JP2011162351A - Doffing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a doffing apparatus presenting a configuration that can perform only situation-sensitive required operations, skipping unnecessary operations, and performing only least required operations. <P>SOLUTION: A textile machine represented by an automatic winder or a spinner includes a plurality of winding units arranged in a row, and the doffing apparatus capable of running in an arrangement direction of the plurality of winding units. The winding units wind on a winding tube 7 a spun yarn that is unwound from a plurality of yarn supplying bobbins while performing yarn joining thereby creating a fully-wound package of a specific yarn amount. The doffing apparatus of the automatic winder includes, for example, a cradle opener 32 that performs opening/closing operation and raising/lowering operation of a cradle 12, and a yarn catching unit 60 that catches a yarn end on the yarn supplying bobbin 5 side and guides the yarn end to a winding tube 7. The cradle opener 32 is raised or lowered by a fluid pressure cylinder 38 and opened or closed by a driving motor 52. The yarn catching unit 60 is driven by a driving source 62. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a doffing apparatus.

  Textile machines such as automatic winders and spinning machines having a winding device for winding a yarn around a winding tube supported by a cradle and forming a package and a doffing device for discharging a full package are known. Yes. When a full package is formed, such a doffing device for a textile machine opens a cradle, pays out the package, and then supplies an empty winding tube with no yarn wound around the cradle. The winding tube is attached, the cradle is closed, and the yarn is attached to the winding tube attached to the cradle. In a conventional doffing apparatus, a full-package discharge operation, a take-up tube supply operation, a take-up tube attachment and a yarn attachment operation to the take-up tube are performed as a series of operations (for example, Patent Documents 1 and 2).

Japanese Patent Laying-Open No. 2008-162712 (FIG. 2) Japanese Patent Laying-Open No. 2005-211988 (FIG. 1)

  By the way, like the doffing apparatus as described above, when performing the supply operation of the take-up tube, the attachment of the take-up tube and the attachment operation of the yarn to the take-up tube as a series of operations, these operations are performed. Generally, the mechanisms to be performed are connected by a cam or the like and driven by one drive source. However, in this case, since each operation cannot be performed independently, for example, the package is not supported by the cradle, and there is no need to pay out. When driven by a drive source, a payout operation is performed. Then, the cycle time becomes long due to unnecessary operations.

  Also, after the package where the yarn is currently wound up due to lot change, etc., becomes full, even if the winding device does not wind up, the winding tube is supplied after the full package is delivered. And attached to the winding tube. Then, this winding tube was useless and had to be removed manually. In order to avoid this problem, stop the doffing device and check the winding amount to the winding tube. When the package is full, the winding device can be stopped. Even so, this package still had to be removed manually. As described above, unnecessary operations have resulted in poor efficiency, such as a long cycle time and manpower.

  Therefore, an object of the present invention is configured so that only necessary operations according to the situation can be performed, and it is possible to omit unnecessary operations and perform only minimum operations. Thereby, the doffing apparatus which can perform the doffing operation | work efficiently is provided.

  The doffing device according to the present invention includes a yarn supplying unit that supplies a yarn and a winding tube holding unit that holds the winding tube, and the yarn supplied from the yarn supplying unit is supplied to the winding tube holding unit. A doffing device that performs a doffing operation on a winding device that forms a package by winding it around the held winding tube, wherein the doffing device is configured to attach and detach the winding tube. An operation unit that operates the tube holding unit, a winding tube supply unit that supplies the winding tube to the winding tube holding unit, and a yarn that is supplied from the yarn supplying unit is captured and guided to the winding tube. A yarn guide unit, an operation unit drive source that drives the operation unit, and a preparation unit drive source that is provided independently of the operation unit drive source and drives the winding tube supply unit and the yarn guide unit And.

  According to the doffing device of the present invention, the drive source that drives the operation unit and the drive source that drives the winding tube supply unit and the yarn guide unit are provided separately. Therefore, only necessary operations according to the situation can be performed, and only necessary minimum operations such as omitting unnecessary operations can be performed. As a result, an efficient doffing operation such as shortening the cycle time can be performed. Further, unnecessary operations can be omitted depending on the situation, and only necessary operations can be performed. Therefore, it is possible to improve the life of components and reduce the occurrence of troubles such as failures.

  Further, the detaching operation for removing the package from the winding tube holding portion is an operation for raising and opening the winding tube holding portion, and attaching the winding tube to the winding tube holding portion. The operation is an operation for lowering and closing the take-up tube holding unit, and the operation unit preferably causes the take-up tube holding unit to both open and close and raise and lower.

  Furthermore, the operation unit drive source has a first drive source for causing the operation unit to open and close the winding tube holding unit, and for causing the operation unit to perform the raising and lowering operation of the winding tube holding unit. And the second drive source. According to this, the opening / closing operation | movement and raising / lowering operation of a winding tube holding | maintenance part can be performed independently.

  The control unit further controls the first drive source and the second drive source, and the control unit drives the second drive source in accordance with a set value that has been set, so that the operation is performed. Performing the removal operation of the package by causing the unit to raise and lower the winding tube holding unit, driving the first drive source, and causing the operation unit to open and close the winding tube holding unit. Also good. According to this, the package can be removed by independently controlling the first drive source and the second drive source.

  At this time, a signal receiving unit that receives a signal related to the shape of the winding tube transmitted by the winding device, and a storage unit that stores an ascending / descending amount of the winding tube holding unit according to the shape of the winding tube And the control unit reads a lifting amount of the winding tube holding unit according to a signal related to the shape of the winding tube as a set value from the storage unit, and the second drive source It is preferable to execute the removal operation of the package by driving the. According to this, according to the shape of a winding tube, the raising / lowering amount of a winding tube holding | maintenance part can be varied, and the removal according to the shape of a winding tube is attained.

  The control unit further includes a control unit that controls driving of the operation unit drive source and the preparation unit drive source, and the control unit operates the operation unit to remove the package from the winding tube holding unit. A detaching operation for removing, a supplying operation for supplying the winding tube to the winding tube holding unit by the winding tube supplying unit, and a guiding operation for guiding the yarn to the winding tube by the yarn guiding unit. A first mode executed by controlling driving of the operation unit drive source and the preparation unit drive source, and a removal operation of removing the package from the take-up tube holding unit by operating the operation unit. It is preferable that the second mode executed by controlling the driving of the unit drive source can be selected. According to this, by appropriately selecting the first mode or the second mode according to the situation, unnecessary operations can be omitted and only necessary operations can be executed.

  At this time, it further includes a sensor that detects the presence or absence of the package held in the winding tube holding unit, and a signal receiving unit that receives a doffing signal transmitted from the winding device, The control unit is configured to select the first mode when the signal receiving unit receives a doffing signal, and when the first mode is selected, the package is wound by the sensor. When it is detected that it is held in the intake tube holding unit, it controls the driving of the operation unit drive source and the preparation unit drive source so as to execute the removal operation, the supply operation, and the guide operation. When the first mode is selected and the sensor detects that the package is not held by the take-up tube holder, the supply operation and the guide operation are executed. It is preferable to control the driving of sea urchin the preparation unit driving source. According to this, the removal operation of the package can be omitted in the first mode in accordance with the presence / absence of the package held in the winding tube holding unit. When there is no package, the operation unit drive source is driven. It is possible to stop and start the driving of only the preparation unit driving source, and only the winding tube can be attached without removing the package.

  The signal receiving unit is configured to receive a lot change signal, and the control unit selects the second mode when the signal receiving unit receives the lot change signal, and drives the operation unit. Preferably, only the removal operation is performed by controlling the drive of the source. According to this, the supply operation and the guide operation are omitted, an unnecessary winding tube is not attached to the winding tube holding portion after the package is removed, and it is not necessary to manually remove the winding tube.

