JP2022098904A - Doffing device and yarn winding machine - Google Patents

Abstract

To provide a doffing device capable of shortening time necessary for placing a package, and capable of stabilizing the posture of the package and moving it to a placement part.SOLUTION: A doffing device includes a support part, a motor, and a control part. The support part supports a package. The motor moves the support part between a first position and a second position. The control part performs first control, second control and third control. In the first control, the motor is controlled so that the movement speed of the support part becomes a first speed by moving the support part positioned in the first position. The second control is the control performed after the first control, and the motor is controlled so that the movement speed of the support part becomes a second speed. The third control is the control performed after the second control, and the motor is controlled so that the movement speed of the support part becomes a third speed, and then, the motor is controlled so that the support part stops at the second position. The first speed is different from the second speed, and the second speed is different from the third speed.SELECTED DRAWING: Figure 4

Description

The present invention mainly relates to a ball lifting device that receives and conveys a package in which a bobbin is wound with a thread.

Patent Document 1 discloses a ball lifting device including a ball lifting mechanism that guides a package formed by the winding device to a mounting portion. The ball lifting mechanism includes a package support portion that receives and supports the package from the take-up device. After receiving the package from the winder, the package support moves downward while supporting the package and guides the package to the mounting part.

Japanese Unexamined Patent Publication No. 2015-147674

The shorter the time required to guide the package held in the winding device to the mounting portion, the higher the working efficiency of the textile machine. On the other hand, if the package support is moved at an early timing so that the work efficiency of the textile machine is high, or if the package support is moved at a high speed, the posture of the package may not be stable.

The present invention has been made in view of the above circumstances, and a main object thereof is to shorten the time required for mounting the package or to stabilize the posture of the package and move it to the mounting portion. Is to provide a ball hoisting device capable of.

Means and effects to solve problems

The problem to be solved by the present invention is as described above, and next, the means for solving this problem and its effect will be described.

From the viewpoint of the present invention, a ball lifting device having the following configuration is provided. That is, the ball hoisting device receives and conveys the package from the winding device that winds the yarn to form the package. The ball lifting device includes a support unit, a first drive unit, and a control unit. The support portion supports the package. The first drive unit is located at the first position, which is the position closest to the package held by the spool, and below the first position, in the movement locus of the support unit. The support portion is moved to and from the second position where the package is delivered to the mounting portion to be mounted. The control unit controls the first drive unit. The control unit performs a first control, a second control, and a third control as control of the first drive unit when the support unit is moved from the first position to the second position. In the first control, the support portion located at the first position is moved, and the first drive unit is controlled so that the moving speed of the support portion becomes the first speed. The second control is a control performed after the first control, and controls the first drive unit so that the moving speed of the support unit becomes the second speed. The third control is a control performed after the second control, and the support portion is moved to the second position after the first drive portion is controlled so that the moving speed of the support portion becomes the third speed. The first drive unit is controlled so as to stop. The first speed is different from the second speed, and the second speed is different from the third speed.

As a result, by controlling the first speed, the second speed, and the third speed to be appropriate according to the purpose and the situation, the time required for mounting the package can be shortened and the posture of the package can be stabilized. It can be moved to the mounting part.

In the ball lifting device, it is preferable that the second speed is zero.

As a result, even if the package is still in the vicinity of the cradle at the timing of shifting to the second control, the distance from the package to the support portion does not become too large, so that the package can be appropriately placed on the support portion.

In the ball lifting device, it is preferable that the first speed is larger than the third speed.

As a result, the first speed is relatively large, so that the time required for mounting the package is shortened, and the third speed is relatively small, so that the package is less likely to be damaged when the package is placed.

In the ball lifting device, when the control unit changes from the first speed to the second speed, the absolute value of the amount of change in speed per unit time increases with the passage of time, at least at one time. It is preferable to control the first driving unit as described above.

As a result, when accelerating the support, the support does not suddenly separate from the first position, so there is a high possibility that the package will be placed on the support, and when decelerating the support, the package will be supported when it is placed on the support. Since the speed of the part does not change significantly, the package can be stabilized.

In the ball lifting device, when the control unit changes from the second speed to the third speed, the absolute value of the amount of change in speed per unit time increases with the passage of time, at least at one time. It is preferable to control the first driving unit as described above.

As a result, when accelerating the support part, the support part does not accelerate suddenly, so the package on the support part can be prevented from falling, and when decelerating the support part, the support part does not suddenly decelerate, so the package is stable. Can be moved to.

The above-mentioned ball lifting device preferably has the following configuration. That is, the first drive unit is an induction motor. In the first control and the third control, the first drive unit is in an operating state of operating at a constant speed. In the second control, the operation of the first drive unit is stopped.

Thereby, the first control to the third control can be realized by using the first drive unit having a simple structure.

In the ball lifting device, it is preferable that the support portion switches to the second speed at a position closer to the first position than the center in the movement locus of the support portion in the moving direction.

As a result, when the speed changes from the first speed to the second speed, for example, when the second speed is smaller than the first speed, the distance between the package and the support part even if the package falls on the support part. Since there is a tendency for the speed to be close, the posture of the package is unlikely to change. Further, for example, when the second speed is larger than the first speed, the support portion can be changed to the high-speed second speed at an early stage, so that the time required for mounting the package can be further shortened.

The above-mentioned ball lifting device preferably has the following configuration. That is, the ball lifting device further includes a second drive unit. The support portion includes a base portion and a tip portion. The tip portion is provided on the tip end side of the base portion, and is rotatably connected with the direction parallel to the axial direction of the package as the center of rotation with respect to the base portion. By controlling the second drive unit, the control unit has a first state in which the angle formed by the tip portion and the base portion is the first angle, and a second angle smaller than the first angle. It is possible to change the state of the support portion between the state and the state. The control unit controls the second drive unit so that the support unit is in the second state at the start of movement of the support unit at the first position.

As a result, the package can be easily placed on the support portion when the movement of the package is started.

In the ball lifting device, the control unit is the first so that the support unit is in the first state after the start of the second control and before the end of the third control. 2 It is preferable to control the drive unit.

This makes it easier to move the package to the mounting section.

The above-mentioned ball lifting device preferably has the following configuration. That is, the control unit acquires the value of the weight of the package. The control unit performs the first control, the second control, and the third control on condition that the acquired weight value of the package is equal to or higher than the threshold value related to the first drive unit.

As a result, the above control can be performed for a heavy package in which the posture of the package is not stable.

