US3793818A - Doffing and donning apparatus usable for textile machines such as draw-twisters - Google Patents

Doffing and donning apparatus usable for textile machines such as draw-twisters Download PDF

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Publication number
US3793818A
US3793818A US00233481A US3793818DA US3793818A US 3793818 A US3793818 A US 3793818A US 00233481 A US00233481 A US 00233481A US 3793818D A US3793818D A US 3793818DA US 3793818 A US3793818 A US 3793818A
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Prior art keywords
spindles
row
belt
horizontal
doffing
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US00233481A
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English (en)
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Y Yamamoto
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Ishikawa Seisakusho Ltd
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Ishikawa Seisakusho Ltd
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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
    • D01H9/04—Doffing arrangements integral with spinning or twisting machines

Definitions

  • PATENTEDFB26 m4 sum nanny PAIENTEmwzs 1974 3793818 sum m 0? 11' DOF F ING AND DONNING APPARATUS USABLE FOR TEXTILE MACHINES SUCH AS DRAW-TWISTERS
  • the present invention relates to a doffing and donning apparatus usable for textile machines with large packages such as draw-twisters, e.g., especially drawtwisters for wools or synthetic fibers.
  • a converyer belt is arranged in parallel in front of the row of spindles on the machine, pegs are fixed on the belt surface in one alignment with intervening distances equal to half the distance between neighbouring spindles (spindle pitch) and bare bobbins are mounted on alternate pegs.
  • full cops on the spindles are dismounted therefrom and transferred onto empty pegs on the conveyer belt.
  • the conveyer belt is moved over a distance equal to half the spindle pitch so that the positions of the bare bobbins carried thereby are registered at the positions of spindles now empty.
  • bare bobbins are dismounted from the conveyer belt and transferred onto the spindles on the machine.
  • the object of the present invention is to provide a doffing and donning apparatus of simplified structure which is adapted for handling of larger diameter of full cops than said limited diameter in the case of the coexistence of the full cops with bare bobbins on the conveyor belt.
  • the doffing and donning apparatus of the present invention includes an intermittently circulatable conveyer mechanism wherein pegs are mounted in two alignments in a zigzag arrangement.
  • peg arrangement By this peg arrangement, the center distance between the pegs for a full cop and a bare bobbin becomes larger than in the case of the one line arrangement.
  • Full cops and bare bobbins grasped by pneumatically operated gripper assemblies are doffed onto the conveyer mechanism and donned on the spindles by the combined pantagraph motions of the lifter and horizontal dispacer mechanisms carrying the gripper assemblies.
  • FIG. 1 is a partly sectional front view of the entire structure of the apparatus of the present invention
  • FIG. 2 is a partly sectional side view of the apparatus shown in FIG. 1,
  • FIG. 3 is a schematic sketch for explaining the pantagraph motion of the lifting mechanism used in the apparatus shown in FIG. 1,
  • FIG. 4 is a perspective view of the horizontal displacer mechanism used in the apparatus shown in FIG.
  • FIGS. 5A and 5B are plan and cross sectional views of the conveyer mechanism used in the apparatus shown in FIG. 1,
  • FIGS. 6A to 6? are explanatory schematic views for showing the doffing and donning operations performed on the apparatus shown in FIG. 1,
  • FIG. 7 is a bottom plan view of the gripper assembly used in the apparatus shown in FIG. 1,
  • FIGS. 8 and 9 are partly sectional side views of the gripper assembly shown in FIG. 7,
  • F IG. 10 is a partly sectional front view of the gripper assembly shown in FIG. 7,
  • FIGS. 11A and 11B are partly sectional explanatory views for showing the grasping mode of the gripper assembly shown in FIG. 7,
  • FIGS. 12A to 12D are explanatory side and plan views for showing the yarn separating mode of a gripper assembly having a yarn separator tongue.
  • FIGS. 1 and 2 a basic embodiment of the doffing and donning apparatus of the present invention used in combination with a draw-twister for synthetic fibers is shown.
  • a bobbin and cop conveyer mechanism 1 On the front lower side of the row of spindles on the machine, a bobbin and cop conveyer mechanism 1 is arranged in combination with an intermittent driving source (not shown) of known type.
  • the conveyer mechanism 1 includes an endless belt 2 guided for circulation by guide rollers 3.
  • the endless belt 2 is provided with multiple upright pegs 4 mounted on its outer surface.
  • the pegs 4 are mounted on the belt 2 in two longitudinal alignments as shown in FIGS. 5A and 5B. In each alignment, the pegs 4 are spaced from each other at a distance equal to the distance between neighbouring spindles on the machine. This distance is hereinafter referred to as the spindle pitch P.
  • pegs 4 of one alignment and pegs 4 of the other alignment are arranged alternately, i.e., the longitudinal distance between a peg 4 of one alignment and the nearest peg 4 of the other alignment is half the abovedefined spindle pitch. This distance is hereinafter referred to as the half spindle pitch P.
  • the above-mentioned particular arrangement of the pegs is hereinafter referred to as the zig-zag pegs arrangement.
  • a lifting mechanism 6 of the cops and bobbins is located in front of the conveyer mechanism 1 and a horizontal displacer mechanism 7 of the cops and bobbins is disposed to the upper end portion of the lifting mechanism 6.
  • the spindles 8 are mounted on the spindle rail 9
  • the rings 11 for the travellers 16 are mounted on the ring rail 12
  • the drawing rollers 13 and the separator rollers 14 are mounted on the machine framework over the spindles 8 as in the case of the ordinary drawtwisters.
  • the construction of the lifting mechanism 6 is hereinafter explained in detail. As is seen from FIGS. 1, 2 and 3, the construction of the lifting mechanism 6 is based on a vertical pantagraph type arrangement which includes a main link 17 and an auxiliary link 18 combined with the former.
  • the main link 17 is pivoted at its lower end to a movable supporter block 19 which includes one or more rollers 21 rotatably disposed thereto.
  • a pair of guide rails 22 and 23 run in front of the machine in parallel to the running direction of the conveyer mechanism 1 and the rollers 21 of the supporter block 19 are movably received in between the two guide rails 22 and 23.
