Field of the invention
[0001] The invention relates to a method of operating a service robot of a ring spinning
machine, in which the service robot is displaceable along a row of spinning units
of the spinning machine, each spinning unit comprising a spindle, wherein the service
robot can be stopped at a specific spinning unit to perform a service operation at
the spinning unit.
[0002] The invention further relates to a ring spinning machine which comprises a row of
spinning units arranged next to each other, each spinning unit comprising a spindle,
and a service robot which is displaceable along a row of spinning units with an option
of stopping at a selected spinning unit to perform a service operation at the spinning
unit.
Description of related art
[0003] Ring spinning machines comprise a row of identical spinning units arranged next to
each other, each of which comprises a roving drafting device, from which the processed
fiber roving is fed to a twisting device, from which the produced yarn is withdrawn
and wound in a winding device on a tube carried by a spindle, thereby forming cop,
i.e., a tube with a yarn package.
[0004] If a yarn manufacturing process is interrupted, e.g., due to a yarn break, the yarn
production at the respective spinning unit must be resumed, which is performed either
manually by the machine operator or by an automated service robot.
[0005] Current ring spinning machines are largely hand-operated for several reasons. One
reason is the limited workspace for the service mechanisms of a service robot because
there is only a short distance between the spinning units (70 and 75 mm). Another
reason is the difficulty in solving the functional activities of the service mechanisms
without mutual limitation of the service mechanisms in terms of space and time in
the limited workspace. Last but not least, manual service is advantageous in many
parts of the world also for price reasons. In view of the increasing demand for production
cost savings in yarn production, ring spinning machines with a greater number of spinning
units are produced. Consequently, the length of the machines is being extended (50m
and more), which enables to economically use automatic service robots for servicing
the spinning units, wherein from the moment when a failure occurs a service operation
must be carried out at all the spinning units along the length of the machine in the
shortest possible time. This increases the demands for speed and movement accuracy
and the precision of stopping the service robot at the spinning units, which is why
it is necessary to know the initial reference position and the direction of movement
of the service robot along the row of spinning units.
[0006] On a ring spinning machine with an increasing number of spinning units and an extending
length of the machine, the required power output of the drive device of the drafting
device is also increased and therefore an intermediate drive is usually arranged in
the central part of the machine length to avoid differences in the rotation of long
through shafts at the beginning of the machine and at the end of the machine due to
elastic deformations caused by torsional load, due to higher torques of the drive
device at the beginning of the machine.
[0007] On this central part of the length of the ring spinning machine outside the spinning
units, a parking position of the service robot is usually arranged, where the service
robot is moved during the time when it is not carrying out any service operation,
for example, during the operation of joint removal of the cop from the spinning spindles
at the spinning units or during the placing of the empty tubes on the spindles and
during the joint spinning-in of the spinning units.
[0008] On ring spinning machines comprising a row of spinning units arranged next to each
other, wherein a displaceable service robot is positioned relative to the other machine
parts, it is necessary to set the service robot to the desired position relative to
the respective part of the machine so as to perform the controlling activities of
the control device. Whenever the machine or service robot is started, e.g., after
a power failure or after repair or when the machine is put into operation for the
first time, etc., the service robot must be positioned correctly with respect to the
individual spinning points. The disadvantage of the present state is that in the case
when the machine is before the start of the machine for some reason situated on the
opposite side of the machine, e.g., after the machine has been stopped or when the
service robot has been moved by the operator, the service robot must be moved manually
or by the machine before the start of the machine or immediately after the start of
the machine, over the entire length of the machine, which is time-consuming, especially
for machines with a greater number of spinning units, and also results in lower production
efficiency.
[0009] The accuracy and precision of the execution of individual service operations at the
spinning units by the service robot depend on the fast and precise determination of
the position of the service robot on the ring spinning machine, since their execution
is usually dependent on a sufficiently accurate adjustment of the individual operating
mechanisms of the service robot relative to the respective parts of the specific spinning
unit.