The above-mentioned ball lifting device preferably has the following configuration. That is, the control unit acquires the value of the weight of the package. The control unit has the support unit at the start of movement of the support unit at the first position, provided that the acquired weight value of the package is equal to or higher than the threshold value related to the second drive unit. The second drive unit is controlled so as to be in the second state.

As a result, the above control can be performed for a heavy package in which the posture of the package is not stable.

According to another aspect of the present invention, the following thread winders are provided. That is, the bobbin winder includes a ball hoisting device, a plurality of winding units, and a mounting unit. Each of the take-up units includes a take-up device that winds the yarn to form the package. The mounting portion extends in the arrangement direction of the take-up unit. When viewed in the axial direction of the package, the winding device, the previously described placing portion, and the hoisting device are arranged in this order.

In a thread winder with this type of layout, the winding device and the mounting part are close to each other, so the vertical movement amount with respect to the horizontal movement amount of the package becomes large, and as a result, the posture of the package tends to become unstable. By using the invention, the posture of the package can be stabilized.

The front view which shows the overall structure of the spinning machine which concerns on one Embodiment of this invention. Sectional view of the spinning machine. The block diagram of the machine base control device, the ball lifting device, and the unit control unit. Sectional drawing which shows how the support part receives a package. Sectional drawing which shows how the support part guides a package to a mounting part. A flowchart of the process of receiving a full package and guiding it to the mounting section. The graph which shows the 1st speed, the 2nd speed, and the 3rd speed of this embodiment and a modification. The graph which shows the 1st speed, the 2nd speed, and the 3rd speed of another modification.

Next, the spinning machine (thread winder) according to the embodiment of the present invention will be described with reference to the drawings. In the present specification, "upstream" and "downstream" mean upstream and downstream in the traveling direction of the yarn.

The spinning machine 1 as a thread winder shown in FIG. 1 includes a large number of winding units 2 arranged side by side, a thread joint trolley 3, a ball lifting trolley (ball lifting device) 4, a blower box 93, and a prime mover box. 5 and.

The prime mover box 5 includes a machine base control device 30. The machine base control device 30 controls a plurality of take-up units 2. Further, the machine base control device 30 includes a liquid crystal monitor 31 and an input unit 32. The liquid crystal monitor 31 displays information on the operating status and / or yarn quality of each take-up unit 2 by an appropriate operation of the operator. The input unit 32 includes a plurality of input keys. The input unit 32 receives an instruction given by the operator to the machine base control device 30. For example, the operator operates the input unit 32 to display predetermined information on the liquid crystal monitor 31 or set conditions for winding the yarn.

As shown in FIG. 1, each take-up unit 2 includes a draft device 7, a spinning device (yarn feeding section) 9, a thread storage device 12, and a take-up device 13 in order from upstream to downstream. .. The draft device 7 is provided near the upper end of the frame 6 included in the spinning machine 1. The fiber bundle 8 sent from the draft device 7 is spun by the spinning device 9. The spun yarn 10 sent out from the spinning device 9 passes through the yarn monitoring device 49 described later, and then further passes through the yarn storage device 12. Then, the spun yarn 10 is wound around the bobbin 48 by the winding device 13, so that the package 45 is formed.

As shown in FIG. 2, the take-up unit 2 includes a unit control unit 100 that controls each part included in the take-up unit 2. The unit control unit 100 includes, for example, a CPU and a ROM. The ROM stores a program, a control table, and the like for controlling each part included in the take-up unit 2. The CPU executes the program stored in this ROM.

The draft device 7 stretches the sliver 15 into a fiber bundle 8. As shown in FIG. 2, the draft device 7 includes four roller pairs: a back roller pair 16, a third roller pair 17, a middle roller pair 19, and a front roller pair 20. An apron belt 18 is attached to each of the middle rollers vs. 19 rollers.

Although the detailed configuration of the spinning device 9 is not shown, the spinning device 9 of the present embodiment twists the fiber bundle 8 by utilizing the swirling air flow to generate the spun yarn 10.

A yarn storage device 12 is provided downstream of the spinning device 9. The yarn storage device 12 has a function of applying a predetermined tension to the spinning yarn 10 to pull out the spinning yarn 10 from the spinning apparatus 9, and a spinning yarn 10 sent from the spinning apparatus 9 at the time of yarn splicing by the yarn splicing trolley 3. It has a function of retaining and preventing the spinning yarn 10 from loosening, and a function of adjusting the yarn tension so that the fluctuation of the yarn tension on the winding device 13 side is not transmitted to the spinning device 9 side. As shown in FIG. 2, the thread storage device 12 includes a thread storage roller 21, a thread hooking member 22, an upstream guide 23, an electric motor 25, and a thread removing lever (thread removing member) 26.

The yarn storage roller 21 winds the spun yarn 10 around its outer peripheral surface and stores it. The yarn storage roller 21 is rotationally driven at a predetermined rotational speed by the electric motor 25.

The thread hooking member 22 can hook the spun yarn 10. The thread hook member 22 is supported so as to be relatively rotatable with respect to the thread storage roller 21. A torque (resistance torque) is applied to the thread hooking member 22 against the relative rotation of the thread storage roller 21 by a torque generating means including, for example, a magnetic means. As a result, if the tension applied to the spun yarn 10 is strong enough to overcome this resistance torque, the thread hooking member 22 rotates independently of the yarn storage roller 21 to unwind the spun yarn 10 from the yarn storage roller 21. If the tension applied to the spun yarn 10 is weaker than the resistance torque, the thread hooking member 22 rotates integrally with the yarn storage roller 21 and winds the spun yarn 10 around the yarn storage roller 21.

The thread removing lever 26 is movable between the standby position and the thread removing position. When the thread removing lever 26 is in the standby position, the thread removing lever 26 is provided so as not to come into contact with the thread path. By moving the thread removing lever 26 to the thread removing position, the spun yarn 10 caught on the thread hooking member 22 can be pushed up by the thread removing lever 26, and the spun yarn 10 can be removed from the thread hooking member 22.

The upstream guide 23 is arranged slightly upstream of the yarn storage roller 21. The upstream guide 23 appropriately guides the spun yarn 10 to the outer peripheral surface of the yarn storage roller 21. Further, the upstream guide 23 prevents the twist of the spun yarn 10 propagating from the spinning device 9 from being transmitted to the downstream side of the upstream guide 23.

