JP2017172096A - Method for automatically detecting yarn breakage and spindle defect, and robot for restoring the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for automatically detecting yarn breakage and a spindle defect, and to provide a robot for restoring the same.SOLUTION: In a method for automatically detecting the occurrence of yarn breakage and a spindle defect, and a robot 14 for the same, there is provided a control system 2 into which an individual spindle monitoring system 1 and a transportation system 3 are incorporated, and which navigates and facilitates the movement of the robot to cope with the yarn breakage and the spindle defect upon detection by the monitoring system. In the control system 2, information related to the yarn breakage in a spindle and the spindle defect is sensed by the monitoring system and sent to the transportation system. The transportation system can carry the robot together with a weaving or knitting material traversing along the entire longitudinal direction axis of a ring spinning machine to cope with the yarn breakage and other spindle defects, so that the spindle of the ring spinning machine is quickly restored, and the formation of defective yarns due to the other spindle defects is also eliminated.SELECTED DRAWING: Figure 1

Description

  The subject matter of the invention described herein generally relates to the field of woven and knitted yarns, and more particularly, a method for automatic detection of yarn breakage and / or spindle defects, and automatic yarn splicing method and It is related with the apparatus for it.

  Ring spinning is a method of spinning a fiber such as cotton, linen or wool to produce a yarn. Ring spinning machines having means for spinning a yarn from the roving supplied by the roving machine and winding the yarn on a cup are well known in the prior art. Ring spinning technology is usually a labor intensive method.

  Also, in ring spinning machines, yarns tend to break for a variety of reasons such as low quality materials, the high speed of the machine, the heat generated during spinning, and the like. The main task of the workers involved in this method is to continuously monitor the spinning machine to see if yarn breaks have occurred during the process. The operator may also serve to find spindle failure occurrences that may include, but are not limited to, thread breaks, spindle slip, bad spindles that repeatedly produce cuts, or any combination thereof. If an operator finds any such thread breakage and / or spindle failure occurrence, he must respond immediately to the thread breakage and / or spindle failure occurrence, otherwise this is a major warning. As well as loss of quality in woven and knitted production.

  However, when a person is involved, the monitoring process is not effective and efficient because human intervention is accompanied by a considerable delay in the detection of the above defects, and if a defect is detected. However, dealing with such defects is a time consuming process. Furthermore, if a defect occurs at multiple points in the machine, it is very difficult for a single operator / stakeholder to handle this. Hence, multiple workers will be hired, thus increasing the initial cost of the process. Despite the increased initial costs, human intervention is not reliable, effective, or efficient.

  In recent years, numerous techniques have been developed to avoid human dependence in the spinning / weaving production process. One prior art document, Chinese Patent No. 1025560770, discloses an automatic yarn break detection, automatic threading method and apparatus. In the automatic detection and automatic threading method of the document, Chinese Patent No. 1025560770, a ring rail and a dolly are used, in which an additional rail is arranged on the side, which moves the trolley carrying the wire spool, and the control device Controls the moving carriage that reciprocates on the guide rail, the inductance coil probe detection off-head, and the robot uses the actual strip length of the wire and thread tube cut off.

  Another prior art document, EP 0 421 157, is a ring spinning machine having means for spinning a yarn from a roving fed by a roving machine and winding the yarn on a cup, In the case of cutting correction, in a ring spinning machine having a mobile service carriage carrying an auxiliary bobbin with auxiliary yarn, from which the yarn is added to the cup and threaded into the coarse yarn, the service carriage includes: Means are provided for monitoring the success of the attempt to correct the thread break, which is coupled to the control unit, which is the unsuccessful attempt before a further attempt is made to correct the thread break. Discloses a spinning machine, characterized in that the means for removing the auxiliary yarn used in the cup from the cup is controlled on the service carriage.

However, the above-mentioned prior art documents and the conventionally available means suffer from the following problems / disadvantages.
1. Despite having automatic detection of defects in the machine, the prior art involves people to deal with the defects. For example, when a defect is detected in the machine, the person / worker is taken to that specific location using an automated system, and then the person responds to the defect. However, with the involvement of people in this process, the problems described above still exist, including human intervention that is not reliable, effective, and efficient. In addition, the problem of having few skilled workers is one of the main limitations in the spinning industry.
2. Also, some of the prior art documents disclose the use of automated devices / apparatus / robots to achieve the objectives described above. However, the time taken by these robots is tremendous, and there is still a range of improvements in automated processes.

  Therefore, automatically detecting the above defects, responding automatically to the defects and continuing the ring spinning machine without any manual intervention, thereby reducing the overall spinning process time overall In order to achieve an effective, efficient and productive process, there is an urgent need to provide an automated robot to accomplish the automatic monitoring task of the entire spinning machine.

Chinese Patent No. 1025560770 European Patent No. 042157157

  The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. This summary is not an extensive overview of the invention. It is not intended to identify key / critical elements of the invention or to delineate the scope of the invention. Its sole purpose is to present some concepts of the invention in a simplified form as a prelude to the more detailed description of the invention that is presented later.

  The object of the present invention is to provide a robot with woven and knitted material required to traverse along the entire longitudinal axis of the ring spinning machine to accommodate yarn breaks and / or other spindle defects, This ensures a quicker resurgence of the yarn spinning process of the ring spinning machine spindle and eliminates the production of defective yarns due to other spindle defects.

  Another object of the present invention is to eliminate human operation / human intervention to deal with spindle defects by using a robot. This can avoid human fatigue and thereby achieve other benefits.

  Another object of the present invention is to provide a method for cutting and / or threading a spindle defect in at least one spindle of at least one ring spinning machine using a system / robot. .

  Another object of the present invention is a system that can be automatically controlled based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, To provide a system having at least one robot for threaded yarn and / or threading of spindle defects.

  Yet another object of the present invention is a system that can be automatically controlled based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, A system having at least one robot capable of replenishing an empty roving bobbin from a supply area in a ring spinning machine with a new filled roving bobbin for subsequent production of the yarn Is to provide.

  Yet another object of the present invention is a system that can be automatically controlled based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, It is to provide a system having at least one robot for cut yarns and / or yarn splicing with spindle defects.

  Yet another object of the present invention is a robot that can be automatically controlled based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine. It is to provide a robot for the threading of cut threads and / or spindle defects.

  Accordingly, in one implementation, an integrated sensing, control, and return system for yarn breakage and other spindle defect occurrences in a ring spinning machine is disclosed. A control system is provided that incorporates individual spindle monitoring systems and transport systems. The transport system navigates and facilitates the movement of the robot to respond to thread breaks and other spindle defects when detected by the spindle monitoring system, and information related to the occurrence of thread breaks in the spindle and spindle defects is Sensed by the individual spindle monitoring system and sent to the transport system. The transport system can carry the robot with the woven and knitted material needed to traverse along the entire longitudinal axis of the ring spinning machine to accommodate yarn breaks and other spindle defects, thereby It ensures a quicker reinstatement of the spinning process of the spindle of the ring spinning machine and eliminates the generation of defective yarns due to other spindle defects. The transport system is effectively used for one or more ring spinning machines to respond to the occurrence of yarn breaks and other spindle defects.

