CN107444986B

CN107444986B - Inertial guide movement device for disengaging a bobbin full of yarn from a coiler

Info

Publication number: CN107444986B
Application number: CN201710282996.3A
Authority: CN
Inventors: 桑德罗·赛龙捷
Original assignee: Salmoiraghi SpA
Current assignee: Salmoiraghi SpA
Priority date: 2016-04-28
Filing date: 2017-04-26
Publication date: 2021-07-16
Anticipated expiration: 2037-04-26
Also published as: ITUA20162971A1; TW201742812A; TWI682890B; CN107444986A

Abstract

The invention provides an inertial guide movement device (1) for disengaging a full-yarn bobbin from a winding machine, said device comprising a first frame (2) defining an internal cavity (8), the first frame (2) being moved on the plane of the machine by a first pair of driving wheels (3) and a second pair of idle wheels (4) located at opposite ends (2A, 2B) of such first frame. In the internal cavity (8) there is a mobile pick-up device (9), the mobile pick-up device (9) being able to receive bobbins (5) loaded with yarn or thread from the winder and to support them until they are unloaded. The device is provided with pushing means (10), the pushing means (10) being located inside the cavity (8) of the inertial guide device (1) and being able to unload the bobbins from the pick-up means (9).

Description

Inertial guide movement device for disengaging a bobbin full of yarn from a coiler

Technical Field

The present invention relates to an inertial guide moving device capable of separating a bobbin full of yarn from a winding machine.

Background

As is known, an inertial guided vehicle is a vehicle that moves freely in the environment and is controlled by a GPS and a remote control unit, the environment in which the vehicle moves being mapped in the remote control unit and the vehicle being connected to the remote control unit via a wi-fi network. However, in this context, "inertial guidance vehicle" refers to any vehicle that moves in a controlled manner in an environment by means of any system that identifies the position reached by the vehicle, which is known per se on the market.

Devices (doffers) are also known which are able to remove a bobbin full of yarn from the textile machine (coiler) which produces the bobbin. Usually, these devices move along guide areas or along rails on the surface or floor of the textile site where the reels are located, but they have dimensions that are not negligible, which makes it not always possible to use them.

Inertial guide devices for moving the frame of the reel after the full yarn-wound reel has been taken out of the winder are also known. However, these devices are used as trolleys for moving a rack provided with a plurality of bobbins. The size of the entire unit is considerable.

However, in the context of the textile industry, it is generally understood that the environment in which the device capable of loading and disengaging the bobbin moves has a limited area of movement. The altitude of these environments is also generally known to be low. Thus, the bobbin detachment device is often difficult to move between textile machines.

This also applies to inertial guide devices for moving the frame carrying the reels (or structures with multiple axes capable of supporting the reels after they have been detached from the coiler, full of yarn), which, although they constitute small-sized vehicles (they do not need to have guides or rails located on the floor of the working environment to move), nevertheless have some difficulties in moving in the textile place where they are used.

There are also additional problems associated with the fact that: once the plurality of bobbins are disengaged onto the collecting member or doffer mandrel positioned opposite the respective mandrel of the coiler, the weight of the bobbins causes misalignment between the mandrel of the doffer (or other unloading apparatus) and the mandrel of the coiler caused by the deflection of the mandrels receiving them (from the doffer), which generally makes it difficult to continue the operation of disengaging the bobbins from the coiler to the doffer apparatus. This problem is even more pronounced when using a winder with a spindle carrying a large number of bobbins and having a length of up to 1800 mm. The above deflection problem occurs when these bobbins are stripped from a single coiler mandrel onto a doffer mandrel.

Movement devices for disengaging the reels from the reels are known. For example, JP-S63-82286 describes a device of the above-mentioned type having some of the features of the device that is the subject of the invention as indicated in the preambles of the independent claims herein. However, this japanese text has a means for supporting the detached spool that is attached to the structure of the mobile device and cannot be extended in a telescoping manner. In addition, such devices are not capable of adjusting their height relative to the plane over which the device is moved.

Known solutions similar to those described in the above-mentioned prior japanese documents are also described in JP-S64-43465, US4555067 and WO 93/17946. In contrast, EP0427994 relates to a mobile machine for loading an empty drum or bobbin onto a coiler. The machine has a telescopic device capable of moving the empty bobbin.

However, these prior documents do not take into account the problems relating to the maintenance of the alignment between the bobbin-supporting device associated with the moving apparatus and the conventional spindle of the textile machine which removes the bobbin from the latter during the disengagement operation; as mentioned above, this is due to the weight of the bobbin causing misalignment between the doffer mandrel and the coiler mandrel.

