JPS6127490B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention uses a doffing machine that runs along the front of a spinning machine such as a spinning frame or a twisting machine to extract a full tube from a spindle and inserts an empty tube into the spindle. This relates to a pipe replacement method.

The conventional method of changing pipes using a doffing machine is to install a hopper in the doffing machine to store empty pipes and a hopper to store full pipes that have been replaced, and to store the empty pipes and spindles held in the doffing machine. Because the doffing machine had to be changed from full to empty, the doffing machine became large and it was difficult to automate the transfer of full and empty pipes.

The present invention provides a method for changing tubes using a doffing machine that eliminates such drawbacks, and includes a doffing device in which a doffing bar equipped with a plurality of tube gripping tools at the same pitch as a spindle is provided so as to be movable back and forth and up and down. Donning devices with the same configuration are installed in parallel in the front and back inside the machine, and the dotting bar and donning bar stored in the machine move forward almost simultaneously to extract the full tube on the spindle and the empty tube on the tube holder. After the dotting bar and the donning bar are moved up and down in opposite directions, the dotting bar and the donning bar are moved up and down in opposite directions while being held in the stored position. Make sure that all tube grippers on the dosing bar and donning bar hold full tubes and empty tubes, respectively, and then move the dosing bar and donning bar forward to place the full tube in the tube holder and spin the empty tube. It is characterized by the process of inserting it into the body, then retracting it and returning it to the body of the aircraft.

In addition, if the tube holder installed below the spindle is located directly below the spindle, the dotting bar and donning bar can be moved back and forth at the same time by a single back-and-forth movement device. This will be explained based on the example shown in .

In FIG. 1, 1 is a doffing machine with a pair of front and rear guide rollers 6 guided by a guide rail 5 fixed to a guide rail bracket 4 attached to a spindle rail 3 of a spinning machine 2, and a doffing machine 1. The spinning machine runs along the front surface of the spinning machine by means of a pair of front and rear floor wheels 7 mounted below. The running of the doffing machine 1 is not shown, but as detailed in Japanese Patent Application Laid-Open No. 51-139934, the doffing machine 1 is driven by an electric motor built in the doffing machine or by an air pump.
This is done using a known method such as a hydraulic motor, and the pipes are changed by stopping every predetermined number of spindles.

The doffing machine 1 includes a doffing device 11 that extracts a full tube 8 from a spindle 9 and inserts it into a tube holder 10 located directly below the spindle 9, and a doffing device 11 that extracts a full tube 8 from a spindle 9 and inserts it into a tube holder 10 located directly below the spindle 9. A donning device 111 is provided. The configurations of the main parts of both devices are almost the same, so for convenience of explanation, the configuration of the dotting device 11 will be explained using the hand body, and the reference numerals of the same components of the donning device 111 will be written in parentheses to explain the configuration at the same time. Let's do it.

In FIG. 2, spline shafts 15a, 15b, and 115a are vertically disposed between the upper wall 13 and the lower wall 14 of the doffing machine at a predetermined distance from each other in the left and right directions and front and back of the figure, and are rotatably supported. , 115b are provided. A horizontal shaft 16 is provided between the left and right spline shafts, and a bevel gear 17 is fixed to this horizontal shaft 16, meshing with a bevel gear 19 on a vertical shaft 18 that is vertically installed, and fixed to the vertical shaft 18. The tip of the arm 20 is pin-connected to the end of a piston rod 21a of a hydraulic cylinder 21 horizontally attached to the doffing machine 1, and the operation of the hydraulic cylinder 21 causes the horizontal shaft 16 to move forward and backward by a predetermined angle. 22a,2
2b is a limit switch that controls the operation of the hydraulic cylinder 21. Further, bevel gears 23a and 23b are fixed to the left and right ends of the horizontal shaft 16, respectively, and bevel gears 24a and 24a are attached to the bevel gears 23a and 23b.
4b are meshed with each other, and the bevel gears 24a, 24b
Sector gears 26a, 26 are attached to the shafts 25a, 25b of
b is fixedly installed, and its sector gears 26a, 26b
are in mesh with sector gears 27a, 27b fixed to the left and right spline shafts 15a, 15b, respectively, and sector gears 28a, 28b fixed to spline shafts 115a, 115b, respectively. Therefore, as the horizontal shaft 16 rotates due to the operation of the hydraulic cylinder 21, the left and right spline shafts 15a, 115a and 15b, 115b simultaneously rotate in opposite directions.