  In one implementation, a transport system capable of carrying a robot fitted on the transport system, the operation of which can be automatically controlled based on yarn breakage and other spindle defect occurrences in the ring spinning machine A transportation system is disclosed. The operation of the robot is controlled by a control system.

In one implementation, a system that is automatically controllable based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, the yarn being cut Disclosed is a system having at least one robot for threading of and / or spindle defects.
The system detects the thread breakage and / or the spindle defect occurrence in the spindle and transmits / displays signals / information associated with the detected thread breakage and / or spindle defect occurrence to the robot. In response to receiving the signal / information, the robot in the transport system responds to the yarn breakage and / or spindle defect occurrence / threading Carrying a knitting material that traverses along the longitudinal axis of the spinning machine;
The robot in the transport system is configured to use woven or knitted material when the roving bobbin is empty at the spindle position;
The robot is
At least one thread take-up arm;
At least one spindle stopper arm;
At least one thread positioning arm;
At least one threading arm;
The spindle stopper arm comprises a cup with a plurality of wound threads, at least one traveler, and at least one ring, the spindle having the detected thread breakage and / or the spindle defect occurrence. Rotation is stopped by applying at least one spindle brake or by direct operative engagement with the spindle and by using at least one suction slot of the spindle stopper arm. Or after sucking the yarn in which the occurrence of the spindle defect is detected and verifying it using at least one sensor of the spindle stopper arm, the traveler is preferably placed in front of the ring, and the spindle stopper arm Use at least one thread gripper By, holding the aspirated yarn, by the magnetic force generated by the use of at least one magnet strip of the spindle stopper arm, configured to pull the traveler. Alternatively, the yarn can be taken by using magnet strips, electromagnets, permanent magnets, suction pneumatic systems, or by using optically guided fingers. The yarn positioning arm changes the direction of the yarn by moving the yarn guide rod through the at least two yarn guide rods of the yarn positioning arm and moving the yarn guide rod in the opposite direction, whereby the yarn is preferably Is arranged to be parallel to the ring rail of the ring spinning machine, to move the yarn and to insert the yarn into the traveler by using at least one yarn pusher. A spindle stopper arm is configured to release the applied spindle brake or spindle, thereby resuming the rotation of the spindle, while moving the thread picking arm in a pivoting direction, thereby Pass through at least one guide element of the ring frame of the ring spinning machine. The threading arm receives the thread from the thread picking arm by using at least two fingers of the threading arm and uses the threading arm toward the delivery roller pair of the ring frame. The drafted material present in the storage unit of the robot or in the delivery roller by approaching the yarn from the finger of the threading arm and using at least one suction tube on the ring frame ( The yarn and the drafted yarn are brought together by sucking the yarn) and moving the fingers in the opposite direction, and are arranged to thread by inserting a twist and a tether. The yarn threading may alternatively be performed by pneumatic twisting or motor twisting. Since those skilled in the art are aware of various types of pneumatic or motor twisting, these are not described in detail herein. It should be understood that those skilled in the art will be aware of the types of pneumatic or motor twisting that can be used effectively in the system of the present invention.

In one implementation, a system that is automatically controllable based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, the yarn being cut Disclosed is a system having at least one robot for threading of and / or spindle defects.
A system for detecting the yarn breakage and / or the spindle defect occurrence in the spindle and transmitting signals / information associated with the detected yarn breakage and / or spindle defect occurrence to the robot; Comprising at least one monitoring mechanism, wherein the spindle comprises a spindle brake for stopping rotation of the spindle, thereby enclosing at least one traveler rotating on at least one ring associated with the spindle Stop the rotation of one cup. The ring spinning machine comprises a suction tube and at least two delivery rollers on at least one ring frame for supplying the drafted material. A robotic mechanism for the cut thread in the spindle and / or a threading in which the spindle defect has occurred pulls the spindle brake, stops the rotation of the spindle, or directly operatively engages the spindle And at least one spindle stop arm capable of stopping the spindle, wherein at least one thread pick-up arm sucks and passes the selected thread from the stopped spindle therefrom At least one sensor for verifying the passage of the yarn, at least one yarn gripper for catching the passed yarn and thereby preventing the yarn from falling back into the spindle, and a magnetic force Less to excite and feed and reposition the traveler Also it includes a single magnet strip, preferably at least one sensor to facilitate the relocation of the front of the ring. Alternatively, the yarn can be taken by using magnet strips, electromagnets, permanent magnets, suction pneumatic systems, or by using optically guided fingers. The yarn positioning arm arranges the yarn at least two yarn guide rods that allow the yarn to pass through the yarn guide rod, and pushes the yarn forward, preferably below the traveler, thereby At least one thread pusher for insertion into the traveler and at least one for sensing movement of the traveler and detecting the cut thread and / or the threading of spindle defects occurring inside the traveler And two sensors. The yarn splicing arm includes at least two fingers of a yarn splicing arm that picks up the yarn to be picked up from the yarn picking arm, and at least one sensor that detects the picking up. The system is further configured to move the yarn taken up in the finger to the delivery roller of a ring frame while the drafted material emerges from the delivery roller and is sucked by the suction tube. The finger comprising a threading arm and holding the yarn holds the yarn close to the drafted material, after which the finger moves in the opposite direction, whereby the yarn and the drafted material Are held together to insert twists and tethers to perform the threading of the cut yarn and / or the occurrence of spindle defects.

  In an alternative embodiment, the robotic mechanism can carry a modified thread take-up arm. The modified pick-up arm has measures to pick up the yarn and hold it using a holding arrangement such as suction or gripper. A hook configuration is available for the robot, which has a configuration like a hook or gripper that picks up a thread. After the thread is picked up from the cup, the hooker arm moves forward and the hook of the hooker arm catches the thread. At this stage, the element advances the traveler to the front position and limits movement of the traveler to facilitate threading of the yarn. For example, such a device may be a magnet. The hooker arm is lowered with the thread so that the thread is placed under the traveler of the ring, and the hooker arm moves in a circular path so that the thread is placed within the traveler. After the thread is placed in the traveler, the hooker arm is raised so that the thread is placed in the lappet hook or in any thread guide such as a balloon control ring available between the cup and the delivery roller. Make another rotational movement. After this stage, the hooker arm moves back to its initial position. The yarn pick-up arm rises with the yarn with the activation of the suction force and sucks the drafted material emerging from the delivery roller. Alternatively, instead of the hooker arm moving to guide the thread to the lappet hook or any other thread guide, the thread pick-up arm itself performs a rotational movement to pull the thread into the lappet hook or any other Guide it into the yarn guide. The thread take-up arm inserts the thread from the cup into a pneumophile duct where the drafted material has already been sucked. After the yarn has been sucked by the pneumatic filter duct, the yarn splicing unit is used to pneumatically or draft the draft material from the delivery, pneumatically, by mechanical means such as repair fingers, or by electric motor twisting. Connect by. During this threading operation, the spindle stopper arm releases the spindle brake or spindle, thereby continuously feeding the threaded thread from the delivery roller to the spindle cup.

