TW201742812A - Moving inertially guided device for doffing full bobbins of yarn from a winder - Google Patents

Abstract

A moving inertially guided device (1) capable of discharging bobbins from a winder, said device comprising a frame (2) bounding an internal cavity (8) and moving on the plane on which such machine lies through a first pair of drive wheels (3) and a second pair of idling wheels (4) located at opposing extremities (2A, 2B) of such frame. Moving pick-up means (9) capable of receiving bobbins (5) loaded with yarn or thread from a winder and for supporting such bobbins until they are discharged are present in the internal cavity (8), pusher means (10) capable of discharging such bobbins from said pick-up means (9) and located within said cavity (8) of the inertially guided device (1) being provided.

Description

Mobile inertial guiding device for dropping a full bobbin from a winder

SUMMARY OF THE INVENTION The present invention is directed to a mobile inertial guide that can be used to draw a full bobbin from a winder.

As is known, an inertial guided vehicle is a vehicle that is freely movable in the environment and is controlled by GPS and by a remote control unit, wherein the environment in which the vehicle moves is mapped in the remote control unit and via a wireless network. The wi-fi network is connected to it. However, "inertial guided vehicle" as used herein refers to any vehicle that can pass through any system that can identify the reachable location of the vehicle (this system is known in the market), in a controlled manner in an environment. mobile.

It is also known that the device (dropper) is capable of removing the bobbin of the full yarn produced thereon from the textile machine (winder). Generally, these devices move along the guiding area or along the track on the floor or floor of the textile work, and the positions of the winders are still of a non-negligible size, so that they are not always usable.

It is also known to use the inertial guide to move the rack of the bobbins after the bobbins of the full yarn have been removed from the winder. However, these devices are As a trolley for moving racks, a plurality of bobbins are located on the trolleys. The entire unit has a considerable size.

In the textile industry, it is generally understood that the area in which the device moves is limited in an environment where the bobbin can be loaded and the bobbin can be loaded. It is also generally known that the height of these environments is low. Therefore, it is often difficult to move the bobbin doffing device between textile machines.

This also applies to inertial guidance devices. Although the structure of the inertial guiding device used is a small-sized vehicle (there is no need to have a guide or track on the ground of the working environment for movement), the frame (or a structure) for moving the carrying bobbin , having a plurality of shafts capable of supporting bobbins after the bobbins of the full bobbins have been unloaded from the winders, the bobbin doffing devices moving within the area of the textile operation in which they are used Has some difficulties.

A further problem associated with the fact is that once a plurality of bobbins have been unloaded on a collecting member or a doffing mandrel opposite the corresponding mandrel of the winding machine, the weight of the bobbins There is no alignment between the mandrel of the doffing machine (or other unloading device) and the mandrel of the winder, resulting from the deflection of the mandrel receiving the bobbins (from the doffer), which It often makes it difficult to continuously operate the bobbin drop from the winder to the doffer device. This problem is more pronounced when using a winder with a mandrel of up to 1800 mm to carry a large number of bobbins. This deflection problem occurs when the bobbins are dropped from a single winder mandrel to a doffer mandrel.

A mobile device for dropping a bobbin from a winder is known. For example, JP-S 63-82286 describes a device of the above type having Some of the device features are the subject of the present invention as indicated in the preamble of the independent claim of this disclosure. However, this Japanese patent document has a member for supporting the doffing rear bobbin attached to the structure of the mobile device and does not extend telescopically. Nor can such a device adjust its height to the plane in which it moves.

Known solutions similar to those described in the aforementioned Japanese documents are also described in JP-S 64-43465, US Pat. No. 4,555,067, and WO 93/17946. Instead, EP 0 427 994 relates to a mobile machine for loading an empty roll or bobbin onto a winder. The machine has a telescopic means for moving the hollow tube.

However, these prior documents do not consider the alignment problem between maintaining the bobbin support means associated with the mobile device and the normal mandrel of the textile machine, moving from the mandrels during the doffing operation. Except for the bobbins; as described above, this is because the weight of the bobbins causes misalignment between the doffing machine and the winder mandrel.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an improved inertial guided mobile device or vehicle that can be used to drop a bobbin directly from a winder and deliver the dropped canister as compared to known similar devices.

Another object is to provide a device of the type mentioned, such that the full bobbin is reliably unloaded from the textile machine or winder.

Another object is to provide a device of the type mentioned which does not bear the weight of the dropped downcoil during the doffing operation so that it can be continuously and reliably performed by receiving the mandrel deflection. Seeding operation.

Yet another object is to provide a device of the type mentioned, which is suitably positioned in front of the textile machine mandrel without affecting them, damaging them, or not being used to protect these hearts present on such machines. There is any interference with the normal device of the shaft.

