JP7767231B2 - Bobbin transport system and bobbin transport method - Google Patents

Description

The present invention relates to bobbin transport in yarn processing machines such as false twisting machines.

Patent Document 1 discloses a package transfer method that is applied to winding machines and the like. With this transfer method, when a package on a creel becomes empty during operation of the winding machine and needs to be replaced with a full package, the package is replaced via a creel loader that holds the full package horizontally.

An empty package can be referred to as an empty bobbin. A full package can be referred to as a full bobbin.

In the configuration of Patent Document 1, a full package is temporarily placed on a package supporter before being hung on a creel. Pegs for hanging the package are provided on both sides of the package supporter. Initially, a full package is hung on one side of the package supporter, and the pegs on the other side are left empty. At this time, the side of the package supporter with the empty pegs is in a position that faces the creel loader.

The creel loader picks up empty packages from the winder's creel, transfers them to the package supporter, and hangs them on pegs that do not have packages. The package supporter then flips over, so that the side with the full package facing the creel loader.

The creel loader transfers the full package from the package supporter to the location on the winder's creel where the empty package was previously picked up. The creel loader then picks up the adjacent empty package from the creel and transports it to the package supporter.

During this time, the empty package is removed from the package supporter and a full package is suspended in its place.

Patent Document 2 discloses a package transport method used in a weft yarn supply system for a loom. In Patent Document 2, a package transport vehicle capable of holding multiple packages supplies the packages to the weft yarn supply system and collects empty tubes.

An empty tube can be synonymous with an empty bobbin. A package can be synonymous with a full bobbin.

The package transport vehicle has multiple chucks. The package transport vehicle receives multiple packages at a receiving station. At this receiving station, packages are gripped in the multiple chucks of the package transport vehicle, but at least one chuck remains empty. The package transport vehicle travels from the receiving station to the weft yarn station. At the weft yarn station, the package transport vehicle grips an empty tube in the chuck without a package and supplies a package in its place.

Japanese Unexamined Patent Publication No. 4-280777 Japanese Patent Application Publication No. 5-319696

In bobbin transport systems used in yarn processing machines such as false twisting machines, there is a demand for improved transport efficiency for empty and full bobbins.

In Patent Document 1, it is unclear how the empty package is handled after it is removed from the package supporter.

In Patent Document 2, when a package transport vehicle receives a package at a receiving station, one chuck must always remain empty of a package, making it difficult to improve transport efficiency.

The present invention was made in consideration of the above circumstances, and its purpose is to improve the overall transport efficiency of both empty and full bobbins.

Means to solve the problem and effects

The problem that this invention aims to solve is as described above. Next, we will explain the means for solving this problem and its effects.

According to a first aspect of the present invention, there is provided a bobbin transport system having the following configuration. That is, the bobbin transport system comprises a stocker, a bobbin transfer robot, a traveling creel cart, and a control device. The stocker has multiple rows of stocker pegs and is capable of storing full and empty bobbins by hanging them on each stocker peg. The bobbin transfer robot removes full bobbins stored in the stocker and attaches them to the creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker. The traveling creel cart has multiple rows of cart pegs and transports full or empty bobbins by hanging them on each cart peg. The control device controls the stocker and the traveling creel cart. The stocker is configured to be able to move full bobbins hung on the cart pegs of the traveling creel cart to the stocker pegs, and to move empty bobbins hung on the stocker pegs to the cart pegs. The number of rows of stocker pegs on one stocker is equal to the number of rows of carriage pegs on one traveling creel carriage plus 1. The control device controls the stocker and the traveling creel carriage to cooperatively perform an exchange operation to exchange empty bobbins in the stocker with full bobbins on the traveling creel carriage by alternately performing a first step and a second step in a state in which one row of stocker pegs is in an empty state and empty bobbins are hung on all of the remaining rows. In the first step, full bobbins hung on one row of carriage pegs on the traveling creel carriage are moved to one row of stocker pegs in an empty state, thereby leaving one row of carriage pegs in an empty state. In the second step, the row of empty bobbins hung on the stocker pegs is moved to the row of cart pegs from which the full bobbins were removed in the first step and which are now empty of bobbins, leaving the row of stocker pegs empty of bobbins. The control device controls the traveling creel cart so that the traveling creel cart transports the full bobbins to the stocker, exchanges them for the empty bobbins in the stocker, and then transports the empty bobbins to a location different from the stocker.

This allows full bobbins hung on the carriage pegs of all rows of the traveling creel cart to be stored in the stocker. Also, empty bobbins in the stocker can be hung on the carriage pegs of all rows of the traveling creel cart that transported the full bobbins and transported to another location. Because transportation can be carried out with full or empty bobbins hung on the carriage pegs of all rows of the traveling creel cart, the entire transport capacity of the traveling creel cart can be effectively utilized. Since the replacement work begins when one row of stocker pegs in the stocker is empty of bobbins, bobbin replacement work between the stocker and the traveling creel cart is carried out smoothly.

