Device for handling a guide of a roving or yarn at the spinning station of a ring spinning machine and method for handling a guide of a roving or yarn at the spinning station of a ring spinning machine

Abstract

The invention relates to a device for handling a guide of a roving or fiber ribbon at the spinning station of a ring spinning machine, wherein the guide comprises a movable portion (220) with a guide eye (22), and the handling device comprises a motion mechanism which is provided with means for performing a handling motion with the movable portion (220) of the guide, wherein a gripping means of the movable portion (220) of the guide is mounted on the motion mechanism and the motion mechanism is provided with means for connecting to a control device and to a power source for performing the handling movement of the movable portion (220) of the guide. The gripping means of the movable portion (220) of the guide comprises at least one permanent magnet (161) for capturing the moving portion (220) of the guide by magnetic force, and the motion mechanism is formed by the motion mechanism of a yarn manipulator (16) at the spinning station (2) of a ring spinning machine. The invention also relates to a method for operating the device for handling a guide of a roving or a fiber ribbon at the spinning station of a ring spinning machine when providing service operations at the spinning station (2) of a ring spinning machine.

Description

[0001] Device for handling a guide of a roving or yarn at the spinning station of a ring spinning machine and method for handling a guide of a roving or yarn at the spinning station of a ring spinning machine

[0002] Technical field

[0003] The invention relates to a device for handling a guide of a roving or a fiber ribbon at the spinning station of a ring spinning machine, wherein the guide comprises a movable portion with a guide eye and the handling device comprises a motion mechanism which is provided with means for performing a handling motion with the movable portion of the guide, wherein a gripping means of the movable portion of the guide is mounted on the motion mechanism and the motion mechanism is provided with means for connecting to a control device and to a power source for performing the handling motion with the movable portion of the guide.

[0004] The invention also relates to a method for operating a guide of a roving or a fiber ribbon at the spinning station of a ring spinning machine during the service operations of the spinning station of a ring spinning machine, the spinning station comprising a guide eye of a fiber ribbon, in which the yam is manipulated at the spinning station and the guide eye moves between its guide position and its service position by the action of a motion mechanism. art

[0005] A whole range of service devices are used to operate the spinning stations of a ring spinning machine, wherein a ring spinning machine comprises a row of identical spinning stations arranged next to one another, wherein a service robot is arranged displaceable along the row of spinning stations and is stoppable at the spinning station requesting a service operation.

[0006] Each spinning station of a ring spinning machine comprises a supply package, or its holder, with a roving. A roving drafting system is arranged downstream of the bobbin holder in the running direction of the fibrous material during yam formation. Downstream of the roving drafting system in the running direction of the fibrous material during yam formation, a yam twisting and winding device is arranged. From the supply package, the roving is fed into the drafting system, after which the gradually formed yam passes through a guide eye, then through a balloon limiter and then through a traveller that runs around a tube around the circumference of the ring up and down on a movable ring bench. After passing through the traveller, the produced yam is wound onto the tube, which is slid onto a rotating spindle, thus creating a cop, i.e. , a package with wound yam. The ring bench moves reciprocatingly along a rail in the machine structure, and due to the delay of the traveller behind the speed of the spindle, a twist is created in the yam, thus transforming the yam drafted in the drafting system into yam with the desired properties. The spindle is usually driven in its lower part by a flat belt driven by a drive shaft. Optionally, the spindle is equipped with an individual drive, for example an electric motor. If the yam breaks during the winding of the yam onto the bobbin, it is recorded by a breakage sensor at the spinning station and this information is transmitted to the machine control system which, after evaluating the information from other spinning stations and the information from the service robot makes a decision about moving the service robot to the spinning station requesting service operations. The actual service operation includes several service steps, carried out in sequence or in parallel. First, the rotating spindle with the bobbin is stopped and the bobbin is removed from the machine and moved closer to the service robot to subsequently search for the end of the yam, after which the actual search for the end of the yam on the bobbin winding is carried out. Before removing the bobbin, the yam guide is moved from its working position above the bobbin to its non-working position outside the space above the bobbin so that the bobbin can be removed. The yam guide usually comprises a fixed portion which is mounted in the machine structure and a movable portion which is mounted reversibly adjustable, e.g. hinged as a single-arm lever on the fixed portion, the movable portion having a yam guide eye through which the yam passes from the drafting system to the winding device during yam production. After finding the yam end on the bobbin by means of the service robot, the required length of yarn is unwound from the package to be subsequently guided into the working path at the spinning station in order to resume the spinning process. The bobbin is returned to the spinning station, is slid onto the spindle and the yam is guided into the working path to resume spinning, when the yam end is threaded into the traveller, through the balloon limiter and then also through the guide eye, which has previously returned from its non-working position outside the space above the bobbin to its working position above the bobbin, and finally the yam is guided between the end rollers of the drafting system so that contact is made between this yam end and the end of the roving gripped by the end rollers of the drafting system while the winding of the yam onto the bobbin is started and thus the spinning process is resumed. These and other service operations not expressly mentioned herein must be carried out in cooperation with the service mechanisms of the service robot at the spinning station being serviced within a small space determined by the spacing of the spinning stations, which is usually only 70 or 75 mm. The mutual interaction of the service mechanisms must be collision-free, while achieving the shortest possible spinning resumption time.

