JPS60244768A - Doffing device - Google Patents

Abstract

PURPOSE:To improve operation efficiency of a doffing device in a narrow space by providing the doffing device with a package receive plate capable of moving up and down and forward and backward with respet to a machine table of a winder. CONSTITUTION:An arm 44 is fixed to a shaft 41 rotatably fixed to a wrist member 31, a link 45 is fixed to a shaft 46, and a link 49 is rotatably fixed to the shaft 41. The end portions of the links 45, 49 are coupled to each other by a rod 48 to form a non-parallelogram with the arms 44, the links 45, 49 and the rod 48. The shaft 41 is rotated by drive of a servomotor 59, and a piston rod 51a has a pin 58 for connecting the link 49 and the rod 48 to each othr. Accordingly, during running of a truck, the piston rod 51a is extended to fold up a plate 14a on the wrist member 31 side, whereby at the time of doffing a full bobbin P, the servomotor 59 is driven to elevate the plate 14a. Furthermore, the plate 14a can be moved along the limited course by a link forming a non- parallelogram.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a device for doffing packages from winding machines.

Stretch false twister (DTY machine), draw twister (DT machine)
, twisting machine, combination/twisting machine, winding machine, thread winding machine, film winding machine,
BACKGROUND ART In fiber winding machines such as glass fiber winders, metal wire winders, and electric wire winders, a plurality of work stations are arranged in series in the longitudinal direction of the machine.

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

In the winding machine, each workstation has a vertical spindle, and the bobbin for winding the yarn, etc. is supported vertically by the spindle, and the bobbin for winding the yarn, etc. is supported by a cradle. There are also horizontally supported types.

Although the present invention is applicable to any type of device, it is particularly suitable 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 dockers, which are attached to the machine base and doff all the full packages on the machine machine at the same time. It is classified as a so-called traveling type docker, in which a cart runs along the machine base, sequentially doffs full packages, and attaches empty bobbins.

The present invention is applicable to either of the two types of doffer mentioned above.

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

As is well known in the drawing 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 horizontal direction of the machine stand, and each work station has multiple stages (usually 2 up and down). A winding device (so-called spindle) is formed in 3 to 3 stages).

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 in the past, such as the specification of No.

[Problem that the invention seeks to solve]

However, the conventional doffing device does not have good operability in a narrow space 1, and therefore it is very difficult to apply it to existing equipment. In addition, it is not possible to directly collect information regarding beading, rolling, and packaging, especially information regarding whether the winding amount of packages doffed by each winding device is appropriate.
There was also a gap in process control.

[Means for solving problems]

In the present invention, in a device for removing a package from a winding machine, the package receiver movable back and forth with respect to the machine base of the winder includes a receiver narrow radial movement mechanism having a plate at the tip. The receiver: J narrow radial movement mechanism has a non-parallelogram link, the receiver has a plate attached to one side of the link, and the links on both sides sandwiching the side are each separate. Driven by a drive means, the receiver transfers information about the doffed packages from a doffing device that can move up and down and back and forth with respect to the platform, and a device for doffing packages from a winding device. The above-mentioned problems are solved by a doffing device incorporating a detection means and connected to a means for transmitting the information of the detection step to the next process.

〔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.

A cradle 12 and a bobbin storage cart 13 used as a creel (bobbin shaft rack) are also shown.

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. The bobbin storage cart 13 is equipped with a large number of pegs 13b, and the fully wound bobbin P, which is rotatably held by the cradle 12, is inserted into and stored in the pegs 13b, and the empty pegs 13b are supplied to the cradle 12. The bobbin B is inserted and held in the bag 13b.

A track 5 is laid in the working path between the dollar 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.

In addition, a guide wheel and a wheel 7b are provided sideways from the truck body 7.
comes into contact with a vertical wall (not shown) on the side of the machine,
The lateral position of the truck body 7 is regulated.

A boss portion 8 is vertically projected from the truck body 7. A Y-axis dome 9 is attached to the boss part 8 so that it can be raised and lowered, and 2
By operating a shaft drive motor (not shown), the Y-axis beam 9 moves up and down along the boss section 8. X-axis beam 29
is provided vertically 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 the wrist member 3 is moved by operating an X-axis drive motor (not shown).
1 moves toward or away from the yellow frame 9 along the X-axis beam 29. In addition, the wrist member 31
rotates around its axis by operating a θl-axis drive motor (not shown).

