阅读说明：本技术 一种用于修复环锭纺纱机中纱线断裂的设备、系统和方法 (Apparatus, system and method for repairing yarn breakage in ring spinning machine ) 是由 瓦拉达拉金·斯里尼瓦桑 于 2019-05-24 设计创作，主要内容包括：一种用于在环锭纺纱机(1)中自动修复纱线断裂的设备(31),该设备(31)包括用于执行多个工作步骤以修复纱线断裂的机器人装置(51),以及用于沿环锭纺纱机(1)移动设备(31)的具有驱动器(142)的运输装置(141)。机器人装置(51)包括纱线捕获单元(101),纱线捕获单元(101)具有用于从管纱(7)吸引和拾取纱线端部的纱线吸引和拾取机构(104)、用于保持所拾取的纱线的纱线保持机构(108)以及用于移动和定位纱线吸引和拾取机构(104)的移动和定位机构(102)。设备(31)还包括用于将纱线(8)穿入到钢丝圈(11)中的纱线穿引单元(121),纱线穿引单元(121)具有纱线保持机构(127)、钢丝圈定位机构(124)以及用于移动和定位纱线保持机构(127)和钢丝圈定位机构(124)的移动和定位机构(122)。(An apparatus (31) for automatically repairing a yarn break in a ring spinning machine (1), the apparatus (31) comprising a robotic device (51) for performing a plurality of working steps to repair the yarn break, and a transport device (141) with a drive (142) for moving the apparatus (31) along the ring spinning machine (1). The robot device (51) includes a yarn capturing unit (101), and the yarn capturing unit (101) has a yarn attracting and picking mechanism (104) for attracting and picking up an end of the yarn from the cop (7), a yarn holding mechanism (108) for holding the picked-up yarn, and a moving and positioning mechanism (102) for moving and positioning the yarn attracting and picking mechanism (104). The device (31) further comprises a yarn threading unit (121) for threading the yarn (8) into the traveler (11), the yarn threading unit (121) having a yarn holding mechanism (127), a traveler positioning mechanism (124) and a moving and positioning mechanism (122) for moving and positioning the yarn holding mechanism (127) and the traveler positioning mechanism (124).)

1. An apparatus (31) for automatically repairing a yarn break in a ring spinning machine (1), the apparatus (31) comprising a robotic device (51) for performing a plurality of working steps to repair a yarn break and a transport device (141), the transport device (141) having a drive (142) for moving the apparatus (31) along the ring spinning machine (1),

wherein the robot apparatus (51) comprises:

-a yarn capturing unit (101), the yarn capturing unit (101) having a yarn attracting and picking mechanism (104) for attracting and picking up a yarn end from a cop (7), a yarn holding mechanism (108) for holding the picked-up yarn, and a moving and positioning mechanism (102) for moving and positioning the yarn attracting and picking mechanism (104), and

-a yarn threading unit (121) for threading the yarn (8) into a traveler (11), the yarn threading unit (121) having a yarn holding mechanism (127), a traveler positioning mechanism (124) and a moving and positioning mechanism (122), the moving and positioning mechanism (122) being used for moving and positioning the yarn holding mechanism (127) and the traveler positioning mechanism (124).

2. The apparatus (31) according to claim 1, characterized in that the yarn capturing unit (101) is designed to permanently hold the yarn starting from the yarn end being picked up by the cop (7) until the yarn is spliced with a fiber strand (19) of a drafting device (16).

3. The device (31) according to claim 1 or 2, characterized in that the yarn capturing unit (101) comprises a yarn suction tube (105) for sucking the yarn end from the cop (7) through a front opening (106), wherein the yarn suction tube (105) is open, in particular on both sides, such that the yarn end sucked in at the front opening (106) passes through the yarn suction tube (105) and leaves the yarn suction tube (105) through a rear opening (107).

4. The apparatus (31) as claimed in claim 3, characterized in that the yarn suction duct (105) comprises at least one gas inlet for supplying gas having an inflow component parallel to the duct axis (110) to the yarn suction duct (105).

5. Device (31) according to any one of claims 1 to 4, characterized in that the yarn holding means (127) of the yarn threading unit (121) comprise at least two holding fingers (128a, 128b), each holding finger (128a, 128b) having a fixing means (132) for fixing the yarn on the holding finger (128a, 128b) for stretching a yarn section between the at least two holding fingers (128a, 128 b).

6. The device (31) according to any one of claims 1 to 5, characterized in that the traveler positioning mechanism (124) comprises at least two traveler positioning members (125) for positioning the traveler (11), the traveler positioning members (125) being spaced apart from each other in an operating position such that a first positioning member (125) can be positioned on the right side of the cop (7) and a second positioning member (125) can be positioned on the left side of the cop (7), wherein in particular each positioning member (125) has an air passage opening, in particular an outlet opening (126), for generating an air flow, in particular for discharging air.

7. The apparatus (31) according to any of claims 1 to 6, characterized in that the robot device (51) comprises a horizontal verification unit (91) for lifting and lowering the yarn threading unit (121) synchronously with the movement of the endless track (5) of the ring spinning machine (1), wherein the horizontal verification unit (91) comprises in particular an endless track sensor (94) for detecting the movement of the endless track (5).

8. Device (31) according to claim 7, characterized in that the device (31) comprises at least one optical sensor (35), in particular at least one camera, for collecting navigation information for navigating the device (31).

9. Device (31) according to any one of claims 1 to 8, characterized in that the device (31) comprises a fault localization sensor (35), for example in the form of an optical sensor (35), in particular a camera, for detecting at least one of the following detectable conditions:

-a light signal of a signal lamp (3b) of a spinning position monitoring system (3) representing a yarn break;

-the presence or absence of a running yarn between the delivery rollers (17, 18) of the drafting device (16) and the cop (7);

-the traveller (11) moves or does not move.

10. The apparatus (31) according to any one of claims 1 to 9, wherein the robotic device (51) comprises a yarn end separating device for separating the yarn end from the surface of the cop (7).

11. The apparatus (31) according to any one of claims 1 to 10, wherein the robotic device (51) comprises a spindle stop unit (61) for stopping the rotation of the spindle (6) during the yarn break repair.

12. The apparatus (31) according to any one of claims 1 to 11, wherein the robotic device (51) comprises a cop elevator unit (81) for lifting the cop (7) from the spindle (6).

13. The apparatus (31) according to any one of claims 1 to 12, wherein the robotic device (51) comprises a pendant hook hoist unit (71) for hoisting a pendant hook (14).

14. The device (31) according to any one of claims 1 to 13, wherein the robot means (51) comprise a roving movement activation unit (151) for operating a roving stop movement device (153).

15. A system comprising an apparatus (31) for automatic yarn break repair in a ring spinning machine (1) according to any of claims 1 to 13 and a separate spinning position monitoring system (3) for detecting yarn breaks.

16. Method for repairing yarn breaks in a ring spinning machine (1) using an apparatus (31) according to any of claims 1 to 14, comprising the steps of:

-detecting yarn breakage;

-moving the device (31) in front of a spinning position (4) where there is a yarn break and aligning the device (31) on the spinning position (4);

-stopping the rotation of the spindle (6);

-grasping the yarn end from the cop (7);

-passing the yarn (8) through the traveller (11);

-passing the yarn (8) through at least one yarn guide element (14);

-resuming the rotation of the spindle (6) and

-piecing together the yarn (8) with a fiber strand (19) treated in a drafting device (16).

17. The method of claim 16, comprising the steps of:

-lifting the cop (7) from the spindle (6),

this is done between the steps of "stopping the rotation of the spindle (6)" and "catching the end of the yarn from the cop (7)".

18. The method according to any of claims 16 to 17, wherein the yarn joining process comprises one of the following steps:

-moving and positioning the yarn end portion, in particular held and moved by a yarn capturing unit (101), in front of a transport roller (17, 18) as seen in the machine direction (F), placing the yarn end portion on a drafted roving in a drafting device (16) located in front of the transport roller (17, 18) and passing the connected textile strand through the transport roller (17, 18), or

-moving and positioning the yarn end portion behind a delivery roller (17, 18) of the drafting device (16) as seen in the machine direction (F) and placing it on the drafted roving leaving the drafting device (16) through the delivery roller (17, 18) and introducing a twist into the connected textile strand by means of a yarn piecing unit (153).

Technical Field

The subject matter described herein relates generally to the field of producing textile yarns, and more particularly to an apparatus, system, and method for automatic repair (i.e., restoration or correction) of yarn breaks in ring spinning machines.

Background

Ring spinning is a process of spinning fibers (e.g., cotton, linen, wool, synthetic fibers or mixtures thereof) to make textile yarns. A ring spinning machine has a device for spinning from a roving supplied from a roving frame (also called a roving frame), and a device for winding the yarn onto a cop by rotating a spindle. Ring spinning machines are well known in the art. Document US 3905187a, for example, discloses such a ring spinning machine.

Ring spinning machines, also known as ring frames, contain a plurality of spinning positions at which yarns are spun from a roving. Each spinning position comprises a roving bobbin which is fixed on a bobbin holder. Rovings are produced from slivers in a roving frame (also referred to as a roving frame).

The roving is transported from the roving bobbin by a drafting device, where the roving is drafted into fiber strands. The drafted roving leaves the drafting device in the form of a fiber strand through a delivery roll and is conveyed towards a rotating/revolving shaft. Between the nip of the delivery roll and the spindle, the fiber strands are twisted into a yarn. The direction of conveyance of the fibrous material (i.e., the machine direction of the fibrous material) is from top to bottom.

Between the delivery roller and the spindle, a yarn guide element, such as a hook and/or a balloon control ring, can be arranged. In the process direction, the pendant hook is disposed behind the feed roller and the balloon control ring (if present) is disposed behind the pendant hook.

A tube is arranged on the spindle, on which tube the produced yarn package is stacked. The tube forms together with the yarn package a so-called spinning cop, also called package of cop or simply cop. In particular, the tube is placed on a spindle.

The spindle is surrounded by a traveller guide ring (also called spinning ring) on which the traveller is movably arranged. The bead ring guide ring is arranged on the annular track. The spindles and thus the cop are guided through openings in the endless track. Usually, one machine-side spinning position has a common endless track.

In order to produce a yarn package on a cop, the yarn is passed through a traveler which deflects the yarn supplied from above laterally towards the cop.

The endless track is movable up and down during the spinning process in order to accumulate yarn coils along the longitudinal extension of the bobbin tube. I.e. the endless track moves continuously up and down during the spinning process in order to wind the yarn along the axis of the tube bobbin.

The ring spinning machine comprises a plurality of the above-mentioned spinning positions, which are arranged adjacent to each other along the longitudinal extension of the ring spinning machine. The ring spinning machine is formed in particular with two machine sides facing in opposite directions. In particular, on both machine sides, as described above, the spinning positions are arranged adjacent to each other.

Usually, the spindle or at least a plurality of spindles of a ring spinning machine is driven by a common spindle drive. The spindles of the machine side or machine part can thus be driven by a common spindle drive. The driving force is transmitted to the spindles by a drive belt surrounding the spindles.

Once the spinning cop has reached its nominal volume or size during the spinning process, the spinning process is stopped and the spinning cop is lifted and carried away from the spindle. The empty tube is placed on the spindle and the spinning process is restarted.

The replacement of the spinning cop can be carried out manually or automatically. Usually, the exchange of spinning cop (also called doffing) takes place during a common interruption of the spinning process on all the cops on the machine side or even on all the cops of the entire ring spinning machine.

The ring spinning apparatus may comprise a doffing apparatus for automatically replacing a spinning cop, i.e. for automatically lifting the entire spinning cop from a spindle, and for placing an empty tube on the spindle. The doffing device is arranged along the machine side and operates before the spinning position. In this case, the doffing can be carried out simultaneously for all the cops on the machine side or even all the cops of the ring spinning machine.

It is common for ring spinning machines to be equipped with a separate spinning position monitoring system (also called spindle monitoring system). The spinning position monitoring system is designed in particular for detecting yarn breaks.

The term "designed/used" may also be read as "constructed/used".

Further details regarding the spinning position monitoring system are further disclosed below in connection with the system.

Regarding the control of the spinning position monitoring system, the control of the spinning position monitoring system can be integrated into the machine control of the ring spinning machine. However, the spinning position monitoring system can also be operated automatically from the ring spinning machine, i.e. from its machine control.

In ring spinning machines, the yarn is prone to breakage due to various reasons, such as low quality material, fast speed of the machine, heat generated during spinning, external influences (e.g. drafting), flying fibrous material or other objects.

The main work of the spinning mill workers is to continuously monitor the spinning machines and to check whether yarn breaks occur during the spinning process. The worker may also be responsible for finding spindle defects that may include, but are not limited to, yarn breakage, slipping spindles, inferior spindles producing repeated breakage, or any combination thereof. If workers find any such yarn breakage and/or spindle defect occurrence, they must immediately handle the yarn breakage and/or spindle defect occurrence to avoid unnecessary production loss.

However, when humans are involved, the monitoring process is not efficient and effective because human intervention involves substantial delays in detecting the defects described above, and even if defects are detected, handling them is a time consuming process. Furthermore, if a defect occurs at multiple points in the machine, it is difficult for a single worker/person to handle the defect. Therefore, a plurality of workers must be employed, and thus the production cost increases. Furthermore, human intervention is often unreliable, inefficient, and inefficient. Furthermore, the working conditions of spinning machines are unhealthy due to high noise, high temperature and humid environments and poor air quality.