The bobbin transport system preferably has the following configuration: the number of stocker pegs in one stocker is equal to the number of cart pegs in one traveling creel cart. The control device controls the stocker and the traveling creel cart so that, during the replacement operation, all empty bobbins in the stocker are replaced with all full bobbins in the traveling creel cart.

This will further improve transport efficiency.

The bobbin transport system preferably has the following configuration: The traveling creel cart transports full bobbins from the installation position of the take-up winder, which winds yarn onto empty bobbins to form full bobbins, to the installation position of the stocker. The traveling creel cart transports the empty bobbins picked up during the replacement operation from the installation position of the stocker to the installation position of the take-up winder.

This makes it possible to realize an automatic recycling system for empty bobbins.

The bobbin transport system preferably has the following configuration: The stocker pegs are capable of circulating along a looped path. The row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes as the stocker pegs circulate.

This allows the row of stocker pegs used to transfer bobbins to be switched over quickly.

In the bobbin transport system, it is preferable that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed.

This means that the exchange work between the traveling creel cart and the stocker will not be interrupted, and the downtime of the traveling creel cart can be reduced.

According to a second aspect of the present invention, the following bobbin transport method is provided. That is, this bobbin transport method is applied to a system including a stocker, a bobbin transfer robot, and a traveling creel cart. The stocker has multiple rows of stocker pegs, and is capable of storing full and empty bobbins by hanging them on each stocker peg. The bobbin transfer robot removes full bobbins stored in the stocker and attaches them to the creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker. The traveling creel cart has multiple rows of cart pegs, and transports full or empty bobbins by hanging them on each cart peg. The stocker is configured to be able to move full bobbins hung on the cart pegs of the traveling creel cart to the stocker pegs, and to move empty bobbins hung on the stocker pegs to the cart pegs. The number of rows of stocker pegs on one stocker is equal to the number of rows of carriage pegs on one traveling creel carriage plus one. In the bobbin transport method, when one row of stocker pegs is empty and empty bobbins are hung on all of the remaining rows, a first step and a second step are alternately performed to exchange the empty bobbins on the stocker for full bobbins on the traveling creel carriage. In the first step, full bobbins hung on one row of carriage pegs on the traveling creel carriage are moved to one row of stocker pegs that is empty of bobbins, thereby leaving one row of carriage pegs empty of bobbins. In the second step, one row of empty bobbins hung on the stocker pegs are moved to one row of carriage pegs from which full bobbins were removed in the first step and are now empty of bobbins, thereby leaving one row of stocker pegs empty of bobbins. The traveling creel cart transports the full bobbin to the stocker, exchanges it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker.

1 is a perspective view showing the overall configuration of a bobbin transport system according to an embodiment of the present invention; FIG. 2 is an enlarged perspective view showing the configuration of the vicinity of the stocker. FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the first row of carriage pegs of the traveling creel carriage to the stocker pegs. FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of the stocker to a carriage peg in the first row. FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the second row of carriage pegs of the traveling creel carriage to the stocker pegs. FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of the stocker to a carriage peg in the second row. FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the third row of carriage pegs of the traveling creel carriage to the stocker pegs. FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of the stocker to a carriage peg in the third row. FIG. 10 is a schematic plan view showing the operation of transferring a full bobbin from a stocker peg of the stocker to a creel robot. FIG. 10 is a schematic plan view showing the operation of the creel robot removing an empty bobbin from the creel of the draw texturing machine. FIG. 10 is a schematic plan view showing the operation of a creel robot setting a full bobbin on the creel of a draw texturing machine. FIG. 10 is a schematic plan view showing the operation of transferring an empty bobbin from the creel robot to a stocker peg of the stocker.

Next, an embodiment of the present invention will be described with reference to the drawings. Figure 1 is a perspective view showing the overall configuration of a bobbin transport system 1 according to one embodiment of the present invention. Figure 2 is an enlarged perspective view showing the configuration around the stocker 20.

The bobbin transport system 1 shown in Figure 1 transports full bobbins from the take-up winder 60 to the draw twisting machine 70.

The draw false twisting machine 70 is a type of false twisting machine, and a type of yarn processing machine. Other types of yarn processing machines include air processing machines. The draw false twisting machine 70 can produce a draw false twist textured yarn called DTY by drawing and false twisting a semi-drawn yarn (partially oriented yarn) called POY, which is a type of yarn. POY is an abbreviation for Partially Oriented Yarn. DTY is an abbreviation for Draw Textured Yarn. The draw false twisting machine 70 has multiple processing positions for drawing and false twisting.

A full bobbin 5 is formed by winding a predetermined length of POY around a core tube. POY is produced in the spinning device of the take-up winder 60, and then the POY is wound around a core tube in the winding device of the take-up winder 60, thereby forming the full bobbin 5.