A yarn monitoring device 49 is provided at a position on the front surface side of the frame 6 of the spinning machine 1 between the spinning device 9 and the yarn storage device 12. The spun yarn 10 produced by the spinning device 9 passes through the yarn monitoring device 49 before being wound by the yarn storage device 12. The yarn monitoring device 49 monitors the thickness of the running spun yarn 10, and when a yarn defect of the spun yarn 10 is detected, transmits a yarn defect detection signal to the unit control unit 100. The yarn monitoring device 49 may detect the presence or absence of foreign matter contained in the spun yarn 10 in addition to the abnormality in the thickness of the spun yarn 10.

When the unit control unit 100 receives the yarn defect detection signal from the yarn monitoring device 49, the unit control unit 100 cuts the spun yarn 10 by stopping the spinning by the spinning apparatus 9, and further stops the draft device 7 and the like. Further, the unit control unit 100 sends a control signal to the thread joint carriage 3 and causes the unit to travel to the take-up unit 2. After that, the unit control unit 100 drives the spinning device 9 and the like again to cause the yarn splicing carriage 3 to perform the yarn splicing, and restart the winding of the package 45 by the winding unit 2.

As shown in FIGS. 1 and 2, the thread splicing carriage 3 includes a thread splicing device 43, a suction pipe 44, a suction mouse 46, and a traveling wheel 42. The thread joint carriage 3 can travel to the take-up unit 2 by driving the traveling wheel 42 and traveling on the traveling lane 41 fixed to the frame 6. Then, the thread splicing carriage 3 travels to the take-up unit 2 where the thread breakage or the thread breakage occurs, and stops at a position where the thread splicing is possible to perform the thread splicing.

The suction pipe 44 is rotatable in the vertical direction about a shaft, and catches the yarn end (upper yarn) sent out from the spinning apparatus 9 while sucking it, and guides it to the yarn splicing apparatus 43. The suction mouse 46 can rotate in the vertical direction about the axis, captures the thread end (bobbin thread) from the package 45 supported by the winding device 13 while sucking it, and guides the suction mouse 46 to the thread joining device 43. do. Although the detailed configuration of the yarn splicing device 43 is omitted, the needle yarn and the bobbin yarn are spliced by twisting the yarn ends with each other by a swirling air flow.

The take-up device 13 includes a cradle 70, a take-up drum 74, and a traverse guide 76.

The cradle 70 includes a support shaft 73, a cradle arm 71 that can rotate around the support shaft 73, and a pair of bobbin holders 72 that can hold both ends of the bobbin 48.

The take-up drum 74 is driven in contact with the outer peripheral surface of the bobbin 48 or the outer peripheral surface of the package 45. The take-up device 13 drives the take-up drum 74 by the electric motor shown in the figure to rotate the package 45 in contact with the take-up drum 74, and reciprocates the traverse guide 76 by the drive means shown in the figure. The spun yarn 10 is wound while swinging.

The bobbin 4 receives the bobbin setting work of supplying the bobbin 48 to the cradle 70 to prepare for winding the spun yarn 10 and the fully wound (completed winding) package 45 from the cradle 70. The bobbin operation of transporting the bobbin to a predetermined position (the mounting portion 82 described later) is performed. The ball lifting cart 4 includes a ball lifting control unit (control unit) 69 shown in FIG. 2. The ball lifting control unit 69 includes, for example, a CPU and a ROM. The ROM stores a program, a control table, and the like for controlling each part of the ball hoisting cart 4. The CPU executes the program stored in this ROM.

The ball-lifting carriage 4 is provided with a traveling wheel 92 at its lower portion, and is formed on the frame 6 when a winding unit 2 is instructed to perform a bobbin setting operation and / or a ball-lifting operation. It travels on the traveling path 91 to the winding unit 2. Then, the bobbin bogie 4 stops in front of the take-up unit 2 instructed to perform the bobbin setting work and / or the bobbin setting work.

The bobbin bogie 4 includes a bobbin supply unit 86, a thread removal lever operation arm 87, a thread suction unit 88, and a cradle operation arm 89 as a configuration mainly for performing bobbin setting work.

The bobbin supply unit 86 can grip the bobbin 48 in which the thread is not wound. The bobbin 4 rotates the bobbin supply unit 86 while gripping the bobbin 48 to supply the bobbin 48 to the cradle 70.

The thread removing lever operating arm 87 can move the thread removing lever 26 from the standby position to the thread removing position by pressing the contact portion shown in the drawing for rotating the thread removing lever 26.

The yarn suction unit 88 is rotatable and expandable, and captures the spun yarn 10 delivered from the spinning device 9 by suction, and guides the captured spun yarn 10 to the winding device 13. The ball hoisting carriage 4 may be configured to guide the spun yarn 10 and the bobbin 48 to the winding device 13 at the same time in a state where the spun yarn 10 captured by the yarn suction unit 88 is set in the bobbin 48.

The cradle operating arm 89 can separate one of the pair of bobbin holders 72 that sandwich and hold the bobbin 48 from the other by operating the cradle arm 71 included in the take-up unit 2. As a result, the bobbin 48 held in the cradle 70 can be removed. At the time of bobbin setting work, a pair of bobbin holders 72 are brought closer to the other bobbin holder 72 after the bobbin 48 is supplied by the bobbin supply unit 86 in a state where one of the bobbin holders 72 is separated from the other. Can hold the bobbin 48.

The ball hoisting cart 4 mainly includes a motor (first drive unit) 61, a rotating shaft 62, a support unit 63, and an air cylinder (second drive unit) 64 as a configuration for performing ball hoisting work. Be prepared.

The motor 61 is controlled by the ball lifting control unit 69. The motor 61 generates a rotational driving force according to a command from the ball lifting control unit 69. The motor 61 of the present embodiment is an induction motor, and by applying a voltage and passing a current, the output shaft rotates at a rotation speed corresponding to the frequency of the voltage. Specifically, a switch is provided in the circuit for applying a voltage to the motor 61. When the switch is on, a voltage is applied to the motor 61 to put the motor 61 into operation, and the output shaft of the motor 61 rotates at a constant speed. Since no voltage is applied to the motor 61 when the switch is off, the motor 61 is stopped and the rotation of the output shaft of the motor 61 is stopped. Hereinafter, the rotation of the output shaft of the motor 61 may be simply referred to as the rotation of the motor 61. The motor 61 is not limited to this type of motor, and may be a servo motor, a stepping motor, or the like that can control the rotation angle, rotation speed, and the like. Further, the configuration is not limited to the configuration in which the ball lifting control unit 69 directly controls the motor 61, and the motor 61 may be controlled via the motor driver.

