Yarn take-up machine and teaching method

Abstract

The present invention relates to a yarn winder and a teaching method. A doffing trolley (40) travels in the direction in which the yarn processing units are arranged. A stop position marker (70) is provided at a position corresponding to the stop position of the doffing trolley (40). A light sensor (47) detects the stop position marker (70). The doffing trolley (40) is stopped relative to the stop position marker (70) based on the magnitude of the detection value detected by the light sensor (47) or the position at which light is received.

Description

TECHNICAL FIELD

[0001] The present application relates to a yarn winding machine provided with a yarn processing unit and a work car. BACKGROUND

[0002] The automatic winder (yarn winding machine) of Japanese Patent Application Publication No. 2008-137539 is provided with a winding unit (yarn processing unit) and a doffer (work car). The winding units are arranged in one direction. The doffer is able to travel in the direction in which the winding units are arranged, and performs doffing with respect to the winding units.

[0003] The automatic winder of Japanese Patent Application Publication No. 2008-137539 is provided with a dividing block for alignment of the doffer and the winding unit. The dividing block is provided on a track on which the doffer travels.

[0004] The dividing block is provided at a position corresponding to each winding unit. The doffer is provided with a dividing plate that is able to engage with the dividing block. In a state in which the dividing plate is engaged with the dividing block, the doffer is positioned at an appropriate position for doffing of the winding unit.

[0005] In the structure of Japanese Patent Application Publication No. 2008-137539, there is a possibility that the positioning accuracy will decrease due to wear of the dividing plate or the dividing block. In addition, in order to change the position at which the doffer is stopped, it is necessary to change the position or shape of the dividing plate or the dividing block. Furthermore, in the yarn winding machine, a work car other than the doffer (for example, a joint device) is sometimes provided. In addition, the position at which the work car is stopped is not limited to the yarn processing unit. SUMMARY

[0006] The present application was completed in view of the above circumstances. The main object is to make it difficult for the accuracy of the position at which the work car is stopped to decrease. Furthermore, a yarn winding machine is provided that is able to adjust the position at which the work car is stopped.

[0007] The problem to be solved by the present application is as described above, and the means for solving the problem and the effects thereof will be described next.

[0008] According to the present application, there is provided a yarn winding machine. The yarn winding machine includes a plurality of yarn processing units, a work trolley, a stop position marker, a light sensor, and a control unit. The yarn processing units form packages by winding yarns around bobbins. The work trolley travels in a traveling direction in which the yarn processing units are arranged and performs work on the yarn processing units. The stop position marker is provided at a position corresponding to a stop position of the work trolley. The light sensor is provided on the work trolley and detects the stop position marker. The control unit controls the light sensor to detect a target stop position marker that stops the work trolley, and calculates a position of the work trolley relative to the stop position marker based on a size of a detected value detected by the light sensor or a position at which light is detected, i.e., a light receiving position, in a region in which the light sensor can detect light, and stops the work trolley at a predetermined stop position of the work trolley.

[0009] Thus, the position of the work trolley can be calculated in a non-contact manner, so that the accuracy of the position at which the work trolley is stopped is difficult to decrease. In addition, since the position of the work trolley is calculated using the detected value or the light receiving position detected by the light sensor, the position at which the work trolley is stopped can be adjusted by changing the detected value or the light receiving position at which the work trolley is stopped.

[0010] The stop position can be set in units of the yarn processing units, and the work trolley can perform work on the yarn processing units after stopping at the stop position.

[0011] Thus, the work trolley can perform work on the yarn processing units in an appropriate positional relationship.

[0012] The light sensor can be a line sensor.

[0013] Thus, more information can be obtained compared to a point-like light sensor.

[0014] The direction in which the line sensor detects can be a direction orthogonal to a surface on which the stop position marker is provided and orthogonal to the traveling direction.

[0015] Thus, the light sensor detects while traveling, so that the detection range becomes a planar and wide range.

[0016] The stop position marker can have a length in a direction orthogonal to the traveling direction that is longer on one side of the traveling direction than on the other side on a surface on which the stop position marker is provided.

[0017] Thus, the positional relationship of the light sensor and the stop position marker in the traveling direction can be calculated.

[0018] The stop position marker can have a constant increase ratio of a length in a direction orthogonal to the traveling direction on a surface on which the stop position marker is provided.

[0019] Thus, the distance of the light sensor from the travel direction of the stop position marker is proportional to the detection value of the light sensor, so the specific distance of the light sensor from the stop position marker can be calculated.

[0020] The control section can also store a plurality of stop positions with respect to the stop position marker, and store one of the plurality of stop positions in association with each work content of the work cart, and the control section can also determine the stop position of the work cart with respect to the stop position marker based on the work content.

[0021] Thus, one stop position marker can be used to stop the work cart at an appropriate position corresponding to the work content.

[0022] The stop position marker can also include: a first stop position marker that is a target for stopping the work cart; and a second stop position marker selected from among the stop position markers located between the work cart and the first stop position marker in the travel direction, and the control section can also decelerate the work cart based on the light sensor detecting the second stop position marker.

[0023] Thus, the work cart travels at high speed during the period away from the stop position, and the work cart travels at low speed during the period approaching the stop position, so the stop position can be reached in a short time.

[0024] A yarn processing unit marker can also be provided, which is disposed at a position different from the stop position marker in a direction orthogonal to the travel direction, for identifying the yarn processing unit, and a part of the stop position marker can also be repeated with the yarn processing unit marker in the travel direction.

[0025] Thus, the light sensor for detecting the stop position can be used to identify the yarn processing unit while aligning with the stop position. That is, it can be confirmed that the target yarn processing unit has been reached.

[0026] The light sensor can also read the yarn processing unit marker in a different manner from the stop position marker.

[0027] Thus, the stop position marker and the yarn processing unit marker can be clearly distinguished.

[0028] The yarn processing unit marker can also be provided at the yarn processing unit.

[0029] The work cart can also travel along a track, and the stop position marker can also be an opening portion formed in the track.

[0030] Thus, the stop position marker can be made with simple work.

[0031] A stop position identifier can also be provided at the yarn processing unit.

[0032] Thus, in the case where the yarn processing unit is subjected to the work, the process of registering the stop position in units of the yarn processing unit can be omitted or simplified.

[0033] An auxiliary identifier can also be provided between the yarn processing units in the advancing direction, for identifying the position of the work car in the advancing direction.

[0034] Thus, the position of the work car can be calculated in more detail.

[0035] According to a second aspect of the present application, a teaching method is provided. The teaching method is performed on a yarn winding machine that includes a plurality of yarn processing units that form packages by winding yarns on bobbins, and a work car that advances in a direction in which the yarn processing units are arranged as an advancing direction and performs work on the yarn processing units. The teaching method teaches the work car a stop position. The teaching method includes an installation step and a storage step. In the installation step, a positioning member is installed at the yarn processing unit. In the storage step, a light sensor detects a stop position identifier provided at a position corresponding to the stop position of the work car while the positioning member is in contact with the work car, thereby storing a size of a detected value or a position at which light is detected in a region in which the light sensor can detect light, i.e., a light receiving position.

