JPH0248655B2 - TAMAAGEISAIKI - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a textile machine equipped with a plurality of spindles, such as a twisting machine, by pulling out a yarn package attached to each spindle, This invention relates to a doffing transfer machine used for transferring a yarn package to a predetermined position. More specifically, there is a yarn package gripping mechanism in which the upper part of the yarn package attached to each spindle of a stretching and twisting machine is made detachable, and the yarn package gripping mechanism is reciprocated between a yarn package gripping position and a yarn package release position. The thread package gripping mechanism includes a moving mechanism for moving the yarn package;
The present invention relates to a doffing transfer machine that is movable along the machine base of the stretching and twisting machine.

[Conventional technology]

In recent years, as the weight of yarn packages such as pirn has increased in doffing work in the fiber or yarn manufacturing process, manual doffing work has reached its limit. Therefore, it has become an essential requirement in the fiber or yarn manufacturing process to fully automate the pulling and conveying of yarn package from a yarn package forming machine such as a yarn package drawing and twisting machine, not just for the purpose of labor saving. There is. On the other hand, in the textile industry as a whole, it is no longer possible to expect a large increase in volume, and it is necessary to make cost competitiveness by effectively utilizing existing manufacturing equipment and rationalizing through thorough automation. By the way, in the existing fiber or yarn manufacturing process, the yarn packages wound up by a stretching and twisting machine are generally stored together in one trolley for post-processing in the next step. Or, it is a system that transports it to the inspection and packaging process. Therefore, without making major modifications to existing stretching and twisting machines, it is necessary to develop an automatic doffing and transfer machine that runs on the front of the machine, sequentially grasps the upper part of the pirn on the spindle, and stores it in the pegs on the pull-out trolley. The most important issue for achieving automation in a fiber or yarn manufacturing factory is how to place it in a narrow space between two stretching and twisting machines and operate it efficiently.

In the conventionally known automatic doffing and transfer method, the automatic doffing and transfer machine is run sequentially in front of a machine such as a stretching machine, and the thread packages are extracted and loaded one by one into the automatic doffing and transfer machine, and the operation is completed. Then, the yarn package is delivered by traveling to a delivery station, or a tray with pegs arranged in parallel with the spindles of the threading/twisting machine at an equal pitch is placed in front of the machine such as a rolling/twisting machine. A method of transferring a yarn package onto a peg (see, for example, Japanese Patent Publication No. 57-373) is used.

In the former method of the conventionally known automatic doffing and transfer method, it is necessary to provide a space in the automatic doffing and transfer machine to accommodate the taken-in yarn package, and for this purpose, the width of the automatic doffing and transfer machine itself ( The width (in the direction of the spacing between the twisting machines) has to be widened, and a problem arises in that it cannot be operated in the space between the stretching machines, which is currently 2 m wide at most and 1 m or less at the narrowest.

On the other hand, in the case of the latter method, in which the yarn packages doffed from the spindle are stored in trays, a major equipment modification is required in which the trays are arranged in front of each machine such as a stretching and twisting machine. If a method of transporting the trays is adopted as the transport method, it would be necessary to install a tray transport line within the factory, which is a very difficult equipment modification. Therefore, there arises a problem in that it is necessary to transfer the yarn package that has been dopped once again to the end of a machine such as a stretching and twisting machine, and then to another conveying means, such as a yarn package cart. In this way, in the latter method, it is necessary to install a tray for each machine such as a stretching machine, or to install a transfer device to a conveyance means such as a special trolley at the end of each machine. It is also necessary to install conveyance means such as a belt conveyor, and it is virtually impossible to carry out such a major equipment modification to an existing factory both economically and in terms of space.

[Problem that the invention seeks to solve]

The present invention solves the above-mentioned problems of the conventionally known automatic doffing and transfer method, and can be carried out even when the spacing between machines such as stretching machines is narrow. An object of the present invention is to provide an automatic doffing and transfer machine suitable for carrying out an automatic doffing method that does not require modification of a factory in which a twisting machine or the like is installed.

