JPH1096126A - Empty bobbin take-in device in automated spinning machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an empty bobbin fed to the empty bobbin conveyer which is set on the extension of the machine frame in its longitudinal direction to be surely taken in the automated machine in any case that the automated machine stops for doffing on the left or right side of the spinning frame. SOLUTION: Near the center of the rotation shaft 37 which is arranged in parallel with the empty bobbin conveyer, a supporting arm 39 is integrally rotatably fixed to and a holder 40 is supported on its top end. The supporting arm 39 is driven together with the rotary shaft 37 through the driving gear and the driven gear by the motor 47 and arranged to the holding position and the detaching position. To the rotary shaft 37, gears 59, 60 are supported at both ends and the positioning levers 57, 58 are integrally rotatably to the gears 59, 60. Individual positioning levers 57, 58 are driven through gears 59, 63, 60, 64 by the rotary solenoids fit 62 and are made independently rotatable at the operation position and at the standby position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spinning machine such as an open-end spinning machine or a binding spinning machine in which winding units are arranged on both sides along the longitudinal direction of a machine stand, and a bobbin mounting work for the winding units. The present invention relates to an empty bobbin taking-in device which is installed in an automatic machine that performs an air bobbin loading operation and takes in an empty bobbin placed on an empty bobbin supply device extending along a winding unit row.

[0002]

2. Description of the Related Art In open-end spinning machines, binding spinning machines, and spinning machines such as winders equipped with a winding unit for winding a yarn while traversing the yarn, various operations are automated to save labor. I have. In addition, the unloading of full bobbins (packages) and the supply of empty bobbins when full are automated. Generally, in this type of spinning machine, an empty bobbin or a seed bobbin (hereinafter, simply referred to as a bobbin) is supplied to a winding unit by an automatic machine (doffing machine) that doffs a full bobbin from the winding unit.

[0003] As a method of supplying a bobbin to a winding unit by a doffer, a doffer moving along a rail installed along a spinning machine base stocks a plurality of bobbins and doffs a full bobbin. There is a method of supplying the stocked bobbins to the winding device (for example, Japanese Patent Publication No. 60-47371 and Japanese Patent Application Laid-Open No. 59-69364). However, in this method, when the bobbin stocked in the doffer runs out, it is necessary to move to the bobbin replenishing point and replenish the bobbin, and during that time, doffing and bobbin supply cannot be performed. There's a problem. Further, if a large number of bobbins are stocked, the number of replenishment at the bobbin replenishing point is reduced, but there is a problem that the doffing machine becomes large.

As a method for solving the above-mentioned problem, Japanese Patent Laid-Open Publication No. Hei 3-213529 discloses a method in which a conveyor for transporting empty bobbins discharged from empty bobbin stockers is provided along a spinning unit provided in parallel, and an autodoffer ( An empty bobbin supply device that transfers an empty bobbin from a conveyor to a work vehicle while a work vehicle (automatic machine) equipped with a doffing device stops at a spinning unit having a doff request signal and performs bobbin replacement is disclosed. Have been. The auto-doffer is provided with a receiving position for receiving an empty bobbin conveyed on a conveyor, and a bobbin catcher that is reciprocated to a removing position for removing the received empty bobbin into a bobbin magazine. Also, a chucker for chucking (gripping) an empty bobbin pushed out of the bobbin magazine and transferring it to the cradle is provided at the front end (exit) of the bobbin magazine.
And a transfer position to the cradle.

[0005]

Problems to be Solved by the Invention
In the apparatus disclosed in Japanese Patent Application Publication No. 9-203, a bobbin catcher that takes in an empty bobbin from a conveyer extending along a winding unit row to an automatic machine does not grip and take in an empty bobbin. Before being sent, the empty bobbin is disposed at a receiving position on the conveyor, and after receiving the empty bobbin, the empty bobbin is removed from the conveyor by rotation. Therefore, the transport direction of the empty bobbin is limited to one predetermined direction with respect to the working position of the automatic machine. For this reason, there is no problem in the case of a spinning machine in which winding units are arranged in one line, such as a winder, but the winding units are arranged in two lines as in an open-end spinning machine, and one automatic machine is arranged on both sides. It is difficult to apply the present invention to a type in which the work is performed on the winding unit row. This is because the conveyor directions on the left and right sides of the machine are opposite to those of the automatic machine, so the conveyor directions are reversed and empty bobbin stockers are placed at the opposite ends of the machine. It is necessary to provide such an arrangement, and the structure becomes complicated, and it becomes difficult to secure an arrangement space for empty bobbin stockers.

The present invention has been made in view of the above-mentioned problems, and has as its object to provide an open-end spinning machine, a binding spinning machine, and the like in which winding units are arranged on both sides along the longitudinal direction of a machine stand. The empty bobbin supplied on the empty bobbin transport device extending along the take-up unit row of the spinning machine, the stop position of the automatic machine for doffing work etc. is surely on either side of the spinning machine stand. An object of the present invention is to provide an empty bobbin capturing device of an automatic machine for a spinning machine that can be loaded into the automatic machine.

[0007]

In order to achieve the above object, according to the first aspect of the present invention, the movable member moves along a rail disposed along the spinning machine and at a position corresponding to the winding unit. An empty bobbin take-in device that is installed in an automatic machine that stops and mounts a bobbin on a winding unit, and is conveyed by an empty bobbin conveying device that extends along a winding unit row of a spinning machine. Two operation positions, which can be disposed at an operation position for engaging with an end of an empty bobbin and positioning the empty bobbin at a predetermined position for taking the empty bobbin into the automatic machine, and a standby position at which the empty bobbin on the empty bobbin transporting device cannot be engaged. A positioning member, first and second driving means for independently moving the two positioning members to an operation position and a standby position, and one of the two positioning members corresponding to the transport direction of the empty bobbin transport device. Select And control means for controlling said first and second drive means to move placed at the operating position in manner,
Means for taking in the empty bobbin positioned at the predetermined position into the automatic machine. An empty bobbin replaces the bobbin doffed from the cradle of the winding unit,
The bobbin newly mounted on the cradle includes not only a completely empty bobbin but also a bobbin wound with a seed thread.

According to a second aspect of the present invention, in the first aspect of the present invention, the take-in means includes a gripping device for gripping an empty bobbin on an empty bobbin transporting device, and supporting the gripping device and the winding unit. A support arm rotatably provided in a plane orthogonal to the rows, and a gripping device disposed at a gripping position at which an empty bobbin placed on the empty bobbin transporting device can be gripped and a removal position within an automatic machine. Driving means for reciprocatingly rotating the support arm so as to move the gripping device between the gripping position and the dismounting position, and disposing the gripping device when the gripping device moves from the gripping position to the dismounting position. A detaching member that engages with the empty bobbin gripped by the device and removes the empty bobbin from the gripping device.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the control means determines the position of the empty bobbin on the empty bobbin transporting device by one of the positioning members moved to the operating position. After the operation is performed, the other positioning member is moved to the operation position, and thereafter, the first and second drives are moved so as to move both positioning members to the standby position in synchronization with the empty bobbin taking-in operation of the taking-in means. Drive control means.

