EP0768271B1 - Winding apparatus for a continuously running thread - Google Patents

Abstract

A winding machine for a continuously accumulating thread (1) has a rotatable drum (6) on which are mounted two reel spindles which can be rotated. Ahead of the drum as the thread runs, the machine also has a thread laying device (4) and a roller (5) which makes contact on its periphery with the reel (15) being formed on the operating spindle (9 or 10). The distance between the roller axis (13) and the operating spindle axis (11) can be changed in an expanding direction corresp. to the increasing reel dia. The machine has a drum rotation controller (20), a device for determining thread speed and a device for determining the rotational speed of the operating spindle. The controller has a computer unit (21) for calculating the present instantaneous dia. of the reel under formation and its present instantaneous angular speed between beginning and end of each computing cycle for use as control quantities for the drum rotation over the complete reel travel. Also claimed is a process for control of the winding machine using the above appts. where the drum is rotated with angular speed which varies continuously from one computing cycle to the next.

Description

The invention relates to a winding machine and a method for Winding a continuously running thread on a Coil with the specified in the preambles of claims 1 and 7 Characteristics.

A winding machine of this type is known from EP-A-0 374 536. The contact roller used is on a rocker can be swiveled or moved in a straight line stored. A sensor is provided that detects the movement of the Contact roller relative to the surface of the in Operation located coil spindle detecting coil. The Sensor belongs to a control device and works as Two-point control element. If the contact roller from which at Winding process increasing the diameter of the bobbin when stationary Axis of the drum over the dimension set on the sensor is then moved, a control pulse is applied to the rotary drive of the Given drum and the drum rotated so that the Contact roller again moved in the other direction and the falls below the set trigger point on the control element. This stops the drum drive. So the drum comes in small increments with each driven constant angular velocity. Although it was moving Contact roller only covers a relatively short distance, for example 2 mm, this movement is still a necessary requirement for controlling the rotary drive of the drum. By the movement of the contact roller and the triggered thereby Control of the drum arise between the contact roller and the circumference of the coil not only different contact forces, but these contact forces also show an unsteady course. By shifting the line of contact between the contact roller and the extent of the coil being formed becomes the laying accuracy adversely affected. A further disadvantage is that the Switching frequency of this control device with the sensor the winding travel decreases. The switching path of the sensor remains constant. By moving the coil while rotating Drum and due to the increasingly slow growing coil diameter takes the number of readjustment steps per unit of time from, d. H. the change in the contact pressure via the contact roller slows down. Another disadvantage is that for control a separate complex control device is required is.

The older PCT application according to WO-A-96/01222 looks just like that generic document a control device for the Rotary drive of the drum or the winding turret, the discontinuous is gradually rotated. The the coil load-bearing winding spindle should have a determined on its turning circle Assume angular position. This means that an angular position was determined, which is then taken up by the winding spindle, so that the winding spindle at least briefly determined one Maintains position and the drum gradually, so not continuously rotated by fixed angular amounts.

The invention has for its object a further winding machine to provide the type described above, the is inexpensive to manufacture and easy to maintain, and moreover has a small size. Furthermore, a winding process should be specified at which the laying accuracy the thread on the bobbin is improved and the contact pressure between the contact roller and the spool a more uniform Has history.

According to the invention, this is the case at the beginning of a winding machine described type achieved in that for the continuous Rotation of the drum during the winding trip a control device it is provided that the winding machine a device for Determine the speed of the thread and set up to determine the speed of the winding spindle in operation and that the control device has a computing unit to calculate the respective current diameter of the formed on the bobbin in operation and the current angular velocity between the Beginning and end of each computing cycle as control variables for a continuous rotation of the drum over the whole Has winding trip.