The full bobbin 5 is set on a creel 71 provided in the draw texturing machine 70. The creel 71 has multiple rows and columns of pegs 72. The full bobbin 5 is hung on the pegs 72, and the yarn is unwound from the full bobbin 5 toward the processing position.

The bobbin transport system 1 comprises a traveling creel cart 10, a stocker 20, a creel robot (transfer robot) 30, and a transport control computer (control device) 40.

The traveling creel cart 10 comprises a running section 11 and a carrier 12.

The running section 11 is arranged to be able to run along a rail 15 installed on the ceiling. The rail 15 is positioned to connect the installation position of the take-up winder 60 and the installation position of the stocker 20.

The carrier 12 is arranged so as to be suspended from the running section 11. The carrier 12 is configured in a frame shape. A plurality of carriage pegs 13 are fixed to the side of the carrier 12. A full bobbin 5 or an empty bobbin 6 can be hung on each carriage peg 13. On the carrier 12, the carriage pegs 13 are arranged in a matrix of three rows horizontally and four rows vertically.

As shown in Figure 2, each carriage peg 13 is composed of two rod-shaped members arranged at an appropriate interval in the horizontal direction. After inserting a rod member into the core tube of a bobbin hung on a carriage peg 13, the rod member can be raised between the rod-shaped members to hang the bobbin on the rod member. Also, with two rod-shaped members inserted into the core tube of a bobbin hung on a rod member, the rod member can be lowered between the rod-shaped members to hang the bobbin on the carriage peg 13. The stocker peg 26 and peg 72 of the creel 71, which will be described later, are also composed of two rod-shaped members, just like the carriage peg 13.

As shown by the dotted line in Figure 1, the traveling creel cart 10 stops at a first stop position S1 near the take-up winder 60. Full bobbins 5 are supplied from the take-up winder 60 to the traveling creel cart 10 stopped at first stop position S1. The number of full bobbins 5 supplied is 3 x 4 = 12. The traveling creel cart 10 loaded with full bobbins 5 travels toward the stocker 20. The traveling creel cart 10 stops at a second stop position S2 near the stocker 20. At second stop position S2, the traveling creel cart 10 supplies 12 full bobbins 5 to the stocker 20.

The traveling creel cart 10 unloads 12 full bobbins 5 and transports them to the stocker 20, while simultaneously transporting 12 empty bobbins 6 from the stocker 20. The traveling creel cart 10 loaded with empty bobbins 6 travels toward the take-up winder 60. The traveling creel cart 10 stops at the first stop position S1. The traveling creel cart 10 unloads 12 empty bobbins 6 and transports them to the take-up winder 60, and simultaneously transports 12 full bobbins 5 from the take-up winder 60. The traveling creel cart 10 loaded with full bobbins 5 travels toward the stocker 20. The traveling creel cart 10 stops again at the first stop position S1. The above operations are repeated.

As shown in Figure 2, the stocker 20 has four traveling units 21 and a transfer rod 22. Each traveling unit 21 has a traveling section 23 and a peg frame 24.

The running section 23 is arranged so that it can run along the rails 25. The rails 25 are arranged so that they form an oval shape in a plan view. The four running units 21 are arranged so that they divide the loop-shaped path defined by the rails 25 into four equal parts.

The peg frame 24 is formed as a vertically elongated rod. Multiple stocker pegs 26 are fixed to the peg frame 24. A full bobbin 5 or an empty bobbin 6 can be hung on each stocker peg 26. In each peg frame 24, four stocker pegs 26 are arranged vertically. Since there are four traveling units 21, the stocker 20 has 4 x 4 = 16 stocker pegs 26.

In plan view, the stocker peg 26 is positioned so that it protrudes outward from the loop-shaped rail 25. As the traveling unit 21 travels along the rail 25, the orientation of the stocker peg 26 changes. This allows the orientation of the full bobbin 5 or empty bobbin 6 hung on the stocker peg 26 to be changed.

The four traveling units 21 are fixed to an endless driving member (not shown). This driving member can be configured as, for example, a chain or belt. The driving member is arranged substantially parallel to the rail 25. By driving this driving member with an actuator (not shown), the four traveling units 21 can be caused to travel simultaneously along the rail 25.

The transfer rod 22 is positioned to correspond to a predetermined position of the traveling unit 21. This predetermined position is the position where the stocker peg 26 transfers the bobbin to and from the carriage peg 13 of the traveling creel carriage 10 stopped near the stocker 20. Hereinafter, the position of the stocker peg 26 when the traveling unit 21 is in this position may be referred to as the first transfer position P1. The stocker peg 26 at the first transfer position P1 faces the carriage peg 13 of the traveling creel carriage 10 stopped at the second stop position S2. The carriage pegs 13 are arranged in three rows on the traveling creel carriage 10, but which row of carriage pegs 13 faces the stocker peg 26 at the first transfer position P1 can be changed by adjusting the stopping position of the traveling creel carriage 10.