[0007] These limitations must be dealt with by essentially all known solutions to service robots of a ring spinning machine for yam production, see, e.g., the solution according to CZ application for invention 2018-35 and the background art described therein, or with a connection to the solution according to CZ applications for invention 2018-47, 2018-48, 2018-50 and others.

[0008] The background art discloses the use of single-purpose controlled arms, arranged on the structure of the service robot, for moving the yam guide from the working position above the bobbin to the non-working position outside the space above the bobbin and back, whereby these arms have the sole task of manipulating the yam guide. Manual control by a human operator is basically impossible and dangerous due to the small spacing of the spinning stations, and the use of a separate drive for each yam guide at each spinning station causes increased costs for the acquisition, operation and maintenance of the machine, and it also leads to an increased risk of breakdowns. Single-purpose operated arms represent an increase in the installation space requirements for the service robot. In the case of a service robot which moves up and down reciprocally along with the ring bench during the service operation at the spinning station, the use of a single-purpose arm for handling the yam guide results in an increase in the weight of the service robot and the associated increase in the load on the ring bench which the service robot carries during the service operation at the spinning station.

[0009] The object of the invention is therefore to eliminate or at least minimize the disadvantages of the background art, especially by allowing the removal of the single-purpose arm for handling the yam guide at the spinning station from the structure of the service robot while maintaining the ability to handle the yam guide at the spinning station by the means of the service robot.

[0010] Summary of invention

[0011] The object of the invention is achieved by a device for handling a fiber guide at the spinning station of a ring spinning machine, whose principle consists in that the gripping means of the movable portion of the guide comprises at least one permanent magnet for gripping the moving portion of the guide by magnetic force, and a motion mechanism is formed by a motion mechanism of a yam manipulator (16) at the spinning station (2) of a ring spinning machine.

[0012] The principle of the method for operating the device for handling a fiber guide at the spinning station of a ring spinning machine in servicing the spinning station of a ring spinning machine consists in that the movement of the guide eye between its guide position and its service position at the spinning station of a ring spinning machine and the handling of the yam at the spinning station of a ring spinning machine are performed by one and the same motion mechanism.

[0013] The advantage of the solution according to the present invention is the increase in the utilization of one working means of the service robot for another task, i.e. , for handling the yam guide, as well as the possibility of removing the previously necessary single-purpose arm for handling the yam guide at the spinning station from the design of the service robot with all the positive consequences for the performance of the complex working activity that the resumption of spinning at the spinning station of a ring spinning machine by means of the service robot represents.

[0014] Brief description of drawings

[0015] The invention is schematically shown in drawings, where Fig. 1 shows an exemplary embodiment of a ring spinning machine for producing yam with a row of spinning stations arranged next to one another with a service robot assigned to the row of spinning stations, Fig. 2 shows a side view of the exemplary embodiment of the spinning station of a ring spinning machine for producing yarn and the working means of the service robot of Fig. 1 in the mutual position during the servicing of the spinning station, Fig. 3 shows the basic geometric spatial arrangement of a ring bench, a cop of yam and a yam guide at the spinning station of a ring spinning machine for producing yam, Figs. 4 to 8 show the successive phases of operation and the mutual position of the means of the device according to the invention at the spinning station of a ring spinning machine for producing yam and finally, Fig. 9 shows a spatial view of a detail of the mutual position of the means of the device according to the invention and the elements of the spinning station of a ring spinning machine for producing yam shown in Fig. 8.

[0016] Examples of embodiment

[0017] The invention will be described with reference to a specific example of embodiment of a device for handling a yam guide at the spinning station of a ring spinning machine, which is arranged on a specific embodiment of a service robot for performing service operations for at least a part of one row of spinning stations of a ring spinning machine. The invention will be further described using an example of manipulating the yam guide at the spinning station of a ring spinning machine, where this manipulation constitutes a method for handling the yarn guide at the spinning station of a ring spinning machine according to the present invention.

