EP0388937A1 - Positioning device - Google Patents

Positioning device Download PDF

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Publication number
EP0388937A1
EP0388937A1 EP90105373A EP90105373A EP0388937A1 EP 0388937 A1 EP0388937 A1 EP 0388937A1 EP 90105373 A EP90105373 A EP 90105373A EP 90105373 A EP90105373 A EP 90105373A EP 0388937 A1 EP0388937 A1 EP 0388937A1
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EP
European Patent Office
Prior art keywords
positioning device
sensors
holes
rail
sensor
Prior art date
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Granted
Application number
EP90105373A
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German (de)
French (fr)
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EP0388937B1 (en
Inventor
Werner Hartmeier
Giorgio Citterio
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Maschinenfabrik Rieter AG
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Maschinenfabrik Rieter AG
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Publication of EP0388937A1 publication Critical patent/EP0388937A1/en
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/005—Service carriages travelling along the machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the present invention relates to a positioning device for a unit which can be moved along a track and which is to be positioned at at least one predetermined location along the track, the positioning device consisting of at least one inductive or capacitive sensor.
  • the mobile unit is preferably an operating robot, for example an operating robot, which is used to remedy yarn breaks on a ring spinning machine or an open-end spinning machine, the operating robot having to be positioned precisely at each spinning station in order to successfully carry out the thread application process.
  • the mobile unit can also easily be a sledge or trolley or another object whose exact positioning is desired.
  • optical sensors are known which are designed as light barriers and allow the precise alignment of the object with a counterpart, for example with a reflector.
  • Such light barrier arrangements work relatively precisely, but are relatively expensive in practice and, under certain circumstances, relatively sensitive to dirt.
  • EP-OS 219 017 describes a positioning device consisting of a magnet and two Hall effect semiconductor sensors, the signals from the sensors being combined with one another in various ways in order to determine an aligned position between the magnet of the two Hall effect sensors. For example, a difference signal is generated and a difference value equal to zero is determined by the desired one Define position. In order to calibrate this system, however, it is necessary to compensate the output signals of the two Hall effect sensors by means of adjustable amplifiers, so that the zero value of the difference signal always defines an exact relative position between the magnet and the sensors. This arrangement is also relatively sensitive to stray fields, which is particularly to be expected if electric motors can be found in the area of the position sensors.
  • Such stray fields are created in a spinning machine, for example by strong electric motors which are installed in the machine head and which drive the ring spinning machine. Even with a single spindle drive, a motor is provided for each spindle, so that stray fields must also be expected wherever positioning is required.
  • the operating robot itself also contains various motors and other components that can generate stray fields.
  • the object of the present invention is to provide a positioning device of the type mentioned at the outset, which works reliably, can be produced inexpensively and only requires a simple evaluation circuit, yet enables the mobile unit to be positioned precisely.
  • the predetermined location is determined by a marking causing a change in the permeability or the dielectric constant in the detection range of the sensor, that two sensors are provided at a distance from one another in the direction of travel, each sensor being one of the sensors An analog signal corresponding to the change in permeability produces that the two signals are subtracted from one another and a switching signal is obtained from the difference signal which corresponds to the reaching of the predetermined location.
  • the mutual distance between the two sensors with regard to the shape and size of the marking should be chosen so that the difference signal has a clear zero crossing. This zero crossing is then detected by a zero crossing detector and the zero crossing then signals the exact positioning at the predetermined location.
  • a system of this type can be implemented, for example, using commercially available displacement transducers as sensors, which, in contrast to the normal installation method, where the short relative movement in the axial direction of the displacement transducer is only a few millimeters, can now be installed perpendicular to the direction of travel and Allow positioning tasks over unlimited distances, for example 50 m.
  • the formation of the difference signal achieves extensive freedom from external influences, since such external influences will generally influence the sensors arranged close together. Also, due to the difference formation according to the invention, influences which can be attributed to signs of aging of the sensors are largely compensated for, so that positioning device according to the invention works reliably over a long period of time.
  • the markings causing the changes are provided along the track and the sensors are attached to the mobile unit. In this way, only two sensors are required to achieve positioning at any number of locations.
  • the markings have a very simple shape and are therefore inexpensive to manufacture.
  • the or each marking can have the shape of a hole in a metallic, preferably iron rail.
  • Each hole or disk is preferably circular or elongated, in the latter case preferably with rounded end edges.
  • Such shapes can be easily created, for example, by drilling or milling, and can also be inserted into or on the rail at precisely predetermined intervals.
  • the or each marking has the shape of two holes spaced apart in the direction of travel, made in a metallic, preferably iron body, or two metal disks spaced apart in the direction of travel.
  • the holes are preferably made in the metal rail used for guiding the mobile unit. This means that only one rail is required. The double use of the rail also benefits the accuracy of the positioning.
  • the holes or disks are preferably circular, the mutual distance between the circular holes or disks being chosen to be different from the mutual distance between the two sensors in order to achieve a clear zero crossing.
  • FIG. 1 shows a perspective view of a rail 10, here in an abbreviated form, which is intended for guiding and positioning an operating robot (not shown) on a ring spinning machine.
  • the operating robot which is not shown here, but is described in detail in the simultaneously filed patent application with the designation "method for operating a ring spinning machine and operating robot for carrying out the method" (lawyer file number: R 2742), has wheels on the top Part of the rail runs and carries the three sensors 12, 14 and 16 shown in Fig. 1.
  • the sensor 12 is an inductive one Proximity switches
  • the two sensors 14 and 16 represent inductive displacement sensors.
  • Holes 18, 20 are introduced in pairs in the rail itself, each hole pair being precisely aligned with an associated spinning station of the ring spinning machine when the rail is attached to a ring spinning machine.
  • the task of the sensors 14 and 16 is to detect these pairs of holes 18, 20 so that the operating robot can orientate itself exactly with respect to the spinning position with the signals generated. How this is done will be explained in more detail later. In fact, not only three pairs of holes are provided, but a large number of such pairs of holes corresponding to the number of spinning positions on one side of the ring spinning machine, for example 500 to 600 such pairs of holes.
  • two elongated holes 22, 24 are also provided, which are arranged at the level of the inductive proximity switch 12. These elongated holes are detected by the inductive proximity switch when the operating robot runs past and generate a switching signal which represents a message to the operating robot from which it can recognize that it is approaching the end of its travel range and a braking operation is to be initiated.
  • the elongated hole 24 is an elongated hole at the end of the working area of the operating robot, the end of this working area being particularly characterized by the arrangement of the three holes 26, 28 and 30, which can be found at the extreme right end of the rail 10. These holes are detected by sensors 14, 16 and ensure that the operating robot stops here and does not move further to the right. This position is the end of the operating area of the operating robot, at which it stops every time until it is released to carry out another patrolling movement to the left.
  • an elongated hole 32 At the left end of the rail there is an elongated hole 32, at the end of the elongated hole 22 provided for determining the braking distance of the operating robot.
  • the elongated hole 32 is also at the level of the sensors 14 and 16 and is also recognized by them. You mark a reversal point for the operating robot.
  • a sequence of movements of the operating robot along the rail 10 therefore proceeds as follows.
  • the operating robot is initially at the extreme right end of the rail 10.
  • He receives approval from the assigned ring spinning machine and begins a patrol movement to the left.
  • He can stop at any spinning station and carry out work tasks there.
  • it orients itself on the basis of the signals from sensors 14 and 16 according to the middle position between the two holes of the pair of holes marking the relevant spinning position.
  • He can also use the signals from the sensors to enumerate the individual spinning positions and number them for himself, which can also be done in passing without the operating robot actually stopping.
  • this is detected by the sensor 12 and the operating robot is braked.
  • the travel drive of the operating robot is switched over and it now moves along the rail 10 to the right.
  • it can stop at any spinning position.
  • the operating robot is braked again and it positions itself at the right end of the rail in its starting position, based on the signals from the sensors 14 and 16. In this position, it can be operated with the machine head Ring spinning machine for example communicate. A further patrolling movement to the left only takes place when the operating robot has again received a release signal from the machine head.
  • the operating robot corrects the thread breaks that it has detected during its last run, i.e. it stops at the spinning points where there are thread breaks, and it saves the spinning points in passing where new thread breaks have occurred since its last pass. He then repairs these new thread breaks during the return run. At the same time, it saves the new thread breaks during the return run.
  • the positioning device which is formed by the sensors 14 and 16 and the hole pairs 18 and 20, is explained in more detail below with reference to FIGS. 2 to 5.
  • the 2 shows a first pair of holes 18, 20 and to the right next to it the next pair of holes 18, 20.
  • the holes 18 and 20 are designed as circular holes, and the middle point 34 between the center points 36 and 38 of the holes 18 and 20 detects the point , at which the operating robot should stop and corresponds to the axis of rotation of the spindle of the corresponding spinning position of the ring spinning machine.
  • the two sensors 14 and 16 are also shown in FIG. 2 on the assumption that the operating robot moves in the direction of arrow 40. It can be seen that the sensors have a somewhat larger diameter than the holes, and that the center distance between the two circular surface sensors is somewhat larger than the center distance between the hole pairs 18 and 20.
  • Sensors 14 and 16 are two inductive displacement transducers from Baumer Elektrik with the type designation IWA 18 U9011. These displacement transducers consist of an oscillator with an oscillating circuit coil that generates an alternating electromagnetic field that emerges from the active circular surface of the displacement transducer. If an electrically conductive metal approaches the displacement sensor, it acts as a damping element and eddy currents are induced in the metal, which draw energy from the oscillator. This results in a level change at the oscillator output, which is detected. The output level changes, for example, from 1 to 9 volts over a working range of 2 to 5 mm.
  • FIG. 3 shows the course of the output voltage 42 of the left sensor 18 during the movement from the left position in FIG. 3 to the next position between the holes of the right pair of holes 18, 20.
  • the characteristic curve 44 of the right position transducer 20 is shown in FIG. 4. It has the same shape as the characteristic curve of the left displacement sensor, but is shifted in time and laterally due to the distance between the two displacement sensors.
  • the two output signals of the two transducers are now subtracted from one another according to the invention, i.e. the signal from the right displacement sensor 20 is subtracted from the signal from the left displacement sensor 18 and the voltage curve 46 of FIG. 5 results.
  • the center positions for example 34, can be determined precisely from the difference signal and used to control the position of the operating robot.
  • the output signal of the zero crossing detector is relatively steep. This not only enables the center position to be recognized in passing, which is important for the enumeration of the individual spinning positions, but also enables control of the operating robot in such a way that it is aligned if the desired orientation is exceeded Position can be returned to the aligned position with high accuracy, even at very low creep speeds of the operating robot.
  • the sensor 12 the function of which has been described so far, is also constructed in accordance with the same displacement transducer, but additionally has a Schmitt trigger circuit which generates a binary output signal.
  • the holes 26, 28 have exactly the same design as the holes 18, 20 described so far and also the same distance. Hole 30 is, however, provided close to hole 28. This leads to the characteristic of the right sensor being in a position of the operating robot at the right end of the rail, i.e. at the end of his work area, assumes a modified course, as indicated at 48 in FIG. 4. This modified course is recorded with a threshold level, i.e. by comparison with a reference voltage.
  • the elongated hole 32 At the left end of the rail, i.e. at the reversal point is the elongated hole 32 and this leads to the characteristic curve of the left sensor 18 being disturbed, for example corresponding to the dash-dotted line 50 in FIG. 3, which also fits through a threshold value level F and is evaluated as a reversal signal for the operating robot.
  • the resonant circuit of the transducer is designed as an LC resonant circuit
  • a capacitive version of the sensor is conceivable, in which a change in the capacitance and therefore the resonance of the resonant circuit by the markings, i.e. through the holes or the material of the rail is brought about.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Manipulator (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

