JPH07113170B2 - Replacement method and device for spinning machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention is designed to provide an empty space on a peg conveyor arranged parallel to a spindle rail below a spindle row of a spinning machine such as a ring spinning machine and a ring twisting machine. Prepare the peg tray with the bobbin inserted in advance, after the spinning machine stand is completely stopped, run the pipe changer along the spindle rail from one end of the machine stand, and then move the full bobbin on the spindle and the empty bobbin on the peg conveyor in order. The present invention relates to a tube replacement method and apparatus for a spinning machine to be replaced.

(Prior art) In a spinning machine such as a ring spinning machine and a ring twisting machine, it moves along the spinning machine stand as a tube changing device that automatically replaces the full bobbin and the empty bobbin on the spindle after the machine stand is completely stopped. A type of pipe changer is used. As a pipe changing device of this type, Japanese Patent Publication No. 56-8136 discloses that a peg 203 is provided below the spindle rail 201 at a pitch corresponding to the spindle 202, as shown in FIGS. 14 (a) to 14 (c). Conveyor
204 is provided and an empty bobbin E is previously placed on the peg 203.
The pipe changer 205, which moves intermittently along the spinning machine, is equipped with a doffing device 206 having a plurality of gripping tools and a donning device 207 having a plurality of gripping tools. At the time of work, a pipe changer 205 intermittently moves from one end of the machine base along the spindle rail 201 to automatically exchange the full bobbin F on the spindle 202 and the empty bobbin E on the peg 203 by a plurality of weights. ing.

Further, as shown in FIG. 15 in JP-A-60-246828,
Full bobbin removal device 208, empty bobbin removal device 209, full bobbin insertion device 210, empty bobbin insertion device 211, full bobbin transfer device
Equipped with 212 and an empty bobbin transfer device 213, it continuously runs along the spindle rail 201 at the time of pipe change due to a full pipe stop, and pulls out the full bobbins F on the spindle 202 one by one and the empty bobbin from the peg 203. E is pulled out, and the full bobbin F pulled out from the spindle 202 is transferred to the full bobbin insertion device 210 by the full bobbin transfer device 212, and the full bobbin F is integrally attached to the peg 203 after the empty bobbin is pulled out by the insertion device 210. The empty bobbin E that is inserted and pulled out from the peg 203 is moved by the empty bobbin transfer device 213 to the empty bobbin insertion device 211.
There is disclosed a pipe changer 205 that is transferred to the spindle device 202 and is inserted into the spindle 202 after the full bobbin is pulled up by the insertion device 211.

On the other hand, in recent years, in a spinning factory, it is considered to further reduce the labor by going one step further from the automation of each process and connecting a plurality of processes with an automatic conveying means. Then, the spinning process and the winder process are connected by a transport path, the full bobbin fried by a plurality of spinning machines is transported to the winder process, and the empty bobbin used in the winder process is transported to the spinning process. A method of reusing the same has been proposed and implemented. In this way, when carrying out the full bobbin and empty bobbin by directly connecting the spinning process and the winder process with the transportation path, for example, as disclosed in JP-A-60-5247, pegs are formed on the surface. Attention has been paid to the method of transportation using a peg tray projecting from the above because its mechanism is simpler than the method using a conveyor.

(Problems to be solved by the invention) However, a conveyor for carrying a bobbin using a peg tray is provided below the spindle rail, and the pipe changing work is automatically performed by using the conventional pipe changing device. Has a problem. That is, in order for the conventional automatic pipe changer to smoothly perform the pipe change work, the empty bobbins prepared in advance below the spindle rail must be arranged at the same predetermined interval as the spindle pitch. However, in recent years, spinning machines such as spinning machines and twisting machines have become more and more spindles, and it is not difficult to spin 400 spindles on one side.Therefore, use a peg tray to place an empty bobbin below the spindle rail in accordance with the spindle pitch. Has a problem in that the pitch of the peg tray is very strictly manufactured and a means for arranging the peg tray at a predetermined pitch is required. In addition, in the configuration of the conventional tube changer, the transfer time of the empty bobbin or the full bobbin between the peg and the spindle on the conveyor during the replacement work of the empty bobbin and the full bobbin becomes a large proportion of the entire tube change time. As a result, there is a problem that the pipe changing device time becomes long, the machine standstill time becomes long, and the operating efficiency of the spinning machine stand deteriorates.

Further, in the conventional pipe changing device, since the empty bobbin is pulled out from above the peg tray arranged below the spindle rail, and the full bobbin is inserted into the peg of the pulled peg tray,
A space for securing a stroke longer than the peg length of the peg tray is required for pulling out or inserting, and there is also a disadvantage that it cannot be applied to an existing spinning machine having a low height.