For the reasons mentioned above, the aim is to automate the service steps as much as possible and to reduce the number of service personnel working on the spinning machine to a minimum.

It is therefore an object of the present invention to provide a system and method for automatic repair, i.e. recovery or correction of yarn breaks in ring spinning machines.

Basically, such systems are known in the prior art. However, it would be too expensive to coordinate each spinning position with its own piecing device for correcting yarn breakage, such systems typically comprising travelling piecing carriages patrolling along the spinning machine.

The splice trays must be mechanically operated in the same complex way as the service personnel manually:

-noting yarn breakage, in particular when the spindle, i.e. the machine side, is patrolling;

-stopping at the respective spinning position upon detection of a yarn break;

-occupying a precise position with respect to the spindle/spinning position;

-stopping the spindle;

-finding and grasping the end of a broken yarn on a cop;

-bringing the traveller to a suitable position for threading;

-passing the yarn through a traveller;

-passing the yarn through yarn guiding elements such as balloon control loops and drop hooks;

-piecing the yarn with the fiber strand of the drawing device, and

-releasing the spindle, i.e. resuming the spinning process.

Disclosure of Invention

It is therefore an object of the present invention to provide a movable yarn breakage handling apparatus for automatic repair of yarn breakage and thus automatic joining of broken yarn in a ring spinning machine.

Another object of the invention is to eliminate the manual operation or human intervention of yarn breakage by means of a movable yarn breakage handling device.

Another object of the present invention is to provide an automatic system comprising a movable yarn breakage handling device for automatic repair of yarn breakage and a separate spinning position monitoring system, allowing to automatically handle yarn breakage on a spinning position of a ring spinning machine which has been detected by the separate spinning position monitoring system.

Another object of the present invention is to provide an automatic system comprising a movable yarn breakage handling device for automatic repair of yarn breakage and a separate spinning position monitoring system, wherein the movable yarn breakage handling device is capable of replenishing empty or partially processed roving bobbins from a supply area in a ring spinning machine having new full roving bobbins for producing yarn and handling yarn breakage and/or spindle defects, upon occurrence of yarn breakage and/or spindle defects.

Another object of the present invention is to provide an apparatus, system and method for dealing with the occurrence of other spindle defects to ensure a faster resumption of the yarn spinning process at the affected spinning positions of the ring spinning machine and also to eliminate the generation of inferior yarns due to spindle defects.

The apparatus, system and method should reduce production losses and increase the effectiveness and efficiency of the yarn production process.

Another object is to provide an automatic robot device to achieve the task of automatically monitoring the entire spinning machine, to automatically detect the above mentioned defects and to automatically process them and continue the ring spinning machine without any manual intervention, thus achieving an effective, efficient and productive process, while reducing the time of the normal spinning process as a whole.

At least one of the objects is solved by the features of the independent claims 1, 13 and 14. Particular embodiments of the invention and further developments of the invention are the subject matter of the dependent claims, the description and the drawings.

According to the invention, a yarn breakage handling device for automatic repair (i.e. correction) of yarn breakage in a ring spinning machine comprises a robotic means for performing a plurality of working steps for yarn breakage repair and a transport means having a drive means for transporting the device along the ring spinning machine.

The term "device" should first be understood as a functional unit. Secondly, the term "device" may also denote a physical unit.

The term "comprises/comprising" when used in this specification is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

The yarn breakage handling device is in particular a movable carriage, in particular a service carriage.

The robot device includes:

a yarn capturing unit having a yarn attracting and picking mechanism for attracting and retrieving (i.e. picking up a yarn end from a cop) and a moving and positioning mechanism for moving and positioning the yarn attracting and picking mechanism, and

a yarn threading unit for threading the yarn to the traveler, the yarn threading unit having a yarn holding mechanism, a traveler positioning mechanism, and a moving and positioning mechanism for moving and positioning the yarn holding mechanism and the traveler positioning mechanism.

In particular, the robotic device further comprises a spindle stop unit for stopping the rotation of the spindle during the yarn break repair.

The term "unit" is to be understood as a functional unit in the first place. Secondly, the term "unit" may also denote a physical unit.

In particular, the yarn breakage handling device comprises a computer application for operating the robotic apparatus, in particular its functional unit as described above.

In particular, computer applications are used for operating transport devices, in particular the drives thereof.

The term "application" should first be understood as a functional unit. Secondly, the term "application" may also denote a physical unit.

The computer application comprises, inter alia, at least one control unit for controlling the robot device, i.e. its functional units.

The computer application comprises, in particular, at least one control unit for controlling the transport device, in particular the drive thereof. In other words, at least one control unit is used to control the movement of the yarn break treatment device.

In particular, the computer device comprises at least one evaluation unit for evaluating sensor data from sensors arranged on the yarn break processing device.

The yarn breakage handling device may comprise a fault location sensor which is located at a faulty or malfunctioning spinning position in the yarn production. In particular, the fault location sensor is a yarn break location sensor. Such a sensor is provided if the yarn break handling device is partly or fully automatically operable, i.e. if the yarn break handling device does not receive faulty (i.e. yarn break) spinning position data from an external device, such as a spinning position monitoring system.

The fault locating sensor may be an optical sensor. The fault localization sensor is in particular a camera.

In one embodiment, the fault locating sensor is specifically designed to detect an optical signal. An optical signal is emitted at the affected spinning position to indicate a malfunction of the yarn production, such as a yarn break. The optical signal may for example be generated and emitted by a spinning position monitoring system for indicating a yarn break.

The light signal indicating yarn breakage may be a self-illuminating or a light of a particular color (e.g. red light), a light of different intensity or a flashing light.

The fault location sensor may be configured to detect different light signals representing different types of faults (e.g., yarn breakage, sliding spindle, faulty spindle, etc.).

Different light signals may be characterized by different light colors. Different light signals may also be characterized by different light behavior, such as light intensity, light duration, i.e. flashing interval (permanent, flashing, etc.).

The control unit of the computer arrangement of the spinning monitoring system or the computer-applied control unit of the yarn break processing device can decide whether a fault, in particular a yarn break, is to be processed or not depending on the type of fault indicated by the light signal.

In another embodiment, the fault location sensor is configured to detect the presence of yarn. The fault location sensor may be configured to detect whether the yarn is running between the delivery roller of the drafting device and the cop. In particular, the fault location sensor detects whether no yarn is running and wound onto the cop and sends a signal, for example into a control unit of the yarn breakage handling device which moves the yarn breakage handling device towards the spinning position to handle the yarn breakage.

In another embodiment, the fault location sensor is configured to detect movement of the traveler. The fault location sensor may be configured to detect whether the traveler is moving. In particular, the fault location sensor detects whether the traveller is not moving (i.e. is in a stationary state) and sends a signal, for example into a control unit of the yarn break handling device, to move the yarn break handling device towards the spinning position to handle the yarn break.

In a further development, the fault location sensor is configured to also detect different movement speeds of the traveller. This enables the detection of, for example, sliding spindles which are characterized by a lower travelling speed of the traveller than that of the traveller in conventional yarn production processes.

In the latter two embodiments, no separate spinning position monitoring system is required.

In one embodiment, the yarn break handling device comprises at least two fault locating sensors, wherein a first sensor is positioned for detecting a yarn break on the machine side of a first ring spinning machine and a second sensor is positioned for detecting a yarn break on the opposite machine side of a second ring spinning machine. This allows yarn breaks to be detected on both machine sides while the yarn break handling equipment patrols along the corridor between the two ring spinning machines.

The yarn capturing unit may comprise at least one robot arm, in particular an articulated robot arm. In this embodiment, the yarn attracting and picking mechanism is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the movement and positioning mechanism is configured for actuating the respective robot arm.

The yarn capturing unit may comprise a yarn holding mechanism, in particular a clamping mechanism, for holding, in particular clamping, the yarn picked up.

In particular, a yarn holding mechanism for holding the picked-up yarn is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the yarn suction and pick-up mechanism and the yarn holding mechanism are arranged on a common robot arm.

In particular, the yarn attracting and picking mechanism and the yarn holding mechanism may be located in a combined module.

The term "module" particularly refers to a mechanical unit.

The yarn capturing unit may comprise a yarn separating mechanism, in particular a yarn cutting mechanism, for separating (i.e. cutting) the excess end length, i.e. the yarn picked up is too long.

In particular, the yarn separating mechanism is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the yarn suction and pick-up mechanism and the yarn separating mechanism are arranged on a common robot arm.

In particular, the yarn holding mechanism and the yarn separating mechanism are arranged on a common robot arm.

In particular, the yarn suction and pick-up mechanism, the yarn holding device and the yarn separating mechanism are arranged on a common robot arm.

In particular, the yarn attracting and picking mechanism and the yarn separating mechanism may be located in a combined module.

In particular, the yarn holding mechanism and the yarn separating mechanism may be located in a combined module.

In particular, the yarn attracting and picking mechanism, the yarn holding mechanism and the yarn separating mechanism may be located in a combined module.

In one embodiment of the invention, the yarn capturing unit is designed to permanently hold (i.e. clamp) the yarn starting from the bobbin yarn picking up the yarn end until the yarn is joined to the fiber strand of the drafting device.

That is, the yarn capturing unit is especially configured to hold (i.e. clamp) the yarn during threading of the yarn to the traveller by the yarn threading unit, as further described below in connection with the method.

In one embodiment of the present invention, the yarn sucking and picking mechanism includes a yarn sucking tube for sucking the end of the yarn from the surface of the cop. In particular, the yarn suction duct has a front opening, in which air is sucked. Thus, the yarn end is sucked into the front opening.

The yarn suction tube forms a receiving space, in particular a closed channel or passage for the captured yarn end. The receiving space in the cross-sectional view may be circular, in particular annular.

In particular, the yarn suction duct is open on both sides, so that the yarn end sucked in at a first duct opening (front opening as seen in the direction of the suction position) passes through the yarn suction duct and leaves the yarn suction duct through a second duct opening, which is rear opening as seen in the direction of the suction position.

In one embodiment, the yarn suction tube comprises at least one air inlet for conveying/injecting air (in particular pressurized air) into the interior of the yarn suction tube.

The at least one air inlet, i.e. the air inlet channel, is in particular configured such that the injected air has an inflow component which extends parallel to the tube axis in the direction of the rear opening.

The at least one air inlet may be configured such that the injected air has an inflow component extending toward the center of the passageway of the suction pipe.

The at least one air inlet may be configured such that the injected air has an inflow component which extends tangentially to the passageway in cross-sectional view.

The yarn suction duct comprises, in particular, a plurality of air inlets arranged on the inner circumference of the yarn suction duct. In particular, a plurality of air inlets are arranged around the inner circumference. In particular, the plurality of air inlets are concentrically arranged around the inner circumference.

The at least one air inlet may be configured such that a vortex air flow is generated, which is directed to a rear opening of the yarn suction tube.

Since the air flow component is directed toward the rear opening, the injected air flows toward and exits the suction duct through the rear end of the suction duct. Therefore, suction, i.e., suction ventilation, is generated at the front opening of the suction pipe, and the suction pipe can suck the end of the yarn from the yarn spinning tube.

It has been found that when handling spun yarn counts, a yarn end separating device may also be required in order to release, i.e. separate or detach, the yarn end from the surface of the cop in a first step before the suction ventilation is able to suck and suck the yarn end.

The reason can be found in the hairiness of the yarn, which is an inherent feature of most yarns. Due to the hairiness, the yarn end sticks to the adjacent coil, which makes it difficult to separate the yarn end from the cop only by suction.

The yarn end separating device may be of mechanical construction which acts mechanically on the cop surface and thus on the coil of yarn on the cop surface to release (i.e. separate) the free end of the yarn from the yarn surface. The mechanical construction may be a brush, a bristle or a foil, by which the yarn end can be mechanically detached, i.e. brushed off, from the cop.

The yarn end separating device may also be of a pneumatic construction for generating an air output (i.e. air discharge), in particular an air jet or blast, which acts on the cop surface and thus on the yarn package on the cop surface, in order to loosen (i.e. separate) the free end of the yarn from the cop surface. The air output is thus directed in particular at the surface of the cop. In other words, air is blown toward the surface of the cop.

In particular, the pneumatic construction comprises at least one outlet through which air can be discharged.

The yarn end separating device may be arranged on the yarn capturing unit. The yarn end separating device may be arranged on a common robot arm together with the yarn attracting and picking mechanism.

The yarn end separating device may be arranged on the yarn attracting and picking mechanism.

In the case of a mechanical yarn end separation configuration, it may be arranged at the front opening of the suction tube.

The thread end separating device can also be arranged separately, i.e. on its own robot arm, in particular on an articulated robot arm. Thus, the yarn end separating device may be part of a (separate) yarn end separating unit.

The yarn end separating device is arranged in particular in the distal end of the robot arm. Such a yarn end separating unit may further comprise a moving and positioning mechanism for moving and positioning the yarn end separating device. In particular, the movement and positioning mechanism is configured for actuating the respective robot arm.

The yarn end separating unit and thus the yarn end separating device are in particular movable independently of the yarn capturing unit and thus of the yarn attracting and picking mechanism.