[0036] Thus, the stop position of each yarn processing unit can be registered.

[0037] The teaching method can also include a preparation step of installing a positioning sensor on the work car. The yarn processing unit can include a first yarn processing unit and a second yarn processing unit. The storage step can include a first storage step of storing a detected value or a light receiving position with respect to the first yarn processing unit, and a second storage step that is performed after the first storage step and stores a detected value or a light receiving position with respect to the second yarn processing unit. In the first storage step, the light sensor can detect the detected value or the light receiving position while the positioning member installed on the first yarn processing unit is in contact with the work car, and the positioning sensor can detect the first yarn processing unit. In the second storage step, the stop position of the work car with respect to the second yarn processing unit can be calculated and stored based on the detected value or the light receiving position detected by the light sensor and the position of the second yarn processing unit detected by the positioning sensor, while the alignment of the second yarn processing unit and the work car is performed without contact.

[0038] Thus, the stop position with respect to the second and subsequent yarn processing units can be registered without providing the positioning member at the second and subsequent yarn processing units. Attached Figure Description

[0039] Figure 1 This is a front view of an automatic winding machine according to an embodiment of the present invention.

[0040] Figure 2 This is a block diagram of an automatic winding machine.

[0041] Figure 3 This is an enlarged front view showing the status of the stop position identifier detected by the optical sensor of the doffing trolley.

[0042] Figure 4 This is a flowchart illustrating the processes involved in moving the work trolley to the target yarn processing unit.

[0043] Figure 5 It is a graph showing the speed change as the work trolley travels to the target yarn processing unit.

[0044] Figure 6 This diagram illustrates the process of using positioning components to register the stop position of each yarn processing unit.

[0045] Figure 7 This diagram illustrates the process of using additional optical sensors to register the stop position of each yarn processing unit.

[0046] Figure 8 This is a front view showing a variant example where a stop position identifier is provided in the yarn processing unit.

[0047] Figure 9 This is an enlarged front view of the track in the first modified example.

[0048] Figure 10 This is an enlarged front view of the track in the second variation.

[0049] Figure 11 This is an enlarged top view of the track in the third variation.

[0050] Figure 12 This is a diagram of the stop position identifier and the yarn processing unit identifier for the fourth variation.

[0051] Figure 13 This is a diagram showing other examples of stop position identifiers and yarn processing unit identifiers. Detailed Implementation

[0052] Next, embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 The overall structure of the automatic winding machine (yarn take-up machine) is described.

[0053] The automatic winder 1 is provided with a plurality of yarn processing units 10, a doffing trolley (work trolley) 40, and a machine table control device 50.

[0054] Each yarn processing unit 10 is provided with a yarn feeding section 11, a yarn unspooling assisting device 12, a tension applying device 13, a joint device 14, a yarn quality measurer 15, a creel 16, a take-up drum 17, and a housing 18. A yarn feeding bobbin 21 is supported by the yarn feeding section 11. The yarn unspooling assisting device 12 contacts a portion (a balloon) in which the yarn unspooled from the yarn feeding bobbin 21 expands to the outside by centrifugal force. Thereby, the yarn can be inhibited from excessively swinging, and the unspooling of the yarn can be performed with a constant tension. The tension applying device 13 applies a prescribed tension to the traveling yarn. The yarn unspooled from the yarn feeding bobbin 21 and the yarn of the package 22 are respectively guided to the joint device 14. The joint device 14 performs the joint of the guided yarns to each other. The yarn quality measurer 15 measures the quality (for example, the thickness of the yarn or the amount of change thereof) of the traveling yarn with an optical sensor or the like. The take-up bobbin is installed in the creel 16. The yarn is wound on the take-up bobbin, thereby forming the package 22. The take-up drum 17 contacts the package 22 and rotates, thereby winding the yarn on the take-up bobbin while traversing the yarn. Electronic components such as the unit control section 19 described later are provided in the inside of the housing 18.

[0055] The doffing trolley 40 can travel along the parallel direction of the yarn processing units 10. Specifically, a track 60 is formed in the parallel direction above the yarn processing units 10, and the doffing trolley 40 travels along the track 60. In a case where the package becomes full in a certain yarn processing unit 10, the doffing trolley 40 travels to the yarn processing unit 10 and stops. The doffing trolley 40 takes out the full package of the yarn processing unit 10. Further, a new take-up bobbin to which the yarn is not wound is supplied to the yarn processing unit 10.

[0056] Specifically, the doffing trolley 40 is provided with a yarn extraction arm 41, a creel opening arm 42, and a chuck 43. The yarn extraction arm 41 is extended and contracted by an actuator such as a cylinder which is omitted from the illustration. A suction-type yarn catching section is provided at the front end of the yarn extraction arm 41, and the yarn from the yarn feeding bobbin 21 is pulled out. The creel opening arm 42 operates the creel 16 to open, and takes out the package 22 which becomes full from the creel 16. The chuck 43 grips the empty take-up bobbin held by a bobbin unloading machine which is omitted from the illustration and supplies it to the creel 16.

[0057] Next, the control system of the automatic winder 1 will be described with reference to the flowchart of FIG. 6. Figure 2 The control system of the automatic winder 1 will be described.

[0058] As described above, the yarn processing unit 10 is provided with the unit control section 19. The unit control section 19 controls each portion provided in the yarn processing unit 10.

[0059] The doffing trolley 40 is provided with a trolley control section (control section) 45, a travel motor 46, and a light sensor 47. The trolley control section 45 controls each part provided in the doffing trolley 40. The travel motor 46 is used to travel the doffing trolley 40 along the rail 60. The light sensor 47 is used to stop the doffing trolley 40 at a position that becomes a target. The trolley control section 45 calculates the position of the doffing trolley 40 based on the detection result of the light sensor 47 to control the travel motor 46. Also, in order to perform doffing with respect to the yarn processing unit 10, the doffing trolley 40 is caused to travel to an appropriate position.

[0060] The machine control device 50 is provided with a machine control section 51, an input section 52, and a display section 53. The machine control section 51 controls the plurality of yarn processing units 10 provided in the automatic winder 1. Also, processing corresponding to the instruction issued by the operator operating the input section 52 is performed. For example, in the case where the operator operates the input section 52 to set a condition related to the winding of the yarn, the machine control section 51 reflects the setting to all of the yarn processing units 10. Also, in the case where the operator operates the input section 52 to issue an instruction to display information related to the operating condition of each yarn processing unit 10 and / or the quality of the yarn, the machine control section 51 displays the information on the display section 53. Also, the machine control device 50 is capable of communicating with each yarn processing unit 10 and the doffing trolley 40.

[0061] The unit control section 19, the trolley control section 45, and the machine control section 51 are each provided with a computing device such as a CPU, and a storage device such as an HDD, an SSD, or a flash memory. Various programs are stored in the storage device, and the computing device reads out the programs and executes them, whereby the above-described control is performed.

[0062] Reference Figures 3 to 5 The control of causing the doffing trolley 40 to travel to the target stop position will be described. In the following description, the appropriate position of the doffing trolley 40 for doffing with respect to the yarn processing unit 10 will be referred to as a stop position. The stop position with respect to the yarn processing unit 10 in which doffing is to be performed next will be particularly referred to as a target stop position.

