JPH07267502A - Automatic doffing device - Google Patents

Abstract

PURPOSE:To provide an automatic ball-lifting device, with which the peripheral equipment of a winding machine can be simplified and also the installation space of each unit of winding machine can be reduced and which is capable of enhancing the efficiency of the doffing works. CONSTITUTION:A bobbin is fitted on a spindle 11 of a winding machine 2, and in the position facing the bobbin, a bobbin stand 6 is installed which has a bobbin holding rod (A) 7 to hold an empty bobbin 10 and another bobbin holding rod (B) 8 for setting of a full bobbin 17. A doffing dolly 5 equipped with a receiving peg 42 capable of revolving 180 deg. substantially and movable parallel with the machine 2 is installed between the winding machine 2 and bobbin stand 6 in such a way as capable of running and stopping. The doffing dolly 5 is fitted with a takeout mechanism, which receives the full bobbin 17 from the spindle 11 side and transfers to the peg 42, and a pushout mechanism which transfers the full bobbin 17 to the rod (B) 8 after revolving of the peg 42.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic doffing device for replacing a full bobbin wound by a yarn winding machine with an empty bobbin.

[0002]

2. Description of the Related Art In recent years, various automatic doffing devices have been proposed from the viewpoints of reducing labor from large packaging and improving productivity by shortening doffing work time and reducing workers.

For example, in the automatic doffing device disclosed in Japanese Patent Laid-Open No. 4-59568, a bobbin stand is provided on the side of the winding machine, and an empty bobbin is inserted into the bobbin stand in advance. Then, the full bobbin and the empty bobbin on the winding machine side were simultaneously moved to the pegs provided on the doffing trolley by the bobbin take-out mechanism provided on the doffing trolley, and both receiving pegs were reversed. After that, a full bobbin is mounted on the bobbin stand and an empty bobbin is mounted on the winder spindle by the bobbin returning mechanism. In this way, the doffing work was performed automatically.

[0004]

However, in the doffing device described in Japanese Patent Laid-Open No. 4-59568, the bobbin stand for depositing the empty bobbin is installed on the side of the winding machine. The handling of the machine becomes complicated. Also, it is necessary to deposit a full bobbin at the bobbin stand,
That requires a large space. Therefore, when installing the winding machine, there are disadvantages that positioning between the winding machine and the bobbin stand becomes complicated, and the space occupied by one winding machine becomes large.

In view of the above problems, the present invention simplifies the winding machine, reduces the installation space occupied by one winding machine, and improves the efficiency of doffing work. An object is to provide a possible automatic doffing device.

[0006]

SUMMARY OF THE INVENTION An automatic doffing device according to the present invention, which meets the above object, is an automatic doffing device for replacing a full bobbin of a winder wound with a yarn with an empty bobbin. Bobbin holding rod (A) for holding an empty bobbin and the holding rod (A) at a position facing the bobbin mounted on the spindle of
A bobbin stand having a bobbin holding rod (B) for depositing a full bobbin arranged in parallel with the bobbin stand is provided, and the bobbin stand is rotatable by 180 ° between the bobbin stand and the bobbin stand. A doffing trolley provided with a receiving peg that can move in parallel is provided so as to run and stop freely, and the doffing trolley has a take-out mechanism for transferring a full bobbin from the spindle side to the receiving peg, and the receiving peg has swung. And a push-out mechanism for transferring the full bobbin to the bobbin holding rod (B).

The take-out mechanism and the push-out mechanism may be provided at any position on the doffing cart.

The doffing trolley is provided with an operating console (A) and an operating console (B) which can move forward and backward toward the front of the winder, and the operating console (A) cuts the yarn. And a thread hooking mechanism for sucking and holding the thread and hooking the thread on an empty bobbin mounted on the spindle.
Has a winder operation section for performing a rotation stop operation of the spindle and a chuck release operation of the bobbin with respect to the spindle, and a rotary table section for reversing the attitude of the operation console (B) between the winder side and the bobbin stand side. Preferably.

Further, it is desirable to provide a power feeding device on the upper portion of the bobbin stand.

The front surface of the winder means the surface of the spindle of the winder on the non-driving side when viewed from the spindle of the winder.

[0011]

In the above automatic doffing device, the doffing carriage is run in front of the winder and stopped at a predetermined position, and the full bobbin is moved to the receiving peg on the doffing carriage side by the operation of the bobbin take-out mechanism. After that, the receiving peg is then moved in parallel, for example parallel to the winder.