The invention is based on the idea that instead of the known control device to provide a control device to thus the rotation of the drum in a quasi-constant sequence of movements to regulate. This can be designed so that, for. B. a computing cycle runs every 10 ms, which is followed by a Control cycle follows. Between the beginning and the end of a each calculation cycle becomes a controlled variable for the rotation of the Drum formed, which replaces the previous control variable and in turn in the subsequent computing cycle from a newly formed one Controlled variable is replaced. This creates a kind of one quasi-continuous movement of the drum during the winding cycle. Advantageous is that the winding machine for the regulation no requires additional elements, such as sensors or the like, but already existing elements that are used to control the Thread tension on the winding machine are used. So is a device for determining the speed of the Fadens and on a device for determining the speed of the in use. About the Computing unit, which can be part of the control device, is calculated from the thread speed and the speed of the in Operating winding spindle the current diameter the coil formed and the respective current angular velocity between the beginning and the end of each computing cycle. With this current Angular velocity the drum is rotated further. Doing so from the calculation of the respective current diameter respective setpoint of the angle of rotation for the drum is determined. From the measured period of time between the beginning and the The end of each computing cycle and the respective one The current angular velocity becomes the setpoint of the angle of rotation calculated with which the drum is rotated further. At the setpoint of the angle of rotation is the angle between the axis of the winding spindle at the beginning and at the end of a respective calculation cycle over the axis of the drum. Advantageous is that no additional sensors are required existing sensors for thread tension control be used. The control device is no longer one Depending on the movement of the contact roller, d. H. the contact roller can can be designed and arranged completely freely. For example it is possible to apply such contact pressure via the contact roller to exercise the scope of the coil forming, which according to the Scheme is designed independent criteria, and for example has a steady course. Here's an example also a steady decrease in the contact pressure without fluctuations possible, which has a favorable effect on the coil structure.

A microprocessor can be provided as the computing unit. On such a microprocessor is a suitable unit for Realization of the computing unit. In it can be the most varied desired operations and steps summarized be how u. a. also for thread tension control required are.

The device for determining the speed of the thread can be a device for detecting the speed of the contact roller exhibit. Because the diameter of the contact roller and the Run-up angle, in which the thread on the circumference of the contact roller is slanted, are known, can be derived from easily calculate the speed of the thread. It can also any other device for determining the Speed of the thread can be used, for example a separate facility upstream of the laying facility or is arranged elsewhere.

It is particularly advantageous if the device for the determination the speed of the thread and the device for Determination of the rotational speed of the winding spindle in operation also designed as a control device for the rotation of the drum are. This makes existing elements anyway Use.

The contact roller can be relative to the axis of the drum and thus to be avoidably mounted to the respective winding spindle, wherein a device for controlling a constant or controlled variable contact force of the contact roller on the in operation located winding spindle is provided. The evasive Storage of the contact roller is also useful to the drum to be able to turn with the two winding spindles. Since the However, the contact roller does not necessarily have to move nevertheless a movement of the contact roller can be provided, whereby but this then serves another purpose, namely the Application of a contact pressure or a contact pressure curve about the winding trip.

The computing unit can have a memory for holding a Table of values for the setpoint of the rotation angle of the drum in Depending on the diameter of the coil. It understands that such a table of values, depending on the application, can be entered. But it is also possible to use the computing unit to be designed so that the setpoint of the angle of rotation in Depending on the diameter of the coil is calculated. Here the computing cycle will then take a little longer. In Considering the mechanical parts of the winding machine however, this has no adverse consequences.

The process of winding a continuously tapered Thread on a bobbin of a bobbin winder identifies itself according to the invention in that the drum continuously with itself angular velocities changing from computing cycle to computing cycle is rotated.

In procedural terms, the invention proceeds from the concept off, the alternating turning and stopping of the Leaving drum as is known in the art and in an uninterrupted continuous turning process of the Change drum. Here changing angular velocities come successively for use, d. H. from an angular velocity out the rotary drive of the drum in one other angular speed switched so that definitely the drum makes a continuous movement, the Course of changing angular velocities a hyperbolic Has character. In general, the used ones current angular velocities in the course of a winding trip.

Depending on the geometric conditions in the arrangement of the Elements of the winding machine can turn up at the end of a winding trip but also slightly increasing angular velocities again surrender. In this area, however, is the change of Angular velocity from control cycle to control cycle is not particularly large.

Computation cycles which are in use can advantageously be used over the winding travel constant time intervals, for example especially in 10 msec. The repetition of the Computation cycles in such short time intervals is quite possible. But it is not harmful if the number of Calculation cycles reduced and the time intervals increased be because the drive of the drum anyway a lot contains mechanical elements that prove to be comparative prove sluggish. It is also possible to have different numbers of computing cycles on the one hand and control cycles on the other, To form averages or the like. In general however, this is not necessary.

A method is possible in which a change in the current Angular speed of rotation of the drum for everyone Control cycle depending on a constant increase in Diameter of the coil. The diameter is per unit of time the spool at the end of the spool trip comparatively less grow faster than at the beginning of a winding trip. Be reversed the angular velocities at the beginning of a winding trip change much more than at the end of a winding trip. The The target value of the angular velocity remains over the winding travel especially in the middle of the winding trip over a larger one Area constant.