  A drive source for driving the operation unit and a drive source for driving the take-up tube supply unit and the yarn guide unit are individually provided. Therefore, only necessary operations according to the situation can be performed, and only necessary minimum operations such as omitting unnecessary operations can be performed. As a result, an efficient doffing operation such as shortening the cycle time can be performed.

It is a schematic front view of the automatic winder which concerns on 1st Embodiment of this invention. It is a schematic side view of one winding unit and doffing device of an automatic winder. It is a perspective view when an open lever is located in a lower end position and a closed position. It is a perspective view when an open lever is located in an upper end position and an open position. It is sectional drawing of the A section of a cradle opener. It is a control block diagram of an automatic winder. It is a schematic front view of the spinning machine which concerns on 2nd Embodiment of this invention. It is a schematic side view of one spinning unit and a doffing device of a spinning machine. It is the elements on larger scale of the doffing apparatus provided in the spinning machine for demonstrating the first half process of the doffing operation, (a) is just before a doffing signal is output, (b) is a doffing signal. It is just before opening the cradle after receiving. It is the elements on larger scale of the doffing apparatus of the spinning machine for demonstrating the latter half process of the doffing operation | movement, (a) is immediately after opening a cradle after receiving the doffing signal, (b) is the end of the doffing operation. It's time. It is a side view of the chucker mechanism provided in the doffing device of the spinning machine, (a) is when the chucker arm is in the retracted position, (b) is when the chucker arm is in the supply position. It is a control block diagram of a spinning machine. It is a flowchart explaining operation | movement of the doffing apparatus of a spinning machine.

<First Embodiment>
Next, a first embodiment of the present invention will be described. In this embodiment, an example in which the present invention is applied to a doffing device for an automatic winder will be described. First, the configuration of the automatic winder will be described. FIG. 1 is a schematic front view of an automatic winder according to a first embodiment of the present invention. FIG. 2 is a schematic side view of one winding unit and a doffing device of an automatic winder. As shown in FIGS. 1 and 2, the automatic winder 1 includes a plurality of winding units 2 (winding devices) and a plurality of winding units 2 arranged in a row direction (paper surface thickness direction in FIG. 1). And a doffing device 3 that can travel along.

  The winding unit 2 winds the spun yarn Y unwound from the plurality of yarn supplying bobbins 5 around the winding tube 7 while splicing to form a full package 6 having a predetermined yarn amount. . In the winding unit 2, a tray 11 is disposed at the lower end and a cradle 12 (winding tube holding portion) is disposed at the upper end, and the spun yarn Y unwound from the yarn feeding bobbin 5 supported by the tray 11 is It is clamped by the cradle 12 so as to be rotatable, and is wound up on the winding tube 7 that rotates following the rotation of the traverse drum 13.

  The winding unit 2 is arranged in order from bottom to top along the yarn path from the yarn feeding bobbin 5 supported by the tray 11 to the winding tube 7 held by the cradle 12 (upstream along the yarn traveling direction). (From the side to the downstream side) having a yarn joining device 20, a yarn defect removing device 19 for detecting a yarn defect such as a slab, and a traverse drum 13 for rotating the winding tube 7 sandwiched by the cradle 12. ing. Although not shown, the winding unit 2 unloads the yarn supply bobbin 5 on which all the spun yarn Y has been unwound and replaces it with the yarn supply bobbin 5 on which the spun yarn Y is wound. Between the yarn feeding bobbin 5 and the package 6 when the yarn defect removing device 19 detects a yarn defect or when the package 6 is doffed below the exchange device and the yarn defect removing device 19 and above the yarn joining device 20. A cutter that cuts the connected spun yarn Y, a yarn suction guide device that sucks the spun yarn Y cut by the cutter and introduces the spun yarn Y into the yarn joining device 20 are provided. The yarn splicing operation using the yarn splicing device 20 or the like is a conventionally known technique described in, for example, Japanese Patent Application Laid-Open No. 2009-084023, and the description thereof is omitted.

  The traverse drum 13 is driven by a drive motor 47 (see FIG. 6) to rotate in a predetermined winding direction. A traverse groove is formed on the surface of the traverse drum 13, and the spun yarn Y is wound around the winding tube 7 while traversing along the traverse groove. Instead of the traverse drum 13, a simple drive drum in which no groove is formed may be used and a separate traverse device may be provided.

  As shown in FIGS. 3 and 4, the cradle 12 has two cradle arms 12a and 12b that rotatably hold the winding tube 7 from both ends, and a rotary shaft 14 on the center upper surface in the length direction of one cradle arm 12a. And a cradle lever 12c extending substantially parallel to the cradle arm 12a. The cradle arm 12a is protruded in the axial direction of the wound take-up tube 7 and is slidable with respect to the raised portion 12d. The cradle arm 12a is inserted into the tube of the take-up tube 7 and 7 has a sliding portion 12e that rotatably holds the slider 7 with the cradle arm 12b. The sliding portion 12e is biased in a direction away from the convex portion 12d (a direction approaching the sandwiched winding tube 7). The cradle lever 12c is connected to a fixture 15 fixed to the sliding portion 12e and operates integrally with the sliding portion 12e.

  When a horizontal force acts in a direction away from the winding tube 7 (hereinafter referred to as an opening direction) from the doffing device 3 to be described later to the cradle lever 12c, the cradle lever 12c swings in the opening direction around the rotation shaft 14. Accordingly, the sliding portion 12e slides toward the convex portion 12d together with the fixture 15. Then, the sliding portion 12e is separated from the cylinder of the winding tube 7, the cradle 12 is opened, and the winding tube 7 can be detached from the cradle 12. Further, when the force acting on the cradle lever 12c is released, the cradle lever 12c is closed in a closing direction by a biasing force in a direction away from the convex portion 12d of the sliding portion 12e (hereinafter referred to as a closing direction opposite to the opening direction). The sliding portion 12e is inserted into the cylinder of the take-up tube 7 with the swinging motion, and the cradle 12 is closed, so that the take-up tube 7 can be rotatably held. As described above, the cradle 12 is opened and closed by the swing of the cradle lever 12 c, and the winding tube 7 can be attached to the cradle 12.

  Further, as shown in FIG. 2, the cradle 12 can be moved up and down by swinging around the rotating shaft 16. When the doffing device 3 lifts the cradle lever 12c upward, the cradle 12 rises up to the package removal position of the package 6 about the rotation shaft 16, and when the cradle lever 12c is pushed downward, the cradle 12 is pinched. The take-up tube 7 is lowered to the winding position where it contacts the traverse drum 13.

  When the package 6 supported by the cradle 12 is in a state where a desired yarn amount is wound (full pipe), the doffing device 3 raises the cradle 12 to the package removal position, and the package 6 supported by the cradle 12 is moved to the package 6. Separated from the traverse drum 13, the cradle 12 is opened, and the package 6 is removed from the cradle 12 and dispensed. The discharged package 6 is discharged to the transport device 61 through the package guide 28. Above the cradle 12, a take-up tube storage section 4 in which a plurality of empty take-up tubes 7 around which the spun yarn Y is not wound is stored is disposed. The winding tube 7 received from the winding tube storage section 4 is moved between the two cradle arms 12a and 12b by a chucker 33 to be described later of the doffing device 3 while being opened. By sandwiching and closing the cradle 12, the winding tube 7 is sandwiched from both ends and attached to the cradle 12.

  Next, the doffing device 3 will be described. As shown in FIG. 2, the doffing device 3 is disposed on the frame 30 of the automatic winder 1 and travels above the winding unit 2 along a rail 31 that extends in the direction in which the winding units 2 are arranged. When the package 6 of the winding unit 2 becomes full, it stops at a predetermined position and performs a doffing operation. The doffing device 3 includes a cradle opener 32 that operates the cradle 12, a chucker 33 that holds the take-up tube 7 of the take-up tube storage unit 4 and carries the cradle 12 to a position where the take-up tube 7 can be sandwiched, And a sensor 51 that detects the presence or absence of the package 6 supported by the cradle 12.

