JPS63135530A - Empty bobbin inserting device of autodoffer - Google Patents

Abstract

PURPOSE:To obtain the titled device, capable of holding a pulled bobbin once, delivering the bobbin to a bobbin holding device, moving the bobbin so as to describe a circular arc, inserting an empty bobbin into a spindle and shortening operation time with a small space required for bobbin inserting operation. CONSTITUTION:An empty bobbin (E) pulled up by an empty bobbin pulling up device 13 is once held by a bobbin delivering device 16 and then delivered to a bobbin holding device 60 of an empty bobbin inserting mechanism 15 to move the bobbin holding device 60 so as to describe a circular arc and insert the empty bobbin (E) into a spindle 11. The attitude of the empty bobbin is controlled so as to align the center line thereof with the center of the spindle by a cam 65 and link 63 to reduce yarn breakage in restarting.

Description

[Detailed Description of the Invention] Purpose of the Invention (Field of Industrial Application) This invention relates to an empty bobbin on a peg and a full bobbin on a spindle of a transfer device extending below the spindle rail of a spinning machine such as a ring spinning machine or a twisting machine. The present invention relates to an empty bobbin insertion device in a tube changing machine that sequentially exchanges bobbins.

(Prior art) In spinning machines such as ring spinning machines and ring twisting machines, a spinning machine moves along the spinning machine stand as a tube M machine that inserts an empty bobbin into the spindle instead of pulling out a full bobbin from the spindle. A type of pipe changing machine is used. Generally, this type of tube M machine is equipped with a doffed full bobbin storage device, an empty bobbin storage popper, an empty bobbin supply device, etc. in the tube changing machine body, making the device large and inconvenient to handle and adjust. There is this inconvenience. In order to solve this problem, a transfer device equipped with pegs at a pitch corresponding to the spindles is installed below the spindle row of the spinning machine, and empty bobbins are prepared in advance on the pegs, and the transfer device is placed intermittently along the spinning machine. Japanese Patent Publication No. 56-8136 proposes a tube changing machine that moves and automatically exchanges a full bobbin on a spindle and an empty bobbin on the peg by a predetermined plurality of spindles. This pipe changer 9
1 is equipped with a dotting device 92 equipped with a plurality of gripping tools and a donning device 93 similarly equipped with a plurality of gripping tools, as shown in FIGS. 11(a) to (f). The device 92 moves the full bobbin F to the spindle 9 by moving forward, grasping the full bobbin, moving upward and backward, moving downward, moving forward and downward, releasing the full bobbin, and moving backward and upward.
At the same time, the full bobbin F is inserted onto the peg 96 which is disposed below the spindle rail 95 and after the empty bobbin E has been pulled out. On the other hand, the donning device 93 moves forward, grasps the empty bobbin, moves upward and backward, moves upward, moves forward and downward, releases the empty bobbin, and moves backward and downward, handling the empty bobbin E from the peg 96 and pulling out the full bobbin F. An empty bobbin E is inserted into the rear spindle 94.

In addition, Japanese Patent Application Laid-Open No. 60-24.6828 discloses that a full bobbin drawn by a full bobbin lifting device, an empty bobbin lifting device, a full bobbin insertion device, an empty bobbin insertion device, and a full bobbin lifting device is used as a full bobbin. A tube changing machine has been proposed which is equipped with a full bobbin transfer device for transferring to an insertion device and an empty bobbin transfer device for transferring an empty bobbin pulled out by an empty bobbin lifting device to an empty bobbin insertion device.

(Problem to be Solved by the Invention) However, in the former tube changing machine, in order to complete one cycle of tube fermentation work, each gripping tool installed in the dotting device 92 or the donning device 93 must move back and forth and It is necessary to move up and down. That is, the dotting device 92 cannot pick up the next full bobbin F until it has pulled out the full bobbin F from the spindle 94, inserted it into the peg 96 below, and returned to the original standby position. On the other hand, the donning device 93 inserts the empty bobbin E pulled out from the peg 96 into the spindle 94 and returns to its original position. The same goes for speeding up pipe replacement work. Furthermore, when the dotting device 92 and the donning device 93 pull out a full bobbin F and insert an empty bobbin E, they move horizontally forward to above the spindle and then descend vertically.
There is a problem in that the dotting device 92 and the donning device 93 require a lot of space to move, making the device large.

