EP2305864A1 - Method for operating a service device and service device - Google Patents

Method for operating a service device and service device Download PDF

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Publication number
EP2305864A1
EP2305864A1 EP10007262A EP10007262A EP2305864A1 EP 2305864 A1 EP2305864 A1 EP 2305864A1 EP 10007262 A EP10007262 A EP 10007262A EP 10007262 A EP10007262 A EP 10007262A EP 2305864 A1 EP2305864 A1 EP 2305864A1
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EP
European Patent Office
Prior art keywords
service unit
distance
workstation
rotatable part
service
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP10007262A
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German (de)
French (fr)
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EP2305864B1 (en
Inventor
Wolfgang Doerner
Helmuth Hensen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saurer Spinning Solutions GmbH and Co KG
Original Assignee
Oerlikon Textile GmbH and Co KG
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Publication of EP2305864A1 publication Critical patent/EP2305864A1/en
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Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H15/00—Piecing arrangements ; Automatic end-finding, e.g. by suction and reverse package rotation; Devices for temporarily storing yarn during piecing
    • D01H15/013—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
    • 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
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H4/00—Open-end spinning machines or arrangements for imparting twist to independently moving fibres separated from slivers; Piecing arrangements therefor; Covering endless core threads with fibres by open-end spinning techniques
    • D01H4/48—Piecing arrangements; Control therefor
    • D01H4/50—Piecing arrangements; Control therefor for rotor spinning

Definitions

  • the invention relates to a method for operating a service unit on a textile machine with a plurality of workstations, wherein the service unit is moved along the workstations and positioned to operate a job in front of the same, wherein the workstation requests the service unit when needed and the service unit as required in the direction the requesting workstation moves and comes to a standstill with reaching the operating position before the requesting job.
  • the invention relates to a service unit, which is movable along the workstations and positionable for operating a workstation, wherein communication means of the workstation are adapted to request the service unit when needed, and control means are adapted to the service unit as requested in the direction of the requesting To move workstation and bring it to a standstill with the reaching of the operating position before the requesting workstation.
  • the DE 101 36 598 A1 proposes to initiate its stopping according to a predetermined deceleration curve at a predetermined distance of a maintenance facility of the waiting workstation in coordination with this distance and the driving speed of the maintenance device, so that the maintenance device comes to a standstill upon reaching the maintenance position.
  • the distance is predetermined by a signal triggering device.
  • the signal triggering device consists of an emitter and a sensor, which are arranged on the maintenance unit, and reflectors, which are arranged at each workstation. Since the distance of the maintenance device from the work by the signal triggering device is predetermined, the problem occurs here that at higher speeds of the available braking distance is not sufficient to come to a stop with reaching the maintenance position.
  • the maintenance device is first decelerated from its normal driving speed to a predetermined creeping speed before it reaches the predetermined distance, in which Tuning with this distance and the creeping speed the shutdown of the maintenance device is initiated.
  • the reflector located in front of the workstation to be serviced in relation to the direction of movement of the service equipment at the worksite.
  • the DE 30 12 419 A1 In principle, it pursues the same strategy in order to bring the moveable wagon into its intended position at the relevant workstation.
  • the difference is that two sensors are attached to the car. As soon as the first sensor has detected the workstation in need of service, the travel speed of the car is reduced. The second sensor then triggers the braking of the car.
  • the DE 690 17 341 T2 discloses a spinning machine with a treatment trolley, which has a complex sensor system for detecting the current position of the treatment trolley.
  • Each spindle unit of the spinning machine has a detecting means which is actuated by at least three control means arranged one behind the other on the surface of the carriage to determine the current position and the direction of movement of the carriage with respect to the detecting means.
  • a sensor system which has components both at the workstations and on the service unit.
  • the generic DE 101 36 598 A1 There is an emitter and a sensor on the service unit and a reflector at each workstation. The higher the speed of the service unit, the more likely it is that due to the corresponding relative speed of the components of the sensor, the detection fails and a job is not recognized.
  • At least one position within the textile machine is detected as the reference position of the service unit, the service unit independently determines the path traveled by him. Depending on the speed of travel of the service unit, a distance from the operating position of the requesting workstation is determined at which the shutdown is initiated and from the reference position and the distance traveled is determined at which position this distance is reached.
  • This reference position can be, for example, a basic position in which the service unit is located when the machine is switched on. This basic position is then restarted before each shutdown. There is also the possibility that the service unit initially drives at reduced speed in a given direction when the machine is switched on, until the reference position has been reached. Alternatively or additionally continue to be provided for reasons of redundancy associated with the workstations sensor, this can then, when the service unit has come to a standstill, initialize a new reference position. The shutdown of the service unit can be initiated at any time and is not dependent on specified by the sensor measurement points.
  • the method according to the invention also enables secure positioning in the operating position in front of the workstation requiring service even at high driving speeds. Running over the job is excluded.
  • the position of the service unit within the machine is also known at all times.
  • the angle of rotation of a rotatable part of the service unit which correlates with a translational movement of the service unit, is measured, and from the angle of rotation the distance covered by the service unit is calculated.
  • the rotational movement of the rotatable part of the service unit can be transferred into the translational movement of the service unit or the translational movement of the service unit can be converted into a rotational movement of the rotatable part of the service unit.
  • the direction of rotation of the rotatable part of the service unit and thus the forward or backward movement of the service unit for position determination is detected.
  • This will not only change the position of the service unit during the outward and return Departure certainly determined, but it can also improper displacements of the service unit, for example by an operator, compensated, and it can be ensured in these cases, an error-free position determination.
  • a service unit which comprises detecting means for independently determining the distance covered by the service unit, a sensor for detecting at least one reference position is formed, the sensor or a counterpart necessary for detecting the reference position is arranged on the textile machine, the position of the service unit can be determined from the reference position and the distance traveled, and the control means are adapted to determine, from the reference position and the traveled distance, at which position a distance of the service unit from the operating position of the requesting workstation is determined as a function of the travel speed , in which the shutdown is initiated.
  • the service unit has a rotatable part, the rotational movement of the rotatable part correlates with a translatory movement of the service unit and on the rotatable part an angle sensor for detecting the angle of rotation of the rotatable part is attached.
  • known high-resolution angle encoders can be used which enable a resolution in the translational direction in the millimeter range.
  • the angle encoder is designed to determine the direction of rotation of the rotatable part. In this way, the direction of travel of the service unit can be included in the position determination with.
  • Fig. 1 is a schematic plan view of a textile machine, here an open-end spinning machine, shown, which is generally designated by the reference numeral 1.
  • a spinning machine 1 has between its end frames 11 and 12 a plurality of in series juxtaposed jobs 2.
  • These work stations 2 arranged on both sides of the longitudinal sides of the open-end spinning machine 1 are supplied by automatically operating service units 5A, 5B, 6A, 6B, which are guided along a running rail 13 along the spinning machine 1 and via a communication system 18, such as a CAN bus, for example. both with each other as well with control devices 41 of the workstations 2 and a central control device 17 of the spinning machine 1 are connected.
  • a communication system 18 such as a CAN bus
  • the workstations 2 are divided into working areas 3A, 3B and 4A, 4B, which are each supplied by one of the service units 5A, 5B and 6A, 6B.
  • the work areas 3A and 3B as well as 4A and 4B may be characterized by an area limiter 14, for example, in order to avoid that the service unit 5A responsible for the work area 3A is moved into the work area 3B of the service unit 5B, which leads to a collision of the two Service units 5A and 5B could come.
  • the working areas 3A, 3B, 4A, 4B may have so-called end markers 19, which are used by the Service units 5A, 5B, 6A, 6B should not be passed.
  • end markers 19 which are used by the Service units 5A, 5B, 6A, 6B should not be passed.
  • collisions can be avoided by overlaps in the workstation areas 3A, 3B and 4A, 4A of the service units 5A, 5B and 6A, 6B.
  • the service unit further has a sensor 20, which is designed to detect the end markers 19 and the area limiters 14.
  • FIG. 2 shows a side view of the job 2 of the open-end rotor pin machine 1 according to Fig. 1 ,
  • the workplace 2 has, inter alia, in each case an open-end spinning device 24 and a winding device 30.
  • On this job 2 sliver 23, which in a Spinnkanne 22 is stored and the spinning device 24 is presented, spun into threads 27, which then on the Winding device 30 are wound into a cheese 28.
  • the winding device 30 is equipped with a coil frame 29 for rotatably supporting a cheese package and a winding shaft or winding drum 31 for frictionally driving the cheese 28 and the cheese package.
  • the workstation further comprises a control device 41, which controls the work processes and is connected via the machine-wide communication system 18 to the central control device 17 and to the control device 40 of the service unit 6A.
  • Such open-end rotor spinning machines 1 generally also have a cross-coil transport device 32 for the removal of cheeses 28, which have reached their intended diameter.
  • the change of the cheeses 28 is performed by one of the service units 5A, 5B, 6A, 6B, in whose area of responsibility the respective spinning station 2 falls.
  • the automatically operating service unit 6A is arranged.
  • the service unit 6A patrolled during the spinning operation along the spinning units 2 of the spinning machine 1 and engages automatically when a need for action arises at one of the spinning units 2.
  • a need for action exists, for example, if one of the cheeses 28 has reached its prescribed diameter at one of the spinning stations 2 and has to be exchanged for a new cheese package.
  • running rail 13 further guide rails 15 and 16 are mounted along the textile machine.
  • the service unit 6A moves by means of rollers 35, 36 and 37 along the drive and guide rails 13, 15 and 16.
  • the roller 35 is driven by means of the drive 42.
  • the other rollers 36 and 37 are through Frictionally engaged with the guide rails 15 and 16 and rotate in a fixed ratio to the driven roller 35th
  • Such a service unit 6A is for example in the DE 35 43 572 C2 described, and has a variety of handling elements, which are known in the art and described in detail in the aforementioned patent, so will not be discussed further here.
  • the Fig. 3 shows a possible measuring principle of a Angle encoder 44, which is attached to a rotatable part of the service unit 6B.
  • a rotatable part the rotation of which correlates with the translational movement of the service unit 6B, one of the rollers 35, 36, 37 or the drive 42 itself comes into question.
  • the angle encoder 44 it is also possible to arrange the angle encoder 44 on a rotating element that transmits the force from the drive 42 to the roller 35.
  • the angle encoder is attached to a free-running, non-driven chassis role, as the drive could block and thus measurement errors would arise.
  • rollers 36 and 37 are also the in Fig.2 invisible, located on the other side of the service unit rollers that rest on the rail 13 or the guide rails 15 and 16, in question.
  • angle encoder 44 is a variety of embodiments in question. Resolvers, potentiometer encoders, incremental encoders, absolute encoders or encoders can be used.
  • the Fig. 3 shows an encoder or Incremental encoder 44, which works with Hall sensors 47, 48 and detects the relative angular position.
  • the encoder 44 has a magnetic ring 45 which is connected to the rotatable part of Service unit is firmly connected and rotated with this.
  • the magnetic ring is radially magnetized and has a multiplicity of magnetic poles 46. The higher the number of poles 46, the more accurate is the resolution of the angle sensor 44.
  • two Hall sensors 47 and 48 are mounted, not stationary but stationary. Again Fig. 3 can be seen, the Hall sensors 47, 48 90 ° electrically offset from each other.
  • FIGS. 4 and 5 show possible signal characteristics of the Hall sensors when the service unit is running at a predetermined constant speed and the rotating part rotates at a corresponding speed.
  • the Hall sensor 47 provides the signals 50 and 52 and the Hall sensor 48, the signals 51 and 53 respectively.
  • the phase shift of the signals by 90 ° is again illustrated.
  • the different courses in the figures result from the different direction of rotation or direction of travel.
  • the edge 51A of the signal 51 of the Hall sensor 48 follows the flank 50A of the signal 50 of the Hall sensor 47
  • Fig. 5 the edge sequence is reversed.
  • the edge 52A of the signal 52 of the Hall sensor 47 follows the edge 53A of the Signal 50 of the Hall sensor 48.
  • the service unit 6A When the textile machine is switched on, the service unit 6A is located in the region of the end frame 11. When the sensor 20 of the service unit 6A is activated, it detects the end marker 19 on the end frame 11. The service unit has thus detected its reference position. The service unit is set in motion and the angle encoder 44 detects, as described above, the distance traveled by the service unit 6A way. Thus, the service unit 6A or the control device 40 of the service unit 6A constantly the absolute position of the service unit 6A within the textile machine 1. As soon as the controller 41 a job 2 in the working area 4A recognizes their need for service, the service unit 6A is called via the communication system 18.
  • the service unit 6A knows its position, the position of the jobs within the textile machine and thus also the exact distance and of course the direction to the workstation in need of service.
  • the service unit immediately sets in motion with its maximum travel speed to the workstation in need of service.
  • the distance to the job is constantly known. If a dependent of the driving speed distance of the service unit is reached by the serviceable workstation 2, the shutdown of the service unit 6A is initiated. In this way, the service unit comes to a halt when reaching the operating position.
  • the position to be serviced and the distance at which the shutdown is to be initiated can be used to determine the associated position.
  • the service unit constantly determines its current position from the reference position and the distance traveled. Once it has reached the position at which the shutdown is to be initiated, the braking is triggered.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Looms (AREA)