The rotary shaft 62 is connected to the motor 61 via a belt, gears, or the like. The rotating shaft 62 is also connected to the base end of the support portion 63. With this configuration, the support portion 63 can be rotated around the rotation shaft 62 by the driving force generated by the motor 61.

After receiving the package 45 removed from the cradle 70, the support unit 63 moves toward the mounting unit 82 while supporting the package 45, and delivers the package 45 to the mounting unit 82. Further, below the cradle 70, an inclined portion 81 connected to the mounting portion 82 is provided. The support portion 63 may deliver the package 45 to the mounting portion 82 via the inclined portion 81. The mounting portion 82 extends in the arrangement direction of the winding unit 2. The mounting portion 82 has a function as a conveyor, and the package 45 is conveyed along the arrangement direction of the take-up unit 2. However, the mounting unit 82 may be configured not to have a conveyor function so that the package 45 on the mounting unit 82 can be manually collected by the operator. Further, in the present embodiment, when viewed in the axial direction of the package (that is, in FIG. 2), the winding device 13, the mounting portion 82, and the ball hoisting carriage 4 are arranged in this order. Therefore, the fully wound package 45 moves from the winding device 13 to the mounting portion 82 (without passing through the hoisting carriage 4).

Further, the support portion 63 includes a base portion 63a and a tip portion 63b. The base portion 63a is provided on the base end side (the side closer to the center of rotation) than the tip end portion 63b. The tip portion 63b is provided on the tip side of the base portion and is rotatably connected to the base portion 63a. The center of rotation in the relative rotation of the base portion 63a and the tip portion 63b is a direction parallel to the axial direction of the package 45. The base 63a may be composed of one arm or may be composed of a plurality of arms.

The air cylinder 64 includes a piston and a rod, and is configured to be expandable and contractible by moving the rod with respect to the piston. One end of the air cylinder 64 is rotatably connected to 63b. The other end of the air cylinder 64 is connected to the base portion 63a (specifically, in the vicinity of the end portion on the side closer to the rotating shaft 62). The air cylinder 64 is controlled by the ball lifting control unit 69, and expands and contracts according to the command of the ball lifting control unit 69. By expanding and contracting the air cylinder 64, the angle formed by the base portion 63a and the tip portion 63b changes. The suspended angle is defined as follows, for example. That is, when viewed in the axial direction of the package 45 (that is, FIG. 2), the line drawn toward the base end side along the longitudinal direction of the base portion 63a with the connection point between the base portion 63a and the tip portion 63b as a reference point. It is an angle formed by a line drawn toward the tip side along the longitudinal direction of the tip portion 63b. The support portion 63 supports the package 45 against the gravity (weight) acting on the package 45. In consideration of this point, in the present embodiment, the angle formed by the base portion 63a and the tip portion 63b means the upper formed angle of the upper and lower formed angles. Although the air cylinder 64 is used as a means for changing the angle formed by the base portion 63a and the tip portion 63b, another actuator such as a hydraulic cylinder may be used instead of the air cylinder 64.

The angle formed by the state shown by the chain line in FIG. 2 is smaller than the angle formed by the state shown by the solid line in FIG. In the following, the state shown by the solid line is referred to as the first state, and the state shown by the chain line is referred to as the second state. The support portion 63 of the present embodiment switches between the first state and the second state in the ball lifting operation (details will be described later).

Next, the flow of the ball lifting work will be described with reference to FIGS. 4 to 6.

When it is detected by the sensor in the figure that the package 45 of a certain take-up unit 2 is full, the unit control unit 100 stops the spinning device 9 and requests the machine base control device 30 to carry out the hoisting work. do. The machine stand control device 30 notifies the bogie 4 of the request for the hoisting work and the information of the corresponding take-up unit 2.

The bogie 4 travels to the corresponding take-up unit 2 based on the content notified from the machine base control device 30. Before and after that, the unit control unit 100 separates the fully wound package 45 from the winding drum 74 by rotating the cradle arm 71 to the left side (front side of the device) in FIG. 2 in the winding device 13. After separating the package 45 from the take-up drum 74, the unit control unit 100 notifies the ball lifting control unit 69 via the machine base control device 30 to that effect.

The ball lifting control unit 69 determines whether or not the package 45 is separated from the take-up drum 74 based on the presence or absence of the notification from the unit control unit 100 (S101). When the ball lifting control unit 69 receives a notification from the unit control unit 100 that the package 45 has been separated from the take-up drum 74, the ball lifting control unit 69 stops the inertial rotation of the package 45 (S102, upper view of FIG. 5). Specifically, the ball lifting control unit 69 controls the motor 61 to move the support unit 63 to a position close to the package 45 (winding device 13) and stops it, and then controls the air cylinder 64. The inertial rotation of the package 45 is stopped by bringing the support portion 63 into contact with the package 45 in the second state. In the above operation of the support portion 63, the position of the support portion 63 when the support portion 63 is stopped close to the package 45 in order to stop the inertial rotation is referred to as a first position. From another point of view, the first position is the position closest to the package 45 held by the cradle arm 71 in the movement locus of the support portion 63. Further, the first position can be expressed as the position of the support portion 63 when receiving the package 45 removed from the cradle 70.

Next, the ball lifting control unit 69 performs an operation of releasing the holding of the package 45 by the cradle 70 (S103).

Here, Patent Document 1 does not describe how to change the speed of the support portion when guiding the package to the mounting portion. For example, when the package comes off the cradle, the support may be separated from the package. In this case, if the support part is always moved at high speed and constant speed, the package may not be placed on the support part or may fall after being placed on the support part, and the package may fall to a place other than the mounting part. be. Also, even if the package falls on the mounting part, the package may be oriented improperly. As a result, the package cannot be transported. In addition, the package can be damaged. In particular, when the weight of the package is large, the posture of the package is difficult to stabilize, and such a situation is likely to occur. On the other hand, if the support portion is always moved at a low speed and a constant speed, it takes a long time to guide the package to the mounting portion, and the work efficiency is lowered.

