JP2017109833A - Yarn winding device and yarn winding system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a yarn winding device which reduces the possibility of contact of a worker with a service dolly, and to provide a yarn winding system.SOLUTION: A first automatic winder 10 includes a plurality of first winder units 11, a first doffing dolly 13, a first control unit 18, and a first communication unit 16. The first winder units 11 are arranged parallel to each other along an X direction and wind up a yarn. The first doffing dolly 13 is provided so as to travel along the X direction and performs doffing operation to the first winder units 11. The first control unit 18 controls traveling of the first doffing dolly 13. The first communication unit 16 communicates with a second automatic winder 20 located adjacent in a Y direction to acquire adjacent device information on an operation state and/or a surrounding situation of the second automatic winder 20. The first control unit 18 controls the traveling of the first doffing dolly 13 based on the adjacent device information acquired by the first communication unit 16.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a yarn winding device and a yarn winding system.

  As a technique related to a conventional yarn winding device, a spinning machine described in Patent Document 1 is known. The spinning machine described in Patent Document 1 includes a plurality of spinning units arranged side by side, a first yarn joining cart and a second yarn joining cart (service cart) that travel along the same traveling path, and a first yarn. A central control device for controlling the joining cart and the second yarn joining cart. When the second yarn joining cart travels toward the spinning unit for which the yarn splicing request has occurred, the first yarn joining cart travels in a direction away from the spinning unit, whereby the first yarn joining cart Interference with the second yarn joining cart is reduced.

JP 2005-330596 A

  In the related art as described above, another yarn winding device may be disposed adjacent to the yarn winding device. In this case, there is a concern that contact possibility (hereinafter also simply referred to as “contact possibility”) that an operator contacts the service cart is increased depending on an operation state and / or a surrounding state in another yarn winding device. For example, in a situation where another service cart provided in another yarn winding device travels so as to face the service cart of the yarn winding device, or in a situation where an operator is working around the other yarn winding device There is a concern that the possibility of contact will increase.

  Then, an object of this invention is to provide the yarn winding apparatus and yarn winding system which can reduce the contact possibility that an operator contacts a service cart.

  The yarn winding device according to the present invention is provided in parallel along a predetermined juxtaposed direction, and is provided with a plurality of winding units for winding the yarn, and capable of traveling along the juxtaposed direction, with respect to the winding unit. A yarn winding device including a service cart that performs service, a control unit that controls travel of the service cart, and a communication unit that performs direct or indirect communication, and the communication unit is orthogonal to the juxtaposed direction. To communicate with other yarn winding devices adjacent in the direction to obtain the neighboring device information related to the operation status and / or the surrounding situation of the other yarn winding device, and the control unit acquires the neighboring device information acquired by the communication unit The travel of the service cart is controlled based on the above.

  In the yarn winding device of the present invention, communication is performed by the communication unit to acquire adjacent device information, and the control unit controls traveling of the service cart based on the adjacent device information. Accordingly, the service cart can be driven in consideration of the operation status and / or the surrounding status of other adjacent yarn winding devices, and the possibility of contact due to the operation status and / or the surrounding status can be reduced in the travel of the service cart. It becomes possible to consider. Therefore, it is possible to reduce the possibility of contact of the worker with the service cart.

  In the yarn winding device according to the present invention, the adjacent device information may include traveling information related to traveling of another service carriage provided in another yarn winding device. According to this configuration, the service cart of the yarn winding device can be traveled in consideration of the travel of another service cart provided in another adjacent yarn winding device.

  In the yarn winding device according to the present invention, the adjacent device information may include position information related to the position of another service carriage provided in another yarn winding device. According to this configuration, the service cart of the yarn winding device can be caused to travel in consideration of the position of another service cart provided in another adjacent yarn winding device.

  In the yarn winding device according to the present invention, the adjacent device information may include human information regarding a person existing around another yarn winding device. According to this configuration, the service carriage of the yarn winding device can be driven in consideration of the presence of a person in the vicinity of another adjacent yarn winding device.

  The yarn winding device according to the present invention further includes a traveling path disposed along the juxtaposed direction, and the service carriage travels along the traveling path in a state of protruding to the front side from the main body of the winding unit. May be. In this case, since the worker can easily come into contact with the service cart, the above effect, that is, the effect of reducing the possibility of contact of the worker with the service cart is particularly effective.

  In the yarn winding device according to the present invention, the control unit is configured so that, in the juxtaposed direction, at least a part of the work area is not the same between the service cart and another service cart included in the other yarn winding device. Travel may be controlled. If the travel position or work area is the same for the service trolley and other service trolleys in the side-by-side direction, for example, the operator's attention is likely to be dispersed on both service trolleys, and the operator touches the service trolley. It is found that the possibility of contact is increased. Under this knowledge, according to the yarn winding device of the present invention, the service cart is moved so that at least a part of the work area in the juxtaposed direction does not become the same as other service carts, so that the operator can move the service cart. It is possible to reduce the possibility of contact.

  In the yarn winding device according to the present invention, the control unit, at the first speed, when the traveling position of the service carriage is not the same as the traveling position of another service carriage included in another yarn winding apparatus in the juxtaposed direction. When the travel of the service cart is controlled so as to travel, and the travel position of the service cart and the travel position of another service cart are the same in the juxtaposed direction, the vehicle travels at a second speed that is slower than the first speed. In this way, the traveling of the service cart may be controlled. Based on the above knowledge, in the yarn winding device of the present invention, the speed of the service carriage is reduced from the first speed to the second speed when the traveling position in the juxtaposed direction is the same as that of other service carriages. Thereby, it becomes possible to reduce the contact possibility that an operator contacts a service cart.