A positioning device for a unit, for example a serving robot, carriage or waggon, which can be moved along a track and is to be positioned at at least one predetermined point along the track, the positioning device consisting of at least one inductive or capacitive sensor, is characterised in that the predetermined point (34) is determined by a mark (18, 20) which brings about a change in the permeability or the dielectric constants in the detection range of the sensor, in that two sensors (14, 16) at a distance from one another in the travelling direction are provided, each sensor generating an analog signal (42, 44) which corresponds to the change, and in that the two signals are substrated from one another and a switching signal which corresponds to the predetermined point (34) being reached is obtained from the differential signal (46). <IMAGE>

Description

Die vorliegende Erfindung betrifft eine Positio­niereinrichtung für eine entlang einer Bahn fahrbare Einheit, die an wenigstens einem vorgegebenen Ort entlang der Bahn zu positionieren ist, wobei die Positioniereinrichtung aus wenigstens einem induktiven oder kapazitiven Sensor besteht. Bei der fahrbaren Einheit handelt es sich vorzugsweise um einen Bedienroboter, beispielsweise einen Bedienroboter, der zur Behebung von Fadenbrüchen an einer Ringspinn­maschine oder einer Offenendspinnmaschine eingesetzt wird, wobei der Bedienroboter an jeder Spinnstelle genau positioniert werden muß, um den Fadenansetzvor­gang erfolgreich durchzuführen. Die fahrbare Einheit kann aber auch ohne weiteres ein Schlitten oder Wagen oder ein anderer Gegenstand sein, dessen genaue Positionierung erwunscht ist.The present invention relates to a positioning device for a unit which can be moved along a track and which is to be positioned at at least one predetermined location along the track, the positioning device consisting of at least one inductive or capacitive sensor. The mobile unit is preferably an operating robot, for example an operating robot, which is used to remedy yarn breaks on a ring spinning machine or an open-end spinning machine, the operating robot having to be positioned precisely at each spinning station in order to successfully carry out the thread application process. However, the mobile unit can also easily be a sledge or trolley or another object whose exact positioning is desired.

Es sind bereits eine Reihe von Einrichtungen vorge­schlagen worden, die die genaue Positionierung von Gegenständen ermöglichen.A number of devices have already been proposed which enable the precise positioning of objects.

Beispielsweise sind optische Sensoren bekannt, die als Lichtschranken ausgebildet sind und die genaue Ausrichtung des Gegenstandes mit einem Gegenstück, beispielsweise mit einem Reflektor ermöglichen. Solche Lichtschrankenanordnung arbeiten zwar relativ genau, sind jedoch in der Praxis relativ teuer und unter Umständen relativ schmutzempfindlich.For example, optical sensors are known which are designed as light barriers and allow the precise alignment of the object with a counterpart, for example with a reflector. Such light barrier arrangements work relatively precisely, but are relatively expensive in practice and, under certain circumstances, relatively sensitive to dirt.