[0018] A ring spinning machine for producing yarn comprises a row of identical spinning stations arranged next to one another, wherein a service robot 1. is arranged displaceable along the row of spinning stations and is adapted to stop in a controlled manner at a selected spinning station and is further adapted to perform a service operation at the selected spinning station. To perform the service operation at the selected spinning location, the service robot is provided with a set of working means, of which those that are relevant to the present invention will be described in more detail hereinafter.

[0019] The spinning station is in principle well-known, therefore it will be described here only in a simplified way. Those parts, elements and nodes of the spinning station which are relevant to the present invention will be described in more detail.

[0020] The spinning station 2 of a ring spinning machine comprises means for producing yam which include a roving bobbin 20 on which a fibrous roving 201 is wound. The fibrous roving 201 is the starting material for producing yam on a ring spinning machine. In the running direction of the fibrous material, downstream of the roving bobbin 20, a drafting system 21 is arranged. The drafting system 21 is adapted to refine the fibrous roving 201 drawn from the roving bobbin 20 to form a fiber ribbon 202. In the running direction of the fibrous material, downstream of the drafting system 21_, a guide eye 22 of the fiber ribbon 202 is arranged at the spinning station, and further downstream of the guide eye 22, a yam bobbin 24 is arranged at the spinning station. The yam bobbin 24 is mounted on a vertically situated drive mandrel 28, which is rotatably mounted about its longitudinal axis on the machine frame. The guide eye 22 is of a suitable design; for example, it is formed by a molded wire or by a ceramic body or another suitable element.

[0021] The drive mandrel 28 is coupled in some known manner to the drive of its rotation. The yam bobbin 24 passes through a ring 25, which is arranged on a ring bench 27, which is reversibly adjustable in the vertical direction in the structure of the ring spinning machine along the entire row of spinning stations 2. A traveller 23 is arranged movably about the vertical axis on the ring 25. A yam balloon limiter 26 is arranged at the spinning station between the traveller 23 and the guide eve 22. The balloon limiter 26 is formed, for example, by a yam eye or another suitable element, which is mounted on the ring bench 27. During yam formation, the fibrous material passes from the drafting system 21 through the guide eye 22 and then through the balloon limiter 26 and through the traveller 23 onto the rotating yam bobbin 24. As a result of the rotation of the yam bobbin 24 and simultaneously the feeding of the fibrous material through the traveller 23 onto the yam bobbin 24, the traveller 23 moves on the ring 26 around the yam bobbin 24, which leads to the formation of a balloon of the fiber ribbon 202 around the yam bobbin 24 and to the formation of a twist on the fiber ribbon 202 between the exit of the fiber ribbon 202 from the drafting system 21 and the traveller 23 moving on the ring 26. The balloon and twist formation transforms the fiber ribbon 202 into yam 203, which is subsequently wound onto the yam bobbin 24 in the running direction of the fibrous material downstream of the traveller 23. During the winding of the yam 203 onto the yam bobbin 24, the yam 203 is distributed along the length of the yam bobbin 24, i.e. , in the vertical direction, by the vertical reciprocating movement of the ring bench 27, and the the package of yam 203 is thus wound along a specified length of the yam bobbin 24, thereby forming the so-called cop 240.

[0022] The guide eye 22 of the fiber ribbon 202 is mounted at the spinning station displaceable between its guide position and its service position, wherein in its guide position, the guide eye 22 is situated in the space vertically above the yam bobbin 24 in a position for guiding the fiber ribbon 202 above the yam bobbin 24 and in front of the traveller 23, see, e.g., Fig. 2, whereas in its service position, the guide eye 22 is situated outside the space vertically above the yam bobbin 24 in such a way that the space above the yam bobbin 24 on the drive mandrel 28 is freed for handling the yam bobbin 24 by means of the service robot 1_. In the exemplary embodiment shown in Fig. 3, the guide eye 22 is mounted on the movable portion 220 of the guide 222 of the fiber ribbon 202, the movable portion 220 of the guide 222 being mounted displaceable on the fixed portion 221 of the guide 222, here, for example, tiltable in the Y direction up and down about a horizontal axis which is parallel to the longitudinal axis of the machine, i.e. , the longitudinal axis of the row of spinning stations 2, wherein the fixed portion 221 of the guide 222 is fixedly mounted on the spinning station 2. In an unillustrated embodiment, the guide eye 22 is configured in a different suitable manner and with a different suitable structure comprising a movable portion 220 of the guide 222 of the fiber ribbon 202, which ensures the adjustability of the guide eye 22 at the spinning station between its guide position and the service position.