Configuration of the Invention (Means for Solving the Problems) In order to solve the above problems, in the first invention, an empty bobbin is inserted on a conveyor arranged parallel to a spindle rail below a spindle row of a spinning machine. The prepared peg tray is prepared in advance, and after the spinning machine is fully stopped, the pipe changer is made to travel along the spindle rail from one end of the machine stand, and an empty bobbin is taken into the pipe changer together with the peg tray from the conveyor. While the empty bobbin is mounted on the peg tray, it is conveyed above the full bobbin inserted on the spindle and is placed at a position corresponding to the full bobbin.At that position, the empty bobbin is removed from the peg, and the full bobbin is moved to the spindle. The empty bobbin from the spindle, and the empty bobbin is inserted into the spindle from which the full bobbin has been lifted. Insert the peg peg trays which are arranged to, after which full peg trays which bobbins are inserted is adopted a method that returns to the conveyor.

Further, in the second invention, as an apparatus suitable for carrying out the above-mentioned pipe changing method, an empty bobbin is used as a pipe changing machine which runs along one of the spindle rails from one end of the machine frame after the spinning machine stand is fully filled. A peg tray loading device for loading a peg tray with an empty bobbin placed on a conveyor arranged parallel to the spindle rail below the spindle row with the inserted peg tray mounted in the pipe changer, A transport device for transporting an empty bobbin taken in together with the peg tray by the peg tray take-in device to a position corresponding to the full bobbin above the full bobbin inserted on the spindle in a state of being mounted on the peg tray, and the full bobbin. Remove the empty bobbin that has been conveyed further upward from the peg, and insert the empty bobbin into the spindle where the full bobbin has been lifted. And a full-bobbin removing / inserting device that lifts the full bobbin from the spindle and inserts it into the peg of the peg tray, and a transport device that transports the peg tray from which the empty bobbin has been removed to a position almost at the same height as the lower part of the spindle. A transport device for transporting the peg tray with the bobbin inserted therein to the vicinity of the conveyor, and a peg tray delivery device for delivering the peg tray transported by the transport device onto the conveyor.

(Operation) According to the present invention, the empty bobbin is taken into the pipe changer together with the peg tray from above the conveyor arranged below the spindle rail, and is conveyed above the full bobbin while being mounted on the peg tray. At the same time, the empty bobbin is pulled out from the peg and the full bobbin is pulled out from the spindle. Then, the empty bobbin is inserted into the spindle from which the full bobbin has been pulled out, and the full bobbin pulled out from the spindle is inserted into the peg of the peg tray arranged at substantially the same height as the lower part of the spindle. After that, the peg tray in which the full bobbin is inserted is returned to the conveyor arranged below the spindle rail. That is, since the positional relationship between the empty bobbin mounted on the peg tray and the full bobbin on the spindle is adjusted after being taken into the pipe changer, the peg tray with an empty bobbin is placed on the conveyor arranged below the spindle rail. When preparing in advance,
It is not necessary to adjust the arrangement interval of the empty bobbins so as to closely match the spindle pitch.

(Embodiment) An embodiment in which the present invention is embodied in a pipe changing device that continuously runs along a spinning machine base and intermittently performs pipe changing work by a plurality of weights will be described with reference to FIGS. . As shown in FIGS. 1 to 3, the pipe changer 1 travels along the spinning frame by means of guide rollers 4 and 5 that engage with rails 2 and guide rails 3 fixed to the spinning frame. Possible to support, rail 2
By the action of the screw roller 7 which engages with the pins 6 protruding at predetermined intervals, the rail 6 travels along the rail 2. That is, the screw roller 7 has a toothed belt 12 wound around a toothed pulley 9 fitted on a drive shaft 8a of a drive motor 8 and a toothed pulley 11 fitted on a rotation shaft 10 of the screw roller 7. Drive motor 8 via
The pipe changer 1 travels along the rails by being rotated by the driving of No. 1 and the grooves 7a formed on the peripheral surface thereof being successively engaged with the pins 6.

On the upper surface of the guide rail 3 arranged below, a tray guide 14 is extended in parallel with the spindle rail 13, and a belt 15 of a belt conveyor is arranged to run in the tray guide 14. A peg tray 17 having a diameter substantially equal to the pitch of the spindle 16 and having a peg 17a protruding from the upper surface is placed on the belt 15 so as to move integrally with the movement of the belt 15. Then, the peg 17a is placed on the belt 15 prior to the pipe replacement work.
The peg tray 17 having the empty bobbin E inserted therein is arranged so as to substantially correspond to the spindle.
Further, the tray guide 14 has a lower side edge 14a on the pipe changer 1 side so that the peg tray 17 can be taken in and out from the side.