On the other hand, the latter tube changer can perform the removal and insertion of an empty or full bobbin in parallel, and therefore can perform the tube change operation faster than the former device.

However, in this tube changer, an empty bobbin transfer device consisting of a conveyor with a receiving plate transfers the empty bobbin upwards with the empty bobbin placed on the receiving plate, and also transfers the empty bobbin to a hopper that constitutes an empty bobbin insertion device. The bobbin is delivered by free fall, and the bottom of the empty bobbin housed in the hopper is engaged with the spindle as the tube changing machine moves, and is inserted into the spindle by free fall. Therefore, there is no particular problem when the pipe switching speed is relatively slow, but
When the speed increases, there is a problem that the empty bobbin cannot be transferred smoothly from the empty bobbin transfer device to the empty bobbin insertion device. In addition, since the empty bobbin is inserted into the spindle by free fall, the lower end of the bobbin collides with the spindle weave, and the thread running from the spindle to the draft bar is severed by the impact, allowing the machine to restart smoothly. The problem is that there is no. In order to eliminate this inconvenience, some machines are equipped with a cushion mechanism that inserts the free-falling empty bobbin into the spindle after stopping it halfway, but in that case, after inserting the empty bobbin, the top of the empty bobbin is held down and the spindle A head holding device is required to fit the head.

Structure of the Invention (Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a system that moves continuously along the spindle rail of the spinning machine and extends between the full bobbin on the spindle and the bottom of the spindle rail. An automatic tube changing machine that sequentially exchanges empty bobbins on the pegs of the installed transfer device grasps the empty bobbins that have been pulled up from above the pegs by the lifting device and transferred from below, and then converts the empty bobbins into empty bobbins. an empty bobbin delivery device that moves the empty bobbin to an empty bobbin delivery position so as to tilt downward toward the spinning machine at the delivery position;
A bobbin gripping device is connected to the bobbin gripping device, the bobbin gripping device is rotatably supported by a lever disposed below the bobbin delivery device and swings about a horizontal axis, and grips the bobbin at the empty bobbin delivery position. A cam link mechanism is provided for controlling the attitude of the bobbin gripping device so that the axis of the bobbin gripped coincides with the center of the spindle as the bobbin gripping device moves downward.

(Function) In the device of the present invention, the empty bobbin that has been pulled up from the peg by the lifting device is transferred upward and is once held by the empty bobbin delivery device. The empty bobbin delivery device moves the empty bobbin transferred from below to the empty bobbin delivery position corresponding to the bobbin gripping device rotatably supported with respect to a lever that swings up and down. Then, the bobbin gripping device grips the empty bobbin that is waiting in a downwardly inclined state towards the spinning machine at the empty bobbin delivery position, and as the lever rotates downward, the bobbin gripping device moves downward in an arc and is gripped. An empty bobbin is inserted into the spindle. At this time, as the bobbin gripping device moves downward, its posture is controlled by the cam link mechanism so that the axis of the empty bobbin gripped coincides with the center of the spindle.

(Embodiment) An embodiment embodying the present invention will be described below with reference to FIGS. 1 to 10. As shown in FIG. 1, the tube changing machine 1 is supported so as to be able to run along the spinning frame frame via rails 2 fixed to the spinning frame frame and guide rollers 4 and 5 that engage with guide rails 3. The screw rollers 7 engage with the bins 6 protruding from the rails 2, so that they run continuously along the rails 2. A tray guide 9 extends parallel to the spindle rail 8 on the upper surface of the guide rail 3 disposed below, and a belt 10 that moves within the tray guide 9 has a diameter approximately equal to the pitch of the spindles 11. In addition, trays 12 having pegs 12a projecting from the upper surface are slidably installed in a line.

A lifting device 13 for pulling out the empty bobbin E inserted into the peg 12a of the tray 12 is disposed at the bottom of the tube changer 1, and above the lifting device 13, the empty bobbin E pulled out by the lifting device 13 is disposed.
An empty bobbin conveying device 14 is provided to convey the bobbin to the upper side of the tube changing machine 1. Above the empty bobbin conveying device 14, there is a function for receiving the empty bobbin E conveyed by the conveying device 14, and inserting the empty bobbin E into the spindle 11 from which a full bobbin has been pulled out by a dotting device (not shown). An empty bobbin delivery device 16 that delivers the empty bobbin to the empty bobbin insertion mechanism 15 that forms the
is installed.