Die EP-OS 219 017 beschreibt eine Positioniereinrich­tung bestehend aus einem Magneten und zwei Halleffekt-­Halbleitersensoren, wobei die Signale der Sensoren auf verschiedene Art und Weise miteinander kombiniert werden, um eine ausgerichtete Lage zwischen dem Magneten den beiden Halleffektsensoren zu ermitteln. Beispielsweise wird ein Differenzsignal erzeugt und ein Differenzwert gleich Null ermittelt, um die erwünschte Position zu definieren. Um dieses System zu kalibrieren, ist es jedoch erforderlich, die Ausgangssignale der beiden Halleffektsensoren mittels jeweiliger einstellbarer Verstärker auszugleichen, damit der Nullwert des Differenzsignals stets eine genaue relative Position zwischen dem Magneten und den Sensoren definiert. Auch ist diese Anordnung für Streufelder relativ empfindlich, was besonders dann zu erwarten ist, wenn im Bereich der Positionsensoren Elektromotoren anzutreffen sind. Solche Streufelder entstehen in einer Spinnmaschine, z.B. durch starke Elektromotoren, die im Maschinenkopf eingebaut sind und für den Antrieb der Ringspinnmaschine sorgen. Auch bei Einzelspindelantrieb ist für jede Spindel ein Motor vorgesehen, so daß auch unmittelbar dort, wo positioniert werden soll, mit Streufeldern gerechnet werden muß. Auch der Bedienroboter selbst enthält verschiedene Motoren und andere Komponenten, die Streufelder erzeugen können.EP-OS 219 017 describes a positioning device consisting of a magnet and two Hall effect semiconductor sensors, the signals from the sensors being combined with one another in various ways in order to determine an aligned position between the magnet of the two Hall effect sensors. For example, a difference signal is generated and a difference value equal to zero is determined by the desired one Define position. In order to calibrate this system, however, it is necessary to compensate the output signals of the two Hall effect sensors by means of adjustable amplifiers, so that the zero value of the difference signal always defines an exact relative position between the magnet and the sensors. This arrangement is also relatively sensitive to stray fields, which is particularly to be expected if electric motors can be found in the area of the position sensors. Such stray fields are created in a spinning machine, for example by strong electric motors which are installed in the machine head and which drive the ring spinning machine. Even with a single spindle drive, a motor is provided for each spindle, so that stray fields must also be expected wherever positioning is required. The operating robot itself also contains various motors and other components that can generate stray fields.

Es ist auch aus der US-PS 4 703 617 bekannt, eine gegenseitige Positionierung eines Wartungsgerätes mit einer Offenend-Spinnmaschine mittels Lichtschranken zu bewerkstelligen, die Kippbewegungen eines Wagens erfassen, der über an den einzelnen Spinnstellen angeordnete, dachartige Positioniernocken fährt. Dieses System arbeitet zwar zuverlässig, ist jedoch relativ aufwendig in der Herstellung.It is also known from US Pat. No. 4,703,617 to bring about a mutual positioning of a maintenance device with an open-end spinning machine by means of light barriers which detect tilting movements of a carriage which moves over roof-like positioning cams arranged at the individual spinning positions. Although this system works reliably, it is relatively complex to manufacture.

Aufgabe der vorliegenden Erfindung ist es, eine Positioniereinrichtung der eingangs genannten Art zu schaffen, welche zuverlässig arbeitet, sich preisgünstig herstellen läßt und nur einen einfachen Auswertungskreis fordert, dennoch eine genaue Positionierung der fahrbaren Einheit ermöglicht.The object of the present invention is to provide a positioning device of the type mentioned at the outset, which works reliably, can be produced inexpensively and only requires a simple evaluation circuit, yet enables the mobile unit to be positioned precisely.

Um diese Aufgabe zu lösen, wird erfindungsgemäß vorgeschlagen, daß der vorgegebene Ort durch eine eine Veränderung der Permeabilität bzw. der Dielektritätskonstanten im Erfassungsbereich des Sensors bewirkende Markierung bestimmt ist, daß zwei voneinander in Fahrtrichtung einen Abstand aufweisende Sensoren vorgesehen sind, wobei jeder Sensor ein der Permeabilitätsveränderung entsprechendes Analogsignal erzeugt, daß die beiden Signale voneinander subtrahiert werden und aus dem Differenzsignal ein Schaltsignal gewonnen wird, das dem Erreichen des vorgegebenen Ortes entspricht.In order to achieve this object, it is proposed according to the invention that the predetermined location is determined by a marking causing a change in the permeability or the dielectric constant in the detection range of the sensor, that two sensors are provided at a distance from one another in the direction of travel, each sensor being one of the sensors An analog signal corresponding to the change in permeability produces that the two signals are subtracted from one another and a switching signal is obtained from the difference signal which corresponds to the reaching of the predetermined location.

Der gegenseitige Abstand der beiden Sensoren im Hinblick auf die Form und Größe der Markierung soll gewählt werden, daß das Differenzsignal einen eindeutigen Nulldurchgang aufweist. Dieser Nulldurchgang wird dann von einem Nulldurchgangs­detektor erfaßt und der Nulldurchgang signalisiert dann die genaue Positionierung an dem vorgegebenen Ort.The mutual distance between the two sensors with regard to the shape and size of the marking should be chosen so that the difference signal has a clear zero crossing. This zero crossing is then detected by a zero crossing detector and the zero crossing then signals the exact positioning at the predetermined location.

Ein System dieser Art läßt sich beispielsweise unter Verwendung von handelsüblichen Wegaufnehmern als Sensoren realisieren, wobei diese im Gegensatz zu der normalen Einbauweise, wo die kurze Relativbewegung in Achsrichtung des Wegaufnehmers erfolgt und nur noch einige Millimeter betragen kann, nunmehr senkrecht zu der Fahrtrichtung eingebaut werden und Positionierungsaufgaben über unbeschränkte Abstände, beispielsweise 50 m ermöglichen. Durch die Bildung des Differenzsignals wird eine weitgehende Freiheit von Fremdeinflüssen erreicht, da solche Fremdeinflüsse im Regelfall die nahe aneinander angeordneten Sensoren gleichmäßig beeinflussen werden. Auch sind durch die erfindungsgemäße Differenzbildung Einflüsse, die auf Alterungserscheinigungen der Sensoren zurückzuführen sind, weitgehend ausgeglichen, so daß die erfindungsgemäße Positioniereinrichtung zuverlässig über einen langen Zeitraum arbeitet.A system of this type can be implemented, for example, using commercially available displacement transducers as sensors, which, in contrast to the normal installation method, where the short relative movement in the axial direction of the displacement transducer is only a few millimeters, can now be installed perpendicular to the direction of travel and Allow positioning tasks over unlimited distances, for example 50 m. The formation of the difference signal achieves extensive freedom from external influences, since such external influences will generally influence the sensors arranged close together. Also, due to the difference formation according to the invention, influences which can be attributed to signs of aging of the sensors are largely compensated for, so that positioning device according to the invention works reliably over a long period of time.

