JPS60244766A - Method of doffing package from winder - Google Patents

Abstract

PURPOSE:To instruct a reference pint for a lot of work stations of a winder in a short time by putting a mark on the peripheral surface of an empty bobbin corresponding to the end portion of an empty bobbin holding chuck of a doffing device. CONSTITUTION:An empty bobbin B having a mark 7 put thereon corresponding to the end portion of an empty bobbin holding chuck of a doffing device is held on a cradle. The doffing device is stopped at the first work station by a position device. When a wrist member 31 is controlled to hold the empty bobbin B placed at the above station by means of a click 93 of the holding chuck, the end surface of th click 93 of th above chuck is aligned with the mark T of the empty bobbin B. At this time, the empty bobbin B is orthogonal to the cradle. Values of X-Z axes of the doffing device at this time are stored as a reference point of the first work station in a memory. The same is performed for each station.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for doffing packages from a winding machine in which a plurality of work stations are arranged in series in the longitudinal direction of the winding machine.

Stretch false twister (DTYII), draw twister (DT
For fiber winding machines such as twisting machines, twisting machines, winding machines, thread winding machines, film winding machines, glass fiber winding machines, metal wire winding machines, and electric wire winding machines, multiple Workstations are arranged in series in the longitudinal direction of the machine.

When a package is wound up using such a winding machine, after doffing the full package, an empty bobbin is attached and winding is continued.

The present invention is suitable for a device for doffing a full package from a winding machine that supports a bobbin substantially horizontally with a cradle and winds yarn or the like.

(Prior Art) Conventionally, devices for doffing full packages and loading empty bobbins can be roughly divided into so-called "simultaneous doffing" devices that are attached to the machine platform and doff all the full packages on the machine platform at the same time. 1, and the so-called traveling type doffer, in which a cart runs along the machine base, sequentially doffs full packages, and attaches empty bobbins.

The present invention relates to a traveling type of the above-mentioned two types of dockers.

Hereinafter, a traveling type docker for a stretch false twisting machine will be explained as an example.

As is well known, in a draw false twisting machine, a large number of work stations (for example, about 100 on one side of the machine stand) are installed in a row in the longitudinal direction of the machine stand, and each work station has multiple upper and lower stages (usually 2 to 2 stages). A winding device (so-called spindle) is formed in the third stage).

U.S. Patent No. 4.079.898 is an auto docker that runs along the base of such a draw false twister and automatically doffs full packages and attaches empty bobbins.
Various methods have been known from the past, such as the specification of No.

However, in general winding machines, including stretch false twisters, the assembly precision of each winding device has been sufficiently improved, but the relative There is little consideration given to the positional relationship; for example, the height from the floor on which the machine is installed or the distance from the work surface in front of the machine can vary greatly between workstations.

On the other hand, the above-mentioned autodoffer repeats running and stopping in the longitudinal direction of the winding machine, and repeats exactly the same doffing operation at each workstation with the stop position as a reference.

As mentioned above, if a conventional winding machine is used as it is, there will be variations between workstations, and as a result, the reference stop position will not be constant between workstations, making it impossible to perform doffing operations reliably. .

As a countermeasure, when introducing the above-mentioned auto-doffer into these conventional winding machines, first prepare the spherical surface of the factory where the winding machine is installed, and install a high-precision foundation at the point where the auto-draft runs. Lay the rails. Furthermore, work will be carried out to improve the relative positional accuracy and assembly accuracy of the winding device, which is connected in the longitudinal direction of the winding machine. On top of that, the above-mentioned automatic transfer is introduced.

Therefore, when introducing a conventional auto-dosfer, a large amount of repair work and a large amount of repair work cost are required, and therefore, the conventional auto-dosfer is not practical.

(Problem to be solved by the invention) A plurality of workstations are arranged in series in the longitudinal direction of the machine, which can be introduced without requiring extensive repair work or large repair costs associated with the conventional technology as described above. The purpose of the present invention is to provide a method for doffing packages from a winding machine, and furthermore, to provide a method that can easily cope with changes in the position of a work station connected to a winding machine over time after the introduction of the device of the present invention. In order to provide a method for doffing a wound package from a winding machine in which a plurality of workstations are arranged in series in the longitudinal direction of the machine, the applicant has previously disclosed a method for doffing a wound package from a winding machine in which a plurality of workstations are arranged in series in the longitudinal direction of the machine. A winding machine 7>1 characterized in that a point is stored in advance and a doffing cart is moved in front of a workstation to perform a series of doffing operations from the reference point stored for the workstation to the workstation. We proposed a method for doffing these packages.