  • a piston mechanism 24 is located on one end of the guide rails 22 and 23, which includes a pressure cylinder 26 connected to a given pressure drive source (not shown), a piston 27 received in the cylinder 26 and an operator rod 28 connected to the piston 27. The other end of the operator rod 28 connected to the piston 27. The other end of the operator rod 28 is linked to the supporter blocks 19.
  • the auxiliary link 18 is pivoted at its lower end to a stationary supporter block 29 fixed on the guide rails 22 and 23. The upper end of the auxiliary link 18 is pivoted to a bracket 31 disposed to the stem of the main link 17.
  • FIG. 4 Detailed construction of the horizontal displacer mechanism 7 is shown in FIG. 4, wherein the construction is based on a horizontal pantagraph type arrangement which includes a main link 32 and an auxiliary link 33 combined with the former.
  • the main link 32 is pivoted at its one end to a holder bracket 34 which is firmly mounted on a slidable shaft 36.
  • piston mechanisms 37 are located on both ends of the shaft 36, each of which includes a pressure cylinder 38 connected to a given pressure drive source (not shown) and a piston 39 received in the cylinder and connected to the end of the shaft 36.
  • the other end of the main link 32 is pivoted to a bracket 41 fixedly mounted on a rod 42 which runs parallel to the slidable shaft 36 and carries a plurality of gripper assemblies 43.
  • the auxiliary link 33 is pivoted at its one end to the mid portion of the main link 32 and at the other end to a bracket 44 freely mounted on the slidable shaft 36. This bracket 44 holds a shaft 46 which extends parallel to the slidable shaft 36.
  • the main link 17 of the lifting mechanism 6 is pivoted at its upper end to the bracket 44.
  • the slidable shaft 36 Upon reciprocal generation of the piston mechanism 37, the slidable shaft 36 reciprocates longitudinally and the horizontal displacer mechanism 7 is provided with the so-called horizontal pantagraph motion in a reciprocal fashion so as to register the axial centers of the gripper assemblies 43 with those of the spindles on the machine and pegs 4 of the conveyor mechanism 1.
  • the gripper assemblies 43 are given a vertical movement caused by the vertical pantagraph motion of the lifting mechanism 6 and a horizontal movement caused by the horizontal pantagraph motion of the horizontal displacer mechanism 7.
  • Time sequential actuation of the operations of the respective machine elements is carried out by a suitable driving and piloting mechanism including, for example, limit switches disposed relative to the travelling courses of the elements.
  • bare bobbins 47 are mounted on pegs 4 on the spindle side, pegs 4 on the other side are in a position coinciding with the position of spindles 48 on the machine and the centers of gripper assemblies 43 are registered with those of bare bobbins 47.
  • gripper assemblies 43 are lifted with their centers being registered with those of bare bobbins 47 as shown in FIG. 68. Building of the cops is already completed and full cops 49 rest on respective spindles 48.
  • horizontal displacer mechanism 7 starts its horizontal pantagraph motion so that the centers of gripper assemblies 43 are regisered with those of spindles 48, i.e., gripper assemblies 43 come right above full cops 49 on the machine as shown in FIG. 6C.
  • lifting mechanism 6 again starts its pantagraph motion so as to lower gripper assemblies 43 towards full cops 49 and, upon arrival at the level of the tops of full cops 49, gripper assemblies 43 are pneumatically energized so as to firmly grasp the tops of full cops 49. (see FIG. 6D)
  • lifting mechanism 6 restarts its reverse pantagraph motion and full cops 49 grasped by gripper assemblies 43 are brought to a prescribed level being dismounted upwards from spindles 48 as shown in FIG. 6E.
  • horizontal displacer mechanism 7 restarts its reverse pantagraph motion so as to register the centers of full cops 49 with those of pegs 4 of conveyor mechanism 1.
  • FIG. 6F illustrates the disposition just after completion of this registration in the horizontal position.
  • lifting mechanism 6 restarts its pantagraph motion so as to mount full cops 49 onto pegs 4 of conveyer mechanism 1 as shown in FIG. 6G.
  • gripper assemblies 43 are pneumatically de-energized so as to release full cops 49 from the grasp and, thereafter, are lifted to some extent by the restarted pantagraph motion of lifting mechanism 6. (see FIG. 6H)
  • the donning process is carried out in the following sequence.
  • the endless belt 2 of the conveyor mechanism 1 moves over a distance equal to the half spindle pitch P so that the positions of bare bobbins 47 are registered with those of the spindles 48 on the machine.
  • horizontal displacer mechanism 7 restarts its pantagraph motion so that the centers of gripper assemblies 43 are registered with those of corresponding bare bobbins 47 on endless belt 2 as shown in FIG. 61.
  • lifting mechanism 6 lowers the gripper assemblies into engagement with the tops of bare bobbins 47 by its vertical pantagraph motion and gripper assemblies 43 are pneumatically energized so as to firmly grasp the tops of bare bobbins 47. (see FIG. 6])
  • gripper assemblies 43 are moved upwards by the vertical pantagraph motion of lifting mechanism 6 being dismounted from pegs 4 on belt 2 to a level so that the ends of bare bobbin 47 so lifted are positioned slightly higher than the tops of spindles 48 on the machine. This disposition is shown in FIG. 6K.
  • horizontal displacer mechanism 7 performs the horizontal pantagraph motion for registration of centers of bare bobbins 47 with the centers of spindles 48 on the machine as shown in FIG. 6L.
  • lifting mechanism 6 restarts its vertical pantagraph motion, bare bobbins 47 are mounted on spindles 48 and gripper assemblies 43 are pneumatically de-energized so as to release bare bobbins 47 from their grasp. (see FIG. 6M) After this bobbin mounting is finished, lifting mechanism 6 moves gripper assemblies 43 upwardly away from bare bobbins 47 now mounted on spindles 48 as shown in FIG. 6N. In the lifted condition shown in FIG. 60, the horizontal displacer 7 performs its pantagraph motion so that gripper assemblies 43 are brought to the position shown in FIG. 6?, i.e., the position shown in FIG. 6A, for the subsequent doffing motion. After completion of the donning operation, the conveyer mechanism 1 carries the full cops 49 mounted thereon to a station wherein they are collected from the conveyer mechanism 1 in the known manner.
  • gripper assemblies 43 one for every spindle, which are pneumatically energized and deenergized at prescribed timings.
  • gripper assembly 47 is shown in FIGS. 7 to 10.
  • thegripper assembly includes an upper casing 101 having a cylindrical portion opening downward in the drawing.