Bei mehreren vorgegebenen Orten sind die die Veränderungen bewirkenden Markierungen entlang der Bahn vorgesehen und die Sensoren auf der fahrbaren Einheit angebracht. Auf diese Weise werden nur zwei Sensoren benötigt, um eine Positionierung an beliebig vielen Orten zu erreichen. Die Markierungen haben eine sehr einfache Form und sind deshalb preisgünstig herzustellen. Beispielsweise kann die bzw. jede Markierung die Form eines Loches in einer metallischen, vorzugsweise eisernen Schiene aufweisen. Umkehrt ist es auch möglich, die bzw. jeder Markierung die Form einer metallischen Scheibe zu geben, die auf einer Kunststoffschiene bzw. Unterlage angebracht ist.At several predetermined locations, the markings causing the changes are provided along the track and the sensors are attached to the mobile unit. In this way, only two sensors are required to achieve positioning at any number of locations. The markings have a very simple shape and are therefore inexpensive to manufacture. For example, the or each marking can have the shape of a hole in a metallic, preferably iron rail. Conversely, it is also possible to give the or each marking the shape of a metallic disc which is attached to a plastic rail or base.

Jedes Loch bzw. jede Scheibe ist vorzugsweise kreisrund oder länglich ausgebildet, im letzteren Fall vorzugsweise mit abgerundeten Endkanten. Solche Formen lassen sich beispielsweise durch Bohren oder Fräsen leicht erstellen und auch in genau vorgegebenen Abständen in der Schiene bzw. auf dieser einbringen.Each hole or disk is preferably circular or elongated, in the latter case preferably with rounded end edges. Such shapes can be easily created, for example, by drilling or milling, and can also be inserted into or on the rail at precisely predetermined intervals.

Nach einer besonders bevorzugten Ausführungsform weist die bzw. jede Markierung die Form von zwei voneinander in Fahrtrichtung einen Abstand aufweisenden, in einem metallischen, vorzugsweise eisernen Körper angebrachte Löcher oder zwei voneinander in Fahrtrichtung einen Abstand aufweisende Metallscheiben auf.According to a particularly preferred embodiment, the or each marking has the shape of two holes spaced apart in the direction of travel, made in a metallic, preferably iron body, or two metal disks spaced apart in the direction of travel.

Die Löcher sind vorzugsweise in der Metallschiene angebracht, die für die Führung der fahrbaren Einheit benützt wird. Hierdurch wird nur eine Schiene benötigt. Die doppelte Benutzung der Schiene kommt auch der Genauigkeit der Positionierung zugute.The holes are preferably made in the metal rail used for guiding the mobile unit. This means that only one rail is required. The double use of the rail also benefits the accuracy of the positioning.

Die Löcher bzw. die Scheiben sind vorzugsweise kreisrund, wobei der gegenseitige Abstand der kreisrunden Löcher bzw. Scheiben unterschiedlich vom gegenseitigen Abstand der beiden Sensoren gewählt sein soll, um einen klaren Nulldurchgang zu erreichen.The holes or disks are preferably circular, the mutual distance between the circular holes or disks being chosen to be different from the mutual distance between the two sensors in order to achieve a clear zero crossing.

Die Erfindung wird nachfolgend anhand der beigefügten Zeichnungen näher erläutert, in welcher zeigt:

  • Fig. 1 eine Führungs- und Positionierungsschiene für einen Bedienroboter,
  • Fig. 2 eine schematische Darstellung der Anordnung der Positionierungslöcher der Schiene der Fig. 1 im Vergleich zu den Sensoren der Bedienroboter,
  • Fig. 3 die Kennlinie des linken Sensors während einer Fahrt des Bedienroboters entlang der Schiene,
  • Fig. 4 die gleiche Kennlinie für den rechten Sensor, und
  • Fig. 5 die Differenz der beiden Sensorsignale.
The invention is explained in more detail below with reference to the accompanying drawings, in which:
  • 1 is a guide and positioning rail for an operating robot,
  • 2 shows a schematic representation of the arrangement of the positioning holes of the rail of FIG. 1 in comparison to the sensors of the operating robots,
  • 3 shows the characteristic curve of the left sensor while the operating robot is traveling along the rail,
  • Fig. 4 shows the same characteristic for the right sensor, and
  • Fig. 5 shows the difference between the two sensor signals.

Die Fig. 1 zeigt in perspektivischer Darstellung eine Schiene 10, hier in abgekürzter Form, die für die Führung und Positionierung eines Bedienroboters (nicht gezeigt) an einer Ringspinnmaschine gedacht ist. Der Bedienroboter, der hier nicht gezeigt ist, jedoch im einzelnen in der gleichzeitig eingereichten Patentanmeldung mit der Bezeichnung "Verfahren zum Betrieb einer Ringspinnmaschine sowie Bedienroboter zur Durchführung des Verfahrens" (Anwaltsaktenzeichen: R 2742) beschrieben ist, weist Rader auf, die auf dem oberen Teil der Schiene laufen und tragt die drei Sensoren 12, 14 und 16, die in Fig. 1 gezeigt sind. Hiervon ist der Sensor 12 ein induktiver Näherungsschalter, die beiden Sensoren 14 und 16 stellen induktive Wegaufnehmer dar. In der Schiene selbst sind paarweise Löcher 18, 20 eingebracht, wobei jedes Lochpaar bei der Anbringung der Schiene an einer Ringspinnmaschine genau mit einer zugeordneten Spinnstelle der Ringspinnmaschine ausgerichtet ist. Aufgabe der Sensoren 14 und 16 ist es, diese Lochpaare 18, 20 zu erfassen, damit der Bedienroboter mit den erzeugten Signalen sich exakt gegenüber der Spinnstelle orientieren kann. Wie dies erfolgt wird etwas später näher erläutert. In der Tat sind nicht nur drei Lochpaare vorgesehen, sondern sehr viele solche Lochpaare entsprechend der Anzahl der Spinnstellen auf einer Seite der Ringspinnmaschine, beispielsweise 500 bis 600 solche Lochpaare. An dem linken und rechten Ende der Schiene 10 sind auch zwei Langlöcher 22, 24 vorgesehen, die in der Höhe des induktiven Näherungsschalters 12 angeordnet sind. Diese Langlöcher werden von dem induktiven Näherungsschalter beim Vorbeilaufen des Bedienroboters erfaßt und erzeugen ein Schaltsignal, das eine Mitteilung an den Bedienroboter darstellt, woraus er erkennen kann, daß er sich dem Ende seines Fahrbereiches nahert, und ein Bremsvorgang einzuleiten ist.1 shows a perspective view of a rail 10, here in an abbreviated form, which is intended for guiding and positioning an operating robot (not shown) on a ring spinning machine. The operating robot, which is not shown here, but is described in detail in the simultaneously filed patent application with the designation "method for operating a ring spinning machine and operating robot for carrying out the method" (lawyer file number: R 2742), has wheels on the top Part of the rail runs and carries the three sensors 12, 14 and 16 shown in Fig. 1. Of these, the sensor 12 is an inductive one Proximity switches, the two sensors 14 and 16 represent inductive displacement sensors. Holes 18, 20 are introduced in pairs in the rail itself, each hole pair being precisely aligned with an associated spinning station of the ring spinning machine when the rail is attached to a ring spinning machine. The task of the sensors 14 and 16 is to detect these pairs of holes 18, 20 so that the operating robot can orientate itself exactly with respect to the spinning position with the signals generated. How this is done will be explained in more detail later. In fact, not only three pairs of holes are provided, but a large number of such pairs of holes corresponding to the number of spinning positions on one side of the ring spinning machine, for example 500 to 600 such pairs of holes. At the left and right end of the rail 10, two elongated holes 22, 24 are also provided, which are arranged at the level of the inductive proximity switch 12. These elongated holes are detected by the inductive proximity switch when the operating robot runs past and generate a switching signal which represents a message to the operating robot from which it can recognize that it is approaching the end of its travel range and a braking operation is to be initiated.