Next, the left and right spline shafts 15a, 15b, 115a, 115b are rotatable in opposite directions.
Rocking arms 30a, 30b, 13 are provided facing each other on the left and right sides by spline-fitting the arms and protruding inwardly, respectively.
0a and 130b are vertically slidably inserted and rotated in a horizontal plane by a predetermined angle in the front and rear directions as the spline shafts 15a, 15b, 115a, and 115b rotate. These left and right swinging arms 30a, 30b, 1
Stud pins 3 are attached to the tips of 30a and 130b, respectively.
1 is rotatably attached, and its stud pin 31
Rack bars 32a are fixed at one end to the upper part of the rack bar 32a, and are extended to the other side with a predetermined distance in the front-rear direction.
32b, 132a, 132b are provided facing each other, and the rack bars 32a, 32b, 132a,
Rack 34, 134 of appropriate length is carved in 132b, respectively, and rack bars 32a, 32b, 132a, 132 are disposed facing each other in the front and back.
Rack pinion 3 is attached to racks 34 and 134 of b.
5,135 are engaged. On the other hand, as shown in FIGS. 3 and 4, holders 37, 137 are fixed by a plurality of stop pins 36, 136 below a dotting bar 50 (donning bar 150) in which a plurality of tube grippers are arranged side by side. A guide hole 3 in the left and right direction formed in the holding body 37, 137 is provided.
8,138, the above-mentioned rack bars 32a, 32b,
132a and 132b are slidably inserted. The rack and pinions 35, 135 are pivotally supported by the holders 37, 137. 39,1
Reference numeral 39 designates escape holes for the stud pins 31 that are open at the top and bottom of the holders 37, 137. Therefore, the spline shafts 15a, 15b, 115a, 11
With the rotation of 5b, the left and right swinging arms 30a, 30
b, 130a, 130b rotate in the front-rear direction (vertical direction in FIG. 4), the left and right swing arms 3
The distance between the ends of the rack bars 32a and 32b, 132a and 1
32b slides in opposite directions via the rack pinions 35 and 135, thereby making it possible to expand and contract. The dotting bar 50 (donning bar 150) horizontally moves only in the front-back direction without moving left or right. Dotting device 1 driven by such back and forth movement devices 40 and 140
1 and the dotting bar 5 of the donning device 111
0 and the donning bar 150 are arranged in such a way that they change the phase before and after the doffing machine 1 (in the vertical direction in FIG. 4) as shown in FIG. 4, and do not interfere with each other when moving up and down in opposite directions. has been done. Therefore, the waiting position and the moving distance to the spindle 9 or tube holder 10 are different, and as described above, the dotting bar 50 and the donning bar 150 are driven by one hydraulic cylinder 21, but in this embodiment, , the numbers of teeth of the center gears 27a, 27b and 28a, 28b interposed in the drive path are set at a predetermined ratio corresponding to the moving distance, so that even if the moving distance is different, the standby position and the spindle 3 or tube holder 10 can be maintained. The configuration is such that the movement between the two locations can be completed simultaneously. In this way, the doffing bar 50 and the donning bar 150 are simply stored side by side between the spline shafts 15a, 15b, 115a, and 115b inside the body of the doffing machine, so the doffing machine 1 has a small width, is small, and is lightweight. This allows it to run close to the machine.

This dotting bar 50 and donning bar 1
50 has a pair of sector gears 51 and 52 which are integrally formed as shown in FIG. 5 and FIG. A tube gripping tool 56 consisting of gripping claws 54 and 55 and a tube gripping tool 57 symmetrical to this tube gripping tool 56 are arranged side by side at the same pitch as the spindle pitch, and the two sets of tube gripping tools 5
Operating arms 58 and 58a are protruded from the outer gripping claws 54 and 54a of 6 and 57, respectively. The piston rods 62a, 62b on both sides of the hydraulic cylinder 60, in which two pistons 61a, 61b face each other in one cylinder, are connected by pins to the operating arms 58, 58a. An appropriate number of tube grippers 56, 57 having such a configuration are arranged in parallel on the doffing bar 50 (donning bar 150) at a predetermined interval corresponding to the spindle pitch. In each hydraulic cylinder 60, left and right cylinder chambers 63a, 63b and a central cylinder chamber 63c are branched from piping 64 and 65, respectively, and pressure oil is supplied and discharged by the operation of a directional control valve (not shown). It is configured to simultaneously grip and release the tube gripper. Although the tube gripping tools 56 and 57 are not limited to these types, it is preferable that each tube gripping tool independently grips the tube without causing a gripping error, as in this embodiment.