[0010] Known are various arrangements for positioning an automatic service robot for providing
service operations at the spinning units on a ring spinning machine, as well as methods
of performing this positioning.
[0011] From
DE 3909746 A1, for example, it is known that the position of the service robot for operating the
spinning units during the resumption of the spinning process after a break of yarn
being produced on a ring spinning machine is determined by means of induction sensors
located on the service robot which sense the position of differently arranged and
differently shaped openings formed in a guide rail of the travelling wheels of the
service robot, whereby the position of these openings corresponds to the position
of the spinning units, as well as to both ends of the machine. Control and communication
means then transmit the information between the ring spinning machine, the spinning
units and the service robot. The disadvantage of this solution is that in the case
of a machine with a plurality of spinning units and therefore with a geater length
of the service robot, in order to ensure the right coordination of the position of
the service robot with the machine, the service robot must first move to one of the
end positions of the service robot on the machine, which prolongs the time needed
for the coordination of the positions and also prolongs the time period during which
the service robot is not performing any service operations. Another drawback of this
arrangement is the fact that more sensors are required for the operation of the service
robot.
[0012] EP2305864A1 discloses an embodiment where reference points created near both ends of the machine
and in the middle of the machine are sensed by a sensor located on a service assembly.
In the course of its travel along the row of spinning units the service assembly measures
the distance it has travelled by means of measuring the rotation angle of the rotating
part of the drive of the service assembly which correlates with the straight-lined
forward movement of the service assembly along the row of spinning units, and the
overall path travelled by the service assembly towards a respective spinning unit
requesting a service operation is calculated from the rotation angle and the direction
of rotation of this measured rotatable portion of the service assembly, from which
the control means of the machine determine, on the basis of the speed of the movement
of the service assembly, the distance of the service unit from the spinning unit requesting
a service operation and determines the position in which the braking procedure of
the service assembly is triggered for stopping at the respective spinning unit. Another
disadvantage of this solution is the fact that four working areas 3A, 3B or 4A, 4B
are created on the machine, separated by the center reference points, where these
areas immediately adjoin each other without any parking area provided for the service
assembly and thus not allowing parking of the service assembly in the middle of the
machine length during the process of group doffing, to prevent collision of the means
of the robot for group doffing and the service assembly. During the operation of group
doffing the service assemblies must be moved to the end of the mechine, which in the
case of ring spinning machines with a great length prolongs the time during which
the service assemblies cannot operate after the end of group doffing and the start
of the spinning process.
Brief summary of the invention
[0013] The aim of the invention is to remove or at least reduce the disadvantages of the
background art.
[0014] The aim of the invention is as well to create a method, in which a service robot
of a ring spinning machine can easily find a reference position during the initial
displacement of the service robot along the length of the spinning machine.
[0015] The aim of the invention is achieved by a method of operating a service robot of
a ring spinning machine, whose principle consists in that it comprises the following
steps:
- initial displacement of the service robot along a row of spinning units to detect
a reference position; and
- during the displacement of the service robot at least one reference element is detected
by a sensor between both ends of the row of spinning units, wherein the reference
element indicates a reference position; and
- using the reference position during the operation of the service robot to position
the service robot in front of a specific spinning unit of a row of spinning units
if the need arises to perform a service operation at the respective spinning unit.
[0016] Advantageously, the service robot detects a spindle by means of an eddy current sensor
as a reference element between both ends of the row of spinning units.
[0017] Advantageously, the service robot counts the spindles from the defined position to
its position before the spinning unit to perform a service operation.
[0018] Advantageously, the reference element is arranged in a position in which its distance
b from the nearest spinning spindle both on the right and on the left is identical
and, at the same time, this distance b is greater than the distance a between two
adjacent spinning spindles, whereby the spinning spindles and the reference element
are detected during the initial displacement of the service robot, and the reference
element is detected according to differences in the time intervals and/or the distances
between two adjacent spinning spindles and between said nearest spinning spindle and
the reference element.