[0063] First, the light sensor 47 for detecting the position of the doffing trolley 40 and the stop position marker 70 will be described. The light sensor 47 is a reflective linear sensor. The light sensor 47 irradiates a linear light to an irradiation surface, and accepts the reflected light by a light receiving surface to output the amount of light reception as a detection value. The light sensor 47 of the present embodiment can also be unable to detect the position of the reflected light incident to the light receiving surface.

[0064] The light sensor 47 is mounted on the doffing trolley 40 and moves integrally with it. Although the light sensor 47 in this embodiment is mounted on the upper surface of the doffing trolley 40, it can also be mounted at different locations. Furthermore, the direction along the long side of the linear light emitted by the line sensor towards the illumination surface will be referred to as the "detection direction". Moreover, the area where the light sensor 47 detects light transmission and reception will be referred to as the detection area 47a (see reference). Figure 3 In this embodiment, the detection direction of the light sensor 47 is parallel to the height direction (vertical direction) of the automatic winding machine 1. In other words, the detection direction of the light sensor 47 is orthogonal to the travel direction and orthogonal to the horizontal plane. The light sensor 47 illuminates light onto the side of the track 60 and detects the reflected light.

[0065] Multiple stop position identifiers 70 are set on track 60. For example... Figure 1 As shown, stop position identifiers 70 are provided corresponding to each yarn processing unit 10. The light reflectivity of the stop position identifier 70 is different from that of the surface on which it is set (e.g., the side of the track 60). The stop position identifier 70 may be a component with low light reflectivity compared to the surface (e.g., a black component) or a component with high light reflectivity (a component that performs specular reflection). Alternatively, the surface on which the stop position identifier 70 is set may be cut to form an opening, thereby forming the stop position identifier 70. In this case, the area around the stop position identifier 70 is detected, thereby enabling the detection of the stop position identifier 70 itself. Furthermore, the detection direction of the aforementioned light sensor 47 can also be described as a direction orthogonal to the travel direction on the surface on which the stop position identifier 70 is set.

[0066] like Figure 3As shown, the stop position identifier 70 includes a first parallel portion 71, an inclined portion 72, and a second parallel portion 73. The first parallel portion 71 and the second parallel portion 73 are portions whose length (width) in the detection direction is constant in the advancing direction. The length in the detection direction of the inclined portion 72 varies depending on the position in the advancing direction. That is, the length in the detection direction becomes longer from one side to the other side in the advancing direction. In particular, in the present embodiment, since the inclined portion 72 is a straight line, the increase ratio (change ratio) of the length in the detection direction is constant. In a state where the detection region 47a overlaps the inclined portion 72, as the doffer carriage 40 moves in the advancing direction, the light receiving amount (detection value) changes. By this, the positional relationship between the stop position identifier 70 and the light sensor 47 (i.e., the doffer carriage 40) can be detected. The light receiving amount of the light sensor 47 in a state where the doffer carriage 40 is disposed at the stop position with respect to the yarn processing unit 10 (hereinafter, referred to as the reference light receiving amount) is stored in advance. Further, in the operation of the automatic winder 1, the doffer carriage 40 is caused to advance in such a manner that the light receiving amount detected by the light sensor 47 coincides with the reference light receiving amount. By this, the doffer carriage 40 can be caused to stop at the target stop position with high precision. Note that at least one of the first parallel portion 71 and the second parallel portion 73 can be omitted.

[0067] Hereinafter, the operation of the automatic winder 1 will be described with reference to the flowchart shown in FIG. 6. Figure 4 and Figure 5 The flow of causing the doffer carriage 40 to stop at the target stop position will be described. First, if the doffing is required in the yarn processing unit 10, the unit control section 19 transmits the information that the doffing is required to the machine bed control section 51. The machine bed control section 51 transmits the information of the yarn processing unit 10 in which the doffing is required to the carriage control section 45.

[0068] The carriage control section 45, if receiving the information related to the target yarn processing unit 10 from the machine bed control section 51 (S101), starts the high-speed advance toward the stop position identifier 70 (first stop position identifier) corresponding to the target yarn processing unit 10 (S102, Figure 5 the high-speed advance).

[0069] Next, the trolley control section 45 judges whether the stop position marker 70 of the one before the target is detected (S103). Specifically, this is performed as follows. The trolley control section 45 stores the yarn processing unit 10 on which the doffing was performed last time (specifically, the identification information for identifying the yarn processing unit 10), so the doffing trolley 40 can determine the yarn processing unit 10 approached at the current time. Therefore, the number of yarn processing units 10 that should be passed through in order to reach the yarn processing unit 10 that is the target can be calculated. In addition, the trolley control section 45 can detect the stop position marker 70 using the optical sensor 47 even in high-speed travel. Thus, when the number of yarn processing units 10 that should be passed through until the yarn processing unit 10 that is the target is reached is set to N, and the number of yarn processing units 10 passed through at the current time is set to M, the trolley control section 45 judges whether N-M is 1. In the case where N-M is 1, the doffing trolley 40 has reached the stop position marker 70 of the one before the target (second stop position marker).

[0070] The trolley control section 45, in the case where it is judged that the stop position marker 70 of the one before the target is detected, shifts to low-speed travel (S104, Figure 5 of the one before the target. By shifting to low-speed travel at the stop position marker 70 of the one before the target, it is possible to prevent the case where the stop position marker 70 of the target is excessively passed through. Also, it is possible to shorten the time until the stop position marker 70 of the target is reached. In the present embodiment, the stop position marker 70 of the one before the target is selected as the second stop position marker, but the stop position markers 70 of two or more before the target can be selected as the second stop position marker.

[0071] Next, the trolley control section 45 judges whether the stop position marker 70 of the target is detected (S105). The trolley control section 45, after the stop position marker 70 of the target is just detected (in other words, after the end in the travel direction of the stop position marker 70 is just detected), shifts to deceleration travel and stops the doffing trolley 40 (S106, Figure 5 deceleration / stopping). The deceleration of the deceleration travel is calculated in advance. By decelerating at this deceleration and stopping, the doffing trolley 40 stops at the target stop position. That is, the speed at the time of low-speed travel, the position of the doffing trolley 40 when the end in the travel direction of the stop position marker 70 is detected by the optical sensor 47, and the position of the doffing trolley 40 for appropriately performing doffing with respect to the yarn processing unit 10 are all known, so the deceleration is calculated in advance based on these values.

[0072] Further, instead of the method of calculating the deceleration of the deceleration travel, the deceleration time can be calculated by setting the deceleration to be constant. That is, in the case where the deceleration travel is performed at a constant deceleration from the low-speed travel, the distance (the minimum travel distance) of the travel of the doffing carriage 40 until the stop can be calculated based on the speed at the time of the low-speed travel and the deceleration. Therefore, if the deceleration is started at a position where the distance to the target stop position is equal to the minimum travel distance (the deceleration start position), the doffing carriage 40 can be stopped at the target stop position. Specifically, the time from when the stop position identifier 70 is detected until the deceleration start position is reached is calculated in advance, and the carriage control section 45 starts the deceleration of the doffing carriage 40 after the lapse of the time from when the stop position identifier 70 is detected.