In view of the above, in the present embodiment, when the weight of the package 45 is equal to or greater than the threshold value, three controls (first control, second control, third control) are used when guiding the package 45 to the mounting portion 82. To change the speed of the support portion 63. The speed of the support portion 63 may be a distance traveled per unit time or a rotation angle (angular velocity) per unit time. The first control is a control in which the support portion 63 at the first position is moved and the motor 61 is controlled so that the moving speed of the support portion 63 becomes the first speed (V1). The second control is a control performed after the first control, and is a control for controlling the motor 61 so that the moving speed of the support portion 63 becomes the second speed (V2). The third control is a control performed after the second control, and after controlling the motor 61 so that the moving speed of the support portion 63 becomes the third speed (V3), the support portion 63 is stopped at the second position. It is a control that controls the motor 61 so as to do so. The second position is a position where the support portion 63 is made to stand by after the package 45 is guided to the mounting portion 82. The second position may be a position that does not interfere with other work and does not interfere with other devices. The second position is, for example, the position of the support portion 63 when stored in the housing of the bogie 4. The first control, the second control, and the third control are classified for convenience, and may be executed as one control including the contents of the first control, the second control, and the third control described above.

Hereinafter, the processing after S103 will be described in detail. When it is determined in S103 that the holding of the package 45 by the cradle 70 is released but the package 45 is removed from the cradle 70, the hoisting control unit 69 determines whether or not the weight of the package 45 is equal to or greater than the threshold value (S104). The ball lifting control unit 69 acquires the weight of the package 45 by the following method. For example, the running length of the spun yarn 10 can be detected based on the detection result of the yarn monitoring device 49. The length of the spun yarn 10 included in the package 45 can be calculated based on the running length of the spun yarn 10 and the like. Therefore, the weight of the package 45 can be calculated based on the length of the spun yarn 10 included in the package 45, the weight per unit length of the spun yarn 10 (known), and the weight of the bobbin (known). The length of the spun yarn 10 included in the package 45 can also be calculated based on a set value (for example, weight or winding length) input to the machine base control device 30. Further, the length of the spun yarn 10 included in the package 45 can be calculated by integrating the time when the spinning device 9 produces the spun yarn 10, the rotation speed of the yarn storage roller 21, and the peripheral length of the yarn storage roller 21. can. Further, the length of the spun yarn 10 included in the package 45 can be calculated based on the rotation speed of the package 45 or the take-up drum 74 and the like. Alternatively, as another method, a camera for acquiring the image of the package 45 may be provided, and the weight of the package 45 may be calculated based on the size of the package 45. The process of calculating the weight of the package 45 may be performed by the machine base control device 30 or by the ball lifting control unit 69. Further, as yet another method, a weight sensor may be provided on the cradle 70, and the ball lifting control unit 69 may acquire the detection value of the weight sensor. The threshold value for determining the weight of the package 45 is not particularly limited, but it is preferable that the threshold value exists between 2000 g and 2400 g, for example. The ball lifting control unit 69 may acquire a value related to the weight of the package 45 (for example, the winding length of the thread) and make a determination in S104 based on whether or not the value is equal to or greater than the threshold value. Even in this case, the jade control unit 69 substantially determines whether or not the weight of the package 45 is equal to or greater than the threshold value.

When the ball lifting control unit 69 determines that the weight of the package 45 is less than the threshold value, the ball lifting control unit 69 does not perform the above-mentioned three controls. That is, since the posture of the package 45 that is lighter than the threshold value tends to be stable, it is important to shorten the time required to guide the package 45 to the mounting portion 82. Specifically, the ball lifting control unit 69 changes the support unit 63 to the first state, and controls the motor 61 so that the moving speed of the support unit 63 becomes a constant speed (S105). Specifically, the ball lifting control unit 69 puts the motor 61 into an operating state with the support unit 63 in the first position, and switches from the operating state to the stopped state so that the support unit 63 stops at the second position. As a result, the package 45 can be guided to the mounting portion 82. In addition, "constant speed" means that the target speed is constant, and the speed until reaching the constant speed is naturally less than the constant speed, and even after reaching the constant speed, the speed is due to various factors. May go up and down slightly. The same meaning is applied not only to the constant speed but also to the first speed, the second speed, and the third speed described later.

Further, when the ball lifting control unit 69 determines that the weight of the package 45 is equal to or greater than the threshold value, the ball lifting control unit 69 sequentially performs the first control, the second control, and the third control. First, the ball lifting control unit 69 executes the first control and controls the motor 61 so that the support unit 63 becomes the first speed (S106). At this time, the ball lifting control unit 69 maintains the second state of the support unit 63. As a result, as shown in the upper and lower views of FIG. 5, the support portion 63 starts moving in a state where the tip portion 63b is in contact with the package 45. As a result, the tip 63b presses the package 45 (or due to the friction generated between the tip 63b and the package 45), so that the package 45 is assisted to rest on the support 63. For example, even if the package 45 is slightly caught on the cradle 70 for some reason, the package 45 can be removed from the cradle 70 by pressing the tip portion 63b or the like.

While the first control is being executed, the ball lifting control unit 69 determines whether or not the first transition condition is satisfied (S107). The first transition condition is a condition for transitioning from the first control to the second control. The first transition conditions include, for example, the elapsed time from the start of the first control exceeds the threshold value, the rotation angle of the motor 61 (for example, detected by the encoder) exceeds the threshold value, and the moving speed of the support portion 63. For example, it has reached the first speed, which is the target value.

When it is determined that the first transition condition is satisfied, the ball lifting control unit 69 executes the second control and controls the motor 61 so that the moving speed of the support unit 63 becomes the second speed (S108). Further, even during the execution of the second control, the jade control unit 69 determines whether or not the second transition condition is satisfied (S109). The second transition condition is a condition for transitioning from the second control to the third control. The specific example of the second transition condition is the same as the specific example of the first transition condition. Further, when the second transition condition is defined by the position of the support portion 63 (that is, the rotation angle of the motor 61), the movement locus of the support portion 63 from the first position to the second position in the moving direction is the first position from the center. It is preferable to set the position close to the threshold value of the second transition condition. As a result, the moving speed of the support portion 63 can be changed to the second speed at a relatively early timing.

When it is determined that the second transition condition is satisfied, the ball lifting control unit 69 changes the support unit 63 to the first state and executes the third control so that the moving speed of the support unit 63 becomes the third speed. The motor 61 is controlled (S110). As shown in the upper and lower views of FIG. 6, by moving the support portion 63 to the second position while setting the support portion 63 in the first state, the package 45 is placed while the package 45 is aligned with the inclined portion 81. It is possible to guide to the section 82. Further, after guiding the package 45 to the mounting portion 82, the support portion 63 can be easily retracted into the housing of the ball hoisting carriage 4.