Abstract

The method involves detecting a position within a textile machine i.e. open end spin machine (1), as a reference position of a service assembly (5A). A traveled distance is determined by the service assembly, such that distance from a control position of requested operating points (2) is determined depending on driving speed of the service assembly with which a stop is introduced and determined from the reference position and the traveled distance. The distance is reached at the position within the textile machine. An independent claim is also included for a service assembly provided in a textile machine.

Description

Die Erfindung betrifft ein Verfahren zum Betreiben eines Serviceaggregats an einer Textilmaschine mit einer Vielzahl von Arbeitstellen, wobei das Serviceaggregat entlang der Arbeitsstellen verfahren und zur Bedienung einer Arbeitsstelle vor derselben positioniert wird, wobei die Arbeitsstelle das Serviceaggregat bei Bedarf anfordert und das Serviceaggregat nach Anforderung in Richtung der anfordernden Arbeitsstelle fährt und genau mit dem Erreichen der Bedienposition vor der anfordernden Arbeitsstelle zum Stillstand kommt. Ferner betrifft die Erfindung ein Serviceaggregat, das entlang der Arbeitsstellen verfahrbar und zur Bedienung einer Arbeitsstelle vor derselben positionierbar ist, wobei Kommunikationsmittel der Arbeitsstelle dazu ausgebildet sind, das Serviceaggregat bei Bedarf anzufordern, und Steuermittel dazu ausgebildet sind, das Serviceaggregat nach Anforderung in Richtung der anfordernden Arbeitsstelle zu verfahren und genau mit dem Erreichen der Bedienposition vor der anfordernden Arbeitsstelle zum Stillstand zu bringen.The invention relates to a method for operating a service unit on a textile machine with a plurality of workstations, wherein the service unit is moved along the workstations and positioned to operate a job in front of the same, wherein the workstation requests the service unit when needed and the service unit as required in the direction the requesting workstation moves and comes to a standstill with reaching the operating position before the requesting job. Furthermore, the invention relates to a service unit, which is movable along the workstations and positionable for operating a workstation, wherein communication means of the workstation are adapted to request the service unit when needed, and control means are adapted to the service unit as requested in the direction of the requesting To move workstation and bring it to a standstill with the reaching of the operating position before the requesting workstation.