[0019] Advantageously, the reference element is detected at an intermediate drive of the
spinning machine.
[0020] Advantageously, if the service robot before detecting the reference element arrives
at the end of the row of spinning units of the spinning machine, the service robot
changes direction and continues in detecting the reference element.
[0021] Advantageously, the method is performed before starting the operation of the service
robot such as after switching it on or after a power cut.
[0022] The ring spinning machine for performing the method comprises
- a row of spinning units arranged next to each other, each spinning unit comprising
a spindle,
- a service robot which is displaceable along the row of spinning units with an option
of stopping at a selected spinning unit in order to perform a service operation at
the spinning unit; whereby
- the service robot is provided with a sensor for sensing the position of the service
robot along the row of spinning units,
- at least one reference element is arranged between both ends of the row of spinning
units as a reference position of the service robot along the row of spinning units,
wherein the reference position is used during operation of the service robot for positioning
the service robot before a specific spinning unit of the row of spinning units in
need of a service operation; and
- a controller adapted to displace the service robot initially along the row of spinning
units in order to detect the defined position.
[0023] Advantageously, the service robot comprises an eddy current sensor as a sensor and
the reference element is by its outer geometrical configuration identical or close
to the outer geometrical configuration of the detected part of the spinning spindles.
Advantageously, the reference element is arranged in a position in which its distance
from the nearest spinning spindle both on the right and on the left is identical and,
at the same time, this distance is greater than the distance between two adjacent
spinning spindles.
[0024] Advantageously, the sensor of the position of the service robot is associated with
the area below the lower surface of a spindle bench.
[0025] Advantageously, the reference element is made of the same or approximately the same
material as the detected part of the spinning spindles.
[0026] Advantageously, the reference element is situated with respect to the longitudinal
axis of the ring spinning machine and the height of the ring spinning machine in the
same position as is situated the part of the spinning spindles being sensed.
[0027] Advantageously, the service robot is further provided with a sensor for detecting
the end of the row of spinning units.
[0028] Advantageously, the reference element is arranged on the structure of the intermediate
drive arranged between both ends of the row of spinning units, where a parking area
of the service robot is situated.
[0029] Advantageously, the service robot and the control device are interconnected by a
communication line for transmitting information about the numbers of the spinning
units, the total number of the spinning units on the machine, the location of the
auxiliary drive with the reference element in the service robot, whereby the service
robot is provided with means for storing and processing this information.
[0030] The advantage of this solution is the fact that in the case of a very long ring spinning
machine with a plurality of spinning units in whose central part is arranged an intermediate
drive near which is arranged a parking position of the service robot, to which the
service robot is moved when performing the group doffing of wound cops, whereby near
this intermediate drive is also arranged a reference position of the control device,
which is formed in an exemplary embodiment by a synchronizing "false" spindle located
on the intermediate drive mechanism. From this parking position, which is at the same
time a reference position, the service robot moves to the right or to the left towards
the spinning units requesting service operations, thereby shortening the distance
and also the time for moving the service robot to the spinning unit requesting service
operations, thus improving the efficiency of the service robot utilization as compared
with the background art, in which the reference position is created at the beginning
an/or at the end of the machine, which is manifested also during the initialization
of the service robot when the machine is started up for the first time or when the
service robot is restarted after repair, after a power cut, after being shifted manually
by the machine operator, etc. The determination of the position of the service robot
relative to the entire row of spinning points, as well as to the reference point,
is carried out by means of a sensor arranged on the service robot which senses a gap
between adjacent spindles and a gap between the spinning spindles and the reference
point and which is also able to determine the direction of the movement of the service
robot. Another advantage of the solution according to the invention is the fact that
the lower part of the mounting of the spinning spindles at the spinning units below
the spindle bench is sensed as already existing place of the machine construction.