The transfer rod 22 is a rod-shaped member arranged generally horizontally. Four transfer rods 22 are arranged vertically in correspondence with the stocker pegs 26. Four through holes 27 are formed in the peg frame 24 in correspondence with the stocker pegs 26. The transfer rod 22 can move toward or away from the traveling creel cart 10 stopped at the second stop position S2. When the transfer rod 22 moves toward the traveling creel cart 10, the transfer rod 22 passes through the through holes 27 and protrudes toward the traveling creel cart 10.

The four transfer rods 22 are fixed to a common base member 28 that is elongated in the vertical direction. The base member 28 is fixed to the frame of the stocker 20 via a guide mechanism (not shown). The guide mechanism guides the movement direction of the base member 28.

Although not shown, the stocker 20 is equipped with actuators for driving the base member 28 horizontally and vertically. When the transfer rod 22 moves upward between the two rod-shaped members of the carriage peg 13, the full bobbin 5 hung on the carriage peg 13 can be lifted by the transfer rod 22. When the transfer rod 22 moves upward between the two rod-shaped members of the stocker peg 26, the empty bobbin 6 hung on the stocker peg 26 can be lifted by the transfer rod 22. When the transfer rod 22 moves downward, the lifted state is released.

The transfer rod 22 moves longitudinally while lifting the bobbin, allowing the bobbin to be transferred between the carriage peg 13 and the stocker peg 26.

Let's consider a case where the stocker peg 26 at the first transfer position P1 faces the carriage peg 13, the stocker peg 26 has no bobbin, and a full bobbin 5 is hung on the carriage peg 13. The transfer rod 22 lifts the full bobbin 5 hung on the carriage peg 13, pulls it toward the stocker peg 26, and then releases the lift. This allows the full bobbin 5 to be moved from the carriage peg 13 to the stocker peg 26.

Let's consider a situation where the stocker peg 26 and the carriage peg 13 at the first transfer position P1 are facing each other, an empty bobbin is hung on the stocker peg 26, and the carriage peg 13 is empty. The transfer rod 22 lifts the empty bobbin 6 hung on the stocker peg 26, pushes it toward the carriage peg 13, and then releases the lift. This allows the empty bobbin 6 to be moved from the stocker peg 26 to the carriage peg 13.

The four transfer rods 22 move simultaneously along with the base member 28. Therefore, full bobbins 5 or empty bobbins 6 are transferred simultaneously across four stages.

The creel robot 30 comprises a work head 31, a full bobbin transport rod 32, and an empty bobbin transport rod 33.

The work head 31 is movable in a direction parallel to the direction in which the multiple pegs 72 are horizontally arranged on the creel 71. By moving in the above direction, the work head 31 can move between the stocker 20 and the creel 71. In addition, the work head 31 can move in the vertical direction. The configuration for moving the work head 31 in this manner can be achieved by combining a known XY drive mechanism and actuator.

The full bobbin transport rod 32 and empty bobbin transport rod 33 are located below the work head 31. Both the full bobbin transport rod 32 and empty bobbin transport rod 33 are formed in the shape of a long, thin rod. In a plan view, the longitudinal directions of the full bobbin transport rod 32 and empty bobbin transport rod 33 differ by 90°. The work head 31 is equipped with a rotation actuator (not shown), which can rotate the full bobbin transport rod 32 and empty bobbin transport rod 33 around a vertical axis.

Although not shown, the work head 31 is equipped with actuators for driving the full bobbin transport rod 32 horizontally and vertically. When the full bobbin transport rod 32 moves upward between the two rod-shaped members of the stocker peg 26, the full bobbin 5 hanging on the stocker peg 26 can be lifted by the full bobbin transport rod 32. The full bobbin transport rod 32 can move in its longitudinal direction and can also rotate together with the work head 31. When the full bobbin transport rod 32 moves downward between the two rod-shaped members of the peg 72 (described below) provided on the creel 71, the lifted state of the full bobbin 5 is released.

Similarly, the work head 31 is equipped with actuators for driving the empty bobbin transport rod 33 horizontally and vertically. When the empty bobbin transport rod 33 moves upward between the two rod-shaped members of the peg 72 (described below), the empty bobbin 6 hanging on the peg 72 can be lifted by the empty bobbin transport rod 33. The empty bobbin transport rod 33 can move in its longitudinal direction and can also rotate together with the work head 31. When the empty bobbin transport rod 33 moves downward between the two rod-shaped members of the stocker peg 26, the lifted state of the empty bobbin 6 is released.