Aus der DE 38 41 464 A1 ist bekannt, zum Stillsetzen eines längs der Arbeitsstellen einer Offenend-Spinnvorrichtung verfahrbaren Serviceaggregats elektromagnetische Felder auszunützen. Zu diesem Zweck sind sowohl die Arbeitstellen als auch das Serviceaggregat mit Antennen ausgestattet. In Abhängigkeit von der jeweiligen Position des Serviceaggregats wird hierbei eine resultierende Spannung erzeugt, die in der richtigen Bedienposition den Wert Null einnimmt, außerhalb dieser Bedienposition jedoch einen hiervon abweichenden Wert besitzt, der eine entsprechende Bewegung des Serviceaggregats auslöst. Die Reichweite dieser Positioniereinrichtung ist begrenzt, so dass bei höheren Geschwindigkeiten des Serviceaggregats das Problem auftritt, dass das sich nähernde Serviceaggregat von der Arbeitsstelle erst erkannt wird, wenn der Abstand des Serviceaggregats von der Bedienposition so gering ist, dass er für eine Bremsung des Serviceaggregats nicht ausreichend ist. Das hat zur Folge, dass die Bedienposition von dem Serviceaggregat überfahren wird und das Serviceaggregat einen Richtungswechsel vollzieht, um dann schließlich in der Bedienposition stillzustehen. Diese Art der Stillsetzung führt zu einer unerwünschten Beanspruchung des Antriebs und wirkt sich vor allen negativ auf die Produktivität der Textilmaschine aus.From the DE 38 41 464 A1 It is known to utilize electromagnetic fields for stopping a movable along the work stations of an open-end spinning device service unit. For this purpose, both the workstations and the service unit are equipped with antennas. Depending on the respective position of the service unit, a resulting voltage is generated which assumes the value zero in the correct operating position, but has a value deviating therefrom outside this operating position. which triggers a corresponding movement of the service unit. The range of this positioning is limited, so that at higher speeds of the service unit, the problem occurs that the approaching service unit is recognized by the work only when the distance of the service unit from the operating position is so low that it is not for braking the service unit is sufficient. As a result, the operating position is run over by the service unit and the service unit makes a change of direction, and then finally stand still in the operating position. This type of shutdown leads to undesirable stress on the drive and above all has a negative effect on the productivity of the textile machine.

Die DE 101 36 598 A1 schlägt vor, in einem vorgegebenen Abstand einer Wartungseinrichtung von der zu wartenden Arbeitsstelle in Abstimmung mit diesem Abstand sowie der Fahrgeschwindigkeit der Wartungseinrichtung deren Stillsetzen gemäß einer vorgegebenen Abbremskurve einzuleiten, so dass die Wartungseinrichtung mit Erreichen der Wartungsposition zum Stillstand gelangt. Der Abstand ist dabei durch eine Signalauslösevorrichtung vorgegeben. Die Signalauslöseeinrichtung besteht aus einem Emitter und einem Sensor, die an dem Wartungsaggregat angeordnet sind, und Reflektoren, die an jeder Arbeitsstelle angeordnet sind. Da der Abstand der Wartungseinrichtung von der Arbeitstelle durch die Signalauslöseeinrichtung vorgegebenen ist, tritt auch hier das Problem auf, dass bei höheren Fahrgeschwindigkeiten der zur Verfügung stehende Bremsweg nicht ausreicht, um mit Erreichen der Wartungsposition zum Stillstand zu gelangen. Deshalb wird weiter vorgeschlagen, dass die Wartungseinrichtung aus ihrer normalen Fahrgeschwindigkeit zunächst auf eine vorgegebene Kriechgeschwindigkeit abgebremst wird, bevor sie den vorgegebenen Abstand erreicht, in welchem in Abstimmung mit diesem Abstand und der Kriechgeschwindigkeit das Stillsetzen der Wartungseinrichtung einleitet wird. Um keine zusätzliche Sensorik installieren zu müssen, die die Reduzierung der Geschwindigkeit auf die Kriechgeschwindigkeit auslöst, wird vorschlagen, dafür den Reflektor zu verwenden, welcher sich in Bezug auf die Bewegungsrichtung der Wartungseinrichtung an der Arbeitsstelle vor der zu wartenden Arbeitsstelle befindet.The DE 101 36 598 A1 proposes to initiate its stopping according to a predetermined deceleration curve at a predetermined distance of a maintenance facility of the waiting workstation in coordination with this distance and the driving speed of the maintenance device, so that the maintenance device comes to a standstill upon reaching the maintenance position. The distance is predetermined by a signal triggering device. The signal triggering device consists of an emitter and a sensor, which are arranged on the maintenance unit, and reflectors, which are arranged at each workstation. Since the distance of the maintenance device from the work by the signal triggering device is predetermined, the problem occurs here that at higher speeds of the available braking distance is not sufficient to come to a stop with reaching the maintenance position. Therefore, it is further proposed that the maintenance device is first decelerated from its normal driving speed to a predetermined creeping speed before it reaches the predetermined distance, in which Tuning with this distance and the creeping speed the shutdown of the maintenance device is initiated. In order to avoid having to install additional sensors that will reduce the speed to creep speed, it will be suggested to use the reflector located in front of the workstation to be serviced in relation to the direction of movement of the service equipment at the worksite.

Die DE 30 12 419 A1 verfolgt im Grundsatz die gleiche Strategie, um den verfahrbaren Wagen recht genau in seine Sollstellung an der betreffenden Arbeitsstelle zu bringen. Der Unterschied besteht darin, dass an dem Wagen zwei Fühler angebracht sind. Sobald der erste Fühler die bedienbedürftige Arbeitstelle erkannt hat, wird die Fahrgeschwindigkeit des Wagens reduziert. Der zweite Fühler löst dann die Bremsung des Wagens aus.The DE 30 12 419 A1 In principle, it pursues the same strategy in order to bring the moveable wagon into its intended position at the relevant workstation. The difference is that two sensors are attached to the car. As soon as the first sensor has detected the workstation in need of service, the travel speed of the car is reduced. The second sensor then triggers the braking of the car.

Die DE 690 17 341 T2 offenbart eine Spinnmaschine mit einem Behandlungswagen, die über ein aufwendiges Sensorsystem zur Erfassung der laufenden Position des Behandlungswagens verfügt. Jede Spindeleinheit der Spinnmaschine verfügt über ein Erfassungsmittel, das durch wenigstens drei Steuermittel betätigt wird, die hintereinander auf der Oberfläche des Wagens angeordnet sind, um die laufende Position und die Bewegungsrichtung des Wagens in Bezug auf die Erfassungsmittel zu bestimmen. Es wird weiter die Möglichkeit beschrieben, die Startposition, bei welcher die Geschwindigkeit des Garnbehandlungswagens verzögert wird, in Reaktion auf seine gegenwärtige Fahrgeschwindigkeit zu ändern.The DE 690 17 341 T2 discloses a spinning machine with a treatment trolley, which has a complex sensor system for detecting the current position of the treatment trolley. Each spindle unit of the spinning machine has a detecting means which is actuated by at least three control means arranged one behind the other on the surface of the carriage to determine the current position and the direction of movement of the carriage with respect to the detecting means. There is further described the possibility of changing the start position at which the speed of the yarn handling cart is delayed in response to its current travel speed.

In der WO 2006/007889 A1 geht es weniger um die genaue Positionierung eines Bedienaggregates in seine Bedienposition vor einer bedienbedürftigen Arbeitsstelle, als vielmehr um die Positionen mehrerer Bedienaggregate innerhalb der Textilmaschine. An den Arbeitsstellen sind jeweils Datenübermittlungseinrichtungen, wie sie in der oben zitierten DE 38 41 464 A1 beschrieben sind, angeordnet. Mittels der Datenübermittelungseinrichtungen können die Bedienaggregate die von den Arbeitsstellen abgestrahlten Arbeitsstellenkennungen während ihrer Vorbeifahrt an den Arbeitsstellen erfassen und durch entsprechendes Addieren oder Subtrahieren der Anzahl der empfangenen Arbeitsstellenkennungen, ausgehend von ihrer jeweiligen Grundstellung, ihre Position und damit die Position der bediendürftigen Arbeitsstelle bestimmen. Durch die Positionsbestimmung soll verhindert werden, dass ein Bedienaggregat in den Bereich eines anderen Bedienaggregats fährt. Es ist nicht offenbart, wie die genaue Positionierung vor der Arbeitsstelle durchgeführt wird.In the WO 2006/007889 A1 It is less about the exact positioning of an operating unit in its operating position in front of a workstation in need of service, but rather to the positions of several control units within the Textile machine. At the work stations are each data transmission facilities, as in the above-cited DE 38 41 464 A1 are described arranged. By means of the data transmission means, the control units can detect the radiated from the jobs job IDs while driving past the jobs and determine by appropriately adding or subtracting the number of received workstation identifiers, starting from their respective home position, their position and thus the position of serviceable job. The purpose of the position determination is to prevent an operating unit from moving into the area of another operating unit. It is not disclosed how the exact positioning is done before the job.