Disclosure of Invention

The object of the present invention is to provide an improved inertial guidance movement device or vehicle which, in comparison with known similar devices, is capable of disengaging a reel directly from a reel and delivering the disengaged reel.

Another object is to provide a device of the type: the device allows to disengage a full bobbin from the textile or coiler machine in a reliable manner.

Another object is to provide a device of the type: the apparatus is not subjected to the weight of the detached bobbin during the detachment operation, enabling such detachment operation to be performed continuously and reliably by absorbing the deflection of the mandrel.

A further object is to provide a device of the type: the device can be suitably located in front of the spindles of the textile machine without striking, damaging or interfering with conventional devices to protect the spindles present on these machines.

These and other objects that will be evident to a person skilled in the art are achieved by an inertial guided mobile device according to the appended claims.

Drawings

For a better understanding of the invention, the following figures are provided by way of non-limiting example only, and in which:

FIG. 1 shows a perspective view of a device according to the present invention, wherein the device has no peripheral parts so that some of its internal elements can be viewed;

FIG. 2 shows a top view of the apparatus of FIG. 1;

FIG. 3 shows a bottom perspective view of the apparatus shown in FIG. 1;

FIG. 4 shows a perspective view of a portion or component of the apparatus of FIG. 1;

FIG. 5 shows a side view of the components of FIG. 4;

FIG. 6 shows a top view of the components of FIG. 4;

FIG. 7 shows a cross-sectional view of a different part of the apparatus shown in FIG. 1;

FIG. 8 shows a side view of another portion of the apparatus of FIG. 1; and

fig. 9 shows a perspective view of the part shown in fig. 8 of the device that is the subject of the invention.

Detailed Description

With reference to the mentioned figures, the device according to the invention, generally designated 1, comprises a first frame 2 moved by two pairs of wheels 3 and 4, the first pair of wheels 3 being driving wheels and being located at a first or rear end 2A of the first frame 2, the second pair of wheels 4 pivoting being located at the opposite or front end 2B of the first frame 2. The definition of the front end portion 2B or the rear end portion 2A is related to the following functions performed by the device 1: the bobbin 5 with the yarn wound thereon or a full bobbin disengaged from the textile machine as a coiler (not shown) is actually disengaged from the front end.

At least one common electric motor (not shown) drives the rear wheels 3, while the front wheels 4 spin and pivot. The motor is powered by a battery 7 carried by the mobile first frame 2 and controlled by the electronic device. Advantageously, the battery pack may be removable from the first frame to be recharged, or the battery pack may be provided with a known "boost charging" system for programmed charging.

The first frame 2 comprises a plurality of uprights or sections 2X connected together and defining an internal cavity 8 of the apparatus 1, the movement means 9 being able to disengage the reels from the reels (not shown), and the pushing means 10 being able to eject these reels 5 onto conventional support and storage elements (not shown) at a distance from these mechanisms located in said cavity.

The apparatus 1 is an inertial guidance type apparatus (or inertial guidance vehicle, IGV) and the apparatus 1 moves on the plane of the environment (spinning place) producing the bobbin full of yarn. The movement of the device 1 is carried out in a manner known per se and is therefore not described. The purpose is merely to indicate that the first frame 2 carries a plurality of laser reading devices 11 (known per se), said plurality of laser reading devices 11 being able to effect control of the movement of the apparatus 1 by means of a control unit (not shown) associated with the first frame 2 and conventional means for controlling the rotation of the driving wheel 3, such as a conventional encoder (in a known and therefore undescribed manner) associated with an electric motor driving these wheels and rotating the shaft supporting them. The encoder is also connected to the control unit.

As already mentioned, inside the internal cavity 8 there are mobile pick-up means for removing the full reels 5 from the reel and for supporting them during the movement of the apparatus 1 towards the area for collecting or storing them. Also inside the cavity 8 there is a pushing device 10, which pushing device 10 is used to unload the bobbins 5 from the pick-up device 9 and push the bobbins 5 onto the fixed supports present in the collection and storage area.

More specifically, the pickup device 9 is a pair of telescopic members or spindles 12, which telescopic members or spindles 12 are positioned parallel to each other and supported in a cantilevered manner from the first frame 2 so as to correspond to the rear end portion 2B of the first frame 2. Each telescopic mandrel 12 comprises a plurality of tubular elements that can be moved with respect to each other, allowing the pick-up device 9 to be positioned opposite (close to) the mandrel of the coiler on which the reel 5 that has to be disengaged is present.

