EP0509074A1 - Automation of the creel feed of a spinning or twisting machine - Google Patents

Abstract

Method and device for changing the bobbins in the creel of a double-sided textile machine, according to which all the necessary movements are carried out in the longitudinal direction of the machine by a mobile bobbin changing device.

Description

 Automation of the gate loading for spinning or tin machines

The invention relates to the automation of gate feeding for spinning machines or twisting machines which require a template in the form of a bobbin, and the handling of roving bobbins. The invention is particularly designed for ring spinning machines, of which the individual spinning stations are fed by roving bobbins In order to avoid complicated formulations, the description focuses on ring spinning machines with a roving template as an example, but the invention is not restricted to this type of machine or template. A twisting machine, for example, requires a yarn spool as a template In accordance with the claims, the restriction to a roving as feed material is accordingly dispensed with.

Overview of the overall problem

A ring spinning machine works as the last link in a chain of processing machines that transform disordered fiber material into a yarn. The spinning machine is accordingly restricted by the capabilities of the machines supplying it, in particular the flyers (roving machines) preceding it. Of course, this also applies to a transport system that connects the two machine types.

The technology of ring spinning has been put into practice and developed further for more than a century and today its basic features are largely standardized. In order to ensure the efficiency of the process and competitiveness, there is an urge to make optimal use of the space available in the spinning room. No single spinning position of a ring spinning machine can therefore be regarded as an island. The spinning positions of the individual Machines are lined up as closely as possible. The machine has a "double-sided" design, ie the spinning positions are arranged in two rows, each on one machine side. The machines themselves are crowded together in the spinning room. The remaining space for automatic transport systems and coil handling robots is therefore limited and can hardly be increased without endangering the competitiveness of the process itself (ie the economy of the overall solution).

The roving bobbins are each formed on a sleeve (as a supporting element) and are vertically suspended from the individual spigot in order to feed a respective spinning position in the so-called creel. In order to make optimal use of the space in the gate, coils with a diameter larger than the spindle pitch are used. The bobbins for approximately one row of spinning stations must therefore be arranged in at least two rows above the spinning stations. The roving is pulled off to the side and then runs downwards via guide elements into the drafting system of the spinning station.

The overall task of automating gate loading can therefore be divided into the following sub-aspects:

1. bringing new (full) coils to the gate,

2. replacement of the new (full) spools with the old (empty or almost empty) spools in the work stations of the gate,

3. Returning the old bobbins to the pre-spinning machines when the residual material is disposed of, if not all the original material has been removed from the sleeve during the exchange

4. Resumption of spinning at the relevant spinning station if the feed process for this spinning station has been interrupted during the exchange process. The advantages and disadvantages of a partial solution essentially depend on the extent to which this partial solution enables or impairs the other partial solutions necessary for the overall solution.

State of the art

A first attempt at automated gate loading is contained in DOS-1969002. This DOS concentrates, but on a transport system for bringing flyer spools to the ring spinning machine and is otherwise limited to indications regarding "automatic devices" which have neither been described nor shown.

A partial solution consists in simultaneously clearing and reloading a whole row or even a whole "machine side" by "longitudinally extending" or "longitudinally retracting". Such proposals can be found in US-3828682, US-3935821 and DOS-3709540 (US-4827709), with a row of spare parts being provided in DOS-3709540, so that spinning can be continued without interruption. However, these solutions do not include any suggestions for the automatic operation of the newly introduced coils, i.e. they mainly focus on the transport task. The question of further expansion to a fully automated system remains open with such partial solutions.

Concrete ideas for an overall solution are contained in DD-57523. The new coils are brought in by means of a conveyor belt. A bobbin exchange device works with the conveyor belt and with the machine gate to carry out the bobbin exchange. The new roving is to be connected by nitscheln to the old roving which still enters the spinning position (roving attachment method), so that there is no interruption in spinning during the ideal process. The disposal of the roving residues on the old tubes is also provided. Accordingly, the overall process is consistently well thought out and all are necessary Steps have been shown. The devices that have been proposed for carrying out the individual steps are, however, first indicated purely schematically and secondly very complicated and expensive. ^' It seems unlikely that such a device has been put into practice.

A substantially similar system is included in DOS-3208677 '(US-4438622). The main difference is that according to DOS-3208677 the new roving should not be attached to the old roving. The description in DOS-3208677 is at least incomplete in that it stops inserting the new fuse into a funnel upstream of the spinning station. How this will put the spinning station into operation is neither described nor indicated in DOS 3208677.

The individual steps for replacing the bobbins and reinserting the roving up to the mentioned funnel are all listed in DOS-3208677. The devices necessary for this are indicated purely schematically, however, and it seems again doubtful that a device according to this pattern has been used in practice. In any case, it is clear from this DOS that the operation of the rear (inner) coil row in the gate is extremely delicate.

A completely different type of solution can be found in a group of Japanese publications, namely 48-3333, 48-3334, 48-22848 and 49-143520. The approach of the new coils to the gate is not shown here. The new coils have been drawn in a shelf above the gate. JP-48-3333 shows a device which takes the new coils in pairs from this storage and inserts them into the gate (presumably after the empty sleeves have been removed from the gate). The subsequent roving handling is shown in JP-48-3334, while the subsequent commissioning of the relevant spinning positions has been dealt with in JP-48-22848 and / or JP-49-14520. It remains unclear in connection with this system how the new bobbins in the storage too are stacked and how the roving introduced into the funnel of the spinning station begins to run through the drafting system. The idea of simultaneous treatment of the inner and outer rows of coils formed the basis for further developments, which can be found in DOS-3537727 and EP-259267 (US-4841720).

Parallel to the developments in direct connection with the machine creel, the transport systems between the prespinning machine and the ring spinning machine were developed, in the form of a monorail. The transfer of the flyer spools to such a web has been shown in DAS-1510593 and further developments of this system can be found in JP-51-38814, JP-50-76341, US-3935699 and JP-51-23332. The system comprises trolley trains, each trolley being provided with pins so that the roving bobbins hang from the pins of the trolley like from the pins of a gate.

The transfer of flyer spools from such a trolley directly into the gate was then shown in JP-58-81631 and JP-63-31565. However, this repositioning takes place in an overall system according to EP-213962, according to which the inner and outer coil rows of the gate are periodically exchanged and the repositioning of the new coils takes place only in the outer coil row. This requires a complicated and complex gate construction, which includes an additional robot. Various possibilities for exchanging coils between a trolley train and a gate (without requiring an exchange method within the gate) have then been shown in the previously mentioned DOS-3537727 and EP-259267, as well as in DOS-3734275. The various proposals include two sets of gripping elements (one set for the new spools and one set for the empty sleeves), empty spaces in the trolley train (EP-259267) and intermediate stores (EP-259267 and DOS-3734275). According to DOS-3911765, a buffer can then be designed as a sliver preparation station, so that the sliver is prepared for further processing. A further thrust has been shown in our own Swiss patent application No. 4127/89. In this case, the creel is provided with an empty tube transport path extending in the longitudinal direction of the machine, and the full bobbins are gradually moved inwards from an external reserve position when they supply their roving material to the spinning stations. This arrangement requires a corresponding gate construction, which practically excludes their use in existing machines. For an overall solution (incl. Sliver handling and any new start-up of the spinning station), this arrangement causes some complications, which are solvable but require additional effort.

Summary of the Prior Art / Object of the Invention

The study of the aforementioned publications will show that a key problem is the operation of the inner row of coils. In summary, the following four known solutions to this problem can be identified:

1. Reach into the inner row when driving under the outer row (e.g. DD-57523, DOS-3208677 and DOS-3734275).

2. Exchange the inner and outer rows so that only the outer row is served uss (EP-213962).

3t. The inner and outer rows of coils serve simultaneously (e.g. JP-48-3333, DOS-3537727 and US-4841720).

4. Lay the bobbins in a given direction (from the outside inwards) when supplying the spinning stations so that the main operating work can be carried out at one end of the movement path (CH-4127/89).

It is the object of this invention to provide a simpler solution for the operation of the inner coil row, which than Can serve as the basis for a practical overall solution to the above-mentioned problems of gate loading.