Bei allen bekannten Ausführungsformen zur Positionserfassung und Positionierung ist eine Sensorik erforderlich, die Bestandteile sowohl an den Arbeitsstellen als auch an dem Serviceaggregat aufweist. Im Falle der gattungsbildenden DE 101 36 598 A1 befinden sich an dem Serviceaggregat ein Emitter und ein Sensor und an jeder Arbeitsstelle ein Reflektor. Je höher die Geschwindigkeit des Serviceaggregats, desto wahrscheinlicher wird es, dass aufgrund der entsprechenden Relativgeschwindigkeit der Komponenten der Sensorik die Erkennung fehlschlägt und eine Arbeitsstelle nicht erkannt wird. Zwar wird in der
DE 101 36 598 A1 darauf hingewiesen, dass eine verzögerte Erkennung dadurch kompensiert werden kann, dass an der Arbeitsstelle vor der bedienbedürftigen Arbeitsstelle die Geschwindigkeit reduziert wird. Diese Strategie scheitert jedoch dann, wenn die Erkennung fehlschlägt und die Geschwindigkeit gar nicht erst reduziert wird.In all known embodiments for position detection and positioning a sensor system is required which has components both at the workstations and on the service unit. In the case of the generic DE 101 36 598 A1 There is an emitter and a sensor on the service unit and a reflector at each workstation. The higher the speed of the service unit, the more likely it is that due to the corresponding relative speed of the components of the sensor, the detection fails and a job is not recognized. True, in the
DE 101 36 598 A1 pointed out that a delayed detection can be compensated by the speed is reduced at the work in front of the workstation in need of service. However, this strategy fails if the recognition fails and the speed is not reduced at all.

Es ist daher die Aufgabe der vorliegenden Erfindung, die genaue Positionierung eines Serviceaggregats vor einer
bedienbedürftigen Arbeitsstelle auch aus einer hohen Fahrgeschwindigkeit des Serviceaggregats heraus sicher zu gewährleisten.It is therefore the object of the present invention, the exact positioning of a service unit in front of a
safe to operate even from a high speed of the service unit.

Die Aufgabe wird erfindungsgemäß durch die kennzeichnenden Merkmale des Verfahrensanspruches 1 sowie des Vorrichtungsanspruches 4 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.The object is achieved by the characterizing features of the method claim 1 and the device claim 4. Advantageous developments of the invention are the subject of the dependent claims.

Zur Lösung der Aufgabe wird mindestens eine Position innerhalb der Textilmaschine als Referenzposition des Serviceaggregats erfasst, das Serviceaggregat ermittelt eigenständig den von ihm zurückgelegten Weg. In Abhängigkeit von der Fahrgeschwindigkeit des Serviceaggregats wird ein Abstand von der Bedienposition der anfordernden Arbeitsstelle bestimmt, bei dem die Stillsetzung eingeleitet wird und aus der Referenzposition und dem zurückgelegten Weg wird bestimmt, an welcher Position dieser Abstand erreicht ist.To solve the problem, at least one position within the textile machine is detected as the reference position of the service unit, the service unit independently determines the path traveled by him. Depending on the speed of travel of the service unit, a distance from the operating position of the requesting workstation is determined at which the shutdown is initiated and from the reference position and the distance traveled is determined at which position this distance is reached.

Da das Serviceaggregat eigenständig den zurückgelegten Weg bestimmt, ist zur genauen Positionierung vor der Arbeitsstelle keine Interaktion von relativ zueinander bewegten Teilen einer Sensorik erforderlich. Es ist lediglich im Vorfeld notwendig, eine Referenzposition zu bestimmen. Diese Referenzposition kann zum Beispiel eine Grundstellung sein, in der sich das Serviceaggregat beim Einschalten der Maschine befindet. Diese Grundstellung wird dann vor jedem Abschalten wieder angefahren. Es besteht auch die Möglichkeit, dass das Serviceaggregat beim Einschalten der Maschine zunächst gegebenenfalls mit reduzierter Geschwindigkeit in eine vorgegebene Richtung fährt, bis die Referenzposition erreicht ist. Alternativ oder zusätzlich kann weiterhin aus Redundanzgründen eine mit den Arbeitsstellen in Verbindung stehende Sensorik vorgesehen sein, diese kann dann, wenn das Serviceaggregat zum Stillstand gekommen ist, eine neue Referenzposition initialisieren. Die Stillsetzung des Serviceaggregats kann jederzeit eingeleitet werden und ist nicht abhängig von durch die Sensorik vorgegebenen Messpunkten. Eine maximale Fahrgeschwindigkeit kann also so lange wie möglich aufrechterhalten werden. Gleichzeitig wird die Stillsetzung beziehungsweise Bremsung des Serviceaggregats so rechzeitig eingeleitet, dass ein sanftes und sicheres Bremsen ohne Blockierungen möglich ist. Das erfindungsgemäße Verfahren ermöglicht also auch bei hohen Fahrgeschwindigkeiten eine sichere Positionierung in der Bedienposition vor der bedienbedürftigen Arbeitsstelle. Ein Überfahren der Arbeitsstelle ist ausgeschlossen. Zusätzlich ist auch die Position des Serviceaggregats innerhalb der Maschine jederzeit bekannt.Since the service unit independently determines the distance traveled, no interaction of relatively moving parts of a sensor is required for accurate positioning in front of the workplace. It is only necessary in advance to determine a reference position. This reference position can be, for example, a basic position in which the service unit is located when the machine is switched on. This basic position is then restarted before each shutdown. There is also the possibility that the service unit initially drives at reduced speed in a given direction when the machine is switched on, until the reference position has been reached. Alternatively or additionally continue to be provided for reasons of redundancy associated with the workstations sensor, this can then, when the service unit has come to a standstill, initialize a new reference position. The shutdown of the service unit can be initiated at any time and is not dependent on specified by the sensor measurement points. A maximum driving speed can thus be maintained as long as possible. At the same time, the shutdown or braking of the service unit is introduced in such a timely manner that a gentle and safe braking without blockages is possible. Thus, the method according to the invention also enables secure positioning in the operating position in front of the workstation requiring service even at high driving speeds. Running over the job is excluded. In addition, the position of the service unit within the machine is also known at all times.

Gemäß einer bevorzugten Ausführungsform des erfindungsgemäßen Verfahrens wird der Drehwinkel eines rotierbaren Teils des Serviceaggregats, der mit einer translatorischen Bewegung des Serviceaggregats korreliert, gemessen und aus dem Drehwinkel wird der vom Serviceaggregat zurückgelegte Weg berechnet. Die Rotationsbewegung des rotierbaren Teils des Serviceaggregats kann dabei in die translatorische Bewegung des Serviceaggregats oder die translatorische Bewegung des Serviceaggregats kann in eine Rotationsbewegung des rotierbaren Teils des Serviceaggregats übertragen werden.According to a preferred embodiment of the method according to the invention, the angle of rotation of a rotatable part of the service unit, which correlates with a translational movement of the service unit, is measured, and from the angle of rotation the distance covered by the service unit is calculated. The rotational movement of the rotatable part of the service unit can be transferred into the translational movement of the service unit or the translational movement of the service unit can be converted into a rotational movement of the rotatable part of the service unit.

Vorteilhafterweise wird die Drehrichtung des rotierbaren Teils des Serviceaggregats und damit die Vor- oder Rückwärtsbewegung des Serviceaggregats zur Positionsbestimmung erfasst. Damit wird nicht nur die Position des Serviceaggregats während der Hin- und Herfahrt sicher bestimmt, sondern es können auch unsachgemäße Verschiebungen des Serviceaggregats, zum Beispiel durch einen Bediener, kompensiert werden, und es kann auch in diesen Fällen eine fehlerfreie Positionsbestimmung sichergestellt werden.Advantageously, the direction of rotation of the rotatable part of the service unit and thus the forward or backward movement of the service unit for position determination is detected. This will not only change the position of the service unit during the outward and return Departure certainly determined, but it can also improper displacements of the service unit, for example by an operator, compensated, and it can be ensured in these cases, an error-free position determination.