  The cradle opener 32 (operation unit) has a lever drive mechanism 34 and an open lever 37 as shown in FIGS. The lever driving mechanism 34 is fixed to a swinging portion 34a connected to a base end portion of a first lever 37a described later of the open lever 37, and a rotating shaft 36 protruding in the axial direction of the traverse drum 13 from the frame 35. A support portion 34c that is rotatable with respect to the frame 35 and supports the swinging portion 34a so as to be swingable about the rotation shaft 34b, a drive motor 52 that rotationally drives the rotation shaft 36, and a support for the swinging portion 34a. And a fluid pressure cylinder 38 that is driven to swing relative to the portion 34c. The oscillating portion 34a is urged by a torsion spring 34d in a direction toward the support portion 34c with the rotation shaft 34b as an axis. The swinging portion 34a can swing around the rotation shaft 34b by the advance and retreat of the rod 38a protruding from the fluid pressure cylinder 38 fixed to the support portion 34c. From the closed position where the rod 38a is retracted. It can move to the open position where it has advanced.

  The open lever 37 is fixed to the swinging portion 34 a and extends in the radial direction of the rotary shaft 36. The open lever 37 protrudes upward from the vicinity of the tip of the first lever 37 a and is supported by the cradle 12. 7 and a second lever 37b bent in the opposite direction (left side in FIG. 3). The open lever 37 can be rotated together with the rotary shaft 36 by fixing the support portion 34 c of the cradle opener 32 to the rotary shaft 36. The rotating shaft 36 is connected to a stopper 39, and the stopper 39 can move in a notch 40 a formed in a circular plate 40 installed in the frame 35 along the circumferential direction of the rotating shaft 36. It has become. Therefore, the open lever 37 can be rotated by the movable range of the stopper 39 along the notch 40a.

  As shown in FIG. 3, the rod 38 a of the fluid pressure cylinder 38 is in a state where the cradle 12 is closed and in the winding position, and the winding tube 7 supported by the cradle 12 is in contact with the traverse drum 13. When the retracting lever 37 is in the closed position and the rotating shaft 36 is rotated in the clockwise direction when viewed from the left (X direction) in FIG. As a result, the front end side of the open lever 37 is lowered to the lower end position, the second lever 37b contacts the upper surface of the cradle lever 12c, and the first lever 37a intersects the cradle lever 12c when viewed from the X direction. Thus, when the cradle 12 is in the closed state, the first lever 37 a does not intersect the rotation locus of the open lever 37.

  In the state where the open lever 37 is at the lower end position, the cradle 12 is in the closed state and in the winding position, and the first lever 37a intersects the cradle lever 12c when viewed from the X direction, When the rod 38a of the cylinder 38 is advanced, the first lever 37a swings while pushing the cradle lever 12c in the opening direction, and the cradle 12 is opened and the winding tube 7 is removed by opening the open lever 37. It becomes possible. Further, since the first lever 37a intersects the cradle lever 12c on the rotation locus while swinging while pushing the cradle lever 12c in the opening direction, the counterclockwise when the rotation shaft 36 is viewed from the X direction. When rotated in the circumferential direction, the distal end side of the open lever 37 rises around the rotation shaft 36, the distal end portion of the first lever 37a contacts a part of the lower surface of the cradle lever 12c, and pushes up the cradle lever 12c. Then, when the front end side of the open lever 37 is raised to the upper end position and swings to the open position, as shown in FIG. 4, the cradle 12 is in the open state to the package removal position, and the package 6 can be discharged from the cradle 12. it can. As described above, in this embodiment, the rod 38a of the fluid pressure cylinder 38 is advanced to swing from the closed position to the open position, and the counterclockwise when the rotary shaft 36 is viewed from the X direction by the drive motor 52. Since the cradle 12 is rotated in the circumferential direction, the cradle 12 transitions from the closed state to the open state while moving from the winding position to the package removal position.

  The open lever 37 stops at the lower end position when the second lever 37b comes into contact with the upper surface of the cradle lever 12c of the cradle 12 in the winding position. At this time, the stopper 39 and the notch 40a A minute gap is formed between the one end and the open lever 37 can be lowered slightly. Further, the open lever 37 stops at the upper end position when the first lever 37a comes into contact with the lower surface of the cradle 12 at the package removal position, and between the stopper 39 and the other end of the notch 40a. A minute gap is generated, and the open lever 37 can be raised a little more.

  The sensor 51 is an optical sensor having a light emitting part and a light receiving part. When light emitted from the light emitting part is reflected by the package 6 supported by the cradle 12 and received by the light receiving part, the sensor 51 is attached to the cradle 12. When the light receiving unit does not receive light, it is detected that the package 6 is not supported by the cradle 12, and the detection result is transmitted to the doffing controller 42 described later of the doffing device 3.

  Next, the control configuration of the automatic winder 1 will be described with reference to FIG. FIG. 6 is a control block diagram of the automatic winder. As shown in FIG. 6, as a control configuration of the automatic winder 1, each winding unit 2 has a unit controller 41, and the doffing device 3 has a doffing controller 42 (control unit), and a plurality of unit controllers 41 and the doffing controller 42 are both connected to the machine base controller 43 via a communication network.

  With the above configuration, the doffing signal transmitted from the unit controller 41 can be transmitted to the doffing controller 42 via the machine controller 43. The machine controller 43 is located at the end of the machine and controls the entire machine. The machine controller 43 is connected to the unit controller 41 and the doffing controller 42 via the communication network. Various set values such as the shape of the supported winding tube 7 can be transmitted.

  Connected to the unit controller 41 of the winding unit 2 are a drive motor 46 for driving the yarn joining device 20, a drive motor 47 for rotating the traverse drum 13, and a yarn defect removing device 19.

  The doffing controller 42 of the doffing device 3 includes a fluid pressure cylinder 38 (first driving source) that opens and closes the cradle opener 32 to open and close the cradle 12, and a cradle opener 32 to drive the cradle 12 up and down. A sensor 51 is connected to a drive motor 52 (second drive source) that lifts and lowers, a drive motor 54 that rotationally drives a wheel 53 that causes the doffing device 3 to travel along the direction in which the winding units 2 are arranged. Yes. Further, the doffing controller 42 includes a storage unit 55 that stores the lift amount of the cradle 12 according to the shape of the winding tube 7 and a signal receiving unit 56 that receives a signal from the machine controller 43.

  Next, the doffing operation will be described. When the spun yarn Y unwound from the yarn feeding bobbin 5 is wound, the cradle 12 is in the winding position, and the package 6 supported by the cradle 12 is brought into contact with the traverse drum 13 to rotate the traverse drum 13. Accordingly, the spun yarn Y is wound up by being driven to rotate. When the yarn length measured from the accumulated value of the pulses corresponding to the rotational speed of the traverse drum 13 reaches a predetermined length, the package 6 is full, and the unit controller 41 of the winding unit 2 changes to the machine controller. A doffing signal is output to the doffing controller 42 of the doffing device 3 through 43, and the winding unit 2 operates the cutter to cut the spun yarn Y. Then, the upper yarn connected to the spun yarn Y wound on the package 6 is wound on the package 6 supported by the cradle 12, and the lower yarn connected to the spun yarn Y of the yarn supplying bobbin 5 (hereinafter referred to as the yarn supplying bobbin 5 side). (Referred to as thread). After sucking and capturing the yarn on the yarn feeding bobbin 5 side of the winding unit 2, when the doffing controller 42 of the doffing device 3 receives the doffing signal, the doffing device 3 travels on the rail 31 and is fully charged. It stops above the package 6 of the winding unit 2 that has become a tube.