Thus, in a first step, the yarn end separating device can be moved up and down, in particular along the cop axis, similar to the suction step described further below, while the cop is rotated, in particular slowly, by the cop elevator unit.

Either mechanically or, in the case of a pneumatic configuration, an air bleed (i.e., air jet) separates the yarn end from the cop surface.

In a second step, the yarn suction and pick-up mechanism attempts to grasp the separated (i.e., loose) yarn end, such as suction applied to the surface of the cop by a suction tube, as described in further detail below.

In the case of a pneumatic construction, the latter can also be integrated into the yarn suction and pick-up mechanism. Thus, the yarn attracting and picking mechanism may be configured to produce an air output, such as an air jet, toward the cop surface.

The air output can take place via a suction pipe. In particular, air can be discharged through the front opening of the yarn suction tube. The rear suction duct is usually a pneumatic duct for alternately performing air discharge and suction. The yarn suction and pick-up device is configured in particular for switching between suction and air output (i.e. discharge).

Thus, the suction tube (i.e., pneumatic tube) is part of the pneumatic configuration described above. The suction duct may thus comprise at least one air inlet for discharge, i.e. the air feed channel (i.e. the passage of the suction duct), which air has an air flow component directed towards the front opening. In this way, an air output (i.e., exhaust) is generated at the front opening.

By switching the air discharge, i.e. entering the suction duct between different air inlets, an air flow with an air flow component directed towards the front opening can be generated within the suction duct, whereby air is injected/discharged at the front opening for releasing the yarn end from the cop surface, or an air flow with an air flow component directed towards the rear opening, whereby air is sucked at the front opening for picking up the yarn end.

The yarn holding means is arranged in particular at the rear end or rear end portion of the yarn suction tube.

The yarn holding mechanism may be integrated into the suction tube. The yarn holding means together with the yarn suction and take-up means, in particular the yarn suction tube, may form a combined module.

The yarn holding means may be a separate module arranged at the rear end of the suction tube, forming an extended channel, i.e. a passage for the yarn.

The thread holding means, which is designed as a clamping means, can comprise a clamping element which can be moved transversely to the channel (i.e. the passage), in particular transversely to the longitudinal axis of the thread suction tube. The clamping element may cooperate with a counterpart (i.e. a mould) arranged on the opposite side of the channel (i.e. the passage).

Thus, the clamping element may be configured as a passage (i.e. passage) for traversing (i.e. passing through) the yarn suction tube.

Thus, by moving the clamping element transversely through the channel (i.e. passage), the yarn can be clamped between the clamping element and the counterpart, thereby taking away the yarn resting on the counterpart.

As mentioned above, the yarn capturing unit may comprise a yarn separating mechanism, in particular a yarn cutting mechanism for separating (i.e. cutting) an excess length (i.e. surplus length) of yarn, which for example is suspended outside the rear end of the channel (i.e. passage).

The thread separating device is therefore arranged in particular in the rear end or rear end section of the thread suction tube.

The yarn separating mechanism may be integrated into the suction tube. The yarn separating means together with the yarn sucking and picking means, in particular the yarn suction tube, may form a combined module.

The yarn separating mechanism may be a separate module arranged at the rear end of the suction tube, forming an extended channel, i.e. a yarn path.

The yarn separating mechanism forms, together with the yarn holding mechanism, a combined module which is arranged at the rear end of the suction tube, forming an extended channel, i.e. a passage for the yarn.

The yarn separating mechanism and the yarn holding mechanism, together with the yarn sucking and picking mechanism (in particular the yarn suction tube), may form a combined module.

In particular, the yarn separating means (i.e. at least the separating point thereof) is arranged after the yarn holding means (i.e. at least the holding point thereof) in the machine direction (i.e. viewed from the front opening of the yarn suction duct in the direction of the yarn suction duct).

The yarn separating mechanism, designed as a cutting mechanism, may comprise a cutting element (e.g. a knife or a blade) which is movable transversely to the channel (i.e. the passage), in particular transversely to the longitudinal axis of the yarn suction tube. The yarn cutter may cooperate with a counterpart (i.e. a die) arranged on the opposite side of the channel (i.e. the passage).

Thus, the cutting element may be configured as a passage (i.e., a passageway) for traversing (i.e., passing through) the yarn suction tube.

The cutting element may be configured to traverse the passage of the yarn suction tube or the passage (i.e., the passageway) after the yarn suction tube.

Thus, by moving the cutting element transversely through the channel (i.e. passage), the yarn can be cut between the cutting element and the counterpart, thereby carrying away the yarn that remains and is cut on the counterpart.

In particular, the yarn separating mechanism is arranged on the robot arm.

In particular, the yarn suction and pick-up mechanism and the yarn separating mechanism are arranged on a common robot arm.

In particular, the yarn suction and pick-up mechanism, the yarn holding mechanism and the yarn separating mechanism are arranged on a common robot arm.

The yarn capturing unit may comprise a yarn detection sensor for detecting the presence of yarn in the channel (i.e. passage). In particular, the yarn detection sensor is arranged after the yarn holding mechanism as viewed from the front opening of the yarn suction pipe in the direction of the rear end of the yarn suction pipe. In particular, the yarn detection sensor is arranged after the yarn separating mechanism in the above sense.

The yarn detection sensor may be an optical sensor, e.g. a camera.

In particular, the yarn detection sensor is arranged on the robot arm.

In particular, the yarn holding mechanism and the yarn detection sensor are arranged on a common robot arm.

In particular, the yarn suction and pick-up mechanism and the yarn detection sensor are arranged on a common robot arm.

In particular, the yarn detection sensor, the yarn suction and pick-up mechanism and the yarn holding mechanism are arranged on a common robot arm.

In particular, the yarn detection sensor, the yarn attracting and picking mechanism, the yarn holding mechanism and the yarn separating mechanism are arranged on a common robot arm.

In particular, the yarn detection sensor forms a combined module together with the yarn suction and pick-up mechanism (in particular the yarn suction tube).

In particular, the yarn detection sensor forms, together with the yarn holding mechanism, a combined module which is arranged in particular at the rear end of the yarn suction tube.

In particular, the yarn holding mechanism, the yarn separating mechanism and the yarn detecting sensor form a combined module, which is arranged particularly at the rear end of the yarn suction tube.

In particular, the yarn detection sensor forms a combined module together with the yarn holding mechanism and the yarn suction and pick-up mechanism (in particular the yarn suction tube).

In particular, the yarn detection sensor forms a combined module together with the yarn separating mechanism, the yarn holding mechanism and the yarn sucking and picking mechanism (in particular the yarn suction tube).

The yarn threading unit may comprise at least one robot arm, in particular an articulated robot arm. In this embodiment, the yarn holding mechanism is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the bead ring positioning mechanism is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the thread holding mechanism and the bead ring positioning mechanism are arranged on a common robot arm.

In particular, the yarn holding mechanism and the traveler positioning mechanism form a combined module.

In particular, the respective moving and positioning mechanism is configured for actuating the robot arm.

In one embodiment of the invention, the yarn holding mechanism of the yarn threading unit comprises at least two holding fingers defining, at least in the operative position, a crossover for the yarn portion (i.e. yarn segment) running between the at least two holding fingers, as described further below.

The holding fingers are designed to hold the yarn. In particular, each holding finger has a movable fixing element for fixing the yarn on the holding finger.

In each case, the yarn holding fingers can form a receiving groove for receiving the yarn, in particular for receiving the yarn on the front side of the yarn holding fingers. The receiving groove is arranged in particular in the free end portion of the yarn holding finger. In particular, the receiving groove is arranged at the free front end of the yarn holding finger, wherein the groove opens towards the front end of the yarn holding finger.

In particular, the mentioned fixing elements are movable transversely to the longitudinal axis of the holding fingers.

In particular, the mentioned fixing element is movable transversely to the axis of the groove connecting the two yarn holding fingers.

In particular, the fixing element is movable transversely to the receiving groove and is able to carry away (i.e. entrain and deflect) the yarn arranged in the groove.

In particular, each yarn retention finger includes a pinch groove or deepening for receiving and thereby guiding the deflected yarn. The guide groove starts at the receiving groove and extends transversely to the longitudinal axis of the yarn holding fingers and transversely to the axis of the receiving groove connecting the two yarn holding fingers.

In particular, the bead ring positioning mechanism is configured for positioning the bead ring at the front, i.e. at the front side of the bead ring guide ring, i.e. at the front side of the endless track.

In particular, the bead ring positioning mechanism includes an active device that acts on the bead ring.

In particular, the bead ring positioning mechanism includes a pneumatic device for generating an air flow acting on the bead ring.

The air flow may be an air blast or a jet. In other words, the pneumatic device may be configured for exhausting air.

The airflow may be suction ventilation. In other words, the pneumatic device may be configured to draw in air.

The pneumatic device may also be configured to switch between air discharge and air intake.

The bead ring positioning mechanism may also include a magnetic device, such as a magnet bar, acting on the bead ring. The magnetic means may comprise a permanent magnet or a non-permanent electromagnet.

In one embodiment, the bead ring positioning mechanism includes at least two bead ring positioning members, particularly bead ring positioning fingers, for positioning the bead ring. The at least two traveler positioning members are spaced apart from each other in the operating mode such that the first positioning member can be positioned on the right side of the spinning cop and the second positioning member can be positioned on the left side of the spinning cop.

The bead ring positioning member may be disposed on the yarn holding fingers. That is, one bead ring positioning member is disposed (e.g., mounted) on each yarn holding finger. In particular, the bead ring positioning member is oriented parallel to the retaining fingers. In particular, the bead ring positioning member extends beyond the yarn retaining fingers.

As mentioned above, the bead ring positioning member includes an active means for positioning that acts on the bead ring.

In a further development of the invention, each positioning member has at least one passage opening for the passage of air in order to generate an air flow acting on the bead ring. Air, for example air blowing or spraying, can be discharged through the at least one passage opening. Air can be sucked in through the at least one passage opening. The positioning member may in each case comprise a separate opening or a common opening for the discharge air and the intake air.

The resulting air flow can act on the wire loop to move the wire loop and thus position the wire loop on the wire loop guide ring.

In a further development, the robot device comprises a level verification unit for lifting and lowering at least the yarn threading unit in synchronism with the movement of the endless track of the ring spinning machine.

In particular, the level verifying unit is configured to lift and lower the yarn catching unit in synchronization with the movement of the endless track of the ring spinning machine.

In particular, the level verification unit includes an endless track sensor for detecting movement of the endless track. The endless track sensor may be a position sensor for measuring a distance between the sensor (i.e. the sensor receiver) and the endless track or a change in the distance between the sensor (i.e. the sensor receiver) and the endless track. I.e. the circular track sensor may measure the absolute position or the relative displacement (displacement) of the circular track. The annular track sensor is in particular an optical sensor. The measuring path of the circular track sensor is directed in particular from above (in particular perpendicularly from above) the circular track.

In particular, the level verification unit is configured for raising and lowering the yarn threading unit, i.e. the yarn holding and traveler positioning mechanism and, as the case may be, the yarn capturing unit, synchronously with the movement of the endless track of the ring spinning machine, based on the measurement values (i.e. sensor data) of the endless track sensor.

The level verification unit comprises, inter alia, a carrier and a lifting and lowering mechanism configured for lifting and lowering the carrier. The level verification unit is configured to lift and lower the carrier in synchronization with movement of the endless track of the ring spinning machine based on the measurement value of the endless track sensor.

The lifting and lowering mechanism may be driven pneumatically, hydraulically or electrically. The lifting and lowering mechanism may thus comprise at least one hydraulic cylinder (hydraulically driven) or at least one pneumatic cylinder (pneumatically driven) or at least one electric motor, in particular a stepper motor (electrically driven).

The yarn threading unit, i.e. the yarn holding and traveler positioning mechanism, and, as the case may be, the yarn capturing unit is now arranged (e.g. mounted) on the carrier, e.g. by its robot arm.

However, it is also conceivable that the sensor data of the endless track sensor is fed directly into a computer application for evaluating the sensor data and controlling the movement of the yarn threading unit (for example its robot arm) on the basis of the sensor data. The changing height level of the endless track is therefore taken directly into account, i.e. in the movement of the yarn threading unit (for example its robot arm) and accordingly the yarn holding and bead ring positioning mechanisms of the yarn threading unit.

As mentioned above, the robotic device comprises in particular a spindle stop unit for stopping the rotation of the spindle during the yarn break repair.

The spindle stop unit may comprise at least one robot arm.

The spindle stop unit comprises in particular a spindle stop element. The spindle stop element can be arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the movement and positioning mechanism is configured for actuating a robotic arm.

In particular, the spindle stop unit is designed to make/establish a frictional contact with the spindle, which stops the spindle. The spindle stop element can thus establish this frictional contact directly.

However, the spindle stop element may also activate an existing spindle brake, e.g. establishing said frictional contact.

In a further development of the invention, the robot device comprises a cop lifting unit for lifting a spinning cop from a spindle.

The cop elevator unit may comprise a gripping mechanism for gripping or gripping a spinning cop, in particular a tube of a spinning cop.

The cop elevator unit may include a moving and positioning mechanism for moving and positioning the gripping mechanism.