When an empty bobbin 6 is detected on one of the pegs 72 of the creel 71, the creel robot 30 moves the work head 31 to a position corresponding to a predetermined position of the traveling unit 21 provided in the stocker 20. This predetermined position is the position where the stocker peg 26 transfers the bobbin to the full bobbin transport rod 32 or empty bobbin transport rod 33 of the work head 31, which is stationary near the stocker 20. Hereinafter, the position of the stocker peg 26 when the traveling unit 21 is in this position may be referred to as the second transfer position P2.

As will be described in more detail below, the creel robot 30 can use the full bobbin transport rod 32 and the empty bobbin transport rod 33 to exchange a full bobbin 5 hung on the stocker peg 26 at the second transfer position P2 with an empty bobbin 6 generated on the creel 71.

Next, the full bobbin 5 and empty bobbin 6 exchange operation performed between the traveling creel cart 10 and the stocker 20 will be described in detail. Figures 3 to 12 sequentially show the operations of the traveling creel cart 10, stocker 20, and creel robot 30. The following control is achieved by the transport control computer 40 shown in Figure 1 and other figures, and the computers (not shown) provided in each of the traveling creel cart 10, stocker 20, and creel robot 30. The transport control computer 40 performs integrated control of the computers provided in each of the traveling creel cart 10, stocker 20, and creel robot 30.

As described above, the stocker 20 has four rows of stocker pegs 26. As shown in FIG. 3, empty bobbins 6 are hung on three of the four rows of stocker pegs 26, while the remaining row has no bobbins. The stocker 20 waits for the arrival of the traveling creel cart 10 with the row of stocker pegs 26 with no bobbins at the first transfer position P1.

As shown in FIG. 3, the traveling creel cart 10 loaded with full bobbins 5 stops at the second stop position S2. At this time, the row of cart pegs 13 corresponding to the row at the front of the traveling creel cart 10 in the traveling direction faces the stocker pegs 26 without bobbins at the first transfer position P1. In this state, the stocker 20 operates the transfer rod 22. The transfer rod 22 lifts the full bobbins 5 hanging from the cart pegs 13, moves them to the stocker pegs 26, and lowers them. Four rows of full bobbins 5 are moved simultaneously. The stocker 20 then moves the four traveling units 21 one pitch along the rails 25. In the stocker 20, a pitch refers to the spacing between multiple traveling units 21 along the travel path.

As a result, the stocker peg 26 with the full bobbin 5 hanging on it moves from the first transfer position P1 to another location, and instead, the stocker peg 26 in the other location reaches the first transfer position P1 while holding the empty bobbin 6. The stocker peg 26 that has moved to the first transfer position P1 faces the cart peg 13 from which the full bobbin 5 was previously removed. This state is shown in Figure 4.

The stocker 20 operates the transfer rod 22 to move the empty bobbin 6 that was hanging on the stocker peg 26 to the carriage peg 13, as shown in Figure 4. The traveling creel carriage 10 then moves forward one pitch of the row of carriage pegs 13 and stops. This causes the row of carriage pegs 13 facing the stocker peg 26 at the first transfer position P1 to shift one row backward.

The operations shown in Figures 5 and 7 are similar to those described in Figure 3, and therefore their explanations are omitted. The operations shown in Figures 6 and 8 are similar to those described in Figure 4, and therefore their explanations are omitted.

In this manner, in this embodiment, the following operations are alternately repeated for three rows: [A] moving full bobbins 5 from one row of carriage pegs 13 to stocker pegs 26 with no bobbins, and [B] moving empty bobbins 6 from one row of stocker pegs 26 to carriage pegs 13 with no bobbins.

This allows three rows (12 bobbins) of full bobbins 5 on the traveling creel cart 10 to be exchanged for three rows (12 empty bobbins 6) in the stocker 20. As shown in Figure 8, the traveling creel cart 10 loaded with 12 empty bobbins 6 moves from the second stop position S2 to the first stop position S1. This allows the empty bobbins 6 to be automatically returned to the take-up winder 60 for reuse.

While the bobbin replacement for one row is repeated three times, the creel robot 30 waits without removing full bobbins 5 from the stocker 20 to avoid interrupting the bobbin replacement operation between the traveling creel cart 10 and the stocker 20. This allows for quick bobbin replacement between the traveling creel cart 10 and the stocker 20. The creel robot 30 waits without performing any particular operation. After all empty bobbins 6 in the stocker 20 have been replaced with full bobbins 5, the creel robot 30 retrieves the empty bobbins 6 and supplies full bobbins 5 based on a request from the draw false twisting machine 70.

Specifically, the creel robot 30 moves the working head 31 to a position corresponding to one of the four stocker pegs 26 at the second transfer position P2. The creel robot 30 also rotates the lower part of the working head 31 so that the full bobbin transport rod 32 faces the target stocker peg 26, as shown in Figure 9. The creel robot 30 then operates the full bobbin transport rod 32 and inserts it into the core tube of the full bobbin 5 hung on the stocker peg 26. The full bobbin transport rod 32 then rises slightly to lift the full bobbin 5, and then moves away from the stocker peg 26.