The respective current angular velocity of the rotation of the Drum is calculated from the previous control cycle. This is a small mistake. This can however, can easily be accepted because the required Accuracy due to the large number of computing cycles and Control cycles is achieved.

Figur 1

den Aufbau einer Spulmaschine in Frontansicht,

Figur 2

eine schematisierte Seitenansicht der Spulmaschine,

Figur 3

eine Darstellung der relativen Anordnung zwischen Kontaktwalze und den Spulspindeln auf der Trommel,

Figur 4

eine bevorzugte Ausführungsform der Regeleinrichtung in Form eines Schaltbildes und

Figur 5

ein Diagramm des Sollwertes des Drehwinkels und des Verlaufes der Winkelgeschwindigkeit über den wachsenden Durchmesser der Spule bzw. der Zeit.

The invention is further described and clarified with reference to the drawings. Show it:

Figure 1

the construction of a winding machine in front view,

Figure 2

a schematic side view of the winding machine,

Figure 3

a representation of the relative arrangement between the contact roller and the winding spindles on the drum,

Figure 4

a preferred embodiment of the control device in the form of a circuit diagram and

Figure 5

a diagram of the target value of the angle of rotation and the course of the angular velocity over the growing diameter of the coil or the time.

In Figure 1, a thread 1 is shown in the direction of a Arrow 2 from a spinning shaft continuously a winding machine 3 approaches. The thread runs over a laying device 4 on the circumference of a contact roller 5. In the area below or to the side of the contact roller 5 is a drum 6 about its axis 7 rotatably or pivotally mounted according to arrow 8. On the Drum 6, two winding spindles 9 and 10 are rotatably mounted. In In the example shown, axes 11 and 12 are located the winding spindles 9 and 10 below the axis 13 of the contact roller 5 aligned vertically. Located on the winding spindle 9 an empty tube 14. This winding spindle 9 is in the working position shown, i.e. at the beginning of a winding process or a winding trip. The winding spindle 10 with one on it wound coil 15 is in the reserve position, in which the bobbin change is carried out.

From Figure 2 it can be seen that the winding machine 3 is formed is that two threads 1 are simultaneously wound on two spools 15 become. The winding machine 3 has a motor 16 for the drive of the winding spindle 9 in the working position and in the Reserve position. A motor 17 is for driving the winding spindle 10 in the reserve position and the working position intended. A motor 18 ultimately serves to drive you Drum 6. A gear 19 is used to transmit the rotary drive of the two motors 16 and 17 on the winding spindles 9 and 10 despite their pivotability over the drum 6. The winding machine 3 has a schematically illustrated control device 20 on. A computing unit 21, for example in the form of a Microprocessor, can be part of the control device 20.

Figure 3 illustrates once again the relative positions during a Winding trip. The winding spindle 9 is below the contact roller 5 with its axis 11 and the empty sleeve 14 at the beginning of the winding process shown. The scope of the contact roller 5 is on Circumference of the sleeve 14. During the winding trip or during the Winding process, the drum 6 is rotated according to arrow 8, so that the winding spindle 9, on which the coil 15 forms, in Turning to the right evades. The pivoting or rotation of the Drum 6 takes place over an angle of rotation 22. It understands themselves that the winding spindle 10 is in the same direction of rotation the drum 6 rotates. The angle of rotation 22 increases with increasing diameter of the coil 15. The angle of rotation 22 is the Angle between the axis 11 of the operating Winding spindle 9 at the beginning of the winding process and almost at the end a winding trip over the stationary axis 7 of the drum 6 is spanned. It can be seen that for a certain Diameter 23 of the winding spindle 15 a certain angle of rotation 22nd heard. It can also be seen from FIG. 3 that the contact roller 5 with its circumference always at the circumference of the coil 15 that is being formed is applied, but the contact point changes. This Change depends on the geometric conditions the arrangement of the parts to each other. During a winding trip the contact point can initially move so that the Wrap angle with which the thread 1 the circumference of the contact roller 5 wraps around, initially reduced, but towards the end of one Spool trip slightly enlarged again. The contact roller 5 can over a storage not shown here relative to the axis 7 of the Drum 6 can be stored evasively. It is also possible to get one Device to control a constant or controlled variable contact force of the contact roller to the extent of Provide coil 15 which are in operation Forms spindle.

In Figure 4 are essential elements of the control device schematically 20 and the computing unit 21. A sensor 24 is used to record the speed of the contact roller 5. A sensor 25 is used to record the speed of the winding spindle 9 Sensor 26 detects the speed of the winding spindle 10. The motor 16 A frequency converter 27 is used to drive the winding spindle 9 assigned. Accordingly, in the drive of the winding spindle 10 Frequency converter 28 provided. An OR element 29 serves the Change of working position or reserve position between the two winding spindles 9 and 10.