In the empty bobbin extracting device 13, a lever 19 having a support member 18 connected to the distal end thereof is rotatably supported at its proximal end = 9 - with respect to a support bracket 17 fixed to the lower part of the frame. A pair of gripping pieces 20 are rotatably supported by a shaft 21 at the tip of the support member 18, and when placed at the position shown by the solid line in FIG. When placed in the grip state. One lever is swung by the action of the cam link mechanism 22, and the empty bin E is lifted out. As shown in FIG. 1, the empty bobbin conveying device 14 is
A belt conveyor 23 arranged above and extending in a nearly vertical state, and a guide member supported via a spring 25 at a position opposite to the conveyor belt 24 at an interval slightly narrower than the diameter of the empty bobbin E. It is equipped with 26. Also, conveyor belt 2/! A deflection prevention member 27 is disposed inside.

Next, hold the empty bobbin ``-0'' conveyed by the empty bobbin conveying device 14, and move the empty bobbin E at the empty bobbin transfer position so as to tilt it downward toward the spinning machine frame side to the empty bobbin transfer position. The empty bobbin delivery device 16 to be moved will be explained.A rotating shaft 29 is supported at the tip of a support bracket 28 fixed to the upper part of the tube changer 1 in a state extending in the vertical direction, and a gear is attached to the lower end of the rotating shaft 29. A support lever 31 is fitted and fixed to the rotary shaft 29 so as to be rotatable therewith.A support lever 31 is fitted and fixed to the rotary shaft 29 so as to be rotatable together. A gripping tool 33 is rotatably supported by a shaft 32 extending from the support bracket 28. A support 34 is erected on the upper surface of the support bracket 28.
One end of a rod 35 is rotatably supported by the support column 34, and the other end of the rod 35 is rotatably connected to the upper end of the gripping tool 33.

On the other hand, as shown in FIGS. 2(a) and 2(b), the gear 30
A sector gear 36 that meshes with the gear 30 is rotatably supported by a support shaft 37 on the side thereof. Further, a shaft 38 is fixed diagonally below the support bracket 28, and a lever 41 equipped with a cam follower 41a that engages with a cam 40 fitted to a rotating shaft 39 is rotatable at the base end of the shaft 38. movably supported. Between the pin 41b protruding from the tip of the lever 41 and the pin 28a protruding from the support bracket 28, the lever 41 is connected to its cam follower 41.
A spring 42 is attached that biases a toward the cam 40. One end of a connecting rod 43 is connected to the sector gear 36 through a pin, and the other end of a connecting rod 43 is connected to the center of the lever 41 through a pin. Furthermore, a fixed guide member 89a and a movable guide member 89b are provided at positions corresponding to the gripping tool 33 at the bobbin receiving position. Fixed guide member 8
9a is fixed to a bracket 90 fixed to the frame, and the movable guide member 89b is rotatably directed to a shaft 90a and placed in a position that allows the gripping tool 33 to pass, as shown by the chain line in FIG. 2(b). As it is rotated, it is returned to its original position by a torsion spring (not shown).

As shown in FIG. 3, the gripping tool 33 is supported by the shaft 32 at approximately the center of the support member 44, and a pair of gripping members 45 are attached to mounting portions 44a protruding from both sides of the lower end of the support member 44.
is rotatably mounted on a shaft 46 extending in a direction perpendicular to the longitudinal direction of the bobbin in a gripping state. A spring 48 is interposed between the upper inner side of each gripping member 45 and the support member 44 to bias both the gripping members 44 toward the gripping side. A restriction ring 49 is fixed above, and the gripping member 45 , which is rotationally biased by a spring 48 , has its upper end abutted against the restriction ring 49 , so that both gripping parts 4
5a are held opposite each other with an interval narrower than the diameter of the top of the empty bobbin E. Further, a shock absorbing member 50 is disposed between the gripping members 45 in a state that it is accommodated in a housing recess 45b formed above the gripping portion 45a. In the shock absorbing member 50, a bobbin receiving member 52 is slidably attached to a support 51 accommodated in the accommodation recess 45b, and a ring-shaped non-repulsion member is provided between the bobbin receiving member 52 and the support 51. Rubber 53 is mounted in a sandwich structure.

Next, the empty bobbin insertion mechanism 15 will be explained.