[Means for solving problems]

The object of the present invention is to provide a yarn package gripping mechanism that can detachably grip the upper part of a yarn package attached to each spindle of a textile machine such as a twisting machine equipped with a plurality of spindles, and a yarn package gripping mechanism that can detachably grip the upper part of a yarn package attached to each spindle. In the doffing transfer machine movable in the longitudinal direction of the textile machine, the doffing transfer machine includes a yarn package gripping mechanism moving mechanism that reciprocates between a yarn package gripping position and a yarn package releasing position, and the yarn package gripping mechanism moving mechanism is movable in the longitudinal direction of the textile machine. An arm having one end connected to a yarn package gripping mechanism and extending along the longitudinal direction of the textile machine, and an arm provided between the rear end of the arm and the doffing transfer machine main body to hold the yarn package gripping mechanism in a vertical plane. a link mechanism that rotates the doffing transfer machine body around a vertical axis with respect to a doffing machine doffing machine trolley; It is composed of a doffing and transfer machine that includes a program controller consisting of a sequencer and a positioning device, which causes the doffing to be carried out according to a plan.

The doffing and transferring machine according to the present invention can be mainly used in a stretching machine in a synthetic fiber manufacturing factory. However, it can be used on any type of machine on which thread packages are formed.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings showing a preferred embodiment of a doffing and transfer machine according to the present invention.
Note that the attached drawings and the following description are shown only as one embodiment of the present invention, and do not limit the doffing transfer machine of the present invention, and the present invention does not intend to carry out the present invention within the scope of the claims. Of course, the examples can be freely changed and modified.

FIG. 1 shows a perspective view of an embodiment of a doffing and transferring machine according to the present invention. As shown in FIG. 1, the doffing transfer machine 1 includes an arm device 2 and a pirn gripping device (yarn package gripping mechanism) 3 provided at the tip of the arm device 2.
and a doffing transfer machine main body 4 on which are mounted a plurality of drive mechanisms for moving the paan gripping device 3 to a desired position in a vertical plane via the arm device 2;
It comprises a truck 5 that supports the doffing transfer machine body 4 and is equipped with driving wheels 103 and driven wheels 104 that serve to move the doffing transfer machine 1. In addition, a battery 10 used to drive various mechanisms of the doffing transfer machine 1 is mounted on the trolley 5, a compressor 9, a positioning device 8, and a sequencer 7 used to operate each drive mechanism and control its operation are installed in an appropriate case. The doffing transfer machine body 4 and the doffing transfer machine body 4 are disposed on the trolley 5. The truck 5 is moved by driving the drive wheels 103 with the motor _M1 (FIG. 17). Moreover, it can be connected to the dedicated trolley 6 using a connector (not shown) (FIG. 14). Further, a fixed traveling roller 105 and a vertically movable traveling roller 106 are provided on the stretching machine side of the trolley 5, and when the doffing and transferring machine 1 moves along the stretching machine 110, a footrest 111 of the stretching machine 110 is provided. The running rollers 105 and 106 sandwich one end of the roller. The doffing transfer machine main body 4 is mounted on a fixed shaft 33 mounted on a trolley 5 via a thrust bearing 32 (rotation mechanism), so it can rotate around a vertical axis (fifth
figure).

Next, the arm device 2 will be explained. The arm device 2 has four arms as shown in FIGS. 1 and 2, namely, a first arm 11, a second arm 12,
The third arm 13 and the fourth arm 14 each have pins 16, 17, 18, 19 in the shape of a parallelogram.
The third arm 13 extends further outward from the position of the pin 19, and has a vertical fitting 23 with a pin 20 at its tip.
is rotatably mounted. A pan gripping device is attached to this vertical fitting 23.

A link mechanism is formed by the pin 18 of the third arm 13, the portion 13b between the pins 19, the first arm 11, the second arm 12, and the fourth arm 14. In this embodiment, the "arm whose one end is connected to the yarn package gripping mechanism and extends in the longitudinal direction of the textile machine" as referred to in the claims is the third arm 1.
Part 1 from the pin 19 of 3 to the paan gripping device 3
Corresponds to 3a.