  The yarn winding device according to the present invention is a warning that issues a warning when the traveling position or at least a part of the work area is the same between the service cart and another service cart provided in another yarn winding device in the juxtaposed direction. A part may be further provided. Based on the above knowledge, according to the yarn winding device of the present invention, an operator is alerted to the service cart by issuing a warning when the traveling position or the work area in the juxtaposed direction is the same as other service carts. It is possible to reduce the possibility of contact with the contact.

  In the yarn winding device according to the present invention, the service cart has a sensor that detects a person around the service cart, and the control unit stops the traveling of the service cart when the person is detected by the sensor, or The travel of the service cart may be controlled so as to be away from the person. In this case, it is possible to further reduce the possibility of contact of the operator with the service cart.

  In the yarn winding device according to the present invention, the control unit controls the traveling of the service cart so as to travel at the third speed, and when there is a person around the other yarn winding device, the third speed The traveling of the service cart may be controlled so as to travel at a slower fourth speed. In this case, when a person is present in the vicinity of another yarn winding device, the service cart can be run at a reduced speed, and the possibility of contact of the operator with the service cart can be reduced. It becomes.

  In the yarn winding device according to the present invention, the service cart may be a doffing cart that performs discharge of the package wound by the winding unit and supply of the winding tube to the winding unit. Thereby, the doffing of the winding unit can be automatically executed by the doffing cart.

  In the yarn winding device according to the present invention, the winding unit may be a winder unit that winds a yarn from a yarn supplying bobbin to form a package. Thereby, in the yarn winding device as an automatic winder, it is possible to reduce the possibility of contact of the operator with the service cart.

  In the yarn winding device according to the present invention, the winding unit may be an air spinning unit having a spinning unit that spins yarn by the force of air. Thereby, in the yarn winding device as an air spinning machine, it is possible to reduce the possibility of contact of the operator with the service carriage.

  In the yarn winding system according to the present invention, a yarn winding system comprising a first yarn winding device and a second yarn winding device adjacent to the first yarn winding device, wherein the first yarn winding device is a predetermined yarn winding device. A plurality of first winding units that are juxtaposed along the juxtaposed direction and wind up the yarn, and a first service carriage that is provided so as to be movable along the juxtaposed direction and that services the first winding unit. And a first control unit that controls the travel of the first service carriage and a second yarn winding device directly or indirectly communicate with each other, and the second yarn winding device operating status and / or surrounding status. A first communication unit that acquires 1 adjacent device information, and the second yarn winding device is arranged in parallel along the juxtaposed direction, and a plurality of second winding units that winds the yarn, and in the juxtaposed direction A second moving unit is provided which is movable along the second winding unit and serves the second winding unit. The service carriage, the second control unit that controls the travel of the second service carriage, and the first yarn winding device communicate directly or indirectly, and the operation status and / or the surrounding situation of the first yarn winding device. A second communication unit that acquires second adjacent device information regarding the first adjacent control unit, the first control unit controls traveling of the first service carriage based on the first adjacent device information acquired by the first communication unit, and 2 control part controls driving | running | working of a 2nd service trolley based on 2nd adjacent apparatus information acquired in the 2nd communication part.

  In the yarn winding system of the present invention, communication is performed by the first communication unit to acquire the first adjacent device information, and the travel of the first service cart is controlled by the first control unit based on the first adjacent device information. . Accordingly, the first service cart can be driven in consideration of the operation status and / or the surrounding status of the adjacent second yarn winding device, and the travel of the first service cart depends on the operation status and / or the surrounding status. It becomes possible to consider the possibility of contact. In addition, communication is performed by the second communication unit to acquire second adjacent device information, and travel of the second service carriage is controlled by the second control unit based on the second adjacent device information. As a result, the second service cart can be driven in consideration of the operation status and / or the peripheral status of the adjacent first yarn winding device, and the second service cart can be driven according to the operation status and / or the peripheral status. It becomes possible to consider the possibility of contact. Therefore, it is possible to reduce the possibility of contact of the worker with the first and second service carts.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the yarn winding apparatus and yarn winding system which can reduce the contact possibility that an operator contacts a service cart.

It is a top view which shows typically the structure of the automatic winder system which concerns on one Embodiment. It is a schematic side view which shows the winder unit of FIG. It is a sequence diagram which shows the traveling control of the 1st doffing cart and the 2nd doffing cart of the automatic winder system of FIG. It is a flowchart which shows the 1st example of control by the 1st control part of FIG. It is a flowchart which shows the 2nd example of control by the 1st control part of FIG. 6 is a flowchart illustrating a third example of control by the first control unit in FIG. 1. 6 is a flowchart illustrating a fourth example of control by the first control unit in FIG. 1. 6 is a flowchart illustrating a fifth example of control by the first control unit in FIG. 1. It is a schematic side view which shows the winder unit which concerns on a modification.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference numerals, and redundant description will be omitted.

  As shown in FIG. 1, an automatic winder system (yarn winding system) 100 of the present embodiment includes a first automatic winder (first yarn winding device) 10, a second automatic winder (second yarn winding device) 20, and It is equipped with. The first automatic winder 10 and the second automatic winder 20 are juxtaposed so as to face each other and be adjacent to each other. A worker passage T through which the worker O passes is formed between the first automatic winder 10 and the second automatic winder 20. That is, both the first automatic winder 10 and the second automatic winder 20 are arranged in a state where the front side is oriented to the worker passage T side, and face each other through the worker passage T.