According to a fourth aspect of the present invention, in the second or third aspect of the invention, the gripping device is disposed at a gripping position in a state where the automatic machine is stopped at a working position with respect to the winding unit. In this case, the empty bobbin is disposed at a position where the empty bobbin can be gripped substantially at the center in the longitudinal direction.

According to a fifth aspect of the present invention, in the first or third aspect of the present invention, the control means is configured to control the empty bobbin of the empty bobbin transport device when the automatic machine stops at a work position with respect to the winding unit. The first and second driving units are driven according to the judgment of the judgment unit for judging the transport direction.

An empty bobbin take-in device according to the first aspect of the present invention moves along a rail provided along a spinning machine, stops at a position corresponding to the take-up unit, and moves the bobbin to the take-up unit. It is equipped with an automatic machine that performs the mounting work and the like. The empty bobbin taken into the automatic machine is transported by an empty bobbin transport device extending along the winding unit row of the spinning machine. Two positioning members that engage with the ends of the empty bobbin conveyed by the empty bobbin conveying device and position the empty bobbin at a predetermined position for taking in the automatic machine,
The first and second driving means are independently moved and arranged from the standby position to the operation position. The positioning member can be engaged with the end of the empty bobbin conveyed by the empty bobbin transport device in the operation position, and cannot be engaged with the empty bobbin on the empty bobbin transport device in the standby position. The control means controls the first and second driving means so as to selectively move one of the two positioning members to the operation position in accordance with the transport direction of the empty bobbin transport device. The intake means takes in the empty bobbin positioned at a predetermined position by the positioning member into the automatic machine.

According to the second aspect of the present invention, the holding device constituting the take-in means includes an empty bobbin with the rotation of the support arm reciprocated in a plane orthogonal to the winding unit row by the drive means. The empty bobbin placed on the transfer device is disposed at a gripping position at which the empty bobbin can be gripped and at a removal position in the automatic machine. When the gripping device is placed at the gripping position while the empty bobbin is placed on the empty bobbin transport device, the gripping device starts engaging with the empty bobbin during the movement to the gripping position, and moves to the gripping position. Is completed, the empty bobbin is gripped by the gripping device. When the gripping device gripping the empty bobbin is moved from the gripping position to the removal position, the empty bobbin gripped by the gripping device engages with the removal member on the way and is removed from the gripping device.

According to a third aspect of the present invention, in the first or second aspect of the present invention, after the positioning of the empty bobbin on the empty bobbin transporting device is performed by one of the positioning members moved to the operating position. , The other positioning member is moved and arranged at the operation position. Thereafter, both positioning members are moved to the standby position in synchronization with the empty bobbin taking-in operation of the taking-in means. Therefore, at the time of the empty bobbin taking-in operation, the empty bobbin is taken into the automatic machine in a state where the movement in the longitudinal direction is regulated by the two positioning members.

According to a fourth aspect of the present invention, in the second or third aspect, the gripping device grips the empty bobbin at a substantially central portion in the longitudinal direction. According to the invention described in claim 5, in the invention described in claim 1 or 3, the conveying direction of the empty bobbin by the empty bobbin conveying device is changed with respect to the automatic machine when stopped at the work position with respect to the winding unit. The judging means judges which direction is left or right. The control means controls the first and the second according to the judgment of the judgment means.
Is driven.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) A first embodiment in which the present invention is applied to a doffing machine (automatic machine) of an open-end spinning machine will be described below with reference to FIGS.

As shown in FIG. 2, a large number of spinning units 2 are arranged in a row on both sides along a longitudinal direction of a frame 1 of an open-end spinning machine. A running rail 3 is disposed around the machine base 1 in a U-shape, and a doffing machine 4 as an automatic machine is supported in a suspended state. The doffing machine 4 moves on the traveling rail 3 to a position corresponding to the spinning unit 2 instructed from the control device C1 disposed on the machine base 1 side, and stops at a position corresponding to the spinning unit 2. . Then, the bobbin (package) F is doffed, and the empty bobbin B is cradle (bobbin holder) 6 (shown in FIG. 3) of the winding unit 5 provided with the winding roller 5a mounted on the spinning unit 2. The work to attach to is performed.

A conveyor 7 for carrying out a full bobbin is arranged along the longitudinal direction of the machine 1 near the center of the machine 1.
Above the first end (right end side in FIG. 2) of the machine base 1, a full bobbin conveyor 8 is disposed so as to extend in a direction orthogonal to the conveyor 7. At the first end of the conveyor 7, the full bobbin F is received from the conveyor 7, and its direction is set to 9
A delivery device 9 for changing the angle by 0 ° and delivering it to the full bobbin conveyor 8 above the conveyor 7 is provided.

As shown in FIGS. 2 and 3, above both sides of the machine base 1 (only one side is shown in FIG. 3), empty bobbin conveyors 10 extend along the spinning unit row, ie, the winding unit row. Has been established. Above the belt 10a of the empty bobbin transport conveyor 10, a regulating guide 10b for preventing the posture of the empty bobbin B from changing from a state parallel to the winding unit row extends along the longitudinal direction of the machine base 1. Have been. The empty bobbin transport conveyor 10 is driven by a driving device (not shown) to transport the empty bobbin B from the first end side of the machine base 1 to the second end side. An empty bobbin storage / supply device 11 is disposed on the first end side of the machine base 1, and the empty bobbin storage / supply device 11 transfers left and right empty bobbin via a bobbin transfer mechanism 11a according to a command from the control device C1. Conveyor 10
The empty bobbin B is supplied to one of them. As the empty bobbin storage / supply device 11, for example, a device having the same configuration as the bobbin supply device disclosed in Japanese Patent Application Laid-Open No. 8-170231 is used.

As shown in FIG. 3, the doffing machine 4 has a full bobbin F supported by a cradle 6 of a winding unit 5 on a conveyor 7 or on a mounting portion 12 arranged in parallel with the conveyor 7. An extruding lever 13 is provided for extruding. The push-out lever 13 has a roller 13a at the distal end, and rotates counterclockwise in FIG. 3 around a shaft 14 whose base end is supported to push out the full bobbin F. The mounting portion 12 includes a plate 15 that is inclined downward toward the conveyor 7, and a regulating bar 16 that engages with the full bobbin F extruded on the plate 15 and regulates the movement toward the conveyor 7. I have. The regulating bar 16 is driven by a driving device (not shown), and is rotated at a predetermined time to a position where the full bobbin F is allowed to move toward the conveyor 7, and the full bobbin F on the mounting portion 12 is moved onto the conveyor 7. It is supposed to.

In the doffing machine 4, a mounting arm 17 for mounting the empty bobbin B on the cradle 6 from which the full bobbin F has been removed is disposed above the roller 13a. The mounting arm 17 is driven by a driving device (not shown) to a standby position indicated by a solid line in FIG.
It is arranged to be reciprocally rotatable with a bobbin transfer position indicated by a chain line. A bobbin catcher 18 is supported at the tip of the mounting arm 17 in a tiltable manner. As shown in FIGS. 4 and 6 to 8, a support member 19 constituting the bobbin catcher 18 is rotatably supported by a shaft 20 fixed to the tip of the mounting arm 17 so as not to rotate relatively. 20 is fixed to a first end of a cylinder 20a rotatably supported by the cylinder 20 so as to be integrally rotatable. Support member 19
The fixed gripping piece 21a is fixed to the
Are rotatably mounted. A movable gripping piece 21b and a lever 23 are rotatably supported on the support shaft 22. A roller 23a is supported on the tip of the lever 23. The movable gripping piece 21b is urged to rotate in the gripping direction by a torsion spring 24 mounted between the support member 19 and the movable gripping piece 21b.