On the other hand, the first arm 11 extends further outward from the position of the pin 16. At the tip of the vertical fitting 23, there is a third
An end of a bar 255 parallel to the arm 13 and having the same length as the third arm 13 is rotatably attached. The other end of the bar 25 is attached to an L-shaped fitting 22 that is rotatably attached to the pin 18 together with the first arm 11 and the third arm 13. Similarly, on the outside of the first arm 11, a bar 24 having the same length as the first arm 11 has one end attached to the L-shaped fitting 22.
The other end is attached to a parallel metal fitting 21 fixed to a U-shaped channel 45. The lower end of the first arm 11 and the U-shaped channel 45 are coaxially rotatably attached by a pin 15. The bar 24,2
5. By arranging the L-shaped fittings 22 in parallel with the first arm 11 and the third arm 13, the vertical fittings 23, and therefore the pan gripping device 3 attached below the vertical fittings 23, can be attached to the arms 11, 12. , 13 can be kept vertical at all times during movement. 2nd arm 1
2 is rotatably attached to a third arm 13 and a pin 19, and the other end is rotatably attached to a U-shaped channel 58 with a pin 17 together with the lower end of the fourth arm 14 (Fig. 7, Figure 8).

A power cylinder 41 for vertically moving the pan gripping device 3 is fixed to a vertical drive device mounting frame 42 with a mounting bolt 43. piston rod 4
4 is fixed to the side surface of the U-shaped channel 45. Further, rails 47a, 4 are provided at both ends of the pin.
7b; Roller 4 in contact with 47a' and 47b' respectively
6a and 46b are provided. Said rail 47
a, 47b; 47a', 47b' are shown in Figures 3 and 4.
As clearly shown in the figure, they are fixed to frames 31a and 31b, respectively, which are provided in parallel in the vertical direction. When the power cylinder 44 is actuated, the U-shaped channel 45 moves up and down, thereby causing the pawn gripping device 3 to move up and down.

A power motor 51 for moving the pan gripping device 3 in the horizontal direction is fixed to the frames 31a and 31b, as shown in FIGS. 2 and 7, and is driven at the tip of a shaft 52 of the power motor 51. A gear 53 and a driven gear 54 are provided to engage with the gear 53. The driven gear 54 is provided at the end of a ball screw 55 supported by support fittings 56a and 56b. A ball screw holder 57 to which a U-shaped channel 58 is fixed is interposed and provided on the ball screw 55. The U-shaped channel 58 is attached to a pin 17 that supports the second arm 12 and the fourth arm 14, and rollers 60a and 60b are attached to both ends of the pin 17. On the other hand, rails 59 are provided inside the frames 31a and 32b.
a, 59b; 59a' (not shown), 59b' are provided, and the rollers 60a, 60b move guided by these rails. Therefore, when the power motor 51 is actuated, the U-shaped channel 58 is moved horizontally, thereby causing the pan gripping device to move in parallel.

Next, the power cylinder 34 for moving the pirn gripping device toward or away from the front surface of the stretching and twisting machine will be explained with reference to FIGS. 5 and 6. The power cylinder 34 has its fixed end attached to a mounting bracket 36 fixed to the truck 5 with a mounting pin.
The piston rod 35 of the power cylinder 34 is attached to a frame mounting bracket 3 provided at the lower end of the frame 31a.
8 with a rod mounting pin 39 so as to be rotatable. As mentioned above, the doffing transfer machine main body 4 is mounted on the trolley 5 via the thrust bearing 32, so when the power cylinder 34 is actuated, the fixed shaft 3
The frames 31a, 31b are pivoted about 3, so that the pirn gripping device 3 can be moved towards or away from the spindle of the twisting machine.

The pan gripping device 3 is shown in FIGS. 9, 10 and 11.
As shown in the figure, it is configured to include a plurality of chucks 79 (five in this embodiment). An oil cylinder 93 is rotatably mounted on the chuck frame 71 of the pan gripping device 3 with a pin 94.
Each chuck 79 has a bearing holder 81
and slide bearing holders 82a, 82b, 8
2c and 82d are each attached with a chuck attachment device 80. Furthermore, a bearing holder 81 and slide bearing holders 82a, 82b, 82c
and 82d are arranged coaxially with the shaft 72. In Figure 10, the two chucks on the right are shown flush against the center chuck (the width between the chucks corresponds to the distance between the pegs of the special trolley), and the two chucks on the left are shown flush against the center chuck. It is shown in an unaligned state (with a spacing corresponding to the spindle spacing of the twister). Pitch adjustment slots 83 and 84 are provided on the substrate 73, and cursors 77a and 77b are provided.
Also, a pitch adjustment elongated hole 85 is provided. The length of the pitch adjusting slots 84 and 85 in the longitudinal direction is set to 1/2 of the length of the pitch adjusting slot 83 in the longitudinal direction. Board mounting bracket 96 provided in the center of the board 73
Base plate 73 is connected to piston rod 95 via. Width shifting drive cylinders 74a, 74b
The ends of the piston cylinders 76a, 76b corresponding to the cylinders 74a, 74b for the width shifting drive are fixed to the base plate 73, and the ends of the piston cylinders 76a, 76b are fixed to the cursor 77.
a and 77b, respectively. As mentioned above, by providing two types of pitch adjustment elongated holes 83, 84, and 85 with different lengths in the paan gripping device 3,
The spacing between the plurality of chucks is from the spindle pitch on the twisting machine to the pitch of the peg 101 on the special trolley,
Or vice versa.