[0073] However, even in the case where the doffing carriage 40 is decelerated at the calculated deceleration or at the deceleration time, there is a possibility that the doffing carriage 40 does not stop at the target stop position due to the precision of the control or inertia, etc. Therefore, in the present embodiment, after the doffing carriage 40 is stopped, the carriage control section 45 determines whether the error from the target stop position is within a threshold (S107). The determination is made based on the amount of light detected by the light sensor 47. That is, the amount of light detected by the light sensor 47 is compared with the above-mentioned reference amount of light after the doffing carriage 40 is stopped. If the difference is within the threshold, the carriage control section 45 ends the carriage control, and then performs the control related to the doffing. The change ratio of the length of the detection direction of the inclined portion 72 of the stop position identifier 70 of the present embodiment is constant. Therefore, the degree of the error from the target stop position can be determined by using the threshold. Further, it is preferable that the threshold be a value larger than the minimum distance that the doffing carriage 40 can move when the doffing carriage 40 is shifted from the target stop position.

[0074] In the case where the difference exceeds the threshold, the carriage control section 45 performs the position adjustment control (S108). The position adjustment control is a control to bring the doffing carriage 40 close to the target stop position. The change ratio of the length of the detection direction of the inclined portion 72 of the stop position identifier 70 of the present embodiment is constant. Therefore, the amount of change of the amount of light per unit length of the travel direction is calculated and stored in advance, and the length of the shift of the doffing carriage 40 can be calculated based on the amount of change. The carriage control section 45 drives the travel motor 46 in such a manner that the length of the shift of the doffing carriage 40 is close to zero. For example, in the case where the length of the shift is L and the minimum speed of the doffing carriage 40 is V, the travel motor 46 is driven at the minimum speed and for a time corresponding to L / V. Further, instead of calculating the drive time of the travel motor 46, the carriage control section 45 can calculate the drive amount (for example, the number of rotations of the output shaft or a value corresponding thereto) of the travel motor 46.

[0075] The trolley control section 45, after performing the control to stop the doffing trolley 40 at the target stop position, communicates (for example, infrared communication or the like) with the yarn processing unit 10 to confirm that the doffing trolley 40 has reached the vicinity of the target yarn processing unit 10. Then, the trolley control section 45 performs doffing with respect to the target yarn processing unit 10. The trolley control section 45 stores the identification information of the yarn processing unit 10 confirmed here. The identification information of this yarn processing unit 10 is used when performing the control to travel to the next target yarn processing unit 10.

[0076] In the present embodiment, the trolley control section 45, after the position adjustment control, does not perform the next processing again while determining the error from the target stop position. Instead, the trolley control section 45, after the position adjustment control, performs the determination of step S107 again, and determines again whether the doffing trolley 40 is close to the target stop position (whether the error from the target stop position is within the threshold). Thus, before the error from the target stop position becomes within the threshold, the processing to adjust the position of the doffing trolley 40 again (specifically, the processing of steps S107 and S108, hereinafter adjustment processing) is repeated. However, in order to avoid repeating the adjustment processing for a long time, an upper limit can be set to the number of times of the adjustment processing or the processing time. In the case where the number of times of the adjustment processing exceeds the upper limit (for example, twice) or the processing time exceeds the upper limit, the trolley control section 45 can stop the doffing trolley 40 abnormally. Or the trolley control section 45, when the number of times of the adjustment processing or the processing exceeds the upper limit, can move the doffing trolley 40 in the direction away from the target stop position. In this case, the trolley control section 45 calculates the travel time to stop the doffing trolley 40 at the target stop position based on the amount of movement of the doffing trolley 40 when moving away from the target stop position and the initial error. Next, the trolley control section 45 moves the doffing trolley 40 according to the travel time, and moves the doffing trolley 40 to the target stop position.

[0077] The processing to register the stop position of each yarn processing unit 10 will be described.

[0078] In the present embodiment, the stop position identifier 70 is provided to the track 60. On the other hand, the doffing trolley 40 performs work with respect to the yarn processing unit 10. The position of the yarn processing unit 10 with respect to the track 60 is not necessarily constant due to dimensional accuracy, looseness, or flexure, or the like. Therefore, it is preferable to register the stop position with respect to each yarn processing unit 10.

[0079] Figure 6An example of a method using the positioning member 81 is shown. The positioning member 81 is attachable to and detachable from the yarn processing unit 10. In a state where the positioning member 81 is attached to the yarn processing unit 10 (attachment process), the doffing carriage 40 is brought into contact with the positioning member 81, whereby the doffing carriage 40 is positioned at a stop position with respect to the yarn processing unit 10. Also, the carriage control section 45 stores the light receiving amount detected by the light sensor 47 in this state as a reference light receiving amount (storage process). The above process is performed for all of the yarn processing units 10, whereby the stop position can be registered for each of the yarn processing units 10.

[0080] Figure 7 A method using the positioning sensor 82 in addition to the positioning member 81 is shown. The positioning sensor 82 is provided to the doffing carriage 40 and moves integrally with the doffing carriage 40. The positioning sensor 82 is a line sensor that detects in a direction parallel to the traveling direction. The positioning sensor 82 is disposed at a position where a characteristic portion (for example, an edge portion) of the yarn processing unit 10 can be detected. In addition, the positioning sensor 82 can also be a sensor other than a line sensor (for example, a laser sensor) as long as it can detect the position of the characteristic portion of the yarn processing unit 10.

[0081] First, the positioning sensor 82 is attached to the doffing carriage 40 (preparation process). Next, as described above, the positioning member 81 is attached to the yarn processing unit 10, and the doffing carriage 40 is brought into coincidence with the stop position. Then, the carriage control section 45 stores the light receiving amount detected by the light sensor 47 in this state as a reference light receiving amount. Further, the carriage control section 45 also stores the detection value (in detail, the position of the edge portion of the yarn processing unit 10) detected by the positioning sensor 82 in this state. The stored detection value of the positioning sensor 82 is a detection value detected when the doffing carriage 40 is positioned at the stop position of the yarn processing unit 10. By using the stored detection value of the positioning sensor 82, the positioning member 81 need not be used with respect to the second and subsequent yarn processing units 10. Specifically, the doffing carriage 40 is moved toward the second yarn processing unit 10, and the doffing carriage 40 is moved so that the detection value of the positioning sensor 82 coincides with the detection value stored in advance. Then, the light receiving amount detected by the light sensor 47 in this state is stored as a reference light receiving amount. The above process is performed for all of the yarn processing units 10, whereby the stop position can be registered in units of the yarn processing units 10.