  In the following description, the height direction is the Z direction, the direction in which the first automatic winder 10 and the second automatic winder 20 are arranged (the facing direction) is the Y direction, and the direction in which the worker passage T extends is the X direction. explain. The X direction, the Y direction, and the Z direction are directions orthogonal to each other.

  As shown in FIGS. 1 and 2, the first automatic winder 10 includes a plurality of first winder units 11, a first traveling rail 12, a first doffing carriage 13, and a first machine base control device 14. Are provided as main components. The second automatic winder 20 is configured in the same manner as the first automatic winder 10, and includes a plurality of second winder units 21, a second traveling rail 22, a second doffing carriage 23, and a second machine base control device. 24 as main components.

  The first winder unit 11 is a first winding unit that winds the yarn. The first winder units 11 are juxtaposed along the X direction as a predetermined juxtaposition direction. The first winder unit 11 forms the package P by winding the yarn unwound from the yarn supplying bobbin B while winding it around the winding bobbin while traversing.

  The first winder unit 11 includes a first unit main body (main body portion) 11a. The first unit main body 11a includes a bobbin support portion (not shown), a yarn unwinding assist device, a yarn tension applying device, a tension sensor, a yarn joining device, a yarn monitoring device, and a winding portion as main components. The first unit body 11a is attached to the housing frame 11b. When the package P becomes full, the first winder unit 11 outputs a doffing request to the first machine base control device 14.

  The first travel rail 12 is a travel path disposed along the X direction. The first traveling rail 12 guides the traveling of the first doffing carriage 13. The first traveling rail 12 extends from the first winder unit 11 on one end side in the X direction to the first winder unit 11 on the other end side above the first unit main body 11a.

  The first doffing carriage 13 is a first service carriage that provides services to the first winder unit 11. The first doffing cart 13 performs the doffing operation on the first winder unit 11 that has been requested to doff that the package P is full and the doffing operation is necessary. That is, the first doffing carriage 13 travels to the position of the first winder unit 11 in which the package P is fully wound, discharges the fully wound package P from the first winder unit 11, and the first winder. An empty winding bobbin (winding tube) is supplied to the unit 11. The operation of the first hoisting carriage 13 is controlled by a first control unit 18 described later of the first machine base control device 14.

  The first doffing carriage 13 is provided so as to be able to travel (movable) along the X direction. In other words, the first doffing cart 13 is configured to be able to travel along the first travel rail 12 so as to cross the plurality of first winder units 11. The first doffing carriage 13 has a travel motor (not shown) and travels along the first travel rail 12 by the driving force of the travel motor. The first doffing carriage 13 travels along the first traveling rail 12 in a state of protruding to the front side of the first unit body 11a above the first unit body 11a.

  The first doffing cart 13 has a human sensor 13a. The human sensor 13 a is a sensor that detects a person around the first doffing carriage 13. For example, as the human sensor 13a, an optical sensor or an infrared sensor can be used. The human sensor 13 a is provided at a plurality of locations on the outer surface of the first doffing carriage 13, for example. When the human sensor 13 a detects a person, the human sensor 13 a transmits a detection signal to the first machine base control device 14.

  When the human sensor 13 a detects a person, the human sensor 13 a outputs information indicating that a person is present around the first automatic winder 10 to the first communication unit 16. The information may be associated with the position of an existing person. The “position” may be represented by a distance from an arbitrary reference point, for example, or may be represented based on a unit number assigned to each first winder unit 11 (the same applies to “position” below).

  The first machine control device 14 includes a first setting unit 15, a first communication unit 16, a first warning unit 17, and a first control unit 18. The first setting unit 15 is connected to the plurality of first winder units 11 and centrally manages the plurality of first winder units 11. The first setting unit 15 performs setting for each first winder unit 11 by the operator O inputting a predetermined setting value or selecting an appropriate control method. The first setting unit 15 includes a display unit, and the display unit displays the yarn winding status of each first winder unit 11 and the content of the trouble that has occurred. The first setting unit 15 can be configured by a touch panel, for example.

  When the setting by the worker O is performed, the first setting unit 15 outputs information indicating that a person is present around the first automatic winder 10 to the first communication unit 16. Even if the setting of the first setting unit 15 by the worker O is not performed, when the presence of the worker O is detected before the first setting unit 15 by a human sensor or the like (or the first setting) When the setting unit 15 is switched from the energy saving mode to the normal mode), information indicating that a person is present around the first automatic winder 10 may be output to the first communication unit 16. The information may be associated with the position of an existing person.

  The 1st communication part 16 communicates between the 2nd automatic winders 20, and acquires the 1st adjacent apparatus information regarding the operation | movement condition of the 2nd automatic winder 20, and / or a surrounding situation. Specifically, the first communication unit 16 receives the first neighboring device information transmitted from the second communication unit 26 of the second automatic winder 20. On the other hand, the first communication unit 16 transmits the second adjacent device information related to the operation state and / or the surrounding state of the first automatic winder 10 to the second communication unit 26 of the second automatic winder 20.

  The first warning unit 17 is a device that issues a warning to the worker O. As the first warning unit 17, for example, a speaker and / or an indicator lamp can be used. In this case, as a warning, an output of sound from the speaker and / or lighting of the indicator lamp is executed. The first warning unit 17 may be provided in the first doffing carriage 13 to issue a warning to the worker O. The first warning unit 17 may be other various known devices as long as it can issue a warning.

  The first control unit 18 is configured by a computer including a processor. The first control unit 18 is connected to the first doffing carriage 13 (here, the travel motor of the first doffing carriage 13), and in response to a doffing request from the first winder unit 11, the first doffing carriage 13 is connected. The operation of the carriage 13 is controlled.