As shown in FIGS. 7 and 8, a second end of the cylinder 20a has a lever 2 rotatably supported by a shaft 20.
5 is fixed so as to be integrally rotatable, and a link device 26 for driving a lever 25 is provided along the mounting arm 17. The link device 26 includes a first link 26a that is integrally and rotatably fixed to a drive shaft 27 that is rotated by a drive device (not shown), and a first end that is rotatably connected to the first link 26a. A second link 26b is rotatably connected to the lever 25 at two ends. The bobbin catcher 18 has a receiving position (position indicated by a solid line in FIG. 6) where the fixed gripping piece 21a can easily receive the empty bobbin B from the empty bobbin take-in device 35 described later in a state where the mounting arm 17 is arranged at the standby position. , Fixed gripping piece 21a
Can be pivoted via a link device 26 and a lever 25 to a transfer position (a position at which the empty bobbin B is transferred to the cradle 6 (a position indicated by a chain line in FIG. 6)) closer to the mounting arm 17 than the receiving position. Has become.

As shown in FIGS. 3 and 4, the doffing machine 4 engages the roller 23a near the tip of the mounting arm 17 when the mounting arm 17 is located at the standby position shown in FIG. A locking piece 28 for holding the movable gripping piece 21b at the release position is provided. The locking piece 28 is engaged with the roller 23a by the actuator 29 and the roller 23a.
And a retractable position that cannot be engaged.
An air cylinder or a solenoid is used as the actuator 29, and the locking piece 28 is always arranged at the engagement position, and the empty bobbin B is arranged on the fixed gripping piece 21a with the bobbin catcher 18 arranged at the standby position. In this case, the locking piece 28 is driven to be disposed at the retracted position.

The mounting arm 17 is located above the pushing lever 13.
An empty bobbin take-in device 35 is provided in front of. As shown in FIGS. 1 and 5, a rotating shaft 37 is provided on a frame 36 provided on the doffing machine 4 so that the rotating shaft 37 is parallel to the traveling direction of the doffing machine 4, that is, parallel to the empty bobbin transport conveyor 10. Is supported through. A support arm 39 is fixed near the center of the rotation shaft 37 so as to be integrally rotatable at a base end, and a gripping device 40 is supported at the distal end side. That is, the support arm 39 is rotatably provided in a plane orthogonal to the winding unit row.

A pair of gripping pieces 41 constituting the gripping device 40
Is rotatably attached at its base end to a pair of support rods 42 supported in a cantilever state on the side surface of the support arm 39 in parallel with the rotation shaft 37. The two gripping pieces 41 are formed of a leaf spring having a width approximately half the length of the bobbin B, and the restricting projections 43a,
43b is protruded. A locking pin 44 (shown in FIG. 4) is protrudingly provided on a side surface of each of the restricting projections 43a and 43b, and biases the gripping pieces 41 between the two locking pins 44 in a direction approaching each other, that is, in a gripping direction. A tension spring 45 for extending the tension is provided. In the gripping device 40, the gripping piece 41 passively grips the empty bobbin B by the spring force of the gripping piece 41 and the urging force of the tension spring 45.

The support arm 39 has a regulating projection 43.
A stopper pin 46 that engages with the a and 43b and restricts the rotation of the gripping piece 41 in the gripping direction is fixed. The length of both regulating projections 43a, 43b is determined by the gripping device 40 that the empty bobbin B
In a state in which the two gripping pieces 41 are not gripped,
Are kept slightly narrower than the outer diameter of the empty bobbin B, and when the empty bobbin B is gripped, they are separated from each other so that the biasing force of the tension spring 45 acts on the gripping piece 41 entirely. Have been.

As shown in FIG. 5, a forward / reverse rotating motor 47 as a driving means is fixed to the frame 36, and a driving gear 48 is fixed to an output shaft 47a so as to be integrally rotatable. A driven gear 49 is fixed to the first end side of the rotating shaft 37 so as to be integrally rotatable. The motor 47 has a built-in speed reducer and an electromagnetic brake. By the forward and reverse rotation of the motor 47, the rotating shaft 37 can be rotated forward and reverse via the two gears 48 and 49, and the gripping device 40 can grip the empty bobbin B placed on the empty bobbin conveyor 10. The support arm 39 is reciprocated so as to be located at a proper gripping position and a detached position (standby position) in the doffer 4. The removal position in the doffing machine 4 is, as indicated by a chain line in FIG. 4, in the vicinity of the bobbin catcher 18 arranged at the empty bobbin receiving position, with the tips of both gripping pieces 41 extending upward. Position.

A support arm 39 is provided at the second end of the rotating shaft 37.
A lever 50, which constitutes a position detecting means for detecting the position of the sensor, is fixed so as to be integrally rotatable.
Is provided. The frame 36 has a first detecting portion 50a for detecting the detected portion 50a when the holding device 40 is disposed at the holding position.
And the second sensor 52 that detects the detection target portion 50a when the gripping device 40 is located at the removal position (standby position), is substantially 180 degrees around the rotation shaft 37.
° It is fixed at a position out of phase. Both sensors 51,
52 uses a proximity switch.

On the movement trajectory when the gripping device 40 moves between the gripping position and the removal position, the gripping device 40
Engages with the empty bobbin B gripped by the gripping device 40 when the
A pair of detaching members 53 for detaching from the gripping device 40 are provided. The two detaching members 53 are parallel to each other and from the front side (left side in FIG. 4) of the doffer 4 toward the rear side at positions where they can be engaged with the outer peripheral surfaces of both ends of the empty bobbin B gripped by the gripping device 40. It is provided so as to descend downward. The gripping device 40 is disposed at a position where the empty bobbin B can be gripped at a substantially central portion in the longitudinal direction when the doffing machine 4 is stopped at the working position with respect to the winding unit 5 when the doffing machine 4 is positioned at the gripping position. ing.

The two removing members 53 also serve as guide members for guiding the empty bobbin B after being removed from the gripping device 40 to a predetermined position (in this embodiment, a position for transferring to the bobbin catcher 18 waiting at the receiving position). And an L-shaped bracket. A plurality of support pins 54 each having a male screw formed at the end thereof are horizontally protruded from the side wall 53a of the detaching member 53, and a nut screwed to the end of the support pin 54 that has penetrated the cylindrical spacer 55 and the frame 36. It is fastened and fixed to the frame 36 via 56. The rear side (the right side in FIG. 4) of the bottom wall 53b and the side wall 53a
Constitutes the guide member for guiding the empty bobbin B to a predetermined position. The side wall 53a prevents the empty bobbin B removed from the gripping device 40 from shifting laterally when it moves to a predetermined position due to engagement with the front side of the bottom wall 53b. A predetermined position is guided so as to be grippable.