The doffing arm 14 doffs the fully wound bobbin P from the cradle 12 and transfers it to the peg 13b of the bobbin storage cart 13, and the empty bobbin B held on the peg 13b of the bobbin storage cart 13 is transferred to the winding machine. An empty bobbin mounting arm 15 mounted on the cradle 12 and a thread hook for switching the winding position from the full bobbin P on the cradle 12 to the empty bobbin B are comprised of an arm 16. Wrist member 31 and arm 14
．． 15 and 16 constitute the doffing processing mechanism 11.

As shown in FIG. 3, the doffing arm 14 brakes the fully wound bobbin P, and the receiving plate 14 receives the fully wound bobbin P.
a1 and a cradle operating arm 14b for operating the operating lever 12a of the cradle 12 to drop the fully wound bobbin P onto the receiving plate 14a.

The structure of the doffing arm 14 will be explained in detail with reference to FIGS. 1 and 3. A pair of bearings 4 are provided at the tip of the wrist member 31.
0 rotatably supports a shaft 41. The worm wheel 42 is fixed to the shaft 41, and the servo motor 59 (θ2
It is meshed with a worm 43 fixed to the drive shaft of a shaft drive motor.

Note that instead of the servo motor, a fluid pressure motor such as an air motor may be used, and in particular, by employing the air motor, equipment costs can be reduced compared to the servo motor. In this case, a mechanical stopper for stopping at an intermediate position is projected by an air cylinder or an electromagnetic solenoid.

Arms 44 are fixed to both ends of the shaft 41. Arm 44
Both ends of the shaft 46 are connected to each other by a shaft 46. Link 4
5 is fixed to the shaft 46, and the other link 49 is rotatably attached to the shaft 41. Connect the end of link 45.49 to rod 4
They are connected to each other by 8. As is clear from FIG. 1, the lengths of the links 45, 49 are different and therefore:
Arm 44, links 45, 49 and rod 48 form non-parallelogram links. Further, the link 48 has a built-in load cell 48a for weight measurement.

The pin 58 connects the link 49 and the rod 48 and is connected to the piston rod 5'1a of a hydraulic cylinder 51, such as an air cylinder.

The link 49 is connected to a rotation angle detector 54 which detects the rotation angle of the link 49 via links 52 and 53.

For example, a resolver can be used as the rotation angle detector 54.

A holder 47 is fixed to the link 45. The holder 47
The full bobbin receiver rotatably supports the plate 14a via a cross roller bearing 57. The plate 14a of the full bobbin receiver consists of a pair of arms 55 that are V-shaped and form a predetermined included angle. The limit switch 56 is the fully wound bobbin, and the fully wound bobbin holder is the plate 14a.
Detect whether the message has been received above or not.

A fluid pressure cylinder (not shown) is provided in the holder 47, and when the fully wound bobbin P is inserted into the peg 13b of the bobbin cart 13, the fully wound bobbin holder rotates the plate 14a around the vertical line by 90'. , the doffing arm 14 is pivoted about the vertical line from the position shown in FIG. 1 to a position perpendicular thereto.

With the above-mentioned configuration, when the trolley body 7 is traveling,
By extending the piston rod 51a, the plate 14a of the fully wound bobbin receiver can be folded toward the wrist member 31 side. Further, when the servo motor 59 is driven, the shaft 41 rotates via the worm 43 and the worm wheel 42, and the plate 14a of the fully wound bobbin receiver moves up and down.

When doffing the fully wound bobbin P, the fully wound bobbin receiver raises the plate 14a to near the outer periphery of the fully wound package. The piston rod 51a is extended, and the fully wound bobbin receiver presses the plate 14a against the fully wound package P, thereby braking the inertial rotation of the fully wound package P. At the same time, the rotation angle of the shaft 41 caused by the operation of the flow-pressure cylinder 51 is detected by the rotation angle detector 54 to determine the moving distance of the doffing arm 14. This detected value changes depending on the winding thickness of the package P, and is therefore used to correct the amount of movement of the Y-axis beam 9 in the Z-axis direction when mounting the package P on the peg 13b of the bobbin truck 13.

In addition, by employing quadrilateral links, the full bobbin receiver can move the plate 14a along a predetermined path. Further, since the link 48 has a built-in load cell 48a, the full bobbin receiver can measure the weight of the package placed on the plate 14a.

Another embodiment of the plate 14a of the full bobbin receiver of the present invention will be described with reference to FIGS. 7 and 8.

In this embodiment, the package can be doffed without being held by a plate when the outer peripheral surface of the package is fully wrapped.
consists of a pair of members 55 expanded into a V-shape, and the members 5
5 has an interval in the axial direction of the package P that is longer than the length of the package and shorter than the length of the package winding bobbin B, and the pair of members allows the package of the package winding bobbin B to be Hold both ends located on the outside of P. Therefore, even if the yarn wound around the package is easily fuzzed, it can be doffed without damaging the package.