  The doffing controller 42 of the doffing device 3 contracts the rod 38a of the fluid pressure cylinder 38 almost simultaneously with the yarn picking unit 60 (yarn guide unit) capturing the yarn on the yarn feeding bobbin 5 side, thereby opening the open lever. In the state where 37 is in the closed position, the drive motor 52 is driven to rotate the cradle opener 32. By this operation, the open lever 37 moves to the lower end position, and the second lever 37b comes into contact with the cradle lever 12c.

  Thereafter, the rod 38a of the fluid pressure cylinder 38 is advanced to swing the open lever 37 in the direction from the closed position toward the open position to the extent that the package 6 cannot be removed from the cradle 12. Subsequently, the doffing controller 42 drives the drive motor 52 and rotates the cradle opener 32 to move the open lever 37 to the upper end position. Then, the first lever 37a of the open lever 37 is raised while pushing up the cradle lever 12c, and the cradle 12 and the supported package 6 are also raised and separated from the traverse drum 13. Then, when the doffing controller 42 swings the open lever 37 to the upper end position and swings it to the open position, the cradle 12 rises while opening, and when the open lever 37 is positioned at the upper end position, the cradle 12 Is positioned in the package removal position in the open state, and the package 6 is removed from the cradle 12. At this time, the package guide 28 that rolls and guides the package 6 to the transport device 61 is configured to be inclined in conjunction with the cradle 12, so that the package 6 removed from the cradle 12 is linked to the rise of the cradle 12. Then, the inclined package guide 28 is rolled and discharged to the conveying device 61. In this way, the package 6 is removed from the cradle 12.

  When the package 6 is removed from the cradle 12, the doffing controller 42 of the doffing device 3 sets the open lever 37 to the open position, drives the drive motor 52 while the cradle 12 is open, and the cradle opener 32. And the open lever 37 is moved to the lower end position. By this operation, the second lever 37b of the open lever 37 pushes down the cradle lever 12c, so that the cradle 12 is lowered to the winding position. The doffing controller 42 causes the chucker 33 to grip the take-up tube 7 received from the take-up tube storage unit 4 and carry it to the traverse drum 13 between the two cradle arms 12a, 12b of the cradle 12. Set the winding tube 7.

  Next, the doffing controller 42 of the doffing device 3 operates the yarn picking unit 60, hooks the yarn on the yarn feeding bobbin 5 side to a yarn feeding lever (not shown), and opens the yarn on the yarn feeding bobbin 5 side. And the winding tube 7. Then, the doffing controller 42 retracts the rod 38a of the fluid pressure cylinder 38, sets the open lever 37 to the closed position, and closes the cradle 12. By this operation, the winding tube 7 is attached to the cradle 12 so that the yarn on the yarn supplying bobbin 5 side is sandwiched between the winding tube 7 and the end of the cradle arm 12a. This operation is performed with the winding tube 7 in contact with the traverse drum 13.

  When the yarn hooking on the winding tube 7 is finished, the doffing controller 42 of the doffing device 3 sends a signal to the winding unit 2, so that the unit controller 41 drives the drive motor 46 to move the traverse drum 13. The yarn is rotated at a low speed to form a bunch winding at the end of the winding tube 7, and then the traverse drum 13 is rotated at a high speed to resume the winding of the spun yarn Y unwound from the yarn supplying bobbin 5. In this way, the doffing operation is performed by a series of operations for removing the package 6, supplying and attaching the winding tube 7, and preparing for resuming winding including threading. As shown in FIG. 2, the yarn picking portion 60 and the yarn pulling lever, which are mechanisms for forming the bunch winding, are different from the hydraulic cylinder 38 and the drive motor 46 that open and close and raise the cradle opener 32. It is driven by the drive source 62 (preparation part drive source).

  The storage unit 55 of the doffing controller 42 stores a program for executing a doffing operation. The doffing controller 42 reads out the program stored in the storage unit 55 and drives the fluid pressure cylinder 38, the drive motor 46, and the drive source 62 to remove the package 6, and supply and attach the take-up tube 7. The first mode in which the operation is performed and the second mode in which only the removal operation of the package 6 is performed by driving the fluid pressure cylinder 38 and the drive motor 46 are selectively executed.

  When a doffing signal is output from the unit controller 41 of the winding unit 2 to the doffing controller 42 of the doffing device 3 via the machine controller 43, when the package 6 is supported by the cradle 12, The doffing controller 42 executes the first mode and performs a series of operations as described above as a doffing operation. When the doffing signal is output from the unit controller 41 of the winding unit 2 to the doffing controller 42 of the doffing device 3 via the machine controller 43, the package 6 is supported by the cradle 12 by the sensor 51. When the absence is detected and the signal is output to the doffing controller 42, the doffing controller 42 executes the first mode, but does not perform all the operations but drives the fluid pressure cylinder 38. The cradle opener 32 is only operated to open and close, the cradle 12 is only opened and closed, and the cradle 12 is driven to move up and down. Only rewinding, including threading, is performed.

  Further, when a lot change signal is output from the unit controller 41 of the winding unit 2 to the doffing controller 42 of the doffing device 3 via the machine controller 43, the winding tube 7 that is currently winding is full. In the case of the tube, the current lot is not scheduled to start further winding, and in the next lot, in order to start winding by all the winding units 2 at once, the doffing controller 42 By executing the second mode and causing the cradle opener 32 to perform the opening / closing operation and the raising / lowering operation, the removal operation of the package 6 is performed, but the supply of the winding tube 7 and the yarn hooking are not performed.

  In the present embodiment, the shape of the winding tube 7 supported by the cradle 12 is a cone shape whose diameter increases from one end to the other end in the rotation axis direction of the winding tube 7. However, it may be a cylindrical cheese shape having a uniform diameter. Here, the winding tube 7 is easy to roll in a linear direction when it is cheese-like compared with cone-like. When the speed at which the package 6 is paid out is high, the force received when the delivered package 6 collides with the package guide 28 or the conveying device is large, leading to a decrease in the quality of the package 6. Therefore, the shape of the winding tube 7 supported by the cradle 12 is transmitted from the machine base controller 43 to the doffing controller 42 via the communication network. The doffing controller 42 of the doffing device 3 has a lower height for raising the cradle 12 at the time of dispensing when the shape of the winding tube 7 supported by the cradle 12 is cheese-like than when it is corn-like. To do.

  For example, when the mechanism for opening and closing the cradle opener 32 and the mechanism for moving up and down are connected by a cam, the cradle 12 is configured not to open unless the cradle 12 is raised to a predetermined height. When the process is performed, the height of the package removal position is always constant. Since the above-described package guide 28 is configured to incline in association with the cradle 12, the inclination angle for rolling the package 6 is always a constant angle. Here, if the drive source for moving up and down the cradle opener 32 that moves the cradle 12 to the package removal position is alone, the height at which the cradle 12 is opened and the package 6 is removed can be freely set. Therefore, even if the cheese-like package 6 actually winds the same amount of yarn as the cone-shaped package 6, the maximum diameter of the package 6 is smaller in the cheese-shaped package 6 than in the cone-shaped package 6. The package 6 can be removed with a small lift of the cradle 12.

  In this way, the payout speed suitable for the shape of the take-up tube 7 is set. More specifically, the rising amount of the cradle 12 when removing the cheese-like package 6 is set to the amount of the cradle 12 when removing the cone-like package 6. By making it smaller than the amount of increase, the quality of the package 6 can be improved. Moreover, when the shape of the winding tube 7 is cheese-like, the amount of movement in the ascending / descending direction of the cradle 12 is reduced, so that the cycle time can be shortened. In addition, the raising / lowering amount of the cradle 12 according to the shape of the winding tube 7 is memorize | stored in the memory | storage part 55 with three modes, and the doffing controller 42 is from the memory | storage part 55 according to the shape of the winding tube 7. FIG. The lift amount of the read cradle 12 is selected.