CH application no. 412789 describes a handling device for roving bobbins on a creel of a fine spinning machine, the creel having an inner and an outer roving bobbin work station longitudinal row on each side of the machine center plane and means for introducing roving bobbins into the creel, means for conveying the roving bobbins in the direction of the machine center plane, means for detecting a sliver end of a roving bobbin at a reference point in the creel and means for guiding the sliver end to a drafting device. The means for detecting the end of the match contains a suction tube with a sensor arranged therein, which responds to the presence of a fuse, which suction tube is attached to the end of a movable holder arm, such that the suction tube can be moved on all sides. The latter means also contains a means of rotation for rotating the roving bobbin to bring the sliver end towards the suction tube. This application therefore suggests leading the suction tube to the surface of the roving bobbin. This proposal, which is reasonable per se, requires two reference points, one for a roving spool in the outer longitudinal row and one for a roving spool in the inner longitudinal row. As a result, the sliver detection means is considerably complicated and complex to set up. Apart from this, it is doubtful whether the search and detection of the sliver end of a roving bobbin of the inner longitudinal row can be carried out at all because of the narrow space conditions in the creel. The handling device according to the above-mentioned application still has the following negative aspect. The roving bobbins are conveyed with running fuses to the machine center plane. These fuses are guided around a deflection rod provided with grooves and arranged in the area of the machine center plane. When a roving bobbin is displaced, a sliver loop inevitably arises, which can have dangerous consequences because of the risk of entanglement. In addition, leading around is one Fuse around this deflecting rod laborious for an operator and complicated for an operating device.

The invention

The invention provides a method for winding exchange in the gate of a double-sided textile machine before each work site array of the machine (for example, every Spinnεtellen _r row of a ring spinning machine) at least one inner and associated with an outer template coil row, characterized denotes ge that by the removal of a supply bobbin the outer row has access to the next inner row for operating this row.

The invention further provides a device for executing the aforementioned method, characterized in that the device is designed to operate the inner supply spool row after removing at least one spool from the outer row.

Each row of workstations of the machine is preferably assigned only the aforementioned inner and outer supply spool rows (i.e. there are no spare rows).

A coil of the inner row can be held for treatment in a treatment position in or near the device. Preferably only one treatment position is provided per pair of coils, a pair of coils comprising a coil of the inner row and a coil of the outer row. All four bobbins of a given bobbin changing operation (i.e. the two old and the two new bobbins) must pass through this single treatment position.

The invention is applicable both in a system according to which a new roving is made with a roving still running, and in a system according to which the new roving has to be re-threaded into the appropriate spinning position. A device according to this invention can be equipped with its own (backpack) magazine for new and old coils. However, it can be provided for cooperation with a traveling coil transport device or for cooperation with a pre-positioned coil transport device. Thereby voids can in the magazine or device in Transport¬ be provided and / or the device may be provided with a buffer and / or it may _be provided from coil grippers for the old reel, a set of coil grippers for the new coil and a set. The coil-gripping elements can be provided with pins or with gripper jaws. The necessary movements of the various coils between the magazine or transport device and the gate can be carried out by repositioning and / or by moving the coils along a guide.

In a preferred arrangement, all required relative movements are accomplished by moving the device or moving elements mounted on the device relative to a stationary transport device (and a stationary gate).

Residual material from the old coils can be disposed of on the device or on the transport device or in a suitable location in the overall system.

Individual embodiments of the invention will now be explained in more detail as examples with reference to the drawings.

It shows:

1 shows a schematic cross section through a ring spinning machine according to this invention,

FIG. 2 shows a floor plan of six adjacent supply reel points in the gate of a machine according to FIG. 1, to explain the preferred arrangement according to this finding, and

Fig. 3,

Figures 4 and 5 are similar floor plans of alternative arrangements also made according to this invention.

6 schematically shows a mechanism for executing movements required for a spool change operation according to the preferred embodiment,

7 shows a pair of trunnions opposite coils or sleeves in the gate and on a trolley,

8 shows the same arrangement as FIG. 7, but with additional arrows to indicate movements,

9 and 10 show the elements of FIGS. 7 and 8 in a different state,

11 contains a total of twenty-two individual state diagrams which together represent an alternate operation in an execution with an intermediate memory,

FIG. 12 contains a total of fourteen individual state diagrams which represent a simpler, preferred alternating operation (certain intermediate steps not being shown in FIG. 12),

13 shows a side view of a preferred solution for carrying out the “lifting cycle”, which is explained in connection with FIGS. 6 and 7,

14 shows a schematic side view of a device for sliver handling,

15 shows a schematic layout of a system which Robot according to this invention comprises

16 shows a schematic illustration of a gate section which is intended to explain a suitable '^ change strategy',

17 shows six diagrams for explaining this change strategy,

18 shows a partial cross section through a fine spinning machine and an operating device,

19 shows a top view according to FIG. 18 without operating device and with a sliver guide of a first and a second embodiment on a somewhat smaller scale,

20 is a perspective, enlarged view of the sliver guide according to the first embodiment,

21 is a perspective, enlarged view of the match guide according to a second embodiment and

22 shows a partial top view of the operating device according to FIG. 18.

1 comprises a double-sided frame 10 with two rows of spinning positions 12 and 14, respectively, which are directed in opposite directions from a central plane ME of the machine. In a modern machine, each such row of spinning stations 12, 14 contains between 500 and 600 closely spaced spinning stations. Each spinning station comprises a drafting unit 16, thread guide elements 18 and a bobbin-forming unit 20. The unit 20 contains individual working elements such as, for example, a spindle, ring and rotor, which, however, do not play a role in this invention and are not shown individually. These elements are known to the person skilled in the art and can be seen, for example, from EP-A-382943. For each row of spinning positions 12 or 14, a doffing machine 22, 24 is provided, which serves all spinning positions of the row of spinning positions assigned to it at the same time. This automat is also not described in more detail here, details of which can be found from EP-A-303877.

Each row of spinning stations 12 and 14 is also assigned to at least one operating device 26 and 28, which can be moved along the respective row and can perform operating operations at the individual spinning stations. Details of such an operating device are e.g. ent ent from EP-A-388938.

The frame 10 carries a gate 30 which is formed from vertical bars 32 and cross members 34. Rails 36 are mounted on the outer ends of the cross members 34 and extend in the longitudinal direction of the machine. Each rail 36 serves as a guideway for a trolley train 38 which leads new coils 40 to the gate 30. Details of such a trolley train can be found in CH-3779/89.

The gate 30 also includes carriers 42 for supply spools 44, 46, which supply the individual spinning stations with roving. The supports 42 are drawn as transverse rails, but this arrangement is of no importance for this invention. In the example according to FIG. 1, the supply bobbins for each row of spinning positions 12 and 14 are arranged in two rows, namely in an inner row 44 in the vicinity of the central plane ME and an outer row 46 which removes from the central plane ME is. For each row of spinning positions 12 and 14, a bobbin of the inner row 44 and an adjacent bobbin of the outer row 46 form a pair of feed bobbins, which supplies a respective pair of adjacent spinning positions with roving. The portion of a gate, which contains an original pair of ^coils' may be referred to as "gate position"^".

The cross members 34 also carry a rail arrangement 48 or 50 on each machine side, which acts as a guideway for a respective mobile robot 52 or 54 is used. The robot 52 or 54 therefore runs between the outer supply spool row 46 and the new spools 40 carried by the trolley train 38 and above the respective operating device 26 or 28. The robot 52 is designed to operate the two feed spool rows of the gate , as should be explained in more detail below with the aid of the diagrams in FIGS. 2 to 5.

FIG. 2 again shows the center plane ME of the machine according to FIG. 1 together with supply coils 56, 58, 60, the inner row of coils 44 and supply coils 62, 64, the outer row of supply coils 46. Part of the robot 52 is also schematic has been hinted at. The supply coils 56, 62 form a first pair of coils and the supply coils 60, 64 form a second pair of coils. In normal operation, a further coil 66 of the outer row 46 is assigned to the coil 58 in order to form a third pair of supply coils. In the state of FIG. 2, this coil 66 has been removed from the gate 30 by the robot 52 to form a "lane" 70 between the coils 62 and 64 of the outer row 46. This lane 70 enables access to the coil 48 (or the corresponding suspension parts of the gate) of the inner row 44, which considerably simplifies the operation of this coil 48 of the inner row.

It is now assumed that the "bobbins" 58 and 66 only consist of empty tubes because they have delivered all of their roving to their respective spinning positions. The empty sleeve 66 can be hung on a spigot of the trolley train 38, after which the empty sleeve 58 can be removed from the gate 30 and hung on the trolley train. A full spool 40 (FIG. 1) can now be removed from the trolley train 38 and, after a suitable treatment (which should be described in more detail below), can be introduced through the alley 70 into the work station of the inner row 44. After the work of the inner row 44 has been fully served (including, for example, attaching the new roving with the old roving or When the new roving is threaded into the drafting unit 16 of the applicable spinning station), a further bobbin 40 can be removed from the trolley train 38 and inserted into the appropriate work station of the outer row 46. Examples of the various operating operations are described in more detail below for the sake of completeness. For now, however, alternative arrangements according to FIGS. 3, 4 and 5 will be described to explain the inventive principle.