An object of the present invention is to provide a method that can more easily and reliably carry out the reference point teaching work of the previously proposed method.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings that illustrate embodiments of the invention.

FIG. 2 is a plan view of a stretch false twisting machine implementing the present invention,
A large number (nine in FIG. 1) of blocks 3 are provided between a drive end 1 and a control end 2 of the machine. Each block 3 includes a feed roller, a delivery roller, a heater, and a false-twisting device (see Fig. (not shown) etc. Furthermore,
For example, 36 work stations are formed on each side of the machine. Each work station is formed into three levels, upper and lower, and each is provided with a winding device.

On both sides of the machine, there are tracks 5, 5,
A bobbin shaft rack 6.6' is also provided for holding empty bobbins to be supplied to the winding device and for storing full packages doffed from the winding device.

FIG. 3 is a perspective view of one embodiment of the doffing truck 4 according to the present invention. FIG. 3 also shows the cradle 12 of the winding device of the stretch false twister and the bobbin storage cart 13 used as a creel (bobbin shaft frame).

The cradle 12 has a well-known structure, and rotatably holds a bobbin between a pair of arms, presses the bobbin against a 7-reaction roller (not shown), rotates it, and operates a traverse device (not shown), etc. The twilled yarn is wound onto a bobbin to form a yarn package P.

The bobbin storage cart 13 can run on the floor using wheels 13a. Further, the bobbin storage cart 13 has a large number of pegs 13b protruding orthogonally to the longitudinal direction of the machine frame of the stretching false twisting machine.
The fully wound bobbin P, which is rotatably held by the cradle 12, is inserted and stored in the peg 13[), and the empty bobbin B to be supplied to the cradle 12 is inserted and held in the peg 13b. .

A track 5 is laid in a working path between the cradle 12 and the bobbin storage cart 13. The track 5 is a flat rail 5a
, 5b. The truck body 7 runs on rails 5a and 5b by wheels 7a.

Further, guide wheels 7b provided laterally from the truck body 7 contact a vertical wall (not shown) provided on the side surface of the machine base, thereby regulating the lateral position of the truck body 7.

A portion 8 is vertically protruded from the trolley body 7 to the post. Y
An axial beam 9 is attached to the boss portion 8 so as to be movable up and down.
The Y-axis beam 9 moves up and down along the post section 8 by operating a Z-axis drive motor (not shown). X-axis hem 2
9 is provided perpendicularly protruding from the Y-axis beam 9, and the X-axis beam 29 is moved horizontally along the Y-axis beam 9 by operating a Y-axis drive motor (not shown). A wrist member 31 is provided on the bottom surface of the X-axis beam 29, and by operating an X-axis drive motor (not shown), the wrist member 31 is moved along the X-axis beam 29' to the Y-axis beam 9. Move towards or away from someone. Further, the wrist member 31 rotates around its axis by operating a θ1-axis drive motor (not shown).

The wrist member 31 is a doffing arm 14 that doffs the fully wound bobbin P formed by the cradle 12 from the cradle 12 and transfers it to the peg 13b of the bobbin storage cart 13, and holds it on the peg 13b of the bobbin storage rho wheel 13. An empty bobbin mounting arm 15 for mounting the empty bobbin B on the cradle 12 of the winding machine, and an arm 16 for switching the winding position from the fully wound bobbin P on the cradle 12 to the empty bobbin B. Wrist member 31 and arm 14.15.
16 constitutes the doffing processing mechanism 11.

The empty bobbin mounting arm 15 includes an empty bobbin gripping arm 15a that grips the empty bobbin B, and a crate/L/operation arm 15b that operates the operating lever 12a of the cradle 12 to cause the cradle 12 to grip the empty bobbin B.

The trolley body 7 further includes a positioning member 17, which is movable relative to the machine base, and has stop recesses formed in the machine base of the stretching false twisting machine at predetermined intervals corresponding to the work stations. (not shown), the single-shaped tip 17a is engaged and separated, and the truck body 7 is placed in a fixed position and movable.