On the rotating shaft 37, first and second positioning levers 57 and 58 as positioning members are provided on both sides of the gripping device 40 at intervals substantially equal to (slightly larger than) the length of the empty bobbin B. It is supported so as to be relatively rotatable. The positioning levers 57 and 58 are fixed to gears 59 and 60 rotatably supported by the rotation shaft 37 so as to be integrally rotatable. First and second rotary solenoids 61 and 62 are fixed to the frame 36 above the rotation shaft 37, and gears 63 and 64 meshing with the gears 59 and 60 are fixed to the output shaft so as to be integrally rotatable. I have. First driving means is constituted by the first rotary solenoid 61 and the gears 63 and 59, and the second rotary solenoid 62 and the gears 64 and 60 are formed.
Constitutes a second driving means.

The positioning levers 57, 58 are at standby positions extending above the rotary shaft 37 shown by chain lines in FIGS. 4 and 5 through the gears 63, 59 and the gears 64, 60 by deenergizing the rotary solenoids 61, 62. And a horizontally extending operation position indicated by a solid line. Positioning levers 57 and 58 are provided with rotary solenoids 61 and 6
In the demagnetized state of No. 2, it is held at the standby position. In this embodiment, the rotary solenoid 6
The rotation amounts of the output shafts of the gears 63 and 59 and the gear 6
4, 60, the positioning levers 57, 58
Is rotated in a range of approximately 90 °.

Near the base end of each of the positioning levers 57, 58, the empty bobbin conveyor 10 conveys the empty bobbin conveyed to a position corresponding to the doffing machine 4 in a state where the positioning levers 57, 58 are arranged at the operation position. Bobbin detection sensors 65 and 66 (shown in FIG. 1) capable of detecting the bobbin B are attached.

The motor 47 and the rotary solenoid 61,
The operation of the control device 62 is controlled by a command signal from a control device C2 (shown in FIG. 2) provided in the doffing machine 4.
Numeral 2 controls based on the detection signals of the first and second sensors 51 and 52 and the bobbin detection sensors 65 and 66.

FIG. 1 shows that the holding device 40 of the empty bobbin take-in device 35 is disposed at the holding position, and the positioning levers 57, 5 are provided.
FIG. 8 is a partially omitted plan view of a state where 8 is arranged at the operation position, and FIG. 5 is a partially omitted partially cutaway front view in that state. In FIG. 5, the state where the positioning levers 57 and 58 are arranged at the standby position is indicated by a chain line.

The control device C1 on the machine base serves as a judging means for judging the empty bobbin conveying direction of the empty bobbin conveying conveyor 10 when the doffing machine 4 is stopped at the working position with respect to the winding unit 5. The control device C1 determines the empty bobbin transport direction for the spinning unit 2 to which the doffing request signal has been output, and the control device C2 of the doffing machine 4 determines the direction in which the spinning unit 2 requiring the doffing operation exists. And a command for the empty bobbin transport direction of the empty bobbin transport conveyor 10 when stopped at the working position for the spinning unit 2. The control device C2 determines the drive order of the first and second rotary solenoids 61 and 62 according to the command of the control device C1, and determines the order of the two rotary solenoids 6 in that order.
1 and 62 are driven.

After the empty bobbin B is mounted on the cradle 6, the doffing machine 4 hooks the yarn end of the seed yarn of the seed yarn package mounted on the doffing machine 4 to the bobbin holding portion of the cradle 6. A known seed thread winding device (not shown) that has a function of winding a predetermined amount around the empty bobbin B is provided.

The doffing machine 4 includes a sensor (not shown) for detecting whether or not a doffing request display lamp (not shown) mounted on the spinning unit 2 is turned on.
During the traveling in the predetermined direction, the doffing operation is stopped at a position corresponding to the spinning unit 2 where the doffing request display lamp is lit, and the doffing operation and the splicing operation at the time of doffing are performed. ing.

Next, the operation of the above-configured device will be described. The doffing machine 4 starts running in the direction in which the spinning unit 2 requiring work exists in accordance with a command from the control device C1 of the machine base 1, and the spinning unit in which the doffing request display lamp is lit. Stop at the position corresponding to 2, and perform a predetermined operation. When the doffing machine 4 is stopped at the standby position, the bobbin catcher 18 is disposed at the standby position indicated by a solid line in FIG. 3, and the empty bobbin B is held by the two holding pieces 21a and 21b. Further, the gripping device 40 is also arranged at a standby position indicated by a solid line in FIG.

The spinning unit 2 winds the yarn spun from the spinning unit around the bobbin by the action of the winding roller 5a while traversing with a traverse guide (both not shown).
When the sliver is full, the feed of the raw material sliver is stopped, the cradle 6 of the spinning unit 2 is moved upward, and the full bobbin (full package) F is arranged at a position separated by a predetermined distance from the winding roller 5a. The frying request display lamp is turned on. The control device C1 on the machine side stores the spinning unit 2 which is full and the traveling direction of the doffing machine 4 on standby and which side of the machine unit 1 the spinning unit 2 is on. Command. The doffing machine 4 moves along the traveling rail 3, stops at a position corresponding to the spinning unit 2 where the doffing request display lamp is lit, and performs doffing work, bobbin mounting work, and the like.

When the doffing machine 4 stops at the position corresponding to the spinning unit 2, the control device C2 changes the control device C1 on the machine side.
And outputs the empty bobbin request signal and the position of the spinning unit 2 performing the operation with respect to the machine 1 (whether the spinning unit 2 is on the left or right side of the machine 1). In addition, the control device C2 operates the rotary solenoid 6 for the positioning lever located on the downstream side in the empty bobbin transport direction by the empty bobbin transport conveyor 10 according to the order determined based on the command from the control device C1.
The excitation command is output to the first and the second 62. That is, the spinning unit 2
Is located on the left side of the machine base 1 (the lower side in FIG. 2), an excitation command is first output to the rotary solenoid 61 for the first positioning lever 57, and the position of the spinning unit 2 is set on the right side of the machine base 1 ( In the case of (upper side in FIG. 2), an excitation command is first output to the rotary solenoid 62 for the second positioning lever 58. Here, the case where the position of the spinning unit 2 is on the right side of the machine base 1 will be described.

When the rotary solenoid 62 is excited by a command from the control device C2, the second
Is located at the regulation position. The control device C1, which has input the empty bobbin request signal from the doffer 4,
An empty bobbin supply command to the empty bobbin transport conveyor 10 on the side corresponding to the spinning unit 2 that performs the operation is output to the empty bobbin storage / supply device 11. Then, the empty bobbin transport conveyor 10 on the side where the doffing machine 4 is stopped is driven. The empty bobbin B supplied from the empty bobbin storage / supply device 11 onto the empty bobbin transport conveyor 10 is transported toward the second end of the machine base 1. Then, the second positioning lever 58 is engaged with the second positioning lever 58 to restrict its movement, and is held at a position corresponding to the doffing machine 4.

When the empty bobbin B comes into engagement with the second positioning lever 58, an ON signal is output from the second bobbin detection sensor 66, and when the control device C2 receives the signal, the first signal is outputted. An excitation command is output to the rotary solenoid 61. Then, the first rotary solenoid 61
Is excited, the first positioning lever 57 is disposed at the restriction position via the gears 63 and 59, and the movement of the empty bobbin B in the longitudinal direction is restricted by both the positioning levers 57 and 58. Further, an ON signal is output from the first bobbin detection sensor 65.