The receiving peg that has been moved in parallel is turned by substantially 180 ° to turn it over to the bobbin stand side, and the full bobbin on the receiving peg is moved by the bobbin pushing mechanism to the bobbin holding rod (B) on the bobbin stand side. Transfer to. Next, the receiving peg is translated in the opposite direction to the above, and the empty bobbin prepared on the bobbin holding rod (A) of the bobbin stand is transferred to the receiving peg by the bobbin take-out mechanism. In this state, the receiving peg is translated. This position is the same as the position where the full bobbin is transferred to the bobbin holding rod (B) described above. At this position, the receiving peg is inverted in the opposite direction to the above, and translated toward the predetermined spindle. The doffing work is completed by transferring the empty bobbin to the spindle of the winder by the bobbin pushing mechanism.

Further, since the empty bobbin is held in advance on the bobbin stand provided at a position facing the spindle of the winder, it is not necessary to install an empty bobbin storage portion on the doffing cart side. Further, since the positions of the full bobbin and the empty bobbin can be switched by reversing the receiving peg portion, it is not necessary to separately configure the full bobbin take-out mechanism and the empty bobbin supply mechanism.

Further, the doffing trolley is provided with a winder operating section for operating the winder, a thread hooking mechanism for threading an empty bobbin mounted on the spindle, a bobbin take-out mechanism, and a bobbin returning mechanism (pushing mechanism). As a result, it is not necessary to provide each of the individual winding machines, and it is possible to use them in combination.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings. 1 to 6 show an automatic doffing device according to an embodiment of the present invention. A plurality of winding machines 2 are arranged in parallel on the winding machine base 1 with a predetermined interval. Also,
On the front side (front side) of each winding machine 2, a doffing cart that travels on rails 3 and 4 laid along the direction in which the winding machines 2 are arranged in parallel, that is, the horizontal direction in FIG. 5 are provided.

On the front side of the winding machine 2, the winding machine base 1 is provided.
A bobbin stand 6 extending in parallel with the bobbin stand 6 is provided on the bobbin stand 6 so as to face the winder 2, that is, at a position facing the spindle of the winder, a bobbin holding rod (A) 7 for holding an empty bobbin. And a bobbin holding rod (B) 8 for depositing in a full bobbin. The bobbin holding rods (A) 7 and the bobbin holding rods (B) 8 have a predetermined interval and are arranged alternately and in parallel.

As shown in FIGS. 2 and 3, the winding machine 2 includes substrates 9 arranged side by side on the winding machine base 1, a spindle 11 on which a bobbin 10 is detachably mounted, and illustration thereof is omitted. A rotary drive mechanism including an electric motor for rotating the spindle 11 and a power transmission mechanism is provided.

The spindle 11 has a shaft center extending in the front-back direction of the winder, and is supported at its rear end side by a support shaft (not shown) attached to the substrate 9 so as to be swingable around the shaft center. There is.

The handle 12 connects the spindle 11 to the substrate 9
The bobbin 10 is oscillated around the above support shaft to change the posture of the bobbin 10 between the winding posture and the doffing posture, and is supported inside the spindle 11 so as to be rotatable and slidable. By pulling the handle 12 in the direction of the arrow in FIG. 3, that is, in the direction away from the winder stand, the chucked state of the bobbin 10 and the spindle 11 is released, so that the bobbin 10 and the spindle 11 can freely rotate and the spindle 11 can be stopped from rotating. Has become. Further, by pushing the handle 12 in the opposite direction, the bobbin 10 can be chucked to the spindle 11 and rotated integrally with the spindle 11.

Reference numeral 13 is a lock lever, which is L which projects forward.
It is constituted by a character-shaped member, and by engaging with the lock release lever 13 ', the spindle 11 is held (locked) in the position of swinging in the doffing posture. Further, the holding is released by moving the lock release lever 13 'to release the engagement with the lock lever 13. The box 14 is attached so as to project from the substrate 9, and the box 14 is provided with a touch roller 15 and a traverse guide 16 that reciprocates in the front-rear direction.

As shown in FIGS. 1, 4 and 5, the doffing trolley 5 is a traveling platform 18 which travels along rails 3 and 4.
And an operating console (A) 19 and an operating console (B) 20 mounted on the traveling platform 18.