  If the opening / closing mechanism and the lifting mechanism of the cradle 12 are connected by a cam or the like and driven by one drive source, the operation becomes limited. For example, the package 6 is not supported by the cradle 12, and it is not necessary to perform payout. Even when only the opening / closing drive of the cradle 12 is performed to attach the winding tube 7, the cradle 12 is driven by one drive source. In this case, the raising / lowering drive is also performed as a series of operations. Then, unnecessary operations increase the cycle time, promote wear due to wear of parts, and cause troubles such as failure.

  Therefore, according to the doffing device 3 in the present embodiment, the raising / lowering driving and the opening / closing driving of the cradle 12 are performed by different driving sources. Therefore, it becomes possible to select a predetermined mode according to the situation of the cradle 12 and perform only necessary operations. Thereby, the cycle time can be shortened, the life of the parts can be improved, the occurrence of troubles such as failure can be reduced, and an efficient doffing operation can be performed.

  Specifically, when the package 6 is not supported by the cradle 12, the raising / lowering drive of the cradle 12 is omitted, only the opening / closing drive is performed, and only the installation of the winding tube 7 is performed without discharging the package 6. It can be carried out.

Second Embodiment
Next, a second embodiment of the present invention will be described. In this embodiment, an example in which the present invention is applied to a doffing device of a spinning machine will be described. First, the configuration of the spinning machine will be described. FIG. 7 is a schematic front view of a spinning machine according to the second embodiment of the present invention. FIG. 8 is a schematic side view of one spinning unit and a doffing device of the spinning machine. As shown in FIG. 7, a spinning machine 100 includes a large number of spinning units 102 arranged in parallel, a doffing device 103 configured to be able to run along the arrangement direction of the spinning units 102, a blower box 104, a prime mover And a box 105.

  As shown in FIGS. 7 and 8, each spinning unit 102 includes a draft device 106, a spinning device 107, a slack eliminating device 108, a winding device 112, and the like. In the following description, “upstream” and “downstream” mean upstream and downstream in the running direction of the yarn during spinning.

  The draft device 106 is provided near the upper end of the casing 113 of the spinning machine 100 main body. The sliver 114 sent to the draft device 106 is drawn (drafted) by the draft device 106 to become a fiber bundle 115. The fiber bundle 115 is spun by the spinning device 107 to generate a spun yarn 116. Further, the spun yarn 116 is wound by the downstream winding device 112 to form a package 117.

  The draft device 106 is composed of four rollers, a back roller 122, a third roller 123, a middle roller 125 on which an apron belt 124 is mounted, and a front roller 126, which are arranged in order along the traveling direction of the sliver 114 (fiber bundle 115). It is configured. The apron belt 124 is hung on the middle roller 125 and the ten server 127. When the ten server 127 is urged away from the middle roller 125, a predetermined tension is applied to the apron belt 124.

  Although the detailed configuration of the spinning device 107 is not shown, in the present embodiment, a pneumatic type that generates a spun yarn 116 by twisting the fiber bundle 115 using a swirling airflow is adopted.

  A cutter 110 and a yarn clearer 111 are provided on the downstream side of the spinning device 107. The yarn clearer 111 is configured to monitor the thickness of the traveling spun yarn 116 and detect a fine yarn portion or a thick yarn portion (yarn defect) of the spun yarn 116. When the yarn clearer 111 detects a yarn defect, the cutter 110 is operated to cut the spun yarn 116.

  A slack eliminating device 108 (yarn accumulating device) is provided between the cutter 110 and the winding device 112. The slack eliminating device 108 has a slack eliminating roller 130 (yarn accumulating roller). The slack eliminating device 108 is configured to temporarily store the spun yarn 116 and adjust the yarn tension on the package 117 side by winding a predetermined amount of the spun yarn 116 generated by the spinning device 107 around the slack eliminating roller 130. Has been. Further, the slack eliminating device 108 actively drives the slack eliminating roller 130 around which the spun yarn 116 is wound to draw out the spun yarn 116 from the spinning device 107 to the downstream side and send it to the winding device 112. It also has a function.

  The winding device 112 includes a winding drum 118 and a cradle 132 (winding tube holding portion) that rotatably supports the winding tube 133 and can swing around a rotating shaft 131. The winding device 112 rotates by being driven by a drive motor (not shown) and rotating while the winding drum 118 is in contact with the surface of the winding tube 133 (or the yarn layer wound around the winding tube 133). The intake tube 133 is rotated. The winding device 112 winds the traveling spun yarn 116 around the winding tube 133 while traversing it by a traverse device (not shown) provided on the upstream side of the winding drum 118, and a predetermined yarn amount. A full package 117 having

  The cradle 132 has two arms that hold the winding tube 133 rotatably from both ends. One arm 132a approaches the winding tube 133 positioned between the two arms and is biased in a direction to sandwich the winding tube 133, and the winding tube 132b is used as an axis. The direction in which the arm 132a of the cradle 132 approaches the winding tube 133 is referred to as the closing direction, and the direction away from the winding tube 133 is the opening direction. Called). The cradle 132 is opened and closed by the swing of the arm 132 a of the cradle 132, and the winding tube 133 can be attached to the cradle 132.

  Further, the cradle 132 swings around the rotation shaft 131 so that the tip side of the cradle 132 can be moved up and down with respect to the casing 113 of the spinning unit 102. When the doffing device 3 to be described later pushes down the arm 132a of the cradle 132, the cradle 132 descends about the rotation shaft 131 to a package removal position (a position indicated by a two-dot chain line in FIG. 8) from which the package 117 is removed. Further, the cradle 132 is raised to a winding position (a position indicated by a solid line in FIG. 8) where the supported winding tube 133 contacts the winding drum 118 by a cylinder (not shown).

  Although not shown, the spinning machine 100 includes a yarn splicing carriage including a yarn joining device that joins the yarn between the slack eliminating device 108 and the winding device 112 when the yarn is broken or cut. The yarn splicing carriage moves to the target spinning unit 102 only when performing yarn splicing.

  As shown in FIG. 7, the blower box 104 is arranged on one end side in the arrangement direction with respect to a large number of spinning units 102. The blower box 104 houses a negative pressure source composed of a blower, a filter, and the like. The negative pressure source includes a suction pipe for cleaning (not shown) that sucks and removes yarn waste and cotton waste generated by the draft device 106 and the slack eliminating device 108, a suction pipe 144 of the doffing device 103 described later, and the like. Is connected.

  The prime mover box 105 is disposed on the opposite side of the blower box 104 with respect to a large number of spinning units 102. In the prime mover box 105, motors for driving the front roller 126 and the middle roller 125 of the draft device 106 of a large number of spinning units 102 are accommodated. The motor box 105 is provided with a machine controller 191 having a control panel 190. The machine controller 191 will be described later.

  The doffing device 103 is provided so as to travel on the rail 135. The rail 135 is provided in the casing 113 of the spinning machine 100 and extends in the arrangement direction of the spinning units 102. When the package 117 supported by the cradle 132 of the winding device 112 reaches a state where the predetermined amount of yarn is wound (full pipe), the doffing device 103 travels to the winding device 112 and stops. The doffing device 103 removes the full package 117 from the cradle 132, then supplies the cradle 132 with an empty winding tube 133 around which the spun yarn 116 is not wound, and is attached to the cradle 132. A doffing operation for attaching the spun yarn 116 to the supported winding tube 133 is performed.