  Specifically, when a doffing request is input from a certain first winder unit 11, the first control unit 18 causes the first winder unit 11 to perform a doffing operation (hereinafter simply “task”). "). And the operation | movement of the 1st doffing cart 13 is controlled, and the produced | generated task is performed. That is, a traveling pattern for traveling the first doffing carriage 13 is generated according to the generated task. The first doffing cart 13 is controlled to travel with the generated travel pattern. The fully wound package P is discharged from the first winder unit 11 and an empty winding bobbin is supplied to the first winder unit 11.

  The first control unit 18 receives a doffing request from the plurality of first winder units 11 and generates a plurality of tasks, and the first winder unit 11 that is close to the current position of the first doffing carriage 13. Execute the task for the first. In other words, the generated tasks are prioritized in order of execution so that the travel distance is the shortest when the first doffing carriage 13 travels between the plurality of first winder units 11 that have a doffing request. Run.

  The first control unit 18 controls the travel of the first doffing cart 13 based on the first adjacent device information acquired by the first communication unit 16. The first control unit 18 controls the traveling of the first hoisting carriage 13 so that at least a part of the work area is not the same between the first hoisting carriage 13 and the second hoisting carriage 23 in the X direction. When the traveling position of the first hoisting carriage 13 and the traveling position of the second hoisting carriage 23 are not the same in the X direction, the first control unit 18 causes the first hoisting carriage 13 to travel at a standard speed. In the X direction, when the traveling position of the first doffing carriage 13 and the traveling position of the second doffing carriage 23 are the same in the X direction, the second descent is performed so as to travel at a lower speed than the standard speed. The traveling of the one dolly carriage 13 is controlled. Further, the first control unit 18 controls the traveling of the first doffing carriage 13 so as to travel at the standard speed, and at the low speed when a person is present around the second automatic winder 20. The traveling of the first doffing carriage 13 is controlled so as to travel. The standard speed is the speed of the first doffing carriage 13 at the normal time. The standard speed and the low speed may be fixed values set in advance, or may be variable values, for example. Details of the traveling control of the first doffing carriage 13 will be described later.

  The first control unit 18 is connected to the human sensor 13a. When the human sensor 13a detects a person, the first control unit 18 stops the traveling of the first hoisting carriage 13 or controls the traveling of the first hoisting carriage 13 so as to be away from the person.

  The first control unit 18 is connected to the first warning unit 17. The first control unit 18 generates a warning from the first warning unit 17 when at least a part of the traveling position or work area in the X direction overlaps with the first doffing carriage 13 and the second doffing carriage 23. .

  The second winder unit 21 is configured in the same manner as the first winder unit 11, and has a second unit main body (main body portion) 21a attached to the housing frame 21b. The second traveling rail 22 is configured in the same manner as the first traveling rail 12. The second doffing carriage 23 is configured in the same manner as the first doffing carriage 13 and has a human sensor 23a. The second machine control device 24 is configured in the same manner as the first machine control device 14, and includes a second setting unit 25, a second communication unit 26, a second warning unit 27, and a second control unit 28.

  Next, traveling control of the first doffing carriage 13 and the second doffing carriage 23 in the automatic winder system 100 will be described with reference to FIG.

  The second automatic winder 20 transmits the first adjacent device information from the second communication unit 26 to the first communication unit 16 of the first automatic winder 10 (S1). In response to this transmission, the first automatic winder 10 acquires the first adjacent device information by the first communication unit 16 (S2). In the first automatic winder 10, the second adjacent device information is transmitted from the first communication unit 16 to the second communication unit 26 of the second automatic winder 20 (S3). In response to this transmission, in the second automatic winder 20, the second adjacent device information is acquired by the second communication unit 26 (S4). In addition, said S3 and said S4 may be implemented after said S1 and said S2, and may be implemented in parallel with said S1 and said S2.

  The first adjacent device information includes the traveling pattern of the second doffing carriage 23 of the second automatic winder 20. The traveling pattern of the second hoisting carriage 23 is traveling information regarding the traveling of the second hoisting carriage 23. Specifically, the traveling pattern is a second doffing cart that is scheduled to run the second doffing cart 23 according to one or more tasks that cause the second automatic winder 20 to perform the doffing operation. 23 is information representing the transition of 23 runs. For example, the travel pattern is information in which the position and speed of the second hoisting carriage 23 are associated with time.

  The first adjacent device information includes human information regarding a person existing around the second automatic winder 20. For example, the person information is information acquired when the setting is performed by the second setting unit 25 or when the person is detected by the human sensor 23 a, and the person is located around the second automatic winder 20. It is information indicating that it exists. The first adjacent device information includes information on one or more tasks of the second doffing carriage 23, information on the current position of the second doffing carriage 23, and information on the current speed of the second doffing carriage 23. May be included. The current position and current speed of the second doffing carriage 23 can be detected by, for example, a known sensor (position sensor or speed sensor) mounted on the second doffing carriage 23.

  The second adjacent device information includes the traveling pattern of the first doffing carriage 13 of the first automatic winder 10. The traveling pattern of the first hoisting carriage 13 is traveling information relating to the traveling of the first hoisting carriage 13. Specifically, the traveling pattern is a first doffing cart that is scheduled to run the first doffing cart 13 according to one or more tasks that cause the first automatic winder 10 to perform a doffing operation. It is the information showing the transition of 13 driving | running | working. For example, the traveling pattern is information in which the position and speed of the first doffing carriage 13 are associated with time.