The control device C2 includes two bobbin detection sensors 65,
When an ON signal is input from 66, a normal rotation drive signal is output to the motor 47. Then, the support arm 39 is rotated counterclockwise in FIG. 4 together with the rotation shaft 37 via the gears 48 and 49. The lever 50 is rotated together with the rotation shaft 37,
When the first sensor 51 detects the detected portion 50a and outputs an ON signal, the control device C2 outputs a stop command to the motor 47. Accordingly, the support arm 39 is stopped when the gripping device 40 is moved and arranged from the detached position (standby position) indicated by the chain line in FIG. 4 to the gripped position indicated by the solid line.

During the movement from the standby position to the gripping position, the gripping device 40 comes into a state in which the tips of the gripping pieces 41 are engaged with the empty bobbin B. Is pressed against the empty bobbin B, and the gap between the gripping pieces 41 is opened against the urging force of the tension spring 45. And in the state where it is arranged at the gripping position,
As shown by the solid line in FIG. 4, the empty bobbin B is gripped by both grip pieces 41.

On the other hand, the doffing machine 4 stops at the working position, outputs the empty bobbin request signal, and then performs the doffing operation. That is, when the pushing lever 13 is rotated counterclockwise about the shaft 14 from the state shown in FIG. 3 and is rotated by about 90 °, the cradle 6 releases the full bobbin F. The center is rotated so that the leading end slightly moves in a direction substantially perpendicular to the paper surface. Then, the full bobbin F is detached from the cradle 6 and is transferred onto the conveyor 7 by the action of the pushing lever 13. Thereafter, the push lever 13 returns to the original position.

When the pushing lever 13 returns to the original position, the mounting arm 17 is rotated clockwise from the standby position shown by the solid line in FIG. Is rotated to a position indicated by a chain line corresponding to the bobbin mounting portion of the cradle 6. Thereafter, the cradle 6 is returned to the bobbin gripping state, and the empty bobbin B is gripped by the cradle 6. Next, arm 1
7 is rotated counterclockwise and returns to the original position. When the mounting arm 17 rotates counterclockwise, the movable gripping piece 21
b is turned to the release side against the urging force of the torsion spring 24 and detaches from the empty bobbin B.

When the bobbin catcher 18 returns to the standby position, the link device 26 is operated and the bobbin catcher 18
Is rotated to the receiving position. The locking piece 28 is an empty bobbin B
After the bobbin catcher 18 holding the bobbin starts rotating toward the cradle 6, the bobbin catcher 18 is disposed at the engaging position and is held at that position.
Is returned to the standby position and is located at the receiving position, the roller 23a is engaged with the locking piece 28, and the movable gripping piece 21b is held at the release position.

When it is detected that the empty bobbin B is not placed on the bobbin catcher 18 that has returned to the standby position, the control device C2 outputs a reverse rotation command to the motor 47, and the two rotary solenoids 61, A demagnetization command is output to 62. As a result, the support arm 39 is rotated from the gripping position shown by the solid line in FIG. 4 to the removal position (standby position) shown by the chain line, and both the positioning levers 57 and 58 are also shown by the chain line from the restricted position shown by the solid line. It is rotated toward the standby position.

The support arm 39 and the positioning lever 57,
58 are rotated at the same rotation speed, and the positioning levers 57,
After 58 has been rotated approximately 90 ° and stopped at the standby position, the support arm 39 continues to rotate further. When the support arm 39 is rotated by approximately 120 ° from the gripping position, the empty bobbin B starts engaging with the bottom wall 53b of the detaching member 53 and is restricted from moving integrally with the gripping device 40. When the support arm 39 continues to rotate, the gripping piece 41 is rotated to the open side against the urging force of the tension spring 45, and the empty bobbin B is removed from the gripping device. The removed empty bobbin B rolls on the bottom wall 53b with the lateral movement restricted by the side wall 53a, and moves onto the fixed gripping piece 21a of the bobbin catcher 18.

When the empty bobbin B is disposed on the fixed gripping piece 21a, the empty bobbin B is detected by a sensor (not shown), and the detection signal activates the actuator 29 to place the locking piece 28 at the retracted position. The piece 21b is arranged at the grip position. Thereafter, the link device 26 is operated, and the bobbin catcher 18 is pivoted downward to be placed at the delivery position. Further, when the gripping device 40 moves to the standby position, the detected portion 50a of the lever 50 is switched to the second sensor 5a.
2, the motor 47 is stopped based on the detection signal, the taking in of the empty bobbin B is completed, and the next doffing preparation work is completed. Then, when there is a traveling command from the control device C1 of the machine base 1 to the spinning unit 2 requiring doffing, the doffing machine 4 starts traveling in accordance with the command.

This embodiment has the following effects. (B) The empty bobbin B conveyed from the first end side of the machine base 1 by the empty bobbin conveying device 10 is positioned at a predetermined position for taking-in by the taking-in means, with the positioning lever 57,
It is taken in a state where it is positioned by any one of 58. Therefore, the empty bobbin B can be reliably taken into the doffer 4 regardless of which side of the machine base 1 the spinning unit 2 (winding unit 5) on which the doffer 4 works.

(B) During the doffing operation of the doffing machine 4, the empty bobbin B to be used for the next doffing operation is taken in from the empty bobbin conveyor 10 so that the doffing machine 4 is positioned at a position corresponding to the spinning unit 2. After the stop, the empty bobbin request signal is output to the control device C1 on the machine side.
There is no danger of delay in mounting to the device.

(C) When the gripping device 40 is moved from the gripping position to the removal position, the empty bobbin B is moved to the side wall 53a.
Since the two positioning levers 57 and 58 are synchronously rotated to a position corresponding to the position of the empty bobbin B, the empty bobbin B is reliably moved to a position corresponding to the space between the pair of detaching members 53 in a state where the movement in the longitudinal direction is restricted. It is moved, and removal by the removal member 53 is reliably performed.

(D) Since the gripping device 40 grips the empty bobbin B in a state where the empty bobbin B on the empty bobbin transport conveyor 10 is positioned by the two positioning levers 57 and 58,
The empty bobbin B can be reliably held at a predetermined holding position.

(E) The judging means (control device C1) judges whether the empty bobbin B is conveyed by the empty bobbin conveyor 10 in the left or right direction with respect to the doffing machine 4 when stopped at the work position. The control means (control device C2) controls the first and second rotary solenoids 61 and 62 according to the judgment of the judgment means. Therefore, it is easy to control which of the rotary solenoids 61 and 62 is driven in accordance with the stop position of the doffing machine 4.

(F) Since the amount of rotation of the output shafts of the rotary solenoids 61 and 62 is increased via the gears 59, 60, 63 and 64 to rotate the positioning levers 57 and 58, the rotary solenoids 61 and 62 are rotated. As compared with the configuration in which the rotary solenoids are directly rotated, small rotary solenoids 61 and 62 can be used, and the amount of rotation of the positioning levers 57 and 58 can be easily adjusted to a desired value by setting the gear ratio.