[0023] Along the row of spinning stations 2 of a ring spinning machine, a travel track 29 is formed for the service robot 1_. In the illustrated example of embodiment, the travel track 29 comprises a travel rail 290 and a stabilizing rail 291 . In an unillustrated example of embodiment, the travel track 29 for the service robot 1. is formed in another suitable manner, for example using a different number of travel rails arranged along the row of spinning stations 2 of a ring spinning machine at different heights of the machine, etc.

[0024] The service robot 1. for a ring spinning machine comprises travel means 11 , which are adapted to move the service robot 1. along the travel track 29 along the row of spinning stations 2 of the machine with the possibility of stopping at a selected spinning station 2, e.g., at a spinning station 2 requesting service operations. The service robot 1. furthermore comprises a control unit 10, which is coupled to the travel means 11 . The service robot 1. also comprises service means SM for performing automatically service operations at the spinning stations 2, e.g. for resuming spinning at the spinning station 2 where spinning has been interrupted, etc. The service means SM are coupled to the control unit 10 or to the control system of the spinning machine, or are coupled to both control units, optionally also to the control unit of the spinning station 2, etc., wherein the hierarchy of control of the service robot and its operation is not decisive for the present invention. What is important is that the means of the service device 2 are coupled to a control device. As service means SM for providing service operations for the spinning station 2, the service robot 1. typically comprises a device for handling the yam guide eye 22 at the spinning station 2 between the guide position of the guide eye 22 and the service position of the guide eye 22. Furthermore, as its service means SM, the service robot 1_ typically comprises a handling device 13 of the yam bobbin 24, an auxiliary drive mandrel 14, a device 15 for searching the end of the yam 203 on the yam bobbin 24, optionally an auxiliary yam carrier 204, a yam 203 manipulator 16 and a threading head 17 for threading the yam 203 into the traveller 23 on the ring 25. The handling device 13 of the yam bobbin 24, the device 15 for searching the end of the yam 203 on the yam bobbin 24, the manipulator 16 of the yam 203 and the threading head 17 of the yarn 203 for threading the yam 203 into the traveller 23 on the ring 25 are formed as movable apparatuses which are functionally and structurally adapted to perform the respective working operations in successive steps, which together form the sequence of operations constituting the service operation at the spinning stations 2.

[0025] In the illustrated example of embodiment, the service robot 2 comprises a handling device 13 of the yam bobbin 24 comprising a clamp 130, which is adapted for controlled gripping and releasing the yam bobbin 24 and for handling the yam bobbin 24 between the drive mandrel 28 at the spinning station 2 and the auxiliary drive mandrel 14 in the service robot 1_. The handling device 13 of the yam bobbin 24 is here, for example, formed such that the clamp 130 is arranged in the service robot 1. reciprocatingly extendable above the yam bobbin 24 and reciprocatingly displaceable in the vertical direction relative to the yam bobbin 24, wherein it is adapted to grip the yam bobbin 24 and to move the yam bobbin 24 into the service robot 1_onto the auxiliary drive mandrel 14, which is housed in the service robot 1_, and after performing the necessary operations that will be described below, to move the yam bobbin 24 back onto the drive mandrel 28 at the spinning station_2. The auxiliary drive mandrel 14 is arranged in the structure of the service robot 1. within the reach of device 15 for searching the end of the yarn 203 on the yam bobbin 24, or the device 15 for searching the end of the yam 203 is movable between its rest position outside the auxiliary drive mandrel 14 and the search position at the auxiliary drive mandrel 14 for searching the end of the yarn 203 on the yam bobbin 24. Preferably, the device 15 for searching the end of the yam 203 is mounted in the structure of the service robot 1_.

[0026] In the illustrated example of embodiment, the service robot 2 comprises a yam manipulator 16 which is provided with a gripping, e.g. suction, device 160, for gripping, e.g., suction, and holding the yam 203 during the manipulation of the yarn 203, as will be described in more detail below. The yam manipulator 16 is formed by a 3D manipulator which is provided with a motion apparatus for 3D movement of the yam gripping device 160 in the space of the service robot 1. and in the space of the spinning station 2 being served, wherein the yam manipulator 16 is connected to the control system and is adapted to perform a defined and controlled spatial movement of the yam gripping device 160 in the space of the service robot 1. and in the space of the spinning station 2 being serviced. The yam manipulator 16 is thus adapted for vertical and horizontal movement of the gripping device 160 in all axes of the Cartesian coordinate system, i.e. , to all necessary positions in relation to the front side of the ring spinning machine, i.e., the front side of the row of spinning stations 2.

