarn.
  • the bobbin i.e. the tube 1 with a package 40
  • the bobbin is formed by a continuous reversible vertical motion of the ring bench in the interaction with the yarn winding device after the passage of the yarn through the traveler (not shown), which circulates on the upper part of the ring 3, whereby due to the traveler being delayed behind the revolutions of the spindle, a twist is created on the yarn, thereby changing the processed roving into the yarn of the desired properties.
  • the spindle is usually driven in its lower portion by means of a flat belt driven by a drive shaft.
  • a service robot which comprises mechanisms and means for performing service operations at the spinning station, or for performing at least some of the service operations at the spinning station.
  • Handling the bobbin includes gripping the bobbin, raising it above the level of the upper end of the spindle and the ring bench 2 and ejecting the bobbin from the spinning station towards the service robot, i.e. out of the spinning station of the machine, in order to find the yarn end 4 on the bobbin, and subsequently putting it back to the respective spinning station.
  • the service robot is provided with a bobbin handling device at a spinning station of a ring spinning machine, hereinafter only a bobbin handling device.
  • the bobbin handling device is mounted by its supporting part 6 reversibly vertically displaceably in the direction A+ and A- on a vertical linear guide 5 of the service robot.
  • the supporting part 6 is coupled to a rotary or linear drive, which is coupled to a control device. As a result, the supporting part 6 is controllably reversibly positionable in the vertical direction on the guide 5.
  • a bobbin clamp 7 is mounted on the supporting part 6 on the horizontal linear guide 10 reversibly horizontally displaceably in the directions B+ and B-relative to the supporting part 6.
  • the clamp 7 is coupled to a rotary or linear drive, which is coupled to the control device. Consequently, the clamp 7 is controllably reversibly positionable in the horizontal direction relative to the supporting part 6.
  • the drive of the linear reversible motion of the clamp 7 consists of a pneumatic linear drive.
  • a vertical clamping mandrel 8 is mounted rotatably about its longitudinal axis, which is situated vertically, by its upper end on the clamp 7.
  • the vertical clamping mandrel 8 is coupled to its rotation drive, preferably a bi-directional rotary actuator.
  • the drive for the rotation of the vertical clamping mandrel 8 consists of a bi-directional rotary actuator, in particular a stepper motor, which comprises a rotary motor 82, about whose output shaft, or a toothed pulley 820 mounted on the output shaft of the rotary motor 82, is wrapped a toothed belt 83, which is in an unillustrated manner wrapped around the upper part of the vertical clamping mandrel 8, e.g., also by means of a toothed pulley mounted on the vertical clamping mandrel 8.
  • the vertical clamping mandrel 8 comprises a vertical control rod 81 and a vertical drive 811 and is provided with a clamping element 9 of the bobbin.
  • the clamping element 9 of the bobbin consists of an elastic means for clamping the bobbin by the inner wall of the upper end of the cavity of the bobbin tube 1.
  • This elastic means is formed, for example, by a deformable ring 90, which with its upper end rests against the lower end 80 of the vertical clamping mandrel 8 and with its lower end abuts the upper side of an end collar 810, which is mounted at the lower end of the vertical control rod 81.
  • the control rod 81 is mounted reversibly slidably in the vertical direction C+ and C- in the cavity of the vertical clamping mandrel 8, whereby at its end above the upper end of the vertical clamping mandrel 8 it is connected to the vertical drive 811 of the reversible slidable motion in the vertical direction C+ and C-.
  • the vertical drive 811 is formed, for example, by a linear drive, e.g. a pneumatic linear drive or a rotary drive with a linear gear, which, for example, comprises a gear wheel on a rotary motor, the gear wheel being associated with a rack gear on the vertical control rod 81.
  • an elastic means in the form of an inflatable body, which is connected to a source of compressed air, e.g. through compressed air distribution in the cavity of the vertical clamping mandrel 8.
  • the clamping element 9 at the lower end of the vertical clamping mandrel 8 at the time when the bobbin is not clamped has a smaller outer diameter than is the diameter of the upper opening of the tube 1, whereby with the bobbin being clamped the clamping element 9 has a greater diameter than is the diameter of the upper opening of the tube 1 and therefore the clamping element 9 abuts with its outer circumference the inner wall of the tube 1 cavity, as shown in Fig. 2 .
  • the device operates in such a manner that if it is necessary to handle the bobbin by removing the bobbin from the spinning station for finding the yarn end 4 on the yarn package 40, the clamp 7 is inserted in its resting position in the service robot outside the spinning station, see Fig. 1 .
  • the clamping element 9 at the lower end of the vertical clamping mandrel 8 is arranged above the level of the upper end of the bobbin and at a displacement V. Subsequently, the clamp 7 moves forward along the horizontal linear guide 10 until the vertical longitudinal axis X of the vertical clamping mandrel 8 gets to the axis Y of the rotation of the bobbin (displacement V).
  • the supporting part 6 moves on the vertical linear guide 5 downwards and the clamping element 9 at the lower end of the vertical clamping mandrel 8 is inserted into the opening of the upper end of the bobbin tube 1.
  • the bobbin is clamped by the inner wall of the tube 1 cavity, this operation being performed by controlled deformation of the clamping element 9, which expands in the inner space of the tube 1 cavity, see Fig. 2 , here by the motion of the control rod 81 in the direction C+.
  • the supporting part 6 moves upwards on the vertical linear guide 5, by which means the bobbin is removed from the unillustrated spindle at the spinning station, whereupon the lower end of the bobbin gets above the level of the upper end of the spindle and the ring bench 2.
  • the clamp 7 moves along the horizontal linear guide 10 backwards, which causes the clamp 7 with the bobbin on the vertical clamping mandrel 8 to move away from the spinning station towards the service robot and set the bobbin to the desired searching position for finding the yarn end 4 on the bobbin outside the spinning station by means of the unillustrated yarn end detecting device.
  • the bobbin rotates about its longitudinal axis in the required direction in such a manner that the vertical clamping mandrel 8 rotates about its longitudinal axis X.
  • the clamp 7 with the bobbin on the vertical clamping mandrel 8 moves back to the space of the spinning station so that the vertical longitudinal axis X of the vertical clamping mandrel 8 gets again to the axis Y of the rotation of the bobbin at the spinning station.
  • the supporting part 6 moves downwards on the vertical linear guide 5 and places the bobbin by the tube 1 back on the unillustrated spindle of the spinning station.
  • the clamping element 9 at the lower end of the vertical clamping mandrel 8 releases the bobbin tube 1, here by the motion of the control rod 81 in the direction C-. Subsequently, upon ejecting the supporting part 6 on the vertical linear guide 5 upwards, the clamping element 9 at the lower end of the vertical clamping mandrel 8 is ejected from the tube 1 cavity above the level of the upper end of the bobbin, whereupon the clamp 7 is retracted along the horizontal linear guide 10 back to its rear, i.e. resting position in the service robot outside the spinning station, as shown in Fig. 1 . By this, the entire cycle has been completed.