Next, the left and right swinging arms 30a, 30b, 130a, 130b of the forward and backward movement devices 40, 140 described above
As shown in Fig. 3, the stepped portion 6 is an extension of the boss.
6a is formed, and a ring body 67a,
67b, 167a, 167b are loosely fitted, and set hoops 68a, 68b, 168a, 168b for regulating the axial movement of the rings are fixed to the swing arms 30a, 30b, 130a, 130b. Ring bodies 67a, 67b, 167a,
As shown in FIG. 4, a coaxial regulating protrusion 70 having a groove 69 is protruded from the outer periphery of the 167b.
9 has spline shafts 15a, 15b, 115a,
Guide rods 71 arranged parallel to the pline shafts 115b are respectively fitted to restrict the rotation of the annular body due to the rotation of the pline shaft. Furthermore, ring bodies 67a, 67b, 167a,
On the outer periphery of 167b, there are chains 72 for lifting and lowering at the upper and lower ends.
Connecting pieces 73a, 73b, 173a, 173b are fixedly connected to each other. Chain 7 whose both ends are connected to this connecting piece
2a, 172a, 172b are the upper wall 1 of the doffing machine 1;
Chain wheels 75a, 175a, 175b fixed to horizontal horizontal shafts 74, 174 pivotally supported by
and brackets 76a and 17 individually installed on the lower wall 14.
It is suspended by chain wheels 77a, 177a, 177b which are rotatably supported by wheels 6a, 176b, respectively. On the other hand, the chain 72b, which has both ends connected to the right rear connecting piece 73b in FIG. The chain 72b consists of two chain wheels 7 rotatably supported at an appropriate distance from each other at the end of a piston rod 78a of a hydraulic cylinder 78 for vertical movement fixed vertically to the doffing machine 1.
Adjustment screws 80b and 80 are hung from 9a and 79b and turned around, and one of them is attached to the upper upper wall 13 and the other is attached to the lower lower wall 14, respectively.
It is anchored by b. A chain wheel 181 is fixed to the right end of the horizontal shaft 174 (FIG. 2), and a bracket 182 is attached to the lower wall 14 correspondingly.
Chain wheel 18 rotatably supported via
A chain 184 is suspended from 3, and the chain 18
Similarly to the chain 72b described above, the doffing machine 1 has a hydraulic cylinder 178 vertically fixed to the end of the piston rod 178a. One is fixed to the upper upper wall 13, and the other is fixed to the lower wall 14 by adjusting screws 180b, 180b, respectively. In this embodiment, a chain 184 is attached due to the mounting space for the hydraulic cylinder 178, but if the chain 172b is suspended from the chain wheels 179a and 179b of the hydraulic cylinder in the same way as the chain 172, the chain 184 can be omitted. I can do it. Vertical movement device 85, 185 configured in this way
is 2 of the stroke of the hydraulic cylinders 78, 178.
Dotuffing bar 50 times (donning bar 1
50) is held horizontally and moved up and down. The vertical movement devices 85, 185 further detect the vertical position of the dotting bar 50 (donning bar 150), and in response to the command, hydraulic cylinders 78, 17 are connected via relays and direction switching valves (not shown).
A plurality of limit switches 8 that control the operation of 8.
6, 87, 88, 89, 186, 187, 18
8,189 are arranged at predetermined positions of the doffing machine 1 along the spline shafts 15a, 115a, and the connecting pieces 73a, 17 are fixed to the ring bodies 67a, 167a.
It is designed to operate when engaged with 3a.

Next, the tube grip confirmation device 90 provided on the lower wall 14 of the doffing machine 1 will be explained with reference to FIGS. 7 and 8.