Zur Lösung der Aufgabe wird weiterhin ein Serviceaggregat vorgeschlagen, das Erfassungsmittel aufweist, um eigenständig den vom Serviceaggregat zurückgelegten Weg zu ermitteln, ein Sensor zur Erfassung mindestens einer Referenzposition ausgebildet ist, der Sensor oder ein zur Erfassung der Referenzposition notwendiges Gegenstück an der Textilmaschine angeordnet ist, aus der Referenzposition und dem zurückgelegten Weg die Position des Serviceaggregats bestimmbar ist und die Steuermittel dazu ausgebildet sind, aus der Referenzposition und dem zurückgelegten Weg zu bestimmen, an welcher Position ein in Abhängigkeit der Fahrgeschwindigkeit bestimmter Abstand des Serviceaggregats von der Bedienposition der anfordernden Arbeitsstelle erreicht ist, bei dem die Stillsetzung eingeleitet wird.To solve the problem, a service unit is further proposed which comprises detecting means for independently determining the distance covered by the service unit, a sensor for detecting at least one reference position is formed, the sensor or a counterpart necessary for detecting the reference position is arranged on the textile machine, the position of the service unit can be determined from the reference position and the distance traveled, and the control means are adapted to determine, from the reference position and the traveled distance, at which position a distance of the service unit from the operating position of the requesting workstation is determined as a function of the travel speed , in which the shutdown is initiated.

Gemäß einer bevorzugten Ausführung weist das Serviceaggregat ein rotierbares Teil auf, die Rotationsbewegung des rotierbaren Teils korreliert mit einer translatorischen Bewegung des Serviceaggregats und an dem rotierbaren Teil ist ein Winkelgeber zur Erfassung des Drehwinkels des rotierbaren Teils angebracht. Dazu können bekannte hochauflösende Winkelgeber verwendet werden, die in translatorischer Richtung eine Auflösung im Millimeterbereich ermöglichen.According to a preferred embodiment, the service unit has a rotatable part, the rotational movement of the rotatable part correlates with a translatory movement of the service unit and on the rotatable part an angle sensor for detecting the angle of rotation of the rotatable part is attached. For this purpose, known high-resolution angle encoders can be used which enable a resolution in the translational direction in the millimeter range.

Vorzugsweise ist der Winkelgeber dazu ausgebildet, die Drehrichtung des rotierbaren Teils zu ermitteln. Auf diese Weise kann die Fahrtrichtung des Serviceaggregats in die Positionsbestimmung mit eingezogen werden.Preferably, the angle encoder is designed to determine the direction of rotation of the rotatable part. In this way, the direction of travel of the service unit can be included in the position determination with.

Die Erfindung wird nachfolgend anhand eines in den Zeichnungen dargestellten Ausführungsbeispiels näher erläutert.The invention will be explained in more detail with reference to an embodiment shown in the drawings.

Es zeigen:

Fig. 1
eine schematische Draufsicht auf eine Offenend- Spinnmaschine mit erfindungsgemäßen Serviceaggregaten;
Fig. 2
eine Seitenansicht einer Arbeitsstelle der Offenend- Spinnmaschine mit einem erfindungsgemäßen Serviceaggregat;
Fig. 3
eine Prinzipdarstellung eines Winkelgebers zur Bestimmung des vom Serviceaggregat zurückgelegten Weges;
Fig. 4
Signale des Winkelgebers bei Linksdrehung;
Fig. 5
Signale des Winkelgebers bei Rechtsdrehung.
Show it:
Fig. 1
a schematic plan view of an open-end spinning machine with service units according to the invention;
Fig. 2
a side view of a job of the open-end spinning machine with a service unit according to the invention;
Fig. 3
a schematic diagram of an angle sensor for determining the distance traveled by the service unit way;
Fig. 4
Signals from the angle sensor when turning to the left;
Fig. 5
Signals of the angle encoder in clockwise rotation.

In Fig. 1 ist schematisch in Draufsicht eine Textilmaschine, hier eine Offenend-Spinnmaschine, dargestellt, die insgesamt mit dem Bezugszeichen 1 gekennzeichnet ist. Eine solche Spinnmaschine 1 weist zwischen ihren Endgestellen 11 und 12 eine Vielzahl von in Reihe nebeneinander geordneten Arbeitsstellen 2 auf. Diese beidseitig der Längsseiten der Offenend-Spinnmaschine 1 angeordneten Arbeitsstellen 2 werden durch selbsttätig arbeitende Serviceaggregate 5A, 5B, 6A, 6B, versorgt, die an einer Fahrschiene 13 entlang der Spinnmaschine 1 geführt und über ein Kommunikationssystem 18, wie beispielsweise einen CAN-Bus, sowohl untereinander als auch mit Steuereinrichtungen 41 der Arbeitsstellen 2 sowie einer zentralen Steuereinrichtung 17 der Spinnmaschine 1 verbunden sind.In Fig. 1 is a schematic plan view of a textile machine, here an open-end spinning machine, shown, which is generally designated by the reference numeral 1. Such a spinning machine 1 has between its end frames 11 and 12 a plurality of in series juxtaposed jobs 2. These work stations 2 arranged on both sides of the longitudinal sides of the open-end spinning machine 1 are supplied by automatically operating service units 5A, 5B, 6A, 6B, which are guided along a running rail 13 along the spinning machine 1 and via a communication system 18, such as a CAN bus, for example. both with each other as well with control devices 41 of the workstations 2 and a central control device 17 of the spinning machine 1 are connected.

Wie in der Fig. 1 angedeutet, sind die Arbeitsstellen 2 dabei in Arbeitsbereiche 3A, 3B beziehungsweise 4A, 4B aufgeteilt, die jeweils von einem der Serviceaggregate 5A, 5B beziehungsweise 6A, 6B versorgt werden. Die Arbeitsbereiche 3A und 3B sowie 4A und 4B können dabei beispielsweise durch einen Bereichsbegrenzer 14 gekennzeichnet sein, um zu vermeiden, dass das für den Arbeitsbereich 3A zuständige Serviceaggregat 5A in den Arbeitsstellenbereich 3B des Serviceaggregats 5B verfahren wird, wodurch es zu einer Kollision der beiden
Serviceaggregate 5A und 5B kommen könnte.Like in the Fig. 1 indicated, the workstations 2 are divided into working areas 3A, 3B and 4A, 4B, which are each supplied by one of the service units 5A, 5B and 6A, 6B. The work areas 3A and 3B as well as 4A and 4B may be characterized by an area limiter 14, for example, in order to avoid that the service unit 5A responsible for the work area 3A is moved into the work area 3B of the service unit 5B, which leads to a collision of the two
Service units 5A and 5B could come.

Des Weiteren können die Arbeitsbereiche 3A, 3B, 4A, 4B so genannte Endmarker 19 aufweisen, die von den
Serviceaggregaten 5A, 5B, 6A, 6B nicht passiert werden sollen. Hierdurch können Kollisionen durch Überschneidungen in den Arbeitsstellenbereichen 3A, 3B beziehungsweise 4A, 4A der Serviceaggregate 5A, 5B beziehungsweise 6A, 6B vermieden werden.Furthermore, the working areas 3A, 3B, 4A, 4B may have so-called end markers 19, which are used by the
Service units 5A, 5B, 6A, 6B should not be passed. As a result, collisions can be avoided by overlaps in the workstation areas 3A, 3B and 4A, 4A of the service units 5A, 5B and 6A, 6B.

Das Serviceaggregat weist ferner einen Sensor 20 auf, der dazu ausgebildet ist, die Endmarker 19 und die Bereichsbegrenzer 14 zu detektieren.The service unit further has a sensor 20, which is designed to detect the end markers 19 and the area limiters 14.

Die Darstellung in Fig. 2 zeigt eine Seitenansicht der Arbeitsstelle 2 der Offenend-Rotorspinmaschine 1 gemäß Fig. 1. Die Arbeitsstelle 2 besitzt unter anderem jeweils eine Offenend-Spinnvorrichtung 24 sowie eine Spuleinrichtung 30. Auf dieser Arbeitsstelle 2 wird Faserband 23, welches in einer
Spinnkanne 22 bevorratet ist und der Spinnvorrichtung 24 vorgelegt wird, zu Fäden 27 versponnen, die anschließend auf der Spuleinrichtung 30 zu einer Kreuzspule 28 aufgewickelt werden. Die Spuleinrichtung 30 ist mit einem Spulenrahmen 29 zum drehbaren Haltern einer Kreuzspulenhülse sowie mit einer Wickelwelle oder Spultrommel 31 zum reibschlüssigen Antreiben der Kreuzspule 28 beziehungsweise der Kreuzspulenhülse ausgestattet. Die Arbeitsstelle weist ferner eine Steuereinrichtung 41, die die Arbeitsabläufe steuert und über das maschinenweite Kommunikationssystem 18 auf mit der zentralen Steuereinrichtung 17 und mit der der Steuereinrichtung 40 des Serviceaggregats 6A verbunden sind.The representation in Fig. 2 shows a side view of the job 2 of the open-end rotor pin machine 1 according to Fig. 1 , The workplace 2 has, inter alia, in each case an open-end spinning device 24 and a winding device 30. On this job 2 sliver 23, which in a
Spinnkanne 22 is stored and the spinning device 24 is presented, spun into threads 27, which then on the Winding device 30 are wound into a cheese 28. The winding device 30 is equipped with a coil frame 29 for rotatably supporting a cheese package and a winding shaft or winding drum 31 for frictionally driving the cheese 28 and the cheese package. The workstation further comprises a control device 41, which controls the work processes and is connected via the machine-wide communication system 18 to the central control device 17 and to the control device 40 of the service unit 6A.

