A bobbin transport system and a bobbin transport method

Abstract

A bobbin conveying system and a bobbin conveying method are provided. The number of rows of storage magazine bobbins (26) possessed by a storage magazine (20) is one more than the number of rows of carriage bobbins (13) possessed by a traveling creel trolley (10). In a state in which one row among the storage magazine bobbins (26) is in a state of having no bobbin and the remaining rows all have empty bobbins (6) mounted thereon, a first process and a second process are alternately performed by control of a conveying control computer (40), whereby the empty bobbins (6) of the storage magazine (20) are replaced with full bobbins (5) of the traveling creel trolley (10). In the first process, the full bobbins (5) mounted on the carriage bobbins (13) of the one row are moved to the storage magazine bobbins (26) of the one row in the state of having no bobbin. In the second process, the empty bobbins (6) mounted on the one row of the storage magazine bobbins (26) are moved to the carriage bobbins (13) of the one row from which the full bobbins (5) were removed in the first process. The traveling creel trolley (10) conveys the full bobbins (5) to the storage magazine (20) and replaces them with the empty bobbins (6) of the storage magazine (20), and conveys the empty bobbins (6).

Description

Technical Field

[0001] This invention relates to the conveying of bobbins in yarn processing machines such as false twisting machines. Background Technology

[0002] Japanese Patent Application Publication No. 4-280777 (hereinafter, Patent Document 1) discloses a roll transfer method for use in winding machines and the like. In this transfer method, when the roll on the spool becomes empty due to the operation of the winding machine and needs to be replaced with a full roll, the roll replacement is performed by a spool loader that holds the full roll along the horizontal direction.

[0003] A roll that has become empty can be called an empty tube. A full roll can be called a full tube.

[0004] In the configuration of Patent Document 1, the fully loaded roll is temporarily placed on a roll support before being suspended on the trolley frame. A bobbin for suspending the roll is provided on both sides of the roll support. Initially, the fully loaded roll is suspended on one side of the roll support, while the bobbin on the other side is in an unloaded state. At this time, the surface of the roll support where the bobbin is in an unloaded state is aligned with the trolley loader.

[0005] The roll loader retrieves an empty roll from the coiler's roll rack and moves it to the roll support, where it is attached to the empty bobbin. Then, the roll support reverses, so that the surface with the full roll is facing the roll loader.

[0006] The roll loader transfers the full roll of the coil support to the section of the coiler's roll that has just received an empty roll. Then, the roll loader picks up the adjacent empty roll from the roller and transfers it to the coil support.

[0007] During this period, the empty roll of the coil support is removed and replaced with the full roll of the suspension.

[0008] Japanese Patent Application Publication No. 5-319696 (hereinafter, Patent Document 2) discloses a method for conveying a package to a weft yarn supply system for a loom. In Patent Document 2, a package conveyor capable of holding multiple packages can supply packages to the weft yarn supply system and retrieve empty packages.

[0009] Empty tubes can be referred to as empty cylindrical tubes. Rolled tubes can be referred to as full cylindrical tubes.

[0010] The roll delivery carriage has multiple chucks. It receives multiple rolls at a receiving station. At this receiving station, the rolls are held on the multiple chucks of the roll delivery carriage, but at least one chuck is empty. The roll delivery carriage travels from the receiving station to the weft yarn station. At the weft yarn station, the roll delivery carriage holds the empty tube on the chuck and supplies the roll in place of the empty tube. Summary of the Invention

[0011] In bobbin conveying systems used in yarn processing machines such as false twisting machines, there is a need to further improve the conveying efficiency of both empty and full bobbins.

[0012] In Patent Document 1, it is unclear how to handle the empty roll after the empty roll of the roll support is pulled out.

[0013] In Patent Document 2, when the roll conveyor receives rolls at the receiving station, one chuck must be kept empty, which makes it difficult to improve conveying efficiency.

[0014] The present invention was made in view of the above circumstances, and its purpose is to improve the overall conveying efficiency, including empty tubes and full tubes.

[0015] The problem to be solved by the present invention is as described above, and the means used to solve the problem and its effects will be explained next.