In the arrangement according to FIG. 2, the alley 70 forms approximately a right angle together with the central plane MA. FIG. 3 shows that this is not absolutely necessary, where the elements of FIG. 2 are shown again and are indicated with similar reference numerals. Since the coils 62, 64 and 66 of the outer row 64 are unchanged from FIG. 2, they have the same reference numerals. In Fig. 3, however, it is assumed that the second coil 58A of the third pair of coils still has a lot of original material, while the coils 56A and 60A of the first and second pairs of coils are exhausted, i.e. have delivered their roving material entirely to their respective spinning positions. In this case, the "alley" 72 extends diagonally between the coils 62, 58A (or diagonally between the coils 64, 58A). The arrangement according to FIG. 2 is preferred, but where the space is suitable, the arrangement according to FIG. 3 is also possible.

FIGS. 2 and 3 each show an arrangement according to which the alley 70 or 72 has a width which corresponds approximately to the diameter of a full spool. 4, however, shows an arrangement according to which a "wide alley" with a width of three coil diameters, which further facilitates the operation of the suspension parts of the inner row. This additional relief, which, however, has to be bought with certain difficulties in the overall process and ^" will normally not be worthwhile in comparison with the preferred arrangement according to Fig. 2. The additional difficulties mentioned become apparent from the following description of the individual operating operations. Finally, FIG. 5 shows that a "long lane" up to the innermost supply reel row is also possible. Of course, this requires the corresponding longer operating elements on the robot 52 and can in particular cause problems in connection with the operation of roving guide elements for the roving of the innermost row. The arrangement is possible in principle and the difficulties mentioned can be solved with somewhat more complex constructions.

For the sake of simplicity, it has been assumed in the previous description that the used-up coils (in FIG. 2, the coils 58, 66) are removed individually (sequentially) from the gate. However, if it can be guaranteed with certainty that no residual material remains on these coils when changing the bobbin, it is not necessary to remove the bobbins of a pair one after the other from the gate. They can be removed from the gate together at the same time. However, this does not apply to the reintroduction of the full bobbins. When a coil is newly introduced, it is necessary to at least certain ones. To carry out sliver handling operations, so that the presence of the alley for the operation of the inner (innermost) coil row is essential for the new introduction and requires the sequential new introductions of the new coils.

Individual aspects will now be explained in more detail:

In a first section the spool change sequence is dealt with, in a second section the sliver end handling and in a third section the overall process including the necessary control of the system.

Spool change sequence

In the following description it is assumed that the new spools are to be introduced into the gate directly from a transport device in the form of a trolley and the used spools are to be transferred directly from the gate to the trolley, ie the automatic spool changing device does not have its own Magazine and no reloading from a transport trolley into such a magazine is necessary. The latter variant is not excluded from the protection area. However, the variants to be described below represent the simpler preferred solutions.

To automate the spool change, two subtasks have to be solved, namely:

1. Elements are to be provided which reliably achieve the required movements, and

2. During the whole process, the locations of all coils involved in this change process (both the used ones and the new ones to be introduced) must be clearly defined at all times. This means that when changing bobbins in connection with a double-row gate, a total of four bobbins each have to find an operable space in the gate or on the automatic device or on the trolley.

The movements required depend in part on the shape of the coil-engaging elements provided. In this description it is assumed that the coils are "to be repositioned" so that they are carried by the gripping elements of the automatic device during a movement. At the beginning of such a movement, the gripper must take over the spool from a predetermined hanging spigot and at the end of the movement transfer the spool to another predetermined hanging spigot. Such a system differs from a system according to, for example, DE-OS-3817910, according to which a coil is constantly carried by an adapter of its own, the adapter being suitable for cooperation with a guide present in the gate. In such a system, the automatic device only has to cause the adapter to move along the applicable guide without having to carry the coil or adapter. Such a system can also be used of this invention, but no concrete examples are shown here.

It is also assumed that the gripper element is provided in the form of a pin (support pin) which engages into the sleeve from below. The considerations are of course exactly the same for a gripper enclosing the sleeve base, e.g. according to DE-OS 3305991.

The movements required for a preferred two-row gate arrangement according to FIG. 2 will now be described. In such a system, it must be possible to perform movements in three directions, namely:

back and forth in a direction transverse to the longitudinal axis of the machine,

back and forth,

in the longitudinal direction of the machine

6 shows a simple example of a device for carrying out the first and second movement stops. The device comprises a carrier section 100 with a sliding track 102. An elongated slide 103 runs in this track 102, which, by means of a suitable drive (not shown, for example a linear motor), extends between an extended position (extended in the direction of the central plane of the machine). and a retracted position is movable. The slider itself has a guideway 101 for a carriage 104, which is provided with a perpendicular pin 106. The carriage 104 has a through-bore 108 which extends in the longitudinal direction of the slide 103 and which is provided with a threaded nut 110. The threaded nut 110 cooperates with a threaded spindle 112, .the (not ge shows) in a respective bearing block ^"on the slider 103 is supported at both ends in such a way that the threaded spindle own to the Longitudinal axis is rotatable but secured against movement in its own longitudinal direction.

The threaded spindle 112 is connected to the drive shaft of a drive motor (not shown) by a suitable transmission (e.g. a toothed belt, not shown), this motor being carried by the slide 103. The motor is reversible, so that depending on the direction of rotation of the motor shaft, the carriage 104 is moved along the path 101 via the threaded spindle 112 in the direction A or B.

With this arrangement, the pin 106 can be brought into four positions, namely:

(1) slider 103 retracted / carriage 104 retracted;

(2) slider 103 retracted / carriage 104 extended;

(3) slider 103 extended / carriage 104 retracted;

(4) Slide 103 extended / slide 104 extended.

The carrier section 100 is mounted in the automatic device such that the directions A and B are transverse to the longitudinal direction of the machine. The width of the slide 103 is such. selects / that, with suitable positioning of the automatic device, the slide 103 can be moved back and forth along an aisle 70 (FIG. 2) without touching the full bobbins shown here.

The carrier section 100 has three vertical through-holes 114, 116 and 118, one of which is aligned with the axis 114 of a threaded nut 120 fixedly mounted on the carrier section 100. The threaded nut 120 works together with a vertical threaded spindle 122, which is rotatably mounted in the chassis (not shown) of the automatic device about its own longitudinal axis. The threaded spindle 122 is connected at one end (not shown) to the rotor of a reversible drive motor (not shown), so that the rotation of this rotor brings about an up and down movement of the carrier part 100 along the threaded spindle 122. Bores 116, 118 cooperate with guide rods 124, which are mounted in the named chassis and prevent the edge of the carrier part 100 from moving.

In a first variant, which is to be described in connection with FIGS. 7 to 11, the bobbin changing device has an intermediate memory 130 (FIG. 7). The intermediate store comprises a rod 132 with three hanging pins 134, 136, 138. The rod 132 extends in the longitudinal direction of the machine, in the space left between the trolley 38 and the gate, which in this case has an inner longitudinal member 142 and an outer one Side member 144 is provided. Each longitudinal member 142, 144 carries hanging pins 146 for the work coils in the gate. The hanging pins 146 in the gate, the hanging pins 134, 136, 138 in the intermediate store and the hanging pins 152 on the pin support 143 of the trolley 38 are arranged at the same height.

Only two hanging pins 146 with empty sleeves 147, 148 are shown in FIG. 7, these two sleeves forming a “pair of coils” which is to be replaced. The gate naturally comprises a larger number of such pins 146 and further coils (some of them full), but these have been omitted in FIG. 7 for the sake of clarity. The full bobbins carried by the trolley 38 and to be introduced into the gate are indicated by 140 and 141, respectively.

The carriage 104 (FIG. 6) with its pin 106 is shown again in FIG. 7. The carriage 104 is movable on the carrier section 100 (FIG. 6; in FIG. 7, not shown) between a retracted position shown in FIG. 7 and a fully extended position, not shown. In the retracted position and with suitable positioning of the support section 100 along the threaded spindle 122 (FIG. 6) ", the pin 106 (as shown in FIG. 7) is located directly below the foot 150 of a spool 140 on the trolley 38 the fully extended position (with the same positioning of the carrier section 100 the Along the threaded spindle 122), the pin 106 is just below the foot 150 of the sleeve 148 on the inner support 142. In between, the pin 106 can be positioned directly below the foot 150 of the sleeve 147 on the outer longitudinal support 144.

The overall order of course presupposes that the trolley 38 is positioned opposite the gate such that a full spool 140 is aligned on the trolley 38 with a pair of spools to be exchanged. This requires suitable means to position the mobile trolley in relation to the gate. We will come back to this requirement in connection with another preferred variant. For the time being, however, it is assumed that the appropriate positioning according to FIG. 7 has been achieved.

The bobbin changer in this case comprises a second pin 105 which is also guided by a suitable slide (not shown) in a sliding track (not shown) for movements in directions parallel to the directions of movement of the slide 104. However, the movements of the second pin 105 are restricted in such a way that it can only move between the trolley 38 and the intermediate storage ^* 130. The arrangement is such that when the pin 106 is in its retracted position below the spool 140 on the trolley 38, the pin 152 is directly below the foot 150 of the adjacent spool 141 on the trolley.