[0082] In Figure 7In the example, for the second and subsequent yarn processing units 10, the doffing carriage 40 is moved so that the detection value of the positioning sensor 82 matches the pre-stored detection value. That is, the doffing carriage 40 is moved based on the detection value of the positioning sensor 82. Alternatively, the doffing carriage 40 can be moved based on the amount of light received by the light sensor 47. Specifically, when processing the second and subsequent yarn processing units 10, the doffing carriage 40 is moved so that the amount of light received detected by the light sensor 47 matches the reference amount of light received stored in the first yarn processing unit 10. In this state, the detection value of the positioning sensor 82 is obtained. Since the change ratio of the length of the tilted portion 72 of the stop position identifier 70 in the detection direction is constant, the difference between the detection value of the first positioning sensor 82 and the detection value of the second positioning sensor 82 is equivalent to the difference in the stop position. Therefore, the carriage control unit 45 increases or decreases the reference amount of light received by an amount equivalent to this difference. The above processing is performed on all yarn processing units 10, thereby enabling the stop position to be registered on a unit-by-unit basis.

[0083] In this embodiment, a stop position identifier 70 is provided on the track 60, so the stop position of each yarn processing unit 10 needs to be registered. Alternatively, as shown below, Figure 8 As shown, a stop position identifier 70 can also be provided in the yarn processing unit 10. By directly setting it in the yarn processing unit 10, the stop position can be determined using the manufacturing precision of the yarn processing unit 10. Therefore, the stop position can be determined for all yarn processing units 10 using a common detection value. That is, it is not necessary to register the stop position for all yarn processing units 10; the stop position can be registered for only one yarn processing unit 10, and the stop position information can be reused for the remaining yarn processing units 10. Figure 8 In the example shown, although a stop position identifier 70 is provided on the housing 18, the stop position identifier 70 can also be provided at different locations on the yarn processing unit 10.

[0084] The doffing described above is an operation performed on the cradle 16. The doffing carriage 40 can also perform a yarn path reference operation. The yarn path reference operation, for example, is an operation performed on the yarn storage device when the yarn processing unit 10 is equipped with one. Because the operations on the cradle 16 and the yarn path reference differ, the preferred stopping position of the doffing carriage 40 may sometimes differ. Therefore, even when the doffing carriage 40 is operating on the same yarn processing unit 10, stopping the doffing carriage 40 at a preferred position according to the operation content can improve work efficiency or the success rate of the operation.

[0085] In the structure disclosed in Japanese Patent Application Publication No. 2008-137539, although indexing blocks installed on the track are used for alignment, it is difficult to configure indexing blocks that coincide with two adjacent stop positions. Therefore, in the structure disclosed in Japanese Patent Application Publication No. 2008-137539, it is difficult to stop the doffing carriage at a preferred position corresponding to the work content. The doffing carriage 40 of this embodiment can calculate the relative position of the doffing carriage 40 with respect to the stop position identifier 70 based on the amount of light received by the light sensor 47. Therefore, it is possible to register two adjacent stop positions and stop the doffing carriage 40 at the stop position corresponding to the work content.

[0086] For example, refer to the different tasks. Figures 6 to 8 The method described herein allows for the registration of multiple stop positions for a single yarn processing unit 10 (a stop position identifier 70). Alternatively, after registering the stop position of a baseline operation (e.g., doffing), the stop position of the baseline operation can be incremented or decremented by a predetermined value, thereby registering multiple stop positions for a single yarn processing unit 10.

[0087] Reference Figure 9 The first variant, in addition to the stop position identifier 70, is described below.

[0088] In the first variation, the length of the detection direction of the optical sensor 47 is longer than the length of the detection direction of the stop position identifier 70. Specifically, as... Figure 9 As shown, the detection area of ​​the light sensor 47 is divided into area A1, area A2, and area A3. Areas A1, A2, and A3 are arranged along the detection direction. The length of area A1 in the detection direction is longer than that of areas A2 and A3, but it can also be the same or shorter. Area A1 is the area located in the center of the detection direction. A stop position identifier 70 is provided in area A1 on the setting surface of the track 60. Area A2 is the area offset upwards compared to area A1. A yarn processing unit identifier 75 and an auxiliary identifier 76 are provided in area A2 on the setting surface of the track 60. Area A3 is the area offset downwards compared to area A1. A stop position identifier 77, indicating information different from the auxiliary identifier 76, is provided in area A3 on the setting surface of the track 60. The yarn processing unit identifier 75 can also be provided in the yarn processing unit 10 (especially the housing 18) instead of the track 60.

[0089] The yarn processing unit identifier 75, the auxiliary identifier 76, and the stop position identifier 77 are one-dimensional bar codes, and the direction of the lines of the one-dimensional bar codes is parallel to the traveling direction. That is, the yarn processing unit identifier 75, the auxiliary identifier 76, and the stop position identifier 77 are different from the stop position identifier 70 in the manner of reading. Therefore, the trolley control section 45 can determine the identifier detected by the optical sensor 47 by simply processing the light receiving amount of the optical sensor 47. The optical sensor 47 of the first modified example also has a function of reading one-dimensional bar codes. In addition, the yarn processing unit identifier 75, the auxiliary identifier 76, and the stop position identifier 77 are one-dimensional bar codes, and therefore the optical sensor 47 of the present embodiment can read the yarn processing unit identifier 75, the auxiliary identifier 76, and the stop position identifier 77 even during the travel of the doffing trolley 40.

[0090] The yarn processing unit identifier 75 contains identification information of the yarn processing unit 10. The yarn processing unit identifier 75 is provided at the same position as the stop position identifier 70 in the traveling direction. The trolley control section 45 can determine the yarn processing unit 10 in the vicinity of the doffing trolley 40 on the basis of the yarn processing unit identifier 75 read by the optical sensor 47. Thus, it is possible to confirm that the target yarn processing unit 10 has been reached. In addition, in the above-described embodiment, after the target yarn processing unit 10 has been reached, communication with the yarn processing unit 10 is performed to confirm that the vicinity of the target yarn processing unit 10 has been reached, but in the present modified example, the yarn processing unit identifier 75 can be used to confirm that the vicinity of the target yarn processing unit 10 has been reached, and therefore communication with the yarn processing unit 10 for this confirmation can be omitted.

[0091] The auxiliary identifier 76 is used for the trolley control section 45 to calculate the detailed position of the doffing trolley 40. The auxiliary identifier 76 is provided at positions at which the yarn processing unit identifiers 75 are divided into a plurality of (four in the example of Figure 9 In the travel, after the yarn processing unit identifier 75 has been read, the trolley control section 45 can calculate a more specific position of the doffing trolley 40 on the basis of the number of the read auxiliary identifiers 76. By using the auxiliary identifier 76, it is thus possible to more appropriately perform control related to acceleration and deceleration of the doffing trolley 40. For example, in the above-described embodiment, the travel is shifted to low speed at the stop position identifier 70 of the one before the target, but by using the auxiliary identifier 76, the travel can be shifted to low speed, for example, from a position halfway between the stop position identifier 70 of the one before the target and the stop position identifier 70 of the target.

[0092] The stop position identifier 77 determines the stop position of the doffing carriage 40 other than the yarn processing unit 10. For example, the stop position identifier 77 determines the position of the doffing carriage 40 at the time of maintenance, or the position of the doffing carriage 40 at the time of discarding the thread end stored in the doffing carriage 40, and the like.