In particular, the moving and positioning mechanism is configured for lifting the spinning cop from the spindle and for lowering the spinning cop onto the spindle.

In one embodiment, the gripping means comprise an insertion tool which can be inserted inside the tube of the spinning cop.

The insertion tool may comprise an expansion member configured to expand within the tube and thereby form a frictional connection and/or a form fit between the insertion tool and the tube of the spinning cop.

The expansion member may be configured to be hydraulically or pneumatically expanded.

The expansion member may be an expandable hoop disposed on the insertion tool.

The expansion member may comprise an expansion chamber. The expansion chamber may be filled with a fluid or gas (e.g., air) for expansion. In particular, the expansion chamber may be filled with pressurized air for expansion.

The expansion member may be flexible, in particular an elastic material or comprise an elastic material. The expansion member may be plastic, such as an elastomer, or comprise an elastomer.

To release the cop, it is only necessary to abolish the expansion of the expansion member. In this way, the frictional connection and/or the form fit are released.

The cop elevator unit may include a rotation mechanism for rotating the gripped spinning cop. In particular, the rotation mechanism is configured for rotating the gripping device, in particular the insertion tool thereof.

The cop elevator unit may comprise a robot arm, in particular an articulated robot arm. In this embodiment, the cop gripping device is arranged on the robot arm, in particular at the distal end of the robot arm.

In particular, the respective moving and positioning mechanism is configured for actuating the robot arm.

The robotic device may include a pendant hook hoist unit for hoisting a pendant hook. The pendant hook hoist unit comprises in particular a pendant hook hoist.

The pendant hook elevator unit may comprise a moving and positioning mechanism for moving and positioning the pendant hook elevator.

The pendant hook elevator unit may comprise a robot arm, in particular an articulated robot arm. In this embodiment, the pendant hook hoist is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the respective moving and positioning mechanism is configured for actuating the robot arm.

In a further development of the invention, the yarn breakage handling device (i.e. its robot means) comprises a roving movement activation unit with an activation mechanism for operating the roving stop movement device, as is known from the prior art, for example. The roving motion activation unit is configured to operate a roving stopping motion device for resuming supply of the input roving material to the drafting device of the ring spinning machine.

In particular, the roving motion activation unit comprises a movement and positioning mechanism for moving and positioning the activation mechanism.

In particular, the roving motion activation unit is configured to switch on the roving stopping motion device so as to automatically resume the supply of input roving material to the drafting device. After resuming supply of the roving, the yarn breakage handling device may begin its splicing operation, as described in further detail below.

The roving motion activation unit may comprise at least one robot arm, in particular an articulated robot arm. The activation mechanism is arranged on the robot arm, in particular in the distal end of the robot arm.

In particular, the movement and positioning mechanism is configured for actuating the respective robot arm.

In one embodiment, the roving motion activation unit or its activation mechanism may be arranged on a common robot arm with one of:

-a pendant hook hoist unit;

-a cop elevator unit;

-a yarn capturing unit or

-a yarn splicing unit.

The activation mechanism may also be integrated into the pendant hook hoist of the pendant hook hoist unit.

The activation mechanism may also be integrated into the gripping mechanism of the cop elevator unit.

The activation mechanism may also be integrated into the yarn attracting and picking mechanism of the yarn capturing unit.

The activation mechanism may also be integrated into the piecing mechanism of the yarn piecing unit.

The aforementioned transport device is designed for carrying and moving a yarn break handling device, i.e. a robotic device. In particular, the transport device is designed for transporting a yarn breakage handling device (i.e. a robotic device) at least along a row of spinning positions of the ring spinning machine and most particularly at least along the entire longitudinal axis of the ring spinning machine for handling yarn breakage and possibly other spindle defects.

The transport device comprises in particular at least one roller, in particular a plurality of rollers, which can be driven by a drive. In particular, the rollers are wheels.

The transport device and thus the yarn breakage handling device are in particular limited to floors (i.e. the ground).

The transportation means may be constrained to the track. To this end, the transport device comprises track-guided running rollers. The rail may be a floor rail. The rails may also be suspended, i.e. they may be arranged overhead (overhead rails). However, the yarn breakage handling device is preferably not constrained to a track, i.e. is free to move on the floor (i.e. ground).

In one embodiment, the yarn break treatment device may be designed to be partially or fully autonomous.

For example, the yarn break handling device may be moved without command or control data from outside the yarn break handling device. In particular, the yarn break handling device can be moved without navigation data from outside the yarn break handling device.

The yarn break handling device (i.e. the robotic apparatus) is operable and can handle yarn breaks without commands or control data from outside the yarn break handling device.

The partially autonomously operable yarn break handling device may receive navigation data, for example from an external computer application or from an active or passive component external to the yarn break handling device.

The navigation data may be, for example, spatial reference data, such as a spatial reference point, for creating an own navigation map.

The spatial reference point may for example be represented by an RFID (radio frequency identification) tag or other information tag which can be detected or read by a sensor or receiver of the yarn break handling device. The RFID tag or other information tag can be arranged, for example, on the ring spinning machine or on the floor.

The partly autonomously operable yarn break handling device may receive spinning position data relating to a yarn break, e.g. from an external computer application.

However, a completely autonomously operable yarn break handling device is also specifically designed for receiving data from an own sensor designed for detecting a yarn break or for navigating the yarn break handling device.

Navigation, for example, refers to the safe movement of the device along the spinning machine and location and the alignment of the device in front of the affected spinning location.

As mentioned above, the yarn break handling device comprises, inter alia, a computer application for navigating the yarn break handling device.

The operation of the robotic device and the navigation of the yarn break handling apparatus may be performed by a common computer application.

The control of the robot device and the control of the transport device may be performed by a common control unit.

As mentioned above, the yarn breakage handling device may be partially or fully autonomous in navigation. In this case, the yarn break processing device can be navigated by means of an internal navigation system which in particular cannot rely on external navigation data. Such navigation systems may be, for example, based on SLAM (simultaneous localization and mapping) technology.

Among robotics, SLAM techniques are applied to mapping and navigation, i.e., building or updating a map of an unknown environment while tracking the position and orientation of the robot therein.

The yarn break handling device may comprise at least one sensor, in particular a plurality of sensors, for providing information for mapping and navigating the yarn break handling device. The at least one sensor may be a position sensor. The at least one sensor may be an optical sensor, for example a laser sensor (laser range finder). The at least one sensor may be a camera.

The at least one sensor, in particular the camera, may be part of a navigation sensor system on the yarn break handling device for navigation, in particular detailed navigation of the yarn break handling device. The at least one sensor mentioned above is in particular designed to provide navigation information.

It is possible that at least one sensor, for example an optical sensor (in particular a camera), is used for detecting the yarn break and for providing navigation information to the yarn break processing device.

In one embodiment of the invention, the yarn break treatment device comprises at least two sensors, in particular optical sensors, preferably cameras.

In each case, two sensors can be configured for detecting yarn breakage along the machine side of the ring spinning machine.

In each case, two sensors (in this case as part of a navigation sensor system) may be configured to provide navigation information.

That is, the first sensor may be configured to detect yarn breakage along the left machine side of the first ring spinning machine, and the second sensor may be configured to detect yarn breakage along the right machine side of the second ring spinning machine while the yarn breakage handling device is moved along the service passage between the two ring spinning machines.

Furthermore, the first sensor may be configured for collecting navigation information from a region of the left machine side of the first ring spinning machine, and the second sensor may be configured for collecting navigation information from a region of the right machine side of the second ring spinning machine, while the yarn breakage handling device is moved along a service passage between the two ring spinning machines.

The sensor can be designed to detect a light signal emitted by the spinning position monitoring system, which light signal indicates a yarn break.

The measuring paths of the two sensors can therefore have measuring path components which extend in opposite directions and in particular perpendicularly to the longitudinal direction of the spinning machine.

However, the measuring paths of the two sensors may have measuring path components which extend parallel to one another and in particular parallel to the longitudinal direction of the spinning machine.

The two sensors may also be configured to collect information/data for navigation, in particular for mapping and navigation.

In order to reliably carry out the repair of a yarn break, the yarn break handling device must not only be moved in front of the affected spinning position, but must also be positioned precisely, i.e. in front of and aligned relative to the spinning position. The positioning (i.e. alignment) takes place in particular on the basis of at least one reference point on the spinning position.

The positioning (i.e. alignment) includes in particular a lateral alignment.

The positioning (i.e. alignment) comprises in particular a distance setting, i.e. a distance alignment.

The precise positioning of the yarn break handling device allows to determine the absolute distance of the components to the spinning position, which facilitates the control of the robot device.

The yarn break processing device comprises in particular at least one positioning sensor for detecting at least a reference point on the spinning position.

According to one embodiment of the invention, such a reference point is an optical signal emitted by the spinning position monitoring system.

The yarn break processing device may therefore comprise a positioning sensor, in particular an optical positioning sensor, for example a camera, for detecting the light signal. The yarn break processing device is configured for sensing the optical signal and for laterally positioning the yarn break processing device such that the measurement path of the sensor is directed to the center of the optical signal (source).

The sensor is thus in particular part of a navigation sensor system.

The measuring path of the positioning sensor extends in particular perpendicularly to the ring rail, i.e. perpendicularly to the longitudinal direction of the ring spinning machine, in particular horizontally.

As soon as the measuring path of the sensor is directed to the center of the optical signal (source), the final lateral position of the yarn break handling device relative to the spinning position is determined (i.e. reached).

At least one positioning sensor for lateral alignment may also be used for distance setting. The positioning sensor is thus configured for sensing the distance between the sensor and the signal light or another component of the spinning position (e.g. the endless track). This allows the yarn breakage handling device to be positioned accurately at a determined distance from the components of the spinning position and thus to the spinning position as normally described.

However, the positioning sensor for distance setting may also be a separate position sensor. This means that the first positioning sensor is used for lateral positioning and the second positioning sensor is used for distance positioning.

The above-mentioned positioning sensor for laterally positioning the yarn break handling device, in particular in the case of a camera, may also have the function of a fault-locating sensor (in particular a yarn break-locating sensor) which detects the light signal emitted from the spinning position monitoring system at the spinning position, as described above.

The above-described positioning sensor for laterally positioning the yarn break handling device, in particular in the case of a camera, may also be configured for providing navigation information for navigating the yarn break handling device, in particular along the machine side. The navigation information is not limited to information for detailed lateral positioning or detailed positioning based on the distance of the reference point in front of the spinning position as described above.

The camera forms one of the above-mentioned sensors, for example for collecting navigation information, for example a position sensor or for example a fault location sensor, and may be a stereo camera for generating stereo images, i.e. stereo information. In this way, the yarn break processing device has a stereoscopic vision for (in particular in detail) navigation and in particular positioning.

For detecting spindle defects, sensors for providing navigation information, sensors for positioning the device in front of the spinning position, or fault location sensors as described above can also be configured. However, the spindle defect sensor may also be a separate sensor on the yarn break handling device. Based on the detected spindle defect associated with the yarn breakage at the same spinning position, the yarn breakage processing apparatus can judge whether the yarn breakage should be corrected. I.e. whether it is worth correcting such yarn breakage.

The robot arm may be moved hydraulically, pneumatically or electrically. Thus, the robot arm may comprise at least one hydraulic cylinder (hydraulically driven) or at least one pneumatic cylinder (pneumatically driven) or at least one electric motor (electrically driven). Combinations of the above drives are also possible.

The robot arm may comprise at least one pivot joint, in particular a plurality of pivot joints.

The invention also relates to a system comprising a yarn breakage handling device as described above for automatically repairing a yarn breakage in a ring spinning machine, and a separate spinning position monitoring system for detecting a yarn breakage.

The individual spinning position monitoring system comprises a yarn breakage sensor at each spinning position for detecting yarn breakage.

The yarn break sensor is designed to detect the movement of the traveller. For example, the stoppage of the movement of the traveler is a clear sign of yarn breakage.

The yarn break sensor may be an optical sensor, a magnetic sensor or a capacitive sensor. All three types of sensors are designed to detect whether a moving traveller passes the sensor. Each time the traveler passes the sensor, a sensor signal is generated. Yarn breakage is detected by the absence of a signal, which is due to yarn breakage caused by the bead ring resting.

In particular, the yarn break sensor is arranged on the endless track.

A separate spinning position monitoring system can also be designed for detecting spindle defects. The individual spinning position monitoring system therefore comprises in particular at least one further sensor for detecting spindle defects. The further sensor may be an optical sensor, for example a camera.

However, spindle defects, such as sliding spindles, idle spindles or faulty spindles, can also be detected by a yarn breakage sensor that monitors the movement of the traveller.

In particular, the individual spinning position monitoring system comprises a signal light fixture/signal lamp for indicating yarn breakage by emitting a light signal of e.g. a specific color (e.g. red light). Such a signal light is arranged at each spinning position, in particular at the front side of the endless track. The signal lamp can be integrated into a yarn break sensor (which means a sensor unit).

In one embodiment, the system further comprises a (central) computer device. The computer device comprises, inter alia, a control unit.

The computer device can be designed to navigate the yarn breakage handling device to the affected spinning position in the ring spinning machine when the spinning position monitoring system detects a yarn breakage or other spindle defect in order to handle the yarn breakage or other spindle defect.