A further advantage is the fact that the reference point is sensed in the form of
a "false" spindle which is in terms of geometry and material identical or very similar
to a functional spinning spindle at the spinning units, which means that the detection
of all the operating spindles as well as of the synchronizing "false" spindle can
be carried out by one common sensor, whereby the identification of the "false" spindle
is made possible due to its distance from the production spinning spindles, which
is different from the distance between the individual production spinning spindles.
The advantage of the invention is also the fact that it allows a substantial acceleration
of the initialization of the service robot relative to the entire row of spinning
units, or, more specifically, allows quick synchronization of the position of the
control device relative to the reference point and to the entire row of spinning units.
Brief description of the drawings
[0031] The invention is schematically represented in the drawing, wherein
- Fig. 1
- shows a schematic arrangement of a ring spinning machine with a row of spinning units
according to the invention;
- Fig. 2
- shows an arrangement of a parking position on a ring spinning machine with a reference
element "false spindle" and a parked service robot with sensing sensors arranged on
it;
- Fig. 3
- shows an arrangement of an end portion of the ring spinning machine with an end machine
marker being sensed and with a service robot and, finally; and
- Fig. 4
- is a cross-secton of a ring spinning machine with an automatic service robot and sensors
according dotted line IV-IV in Fig. 3.
Detailed Description of the invention
[0032] The invention will be described with reference to an exemplary embodiment of a ring
spinning machine comprising at least one row of spinning units A arranged next to
each other, as is shown in Fig. 1. A main drive B is arranged at one end of the machine,
whereby an end-piece C of the machine is arranged at the opposite end of the machine.
At least one intermediate drive D or an intermediate drive mechanism, is located between
both ends of the row of spinning units. In the illustrated exemplary embodiment, there
is one intermediate drive D and is situated in the central part of the machine.
[0033] Along the row of spinning units A is arranged in a bi-directional displaceable manner
in the direction of the arrow E a service robot 4 provided with unillustrated means
for performing service operations at the spinning units A. In the embodiment in Figs.
2 and 3, the service robot 4 moves along a running rail 3 which is arranged along
the entire length of the ring spinning machine and can be stopped at a selected spinning
unit A requesting a service operation. Fig. 4 is a cross-secton of a ring spinning
machine according dotted line IV-IV in Fig. 3.
[0034] For providing proper service operations by the service robot 4 at the spinning units
A it is essential for the position of the service robot 4 to be initialized before
starting the actual service operations at the spinning units A, i.e. coordinated or
synchronized with the row of spinning units A relative to an initial, reference position
on the machine, so that, to put it differently, the service robot 4 can orient itself
on the machine.
[0035] After this initialization, the control unit, or the respective controller, can commence
controlling the process of the activities of the service robot 4 along the row of
spinning units A, e.g., the direction of the movement of the service robot 4 along
the row of spinning units A, the speed of movement, the process of stopping or determining
the position of the particular spinning unit A at which service operation is to be
performed, scheduling the sequence of operations at the individual spinning units
A, etc. This initialization of the position of the service robot 4 must be done after
each start-up of the machine or after the service robot 4 has been manually moved
along its running rail or after restarting the service robot 4 on which service activity
has been performed outside the machine, etc.
[0036] The spinning unit as such is principally well-known and therefore it will only be
described in a simplified manner. Those parts, elements and nodes of the spinning
unit that are of significance to the present invention will be described in greater
detail.