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)
EP19152785.2A 2018-01-31 2019-01-21 Device for handling a bobbin, a method for transporting a bobbin, a service robot of a ring spinning machine and a ring spinning machine Active EP3521489B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CZ2018-47A CZ201847A3 (cs) 2018-01-31 2018-01-31 Zařízení pro manipulaci s cívkou, způsob dopravy cívky, obslužné zařízení prstencového spřádacího stroje a prstencový spřádací stroj

Publications (2)

Publication Number Publication Date
EP3521489A1 EP3521489A1 (en) 2019-08-07
EP3521489B1 true EP3521489B1 (en) 2021-08-18

Family

ID=65138888

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19152785.2A Active EP3521489B1 (en) 2018-01-31 2019-01-21 Device for handling a bobbin, a method for transporting a bobbin, a service robot of a ring spinning machine and a ring spinning machine

Country Status (4)

Country Link
EP (1) EP3521489B1 (cs)
CN (1) CN110093694B (cs)
CZ (1) CZ201847A3 (cs)
ES (1) ES2898694T3 (cs)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3853400A1 (en) 2018-09-19 2021-07-28 Maschinenfabrik Rieter AG Method of operating a service robot of a ring spinning machine
CH715390A1 (de) 2018-09-27 2020-03-31 Rieter Ag Maschf Verfahren zum Betreiben einer Ringspinnmaschine.
CZ2019390A3 (cs) 2019-06-19 2020-12-30 Rieter Cz S.R.O. Obslužný robot prstencového spřádacího stroje, prstencový spřádací stroj a způsob činnosti obslužného robota
CN111994625A (zh) * 2020-09-11 2020-11-27 珠海格力电工有限公司 能够辅助机械臂取放线盘的工具及线盘搬运系统
CN113526239B (zh) * 2021-06-25 2024-01-30 广东溢达纺织有限公司 打线设备及打线方法
CN113307100B (zh) * 2021-07-07 2023-04-07 四川玄武岩纤维新材料研究院(创新中心) 无人智能换纱系统和自动换纱方法
CN115369531B (zh) * 2022-09-27 2023-07-04 天津工业大学 一种用于环锭纺细纱接头的找钢丝圈装置

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US3786621A (en) * 1971-10-13 1974-01-22 Maremont Corp Grasper bar positioning mechanism for automatic doffer
JPH0586513A (ja) * 1991-09-20 1993-04-06 Murata Mach Ltd 精紡機の玉揚装置のインチング制御方法
JPH06316824A (ja) * 1993-04-30 1994-11-15 Toyota Autom Loom Works Ltd 粗糸替機の粗糸口出し方法及び粗糸口出し装置
DE4428780C1 (de) * 1994-08-13 1995-08-31 Palitex Project Co Gmbh Verfahren und Vorrichtung zur Herstellung eines gezwirnten Fadens
CZ2005238A3 (cs) * 2005-04-18 2006-12-13 Maschinenfabrik Rieter Ag Zarízení pro smyckové predení nebo skaní
JP2009051626A (ja) * 2007-08-28 2009-03-12 Murata Mach Ltd 残糸除去装置及びピッカー部材
JP2010077576A (ja) * 2008-09-29 2010-04-08 Murata Machinery Ltd 紡績機
CH706759A1 (de) * 2012-07-25 2014-01-31 Rieter Ag Maschf Abschirmelement für eine Spindel

Also Published As

Publication number Publication date
ES2898694T3 (es) 2022-03-08
CZ201847A3 (cs) 2019-08-07
EP3521489A1 (en) 2019-08-07
CN110093694A (zh) 2019-08-06
CN110093694B (zh) 2022-08-02

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