The computer means can be designed to transmit information, for example, about the occurrence of a yarn break at the spinning position detected by the respective spinning position monitoring system (for example navigation information) to the yarn break processing device for further processing.

The computer means may be designed to transmit basic navigation information, such as which spinning machine, which machine side, which machine section, which space/corridor and/or more precisely which spinning position is affected by the yarn break, based on the yarn break information of the spinning position monitoring system.

The yarn break handling equipment can use this information to move to the relevant (i.e. affected) ring spinning machine, machine side, machine section, bay/corridor or more accurate spinning position. However, the detailed navigation may be performed by the yarn break handling device itself based on sensor data (i.e. navigation data) provided by sensors arranged on the yarn break handling device.

It is also possible that in case of simultaneous presence of multiple yarn breaks, the basic navigation information from the external computer device is used to decide which yarn break should be processed first, based on the current position of the yarn break processing device. Typically, the closest yarn break should be treated first. However, it may also be the longest lasting yarn break.

The yarn breakage handling device may make this decision itself by means of an internal computer application. However, the decision can also be made by an external computer device which in this case commands the yarn break handling device which yarn break should be handled first.

The computer means may be designed for operating, i.e. partially or fully controlling, the yarn break handling device. In other words, the yarn breakage handling device can be remotely controlled.

The communication between the computer means and the yarn break handling device is in particular wireless, as described further below.

The computer means may be part of a separate spinning position monitoring system. The computer device can be integrated in the control unit of the ring spinning machine. However, the computer device is designed in particular as a separate device.

In particular, the computer means is operationally independent of the machine control of the ring spinning machine.

In particular, the computer device is physically independent of the machine control of the ring spinning machine, respectively of the ring spinning machine.

The yarn breakage handling device may be designed to serve one, two, three or more ring spinning machines. The system is therefore designed to serve one, two, three or more ring spinning machines by means of a common yarn breakage handling device.

In spinning mills, ring spinning machines are usually arranged next to one another, wherein a service aisle or corridor is formed between two adjacent ring spinning machines.

The yarn break handling device can now be designed for travelling or patrolling along one, two or several of such service channels.

If the yarn breakage handling device is intended for travelling or patrolling along two or more service channels, the yarn breakage handling device is designed for driving/travelling around the head and/or foot ends of the ring spinning machine. The system is therefore designed for driving a yarn breakage handling device around the head and/or foot end of a ring spinning machine.

In particular, the yarn breakage handling device can be designed for two opposite machine sides of two ring spinning machines, each machine side having a row of spinning positions. The two machine sides, i.e. the row of spinning positions facing the same service aisle. The system is therefore designed to serve the two rows of spinning positions by means of a common yarn break handling device.

In particular, the yarn breakage handling device can be designed for servicing two rows of spinning positions of a ring spinning machine, said two rows of spinning positions facing different service channels. The system is therefore designed to serve the two rows of spinning positions by means of a common yarn break handling device.

The system may comprise one or more, i.e. several yarn breakage handling devices. In the case of a plurality of yarn breakage handling devices, the yarn breakage handling devices may be operated independently, i.e. autonomously of each other.

In the case of a plurality of yarn break treatment devices, the devices can also be controlled by a common computer device. The common computer device is designed to communicate with a computer application of the yarn break handling device. The common computer device may be designed to communicate with the computer means of the spinning monitoring system.

In one embodiment, the common computer device corresponds to a computer means of the spinning monitoring system.

In one embodiment, the common computer device is arranged on one of the plurality of yarn breakage handling devices, in particular integrated into a computer application of one of the plurality of yarn breakage handling devices.

The communication between the common computer device and the computer application of the yarn break processing device, in particular between the common computer device and the computer device of the spinning monitoring system, is in particular wireless.

In particular, the common computer device is designed to guide the yarn break processing device to the spinning position affected by the yarn break. In particular, the common computer device is designed to determine which yarn breakage handling device is to handle spindle defects in preference. The prioritization can be based on the shortest distance between a yarn break handling device and the affected spinning position.

The invention also comprises a method for repairing yarn breaks in a ring spinning machine using a yarn break handling device as described above.

The method comprises the following stages:

a: detecting yarn breakage;

b: moving the device in front of the spinning position where there is a yarn break and aligning the device with the spinning position;

c: stopping the rotation of the spindle, in particular by means of a spindle stop unit;

d: capturing the yarn end from the cop, in particular by means of a yarn capturing unit;

e: in particular, the yarn is threaded through the traveller by means of a yarn threading unit;

f: passing the yarn through at least one yarn guide element;

g: the rotation of the spindle is recovered;

h: the yarn is pieced, i.e. spliced, together with the fiber strands processed in the drawing device.

In connection with phase a, the yarn break is detected, in particular, by a fault location sensor (i.e. yarn break sensor) on the yarn break handling device. The fault location sensor, for example, detects a light signal at the affected spinning position, which signal indicates a yarn break.

On the basis of the detected yarn breakage the yarn breakage handling device navigates to the affected spinning position and moves, i.e. is positioned in front of the affected spinning position.

However, as mentioned above, the yarn break handling device may also receive data from an external computer application for navigation to the affected spinning position.

In particular, the data transmission from the external computer application, whether navigation data, spinning position data, fault data or other data, is transmitted wirelessly.

In general, the wireless transmission may be via a mobile communication network, via a wireless network, such as a Wireless Local Area Network (WLAN) or a Wireless Personal Area Network (WPAN), for example using radio waves, in particular UHF radio waves (e.g. bluetooth).

Preferably, however, the yarn breakage handling device autonomously detects yarn breakage.

In connection with phase B, the lateral alignment of the yarn break handling device in front of the spinning position is realized in particular by using at least one optical positioning sensor, in particular by a camera.

In particular, the yarn break treatment device is moved until at least one positioning sensor senses the center of the optical signal (source) and is positioned in a predetermined manner with respect to this center. For example, the yarn break handling device is moved until the measuring path of the optical locating sensor reaches the center of the optical signal (source).

In connection with phase C, the spindle stop unit stops the rotation of the spindles, in particular by activating a spindle brake of the ring spinning machine by means of a spindle stop. The spindle stopper exerts a mechanical force on the spindle brake such that the actuator of the spindle brake moves from the release position to the braking position.

In one embodiment of the invention, the cop is lifted from the spindle after stage C and before step D by the gripping means of the cop lifter unit.

In order to make room for lifting the spinning cop, if present, the pendant hook is lifted, i.e. pivoted upwards. Therefore, this process step is performed before the spinning cop is lifted from the spindle.

In particular, the lifting of the pendant hook is performed after stopping the spindle rotation.

The lifting of the hook is performed by a hook lifter of a hook lifter unit, which pushes the hook up to an inactive position outside the mounting path of the spinning cop on the spindle.

In the case where the pendant hook hoist is mounted on a robot arm, the pendant hook hoist is moved by the robot arm, which is actuated by a moving and positioning mechanism.

According to a further development of the invention, the insertion tool of the gripping device is inserted into the interior of the cop tube from above in order to lift the spinning cop from the spindle.

Next, the expansion member of the insertion tool expands within the tube and creates a frictional connection between the insertion tool and the tube of the spinning cop.

In a subsequent step, the gripped spinning cop is lifted from the spindle. The purpose of lifting the spinning cop from the spindle is that the spinning cop or at least its part with the yarn package is arranged above the moving endless track. This is because only the spinning cop arranged above the endless track ensures successful positioning, attraction and picking up of the yarn end on the spinning cop.

In the case where the gripping mechanism is mounted on a robotic arm, the gripping mechanism is moved by the robotic arm, which is actuated by the moving and positioning mechanism.

With respect to stage D, the yarn sucking and picking mechanism moves in front of the spinning cop.

In order to position the yarn end on the cop, a yarn suction and pick-up mechanism, particularly a yarn suction tube of a yarn catch unit, moves up and down along the spinning cop. The up and down movement is in particular parallel to the longitudinal axis of the cop tube.

At the same time, the spinning cop is rotated around its cop axis by the rotation mechanism of the cop elevator unit.

Therefore, by rotating the spinning cop and by the up-and-down movement of the yarn sucking and picking mechanism, the yarn sucking and picking mechanism can search the entire surface of the spinning cop.

In the case of the suction tube, the front opening of the yarn suction tube is directed to the surface of the spinning cop. As a result of the suction force exerted on the surface of the spinning tube, once the yarn suction tube approaches the yarn end, the loose yarn end is lifted from the surface and sucked into the yarn suction tube through the front opening.

In the case where bristles or brushes are provided to mechanically separate the yarn ends, the yarn ends are separated by the bristles or brushes before passing through the yarn suction tube. This occurs automatically, for example, in the case of bristles or brushes attached to the yarn suction tube.

In the case where the yarn attracting and picking mechanism is mounted on a robot arm, the yarn attracting and picking mechanism is moved by the robot arm, which is actuated by the moving and positioning mechanism.

Once the yarn end is drawn by the yarn suction tube, the yarn end is drawn into and through the yarn suction tube through the front opening such that the yarn portion is received within the yarn suction tube and extends along the tube axis.

To generate suction at the front opening, the air flow is discharged through at least one air inlet to the interior of the yarn suction tube. The air flow has a flow component toward the rear opening of the yarn suction tube so that the air flows toward the rear opening. Due to the venturi effect, the air flow creates a suction at the front opening.

In one embodiment of the invention, the yarn end is sucked in through the front opening, passes through the yarn suction tube and leaves the yarn suction tube through the rear opening.

Due to the flow component towards the rear opening of the yarn suction tube, the yarn end sucked into the yarn suction tube through the front opening is blown out through the rear opening.

After the yarn end has been sucked into the yarn suction tube, the holding mechanism is activated in order to hold, in particular clamp, the yarn internally, i.e. in the channel of the yarn suction tube or in the channel of the rear-end connecting yarn suction tube.

In one embodiment, the clamping element of the clamping mechanism moves transversely to the axis of the yarn suction tube to traverse the passage, thereby entraining the yarn through the passage. The yarn is clamped in a passage between the clamping element and a mould cooperating with the clamping element.

Once the yarn is held by the holding means, the excess length, i.e. the excess length containing the free yarn end, in particular the excess length hanging beyond the rear end of the channel, can be cut by the separating means.

In one embodiment, the cutting knife of the yarn cutting mechanism moves transversely to the axis of the yarn suction tube to traverse the channel and thereby entrain the yarn through the channel. The yarn is caught in the passage between the cutter and the die cooperating with the cutter, thus cutting the yarn of excessive length.

Next, the yarn capturing unit, i.e. the yarn holding mechanism thereof, is positioned or moved to a position where the yarn is guided from the spinning cop towards the yarn breakage processing device. In particular, the yarn is guided perpendicular to the direction of the endless track or at least substantially perpendicular to the direction of the endless track. Substantially perpendicular especially means an angle of 70 ° to 90 ° (angle).

With regard to stage E, the yarn holding mechanism of the yarn threading unit is positioned such that it can catch a yarn section extending between the spinning cop and the yarn holding mechanism of the yarn catching unit.

In one embodiment, the yarn capturing unit hands over the yarn section to the holding means.

In particular, the yarn section is introduced into the receiving grooves of the two yarn holding fingers and is located between the two yarn holding fingers. In particular, the yarn is fixed to the yarn holding fingers by fixing elements. In particular, the yarn section stretches and most particularly also tensions between the two yarn holding fingers by fixing it.

In order to transfer the yarn sections to the holding fingers, the yarn holding means of the yarn threading unit are positioned such that the two yarn holding fingers are oriented perpendicular to the course of the yarn stretch between the yarn holding (i.e. clamping) means of the yarn capturing unit and the package of cop. In other words, the axis extending through the holding point on the holding finger is parallel to the path of the yarn running between the yarn holding (i.e. the clamping mechanism of the yarn capturing unit) and the package.

In order to capture the yarn sections by the yarn holding fingers, the course of the yarn is in particular oriented vertically or substantially vertically, i.e. at an angle of at least 60 ° with respect to the longitudinal direction of the endless track.

In other words, the yarn sections are oriented in particular transversely or substantially transversely to the endless track when they fall between the yarn holding fingers.

In particular, the yarn section is actively positioned by the yarn catch unit, in particular on the holding finger by means of its holding mechanism. However, the thread holding means of the thread threading unit can also be moved towards the thread and actively take over the thread section.

The retaining mechanism is configured such that the yarn segments are stretched and tensioned between the retaining fingers by securing the yarn segments to the yarn fingers.

In one embodiment, the yarn sections are located in the receiving grooves of the holding fingers, in particular are inserted into the receiving grooves of the holding fingers.

By moving the yarn capturing unit, in particular its yarn holding means, the yarn can be inserted into the receiving groove, thereby moving the yarn towards the holding means, in particular towards the holding fingers, of the yarn threading unit.

The yarn can also be inserted into the receiving groove by moving the holding device, in particular the holding fingers, of the yarn threading unit towards the yarn extending between the yarn holding means of the yarn capturing unit and the cop.

A combined movement of the above mechanisms is also possible.

In one embodiment, the moving securing element moves across the receiving recess and entrains (i.e., entrains) the yarn segments transverse to the longitudinal axis of each retaining finger. The yarn is deflected from the groove in the direction of movement of the fixing element. As a result, the yarn sections (i.e. the yarn portions between the holding fingers) are displaced, i.e. repositioned in the direction of movement of the fixing element. Thereby tensioning the displaced yarn segment portion. In this process, a yarn length can be introduced from the outside of the yarn section spanned between the two yarn holding fingers through the receiving groove.