  The second adjacent device information includes human information related to people existing around the first automatic winder 10. For example, the person information is information acquired when the setting is performed by the first setting unit 15 or when the person is detected by the human sensor 13 a, and the person is located around the first automatic winder 10. It is information indicating that it exists. The second adjacent device information includes information on one or more tasks of the first hoisting carriage 13, information on the current position of the first hoisting carriage 13, and information on the current speed of the first hoisting carriage 13. May be included. The current position and current speed of the first doffing carriage 13 can be detected by, for example, a known sensor (position sensor or speed sensor) mounted on the first doffing carriage 13.

  After the above S2, in the first automatic winder 10, the first control unit 18 controls the travel of the first doffing carriage 13 by the travel pattern according to the first adjacent device information acquired by the first communication unit 16 ( S5).

  After the above S4, in the second automatic winder 20, the second control unit 28 controls the traveling of the second doffing carriage 23 by the traveling pattern according to the second adjacent device information acquired by the second communication unit 26 ( S6). In S6, in order to control the travel of the second doffing carriage 23, the current position and current speed of the second doffing carriage 23 may be detected. Note that the above series of processing may be repeatedly executed, for example, at a predetermined cycle.

  Next, control by the first control unit 18 related to the traveling control of the first doffing carriage 13 (S5 above) will be exemplified with reference to FIGS. In addition, about the control by the 2nd control part 28 relevant to the traveling control (above-mentioned S6) of the 2nd doffing trolley 23, description is abbreviate | omitted for the same.

  FIG. 4 is a flowchart illustrating a first example of control by the first control unit 18. In the example shown in FIG. 4, first, one or more tasks for executing a doffing operation are generated in response to one or more doffing requests input from one or more first winder units 11 (S11). ). Depending on the generated one or more tasks, the one or more tasks are ordered in accordance with the standard conditions (here, for the first winder unit 11 close to the current position of the first doffing carriage 13 as described above). A traveling pattern to be executed in the order of tasks is generated (S12).

  Then, based on the acquired 1st adjacent apparatus information, it is determined whether the work area of the task performed next overlaps with the 1st doffing carriage 13 and the 2nd doffing carriage 23 (S13). The work area is a peripheral area of the winder unit that performs the doffing work. For example, the work area can be an area that extends by a plurality of units (such as two units) around the winder unit on one side and the other side in the X direction. When the work areas overlap, it is a case where part or all of the work areas overlap when viewed from the Y direction. When the work areas overlap, not only the case where the work areas are completely the same but also the case where at least a part of the work areas are the same is included.

  If YES in S13, it is determined whether or not there is another task having a work area that does not overlap with the work area of the second doffing cart 23 among the tasks generated in S11 (S14). In the case of YES in S14, the travel pattern is changed to a travel pattern that is preferentially executed so that the other task is executed next (S15). In the case of NO in S13 or after S15, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S16).

  For example, after the first task for performing the doffing operation of the first winder unit 11 located on one side in the X direction, the second task for performing the doffing operation of the first winder unit 11 located on the other side in the X direction is executed. Assume that a travel pattern has been generated. At this time, when the first task is executed and the work areas overlap in the first doffing carriage 13 and the second doffing carriage 23, the task order is changed, and the first task is executed after the second task. The travel pattern is changed to the travel pattern.

  In the case of NO in S14, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S17). Then, a warning is generated from the first warning unit 17 while the work areas are overlapped by the first hoisting carriage 13 and the second hoisting carriage 23 (S18).

  FIG. 5 is a flowchart illustrating a second example of control by the first control unit 18. In the example shown in FIG. 5, first, similarly to S11 and S12, a task is generated according to the input doffing request, and a travel pattern is generated according to the generated task (S21, S22). Subsequently, based on the acquired first neighboring device information, it is determined whether or not the first doffing carriage 13 passes the second doffing carriage 23 (S23).

  In the case of NO in S23, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S24). On the other hand, if YES in S23, the travel pattern is changed to a travel pattern that decelerates when passing each other (S25). As a running pattern that decelerates at the time of passing, for example, a speed pattern that allows the vehicle to run at a standard speed and temporarily lowers the speed at the time of passing can be adopted. When passing each other, not only the passing timing but also a certain time before the timing and a certain time after the timing may be included. Subsequently, the traveling of the first doffing carriage 13 is controlled along the changed traveling pattern (S26). When the first doffing carriage 13 passes by the second doffing carriage 23, a warning is generated from the first warning unit 17 (S27).

  Note that, for example, even when the first doffing carriage 13 overtakes or overtakes the second doffing carriage 23 in the X direction, the same control as illustrated in FIG. 5 can be performed. If the travel positions of the first doffing carriage 13 and the second doffing carriage 23 are the same in the X direction, the control can be performed similarly to the control illustrated in FIG.

  FIG. 6 is a flowchart illustrating a third example of control by the first control unit 19. In the example shown in FIG. 6, first, similarly to S11 and S12, a task is generated according to the input doffing request, and a travel pattern is generated according to the generated task (S31, S32). Then, based on the acquired 1st adjacent apparatus information, it is determined whether a person exists around the 2nd automatic winder 20 (S33).

  If YES in S33, the travel pattern is changed to a low-speed travel pattern in which the vehicle travels at a lower speed than the standard speed (S34). In the case of NO in S33 or after S34, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S35). As a result, in S35, if NO in 33 and the travel pattern is not changed, the first dolly carriage 13 is traveled with the travel speed as the standard speed, while YES in S33 and travels at low speed. When the pattern is changed, the first doffing carriage 13 is driven at a low traveling speed.