Bearings 92 (only one is shown in the figure) are fixed to the left and right sides (top and bottom in FIG. 7) of a base plate 91 fixed on the lower wall 14 of the doffing machine 1, and a support shaft 93 is fitted and fixed into the bearings 92. has been done. On this support shaft 93, the same number of detection pieces 94 corresponding to the tube grippers 56, 57 are arranged in parallel by distance stand collars 95a, 95b at a predetermined interval equal to the pitch of the spindle.
It is inserted so that it can swing around 3. This detection piece 94 is formed into a substantially inverted T-shape by a light shielding plate 94b projecting upward from a boss portion 94a and mountain-shaped front and rear (left and right in FIG. 8) wing pieces 94c and 94d. It is balanced and held horizontally by front and rear springs 96 located below. still,
The light shielding plate 96b is connected to the wing pieces 94c, 9 as shown in FIG.
4d and is arranged offset to avoid interference when the empty tube passes through. Also, the front and rear wing pieces 94c
and 94d are the tube gripping tools 56 of the dotting bar 50 and donning bar 150 disposed above them,
The grip part 57 and the top part of the wing piece are arranged so as to coincide with each other. In such a doffing machine 1, a plurality of detection pieces 9 are arranged side by side on the lower wall 14 at a predetermined interval in the left and right direction.
The light shielding plate 94b of No. 4 is held in the vertical position shown by the solid line in FIG.
A light emitter 97 and a light receiver 98 are disposed opposite to each other on the outside of the upper part of 4b, and the light emitter 97 and light receiver 98 operate in conjunction with the vertical movement of the dotting bar 50 and the donning bar 150 to prevent incorrect gripping of full or empty tubes. The electrical wiring is such that when it is detected, the subsequent operation of the doffing machine 1 is stopped. In addition to the above, a hydraulic control unit including a hydraulic pressure generating device for operating each of the hydraulic cylinders described above is equipped, and in order to automatically perform the cycle of running the doffing machine 1 and pipe replacement work,
An electric control device using a known sequence programmer or the like is provided in conjunction with each of the limit switches, the emitter, the light receiver, and the hydraulic control unit, but these are known devices and their details will be omitted.

On the other hand, below the spindle 9 of the spinning machine 2, the spinning machine 2 is provided with the same number of tube supports 10 with the same pitch as the spindles.
This tube holder 10 is a so-called peck conveyor in which the tube holder 10 is installed vertically on a conveyor that circulates along the machine base, and a full tube processing device and an empty tube holder are installed on the out end side (or gear end side) of the spinning machine 2. A tube feeding device is provided, and the peck conveyor is rotated while the spinning machine 2 is in operation, and the full tubes on the tube holder 10 are sequentially extracted, and the empty tube 12 is inserted into the empty tube holder 10 by the empty tube feeding device. It is preferable to automatically insert and attach it from the viewpoint of automation.