D =

Durchmesser 23 der Spule 15 (veränderlich)

n_s =

Drehzahl der Spulspindel 9 oder 10 (veränderlich)

n_K =

Drehzahl der Kontaktwalze 5 (konstant)

phi =

Drehwinkel 22 der Trommel 6 (veränderlich)

f =

Frequenz

T =

Zeit

omega =

Winkelgeschwindigkeit der Drehung der Trommel 6 (veränderlich)

The computing unit 21 has a PID controller 30, a computing element 31, a memory 32 into which a value table 33 can be entered, an I controller 34 and a further PID controller 35. A timer 36, which serves to record the time, also belongs to the computing unit. A servo controller 37 is connected upstream of the motor 18 for driving the drum 6. A resolver 38 is arranged in the motor 18. The individual elements of the control device 20 are connected to one another as is indicated by the lines. The following signs are used:

D =

Diameter 23 of the coil 15 (variable)

n _s =

Speed of winding spindle 9 or 10 (variable)

n _K =

Speed of the contact roller 5 (constant)

phi =

Angle of rotation 22 of the drum 6 (variable)

f =

frequency

T =

time

omega =

Angular speed of rotation of the drum 6 (variable)

An index "is" denotes a variable in its size current value. An index "should" identifies one calculated setpoint. With DELTA is a difference value designated.

5 shows the course of the angle of rotation phi of the drum 6 as Function of the diameter increase of the coil 15 over the diameter D or time. The course continues the angular velocity over time. This The curve runs with a hyperbolic character.

As a result, two possible modes of operation of the control device 20 of the winding machine 3 illustrates:

In a first operating mode, a value table 33 is stored in the memory 32 of the computing unit 21. In this table of values 33, the growing diameters 23 of the coil 15 (for example in coil growth rates of 2 mm each) are assigned certain angles of rotation 22 (phi _soll ). At the beginning of the winding trip, the time 36 is measured, which takes a coil diameter increase of z. B. 2 mm leads. The current diameter 23 (D) of the coil 15 is calculated from the speed n _{K of} the contact roller and the speed n _{s of} the coil 15 or the winding spindle 9, which is currently in the working position. The peripheral speed of the contact roller 5 is a function of the speed of the thread 1, which is assumed to be constant. This results in the increase in the current diameter D of the coil 15 D = f (n s , n K )

If this fixed coils increase DELTA D (z. B. 2 mm) is reached, (phi _soll) taken from the table of values 33 of the associated target value of the rotation angle of the 22nd The angular velocity omega is calculated from the measured time T and the target value of the angle of rotation. omega = f (phi should , T)

At this angular velocity omega, the drum 6 is rotated further until the next DELTA D spool increase is reached. The angle of rotation phi _{ist achieved in this case} , supplied by the resolver 38 of the motor 18 of the drum, is fed back as the actual value to the I controller 34 of the computing unit 21 and compared with the setpoint phi _soll from the stored value table 33. In case of deviation, the angular velocity omega of the I controller 34 is corrected to the control device 20 by iterative approximation, so that the deviation between phi and phi _{is intended} in the course of the winding cycle is always smaller.

However, it is also possible to use the control device 20 without deposit operate a table of values:

The current diameter 23 of the coil 15 (D) is, as above, calculated from the speed n _{K of} the contact roller 5 and the speed n _{s of} the winding spindle 9 or 10 with the coil 15. The peripheral speed of the contact roller 5 is a function of the speed of the thread 1 with which it is fed or wound up. D = f (n s , n K )

From this and from a constant, formed from the geometric data of the winding machine 3, the associated target value of the angle of rotation phi target _is calculated. phi should = f (D, constant)

Taking into account the measured time T between the start of two computing cycles and the calculated value of the rotation angle phi _soll , the angular velocity omega is calculated. omega = f (phi should , T)

The time is at the start of the winding cycle (in the first calculation cycle) T = 0, and therefore the angular velocity is also the same 0. The drum 6 stands still until the start of the second computing cycle. With the calculated angular velocity omega (> 0) the drum 6 is rotated further until the next computing cycle gives a new value of the angular velocity omega.