  The doffing device 103 will be described in detail. 7 and 8, the doffing device 103 includes a cradle opener 140 (operation unit), a chucker mechanism 142, a suction pipe 144, a yarn picking member 145 (yarn guide unit), and a receiving mechanism 147. , Sensor 148. The cradle opener 140 opens and closes the cradle 132. The chucker mechanism 142 holds the take-up tube 133 of the take-up tube storage unit 141 and carries it to a position where the cradle 132 can be clamped. The suction pipe 144 sucks and captures the spun yarn 116 generated by the spinning device 107 when bunch winding is formed at the end of an empty winding tube 133 that is mounted and supported on the cradle 132. The yarn picking member 145 picks up the spun yarn 116 sucked and captured by the suction pipe 144 and hooks it at a position where a bunch winding is formed. The receiving mechanism 147 receives the package 117 removed from the cradle 132 so as to support it from below and sends it to the conveyor 146. The sensor 148 detects the presence / absence of the package 117 supported by the cradle 132.

  As shown in FIGS. 7 and 9A, the cradle opener 140 (cradle operation unit) is provided on the right side of FIG. 7 in the frame 160 of the doffing device 103, and includes an open lever 151 and an open lever. And a lever driving mechanism 150 for driving 151. The lever driving mechanism 150 includes cylinders 152, 156, 158, a first connecting member 154, a second connecting member 155, and a swinging member 157. The cylinder 152 is fixed to the frame 160. The first connecting member 154 is connected to the tip of the rod 152a of the cylinder 152, and can swing around a rotating shaft 153 fixed to the frame 160 by the advancement and retraction of the cylinder 152. The second connecting member 155 is connected to the first connecting member 154 and can swing with respect to the first connecting member 154 in conjunction with the swinging operation of the first connecting member 154. The cylinder 156 is fixed to the second connecting member 155 and drives the open lever 151 to swing with respect to the second connecting member 155. The swing member 157 connects the tip of the rod 156 a of the cylinder 156 and the second connecting member 155, and can swing with respect to the second connecting member 155 as the cylinder 156 moves forward and backward. The cylinder 158 is fixed to a later-described support portion 151a of the open lever 151.

  The open lever 151 includes a support portion 151a, a swinging portion 151b, and a protruding member 151c. The support 151 a has a base end fixed to the swing member 157 of the lever drive mechanism 150 and can swing with respect to the second connecting member 155. The swinging portion 151b is connected to the distal end portion of the support portion 151a, and is connected to the rod 158a of the cylinder 158 on the base end side by a link mechanism (not shown), and is perpendicular to the paper surface of FIG. It can swing in the direction. The protruding member 151c is disposed on the front surface of the swinging portion 151b in FIG. 9A.

  When the cradle opener 140 does not perform the doffing operation, as shown in FIG. 9A, the rods 152a and 156a of the cylinders 152 and 156 are retracted and the rod 158a of the cylinder 158 is advanced. In the state, it is accommodated in the frame 160 and is located at the retracted position. Then, the cradle opener 140 moves to a position where the cradle 132 is pushed down when performing the doffing operation.

  A specific movement of the cradle opener 140 when the doffing device 103 performs the doffing operation will be described. As shown in FIG. 9B, the rod 152a of the cylinder 152 advances, and the first connecting member 154 swings in the counterclockwise direction of FIG. 9B with the rotation shaft 153 as an axis. As the first connecting member 154 swings, the second connecting member 155 and the open lever 151 are pushed up while swinging clockwise in FIG. 9B with respect to the first connecting member 154. . In addition to this, as the rod 156a of the cylinder 156 advances, and the swinging member 157 swings in the clockwise direction of FIG. The second connecting member 155 swings in the clockwise direction of FIG. Then, the lower surface of the protruding member 151c of the open lever 151 contacts the upper surface of the cradle 132 that supports the package 117, and the cradle 132 is pushed down to the package removal position as it is. In this way, the cradle opener 140 performs a lowering operation to lower the cradle 132 from the winding position to the package removal position. The cradle opener 140 performs an ascending operation by performing an operation opposite to the above.

  9B, the cradle opener 140 is positioned such that the tip of the swinging portion 151b and the arm 132a of the cradle 132 intersect each other by pushing down the cradle 132 to the package removal position by the open lever 151. ing. From this state, when the rod 158a of the cylinder 158 is retracted, the swinging portion 151b of the open lever 151 swings in the front direction of the drawing in FIG. 10A with respect to the support portion 151a via a link mechanism (not shown). The arm 132a of the cradle 132 is moved in the opening direction. The cradle opener 140 performs the opening operation of the cradle 132 using the swinging operation of the open lever 151. Further, by performing an operation opposite to the above, the open lever 151 moves in the closing direction. The cradle 132 is also moved in the closing direction by the biasing force.

  As shown in FIGS. 7 and 9A, the receiving mechanism 147 includes a drive motor 161, a pulley 163, and a receiving arm 164. The drive motor 161 is provided below the frame 160 and is fixed to the frame 160. The driving force of the driving motor 161 is transmitted to the pulley 163 via the belt 162. The receiving arm 164 is connected to the pulley 163 and can swing around a connecting portion with the pulley 163.

  The receiving arm 164 has two joint portions. When the doffing operation is not performed, the receiving arm 164 is accommodated in a substantially U-shape in the frame 160 by a link mechanism (not shown) and is located at the retracted position. Then, as shown in FIG. 9B, when performing the doffing operation, the receiving arm 164 is driven by the drive motor 161 and swings about the connecting portion with the pulley 163, and the tip of the receiving arm 164 is a conveyor. Along the line 146, the two joint portions extend substantially in a straight line and move to the receiving position for receiving the package 117 supported by the cradle 132 in the package removal position from below.

  As shown in FIGS. 7 and 11A, the chucker mechanism 142 (winding tube supply unit) includes a winding tube storage unit 141 provided above the frame 160 and a receiving mechanism 147 provided below. It is provided in between. The chucker mechanism 142 includes a chucker arm 170 and a cylinder 171 that drives the chucker arm 170. The cylinder 171 is supported on a frame 172 fixed to the doffing device 103 so as to be swingable about a rotation shaft 173. The chucker arm 170 includes a first connecting member 175, a second connecting member 177, and a link member 179. The rear end of the first connecting member 175 is supported by the frame 172 so as to be rotatable about the rotating shaft 174, and the approximate center in the extending direction is rotatably connected to the rod 171 a of the cylinder 171. The second connecting member 177 is rotatably connected to the distal end of the first connecting member 175, and a grip portion 176 that grips the winding tube 133 is connected to the distal end. The link member 179 has a rear end supported by the frame 172 so as to be rotatable about the rotation shaft 178, and a front end rotatably connected to the second connecting member 177.

  When the chucking mechanism 142 does not perform the doffing operation, the rod 171a of the cylinder 171 is retracted and is located at a retracted position where the winding tube 133 is not supplied to the cradle 132 as shown in FIG. . When the doffing operation is performed, as shown in FIG. 11B, the rod 171a of the cylinder 171 moves forward, and the first connecting member 175 moves relative to the frame 172 with the rotating shaft 174 as an axis in FIG. Swings clockwise. Then, as the first connecting member 175 swings, the link member 179 causes the second connecting member 177 to swing with respect to the first connecting member 175 in the clockwise direction in FIG. Then, the chucker arm 170 extends in a substantially straight line and moves to a supply position for supplying the take-up tube 133 gripped by the grip portion 176 between the two arms of the cradle 132 at the package removal position.

  As shown in FIGS. 7 and 8, the suction pipe 144 is disposed on the left side of FIG. 7 in the frame 160, and the driving motor 180 and the cylinder 181 are driven so that the suction portion at the tip thereof is a spinning device. It is possible to move to a position where the spun yarn 116 on the downstream side of 107 is generated and delivered (position indicated by a two-dot chain line in FIG. 8). The suction pipe 144 sucks and captures the spun yarn 116 generated by the spinning device 107 at that position, and then drives the drive motor 180 and the cylinder 181 so that the suction portion is sucked and captured by the suction pipe 144. The spun yarn 116 can be moved to a position where it can be picked up by the yarn picking member 145. In addition, the cylinder 171 and the drive motor 182 that drive the chucker mechanism 142 and the yarn picking member 145 in the present embodiment correspond to a preparation unit drive source in the present invention.