  In another alternative embodiment, the robotic mechanism includes a spindle stopper that stops the spindle, a magnetic arm that includes two magnetic plates joined together at one end, and a thread that is removed from the cup for easy threading. It is possible to carry a thread take-up tool. When the thread breaks, the spindle stopper arm advances forward, locks the spindle brake and operates to stop the spindle from running. The spindle stopper arm can function pneumatic, mechanical, electronic, or any combination of these principles. The magnetic arm then proceeds close to the cup, and the two magnetic plates open, cover the cup and then close again. In this state, the magnetic plate attracts the traveler. The magnetic plate opens again and proceeds backwards. Thereby, a traveler is arrange | positioned in the front surface around a ring. During placement of this traveler by a magnetic arm, a thread picker having a suction slot looks for the end of the thread in the cup from bottom to top. Successful suction of the thread from the cup can be identified by electronic or optical means. After the thread has been sucked into the thread picker, it is lifted so that the thread is unwound from the cup and passes through the various guide elements of the ring frame, and the thread picker with thread from the cup is further Ascended and kept close to the drafted material, the drafted material is delivered from the pair of front rollers and enters the inside of the pneumatic filter duct. This causes the drafted material to enter the yarn picker suction slot where the yarn has already been prepared. With the yarn and drafted material together in the suction slot of the yarn picker, the yarn splicer is mechanically pneumatically by air rotation or by using a twisting arm available in the yarn picker To be done. During threading, the spindle stopper arm releases the spindle brake, thereby facilitating the traveling of the spindle, and the threaded thread begins to travel and is wound around the cup.

  In one implementation, a robotic mechanism that is automatically controllable based on at least one thread break and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine A robotic mechanism for yarn and / or spindle flaw generation is disclosed. The mechanism comprises storage means for storing the knitting material (yarn), a receiver for receiving signals / information for the spindle of the ring spinning machine, and a control system comprising the following operations: the yarn breakage and / or Or at least one spindle stopper for stopping the rotation of the spindle of the ring spinning machine having the spindle defect occurrence, the yarn breakage and / or the yarn having the spindle defect occurrence for selecting and holding the yarn At least one for arranging at least one yarn picking arm, the yarn held on the spindle and the knitting material in line with the yarn held on the spindle, preferably parallel to the ring rail Two yarn positioning arms, for taking up the woven and knitted material and holding the woven and knitted material close to the yarn And a control system having at least one micro-processor having at least one program module for executing the operation of at least one yarn next arm. The mechanism further includes that after the weaving and knitting material is picked up, when the spindle stopper arm releases the spindle brake or spindle, the spindle and cup begin to rotate, thereby the yarn picking arm Moves in the swivel direction, thereby allowing the weaving and knitting material to pass through at least one guide element of the ring frame of the ring spinning machine, and the threading arm moves in the opposite direction Inserting twists and seams by keeping the yarn and the knitted and knitted material together, thereby achieving a cut yarn and / or a spindle defect-causing yarn splicing .

  In one implementation, the transport system is ready for its operating cycle upon receipt of signals for navigation from the individual spindle monitoring system. For example, if the modified transport system is at one end of the ring frame and two thread breaks or two spindle defects occur in the ring frame at the same time, the modified transport system will remove the spindle from its instantaneous position. Obtain a signal to navigate to the cut or spindle defect position and stop to respond to the thread cut or spindle defect. After the modified transport system stops, the robot begins its operation to respond to the occurrence of thread breaks and other spindle defects.

  Other aspects, advantages, and salient features of the present invention will become apparent to those skilled in the art from the following detailed description, which, together with the accompanying drawings, discloses exemplary description of the present invention.

  The above and other aspects, features, and advantages of certain exemplary embodiments of the invention will become more apparent from the following description taken in conjunction with the accompanying drawings.

A system that can be automatically controlled based on at least one thread breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, according to an embodiment of the present invention, comprising: FIG. 2 shows a system with at least one robotic mechanism for threaded yarn and / or threading of spindle defects.

FIG. 5 is a diagram illustrating the operation of a robot showing how a yarn from a cup is picked up by a yarn picking arm according to an embodiment of the present invention.

It is a figure which shows the step which the thread | yarn pick-up arm moves to the front from the upper position of a ring cup by embodiment of this invention.

FIG. 6 shows a stage in which a yarn positioning arm is moved according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating a stage in which a yarn positioning arm moves to an uppermost position according to an embodiment of the present invention.

FIG. 6 shows a stage in which a yarn guide rod moves in the opposite direction within its guide rail according to an embodiment of the present invention.

FIG. 6 shows a stage where a thread pusher pushes the thread forward and places it just below the traveler, according to an embodiment of the present invention.

FIG. 6 shows the step of returning the thread pusher to its original / initial position according to an embodiment of the present invention.

FIG. 5 shows a stage in which a thread passed through is taken to an upper position by a thread take-up arm according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating a stage in which a yarn is taken from a front delivery roller of a ring frame to a position closer to a yarn delivery portion by a finger of a yarn splicing arm according to an embodiment of the present invention.

FIG. 4 shows the basic positions of the various components of the robot after successful threading of the yarn according to an embodiment of the invention.

It is a figure which shows the function of the robot as a defect material separation apparatus by embodiment of this invention.

It is a figure which shows the function of the robot for operating the roving stop operation | movement by embodiment of this invention.

It is a figure which shows the action | operation of the robot mechanism in which a spindle stopper arm starts a spindle brake, stops a spindle, and a thread picking tool picks up a thread | yarn from a cup.

FIG. 5 shows the stage where the magnetic strip attracts the traveler to the front position, the thread hooker arm advances forward, and the thread hook is engaged with the thread picked up by the thread picker.

It is a figure which shows the step which a thread | hook hook picks up a thread | yarn and a thread | hook hooker arm moves so that a thread | yarn may be arrange | positioned in front of a traveler with a thread | yarn.

It is a figure which shows the step which a thread | hook hooker arm moves so that a thread | yarn may be inserted in a traveler.

Figure 5 shows the stage where the hooker arm moves to insert the thread into various guide elements such as lappet hooks, at which stage the spindle stopper arm moves backward to release the spindle brake The magnetic strip moves backward to release the traveler from the magnetic attractive force, and the yarn picking tool is ready to move upward due to the threading of the yarn.

FIG. 6 shows the stage of the thread picker moving to the drafted material delivery position, where the drafted material is threaded together pneumatically or mechanically with the thread picked up from the cup, The spindle brake is released by the spindle stopper arm to facilitate the spindle traveling.

It is a figure which shows the step which begins to drive | work a thread | yarn after a threading, and the various components of a robot exist in the basic position, and take the posture corresponding to the next defective spindle.