[0093] Instead of the structure of the present modification example, the entire yarn processing unit identifier 75 and the auxiliary identifier 76 can be associated with coordinate values (values indicating positions in the advancing direction). The coordinate values corresponding to the yarn processing unit identifier 75 and the auxiliary identifier 76 are determined in advance and stored in the carriage control section 45. In this case, the carriage control section 45 determines the yarn processing unit identifier 75 or the auxiliary identifier 76 based on the light receiving amount of the light sensor 47, finds the coordinate value corresponding thereto, and thereby can determine the position of the doffing carriage 40. Also, since a specific coordinate value is associated with the yarn processing unit 10, the yarn processing unit 10 can be determined based on the coordinate value determined by the carriage control section 45. In this structure, the auxiliary identifier 76 does not need to be counted.

[0094] Reference Signs Figure 10 A second modification example in which the shape of the stop position identifier 70 is different will be described.

[0095] The light sensor 47 of the second modification example can detect not only the light receiving amount but also the light receiving position. Specifically, a plurality of light receiving elements are arranged in the detection region 47a of the light sensor 47 in the detection direction, and the light receiving amount of each light receiving element is detected independently. Thereby, the light receiving position as the position at which light is detected in the detection region 47a can be determined. In the case of using such a light sensor 47, the length of the detection direction of the stop position identifier 70 can also be constant as shown in FIG. 8. The stop position identifier 70 of the second modification example is inclined from one side toward the other side in the advancing direction. Therefore, the position of the light sensor 47 in the advancing direction, the upper and lower positions of the stop position identifier 70 in the detection region 47a in FIG. 8 are different. Thus, the position of the doffing carriage 40 with respect to the stop position identifier 70 can be calculated based on the light receiving position detected by the light sensor 47. Figure 10 Figure 10

[0096] Reference Signs Figure 11 A third modification example in which the shape of the stop position identifier 70 is different will be described.

[0097] ​​The light sensor 47 of the third modification example measures the distance to the object based on the time taken until the irradiated light is received. The stop position identifier 70 of the third modification example varies in thickness in plan view depending on the position in the traveling direction. In other words, if the light sensor 47 moves with respect to the stop position identifier 70 in the traveling direction, the distance between the light sensor 47 and the stop position identifier 70 in plan view changes. Therefore, the position of the doffing trolley 40 with respect to the stop position identifier 70 can be calculated based on the distance (detection value) detected by the light sensor 47.

[0098] Further, the stop position identifier 70 can also be a member in which the reflectivity of light varies depending on the position. For example, in a case where the reflectivity of light increases as the light sensor 47 travels in the traveling direction, the position of the doffing trolley 40 with respect to the stop position identifier 70 can be calculated based on the amount of received light detected by the light sensor 47.

[0099] Reference Signs Figure 12 The stop position identifier 70 and the yarn processing unit identifier 75 of the fourth modification example will be described.

[0100] The stop position identifier 70 of the fourth modification example is the same shape as the stop position identifier 70 of the above-described embodiment. The yarn processing unit identifier 75 is a portion for identifying the yarn processing unit 10. The shape of the yarn processing unit identifier 75 differs at least between adjacent yarn processing units 10. That is, the yarn processing unit identifier 75 has at least three shapes. The doffing trolley 40 can confirm that the correct yarn processing unit 10 has been reached by analyzing the measurement results of the yarn processing unit identifier 75 alone (without performing the above-described wireless communication or the like).

[0101] Specifically, the yarn processing unit identifier 75 is the same as the stop position identifier 70 and is an opening portion formed in the rail 60. Alternatively, the yarn processing unit identifier 75 can be a structure in which a member having a different reflectivity of light from the rail 60 is attached. As shown in FIG. 9, the yarn processing unit identifier 75 has four regions in order from the bottom, a first region, a second region, a third region, and a fourth region, and is a structure in which the opening portion is selectively formed in the four regions. Figure 12 The first region is a portion for determining the presence or position of the yarn processing unit identifier 75 or the like, and the opening portion is formed in all of the yarn processing unit identifiers 75. The second region to the fourth region are portions for identifying the yarn processing unit 10, and the opening portion is formed in such a manner that the yarn processing units 10 become different combinations.

[0102] As explained above, the automatic winder 1 of the above-described embodiment is provided with the plurality of yarn processing units 10, the doffing trolley 40, the stop position marker 70 (or the stop position marker 77), the optical sensor 47, and the trolley control section 45. The yarn processing unit 10 winds a yarn around a take-up bobbin thereby to form a package 22. The doffing trolley 40 travels along a traveling direction in which the yarn processing units 10 are arranged, and performs work on the yarn processing units 10. The stop position marker 70 is provided at a position corresponding to a stop position of the doffing trolley 40. The optical sensor 47 is provided on the doffing trolley 40, and detects the stop position marker 70. The trolley control section 45 performs control to stop the doffing trolley 40 at a predetermined stop position of the doffing trolley 40, based on a magnitude of a detection value detected by the optical sensor 47 with respect to the stop position marker 70 of a target at which the doffing trolley 40 is to be stopped, or a position at which light is detected, i.e., a light-receiving position, in a region (detection region 47a) in which the optical sensor 47 can detect light, to calculate a position of the doffing trolley 40 with respect to the stop position marker 70.

[0103] Thus, the position of the doffing trolley 40 can be calculated in a non-contact manner, so that the accuracy of the position at which the doffing trolley 40 is stopped is not easily reduced. Further, since the position of the doffing trolley 40 is calculated using the detection value or the light-receiving position detected by the optical sensor 47, the position at which the doffing trolley 40 is stopped can be adjusted by changing the detection value or the light-receiving position at which the doffing trolley 40 is to be stopped.

[0104] In the automatic winder 1 of the above-described embodiment, the stop position is set in units of the yarn processing units 10. The doffing trolley 40 performs work on the yarn processing units 10 after stopping at the stop position.

[0105] Thus, the doffing trolley 40 can perform work on the yarn processing units 10 in an appropriate positional relationship.

[0106] In the automatic winder 1 of the above-described embodiment, the optical sensor 47 is a line sensor.

[0107] Thus, more information can be obtained compared to a point-like optical sensor 47.

[0108] In the automatic winder 1 of the above-described embodiment, the detection direction of the line sensor is a direction orthogonal to the traveling direction on a face on which the stop position marker 70 is provided.

[0109] Thus, the detection range becomes a planar and wide range while traveling and being detected by the optical sensor 47.

[0110] In the automatic winder 1 of the above embodiment, the length of the direction orthogonal to the traveling direction of the stop position marker 70 becomes longer as it goes from one side to the other side of the traveling direction.

[0111] Thus, the positional relationship of the light sensor 47 and the stop position marker 70 in the traveling direction can be calculated.

[0112] In the automatic winder 1 of the above embodiment, the increase ratio of the length of the direction orthogonal to the traveling direction of the stop position marker 70 is constant.

[0113] Thus, the distance of the light sensor 47 and the stop position marker 70 in the traveling direction is proportional to the detection value of the light sensor 47, so the specific distance of the light sensor 47 and the stop position marker 70 can be calculated.

[0114] In the automatic winder 1 of the above embodiment, the trolley control section 45 stores a plurality of stop positions with respect to the stop position marker 70, and stores any one of the plurality of stop positions for each work content of the doffing trolley 40 in association. The trolley control section 45 determines the stop position of the doffing trolley 40 with respect to the stop position marker 70 based on the work content.