The rod 132 with its three hanging pins is movably mounted on the bobbin changing device in such a way that it can be moved in a controlled manner in the longitudinal direction of the machine when the running gear of the device is stationary. The required movements of the buffer are now described first in connection with FIGS. 8 to 10 and then in connection with the flow diagrams of FIG. 11. FIGS. 8 to 11 show the same elements in connection with FIG. 7 was explained, so that the same reference numerals for the same parts in Figures 7 to 11 occur.

The arrangement in FIG. 8 is actually identical to the arrangement in FIG. 7. However, FIG. 8 is provided with arrows to explain movements of the parts shown. The arrangement shown in FIG. 8 corresponds to a starting or starting position, which will essentially be clear from the description of FIG. 7. From this starting position, the pins ("support pins") 106, 105 are initially moved directly upwards and then downwards again (according to the double arrow C) ("stroke cycle C"). In the course of the upward movements of the pins 106, 105, the two coils 140, 141, which are aligned with these pins, are slightly raised. The hanging pins 152 on the trolley 38 (as well as the hanging pins 134, 136, 138 in the intermediate store and the hanging pins 146 in the gate) are structurally identical in such a way that each pin releases this coil when a coil carried by it is lifted. At the end of the up and down movement C, the two raised coils 140, 141 are therefore perpendicular to the support pins 106 and 105, respectively.

By moving the pins 106, 105 in the direction D, these two coils 140, 141 are aligned with the pins 136 and 138 of the intermediate store. By repeating the up and down movement C in this new position, the two new coils 140, 141 to be introduced are suspended on the pins 136, 138. The rod 132 is then moved in the direction E until it reaches the position shown in FIG. 9. In this position, the hinge pin 134 of the rod 132 is aligned with the pair of pins 146 in the gate.

The pin 106 of the bobbin changing device is then moved in such a way that it first pulls the empty sleeve 147 on the outer side member 144 (FIG. 7) down from its pin 146 and then moves this sleeve with it by moving in the direction F. the pin 134 directed on the rod 132. By repeating the stroke cycle C (FIG. 8) in this position the sleeve 147 removed from the gate is suspended on the pin 134 (FIG. 9). The rod 132 is then moved in the direction of the arrow G until it is in the position shown in FIG. 10.

The pin 106 is now moved to its fully extended position so that it is directly below the empty sleeve 148 on the inner side member 142 in the gate (FIG. 10). At the same time, the pin 105 is moved in order to align it with the empty sleeve 147 in the buffer. The two empty sleeves 147, 148 are brought onto their respective trunnions 106, 105 by the lifting cycle C (FIG. 8). There now follow coordinated movements of the pin 105 (in the direction H), the pin 106 (in the direction I) and the rod 132 (in the direction J). At the end of these movements, the two empty sleeves 147, 148 stand directly below the previously released hanging pins 152 on the trolley 38. By repeating the lifting cycle C (FIG. 8), the empty sleeves 147, 148 can be hung on the trolley.

The "basic movements" of all elements have now been explained, so that the state diagrams in FIG. 11 should be clear. These state diagrams show the individual steps that are necessary to carry out an entire change operation from the starting position according to FIG. 7. FIG. 11 contains a total of 22 state diagrams, which are designated in sequence with the Roman numerals I-XXII. Each state diagram shows schematically the inner row of coils P2 on one machine side, the outer row of coils P1 on the same machine side and a row T of new coils on a trolley (not shown) which has been positioned opposite the machine creel. Each diagram also shows a coil changing robot 52 (see also FIG. 1) with the intermediate memory 130. The coil pair 147, 148 (FIGS. 7 to 10) has been shown again and is intended to be replaced by the coil pair 140, 141, which in the state according to FIG. 1) is still on the trolley, be replaced. Fig. 11 (1) corresponds to the start position (Figs. 7 and 8). In Fig. 11 (11) no change compared to Fig. 11 (1) is visible, but the coils 140, 141 are now on the trunnion 106, 105 (Fig. 7) and are no longer carried by the trolley.

In Fig. 11 (111) the pair of coils 140, 141 is below the pins 136, 138 of the intermediate store and in Fig. 11 (IV) the pair of coils has been delivered to the pins 136, 138.

In FIG. 11 (V) the intermediate store 130 has been shifted to the left so far (FIG. 9) that the pin 134 (FIG. 9) of the intermediate store is aligned with the pair of pins 146 in the gate. The pin 106 is below the empty sleeve 147 in the outer row Pl.

In Fig. 11 (VI) the sleeve 147 is taken over by the support pin 106 and in Fig. 11 (VII) the sleeve 147 removed from the gate is below the pin 134 (Fig. 9) of the intermediate store.

In Fig. 11 (VIII) the sleeve 147 removed from the gate is delivered to the pin 134.

In Fig. 11 (IX), the buffer 130 has been moved back to an intermediate location while the pin 106 with the empty sleeve 148 in the inner row P2 and the pin 105 with the empty sleeve 147 in the buffer are aligned.

In Fig. 11 (X) the two empty sleeves 147, 148 are taken over by the support pins 106, 105.

The coordinated movements already mentioned then follow, so that the state according to FIG. 11 (XI) is reached, where the intermediate storage is shifted completely to the left again, while the pair of sleeves 147, 148 below the pins 152 (FIG. 10) of the trolley stand. In Fig. 11 (XII) the empty sleeves 147, 148 have been delivered to the Troley pin 152.

In FIG. 11 (XIII), the intermediate storage 130 has been moved back into the intermediate location and the pin 106 is located below the coil 141, which hangs from the pin 136 (FIG. 10) in the intermediate storage.

In Fig. 11 (XIV) the latter coil 141 has been taken over by the trunnion 106.

In FIG. 11 (XV), the intermediate storage 130 has been moved back into the starting position, while the pin 106 with the new coil 141 is below the hanging pin 146 (FIG. 10) of the inner row P2.

In Fig. 11 (XVI) the full spool 141 has been delivered to the latter hinge pin 146.

In Fig. 11 (XVII) the pin 106 is below the coil 140, which hangs from the pin 138 of the buffer, and in Fig. 11 (XVIII) this coil has been taken over by the support pin 106.

In Fig. 11 (XIX) the new spool 140 is now underneath the hanging pin 146 (Fig. 9) of the outer row P1 and in Fig. 11 (XX) this new spool 140 has been delivered to the latter hanging spigot.

The change process as such is now over. Before the bobbin changer can be moved to the next gate position, the pins 106, 105 must be moved back to the starting position - Fig. 11 (XXI), after which the positioning can be carried out at the next gate position to be operated. 11 (XXII) shows that this next gate position to be operated is not directly adjacent to the new work coil pair 140, 141. Instead, every second gate position (pair of work coils) is operated. This approach is not absolutely necessary. It is dealt with in more detail in the third section (overall procedure) of this description.

The more complicated variant with a buffer has now been explained in detail, and a relatively brief description of the simpler, preferred variant according to FIG. 12 should suffice for understanding. FIG. 12 again shows a series of state diagrams which (like the diagrams in FIG. 11) are designated in sequence by Roman numerals I-XIV. 13 again shows the pin 106, slide 104 and slide 103, together with the trolley 38, the coil 140 and the empty sleeve pair 147, 148 in the gate. The slider 103 now runs on a lifting platform 100A, which is carried in the chassis (not shown) of the robot via pivoting lever 170. The lift 100A can be moved up and down via an eccentric drive 172 in order to carry out the “lifting cycle C” (see also FIG. 8). Before the diagrams of FIG. 12 are described individually, certain aspects of the overall arrangement should be noted.

In connection with FIG. 7 it was said that when using an intermediate store it is necessary to align four hanging pins (within given tolerances) on one line (for example in FIG. 7 the pin pair 146 in the gate, the pin 138 in the buffer and the pin 152 with the coil 140 on the trolley 38). For this purpose, the system with the intermediate store has the advantage that only the intermediate store (130, FIG. 7) has to move in the longitudinal direction of the machine during a changeover sequence. If a pair of trunnions 105, 106 (FIG. 7) is used for this purpose, a single exchange operation (FIG. 11), with an empty sleeve pair 147, 148 being replaced by full spools 140, 141, can be carried out quickly.

The diagrams in FIG. 12 schematically show a robot 52A, which according to FIG. 13 is provided with a single support pin 106, only the pin 106 being indicated schematically in FIG. 12. Robot 52A does not include one Buffer 130 (FIG. 7) and no second support pin 105 (FIG. 7). It is nevertheless desirable to replace an empty tube pair 147, 148 (FIGS. 7 and 12) in the gate with new coils 140, 141 (FIGS. 7 and 12).