  FIG. 7 is a flowchart illustrating a fourth example of control by the first control unit 19. In the example shown in FIG. 7, first, similarly to S11 and S12, a task is generated according to the input doffing request, and a travel pattern is generated according to the generated task (S41, S42). Subsequently, based on the acquired first adjacent device information, it is determined whether or not the first doffing carriage 13 travels in the same direction (the same X direction) while facing the second doffing carriage 23 (S43). ).

  If YES in S43, the travel pattern is changed to a travel pattern in which the first doffing carriage 13 and the second doffing carriage 23 are separated from each other in the X direction (S44). As a running pattern for separating the first doffing carriage 13 and the second doffing carriage 23, for example, a running pattern for running at a running speed having a difference with respect to the running speed of the second doffing carriage 23, temporarily A traveling pattern for decelerating, a traveling pattern for temporarily accelerating, a traveling pattern in which the traveling start time is delayed, and the like can be employed. In the case of NO in S43 or after S44, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S45).

  FIG. 8 is a flowchart showing a fifth example of control by the first control unit 19. In the example shown in FIG. 8, first, similarly to S11 and S12, a task is generated according to the input doffing request, and a travel pattern is generated according to the generated task (S51, S52). Subsequently, it is determined whether or not a person is detected by the human sensor 13a (S53).

  In the case of YES in S53, the travel pattern is changed to a travel pattern in which the travel of the first doffing carriage 13 is stopped or traveled away from the person (S54). In the case of NO in S53 or after S54, the traveling of the first doffing carriage 13 is controlled along the traveling pattern (S55).

  As described above, in the first automatic winder 10, communication is performed by the first communication unit 16 to acquire the first adjacent device information, and the first control unit 18 determines the first doffing cart 13 based on the first adjacent device information. Travel is controlled. Further, in the second automatic winder 20, communication is performed by the second communication unit 26 to acquire second adjacent device information, and the second control unit 28 based on the second adjacent device information acquires the second doffing cart 23. Travel is controlled. Accordingly, the first doffing carriage 13 can travel in consideration of the operation situation and / or the surrounding situation of the second automatic winder 20, and the first doffing carriage 13 can be touched by the operation situation and / or the surrounding situation. The possibility can be taken into account. The second doffing carriage 23 can travel in consideration of the operation situation and / or the surrounding situation of the first automatic winder 10, and the traveling possibility of the second doffing carriage 23 can be contacted depending on the operation situation and / or the surrounding situation. Can be considered.

  Therefore, according to the 1st automatic winder 10, the 2nd automatic winder 20, and the automatic winder system 100 provided with these, the contact possibility that the operator O contacts the 1st and 2nd doffing carts 13 and 23 is possible. It becomes possible to reduce, and it becomes possible to improve the safety of the worker O. Since the possibility of contact can be reduced, the distance between the first and second automatic winders 10 and 20 (distance in the Y direction) can be reduced, and an efficient work environment can be provided. Moreover, since contact possibility can be reduced, it becomes possible to mount the large first and second hoisting carriages 13 and 23 having multiple functions.

  In the first automatic winder 10, the first adjacent device information includes travel information regarding the travel of the second doffing carriage 23. Thereby, the 1st doffing cart 13 can be run considering the run of the 2nd doffing cart 23. In the second automatic winder 20, the second adjacent device information includes travel information regarding the travel of the first doffing carriage 13. Thereby, the 2nd doffing cart 23 can be made to run in consideration of the run of the 1st doffing cart 13.

  In the first automatic winder 10, the first adjacent device information includes human information related to people existing around the second automatic winder 20. Thereby, the 1st doffing cart 13 can be made to run in consideration of the presence of a person around the second automatic winder 20. In the second automatic winder 20, the second adjacent device information includes person information regarding a person existing around the first automatic winder 10. Thereby, the 2nd doffing cart 23 can be made to run in consideration of the existence of a person around the first automatic winder 10.

  In the first automatic winder 10, the first doffing carriage 13 travels along the first travel rail 12 in a state of protruding to the front side from the first unit main body 11 a of the first winder unit 11. In the second automatic winder 20, the second hoisting carriage 23 travels along the second traveling rail 22 in a state of protruding to the front side from the second unit main body 21 a of the second winder unit 21. In this case, since the worker O is easy to contact the first and second doffing carts 13 and 23, the above effect, that is, the worker O contacts the first and second doffing carts 13 and 23. The effect of reducing the possibility of contact is particularly effective.

  Here, if the travel positions or work areas in the X direction of the first and second hoisting carriages 13 and 23 are the same, for example, the operator's attention is given to both the first and second hoisting carriages 13 and 23. It may become easy to disperse. Further, for example, when the worker O passes through the worker passage T, the first and second doffing carts 13 and 23 are obstructed (eg, difficult to pass through), and the intimidating feeling given to the worker O or There may be a feeling of pressure. For this reason, there is a concern that the possibility of contact of the worker with the first and second doffing carts 13 and 23 is increased.

  Therefore, the first control unit 18 of the first automatic winder 10 sets the first doffing so that at least a part of the work area is not the same between the first doffing carriage 13 and the second doffing carriage 23 in the X direction. The traveling of the carriage 13 is controlled. Thereby, it becomes possible to reduce the contact possibility that the operator O contacts the 1st doffing carriage 13. Similarly, in the second automatic winder 20, by controlling the traveling of the second doffing carriage 23 so that at least a part of the work area of the first and second doffing carriages 13 and 23 is not the same, It is possible to reduce the possibility of contact of the worker O with the two dolly carriage 23. As a result, when the worker O passes through the worker passage T, the first and second doffing carts 13 and 23 are obstructed, and the intimidation or pressure feeling given to the worker O is suppressed. it can.