(G) Since the gripping device 40 grips the empty bobbin B at substantially the center in the longitudinal direction, the number of gripping pieces 41 is one and the number of the support arms 39 is one, so that the structure is simplified. Also, the frame 36 of the detaching member 53 that allows the gripping device 40 to reciprocate and removes the empty bobbin B
It is also easy to fix to.

(H) The gripping device 40 for gripping the empty bobbin B on the empty bobbin transport conveyor 10 is configured to negatively grip the bobbin, and the removal of the empty bobbin B from the gripping device 40 is performed by a detaching member 53 disposed at a predetermined position. The configuration is simplified as compared with positive gripping using an actuator, and the degree of freedom in the arrangement position of the gripping device 40 and the detaching member 53 is increased.

(I) The empty bobbin B removed from the gripping device 40 is guided to a predetermined position (bobbin catcher 18) while its longitudinal movement is restricted by the side wall 53a as a guide member. 1
8 is in a state where the gripping position of the empty bobbin B is positioned at a predetermined position. As a result, the delivery of the empty bobbin B to the cradle 6 is performed smoothly. (G) Since the removal member 53 also serves as the guide member (is formed integrally), the structure and the assembly are further simplified.

(G) Since the bottom wall 53b of the detaching member 53 is formed so as to be inclined downward toward the bobbin catcher 18 at the standby position, the empty bobbin B removed from the gripping device 40 is automatically turned off. Bobbin catcher 1
8 is moved.

(ヲ) The bobbin catcher 18 can swing vertically with respect to the mounting arm 17 and can be arranged at the upper bobbin receiving position and the lower transferring position, so that the mounting arm 17 rotates. At this time, the radius of the movement trajectory of the bobbin catcher 18 is reduced, so that interference between the bobbin catcher 18 and the empty bobbin capturing device 35 is easily avoided.

(Second Embodiment) Next, a second embodiment will be described with reference to FIGS. In this embodiment, a pair of positioning members also function as a take-in means, and the empty bobbin B taken in from the empty bobbin transport conveyor 10 is directly transferred to the bobbin catcher 18 without using the removing member 53. Is greatly different from the above embodiment. The same parts as those of the above-described embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 9, the space between the frames 36 is parallel to the traveling direction of the doffer 4, that is, the empty bobbin conveyor 1
A support shaft 70 is supported in parallel with 0. The first and second positioning levers 57 and 58 are provided on the support shaft 70 with the empty bobbin B.
Are supported so as to be relatively rotatable at substantially the same (slightly larger) intervals as the length of the. The two positioning levers 57, 58 are fixed to gears 59, 60 rotatably supported by a support shaft 70 so as to be integrally rotatable. The first and second positioning levers 57, 58 are formed of leaf springs, and have locking portions 57a, 58a protruding from their ends so as to face each other. The projections of the locking portions 57a and 58a are formed to be small, and the empty bobbin B can be released by slightly displacing the positioning levers 57 and 58 outward. The positioning levers 57 and 58 hold the empty bobbin B at positions corresponding to the both locking portions 57a and 58a, and the positioning levers 57 and 58 are synchronously rotated to the transfer position to move the empty bobbin B to the standby position. , The fixed gripping piece 2 of the bobbin catcher 18 disposed at the receiving position
1a.

A first motor 71 capable of normal and reverse rotation is fixed to the frame 36 instead of the rotary solenoid 61 as a first driving means, and a driving gear 72 meshing with the gear 59 is integrally rotatable on its output shaft. Fixed. The frame 36 includes a rotary solenoid 6 as a second driving means.
A second motor 73 that can rotate forward and backward is fixed in place of 2, and a drive gear 74 that meshes with the gear 60 is fixed to the output shaft so as to be integrally rotatable. The motors 71 and 73 each include a speed reducer and an electromagnetic brake. Both motors 71 and 73 are controlled by a command from control device C2.
Move the positioning levers 57 and 58 to the empty bobbin conveyor 1
It is driven so as to be arranged at an operation position (position indicated by a solid line in FIG. 10) at which the empty bobbin B can be gripped on the position 0, a transfer position to the bobbin catcher 18, and a standby position intermediate between both positions.

The empty bobbin B conveyed by the empty bobbin conveyor 10 to a position corresponding to the doffing machine 4 in a state where the positioning levers 57, 58 are disposed at the operation positions near the inner ends of the positioning levers 57, 58. Bobbin detection sensors 65 and 66 that can detect the Detected portions 57b, 58b are provided at outer base ends of the positioning levers 57, 58, respectively.

Each positioning lever 57,
When the position 58 is located at the operation position, the detected portions 57b, 58
b, sensors 77 and 78 respectively detect the detected parts 57b and 58b when placed at the delivery position, and detect the detected parts 57b and 58b when placed at the standby position. Sensor 7
9 and 80 are fixed at predetermined positions, respectively. A proximity switch is used for each of the sensors 75 to 80.

Electromagnets 81 and 82 are provided on the frame 36 at predetermined positions where the respective positioning levers 57 and 58 can apply an attractive force to each of the positioning levers 57 and 58 when the positioning levers 57 and 58 are arranged from the standby position to the operation position. The electromagnet 8 is mounted at a predetermined position capable of exerting an attractive force on each of the positioning levers 57 and 58 when the respective positioning levers 57 and 58 are arranged from the delivery position to the standby position.
3,84 are attached.

In this embodiment, when the doffer 4 is stopped at the standby position, the bobbin catcher 18
The empty bobbin B is disposed at the standby position shown at 0 and is held by the fixed gripping piece 21a and the movable gripping piece 21b. The two positioning levers 57, 58 are arranged at a standby position extending substantially straight upward as indicated by a chain line in FIG.

As in the above-described embodiment, the doffing machine 4 starts running in response to a command from the control device C1, and stops at a position corresponding to the spinning unit 2 requiring doffing work. When the control device C2 stops at the working position, the control device C1
And the first motor 71 is driven to rotate forward, and one positioning lever 57 corresponding to the stop position of the doffer 4 (assumed to be on the left side of the machine base 1) is disposed at the operation position. Let it. Then, after the empty bobbin B being transported by the empty bobbin transport conveyor 10 is engaged with the first positioning lever 57 and its movement is regulated, the second positioning lever 58 is driven forward by the second motor 73. Is placed in the operating position. The electromagnet 82 is excited during the rotation of the second positioning lever 58 from the standby position to the operating position, and the second positioning lever 58 is bent outward by the attraction force of the electromagnet 82. Then, when the rotation of the second positioning lever 58 is continued, the locking portion 58a engages with the outer peripheral surface of the end of the empty bobbin B, and from that state, the rotation is further continued to rotate to the operation position. Then, the electromagnet 82 is demagnetized, and the locking portion 58a is moved by the spring action of the positioning lever 58 to the empty bobbin B.
To the gripping position located inside the.