In the lower part of the pipe changer 1, a peg tray take-in device 18 for taking the peg tray 17 with an empty bobbin placed on the conveyor into the pipe changer 1 and a peg tray 17 in which a full bobbin F is inserted are placed on the conveyer. A delivery peg tray delivery device 19 is provided in front of and behind the moving direction of the pipe changer 1 during the pipe changing operation. On the front side of the pipe changer 1 (the side facing the spinning machine), the empty bobbin E taken in together with the peg tray 17 by the peg tray taking-in device 18 is inserted into the peg tray 17 and is inserted into the spindle 16. A transporting device for transporting to a position above the full bobbin F and corresponding to the full bobbin F, and a transporting device for transporting the peg tray 17 from which the empty bobbin E has been pulled to a position almost at the same height as the lower part of the spindle 16, and the position. In the above, a twisting and conveying device 20 which also serves as a conveying device for conveying the peg tray 17 in which the full bobbin F is inserted to the peg tray delivery device 19 is provided. In addition, the empty bobbin E conveyed above the full bobbin F is removed from the peg 17a at the center of the pipe changer 1,
The empty bobbin E is attached to the spindle 16 from which the full bobbin F has been lifted.
Empty bobbin removing / inserting device 21 for inserting the full bobbin F from the spindle 16, and the peg 17 of the peg tray 17 is removed.
A full bobbin removing / inserting device 22 to be inserted into a is provided.

As shown in FIGS. 1 and 2, in the twisting and conveying device 20, the movement path of the belt 23 for transferring the peg tray 17 is the tray guide 14.
And the part that runs in parallel with the spindle 16 and the spindle 16
Is wound around a large number of guide pulleys 24 so as to have a portion that runs in parallel with the lower portion of and a portion that runs parallel to the spindle rail above the full bobbin inserted on the spindle 16. Along with the drive pulley 26 fitted to the drive shaft of the motor 25 disposed at the center of the lower part of the machine base, the portion running parallel to the tray guide 14 is the traveling direction during pipe change of the pipe changer 1. Is driven to be the same as. Further, a pair of linear guide members 27 are arranged along the traveling path of the belt 23 so as to sandwich the peg 17a of the peg tray 17 and to urge the peg tray 17 toward the belt 23 side. That is, the twisting and conveying device 20 uses the guide member 27 to move the peg tray 17 to the belt.
The peg tray 17 is moved together with the belt 23 by keeping the pressed state against the 23 and driving the belt 23 in this state. Therefore, by disposing the guide member 27 in a twisted state with respect to the belt 23 as shown in FIG. 10, the posture of the empty bobbin E or the full bobbin F mounted on the peg tray 17 can be freely changed. .

The peg tray intake device 18 is, as shown in FIGS.
The guide portion 28a in the guide plate 28 having the semicircular arc-shaped guide portion 28a is arranged on the traveling direction side during pipe change of the pipe changer 1, and is fixed to the rotating shaft 29 rotated by a drive mechanism (not shown). The peg tray 17 intersects with the tray guide 14, and the peg tray 17 can be engaged with the peg tray 17a. Guide plate
Above the 28, the empty bobbin E on the peg tray 17 placed in the tray guide 14 is engaged with the top of the empty bobbin E to incline the empty bobbin E toward the spinning machine base side, and the lower surface of the peg tray 17 is placed on the tray guide 14 side. An engagement member 30 that moves upward from the edge portion 14a is provided. Also, a peg tray delivery device
Similarly to the guide plate 28 of the peg tray intake device 18, the guide plate 31 of 19 is also provided with a semi-arcuate guide portion 31a, and the guide portion 31a faces the side opposite to the traveling direction of the pipe changer 1 during pipe change. It is fixed to the rotating shaft 32 in this state. The rotating shaft 32 is rotated by a drive mechanism (not shown), so that the guide plate 31 intersects with the tray guide 14 and is delivered by the twist transfer device 20.
The peg tray 17 in which is inserted is guided into the tray guide 14 and a retracted position where the peg tray 17 placed in the tray guide 14 cannot engage with the peg tray 17 is rotated.

As shown in FIGS. 2 and 3, the top of the empty bobbin E is supported on the pipe changer 1 together with the peg tray 17 by the twisting and conveying device 20 and the top of the empty bobbin E is changed so as to be directed obliquely downward. A bobbin supporting member 33 is provided. The bobbin supporting member 33 is rotatably supported at its upper end with respect to the support shaft 34, is urged to rotate toward the belt 23 by a torsion spring 35, and abuts against a stopper 36 so that its lower end is an empty bobbin E. It is arranged to be in a position where it engages with the top.

Spindle 16 is installed on the wall opposite the spinning frame of the pipe changer 1.
A pair of support shafts 37, 38 are vertically arranged in parallel with the spindle rail 13 at positions corresponding to, and a box-shaped traveling body 39 is slidably supported by the support shafts 37, 38. The traveling body 39 includes the empty bobbin removing / inserting device 21 and the full bobbin removing / inserting device.
22 are equipped so that they can move together. A support bracket 40 is fixed to one side of the upper part of the traveling body 39 at its lower end. A shaft 41 extending in a direction orthogonal to the belt 23 of the twisting and conveying device 20 is rotatably supported at the base end of the support bracket 40, and an L-shaped peg tray regulating arm 42 is fixed to the tip thereof. Has been done. A rotary solenoid 43 is fixed to an upper portion of the support bracket 40, the shaft 41 is connected to a drive shaft of the rotary solenoid 43 through a link mechanism 44, and the shaft 41 is rotated by the operation of the rotary solenoid 43 to rotate the peg tray regulating arm. 42 is moved and arranged in an operating position for engaging the peg tray 17 shown by a solid line in FIG. 2 and a retracted position shown by a chain line.