[0037] Each spinning unit A of the ring spinning machine comprises an unillustrated roving
drafting device, below which a yarn twisting and winding device is arranged. From
an unillustrated supply package a roving is fed to a drafting device from which the
yarn being formed passes through a guide eyelet, a balloon limiter and then through
a traveller circulating around the circumference of the ring which is mounted in a
holder which is mounted on a ring bench 5, wherepon the produced yarn after passing
through the traveller is wound on a tube which is placed on a rotating spindle 1,
thereby forming the cop. The yarn package on the tube is formed by a stepwise reversible
vertical movement of the ring bench 5 in the vertical direction F. The spindle 1 is
usually driven in its lower part by a flat belt from the drive shaft and is rotatably
mounted in a closed bearing body G which is mounted on a fixed spindle bench 9. In
the central part of the machine is arranged an intermediate drive D near which is
provided a parking position 8 of the service robot 4. A reference element H of the
position of the service robot 4 is arranged on the intermediate drive D, formed, for
example, by a "false" spindle 2, which is in the area of the intermediate drive D
of the machine, or in the area of the parking position 8 of the service robot 4 arranged
in a defined position which is with respect to the longitudinal axis of the machine
and the height of the machine the same as the position of the production spinning
spindles 1. The service robot 4 moves to the parking position 8, for example during
the process of group doffing of the wound cops, putting empty tubes onto the spindles
1, spinning-in, etc., whereby the service robot 4 moves from the parking position
8 to the right or to the left towards the spinning units A requesting a service operation.
[0038] Arranged on the service robot 4 are the first and second sensors A1, A2 of the position
of the service robot 4 along the row of spinning units A. The first sensor A1 is adapted
to sense the presence of the individual spinning spindles 1 of the row of spinning
units A as well as the presence of the reference element H, here, for example, the
"false" spindle 2, during the movement of the service robot 4 along the row of spinning
units A. The second sensor A2 is adapted to sense the vertical surface 30 of the guide
rail of the running rail 3 of the service robot 4. To improve the detection of the
range of the working movement of the service robot 4 along the machine, the vertical
surface 30 of the guide rail of the running rail 3 is provided with an end marker,
e.g., with an opening 7 at the beginning and the end of the row of spinning units
A, for example 3 to 4 pitches between the spinning spindles 1 before the last (end)
spinning spindle 1 on the respective side of the row of spinning units A.
[0039] The running rail 3 is further provided at its initial and end parts with a mechanical
safety stop 6 which limits the range of movement of the service robot 4 from the central
part of the machine to the ends. The end marker (opening 7) at both ends of the running
rail 3 constitutes end reference positions of the service robot 4 and at the same
time determines a point for starting the braking of the service robot 4 before stopping
at the first or last spinning unit A of the respective row of spinning units A, or
for changing the direction of movement of the service robot 4 into the opposite direction.
[0040] The reference element H in the form of the "false" spindle 2 is mounted in the holder
on the body of the intermediate drive D in the area of the parking position and at
the level of the height of the production spindles 1 at the spinning units A.
[0041] The distance of the reference element H of the position of the service robot 4, that
is the "false" spindle 2 in the illustrated exemplary embodiment, i.e. the "false"
spindle 2, from the active part of the sensor A1 is the same as the distance of the
production spindles 1 from the active part of the sensor A1, see Fig. 2. In the direction
of the longitudinal axis of the ring spinning machine the distance b between the reference
element H, that is the "false" spindle 2 in the illustrated exemplary embodiment,
and the closest production spindle 1 from both the right and left sides of the row
of spinning units A is larger than the distance a between two adjacent production
spindles 1. In the embodiment shown, the distance b is at least twice as large than
the distance a. Thus, the reference element H, that is, in the illustrated exemplary
embodiment, the "false" spindle 2, is in terms of the material and structure identical
or very close to the production spindles 1, which means that the same detection properties
of the sensor A1 are maintained in the production spindles 1, as well as in the reference
element H. In an embodiment not shown, the reference element H is formed by a metal
pin or roller mounted in the corresponding position on the body of the intermediate
drive D of the machine.