_To the target value of the rotation angle phi is the actual value of the rotation angle phi _is supplied by the resolver 38 of the motor 18 of the drum 6, are compared. In case of deviations, the angular velocity omega of the I controller 34 is corrected to the control device 20 by iterative approximation, so that the deviation between phi and phi _{is intended} in the course of the winding cycle is always smaller.

It can be seen that the drum 6 continuously during the winding trip is driven. There are no downtimes. Only the angular velocity omega is in steps changed and adjusted.

REFERENCE SIGN LIST

1 -

thread

2 -

arrow

3 -

Dishwasher

4 -

Laying device

5 -

Contact roller

6 -

drum

7 -

axis

8th -

arrow

9 -

Winding spindle

10 -

Winding spindle

11 -

axis

12 -

axis

13 -

axis

14 -

Sleeve

15 -

Kitchen sink

16 -

engine

17 -

engine

18 -

engine

19 -

transmission

20 -

Control device

21 -

Arithmetic unit

22 -

Angle of rotation

23 -

diameter

24 -

sensor

25 -

sensor

26 -

sensor

27 -

frequency converter

28 -

frequency converter

29 -

Or link

30 -

PID controller

31 -

Computing element

32 -

Storage

33 -

Table of values

34 -

I controller

35 -

PID controller

36 -

timer

37 -

Servo drive

38 -

Resolver

Claims (10)

1. A winding apparatus for a continuously arriving yarn (1) comprising a rotatable drum (6) on which two drivable winding spindles (9, 10) are rotatably mounted, a laying device (4) and a contact roller (5) which is arranged upstream of the drum (6) in the path of movement of the yarn, wherein the contact roller (5) is in peripheral contact with the bobbin (15) which is formed on the winding spindle (9 or 10) that is in operation, and the spacing between the axis (13) of the contact roller (5) and the axis (11) of the winding spindle (9) that is in operation is variable in the direction of an increase, in accordance with the increasing diameter of the bobbin (15), characterised in that a regulating device (20) is provided for the rotary movement of the drum (6) during the winding phase, that the winding apparatus (3) has a device for detecting the speed of the yarn (1) and a device for detecting the speed of rotation of the winding spindle (9) that is in operation, and that the regulating device (20) has a computing unit (21) for computing the respective current diameter of the bobbin (15) being formed on the winding spindle (9 or 10) that is in operation and the respective current angular speed between the beginning and the end of each computing cycle as regulation parameters for a continuous rotary movement of the drum (6) over the entire winding phase.
2. The winding apparatus of claim 1, characterised in that a microprocessor is provided as the computing unit (21).
3. The winding apparatus of claim 1, characterised in that the device for detecting the speed of the yarn (1) comprises a device for ascertaining the speed of rotation of the contact roller (5).
4. The winding apparatus of claim 1, characterised in that the device for detecting the speed of the yarn (1) and the device for detecting the speed of rotation of the winding spindle (9 or 10) that is in operation are also in the form of a regulation device (20) for regulating the rotary movement of the drum (6).
5. The winding apparatus of claim 1, characterised in that the contact roller (5) is deflectably mounted with respect to the axis (7) of the drum (6) and thus relative to the respective winding spindle (9 or 10), and that there is provided a device for controlling a constant or a controlledly variable contact pressure force of the contact roller (5) against the winding spindle (9 or 10) that is in operation.
6. The winding apparatus of one of the claims 1 to 5, characterised in that the computing unit (21) has a storage means for accommodating a value table in respect of the reference value of the rotary angle of the drum (6) in dependence on the diameter of the bobbin (15).
7. A method for regulating a winding apparatus (3) winding a continuously driving yarn (1), wherein a rotatable drum (6) on which two drivable winding spindles (9, 10) are rotatably mounted is rotated with respect to a contact roller (5) and the yarn (1) is wound with a laying device (4) by way of the contact roller (5) on to the bobbin (15), wherein the spacing between the axis (13) of the contact roller (5) and the axis (11 or 12) of the winding spindle (9 or 10) that is in operation is varied in the direction of an increase, in accordance with the increasing diameter of the bobbin (15), characterised in that the drum (6) is continuously rotated at angular speeds which alter from one computing cycle to another.
8. The method of claim 7, characterised in that computing cycles are used, which are repeated at time intervals that are constant over the winding phase, in particular at intervals of 10 msec.
9. The method of claim 7, characterised in that the current angular speed of the rotary movement of the drum (6) is altered for each regulating cycle in dependence on a constant increase in the diameter of the bobbin (15).
10. The method of claim 7, characterised in that the respective current angular speed of the rotary movement of the drum (6) is calculated from the respective preceding regulation cycle.

Images