As shown in FIG. 1, FIG. 5, and FIG. 10, a support shaft 5 is erected on a bracket 54 fixed to the frame of the pipe changer 1.
A support bracket 56 is rotatably supported with respect to 5,
The support bracket 56 includes a belt transmission mechanism (not shown).
A rotating shaft 5 rotated in synchronization with the rotating shaft 39 via
7 is supported horizontally. A lever 58 is attached to the rotating shaft 57.
is rotatably supported at its base end, and a bobbin gripping device 60 is rotatably supported at its distal end by a shaft 59. A crank mechanism is constructed by connecting the tip of a rotary lever 61 fitted to the rotary shaft 39 so as to be integrally rotatable with the lever 58 through a connecting rod 62,
The lever 58 is swung by the rotation of the rotary lever 61, and the bobbin gripping device 60 is rotatably placed between a so-called empty bobbin receiving position and a bobbin releasing position. Further, the bobbin gripping device 60 has a rod 64 connected at one end to a link 63 whose base end is rotatably supported by the lever 58.
The other end of the link 63 is connected to a pin, and the link 63 includes a cam follower 66 that engages with a cam 65 that is fitted to be integrally rotatable with respect to the rotating shaft 57, and a spring 67 always keeps the cam follower 66 in contact with the cam 65. It is urged to rotate in the direction of contact.

On the other hand, a cam 68 is fitted and fixed to the rotating shaft 57 on the opposite side to the cam 65 so as to be rotatable therewith. Further, a roller 7 is attached to a bracket 69 protruding from the frame of the pipe changer 1.
0 is rotatably supported, and the cam 68 is always in contact with the roller 70 by a spring 73 suspended between a locking piece 71 protruding from the support bracket 56 and a bottle 72 protruding from the bracket 54. is biased to rotate. The support bracket 56 is rotated by the action of the cam 68 so that the lever 58 always faces the spindle 11 even if the tube changer 1 moves when an empty bobbin is inserted into the spindle 11 due to the downward movement of the lever 58. It looks like this.

The bobbin gripping device 60 has a support member 7 whose side surface is U-shaped.
4 is supported by the shaft 59 at approximately the center thereof, and connected to the rod 64 via a pin 75 at the upper end.

A pair of upper and lower mounting portions 74 protrude from the front side of the support member 74
A pair of shafts 76 are supported between the shafts 76, and a pair of gripping members 77 are rotatably supported on the shafts 76 with their gripping portions facing each other. A spring 78 is interposed between both gripping members 77 to bias both gripping members 77 toward the open side.

The outer sides of both gripping members 77 are located at the rear of the gripping member 77 (the first.
A leaf spring 79 that extends to the left side in FIG. 2 and is bent inward is fixed with screws 80. A bin 81 is supported at the end of the leaf spring 79, and rollers 82 are rotatably supported by the bin 81 so as to face each other.

Further, an actuating member 8 is provided at a substantially central portion of the shaft 59 and has a pressing portion 83a that can engage with the roller 82 on the lower front side.
3 is rotatably supported at its center. The pressing portion 83a has a parallel portion formed at its base end, and a tapered portion that becomes narrower at the front side continuously from the parallel portion. The actuating member 83 is weakly biased in the direction in which the pressing portion 83a enters between the rollers 82 by a torsion spring 84, which has one end hung on the support member 74 and the other end hung on the actuating member 83.

Further, at the upper and rear ends of the operating member 83, there are engagement rollers 87. which can be engaged with engagement members 85 and 86 attached to the frame of the tube changer 1 at positions corresponding to the bobbin receiving position and the bobbin release position. 88 is installed.

Next, the operation of the apparatus configured as described above will be explained. When the spinning machine stops due to a full bobbin command, the bobbin changing machine 1 starts moving along the rail 2 from one end of the machine frame, and while continuously moving, doffs the full bobbin from the spindle 11, and then unloads the full bobbin from the top of the peg 12a. The empty bobbin E is pulled out and the empty bobbin E is inserted into the spindle 11 on which the full bobbin has been doffed.