  The first control unit 18 of the first automatic winder 10 causes the first doffing carriage 13 to run at a standard speed during normal times when the running positions of the first and second doffing carriages 13 and 23 are not the same in the X direction. On the other hand, when the traveling positions of the first and second hoisting carriages 13 and 23 are the same in the X direction (when passing each other, overtaking or overtaking), the speed of the first hoisting carriage 13 is reduced. The first doffing carriage 13 is caused to travel at a low speed. Thereby, it becomes possible to reduce the contact possibility that an operator contacts the 1st doff cart 13. Similarly, in the second automatic winder 20, when the traveling positions of the first and second hoisting carriages 13 and 23 in the X direction are the same, the speed of the second hoisting carriage 23 is reduced from the standard speed to reduce the speed. The second doffing carriage 23 is caused to travel at a speed. Thereby, it becomes possible to reduce the contact possibility that the worker O contacts the 2nd doffing cart 23.

  In the first automatic winder 10, the first warning unit 17 issues a warning when the first doffing carriage 13 and the second doffing carriage 23 have the same travel position or work area in the X direction. . Thereby, it becomes possible to reduce the contact possibility that an operator contacts the 1st doff cart 13. Similarly, in the second automatic winder 20, it is possible to reduce the possibility of contact of the worker O with the second doffing carriage 23 by issuing a warning by the second warning unit 27.

  In the first automatic winder 10, the first doffing carriage 13 has a human sensor 13a, and the first control unit 18 stops the movement of the first doff car 13 when the human sensor 13a detects a person. Or the traveling of the first doffing carriage 13 is controlled so as to be away from the person. Thereby, it becomes possible to further reduce the possibility of contact of the operator with the first doffing carriage 13. Similarly, also in the 2nd automatic winder 10, when the person is detected by the human sensor 23a, the traveling of the second doffing carriage 23 is stopped or the running of the second doffing carriage 23 is separated from the person. By controlling this, it is possible to further reduce the possibility of contact of the operator O with the second doffing carriage 23.

  In the first automatic winder 10, the first control unit 18 controls the traveling of the first doffing carriage 13 so as to travel at the standard speed, and when there is a person around the second automatic winder 20. The traveling of the first doffing carriage 13 is controlled so as to travel at a low speed slower than the standard speed. Thereby, when a person exists around the second automatic winder 20, the first doffing carriage 13 can be caused to travel at a reduced speed, and the operator O contacts the first doffing carriage 13. It is possible to reduce the possibility of contact. Similarly, in the second automatic winder 20, when there is a person around the first automatic winder 10, the second doffing carriage 23 can be caused to travel at a lower speed, and the second doffing carriage 23 can be driven. It is possible to reduce the possibility of contact of the worker O with the operator 23.

  The first automatic winder 10 includes, as a service cart, a first doffing carriage 13 that executes discharge of the package P wound up by the first winder unit 11 and supply of a winding bobbin to the first winder unit 11. ing. Thereby, the doffing of the 1st winder unit 11 can be performed automatically. Similarly, the 2nd automatic winder 20 is provided with the 2nd doffing cart 23 as a service cart, and can doff the 2nd winder unit 21 automatically by this.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment.

  In the said embodiment, although the 1st and 2nd winder units 11 and 21 were applied as a winding unit, it is not limited to this. For example, as shown in FIG. 9, the winding unit may be an air spinning unit 31 having a spinning unit 32 that spins yarn by the force of air. In this case, the yarn winding system is an air spinning system, and the yarn winding device is an air spinning machine. The illustrated air spinning unit 31 includes a doffing carriage 33 that performs a doffing operation. The doffing carriage 33 is disposed on the front side of the spinning unit 32 and travels along the X while being guided by the traveling rails 34 and 35.

  In the above embodiment, the first communication unit 16 of the first automatic winder 10 and the second communication unit 26 of the second automatic winder 20 communicate directly, but the first communication is performed via a host device such as a host controller. Communication may be performed between the communication unit 16 and the second communication unit 26. Communication may be performed directly or indirectly between the first communication unit 16 and the second communication unit 26.

  In the said embodiment, although the 1st doffing carriage 13 and the 2nd doffing carriage 23 which perform a doffing operation | work (doffing service) were provided as a service carriage, a service carriage is not limited. For example, the service cart may be a yarn joining cart that performs a yarn joining operation (yarn joining service). It is possible to apply any service cart that provides some service to the winding unit.

  In the said embodiment, adjacent apparatus information will not be specifically limited if it is the information regarding the operation | movement condition and / or peripheral condition of another adjacent yarn winding apparatus. For example, the adjacent device information may include position information related to the position of another service carriage provided in another adjacent yarn winding device. In this case, the service bogie of the yarn winding device can be run in consideration of the position of another service bogie provided in another adjacent yarn winding device. Thereby, it can suppress that the other service trolley which is not driving | running | working (moving) obstructs the worker O. Further, for example, the adjacent device information includes information on the unit number of the winding unit that has stopped operating in another adjacent yarn winding device, information on the lot change of another adjacent yarn winding device, and / or adjacent. Information on maintenance of other yarn winding devices may be included.