Then, the creel robot 30 moves the work head 31 to a position on the creel 71 corresponding to the peg 72 on which the empty bobbin 6 has occurred. In parallel with the movement of the work head 31, the creel robot 30 rotates the lower part of the work head 31 so that the empty bobbin transport rod 33 faces the creel 71.

After the work head 31 arrives at the target position, as shown in Figure 10, the creel robot 30 operates the empty bobbin transport rod 33 and inserts it into the core tube of the empty bobbin 6 hung on the peg 72. At this time, the orientation of the tip of the peg 72 of the creel 71 is temporarily changed so that it faces the empty bobbin transport rod 33. The orientation of the peg 72 can be changed, for example, by providing the work head 31 with a rotating mechanism (not shown) that rotates the peg 72. Next, the empty bobbin transport rod 33 rises slightly to lift the empty bobbin 6, and then moves away from the peg 72.

The creel robot 30 rotates the lower part of the work head 31 so that the full bobbin transport rod 32 faces the peg 72. Next, as shown in Figure 11, the creel robot 30 operates the full bobbin transport rod 32, moving it above the peg 72 and approaching the base of the peg 72. As a result, the peg 72 is inserted into the core tube of the full bobbin 5, which moves along with the full bobbin transport rod 32. The full bobbin transport rod 32 then descends slightly, and the lifted state is released. This allows the full bobbin 5 to be hung on the peg 72. The peg 72 is then returned to its original orientation.

Next, the creel robot 30 moves the working head 31 to a position at the second transfer position P2 corresponding to the stocker peg 26 from which the full bobbin 5 was removed. In parallel with the movement of the working head 31, the creel robot 30 rotates the lower part of the working head 31 so that the empty bobbin transport rod 33 faces the stocker 20.

After the work head 31 arrives at the target position, the creel robot 30 operates the empty bobbin transport rod 33 as shown in Figure 12, moving it above the stocker peg 26 and approaching the base of the stocker peg 26. As a result, the stocker peg 26 is inserted into the core tube of the empty bobbin 6 that is moving along with the empty bobbin transport rod 33. The empty bobbin transport rod 33 then descends slightly, releasing the lifted state. This allows the empty bobbin 6 to be hung on the stocker peg 26. The creel robot 30 then waits for a new request from the draw false twisting machine 70.

The creel robot 30 supplies full bobbins 5 to the creel 71 and collects empty bobbins 6 in response to requests from the draw twisting machine 70 until all 12 full bobbins 5 stored in the stocker 20 have been replaced with empty bobbins 6. Unlike the transfer rod 22 of the stocker 20, which simultaneously replaces four rows of bobbins, the creel robot 30 replaces bobbins one row at a time. When all full bobbins 5 hung on the four stocker pegs 26 at the second transfer position P2 have been used, the stocker 20 is driven. This allows the traveling unit 21, with full bobbins 5 hung on the stocker pegs 26, to move from another location to the second transfer position P2. When all full bobbins 5 stored in the stocker 20 are used up, the stocker 20 outputs a stock request signal and waits for the traveling creel cart 10 loaded with full bobbins 5 to arrive at the second stop position S2. When the traveling creel cart 10 arrives, the state returns to that shown in Figure 3 and the above process is repeated.

As described above, the bobbin transport system 1 of this embodiment includes a stocker 20, a creel robot 30, a traveling creel cart 10, and a transport control computer 40. The stocker 20 includes multiple rows of stocker pegs 26, and is capable of storing full bobbins 5 and empty bobbins 6 by hanging them on each stocker peg 26. The creel robot 30 removes full bobbins 5 stored in the stocker 20 and attaches them to the creel 71 of the draw texturing machine 70, and removes empty bobbins 6 from the creel 71 and stores them in the stocker 20. The traveling creel cart 10 includes multiple rows of cart pegs 13, and transports full bobbins 5 or empty bobbins 6 by hanging them on each cart peg 13. The transport control computer 40 controls the stocker 20 and the traveling creel cart 10. The stocker 20 is configured to be able to move full bobbins 5 hung on the carriage pegs 13 of the traveling creel cart 10 to the stocker pegs 26, and to move empty bobbins 6 hung on the stocker pegs 26 to the carriage pegs 13. The number of rows of stocker pegs 26 provided in one stocker 20 is equal to the number of rows of carriage pegs 13 provided in one traveling creel cart 10 plus one. The transport control computer 40 controls the stocker 20 and the traveling creel cart 10 so that the stocker 20 and the traveling creel cart 10 cooperate to perform an exchange operation of exchanging empty bobbins 6 in the stocker 20 for full bobbins 5 on the traveling creel cart 10 by alternately performing a first step and a second step in a state in which one row of the stocker pegs 26 is in a state where there are no bobbins and empty bobbins 6 are hung on all of the remaining rows. In the first step (FIGS. 3, 5, and 7), the full bobbins 5 hung on one row of carriage pegs 13 on the traveling creel carriage 10 are moved to one row of stocker pegs 26 that are currently empty, leaving that row of carriage pegs 13 empty of bobbins. In the second step (FIGS. 4, 6, and 8), the row of empty bobbins 6 hung on the stocker pegs 26 are moved to one row of carriage pegs 13 from which the full bobbins 5 were removed in the first step and are now empty of bobbins, leaving that row of stocker pegs 26 empty of bobbins. The transport control computer 40 controls the traveling creel carriage 10 so that the traveling creel carriage 10 transports the full bobbins 5 to the stocker 20 to exchange them for empty bobbins 6 in the stocker 20, and then transports the empty bobbins 6 to a location different from the stocker 20.