Two pairs of wheels 21 and 22 rolling along the rails 3 and 4 are provided on the bottom surface of the traveling platform 18. One pair of wheels 22 is a drive wheel that is driven via an electric motor mounted on the traveling platform 18, a power transmission mechanism and the like (not shown), and the other pair of wheels 21 is a driven wheel. Further, the wheels on the rail 3 are configured as grooved wheels that are rolled on the rail 3 in a state of being fitted on the rail 3.

The front wheels (wheels rolling on the rail 4) of the wheels 21, 22 may be used as driving wheels, and the rear wheels (wheels rolling on the rail 3) may be driven wheels. Further, instead of the rails 3 and 4, a track may be formed on the floor surface with a magnetic plate, and the system may run while detecting the magnetic plate. In addition, the traveling and stop position control of the traveling platform 18 is a method of traveling by an AC motor, counting pulses by encoders provided on the wheels 21 and 22, and when a predetermined number of pulses is reached, a brake is applied to stop at a desired position. May be Further, a control system using a DC servo motor or an AC servo motor may be adopted. Furthermore, the method of stopping is not limited to the method of electrically braking the wheels 21, 22 and the motor, and may be the method of mechanically braking.

An operation console (A) 19 is mounted on the traveling platform 18.
It is movably arranged in the front-rear direction along the guide rail 27 on the traveling platform 18, and the longitudinal movement of the operating platform (A) 19 is provided on the traveling platform 18 in parallel with the operating platform (A) 19. It is performed by the cylinder 24. That is, the L-shaped metal fitting 26 fixed to the operation console (A) 19 is cantilevered at the tip of the piston rod 25 of the cylinder 24, which is movable back and forth.
The movement in the front-back direction is transmitted to the operation console (A) 19, and the operation console (A) 19 is moved forward and backward.

Further, the operation console (A) 19 is provided with a plurality of main arms 28 (five in the embodiment). The main arm 28 is rotatably supported via a support shaft 29 extending from a housing 30 fixed to the operation console (A) 19. Each main arm 28 is swingable by a rotary cylinder (not shown), and the posture thereof is freely changeable between a standby posture shown in FIG. 5 and a thread hanging posture shown in FIG.

A crank-shaped suction pipe 31 is rotatably provided at a tip end portion of the main arm 28, and a suction posture and a threading posture are set in accordance with a change in the posture of the main arm 28 around a turning center 50. The posture is changed.

The inside of the suction pipe 31 is formed in a hollow shape and is connected to a suction port of a vacuum pump (not shown). It is also possible to adopt a suction structure using an aspirator or the like instead of the vacuum pump.

As shown in FIG. 6, a scissors body 32 that can be moved back and forth and opened and closed is provided at the tip of the suction tube 31.
An L-shaped guide 33 fixed so as to protrude from the operation console (A) 19 is provided on the lower side of the suction pipe 31. Another scissors body 34 is provided on the upper surface of the L-shaped guide 33, and the scissors body 34 is configured to be openable and closable by a telescopic operation of a cylinder (not shown) at the rear portion of the connecting plate 35.

A rotary table 23 is provided on the upper surface of the traveling table 18 via a guide rail 36 on the traveling table 18 so as to be movable back and forth by a cylinder (not shown). Turntable 2
A rotary table (not shown) is arranged on the upper part of the unit 3 so that the posture can be freely changed between the standby posture shown in FIG. 4 and the posture rotated by 180 °. The 180 ° turning direction is preferably right turning from the standby state in FIG.

A support base 37 is fixed on the rotary table of the rotary base 23, and the support base 37 is provided with a guide rail 38 and a cylinder 39. An operation console (B) 20 is provided on the guide rail 38. Cylinder 39
Of the rod 40 of the projection 4 from the operation console (B) 20
1, the operation console (B) 20 is movable on the guide rail 38 by the expansion and contraction operation of the rod 40 of the cylinder 39.

The operation console (B) 20 is provided with a plurality of pegs 42 (five in this embodiment). Peg 42
Are rotatably supported by a support shaft 43 on a housing 44 fixed to the operation console (B) 20. Peg 42
5 can be freely changed by a cylinder (not shown) between a standby position shown in FIG. 5 and a doff position (diffusion position) shown in FIGS.

A finger 48 for operating the handle 12 on the winder side is provided at the tip of the peg 42 so that it can be moved forward and backward by a cylinder (not shown). That is, the handle 12 is operated to open and close the chuck of the winder.