It is preferable that a protective member 55a made of rubber or plastic is attached to the upper surface of the member 55 to softly press and protect the transfer tail and punch winding formed at the end of the bobbin. Other structures are similar to the previous embodiments.

The structure of the cradle operating arm 14b is shown in FIGS. 4 and 6.
This will be explained in detail with reference to the drawings. Cradle operating arm 1
4b is used to operate the handle 12a of the cradle 12 to drop the fully wound bobbin P onto the fully wound bobbin receiver plate 14a.

In FIG. 6, a single-shaped bracket 60 is provided protruding from the wrist member 31. As shown in FIG. The ends of the arm 61 and rod 62, which have the same length, are connected to the bracket 6 by self-aligning bearings.
0, and the other ends of the arm 61 and rod 62 are pivotally connected to the cradle gripper 71 by self-aligning bearings. As a result, bracket 60. The arm 61, 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 14b can be rotated in a vertical plane by the hydraulic cylinder 63 as shown by the chain line in FIG.

A hole 60a is bored at the tip of the single-shaped bracket 60. A bottle 66a is attached to the lower end of the arcuate guide bar 66.
is provided, and 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 a piston rod 70a of a hydraulic cylinder 70 by a pin. A guide 67 is attached to the arm 61, and the guide 67 has a rectangular groove 67a formed therein. An arcuate guide bar 66 is inserted into the groove 67a.

As a result, as shown in FIG. 4, the cradle operating arm 141) can be swung by moving the guide bar 66 using the fluid pressure cylinder 70.

As shown in FIG. 5(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 handle 12a of the cradle by engaging groove 71a with pin 12C protruding from handle 12a and supporting the lower surface of handle 12a above pin 12b. Since the cradle operating arm 14b of the doffing arm 14 only lifts the handle 12a, the bin 12G and the groove 71 are
a may be omitted.

As shown in FIG. 9(a), the fully wound bobbin doffing arm 14 is folded as small as possible by the fluid pressure cylinder 51. The Y-axis beam 9 is raised to a predetermined height along the boss section 8 (FIG. 2) so that the height of the doffing arm 14 corresponds to, for example, the height of the winding device at the lowest stage. .

The hydraulic cylinder 63 (FIGS. 4 and 6) is actuated and the cradle operating arm 14b scoops up the handle 12a from below. As a result, the fully wound package P is separated from the friction roller 23.

Next, the fluid pressure cylinder 51 is contracted, and the fully wound bobbin receiver has the plate 14a facing upward as shown in FIG. 9(b).

Then, the servo motor 59 is activated, the shaft 41 is rotated counterclockwise, and the plate 14a of the fully wound bobbin receiver is rotated as shown in FIG.
As shown in C), move toward the full package P while leaning to the right. As the servo motor 59 further operates, the plate 14a of the fully wound bobbin receiver approaches the fully wound package P.

Next, the fluid pressure cylinder 51 is extended, and the plate 14a of the fully wound bobbin receiver is placed on the outer periphery of the fully wound package P (Fig. 1).
Or both ends of the bobbin B on which the full package P is wound (
8) to brake the full package P (see FIG. 9(C)).

The rotation angle detector 54 changes from the state shown in FIG.
The amount of movement of the link 49 during the state shown in Figure (d) is detected to detect the winding thickness of the package P, that is, the diameter. As a braking method for the full package P, the handle 12a
The handle 12a may be pressed by the cradle operating arm 14b so as to press the side surface of the bobbin holder.

Release the brake by contracting the cylinder 51,
By operating the fluid pressure cylinder 70 (FIGS. 4 and 6), the fully wound package P is doffed from the cradle 12 onto the fully wound bobbin receiver plate 14a as shown in FIG. 9(e).

Next, the servo motor 59 is operated in the opposite direction to the direction described above with reference to FIG. 9. Point upward as shown in Figure 9(f).

In this state, the weight of the doffed package is measured using an analog quantity using a load cell 48a built into the link 48,
As shown in FIG. 10, an analog quantity is converted into a digital quantity by an A/D converter and then stored in a data storage device.

The full bobbin receiver rotates the plate 14a around the vertical line as shown in FIG. Due to the back and forth movement of 29, the doffing arm 14
is moved to a position in front of the beng 13b of the bobbin cart 13. In this case, as described above, the rotation angle detector 54
The amount of movement of the Y-axis beam 9 is corrected using the detected value.