FIG. 12 (like FIG. 11) shows in each diagram the inner coil row P2 in the gate, the outer coil row P1 in the gate and a row of coils T on the trolley. In this case, however, the last-mentioned row contains two empty hanging pins 160, 161, which in the starting position according to FIG. 12 (I) connect to the full bobbins 140, 141 to be exchanged - cf. EP-259267 and DE-OS-3208677 (Fig. 7-25).

For the sake of clarity, it has been assumed in the diagrams according to FIG. 12 that in the starting position an empty pin 160 is aligned with the pair of empty sleeves 147, 148 to be exchanged. This is also the preferred arrangement in practice, but is not absolutely necessary for the sequence. In any case, it is no longer necessary to maintain tight tolerances for the positioning of the trolley train. This advantage is achieved in that all necessary movements in the longitudinal direction of the machine are accomplished by moving the robot 52A in the appropriate direction, as should be described in more detail below. The same effect could of course be achieved in that the coil-contacting elements are mounted on a carrier which is itself movable in the longitudinal direction of the machine in the chassis of the robot. However, provided that the robot has a lightweight construction and is constructed as simply as possible, a movable carrier does not bring any significant advantage.

In the starting position according to FIG. 12 (I), the robot 52A has been positioned in the longitudinal direction of the machine in such a way that its (single) support pin 106 is aligned with the pair of empty sleeves 147, 148 in the gate. By a partial extension of the slide 104 (FIG. 6) and a lifting cycle C (FIG. 8), which are not described again, the Empty sleeve 147 added to the trunnion 106. This intermediate state of the change sequence is shown schematically in Fig. 12 (II). By pulling back the carriage 104 and a further lifting cycle C, the empty sleeve 147 can then be suspended on the empty hanging pin 160 - FIG. 12 (III).

The carriage 104 is now fully extended in order to fetch the empty sleeve 148 of the inner row - FIG. 12 (IV). The carriage 104 is then pulled back so far - FIG. 12 (V) - that the support pin 106 with the empty sleeve 148 is in the "travel space" 162 of the robot.

The robot 52A is now shifted to the right into the position according to FIG. 12 (VI), where the support pin 106 is aligned with the empty hanging pin 161 on the trolley. By a further movement of the slide 104, the pin 106 is first moved below the hanging pin 161, so that the empty sleeve 148 can be suspended on the hanging pin 161 by a lifting cycle C (FIG. 8). This is the state shown in Fig. 12 (VI). The robot 52A is now shifted again to the left beyond the start position into the position according to FIG. 12 (VII).

Through a stroke cycle C and the partial extension of the slide 104, the state according to FIG. 12 (VIII) is then reached, where the full spool 140 stands on the support pin 106 in the travel space 162 of the robot. The robot 52A is then shifted again to the right into the position according to FIG. 12 (IX), where the slide 104 is first extended and then raised and the full coil 140 is thereby suspended in the gate, which corresponds to the actual state according to FIG. 12 (IX ) corresponds. The robot 52A is then returned to the starting position, which corresponds to the state according to FIG. 12 (X), after which a shift to the left and the retraction of the carriage 104 take place, so that the second full spool is obtained by a further stroke cycle C. 141 is removed from the trolley - Fig. 12 (XI). This is followed by the partial extension of the carriage 104 to the to place the full coil 141 in the robot's deck 162 - Fig. 12 (XII).

In the next step, the robot 52A is again shifted to the right into the position according to FIG. 12 (XIII), so that the pin 106 is aligned with the relevant hanging pin pair 146 (FIG. 7) in the gate. A renewed partial extension of the carriage 104 then aligns the support pin 106 together with the coil 140 carried by it with the suspension pin 146 in the outer row P1 of the gate. By a further repetition of the lifting cycle C (FIG. 8), the new coil 140 is then suspended on its hanging pin 146 in the outer row P1, after which the carriage 104 is withdrawn again from the gate and the robot is moved to the next gate position to be operated can be. This corresponds to the state shown in Fig. 12 (XIV).

Without a more detailed description, it will be clear that the duration of such an exchange operation could be reduced by providing a pair of trunnions (instead of a single trunnion 106). Then, for the time being, both empty sleeves 147, 148 would have to be removed from the gate and placed on the respective supporting pins of the robot in the driving space 162. Due to the movement of the robot, the two empty sleeves 147, 148 with the empty hanging pins 160, 161 can then be aligned on the trolley and then hung on these hanging pins. Both new coils 140, 141 can also be taken over simultaneously by the carrying pin of the robot, after which they can be suspended sequentially on their hanging pins in the gate. With regard to the necessary steps of the sliver handling, which is described below, doubling the number of trunnions on the robot brings only limited time advantages, unless ^" each trunnion is assigned its own sliver handling device, which increases the cost of the robot leads.

The invention is of course not limited to a pair of trunnions on the robot. There can be any number such trunnions are provided, in particular, for example, a pair of trunnions for removing empty sleeves from the gate and at least one additional trunnion (pair of pins) for introducing new coils into the gate. In the case of a single additional trunnion, the sliver handling device is assigned to the latter trunnion. In principle, more than one gate position (with one work coil each in the inner and outer row) can be operated. Compared to the simpler variant according to FIG. 12, however, all of these additional measures require substantial complications or a doubling of the handling devices, which at most lead to an impairment of the reliability of the robot.

It will also be clear that the necessary relative movements in the machine longitudinal direction by moving the trolley e.g. according to DOS 3536702 or EP-380930. However, it is preferred to move the relatively smaller masses of the robot compared to a stationary trolley train.

Match handling

The necessary steps of the sliver handling essentially depend on whether the new sliver should be attached to the sliver still entering the drafting system or not. If it should be started, a residual fuse on the used spool must be expected each time and this residual fuse must be disposed of, for example as described in the last paragraph of the description of DOS 3911765. Disposal is in itself a complicated and time-consuming operation and should be avoided if possible. It should also be noted that a robot that is designed to set the match depends on the presence of a still running match in the gate. The robot therefore "helplessly" faces a spinning station where a match has occurred in the gate. Such events occur relatively rarely, but nevertheless impair the full automation a system that is incapable of handling it. This is especially true if there is a risk of a broken air during the change process.

On the other hand, one obtains the important advantage when starting the roving that (assuming a successful change operation) the spinning itself is not interrupted. The applicable spinning station accordingly remains "continuously" in operation, unless a yarn breakage occurs for other reasons. However, known sliver piecing methods lead to a yarn defect which has to be cut out ("cleaned") afterwards (during subsequent rewinding).

If the sliver is not attached when changing the roving bobbin, the yarn will inevitably break, so that spinning will be interrupted at least temporarily. In this case, the robot 52 (or 54) can be designed in such a way that each new fuse is introduced anew into the appropriate drafting system (for example according to US patent 4,845,935 or European patent application No. 90117733 or Swiss patent application No. 3495 / 90 from 2.11.90). In this case, however, the corresponding spinning station must then be put into operation again each time, which can be carried out by the operating devices 26 or 28 (FIG. 1). A rational mode of operation of the overall system then requires the coordination of the bobbin change with the removal of the associated thread breaks, which should be described below in section 3 (chapter "overall process").

The invention can be used both when an attachment process is to be carried out and when the new fuse has to be introduced into the drafting system. An embodiment that provides for the roving is not described here. The necessary steps can be found, for example, in EP 213962 or DOS 3734275 or in DOS 3911765. The following description assumes that the drafting system must be re-threaded each time. In the assumed case, the system can be designed in such a way that each spool has run out as far as possible before a change operation is carried out, ie as far as possible new spools are to be exchanged for empty tubes. The thread breakage occurs when the sliver end of the old bobbin reaches the spinning position. The spinning station then remains out of operation (for spinning) as long as no new fuse has been threaded into the drafting system and the thread break has not been remedied.

In fully automatic operation, where the presence of the operating personnel during a change process cannot be assumed, the complete delivery of the old sliver to the spinning station at the time of a change process cannot be assumed as a prerequisite. If e.g. for other reasons a single spinning station has been out of operation for a long time and the time for a roving bobbin changing process is determined by the running time of the spinning stations, then the old fuse still runs into the aforementioned single spinning station at the time when a roving bobbin change for this spinning station should take place. Furthermore, in the aforementioned case of a match break in the creel, the spool, which is only partially used up, must be exchanged for a new spool when changing the roving spool.

