An apparatus and method of robotically tying a knot that includes the steps of removing the package from the elevator tray to a knotting head apparatus at the knot-tying location where a knot is tied in a yarn tail of the package to secure the package tail from unraveling in subsequent package handling steps. Correct application of the knot to the yarn tail is either validated, or in the alternative, if the knot is not validated, the package is forwarded to a location for manual reworking to apply a correct knot to the yarn tail.

An apparatus and method of robotically tying a knot that includes the steps of removing the package from the elevator tray to a knotting head apparatus at the knot-tying location where a knot is tied in a yarn tail of the package to secure the package tail from unraveling in subsequent package handling steps. Correct application of the knot to the yarn tail is either validated, or in the alternative, if the knot is not validated, the package is forwarded to a location for manual reworking to apply a correct knot to the yarn tail.

A workstation (1) of a two-for-one twisting or cabling machine which comprises a rotatably mounted spindle (2) and a balloon-yarn-guide-eye (9) height-adjustable by means of a drive (18, 29) coupled to a control device (20) which controls the drive (18, 29) in such a manner that it displaces the balloon-yarn-guide-eye (9) between operating positions (AP.sub.1, AP.sub.2) dependent upon production parameters and a resting position (RS) advantageous in the case of production interruptions and transient operating phases associated with the latter. A device (21, 23, 24, 25) is present for detecting a measured value (i), which is made available to the control device (20) and which causes the control of the drive (18, 29) to change the position of the balloon-yarn-guide-eye (9).

A workstation (1) of a two-for-one twisting or cabling machine which comprises a rotatably mounted spindle (2) and a balloon-yarn-guide-eye (9) height-adjustable by means of a drive (18, 29) coupled to a control device (20) which controls the drive (18, 29) in such a manner that it displaces the balloon-yarn-guide-eye (9) between operating positions (AP.sub.1, AP.sub.2) dependent upon production parameters and a resting position (RS) advantageous in the case of production interruptions and transient operating phases associated with the latter. A device (21, 23, 24, 25) is present for detecting a measured value (i), which is made available to the control device (20) and which causes the control of the drive (18, 29) to change the position of the balloon-yarn-guide-eye (9).

A method for operating a spindle (2) of a two-for-one twisting or cabling machine which comprises an adjustable balloon-yarn-guide-eye (9), wherein for the operation of the spindle (2) under production conditions, the balloon-yarn-guide-eye (9) is adjusted, on the basis of a measured value (i) correlating with the energy consumption of the spindle drive (3), to a first operating position (AP.sub.1), in which a position-dependent minimum of the energy consumption of the spindle drive (3) is reached.

A method for operating a spindle (2) of a two-for-one twisting or cabling machine which comprises an adjustable balloon-yarn-guide-eye (9), wherein for the operation of the spindle (2) under production conditions, the balloon-yarn-guide-eye (9) is adjusted, on the basis of a measured value (i) correlating with the energy consumption of the spindle drive (3), to a first operating position (AP.sub.1), in which a position-dependent minimum of the energy consumption of the spindle drive (3) is reached.

The invention relates to a spinning preparation machine having at least one consolidating means for producing a roving (3) that has a protective twist and that is made of a fiber bundle (4) supplied to the consolidating means, having a drafting system (5) for drafting the fiber bundle (4) before the latter enters the consolidating means, wherein the drafting system (5) is arranged upstream of the consolidating means in a transport direction (T) of the drafting system (5), having a guide (6) arranged upstream of the drafting system (5) in the aforesaid transport direction (T) for guiding the fiber bundle (4) between a container (7) providing the fiber bundle (4) and the drafting system (5), wherein the guide (6) has a feed segment (8) facing away from the drafting system (5) for the fiber bundle (4) originating from the container (7) when the spinning preparation machine (1) is in operation, and has a delivery segment (9) facing the drafting system (5) for the fiber bundle (4), wherein the spinning preparation machine (1) has a winding device (10) for winding the roving (3) onto a tube (11), and wherein the spinning preparation machine (1) has a tube transport device (12) for providing empty tubes (11) and/or for removing tubes (11) loaded with roving (3) by means of the winding device (10). In accordance with the invention it is suggested that the tube transport device (12) comprises at least one conveyor (13) for transporting empty tubes (11) and/or tubes (11) loaded with roving (3), wherein the conveyor(s) (13), in a top view of the spinning preparation machine (1), are arranged at least in part between the feed segment (8) of the guide (6) and the drafting system (5).

The invention relates to a spinning preparation machine having at least one consolidating means for producing a roving (3) that has a protective twist and that is made of a fiber bundle (4) supplied to the consolidating means, having a drafting system (5) for drafting the fiber bundle (4) before the latter enters the consolidating means, wherein the drafting system (5) is arranged upstream of the consolidating means in a transport direction (T) of the drafting system (5), having a guide (6) arranged upstream of the drafting system (5) in the aforesaid transport direction (T) for guiding the fiber bundle (4) between a container (7) providing the fiber bundle (4) and the drafting system (5), wherein the guide (6) has a feed segment (8) facing away from the drafting system (5) for the fiber bundle (4) originating from the container (7) when the spinning preparation machine (1) is in operation, and has a delivery segment (9) facing the drafting system (5) for the fiber bundle (4), wherein the spinning preparation machine (1) has a winding device (10) for winding the roving (3) onto a tube (11), and wherein the spinning preparation machine (1) has a tube transport device (12) for providing empty tubes (11) and/or for removing tubes (11) loaded with roving (3) by means of the winding device (10). In accordance with the invention it is suggested that the tube transport device (12) comprises at least one conveyor (13) for transporting empty tubes (11) and/or tubes (11) loaded with roving (3), wherein the conveyor(s) (13), in a top view of the spinning preparation machine (1), are arranged at least in part between the feed segment (8) of the guide (6) and the drafting system (5).

An apparatus for servicing a twisting machine. The apparatus includes an automated guided vehicle (AGV), a robotic arm having an end effector coupled to the AGV, and a rack carried by the AGV. The rack is configured to hold a plurality of empty tubes and a plurality of yarn packages. A controller that is configured to cause the robotic arm to grip, by the end effector, a handle of a row of the twisting machine, lower a receptacle of the twisting machine to a loading position, remove an empty tube from a first receptacle of the at least one receptacle, place the empty tube on the rack, lift a yarn package from the rack, place the yarn package on the first receptacle, grip the handle of the row of the plurality of rows of the twisting machine, and raise the at least one receptacle to the operational position.

A self-driving vehicle for transporting a receiving container for a fibre sliver over an underlying surface between sliver-delivering and sliver-fed textile machines. The vehicle has an undercarriage with a plurality of wheels, a vehicle body supported by the undercarriage, a transport surface for the receiving container, fastening elements for fastening the receiving container to the vehicle body, an on-board electrical system having an electrical energy storage means, an electrical drive unit and a control unit. The wheels include two fixed wheels aligned in a longitudinal direction of the vehicle and having rotational axes fixed with respect to the vehicle body and at least one spring-mounted support wheel supported on the vehicle body via a spring arrangement and configured to be freely pivotable about a pivot axis. The invention also relates to a can device having a receiving container for a fibre sliver and the self-driving vehicle.