In addition, during the doffing operation, the trolley body 7 is provided with a full bobbin P for suctioning and removing the false twisted yarn drawn and false twisted by the drawing false twisting machine.
Yarn suction members 1 and 8 are provided to facilitate doffing and mounting of the empty bobbin B.

The empty bobbin mounting arm 15 will be described in detail with reference to FIGS. 1 and 5 to 10. As described above, the empty bobbin mounting arm 15 includes the empty bobbin gripping arm 15a that grips the empty bobbin B and the operating lever 12 of the cradle 12.
It consists of a cradle operating arm 15b for causing the cradle 12 to grip the empty bottle B by operating the arm 15a.

In FIG. 9, an L-shaped bracket 6° projects from the wrist member 31. An arm 61 with a small length and a small arm 62. The end of the arm 61 and the rod 62 are pivotally connected to a bracket 60 by self-aligning bearings, and the other ends of the arm 61 and the rod 62 are pivotally connected to a cradle gripper 71 by self-aligning bearings. As a result, the bracket 60, the arm 61,
The rod 62 and cradle gripper 71 form a horizontal rank mechanism.

A fluid pressure cylinder 63 is pivotally connected to the wrist member 31 by a pin 64. (The bottle 64 is supported by a bracket (not shown) provided on the wrist member 31.) The tip of the piston rod 63a of the fluid pressure cylinder 63 is connected to the bottle 64.
It is connected to the arm 61 by. As a result, the cradle operating arm 15b can be rotated in a vertical plane by the hydraulic cylinder 63 as shown by the chain line in FIG.

A hole 6oa is bored at the tip of the L-shaped bracket 6o. A bottle 66a is attached to the lower end of the bow-shaped kite bar 66.
When the bottle 66a is installed, the bottle 66a is engaged with the hole 60a.

A projection 68 is formed on the upper part of the guide bar 66, and is connected to the piston door 0a of the hydraulic cylinder 70 by a pin. A guide 67 is attached to the arm 61, and a rectangular groove 67a is formed in the guide 67. An arcuate guide bar 66 is inserted into the groove 67a.

As a result, as shown in FIG. 7, by moving the guide bar 66 using the fluid pressure cylinder 70, the cradle operating arm 15b can swing.

As shown in Figure 8 (a), the cradle gripper 7
Grooves 71a and 71b extending in the longitudinal direction are formed on the side surface of the protrusion 1 and the lower surface of the protrusion, respectively. Cradle gripper 71 lifts cradle handle 1-2a by engaging groove 718 with bin 12c projecting from handle 12a and by supporting the underside of handle 12a on groove 71b.

Another embodiment of the cradle operating arm is shown in FIG. 8(b). In this embodiment, the operating lever 12a is lifted by a cradle operating arm 15b having a U-shaped cross section. Figure 8 (C) shows empty bobbin mounting arm 1.
5 shows another embodiment of the cradle operating arm 15b of No. 5.

The cradle operating arm 15'b has an inverted U shape,
It includes a rubber cushioning material 15c. The handle 12a is sandwiched between a U-shaped member and a cushioning material 150.
It is pressed down by the character-shaped member.

In FIG. 10, the right end of a fluid pressure cylinder 81 connected to the empty bobbin gripping arm 15a is rotatably supported on the wrist member 31 by a pin 81b.

The piston rod 81a of the fluid pressure cylinder 81 is connected to the lever 8.
'2. The lever 82 is fixed to a shaft 83, and the shaft 83 is swingably supported by the wrist member 31. The arm 84 is also fixed to the shaft 83, so that the lever 8''2 and the arm 84 are actuated together by the hydraulic cylinder 81.

Arm 84 carries an empty bobbin gripping chuck via a flexible member.

In FIG. 5, the flexible member of this embodiment includes a pair of levers 86 supported by an arm 84, and a base plate 85 supported by the upper and lower levers 86 to form a horizontal rank mechanism. Therefore, the substrate 85 is movable relative to the arm 84 while maintaining the parallel state between the substrate 85 and the arm 84.

Further, a compression spring 109b is installed between the arm 84 and the right end of the board 85, and urges the board 85 to the left.