A support bracket 45 is fixed to one side of the lower end of the traveling body 39 so as to extend below the belt 23 traveling at a position corresponding to the lower portion of the spindle 16 and extend to the front of the pipe changer 1. A known cutter 46, which cuts the yarn connecting from the bobbin F to the spinning machine side at the time of pipe replacement, is attached via a mounting bracket 47. A rotary solenoid 48 is fixed to the support bracket 45, and its drive shaft is in an operating position that engages with the peg tray 17 that moves on the belt 23 to restrict its movement, and a retracted position that cannot engage with the peg tray 17. The movable peg tray restricting piece 49a is fixed. Also, a similar peg tray control piece is provided on the other side of the traveling body 39.
49b is provided.

Next, the empty bobbin extracting / inserting device 21 will be described. Second, third,
As shown in FIG. 6, a spindle 50 is supported on the upper part of the traveling body 39 so as to be integrally movable and rotatable with the traveling body 39 in a state where both ends thereof project outside the traveling body 39. An arm 51 is rotatably fixed to both ends of the support shaft 50 at its base end, and a bobbin holding device 52 is rotatably supported by a shaft 53 at the tip of the arm 51. At the center of the traveling body 39, a rotary shaft that is rotationally driven in synchronization with the screw roller 7.
54 is provided, and a gear 55 (shown in FIG. 2) meshing with a gear (not shown) rotated by a cam (not shown) fitted and fixed to the rotary shaft 54 is provided on the support shaft 50. The arm 51 is fitted and fitted, and the rotation of the rotary shaft 54 causes the arm 51 to swing via the gear 55, so that the bobbin holding device 52 is pivotally arranged between the empty bobbin receiving position and the empty bobbin opening position. A support cylinder 56 having a gear portion 56a that is rotated from the rotary shaft 54 via a cam and a gear (not shown) is rotatably supported on the support shaft 50, and one end of the support cylinder 56 is supported by the support cylinder 56. The lever 57 is supported so as to be integrally rotatable. One end of the lever 57 is rotatably connected to the bobbin holding device 52, and the other end of a rod 58 is rotatably connected by a pin.

As shown in FIGS. 4 and 5 (a), the bobbin gripping device 52 is rotatable with respect to the shaft 60 with its teeth engaging with each other on the upper surface of the supporting frame 59 having an L-shaped side surface. A pair of gripping pieces 61, 62 which are supported and urged to rotate in the gripping direction by a tension spring 104 stretched around the extending portion 61a of the gripping piece 61 have four pairs at the same pitch as the spindle 16. It is arranged. One gripping piece 61 of each set has a rearward extending portion 61a, and an engaging roller 63 is attached to the extending portion 61a. On the upper surface of the support frame 59, an engagement plate that engages with each of the engagement rollers 63 and rotates the grip piece 61 to the release side.
64 is a guide pin 65 protruding from the upper surface of the support frame 59.
It is slidably arranged along the longitudinal direction of the support frame 59 via. Engagement plate 64 is provided with springs 105 for gripping pieces 61.
The cam mechanism is urged toward the disengagement side (to the right in FIG. 5A), and has one end (the left end in FIG. 5A) driven by the rotary shaft 54 at one end (the left end in FIG. 5A). Is connected to the other end of the wire 66 connected to. Then, the gripping and releasing of the empty bobbin E by the gripping pieces 61, 62 is performed in synchronization with the traveling of the pipe changer 1 via the wire 66 and the engaging plate 64.

Next, the full bobbin removing / inserting device 22 will be described. Second, third,
As shown in FIG. 7, below the support shaft 50 of the traveling body 39, a rotation supporting shaft 67 is rotatable and movable integrally with the traveling body 39 in a state where both ends thereof protrude outside the traveling body 39. It is supported. A pair of support arms 68 are integrally rotatably fixed to both ends of the rotary support shaft 67, and a support shaft 69 is supported at the tip thereof. A pair of arms 70 is rotatably supported at the base end of the support shaft 69, and a bobbin holding device 71 is rotatably supported at the tip of the arm 70. On the other hand, the support shaft 50
A support cylinder 72, to which the rotation of the rotary shaft 54 is transmitted via a cam and a gear, is rotatably supported by the lever 73, and a lever 73 is fixed to the support cylinder 72 at its base end so as to be integrally rotatable. ing. One end of the lever 73 is rotatably connected to the other end of a rod 74, one end of which is rotatably connected to a shaft 70a provided in the middle of the arm 70. Also, support shaft 69
A coupling lever 75 is rotatably supported at its base end at one end thereof. One end of the connecting lever 75 is pivotally connected to the other end of a rod 76, one end of which is pin-connected to the lower end of the bobbin gripping device 71. A rotation lever 77, which transmits the rotation of the rotation shaft 54 via a cam and a gear, is rotatably supported on the rotation support shaft 67. Rotating lever
77 and the connecting lever 75 are connected by a link 78. The bobbin holding device 71 is configured substantially the same as the bobbin holding device 52 of the empty bobbin removing / inserting device 21. That is, the structure of the support frame 59, the gripping pieces 61, 62, and the engagement plate 64 is exactly the same as that of the bobbin gripping device 52, and the wire 79 that moves the engagement plate 64 against the force of the spring is directly attached to the engagement plate 64. Instead of being connected, they are connected via a rotary lever 80 having a plane L shape.