In particular, the fixing of the yarn on the retaining finger is achieved by deflection of the yarn on the retaining finger (in particular on the receiving groove). In particular, the yarn is deflected at an acute angle. The deflection may have the form of a kink. The deflection takes place via a deflection point, in particular a deflection edge on the holding finger.

The deflection of the yarn increases the friction that hinders the yarn from sliding or at least increases the tension required for the yarn to slide. The deflection thus has a fixing effect, in particular a holding or positioning effect. In general, this deflection may also be achieved by other mechanisms described in this patent application.

In particular, the yarn is not fixedly held on the holding fingers. If a certain tension on the yarn is exceeded, the yarn will slide on the holding fingers. As a result, the risk of yarn breakage during threading of the yarn can be reduced.

In one embodiment, the yarn is entrained by an entrainment groove or deepening on the securing element. In particular, the entrainment groove is arranged in the free end portion and in particular on the front end side of the fixing element.

Once the yarn is retained by, i.e. secured to, the retaining fingers, the retaining mechanism, and thus the retaining fingers with the yarn segments spanning therebetween, is moved toward the bead ring guide ring that receives the bead ring.

The retaining mechanism is positioned such that the portion of the yarn running between the retaining fingers extends parallel to a tangent of the bead ring guide ring. In particular, the holding means are positioned such that the yarn portions running between the holding fingers extend parallel or at least substantially parallel to the endless track. Substantially parallel means that the deviation is at most 10 ° (angle).

The traveler is positioned by a traveler positioning mechanism in front of the spindle so that it faces the yarn segments running between the yarn holding fingers.

In one embodiment, the first bead ring positioning member is positioned on the left side of the spindle and the second bead ring positioning member is positioned on the right side of the spindle.

In one embodiment, the bead ring is positioned by air jets discharged from the bead ring positioning member.

Once the traveler is positioned on the front side of the traveler guide ring, the yarn is inserted into the traveler through a yarn holding mechanism. At this point, the yarn holding mechanism moves forward, and the housing can also move back and up, and optionally also down, so that the held yarn sections move through the openings of the traveler and thus penetrate into the traveler.

Once the yarn has penetrated into the traveller, the retained yarn section is released from the yarn retention mechanism so that the yarn can be separated from the yarn retention mechanism, in particular from the yarn retention fingers. For example, the securing element may be moved to a release position in which the yarn is no longer secured to the yarn holding fingers.

However, the yarn is still held by the yarn holding mechanism of the yarn capturing unit, which holds the yarn while being held by the yarn holding mechanism of the yarn threading unit.

A significant aspect of the invention is that-independently of the design of the yarn catch unit and the yarn threading unit-the yarn is held by the yarn catch unit (i.e. by its yarn holding mechanism), in particular during the entire process from the taking up of the yarn from the spinning cop until the yarn is discharged for piecing (i.e. connecting) it with the fiber strand.

This leads to the fact that the yarn is held by the yarn capturing unit as well as the yarn threading unit during the yarn threading into the traveller.

Once the yarn is inserted into the traveller and released from the yarn holding means of the yarn threading unit, the yarn end portion held by the yarn catch unit is moved upwards by the yarn catch unit (i.e. by its yarn holding means), in particular towards the drafting device.

With respect to stage F, in one or more process steps, the yarn is threaded into at least one yarn guide element arranged between the spindle and the delivery roller of the drafting device.

However, between stage D and stage F, in particular during stage E, the cop is again lowered by the cop elevator unit onto the spindle and restores its spinning position. The cop elevator unit releases the cop, in particular retracts it from the cop.

Furthermore, after lowering the cop onto the spindle, but in any case before stage F, the pendant hook is moved, in particular pivoted back, into its spinning position. For this purpose, the pendant hook lifter releases the pendant hook, in particular retracts from it. The pendant hook resumes its spinning position again.

Typically, the balloon control ring is disposed above the spindle. Thus, the yarn first passes into the balloon control ring in the direction towards the drafting device.

Usually, a pendant hook is provided between the spindle and the delivery roller of the drafting device, that is to say between the balloon control ring (if present) and the delivery roller of the drafting device. Thus, the yarn penetrates into the hook in a direction towards the drafting device. If a balloon control loop is present, the yarn is threaded into the pendant hook after threading the balloon control loop.

After threading the yarn into all the yarn guiding elements, in particular into the hook, the yarn is moved towards the drafting device for the piecing process.

With respect to stage G, the rotation of the spindle is resumed before the splicing process is carried out (in particular shortly before the splicing process is carried out) or before the same stage of the splicing process is carried out. To resume rotation of the spindle, the spindle stopping unit releases the stop of the spindle so that the spindle can resume rotation.

In particular, the spindle stop arm releases the spindle brake, thereby resuming spindle rotation.

With respect to stage H, the yarns are bound together, i.e. connected to the textile strands processed in the drawing device. In other words: the yarns are spliced.

The piecing can take place between the yarn end section and the fiber strands leaving the delivery roll of the drafting device. That is, the piecing is performed after the delivery rollers of the drafting device, as viewed in the machine direction.

In this case, the yarn breakage handling device (i.e. the robot thereof) may comprise a yarn splicing unit having a splicing mechanism for splicing the yarn.

The yarn joining unit, i.e. its joining mechanism, is designed in particular for introducing twists (twist) into the spliced fiber strands. Connected fiber strands mean that the end portions of the yarn and the drafted rovings are put together, i.e. stacked on top of each other for splicing.

In particular, the yarn splicing unit comprises a moving and positioning mechanism for moving and positioning the splicing mechanism.

The yarn joint unit may comprise at least one robot arm, in particular an articulated robot arm. The joint mechanism is arranged on the robot arm, in particular in the distal end of the robot arm. In this case, the movement and positioning mechanism is configured in particular for actuating the respective robot arm.

In one embodiment, the yarn splicing unit or its splicing mechanism may be arranged on a common robot arm together with at least one of the following:

-a pendant hook hoist unit;

cop elevator units or

-a yarn capturing unit.

The joint mechanism may also be integrated into a pendant hook hoist of a pendant hook hoist unit.

The piecing mechanism may also be integrated into the gripping mechanism of the cop elevator unit.

The piecing mechanism can also be integrated into the yarn suction and take-up mechanism of the yarn capturing unit.

The joint mechanism may comprise pneumatic means. The joint mechanism may comprise a mechanical device. The joint mechanism may comprise magnetic means. The mechanical means may for example comprise fingers that are movable relative to each other.

The yarn splicing unit can be designed for holding and moving the yarn end portion towards the splicing region after the delivery roller of the drafting device.

However, it may also be the case that the yarn end portion is held and moved by the yarn catch unit towards the splicing area, wherein the splicing process is performed by the yarn splicing unit.

The piecing may be performed by bringing the loose end of the yarn close to the drafted roving and imparting rotation to the yarn and/or the drafted roving. As such, the fiber loose end of the yarn and the fiber drafted roving can be curled up and possibly twisted about each other, which can result in a twisted connection of the yarn loose end and the drafted roving.

The joining may be performed mechanically, for example, wherein a twist is applied mechanically. For example, the loose end of the yarn may be held by two fingers, and the fingers may be moved in opposite directions, causing rotation of the yarn and its loose end. In particular, the two fingers can change opposite directions, thereby rotating the yarn back and forth.

The coupling may be performed pneumatically. For example, loose ends of the yarn and/or the drafted roving can be sucked into the piecing mechanism and/or into the suction device of the ring spinning machine. The rotation of the yarn and/or the drawn roving may be carried out pneumatically, for example by suction. For example, the rotation of the yarn and/or the drawn roving can be induced, for example, by means of a vortex.

However, in a preferred embodiment, the held yarn end portion is moved, i.e. positioned behind the transport roller and placed on the drafted roving behind the front transport roller, as viewed with respect to the machine direction. In particular, the yarn end portion is moved (i.e., positioned) between the delivery roller and the draft shield. Thus, the yarn end portions are integrated with the drafted fiber strands (i.e., rovings).

The advantage of this piecing method described above is that the yarn end portions pass through the transport rollers together with the fiber strands and are thus immediately twisted together with the fiber strands. In this way, no additional mechanical means for connecting the yarn end portions to the fiber strands or even auxiliary yarns are required.

After the yarn end section has been integrated with the drawn roving of the drawing device, i.e. after the splicing is completed, the yarn catching unit (i.e. its yarn holding means) and/or optionally the yarn splicing unit (i.e. its splicing means) releases the yarn so that the spinning process can be resumed.

Once the piecing process is completed and the spinning process is restarted, the robot arms of the above-mentioned units are retracted, in particular, to their starting position (i.e. initial position), if this is not the case.

The expression "air" in connection with the above-mentioned devices for generating a flow of air or pressurized/compressed air must be understood broadly and also includes any kind of suitable gas or gas mixture. However, for economic reasons, air is most suitable for use.

The pressurized air for generating the air flow or air jet as described above can be generated centrally on the yarn break processing device. To this end, the yarn breakage processing apparatus may include a compressor for generating pressurized air and a storage cylinder for storing the pressurized air.

However, in each case the traveler positioning mechanism, the yarn attracting and picking mechanism or the cop elevator unit may also comprise modules for generating an air flow or air jet or pressurized air in situ.

The invention ensures a quick resumption of the yarn spinning process at the spinning position after yarn breakage.

Drawings

Other aspects, advantages, further developments and salient features of the invention will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention. The figures show schematically:

FIG. 1: a side view of a spinning position in a ring spinning machine;

FIG. 2: a system for yarn breakage repair in a ring spinning machine according to the present invention;

FIG. 3: the robot device of the apparatus for automatically repairing yarn breakage in a first phase according to the invention, this phase comprising the detection of yarn breakage and the stopping of the spindle;

FIG. 4: the robotic device according to the next stage of fig. 3, which stage comprises lifting the pendant hook and gripping the cop;

FIG. 5: the robotic device according to the next stage of fig. 3, which stage comprises lifting the cop from the spindle;

FIG. 6: the robotic device according to the next stage of fig. 3, which stage comprises attracting and picking up the yarn end from the cop;

FIG. 7: the robotic device according to the next stage of fig. 3, which stage comprises capturing a yarn portion by a yarn threading unit;

FIG. 8: the robotic device according to the next stage of fig. 3, which stage comprises lowering the cop onto the spindle;

FIG. 9: the robotic device according to the next stage of fig. 3, which stage comprises positioning the traveler and threading the yarn into the traveler;

FIG. 10: the robotic device according to the next stage of fig. 3, which stage comprises the yarn threading unit retracting and lowering the pendant hook from the traveler guide ring;

FIG. 11: the robotic device according to the next stage of fig. 3, which stage comprises releasing the yarn and the cop from the yarn threading unit and retracting the cop elevator unit;

FIG. 12: the robotic device according to the next stage of fig. 3, which stage comprises threading the yarn into the pendant hook;

FIG. 13: the robotic device according to the next stage of fig. 3, which stage comprises piecing the fiber strands of the drafting device with the yarn;

FIG. 14: a yarn attracting and picking mechanism of the yarn capturing unit;

FIG. 15: a yarn holding and traveler positioning mechanism of the yarn threading unit;

FIG. 16: a yarn splicing unit for activating the stop motion of a roving of a ring spinning machine.

Detailed Description

Basically, in the figures, like features have like reference numerals.

In the spinning position 4 of the ring spinning machine 1 shown in fig. 1, the roving 22 is unwound from the roving bobbin 20 and transported through the drafting device 16, in which drafting device 16 the roving 22 is drafted onto the fiber strands 19. The drafted roving leaves the drafting device 16 as a fiber strand 19 by means of pairs of transport rollers 17, 18 (also referred to as front rollers), which transport rollers 17, 18 form a nip. The fiber strands 19 are conveyed towards the rotating, i.e. revolving, spindle 6. Between the delivery rolls 17, 18 and the spindle 6, the fiber strands 19 are twisted into a yarn 8. The direction of conveyance of the fibrous material (i.e., the machine direction of the fibrous material) is from top to bottom.

A suction tube 21 of a suction device is arranged close to the outlet of the conveyor rollers 17, 18. The suction pipe 21 serves to suck away fiber chips and dust, in particular the fiber strands 19 discharged at the delivery rollers 17, 18 in the event of yarn breakage.

Between the feed rollers 17, 18 and the spindle 6, yarn guide elements such as a drop hook 14 and an air ring control ring 15 are arranged. In the machine direction, the pendant hook 14 is arranged behind the conveyor rollers 17, 18. In the machine direction, a balloon control ring 15 is arranged behind the pendant hook 14.

On the spindle 6 a tube is arranged, on which the yarn package is stacked. The tube together with the yarn package thereon forms a so-called spinning cop or package of cops or simply a cop 7.

The spindle 6 is surrounded by a bead ring guide 10, on which bead ring guide 10 a bead ring 11 is movably arranged. The bead ring guide ring 10 is disposed on the endless track 5. The spindle 6 and thus the cop 7 are guided through an opening in the endless track 5. Usually, one machine-side spinning position 4 has a common endless track 5. The endless track 5 is movable up and down during the spinning process as the reels of yarn are stacked along the longitudinal extension of the tube.