The spindle stop arm stops the spindle by using mechanical or pneumatic means, and shows the stage of an alternative embodiment of the robot where the magnetic plate covers the cup, above the ring and near the traveler, and picks up the thread The arm is in the vicinity of the cup looking for a thread for the thread.

FIG. 22 is an exemplary elevational view given in FIG. 21 with the cup covered by a magnetic plate and the traveler in a rearward position.

FIG. 2 is an elevational view of an embodiment in which both magnetic plates advance backwards, thereby attracting the traveler and advancing to a frontal position in the ring between the two magnetic plates, whereby the thread is continuous in the traveler Makes it easy to insert in stages easily.

FIG. 6 shows the stage where the thread picking arm picks up the thread from the cup, and the magnetic plate keeps the traveler in a front position between them to facilitate easy insertion of the thread into the traveler.

FIG. 4 is a diagram showing the stage where the thread take-up arm is lowered and moved to insert the thread into the traveler, where the traveler is held in place by the magnetic plate, at which point the spindle stopper arm moves the spindle brake next They are ready to release in stages.

FIG. 6 shows the stage where the thread picker passes the thread through the lappet hook and any other guiding component in the ring frame and approaches the delivery roller, the drafted material is the suction structure of the thread picker Both the thread drawn and the drafted thread are connected together pneumatically by air or mechanically by a twisting arrangement inside the thread picker, during which the spindle stopper arm is connected to the spindle brake , Thereby rotating the spindle to allow the yarn production process.

  Those skilled in the art will appreciate that elements in the figures are shown for simplicity and clarity and have not been drawn to scale. For example, the dimensions of some of the elements in the figures are emphasized relative to other elements to help improve the understanding of various exemplary embodiments of the present disclosure. Note that throughout the drawings, the same reference numerals are used to indicate the same or similar elements, features, and structures.

  The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention. While this includes various specific details to aid in understanding these, they are considered merely exemplary.

  Accordingly, those skilled in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the invention. In addition, descriptions of well-known functions and structures are omitted for clarity and clarity.

  The terms and language used in the following description and claims are not limited to the bibliographic meaning, but are merely used by the inventor to enable a clear and steady understanding of the invention. Thus, the following description of exemplary embodiments of the invention is for purposes of illustration only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents. Provided.

  The singular forms “a” and “the” include plural referents unless the context clearly dictates otherwise.

  The term “approximately” does not require that the cited property, parameter, or value be accurately achieved, including, for example, tolerances, measurement errors, measurement accuracy limits, and other factors known to those skilled in the art. Deviations or variations can occur in the aggregate, which means that the effect that the property is intended to provide is not excluded.

  The features described and / or illustrated in connection with one embodiment may be in the same or similar manner, in one or more other embodiments, and / or in combination with features of other embodiments, or instead. May be used.

  As used herein, the term “comprising / comprising” is construed to specify the presence of the described feature, integer, step or component, but one or more other features, It should be emphasized that it does not exclude the presence or addition of integers, steps, components or groups thereof.

  Thus, as shown in FIG. 1, according to an embodiment of the present invention, automatic control based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine A possible system is disclosed that has at least one robot for a threaded yarn and / or a spun of a spindle defect occurrence. The present invention provides an integrated sensing, control, and return system for yarn breakage and other spindle defects in a ring spinning machine. Accordingly, a control system (2) is provided that incorporates an individual spindle monitoring system (1) and a transport system (3). The transport system (3) can navigate and facilitate the movement of the robot (14) to respond to thread breaks and other spindle defects when detected by the spindle monitoring system (1). Information related to the occurrence of thread breaks and other spindle defects is sensed by the individual spindle monitoring system (1) and sent to the transport system (3). The transport system (3) carries the robot (14) with the knitting and knitting material required to traverse along the entire longitudinal axis of the ring spinning machine to accommodate yarn breaks and other spindle defects. This ensures a quicker resurgence of the spinning process of the ring spinning machine spindle and eliminates the production of defective yarns due to other spindle defects. The transport system (3) can be effectively used for one or more ring spinning machines to accommodate yarn breaks and other spindle defects. The main object of the present invention is to eliminate human operation to deal with spindle defects by using a robot (14). This can avoid human fatigue and thereby achieve other benefits.

  In one implementation, the transport system (3) can carry a robot (14) fitted on the transport system (3), the operation of the robot being responsible for thread breaks and other spindle defects in the ring spinning machine. It can be automatically controlled based on the occurrence. The operation of the robot (14) is controlled by the control system (2).

  In one implementation, the robot (14) may be a general purpose robot or a special robot custom made for the present invention, acting on any technology such as pneumatic, hydraulic, electric drive. be able to. The special robot custom made may be a visually guided robot that operates in a combination of elements such as cameras, optical sensors, magnetic sensors, magnetic elements, and the like.

  In one implementation, the transport system (3) is ready for its operating cycle when it receives signals for navigation from the individual spindle monitoring system (1). For example, if the modified transport system (3) is at one end of the ring frame (9) and two thread breaks or two spindle defects occur in the ring frame (9) at the same time, The transport system obtains a signal to navigate from its instantaneous position to the spindle cut (12) or spindle defect location and stops to respond to the thread cut (12) or spindle defect. When the modified transport system (1) stops, the robot (14) starts its operation.

  FIG. 2 illustrates how the yarn (28) from the cup (25) is picked up by the yarn picking arm (15). In one implementation, initially, the spindle stopper arm (16) descends, catches the spindle brake (23) and pulls upward. This causes the spindle brake (23) to stop the spindle (24), thereby stopping the ring cup (25) and thus the traveler (27) rotating on the ring (26). At this time, the thread take-up arm (15) moves forward above the ring cup (25). Suction air is used to suck the thread (28) through the suction slot (20). After the air is aspirated, the thread (28) from the cup is taken up and passes through the aspiration slot (20). The success of picking up the thread (28) is verified by the sensor (22). This sensor (22) may be of a capacitive or image-based sensor that recognizes the thread (28). After the thread (28) has been sucked, the thread gripper (21) catches the thread (28), so that the thread does not descend and return to the cup (25) again.

  FIG. 3 illustrates the stage in which the thread take-up arm (15) moves from the upper position of the ring cup (25) to the front position. In one implementation, the thread take-up arm moves slightly to the side. The magnet strip (39) is excited and the traveler (27) is pulled by the magnetic force of the magnetic strip (39), at this time it advances to the front position of the ring (26). The visual sensor (40) of the thread take-up arm facilitates precise placement of the traveler in front of the ring (26).

  FIG. 4 shows the stage in which the thread positioning arm (29) moves upward so that the thread passes between the three thread guide rods as shown in FIG.

  FIG. 5 illustrates the stage in which the thread positioning arm (29) is moved to the uppermost position, thereby causing the thread guide rod (30) to move.

  FIG. 6 illustrates the stage in which the yarn guide rod (30) moves in the opposite direction within its guide rail as shown. This changes the direction of the thread (28) so that the thread (28) is now almost parallel to the ring rail.