When the bobbin catcher 18 located at the standby position transfers the empty bobbin B to the cradle 6 and returns to the standby position, the motors 71 and 73 are synchronously driven to rotate in reverse, and the positioning levers 57 and 58 are moved. It is rotated to the delivery position. When the bobbin catcher 18 returns to the standby position, the locking piece 28 is located at the engagement position, and therefore the roller 23a is engaged with the locking piece 28 and is located at the release position. Therefore, both positioning levers 57, 58
Is moved to the delivery position, the empty bobbin B is disposed on the fixed gripping piece 21a. When the empty bobbin B is disposed on the fixed gripping piece 21a, the actuator 29 is actuated to place the locking piece 28 at the retracted position, and the engagement between the roller 23a and the locking piece 28 is released, and the movable gripping piece is released. The piece 21b is rotated to the grip position.

Next, both electromagnets 83 and 84 are excited, and the positioning levers 57 and 58 are bent outward until the locking portions 57a and 58a are substantially separated from the empty bobbin B. In this state, both motors 71 and 73 are synchronously driven to rotate forward, and both positioning levers 57 and 58 are rotated to the standby position. The empty bobbin B has two gripping pieces 21a,
21b, and the positioning levers 57, 58 are turned outwardly by the attraction force of the electromagnets 83, 84.
7a and 58a are easily detached from the empty bobbin B, and the engagement between the positioning levers 57 and 58 and the empty bobbin B is released. When the positioning levers 57 and 58 are located at the standby positions, the electromagnets 83 and 84 are demagnetized. The positioning levers 57, 58 are rotated while being attracted to the electromagnets 83, 84 until the engagement between the locking portions 57a, 58a and the empty bobbin B is released. Since the positioning levers 57 and 58 are bent outward by the action of the electromagnets 83 and 84 to facilitate the engagement with the empty bobbin B, the bobbin catcher 1
The positioning levers 57 and 58 are moved from the delivery position to the standby position while the empty bobbin B is securely held at the position 8.

This embodiment has the following effects in addition to the effects (a), (b), (e), and (ヲ) of the above embodiment. (W) Since the positioning levers 57 and 58 also function as a take-in means (gripping device), the empty bobbin B can be gripped more reliably and the structure is simpler than in the above-described embodiment. .

(F) Since the empty bobbin B gripped by the positioning levers 57 and 58 (gripping device) is directly transferred to the bobbin catcher 18, the removal member 53 and the guide member are not required, and the structure is further simplified.

(G) With the bobbin catcher 18 gripping the empty bobbin B at a predetermined position, the positioning levers 57 and 58 (gripping devices) for negatively gripping the empty bobbin B are moved to the standby position to move the bobbin catcher. The empty bobbin B is delivered to 18. Therefore, the empty bobbin B is reliably delivered to the predetermined position of the bobbin catcher 18, and the delivery of the empty bobbin B to the cradle 6 is performed smoothly.

The present invention is not limited to the above embodiments, and may be embodied as follows, for example. (1) As a determining means for determining the empty bobbin transport direction of the empty bobbin transport conveyor 10 when the doffing machine 4 is stopped at the working position with respect to the winding unit 5, each spinning unit 2 is provided with either side of the machine base 1. In addition to providing a display unit (for example, a lamp or a dog) indicating whether the display unit is located, the doffing machine 4 is provided with a detecting means for detecting the display unit. Then, the control device C2 determines the empty bobbin transport direction based on the detection signal of the detection means.

(2) The doffing machine 4 passes through a position where it enters the traveling rail 3 corresponding to the right side of the machine base 1 and a position where it enters the traveling rail 3 corresponding to the left side of the machine 1. In the same manner as in (1), a display for displaying the left and right of the machine 1 is provided on the machine 1 opposite to the machine 1 when the doffer 4 is used.
Is provided with detection means for detecting the display unit. Then, the control device C2 determines the empty bobbin transport direction based on the detection signal of the detection means. In this case, the number of display units is reduced as compared with (1).

(3) When the empty bobbin B is gripped by the gripping device 40, there is no need to restrict the movement of the empty bobbin B in the longitudinal direction with the pair of positioning levers 57 and 58. Only the positioning lever on the side that restricts the movement of the position may be arranged at the operation position.

(4) In the first embodiment, the second
As in the embodiment, the empty bobbin B may be gripped from both sides. In this case, a pair of support arms 39 are formed by leaf springs, and are provided with small-diameter truncated cone-shaped locking projections projecting from the support arm 39 so as not to interfere with the positioning levers 57 and 58 arranged at the operation position. The empty bobbin B can be locked.

(5) As in the first embodiment, in the configuration in which the positioning member and the gripping device are independent of each other, the positioning member is replaced with a configuration in which the positioning member is rotatably arranged between the standby position and the operating position. Alternatively, the actuator may be configured to be moved and arranged between the standby position and the operation position by a linearly reciprocating actuator such as an air cylinder. In this case, the degree of freedom of the arrangement position is larger than that of the arrangement at the standby position and the operation position due to the rotation.

(6) The positioning levers 57 and 58 may be directly connected to the output shafts of the rotary solenoids 61 and 62 to be rotated. In this case, no gear is required and the structure is simplified.

(7) The structure of the holding device 40 is not limited to the structure shown in the first embodiment. For example, a structure in which a supporting arm and a holding piece (holding portion) are integrally formed by bending a leaf spring may be used. It may be fixed to the rotation shaft 37 so as to be integrally rotatable.
In this case, the structure of the gripping device 40 is simple and the number of parts is reduced. Further, the holding piece 41 of the holding device 40 of the first embodiment may be formed of a plate material instead of a leaf spring.

(8) When the positioning members (positioning levers 57 and 58) and the gripping device are independent from each other as in the first embodiment, the positioning lever 5
The timing for returning the grippers 7 and 58 to the standby position does not necessarily need to coincide with the timing for moving the gripping device 40 from the gripping position to the removal position, and may be before or after the gripping device 40 moves.

(9) Instead of directly transferring the empty bobbin removed from the gripping device 40 to the bobbin catcher 18 via the guide member, the empty bobbin is transferred to the bobbin catcher 18 from a storage section for temporarily storing the empty bobbin. Is also good. In this case, the empty bobbin take-in device 35 can be driven irrespective of the operation of the bobbin catcher 18, and the control thereof is facilitated.

(10) The detected part 5 of the lever 50 fixed to the rotating shaft 37 as means for confirming the position of the gripping device 40
Instead of a configuration in which 0a is detected by both sensors 51 and 52, a rotary encoder that detects the amount of rotation of the motor 47 may be provided, and the drive of the motor 47 may be controlled based on the output signal.

(11) In the second embodiment, the sensors 75 to 75 for detecting the positions of the positioning levers 57 and 58
A rotary encoder is attached to each of the motors 71 and 73 without providing the motor 80, and each motor 7
1, 73 may be drive-controlled.

(12) The fixed gripping piece 2 of the bobbin catcher 18 in which the side wall of the removing member 53 is located at the standby position
It is formed so as to extend to the side of 1a. In this case, the movement of the empty bobbin B after being removed from the gripping device 40 in the longitudinal direction is restricted until the empty bobbin B is disposed on the fixed gripping piece 21a. As a result, the bobbin catcher 1 is securely placed at a predetermined position on the fixed gripping piece 21a and always at the predetermined position.
The cradle 8 is disposed at a position corresponding to the cradle 6.