Due to the movement of the tube changer 1, the pulling device 13 removes the first empty bobbin F.
When the support member 18 approaches the empty bobbin E, the support member 18 is moved downward together with the gripping piece 20 by the action of the cam link mechanism 22 to grip the empty bobbin E, and then moved upward to hold the peg 1.
Pull out the empty bobbin E from above 2a. When the gripping piece 20 gripping the empty bobbin E moves to the upper limit position shown by the solid line in FIG. 1, it is rotated outward. In this state, the top of the empty bobbin E is engaged with the belt conveyor 23 and the guide member 26 of the empty bobbin conveying device 14, so when the grips by both gripping pieces 20 are released, the empty bobbin E is engaged with the guide member 26. The empty bobbin transfer device 16 is held vertically by the conveyor belt 24 and transported upward at high speed, and the holding tool 33 is vertically arranged as shown in FIG. 10(d).
sent to.

The empty bobbin E transported at high speed by the empty bobbin transport device 14 enters between the gripping portions 45a of the gripping tool 33 by rotating both gripping members 45 outward against the force of the spring 48. Then, it collides with the bobbin receiving member 52 at high speed. Since the energy of the collision between the empty bobbin E and the bobbin receiving member 52 is absorbed by the non-repulsion rubber 53, the empty bobbin E stops at the position without rebounding downward due to the impact, and is securely held between the two gripping parts 45a. is grasped by. At this time, the gripping tool 33 is
), is held in a substantially vertical state as shown in FIGS. 10(C) and 10(d).

Next, from this state, as the rotating shaft 39 rotates, the sector gear 36 is rotated counterclockwise in FIG. 2(b) via the rail 18 and the connecting rod 41.

As a result, the rotating shaft 29 is rotated clockwise together with the gear 30, and the support lever 31 is also rotated in the same direction. When the gripping tool 33 is rotated to a position corresponding to the empty bobbin insertion mechanism 15, FIG. 2(a) and FIG. 10(a)
) and (b), the gripping tool 33 is disposed diagonally by the action of the rod 35 so that its lower part is closer to the spinning frame frame side.

On the other hand, the empty bobbin insertion mechanism 15 starts operating from the highest position shown in FIG. 10(a), slightly before the gripping tool 33 is disposed obliquely. At this time, the actuating member 83 of the bobbin gripping bag @60 is placed in the retracted position, and as shown in FIG. has been done. As the rotary lever 61 rotates, the lever 58 is rotated clockwise via the connecting rod 62, as shown in FIG. 10(b).
The engagement roller 87 starts engaging the engagement member 85 slightly before the gripping member 77 is arranged perpendicular to the empty bobbin E as shown in FIG. be moved. As a result, the pressing portion 83a enters between the rollers 82, and the gripping member 77 is rotated toward the gripping side against the biasing force of the spring 78. When the position shown in FIG. 10(b) is reached, the parallel portion of the pressing portion 83a is
2, the gripping member 77 grips the empty bobbin E and is held at the same position.

When the lever 58 further rotates clockwise from this state, the engagement member 85 is rotated to a position that allows the engagement roller 87 to pass, and the engagement between the engagement member 85 and the engagement roller 87 is released. . Then, the state shown in FIG. 10<C> is reached, in which the bottom of the empty bobbin E corresponds to the top of the spindle 11.

Next, as the lever 58 is further rotated clockwise and the bobbin gripping device 60 is moved downward, the empty bobbin F is inserted into the spindle 11. At this time, the attitude of the bobbin gripping device 60 is controlled via the rod 64 by the action of the cam 65 so that the axis of the empty bobbin E held by the gripping member 77 coincides with the center of the spindle. It is inserted into the spindle 11 without applying excessive force.

Then, as shown in FIG. 10 (d), when the insertion of the empty button E into the spindle 11 is completed, the actuating member 83 is
The engagement roller 88 starts engaging with the engagement member 86 .

When the lever 58 is further rotated clockwise from this state, the actuating member 83 is rotated clockwise and the pressing portion 83a
moves back from between the rollers 82, the engagement between the parallel portion and the rollers 82 is released, the actuating member 83 is placed in the retracted position, and the empty bobbin E is released from being held. Then lever 5
8 is rotated counterclockwise, and the bobbin gripping device 60 is moved to the first position.
The bobbin is moved upward to the position shown in Figure 0 (a), and one cycle of empty bobbin insertion is completed.