These and other objects are accomplished by an inertial guided mobile device in accordance with an accessory claim, as will be apparent to those of ordinary skill in the art.

1‧‧‧ device

2‧‧‧Rack

2A‧‧‧First distal/posterior

2B‧‧‧Reverse distal end/front distal end

2X‧‧‧ Straight column / part

3‧‧‧ Rear wheel, first pair of drive wheels

4‧‧‧ front wheel, second pair of drive wheels

5‧‧‧ bobbin

7‧‧‧Battery pack

8‧‧‧ lumen

9‧‧‧ Picking means

10‧‧‧ means of promotion

11‧‧‧ Laser reading device

12‧‧‧Flexible members/mandrels

13‧‧‧First outer tube

14‧‧‧Second fixed tube

15‧‧‧ third tube

16‧‧‧Ball screw

17‧‧‧Electric motor

18‧‧‧ bushing

20‧‧‧First distal end

21‧‧‧second distal end

22‧‧‧ pole

23‧‧‧End part

29‧‧‧ Subject

30‧‧‧Washers

31‧‧‧Free end

33‧‧‧second distal end

35‧‧‧Support

37‧‧‧First free end

39‧‧‧Second distal part

43‧‧‧Elongated components/beams

44‧‧‧Motor

45‧‧‧ Gear/Thrust Body/Pushing Body

48‧‧‧ protruding elements

50‧‧‧Control means

51‧‧‧ Subject

52‧‧‧Electric motor

53‧‧‧Support/Leverage

55‧‧‧ Space

56‧‧‧Rack

End section 56A‧‧‧

60‧‧‧Support

125‧‧‧ screw

126‧‧‧ Space

127‧‧‧Support

For a better understanding of the invention, the following figures are appended by way of non-limiting example only.

Figure 1 shows a perspective view of a device according to the invention in which some of the peripheral parts are not shown so that some of its internal components can be seen.

Figure 2 shows a top view of the device in Figure 1.

Fig. 3 is a perspective view showing the lower side of the apparatus shown in Fig. 1.

Figure 4 shows a perspective view of a component or assembly of the device in Figure 1.

Figure 5 shows a side view of the assembly in Figure 4.

Figure 6 shows a top view of the assembly in Figure 4.

Figure 7 shows a cross-sectional view of the different components of the device shown in Figure 1.

Figure 8 shows a side view of another component of the device in Figure 1.

Figure 9 is a perspective view showing the components of the apparatus of the present invention shown in Figure 8.

With reference to the drawings, the device referred to in the present invention is generally 1 Illustrated and comprising a frame 2 that moves on two pairs of wheels 3 and 4, the first pair of wheels 3 being driven wheels and located at a first distal end or rear distal end 2A of the frame 2, and pivoted The rotating second pair of wheels 4 are located at opposite distal or front distal ends 2B of the frame 2. The definition of the front distal end portion (2B) or the rear distal end portion (2A) is related to the function performed by the device 1: a plurality of bobbins 5 carrying the yarn wound on the bobbin, or a bobbin full of yarn From a textile machine, the bobbins are actually from the front end of the tribal tube, and the textile machine is a winder (not shown).

At least one conventional electric motor (not shown) drives the rear wheel 3, while the front wheel 4 is an idler and pivots. The motor is powered by a battery pack 7 carried by a mobile rack 2 and controlled by an electronic device. Advantageously, the battery pack can be removed from the rack for recharging or a conventional "top-up charging" system can be provided for programmatic charging.

The frame 2 comprises: a plurality of straight columns or portions 2X connected together, and defines a cavity 8 of the device 1; the moving means 9 and the pushing means 10 are located in the cavity, and the moving means can be driven from the winder The bobbins are unillustrated (not shown) which enable the bobbins 5 to be removed from the normal support and storage elements (not shown) at a distance from such machines.

The device 1 is a device of an inertial guiding type (or inertial guided vehicle, IGV) and moves on a plane of the environment (textile factory) where the full bobbin is produced. The movement of this device 1 takes place in a manner known per se and will not be described here. The purpose is only to indicate that the frame 2 carries a plurality of laser reading devices 11 (which are known per se) for controlling the drive wheels 3 A general means of rotation, the laser reading device being capable of causing (in a manner not known to describe) a control unit (not shown) combined with the frame 2, together with for controlling the drive wheel 3 General means of rotation, movement of the control device 1, such as a normal encoder in combination with an electric motor that drives the wheels and the axes of rotation that support them. The encoders are also connected to the control unit described above.

As already mentioned, a pick-up means for movement is present in the inner chamber 8, the pick-up means for removing the full-bore bobbins 5 from the winder, and at the device 1 towards the collection or storage of these bobbins These bobbins are supported during the movement of the area. The pushing means 10 are also present in the interior 8 which removes the bobbins 5 from the picking means 9 and pushes them onto a fixed support present in the collection or storage area.