Derartige Offenend-Rotorspinnmaschinen 1 weisen in der Regel außerdem eine Kreuzspulentransporteinrichtung 32 für den Abtransport von Kreuzspulen 28 auf, die ihren vorgesehenen Durchmesser erreicht haben. Der Wechsel der Kreuzspulen 28 wird durch eines der Serviceaggregate 5A, 5B, 6A, 6B durchgeführt, in dessen Aufgabenbereich die jeweilige Spinnstelle 2 fällt.Such open-end rotor spinning machines 1 generally also have a cross-coil transport device 32 for the removal of cheeses 28, which have reached their intended diameter. The change of the cheeses 28 is performed by one of the service units 5A, 5B, 6A, 6B, in whose area of responsibility the respective spinning station 2 falls.

An beziehungsweise auf der Spinnmaschine 1 ist, wie bereits ausgeführt, das selbsttätig arbeitende Serviceaggregat 6A angeordnet. Das Serviceaggregat 6A patroulliert während des Spinnbetriebes entlang der Spinnstellen 2 der Spinnmaschine 1 und greift selbsttätig ein, wenn an einer der Spinnstellen 2 ein Handlungsbedarf entsteht. Ein solcher Handlungsbedarf liegt beispielsweise vor, wenn an einer der Spinnstellen 2 eine der Kreuzspulen 28 ihren vorgeschriebenen Durchmesser erreicht hat und gegen eine neue Kreuzspulenhülse ausgetauscht werden muss. Neben der bereits in Fig. 1 dargestellten Fahrschiene 13 sind weitere Führungsschienen 15 und 16 entlang der Textilmaschine angebracht. Das Serviceaggregat 6A fährt dabei mittels Laufrollen 35, 36 und 37 entlang der Fahr- und Führungsschiene 13, 15 und 16. Die Laufrolle 35 wird mittels des Antriebes 42 angetrieben. Die anderen Laufrollen 36 und 37 werden durch Reibschluss mit den Führungsschienen 15 und 16 mitgenommen und rotieren in einem festen Verhältnis zur angetriebenen Laufrolle 35.On or on the spinning machine 1, as already stated, the automatically operating service unit 6A is arranged. The service unit 6A patrolled during the spinning operation along the spinning units 2 of the spinning machine 1 and engages automatically when a need for action arises at one of the spinning units 2. Such a need for action exists, for example, if one of the cheeses 28 has reached its prescribed diameter at one of the spinning stations 2 and has to be exchanged for a new cheese package. In addition to already in Fig. 1 shown running rail 13 further guide rails 15 and 16 are mounted along the textile machine. The service unit 6A moves by means of rollers 35, 36 and 37 along the drive and guide rails 13, 15 and 16. The roller 35 is driven by means of the drive 42. The other rollers 36 and 37 are through Frictionally engaged with the guide rails 15 and 16 and rotate in a fixed ratio to the driven roller 35th

Ein derartiges Serviceaggregat 6A ist beispielsweise in der DE 35 43 572 C2 beschrieben, und weist eine Vielzahl von Handhabungselementen auf, die an sich bekannt und in der vorstehend erwähnten Patentschrift ausführlich beschrieben sind, so dass hier nicht näher darauf eingegangen wird.Such a service unit 6A is for example in the DE 35 43 572 C2 described, and has a variety of handling elements, which are known in the art and described in detail in the aforementioned patent, so will not be discussed further here.

Die Fig. 3 zeigt ein mögliches Messprinzip eines
Winkelgebers 44, der an einem rotierbaren Teil des Serviceaggregats 6B angebracht ist. Als rotierbares Teil, dessen Drehung mit der translatorischen Bewegung des Serviceaggregats 6B korreliert, kommt eine der Laufrollen 35, 36, 37 oder der Antrieb 42 selbst in Frage. Es ist aber auch möglich, den Winkelgeber 44 an einem rotierenden Element anzuordnen, dass die Kraft vom Antrieb 42 auf die Laufrolle 35 überträgt. Vorzugsweise ist der Winkelgeber jedoch an einer freilaufenden, nicht angetriebenen Fahrwerksrolle angebracht, da der Antrieb blockieren könnte und damit Messfehler entstehen würden. Neben den Laufrollen 36 und 37 kommen dafür auch die in Fig.2 nicht sichtbaren, auf der anderen Seite des Serviceaggregats befindlichen Laufrollen, die auf der Fahrschiene 13 oder den Führungsschienen 15 und 16 aufliegen, in Frage. Als Winkelgeber 44 kommt eine Vielzahl von Ausführungsformen in Frage. Es können Resolver, Potentiometergeber, Inkrementalgeber, Absolutwertgeber oder Codierer verwendet werden.The Fig. 3 shows a possible measuring principle of a
Angle encoder 44, which is attached to a rotatable part of the service unit 6B. As a rotatable part, the rotation of which correlates with the translational movement of the service unit 6B, one of the rollers 35, 36, 37 or the drive 42 itself comes into question. But it is also possible to arrange the angle encoder 44 on a rotating element that transmits the force from the drive 42 to the roller 35. Preferably, however, the angle encoder is attached to a free-running, non-driven chassis role, as the drive could block and thus measurement errors would arise. In addition to the rollers 36 and 37 are also the in Fig.2 invisible, located on the other side of the service unit rollers that rest on the rail 13 or the guide rails 15 and 16, in question. As an angle encoder 44 is a variety of embodiments in question. Resolvers, potentiometer encoders, incremental encoders, absolute encoders or encoders can be used.

Die Fig. 3 zeigt einen Encoder beziehungsweise
Inkrementalgeber 44, der mit Hallsensoren 47, 48 arbeitet und die relative Winkellage erfasst. Der Encoder 44 weist einen Magnetring 45 auf, der mit dem rotierbaren Teil des Serviceaggregats fest verbunden ist und mit diesem rotiert. Der Magnetring ist in radial magnetisiert und weist eine Vielzahl von magnetischen Polen 46 auf. Je höher die Anzahl der Pole 46, desto genauer ist die Auflösung des Winkelgebers 44. Am Umfang des Magnetringes 45 sind zwei nicht mit rotierende sondern stationär angebrachte Hallsensoren 47 und 48 positioniert. Wie der Fig. 3 zu entnehmen ist, sind die Hallsensoren 47, 48 90° elektrisch gegeneinander versetzt.The Fig. 3 shows an encoder or
Incremental encoder 44, which works with Hall sensors 47, 48 and detects the relative angular position. The encoder 44 has a magnetic ring 45 which is connected to the rotatable part of Service unit is firmly connected and rotated with this. The magnetic ring is radially magnetized and has a multiplicity of magnetic poles 46. The higher the number of poles 46, the more accurate is the resolution of the angle sensor 44. On the circumference of the magnet ring 45, two Hall sensors 47 and 48 are mounted, not stationary but stationary. Again Fig. 3 can be seen, the Hall sensors 47, 48 90 ° electrically offset from each other.