This allows full bobbins 5 hung on the carriage pegs 13 of all rows of the traveling creel cart 10 to be stored in the stocker 20. Furthermore, empty bobbins 6 in the stocker 20 can be hung on the carriage pegs 13 of all rows of the traveling creel cart 10 that transported the full bobbins 5 and transported to another location. Because transportation can be performed with full bobbins 5 or empty bobbins 6 hung on the carriage pegs 13 of all rows of the traveling creel cart 10, the entire transport capacity of the traveling creel cart 10 can be effectively utilized. Since the replacement operation begins when one row of stocker pegs 26 in the stocker 20 is empty of bobbins, bobbin replacement operation between the stocker 20 and the traveling creel cart 10 is carried out smoothly.

In the bobbin transport system 1 of this embodiment, the number of stocker pegs 26 provided in one stocker 20 is equal to the number of carriage pegs 13 provided in one traveling creel carriage 10. The transport control computer 40 controls the stocker 20 and the traveling creel carriage 10 so that, during replacement work, all empty bobbins 6 in the stocker 20 are replaced with all full bobbins 5 on the traveling creel carriage 10.

This will further improve transport efficiency.

In the bobbin transport system 1 of this embodiment, the traveling creel cart 10 transports full bobbins 5 from the installation position of the take-up winder 60, which winds yarn onto empty bobbins 6 to form full bobbins 5, to the installation position of the stocker 20. The traveling creel cart 10 transports empty bobbins 6 that have been removed for replacement work from the installation position of the stocker 20 back to the installation position of the take-up winder 60.

This makes it possible to realize an automatic recycling system for empty bobbins 6.

In the bobbin transport system 1 of this embodiment, the stocker pegs 26 can move in a circular motion along a loop-shaped path defined by the rails 25. The row of stocker pegs 26 that delivers full bobbins 5 or empty bobbins 6 to the carriage pegs 13 changes as a result of the circular motion.

This allows the row of stocker pegs 26 used to transfer bobbins to be switched in a short amount of time.

In the bobbin transport system 1 of this embodiment, while the bobbin exchange operation is being performed between the traveling creel cart 10 and the stocker 20, the creel robot 30 waits without removing the full bobbin 5 from the stocker 20.

This prevents bobbin replacement work between the traveling creel cart 10 and the stocker 20 from being interrupted, reducing the downtime of the traveling creel cart 10.

The above describes a preferred embodiment of the present invention, but the above configuration can be modified, for example, as follows. Each modification may be made alone, or multiple modifications may be made in any combination.

Each stocker peg 26 is made up of two rod-shaped members arranged in parallel. Alternatively, the stocker peg 26 can be made up of a single rod-shaped member. The same applies to the bogie pegs 13 and pegs 72.

The number of rows of carriage pegs 13 in the traveling creel carriage 10 is not limited to three and can be two or four or more. The number of rows of stocker pegs 26 in the stocker 20 is not limited to four and can be three or five or more. The number of rows of carriage pegs 13 and the number of rows of stocker pegs 26 can also be changed. The number of rows of carriage pegs 13 and the number of rows of stocker pegs 26 can also be only one.

In the stocker 20, the traveling unit 21 may be configured to travel along a non-loop path.

The rails 15 of the traveling creel carriage 10 may be configured in a non-loop shape.

The number of stages of the stocker pegs 26 is not limited to being equal to the number of stages of the carriage pegs 13. For example, the number of stages of the carriage pegs 13 may be four and the number of stages of the stocker pegs 26 may be two. In this case, one traveling creel carriage 10 will supply full bobbins 5 to two stockers 20.

The traveling creel cart 10 can also transport empty bobbins retrieved from the stocker 20 during replacement work to a location other than the take-up winder 60 (for example, a location where empty bobbins 6 are disposed of).