[0115] Thus, one stop position marker 70 can be used to stop the doffing trolley 40 at an appropriate position corresponding to the work content.

[0116] In the automatic winder 1 of the above embodiment, the stop position marker 70 includes a first stop position marker that is a target for stopping the doffing trolley 40, and a second stop position marker selected from the stop position markers 70 located between the doffing trolley 40 and the first stop position marker in the traveling direction. The trolley control section 45 decelerates the doffing trolley 40 based on the detection of the second stop position marker by the light sensor 47.

[0117] Thus, the doffing trolley 40 travels at high speed during the period away from the stop position, and travels at low speed during the period approaching the stop position, so the stop position can be reached in a short time.

[0118] In the automatic winder 1 of the above embodiment, a yarn processing unit marker 75 for identifying the yarn processing unit 10 is provided at a position different from the stop position marker 70 in the direction orthogonal to the traveling direction. A part of the stop position marker 70 is repeated in the traveling direction with the yarn processing unit marker 75.

[0119] Thus, the light sensor 47 for detecting the stop position can be used to identify the yarn processing unit 10 while aligning with the stop position. That is, it can be confirmed that the targeted yarn processing unit 10 is reached.

[0120] In the automatic winder 1 of the above embodiment, the light sensor 47 reads the yarn processing unit identifier 75 in a different manner from the stop position identifier 70.

[0121] Thus, the stop position identifier 70 and the yarn processing unit identifier 75 can be clearly distinguished.

[0122] In the automatic winder 1 of the above embodiment, the yarn processing unit identifier 75 is provided to the yarn processing unit 10.

[0123] In the automatic winder 1 of the above embodiment, the doffer carriage 40 travels along the track 60. The stop position identifier 70 is formed in an opening portion of the track 60.

[0124] Thus, the stop position identifier 70 can be produced with simple work.

[0125] In the automatic winder 1 of the above embodiment, the stop position identifier 70 is provided to the yarn processing unit 10.

[0126] Thus, in the case where the yarn processing unit 10 is subjected to work, the process of registering the stop position in units of the yarn processing unit 10 can be omitted or simplified.

[0127] In the automatic winder 1 of the above embodiment, an auxiliary identifier 76 for identifying the position of the doffer carriage 40 in the traveling direction is provided between the yarn processing units 10 in the traveling direction.

[0128] Thus, the position of the doffer carriage 40 can be more precisely calculated.

[0129] The teaching method of the above embodiment includes an installation process and a storage process. In the installation process, the positioning member 81 is installed to the yarn processing unit 10. In the storage process, the size of the detection value detected by the light sensor 47 with respect to the stop position identifier 70 provided at a position corresponding to the stop position of the doffer carriage 40, or the position of the detected light in the region (detection region 47a) in which the light sensor 47 can detect light, i.e., the light receiving position, is stored in a state where the positioning member 81 is in contact with the work carriage.

[0130] Thus, the stop position of each yarn processing unit 10 can be registered.

[0131] The teaching method of the above embodiment includes a preparation step of installing the position sensor 82 to the doffing trolley 40. The yarn processing unit 10 includes a first yarn processing unit and a second yarn processing unit. The storing step includes a first storing step and a second storing step. In the first storing step, the detected value or the light receiving position with respect to the first yarn processing unit is stored. In the second storing step, the detected value or the light receiving position with respect to the second yarn processing unit is stored. In the first storing step, the light sensor 47 detects the detected value or the light receiving position in a state where the position member 81 installed to the first yarn processing unit is in contact with the doffing trolley 40, and the position sensor detects the first yarn processing unit. The second storing step is performed after the first storing step, and in the second storing step, based on the detected value or the light receiving position detected by the light sensor 47 and the position of the second yarn processing unit detected by the position sensor 82, the stop position of the doffing trolley 40 with respect to the second yarn processing unit is calculated and stored in a state where the position of the doffing trolley 40 is matched with the second yarn processing unit.

[0132] Thus, it is possible to register the stop position with respect to the second or later yarn processing unit 10 without providing the position member to the second or later yarn processing unit 10.

[0133] Although the preferred embodiment of the present application and the modified example have been described above, the above structure can be changed, for example, as follows.

[0134] In the above embodiment, the yarn processing unit identifier 75, the auxiliary identifier 76, and the stop position identifier 77 are all one-dimensional bar codes, but at least any one of them can be the same structure as the stop position identifier 70 (a structure in which the reflectivity of light is different from the setting surface, such as a hole). In particular, the yarn processing unit identifier 75 can also be the same shape as the stop position identifier 70. Even if the yarn processing unit identifier 75 is the same structure as the stop position identifier 70, by making the detected value of the yarn processing unit identifier 75 different in units of the yarn processing unit 10, it is possible to determine the stop position identifier 70 and the yarn processing unit identifier 75 based on the total value of the detected value of the stop position identifier 70 and the detected value of the yarn processing unit identifier 75. That is, as Figure 13As shown, in a case where the detection values of the stop position identifier 70 and the yarn processing unit identifier 75 are decided, if the detection value is 10 to 25, it can be confirmed that the doffer carriage 40 reads the identifier of the A type, if the detection value is 30 to 45, it can be determined that the doffer carriage 40 reads the identifier of the B type, and if the detection value is 50 to 65, it can be confirmed that the doffer carriage 40 reads the identifier of the C type. As described above, the doffer carriage 40 can distinguish the identifiers of the three types. The yarn processing unit 10 to which the doffer carriage 40 currently approaches can be determined based on the manner and the number of the stop position identifiers 70 passed by the doffer carriage 40. Also, in a case where the light sensor 47 capable of detecting the light receiving position is used, the stop position identifier 70 and the yarn processing unit identifier 75 can be determined by the combination of the detection positions of the stop position identifier 70 and the yarn processing unit identifier 75.

[0135] In the above-described embodiment, the stop position identifier 70 is provided on the side surface of the track 60. Instead of this, the stop position identifier 70 can be provided on the upper surface or other surface of the track 60.

[0136] In the above-described embodiment, the detection direction of the light sensor 47 is the direction orthogonal to the advancing direction. Instead of this, in a case where the light sensor 47 capable of detecting the light receiving position is used, the detection direction of the light sensor 47 can also be parallel to the advancing direction. In this case, the position of the stop position identifier 70 in the advancing direction (in other words, the relative position of the doffer carriage 40 with respect to the stop position identifier 70) can be determined based on the light receiving position detected by the light sensor 47. As described above, the doffer carriage 40 can be stopped at the target stop position based on the detection value of the light sensor 47.

[0137] The flowchart shown in the above-described embodiment is one example, and a part of the processing can be omitted, the contents of a part of the processing can be changed, or a new processing can be added.

[0138] In the above-described embodiment, the doffer carriage 40 is exemplified as an example of the work carriage. Instead of this, the present application can also be applied to a joint carriage.

[0139] In the above-described embodiment, the automatic winder 1 is exemplified as an example of the yarn winding machine. Instead of this, the present application can also be applied to other yarn winding machines such as a spinning machine.