  FIG. 7 shows the stage where the thread pusher (31) pushes the thread (28) forward and places it just below the traveler (27). Two bottom guides (41) are then available below the thread. At this stage, the yarn positioning arm (29) moves slightly upward, thereby inserting the yarn into the traveler (27).

  FIG. 8 illustrates the stage where the thread pusher (31) returns. At this time, the thread take-up arm (15) rises and takes the thread (28) upward. The thread take-up arm (15) moves to the side and proceeds to its home position, whereby the traveler moves along the direction of the thread take-up arm (15). This movement is sensed by a visual sensor (42) available in front of the yarn positioning arm (28). When the traveler's movement is recognized by the visual sensor, it means that the thread has been successfully threaded inside the traveler (27). If successful passing is not achieved, the series of operations starts again.

  FIG. 9 illustrates the stage in which the thread passed is brought to the upper position by the thread pick-up arm (15). When this phase begins, the spindle stopper arm (16) releases the spindle brake (23), so that the spindle (24) and the cup (25) begin to rotate. This further rotates the traveler (27) on the ring (26). At this time, the thread take-up arm (15) moves in the turning direction so that the thread (28) is passed through any guide element of the ring frame, such as the lappet hook (32). At this stage, the threading arm (18) moves forward, and the finger (19) of the threading arm (18) picks up the thread (28) from the thread picking arm (15). Successful picking is verified by sensors available in the threading arm (18). This sensor can work on capacitive or optical principles. After successful picking by the threading arm (18), the thread picking arm (15) moves backward to facilitate the next stage, ie, threading or threading.

  FIG. 10 shows the stage in which the thread (28) is brought closer to the thread delivery section from the ring frame delivery rollers (35 and 36) by the fingers (19) of the threading arm (18). The drafted material (34) usually emerges from the front delivery rollers (35 and 36) and is sucked by the suction tube (33). At this stage, the finger (19) holding the thread (28) keeps the thread (28) close to the drafted material (34) and the finger moves in the opposite direction, thereby causing the thread (28) And twists and tethers are inserted by keeping the drafted material (34) together. Thus, threading or tethering is achieved successfully. After successful threading, the yarn (28) begins to continuously insert twist into the drafted material (34) and yarn production begins.

  It can be seen that the traveler (26) continuously achieves rotation when the production of yarn begins. This rotation is verified by the spindle monitoring system (1) using individual spindle sensors (6).

  FIG. 11 shows the stage where the threading of the yarn (28) is successfully completed and the yarn (28) starts to travel. The various components of the robot (14) reach their initial position and are ready to respond to the next spindle defect.

  FIG. 12 illustrates the function of the robot (14) as a defective material separation device. In one implementation, the finger (19) of the threading arm (18) acts as a defective material removal device. In the case of defective materials such as slip and bad spindles, the spindle stopper arm (16) stops the spindle (24) by pulling the spindle brake (23) upward. At this time, the finger (19) of the yarn splicing arm (18) picks up the defective cup and loads it into the respective container (4). In this way, automatic separation of defective weaving and knitting materials is possible by using the robot (14).

  FIG. 13 illustrates the function of the robot (14) for activating the roving stop operation (38). In one implementation, the finger (19) of the threading arm (18) can switch the roving stop operation to ON, thereby resuming automatic feeding of the input roving material to the draft zone (37). To do. After restarting the supply of the roving, the robot (14) again starts its threading operation as previously described through FIGS.

  FIG. 14 illustrates another alternative embodiment of the robot (14) where the spindle stopper arm (16) applies a spindle brake (23) that stops the spindle (24). The thread picker (15) picks up the thread (28) from the cup (25), pneumatically or mechanically, or by an electric drive.

  FIG. 15 illustrates the stage in which the thread hook (44) in the thread hooker arm (43) takes up the thread (28). During this stage, the magnetic strip (45) advances in the forward direction, which causes the traveler (27) to ring (26) to facilitate easy insertion of the thread (28) into the traveler (27). ).

  FIG. 16 illustrates that the thread hook (44) of the thread hooker arm (43) picks up the thread (28) and facilitates easy insertion of the thread (28) into the traveler (27). Step 27) will be described below.

  FIG. 17 illustrates the stage in which the thread hook (44) of the thread hooker arm (43) moves and inserts the thread (28) into the traveler (27).

  FIG. 18 shows that the thread hook (44) of the thread hooker arm (43) carries the thread (28) and is inserted into the lappet hook (32) or any other such guide element in the ring frame. The stage to do is explained. At this stage, the magnetic strip (45) moves backward to free the traveler (27) from magnetic force, the spindle stopper arm (16) moves backward and the spindle (24) begins to rotate. Free the spindle brake (23) so that it can. At the same time, the yarn splicing arm (15) carrying one end of the yarn (28) moves upward toward the front delivery rollers (35 and 36).

  FIG. 19 illustrates the stage where the thread hooker arm (43) is away from the thread (28) and the threading arm (15) is closest to the delivery rollers (35 and 36). The suction pressure of the threading arm puts the drafted material (34) into the suction slot (46) of the threading arm. At this time, the thread pegs of the yarn were drafted with the yarn (28) and the drafted material (34) twisted together and moved pneumatically or in the opposite direction to draft the yarn (28). This is done by mechanical means by using a threading finger (46) which twists with the material (34) and thereby performs the threading.

  FIG. 20 illustrates the stage where the threading is successful and the various components of the robot (14) reach their initial position and are ready to correspond to the next defective spindle position. The spindle (24) begins to rotate and the thread (28) begins to travel and is wound on the cup (25).

  FIG. 21 illustrates another alternative embodiment in which a magnetic plate (49) available in the magnetic arm (48) of the robot (14) covers the cup (25). The spindle stopper arm (46) activates the spindle brake (23), so that the spindle (24) stops rotating. A thread picker (50) having a suction slot (51) travels in a plurality of axes looking for a cut thread (28). The magnetic plate (49) attracts the traveler (27) locked on the ring (26).

  FIG. 22 is an elevational view of FIG. 21, where the magnetic plate (49) covers the cup (25) and attracts the traveler (27) locked on the ring (26). The thread picker (50) is closer to the cup (25).

  FIG. 23 shows that the magnetic plate (49) moves rearward inside the magnetic arm (48), attracts the traveler (27), moves on the ring (26), advances to the front position, and advances to the thread (28). The steps for facilitating the easy insertion into the inside of the traveler (27) will be described.

  FIG. 24 shows that the traveler (27) is in the front position and the thread picker (50) inserts the thread (28) into the traveler (27) arranged by the magnetic force of the magnetic plate (49). Explain the steps to get down.

  FIG. 25 illustrates the stage in which the thread take-up tool (50) moves so as to carry the thread (28) downwardly to the front of the traveler and the thread (28) is inserted into the traveler (27).