Next, the screw roller 7 is attached to the rotary shaft 54 as a driving source of the empty bobbin removing / inserting device 21 and the full bobbin removing / inserting device 22.
A mechanism for transmitting the rotation of the rotary shaft 10 and a drive mechanism for reciprocating the traveling body 39 along the support shafts 37, 38 in synchronization with the traveling of the pipe changer 1 will be described. A drive shaft 81 is rotatably arranged at a height substantially the same as the rotary shaft 10 on the side of the pipe changer 1 opposite to the spinning machine base, and a clutch (not shown) is provided on the drive shaft 81. A toothed pulley 82 is integrally rotatably attached to the drive shaft 81 via a toothed belt 84 hung between the pulley 82 and the toothed pulley 83 fitted to the rotating shaft 10. Is driven to rotate. A rotary shaft 85 is rotatably supported above the rotary shaft 10. The rotary shaft 85 is composed of a ball spline shaft, and one end of the rotary shaft 85 is on the running body.
A ball bush 87 is supported so as to be movable integrally with the traveling body 39 via a bracket 86 fixed to 39. A sprocket 88 is rotatably supported by the ball bush 87, and a chain 90 is wound between the sprocket 88 and a sprocket 89 fitted and fixed to one end of the rotary shaft 54. An intermediate shaft 91 is rotatably supported laterally of the rotary shaft 85 in a direction orthogonal to the rotary shaft 85, that is, in a direction orthogonal to the traveling direction of the pipe changer 1. Bevel gears 92 and 93 are integrally rotatably fitted to the intermediate shaft 91, and the rotation of the bevel gear 94 fitted to the drive shaft 81 is transmitted to the bevel gear 92 via the bevel gears 95 and 96 to be intermediate. The shaft 91 is rotationally driven. Then, the bevel gear 97 fitted on the rotating shaft 85 meshes with the bevel gear 93, whereby the rotation of the intermediate shaft 91 is transmitted to the rotating shaft 85.

A cam 98 is fitted on the intermediate shaft 91 so as to rotate integrally. A cam lever is attached to the support shaft 99 arranged below the intermediate shaft 91.
100 is rotatably supported at its proximal end. A cam follower 101 that engages with a cam groove 89a of the cam 98 is attached to an intermediate portion of the cam lever 100, and a tip end portion of the cam lever 100 is pin-connected to a connecting portion 102 projecting from a lower end of the traveling body 39. There is. Therefore, the cam together with the intermediate shaft 91
The cam lever 100 is pivoted by the rotation of 98.
Is swung around and the traveling body 3
9 reciprocates on the support shafts 37 and 38.

Next, the operation of the device configured as described above will be described. When the spinning machine stops due to the full pipe command, the drive motor 8 of the pipe changer 1 stopped at the machine base is driven, the screw roller 7 is rotated, and the groove 7a and the pin 6 are engaged with each other.
Starts moving at a constant speed along the rail 2. Further, the motor 25 of the twist conveying device 20 is driven, and the belt 23
2 Start moving in the direction of the arrow in the figure. A guide plate for the peg tray intake device 18 and the peg tray delivery device 19
28 and 31 are arranged at working positions intersecting with the tray guide 14.

When the peg tray loading device 18 reaches the position corresponding to the empty bobbin E placed on the tray guide 14 as the pipe changer 1 travels, the top of the empty bobbin E engages with the engaging member 30. As a result, the bottom surface of one side of the tray 17 is fixed to the tray guide 14.
8 is located above the side edge 14a of the peg tray 17a, and the peg 17a engages with the guide portion 28a of the guide plate 28 as the pipe changer 1 moves. As shown in FIG.
Is guided to a position where it engages with the belt 23. Then, the lower surface of the peg tray 17 is engaged with the belt 23 so that the belt
23, the posture of the empty bobbin E is changed by the action of the guide member 27 so that the empty bobbin E becomes substantially horizontal, and the empty bobbin E is conveyed above the pipe changer 1. The peg tray restricting arm 42 for restricting the movement of the peg tray 17 with the empty bobbin E inserted therein at the start of running of the pipe changer 1 is arranged at the engagement position shown by the solid line in FIG. The peg tray restricting pieces 49a, 49b arranged at the positions are arranged at engaging positions for restricting the movement of the peg tray 17. Further, four empty peg trays 17 are arranged on the belt 23 running at a position corresponding to the lower part of the spindle 16 in a state corresponding to the full bobbin removing / inserting device 22 by engaging the peg tray restricting pieces 49a. There is.