As described above, the package 45 removed from the cradle 70 can be guided to the mounting portion 82.

In the present embodiment, when it is determined that the weight of the package is equal to or greater than the threshold value, the speed control of the motor 61 (first control, second control, and third control) and the attitude control of the support portion 63 (base 63a and the like) are performed. Control of the angle formed by the tip 63b) and. In other words, the threshold value related to the first drive unit, which is a condition for controlling the speed of the motor 61, and the threshold value related to the second drive unit, which is a condition for controlling the attitude of the support unit 63, are the same. Instead of this, the threshold value related to the first drive unit and the threshold value related to the second drive unit may be different values.

Next, the magnitude relation between the first speed, the second speed, and the third speed and the corresponding effect will be described with reference to FIGS. 7 and 8. Further, in FIGS. 7 and 8, the first speed is represented as V1, the second speed is represented as V2, and the third speed is represented as V3.

As shown in FIG. 7, in the present embodiment, the second speed is smaller than the first speed. As a result, for example, even if the package 45 has not fallen from the cradle 70 when the first control is started, the support portion 63 is decelerated by shifting to the second control, so that the package 45 and the support portion 63 can be separated from each other. The distance is hard to increase. Therefore, even in such a case, the package 45 can be mounted on the support portion 63 to guide the package 45. Further, in the present embodiment, the third speed is larger than the second speed. As a result, after the support portion 63 is mounted on the package 45, the package 45 can be guided to the mounting portion 82 in a short time.

In the present embodiment, the second speed is zero, but the second speed may be larger than zero. In the present embodiment, the first speed and the third speed are the same, but the first speed and the third speed may be different. For example, the first speed may be larger than the third speed, or the third speed may be larger than the first speed.

Further, the time length in which the first control is performed, the time length in which the second control is performed, and the time length in which the third control is performed may be different from each other, and two of the three are the same. It may be the same or all three may be the same. Further, when the length of time that the control is performed is different, any control may be long. The description in this paragraph regarding the length of time that control takes place also applies to the following variants.

As shown in FIG. 7, in the first modification, the second speed is smaller than the first speed. This effect is the same as in this embodiment. Also, the third speed is smaller than the second speed. As a result, the package 45 can be carefully guided to the mounting portion 82. Therefore, the ball hoisting cart 4 of the present embodiment is suitable when the quality of the package 45 is important or when the package 45 is easily scratched.

As shown in FIG. 7, in the second modification, the second speed is larger than the first speed. Further, in the second modification, the first speed is smaller than that of the above embodiment or the first modification. Therefore, even if the package 45 has not fallen from the cradle 70 when the first control is started, the support portion 63 does not move much during the execution of the first control. Therefore, even in such a case, the package 45 is moved. It can be easily mounted on the support portion 63. That is, the reason why the second speed is larger than the first speed is that the package 45 is surely mounted on the support portion 63 and then the package 45 is guided toward the mounting portion 82 in a short time. Further, the third speed is larger than the second speed. As a result, the support portion 63 can be gradually accelerated, so that the package 45 mounted on the support portion 63 is unlikely to fall from the support portion 63.

As shown in FIG. 8, in the third modification, the second speed is larger than the first speed. This effect is the same as the second modification. Further, the third speed is smaller than the second speed. This effect is the same as the first modification. That is, in the third modified example, although the speed change may be more likely to be rapid than in the first modified example and the second modified example, it is possible to achieve both the effects of the first modified example and the second modified example. can.

In the above embodiment and the above modification, the acceleration and deceleration are constant, but as shown in the fourth modification of FIG. 8, the acceleration and deceleration may change with the passage of time. In the fourth modification, when the support portion 63 is accelerated (when the second speed is changed to the third speed), there is a time when the acceleration increases with the passage of time. That is, since the support portion 63 does not accelerate suddenly, the package 45 mounted on the support portion 63 can be stabilized. Further, when the support portion 63 is decelerated (when the first speed is changed to the second speed), there is a time when the deceleration (absolute value) increases with the passage of time. That is, since the support portion 63 does not suddenly decelerate, the package 45 can be stabilized, for example, when the package 45 is mounted on the support portion 63 at this timing. These controls can also be expressed as having a time when the absolute value of the amount of change in velocity per unit time increases with the passage of time. The control for suppressing the sudden acceleration and deceleration of the fourth modification can be applied even when the first speed is smaller than the second speed, and can also be applied when the second speed is larger than the third speed. In the fourth modification, in order to prevent overshoot, the increase in acceleration or deceleration is suppressed before reaching the target speed. Further, although the fourth modification applies the feature that the acceleration and the deceleration are not constant to the present embodiment, this feature can also be applied to other modifications. The acceleration and deceleration may not change with the passage of time, and the acceleration or deceleration may change with the passage of time.

As described above, if the control is different between the first speed and the second speed and the second speed is different from the third speed, it is included in the control of the present invention. The magnitude of each speed is determined by comprehensively judging based on the thread type and shape of the package 45, the items emphasized by the producer, and the like.

As described above, the ball hoisting carriage 4 of the above embodiment receives the package 45 from the winding device 13 that winds the spun yarn 10 to form the package 45. The ball lifting cart 4 includes a support unit 63, a motor 61, and a ball lifting control unit 69. The support 63 supports the package 45. The motor 61 is located in the first position, which is the position closest to the package 45 held by the spinning machine 1, and is located below the first position in the movement locus of the support portion 63, and mounts the package 45. The support portion 63 is moved between the second position where the package 45 is delivered to the placement portion 82 and the support portion 63. The ball lifting control unit 69 controls the motor 61. The ball lifting control unit 69 performs a first control, a second control, and a third control as control of the motor 61 when the support unit 63 is moved from the first position to the second position. In the first control, the support portion 63 located at the first position is moved, and the motor 61 is controlled so that the moving speed of the support portion 63 becomes the first speed. The second control is a control performed after the first control, and controls the motor 61 so that the moving speed of the support portion 63 becomes the second speed. The third control is a control performed after the second control, and is a motor so that the support portion 63 stops at the second position after controlling the motor 61 so that the moving speed of the support portion 63 becomes the third speed. 61 is controlled. The first speed is different from the second speed, and the second speed is different from the third speed.

As a result, the time required for mounting the package 45 can be shortened or the posture of the package 45 can be shortened by controlling the first speed, the second speed, and the third speed to be appropriate according to the purpose and the situation. Can be stabilized and moved to the mounting portion 82.