Next, a pipe switching method will be explained using the doffing machine 1 of this embodiment. As mentioned above, the empty tube 12 is inserted into the tube holder 10 while the spinning machine 2 is in operation, and when the yarn on the spindle 9 becomes full 8, the spinning machine 2 stops.
When the preparation operations necessary for pipe change are completed, a command is issued, and according to the command, doffing machine 1 is attached to spinning machine 2 and starts running along the machine stand, and doffing machine 1 completes the pipe on spindle 3. When the vehicle reaches a predetermined position corresponding to 8, the travel is stopped. Dotting device 1 at this time
1 and the donning device 111, as shown in FIG.
is in the most retracted position corresponding to the top of the full tube 8 on the spindle 9, and the donning device 111 is in the most retracted position corresponding to the top of the full tube 8 on the spindle 9.
6 and 57 are housed in the body of the machine at the most retracted position (hereinafter both positions will be simply referred to as standby position) corresponding to the top of the empty tube 12 on the tube holder 10. First, by a command from an appropriate position stopping device (not shown),
The hydraulic cylinder 21 of the longitudinal movement device 40, 140 is operated, the piston rod 21a protrudes, and the arm 20 is rotated in the direction of the arrow shown in FIG. 2 (to the left in the figure). Along with this, the left and right spline shafts 15a, 115a and 1
5b, 115b rotate in opposite directions as shown by the arrows, and the left and right swinging arms 30a, 30b and 130a,
130b respectively to the front (to the front in FIG. 2) to connect the dosing device 11 and the donning device 111 to the full tube 8 on the spindle 9 shown in FIG. 9b, respectively;
The empty tubes 12 on the tube holder 10 are simultaneously moved forward to a position where they can be gripped (hereinafter simply referred to as the most advanced position). When the limit switch 22b detects this most advanced position, each hydraulic cylinder 60 for the tube gripping tool (FIG. 5)
The piston rods 62a, 62 operate all at once.
b is projected, and the tube gripping tools 56, 57... grip the corresponding full tube 8 and empty tube 12, respectively. Next, the hydraulic cylinders 78, 178 of the vertical movement devices 85, 185 are activated by instructions from the sequence programmer of the electric control device.
are activated, respectively, and the piston rods 78a, 178a
doffing device 11 which protrudes downward and grips the full tube 8, and donning device 11 which grips the empty tube 12.
1 rise together, and the donning device 11 takes the full tube 8 from the spindle 9, and the donning device 111
The empty tubes 12 are removed from the tube holder 10, and the connecting pieces 73a, 173a and the limit switches 86 and 1 are removed.
88 is engaged and the extraction position is confirmed, the ascent is stopped and at the same time, the hydraulic cylinder 21 of the longitudinal movement device
is activated again to retract the piston rod 21a. Therefore, the spline shafts 15a, 15b and 1
15a and 115b rotate in the opposite direction of the arrow in FIG. 2, the donning device 11 holds the full tube 8, the donning device 111 holds the empty tube 12 and retreats, and the final retreat shown in FIG. When the piston rods 21a reach the positions at the same time, the limit switch 22
a and issues a command to stop the hydraulic cylinder 21. Then, according to the command, the vertical movement device 85
The hydraulic cylinder 78 operates, and the piston rod 7
8a retracts and lowers the donning device 11 holding the full tube 8, and the hydraulic cylinder 178 protrudes the piston rod 178a to raise the donning device 111 holding the empty tube 12.
The donning device 111 also engages with the connecting piece 17.
When 3a engages limit switch 186, it stops and is in the position shown in FIG. 9d. At the same time as the donning device 111 is retracted to the most retracted position shown in FIG.
Projection of light is started, and the tube gripping tools 56, 57...
When all the empty tubes 12 are gripped, the lower ends of the empty tubes 12 press against the wing pieces 97d and rotate the detection piece 94 counterclockwise as shown in FIG.
Light shielding plate 9 that was blocking the light projected from 7
Tilt all 4b forward. For this reason, the floodlight 9
The light from 7 reaches the light receiver 98 and the tube gripper 56,
After confirming that the empty tubes 12 are held by all of the tubes 57, the movement to the position d in FIG. 9 described above is started.
Furthermore, in the case of incorrect gripping, the detection piece 94 corresponding to the empty tube gripping tool does not rotate, so the light shielding plate 94b does not tilt, and the light from the light projector 97 does not reach the light receiver 98. As a result, incorrect grasping is detected and the subsequent operation is stopped. On the other hand, the full tube 8 held by the tube gripping tool of the doffing device 11 that has descended to the position shown in FIG. Piece 9
4c is activated (however, the rotation direction is clockwise) and its grip is confirmed. In the moving process as described above, the full tube 8 and the empty tube 1 of the respective tube grippers 56, 57...
2 is confirmed to be gripped, the confirmation command causes the hydraulic cylinder 21 for the forward/backward movement devices 40, 140 to operate again to protrude the piston rod 21a, causing the dotting device 11 and donning device 111 to advance simultaneously. full tube 8 held by each
and move the empty tube 12 to just above the tube holder 10 and spindle 9. At this position, the piston rod 21a engages with the limit switch 22b and the hydraulic cylinder 2
1 stops, and then, according to the command, the hydraulic cylinders 78 and 178 of the vertical movement devices 85 and 185 are operated, and the piston rods 78a and 178a are retracted, respectively, to hold the full pipe 8 directly above the pipe holder 10. The doffing device 11 is lowered, and the full tube 8 held therein is inserted onto the tube holder 10. At the same time, the donning device 111 holding the empty tube 12 directly above the spindle 9 is lowered and the held empty tube is inserted into the spindle 9 (FIG. 9e). Full tube 8 is tube receiver 1
0, the donning device 11 stops when the connecting piece 73a engages with the limit switch 89, and when the empty tube 12 is inserted into the spindle 9, the donning device 111 stops when the connecting piece 173a engages with the limit switch 187. engages with and stops, Part 2
When the limit switches 89 and 187 are activated, each hydraulic cylinder 60 for the tube gripping device of the doffing device 11 and the donning device 111 is actuated by the command.
operate all at once, and the piston rods 62a, 6
2b are respectively retracted, and the full tube 8 and the empty tube 12 held by the tube gripping tools 56, 57, . . . are released, and the tubes are in an open state. Next, when the electric control device confirms that the tube gripping tools 56, 57... are opened, the hydraulic cylinders 21 of the forward and backward movement devices 40 and 140 are operated according to the command, and the piston rod 21a is retracted, as shown in FIG. As shown in f, the doffing device 11 and donning device 111 move back and reach the most retracted position simultaneously. At this position, the piston rod 21a engages with the limit switch 22a and the hydraulic cylinder 2
1 stops. When the limit switch 22a is activated, the hydraulic cylinder 78 of the vertical movement device 85 is activated in response to the command, and the piston rod 78a is projected to raise the doffing device 11, and the connecting piece 73a engages with the limit switch 87, and the hydraulic cylinder 78 is stopped. . On the other hand, hydraulic cylinder 17
8 operates at the same time, the piston rod 178a retracts and lowers the donning device 111, and its connecting piece 173a engages with the limit switch 188 to stop the hydraulic cylinder 178. Therefore, the dotting device 11 and the donning device 111, which have completed the tube replacement of a plurality of full tubes 8 and empty tubes 12, are shown in Fig. 9 f.
It becomes the position shown in FIG. 9, and becomes the initial standby position shown in FIG. 9a. Dotting device 11 and donning device 1
11 returns to the standby position, the stopped doffing machine 1 again runs along the spinning machine 2, and repeats the movement of the doffing machine 1 and the pipe changing work for each of the spindles of the spinning machine 2 in the same manner as described above. Completed pipe replacement work for all spindles.