More specifically, the picking means 9 is a pair of telescopic members or mandrels 12 which are parallel to each other and supported from the frame 2 in a cantilever manner, corresponding to the rear distal end portion 2B of the frame 2. Each of the telescopic mandrels 12 includes a plurality of cylindrical members that are movable relative to each other to allow the picking means 9 to be positioned relative to the mandrel of the winder, which must be present by the drop tube 5 On the mandrel of the winder (the close movement of the winder).

More specifically (see Figure 7), each telescoping mandrel 12 includes a first outer tube 13 that is movable relative to a second fixed tube 14, and a third tube 15 is secured within the second tube 14. The third tube 15 is coupled to a ball screw 16 that is driven by an electric motor 17 carried on the frame 2. A bushing 18 is formed on the ball screw 16 which is integral with a first distal end portion 20 of the third tube 15. A rod 22 is supported at the second distal end portion 21, the rod also being inserted into the second tube 14 and one outside the second tube 14 The end portion 23 supports a main body 29 which is integral with the first tube or the outer tube 13; the first tube is twisted integrally with the second fixed tube 14 by a screw 125, and the screw 125 acts as a bolt The groove is inserted into the space 126 which is longitudinally formed at the lower end portion of the tube 13, so that the tube can thereby be axially moved in a guiding manner, but radially restrained.

The second tube 14 has a plurality of washers 30 at its free end 31 on which the first tube 13 moves. The second distal end portion 33 of the second tube 14 is attached to a seat 35 that is integral with the frame 2.

The first outer moving tube 13 has a first free end portion 37 and a second distal end portion 39 which are adjacent to the mandrel of the winder; at the second distal end portion 39 of the first tube 13, there is low friction The elements of the coefficient are located between this and the second tube 14, which are in contact with the second tube and which allow the first tube to slide over the second tube. This movement is achieved by a corresponding electric motor 17 that causes the screw 16 to rotate; this results in the bushing 18 moving thereon, and the third tube 15 and the rod 22 move along the longitudinal axis thereof within the second tube 14. .

After the main body 29 pushes the first tube 13 to move along its own longitudinal axis, the carrying free end 37 approaches the mandrel of the winder by appropriately exchanging signals between the device 1 and the winder. Means, the bobbin 5 is dropped from the mandrel of the winder to the tube 13 in a known manner.

As the electric motor 17 operates in a reverse direction (rotation), the second tube 13 moves to re-enter the tube 14, and the carrier tube enters the lumen 8 (or at least a majority of the barrel enters the lumen because the mandrel 12 The front distal end portion 2A of the frame 2 protrudes).

The pushing means 10 is located in the middle of the picking means 9. These means comprise an elongate member or beam 43 fixed to the frame 2, the support acting on the plurality An electric motor 44 on the gears 45 moves a chain (not shown) on the gears that carries a thrust body 45 that is transverse to the elongate member 43. The aforementioned chain movement is thus achieved by actuating the motor 44 which is movable along the elongate member 43. When the mandrel 12 supports the bobbin 5, this movement causes the bobbins to be unloaded from the mandrel 12 and pushed onto a fixed support of the load bearing member, which is located in a textile operation (not Displayed in the area for storage. A protruding member 48 as a rod for fixing to the frame 2 is provided on the elongated member 43.

The front wheel 4 of the frame 2 is combined with a control means 50 that allows the front distal end portion 2B to move at an angle that is at right angles to the plane of movement of the device 1. These control means 50 comprise a body 51 which is combined with an electric motor 52 and is driven by an electric motor; this body is eccentrically moved relative to a seat or lever 53 by means of a point pin 127, and the support The combined motor is attached to the front distal end portion 2B of the frame 2. In particular, the main body 51 is inserted into a space 55 in a frame 56 that forms part of the lever 53, but supports a cantilever mount 60 at a distal end portion 56A for a corresponding pivot Wheel 4.

Through the actuation of the electric motor 52, the body 51 moves eccentrically within the space 55, enabling movement of the frame 56 relative to the plane in which the device 1 is moved (and thus the movement of the support 60 and thus the front end 2B of the frame 2); In effect, the movement moves such a frame 2 at its front end 2B at a right angle to the plane. This makes it possible to adjust the position of the mandrels 12 in the bobbin picking means 9 (integral with the frame 2) relative to the mandrel of the winder and to allow the bobbins to be easily moved from the winder In addition, positioning each mandrel 12 at a position adjacent to the mandrel of the winder, And coaxial with the mandrel.