Note that while the lever 58 performs vertical swinging motion, the tube surface ii is continuously moving, so when the rotating shaft 57 is in a fixed state, the lever is moved with the empty bobbin E inserted into the spindle 11. However, in this device, the rotating shaft 57 is integrally moved with the support bracket 56 by the action of the cam 68 in synchronization with the swinging movement of the lever 58.
Since the lever 58 is always rotated so as to correspond to a predetermined spindle 11, the empty bobbin E can be inserted smoothly. Further, the gripping member 77 of the bodon gripping device 60 is attached to the spindle 11.
Since the empty bobbin E is held until the empty bobbin E is inserted into the base end of the spindle 11, the empty bobbin E is reliably inserted into the spindle 11. Thereafter, the operations of lifting, transporting, transferring, and inserting the empty bobbin E are sequentially performed in the same manner.

Note that the present invention is not limited to the above-mentioned embodiments. For example, instead of actively swinging the support bracket 56 in synchronization with the lever 58, the lever 58 is always perpendicular to the spindle rail using a torsion spring. When the empty bobbin E engages with the spindle 11, the support bracket 56 rotates as the tube changer 11 moves, and the actuating member 83 of the bobbin gripping bag @60 is moved to the operating position and retracted. Instead of using the engaging rollers 87, 88 and the engaging members 85, 86 as means for moving and arranging the actuating member 83, the operating member 83 may be operated by a cam link mechanism. Furthermore, it may be applied to pipe changing machines other than single spindle lifters.

Effects of the Invention As detailed above, according to the present invention, the empty bobbin pulled out by the empty bobbin pulling device is once gripped by the bobbin delivery device and then delivered to the bobbin gripping device of the empty bobbin insertion mechanism. Since the empty bobbin is inserted into the spindle by moving the bobbin gripping device in a circular arc, the space required for the empty bobbin insertion operation becomes smaller and the working time can be shortened. In addition, unlike conventional devices, the empty bobbin cannot be inserted into the spindle after the empty bobbin is inserted, since the empty bobbin is inserted into the spindle while the empty bobbin is gripped while controlling its posture so that the axis of the empty bobbin is aligned with the center of the spindle. This eliminates the need for a head-holding device for fitting into the spinning machine, and has the excellent effect of reducing yarn breakage when restarting the spinning machine.

[Brief explanation of the drawing]

Figures 1 to 10 show an embodiment in which the device of the present invention is applied to a single-spindle lifting pipe changer, in which Figure 1 is a schematic side sectional view of the pipe changer, and Figure 2 (a). . (b) is a plan view of the empty bobbin delivery device, FIG. 3 is a sectional view of the gripping tool, FIG. 4 is a sectional view taken along line A-A in FIG. 3, and FIG. 5 shows the supported state of the empty bobbin insertion mechanism. 6 is a plan view of the bobbin gripping device, 7 is a side view, and 8 is a front view of the main parts.
The figure is an enlarged sectional view taken along the line B-B in FIG. 7, FIG. 9 is a plane sectional view of the main part showing the open state, and FIGS. 10 (a') to (d) are side views showing the empty bobbin insertion action. Figure 11<a>~(
f) is a schematic side view showing the operation of a conventional pipe changer. Spindle rail 8, peg 12a1 lifting device 13, empty bobbin transport device 14, empty bobbin insertion mechanism 15, empty bobbin delivery device 16, rotating shaft 57, lever 58, bobbin gripping device 60. Cam 65, link 63, empty bobbin E0 Patent applicant: Sanda Automatic Loom Works Co., Ltd. Attorney: On 1) Hironobu 81 7974a 7
66(,1 (a) .1(d) Fig. 11

Claims (1)

[Claims] 1. Continuously moving along the spindle rail of a spinning machine;
In an automatic tube changing machine, the full bobbin is pulled out from the spindle, and the empty bobbin is also pulled out from the peg of the transfer device installed below the spindle rail, and the full bobbin on the spindle and the empty bobbin on the peg are sequentially exchanged. Empty bobbin delivery in which the empty bobbin that has been pulled up from above the peg by the upper device and transferred from below is once grasped and moved to the empty bobbin delivery position in a downward tilting direction towards the spinning machine at the empty bobbin delivery position. a bobbin gripping device that is rotatably supported with respect to a lever disposed below the bobbin delivery device and swings about a horizontal axis and grips the bobbin at the empty bobbin delivery position; and the bobbin gripping device A cam link mechanism connected to the bobbin holding device and controlling the attitude of the bobbin holding device so that the axis of the empty bobbin held coincides with the center of the spindle as the bobbin holding device moves downward. empty bobbin insertion device.