[0042] The device according to the invention operates in such a manner that during putting
the ring spinning machine into operation after the previous shutdown or after moving
the service robot 4 manually along the running rail 3, or after the installation of
the service robot 4 on which service activities have been performed outside the machine,
etc., the service robot 4 automatically begins to move initially from its random and
precisely not defined position in the direction of the row of spinning units A towards
one end of the row of spinning units A. During this movement, the service robot 4
detects by means of the sensor A1 the presence of the production spindles 1 which
is determined by means of the set distance a of two adjacent production spindles 1
depending on the speed of the movement of the service robot. If during this movement
of the service robot 4, the reference element H is detected by the sensor A1, because
a greater distance b between adjacent spindles 1 and 2 is detected by the sensor than
the corresponding distance a between adjacent production spindles 1, or, in other
words, the distance which corresponds to the set distance b of the reference element
H (the "false" spindle 2) from the closest production spindle 1, the spindle thus
detected is registered as a reference element (the "false" spindle 2) in the area
of the intermediate drive D and the parking position 8 and the control system, or
the respective controller, now knows exactly where the service robot 4 is situated
and past how many spinning units A it has travelled, because it counts the spinning
units A past which it has travelled, and so it determines the number of the spinning
units A of the row of spinning units A both to the right and and to the left from
the reference element H. The information about the total number of the spinning units
and the location of the intermediate drive D with the reference element H is sent
to the service robot 4 through a communication line, such as a CAN bus, from the control
unit of the machine after switching on the power supply of the robot and/or the machine.
As a result, the service robot 4 knows the number of the spinning units A on one side
of the machine, the number of spinning units A before the reference element H and
after the reference element H and also knows the numbers of the spinning units at
the end marker, whereby the service robot 4 is provided with means for storing and
processing this information for the operation of the service robot, and therefore
for the synchronization of the machine with the service robot 4 it is not necessary
to wait until the reference element H has been found by the service robot 4.
[0043] If during the above-mentioned movement of the service robot 4 the end marker (the
opening 7) in the end part of the running rail 3 of the machine, or, in other words,
the end of the row of spinning units A, is first detected by the sensor A2, the service
robot 4 travels to the position at the last spinning unit (detects the last production
spindle 1), or, more specifically, travels to the end of the row of spinning units
A, where the direction of movement of the service robot is changed, whereupon the
service robot continues to detect the reference element H in the opposite direction
of its movement. On the basis of this, the control unit, or the respective controller,
finds out that the service robot 4 is at the particular end of the row of spinning
units A, whereby from the direction of the movement from which the service robot 4
has travelled to the particular end of the row of spinning units A it is determined
which end (right, left) of the row of spinning units A it is.
[0044] In any case, the service robot 4 travels from its previously not defined position
to a defined position a substantially shorter distance before it is found with certainty
where the service robot 4 along the row of spinning units currently is situated. This
information about the defined position of the service robot 4 is transmitted to the
control unit (controller) and the position of the service robot 4 along the row of
spinning units A is thus known with certainty, i.e. is synchronized, according to
the reference element H, or according to the machine end (by the end marker, or the
opening 7). This makes it possible for the control unit, or the controller, to start
the activities of the service robot 4 along the row of spinning units A a lot earlier
than is the case with the prior art. In addition, whenever the service robot 4 passes
past the reference element H this is recorded and thus the defined determination of
the position, i.e. synchronization of the service robot 4 and the row of spinning
units A, is continuously maintained.
[0045] At the same time, during the movement of the service robot 4 along the row of spinning
units A also the production spindles 1 are continuously detected and counted, namely
with respect to the path travelled by the service robot 4 between two adjacent production
spindles 1, or, to put it differently, with respect to the time interval between the
registration of the presence of two adjacent production spindles 1.