Since the belt 23 travels at a speed higher than the traveling speed of the pipe changer 1, the four peg trays 17 have the peg tray regulating arms as shown in FIGS. 1 and 2 before the driving of the empty bobbin removing / inserting device 21 is started. By the action of 42, the top of each empty bobbin E is engaged with the bobbin supporting member 33 and stands by in a state corresponding to the spindle pitch. The traveling body 39 is arranged in a retracted position on the side opposite to the position shown in FIG. 2 when the pipe changer 1 starts traveling, and when the full bobbin removing / inserting device 22 has passed the first spindle 16, the drive shaft 81 becomes the clutch. Is driven to rotate via a cam
The traveling body 39 is moved forward (to the left in FIGS. 1 and 2) via 98 and the cam lever 100, and an empty bobbin extracting / inserting device is also provided.
21 and the full bobbin removing / inserting device 22 start driving.

When the traveling body 39 is arranged at the most advanced position shown in FIG. 2, the gripping pieces 61, 62 of the full bobbin removing / inserting device 22 have the spindle 1
It is placed in the open position in the upper position corresponding to 6. on the other hand,
At this time, the bobbin gripping device 52 of the empty bobbin removing / inserting device 21 moves the peg 17 of the peg tray 17 as shown in FIG. 12 (a).
The empty bobbin E has been completely removed from a. When the pipe changer 1 further travels from this state, the traveling body 39 causes the cam 98 so that the positional relationship between the empty bobbin removing / inserting device 21 and the full bobbin removing / inserting device 22 with respect to the spindle 16 becomes constant.
Also, it is moved rearward by the action of the cam lever 100. When the traveling body 39 starts moving rearward, the support arm 68 of the full bobbin removing / inserting device 22 is rotated in the clockwise direction, and the rotation lever 77 is rotated in the counterclockwise direction. Bobbin gripping device via lever 75 and rod 76
71 is moved down to a position corresponding to the top of the full bobbin F while the postures of the gripping pieces 61, 62 are controlled so as to maintain the horizontal state, and then the gripping pieces 61, 62 rotate to the gripping side at the same position. Then, the top of the full bobbin F is gripped. Next, the support arm 68 is rotated counterclockwise together with the rotation support shaft 67, and the lever 73 and the rotation lever 77 are synchronously driven, so that the bobbin gripping device 71 has a posture that makes it impossible to lift the full bobbin F. The full bobbin F is pulled out from the spindle 16 as shown in FIG. After the lifting of the full bobbin F is completed, the support arm 68 is rotated clockwise again and the lever 73 is rotated.
And the rotation lever 77 is rotated clockwise, and the peg 17a of the peg tray 17 arranged at a position corresponding to the lower portion of the spindle 16 while the attitude of the bobbin holding device 71 is controlled.
While being inserted upward, the grip pieces 61, 62 are rotated to the open position to release the grip of the full bobbin F, and the state shown in FIG. 12 (c) is obtained. Next, the support arm 68 is slightly rotated counterclockwise, and the gripping pieces 61, 62 are moved and arranged above the top of the full bobbin F. At this point, the backward movement of the traveling body 39 ends.

On the other hand, the arm 51 of the empty bobbin removing / inserting device 21 starts to rotate clockwise when the bobbin holding device 71 of the full bobbin removing / inserting device 22 holds the full bobbin F on the spindle 16. And the spindle by the full bobbin removal / insertion device 22
16 When the full bobbin F has been removed from the top, the bobbin gripping device
The empty bobbin E starts to engage with the top of the spindle 16 when the 71 starts to move down to a position where the bobbin gripping device 52 of the empty bobbin extracting / inserting device 21 is not supported by the movement of the full bobbin F. When the insertion of the empty bobbin E into the spindle 16 is completed when the insertion into the peg tray 17 is completed, the empty bobbin E is released from the gripping pieces 61 and 62,
2 The state shown in FIG.

At the start of relative movement of the traveling body 39, that is, when the empty bobbin E is completely removed from the peg tray 17 in the state where the top is supported by the bobbin supporting member 33, the rotary solenoid 43 is driven and the peg tray restricting arm 42 retracts. The peg tray 17 after the empty bobbin E has been pulled out and is moved to the position is moved downward by the action of the belt 23. Then, after being conveyed to a position corresponding to the lower part of the spindle 16, the peg 17a is moved by the action of the guide member 27.
The posture is controlled so as to be parallel to the spindle 16, and the robot waits in a state of being engaged with the peg tray restricting piece 49b arranged at the operating position.

On the other hand, after the full bobbin F is completely inserted into the peg 17a of the peg tray 17 by the full bobbin removing / inserting device 22, the traveling body 39
At the same time as the start of the forward movement of the peg tray restricting piece 49a, the peg tray 17 with the full bobbin F inserted therein is moved together with the belt 23. Then, it is conveyed to a position corresponding to the peg tray delivery device 19 while changing its posture by the action of the guide member 27, and at the same position, as shown in FIG.
Guided by a and delivered to the tray guide 14. At the same time when the peg tray restriction piece 49a is rotated to the retracted position, the other peg tray restriction piece 49b is also rotated to the retracted position, and the four peg trays 17 with the full bobbin F inserted are moved to positions corresponding to the peg tray restriction pieces 49a. After passing, both regulation pieces 49a, 4
9b is placed in the operating position and the four empty peg trays 17 stand by at positions corresponding to the full bobbin removing / inserting device.