Es handelt sich bei dem Langloch 24 um ein Langloch am Ende des Arbeitsbereiches des Bedienroboters wobei das Ende dieses Arbeitsbereiches besonders durch die Anordnung der drei Löcher 26, 28 und 30 gekennzeichnet ist, die am extrem rechten Ende der Schiene 10 zu finden sind. Diese Löcher werden von den Sensoren 14, 16 erfaßt und stellen sicher, daß der Bedienroboter hier anhält und nicht weiter nach rechts fährt. Es handelt sich bei dieser Stellung um das Ende des Arbeitsbereiches des Bedienroboters, an dem er jedesmal anhält, bis er eine Freigabe erhält, eine weitere Patrouillierbewegung nach links durchzuführen.The elongated hole 24 is an elongated hole at the end of the working area of the operating robot, the end of this working area being particularly characterized by the arrangement of the three holes 26, 28 and 30, which can be found at the extreme right end of the rail 10. These holes are detected by sensors 14, 16 and ensure that the operating robot stops here and does not move further to the right. This position is the end of the operating area of the operating robot, at which it stops every time until it is released to carry out another patrolling movement to the left.

Am linken Ende der Schiene befindet sich ein Langloch 32, am Ende des zur Bestimmung des Bremsweges des Bedienroboters vorgesehenen Langloches 22. Das Langloch 32 liegt ebenfalls in Höhe der Sensoren 14 und 16 und wird ebenfalls von diesen erkannt. Sie markieren eine Umkehrstelle für den Bedienroboter.At the left end of the rail there is an elongated hole 32, at the end of the elongated hole 22 provided for determining the braking distance of the operating robot. The elongated hole 32 is also at the level of the sensors 14 and 16 and is also recognized by them. You mark a reversal point for the operating robot.

Ein Bewegungsablauf des Bedienroboters entlang der Schiene 10 läuft daher folgendermaßen ab. Wir gehen davon aus, daß sich der Bedienroboter zunächst am extrem rechten Ende der Schiene 10 befindet. An dieser Stelle erhält er eine Freigabe von der zugeordneten Ringspinnmaschine und fängt eine Patrouillierbewegung nach links an. Dabei kann er an jeder beliebigen Spinnstelle anhalten und dort Arbeitsaufgaben durchführen. Zur genauen Positionierung richtet er sich anhand der Signale der Sensoren 14 und 16 nach der Mittelstellung zwischen beiden Löchern des die betreffende Spinnstelle markierenden Lochpaares aus. Auch kann er anhand der Signale der Sensoren die einzelnen Spinnstellen aufzählen und für sich numerieren, was auch im Vorbeilaufen erfolgen kann, ohne daß der Bedienroboter tatsächlich anhält. Sobald er das rechte Ende des linken Langloches 22 erreicht, wird dies vom Sensor 12 erfaßt und eine Abbremsung des Bedienroboters herbeigeführt. Sobald die Sensoren 14 und 16 das Langloch 32 erfaßt haben, wird der Fahrantrieb des Bedienroboters umgeschaltet und er fährt nunmehr entlang der Schiene 10 nach rechts. Auch hier kann er an beliebigen Spinnstellen anhalten. Sobald der Sensor 12 das linke Ende des rechten Langloches 24 erfaßt hat, wird der Bedienroboter wieder abgebremst und er positioniert sich am rechten Ende der Schiene in seiner Ausgangslage, aufgrund der Signale der Sensoren 14 und 16. In dieser Lage kann er mit dem Maschinenkopf der Ringspinnmaschine beispielsweise kommunizieren. Eine weitere Patrouillierbewegung nach links erfolgt erst dann, wenn der Bedienroboter wieder ein Freigabesignal vom Maschinenkopf erhalten hat.A sequence of movements of the operating robot along the rail 10 therefore proceeds as follows. We assume that the operating robot is initially at the extreme right end of the rail 10. At this point he receives approval from the assigned ring spinning machine and begins a patrol movement to the left. He can stop at any spinning station and carry out work tasks there. For precise positioning, it orients itself on the basis of the signals from sensors 14 and 16 according to the middle position between the two holes of the pair of holes marking the relevant spinning position. He can also use the signals from the sensors to enumerate the individual spinning positions and number them for himself, which can also be done in passing without the operating robot actually stopping. As soon as it reaches the right end of the left elongated hole 22, this is detected by the sensor 12 and the operating robot is braked. As soon as the sensors 14 and 16 have detected the elongated hole 32, the travel drive of the operating robot is switched over and it now moves along the rail 10 to the right. Here, too, it can stop at any spinning position. As soon as the sensor 12 has detected the left end of the right elongated hole 24, the operating robot is braked again and it positions itself at the right end of the rail in its starting position, based on the signals from the sensors 14 and 16. In this position, it can be operated with the machine head Ring spinning machine for example communicate. A further patrolling movement to the left only takes place when the operating robot has again received a release signal from the machine head.

Entsprechend der oben erwähnten gleichzeitig eingereichten Patentanmeldung behebt der Bedienroboter bei jedem Durchlauf die während seines letzten Durchlaufes von ihm festgestellten Fadenbrüche, d.h. er hält an den Spinnstellen an, wo Fadenbrüche sind, und er speichert im Vorbeilauf die Spinnstellen, wo seit seinem letzten Durchgang neue Fadenbrüche entstanden sind. Diese neu entstandenen Fadenbrüche repariert er dann beim Retourlauf. Gleichzeitig speichert er während des Retourlaufes die neu entstandenen Fadenbrüche.According to the above-mentioned simultaneously filed patent application, the operating robot corrects the thread breaks that it has detected during its last run, i.e. it stops at the spinning points where there are thread breaks, and it saves the spinning points in passing where new thread breaks have occurred since its last pass. He then repairs these new thread breaks during the return run. At the same time, it saves the new thread breaks during the return run.

Die Positioniereinrichtung, welche durch die Sensoren 14 und 16 und die Lochpaare 18 und 20 gebildet wird, wird nachfolgend anhand der Fig. 2 bis 5 näher erläutert.The positioning device, which is formed by the sensors 14 and 16 and the hole pairs 18 and 20, is explained in more detail below with reference to FIGS. 2 to 5.