[0046] The distance b between the reference element H and the two closest production spindles
1 both from the right and left sides is greater than the distance a between two adjacent
production spindles 1, and so the time interval between the detection of the reference
element H and the production spindle 1 closest to it with the service robot 4 moving
along the machine at a constant speed is longer than the time interval between the
detection of two production spindles 1 arranged next to each other. Preferably, the
sensor according to CZ patent application no. PV
2018-49 is used as a sensor A1 of the reference element H and the production spindles 1,
which is, in addition, able to determine also the direction of movement of the service
robot 4 from the course of its signal when detecting consecutive spinning units A
along which the service robot 4 moves. If necessary, the direction of movement of
the service robot is determined by the control unit or the controller, e.g., from
the data of the frequency converter of the drive of the service robot 4 which serves
as additional input information for the control of movement of the service robot 4
along the row of spinning units A. This information and the information from the sensors
A1 and A2 makes it possible for the control unit to perform fast and accurate positioning,
including the inicialization process after starting the machine, after the start-up
of the service robot 4, after a power failure, etc. During this process of positioning
first are detected the reference position and the reference element H for the coordination
of the position of the service robot 4 with respect to the row of spinning units A
on the machine, which enables to control the movement of the service robot 4 with
respect to the row of spinning units A requesting a service operation and to perform
the positioning of the service robot 4 with respect to the spinning units A. The above-mentioned
counting of the spinning units A, along which the service robot 4 has travelled is,
for example, advantageous for the control of the service robot 4 since the service
robot 4 or a control device or a controller, etc., counts the spinning units A or
the production spindles 1 beginning from the reference element H, in other words,
from the defined position, as far as to the desired position of the service robot
4 in front of the specific spinning unit A requesting a service operation, and so
it is not necessary to measure the distance travelled by the service device 4 or measure
the duration of the travel of the service robot for fast and precise positioning of
the service robot 4 relative to a specific spinning unit A in the row of spinning
units A along the entire length of the spinning units A.
[0047] In the illustrated exemplary embodiment, only one reference element H is arranged
in the row of spinning units A. In an embodiment not shown, two reference elements
H, or even more, are arranged in the row of spinning units A, which is especially
advantageous in the case of very long ring spinning machines which comprise in one
row of spinning units A as many as over 1 000 units A. In that case, a higher number
of reference elements H in the row of spinning units A contributes to fast initialization
of the service robot 4 on the machine, or, to put it more specifically, relative to
the row of spinning units A. Naturally, with a plurality of spinning units A arranged
next to each other, the number of intermediate drives D and, if necessary, the number
of parking positions 8 of the service robot is also adequately increased.
Reference numbers
[0048]
- 1
- Spinning spindle
- 2
- False spindle
- 3
- Running rail of the service robot
- 30
- Vertical surface of the running rail of the service robot
- 4
- Service robot
- 5
- Ring bench
- 6
- Stop
- 7
- Opening
- 8
- Parking position of the service robot
- 9
- Spindle bench
- A
- Spinning unit
- A1
- First sensor
- A2
- Second sensor
- B
- Main drive
- C
- End-piece
- D
- Intermediate drive
- E
- Direction of the service robot 4 movement
- F
- Vertical direction of ring bench 5
- G
- Bearing body
- H
- Reference element
1. A method of operating a service robot of a ring spinning machine,
• wherein the service robot is displaceable along a row of spinning units (A) of a
spinning machine, each spinning unit (A) comprising a spindle (1), wherein the service
robot (4) can be stopped at a specific spinning unit (A) in order to perform a service
operation at the spinning unit (A);
characterized in that it comprises the following steps:
• displacing the service robot (4) initially along the row of spinning units (A) in
order to detect a reference position; and
• during the displacement of the service robot (4) detecting by means of an eddy current
sensor (A1) at least one reference element (H) located between both ends of the row
of spinning units (A), wherein the reference element (H) indicates a reference position;
and
• using the reference position during the operation of the service robot (4) to position
the service robot before a specific spinning unit (A) of the row of the spinning units
(A) in case of need of a service operation at the particular spinning unit (A).
2. The method according to claim 1, characterized in that the service robot (4) detects a spindle (1) by means of an eddy current sensor (A1)
as a reference element (H) between both ends of the row of spinning units (A).
3. The method according to any of claims 1 or 2, characterized in that the service robot counts the spindles (1) from the defined position to its position
before the spinning unit (A) to perform a service operation.