Further, in the ball hoisting carriage 4 of the above embodiment, the second speed is zero.

As a result, even if the package 45 is still in the vicinity of the cradle 70 at the timing of shifting to the second control, the distance from the package 45 to the support portion 63 does not become too large, so that the package 45 is appropriately used as the support portion 63. Can be placed.

Further, in the ball hoisting carriage 4 of the above-mentioned modification, the first speed is larger than the third speed.

As a result, the first speed is relatively large, so that the time required for mounting the package 45 is shortened, and the third speed is relatively small, so that the package 45 is less likely to be damaged when the package 45 is mounted. ..

Further, in the ball lifting trolley 4 of the above modification, when the ball lifting control unit 69 changes from the first speed to the second speed, at least at one time, the absolute amount of change in speed per unit time with the passage of time is absolute. The motor 61 is controlled so that the value becomes large.

As a result, when accelerating the support portion 63, the support portion 63 does not suddenly separate from the first position, so that there is a high possibility that the package 45 will be placed on the support portion 63, and when the support portion 63 is decelerated, the package 45 supports the support portion 63. Since the speed of the support portion 63 does not change significantly when mounted on the portion, the package 45 can be stabilized.

Further, in the ball lifting trolley 4 of the above modification, when the ball lifting control unit 69 changes from the second speed to the third speed, at least at one time, the absolute amount of change in speed per unit time with the passage of time is absolute. The motor 61 is controlled so that the value becomes large.

As a result, when accelerating the support portion 63, the support portion 63 does not accelerate suddenly, so that the package 45 mounted on the support portion 63 can be prevented from falling, and when the support portion 63 is decelerated, the support portion 63 suddenly decelerates. Therefore, the package 45 can be moved stably.

Further, in the ball hoisting carriage 4 of the above embodiment, the motor 61 is an induction motor. In the first control and the third control, the motor 61 is in an operating state in which the motor 61 operates at a constant speed. In the second control, the operation of the motor 61 is stopped.

Thereby, the first control to the third control can be realized by using the motor 61 having a simple configuration.

Further, in the ball hoisting carriage 4 of the above embodiment, the support portion 63 switches to the second speed at a position closer to the first position than the center in the movement locus of the support portion 63 in the moving direction.

As a result, when the speed changes from the first speed to the second speed, for example, when the second speed is smaller than the first speed, even if the package 45 falls on the support portion 63, it is supported by the package 45. Since the distance between the portions 63 tends to be short, the posture of the package 45 is unlikely to change. Further, for example, when the second speed is larger than the first speed, the support portion 63 can be changed to the high-speed second speed at an early stage, so that the time required for mounting the package 45 can be further shortened.

Further, the ball hoisting cart 4 of the above embodiment further includes an air cylinder 64. The support portion 63 includes a base portion 63a and a tip portion 63b. The tip portion 63b is provided on the tip side with respect to the base portion 63a, and is rotatably connected with the direction parallel to the axial direction of the package as the center of rotation with respect to the base portion 63a. By controlling the air cylinder 64, the ball lifting control unit 69 has a first state in which the angle formed by the tip portion 63b and the base portion 63a is the first angle, and a second state in which the angle formed by the base portion 63a is a second angle smaller than the first angle. It is possible to change the state of the support portion 63 between and. The ball lifting control unit 69 controls the air cylinder 64 so that the support unit 63 is in the second state at the start of the movement of the support unit 63 at the first position.

As a result, the package 45 can be easily mounted on the support portion 63 when the movement of the package 45 is started.

Further, in the ball lifting trolley 4 of the above embodiment, the ball lifting control unit 69 is in the first state after the start of the second control and before the end of the third control. The air cylinder 64 is controlled in such a manner.

This makes it easier to move the package 45 to the mounting portion 82.

Further, in the ball lifting cart 4 of the above embodiment, the ball lifting control unit 69 acquires the weight value (calculated value or detected value) of the package 45. The ball lifting control unit 69 performs the first control, the second control, and the third control on condition that the value of the weight of the acquired package 45 is equal to or higher than the threshold value related to the first drive unit.

As a result, the above control can be performed on the heavy package 45 whose posture is not stable.

Further, in the ball lifting cart 4 of the above embodiment, the ball lifting control unit 69 acquires the value of the weight of the package 45. On the condition that the value of the weight of the acquired package 45 is equal to or greater than the threshold value related to the second drive unit, the ball lifting control unit 69 has the support unit 63 at the start of the movement of the support unit 63 at the first position. The air cylinder 64 is controlled so as to be in the second state.

As a result, the above control can be performed on the heavy package 45 whose posture is not stable.

According to another aspect of the present invention, the following thread winders are provided. That is, the bobbin winder includes a ball hoisting carriage 4, a plurality of winding units 2, and a mounting portion 82. Each take-up unit 2 includes a take-up device 13 that winds the spun yarn 10 to form a package 45. The mounting portion 82 extends in the arrangement direction of the winding unit 2. When viewed in the axial direction of the package 45, the winding device 13, the mounting portion 82, and the ball hoisting cart 4 are arranged in this order.

In a thread winder having this type of layout, since the winding device 13 and the mounting portion 82 are close to each other, the amount of movement of the package 45 in the vertical direction becomes large, and as a result, the posture of the package 45 tends to become unstable. This makes it possible to stabilize the posture of the package 45.

Although the preferred embodiments and modifications of the present invention have been described above, the above configuration can be changed as follows, for example.

In the above embodiment, the first drive unit is a rotary motor and the second drive unit is an air cylinder, but if power can be generated, the first drive unit and the second drive unit can be realized by different devices. Further, in the above embodiment, the support portion 63 mainly moves in an arc, but may be configured to move in a linear motion.

The flowchart shown in the above embodiment is an example, and some processes may be omitted, the contents of some processes may be changed, or new processes may be added. For example, S104 and S105 may be omitted, and processing of S106 to S110 may be performed for all packages 45. Further, in the present embodiment, the support portion 63 is changed to the first state when the second transition condition is satisfied, but instead of this, a condition for changing the support portion 63 to the first state may be separately set. .. Further, in the present embodiment, the timing at which the support unit 63 changes to the first state is delayed, but the process may be omitted and the support unit 63 may be changed to the first state at the start of the first control.