Fig. 2 zeigt ein erstes Lochpaar 18, 20 und rechts daneben das nächste Lochpaar 18, 20. Die Löcher 18 und 20 sind als kreisförmige Löcher ausgebildet, und die Mittelstelle 34 zwischen den Mittelpunkten 36 und 38 der Löcher 18 bzw. 20 detiniert die Stelle, an der der Bedienroboter anhalten soll und entspricht der Drehachse der Spindel der entsprechenden Spinnstelle der Ringspinnmaschine.2 shows a first pair of holes 18, 20 and to the right next to it the next pair of holes 18, 20. The holes 18 and 20 are designed as circular holes, and the middle point 34 between the center points 36 and 38 of the holes 18 and 20 detects the point , at which the operating robot should stop and corresponds to the axis of rotation of the spindle of the corresponding spinning position of the ring spinning machine.

Die beiden Sensoren 14 und 16 sind ebenfalls in Fig. 2 gezeigt unter der Annahme, daß sich der Bedienroboter in Pfeilrichtung 40 bewegt. Es ist ersichtlich, daß die Sensoren einen etwas größeren Durchmesser aufweisen als die Löcher, und daß der Mittenabstand der beiden, kreisförmige Flächen aufweisende Sensoren etwas größer ist als der Mittenabstand der Lochpaare 18 und 20.The two sensors 14 and 16 are also shown in FIG. 2 on the assumption that the operating robot moves in the direction of arrow 40. It can be seen that the sensors have a somewhat larger diameter than the holes, and that the center distance between the two circular surface sensors is somewhat larger than the center distance between the hole pairs 18 and 20.

Es handelt sich bei den Sensoren 14 und 16 um zwei induktive Wegaufnehmer der Firma Baumer Elektrik mit der Typenbezeichnung IWA 18 U9011. Diese Wegaufnehmer bestehen aus einem Oszillator mit einer Schwingkreisspule, der eine elektromagnetisches Wechselfeld erzeugt, das aus der aktiven kreisförmigen Fläche des Wegaufnehmers austritt. Nähert sich ein elektrisch leitendes Metall dem Wegaufnehmer, so wirkt dieses als Bedämpfungsstück und Wirbelströme werden in dem Metall induziert, die dem Oszillator Energie entziehen. Dadurch resultiert am Oszillatorausgang eine Pegeländerung, die erfaßt wird. Der Ausgangspegel ändert sich beispielsweise von 1 bis 9 Volt über einen Arbeitsbereich von 2 bis 5 mm.Sensors 14 and 16 are two inductive displacement transducers from Baumer Elektrik with the type designation IWA 18 U9011. These displacement transducers consist of an oscillator with an oscillating circuit coil that generates an alternating electromagnetic field that emerges from the active circular surface of the displacement transducer. If an electrically conductive metal approaches the displacement sensor, it acts as a damping element and eddy currents are induced in the metal, which draw energy from the oscillator. This results in a level change at the oscillator output, which is detected. The output level changes, for example, from 1 to 9 volts over a working range of 2 to 5 mm.

Aus dieser Beschreibung sieht man, daß beim normalen Gebrauch der soeben beschriebenen induktiven Wegaufnehmer die Relativbewegung senkrecht zu dessen aktiver Fläche, d.h. in Achsrichtung des Wegaufnehmers erfolgt. Im vorliegenden Fall erfolgt aber die Relativbewegung zwischen Schiene und der Wegaufnehmer parallel zu deren aktiven Flächen, d.h. senkrecht zu ihren Längsachsen.From this description it can be seen that during normal use of the inductive displacement sensors just described, the relative movement perpendicular to its active surface, i.e. in the axial direction of the displacement sensor. In the present case, however, the relative movement between the rail and the displacement transducer takes place parallel to their active surfaces, i.e. perpendicular to their longitudinal axes.

Die Fig. 3 zeigt den Verlauf der Ausgangsspannung 42 des linken Sensors 18 bei der Bewegung von der linken Position in Fig. 3 bis zu der nächsten Position zwischen den Löchern des rechten Lochpaares 18, 20. Mit zunehmender Dämpfung aufgrund der steigenden Permeabilität zwischen den Löchern 18, 20 des linken Lochpaares steigt die Ausgangsspannung des linken Sensors von einem minimalen Wert bis zu einem maximalen Wert und fällt dann wieder ab, wenn der Sensor 14 in den Bereich des Loches 20 kommt. Auf der rechten Seite des Loches ist wieder eine volle Schiene vorgesehen, die Dämpfung steigt und damit die Ausgangsspannung des Wegaufnehmers 18. Dieser Verlauf setzt sich fort, bis man in den Bereich des Loches 18 des rechten Lochpaares kommt, hier sinkt die Spannung wieder ab, bis sie im Bereich zwischen den beiden Löchern 18, 20 des rechten Lochpaares wieder ansteigt.3 shows the course of the output voltage 42 of the left sensor 18 during the movement from the left position in FIG. 3 to the next position between the holes of the right pair of holes 18, 20. With increasing damping due to the increasing permeability between the holes 18, 20 of the pair of holes on the left increases the output voltage of the left sensor from a minimum value to a maximum value and then drops again when the sensor 14 comes into the region of the hole 20. On the right side of the hole, a full rail is again provided, the damping increases and thus the output voltage of the displacement sensor 18. This course continues until one comes into the area of the hole 18 of the right pair of holes, here the tension drops again until it rises again in the area between the two holes 18, 20 of the right pair of holes.

Die Kennlinie 44 des rechten Wegaufnehmers 20 ist in Fig. 4 gezeigt. Sie weist die gleiche Form wie die Kennlinie des linken Wegaufnehmers auf, ist jedoch aufgrund des Abstandes zwischen den beiden Wegaufnehmern zeitlich und seitlich dazu verschoben.The characteristic curve 44 of the right position transducer 20 is shown in FIG. 4. It has the same shape as the characteristic curve of the left displacement sensor, but is shifted in time and laterally due to the distance between the two displacement sensors.

Die beiden Ausgangssignale der beiden Aufnehmer werden nunmehr nach der Erfindung voneinander subtrahiert, d.h. das Signal des rechten Wegaufnehmers 20 wird von dem Signal des linken Wegaufnehmers 18 subtrahiert und es ergibt sich der Spannungsverlauf 46 der Fig. 5.The two output signals of the two transducers are now subtracted from one another according to the invention, i.e. the signal from the right displacement sensor 20 is subtracted from the signal from the left displacement sensor 18 and the voltage curve 46 of FIG. 5 results.

Man sieht, daß der Nulldurchgang der ansteigenden Flanke des Differenzsignals 46 mit den Mittenstellungen zwischen den Löchern der einzelnen Lochpaare ausgerichtet ist und daher diese Mittenstellung genau wiedergibt.It can be seen that the zero crossing of the rising edge of the difference signal 46 is aligned with the center positions between the holes of the individual hole pairs and therefore accurately reproduces this center position.

Mittels eines einfachen in der Technik bereits an sich bekannten Nulldurchgangsdetektors können daher die Mittenstellungen, beispielsweise 34 aus dem Differenzsignal genau ermittelt werden und zur Steuerung der Lage des Bedienroboters herangezogen werden.By means of a simple zero-crossing detector, which is already known per se in technology, the center positions, for example 34, can be determined precisely from the difference signal and used to control the position of the operating robot.

