DESC:Field of Invention
The present invention relates to a method for location identification of the drafting system during piecing operation of a service robot in Ring Spinning machine.

Background of Invention
When a yarn breaks in a Ring frame spindle position, the production is resumed by mending the broken yarn. The broken yarn from the bobbin is taken through the traveller and other guiding elements like balloon control ring, lappet hook etc., and finally the yarn is joined along with the drafted material which is continuously getting delivered in the drafting system of Ring frame.

The broken yarn can be either pieced below the front pair of drafting rollers or just before the same. The former method is called as under piecing and the latter is called as over piecing. Method of piecing operation depends on the piecing operator skills, end use and quality requirements. Mostly over piecing is preferred since the piecing defect gets identified by the Autowinder clearer as a fault and removed.

In case of over piecing, the broken yarn is taken above the front top roller and laid along with the drafted material in between the front and middle pair of drafting rollers. Now-a-days, service robots are made available to perform Ring frame yarn piecing operations. In case of a service robot, the arm of service robot takes the yarn and does piecing operation.

Top rollers of drafting system are mounted in the top arm of the drafting system. Generally, top rollers are negative driven, free to move sideward to some extent after mounted in the top arm. Hence it is a challenge for a service robot to make a successful piecing operation with the variations in the mounting position & running conditions of the drafting rollers in a Ring frame.

To overcome this challenge, the present invention attempts to sense the position of the drafting system and then do the piecing operation for a successful piecing of yarn.

Summary of Invention
The following presents a simplified summary of the invention to provide basic understanding of some aspects of the invention, neither to identify the critical elements nor to delineate the scope of the invention. Its sole purpose is to present some concept of the invention in a simplified form, as a prelude to a more detailed description of the invention presented later.

The present invention relates to a method for location identification of the drafting system during piecing operation of a service robot in Ring Spinning machine.

The present invention is incorporated in the yarn laying arm of a service robot or any component attached to it while doing the yarn piecing operation. The yarn laying arm of the service robot holds the broken yarn and approaches the drafting system for doing the piecing operation. Piecing can be either over piecing or under piecing. In case of over piecing, the yarn laying arm approaches the front top roller of the drafting system for piecing. During that time, a proximity sensor mounted either directly in the yarn laying arm or by means of any separate mounting bracket attached to the yarn laying arm approaches near any one of the rollers or any elements in the drafting system of the Ring frame. The proximity sensor senses the distance from any one component of the drafting system. For example, the proximity sensor may sense the distance from the front top roller of the drafting system. Once it reaches the pre-configured distance from any one component of the drafting system, the yarn laying arm start its piecing operation. The yarn laying arm is moved towards any one component of the drafting system to reach the pre-configured distance and once it reaches, further piecing operations begin.

The yarn laying arm shall have one or more proximity sensors attached to it. This is needed for either left side or right side piecing which is based on the yarn break spindle position.

Other aspects, advantages and salient features of the invention will become apparent to those skilled in the art from the detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the invention.

Brief Description of the accompanying drawings
The above and other features, aspects, and advantages of the subject matter will be better understood with regard to the following description and accompanying drawings.

Figure 1 illustrates a service robot with yarn laying arm according to one embodiment of present invention.

Persons skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figure may be exaggerated relative to other elements to help to improve understanding of various exemplary embodiments of the present disclosure. Throughout the drawings, it should be noted that like reference numbers are used to depict the same or similar elements, features, and structures.

Detailed Description of the Invention
The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the invention. It includes various specific details to assist in that understanding but these are to be regarded as merely exemplary.

Accordingly, those of ordinary skill 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 structure and method are omitted for clarity and conciseness.

The terms and words used in the following description and claims are not limited to the bibliographical meanings, but, are merely used by the inventor to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

It should be emphasized that the term “comprises/comprising” if used in this specification is taken to specify the presence of stated features, integers, steps or component but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

The present invention relates to a service robot (1) for piecing a broken yarn (4) in a Ring frame wherein the service robot (1) is equipped with a yarn laying arm (2);
characterized in that:
- said yarn laying arm (2) consists of one or more proximity sensors (3);
- said proximity sensors (3) is adapted to sense any one of the components of a drafting system (6) of the Ring frame; and
- said yarn laying arm (2) approaches near to any one components of the drafting system (6) until the proximity sensors (3) senses the exact required distance from any one of the components of the drafting system (6) to the yarn laying arm (2).

In an embodiment of present invention, said one components of the drafting system (6) sensed by the proximity sensors (3) is front top roller (5).