This position is adjusted in proportion to the weight acting on the mandrel 12 such that the mandrels 12 and the mandrel of the winder remain coaxial during the transfer phase. An adjustment is made according to a proportional algorithm between the weight transfer of the bobbins from the winder to the mandrel 12 of the device 1 by means of a photocell (not shown), the photocell detecting the cartridge on the mandrel 12 The passage of the tube 5 and the photovoltaic cell is connected to the control unit in combination with the aforementioned frame. Based on the data from the photocell, the unit controls each motor 52 to adjust the front end portion 2B of the gantry 2 to rise/fall to remain aligned with the mandrel of the winder.

A particular embodiment of the invention has been described. However, there may be others in accordance with the above description (such as providing a single mandrel 12 or several mandrels 12) and will be considered to fall within the scope of the invention as defined by the following claims.

1‧‧‧ device

2‧‧‧Rack

2A‧‧‧First distal/posterior

2B‧‧‧Reverse distal end/front distal end

2X‧‧‧ Straight column / part

3‧‧‧ Rear wheel

4‧‧‧ front wheel

5‧‧‧ bobbin

7‧‧‧Battery pack

8‧‧‧ lumen

9‧‧‧ picking device

10‧‧‧Promoting device

11‧‧‧ Laser reading device

12‧‧‧Flexible members/mandrels

Claims (9)

An inertial guiding mobile device (1) capable of dropping a bobbin from a winder, the device comprising a frame (2) enclosing an inner cavity (8) and moving in a plane The machine is placed on the plane through the first pair of drive wheels (3) and the second pair of idlers (4) located at opposite ends (2A, 2B) of the frame, for movement in the inner cavity (8) The picking means (9) can pick up a plurality of full bobbins (5) of full yarn or thread from a textile machine and support the bobbins during their transfer to a unloading position, and the pushing means (10) can be provided from The picking means (9) located in the inner cavity (8) of the inertia guiding device (1) removes the bobbins and is characterized by comprising a control means (50) combined with the idler (4), which can Adjusting the height of a portion (2B) of the frame (2) to which the wheels are fixed, the idler (4) being located on a portion (2B) of the frame (2) of the device (1), the picking The means (9) pick up the bobbins (5) here. The device of claim 1, wherein the control means (50) comprises a body (51) coupled to the electric motor (52), and the body is eccentrically moved within a space (55) of the frame (56), The frame (56) supports a seat (60), and a corresponding idler (4) is integral with the seat (60), and the eccentric movement of the body (51) in the space causes the The frame (56) is hinged to the support (53) relative to the rotation of the frame (53), the support (53) being integral with the frame of the device (2) And carrying the electric motor (52) carrying the frame (56) for the support (60) of the wheel, the rotation of the frame causing the part (2B) of the frame to move, the wheel It is integral with the portion of the frame and has a direction at right angles to the plane of movement of the inertial guiding device (1). The apparatus of claim 1, comprising means for detecting a change in spatial position of the pick-up means, wherein the pick-up means (9) is capable of detecting the spatial position of the pick-up means when the bobbin (5) for loading the yarn is loaded Varying and actuating each of the electric motors (52) to eccentrically move the corresponding body (51) in the frame (56) carrying the seats of the respective idler pulleys (4) to compensate for this The change in spatial position and return of the picking means to a useful position to continue loading the bobbins (5) to automatically correct the skewing effects caused by the transfer of the bobbins. The apparatus of claim 1, wherein the picking means (9) is of a telescopic type. The device of claim 4, wherein the picking means (9) comprises at least one mandrel (12), the mandrel (12) comprising a first outer tube (13) permeable to the actuator means (15, 17) The action of 29) is moved relative to a second internal fixed tube (14). The device of claim 5, wherein the actuator means comprises a third tube (15) in the second tube (14), the third tube (15) being transmitted through a bush (18) and a screw The member (16) is combined, the bushing (18) is integral with a first distal end portion (20) of the third tube (15), and the screw member (16) is driven by a fixed electric motor (17). The third tube (15) supports a rod (22) on its second distal end portion (21), the rod also being inserted into the second tube (14) and outside the second tube (14) One end portion (23) supports a main body (29) integral with the first outer tube (13), and the first tube (13) is twisted integrally with the second fixed tube (14). However, under the action of the above-mentioned main body (29) and the fixed electric motor (17), it is possible to move longitudinally with respect to the same element in a guiding manner. The device of claim 6, wherein the electric motor and the second tube (14) are Fixed to the frame (2). A device as claimed in claim 6, wherein means for reducing friction between the first moving tube (13) and the second fixed tube (14) is provided. The device of claim 1, wherein the pushing means (10) is located adjacent to the picking means (9) and includes a fixed elongate member (43) supporting a mobile pusher body (45), the pusher body being subjected to a Controlled by a moving member driven by an electric motor (44), the electric motor is carried on the fixing member, and the pushing body (45) can be carried with the bobbin (5) carried by the picking means (9) ) work together.