Vorteilhaft ist, daß das Ausgangssignal des Nulldurchgangdetektors relativ steil ist. Dies ermöglicht nicht nur die Erkennung der Mittenstellung im Vorbeilauf, was für die Aufzählung der einzelnen Spinnstellen wichtig ist, sondern ermoglicht eine Ansteuerung des Bedienroboters so, daß er im Falle einer Überschreitung der erwünschten ausgerichteten Position mit hoher Genauigkeit wieder an die ausgerichtete Position zurückgeführt werden kann, und zwar auch bei sehr niedrigen Kriechgeschwindigkeiten des Bedienroboters.It is advantageous that the output signal of the zero crossing detector is relatively steep. This not only enables the center position to be recognized in passing, which is important for the enumeration of the individual spinning positions, but also enables control of the operating robot in such a way that it is aligned if the desired orientation is exceeded Position can be returned to the aligned position with high accuracy, even at very low creep speeds of the operating robot.

Der Sensor 12, dessen Funktion bisher beschrieben worden ist, ist auch entsprechend demselben Wegaufnehmer konstruiert, weist aber zusätzlich eine Schmitt-Triggerschaltung auf, die ein binäres Ausgangssignal erzeugt.The sensor 12, the function of which has been described so far, is also constructed in accordance with the same displacement transducer, but additionally has a Schmitt trigger circuit which generates a binary output signal.

Am rechten Ende der Schiene befindet sich die bisher angesprochene Dreilochanordnung 26, 28, 30. Dabei haben die Löcher 26, 28 genau die gleiche Ausbildung wie die bisher beschriebenen Löcher 18, 20 und auch den gleichen Abstand. Das Loch 30 ist aber unmittelbar nahe am Loch 28 vorgesehen. Dies führt dazu, daß die Kennlinie des rechten Sensors bei einer Position des Bedienroboters am rechten Ende der Schiene, d.h. am Ende seines Arbeitsbereiches, einen modifizierten Verlauf annimmt, wie bei 48 in der Fig. 4 gekennzeichnet. Dieser modifizierte Verlauf wird mit einer Schwellwertstufe erfaßt, d.h. durch Vergleich mit einer Bezugsspannung.At the right end of the rail is the three-hole arrangement 26, 28, 30 mentioned above. The holes 26, 28 have exactly the same design as the holes 18, 20 described so far and also the same distance. Hole 30 is, however, provided close to hole 28. This leads to the characteristic of the right sensor being in a position of the operating robot at the right end of the rail, i.e. at the end of his work area, assumes a modified course, as indicated at 48 in FIG. 4. This modified course is recorded with a threshold level, i.e. by comparison with a reference voltage.

Am linken Ende der Schiene, d.h. an der Umkehrstelle befindet sich das Langloch 32 und dies führt dazu, daß die Kennlinie des linken Sensors 18 gestört wird, beispielsweise entsprechend der strichpunktierten Linie 50 der Fig. 3, was ebenfalls durch eine Schwellwertstufe F paßt und als Umkehrsignal für den Bedienroboter gewertet wird.At the left end of the rail, i.e. at the reversal point is the elongated hole 32 and this leads to the characteristic curve of the left sensor 18 being disturbed, for example corresponding to the dash-dotted line 50 in FIG. 3, which also fits through a threshold value level F and is evaluated as a reversal signal for the operating robot.

In Versuchen ist ermittelt worden, daß mit den genannten Wegaufnehmern eine Lochgröße von 12,5 mm und ein Lochabstand von 30 mm ideal ist. Der Abstand der beiden Wegaufnehmer 14, 16 soll vorzugsweise 36 mm betragen. Der Nominalabstand zwischen den aktiven Flächen der Wegaufnehmer und der Schiene betrug 2 mm. Mit diesem System ist eine Positionierung mit einer Genauigkeit besser als 1 mm ohne weiteres möglich. Es leuchtet ein, daß der Abstand zwischen einzelnen Lochpaaren anders sein muß als zwischen den Löchern der Lochpaare selbst, da sonst weitere Maßnahmen getroffen werden müßten, um die Eindeutigkeit der Positionierung zu erfassen.Tests have shown that a hole size of 12.5 mm and a hole spacing of 30 mm are ideal with the displacement transducers mentioned. The distance between the two displacement sensors 14, 16 should preferably be 36 mm be. The nominal distance between the active surfaces of the displacement transducer and the rail was 2 mm. With this system, positioning with an accuracy better than 1 mm is easily possible. It is obvious that the distance between individual pairs of holes must be different than between the holes of the pairs of holes themselves, since otherwise measures would have to be taken to determine the uniqueness of the positioning.

Da der Schwingkreis des Aufnehmers als LC-Schwingkreis ausgebildet ist, ist eine kapazititve Ausführung des Sensors durchwegs vorstellbar, bei der eine Änderung der Kapazität und daher der Resonanz des Schwingkreises durch die Markierungen, d.h. durch die Löcher bzw. das Material der Schiene herbeigeführt wird.Since the resonant circuit of the transducer is designed as an LC resonant circuit, a capacitive version of the sensor is conceivable, in which a change in the capacitance and therefore the resonance of the resonant circuit by the markings, i.e. through the holes or the material of the rail is brought about.

Claims (12)