  In the above embodiment, the material and shape of each component are not limited to the materials and shapes described above, and various materials and shapes can be employed. In the above embodiment, the standard speed corresponds to the first speed and the third speed, and the low speed slower than the standard speed corresponds to the second speed and the fourth speed, but is not limited thereto, and the first speed and the first speed The third speed may be different from each other, and the second speed and the fourth speed may be different from each other. In short, it is sufficient that the second speed is slower than the first speed and the fourth speed is slower than the third speed.

  DESCRIPTION OF SYMBOLS 10 ... 1st automatic winder (yarn winding device), 11 ... 1st winder unit (1st winding unit, winding unit), 11a ... 1st unit main body (body part), 12 ... 1st traveling rail (traveling path) ), 13 ... 1st doffing trolley (service trolley, 1st service trolley, doffing trolley), 13a, 23a ... human sensor (sensor), 16 ... 1st communication part (communication part), 17 ... 1st warning Part (warning part), 18 ... first control part (control part), 20 ... second automatic winder (other yarn winding device), 21 ... second winder unit (second winding unit, winding unit), 21a ... 2nd unit main body (main body part), 22 ... 2nd traveling rail (traveling path), 23 ... 2nd doffing carriage (service carriage, 2nd service carriage, doffing carriage), 26 ... 2nd communication part (communication) Part), 27 ... second warning part (warning part), 28 ... second control part (control) Part), 31 ... air spinning unit (winding unit), 33 ... doffing cart (service cart), 34, 35 ... traveling rail (traveling path), 100 ... automatic winder system (yarn winding system), B ... feeding Thread bobbin, P ... Package.

Claims (14)

A plurality of winding units that are arranged side by side along a predetermined arrangement direction and wind the yarn;
A service carriage provided so as to be able to travel along the juxtaposed direction, and serving the winding unit;
A control unit for controlling the traveling of the service cart;
A yarn winding device including a communication unit that performs communication directly or indirectly,
The communication unit communicates with another yarn winding device adjacent in a direction orthogonal to the juxtaposed direction, and acquires adjacent device information related to the operation status and / or peripheral status of the other yarn winding device,
The said control part is a yarn winding apparatus which controls driving | running | working of the said service trolley based on the said adjacent apparatus information acquired by the said communication part.   2. The yarn winding device according to claim 1, wherein the adjacent device information includes traveling information related to traveling of another service carriage provided in the other yarn winding device.   3. The yarn winding device according to claim 1, wherein the adjacent device information includes position information related to a position of another service carriage provided in the other yarn winding device.   The yarn winding device according to any one of claims 1 to 3, wherein the adjacent device information includes human information relating to a person existing around the other yarn winding device. Further comprising a traveling path arranged along the parallel direction,
The yarn winding device according to any one of claims 1 to 4, wherein the service carriage travels along the travel path in a state of protruding from the main body of the winding unit toward the front side.   The control unit controls travel of the service cart so that at least a part of a work area is not the same between the service cart and another service cart included in the other yarn winding device in the juxtaposed direction. The yarn winding device according to any one of claims 1 to 5. The controller is
When the travel position of the service carriage is not the same as the travel position of another service carriage included in the other yarn winding device in the juxtaposed direction, the service carriage is allowed to travel at a first speed. Control
When the travel position of the service cart and the travel position of the other service cart are the same in the juxtaposed direction, the service cart is allowed to travel at a second speed that is slower than the first speed. The yarn winding device according to any one of claims 1 to 6, which is controlled.   The apparatus further comprises a warning unit that issues a warning when at least a part of a travel position or a work area is the same between the service carriage and another service carriage provided in the other yarn winding device in the juxtaposed direction. Item 8. The yarn winding device according to any one of Items 1 to 7. The service cart has a sensor that detects people around the service cart,
The control unit according to any one of claims 1 to 8, wherein when the person is detected by the sensor, the service cart stops running or controls the service cart running away from the person. The yarn winding device according to item. The controller is
Controlling the travel of the service carriage to travel at a third speed,
The travel of the service cart is controlled so as to travel at a fourth speed slower than the third speed when a person is present around the other yarn winding device. The yarn winding device according to one item.   The said service trolley | bogie is a doffing trolley | bogie which performs discharge | emission of the package wound by the said winding unit, and supply of the winding tube to the said winding unit. Yarn winding device.   The yarn winding device according to any one of claims 1 to 11, wherein the winding unit is a winder unit that winds a yarn from a yarn supplying bobbin to form a package.   The yarn winding device according to any one of claims 1 to 11, wherein the winding unit is an air spinning unit having a spinning unit that spins yarn by the force of air. A yarn winding system comprising: a first yarn winding device; and a second yarn winding device adjacent to the first yarn winding device,
The first yarn winding device includes:
A plurality of first winding units that are juxtaposed along a predetermined juxtaposition direction and winds the yarn;
A first service carriage that is movably provided along the juxtaposed direction and that provides services to the first winding unit;
A first control unit for controlling travel of the first service carriage;
A first communication unit that performs direct or indirect communication with the second yarn winding device and acquires first adjacent device information related to an operation state and / or a surrounding state of the second yarn winding device. ,
The second yarn winding device
A plurality of second winding units that are juxtaposed along the juxtaposed direction and winds the yarn;
A second service carriage that is movably provided along the juxtaposed direction and that provides services to the second winding unit;
A second control unit for controlling travel of the second service carriage;
A second communication unit that directly or indirectly communicates with the first yarn winding device and acquires second adjacent device information related to the operation status and / or the surrounding status of the first yarn winding device. ,
The first control unit controls traveling of the first service carriage based on the first neighboring device information acquired by the first communication unit,
The yarn winding system, wherein the second control unit controls traveling of the second service carriage based on the second adjacent device information acquired by the second communication unit.

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