Die Figuren 4 und 5 zeigen mögliche Signalverläufe der Hallsensoren, wenn das Serviceaggregat mit einer vorgegebenen konstanten Geschwindigkeit fährt und das rotierende Teil mit einer korrespondierenden Drehzahl rotiert. Der Hallsensor 47 liefert die Signale 50 beziehungsweise 52 und der Hallsensor 48 die Signale 51 beziehungsweise 53. In beiden Figuren ist die Phasenverschiebung der Signale um 90° nochmals verdeutlicht. Die unterschiedlichen Verläufe in den Figuren ergeben sich aus der unterschiedlichen Drehrichtung beziehungsweise Fahrtrichtung. In der Fig. 4 folgt die Flanke 51A des Signals 51 des Hallsensors 48 der Flanke 50A des Signals 50 des Hallsensors 47. In Fig. 5 ist die Flankenfolge umgekehrt. Die Flanke 52A des Signals 52 des Hallsensors 47 folgt der Flanke 53A des
Signals 50 des Hallsensors 48. Aus der Anordnung der Signale zueinander lässt sich also auf die Fahrtrichtung des Serviceaggregats schließen. Zur Fahrwegbestimmung werden die Flanken der Signale gezählt. Zwischen der Erfassung zweier aufeinanderfolgender Flanken hat sich das rotierende Teil um einen definierten Winkel gedreht und das Serviceaggregat um eine definierte Strecke weiter bewegt. In der einen Fahrtrichtung wird die Zahl der Flanken aufaddiert oder es werden die dazugehörigen Wegstücke aufaddiert. Bei entgegen gesetzter Fahrtrichtung wird entsprechend subtrahiert.The FIGS. 4 and 5 show possible signal characteristics of the Hall sensors when the service unit is running at a predetermined constant speed and the rotating part rotates at a corresponding speed. The Hall sensor 47 provides the signals 50 and 52 and the Hall sensor 48, the signals 51 and 53 respectively. In both figures, the phase shift of the signals by 90 ° is again illustrated. The different courses in the figures result from the different direction of rotation or direction of travel. In the Fig. 4 the edge 51A of the signal 51 of the Hall sensor 48 follows the flank 50A of the signal 50 of the Hall sensor 47 Fig. 5 the edge sequence is reversed. The edge 52A of the signal 52 of the Hall sensor 47 follows the edge 53A of the
Signal 50 of the Hall sensor 48. From the arrangement of the signals to each other so can close to the direction of travel of the service unit. To determine the route, the edges of the signals are counted. Between the detection of two successive flanks, the rotating part has rotated by a defined angle and the service unit has moved by a defined distance. In one direction of travel, the number of flanks is added or the corresponding distances are added up. In the opposite direction is subtracted accordingly.

Die Funktionsweise der Erfindung wird nachfolgend nochmals am Beispiel des Serviceaggregats 6A erläutert. Beim Einschalten der Textilmaschine befindet sich das Serviceaggregat 6A im Bereich des Endgestells 11. Beim Einschalten erfasst der Sensor 20 des Serviceaggregats 6A den Endmarker 19 am Endgestell 11. Damit hat das Serviceaggregat seine Referenzposition erfasst. Das Serviceaggregat setzt sich in Bewegung und der Winkelgeber 44 erfasst, wie oben beschrieben, den vom Serviceaggregat 6A zurückgelegten Weg. Damit kennt das Serviceaggregat 6A beziehungsweise die Steuereinrichtung 40 des Serviceaggregats 6A ständig die absolute Position des Serviceaggregats 6A innerhalb der Textilmaschine 1. Sobald die Steuereinrichtung 41 einer Arbeitsstelle 2 im Arbeitsbereich 4A ihre Bedienbedürftigkeit erkennt, wird über das Kommunikationssystem 18 das Serviceaggregat 6A gerufen. Das Serviceaggregat 6A kennt seine Position, die Position der Arbeitsstellen innerhalb der Textilmaschine und damit ebenfalls den genauen Abstand und natürlich auch die Richtung zu der bedienbedürftigen Arbeitsstelle. Das Serviceaggregat setzt sich unverzüglich mit seiner maximalen Fahrgeschwindigkeit zu der bedienbedürftigen Arbeitsstelle in Bewegung. Der Abstand zu der Arbeitsstelle ist dabei ständig bekannt. Wenn ein von der Fahrgeschwindigkeit abhängiger Abstand des Serviceaggregats von der bedienbedürftigen Arbeitsstelle 2 erreicht ist, wird die Stillsetzung des Serviceaggregats 6A eingeleitet. Auf diese Weise kommt das Serviceaggregat genau mit Erreichen der Bedienposition zum Stehen.The operation of the invention will be explained again using the example of the service unit 6A. When the textile machine is switched on, the service unit 6A is located in the region of the end frame 11. When the sensor 20 of the service unit 6A is activated, it detects the end marker 19 on the end frame 11. The service unit has thus detected its reference position. The service unit is set in motion and the angle encoder 44 detects, as described above, the distance traveled by the service unit 6A way. Thus, the service unit 6A or the control device 40 of the service unit 6A constantly the absolute position of the service unit 6A within the textile machine 1. As soon as the controller 41 a job 2 in the working area 4A recognizes their need for service, the service unit 6A is called via the communication system 18. The service unit 6A knows its position, the position of the jobs within the textile machine and thus also the exact distance and of course the direction to the workstation in need of service. The service unit immediately sets in motion with its maximum travel speed to the workstation in need of service. The distance to the job is constantly known. If a dependent of the driving speed distance of the service unit is reached by the serviceable workstation 2, the shutdown of the service unit 6A is initiated. In this way, the service unit comes to a halt when reaching the operating position.

Für die Fahrgeschwindigkeitssteuerung beziehungsweise Positionsüberwachung sind auf Basis der vorliegenden Erfindung eine Vielzahl weiterer Varianten denkbar. So kann, anstelle während der Fahrt ständig den Abstand zu der bedienbedürftigen Arbeitsstelle zu bestimmen, mit der Anforderung einmalig der Abstand zu der bedienbedürftigen Arbeitsstelle und daraus der Abstand zu der Position, bei der die Stillsetzung eingeleitet werden muss, bestimmt werden. Dieser Abstand wird dann dem Serviceaggregat als Sollweg vorgegeben. Sobald es diesen Weg zurückgelegt hat, wird die Stillsetzung eingeleitet.For driving speed control or position monitoring, a large number of further variants are conceivable on the basis of the present invention. Thus, instead of constantly determining the distance to the serviceable job instead of while driving, with the request once the Distance to the workstation in need of servicing and from this the distance to the position at which the shutdown must be initiated can be determined. This distance is then specified to the service unit as a target path. Once it has gone this way, the shutdown is initiated.

Anders herum kann man aus der Position der bedienbedürftigen Arbeitsstelle und dem Abstand, bei dem die Stillsetzung eingeleitet werden soll, die zugehörige Position bestimmen. Das Serviceaggregat ermittelt ständig aus der Referenzposition und dem zurückgelegten Weg seine aktuelle Position. Sobald es die Position erreicht hat, bei der die Stillsetzung eingeleitet werden soll, wird die Bremsung ausgelöst.On the other hand, the position to be serviced and the distance at which the shutdown is to be initiated can be used to determine the associated position. The service unit constantly determines its current position from the reference position and the distance traveled. Once it has reached the position at which the shutdown is to be initiated, the braking is triggered.

Claims (6)