Empty bobbin removing / inserting device 21 when the traveling body 39 moves forward
The arm 51 of is rotated counterclockwise. Further, in the peg tray 17 in which the peg tray restricting arm 42 is disposed at the position where it engages with the peg tray 17, and the empty bobbins E sequentially conveyed by the twisting and conveying device 20 are inserted, the top of the empty bobbin E becomes the bobbin support member 33. In the engaged state, the bobbin holding device 52 is aligned and held at a position corresponding to the holding pieces 61, 62 of the bobbin holding device 52. The alignment of the four peg trays 17 is completed before the gripping pieces 61, 62 of the bobbin gripping device 52 are moved to the position corresponding to the empty bobbin E, and then, as shown by the chain line in FIG. 12 (d). The gripping piece of the bobbin gripping device 52 moves to a position corresponding to the empty bobbin E. Then, at that position, the gripping pieces 61, 62
Is urged to rotate to the gripping side, and after the empty bobbins E are gripped by the gripping pieces 61 and 62, the arm 51 is further rotated counterclockwise to remove the empty bobbin E from the peg 17a of the peg tray 17, The state shown by the solid line in FIG. On the other hand, when the traveling body 39 is moved forward, the full bobbin removing / inserting device 22 does not perform a large operation, and the support arm 68 is slightly rotated counterclockwise and the lever 74 is rotated clockwise. First
As shown in Fig. 12 (d), the bobbin gripping device 71 has a spindle.
It is located slightly above the top of the full bobbin F above 16.

Thereafter, when the traveling body 39 moves rearward at the same speed as the moving speed of the pipe changer 1 as described above, the empty bobbin extracting / inserting device 21
Further, the empty bobbin E and the full bobbin F are simultaneously replaced by the empty bobbin E and the full bobbin F by the full bobbin removing / inserting device 22 at a speed of 0 relative to the spindle 16, and the full bobbin F lifted from the spindle 16 is empty. The bobbin E is inserted into the peg 17a of the peg tray 17 after being taken out, transferred to the lower part of the pipe changer, and delivered to the tray guide 14. After completing the pipe replacement work for all weights, peg tray intake device 18 and peg tray delivery device
After the guide plates 28 and 31 of 19 are pivotally arranged at the retracted position where they cannot engage with the peg tray 17 on the tray guide 14, the pipe changer 1 is retracted back to the original position along the spindle rail 13 and all The work is completed.

The present invention is not limited to the above-described embodiment, and for example, as shown in FIG. 13, the twist transfer device 20 transfers the peg tray 17 in which the empty bobbin E is inserted to the upper portion of the pipe changer 1. A part and a part for conveying the peg tray 17 with the full bobbin F inserted therein to the peg tray delivery device 19,
Spin the peg tray 17 after the empty bobbin is removed.
16 It is composed of three parts, that is, a part that conveys to the belt 23 that runs in parallel with the lower part, and the moving speed of the belt 103 that conveys the peg tray 17 after the empty bobbin E is removed is higher than the other parts. You may With such a configuration, it is not necessary to prepare a spare peg tray 17 at a position corresponding to the lower part of the spindle at the time of starting the pipe replacement.
Further, in the above-described embodiment, an example in which the tubes are replaced by 4 spindles per cycle has been described, but the number of tubes replaced may be arbitrarily increased or decreased. Further, in the above embodiment, the continuous movement intermittent pipe replacement has been described, but it may be changed to the intermittent movement intermittent pipe replacement. In that case, it is not necessary to reciprocate the empty bobbin removing / inserting device 21 and the full bobbin removing / inserting device 22 as the pipe changer 1 travels, and the mechanism becomes simpler.

EFFECTS OF THE INVENTION As described in detail above, according to the present invention, the peg tray in which the empty bobbin is inserted is taken into the pipe changing machine, and after being transferred to a predetermined position, the work of replacing the full bobbin on the spindle with the empty bobbin on the peg tray. Therefore, even if the peg tray is not placed on the tray guide in correspondence with the spindle, it is placed at the position corresponding to the spindle pitch in the pipe changer, so pipe change work is performed smoothly and multiple spindle weights Even if the progress is made, the structure of the conveyor device for carrying in the peg tray with the empty bobbin loaded under the spindle rail is simplified, and the pitch accuracy of the peg tray is not required to be very strict, which facilitates maintenance management. In addition, since the empty bobbin or full bobbin is transferred to and from the conveyor at the bottom of the machine with the peg tray mounted, a conveyor for bobbin transportation is installed below the spindle rail even for existing spinning machines with low machine height. It can be installed and can be applied without increasing the installation area. Furthermore, since the empty bobbin taken in the pipe changer is arranged at the upper position corresponding to the spindle and the empty bobbin is taken out and inserted into the spindle from that state, the empty bobbin moving path of the empty bobbin removing / inserting device is It becomes simple and the mechanism becomes simple.