  The sensor 148 is an optical sensor that is fixed to the frame 160 and has a light emitting part and a light receiving part. When the light emitted from the light emitting unit is reflected by the package 117 supported by the cradle 132 and received by the light receiving unit, it is detected that the package 117 is supported by the cradle 132. When no light is received by the light receiving unit, it is detected that the package 117 is not supported by the cradle 132. This detection result is transmitted to the doffing controller 193 described later of the doffing device 103.

  Next, the control configuration of the spinning machine 100 will be described with reference to FIG. FIG. 12 is a control block diagram of the spinning machine. As shown in FIG. 12, as the control configuration of the spinning machine 100, each spinning unit 102 has a unit controller 192, and the doffing device 103 has a doffing controller 193 (control unit). The plurality of unit controllers 192 and the doffing controller 193 are both connected to the machine controller 191 via a communication network.

  The machine controller 191 controls the entire machine. The machine base controller 191 transmits and receives signals to and from the unit controller 192 of the spinning unit 102 and the doffing controller 193 of the doffing device 103 to control the operation and monitor the state of each spinning unit 102 and the doffing device 103. Do. The unit controller 192 performs various controls of the spinning unit 102.

  The doffing controller 193 performs various controls of the doffing device 103. The doffing controller 193 is connected to three cylinders 152, 156, 158, 171, 181, drive motors 161, 180, 182, 184, and a sensor 148. Note that the three cylinders 152, 156, 158 drive the cradle opener 140. The drive motor 161 drives the receiving arm 164 of the receiving mechanism 147. The cylinder 171 drives the chucker arm 170 of the chucker mechanism 142. The drive motor 180 and the cylinder 181 drive the suction pipe 144. The drive motor 182 drives the yarn picking member 145. The drive motor 184 rotationally drives the wheel 183 that causes the doffing device 103 to travel along the arrangement direction of the spinning units 102. The doffing controller 193 has a storage unit 194 that stores various modes executed by the doffing device 103 and a signal receiving unit 195 that receives signals from the machine controller 191.

  The storage unit 194 stores a program for executing a doffing operation. The doffing controller 193 selectively executes the first mode and the second mode. In the first mode, the doffing device 103 reads out the program stored in the storage unit 194, removes the package 117, feeds the take-up tube 133, attaches the take-up tube 133, and the spun yarn 116. In this mode, the attachment operation is executed. The second mode is a mode in which the doffing device 103 executes only the removal operation of the package 117.

  Next, the operation of the doffing device 103 will be described. FIG. 13 is a flowchart for explaining the operation of the doffing apparatus. At the time of winding the spun yarn 116 in the winding device 112 of the spinning unit 102, the cradle 132 is in the winding position, and the package 117 supported by the cradle 132 is brought into contact with the winding drum 118 to rotate the winding drum 118. Accordingly, the spun yarn 116 is wound by rotating the package 117 in a driven manner. At this time, the various mechanisms of the doffing device 103 are retracted at the retracted position (see FIGS. 9A and 11A).

  When the package 117 becomes full, a doffing signal or a lot change signal is output from the unit controller 192 of the spinning unit 102 to the doffing controller 193 of the doffing device 103 via the machine controller 191.

  Then, as shown in FIG. 13, when the signal receiving unit 195 of the doffing controller 193 receives a signal (step S1), the doffing device 103 determines whether this signal is a doffing signal or a lot change signal. Judgment is made (step S2). The doffing signal means that when the winding tube 133 that is currently winding becomes a full package 117, the package 117 is removed, an empty winding tube 133 is attached, and the winding tube 133 is moved to the winding tube 133. This is a signal for resuming the winding of the spun yarn 116. When the take-up tube 133 that is currently taking up becomes a full package 117, the lot change signal is not scheduled to start further take-up for the current lot and only removes the package 117. It is a signal that causes The lot change is performed when the yarn type of the spun yarn 116 is changed, the winding condition such as tension is changed, or the type of the winding tube 133 is changed.

  When the signal receiving unit 195 receives the doffing signal, the doffing device 103 runs on the rail 135 and stops in front of the spinning unit 102 that outputs the doffing signal, and the sensor 148 supports the package 117 on the cradle 132. It is determined whether or not it has been done (step S3). When the sensor 148 detects that the package 117 is supported on the cradle 132 (step S3: YES), the doffing controller 193 selects the first mode, and the doffing device 103 executes the first mode ( Step S4).

  The first mode executed by the doffing device 103 will be described in detail. First, as shown in FIG. 8, as the spinning unit 102 operates the cutter 110 and cuts the spun yarn 116, the suction pipe 144 is driven to the downstream side of the spinning device 107 by driving the drive motor 180 and the cylinder 181. The spun yarn 116 generated and sent out from the spinning device 107 is sucked and captured. Then, the yarn end side connected to the spun yarn 116 wound around the package 117 is wound around the package 117 as it is.

  Then, as shown in FIG. 9B, the doffing device 103 operates the cradle opener 140 so as to perform the lowering operation, and pushes down the cradle 132 to the package removal position by the open lever 151, and the receiving mechanism 147 is moved. Operate to move the receiving arm 164 to the receiving position. Then, the package 117 supported by the cradle 132 and rotating with a snake leg away from the take-up drum 118 comes into contact with the receiving arm 164 and stops rotating.

  Thereafter, as shown in FIG. 10A, the doffing device 103 operates the cradle opener 140 so as to perform the opening operation, and swings the arm 132a of the cradle 132 in the opening direction by the open lever 151. The package 117 is removed from the cradle 132 and placed on the receiving arm 164. Then, the doffing device 103 operates the receiving mechanism 147 to move the receiving arm 164 to the retracted position. As a result, the package 117 placed on the receiving arm 164 is discharged to the conveyor 146 extending in the arrangement direction of the spinning units 102. In this way, the removal operation of the package 117 is performed by the doffing device 103.

  After the package 117 is removed, the doffing device 103 operates the chucker mechanism 142 on the cradle 132 with the arm 164 opened at the package removal position, as shown in FIG. 170 is moved to the supply position, and the winding tube 133 gripped by the gripping portion 176 of the chucker arm 170 is supplied. Thereafter, the doffing device 103 operates the cradle opener 140 so as to perform the closing operation, and swings the arm 132a of the cradle 132 in the closing direction by the open lever 151, closes the arm 132a of the cradle 132, and closes the cradle. The winding tube 133 is supported at 132. Then, as shown in FIG. 10B, the doffing device 103 moves the cradle opener 140 and the chucker mechanism 142 to the retracted position. In this manner, the doffing device 103 performs the supply operation of the winding tube 133 and the mounting operation of the winding tube 133.

  Thereafter, the doffing device 103 drives the drive motor 180 and the cylinder 181 to move the suction pipe 144 to a position where the spun yarn 116 sucked and captured by the suction pipe 144 can be picked up by the yarn picking member 145. Then, the yarn picking member 145 is operated to pick up the yarn, and the picked up yarn is hung on the position where the bunch winding is formed. The doffing device 103 then forms a bunch winding at the end of the winding tube 133, and then moves the cradle 132 to the winding position. Thereafter, the winding drum 118 is rotated in a state where it is in contact with the winding drum 118, and the winding of the spun yarn 116 delivered from the spinning device 107 is resumed. In this manner, the doffing device 103 performs the operation of attaching the yarn to the winding tube 133.

  A doffing operation in the first mode is performed by performing a series of operations of removing the package 117, supplying the winding tube 133, attaching the winding tube 133, and attaching the yarn to the winding tube 133. Is executed.