[0027] In the illustrated example of embodiment, the service robot 2 comprises a threading head 17 for threading the yam 203 into the traveller 23 on the ring 25 on the ring bench 27 at the spinning station 2 being serviced, here, for example, in a manner in which an oblique threading section of yam intersecting the orbit of the traveller 23 on the ring 25 on the ring bench 27 is formed at the spinning station 2.

[0028] In the illustrated example of embodiment, the service robot 2 comprises an auxiliary bobbin with a package of auxiliary yam 204 for the case of starting spinning onto a new tube, etc.

[0029] Either one or more service robots 1_ is / are mounted on the ring spinning machine, for example, two service robots 1_ for the opposite sides of the spinning machine, as shown in Fig. 1. The service robot 1_ is further provided with a device for handling the guide eye 22 between its guide position and service position, wherein the device for handling the guide eye 22 comprises a gripping means and a motion mechanism. In the illustrated example of embodiment, the device for handling the guide eye 22 is adapted to tilt away the movable portion 220 of the guide 222 from the guide position of the guide eye 22 above the yam bobbin 24 on the drive mandrel 28 at the spinning station 2, here essentially from the horizontal position, to the service position of the guide eye 22, here essentially to the vertical position, see Figs. 8 and 9.

[0030] The gripping means for handling the guide eye 22 comprises at least one permanent magnet 161 , which is adapted for magnetically capturing the movable portion 220 of the guide 222 of the fiber ribbon 202 and which is mounted on the yam manipulator 16 at the spinning station 2, so that the control motion mechanism for handling the guide eye 22 is formed by the motion mechanism of the yam manipulator 16 at the spinning station 2.

[0031] In the exemplary embodiment shown, the yam manipulator 16 at the spinning station 2 comprises a yam gripping device 160 which is formed by a suction tube 1600 which is connected to a vacuum source, wherein the suction tube 1600 is provided with a first end 1601 which is provided with means for sucking yam into the suction tube 1600, the permanent magnet 161 being arranged on the first end 1601 of the suction tube 1600 or in its vicinity.

[0032] In the illustrated preferred example of embodiment, the movable portion 220 of the guide 222 of the fiber ribbon 202 is provided with a side surface 2200 and the permanent magnet 161 is mounted on the side of the first end 1601 of the suction tube 1600 and is provided with a contact surface for contact with the side surface 2200 on the movable portion 220 of the guide 222. In an unillustrated example of embodiment, the permanent magnet 161 is mounted on another part of the yam gripping device 160 and is suitably oriented with respect to a suitable surface on the movable portion 220 of the guide 222 of the fiber ribbon 202. The side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202, or the suitable surface on the movable portion 220 of the guide 222 of the fiber ribbon 202 arranged against the permanent magnet 161 , is made of ferromagnetic material or is provided with a ferromagnetic layer or is otherwise materially and structurally designed to create a magnetic attractive force between it and the permanent magnet 161 ; optionally, the movable portion 220 of the guide 222 of the fiber ribbon 202 is made of ferromagnetic material.

[0033] In an unillustrated exemplary embodiment, the permanent magnet 161 is arranged on the movable portion 220 of the guide 222 of the fiber ribbon 202 and the yam manipulator 16 at the spinning station 2 is provided with a ferromagnetic part on the yam gripping device 160, however, this embodiment also means the necessity of using a large number of magnets 161 , i.e. , at each spinning station 2 to use one permanent magnet 161 on the movable portion 220 of the guide 222 of the fiber ribbon 202.

[0034] From a practical point of view, in the illustrated embodiment, it is suitable for the permanent magnet 161 to have a gripping / holding force of at least 10 N to securely capture and manipulate the moving portion 220 of the guide 222 of the fiber ribbon 202.

[0035] For precise and reliable control of the spatially controlled movement of the permanent magnet 161 and the entire yam manipulator 16, the motion mechanism of the yam manipulator 16 at the spinning station 2 is provided with rotary stepper motors and, if necessary, with a sensor 162 of the current position of the movable portion 220 of the guide 222, e.g. based on the principle of a laser rangefinder, with a presence sensor or a rotation angle sensor of one of the stepper motors of the yam manipulator 16, etc.