To remove a coil from the gate:

The preferred embodiment of the invention accordingly sees a sliver handling operation both when a coil is removed from the gate and when a coil is reinserted into the gate. This is despite the fact that according to the preferred arrangement the fuses of the old bobbins are to be delivered entirely to the appropriate spinning positions, ie normally (in the overwhelming majority of cases) empty tubes are to be exchanged for new bobbins. If no sliver handling operation is performed when a sleeve is removed from the creel, there is a considerable risk that a so-called "drag line" will occasionally occur (in exceptional cases), which can lead to a considerable disruption of the overall process. In the simple case, according to this system, the removal of an old coil from the gate only consists of the movement of the empty sleeve. This movement can be carried out without any problems after the change sequence already described. In the more complicated case, which is described in more detail below, has a remaining ^• fuse the "used" coil treated. As a first step in the treatment of such a fuse, a cutting operation is carried out so that the old fuse is cut at a predetermined location. If the old sliver still runs into the appropriate spinning position, the newly formed sliver end on the still running sliver will lead to a thread break in the spinning position. The separation operation should therefore be carried out close to the drafting system, for two reasons:

The fuse which is still running should be used up as quickly as possible so that the drafting system is provided for re-threading, and

- If there is a spinning station with a sliver break in the creel so that the old sliver no longer runs into the spinning station, as little waste as possible should be cut off from the old sliver and fall into the machine.

The robot can accordingly be provided with an extendable arm with a cutting device which, after the arm has been extended, can cut through the old fuse in the vicinity of the condenser from the drafting system. If the machine or the robot is provided with a sensor which can determine the state of the spinning position or the old spool, it would ideally be possible to determine an empty tube in the gate and to suppress this separation step, thereby reducing time win ^' . However, where there is no sensor system, the separating operation will be carried out every time, although in most cases no fuse is still running into the spinning station and the separating device accordingly carries out a “dry run”. The separation or Cutting device can be provided in a device which is provided for threading the drafting system (in a "manipulator").

However, where a sliver clamping device is provided in the ring spinning machine for each spinning station (e.g. according to our European patent application No. 388938), the robot can be designed to actuate this clamping device, which simplifies the construction of the robot itself.

The old fuse must either be wound up cleanly on the old spool or removed from this spool in order to be able to deliver an empty tube to the trolley. In the case of being wound up e.g. the trunnion 106 (FIG. 6), which removes the old spool from the gate, is rotatably mounted on the carriage 104. A suitable drive (not shown) e.g. Be provided on a belt to turn the old spool and thereby rewound a severed sliver length. The free match end is then preferably to be secured on the old spool before this spool is delivered to the trolley. This can e.g. by pressing or gluing from the end of the match at the beginning of the coil. The sleeve can e.g. can be provided with a catch for the fuse and the fuse to be wound up can be passed over this catch at the appropriate time.

The last phase of the disposal, namely the removal of the roving residues, will then no longer be carried out by the robot, but in the overall system (for example in a suitable sleeve cleaning station). The entire system must then be designed in such a way that the trolley is guided through such a cleaning station before it is led back to the flyer for reloading. Such cleaning stations are known (for example from EP-323400) and are not described in more detail here. In order to relieve the tube cleaning station and to make at best superfluous, it can be provided that the Restlunte is removed by the robot from the ^'support sleeve before this sleeve is delivered to the trolley. For this purpose, the robot can be equipped with a suction device that is suitable for picking up residual slips. In order to reliably carry out such a disposal operation, however, the old coil is preferably first moved to a "treatment position" for disposal, which is either inside the robot itself or in its immediate vicinity. This arrangement ensures the necessary access of the sliver handling elements to the coil surface without having to reach deep into the gate.

To reinsert a coil into the gate:

As far as the sliver handling is concerned, the reinsertion of a coil comprises the following partial aspects:

- finding the match end on the new spool

- Threading the sliver guide elements in the gate

- re-threading the drafting system.

The finding of the sliver end of the new coil is preferably carried out in any case in a treatment position which is located in the robot itself or in its immediate vicinity. This treatment position is preferably the same for removing an old spool from the drafting system and for treating a new spool when reinserting it.

In order to simplify the threading of the gate guide elements, these elements are preferably formed according to our US Pat. No. 4,408,731. The re-threading of the guide elements can then be carried out by simply hanging the fuse in the open guide hook, this hook not being located at the inner end of the alley 70 (FIG. 2) but at an intermediate point along this alley. The drafting device threading is preferably carried out according to our Swiss patent application No. 2664/90 from August 16, 90, whereby a sliver handling device with servo drives can be used according to our European patent application No. 90117733 from September 14, 90.

14 schematically shows a side view of a robot according to our Swiss patent application No. 3495/90 with additions to take account of the aforementioned further developments. The central plane of the machine is indicated by 200 and a cross member of the two-row gate by 202. This cross member has two "work stations" 204, 206 (each with a hanging pin 208), of which the inner work station 206 is still occupied by an empty sleeve 210.

Seen in the longitudinal direction of the machine, there is a vertical rod 212 with guide hook 214 (according to our US patent 4408731) between the rows of work stations, the rod 212 also being between two adjacent gate stations (which, however, cannot be seen from FIG. 1) ). Between the workstations in the gate and the drafting system 216 there is a horizontal bar 218 which serves as a support for a sliver guide or clamping device 220 according to FIGS. 15 to 18 of our European patent application No. 90105374.

The robot is indicated at 222 and runs over rollers 224 on a rail 226 at gate height. The chassis 228 carries a manipulator 230 (in the form of an arm) and a lever 234 provided with a fork 232, both of which have already been explained in Application No. 3495/90 and are not described in more detail here.

^In this case, the chassis carries a platform 236 with a supporting pin 238 for carrying an empty sleeve or a partially used sink. The platform 236 is movable in order to bring the sleeves / coils out of the gate or to reinsert them into the gate, but this can be carried out according to FIG. 12 and is not repeated here. The platform also carries a friction wheel 240 (and a suitable drive, not shown) in order to set the pin 238 in rotation about its own axis. 14 shows on the platform 236 a partially used coil 242, of which the fuse 244 still extends over the guides 214 into the clamping device 220; although the spool 242 has been moved from the gate to the illustrated "treatment position" (in the robot 222) by the platform 236.

However, the fuse 244 no longer runs into the spinning station because the clamping device 220 has been actuated by the lever 234 and holds the fuse 244 in place. Since the drafting system 216 is still running, a crack 246 has arisen between the clamping device 220 and the pair of feed rollers of the drafting system. The clamping device 220 is opened again soon after the actuation (the crack normally occurs within two seconds of the closing of the clamp) in order to release the sliver piece still connected to the coil 242.

In this embodiment, the chassis 228 also carries a suction box 250 (with a fan 252) and an aspirator 253, which is connected to a pivotable suction pipe 256. This suction tube 256 has a joint 258 and a mouthpiece 260, which is suitable for sucking in a sliver loop.

By a suitable servo drive, the mouthpiece 260 is initially brought to a location in the vicinity of the guide 214 ^(• full lines in Fig. 14), so that the Aspira¬ 254 suction generated tor the fuse 244 (following its Frei¬ administration in the Clamping device 220). The suction effect is so great that the sliver structure is largely dissolved in the aspirator 254. The fiber material is collected as waste in the suction box 250.

The suction tube 256 thus sucks the fuse from at least the clamp 220 and the guide 214 and is pivoted back against the coil 242 (dashed line). It will now determined whether the remaining fuse can be disposed of or not. This can take place, for example, in that a light barrier (not shown) scans the coil diameter or that a sensor (not shown) in the suction tube determines whether a fuse is still being unwound from the coil 242 after a predetermined duration of suction.

If the remaining amount is above a predetermined limit, the disposal is switched off on the robot. Instead, the fuse is wound up by rotating the pin 238 and, if necessary, fixed to the spool. This coil can then be placed in the trolley, but could also be treated differently as a "special case", e.g. be handed over to a suitable place on the machine.

If the remaining amount is below the limit mentioned, the empty tube is freed by unwinding the remaining fuse, which can subsequently be given to the trolley. For unwinding, the pin 238 is rotated about its own longitudinal axis in the appropriate direction.

In principle, the manipulator 230 (with its own suction system) could carry out the disposal. However, this is not desirable because the manipulator has to extend relatively far from the chassis to a point (although this is not clearly shown in FIG. 14) and should precisely position the fuse guided in the guide. The suction pipe 256, on the other hand, only has to extend to the guide 214 and does not have to perform any essential match guide task.

Overall process

Fig. 15 shows an example of the layout ^"of a plant which is operated by robots according to this invention. A flyer 300 supplies spools to four ring spinning machines 304, 306, 308 and 310 via a rail network 302 (with buffer 304) for trolleys (not shown) AK or EK is the one for every machine Drive head or the end head (removed from the drive head) indicated. A trolly can be guided on any machine side via switch points 312. Accordingly, each machine is assigned a U-shaped section of the network. The system (transport function) is controlled by a central computer 314.

A rail network 316 is also provided for the coil change or sliver handling robot 318. The network 316 also includes a respective U-shaped section for each machine, but which is directed in the opposite direction to the corresponding U-shaped section of the transport network 302. The robot 318 can be guided from one machine to another via connecting pieces 320.