  • a pair of gripper segments 102a, 102b each having a pair of gripper shoes 103, are disposed symmetrically with respect to the center of curvature of the circular portion of the cylindrical portion.
  • the gripper segments 102a, 102b are pivoted to respective holder arms 104a and l04b which are curved in conformity with the circle of the cylindrical portion of the upper casing 1.
  • the holder arms 104a and 1041) are pivoted to the casing at their one ends and are repelled from each other by a compression spring 106 which is interposed between the outwardly projected free ends of the holder arms 104a and 104b.
  • a pair of stoppers 107 are fixed on the internal wall of the cylindrical portion of the upper casing 101 at positions whereon the back shoulders of the outwardly projecting free ends of the holder arms 1040, 104b abut the stoppers 107 when repelled by the spring 106.
  • a metal contact 108 is disposed in combination with the respective stopper 107.
  • An elongated flexible tube 109 is inserted circularly between the internal wall of the cylindrical portion of the upper casing 101 and the outer faces of the holder arms 104a, 104b.
  • a partly omitted ring 111 is embraced by the tube 109 as shown in FIG. 8.
  • An under casing 112 is fixed to the upper casing 101 from underside by set bolts 1 13 so that the tube 109 is pressed air tight between the upper and under casings 101 and 112. (see FIG. 8)
  • the ring 111 is provided with a transverse hole 114 which communicates to an air inlet 116 formed in the upper casing 101.
  • the aforementioned stopper 107 is made of electroinsulating material.
  • the metal contacts 108 are fixed to the upper casing 101 by set screws 117 via electroinsulating bushes 118 and electric terminals 119 are connected thereto.
  • a pressor 121 is slidably disposed axially through the upwardly protruding boss part of the upper casing 101.
  • This pressor 121 which is made up of an electroinsulating material, is provided with a lock member 122 formed on its stem and a diametral flange 123 formed underside of the lock member 122 for the prevention of free axial rotation.
  • On the upper end of the pressor 121 are a metal contact 124 and an electric terminal 126 fixed by a set screw 127.
  • a compression spring 128 is interposed between the upper inner surface of the boss part of the upper casing 101 and the flange 123.
  • a pipe 129 is fixed through one end portion of the upper casing 101 by a set screw 131.
  • This pipe 129 is rotatably engaged with a bracket 132.
  • a spiral spring 133 is inserted inside the pipe 129 with its both ends inserted into holes formed on caps 134a and 134b covering the two ends of the pipe 129.
  • One of the caps 134a is fixed to the bracket 132 by a screw 136 so as to hold the pipe 129 whereas the other of the caps 134b is fixed to the pipe 129 by a pin 137 and is slidable about the bracket 132.
  • the bracket 132 is firmly mounted on a supporter shaft 138 via a fixer block 139 and set bolts 141.
  • the mounting position of the bracket 132 on the supporter shaft 138 can be adjusted longitudinally along the shaft 138 by adjuster screws 142.
  • the spring force of the spring 133 By the spring force of the spring 133, the upper casing 101 is continuously urged clockwise in FIG. 8 and this turning tendency is limited by the adjuster screws 42.
  • gripper segments 102a and 102b Upon relief of the air pressure, gripper segments 102a and 102b resume their initial disposition due to the replusive force of spring 106 relieving bobbin 147 from the grasp of gripper shoes 103 and bobbin 47 is urged downwards by pressor 121 as shown in FIG. 1 1B.
  • pressor 121 In this disposition, full cops 49 are easily mounted on pegs 104 of conveyor mechanism 101 and bare bobbins 47 are easily mounted on spindles 48 on the machine. Uncontrolled axial turning of the bobbin is prevented by pressure contact of same with pressor 121.
  • the combination of the metal contact 108 with the holder arm 104a in FIG. 9 establishes a kind of on-off switch. Due to this switch mechanism, disposition of the gripper segments 102a and 102b can be always electrically sensed. That is, possible malfunction in the bobbin grasping action can be electrically sensed so as to obviate undesirable propagation of the trouble.
  • the cap 134b and the pipe 129 turn with the upper casing 101 and, thereby, the spiral spring 133 is torsionally stressed.
  • the upper casing 101 is turned counterclockwise in FIG. 7.
  • the apparatus of the present invention may advantageously be provided with yarn separators such as shown in FIGS. 12A to 12D.
  • a pair of up and down separator tongues 201 extend from the gripper assembly 43 towards the full cop 49 in position on the spindle.
  • the tongues 201 are so shaped that, when seen from upper side, the gripper assembly 43 is heart shaped as shown in FIG. 128.
  • each of said gripper assemblies includes a circular upper casing, an under casing coupled to said upper casing to define a room; a pair of bowshaped gripper segments pivoted inside said upper casing, each gripper segment having gripper shoes fixed on its internal surface, an interposed spring positioned to resiliently repel said segments from each other; an inflatable flexible tube inserted between the internal wall of said upper casing and said gripper segments; and means connected to said inflatable flexible tube for supplying pressured air thereto from a pneumatic supply source.
  • Doffing and donning apparatus as claimed in claim 2, further comprising a pressor axially and slidably disposed inside of said upper casing, and means coupled to said pressor for resiliently urging said pressor towards said under casing.
  • a doffing and donning apparatus for use with a textile machine having a row of spindles, said apparatus comprising horizontal guide rollers, a belt mounted on said guide rollers, a plurality of pegs mounted on said belt in two longitudinal rows, the pegs of each row being spaced a distance of one-half the pitch of said spindles from the pegs of the other row in the longitudinal direction of said belt, a vertical pantograph lifting assembly mounted adjacent said belt, a horizontal pantograph displacing assembly mounted on the top of said vertical lifting assembly, a plurality of grippers on said horizontal displacing assembly, and spaced apart the same distance as said spindles, means for intermittently driving said belt, drive means coupled to said grippers, first control means coupled to said lifting assembly for lifting and lowering said displacing assembly, and a second control means coupled to said displacing assembly for selectively aligning said grippers with said row of spindles and said rows of pegs.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
US00233481A 1971-12-02 1972-03-10 Doffing and donning apparatus usable for textile machines such as draw-twisters Expired - Lifetime US3793818A (en)