A pusher portion 46 having a bobbin holding portion 45 is provided on the outer periphery of the peg 42 so as to be able to move back and forth on the peg 42. A pawl 47 which is opened and closed by a cylinder (not shown) is provided at the front end of the bobbin holding portion 45.

The operation of the automatic doffing device configured as described above will be described together with its operation. As shown in FIG. 3, the bobbin 1 mounted on the spindle 11 of each winding machine 2
The yarn Y is sequentially fed to 0 and wound up. At this time, the empty bobbin 10 is previously fitted into the bobbin holding rod (A) 7 of the bobbin stand 6.

On the other hand, the doffing trolley 5 travels in front of the winder 2 according to the order set by the control device (not shown), is stopped at a predetermined position, and stands by. When the yarn Y wound on the bobbin 10 reaches a predetermined length by the count of the fixed length counter, a signal is sent from the control device, the control unit 60 (FIG. 5) of the doffing carriage 5 is operated, and the doffing work is performed. Be started.

That is, as shown in FIG. 1 and FIG.
Based on a signal from the control device, the operation console (A) 19 and the operation console (B) 20 are moved toward the front of the upper and lower rows of the predetermined winding machine 2. Due to this movement, the suction tube 31 causes the winding yarn Y
Is gripped by suction and cut by the scissors 34 shown in FIG. 6 (FIG. 7). By this operation, the yarns Y which are sequentially fed are sucked and held in the suction tube 31 (FIG. 8).

The operation of the scissors body 34 is timed by detecting that the traversing yarn Y is inside the scissors body 34 by a sensor (not shown) such as an optical sensor.

Next, the peg 42 of the operation console (B) 20 is swung, the handle 12 of the winder 2 and the finger 48 at the tip of the peg 42 are engaged, and the spindle 11 of the winder 2 is duffed. Moved to the position (Fig. 8). The spindle 11 is locked and fixed at the doff position (the doffing posture position).

Next, the finger 48 is pulled in the direction of the arrow in FIG. 9, that is, in the direction opposite to the winder 2 to release the chucked state of the spindle 11 and the bobbin 10, and at the same time the rotation of the spindle 11 is stopped.

After that, the pusher section 46 is moved forward in the direction of the winder 2 to approach the full bobbin 17. Next, the bobbin holding portion 45 is operated to operate the pawl 47, and the bobbin 10 is held. Pusher unit 4 with bobbin 10 held
6 is retracted, and the full bobbin 17 is attached to the spindle 1 of the winder 2.
Transfer from 1 to peg 42 (FIG. 9).

Next, the fingers 48 are swung to move the cylinder 3
The piston rod 40 of 9 is shortened, and the operation console (B)
20 is moved to the right side of FIG. Furthermore, operation console (B)
20 is retracted and the rotary base 2 is driven by a motor (not shown).
3 and rotate the operation console (B) 20 to
Rotate (turn) 0 °. Bobbin stand 6 at this position
The pusher portion 46 is moved toward the bobbin holding rod (B) 8 and the full bobbin 17 on the peg 42 is transferred to the bobbin holding rod (B) 8. The bobbin holding portion 45 is operated, the pawl 47 is operated, the bobbin 10 (full bobbin 17) is released, and the pusher portion 46 is moved in a direction away from the bobbin stand 6.

Next, the piston rod 40 of the cylinder 39 is extended so that the operation console (B) 20 is moved leftward in FIG. 1 as shown by the one-dot chain line arrow in FIG. At this position, the pusher portion 46 is moved toward the bobbin stand 6 and the bobbin holding portion 45 is operated to operate the pawl 47,
The empty bobbin 10 held by the bobbin holding rod (A) 7 of the bobbin stand 6 is gripped. In that state, the pusher portion 46 is moved in the direction away from the bobbin stand 6 as indicated by the solid arrow in FIG. 11, and the empty bobbin 10 held by the bobbin holding rod (A) 7 is transferred to the peg 42 in accordance with the movement. .

Next, the piston rod 40 of the cylinder 39 is shortened to move the operating console (B) 20 to the right in FIG. Further, the rotary table 23 is rotated to rotate the operation table (B) 20 by 180 ° in the opposite direction to that shown in FIG. 10 (turn).
Let At this position, the rotary base 23 is moved in the direction of the winder 2 along the traveling rail 36, and then the piston rod 40 of the cylinder 39 is extended to move the operation base (B) 20 leftward in FIG. . By this operation, the winder 2
Handle 12 and doffing dolly fingers 48 engage. Further, the axes of the peg 42 and the spindle 11 will coincide with each other.