In the above description of the embodiment, the illustrated 11 was explained as a doffing device for full tubes, and the 111 was explained as a donning device for empty tubes 12, but the present invention is not limited to this, and contrary to the above, the illustrated 11 is used as a donning device for empty tubes 12. tube 12
111 may be used as a donning device for full pipes 8, and
After the doffing device 11 and the donning device 111 return to the most retracted position after the delivery of the empty tube, the doffing device 11 and the donning device 1 are removed by omitting the raising and lowering steps of returning to the initial standby position.
It is also possible to use 11 alternately for dotting and donning. Furthermore, in the above embodiment, the case where the tube holder 10 is arranged directly under the spindle has been explained, but if the tube holder 10 cannot be arranged directly under the spindle like this, the distance between the standby position and the spindle, and the standby Since the position and the distance between the tube supports do not match, the driving parts (back and forth hydraulic cylinders 21) of the longitudinal movement devices 40 and 140 are provided independently, and they are stopped at the standby position, the spindle center position, and the tube support center position. All you have to do is let it happen. In this embodiment, speed control and automatic control can be performed accurately and easily, and in order to make the doffing machine lightweight and compact, (only one set of small-capacity hydraulic power source is mounted on the doffing machine). ) The longitudinal movement device, vertical movement device, and tube gripping tool are driven by hydraulic cylinders.
The present invention is not limited to this, and the driving device may of course be pneumatic, but may also be constructed using other electrical or mechanical devices.

A doffing machine that can run is equipped with a doffing bar and a donning bar, and the full tube on the spindle and the empty tube on the tube holder are exchanged for each spindle, so one doffing machine can handle the tubes of multiple spinning machines. You can do the exchange. In addition, a dotting bar and a donning bar are installed side by side inside the machine so that they can be moved back and forth, up and down, and the dotting bar and donning bar move forward almost simultaneously to extract full and empty tubes, and then retreat and move inside the machine. In this storage position, the dotting bar and donning bar move up and down in opposite directions to exchange full tubes and empty tubes, which shortens the tube change time. The operating rate of the spinning machine can be increased and the number of spinning machines per doffing machine can be increased. In addition, even if the doffing machine is designed to change the tubes of multiple spindles at a time using a doffing machine as described above, all the tubes of the doffing bar and donning bar will be replaced during the transition between the doffing bar and the donning bar within the machine. Since the gripper confirms that both full tubes and empty tubes are being gripped, it is possible to avoid forgetting to remove full tubes or empty tubes due to failure of the tube gripper or full tubes sticking to the spindle. It can detect and prevent damage to the spindle and tube gripping tool due to interference between full and empty tubes, and it can also detect when full tubes or empty tubes have fallen after being extracted during transfer. This has the effect of preventing damage to the doffing machine due to interference with full or empty pipes and stabilizing replacement work. Furthermore, as mentioned above, the confirmation of full tubes and empty tubes is performed while the dotting bar and donning bar are being transferred inside the aircraft, so it is possible to reliably check whether the tubes are full or empty in a stable state, and There is an advantage in that it is possible to use a single method for both filling the tube and forgetting to remove the empty tube.