  FIG. 26 illustrates the stage in which the thread (28) is taken by the thread picker (50) through the lappet hook (32) and any other such guiding element in the ring frame. . The yarn (28) sucked by the suction slot (51) of the yarn picker (50) is placed in front of the delivery rollers (35 and 36), and the material (34) drafted from this delivery roller appears, It is in the pneumatic filter suction part (33). When the suction slot (51) of the thread picker (50) is positioned near the delivery rollers (35 and 36), the drafted material (34) is in the suction slot (51) of the thread picker (50). The thread wick of the yarn being sucked is pneumatically by using air twisting inside the suction slot (51) or using a thread wick arm inside the suction slot (51) of the thread take-up tool (50) Is done mechanically. The spindle stopper arm (46) releases the spindle brake (23), thereby allowing the spindle (24) to rotate, so that the thread (28) begins to run and the normal ring spinning process. Is wound on the cup (25) by rotation of the traveler (27) on the ring (26), which is part of the ring. After the thread has run successfully, the various components of the robot, such as the magnetic arm (48), thread picker (50), spindle stopper arm (46), will advance to their home position and correspond to the next defective spindle position. Take the posture to do.

  In one implementation, movement of the arm of the robot (14) uses various techniques such as pneumatic, hydraulic, electric drive. The movement of the arm, the length of movement, and the rotation and turning action if necessary, can be programmed by the control system (2). The air required for the various activities is also programmable by the control system (2).

  Those skilled in the art are aware that in combination with the examples described in the embodiments disclosed herein, the unit / assembly and algorithm steps may be implemented by electronic hardware or a combination of computer software and electronic hardware. It will be. Whether the function is performed by hardware or software depends on the specific application and design constraints of the technical solution. One skilled in the art can implement the functions described for each specific application using various methods, but this implementation should not be considered beyond the scope of the present invention.

  For the sake of simplicity and conciseness, reference may be made to the corresponding processes in the device / apparatus embodiments described above with respect to the detailed working processes of the systems, robots, and units described above. Will be clearly understood by those skilled in the art.

  It should be understood that in some embodiments provided in the present application, the disclosed systems, apparatuses, robots and devices may be implemented in other ways. For example, multiple units or components or mechanisms may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the mutual coupling or direct coupling or communication connection to display or discuss may be implemented through several interfaces. Indirect coupling or communication connections between devices or units may be implemented electronically, mechanically or in other forms.

  The various mechanisms described as separate parts may or may not be physically separate, and the part displayed as a mechanism may or may not be a physical unit and is located in one position. Or may be distributed at various locations on the device. Some or all of the units may be selected to achieve the objectives of the solution of the embodiment according to actual needs.

  In addition, the mechanisms of embodiments of the present invention may be incorporated into one processing unit, or each of the mechanisms may be physically present alone, or two or more mechanisms may be combined into one mechanism. May be incorporated.

  Although methods and robots therefor for automatic thread breakage and spindle defect detection, the embodiments disclosed in the above section are not necessarily limited to the specific features or methods or devices described. Please understand that. Rather, the unique features are disclosed as examples of a method for automatic thread breakage and spindle defect detection and a robot implementation therefor.

Claims (35)