  When the sensor 148 detects that the package 117 is not supported by the cradle 132 (step S3: NO), the doffing controller 193 selects the first mode, and the doffing device 103 excludes the removal operation of the package 117. The first mode is executed (step S5). As a situation where the package 117 is not supported by the cradle 132 and the doffing device 103 receives a doffing signal, for example, when winding is resumed after a lot change is performed. Thus, the presence or absence of the package 117 is detected by the sensor 148, and the doffing device 103 can omit the removal operation of the package 117 in the first mode based on the detection result. When the package 117 is not present, the doffing device 103 can only attach the winding tube 133 without removing the package 117.

  When the signal receiving unit 195 receives the lot change signal instead of the doffing signal, the doffing device 103 travels on the rail 135 and stops before the spinning unit 102 that has output the lot change signal. Then, the doffing controller 193 selects the second mode, and the doffing device 103 executes the second mode (step S6). In the second mode, only the removal operation of the package 117 from the cradle 132 is performed by the doffing device 103. Thereby, the supply operation of the winding tube 133 and the mounting operation of the winding tube 133 are omitted, and it is not necessary to manually remove the winding tube 133 attached to the cradle 132 although it is unnecessary after the package 117 is removed.

  As described above, the doffing device 103 according to the present embodiment includes the cradle opener 140 for operating the cradle 132, the receiving mechanism 147 for receiving the full package 117, the chucker mechanism 142 for supplying the winding tube 133, and spinning when forming the bunch winding. The suction pipe 144 for sucking and catching the yarn 116 and the drive source for driving the member 145 for picking up the spun yarn 116 sucked and caught by the suction pipe 144 are individually provided, and can be driven individually. Therefore, the doffing apparatus 103 in the present embodiment can perform only necessary operations according to the situation, and can perform only the minimum necessary operations such as omitting unnecessary operations. As a result, an efficient doffing operation such as shortening the cycle time can be performed.

  Further, when the doffing controller 193 selects an appropriate mode according to the situation, the doffing device 103 can execute only necessary operations while omitting unnecessary operations.

  Next, modified embodiments in which various modifications are made to the above-described first embodiment and second embodiment will be described. In the first embodiment, the doffing device 3 has the doffing controller 42 and the driving source such as the fluid pressure cylinder 38 and the driving motor 52 is controlled by the doffing controller 42. Does not have a controller, and these drive sources may be controlled by the machine controller 43 or the unit controller 41. The same applies to the second embodiment, and the driving source for driving various mechanisms of the doffing device 103 is controlled by the doffing controller 193. However, the doffing device 103 does not have a controller, and these The drive source may be controlled by the machine controller 191 or the unit controller 192.

  In the first embodiment, the drive source for opening and closing the cradle opener 32 is not limited to the fluid pressure cylinder, and may be a drive motor. Similarly, the drive source for raising and lowering the cradle opener 32 is not limited to a drive motor and may be a fluid pressure cylinder.

  Furthermore, in the first embodiment, the sensor 51 that detects the presence or absence of the package 6 supported by the cradle 12 may be provided in the winding unit 2 instead of the doffing device 3. The same applies to the second embodiment, and the sensor 148 may be provided in the spinning unit 102 instead of the doffing device 103.

  In the first embodiment, the lever that drives the cradle 12 to open and close and the lever that raises and lowers the cradle 12 are one open lever 37 of the cradle opener 32. May be configured separately. The same applies to the second embodiment, and the lever that opens and closes the cradle 132 and the lever that raises and lowers the cradle 132 are one open lever 151 of the cradle opener 140. The levers may be configured separately.

  Further, the example in which the present invention is applied to the automatic winder and the doffing apparatus of the spinning machine has been described above. However, the present invention is not limited to this, and the doffing apparatus that doffs the package in which the yarn is wound by the winding device. The present invention can also be applied to.

DESCRIPTION OF SYMBOLS 1 Automatic winder 2 Winding unit 3,103 Doffing device 6, 117 Package 7, 133 Winding pipe 12, 132 Cradle 32, 140 Cradle opener 38 Fluid pressure cylinder 51, 148 Sensor 52, 182 Drive motor 62 Drive source 100 Precision Spinning machine 102 Spinning unit 152, 156, 158, 171 Cylinder

Claims (8)

A yarn supply section for supplying a yarn; and a winding pipe holding section for holding the winding pipe; and the yarn supplied from the yarn feeding section is attached to the winding pipe held by the winding pipe holding section. A doffing device that performs a doffing operation on a winding device that forms a package by winding,
The doffing device is
An operation unit for operating the winding tube holding unit so as to attach and detach the winding tube;
A take-up tube supply unit for supplying the take-up tube to the take-up tube holding unit;
A yarn guide portion that captures the yarn supplied from the yarn supply portion and guides it to the winding tube;
An operation unit drive source for driving the operation unit;
A doffing apparatus, which is provided independently of the operation unit drive source, and includes a preparation unit drive source for driving the winding tube supply unit and the yarn guide unit. The detaching operation of removing the package from the winding tube holding part is an operation for operating the winding tube holding part to be raised and opened,
The mounting operation for attaching the winding tube to the winding tube holding portion is an operation for operating the winding tube holding portion to be lowered and closed,
The doffing apparatus according to claim 1, wherein the operation unit causes the winding tube holding unit to perform both opening and closing and raising and lowering. The operation unit drive source is
A first drive source for causing the operation unit to open and close the winding tube holding unit;
The doffing apparatus according to claim 2, wherein the doffing device is configured with a second drive source for causing the operation unit to perform the lifting and lowering operation of the winding tube holding unit. A control unit for controlling the first drive source and the second drive source;
The control unit drives the second drive source according to a set value that is set, causes the operation unit to raise and lower the winding tube holding unit, drives the first drive source, and 4. The doffing apparatus according to claim 3, wherein the operation of removing the package is performed by causing the operation unit to open and close the winding tube holding unit. A signal receiving unit that receives a signal related to the shape of the winding tube transmitted by the winding device, and a storage unit that stores an ascending / descending amount of the winding tube holding unit according to the shape of the winding tube. In addition,
The control unit reads the lifting / lowering amount of the winding tube holding unit according to a signal related to the shape of the winding tube as a set value from the storage unit, and drives the second drive source to remove the package. The doffing apparatus according to claim 4, wherein: A control unit that controls driving of the operation unit drive source and the preparation unit drive source;
The controller is
A detaching operation for removing the package from the winding tube holding unit by operating the operation unit, a supplying operation for supplying the winding tube to the winding tube holding unit by the winding tube supply unit, A first mode in which a guide operation of guiding a yarn to the winding tube by a yarn guide unit is performed by controlling driving of the operation unit drive source and the preparation unit drive source;
By operating the operation unit, it is possible to select a second mode in which a removal operation for removing the package from the take-up tube holding unit is executed by controlling the drive of the operation unit drive source. The doffing apparatus according to any one of claims 1 to 5, wherein A sensor for detecting the presence or absence of the package held by the winding tube holding unit;
A signal receiving unit that receives a doffing signal transmitted from the winding device, and
The controller is
The first signal receiving unit is configured to select the first mode when receiving a doffing signal;
When the first mode is selected, the removal operation, the supply operation, and the guide operation are executed when the sensor detects that the package is held in the take-up tube holding portion. Controlling the drive of the operation unit drive source and the preparation unit drive source,
When the first mode is selected, when the sensor detects that the package is not held by the take-up tube holder, the preparation operation is performed to execute the supply operation and the guide operation. The doffing apparatus according to claim 6, wherein the driving of the part drive source is controlled. The signal receiving unit is configured to receive a lot change signal,
The control unit executes only the detaching operation by selecting the second mode when the signal receiving unit receives a lot change signal and controlling driving of the operation unit drive source. The doffing apparatus according to claim 7.

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