Fig. 17 shows in eight diagrams, which are sequentially labeled with the Roman numerals I-VIX, a method for loading a ring spinning gate with full coils. For the sake of simplicity, it is assumed that no al. ten coils are present, so that only the introduction of new coils into the gate has to be indicated. Only a few gate locations have been shown, since the principles to be described will readily be applicable to a larger number of gate locations. The representation of the gate is initially explained on the basis of the larger diagram in FIG. 16.

Each diagram in FIGS. 17 and 16 schematically shows two outer rows AR1, AR2 of work stations for sliver coils in the gate, two inner rows IR1 and IR2 of such work stations and a trolley TR, which has six full spools and two empty spaces for carrying out a bobbin changing operation according to FIG. 12 is fully loaded. The rows of the work stations in the gate have been indicated by the horizontal lines, the individual work stations being indicated by the intersection of these horizontal lines with the vertical lines. Accordingly, each contains and outer row a total of twelve jobs (intersections).

In a first exchange operation, which is indicated by the arrows in FIG. 17 (I), the six coils of the fully loaded trolley are loaded into the gate positions Gl, G3 and G5 of the rows IR1 and ARI.

17 (II), the six full bobbins of a trolley are loaded into the gate positions G12, G10 and G8 of the rows IR2 and AR2

In a third changing operation, the coils of a fully loaded trolley are loaded into the gate positions G2, G4 and G6 of the rows IR1 and ARI, as indicated in FIG. 17 (III). Then, as indicated in FIG. 17 (IV), the gate positions G7, G9 and Gll of the rows IR2 and AR2 are occupied. Fig. 17 (V) then shows the occupation of the gate positions G7, G9 and Gll of the rows IR1 and ARI and Fig. 17 (VI) shows the occupation of the gate positions G2, G4 and G6 of the rows IR2 and AR2. Fig. 17 (VII) shows the occupation of the gate positions G8, G10 and G12 of the series IR1 and ARI and Fig. 17 (VIII) the occupation of the gate positions Gl, G3 and G5 of the series IR2 and AR2.

The occupation of every second gate position in a given change operation is necessary because the trolley carries only a single row of coils and the coil division in the trolley is the same as the division of the gate positions. There are two rows of coils in the gate. Obviously, a time saving could be gained if the trolley were designed to carry a double row of coils. However, this would result in problems in the layout of the overall system.

The changing operations are carried out alternately on one or the other side of the machine in order to reduce the workload of the operating devices 26, 28 (FIG. 1). As indicated earlier, it is necessary to Neueinfädeln of the drafting unit each time a Spulenwechsel¬ operation to coordinate with a yarn breakage repair, so that when changing the bobbins always should be present in .the affected spinning stations the service device ^'26 and 28 respectively. Of course, this means that the operating device for operating other spinning stations is not available, although other malfunctions (which require thread breakage elimination) may occur at these other spinning stations. The preferred machine arrangement therefore comprises at least two operating devices (FIG. 1), each of which is assigned to one machine side. While an operating device can therefore be assigned to cooperate in a bobbin changing operation on one machine side, the operating device on the other machine side is free to serve the spinning stations which do not require a bobbin changing operation.

The order does not have to be exactly according to FIG. 17. However, it will be clear to the person skilled in the art from FIG. 17 that the bobbin changing operations are preferably carried out alternately on one or the other machine side.

The request in the form of a signal to bring a fully loaded trolley train from the overall system to a specific ring spinning machine is preferably generated by this machine itself (for example in accordance with EP-392482). The positioning of this trolley train in relation to the ring spinning machine then depends on the overall arrangement. It could be provided, for example, that an entire machine side is occupied with trolley trains each time, after which coil change operations are carried out by the robot. In this case too, at least two positions of the trolleys in relation to the gate must be provided, specifically in accordance with the gate position groups which are to be operated. The information regarding the gate positions which are to be occupied from these trolleys should be available in the ring spinning machine or in the robot rather than in the central control of the system. In the more probable case that the trolley train is shorter than the total length of the machine and that the bobbin changing operations take place section by section (e.g. according to Fig. 17), each trolley train must be placed in a suitable position opposite the ring spinning machine and locked. In this case, an interface between the control of the overall system and the control of the ring spinning machine is preferably to be defined, so that the movements of the trolley train are taken over by the ring spinning machine control from this interface (for example according to EP-392482). The suitable position information can either be given by the robot to the ring spinning machine or it can be present in the ring spinning machine control and transmitted to the robot.

The ring spinning machine can count on the triggering of a bobbin change operation either according to time or (preferably) according to the amount of sliver delivered (i.e. depending on the machine speed). There are three options in this context:

the time (or the quantity delivered) has been calculated in such a way that none of the fuses of the spools to be exchanged have expired (this state is of course desirable in the case of a change operation with fusible attachments),

the time (or the quantity delivered) is calculated in such a way that all fuses of the coils to be exchanged can be run out,

the time (or the quantity delivered) has been calculated in such a way that the fuses of the fuses of the coils to be exchanged have started, but have not taken place for all such coils.

The last two variants are possible, where the drafting ^{device ¬ must be reinserted} in any case. The third variant has the advantage that it is more efficient Entire machine (all spinning stations) is possible, but larger quantities of lunches and corresponding disposal problems can be expected. If this variant is selected, it is absolutely necessary to provide a sliver cutting operation, although the drafting system has to be reinserted. The first variant can also be selected (in spite of the threading of the drafting system) and gives minimal production losses with large residual quantities of the sliver on the partially used spools.

15 (with a connection for the robot between two or more, (four in FIG. 15, machines) is possible or not) depends on the bobbin change frequency, which in turn depends on the thread number. If the connection is possible, the transition from one machine to another should be coordinated by the central control depending on the delivery of the machines with trolleys.

FIGS. 18 and 19 show a creel of a ring spinning machine on one side of its machine center plane 405, which has an inner roving bobbin work station longitudinal row 406 and an outer roving bobbin work station longitudinal row 407. Roving bobbins 408, 409 can be displaced by means of slide supports 411 on crossbar rails 412 arranged, for example, at right angles to the machine center plane 405 in the case shown, so that the roving bobbins likewise form roving bobbin cross-work areas 413, 414, 415. An operating device 416 as part of a handling device can be moved by means of rollers 417 on rails 418 running parallel to the ring spinning machine. The operating device 416, based on an embodiment shown in EP patent application No. 90106900, carries with it fully wound roving bobbins 419, the sliver end 420 of which a number of times around the upper part of the roving bobbin sleeve to avoid unintentional unwinding , 421 looped ist..Wenn ^ensures' that at least one of the two roving a Quer¬ has been completely unwound rail 412, both Roving bobbins picked up by the operating device 416 and a roving bobbin 419 reaches the position of the roving bobbin 409 from the operating device 416, for example, via a curved piece 424 from the operating device 416. More details of this transfer of roving bobbins can be found in CH patent application 2247/90. The operating device 416 also contains a telescopic holding arm 425, which is connected to a fixed ball joint 426, for example. A suction pipe 427 is attached to the free end of the arm 425 and is connected to a vacuum source 429 via a hose 428, so that the suction pipe 427 can be moved on all sides. Furthermore, a rotation means 433 is provided on the operating device 416.

After the roving spool 409 has reached its position in the outer longitudinal row 407, the fork-shaped rotating means 433 is extended horizontally and at an angle 438 to the machine center plane 405 and guided around the roving sleeve 421 until a driven roller 439 abuts the sleeve '421. Two other guide rollers 440, which can be pivoted horizontally by means of swivel lever 441, engage behind the roving sleeve 421, after which the roller 439 is driven, so that the roving spool 409 is set in rotation. This fork construction is considered more suitable than a foldable ring gripper, which can possibly result in the roving bobbin 409 being released. Simultaneously with the rotation of the roving spool 409, the suction effect in the suction tube 427 is activated, which is located at its starting point at the level of the dividing line between the sliver winding 446 and the roving sleeve 421 and near the sleeve. This is the reference point for recording the fuse. When a sensor 448 responsive in the hose 428, to a predetermined befin¬ ^{'Luntenlänge} det in the suction pipe 427 and the hose 428. In the signal of the sensor -448 toward the driven roller 439 is stopped and the rotation means 433 can be retracted again. The suction tube -427, which still grips the match end 420, becomes downward to a center between the inner longitudinal row 406 and the outer longitudinal row 407 and also in the middle between the transverse rows 414 and 415 arranged sliver guides 450. In the event that the rotating means 433 is not retracted and is still engaged with the roving sleeve 21 in order to thereby give the roving spool 409 stability, the inclination with respect to the machine center plane 405, as shown in FIG. 22, is advantageous , since the movement sequence of the suction pipe 427 is at least hindered in this way.