Additionally, as shown in FIG. 5, the right end of the board 85 is connected to the arm 8.
The arm is connected to the piston rod 109a of the fluid pressure cylinder 109 provided on the right wall of the arm 4, and the arm 84 compression spring 10
It is biased to the right against the spring force of 9b.

A bearing member 89 is rotatably supported on the substrate, and the bearing member 8
The lower end 88 of 9 is rotatably supported by a piston rod 87a of a fluid pressure cylinder 87 which is supported by the base plate 85. Therefore, the bearing member 89 can be rotated by 90 degrees by the hydraulic cylinder 87 to take the position shown in FIG. be able to.

The empty bobbin holding chuck consists of fixed claws 94 attached to eight bearing members and movable claws 93 spaced apart from each other as shown in FIG. A bottle 97 protrudes from the movable claw 93, and the movable claw 93 is rotatably supported on the fixed claw 94 by a shaft 99, as shown in FIG. That is,
The shaft 99 is rotatably supported by the fixed claw 94. A lever 92, a presser claw 101, and a collar 106 are fixed to a shaft 99.

The lower end of the lever 92 is connected to a hydraulic cylinder 90 supported by a bearing member 89. A protrusion (not shown) is formed at the upper end of the lever 92 and can be engaged with the bin 97. The lower end of the presser pawl 101 can engage with a stopper surface 96a of the stopper member 96, as will be described later. A protrusion 101b is also formed at the upper end of the presser claw 101, and the bottle 9
7.

The kick spring 105 is attached to the bottle 1 with the kick spring 105 protruding from the collar 106.
06a and the bearing member 89.

Further, a kick spring 107 is provided between the bottle 97 and the lever 92 and between the bottle 97 and the presser claw 101. The kick spring 105 urges the movable claw 93 outward, while the kick spring 107 urges the movable claw 93 inward to hold the empty bobbin B.

Reference numeral 103 is a rubber plate attached to the inside of the fixed and movable claws 93 and 94.

In FIG. 6, when the piston rod of the hydraulic cylinder 90 contracts, the lever 92 and the upper protrusion of the presser pawl 101 engage with the pin 97, and the movable pawl 93 engages with the kick spring 105.
is moved outward.

Conversely, when the piston rod of the hydraulic cylinder 9o extends, the kick spring 107 is twisted. Then, the movable claw 93 moves inward due to the spring force of the kick spring 107 and grips the empty bobbin B. The piston rod of the hydraulic cylinder 90 continues to advance and the kick spring 107 is twisted further. Even when the movable claws 93 and 94 hold the empty bobbin B,
The spring force of the kick spring is set so that the kick spring can slide inside the gripping claws 93 and 94.

In FIG. 5, a stopper surface 96b is formed at the right end of the stopper member 96, and the distance between the stopper surface 96b and the rotation center of the bearing member 89 is equal to half the length of the bobbin B.

A stopper member 96 is swingably supported by a pair of brackets l-189 protruding from the base plate 85.

A bottle 98 with a head 98a passes through a hole 96C formed in the top surface of the stopper member 96. The compression spring 95 is connected to the substrate 8.
5 and a stopper member 96, and urges the stopper member 96 upward. Therefore, the stopper member 96 is normally located at the position shown by the solid line in FIG. 5, and positions the empty bobbin B shown by the chain line in FIG. When the upper surface of the stopper member 96 is pushed downward, the stopper member 96 moves downward as shown by the chain line.

When the bearing member 89 is rotated approximately 90 degrees around a substantially vertical axis from the state shown in FIG. 1, 1. Bottom surface 1 of presser claw 101
01a is located on the stopper surface 96a of the stopper member 96.

The empty bobbin B supported by the peg 13b is held as follows. From the above-mentioned state, the empty bobbin B is positioned by first bringing the stopper surface 96b into contact with the end surface of the empty bobbin B. Next, by raising the Y-axis beam 9, the arm 84 is moved slightly upward to lift the empty bogon B from the beng 13b, and then the piston rod of the fluid pressure cylinder 90 is extended and the claws 93 and 101 are lowered. Chuck the empty bobbin B. The piston rod of the fluid pressure cylinder 90 continues to extend even after the empty bobbin B is chucked.