[0036] The service robot 1_ of the spinning station 2 of a ring spinning station producing yam is, for example, formed according to CZ application for invention 2018- 0035, the handling device 13 of the yam bobbin 24 is, for example, formed according to CZ application for invention 2018-0047 and the yam manipulator 16, for example, formed according to CZ application for invention 2018-0048. The movement of the yam manipulator 16 within the spinning station 2 is schematically indicated by dashed lines in Fig. 2. The device according to the illustrated exemplary embodiment operates in such a manner that when the spinning process stops / is interrupted at the respective spinning station 2, the need to perform service operations at the spinning station 2 is indicated. The service robot 1_ arrives at the given spinning station and stops opposite the spinning station in a specified position to perform service operations. The service operations to resume the spinning process are typically performed in successive steps by individual work groups and mechanisms of the service robot. First, the yam guide eye 22 is moved by the action of the yam manipulator 16 and by the permanent magnet 161 from its guide position, see Fig. 4, to its service position, see Fig. 8. Subsequently, the handling device 13 of the yam bobbin is extended above the yam bobbin 24, which is mounted on the drive mandrel 28 of the spinning station 2. The yam bobbin 24 is gripped by the handling device 13 and lifted above the drive mandrel 28 and the ring bench 27. Subsequently, the yam bobbin 24 is moved into the service robot 1. and is slid onto the auxiliary drive mandrel 14 in the service robot 1. for searching the yam end on the yam bobbin 24 by the device 15 for searching the yam end. The retrieved yam end on the yam bobbin 24, or the auxiliary yam 204 in the event that there is not enough yam on the yam bobbin 24, is stretched in a defined path between the yam bobbin 24 and the searching device 15 and the yam gripping device 160 of the yam manipulator 16 is moved to this stretched yam section to grip the yam by the yam manipulator 16 and take over the yam by the yam manipulator 16 from the searching device 15. The yam is now stretched between the yam manipulator 16 and the yam bobbin 24. Subsequently, the yam bobbin 24 is returned by the handling device 13 of the yam bobbin 24 back to the drive mandrel 28 of the spinning station and the threading head 17 is tilted to the yam between the yam bobbin and the yam gripping device 160 of the yam manipulator 16 to create an oblique threading section of the yam and move it towards the ring 25 with the traveller 23. The traveller 23 is then set in motion on the ring 25, e.g., by blowing compressed air, etc., in the desired direction and the oblique threading section of the yam is threaded into the traveller 23. The yam threading head 17 then returns to the starting position in the service robot 1. and by 3D movement of the yam manipulator 16 towards the roving drafting system 21 , when the yam gripping device 160 also moves in 3D space, i.e. , sideways, forward, backward, up and down, the yam is guided into its working path at the spinning station, including being guided into the guide eye 22, which, before the yam is guided into it by the yam manipulator 16, moves from its service position, see Fig. 8, to its guide position, see Fig. 4. Finally, the yam is introduced between the output rollers 211 , 212 of the roving drafting system. Subsequently, all means of the service robot 1_, including the yam manipulator 16, return to their starting positions in the service robot 1_, which is now ready for the next service operation at the next spinning station 2. In the meantime, the spinning process is started at the respective spinning station, which then switches to continuous spinning.

[0037] The actual movement of the guide eye 22 between its guide position A, see Fig. 4, and its service position B, see Fig. 8, and back is carried out in two mutually separated steps of the whole set of steps which together constitute the whole service operation at the spinning station 2, wherein the movement of the yam guide eye 22 from its guide position, see Fig. 4, to its service position, see Fig. 8 a 9, is performed without yam in the yam manipulator 16, since it is carried out before the yam is gripped by the yam gripping device 160, whereas the movement of the yam guide eye 22 from its service position, see Figs. 8 and 9, to its guide position, see Fig. 4, is carried out by the yam manipulator 16 in a state where the yam is gripped by the yam gripping device 160, since this is carried out after the yam has been gripped by the yam gripping device 160 and before the yam is introduced into the yam guide eye 22 in its guide position.