By operating the servo motor 59, the fully loaded package P is inserted into the peg 13b by aligning the inclination angle of the plate 14a with the inclination angle of the beng 13b as shown in FIG. 9(h). . By lowering the Y-axis beam 9, the full bobbin holder slightly lowers the plate 14a, and then the full bobbin holder returns the plate 14a to the original position shown in FIG. Repeat the same doffing operation for the top layer.

In FIG. 10, the package volume information detected by the load cell 48a and stored in the data storage device as described above is sent to the package presence/absence discriminator in a timely manner to determine whether the package is doffed or the package weight discriminator. It is determined whether the weight of the sent and doffed package is appropriate, and if it is not appropriate, an alarm device such as a lamp or printer is used to notify the operator. Where appropriate, this information may also be passed on to further processing of the package.
Used to control the next process.

The series of doffing operations and information processing described above are controlled by a microcomputer mounted on the doffing truck 4.

(Effects of the Invention) In the present invention, the receiver has a small-diameter motive and a non-parallelogram link on the side, and the receiver has a plate attached to one side of the link, and the links on both sides sandwiching the -side. are connected to separate drive means, respectively, so that the receiver can move the pan up and down and back and forth relative to the machine base, and the receiver can reliably move the pan mechanism along a limited path.

Further, the present invention incorporates an information detecting means regarding the doffed package such as a load cell, stores the information of the detecting means in a data storage device, and further extracts predetermined information using a package presence/absence discriminator or the like to perform the next process. The information can be communicated to the next process to manage the next process.

[Brief explanation of drawings]

FIG. 1 is a side view of an embodiment of a doffing device according to the present invention;
2 is a perspective view of an embodiment of the doffing device according to the present invention, FIG. 3 is a plan view of FIG. 1, FIG. 4 is a partial plan view of the cradle operating arm of FIG. 3, and FIG. > is VI in Figure 6
- A sectional view taken along line VI, FIG. 5(1)) is a sectional view of another embodiment of the cradle operating arm, FIG. 6 is a side view of FIG. 4, and FIG. 7 is a side view of another example of actual flow. 8 is a partial front view of FIG. 7, FIGS. 9(a) to 9(h) are schematic side views for explaining the operation of the doffing arm, and FIG. 10 is a partial front view of FIG. FIG. 2 is an information transmission/block diagram of the doffing device. 4...Auto doffer, 5...Track, 7...Bogie body, 8...Bost part, 9...Y-axis beam, 1
1... Doffing processing mechanism, 12... Cradle, 1
2a...operation lever, 1.3...bobbin storage trolley,
13b... Peg, 14... Doffing arm, 14
a... Receiver is plate, 14b... Cradle operating arm, 15... Empty bobbin attachment 2 arms, 16... Thread hook is arm, 16a... Thread hook is kite, 17... Positioning member , 18... Yarn suction member, 29... X-axis beam, 31... Wrist member, 41.
46... shaft, 42... worm wheel, 43...
...Worm, 44...Arm, 48...Rod, 48a...Load cell, 59...Servo motor, P...Full bobbin, B...Empty bobbin Fig. 1 Fig. 3 Figure 4 Figure 5 (Q) Figure 5 (b) Figure 6

Claims (1)

[Claims] 1. In a device for doffing packages from a winding machine, a package tray movable up and down and back and forth with respect to the machine stand of the winding machine includes a tray moving mechanism having a groove at the tip. and the tray moving mechanism has a non-parallelogram link;
The receiver has a plate attached to one side of the link, and the links on both sides of the link are connected to separate driving means, so that the receiver can move the plate vertically and back and forth with respect to the machine base. A doffing device that is characterized by the following. 2. The means for connecting to the link, one of which is a hydraulic series □
2. The doffing device according to claim 1, wherein the doffing device is a hydraulic motor, and the other is a hydraulic motor. 3. The doffing @place according to claim 1, wherein a load cell is incorporated in one side of the non-parallelogram link. 4. The doffing device according to claim 1, wherein the package receiver has a plate that expands in a V-shape to hold the outer peripheral surface of the package. 5. The package receiver consists of a pair of members each having a V-shaped expanded plate, and the members are spaced apart from each other in the axial direction of the package by more than the length of the package and less than the length of the package winding bobbin. The doffing device according to claim 1, wherein both ends of the package winding bobbin are held by the pair of members. 6. A doffing device characterized in that a device for doffing packages from a winding device incorporates a means for detecting information regarding the doffed packages, and is connected to a means for transmitting information from the detecting means to the next process.