1. Positioniereinrichtung für eine entlang einer Bahn fahrbare Einheit, z.B. einen Bedienroboter, Schlit­ten oder Waggon, die an wenigstens einem vorgegebe­nen Ort entlang der Bahn zu positionieren ist, wobei die Positioniereinrichtung aus wenigstens einem induktiven oder kapazitiven Sensor besteht, dadurch gekennzeichnet, daß der vorgegebene Ort (34) durch eine, eine Veränderung der Permeabilität bzw. der Dielektrizitätskonstanten im Erfassungs­bereich des Sensors bewirkende Markierung (18, 20) bestimmt ist, daß zwei voneinander in Fahrtrichtung einen Abstand aufweisende Sensoren (14, 16) vorge­sehen sind, wobei jeder Sensor ein der Veränderung entsprechendes Analogsignal (42, 44) erzeugt, daß die beiden Signale voneinander subtrahiert werden und aus dem Differenzsignal (46) ein Schaltsignal gewonnen wird, daß dem Erreichen des vorgegebenen Ortes (34) entspricht.1. Positioning device for a unit that can be moved along a track, for example an operating robot, carriage or wagon, which is to be positioned at at least one predetermined location along the track, the positioning device consisting of at least one inductive or capacitive sensor, characterized in that the predetermined Location (34) is determined by a marking (18, 20) causing a change in the permeability or the dielectric constant in the detection range of the sensor, so that two sensors (14, 16) are provided which are at a distance from one another in the direction of travel, each sensor being one the change corresponding analog signal (42, 44) generates that the two signals are subtracted from each other and a switching signal is obtained from the difference signal (46) that reaching the predetermined Location (34) corresponds. 2. Positioniereinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der gegenseitige Abstand der beiden Sensoren (14, 16) im Hinblick auf die Form und Größe der Markierung (18, 20) so gewählt ist, daß das Differenzsignal einen eindeutigen Null­durchgang (52) aufweist.2. Positioning device according to claim 1, characterized in that the mutual distance between the two sensors (14, 16) with respect to the shape and size of the marking (18, 20) is selected so that the difference signal has a clear zero crossing (52) . 3. Positioniereinrichtung nach Anspruch 2, gekenn­zeichnet durch einen Nulldurchgangsdetektor.3. Positioning device according to claim 2, characterized by a zero crossing detector. 4. Positioniereinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß insbesondere bei mehreren vorgegebenen Stellungen die Veränderungen bewir­kenden Markierungen (18, 20) auf der Bahn (10) vorgesehen sind und die Sensoren auf der fahrbaren Einheit angebracht sind.4. Positioning device according to claim 1, characterized in that in particular at several predetermined positions, the changes causing markings (18, 20) are provided on the track (10) and the sensors are attached to the mobile unit. 5. Positioniereinrichtung nach einem der vorhergehen­den Ansprüche, dadurch gekennzeichnet, daß die bzw. jede Markierung die Form eines Loches in einer metallischen, vorzugsweise eisernen Schiene oder die Form einer Metallscheibe auf einer Kunststoff­schiene aufweist.5. Positioning device according to one of the preceding claims, characterized in that the or each marking has the shape of a hole in a metallic, preferably iron rail or the shape of a metal disc on a plastic rail. 6. Positioniereinrichtung nach Anspruch 5, dadurch gekennzeichnet, daß das Loch bzw. die Scheibe kreisrund oder länglich ausgebildet ist, im letzte­ren Fall vorzugsweise mit abgerundeten Endkanten.6. Positioning device according to claim 5, characterized in that the hole or the disk is circular or elongated, in the latter case preferably with rounded end edges. 7. Positioniereinrichtung anch einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die bzw. jede Markierung die Form von zwei voneinander in Fahrt­richtung (40) einen Abstand aufweisenden, in einem metallischen, vorzugsweise eisernen Körper ange­brachten Löchern (18, 20) oder zwei voneinander in Fahrtrichtungen einen Abstand aufweisende Metall­scheiben aufweist.7. Positioning device according to one of claims 1 to 4, characterized in that the or each marking has the shape of two holes (18, 20) or two, which are spaced apart from one another in the direction of travel (40), in a metallic, preferably iron body from each other in Has a spacing metal disks. 8. Positioniereinrichtung nach Anspruch 7, dadurch gekennzeichnet, daß die Löcher (18, 20) in einer Metallschiene (10) angebracht sind, die vorzugs­weise auch für die Führung der fahrbaren Einheit benutzt wird.8. Positioning device according to claim 7, characterized in that the holes (18, 20) in a metal rail (10) are attached, which is preferably also used for guiding the mobile unit. 9. Positioniereinrichtung nach Anspruch 7 oder 8, dadurch gekennzeichnet, daß die Löcher bzw. die Scheiben kreisrund sind.9. Positioning device according to claim 7 or 8, characterized in that the holes or the disks are circular. 10. Positioniereinrichtung nach Anspruch 8, dadurch gekennzeichnet, daß der gegenseitige Abstand der kreisrunden Löcher (18, 20) bzw. Scheiben unter­schiedlich vom gegenseitigen Achsabstand der beiden Sensoren (14, 16) gewählt ist.10. Positioning device according to claim 8, characterized in that the mutual distance of the circular holes (18, 20) or disks is selected differently from the mutual center distance of the two sensors (14, 16). 11. Positioniereinrichtung nach einem der vorhergehen­den Ansprüche, dadurch gekennzeichnet, daß die Sensoren handelsübliche Wegaufnehmer sind.11. Positioning device according to one of the preceding claims, characterized in that the sensors are commercially available displacement sensors. 12. Positioniereinrichtung nach einem der vorher­gehenden Ansprüche, dadurch gekennzeichnet, daß unterschiedliche Markierungen (32 bzw. 26, 28, 30) am linken bzw. rechten Ende der Schiene (10) vorgesehen sind, und daß die Anwesenheit dieser unterschiedlichen Markierungen (32 bzw. 26, 28, 30) aus den jeweiligen Signalen der linken und rechten Sensoren (14, 16) ermittelt wird.12. Positioning device according to one of the preceding claims, characterized in that different markings (32 or 26, 28, 30) are provided on the left or right end of the rail (10), and that the presence of these different markings (32 or 26, 28, 30) is determined from the respective signals of the left and right sensors (14, 16).
EP90105373A 1989-03-23 1990-03-21 Positioning device Expired - Lifetime EP0388937B1 (en)

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DE3909745 1989-03-23
DE3909745A DE3909745A1 (en) 1989-03-23 1989-03-23 POSITIONING DEVICE

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DE (2) DE3909745A1 (en)

Cited By (7)

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DE4117954A1 (en) * 1991-05-31 1992-12-03 Rieter Ag Maschf SERVICE STATION FOR AN OPERATING ROBOT
EP0534897A1 (en) * 1991-09-24 1993-03-31 Maschinenfabrik Rieter Ag Communication between an automatic controller and a textile machine
EP0555029A1 (en) * 1992-02-07 1993-08-11 Technological Research Company Limited Drive unit for a bobbin transport system
US5768876A (en) * 1994-08-10 1998-06-23 Technological Research Company Limited Bobbin transport systems
DE102007048721A1 (en) * 2007-10-11 2009-04-16 Oerlikon Textile Gmbh & Co. Kg Service assembly for self-actuating support of cross-wound bobbin producing textile machine, has chassis supported at guiding rail along machine and sensor unit attached at control unit for collecting position information
CN107416594A (en) * 2016-12-12 2017-12-01 江苏海马智能装备有限公司 A kind of bobbin-winding machine is worth car device automatically
EP3461939A1 (en) * 2017-09-28 2019-04-03 Maschinenfabrik Rieter AG Method for positioning a maintenance carriage of a ring-spinning machine and ring-spinning machine

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4117954A1 (en) * 1991-05-31 1992-12-03 Rieter Ag Maschf SERVICE STATION FOR AN OPERATING ROBOT
EP0534897A1 (en) * 1991-09-24 1993-03-31 Maschinenfabrik Rieter Ag Communication between an automatic controller and a textile machine
EP0555029A1 (en) * 1992-02-07 1993-08-11 Technological Research Company Limited Drive unit for a bobbin transport system
US5768876A (en) * 1994-08-10 1998-06-23 Technological Research Company Limited Bobbin transport systems
DE102007048721A1 (en) * 2007-10-11 2009-04-16 Oerlikon Textile Gmbh & Co. Kg Service assembly for self-actuating support of cross-wound bobbin producing textile machine, has chassis supported at guiding rail along machine and sensor unit attached at control unit for collecting position information
CN107416594A (en) * 2016-12-12 2017-12-01 江苏海马智能装备有限公司 A kind of bobbin-winding machine is worth car device automatically
EP3461939A1 (en) * 2017-09-28 2019-04-03 Maschinenfabrik Rieter AG Method for positioning a maintenance carriage of a ring-spinning machine and ring-spinning machine
CN109576838A (en) * 2017-09-28 2019-04-05 里特机械公司 For position ring spinner maintenance bracket method and this ring spinner

Also Published As

Publication number Publication date
DE3909745A1 (en) 1990-09-27
EP0388937B1 (en) 1995-06-14
JPH0364538A (en) 1991-03-19
DE59009225D1 (en) 1995-07-20

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