As shown in FIGS. 12 and 13, the structure of the chuck 79 includes an opening 87 in the lower surface of the chuck body 86 into which the head of the paan can be inserted. A rubber tube 88 is provided along the inside of the opening 87, and a resin gripping tool 90 is provided inside the rubber tube 88. As shown in FIG. 13, the resin gripping tool 90 is supported by a C-shaped spring 91 and consists of four resin pieces arranged with a gap 92 between them. Therefore, when compressed air is introduced from the hole 89 on the side of the chuck body 86, the rubber tube 88 expands, and each constituent resin piece of the resin gripping tool 90 is thereby moved by the spring 9.
1 in close proximity to each other. As a result, the head of the paan inserted into the opening 87 is securely held by the resin piece. Since the gripping tool 90 made of resin is used, the gripping force of the pirn is strong and the head of the pirn is not damaged.

As shown in FIG. 2, the vertical fitting 23 and the chuck frame 71 of the pan gripping device 3 are connected via an oil cylinder 130, and further, the cart 5 and the lower end of the frame 31a are connected via an oil cylinder. By connecting the inlets and outlets of both oil cylinders 130, 131 with pipes (not shown), it is possible to configure the piston rod of oil cylinder 131 to extend when the piston rod of oil cylinder 130 is shortened.
In this case, the inside of the pipe and the oil cylinder 130,1
The inside of 31 is filled with oil. With this configuration, when the arm device 2 rotates, the pirn gripping device 3 can always be made parallel to the spindle row of the twisting machine.

Next, the mechanism for rotating the chuck 79 will be explained based on FIGS. 11 and 16. When the oil cylinder 93 is actuated to lower the piston rod 95, the base plate 73 rotates about the pin 97, and as a result, the chuck 79 is rotated counterclockwise as shown in FIG.

In the embodiment shown in FIG. 1 of the doffing transfer machine according to the present invention, the length in the longitudinal direction of the stretching machine of the doffing and transferring machine is 900 mm, The length in the direction of the platform spacing is 800 mm, which is significantly smaller than the size of conventionally known doffing and transfer machines. The spacing between rolling twisting machines is 2 m at most, and may be less than 1 m in small cases, so the doffing and transferring machine according to the present invention can be used even when the spacing between machines is narrow like this. can.

In the embodiment, it is explained that the doffed paan is stored in a special trolley, but it may be collected using a conventionally known tray instead of the dedicated trolley.

[Effect]

Next, the operation of pulling out a pirn from a spindle on a twisting machine and transferring it to a special trolley using the doffing and transferring machine according to the present invention will be explained step by step.

When explaining the operation, in order to make the explanation clearer, the power motor 51 shown in the first, second, third, _etc.
is M _Y , the power cylinder 41 is M _Z , the traveling drive motor 102 in FIG. 14 is M1 , the compressor 9 shown in FIG. 1 is M2 , the pulse encoder is PG , and each pulse encoder is PG _X ,
We will display them as PG _Y and PG _Z.