Verfahren zum Betreiben eines Serviceaggregats (5A, 5B, 6A, 6B) an einer Textilmaschine (1) mit einer Vielzahl von Arbeitstellen (2), wobei das Serviceaggregat (5A, 5B, 6A, 6B) entlang der Arbeitsstellen (2) verfahren und zur Bedienung einer Arbeitsstelle (2) vor derselben positioniert wird, wobei die Arbeitsstelle (2) das Serviceaggregat (5A, 5B, 6A, 6B) bei Bedarf anfordert und das Serviceaggregat (5A, 5B, 6A, 6B) nach Anforderung in Richtung der anfordernden Arbeitsstelle (2) fährt und genau mit dem Erreichen der Bedienposition vor der anfordernden Arbeitsstelle (2) zum Stillstand kommt,
dadurch gekennzeichnet, dass
mindestens eine Position (14, 19) innerhalb der Textilmaschine (1) als Referenzposition des Serviceaggregats (5A, 5B, 6A, 6B) erfasst wird, dass das Serviceaggregat (5A, 5B, 6A, 6B) eigenständig den von ihm zurückgelegten Weg ermittelt, dass in Abhängigkeit von der Fahrgeschwindigkeit des Serviceaggregats (5A, 5B, 6A, 6B) ein Abstand von der Bedienposition der anfordernden Arbeitsstelle (2) bestimmt wird, bei dem die Stillsetzung eingeleitet wird und dass aus der Referenzposition und dem zurückgelegten Weg bestimmt wird, an welcher Position dieser Abstand erreicht ist.Method for operating a service unit (5A, 5B, 6A, 6B) on a textile machine (1) having a plurality of work stations (2), wherein the service unit (5A, 5B, 6A, 6B) moves along the work stations (2) and to Operating a workstation (2) is positioned in front of the same, wherein the workstation (2) the service unit (5A, 5B, 6A, 6B) requests if required and the service unit (5A, 5B, 6A, 6B) as requested in the direction of the requesting job (2) moves and comes to a standstill with reaching the operating position before the requesting workstation (2),
characterized in that
at least one position (14, 19) within the textile machine (1) is detected as the reference position of the service unit (5A, 5B, 6A, 6B) that the service unit (5A, 5B, 6A, 6B) autonomously determines the distance traveled by it; in that, depending on the traveling speed of the service unit (5A, 5B, 6A, 6B), a distance is determined from the operating position of the requesting workstation (2) at which the stopping is initiated and which is determined from the reference position and the traveled distance which position this distance is reached. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der Drehwinkel eines rotierbaren Teils (35, 36, 37, 42) des Serviceaggregats (5A, 5B, 6A, 6B), der mit einer translatorischen Bewegung des Serviceaggregats (5A, 5B, 6A, 6B) korreliert, gemessen wird und aus dem Drehwinkel der vom Serviceaggregat (5A, 5B, 6A, 6B) zurückgelegte Weg berechnet wird.A method according to claim 1, characterized in that the rotation angle of a rotatable part (35, 36, 37, 42) of the service unit (5A, 5B, 6A, 6B), with a translational movement of the service unit (5A, 5B, 6A, 6B ) is correlated, measured, and calculated from the angle of rotation of the path traveled by the service unit (5A, 5B, 6A, 6B). Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Drehrichtung des rotierbaren Teils (35, 36, 37, 42) des Serviceaggregats (5A, 5B, 6A, 6B) und damit die Vor- oder Rückwärtsbewegung des Serviceaggregats (5A, 5B, 6A, 6B) zur Positionsbestimmung erfasst wird.A method according to claim 2, characterized in that the direction of rotation of the rotatable part (35, 36, 37, 42) of the service unit (5A, 5B, 6A, 6B) and thus the forward or backward movement of the service unit (5A, 5B, 6A, 6B) is detected for position determination. Serviceaggregat (5A, 5B, 6A, 6B) an einer Textilmaschine (1) mit einer Vielzahl von Arbeitstellen (2), wobei das Serviceaggregat (5A, 5B, 6A, 6B) entlang der Arbeitsstellen (2) verfahrbar und zur Bedienung einer Arbeitsstelle (2) vor derselben positionierbar ist, wobei Kommunikationsmittel (41) der Arbeitsstelle dazu ausgebildet sind, das Serviceaggregat (5A, 5B, 6A, 6B) bei Bedarf anzufordern, und Steuermittel (40, 42) dazu ausgebildet sind, das Serviceaggregat (5A, 5B, 6A, 6B) nach Anforderung in Richtung der anfordernden Arbeitsstelle (2) zu verfahren und genau mit dem Erreichen der Bedienposition vor der anfordernden Arbeitsstelle (2) zum Stillstand zu bringen,
dadurch gekennzeichnet, dass
das Serviceaggregat (5A, 5B, 6A, 6B) Erfassungsmittel (44) aufweist, um eigenständig den vom Serviceaggregat (5A, 5B, 6A, 6B) zurückgelegten Weg zu ermitteln, dass ein Sensor (20) zur Erfassung mindestens einer Referenzposition ausgebildet ist, wobei der Sensor (20) oder ein zur Erfassung der Referenzposition notwendiges Gegenstück (14, 19) an der Textilmaschine (1) angeordnet ist, dass aus der Referenzposition und dem zurückgelegten Weg die Position des Serviceaggregats (5A, 5B, 6A, 6B) bestimmbar ist und dass die Steuermittel (40) dazu ausgebildet sind, aus der Referenzposition und dem zurückgelegten Weg zu bestimmen, an welcher Position ein in Abhängigkeit der Fahrgeschwindigkeit bestimmter Abstand des Serviceaggregats (5A, 5B, 6A, 6B) von der Bedienposition der anfordernden Arbeitsstelle (2) erreicht ist, bei dem die Stillsetzung eingeleitet wird.Service unit (5A, 5B, 6A, 6B) on a textile machine (1) having a plurality of work stations (2), wherein the service unit (5A, 5B, 6A, 6B) can be moved along the work stations (2) and to operate a workstation (2). 2) is positionable in front thereof, wherein communication means (41) of the work station are adapted to request the service unit (5A, 5B, 6A, 6B) when needed, and control means (40, 42) are adapted to operate the service unit (5A, 5B , 6A, 6B) after request in the direction of the requesting workstation (2) to proceed and stop exactly with the reaching of the operating position before the requesting workstation (2),
characterized in that
the service unit (5A, 5B, 6A, 6B) has detection means (44) for autonomously determining the distance covered by the service unit (5A, 5B, 6A, 6B) that a sensor (20) is designed to detect at least one reference position, wherein the sensor (20) or a counter piece (14, 19) necessary for detecting the reference position is arranged on the textile machine (1) such that the position of the service unit (5A, 5B, 6A, 6B) can be determined from the reference position and the traveled distance and in that the control means (40) are adapted to determine, from the reference position and the traveled distance, at which position a distance of the service unit (5A, 5B, 6A, 6B) from the operating position of the requesting workstation ( 2) reached, at which the shutdown is initiated. Serviceaggregat nach Anspruch 2, dadurch gekennzeichnet, dass das Serviceaggregat (5A, 5B, 6A, 6B) ein rotierbares Teil (35, 36, 37, 42) aufweist, dass die Rotationsbewegung des rotierbaren Teils (35, 36, 37, 42) mit einer translatorischen Bewegung des Serviceaggregats (5A, 5B, 6A, 6B) korreliert und dass an dem rotierbaren Teil (35, 36, 37, 42) ein Winkelgeber (44) zur Erfassung des Drehwinkels des rotierbaren Teils (35, 36, 37, 42) angebracht ist.Service unit according to claim 2, characterized in that the service unit (5A, 5B, 6A, 6B) has a rotatable part (35, 36, 37, 42) that the rotational movement of the rotatable part (35, 36, 37, 42) with a translational movement of the service unit (5A, 5B, 6A, 6B) correlates and that on the rotatable part (35, 36, 37, 42) an angle sensor (44) for detecting the angle of rotation of the rotatable part (35, 36, 37, 42 ) is attached. Serviceaggregat nach Anspruch 3, dadurch gekennzeichnet, dass der Winkelgeber (44) dazu ausgebildet ist, die Drehrichtung des rotierbaren Teils zur Positionsbestimmung zu ermitteln.Service unit according to claim 3, characterized in that the angle encoder (44) is adapted to determine the direction of rotation of the rotatable part for position determination.
EP10007262.8A 2009-08-08 2010-07-14 Method for operating a service carriage and service carriage Active EP2305864B1 (en)

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EP3489398A1 (en) * 2017-11-22 2019-05-29 Savio Macchine Tessili S.p.A. Open-end spinning machine with improved yarn waste discharge device and related yarn waste discharge method
EP3608457A1 (en) 2018-08-07 2020-02-12 Maschinenfabrik Rieter AG Method of operating a service robot of a ring spinning machine and a ring spinning machine for performing it

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DE102017106319A1 (en) * 2017-03-23 2018-09-27 Maschinenfabrik Rieter Ag Spinning machine and a method for operating sleeve transport devices on a spinning machine
CN108796689B (en) * 2018-07-02 2021-02-26 浙江日发纺织机械股份有限公司 Signal patrol method for joint trolley of spinning machine
CN114032631B (en) * 2021-10-14 2022-10-21 浙江康立自控科技有限公司 Method and mechanism for positioning spinning machine joint device
IT202100028001A1 (en) * 2021-11-03 2023-05-03 Savio Macch Tessili Spa POSITIONING DEVICE AND PROCEDURE FOR THE SERVICE TROLLEY OF A TEXTILE MACHINE, AND TEXTILE MACHINE INCLUDING SUCH DEVICE

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Also Published As

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DE102009036777A1 (en) 2011-02-10
EP2305864B1 (en) 2014-07-02
CN101992972A (en) 2011-03-30

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