(13) As a configuration in which the movable gripping piece 21b of the bobbin catcher 18 is rotatably arranged between the gripping position and the release position, a locking piece 28 operated by an actuator 29 and a roller engaged with the locking piece 28 Instead of the lever 23 provided with 23a, a configuration in which the lever 23 is rotated via a cam link mechanism operated in conjunction with the link device 26 may be adopted.

(14) The bobbin is not limited to a straight bobbin, and may be applied to a case where a cone bobbin (taper bobbin) is used. In that case, it is preferable to change the gripping piece 41 to one having a shape corresponding to the shape of the cone bobbin.

(15) A seed yarn bobbin may be supplied as an empty bobbin. (16) The automatic machine is not limited to a doffing machine, and may be applied to a piecing machine that performs a piecing operation after doffing.

(17) The present invention is not limited to the open-end spinning machine, but may be applied to a binding spinning machine, a winder or the like. The inventions other than those described in the claims that can be grasped from the embodiment and the modified examples will be described below together with their effects.

(1) In the first aspect of the present invention,
The first and second driving means are actuators (such as air cylinders) that reciprocate the positioning member on a straight line. In this case, the degree of freedom of the arrangement position is larger than that of the arrangement at the standby position and the operation position due to the rotation.

(2) In the first aspect of the present invention,
The positioning member also serves as a take-in means, and both positioning members are formed by leaf springs, and have locking portions that can enter the inside of the empty bobbin on opposing surfaces, and are rotatably supported by the support shaft. The first and second driving means are configured to be movable to a transfer position where the empty bobbin B is transferred to a mounting device for mounting the empty bobbin B to the winding unit in addition to the operation position and the standby position. In this case, since the positioning member also functions as a capturing unit (gripping device),
Compared to a configuration in which the positioning member and the take-in means are independent, the empty bobbin is more reliably gripped and the structure is simpler.

[0094]

As described above in detail, according to the first to fifth aspects of the present invention, the empty space supplied to the empty bobbin conveying device extending along the winding unit row of the spinning machine is provided. The stop position of the automatic machine for doffing work or the like can be reliably taken into the automatic machine on either side of the spinning machine stand.

According to the second aspect of the present invention, the bobbin on the conveyer extending along the winding unit row is gripped and taken into the automatic machine by the simple configuration and the degree of freedom of the arrangement position is large. The grip can be released at a predetermined position in the machine.

According to the third aspect of the present invention, the empty bobbin is reliably moved to a position corresponding to between the pair of detaching members in a state where the movement in the longitudinal direction is restricted, and the detaching by the detaching member is reliably performed. Will be

According to the fourth aspect of the present invention, since the gripping device grips the empty bobbin substantially at the center in the longitudinal direction, the number of gripping pieces is one and the number of support arms is one, so that the structure is simplified. In addition, it is easy to fix the detaching member, which allows the gripping device to reciprocate and removes the empty bobbin, to the frame.

According to the fifth aspect of the present invention, the judging means judges whether the empty bobbin conveying device is to be conveyed by the empty bobbin conveying device to the left or right with respect to the automatic machine when stopped at the working position. The first and second driving means are controlled according to the judgment of the judging means. Therefore, it becomes easy to control which of the first and second driving means is driven in accordance with the stop position of the automatic machine.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of a first embodiment.

FIG. 2 is a schematic plan view showing a relationship between a spinning machine stand and a doffing machine.

FIG. 3 is a schematic side view showing a relationship between a doffing machine and an empty bobbin transport conveyor.

FIG. 4 is a schematic side view of an empty bobbin capturing device.

FIG. 5 is a partially cutaway rear view of the empty bobbin take-in device;

FIG. 6 is a main part side view showing the relationship between the link device and the bobbin catcher.

FIG. 7 is a front view of the link device.

FIG. 8 is a perspective view of a bobbin catcher.

FIG. 9 is a schematic plan view of the second embodiment.

FIG. 10 is a schematic side view of the same.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Machine stand, 3 ... Running rail, 4 ... Doffing machine as an automatic machine, 5 ... Winding unit, 10 ... Empty bobbin conveyor as an empty bobbin conveyor, 35 ... Empty bobbin take-in device, 39 ... Take-in means , 40 ...
Similarly, a gripping device, 47: a motor as a driving means, 53: a removing member, 57, 58: a positioning lever as a positioning member, 59, 63: a gear constituting the first driving means, 61: a rotary solenoid, 6
0, 64... Gears constituting second driving means, 62 similarly rotary solenoids, 71 first motor constituting first driving means, 73 second motor constituting second driving means , C1... A control device as a judgment means, C2.
Control device as control means, B: empty bobbin, F: full bobbin.

Claims (5)

[Claims] 1. An automatic machine which moves along a rail arranged along a spinning machine, stops at a position corresponding to a winding unit, and mounts a bobbin on the winding unit and the like. An empty bobbin take-in device, which engages with an end of an empty bobbin conveyed by an empty bobbin conveyer device extending along a take-up unit row of a spinning machine and takes in the empty bobbin into an automatic machine. Two positioning members that can be arranged at an operation position for positioning at a position, and a standby position at which the empty bobbin on the empty bobbin transport device cannot be engaged, and the two positioning members are independently moved to the operation position and the standby position, respectively. First and second driving means, and the first and second driving means for selectively moving and arranging one of the two positioning members to an operation position in accordance with the conveying direction of the empty bobbin conveying device. Control An empty bobbin take-in device for an automatic spinning machine, comprising: a control unit for controlling the empty bobbin positioned at the predetermined position; 2. A holding device for holding an empty bobbin on an empty bobbin transporting device, and a support arm provided to support the holding device and to be rotatable in a plane orthogonal to the winding unit row. Driving means for reciprocatingly rotating the support arm so that the gripping device is disposed at a gripping position at which an empty bobbin placed on the empty bobbin transport device can be gripped and at a removal position within an automatic machine; It is arranged on the movement locus of the gripping device between the gripping position and the removal position, and engages with the empty bobbin gripped by the gripping device when the gripping device moves from the gripping position to the removal position side,
The empty bobbin taking-in device for an automatic spinning machine according to claim 1, further comprising a detaching member for removing the empty bobbin from the holding device. 3. The control means, after positioning of the empty bobbin on the empty bobbin conveying device by one of the positioning members moved and arranged at the operation position, moves the other positioning member to the operation position, and thereafter, 3. The automatic spinning machine according to claim 1, wherein the first and second driving units are driven and controlled to move both positioning members to a standby position in synchronization with an empty bobbin taking-in operation of the taking-in unit. 4. Empty bobbin intake device. 4. The gripping device according to claim 1, wherein the automatic bobbin is arranged at a position where the empty bobbin can be gripped at a substantially central portion in a longitudinal direction of the automatic bobbin when the automatic machine is stopped at a work position with respect to the winding unit. The empty bobbin taking-in device of the automatic spinning machine according to claim 2 or 3, wherein the empty bobbin taking-in device is provided. 5. The control means controls the first and second drive means in accordance with a determination made by a determination means for determining an empty bobbin transport direction of the empty bobbin transport device when the automatic machine stops at a work position for the winding unit. The empty bobbin taking-in device for an automatic spinning machine according to claim 1 or 3, which is driven.