A method for cutting yarn (28) in at least one spindle of at least one ring spinning machine and / or threading of a spindle defect using a system / or robot comprising:
Detecting by means of at least one monitoring mechanism (1) the thread breakage and / or the spindle defect occurrence and transmitting / displaying at least one signal / information associated with the thread breakage and / or the spindle defect occurrence. When,
Receiving, from the monitoring mechanism, the signal / information associated with the detected thread breakage and / or the spindle defect occurrence by the robot;
By applying at least one spindle brake (23) by at least one stopper arm (16) of the robot, a cup (25) with a plurality of wound threads, and at least one traveler (27); Stopping rotation of the spindle (24) having the detected thread breakage and / or the occurrence of a spindle defect having at least one ring (26);
Suctioning the thread (28) in which the thread breakage and / or the occurrence of spindle defects has been detected by using at least one suction slot (20) of the spindle stopper arm (16);
After verification using at least one sensor (40) of the spindle stopper arm (16), the traveler (27) is preferably placed in front of the ring (26);
Holding the sucked thread (28) by using at least one thread gripper (21) of the spindle stopper arm (16);
Pulling the traveler by a magnetic force generated by using at least one magnetic strip (39) of the spindle stopper arm (16);
Move the at least one thread positioning arm (17, 29) of the robot so that the thread (28) passes through at least two thread guide rods (30, 41) of the thread positioning arm (17, 29). And letting
By moving the yarn guide rod (30) in the opposite direction, the direction of the yarn (28) is changed, so that the yarn (28) is preferably parallel to the ring rail of the ring spinning machine. To do
The thread (28) is moved by using the thread positioning arm (29) of the robot and the thread is inserted into the traveler (27) by using at least one thread pusher (31). And
The spindle stopper arm (16) releases the applied spindle brake (23), thereby resuming the rotation of the spindle, while moving the thread take-up arm (15) in the swiveling direction, Passing the yarn (28) through at least one guide element of the ring spinning machine ring frame (9) by
Receiving said yarn (28) from said yarn pick-up arm (15) by using at least two fingers (19) of said threading arm (18);
By using the threading arm (18), it approaches the at least two delivery rollers (35, 36) of the ring frame to bring the thread (28) into the finger (19) of the threading arm (18). To take from)
Suctioning the drafted material (yarn) (34) present in the robot storage unit or the delivery roller (35, 36) by using at least one suction tube (33) on the ring frame When,
Twisting the yarn (28) and the drafted material (34) together by moving the finger (19) in the opposite direction, and stringing by tying.   The spindle defect occurrence is at least one of thread breakage, spindle slip, bad spindle that produces repetitive cuts, idle spindle, low quality spindle that produces lower quality yarns that exceed the limits set by the user, or a combination thereof. The method of claim 1, wherein:   The method of claim 1, wherein the signal / information associated with the thread break and / or the spindle defect occurrence includes information regarding the detected thread break.   The signal / information associated with the thread breakage and / or the spindle defect occurrence is transmitted and optionally displayed by a display means comprising a light bulb, LED, sensor (s), or any combination thereof; The method of claim 1.   Recognizing the thread (28) sucked by the suction slot (20) using at least one sensor (22), wherein the sensor (22) is preferably capacitive or image-based The method of claim 1, wherein the method is selected from sensors.   The method of claim 1, comprising transporting the robot by using at least one transport system when the signal / information is received from the monitoring mechanism.   Detecting and capturing yarn breaks in the spindle and / or occurrence of spindle defects by using one or more image capture means, the image capture means being provided in / on the ring spinning machine Or, when positioned and capturing an image, the image capturing means sends the information (image) to at least one transportation system having the robot and material, thereby causing movement and / or stopping of the transportation system. And then transporting the robot and material to revive and resume the ring spinning machine in response to yarn breakage on any particular spindle or spindles and / or occurrence of the spindle defect. The method described.   8. The method of claim 7, comprising: scanning, by the image capture means, a continuous delivery status of yarn to a bobbin of the spindle during the movement of the robot and / or transport system and sending it to the transport system. Method.   The method of claim 1, wherein the sensor (40) is preferably selected from a visual sensor. After inserting the thread into the traveler (27) by moving the thread (28) and using at least one thread pusher (31);
Moving the thread (28) by using the thread take-up arm (15);
Holding the original position of the thread pick-up arm (15) while moving the traveler (27) in the same direction as the thread pick-up arm (15);
Sensing the movement of the traveler (27) by using at least one visual sensor (42) of the yarn positioning arm (28). After receiving the yarn (28) from the yarn picking arm (15),
The method of claim 1, comprising verifying whether the thread (28) has been received by using at least one sensor. After the yarn (28) and the drafted material are combined, twisted and tied together,
The method of claim 1, comprising continuously inserting twist into the drafted material (34), thereby continuing yarn production in the ring spinning machine. Using the robot to remove selected defects from the defective material, preferably slippery and defective spindles, in the spindle by the fingers (19) of the threading arm (18); For materials,
Using the spindle stopper arm (16) to stop the spindle (24) by pulling the spindle brake (23);
The method according to claim 1, comprising picking and loading a defective cup into the respective container (4) using the fingers (19) of the threading arm (18). Using the robot, the roving stop operation (38) is performed.
The roving stop operation (38) is activated by switching it on by using the fingers (19) of the threading arm (18), thereby automatically feeding the roving yarn material into the draft zone (37). The method according to claim 1, wherein the robot (14) starts the yarn splicing after resuming the supply and resuming the supply of the coarse yarn. A system that is automatically controllable based on at least one yarn breakage in at least one spindle of at least one ring spinning machine and / or at least one spindle defect, comprising a cut yarn (28) and Having at least one robot for the threading of the spindle defect occurrence;
At least one monitoring mechanism for detecting the thread breakage and / or the spindle defect occurrence in the spindle (24), and signals / information associated with the detected thread breakage and / or the spindle defect occurrence; Including at least one monitoring mechanism for transmitting / displaying to the robot,
In response to receipt of the signal / information, the robot traverses along the longitudinal axis of the ring spinning machine to respond / thread the yarn breakage and / or spindle defects. Carrying
The robot includes at least one thread picking arm (15), at least one spindle stopper arm (16), at least one thread positioning arm (17, 29), and at least one threading arm (18). Prepared,
The spindle stopper arm (16)
Detecting by applying at least one spindle brake (23), a cup (25) with a plurality of wound threads, at least one traveler (27), and at least one ring (26) Stopping the rotation of the spindle (24) having the yarn breakage and / or the spindle defect occurrence;
Using at least one suction slot (20) of the spindle stopper arm (16) to suck the yarn (28) in which the yarn breakage and / or spindle defect occurrence has been detected;
After verification using at least one sensor (40) of the spindle stopper arm (16), the traveler (27) is preferably placed in front of the ring (26);
Holding the suctioned thread (28) by using at least one thread gripper (21) of the spindle stopper arm (16);
For pulling the traveler by magnetic force generated by using at least one magnet strip (39) of the spindle stopper arm (16);
The yarn positioning arm (17, 29)
The thread (28) moves so as to pass through at least two thread guide rods (30, 41) of the thread positioning arm (17, 29);
By moving the yarn guide rod (30) in the opposite direction, the direction of the yarn (28) is changed, so that the yarn (28) is preferably parallel to the ring rail of the ring spinning machine. ,
For moving the thread (28) and inserting the thread into the traveler (27) by using at least one thread pusher (31);
The spindle stopper arm (16)
The applied spindle brake (23) is released, thereby resuming the rotation of the spindle, during which the thread pick-up arm (15) is moved in a pivoting direction, thereby bringing the thread (28) into the ring For passing through at least one guide element of the ring frame (9) of the spinning machine,
The threading arm (18)
Receiving the thread (28) from the thread picking arm (15) by using at least two fingers (19) of the threading arm (18);
By using the threading arm (18), it approaches the at least two delivery rollers (35, 36) of the ring frame to bring the thread (28) into the finger (19) of the threading arm (18). )
By using at least one suction tube (33) on the ring frame to suck the drafted material (thread) (34) present in the robot's storage unit or the delivery roller (35, 36);
A system in which the yarn (28) and the drafted material (34) are brought together by moving the finger (19) in the opposite direction and threaded by inserting twists and tethers. A system that is automatically controllable based on at least one yarn breakage in at least one spindle of at least one ring spinning machine and / or at least one spindle defect, comprising a cut yarn (28) and Having at least one robot for the threading of the spindle defect occurrence;
At least one monitoring mechanism for detecting the thread breakage and / or the spindle defect occurrence in the spindle (24), and signals / information associated with the detected thread breakage and / or the spindle defect occurrence; To the robot, and the spindle (24) comprises a spindle brake (23) that stops the rotation of the spindle (24), thereby at least one ring (26) associated with the spindle (24). At least one monitoring mechanism for stopping rotation of at least one cup (25) enclosed in at least one traveler (27) rotating on)
The ring spinning machine comprises a suction tube (33) and at least two delivery rollers (35, 36) on at least one ring frame (9) to supply drafted material (34);
The robot for the cut thread in the spindle (24) and / or the threading of the spindle defect occurs;
At least one spindle stopper arm (16) for pulling the spindle brake (23) and stopping the rotation of the spindle (24);
At least one thread pick-up arm (15),
At least one suction slot (20) from which the selected thread (28) from the stopped spindle (24) is sucked and advanced;
At least one sensor (22) for verifying the passage of the thread (28);
At least one thread gripper (21) that captures the thread (28) that has passed, thereby trapping the thread (28) and lowering it back into the spindle (24). )When,
At least one magnet strip (39) for exciting and applying magnetic force to reposition the traveler (27);
At least one thread pick-up arm (15), preferably comprising at least one sensor (40) facilitating the relocation to the front of the ring (26);
At least one thread positioning arm (17, 29),
At least two thread guide rods (30, 41) that allow the thread (28) to pass through the thread guide rod (41);
At least one thread pusher (31) for extruding the thread (28) in a forward direction, preferably positioned below the traveler (27), thereby inserting the thread (28) into the traveler (27) When,
At least one sensor for sensing movement of the traveler (27) and for detecting the cut yarn (28) and / or the threading of the occurrence of a spindle defect inside the traveler (27), At least one thread positioning arm (17, 29);
At least one threading arm (18),
At least two fingers (19) of the threading arm (18) for receiving the thread to be threaded from the thread picking arm (15);
And at least one threading arm (18) comprising at least one sensor for detecting the pick-up,