[Brief explanation of the drawing]

Fig. 1 is a sectional view showing a doffing machine of the present invention attached to a spinning frame, and Fig. 2 is a perspective view showing an embodiment of the doffing machine of the present invention, showing only the main internal parts. , Fig. 3 is a sectional view showing a part of the longitudinal movement device, Fig. 4 is a plan view showing a part of the longitudinal movement device, Fig. 5 is a partial plan view showing the tube gripping tool, and Fig. 6 is a partial plan view showing the tube gripping device. FIG. 7 is a plan view showing a part of the tube gripping confirmation device; FIG. 8 is a side view of the tube gripping confirmation device; FIG. 9 is a side view of the tool;
The figure is an explanatory diagram showing one cycle of pipe changing work of a doffing machine in order of operation. 1... Doffing machine, 11... Doffing device, 111
...donning device, 15a, 15b, 115a,
115b...Spline shaft, 21...Hydraulic cylinder (for longitudinal motion), 26a, 26b, 27a, 27b,
28a, 28b... sector gear, 30a, 30
b, 130a, 130b...swinging arm, 32a, 32
b, 132a, 132b, 35, 135... Rack pinion, 37, 137... Holding body, 38, 138
...Guide hole, 40,140...Back and forth movement device, 50...Dotting bar, 150...Donning bar, 5
6,57...Pipe gripping tool, 60...Hydraulic cylinder (for pipe gripping tool), 78,178...Hydraulic cylinder (for vertical movement) 85,185...For vertical movement), 85,185...
Vertical movement device, 90...tube gripping confirmation device.

Claims (1)

[Claims] 1. Travels along the front of the spinning machine, stops at every predetermined number of spindles, extracts full tubes from the spindle, carries them to the tube holder below the machine stand, and extracts empty tubes from the tube holder. In the tube change method using a doffing machine, which is inserted into the spindle with a doffing device, a doffing device that is equipped with a doffing bar equipped with a plurality of tube gripping tools at the same pitch as the spindle and movable back and forth and up and down is the same as this. The donning devices of this construction are arranged in parallel in the front and back inside the fuselage body, and the dotting bar and the donning bar stored in the fuselage body move forward almost simultaneously to extract the full tube on the spindle and the empty tube on the tube holder, and then The dotting bar and the donning bar are moved backwards and stored inside the machine, and while being held in the stored position, the dotting bar and the donning bar move up and down in opposite directions. The tube gripping confirmation device confirms that all tube grippers on the bar are gripping full tubes and empty tubes, respectively, and then the dotting bar and donning bar move forward to place the full tube in the tube holder and spin the empty tube. A method for replacing tubes in spinning machines, which consists of inserting the tube into the machine, then retracting it and returning it to the machine body. 2. A patent claim characterized in that it is confirmed by a pipe holding confirmation device at the same location that all the pipe holding devices of the dotting bar and the donning bar are holding full pipes and empty pipes respectively. A method for changing tubes in a spinning machine according to item 1. 3 Place a part of the detection piece of the tube grip confirmation device within the transition locus of the full tube and empty tube gripped by the tube gripping tools of the dotting bar and donning bar, and grip the tube in the middle of the transition between the dotting bar and donning bar. By displacing the corresponding detection pieces depending on the full tube and empty tube held by the tool, and detecting that all the detection pieces have been displaced, it is possible to detect full tubes in all the tube gripping tools. 2. The method for changing a tube of a spinning machine according to claim 1, further comprising the step of confirming that the empty tube is gripped.