Claims

1. A yarn winder characterized by, Possessing: a plurality of yarn processing units that form packages by winding yarns on bobbins; a work trolley that travels with a direction in which the yarn processing units are arranged as a traveling direction, and performs work on the yarn processing units; a stop position marker that is provided at a position corresponding to a stop position of the work trolley; a light sensor that is provided on the work trolley and detects the stop position marker; and a control section that controls such that the light sensor detects the stop position marker that is a target for stopping the work trolley, and thereby calculates a position of the work trolley with respect to the stop position marker based on a size of a detected value or a position at which light is detected, i.e., a light receiving position, in a region in which the light sensor can detect light, and causes the work trolley to stop at the stop position of the work trolley that is decided in advance, the light sensor is a line sensor, a direction in which the line sensor detects is a direction that is orthogonal to a face on which the stop position marker is provided and is orthogonal to the traveling direction, a length of the stop position marker in a direction that is orthogonal to the traveling direction is longer on a side of the face on which the stop position marker is provided than on the other side, a proportion of the increase in the length of the stop position marker in the direction that is orthogonal to the traveling direction is constant.

2. The yarn winding machine according to claim 1, wherein the stop position is set in units of the yarn processing units, the work trolley performs work on the yarn processing units after stopping at the stop position.

3. The yarn winding machine according to claim 1 or 2, wherein the control section stores a plurality of the stop positions with respect to the stop position marker, and stores one of the stop positions in association with each work content of the work trolley, the control section decides the stop position of the work trolley with respect to the stop position marker based on the work content.

4. The yarn winding machine according to claim 1 or 2, wherein the stop position marker includes: a first stop position marker that is a target for stopping the work trolley; and a second stop position marker that is selected from the stop position markers that are located between the work trolley and the first stop position marker in the traveling direction, the control section decelerates the work trolley based on a case where the light sensor detects the second stop position marker.

5. The yarn winding machine according to claim 3, wherein the stop position marker includes: a first stop position marker that is a target for stopping the work trolley; and a second stop position marker that is selected from the stop position markers that are located between the work trolley and the first stop position marker in the traveling direction, the control section decelerates the work trolley based on a case where the light sensor detects the second stop position marker.

6. The yarn winder of any of claims 1, 2, 5, wherein, Further possessing: a yarn processing unit identifier provided at a position different from the stop position identifier in a direction orthogonal to the travel direction, for identifying the yarn processing unit, a part of the stop position identifier is repeated in the travel direction with the yarn processing unit identifier.

7. The yarn take-up machine of claim 3, wherein Further provided with: a yarn processing unit identifier provided at a position different from the stop position identifier in a direction orthogonal to the travel direction, for identifying the yarn processing unit, a part of the stop position identifier is repeated in the travel direction with the yarn processing unit identifier.

8. The yarn take-up machine of claim 4, wherein, Further provided with: a yarn processing unit identifier provided at a position different from the stop position identifier in a direction orthogonal to the travel direction, for identifying the yarn processing unit, a part of the stop position identifier is repeated in the travel direction with the yarn processing unit identifier.

9. The yarn winding machine according to claim 6, wherein the light sensor reads the yarn processing unit identifier in a different manner from the stop position identifier.

10. The yarn winding machine according to claim 7, wherein the light sensor reads the yarn processing unit identifier in a different manner from the stop position identifier.

11. The yarn winding machine according to claim 8, wherein the light sensor reads the yarn processing unit identifier in a different manner from the stop position identifier.

12. The yarn winding machine according to claim 6, wherein the yarn processing unit identifier is provided to the yarn processing unit.

13. The yarn winding machine according to any one of claims 7 to 11, wherein the yarn processing unit identifier is provided to the yarn processing unit.

14. The yarn winding machine according to any one of claims 1, 2, 5, 7 to 12, wherein the work trolley travels along a track, the stop position identifier is an opening portion formed in the track.

15. The yarn winding machine according to claim 3, wherein the work trolley travels along a track, the stop position identifier is an opening portion formed in the track.

16. The yarn winding machine according to claim 4, wherein the work trolley travels along a track, the stop position identifier is an opening portion formed in the track.

17. The yarn winding machine according to claim 6, wherein the work trolley travels along a track, the stop position identifier is an opening portion formed in the track.

18. The yarn winding machine according to claim 13, wherein the work trolley travels along a track, the stop position identifier is an opening portion formed in the track.

19. The yarn winding machine according to any one of claims 1, 2, 5, 7 to 12, 15 to 18, wherein the stop position identifier is provided to the yarn processing unit.

20. The yarn winding machine according to claim 3, wherein the stop position identifier is provided to the yarn processing unit.

21. The yarn winder according to claim 4, characterized in that the stop position identifier is provided to the yarn handling unit.

22. The yarn winder according to claim 6, characterized in that the stop position identifier is provided to the yarn handling unit.

23. The yarn winder according to claim 13, characterized in that the stop position identifier is provided to the yarn handling unit.

24. The yarn winder according to claim 14, characterized in that the stop position identifier is provided to the yarn handling unit.

25. The yarn winder according to any of claims 1, 2, 5, 7-12, 15-18, 20-24, characterized in that, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

26. The yarn take-up machine of claim 3, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

27. The yarn take-up machine of claim 4, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

28. The yarn take-up machine of claim 6, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

29. The yarn take-up machine of claim 13, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

30. The yarn take-up machine of claim 14, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

31. The yarn take-up machine of claim 19, wherein, Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction.

32. A teaching method of teaching a stop position of a work trolley in a yarn winding machine provided with a plurality of yarn processing units in which a yarn package is formed by winding a yarn around a bobbin, and the work trolley which travels in a direction in which the yarn processing units are arranged as a traveling direction and performs work on the yarn processing units, characterized by comprising: a first step of teaching a stop position of the work trolley in a first yarn processing unit; a second step of teaching a stop position of the work trolley in a second yarn processing unit; and a third step of teaching a stop position of the work trolley in a third yarn processing unit. Further provided are: an auxiliary identifier provided between the yarn handling units in the traveling direction for identifying the position of the work car in the traveling direction. comprising: a mounting process of mounting the positioning member to the yarn handling unit; and a storage process of storing the size of the detected value or the position of the detected light in the region where the light sensor can detect light, i.e., the light receiving position, detected by the light sensor in a state where the positioning member and the work car are in contact.

33. The teaching method according to claim 32, characterized by comprising a preparation process of mounting the positioning sensor to the work car, the yarn handling unit comprises a first yarn handling unit and a second yarn handling unit, the storage process comprises: a first storage process of storing the detected value or the light receiving position with respect to the first yarn handling unit; and a second storage process performed after the first storage process, of storing the detected value or the light receiving position with respect to the second yarn handling unit, in the first storage process, the light sensor detects the detected value or the light receiving position in a state where the positioning member mounted to the first yarn handling unit and the work car are in contact, and the positioning sensor detects the first yarn handling unit, In the second storing process, the position of the work truck relative to the second yarn processing unit is calculated and stored based on the detection value detected by the light sensor or the light receiving position and the position of the second yarn processing unit detected by the positioning sensor, in a state where the alignment of the second yarn processing unit and the work truck is performed non-contact.

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