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CH (1) CH560155A5 (US08088918-20120103-C00476.png)
DE (1) DE2259168A1 (US08088918-20120103-C00476.png)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3905184A (en) * 1974-02-02 1975-09-16 Howa Machinery Ltd Apparatus for simultaneously doffing and donning apparatus
US3935699A (en) * 1973-12-13 1976-02-03 Toshiba Seiki Kabushiki Kaisha Doffing apparatus for spinning frame
US3964723A (en) * 1974-06-04 1976-06-22 Barmag Barmer Maschinenfabrik Aktiengesellschaft Automatic spool-changing apparatus
US4014161A (en) * 1976-05-26 1977-03-29 Platt Saco Lowell Corporation Stop-motion device for automatic doffer apparatus
US4723405A (en) * 1983-12-08 1988-02-09 Howa Kogyo Kabushiki Kaisha Spindle for spinning frame or twisting machine
US5546740A (en) * 1994-08-12 1996-08-20 Zinser Textilmaschinen Gmbh Actuating linkage for bobbin changer
CN101864628A (zh) * 2010-06-30 2010-10-20 南通金驰机电有限公司 一种纱纺机抓管器的移动装置
CN105696128A (zh) * 2016-03-01 2016-06-22 清华大学 环锭纺自动落纱机双电机协同定位行走装置
CN114934329A (zh) * 2022-06-21 2022-08-23 张家港扬子纺纱有限公司 一种倍捻机机械手掌、控制方法及计算机存储介质