In another embodiment of present invention, said proximity sensors (3) are arranged in both sides of said Yarn laying arm (2) so that the right and left side piecing operations are carried out in a drafting system assembly by the service robot (1).

According to another embodiment of present invention, a method for location identification of a drafting system during piecing operation of a broken yarn by a service robot in Ring Spinning machine is disclosed. The service robot (1) is equipped with a yarn laying arm (2); the method comprising
- sensing, by one or more proximity sensors attached to the yarn laying arm (2) directly or attached through any separate attachments connected to the yarn laying arm (2), the location of any of the components of the drafting system (6);
- holding the broken yarn by the yarn laying arm (2);
- approaching, by the yarn laying arm (2), the drafting system (6) of the Ring frame based on the sensed location by one or more proximity sensors and once the required distance is reached, performing the exact piecing operation by the yarn laying arm (2).

In a further embodiment of present invention said one components of the drafting system (6) sensed by the proximity sensors (3) is front top roller (5).

In yet another embodiment of present invention, said proximity sensors (3) are arranged in both sides of said Yarn laying arm (2) so that the right and left side piecing operations are carried out in a drafting system assembly by the service robot (1).

Fig 1 shows the service robot (1) with yarn laying arm (2). The yarn laying arm (2) as shown in the figure contains proximity sensors (3). One or more proximity sensors (3) can be attached to the yarn laying arm (2) directly or it can be attached through any separate attachments connected to the yarn laying arm (2). The yarn laying arm (2) holds the broken yarn (4) and approaches the drafting system (6) of the Ring frame. The proximity sensor (3) can sense any of the components of the drafting system (6) for an accurate yarn piecing operation. One example cited in Fig 1 is sensing of front top roller (5) of the drafting system (6). The yarn laying arm (2) approaches near to the front top roller (5) and once the required distance is reached, the exact piecing operation gets done by the yarn laying arm (2). The shown figure explains about the arrangement of two proximity sensors (3) on both sides of the yarn laying arm (2) so that the right and left side piecing operations can be carried out based on the yarn break spindle position in Ring frame.

Salient Features of the Invention
1. Yarn laying arm (2) of the service robot (1) carries proximity sensors (3).
2. The proximity sensors (3) sense any one or more components of the drafting system (6). For example, here the proximity sensors (3) sense the front top roller (5) of the drafting system (6).
3. The yarn laying arm (2) holds yarn (4) and approaches the drafting system (6) for piecing operation.
4. When the yarn laying arm (2) approaches the drafting system (6), the proximity sensor (3) senses the distance from one or more components of the drafting system (6).
5. As an example, the proximity sensor (3) senses the distance from the front top roller (5).
6. Once the pre-configured distance is reached, the yarn laying arm (2) proceeds further for yarn piecing operation.
,CLAIMS:1. A service robot (1) for piecing a broken yarn (4) in a Ring frame wherein the service robot (1) is equipped with a yarn laying arm (2);
characterized in that:
- said yarn laying arm (2) consists of one or more proximity sensors (3);
- said proximity sensors (3) is adapted to sense any one of the components of a drafting system (6) of the Ring frame; and
- said yarn laying arm (2) approaches near to any one components of the drafting system (6) until the proximity sensors (3) senses the exact required distance from any one of the components of the drafting system (6) to the yarn laying arm (2).

2. The service robot as claimed in claim 1, wherein said one components of the drafting system (6) sensed by the proximity sensors (3) is front top roller (5).

3. The service robot as claimed in claim 1, wherein said proximity sensors (3) are arranged in both sides of said Yarn laying arm (2) so that the right and left side piecing operations are carried out in a drafting system assembly by the service robot (1)

4. A method for location identification of a drafting system during piecing operation of a broken yarn by a service robot in Ring Spinning machine; wherein said service robot (1) is equipped with a yarn laying arm (2); the method comprising
- sensing, by one or more proximity sensors attached to the yarn laying arm (2) directly or attached through any separate attachments connected to the yarn laying arm (2), the location of any of the components of the drafting system (6);
- holding the broken yarn by the yarn laying arm (2);
- approaching, by the yarn laying arm (2), the drafting system (6) of the Ring frame based on the sensed location by one or more proximity sensors and once the required distance is reached, performing the exact piecing operation by the yarn laying arm (2).

5. The method as claimed in claim 4, wherein said one components of the drafting system (6) sensed by the proximity sensors (3) is front top roller (5).

6. The method as claimed in claim 4, wherein said proximity sensors (3) are arranged in both sides of said Yarn laying arm (2) so that the right and left side piecing operations are carried out in a drafting system assembly by the service robot (1)