4. The method according to any of claims 1 to 3, characterized in that the reference element (H) is arranged in a position in which its distance (b) from
the nearest spinning spindle (1) both on the right and on the left is identical and,
at the same time, this distance (b) is greater than the distance (a) between two adjacent
spinning spindles (1), whereby the spinning spindles (1) and the reference element
(H) are detected during the initial displacement of the service robot (4), and the
reference element (H) is detected according to differences in the time intervals and/or
the distances between two adjacent spinning spindles (1) and between said nearest
spinning spindle (1) and the reference element (H).
5. The method according to any of claims 1 to 4, characterized in that the reference element (H) is detected at an intermediate drive (D) of the spinning
machine.
6. The method according to any of claims 1 to 5, characterized in that if the service robot (4) before detecting the reference element (H) arrives at the
end of the row of spinning units (A) of the spinning machine, the service robot (4)
changes direction and continues in detecting the reference element (H).
7. The method according to any of claims 1 to 6, characterized in that the method is performed before starting the operation of the service robot (4) such
as after switching it on or after a power cut.
8. A ring spinning machine for performing the method according to any of claims 1 to
7, comprising:
• a row of spinning units (A) arranged next to each other, each spinning unit (A)
comprising a spindle (1),
• a service robot (4) which is displaceable along the row of spinning units (A) with
an option of stopping at a selected spinning unit (A) in order to perform a service
operation at the spinning unit (A); whereby
• the service robot (4) is provided with a sensor (A1) for sensing the position of
the service robot (4) along the row of spinning units (A),
• at least one reference element (H) is arranged between both ends of the row of spinning
units (A) as a reference position of the service robot (4) along the row of spinning
units (A), wherein the reference position is used during operation of the service
robot (4) for positioning the service robot (4) before a specific spinning unit (A)
of the row of spinning units (A) in need of a service operation; and
• a controller adapted to displace the service robot (4) initially along the row of
spinning units (A) in order to detect the defined position.
9. The ring spinning machine according to claim 8, characterized in that the service robot (4) comprises an eddy current sensor (A1) as a sensor and the reference
element (H) is by its outer geometrical configuration identical or close to the outer
geometrical configuration of the detected part of the spinning spindles (1).
10. The ring spinning machine according to claim 8 or 9, characterized in that the reference element (H) is arranged in a position in which its distance (b) from
the nearest spinning spindle (1) both on the right and on the left is identical and,
at the same time, this distance (b) is greater than the distance (a) between two adjacent
spinning spindles (1).
11. The ring spinning machine according to claim 8 to 10, characterized in that the sensor (A1) of the position of the service robot (4) is associated with the area
below the lower surface of a spindle bench (9).
12. The ring spinning machine according to any of claims 8 to 11, characterized in that the reference element (H) is made of the same or approximately the same material
as the detected part of the spinning spindles (1).
13. The ring spinning machine according to any of claims 8 to 12, characterized in that the reference element (H) is situated with respect to the longitudinal axis of the
ring spinning machine and the height of the ring spinning machine in the same position
as is situated the part of the spinning spindles (1) being sensed.
14. The ring spinning machine according to any of claims 8 to 13, characterized in that the service robot (4) is further provided with a sensor (A2) for detecting the end
of the row of spinning units (A).
15. The ring spinning machine according to any of the claims 8 to 14, characterized in that the reference element (H) is arranged on the structure of the intermediate drive
(D) arranged between both ends of the row of spinning units (A), where a parking area
of the service robot (4) is situated.
16. The ring spinning machine according to any of claims 8 to 15, characterized in that the service robot (4) and the control device are interconnected by a communication
line for transmitting information about the numbers of the spinning units (A), the
total number of the spinning units on the machine, the location of the auxiliary drive
(D) with the reference element (H) in the service robot (4), whereby the service robot
(4) is provided with means for storing and processing this information.