To produce a package on the spinning cop 7, the yarn 8 passes through a traveler 11, the traveler 11 deflecting the yarn supplied transversely from above towards the spinning cop 7.

Usually, the spinning machine 1 or at least one machine-side spindle 6 or machine part of the spinning machine is driven by a common drive. The driving force is transmitted to the spindles 6 via a drive belt 13 (see also fig. 3-12). In order to stop the single spindle 6 during the rotation of each spindle 6, a spindle brake 12 is arranged. The spindle brake 12 comprises a brake element which can be moved, in particular pivoted towards the rotating spindle 6 and thus brought into frictional contact with the spindle 6.

However, it is also known to drive the spindles by means of individual spindle drives arranged on the spindles. The spindle drive comprises, for example, an electric motor.

The system for yarn break repair in a ring spinning machine 1 as shown in fig. 2 comprises a separate spinning monitoring system 3. A separate spinning monitoring system 3, well known in the art, contains a yarn break sensor 3a at each spinning position 4. The yarn breakage sensor 3a is designed to detect movement of the traveler 11 indicating yarn breakage, in particular, no movement of the traveler 11. The sensor is provided with an indicator light 3b for indicating yarn breakage.

The individual spinning monitoring system 3 also comprises a central computer device 2 for collecting and evaluating the measurement results of the yarn break sensor 3 a. The central computer device 2 may be part of the machine controller of the spinning machine 1 or may be a separate device. The central computer device 2 may be connected to or may operate autonomously from the machine controller.

In the present embodiment, the central computer means 2 comprises means for communicating with the wireless communication device 23. However, the wireless communication device 23 may also be part of the central computer arrangement 2.

The computer means 2 may comprise a control unit for controlling the yarn break handling device 31 or a part thereof.

The system may be designed such that the central computer means 2 can communicate with the yarn break processing device 31 via the wireless communication device 23. The communication may be unidirectional, in particular from the central computer device 2 to the yarn break handling apparatus 31, or may be bidirectional.

The yarn breakage processing device 31 described above is a core component of the present invention. The yarn breakage handling device 31 is a movable physical unit comprising the following functional units:

a robot device 51 and

a transport means 141.

The robotic device 51, which will be described in further detail below, contains a device for correcting yarn breaks.

The transport device 141 is used to move the yarn breakage handling device 31 including the robot device 51 along the spinning position of the ring spinning machine 1. The transport device 141 comprises rollers 143, in particular wheels, for rolling on the ground and a drive 142 for driving the yarn breakage handling device 31, i.e. the rollers 143.

The robot device 51 arranged on the transport device 141 comprises the following units:

spindle stop unit 61

Pendant hook hoist unit 71

Cop elevator unit 81

Horizontal verification unit 91

-a yarn capturing unit 101 and

a yarn threading unit 121.

The spindle stop unit 61 serves to stop the rotation of the spindle 6 and thus of the cop package 7 during the correction of the yarn breakage. The spindle stop unit 61 comprises a spindle stop 64 arranged on a robot arm 63, which robot arm 63 is movable by a moving and positioning mechanism 62 (only schematically shown in fig. 3).

The pendant hook elevator unit 71 serves to elevate the pendant hook 14, thereby serving to clear the path from the spindle 6 up to lift the tube package 7. The pendant hook hoist unit 71 comprises a pendant hook hoist 74 arranged on a robot arm 73, the robot arm 73 being movable by a moving and positioning mechanism 72 (only schematically shown in fig. 3).

The cop elevator unit 81 is used to lift the cop package 7 upwards from the spindle 6, in particular above the endless track 5, so that the yarn capturing unit 101 can search for a yarn end in the cop package 7, as described in further detail below. The cop elevator unit 81 comprises a gripping mechanism 84 arranged on a robot arm 83, the robot arm 83 being movable by means of a moving and positioning mechanism 82 (only schematically shown in fig. 3).

The level verification unit 91 is for detecting the height level of the endless track and for adjusting the position of the yarn threading unit 121 to varying height levels of the moving endless track 5. The level verification unit 91 includes an endless track sensor 94 for detecting the height level of the endless track 5 or a change in said height level.

The yarn capturing unit 101 is used for capturing the yarn end from the cop package 7 and for guiding the yarn through a plurality of piecing steps. The yarn capturing unit 101 comprises a yarn attracting and picking mechanism 104 and a yarn clamping mechanism 108 and a yarn cutting mechanism 109, the yarn clamping mechanism 108 and the yarn cutting mechanism 109 being arranged on a robot arm 103, the robot arm 103 being movable by a moving and positioning mechanism 102 (only schematically shown in fig. 3).

The yarn threading unit 121 serves to thread the yarn into the traveler 11. The yarn threading unit 121 comprises yarn holding and traveler positioning means 127, 124 arranged on a robot arm 123, the robot arm 123 being movable by a moving and positioning means 122 (only schematically shown in fig. 3).

The yarn break processing apparatus 31 further comprises a control unit 34 for controlling the robot device 51 (in particular the mechanical units 61, 71, 81, 91, 101, 121 of the robot device 51 described above) and for controlling the transport device 141. The control unit 34 is also used to collect and evaluate sensor data captured by said sensors 35, 36, 94.

In particular, the control unit 34 is part of a computer application of the yarn break handling device 31.

The functions and elements of the above-described mechanical units 61, 71, 81, 91, 101, 121 of the robotic device 51 are described in more detail below in connection with a description of the yarn repair process.

Such a yarn repair process is illustrated in fig. 3 to 13, which show successive steps of the repair process.

As also shown in fig. 2, the yarn breakage processing device 31 includes a camera 36 for detecting yarn breakage at the spinning position along the side of the ring spinning machine. In the present case, the first camera 36 is directed to the machine side of the first spinning machine, the second camera 36 is directed to the opposite machine side of the second spinning machine, and the yarn break handling device 31 patrols along the corridor between the two spinning machines.

In the event of a yarn break, the individual spinning monitoring indicates this by means of a light signal emitted by a signal lamp 3b at the spinning position. The light signal indicating yarn breakage may be a self-illuminating or a light of a particular color or a flashing light. The light signal indicating the yarn break at the spinning position 4 is now detected by the camera 36.

Alternatively, the camera may be configured to see, i.e. directly detect, the presence of the yarn. The camera directly detects whether no yarn is running and winding onto the cop, so that the yarn breakage handling device can be moved towards the spinning position to handle yarn breakage. In this case, a separate spinning position monitoring system is not required.

After detecting the light signal of the signal lamp 3b, the yarn break handling device 31 autonomously moves towards the spinning position 4 of the spinning machine 1 with yarn break. The yarn breakage handling device 31 positions itself in an operating position in front of said spinning position 4.

At this time, the yarn break processing device 31 comprises a further camera 35-in the operating position of the yarn break processing device 31-which camera 35 faces the spinning position 4. The camera serves to position the yarn break processing device 31 precisely (in particular laterally) in front of the spinning position 4. The light signal of the signal lamp 3b of the individual spinning monitoring system 3 serves as a reference point for the precise positioning of the yarn break processing device 31 in front of the spinning position 4. Therefore, the camera 35 can detect the optical signal. This means that the camera 35 can also be used to detect a yarn break at the spinning position 4 of the spinning machine 1, while the yarn break handling device 31 patrols along the machine side of the ring spinning machine 1.

However, other optical sensors than cameras can be used for detecting yarn breakage, i.e. for detecting the light signal of the signal lamp 3b of the individual spinning monitoring system 3. Furthermore, the yarn breakage information in the spinning position 4 can also be transmitted wirelessly (e.g. by the computer device 2) to the yarn breakage handling device 31 by means of a separate spinning monitoring system 3. Based on this information, the yarn breakage processing device 31 can autonomously navigate to the spinning position 4.

According to fig. 3, after detecting a yarn break, the yarn break handling device 31 with the robot means 51 is positioned in an operating position in front of the spinning position 4 with yarn break. The positioning is performed by means of a camera 35, the camera 35 being directed at the signal lamp 3b, the signal lamp 3b emitting a light signal serving as a spatial reference point.

After reaching its operating position, the spindle stop 64 of the spindle stop unit 61 is moved towards the spindle brake 12 by moving the respective robot arm 63. The spindle stopper 64 contacts the spindle stopper 12, so that the spindle stopper 12 is activated and stops the rotation of the spindle 6. However, the spindle stopper 64 may directly come into frictional contact with the spindle 6, and thus may directly stop the rotation of the spindle 6.

Before, after, or at the same time as the spindle stops, the pendant hook lifter 74 of the pendant hook lifter unit 71 is moved toward the pendant hook assembly 14 by moving the corresponding robot arm 73. The pendant hook lifter 74 lifts the pendant hook 14, and the pendant hook 14 is rotated upward in the passive position about the rotational axis. By lifting the pendant hook 14, the path for lifting the cop package 7 up from the spindle 6 is left clear.

In a subsequent step, the gripping means 84 of the cop elevator unit 81 is moved towards the top of the package 7 of cops, i.e. towards the top of its tube, as shown in fig. 4. The gripping means 84 comprises an insertion tool 85 having an expansion member 86, which insertion tool 85 is inserted into the upper end portion of the tube of the cop pack 7.

After insertion of the insertion tool 85 into the tube, the expansion member 86 expands and forms a friction connection and/or a form fit inside the tube. Subsequently, the gripping means 85 is moved upward, so that the cop 7 is lifted from the spindle 6, as shown in fig. 5. Usefully, the cop 7 is lifted to such an extent that all the coils of yarn on the cop 7 are arranged above the traveler guide ring 10.

Now, by moving the corresponding robot arm 103, the cop 7 is exposed to such an extent that the yarn attracting and picking mechanism 104 of the yarn capturing unit 101 is moved toward the package of cops 7, as shown in fig. 6.

The yarn suction and pick-up mechanism 104 comprises a yarn suction duct 105 having a front opening 106, the front opening 106 being positioned towards the cop package 7 and exerting an induced draft thereon (see also fig. 14).

The yarn suction tube 105 now moves up and down along the cop package 7. At the same time, the cop package 7 is slowly rotated about its axis by the cop elevator unit 81. For this purpose, the insertion tool 85 is rotated about its axis by means of a rotation mechanism on the cop elevator unit 81. In this way, the yarn capturing unit 101 is able to search for a loose yarn end over the entire surface of the yarn package on the cop package 7. Once the yarn suction tube 105 approaches the loose yarn end on the cop 7, the loose yarn end is sucked into the yarn suction tube 105 and is thus picked up from the surface of the cop package 7.

Mechanical means, such as brushes or bristles, may be provided to mechanically loosen the yarn end from the cop surface, which facilitates the yarn end being attracted by a yarn suction tube (not shown). The mechanical device may be attached to the yarn capturing unit 101, in particular to the yarn suction tube 105.

Ventilation is induced, i.e. suction is generated by an air flow which is introduced into the tube (i.e. tube channel or passage) through at least one lateral air inlet 112. The air inlet 112 (i.e. the inlet channel) is designed such that the air flow 113 has an axially parallel flow component which is directed towards the rear opening 107 of the yarn suction tube 105. In particular, a plurality of air inlets 112 may be arranged on the circumference of yarn suction duct 105, in particular around the circumference of yarn suction duct 105. The air flow 113 may be generated by pressurized air discharged from the inlet 112 into the yarn suction duct 105.

When the air flow 113 in the yarn suction duct 105 is directed to the rear opening 107 of the yarn suction duct 105, a negative pressure and thus induced ventilation is generated at the front opening 106. Due to the flow conditions inside the yarn suction tube 105, the end of the yarn sucked into the yarn suction tube 105 via the front opening 106 is sucked through the yarn suction tube 105 and leaves the yarn suction tube 105 through the rear opening 107.

In other words, the above-described air flow conditions within yarn suction tube 105 result in loose yarn ends being sucked into yarn suction tube 105 at front opening 107, being conveyed through yarn suction tube 105 (i.e., through its passage or passage), and being discharged at rear opening 107 whenever yarn length 8 is set.

As shown in fig. 14, a yarn holding mechanism 108 is provided at the rear end or rear end portion of the yarn suction pipe 105, and the yarn holding mechanism 108 holds the yarn end portion sucked into the yarn suction pipe 105. In the present case, the yarn holding mechanism 108 is a yarn clamping mechanism comprising a clamping element which is movable transversely to the tube axis 110 through a passage through which the yarn end portion is conveyed and cooperates with a counterpart on the other side of the passage to clamp the yarn. To clamp the yarn, the clamping element is moved through the passage, capturing the yarn in the passage and clamping the yarn between the clamping element and the counterpart.

Once the yarn clamping mechanism 108 clamps the sucked yarn end portion, a yarn separating mechanism 109, also arranged in the rear end or rear end portion of the yarn suction tube 105, separates the excess yarn length coming out of the rear opening 107 of the yarn suction tube 105 from the clamped yarn.

In the present embodiment, the yarn separating mechanism 109 is a yarn cutting mechanism that cuts the excess yarn length coming out of the rear opening 107 of the yarn suction pipe 105 from the clamped yarn. The yarn cutting mechanism 109 comprises a cutting element (e.g. a knife, i.e. a cutting blade) which is also movable transversely to the tube axis 110 through the passage through which the yarn end portion is conveyed and cooperates with a counterpart on the other side of the passage to cut the yarn. To cut the yarn, the cutting element is moved through the passage, capturing the yarn in the passage, and severing the yarn trapped between the cutting element and the counterpart.