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2231377C3 (de) * 1972-06-27 1979-08-02 Zinser Textilmaschinen Gmbh, 7333 Ebersbach Selbsttätige Hülsenwechseleinrichtung an einer Spinn- oder Zwirnmaschine
JPS53130331A (en) * 1977-04-15 1978-11-14 Kuraray Co Device for feeding cope of fine spinning frame
JPS57106729A (en) * 1980-11-20 1982-07-02 Howa Mach Ltd Method of exchanging bobbins in fly frame and device therefor
DE3606612A1 (de) * 1986-02-28 1987-09-03 Zinser Textilmaschinen Gmbh Verfahren und vorrichtung zum selbsttaetigen wechseln von auslaufenden vorgarnspulen an einer spinnmaschine
GB8720842D0 (en) * 1987-09-04 1987-10-14 Mackie & Sons Ltd J Doffing & donning apparatus
US5179829A (en) * 1989-06-15 1993-01-19 W. Schlafhorst Ag & Co. Combined textile yarn spinning and winding system having spinning tube transporting means
FR2651513B1 (fr) * 1989-09-05 1991-11-22 Schlumberger Cie Dispositif de levee automatique pour machines textiles de filature.
DE102005042592B3 (de) * 2005-09-07 2007-01-18 Saurer Gmbh & Co. Kg Ringspinnmaschine mit einer Spulenwechselvorrichtung
DE102005042613B3 (de) * 2005-09-07 2006-12-28 Saurer Gmbh & Co. Kg Ringspinnmaschine mit einer Spulenwechselvorrichtung
CN101864627A (zh) * 2010-06-30 2010-10-20 南通金驰机电有限公司 一种用于细纱管平移的定位装置