[0038] In particular, the movement of the yam guide eye 22 from its guide position A, see Fig. 4, to its service position B, see Fig. 8, according to the invention is performed in such a manner that the yam manipulator 16 with its permanent magnet 161 which constitutes the gripping means, first approaches the movable portion 220 of the guide 222 of the fiber ribbon 202 at the respective spinning station 2, so that the permanent magnet 161 captures the movable portion 220, as can be seen in Figs. 4 to 6. During this capture, it is advantageous if there is physical contact between the permanent magnet 161 and the movable portion 220 of the guide 222 of the fiber ribbon 202, i.e., the permanent magnet 161 abuts on the movable portion 220 of the guide 222 of the fiber ribbon 202, here, for example, the contact surface of the permanent magnet 161 abuts on the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202. Then the yam manipulator 16 moves the permanent magnet 161 upwards and at the same time closer to the spinning station 2 being serviced, so that the movable portion 220 of the guide 222, which is held by the magnetic force of the permanent magnet 161 , moves from its guide position to its service position, as can be seen in Figs. 7 to 9. At the same time, the movement of the contact surface of the permanent magnet 161 along the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202 is enabled, including rotation, which is advantageous for securely holding the movable portion 220 of the guide 222 of the fiber ribbon 202 during its movement between the two extreme positions of the movable portion 220 of the guide 222 of the fiber ribbon 202. After the movement of the guide eye 22 to its service position, the permanent magnet 161 is detached from the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202 by further movement of the yarn manipulator 16 towards the spinning station and / or upwards and / or sideways and the yam manipulator 16 begins to move towards the device 15 for searching the yarn end to subsequently grip the yam end found on the yam bobbin 24.

[0039] The movement of the yam guide eye 22 from its service position, see Figs. 8 and 9, to its guide position, see Fig. 4, is performed according to the invention in such a manner that after the yam has been received by the yam manipulator 16 from the searching device 15, the oblique yam threading section has been threaded into the traveller 23, while guiding the yam into its working path at the spinning station 2 and before threading the yam into the yam guide eye 22, the yam manipulator 16, with its yam gripping device 160 with the captured yam and the permanent magnet 161 , first approaches the movable portion 220 of the yam guide 222 of the fiber ribbon 202, which is situated in the service position of the yam guide eye 22 at the respective spinning station 2. The permanent magnet 161 captures the movable portion 220 with its magnetic attractive force, as can be seen in Figs. 8 and 9. During this capture, it is again advantageous if there is physical contact between the permanent magnet 161 and the movable portion 220 of the guide 222 of the fiber ribbon 202, i.e. , the permanent magnet 161 abuts on the movable portion 220 of the guide 222 of the fiber ribbon 202, here, for example, the contact surface of the permanent magnet 161 abuts on the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202. Then the yarn manipulator 16 moves the permanent magnet 161 downwards and at the same time further away from the spinning station 2 being serviced, so that the movable portion 220 of the guide 222, which is held by the magnetic force of the permanent magnet 161 moves from its service position to its guide position, as can be seen in Figs. 9 to 7. At the same time, the movement of the contact surface of the permanent magnet 161 along the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202 is enabled, including rotation, which is advantageous for securely holding the movable portion 220 of the guide 222 of the fiber ribbon 202 during its movement between the two extreme positions of the movable portion 220 of the guide 222 of the fiber ribbon 202. After moving the guide eye 22 to its guide position, the permanent magnet 161 is detached from the side surface 2200 of the movable portion 220 of the guide 222 of the fiber ribbon 202 by further movement of the yarn manipulator 16 downwards and / or away from the spinning station and / or sideways and the yam manipulator 16 guides the yam, which is still held by the yam gripping device 160, into the guide eve 22 and further into the yam working path at the spinning station 2 up to between the end rollers 211., 212 of the roving drafting system 21. Subsequently, all means of the service robot 1, including the yam manipulator 16, return to their starting positions in the service robot 1., which is now ready for the next service operation at the next spinning station 2. In the meantime, the spinning process is started at the respective spinning station, which then switches to continuous spinning.

[0040] In an unillustrated embodiment, the ring spinning machine is provided with at least one parking space for the service robot, where this parking space is arranged along the length of the machine outside the spinning stations, e.g. it is arranged at the beginning of the machine and / or at the end of the machine and / or at the drive unit of the machine, located between the spinning stations.

[0041] The service robot is thus able to stop at the parking space, whereby the service robot is brought into its parking position, in which it does not interfere with the operation of the spinning stations or other parts of the machine, nor does it hinder the operation of the machine or other parts of the machine.

[0042] Industrial applicability The invention is applicable in ring spinning machines, especially for improving the utilization of the working means of the service robot.