Preliminary step: The fixed running roller 105 is brought into contact with the footstool 111, and the vertically movable running roller 106 is raised to sandwich the protrusion of the footstool 111 between the rollers. Next, the dedicated cart 6 is connected to the stand 5 with a clamp fitting. FIG. 14 shows the connected state. Before starting the automatic operation of the doffing transfer machine 1, the pan gripping device 3 of the arm 13 is adjusted to a position that satisfies the following three conditions. In the Z-axis direction, the lowest position of the gripping mechanism is several mm higher than the head of the pirn 100 on the spindle 112. A position where the center of the gripping mechanism is between the target pan and the pan one position before it in the X-axis direction. (For example, when gripping 5 pieces, the target pirn is the middle piern 100.)
In the Y-axis direction, the stretching machine 110
A position close to where the gripping device 3 does not come into contact with any parts of the twisting machine 110 even if it is moved in the X-axis direction. This 3
The position that satisfies these two conditions is called the origin.

The above operations complete the preparation for the automatic doffing and transfer operation of the doffing and transfer machine, and the doffing and transfer operation is performed through the following steps (see the control system diagram in FIG. 19).

Step 1 Start the M _Y shown in Fig. 17, and position the positioning device 8.
to move the chuck ₇₉ to the point _Y100 on the Y axis set in the positioning device 8 (see Figures 20-1 and 20-2).

(Position Y ₁₀₀ is determined by counting and integrating the pulse train of PG _Y with the positioning device 8).

Step 2 Start up the _MX shown in Figure 17 and use the sequencer 7 to
The chuck 79 is moved in the X-axis direction by _{controlling M}
(See Figure 1). This completes positioning in the X-axis direction.

Step 3 Start up _MY shown in Figure 17 and use sequencer 7 to
Control M _Y to move the chuck in the Y-axis direction until photoelectric sensors S2-1 and S2-2 operate close to the partition plate 107, and when both S2-1 and S2-2 operate, M _Y Stop (Figure 22-1, 2nd
(See Figure 2-2). This completes positioning in the Y-axis direction.

Step 4 Start _MZ shown in Fig. 17 and use sequencer 7 to
Control M _Z to lower chuck 79 in the Z-axis direction,
When limit switch S5 on the head of chuck 79 operates, stop _MZ (Fig. 23-1, Fig. 23-
(See Figure 2).

Step 5 Show Figure 17 on check 79 using sequencer 7.
Supply constant pressure air generated by controlling M2,
Grasp the head of the pan 100 (see FIG. 24).

Step 6 Start the _MZ shown in Fig. 17 and position the positioning device 8.
control _MZ to raise the pirn ₁₀₀ to a point Z100 on the Z axis set in the positioning device 8 (see FIG. 25).

(Position Z ₁₀₀ is determined by counting and integrating the pulse train of PG _Z with the positioning device 8).

Step 7 When reaching Z ₁₀₀ on the Z axis, M _Y shown in Figure 17
At the same time as starting the oil cylinder 93 and tilting the chuck 79 by 15 degrees, the speeds of M _Y and M _Z are adjusted so that the vector angle of the resultant speed V _D is 15 degrees.
Control V _Y and V _Z with positioning device, and pan 100
Pull it out at a 15° angle (see Figure 26).

Step 8 Step 7: At the same _time , start M _X shown in FIG. 17, and adjust the speed _V
The pear 100 is pulled out from between the partition plates to a point on the Y axis in the state shown in FIG. 27-1 without touching the partition plate 107. Tip 100 of 100 pirns
When a reaches Y ₂₀₀ and the pirn 100 is pulled out from between the partition plates, stop M _X (M _Y and M _Z are
(continue operation). If you pull out the paan 100 from between the partition plates with only the speed V _Y without starting M _X , the 27th
- As shown in Figure 2, the parn 100 is connected to the partition plate 107.
will come into contact with.

(Position Y ₂₀₀ is determined by counting and integrating the pulse train of PG _Y with the positioning device 8).

Step 9 After pulling out the pirn 100 from the spindle 112 by operating M _X , M _Y , and M _Z shown in FIG. 17,
Move the gripping device 3 to coordinates P1 (X ₁ , Y ₀ , Z ₁ ),
Position at P1 (X ₁ , Y ₀ , Z ₁ ). After positioning is completed, stop M _X , M _Y , and M _Z. This completes rough positioning. _{The positioning operation is performed} by controlling _M (See Figure 28-2). (Position Y ₀
is determined by counting and integrating the pulse train of PG _Y with the positioning device 8).

(For the next doffing, positioning is performed at coordinate P2. Each time doffing, the positioning coordinates are sequentially set by the positioning device 8.
Change it with The positioning coordinates for the final doffing are P15
becomes. ) Step 10 Extend the rods of the air cylinders 74a and 74b shown in FIG.
(Figure 29-1, Figure 29-
(See Figure 2).