More specifically (see fig. 7), each telescopic mandrel 12 comprises a first outer tube 13, a second fixed tube 14 and a third tube 15 located inside the second tube 14, wherein the first outer tube 13 is movable with respect to the second fixed tube 14. The third tube 15 is associated with a ball worm 16 driven by an electric motor 17 carried on the first frame 2. On the ball worm 16 there is a bush 18 integral with a first end 20 of the third tube 15. The third tube 15 supports, at its second end 21, a rod 22, the rod 22 also being inserted in the second tube 14 and supporting, at one end 23 external to the second tube 14, a second body 29 integral with the first or outer tube 13; the first or outer tube 13 is torsionally integral with the second fixed tube 14 by means of a screw 125 acting as a spline inserted into a space 126 formed longitudinally in the lower part of the tube 13, so that the first or outer tube 13 can move in a guided manner in the axial direction but is constrained in the radial direction.

The second tube 14 has a plurality of washers 30 at its free end 31, wherein the first tube 13 moves over the free end 31. The second end 33 of the second tube 14 is attached to a support 35 integral with the first frame 2.

The first outer movement tube 13 has a first free end 37 accessible to the spindle of the coiler and has a second end 39; at the second end 39 of the first tube 13 and between this second end 39 and the second tube 14, the following elements are positioned: the element has a low coefficient of friction in contact with the second tube so as to be able to allow the first tube to slide on the second tube. This movement is achieved by a corresponding electric motor 17 which rotates the screw 16; this causes the bushing 18 to move on the screw 16 and thereby causes the third tube 15 and the rod 22 to move along their own longitudinal axis inside the second tube 14.

The second body 29 then pushes the first tube 13 to move the first tube 13 along its own longitudinal axis, bringing the free end 37 close to the mandrel of the coiler from which the reel 5 is detached in a known manner to the tube 13 by means of a suitable exchange of signals between the device 1 and the coiler.

When the electric motor 17 is operated (rotated) in the opposite way, the first tube 13 moves to re-enter the tube 14, carrying the spool into the cavity 8 (or at least a majority of the spool into the cavity 8, since the spindle 12 protrudes from the front end 2A of the first frame 2).

The pushing means 10 are located between the pick-up means 9. These means comprise an elongated element or beam 43 fixed to the first frame 2 and supporting a second electric motor 44, the second electric motor 44 acting on a plurality of gears 45, on which gears 45 a chain (not shown) carrying thrust bodies 45 positioned transversely to the elongated element 43 moves. The thrust body can thus be moved along the elongated element 43 by means of the movement of the chain described above, caused by the activation of the motor 44. This movement, which is carried out while the bobbins 5 are supported by the spindle 12, causes these bobbins to be unloaded from the spindle 12 and pushed onto the fixed supports of the carrying members located in the area for storage in the textile site (not shown). The elongated element 43 is provided with a protruding element 48 acting as an anchoring rod to the first frame 2.

The front wheels 4 of the first frame 2 are associated with control means 50, which control means 50 enable the angular movement of the front end 2B at right angles to the plane in which the apparatus 1 moves. These control means 50 comprise a first body 51 associated with a first electric motor 52 and driven by the first electric motor 52; which moves eccentrically with respect to a first support or rod 53 attached to the front end 2B of the first frame 2 by means of a fulcrum pin 127, said motor being associated with the first support or rod 53. In particular, the first body 51 is inserted into a space 55 in a second frame 56, the second frame 56 forming part of the first support or bar 53 but bearing at one end 56A cantilevered second support 60 for the corresponding pivoting wheel 4.

By the action of the first electric motor 52, the first body 51 moves eccentrically within the space 55, causing the second frame 56 (and therefore the second support 60 and therefore the front end 2B of the first frame 2) to move with respect to the plane in which the device 1 moves; in practice, the movement is the following movement: this movement is to raise or lower the first frame 2 at right angles to the plane at the front end 2B of the apparatus 1. This makes it possible to adjust the position of each spindle 12 located in the bobbin pick-up device 9 (integral with the first frame 2) with respect to the spindle of the coiler and to make the bobbin easily removable from the coiler by placing each spindle 12 in a position adjacent and coaxial to the spindle of the coiler.

This position is adjusted in a manner proportional to the weight acting on the mandrel 12, so that said mandrel 12 and the mandrel of the coiler remain coaxial during the transfer. This adjustment is carried out by means of a photocell (not shown) which detects the passage of the reel 5 on such a spindle 12 and which is connected to the control unit associated with the aforesaid first frame, and according to a proportional algorithm which transfers the weight of the reel from the reel to the spindle 12 of the apparatus 1. Based on the data from the photocells, the unit controls each motor 52 so as to adjust the raising/lowering of the front end 2B of the first frame 2 to maintain alignment with the spindle of the coiler.