1 Bobbin transport system 5 Full bobbin 6 Empty bobbin 10 Traveling creel cart 13 Cart peg 20 Stocker 26 Stocker peg 30 Creel robot (bobbin transfer robot)
40 Transport control computer (control device)
60 Spinning winder 70 Draw twisting machine 71 Creel

Claims (10)

a stocker having a plurality of rows of stocker pegs, each of which can store full bobbins and empty bobbins by hanging them on the stocker pegs;
a bobbin transfer robot that takes out full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker;
a traveling creel carriage having a plurality of rows of carriage pegs, which transports a full bobbin or an empty bobbin by hanging it on each carriage peg;
a control device for controlling the stocker and the traveling creel carriage;
Equipped with
the stocker is configured to be able to move a full bobbin hung on the carriage peg of the traveling creel carriage to the stocker peg, and to move an empty bobbin hung on the stocker peg to the carriage peg,
the number of rows of stocker pegs provided in one stocker is equal to the number of rows of carriage pegs provided in one traveling creel carriage plus one,
The control device
In a state where one row of the stocker pegs has no bobbins and empty bobbins are hung on all of the remaining rows,
a first step of moving full bobbins hung on one row of carriage pegs of the traveling creel carriage to one row of the stocker pegs that is in a bobbin-free state, thereby leaving one row of the carriage pegs in a bobbin-free state;
a second step of moving the row of empty bobbins hung on the stocker pegs to the row of carriage pegs from which the full bobbins have been removed in the first step and which are now in a bobbin-free state, thereby leaving the row of stocker pegs in a bobbin-free state;
and controlling the stocker and the traveling creel cart so that the stocker and the traveling creel cart cooperate to perform an exchange operation of exchanging an empty bobbin in the stocker with a full bobbin on the traveling creel cart by alternately performing the above operations.
A bobbin transport system characterized by controlling the traveling creel cart so that the traveling creel cart transports a full bobbin to the stocker, exchanges it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker. 2. The bobbin transport system according to claim 1,
the number of stages of the stocker pegs provided in one of the stockers is equal to the number of stages of the carriage pegs provided in one of the traveling creel carriages;
a control device for controlling the stocker and the traveling creel cart so that, during the replacement operation, all empty bobbins in the stocker are replaced with all full bobbins on the traveling creel cart; 3. The bobbin transport system according to claim 1,
the traveling creel carriage transports the full bobbin from an installation position of a take-up winder that winds yarn onto an empty bobbin to form a full bobbin to an installation position of the stocker;
The bobbin transport system is characterized in that the traveling creel cart transports the empty bobbins taken over during the replacement work from an installation position of the stocker to an installation position of the take-up winder. 3. The bobbin transport system according to claim 1,
The stocker peg is circulatively movable along a looped path;
A bobbin transport system characterized in that the row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes by circular movement. 4. The bobbin transport system according to claim 3,
The stocker peg is circulatively movable along a looped path;
A bobbin transport system characterized in that the row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes by circular movement. 3. The bobbin transport system according to claim 1,
the control device is configured to control the bobbin transfer robot;
a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed; 4. The bobbin transport system according to claim 3,
the control device is configured to control the bobbin transfer robot;
a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed; 5. The bobbin transport system according to claim 4,
the control device is configured to control the bobbin transfer robot;
a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed; 6. The bobbin transport system according to claim 5,
the control device is configured to control the bobbin transfer robot;
a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed; a stocker having a plurality of rows of stocker pegs, each of which can store full bobbins and empty bobbins by hanging them on the stocker pegs;
a bobbin transfer robot that takes out full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker;
a traveling creel carriage having a plurality of rows of carriage pegs, which transports a full bobbin or an empty bobbin by hanging it on each carriage peg;
Equipped with
a bobbin transport method in a system in which the stocker is configured to be able to move a full bobbin hung on the carriage peg of the traveling creel carriage to the stocker peg and to move an empty bobbin hung on the stocker peg to the carriage peg,
the number of rows of stocker pegs provided in one stocker is equal to the number of rows of carriage pegs provided in one traveling creel carriage plus one,
In a state where one row of the stocker pegs has no bobbins and empty bobbins are hung on all of the remaining rows,
a first step of moving full bobbins hung on one row of carriage pegs of the traveling creel carriage to one row of the stocker pegs that is in a bobbin-free state, thereby leaving one row of the carriage pegs in a bobbin-free state;
a second step of moving the row of empty bobbins hung on the stocker pegs to the row of carriage pegs from which the full bobbins have been removed in the first step and which are now in a bobbin-free state, thereby leaving the row of stocker pegs in a bobbin-free state;
By alternately performing the above steps, an exchange operation is performed in which an empty bobbin in the stocker is exchanged with a full bobbin in the traveling creel carriage,
The bobbin transport method is characterized in that the traveling creel cart transports a full bobbin to the stocker to exchange it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker.