JPH073544A - Device for controlling rise and fall of doffing bar in simultaneous doffer and method for controlling rise and fall - Google Patents

Abstract

PURPOSE:To surely stop a doffing bar at a specific suspension position even in the case of occurrence of wear of a sliding part or a driving part or wear of a brake, capable of carrying out drive control of the doffing bar without installing a limit switch. CONSTITUTION:A pantograph mechanism is operated by reciprocation of a driving shaft and a doffing bar is vertically displaced. A rotary encoder outputs a signal corresponding to the displaced amount of the driving shaft. An output signal value and an offset amount of the rotary encoder corresponding to each specific suspension position of the doffing bar is memorized in an operation memory. The offset amount is an output signal value of the rotary encoder corresponding to difference between a specific suspension position and a position of a driving shaft during output of the suspension signal. Every time doffing operation is carried out, the offset amount if obtained in each specific suspension position. A suspension signal output time in the following doffing operation is set based on the offset amounts of plural past times.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a doffing bar raising / lowering control method and a raising / lowering control device in a simultaneous pipe changer equipped in a spinning machine such as a ring spinning machine and a ring twisting machine.

[0002]

2. Description of the Related Art In recent years, automation in spinning factories has progressed,
In a spinning machine such as a ring spinning machine and a ring twisting machine, a doffing device for automatically doffing and inserting a new empty bobbin into a spindle is carried out by a doffing device. As a pipe changing device, there is a whole-pile simultaneous pipe changing device provided for each spinning machine stand. In the all-mass simultaneous pipe changer, a conveyor device in which pegs are projected below the spindle row of the spinning machine stand at the same pitch as the spindle pitch is provided, and the spindle pitch is the same between the conveyor apparatus and the spindle row. A pedestal with a middle peg protruding from the pitch is provided. A doffing bar equipped with bobbin gripping devices arranged at the same pitch as the spindle pitch is displaced up and down between the spindle row and the conveyor device by the pantograph mechanism, and the entire pantograph mechanism approaches the spinning machine stand. Is configured to be rotatable to a position separated from. (For example, Japanese Patent Publication No. 48-309
No. 70). The operation of the pantograph mechanism is carried out by the reciprocating movement of a drive shaft extending along the machine longitudinal direction, and a so-called power cylinder equipped with a ball screw mechanism that is normally and reversely driven by a motor is used as a drive means of the drive shaft. Has been done.

During pipe replacement work, the doffing bar holds the empty bobbin on the conveyor device, inserts the empty bobbin into the intermediate peg on the pedestal, positions the full bobbin on the spindle, and fills the bobbin from the spindle. It is necessary to stop accurately at the standby position etc. after completion of pulling out of the. Further, it is necessary to surely stop the driving of the power cylinder when the doffing bar reaches each of the positions.
Conventionally, as a means to stop the doffing bar at each predetermined position, a dog is fixed to the drive shaft, and a number of limit switches are installed along the drive shaft at predetermined positions on the machine base frame. Based on this, a method of controlling driving / stopping of a motor is implemented. Also, during pipe replacement work, it is necessary to move and arrange the entire pantograph mechanism between a position approaching the spinning machine stand and a position separating from it, and the operation timing is also set based on the position of the doffing bar. It is also necessary to provide limit switches for that purpose on the frame.

When the doffing bar is at a high position, the amount of change in the height of the doffing bar due to the movement of the driving rod is small, and when the doffing bar is at a low position, the doffing bar accompanying the movement of the driving rod is small. The amount of change in height is large. Therefore, even if the drive rod is operated at a constant moving speed, the vertical moving speed of the doffing bar is not constant, and the moving speed near the highest position is lower than the moving speed near the highest position. The movement speed increases. Therefore, the inertial force varies depending on the stop position of the doffing bar, and it is necessary to position the limit switch in consideration of the inertial force when mounting the limit switch, which requires skill. Further, in the above-mentioned conventional method, since the position of the doffing bar is detected, there is a problem that a large number of limit switches must be accurately attached to predetermined positions of the machine frame.

As a device for solving the above-mentioned problems, a rotary encoder for detecting the amount of rotation of a screw shaft which is normally and reversely driven by a motor is provided, and the position of the doffing bar is calculated based on the output signal thereof. The applicant of the present application has previously proposed (JP-A-2-289130).

[0006]

[Patent Document 1] Japanese Patent Application Laid-Open No. 2-28913
In the device disclosed in Japanese Patent No. 0, the output timing of the control signal for stopping the doffing bar at each predetermined stop position can be set without providing a limit switch. To stop the doffing bar, stop the drive motor and apply the brakes. And
In the conventional device, when the stopping position of the doffing bar is the same, the inertial force of the doffing bar is the same and the output timing of the signal is set. That is, little consideration was given to wear of sliding parts and drive parts or wear of brakes due to long-term use of the pipe replacement device.

However, the inertial force of the doffing bar changes due to wear of the sliding portion and the drive portion, and the braking time changes due to wear of the brake. Therefore, in the conventional device that does not consider the change in the inertial force of the doffing bar and the change in the braking time due to the wear of the brake, even if the position of the doffing bar is accurately known, the doffing bar is stably maintained for a long period of time. It cannot be stopped exactly in place.

The present invention has been made in view of the above problems, and an object thereof is to perform drive control of a doffing bar without providing a limit switch for positioning at each stop position, and to replace a pipe. A doffing bar in a simultaneous pipe changer that can surely stop the doffing bar at a predetermined stop position even if the sliding part or drive part wears or the brake wears due to long-term use of the device. To provide a lifting control device and a lifting control method.

[0009]

In order to achieve the above object, according to the invention of claim 1, a doffing bar provided with a bobbin holding device is provided with a spindle train and a transfer device arranged below the spindle train. Between the pantograph mechanism for vertically moving the pantograph mechanism and the drive system equipped with a conversion device for converting the rotational force of the motor into the reciprocating motion of the drive shaft for operating the pantograph mechanism, and the entire pantograph mechanism away from the position near the spinning machine stand. In a simultaneous pipe changer having a moving mechanism that moves to a position, a control means for controlling the drive of the drive system, and a signal provided in the drive system and corresponding to the displacement amount of the doffing bar are output. Position detecting means, an output signal value of the position detecting means corresponding to each predetermined stop position of the doffing bar, and the position and the doffing bar. The storage means for storing the output signal value of the position detecting means corresponding to the difference from the position when the control means outputs the stop signal for stopping at each predetermined stop position, and the output of the position detecting means. Calculation means for calculating the difference between the actual stop position of the doffing bar and the predetermined stop position based on a signal, and the value of the difference between the actual stop position of the doffing bar and the predetermined stop position of the past multiple times And a stop signal output timing setting means for setting the stop signal output timing of the control means at the next pipe changing operation based on the output signal value of the position detecting means corresponding to the above.

According to the second aspect of the invention, the pantograph mechanism for vertically moving the doffing bar provided with the bobbin holding device between the spindle row and the transfer device arranged below the spindle row, and the motor. A drive system provided with a conversion device for converting a rotational force into a reciprocating motion of a drive shaft for operating the pantograph mechanism, and a moving mechanism for moving the entire pantograph mechanism to a position approaching the spinning machine stand and a position separating it. In the simultaneous pipe changer, the position corresponding to each predetermined stop position of the doffing bar is stored in the storage means as a value corresponding to the output signal value of the position detection means, and when the pipe changer is in operation The output signal value of the position detecting means, which corresponds to the value of the difference between the actual stop position of the doffing bar and the predetermined stop position, is calculated by the calculating means, And to set the stop signal output timing to the motor during the next Kankawa work based on the average value of the values at a plurality of times of Kankawa work.

[0011]

In the pipe changing device of the present invention, the rotational force of the motor is converted into reciprocating motion by the converting device and transmitted to the drive shaft.
The reciprocating movement of the drive shaft actuates the pantograph mechanism, so that the doffing bar is displaced up and down between the spindle train and the transfer device arranged below the spindle train. Drive control of the drive system of the pantograph mechanism is performed by the control means. The position detecting means outputs a signal corresponding to the amount of displacement of the doffing bar. An output signal value of the position detecting means corresponding to each predetermined stop position of the doffing bar and a stop signal for stopping the position and the doffing bar at each predetermined stop position are output to the storage means by the control means. An output signal value (hereinafter referred to as an offset amount) of the position detecting means corresponding to the difference from the actual position is stored. Each time the pipe replacement work is performed, the offset amount is calculated by the calculation means for each predetermined stop position. Then, the stop signal output timing to the motor at the next pipe replacement work is set based on the offset amount of the past multiple times.

When setting the stop signal output timing to the motor, it is preferable to base it on the average value of the offset amounts of the past plural times.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment embodying the present invention will now be described with reference to FIGS.
It will be described with reference to FIG. As shown in FIG. 2, a spinning frame 1
A large number of spindles 3 are arranged on the spindle rail 2 at a constant pitch. Below the spindle rail 2, a known bobbin transfer device 5 for transferring the bobbin using the peg tray 4 is disposed (for example, JP-A-63-145438). A support bar 6 is provided on the front side of the spindle rail 2 along the spindle rail 2, and an intermediate peg 7 is provided on the upper surface of the support bar 6 at the same pitch as the spindle pitch. Further, the spinning machine base 1 is equipped with a pipe changing device 8 of a known structure, which is of the whole spindle simultaneous type.

A doffing bar 10 provided with a bobbin holding device 9 (shown in FIG. 3) is a so-called pantograph mechanism 11.
The pantograph mechanism 1 is centered around the drive shaft 12 that is moved up and down by the operation of the pantograph mechanism 11.
The whole 1 is configured to be rotatable. Of the links 13 and 14 constituting the pantograph mechanism 11, the first link 13 has a first end connected to the doffing bar 10 and a second end fixed to the drive shaft 12 so as to be integrally movable. It is connected to the moving bracket 15. The second link 14 has half the length of the link 13 and its first
The end portion is pin-connected to the center of the link 13, and the second end portion is pin-connected to the support bracket 16. The support bracket 16 is arranged in a state in which the fixed bracket 17 restricts the movement of the drive shaft 12 in the axial direction and allows the drive shaft 12 to slide.

As shown in FIG. 3, the support bracket 16 is pin-connected to the piston rod 18a of the cylinder 18. The cylinder 18 constitutes a drive device of a moving mechanism that moves the entire pantograph mechanism 11 to a position approaching the spinning frame 1 and a position separating it. The operation of the cylinder 18 causes the support bracket 16 to move the drive shaft 1
2, the pantograph mechanism 11 as a whole is rotated around the drive shaft 12 together with the support bracket 16. Further, the drive shaft 12 is adapted to be reciprocated by the operation of a power cylinder 19 as a conversion device arranged at one end of the spinning frame 1.

As shown in FIG. 1, the power cylinders 19 are symmetrically arranged on the left and right sides. The support cylinder 20 that constitutes the power cylinder 19 is fixed to the substrate 21.
The screw shaft 22 has a bearing 2 at its base end.
It is rotatably supported via 3. A movable barrel 24 is slidably supported on the support barrel 20 along the longitudinal direction thereof, and a ball nut 25 screwed with a screw shaft 22 is fixed to the proximal end side of the movable barrel 24. Moving tube 2
The base end of the drive shaft 12 is coupled to the tip of the coupling 2
It is connected via 6.

A toothed pulley 27 is fitted and fixed to the base ends of both screw shafts 22. Two toothed pulley 2
7 and the toothed pulley 30 fitted and fixed to the output shafts 29a and 29b of the gear box 28, the toothed belt 31
Is wrapped around. Input shaft 28 of gearbox 28
The rotation of the drive shaft 32a of the motor 32 is transmitted to a through the belt transmission mechanism 33. The output shafts 29a and 29b are adapted to rotate in the same direction and at the same rotational speed. The drive shaft 12 is reciprocated together with the movable barrel 24 by the forward and reverse rotations of the screw shaft 22. The pantograph mechanism 11, the power cylinder 19, the gear box 28, and the motor 32 constitute a drive system for the doffing bar 10.

The motor 32 is equipped with a brake 34. Also, at the end of one screw shaft 22,
A rotary encoder 35 as a position detecting means is provided. The rotary encoder 35 outputs a pulse signal corresponding to the rotation amount of the screw shaft 22. The rotary encoder 35 is of the increment type.

The control device 36 as a control means is provided with a central processing unit (hereinafter referred to as CPU) 37 as a calculation means and a stop signal timing setting means. Further, the control device 36 is a read-only memory (ROM) storing a control program.
And a working memory 39 as a storage means composed of a readable and rewritable memory (RAM). The work memory 39 temporarily stores the input data input by the input device 40, the calculation result in the CPU 37, and the like. As the working memory 39, a non-volatile memory having a backup power supply is used. The CPU 37 operates based on the program data stored in the program memory 38. The rotary encoder 35 is connected to the CPU 3 via the input interface 41.
Connected to 7. The motor 32 and the brake 34 are connected to the CPU 37 via an output interface 42 and a drive circuit (not shown).

While the drive shaft 12 is being moved from the position when the doffing bar 10 is arranged at the lowermost position to the position when the doffing bar 10 is arranged at the uppermost position, the screw shaft 22 is rotated one revolution or more. Is rotated.
Since the rotary encoder 35 is of the incremental type, the CPU 37 counts the pulse signals output from the rotary encoder 35, and based on the count value, the position of the drive shaft 12, that is, the doffing bar. Calculate 10 positions. In this case, the position of the drive shaft 12 when the doffing bar 10 is arranged at the lowermost position is the origin position, and the CPU 3
7 calculates the amount of displacement of the drive shaft 12 from that position as the count value. When the pulse signal is input during the forward rotation drive of the screw shaft 22, it is added to that count value, and when the pulse signal is input during the reverse rotation drive of the screw shaft 22, it is subtracted from that count value. That is, the count value corresponds to the position of the drive shaft 12.

The CPU 37 receives the position data of the drive shaft 12 corresponding to each stop position of the doffing bar 10 input by the input device 40 and the offset amount from the control device 36 at the time of the next pipe replacement work. The stop signal output timing is set. The offset amount is an output signal value of the rotary encoder corresponding to the difference between the predetermined stop position and the position of the drive shaft when the stop signal is output. The CPU 37, based on the data input by the input device 40, the output signal from the rotary encoder 35, the signal of completion of appearance / retraction of the cylinder 18, and the program data, the motor 32, the brake 34, and the cylinder 18.
The drive and stop signals are output.

Next, the operation of the apparatus configured as described above will be described. During operation of the spinning frame 1, the peg tray 4 in which the empty bobbin E is inserted is carried into the bobbin transfer device 5 at a position corresponding to the spindle 3. Then, after the spinning machine base 1 is stopped due to the full pipe, the pipe changing device 8 is operated.

The pipe replacement work is performed as follows. First, the doffing bar 10 is moved down from the standby position to the holding position of the empty bobbin E on the peg tray 4, and the bobbin holding device 9 holds the empty bobbin E. Next, the empty bobbin E on the peg tray 4 is gripped by the bobbin gripping device 9 and pulled out from above the peg 4a as shown in FIG. 5 (a). Next, the cylinder 18 is operated to rotate the entire pantograph mechanism 11 to a position separated from the spinning machine base 1, and then the doffing bar 10 is moved upward to move the empty bobbin E.
Is located above the intermediate peg 7. In this state, the entire pantograph mechanism 11 is slightly rotated toward the spinning machine base 1 side, and then the doffing bar 10 is moved down and the empty bobbin E is inserted onto the intermediate peg 7.

Next, after the bobbin holding device 9 releases the holding of the empty bobbin E, the bobbin holding device 9 is moved up to the front position corresponding to the top of the full bobbin F as shown in FIG. 5 (b). . From that state, the pantograph mechanism 11
As a whole, the bobbin holding device 9 is moved to a position corresponding to the top of the full bobbin F as shown in FIG. 6A.
Then, after the doffing bar 10 is lowered to the full bobbin holding position and the full bobbin F is held by the bobbin holding device 9, the doffing bar 10 is raised and the full bobbin F is pulled out from the spindle 3, At 10, the full bobbin F is raised to a position where it does not interfere with the empty bobbin E.
Next, after the entire pantograph mechanism 11 is rotated, the doffing bar 10 is lowered and the bobbin holding device 9 is moved to the lower front of the spindle rail 2. Then, after the pantograph mechanism 11 is entirely rotated and the bottom portion of the full bobbin F is disposed above the peg 4a, the doffing bar 10
Is further lowered, and the full bobbin F is inserted into the peg 4a of the bobbin transfer device 5, as shown in FIG. 6 (b).

Next, the doffing bar 10 is raised again, the pantograph mechanism 11 is rotated as a whole, and the doffing bar 10 is moved.
The lower bobbin E on the intermediate peg 7 is inserted into the spindle 3 in a predetermined order. Thereafter, the doffing bar 10 is raised, the pantograph mechanism 11 is rotated as a whole, and the doffing bar 10 is lowered in a predetermined order, so that the doffing bar 10 is at a standby position below the spindle (see FIG. 5A). Same as position).

The screw shaft 22 is rotated in the forward and reverse directions through the gear box 28 by the forward and reverse rotation drive of the motor 32, and the movable barrel 24 is linearly moved together with the drive shaft 12 by a distance corresponding to the rotation amount of the screw shaft 22. . When the screw shaft 22 rotates in the forward direction, the drive shaft 12 is moved forward (moved to the left in FIGS. 1 and 2) to move the doffing bar 10 upward, and when the screw shaft 22 is rotated in the reverse direction, the drive shaft 12 is returned. The doffing bar 10 is moved down. The CPU 37 counts the output signal from the rotary encoder 35, calculates the rotation amount of the screw shaft 22, and calculates the position of the doffing bar 10. And doffing bar 1
A driving and stop signal is output from the control device 36 to the motor 32 and the cylinder 18 so that 0 can be accurately stopped at each of the predetermined stop positions.

When the doffing bar 10 is stopped at a predetermined position, it is necessary to output a stop signal to the motor 32 before the doffing bar 10 reaches the predetermined stop position in consideration of the inertial force of the drive system. When the number of output pulses from the rotary encoder 35 from when the stop signal is output to the motor 32 to when the motor 32 is stopped at a predetermined stop position is taken as an offset amount OS, the offset amount OS is due to wear of sliding parts and driving parts of the drive system. Alternatively, it also changes due to wear of the brake 34. Therefore, in order to accurately stop the doffing bar 10 at a predetermined position during pipe replacement work, it is necessary to set the stop signal output timing to the motor 32 based on the appropriate offset amount OS in consideration of the wear. . Further, it is necessary to input accurate position data of the drive shaft 12 corresponding to the predetermined stop position of the doffing bar 10 into the working memory 39.

The control device 36 inputs the position data into the working memory 39 and determines the offset amount as follows. In order to input the position data of the predetermined stop position of the doffing bar 10 into the work memory 39, the doffing bar 10 is moved to each stop position by manual operation. A pulse signal is output from the rotary encoder 35 as the doffing bar 10 moves, and CP
U37 counts the number of pulses. Then, when the setting button of the input device 40 is pressed when the doffing bar 10 is arranged at the predetermined stop position, the position data of the stop position is input as the count value at that time. This count value is stored in the storage area provided in the working memory 39 corresponding to each stop position. This operation is performed for all stop positions.

Next, the first offset amount O for each stop position
S is input by the input device 40. This offset amount O
S is set to an appropriate value in consideration of inertial force. The offset amount OS is stored in a storage area provided in the work memory 39 corresponding to each stop position. Each storage area can store a plurality of offset amounts OS.
Next, a test operation of the pipe replacement device 8 is performed using the offset amount OS.

The CPU 37 outputs the stop signal according to the flowchart of FIG. 4 and the offset amount OS for the next operation.
To set. First, the CPU 37 reads the offset amount OS corresponding to the stop position from the work memory 39,
A value is obtained by subtracting the offset amount OS from the count value of the stop position. Then, the count value is set as the stop signal output time and stored in the working memory 39. Next, the motor 32 is driven to start the operation of the doffing bar 10.

The CPU 37 inputs the output signal from the rotary encoder 35 and counts the number of pulses. Then, the count value and the count value of the stop signal output timing stored in the work memory 39 are compared, and when the two values match, the stop signal is output to the motor 32 and the operation signal is output to the brake 34, respectively. When the doffing bar 10 stops, the difference between the count value at the stop position and the set count value at the predetermined stop position is obtained and stored in the working memory 39 as a new offset amount OSi. The work memory 39 can store n offset amounts OS for each stop position. Therefore, the offset amount OS is n
The offset amount OS is sequentially stored until the number becomes the number. If n offset amounts OS are stored, the oldest data among them is erased and new data is stored. Then, after storing new data, the average value of all offset amounts OS stored in the storage area is calculated,
The value is set as the next offset amount OS, and is stored in the working memory 39 in place of the previous offset amount OS.

The above operation is performed for each stop position. The value of n is preferably about 10. Therefore, after the pipe replacement device 8 is assembled, the test operation is performed several times or more, and the value of the offset amount OSi corresponding to each stop position is set to the working memory 3
It is preferable to carry out the actual operation after storing several or more in each of 9.

As described above, the position of the doffing bar 10 is accurately calculated by the CPU 37 based on the output signal from the rotary encoder 35. Further, since the next offset amount OS is set based on the offset amount OS of the past plural times, the stop position shift of the doffing bar 10 is reduced even if there is a change over time due to long-term use.

Further, in this embodiment, since the set value is compared with the actual stop position for each stop position every time the pipe replacement work is performed, it is easy to detect an abnormality. Then, the offset amount OS is obtained for each pipe replacement work, and the average value of the latest n times of the offset amount OS is used as the offset amount OS for the next pipe replacement work, so that the stop position of the doffing bar 10 is determined. The gap is smaller.

The present invention is not limited to the above-mentioned embodiments, and for example, the rotary encoder 35 may be of an absolute type corresponding to multiple rotations.
In this case, the output value of the rotary encoder 35 directly corresponds to the position of the drive shaft 12. Further, the mounting position of the rotary encoder 35 is not limited to the screw shaft 22, and the motor 32 may be connected to the doffing bar 10.
It may be attached to the rotary shaft at any position of the power transmission system.

Further, instead of the rotary encoder as the position detecting means, a gear may be fixed to the screw shaft 22 and a rotation amount of the screw shaft 22 may be detected in combination with a proximity switch or the like for detecting gear teeth. A linear encoder or potentiometer that detects the amount of movement of the drive shaft 12 may be used as the detection means.

Further, in the above embodiment, the pantograph mechanism 11 is used.
The timing of rotating the whole body in the direction approaching the spinning frame 1 and in the direction separating it from the spinning frame 1 is the time when the raising or lowering of the doffing bar 10 to a predetermined position is completed.
The pantograph mechanism 11 may be rotated simultaneously during the ascent or descent. In this case, the pipe replacement work time can be shortened. The rotation start timing of the pantograph mechanism can be easily set only by setting the output signal value of the position detection means corresponding to the position of the drive shaft 12 at that time.

Further, since the sliding parts of the driving system and the driving parts or the brakes 34 are not abruptly generated, the offset amount OS and the stop signal output timing are set every time the pipe replacement work is performed. Instead of redone, it may be performed every predetermined number of times, for example, every tens of times. Also, based on the offset amount OS of the past multiple times, the next offset amount OS
Also when setting, the average value excluding the maximum value and the minimum value may be taken instead of simply averaging.

Further, instead of the structure in which the entire pantograph mechanism 11 is rotated and moved to a position approaching and separating from the spinning machine stand, the entire pantograph mechanism 11 is moved in a direction orthogonal to the machine stand longitudinal direction. It is also possible to adopt a configuration of moving and arranging in a position approaching the spinning machine stand and a position separating from it by moving in parallel.

Further, the drive device of the moving mechanism for moving the entire pantograph mechanism 11 between the position approaching the spinning frame and the position separating it is not limited to the cylinder as in the above-mentioned embodiment, but is driven by using the crank mechanism. May be.

[0041]

As described above in detail, according to the present invention, it is possible to control the driving of the doffing bar without providing a limit switch for positioning at each stop position, which is associated with the long-term use of the pipe changing device. The doffing bar can be surely stopped at the predetermined stop position even when the sliding part or the drive part is worn or the brake is worn.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an embodiment embodying the present invention.

FIG. 2 is a front view showing a spinning frame and a pipe changing device.

FIG. 3 is a side view of the pipe replacement device.

FIG. 4 is a flowchart showing a procedure for setting an offset amount and a stop signal output timing.

FIG. 5 is a schematic side view showing the operation of the pipe replacement device.

FIG. 6 is a schematic side view showing the operation of the pipe replacement device.

[Explanation of symbols]

1 ... spinning frame, 3 ... spindle, 5 ... bobbin transfer device, 8 ... tube changing device, 9 ... bobbin gripping device, 10 ... doffing bar, 11 ... pantograph mechanism, 12 ... drive shaft, 18 ... moving mechanism Constituent cylinders, 19 ... Power cylinder as conversion device, 22 ... Screw shaft, 32 ... Motor, 35 ... Rotary encoder as position detection means, 36 ... Control device as control means, 37
... CP as calculating means and stop signal output timing setting means
U, 39 ... Working memory as storage means.

Claims (2)

[Claims] 1. A pantograph mechanism for vertically moving a doffing bar equipped with a bobbin gripping device between a spindle row and a transfer device arranged below the spindle row, and a drive for operating a pantograph mechanism by a rotational force of a motor. A drive system having a conversion device for converting the shaft into reciprocating motion,
In a simultaneous pipe changer equipped with a moving mechanism for moving the entire pantograph mechanism to a position approaching and a position separating from a spinning machine stand, a control means for performing drive control of the drive system, and a drive mechanism provided in the drive system. Along with the position detection means for outputting a signal corresponding to the amount of displacement of the doffing bar, the output signal value of the position detection means corresponding to each predetermined stop position of the doffing bar, the position and the doffing bar Storage means for storing an output signal value of the position detecting means corresponding to a position difference when the control means outputs a stop signal for stopping at each predetermined stop position; and an output signal of the position detecting means Calculating means for calculating the difference between the actual stop position of the doffing bar and the predetermined stop position, and And a stop signal output timing setting means for setting the stop signal output timing of the control means at the next pipe changing operation based on the output signal value of the position detecting means corresponding to the value of the difference from the predetermined stop position. Lifting control device for doffing bar in simultaneous pipe changer. 2. A pantograph mechanism for vertically moving a doffing bar equipped with a bobbin holding device between a spindle train and a transfer device arranged below the spindle train, and a drive for operating a rotational force of a motor to operate the pantograph mechanism. A drive system having a conversion device for converting the shaft into reciprocating motion,
In a simultaneous pipe changer equipped with a moving mechanism that moves the entire pantograph mechanism to a position approaching and a position separating from a spinning machine stand, the position corresponding to each predetermined stop position of the doffing bar is detected. The position detection corresponding to the output signal value of the means is stored in the storage means and corresponds to the value of the difference between the actual stop position of the doffing bar and the predetermined stop position during the operation of the pipe replacement device. The output signal value of the means is calculated by the calculating means, and the simultaneous signal transfer that sets the stop signal output timing to the motor at the time of the next tube replacement work based on the average value of the values in the plurality of tube replacement works in the past Control method for doffing bar in equipment.