At this position, as shown in FIG. 12, the pusher portion 46 is advanced to transfer the empty bobbin 10 on the peg 42 to the spindle 11 of the winder 2. Bobbin grip 4
After operating 5 and operating the pawl 47 to release the bobbin 10, the pusher portion 46 is retracted. Then finger 4
When 8 is moved forward, the empty bobbin 10 is chucked by the spindle 11 and is in a rotary drive state in which the empty bobbin 10 rotates integrally with the spindle 11.

Next, the cylinder rod 40 of the cylinder 39
Is shortened, and the operation console (B) 20 is moved to the right in FIG. Subsequently, as shown in FIG. 13, the main arm 28 is swung from the standby position to the thread hooking position. At this time, the center of rotation 50 of the suction pipe 31 at the tip of the main arm 28 comes to a position coinciding with the axis of the spindle 11 of the winder 2.

Next, the suction tube 31 that has sucked the yarn Y turns around the spindle 11 to sandwich the yarn Y held by the suction pipe 31 in the blade cut groove S of the empty bobbin 10 on the spindle 11, The yarn Y sandwiched in the blade cut groove S is cut by the cutter 32 shown in FIG. 6 on the downstream side of the groove S. After this operation, the yarn Y is wound on the empty bobbin 10. After the cutting, the suction of the suction pipe 31 is stopped.

Next, the suction pipe 31 is swung in the direction opposite to the operation shown in FIG. 13, and the main arm 28 is swung to the standby position side. Subsequently, the pin rod 40 of the cylinder 39 is extended to move the operation console (B) 20 to the left side in FIG. Here, the fingers 48 are engaged with the handle 12 of the winder 2, and the fingers 48 are turned in the reverse direction. Then, by operating the lock release lever 13 ', the lock lever 13 is operated, and the spindle 11 is set in a swingable state. This unlocking lever 13 ′ may be installed on the doffing cart 5.

Next, as shown in FIG. 14, the peg 42 is turned to the standby position and the spindle 11 is returned to the winding position. The yarn Y enters the traverse guide 16 and winding is started from this state. After that, operation console (A) 19,
And the operation console (B) 20 is moved to return to the initial position. After that, the doffing dolly 5 travels on the rails 3 and 4 in front of the winding machine 2 to be the doffing target, stops and stands by, and the same operation as described above is sequentially repeated again.

Then, as shown in FIG. 15, the full bobbin 17 moved to the bobbin stand 6 after the doffing work is completed.
Is carried out to the next step by a separate transport mechanism, and the empty bobbin 10 is inserted and held in the bobbin holding rod (A) 7 again. That is, it is the initial form of the doffing operation shown in FIG.

FIG. 17 schematically shows the above series of operations.

15 and 16, the bobbin holding rod 7,
Although 8 is shown as a round bar, it may be a square bar. Also, if the winding machines 2 are installed so as to face each other, that is, a double-sided machine, the bobbin stand 6 disposed therebetween can be made common,
The bobbin holding rod (A) 7 and the bobbin holding rod (B) 8 may be extended to both sides. Further, in the case of the above-mentioned double-sided machine, for example, as shown in FIG. 18, a turntable 61 capable of turning about the centerline of the bobbin stand, for example 180 °, is installed at one end of the bobbin stand 6, and a doffing cart is provided. 5 is run on the turntable 61, and the turntable 61 is turned 180 °,
The doffing work for the winding machine 2 on the facing winding machine base 1 is also possible, and one doffing carriage 5 can support a large number of winding machines 2. In this case, and also in the case of the above-mentioned apparatus other than the double-sided machine, the bobbin stand 6
By providing a power feeding device 62 (for example, a cable bear) on the upper part of the table, the doffing carriage 5 can be freely moved.

Further, the bobbin stand 6 is attached to the winding machine stand 1
By not using only one side, that is, by separating the winding machine 2 and the bobbin stand 6, the top of the winding machine stand 1 is simplified, and thereby, the transfer work of the full bobbin 17 after the doffing work is completed. It is easy to do and you can expect improved workability. Further, in the device of the present invention, since it is not necessary to provide the bobbin stand 6 on the winding device machine base 1, a large number of winding machines 2 per unit length of the winding device machine base 1 can be installed, which saves energy. It is possible to improve productivity while saving space.