In the above embodiment, when viewed in the axial direction of the package, the winding device 13, the mounting portion 82, and the ball hoisting cart 4 are arranged in this order. Therefore, the fully wound package 45 is directly mounted on the mounting portion 82 without passing through (crossing) the ball hoisting carriage 4. Instead of this configuration, the take-up device, the hoisting carriage, and the mounting portion may be arranged in this order when viewed in the axial direction of the package. In this configuration, the ball-lifting trolley is formed with a passage space for passing the package, and the fully wound package 45 passes through (crosses) the passage space of the ball-lifting trolley 4 and is placed in the mounting portion. You will be guided.

In the above embodiment, the spun yarn 10 is pulled out from the spinning device 9 by the yarn storage roller 21, but instead of the yarn storage device 12, a delivery roller pair is provided on the downstream side of the spinning device 9, and the spinning device 9 is spun by the delivery roller pair. The thread 10 may be pulled out. In this case, any of the yarn storage roller, the slack tube, and the mechanical compensator may be provided on the downstream side of the delivery roller pair.

In the above embodiment, the thread splicing device 43 and the like are provided on the thread splicing carriage 3, but each take-up unit 2 may include the thread splicing device 43 and the like.

In the drawings of the above embodiment, the spinning machine 1 is shown to include one ball hoisting carriage 4, but the spinning machine 1 may include a plurality of ball hoisting carts 4.

In the above embodiment, the take-up device 13 is arranged below the draft device 7 in the vertical direction, and the layout is such that the yarn path approaches the lower side in the vertical direction as it approaches the downstream side of the yarn path of the spun yarn 10. .. Instead of this, the take-up device may be arranged above the draft device in the vertical direction, or even in a layout in which the thread path approaches the upper side in the vertical direction as it approaches the downstream side of the thread path of the spun yarn 10. good.

In the above embodiment, an example of applying the present invention to a spinning machine has been described, but the present invention can also be applied to a textile machine (for example, an automatic winder or an open-end spinning machine) that requires ball lifting.

1 Spinning machine (thread winder)
4 Ball-lifting trolley (ball-lifting device)
61 Motor (1st drive unit)
62 Rotating shaft 63 Support part 63a Base part 63b Tip part 64 Air cylinder (second drive part)
69 Ball lift control unit (control unit)

Claims (13)

In the ball lifting device that receives and conveys the package from the winding device that winds the yarn to form the package.
A support part that supports the package and
In the movement locus of the support portion, the first position, which is the position closest to the package held by the winding device, and the mounting portion, which is located below the first position and mounts the package. A first drive unit that moves the support unit to and from a second position that delivers the package,
A control unit that controls the first drive unit and
Equipped with
The control unit controls the first drive unit when the support unit is moved from the first position to the second position.
A first control that moves the support portion located at the first position and controls the first drive unit so that the moving speed of the support portion becomes the first speed.
A second control that controls the first drive unit so that the moving speed of the support unit becomes the second speed, which is a control performed after the first control.
It is a control performed after the second control, and after controlling the first drive unit so that the moving speed of the support unit becomes the third speed, the support unit stops at the second position. The third control that controls the first drive unit and
Including
A ball hoisting device characterized in that the first speed is different from the second speed and the second speed is different from the third speed. The ball lifting device according to claim 1.
A ball lifting device characterized in that the second speed is zero. The ball lifting device according to claim 1 or 2.
A ball lifting device characterized in that the first speed is larger than the third speed. The ball lifting device according to any one of claims 1 to 3.
When changing from the first speed to the second speed, the control unit sets the first drive unit so that the absolute value of the amount of change in speed per unit time increases with the passage of time, at least at one time. A ball lifting device characterized by being controlled. The ball lifting device according to any one of claims 1 to 4.
When changing from the second speed to the third speed, the control unit sets the first drive unit so that the absolute value of the amount of change in speed per unit time increases with the passage of time, at least at one time. A ball lifting device characterized by being controlled. The ball lifting device according to any one of claims 1 to 5.
The first drive unit is an induction motor and
In the first control and the third control, the first drive unit is in an operating state of operating at a constant speed.
In the second control, the ball lifting device is characterized in that the operation of the first drive unit is stopped. The ball lifting device according to any one of claims 1 to 6.
A ball lifting device characterized in that the support portion switches to the second speed at a position closer to the first position than the center in the movement locus of the support portion in the moving direction. The ball lifting device according to any one of claims 1 to 7.
Further equipped with a second drive unit
The support portion is
At the base,
A tip portion provided on the tip side of the base portion and rotatably connected to the base portion in a direction parallel to the axial direction of the package as a rotation center.
Equipped with
By controlling the second drive unit, the control unit has a first state in which the angle formed by the tip portion and the base portion is the first angle, and a second angle smaller than the first angle. It is possible to change the state of the support between the state and the state.
The control unit is a ball hoisting device that controls the second drive unit so that the support unit is in the second state at the start of movement of the support unit at the first position. The ball lifting device according to claim 8.
The control unit controls the second drive unit so that the support unit is in the first state after the start of the second control and before the end of the third control. A featured ball lifting device. The ball lifting device according to any one of claims 1 to 9.
The control unit acquires the value of the weight of the package and obtains the value.
The control unit is characterized in that the first control, the second control, and the third control are performed on condition that the acquired weight value of the package is equal to or higher than the threshold value related to the first drive unit. The ball lifting device. The ball lifting device according to claim 8 or 9.
The control unit acquires the value of the weight of the package and obtains the value.
The control unit is provided with the support unit at the start of movement of the support unit at the first position, provided that the acquired weight value of the package is equal to or higher than the threshold value related to the second drive unit. A ball lifting device characterized in that the second drive unit is controlled so as to be in the second state. The ball lifting device according to claim 8.
The control unit acquires the value of the weight of the package and obtains the value.
The control unit performs the first control, the second control, and the third control on condition that the acquired weight value of the package is equal to or higher than the threshold value related to the first drive unit.
The control unit is provided with the support unit at the start of movement of the support unit at the first position, provided that the acquired weight value of the package is equal to or higher than the threshold value related to the second drive unit. A ball lifting device characterized in that the second drive unit is controlled so as to be in the second state. The ball lifting device according to any one of claims 1 to 12,
A plurality of winding units including a winding device that winds a yarn to form the package, and a plurality of winding units.
The previously described placement portion extending in the placement direction of the take-up unit, and
Equipped with
When viewed in the axial direction of the package, the spooling machine is characterized in that the winding device, the previously described mounting portion, and the ball hoisting device are arranged in this order.

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