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US3370411A (en) * 1964-12-19 1968-02-27 Zinser Textilmaschinen Gmbh Method and apparatus for replacing bobbin tubes on spinning or twisting machinery
US3398519A (en) * 1966-09-29 1968-08-27 Zinser Textilmaschinen Gmbh Transporting apparatus for the tube changer of a textile machine
US3550368A (en) * 1967-08-30 1970-12-29 Nuova San Giorgio Spa Automatic spinning machine having a device for the automatic doffing of the bobbins and replacing of the tubes
US3609952A (en) * 1968-07-08 1971-10-05 Edera Spa Officina Meccanica T Automatic mechanical device for doffing and loading spun yarns in spinning frames,doubling frames and the like
US3681906A (en) * 1970-04-20 1972-08-08 Rieter Ag Maschf Method and apparatus for doffing full bobbins and donning tubes on ring spinning and ring twisting machines
US3686847A (en) * 1968-12-12 1972-08-29 Hispano Suizo Suisse Sa Apparatuses for removing and replacing bobbins in a spindle type spinning machine, and a method of using such apparatuses

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
US3370411A (en) * 1964-12-19 1968-02-27 Zinser Textilmaschinen Gmbh Method and apparatus for replacing bobbin tubes on spinning or twisting machinery
US3398519A (en) * 1966-09-29 1968-08-27 Zinser Textilmaschinen Gmbh Transporting apparatus for the tube changer of a textile machine
US3550368A (en) * 1967-08-30 1970-12-29 Nuova San Giorgio Spa Automatic spinning machine having a device for the automatic doffing of the bobbins and replacing of the tubes
US3609952A (en) * 1968-07-08 1971-10-05 Edera Spa Officina Meccanica T Automatic mechanical device for doffing and loading spun yarns in spinning frames,doubling frames and the like
US3686847A (en) * 1968-12-12 1972-08-29 Hispano Suizo Suisse Sa Apparatuses for removing and replacing bobbins in a spindle type spinning machine, and a method of using such apparatuses
US3681906A (en) * 1970-04-20 1972-08-08 Rieter Ag Maschf Method and apparatus for doffing full bobbins and donning tubes on ring spinning and ring twisting machines

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3935699A (en) * 1973-12-13 1976-02-03 Toshiba Seiki Kabushiki Kaisha Doffing apparatus for spinning frame
US3905184A (en) * 1974-02-02 1975-09-16 Howa Machinery Ltd Apparatus for simultaneously doffing and donning apparatus
US3964723A (en) * 1974-06-04 1976-06-22 Barmag Barmer Maschinenfabrik Aktiengesellschaft Automatic spool-changing apparatus
US4014161A (en) * 1976-05-26 1977-03-29 Platt Saco Lowell Corporation Stop-motion device for automatic doffer apparatus
US4723405A (en) * 1983-12-08 1988-02-09 Howa Kogyo Kabushiki Kaisha Spindle for spinning frame or twisting machine
US5546740A (en) * 1994-08-12 1996-08-20 Zinser Textilmaschinen Gmbh Actuating linkage for bobbin changer
CN101864628A (zh) * 2010-06-30 2010-10-20 南通金驰机电有限公司 一种纱纺机抓管器的移动装置
CN105696128A (zh) * 2016-03-01 2016-06-22 清华大学 环锭纺自动落纱机双电机协同定位行走装置
CN114934329A (zh) * 2022-06-21 2022-08-23 张家港扬子纺纱有限公司 一种倍捻机机械手掌、控制方法及计算机存储介质
CN114934329B (zh) * 2022-06-21 2023-09-05 张家港扬子纺纱有限公司 一种倍捻机机械手掌、控制方法及计算机存储介质

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DE2259168A1 (de) 1973-06-07

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