Step 11 Shorten the rod of the oil cylinder 93, rotate the chuck 79 87 degrees, and match the 72 degree inclination of the peg 101 with the inclination of the pirn 100 (see Figure 30).

Step 12 Extend the air cylinder 121 and insert the detection rod 120
(See Figures 31-1 and 31-2).

Step 13 Start M _Y shown in FIG. 17 and move the tip of the detection rod 120 to point Y ₃₀₀ on the Y axis. The positioning operation is performed by controlling M _Y with the positioning device 8 so that it matches Y ₃₀₀ set in the positioning device 8 (see FIG. 32).

(Position Y ₃₀₀ is determined by counting and integrating the pulse train of PG _Y. )

Step 14 Start up the _MZ shown in Fig. 17 and turn on the photoelectric sensor S3.
Paan 10 until it detects peg 101 and operates.
0 in the Z-axis direction. When the photoelectric sensor S3 detects the peg 101, the _MZ is stopped (see Fig. 33).

(This completes the precise positioning of the pirn 100 in the Z-axis direction).

Step 15 Start up _M
Pair 1 until it detects peg 101 and operates.
00 laterally in the X-axis direction. When photoelectric sensor S4 detects peg 101, M _X is stopped (34th
(see figure). (This completes the precise positioning of the pirn 100 in the X-axis direction).

Step 16 Shorten the rod of the air cylinder 121, swing up the detection rod 120, and detect M _Y and M _X as shown in Fig. 17.
, and positioning device 8 sets the speeds V Y and _{V Z} of M _Y and M _Z so that the vector angle of the resultant speed V ₀ is 72°.
control, push the pirn 100 in the direction of 72°,
(Push in according to the inclination of the peg at 72 degrees) is set in the positioning device 8. When we reach point Y ₄₀₀ on the Y axis
Stop M _Y and M _Z (see Figure 35). (Position Y ₄₀₀
is determined by counting and integrating the PG _Y pulse train using a positioning device).

Step 17 At the same time as stopping M _Y and M _Z in step 16, release the chuck 79. The released pirn 100 moves in the direction of inclination of the peg 101 due to its own weight and is inserted into the peg 101 (see FIG. 36).

_{Step 18 Start M _ _ X} ,
Control M _Y and M _Z to move the chuck 79 and after completing positioning, stop M _X , M _Y and M _Z (No. 37-
(See Figure 1 and Figure 37-2).

Step 19 Start up M1 shown in Figure 17 and use sequencer 7 to
By controlling M1, the doffing transfer machine 1
When the marker detector 108 detects the marker 109 set at the next doffing position while driving in front, M1 is stopped and the doffing transfer machine 1 stops at the position of the marker 109 (14th (see figure).

Thereafter, each step from step 1 is repeated to sequentially doff the pirns on the stretching and twisting machine and transfer them to a special trolley.

〔Effect of the invention〕

Since the present invention is configured as described above, the doffing and transferring work using the doffing and transferring machine of the present invention can be carried out even in a factory where the spacing between stretching machines and the like is narrow. In this case, there is no need to modify or repair the base of the twisting machine or the surrounding area, or relocate the stretching machine. Furthermore, since the doffing and transfer machine according to the present invention is independent of the twisting machine, it can be used in combination with a large number of twisting machines, so automation of the doffing and transfer work can be done with less capital investment. It can be achieved by the amount.

Furthermore, if the present invention is implemented by changing the predetermined position on which the yarn package is placed to a yarn storage trolley conventionally used as an accessory to a stretching machine, etc., the yarn package can be easily transported after doffing and transfer. You can invest less.