The suction tube 427 guides the fuse, also known as roving, either alone or with the aid of a pressure arm, not shown, but explained in more detail in CH Application No. 2664 / 90-1, through a slot 451 in the fuse guide 450, subsequently through one on one Longitudinal bar 453 fastened hook or match stop 454, after which the match from the suction tube 427 is not only introduced but also into a drafting device 455. Then the suction pipe 427 is moved back to its starting position. The roving bobbin 409 is now moved by means of a slide 456 present on the operating device 416 from the outer longitudinal row 407 in the direction of the machine center plane 405 into the inner longitudinal row 406, into the position of the roving bobbin 408, the fuse 458 from it being shown in FIG. 18 dashed, in their extended position. This arrangement of the sliver guide 450 effectively prevents the formation of a sliver loop since the distance from the sliver guide 450 to the roving spool 409 is approximately equal to the distance from the roving guide 450 to the roving spool 408. So that the pivoting movement of the fuse 458 is not hindered, a stop is attached 460 in the area facing the inner longitudinal row 406 to the fuse guide 450. The holding bar 460 is in turn attached above the match guide 450 to the frame of the ring spinning machine, most suitably to the crossbar 412. Compared ^'with the US 4,473,997, where the support bar is attached below the traverse guide on the frame, the upper fastening of the holding rod 460 from vibration-technical point is better. In addition, an additional fastening means to be provided falls in the middle The ring spinning machine, which is kept free _¬ possible altitude range away. Now a new roving spool 419 is brought into the position of roving spool 409.1, the fuse 458.1 of which is also guided by the sliver guide 450. The movements of the suction tube 427 are programmed in such a way that, starting from an empty cross rail 412, the fuse 458 of a first roving spool 408 is inserted into a first drafting device, after which this roving spool 408 continues from the outer longitudinal row 407 to the inner longitudinal row 406 is conveyed, and that the fuse 458.1 of a roving spool 409.1 pushed on the same transverse row 413, 414 or 415 is inserted into an adjacent drafting arrangement, this roving spool 409.1 remaining in its position in the outer longitudinal row 407. The reference point for the detection of the sliver ends 420 of both roving bobbins 408, 409 is the same. However, other embodiments of the handling device are also possible. Thus, unwound roving bobbins 408 can be moved towards the machine center plane 405 in order to be removed in the area of the machine center plane 405. The full and empty roving bobbins move in one direction. The movement of the roving bobbins along the cross rail 412 can also be accomplished by operating devices which are separate from the operating device 416. The rescheduling of full roving bobbins 419 to the crossbar 412 can also be carried out by a separate operating device. In a possible embodiment with an additional longitudinal row of reserve roving bobbins which are brought to the free end parts of the cross rail 412, the reserve bobbin can first be brought into the outer longitudinal row 7 by any suitable operating device, that is to say into that position, at which the reference point for the fuse detection is located.

In the transverse row 413, a top view of a gate cross rail 412 is shown, where a longitudinal slot 465 can also be seen, through which the hanging pins 66 connected to the slide carriers 411 protrude. In the transverse realm 414 is the state of two running fuses 458 and 458.1 illustrates which are passed through a common, essentially vertically aligned passage space 469 of the sliver guide 450 shown in FIG. 20. The side slot 451, which is continuous and runs obliquely, is located on the side of the sliver guide 450 facing away from the roving spools 408, 409.1, since this is for the threading of the slivers 458, 458.1 through the suction tube 427 in the upper region thereof. The upper lip 472 formed thereby, which lies against the side slot 451, prevents the fuse 458.1 from slipping out unintentionally and can protrude somewhat in order to facilitate the insertion of the fuses 458, 458.1. The lower lip 473 can also be designed somewhat above to enable the fuses 458, 458.1 to be hooked in. Another configuration of a sliver guide 450.1 shown in FIG. 21 is used in the transverse row 15. The holding rod 460.1 and the sliver guide 450.1 are integrally and integrally connected to one another, or in other words, they consist of a single curved rod, the passage space 469.1 of which is oriented essentially horizontally. The bent rod end creates a passage opening 476 for the fuse near the holding part or the holding rod 460.1.

All of the facts presented in the description, the claims and the drawing can be essential to the invention both individually and in any meaningful combination, and features of claims with the same reference can be used together.

Claims

Expectations 1. Method for exchanging bobbins in the creel of a double-sided textile machine, each row of workstations of the machine (for example each row of spinning stations of a ring spinning machine) being assigned at least one inner and one outer row of supply bobbins and movements for exchanging bobbins between a means of transport and the creel are necessary in the longitudinal direction of the machine, characterized in that the movements mentioned are carried out by moving a bobbin changer relative to a stationary means of transport. 2. A device for executing a method according to claim 1, characterized in that the device for executing a movement in the longitudinal direction of the machine is formed after removing a coil from the gate or before reinserting a coil into the gate. 3. A method according to claim 1, characterized in that each row of workstations of the machine is assigned only the aforementioned inner and outer supply coil rows. 4. A method according to claim 1 or 3, characterized gekenn¬ characterized in that a coil of the inner row for treatment can be held in a treatment position in or near the device. 5. A method according to claim 1, 3 or 4, characterized gekenn¬ characterized in that only one treatment position is provided per pair of coils, wherein a pair of coils comprises a coil of the inner row and a coil of the outer row. 6. A device according to claim 2, characterized in that the device is provided for cooperation with a prepositioned coil transport device. 7. Method for exchanging bobbins in the creel of a textile machine by a bobbin changing device, characterized in that the residual material is disposed of on the device. 8. The method according to claim 7, characterized in that the disposal is carried out by suction. 9. bobbin changing device for performing a method according to claim 7, characterized by Means for removing the residual material of a coil. 10. The device according to claim 9, characterized by an additional means for threading a fuse into a processing station or machine. 11. A method for handling roving bobbins on a gate of a fine spinning machine, the creel on each side of the machine center plane (405) having an inner (406) and an outer (407) roving bobbin work station longitudinal row and wherein roving bobbins from the outside ¬ our longitudinal row are further guided into the creel and form roving bobbin workstation rows (413, 414, 415), characterized in that the fuse of a roving bobbin located in the outer longitudinal row is gripped, guided by a sliver guide (450) and brought to a drafting device, after which the roving bobbin (408) intended for the inner longitudinal row is conveyed there along the relevant transverse row. 12. Handling device for roving bobbins on a creel ^¬ a fine spinning machine, the creel on each side of the machine center plane (405) an inner (406) and a Outer (407) roving bobbin work station longitudinal row, with means (424) for introducing the roving bobbins into the creel and with means (456) for continuing the roving bobbins from the outer into the inner longitudinal row and. with an operating device that can be moved along the machine (416) for grasping the sliver end (420) of a roving spool (409) at a reference point in the creel and subsequently guiding it by a sliver guide (450) and to a drafting system, characterized in that the reference point for all roving spools ( 408.409) is a predetermined height range in the outer longitudinal row. 13. Handling device according to claim 12, wherein the operating device (416) has a holding arm (425) which can be moved on all sides, a suction tube (427) attached to it and having a sensor (448) which responds to the presence of a fuse, and a rotating means (433). is equipped for rotating the roving bobbin, characterized in that the rotating means (433) has at least three rollers (439,440) which can be brought into engagement with the outer surface of the roving bobbin tube (421) and of which a roller (439) can be driven is. 14. Handling device according to claim 13, characterized gekenn¬ characterized in that the rotating means is horizontally movable and fork-shaped and that at least one roller (440) is horizontally pivotable. 15. Handling device according to claim 14, characterized in that the rotation means can be moved in a straight line in a direction inclined to the machine center plane (405). 16. roving bobbin creel of a fine spinning machine, with a cross passage row (469, 469.1) provided for roving bobbins of a roving bobbin work station transverse row and having a common lumen passage space (469, 469.1) for the slits of both roving bobbins (409, 409.1), at half the distance between an outer (407) and an inner ( 406) roving bobbin-work station longitudinal row arranged sliver guide (450,450.1), and with a holding rod (460,460.1) which is fastened to it in the area of the sliver guide facing the inner longitudinal row, characterized in that the sliver guide between roving bobbins of two consecutive transverse rows ( 413,414,415) is arranged. 17. roving bobbin creel according to claim 16, characterized in that the sliver guide with a substantially vertically oriented sliver passage space (469) has a continuous side slot (451) on its side facing away from the respective roving bobbins, which side slot is directed obliquely upwards in the direction of the machine center plane (405). 18. roving bobbin creel according to claim 16, characterized in that the sliver guide (450.1), which has a substantially horizontally oriented sliver passage space (469.1), and the holding rod (460.1) are integrally and integrally connected to one another and that the sliver guide is on the has a continuous opening (476) adjacent to the upper side of the sliver passage and adjacent to the support rod. 19 roving bobbin creel, according to claim 16, characterized gekenn¬ characterized in that the support rod (460,460.1) above the sliver guide (450,450.1) is attached to the frame of the fine spinning machine. 20. roving bobbin creel _, according to claim 17, characterized gekenn¬ characterized in that the sliver guide on both sides of the side slot (451) has an upper (472) and a lower lip (473), which are formed above.