The threading arm (18) moves the thread (28) taken up in the finger (19) to the delivery roller (35, 36) of the ring frame, during which the drafted material (34 ) Emerges from the delivery roller (35, 36) and is sucked by the suction tube (33),
The finger (19) holding the thread (28) keeps the thread (28) close to the drafted material (34), after which the finger (19) moves in the opposite direction, By twisting and tethering the thread (28) and the drafted material (34) together to thread the cut thread and / or the spindle defect occurrence.   The spindle defect occurrence is at least one of thread breakage, spindle slip, bad spindle that produces repetitive cutting, idle spindle, low quality spindle that produces low quality yarn that exceeds limits set by the user, or any combination thereof. The system according to claim 15 or 16, wherein   17. A system according to claim 15 or 16, wherein the signal / information associated with the thread break and / or the spindle defect occurrence includes information regarding the detected thread break.   The signal / information associated with the thread breakage and / or the spindle defect occurrence is transmitted and optionally displayed by a display means comprising a light bulb, LED, sensor (s), or any combination thereof; The system according to claim 15 or 16.   The spindle stopper arm (16) comprises at least one sensor (22) for recognizing / verifying the thread (28) sucked by the suction slot (20), the sensor (22) preferably having a capacity The system of claim 15, wherein the system is selected from sex or image based sensors.   17. System according to claim 15 or 16, comprising at least one transport system for receiving said signals / information from said monitoring mechanism and thereby transporting said robot.   Detecting and capturing the yarn breakage and / or spindle defect occurrence in the spindle by using one or more image capturing means, wherein the image capturing means is provided or positioned in / on the ring spinning machine When the image is captured, the image capture means sends the information (image) to at least one transportation system having the robot and material, thereby moving (starting) and / or stopping the transportation system. Causing the robot and material to be transported to revive and resume the ring spinning machine in response to yarn breakage on any particular spindle or spindles and / or occurrence of the spindle defect. The system according to 15 or 16.   23. The system of claim 22, wherein the image capture means scans and sends the robot to the transport system for continuous delivery of yarn to a bobbin of the spindle and / or during the movement of the transport system.   The system according to claim 15 or 16, wherein the movement of the spindle stop arm (16) generates the magnetic force magnet strip (39).   17. System according to claim 15 or 16, wherein the sensor (40) is preferably selected from visual sensors. The thread is inserted into the traveler (27) by moving the thread (28) and using at least one thread pusher (31), the system comprising:
Moving the thread (28) by using the thread take-up arm (15);
While moving the traveler (27) along the same direction of the yarn picking arm (15), the original position of the yarn picking arm (15) is maintained,
17. System according to claim 15 or 16, wherein the movement of the traveler (27) is sensed by using at least one visual sensor (42) of the thread positioning arm (28).   17. System according to claim 15 or 16, comprising at least one sensor for verifying whether the thread (28) has been received from the thread pick-up arm (15).   17. System according to claim 15 or 16, wherein after threading, the system continuously inserts a twist into the drafted material (34), thereby continuing yarn production in the ring spinning. If the robot removes a defective material in the spindle, preferably selected from a slippery and defective spindle, by the finger (19) of the threading arm (18) and a defective material is detected; The robot:
Using the spindle stopper arm (16), the spindle (24) is stopped by pulling the spindle brake (23);
18. System according to claim 15, 16 or 17, wherein the fingers (19) of the threading arm (18) are used to pick up defective cups and load them into their respective containers (4). The robot performs the roving stop operation (38),
By using the finger (19) of the threading arm (18), the roving yarn stopping operation (38) is activated by switching it to ON, whereby the raw roving material charged into the draft zone (37) is constructed. The system according to claim 16, wherein the robot (14) starts the yarn splicing after resuming the automatic feeding of and restarting the feeding of the roving yarn. Robot automatically controllable based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, wherein the cut yarn and / or spindle defect A robot for generating yarn splicers,
Storage means for storing a woven or knitted material (yarn);
A receiver for receiving signals / information about the spindle of the ring spinning machine;
Control system, the following operation:
At least one spindle stopper arm (16) for stopping rotation of the spindle of the ring spinning machine having the yarn breakage and / or the spindle defect occurrence;
At least one yarn picking arm (15) for selecting the yarn having the yarn breakage and / or the spindle defect occurrence and holding the yarn;
At least one yarn positioning arm (17, 29) for arranging the yarn held on the spindle and the knitting material in line with the yarn held on the spindle, preferably parallel to the ring rail ,
At least one program module comprising at least one program module for taking up the knitting material and performing an operation of at least one threading arm (18) for holding the knitting material close to the yarn A control system having a microprocessor,
After the weaving and knitting material is taken up, when the spindle stopper arm (16) releases the spindle brake (23), the spindle (24) and the cup (25) begin to rotate, thereby The yarn picking arm (15) moves in a swiveling direction, thereby allowing the knitting material to pass through at least one guide element of the ring frame of the ring spinning machine;
The threading arm (18) is configured to move in the opposite direction, thereby inserting twists and tethers by keeping the yarn (28) and the knitting material together and thereby being cut A robot that achieves the yarn splicing and / or spindle defect occurrence. A robotic mechanism that is automatically controllable based on at least one yarn breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, wherein the cut yarn and / or spindle A robot mechanism for threading of a defect occurrence, the robot, a spindle stopper arm for stopping the spindle;
A magnetic arm comprising two magnetic plates joined together at one end;
In a robot mechanism comprising a thread picker that takes out a thread from a cup and facilitates threading,
When the thread breaks
The spindle stopper arm advances forward, locks the spindle brake, stops the spindle operably,
The magnetic arm then approaches the cup, the two magnetic plates open, cover the cup, then close again, making it easier for the magnetic plate to attract the traveler, and a thread picker with a suction slot Position properly while searching for the thread end from the bottom to the top within, so that after the thread is sucked into the thread picker, the thread is unwound from the cup and passes through the various guide elements of the ring frame Lifted to
The thread picker with the thread from the cup is further raised and delivered from a pair of front rollers and kept close to the drafted material entering the interior of the pneumatic filter duct, thereby the draft Placed into the thread picker suction slot, where the thread has already been prepared so that the thread and the drafted material are together in the suction slot of the thread picker In the state, the thread peg is pneumatically operated by using air rotation or mechanically by using a twisting arm available in the yarn picker, after which the spindle stopper arm is connected to the spindle Release the brake, thereby allowing the spindle to rotate, so that the thread begins to run. Is part of a normal ring spinning process, characterized in that it is wound on the cup by rotation of the traveler on the ring, the robot mechanism. A robot mechanism that is automatically controllable based on at least one thread breakage and / or at least one spindle defect occurrence in at least one spindle of at least one ring spinning machine, the robot comprising:
Thread take-up arm,
A robot mechanism comprising a hooker arm or a hooker-like configuration that picks up the yarn from the cup;

The hooker arm is configured to move with a circular path so that the thread is lowered with the thread so that the thread is placed under the traveler of the ring and the thread is placed within the traveler;
After the yarn is placed in the traveler, the hooker arm is adapted to perform another rotational movement so that the yarn rises and the yarn is placed between the cup and the delivery roller in the yarn guide means. And then the hooker arm is adapted to return to its initial position.   34. A mechanism according to claim 33, wherein the thread pick-up arm is adapted to ascend with the thread and to suck the drafted material emerging from the delivery roller.   34. The mechanism of claim 33, optionally with the thread picking arm itself performing a rotational movement to guide the thread into the lappet hook or any other thread guide.