However, the yarn separating mechanism 109 is not an essential feature of the present invention.

The yarn holding means 108 may be integrated into the yarn suction tube 105. The yarn holding mechanism 108 may be a module attached to the rear end of the yarn suction tube 105 and forming an extension of the passage. The same applies to the yarn separating mechanism 109.

The yarn holding and separating mechanisms 108, 109 may be combined, and in particular may be a combined module.

In particular, the yarn end portion is retained, i.e. clamped, once it has passed through the yarn retention mechanism 108 by passage. This ensures that the end portion of the yarn being picked up does not escape from the yarn suction tube 105.

The yarn suction and pick-up mechanism 104 also comprises a yarn detection sensor 111 for detecting the presence of the yarn 8 in the path, i.e. whether the end of the yarn is picked up and properly sucked into the yarn suction duct 105. The yarn detection sensor 111 is disposed downstream of the yarn holding and separating mechanisms 108, 109 at the rear end portion or rear end portion of the yarn suction pipe 105. The yarn detection sensor 111 is in particular an optical sensor.

Once the yarn detection sensor 111 detects the yarn in the passage, the yarn holding mechanism 108 may be activated and the yarn may be held, i.e. clamped. At this time, the yarn attracting and picking-up step is completed, and the yarn breakage processing device 31 can start the next step. The holding (i.e., clamping) of the yarn end portion allows the movement of the yarn capturing unit 101 without the yarn end portion being drawn out of the yarn suction tube 105. This is particularly important for the following process steps.

The separation, i.e. the cutting of the excess yarn length hanging outside the rear opening 107 of the passage, can be performed at any time before the yarn splicing step starts. However, the separation, i.e. cutting off of the excess yarn length, is particularly useful for process safety, since loose yarn portions may interfere with the mechanical structure of the robot. Therefore, the separation (i.e. the cutting step) is preferably performed shortly after holding (i.e. clamping) the yarn end portion. It goes without saying that the yarn is separated (i.e. cut) at a point downstream of the holding (i.e. clamping) point towards the rear opening 107 of the passage.

Once the loose yarn end is picked up and held by the yarn attracting and picking mechanism 104, i.e. clamped by the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101, the yarn capturing unit 101 is retracted together with the yarn end portion from the cop package 7. Next, the yarn holding mechanism 127 of the yarn threading unit 121 starts to operate, as shown in fig. 7.

The yarn holding mechanism 127 of the yarn threading unit 121 comprises two yarn holding fingers 128a, 128b (see also fig. 15) capturing the yarn 8, so that a yarn section from the yarn section arranged between the yarn holding (i.e. clamping) mechanism 108 and the cop package 7 stretches between the two yarn holding fingers 128a, 128 b.

For this purpose, the yarn capturing unit 101 inserts the yarn 8 into the receiving groove 130 on the yarn holding fingers 128a, 128b by correspondingly moving the robot arm 103 of the yarn capturing unit 101. A receiving groove 130 is arranged at the free end portions of the yarn holding fingers 128a, 128b, with a groove opening directed towards the front end of the yarn holding fingers 128a, 128 b.

The yarn 8 in the receiving groove 130 is secured and tensioned by securing elements 132 arranged on the yarn holding fingers 128a, 128b, so that the yarn does not escape from the receiving groove 130.

For this purpose, the fixing element 132 is movable transversely to the longitudinal axis of the yarn holding fingers 128a, 128b and transversely to the yarn section running between the two yarn holding fingers 128a, 128 b. During the deflection of the yarn at the receiving groove 130, the securing element 132 disengages the yarn section running between the two yarn holding fingers 128a, 128b from the axis running through the two receiving grooves 130.

For guiding the deflected yarn, a guide slot 131 is provided in the yarn holding fingers 128a, 128b accommodating the deflected yarn. The guide groove 131 starts at the receiving groove 130 and extends transversely to the longitudinal axis of the yarn holding fingers 128a, 128b and transversely to the yarn section running between the two yarn holding fingers 128a, 128 b.

By deflecting the yarn at an acute angle at the receiving groove 130, the yarn is held fixedly in the receiving groove 130 due to friction, but is not clamped firmly. The misalignment of the yarn segments also results in tensioning of the yarn segments extending between the two yarn holding fingers 128a, 128 b.

For inserting the yarn into the receiving grooves 130 of the yarn holding fingers 128a, 128b, the yarn holding mechanism 127 of the yarn threading unit 121 is positioned such that the two yarn holding fingers 128a, 128b are oriented perpendicular to the yarn path running between the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 and the cop package 7. In other words, the axis through the receiving groove 130 of the yarn holding fingers 128a, 128b is parallel to the yarn path running between the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 and the cop package 7.

In order to capture the yarn sections 8 by the yarn holding fingers 128a, 128b, the course of the yarn is oriented, in particular, perpendicular or substantially perpendicular to the longitudinal direction of the endless track 5.

Once the yarn section is stretched between and tensioned and secured to the two yarn holding fingers 128a, 128b, a yarn holding mechanism 127 having two yarn holding fingers 128a, 128b is positioned in front of the traveler guide ring 10 housing the traveler 11 such that the yarn section stretched between the two yarn holding fingers 128a, 128b is positioned parallel to a tangent of the traveler guide ring 10. The yarn sections are in particular oriented parallel to the longitudinal direction of the endless track 5 (see fig. 9).

Before, after or simultaneously with positioning the yarn holding mechanism 127 in front of the traveler guide ring 10, the cop package 7 is lowered onto the spindle 6 so that the cop package 7 resumes its original spinning position, as shown in fig. 8. However, the spindle 6 is still at rest. For this purpose, the gripping mechanism 84 of the cop elevator unit 81 is lowered.

As shown in fig. 9, by positioning yarn retaining fingers 128a, 128b with the yarn segments in front of bead ring guide ring 10, bead ring positioning mechanism 124 is also positioned toward bead ring guide ring 10. The traveler positioning mechanism 124 includes two traveler positioning fingers 125, the traveler positioning fingers 125 being positioned adjacent to the traveler guide ring 10 on the left and right sides of the package 7. Each bead positioning finger 125 includes at least one outlet 126 for discharging pressurized air (see also fig. 15). Pressurized air is supplied to bead ring positioning fingers 125 through air supply tube 133.

The discharge of pressurized air causes the traveler 11 to move by air flow to the front side of traveler guide ring 10, adjacent to the positioned yarn segments.

As described above, the air for generating the air flowing in the yarn suction pipe 105 or the pressurized air for positioning the traveler 11 is generated at the center of the yarn breakage processing apparatus 31. To this end, the yarn breakage processing device 31 includes a compressor 32 for generating pressurized air and a storage cylinder 33 for storing the pressurized air. Pressurized air is directed through the flexible tube to the suction tube 105 and bead ring positioning fingers 125.

In the present case, the bead positioning fingers 125 are arranged on the yarn holding fingers 128a, 128b and extend beyond the ends of the yarn holding fingers 128a, 128 b. However, the bead ring positioning mechanism 124 (and in particular the bead ring positioning fingers 125) may also be arranged on a separate unit, which unit may be moved separately from the yarn holding mechanism 127.

Instead of venting the pressurized air, another mechanism for positioning the bead ring 11 may be provided, for example, a magnetic force instead of pressurized air. In this case, bead positioning fingers 125 may also be applied.

Once the traveler 11 is positioned in front of the traveler guide ring 10, the piece of yarn can be threaded into the traveler by moving the yarn retention mechanism 127 with yarn retention fingers 128a, 128b accordingly.

During the positioning of the traveler 11 and the threading of the yarn into the traveler 11, the yarn holding and traveler positioning mechanisms 127, 124 of the yarn threading unit 121 must follow the movement of the endless track 5 which continues to move up and down.

For this purpose, the yarn holding and traveler positioning mechanisms 127, 124 of the yarn threading unit 121 follow the movement of the endless track 5 based on the sensor data of the endless track sensor 94, the endless track sensor 94 detecting the continuously changing height level of the endless track 5 or the change of said height level thereof.

In the present case, the level verification unit 91 further includes a lifting and lowering mechanism 92, and the lifting and lowering mechanism 92 lifts and lowers the carrier 93 in synchronization with the movement of the endless track 5. The yarn holding and traveler positioning mechanisms 127, 124 of the yarn threading unit 121 are fastened to the carrier 93 by respective robot arms 103 and move up and down in synchronization with the movement of the endless track 5. The lifting and lowering mechanism 92 may be driven pneumatically, hydraulically or by an electric motor, particularly a stepper motor. The circular track sensor 94 is an optical position sensor which is directed towards the circular track 5 from above.

However, it is also conceivable to feed the sensor data of the circular orbit sensor 94 directly to the control unit 34 to control the movement of the respective robot arm 103. Therefore, the varying height level of the endless track 5 is directly taken into account, i.e. implemented in the movement of the robot arm 103 and, correspondingly, in the yarn holding and bead ring positioning mechanisms 127, 124 of the yarn threading unit 121.

It has to be noted that once the yarn end portion is held (i.e. clamped) by the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101, the yarn 8 is held by the yarn holding (i.e. clamping) mechanism 108 throughout the repair process until the fiber strands of the drafting device 16 are spliced with the yarn 8. This means that the yarn is still held by the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 during the threading step.

Once the yarn penetrates the traveler 11, the yarn holding mechanism 127 of the yarn threading unit 121 retracts from the traveler guide ring 10 and releases the yarn, as shown in fig. 10. To this end, the yarn holding mechanism 127 of the yarn threading unit is again positioned such that the two yarn holding fingers 128a, 128b are oriented perpendicular to the yarn path running between the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 and the cop package 7. In other words, the axis extending through the receiving groove 130 of the yarn holding fingers 128a, 128b is parallel to the yarn path running between the yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 and the cop package 7.

After releasing the yarn from the yarn holding mechanism 127 of the yarn threading unit 121, the yarn capturing unit 101 functions again as shown in fig. 11. The yarn holding (i.e. clamping) mechanism 108 of the yarn capturing unit 101 with the held yarn end portion, if present, is moved towards the balloon control ring 15 (not shown in fig. 3 to 12, if present). The yarn capturing unit 101 penetrates the yarn 8 into the balloon control ring 15 (see fig. 1).

Subsequently, the yarn capturing unit 101 having the yarn holding (i.e., clamping) mechanism 108 further moves the held yarn end portion toward the pendant hook 14. The yarn capturing unit 101 threads the yarn 8 into the pendant hook 14 as shown in fig. 12.

In a final step, the held yarn ends are spliced together with the fiber strands 19 of the drawing unit 16. According to the present embodiment, the yarn capturing unit 101 places the yarn end portion behind the conveying rollers 17, 18, i.e., between the baffle arrangement of the draft device 16 and the conveying rollers 17, 18, as shown in fig. 13. During this process step, the yarn end portions are brought together with the fiber strands 19 of the drafting device 16, in particular with the fiber strands 19 arranged away from the baffle. As a result, the yarn end portion 8 and the fiber strands 19 of the drafting device 16 leave the nip of the transport rollers 17, 18 together and are twisted together and thus joined together as a result of the renewed spinning process.

However, another splicing process may also be applied, for example using auxiliary yarns. Therefore, the yarn can be pieced with the drafted fiber strand 19 separated from the conveying rollers 17 and 18 before the conveying rollers 17 and 18 as viewed in the machine direction.

During the execution of the yarn splicing step, the spindle stopper 64 of the spindle stopper unit 61 releases the spindle brake 12 so that the spindle 6 starts rotating again. Thus, the spindle stopper 64 is retracted from the spindle brake 12.

As the spindle 6 starts to rotate again, the spinning process is resumed and the joint yarn is wound on the rotary cop 7.

The yarn joining process is now completed and the mechanical units of the yarn breakage handling device 31 can be retracted to their starting position if they are not.

In a further development of the invention, as shown in fig. 16, the yarn breakage handling device 31 comprises a roving motion activation unit 151 with an activation mechanism 153. In the present case, the roving motion activation unit 151 corresponds to a yarn splicing unit and the activation mechanism 153 corresponds to a splicing finger.

The roving motion activation unit 151 is configured to operate the roving stop motion device 152 for resuming the automatic supply of the input roving material 22 to the drafting device 16.

In the present case, the roving motion activation unit 151 is configured to switch on the roving stop motion device 152, so as to resume the automatic supply of the input roving material 22 to the drafting device 16. After resuming the supply of the rovings 22, the yarn breakage handling device 31 starts its splicing operation, as described above.

In the present case, the roving motion activation unit 151 comprises a movement and positioning mechanism for moving and positioning the activation mechanism 153 and a robot arm 153, in particular an articulated robot arm. In this embodiment, the activation mechanism 153 is disposed in the distal end of the robotic arm 153. The movement and positioning mechanism is configured to actuate the respective robotic arm 153.

As described above, the roving movement activation unit 151 also corresponds to a terminal unit for a terminal, in particular for a terminal on the outlet side of the transport rollers 17, 18. The splice mechanism includes two fingers for introducing twist into the spliced fiber strands.