Furthermore, the structure of the doffing transfer machine according to the present invention can be made simpler if the action of approaching or separating from the front surface of the thread package gripping mechanism is performed using a rotatable arm. Operation can be made more reliable.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment of the doffing transfer machine according to the present invention, FIG. 2 is a schematic front view of the doffing transfer machine shown in FIG. 1, and FIG. FIG. 4 is a schematic side view of the doffing transfer machine shown in FIG. 1, FIG. 4 is a plan view of the doffing transfer machine shown in FIG. 1, and FIG. 5 is a line-- FIG. 6 is a side sectional view taken along the line - of FIG. 5, and FIG. 7 shows the main parts of the second arm drive mechanism taken along the line - of FIG. 8. FIG. 8 is a schematic plan view of main parts of the second arm drive mechanism, FIG. 9 is a schematic plan view of the pan gripping mechanism, and FIG. 10 is a schematic plan view of the pan gripping mechanism. FIG. 11 is a side view of the pan gripping mechanism taken along line XI-XI in FIG. 10, FIG. 12 is a side sectional view of the chuck, and FIG. It is a plan view, FIG. 14 is a front view showing the doffing transfer machine connected to a cart exclusively for transporting pirn, and FIG. 15 shows the relative position of the twisting machine and the doffing transfer machine. FIG. 16 is a side view schematically showing the chuck rotation angle positioning machine; FIG.
The figure is a front view showing the mounting system of each actuator that operates each mechanism of the doffing transfer machine.
Figure 18 is a plan view showing the actuator installation system as in Figure 17, Figure 19 is a control system diagram of each actuator, and each figure from Figure 20 to Figure 37 is a plan view showing the mounting system of the actuator. 1 is a diagram illustrating the position of each component of the doffing and transfer machine corresponding to each step of the machine's operation, and has the following correspondence relationship.
Figure 20-1 (top view) and Figure 20-2 (side view)...Step 1, Figure 21...Step 2,
Figure 22-1 (top view) and Figure 22-2 (side view)...Step 3 Figure 23-1 (partially sectional front view) and Figure 23-2 (side view)...Step 4 , Fig. 24...Step 5, Fig. 25...Step 6, Fig. 26...Step 7, Fig. 27-1 (plan view) and Fig. 27-2 (plan view)......Step 8, Figure 28-1 (schematic front view of the dedicated trolley showing the placement position of the pan as a model) and the second
Figure 8-2 (side view)...Step 9, No. 29-1
Figure (front view showing pirn arrangement before width adjustment) and second
Figure 9-2 (Front view showing pirn placement after width adjustment)
...Step 10, Figure 30...Step 11, 3rd
Figure 1-1 (top view) and Figure 31-2 (side view)...
...Step 12, Fig. 32...Step 13, Fig. 33
Figure...Step 14, Figure 34...Step 15, Figure 35...Step 16, Figure 36...Step
17. Figure 37-1 (top view) and Figure 37-2 (side view)...Step 18. 1... Doffing transfer machine, 2... Arm device, 3...
Pan gripping device, 4... Doffing transfer machine body, 5...
Trolley, 6... Dedicated trolley, 7... Sequencer, 8...
...Positioning device, 9...Compressor, 10...
Battery, 11...First arm, 12...Second arm, 13...Third arm, 14...Fourth arm, 30...Rotary drive device, 34...Y direction drive power cylinder, 41...Z Direction drive power cylinder, 51...X direction drive power motor, 74
a, 74b...Chuck width air cylinder, 7
9...Chuck, 93...Chuck rotating oil cylinder, 102...Doffing transfer machine travel drive motor,
120...Detection rod, 121...Detection rod cylinder,
S ₁ , S _2-1 , S _2-2 , S ₃ , S ₄ ...sensor, S ₅ ...limit switch.

Claims (1)

[Scope of Claims] 1. A yarn package gripping mechanism in which the upper part of a yarn package attached to each spindle of a textile machine such as a twisting machine equipped with a plurality of spindles is detachable; A doffing transfer machine that is movable along the machine base of the textile machine, comprising a yarn package gripping mechanism moving mechanism that reciprocates between a yarn package gripping position and a yarn package release position, the yarn package gripping mechanism moving mechanism is an arm that extends along the longitudinal direction of the textile machine, one end of which is connected to the yarn package gripping mechanism, and an arm that is provided between the rear end of the arm and the doffing transfer machine body to hold the yarn package gripping mechanism. a link mechanism for moving in a vertical plane; a rotation mechanism for rotating the doffing and transfer machine body about a vertical axis with respect to a doffing and transfer machine's dolly; operation of the link mechanism; and operation of the rotation mechanism. A doffing transfer machine comprising a program controller consisting of a sequencer and a positioning device, which causes the doffing to be carried out according to a predetermined plan.