As a result, the presser claw 101 further descends and comes into contact with the stopper surface 96a, rotating the stopper member 96 downward.
The engagement between the stopper surface 96b and the end surface of the empty bobbin b is released. As a result, the bearing member 89 becomes rotatable.

A control system related to the main components of the auto-delivery device of the present invention is shown in a block diagram in FIG.

The autodoffer of the present invention includes a microprocessor, and further includes an LSI memory that is a means for storing the basic operations of the doffing processing mechanism, a bubble memory that is a means for storing teaching reference points taught at each workstation, and the above-mentioned bubble memory. The basic operation is modified in accordance with a predetermined modification program based on the teaching reference point, and has an LSI memory which is an actual operation storage means for storing the actual operation. Therefore, when pre-memorizing the bobbin handling process itself and the trajectory in the bobbin handling process, a specific point on the winding device of the winding machine is directly taught as a reference point, and the pre-stored basic trajectory is taught as described above. Modify based on the reference point.

The above-mentioned teaching device, thread breakage detector 155, and winding diameter detector 54
, and bobbin presence/absence detector 84a are connected to the microprocessor via an interface, and signals from them are input to the microprocessor in the manner described above.

In addition, the microprocessor drives the X-axis via the interface and servo drive unit, that is,
Lateral movement of the wrist member 31) motor, Y-axis drive (i.e.
(back and forth movement of the X-axis beam 29) motor, Z-axis drive (i.e., elevating and lowering the Y-axis arm 9) motor, θ1-axis drive (i.e., rotation of the wrist member 31) motor, θ2-axis drive (i.e., doffing arm) 14), the drive cylinder 81 of the empty bobbin gripping arm 84, the on/off switch of the Zakujon gun, the drive of the trolley travel motor, etc., and also issues a winding machine yarn break command from the microprocessor via the interface. There is.

In addition, FIG. 11 shows a doffing plate reversing drive cylinder, a cradle operating arm drive cylinder 63.70, a pantograph drive cylinder 111.122, a punch guide drive cylinder, and a suction gun holding arm drive cylinder 1.
47, yarn cutter drive cylinder, positioning member 17
driving means, many various detectors, etc., which are not shown, are also connected to the microprocessor via an interface.

Prior to the doffing motion, the motion of the wrist member 31 is taught to the storage means. That is, a mark T (Fig. 1) is attached with tape or the like at a position on the circumferential surface of the empty bobbin that matches the end of the empty bobbin gripping chuck 11, and this empty bobbin B is gripped by the full weight cradle 12. .

The teaching work for each weight is performed using a teaching program using a bubble cassette method, and the teaching point is the empty bobbin mounting point. The mode of the wrist member 31 is set to the teaching mode. The movement locus of the wrist member 31 according to the teaching program is such that the wrist member 31 moves in the shortest distance between the empty bobbin mounting work points of each weight (upper, middle, and lower rows).

The autodosher 4 is moved on the track 5 along the machine base, and is positioned and stopped by the positioning member 17 at the first work station. According to the teaching program, the empty bobbin mounting arm 15 stops near the upper empty bobbin mounting work point, and then the reference point is taught by operating the joystick.

As mentioned above, mark T (Fig. m1) with tape etc. on the curve.
Hold the empty bobbin B with the mark on the cradle 12, and
As shown in Figure 2, the cradle 12 is pushed up to the uppermost position in advance. Open the movable claw 93 of the empty bobbin gripping chuck, and open the cradle operating arm 1 of the empty bobbin mounting arm 15.
5b Set the wrist member 31 to a predetermined height so that it is at the same height as the handle 12a of the cradle 12.
advance towards.

Next, as shown in FIG. 13, the empty bobbin mounting arm 15
The handle 12a of the cradle 12 is gripped by the cradle operating arm 15b, and the empty bobbin B is further gripped by the empty bobbin chuck 93, as shown in FIG. While holding the empty bobbin B in this way,
As shown in the figure, the wrist member 31 is moved horizontally (X-axis direction) along the longitudinal direction of the winding machine so that the end surface of the movable claw 93 of the empty bobbin gripping chuck matches the mark T made on the empty bobbin B.
Move and align. In this case, as mentioned above, the spring force of the kick springs 105, 107 is not so strong, and since the rubber plates 103 are attached to the inner surfaces of the gripping claws 93.94 of the chuck, the gripping claws 93.94. 94 slides along the circumferential surface of the empty bobbin B.