[Brief description of drawings]

1 to 12 show an embodiment embodying the present invention. FIG. 1 is a schematic perspective view showing the relationship between a pipe changing device and a spinning machine, and FIG. 2 is a rear view of the pipe changing device. , Fig. 3 is a side sectional view,
4 is a side view of the bobbin holding device, FIG. 5 (a) is a plan view of the bobbin holding device of the empty bobbin removing / inserting device, and FIG. 5 (b) is a part of the bobbin holding device of the full bobbin removing / inserting device. FIG. 6 is a plan view, FIG. 6 is a side view of the empty bobbin extracting / inserting device, FIG.
The figure is a side view of the full bobbin removing / inserting device, FIG. 8 is a schematic perspective view showing a state in which a peg tray with an empty bobbin is taken into the pipe changing machine, and FIG. 9 is a peg tray with a full bobbin inserted under the spindle rail. , A schematic perspective view showing a state of delivering to a conveyor, FIG. 10 is a partial perspective view showing the action of the twisting and conveying device, and FIG. 11 is a schematic perspective view showing an intermediate state of the pipe replacement work,
12 (a) to 12 (d) are schematic side views showing the operation of the pipe replacement work, and FIG. 13 is a schematic view showing a twisting and conveying device of a modified example,
14 (a) to 14 (c) are schematic side views showing the operation of the doffing device and the donning device of the conventional device, and FIG. 15 is a schematic perspective view of another conventional device. Pipe changer 1, spindle rail 13, tray guide 14, spindle 16, peg tray 17, peg tray loading device 18,
Peg tray delivery device 19, twisting and conveying device 20, empty bobbin removing / inserting device 21, full bobbin removing / inserting device 22, belt 23,
Guide member 27, traveling body 39, bobbin holding devices 52, 71, empty bobbin E, full bobbin F.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Kengo Ohashi, 2-chome, Toyota-cho, Kariya city, Aichi Prefecture Toyota Industries Corporation (72) Inventor Takayuki Morita 2-chome, Toyota-cho, Kariya city, Aichi prefecture Stock company Toyota Automatic Loom Works (72) Inventor Haruka Nakamura 2-chome, Toyota-cho, Kariya city, Aichi Stock company Toyota Automatic Loom Works (56) Reference JP-A-63-12727 (JP, A)

Claims (3)

[Claims] 1. A peg tray in which an empty bobbin is inserted is preliminarily prepared on a conveyor arranged parallel to a spindle rail below a spindle row of a spinning machine. In the pipe changing method of running the pipe changing machine along the spindle rail and sequentially replacing the full bobbin on the spindle and the empty bobbin on the conveyor, the empty bobbin is taken into the pipe changing machine together with the peg tray from the conveyor, and the empty bobbin is removed. While being mounted on the peg tray, it is conveyed above the full bobbin inserted on the spindle and is placed at a position corresponding to the full bobbin, at which position the empty bobbin is pulled out from the peg, and the full bobbin is pulled out from the spindle. , Insert the empty bobbin into the spindle where the full bobbin has been lifted, and A tube changing method in a spinning machine, which inserts into a peg of a peg tray arranged at the same height, and then returns the peg tray with a full bobbin inserted to the conveyor. 2. A peg tray in which an empty bobbin is inserted is preliminarily provided on a conveyor arranged in parallel with a spindle rail below a spindle row of a spinning machine, and after the spinning machine is fully stopped, one end of the spinning machine is started. Run along the spindle rail,
A peg tray take-in device for taking a peg tray with an empty bobbin placed on the conveyor into the pipe changer, and a peg tray take-in device for the pipe changer that sequentially replaces the full bobbin on the spindle and the empty bobbin on the conveyor. With the empty bobbin taken in together with the peg tray installed in the peg tray, it is carried to a position above the full bobbin inserted on the spindle and to a position corresponding to the full bobbin, and above the full bobbin. The empty bobbin removed from the peg and the empty bobbin removing / inserting device that inserts the empty bobbin into the spindle where the full bobbin has been lifted up, and the peg tray from which the empty bobbin has been removed are conveyed to almost the same height as the lower part of the spindle. Full bobbin that pulls out the full bobbin from the carrier and spindle and inserts it into the peg of the peg tray. A pipe changing device in a spinning machine including an upper insertion device, a conveying device that conveys a peg tray in which a full bobbin is inserted to the vicinity of the conveyor, and a peg tray delivering device that delivers the peg tray conveyed by the conveying device onto the conveyor. . 3. Each of the conveying devices is integrally formed, and a belt wound between a drive pulley and a plurality of guide pulleys,
The pipe changing device for a spinning machine according to claim 2, wherein the pipe changing device is arranged so as to sandwich the pegs of the peg tray and is composed of a linear guide member that presses and urges the peg tray toward the belt.