[0043] List of references

[0044] 1 service robot

[0045] 10 control unit

[0046] 11 travel means

[0047] 13 handling device of the yam bobbin

[0048] 130 clamp

[0049] 14 auxiliary drive mandrel

[0050] 15 device for searching the yarn end

[0051] 16 yarn manipulator

[0052] 160 yarn gripping device

[0053] 1600 suction tube

[0054] 1601 first end of the suction tube

[0055] 161 permanent magnet

[0056] 162 sensor of the current position of the movable portion of the guide

[0057] 17 yam threading head into the traveller

[0058] 2 spinning station

[0059] 20 roving bobbin

[0060] 201 roving

[0061] 202 fiber ribbon

[0062] 203 yam

[0063] 204 auxiliary yam

[0064] 21 drafting system

[0065] 22 guide eye

[0066] 220 movable portion of the guide

[0067] 2200 side surface

[0068] 221 fixed portion of the guide

[0069] 222 guide

[0070] 23 traveller

[0071] 24 yam bobbin

[0072] 240 cop

[0073] 25 ring

[0074] 26 balloon limiter

[0075] 27 ring bench

[0076] 28 drive mandrel

[0077] 29 travel track for the service robot

[0078] 290 travel rail

[0079] 291 stabilizing rail

[0080] SM service means of the service robot

Claims

PATENT CLAIMS1. A device for handling a yarn or fiber ribbon guide at a spinning station of a ring spinning machine, wherein the guide includes a movable portion (220) with a guide eye (22) and the handling device includes a motion mechanism which is provided with means for performing a handling motion with the movable portion (220) of the guide, wherein a gripping means of the movable portion (220) of the guide is provided on the motion mechanism, and the motion mechanism is provided with means for connecting to a control device and to a power source for performing the handling motion of the movable portion (220) of the guide, characterized in that the gripping means of the movable portion (220) of the guide comprises at least one permanent magnet (161) for capturing the moving portion (220) of the guide by magnetic force, and the motion mechanism is formed by the motion mechanism of a yarn manipulator (16) at the spinning station (2) of the ring spinning machine.

2. The device according to claim 1 , characterized in that the motion mechanism comprises a suction tube (1600) which is connected to a vacuum source, wherein the suction tube (1600) is provided with a first end (1601) which is provided with means for sucking yarn into the suction tube (1600) and the permanent magnet (161) is arranged on or near the first end (1601) of the suction tube (1600).

3. The device according to claim 1 or 2, characterized in that the motion mechanism is formed by a yarn manipulator (16) in a 3D space at the spinning station (2), the yarn manipulator (16) being provided with means for mounting on a service robot (1) of the ring spinning machine, the service robot (1) being arranged on the ring spinning machine displaceable along at least one row of spinning stations (2) with the possibility of controlled stopping at a selected spinning station (2).

4. The device according to any of claims 1 to 3, characterized in that the permanent magnet (161) is mounted on the side of the first end (1601) of the suction tube (1600) and is provided with a contact surface for contact with theside surface (2200) of the movable portion (220) of the guide at the spinning station (2) of the ring spinning machine.

5. The device according to any of claims 1 to 4, characterized in that the permanent magnet (161) has a holding force of at least 10 N.

6. The device according to any of claims 1 to 4, characterized in that the motion mechanism of the yarn manipulator (16) at the spinning station (2) of the ring spinning machine is provided with stepper motors for spatially controlled motion of the permanent magnet (161).

7. The device according to any of claims 1 to 6, characterized in that the motion mechanism of the yarn manipulator (16) at the spinning station (2) of the ring spinning machine is provided with a sensor (6) of the current position of the movable portion (220) of the guide.

8. A method of operating a device according to any one of claims 1 to 7 in servicing a spinning station (2) of a ring spinning machine comprising a guide eye (22) of a fiber ribbon (202), wherein the yarn is handled at the spinning station (2) and the guide eye (22) is moved between its guide position and its service position by the action of a motion mechanism, characterized in that the moving of the guide eye (22) between its guide position and its service position at the spinning station (2) of the ring spinning machine and the handling of the yarn (1) at the spinning station (2) of the ring spinning machine is performed by the same motion mechanism.

9. The method according to claim 8, characterized in that the displacement of the guide eye (22) between its guide position and its service position at the spinning station (2) of the ring spinning machine and the handling of the yarn (1) at the spinning station (2) of the ring spinning machine are performed simultaneously or separately.

10. The method according to claim 8 or 9, characterized in that the displacement of the guide eye (22) between its guide position and its service position at thespinning station (2) of the ring spinning machine is performed in two separate steps, wherein in the first step the guide eye (22) is moved from its guide position (A) to its service position (B) and in the second step the guide eye (22) is moved from its service position (B) to its guide position (A), wherein between the first and second steps, the end of the yarn is located on the yarn bobbin(24) and the located end of the yarn is gripped by the yarn manipulator (16) at the spinning station (2) of the ring spinning machine.

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