When the handle 12a of the cradle 12 is operated by the cradle operating arm 15b of the empty bobbin mounting arm while the empty bobbin B is gripped by the empty bobbin gripping chuck and the handle 12a is removed from the empty bobbin B (see Fig. 16), the rubber plate Due to the elastic force 103, etc., the empty bobbin B is displaced by the amount of center deviation of the empty bobbin gripping chuck. In this state, the 17th
As shown in the figure, the wrist member 31 is moved forward or backward toward the cradle 12 (that is, in the direction perpendicular to the longitudinal direction of the winding machine) so that the empty bobbin B is perpendicular to the other cradle 12 ( (Y-axis direction), and also adjust the height of the wrist member (Z-axis direction). When the above operations are completed, close the cradle 12, reconfirm the gripping position, and
The values of the axes, Y-axis, and Z-axis are stored in the teach reference point storage memory as reference points for the upper row of this workstation. Next, the middle and lower empty bobbin mounting work bossints are also stored in the same manner as described above.

Thereafter, the autodoffer 4 is moved to the second workstation, and the reference points are sequentially stored in all the workstations in the same manner as described above.

A basic program is stored in which the theoretical movement movement of the wrist member 31 is programmed based on the design drawing and layout drawing of the main II (DTY machine, etc.), and the reference point information obtained as described above is used. The basic program is modified according to a predetermined modification program, and the doffing processing mechanism 11
Calculate execution information on each workstation.

As a result of putting the present invention into practice, it has been confirmed that the taught reference point can be used not only as a reference point for attaching an empty bobbin, but also as a reference point for doffing a full package and threading the empty bobbin. .

〔Effect of the invention〕

According to the present invention, it is possible to directly teach reference points for a large number of workstations of a winding machine in a short time without using special jigs, etc., and work efficiency is extremely high. . Further, since the reference point is taught using the empty bobbin that is actually handled, there are few errors associated with the teaching, and the teaching accuracy is significantly improved.

The reference point teaching of the present invention makes it possible to introduce a dotting robot without major modification even in winding machines with many variations, thereby increasing productivity.

[Brief explanation of drawings]

1 is a partial plan view of FIG. 4, FIG. 2 is a plan view showing the arrangement of the stretching false twister according to the present invention, and FIG. 3 is a perspective view of an embodiment of the doffing device according to the present invention. Figure 4 is a partial plan view of Figure 3, Figure 5 is an enlarged partial sectional view of Figure 10, and Figure 6 is a partial plan view of Figure 5.
A sectional view along the line ■-■ in the figure, Figure 7 is a side view of Figure 4,
Figure 8(a) is a sectional view taken along the line ■-■ in Figure 9;
12 to 14 are side views showing the reference point teaching method according to the present invention, and FIGS. 15 to 1
FIG. 7 is a plan view showing the reference point teaching method according to the present invention. 4...Auto doffer, 5...Track, 7...Bogie body, 8...Bost part, 9...Y-axis beam, 1
1... Doffing processing mechanism, 12... Cradle, 1
2a... Operating lever, 13... Bobbin storage trolley, 1
31)...Peg, 14...Doffing arm, 15b...Cradle operating arm, 15...Empty bobbin mounting arm, 16...Arm for thread hooking, 16a...Guide for thread hooking, 17... Positioning member, 18... Yarn suction member, 29... X-axis beam, 31... Wrist member P...
Full bobbin, B...Empty bobbin Fig. 7 Fig. 8 (Q) Fig. 8 (b) Fig. 8 (C) Fig. 9 Fig. 10 Fig. 15 Fig. 16 Fig. 17 - □□ -ToY

Claims (1)

[Claims] 1. A method for doffing a winding package from a winding machine in which a plurality of work stations are arranged in series in the longitudinal direction of the machine, each work station including a cradle for holding a bobbin, in which the circumferential surface of each of the work stations is A bobbin with a mark attached thereto is held in the cradle, a reference point for the workstation is stored in advance using the mark as a reference, and the doffing cart is moved in front of the workstation from the reference point stored for the workstation. from a winding machine characterized by performing a series of doffing operations to said workstation.