Specific embodiments of the present invention have been described. However, other embodiments according to the above description (such as a description of providing a single spindle 12 or several spindles 12) are possible and considered to fall within the scope of the invention as defined by the appended claims.

Claims

1. Inertial guide movement device (1) able to disengage a reel from a reel, the device comprising a first frame (2) defining an internal cavity (8), a movement pick-up device (9) present in the internal cavity (8) and provided with a pushing device (10), the first frame (2) being movable on a plane on which the device lies by means of a first pair of driving wheels (3) and a second pair of idle wheels (4) located at opposite ends (2A, 2B) of the first frame, the movement pick-up device (9) being able to pick up a reel (5) full of yarn or thread from a textile machine and being able to support the reel during its transfer to a point of unloading, the pushing device (10) being able to unload the reel from the pick-up device (9), the pushing device (10) being located inside the cavity (8) of the device (1), characterized in that said apparatus (1) comprises a control device (50), said control device (50) being associated with said idle wheel (4) and being able to adjust the height of a portion (2B) of said first frame (2) to which it is fixed, said idle wheel (4) being located on said portion (2B) of said first frame (2) of said apparatus (1), at which portion (2B) said pick-up device (9) picks up said bobbin (5).

2. Apparatus according to claim 1, characterized in that said control device (50) comprises a first body (51), said first body (51) being associated with a first electric motor (52) and being eccentrically movable within a space (55) of a second frame (56) supporting a second support (60) integral with a corresponding idle wheel (4), the eccentric movement of said first body (51) in said space causing the rotation of said second frame (56) with respect to a first support (53) to which it is hinged, said first support (53) being integral with a first frame of said apparatus (1) and carrying said first electric motor (52), this rotation of a second frame (56) carrying said second support (60) for said idle wheel causing the movement of said portion (2B) of said first frame integral with said idle wheel in a direction at right angles to the plane in which said apparatus (1) moves And (6) moving.

3. The apparatus according to claim 1, characterized in that it comprises the following means: the device is capable of detecting the variation of the spatial position of the pick-up device (9) when the pick-up device (9) is loaded with a bobbin (5) containing yarn and of activating each first electric motor (52) to move the corresponding first body (51) eccentrically in a second frame (56) carrying a second support for the respective idle wheel (4), to compensate for this variation of the spatial position and to return the pick-up device to a position for continued loading of the bobbin (5), so as to automatically correct the deflection effect caused by the transfer of the bobbin.

4. Device according to claim 1, characterized in that said pick-up means (9) are telescopic.

5. Apparatus according to claim 4, characterized in that said pick-up device (9) comprises at least one mandrel (12), said at least one mandrel (12) comprising a first outer tube (13), said first outer tube (13) being movable with respect to a second inner fixed tube (14) by the action of actuating means (15, 17, 29).

6. Apparatus according to claim 5, characterized in that said actuating means comprise a third tube (15), said third tube (15) being located inside said second inner fixed tube (14) and being associated, through a bushing (18), with a screw member (16), said bushing (18) being integral with a first end (20) of said third tube (15), said screw member (16) being driven by a fixed electric motor (17), said third tube (15) supporting, on a second end (21) thereof, a rod (22), said rod (22) also being inserted into said second inner fixed tube (14) and supporting, on one end (23) external to said second inner fixed tube (14), a second body (29) integral with said first outer tube (13), said first outer tube (13) being torsionally integral with said second inner fixed tube (14), but said first outer tube (13) being able to be torsionally integral with said second body (29) and with an electric motor (17) fixed to said second body (29) Is operatively moved longitudinally in a guided manner relative to the second inner fixed tube (14).

7. The apparatus according to claim 6, characterized in that said fixed electric motor and said second inner fixed tube (14) are fixed to said first frame (2).

8. The apparatus according to claim 6, characterized in that means are provided for reducing the friction between the first outer tube (13) and the second inner fixed tube (14).

9. Apparatus according to claim 1, characterized in that said pushing device (10) is positioned close to said pick-up device (9) and comprises a fixed elongated element (43), said fixed elongated element (43) supporting a moving pushing body (45), said moving pushing body (45) being subjected to the action of a moving member driven by a second electric motor (44) carried on said fixed elongated element, said moving pushing body (45) being able to act together with said bobbin (5) carried by said pick-up device (9).