[0053]

As described above, according to the automatic doffing device of the present invention, the winding machine itself and the device structure around the winding machine are simplified, and the installation space occupied by one winding machine is reduced. While achieving the above, a series of doffing work can be automated, and the efficiency of doffing work can be improved.

[Brief description of drawings]

FIG. 1 is a schematic plan view of an automatic doffing device according to an embodiment of the present invention.

2 is a schematic perspective view of a winder of the apparatus of FIG. 1. FIG.

FIG. 3 is an enlarged perspective view of one winding machine shown in FIG.

4 is an enlarged side view of the device of FIG.

5 is an enlarged perspective view of a doffing dolly of the device of FIG.

FIG. 6 is an enlarged perspective view of the suction tube portion of FIG.

7 is a partial perspective view showing a state of a doffing operation of the apparatus of FIG. 1. FIG.

8 is a perspective view showing the next state of FIG. 7. FIG.

9 is a perspective view showing the next state of FIG. 8. FIG.

FIG. 10 is a perspective view showing the next state of FIG.

FIG. 11 is a perspective view showing the next state of FIG.

FIG. 12 is a perspective view showing the next state of FIG. 11.

FIG. 13 is a perspective view showing the next state of FIG.

FIG. 14 is a perspective view showing the next state of FIG.

FIG. 15 is an enlarged partial front view of the bobbin stand of the apparatus of FIG. 1 (full bobbin holding state).

16 is an enlarged partial front view of the bobbin stand of the apparatus of FIG. 1 (empty bobbin holding state).

FIG. 17 is a schematic plan view schematically showing a series of doffing operations.

FIG. 18 is a schematic plan view of an apparatus according to another embodiment of the present invention.

[Explanation of symbols]

 1 winding device machine base 2 winding device 3 rail 4 rail 5 doffing dolly 6 bobbin stand 7 bobbin holding rod (A) 8 bobbin holding rod (B) 9 substrate 10 bobbin (empty bobbin) 11 spindle 12 handle 13 lock lever 13 'Lock release lever 14 Box 15 Touch roller 16 Traverse guide 17 Full bobbin 18 Traveling platform 19 Operating platform (A) 20 Operating platform (B) 21 Driven wheel 22 Drive wheel 23 Rotating table 24 Cylinder 25 Cylinder rod 26 L-shaped bracket 27 Guide rail 28 Main arm 29 Support shaft 30 Housing 31 Suction tube 32, 34 Scissors 36 Guide rail 37 Support base 38 Guide rail 39 Cylinder 40 Cylinder rod 41 Projection 42 Receiving peg 43 Spindle 44 Housing 45 Bobbin gripping portion 46 Pusher portion47 claws 48 fingers 50 turning center 60 control unit 61 turntable 62 power supply device Y yarn S blade cut groove

Claims (3)

[Claims] 1. In an automatic doffing device for replacing a full bobbin of a winder in which a yarn is wound with an empty bobbin, an empty bobbin is held at a position facing a bobbin mounted on a spindle of the winder. A bobbin stand having a bobbin holding rod (A) and a bobbin holding rod (B) for depositing a full bobbin arranged in parallel with the holding rod (A) is provided between the winding machine and the bobbin stand. , A doffing trolley provided with a receiving peg that can rotate substantially 180 ° and can move in parallel with the winder is provided so as to run and stop, and the doffing trolley receives a full bobbin from the spindle side. An automatic doffing device comprising: a take-out mechanism for transferring to a peg; and a push-out mechanism for transferring a full bobbin to the bobbin holding rod (B) after the receiving peg has swung. 2. The doffing trolley is provided with an operating console (A) and an operating console (B) that can move forward and backward toward the front surface of the winder, and the operating console (A) cuts a yarn. In addition, the operation table (B) has a thread hooking mechanism that sucks and holds the thread and hooks the thread on an empty bobbin mounted on the spindle. The operation console (B) performs a rotation stop operation of the spindle and a chuck release operation of the bobbin with respect to the spindle. The automatic doffing device according to claim 1, further comprising: a winder operating section for performing the operation, and a rotary table section for reversing the attitude of the operation console (B) between the winder side and the bobbin stand side. 3. The automatic doffing device according to claim 1, wherein a power feeding device is provided above the bobbin stand.