[0016] According to a first aspect of the present invention, a bobbin conveying system configured as follows is provided. Specifically, the bobbin conveying system includes a storage container, a bobbin transfer robot, a traveling bobbin trolley, and a control device. The storage container has multiple rows of storage bobbins, capable of storing full and empty bobbins relative to each storage bobbin. The bobbin transfer robot retrieves full bobbins stored in the storage container and installs them onto the bobbin trolley of a yarn processing machine, and removes empty bobbins from the bobbin trolley and stores them in the storage container. The traveling bobbin trolley has multiple rows of carriage bobbins, for conveying full or empty bobbins to each carriage bobbin. The control device controls the storage container and the traveling bobbin trolley. The aforementioned storage device is configured to move full-bodied tubes of the trolley bobbin attached to the traveling bobbin trolley towards the storage device bobbin, and to move empty tubes attached to the storage device bobbin towards the trolley bobbin. The number of rows of storage device bobbins in one storage device is equal to the number of rows of trolley bobbins in one traveling bobbin trolley plus one. The aforementioned control device controls the storage device and the traveling bobbin trolley so that, with one row of the storage device bobbins empty and the remaining rows all attached with empty tubes, by alternately performing the first and second steps, the storage device and the traveling bobbin trolley cooperate to perform the replacement operation of empty tubes in the storage device with full tubes on the traveling bobbin trolley. In the first step described above, the full bobbins of one row of bobbins attached to the traveling bobbin trolley are moved to one row of bobbins in the storage container that are now empty of bobbins, thus emptying one row of bobbins. In the second step described above, the empty bobbins of one row of bobbins attached to the storage container are moved to one row of bobbins in the first step that were removed from the full bobbins and are now empty of bobbins, thus emptying one row of storage container bobbins. The control device controls the traveling bobbin trolley so that after transporting full bobbins to the storage container and replacing them with empty bobbins from the storage container, the traveling bobbin trolley transports empty bobbins to a location different from the storage container.

[0017] Therefore, full bobbins from all rows of bobbins attached to the traveling bobbin can be stored in the storage container. Furthermore, empty bobbins from the storage container can be attached to all rows of bobbins on the traveling bobbin conveying full bobbins and transported to other locations. Since transport can be carried out with full or empty bobbins attached to the bobbins of all rows of the traveling bobbin, the overall conveying capacity of the traveling bobbin can be effectively utilized. Because the bobbin replacement operation begins when one row of storage bobbins in the storage container is empty, bobbin replacement operations between the storage container and the traveling bobbin can be performed smoothly.

[0018] In the aforementioned bobbin conveying system, the following configuration is preferred: the number of layers of the bobbin core in one of the aforementioned storage containers is equal to the number of layers of the bobbin core in one of the aforementioned traveling bobbin trolleys. The aforementioned control device controls the aforementioned storage containers and the aforementioned traveling bobbin trolleys so that, during the aforementioned replacement operation, all empty bobbins in the aforementioned storage containers are replaced with all full bobbins in the aforementioned traveling bobbin trolleys.

[0019] This will further improve the efficiency of transportation.

[0020] In the aforementioned bobbin conveying system, the following configuration is preferred: the traveling bobbin trolley conveys full bobbins from the location of the spinning take-up machine, where yarn is wound onto empty bobbins to form full bobbins, to the location of the storage container. The traveling bobbin trolley also conveys empty bobbins retrieved during the aforementioned replacement operation back from the location of the storage container to the location of the spinning take-up machine.

[0021] This enables an automated recycling system for empty tubes.

[0022] In the aforementioned bobbin conveying system, the following configuration is preferred: the storage hopper bobbin can circulate along a circular path. The order of the storage hopper bobbins, which exchange full or empty bobbins with the trolley bobbins, changes through this circulatory movement.

[0023] Therefore, the switching of the feeder core column of the transfer tube can be carried out in a short time.

[0024] In the aforementioned bobbin conveying system, it is preferable that during the aforementioned replacement operation, the bobbin transfer robot does not perform the operation of retrieving full bobbins from the aforementioned storage container and instead remains on standby.

[0025] Therefore, the replacement operation between the traveling trolley and the storage device will not be interrupted, and the downtime of the traveling trolley can be shortened.

[0026] According to a second aspect of the present invention, a bobbin conveying method is provided. This bobbin conveying method is applied to a system comprising a storage container, a bobbin transfer robot, and a traveling bobbin trolley. The storage container has multiple rows of storage bobbins, capable of holding full and empty bobbins relative to each storage bobbin. The bobbin transfer robot retrieves full bobbins stored in the storage container and installs them onto the bobbin trolley of a yarn processing machine, and removes empty bobbins from the bobbin trolley and stores them in the storage container. The traveling bobbin trolley has multiple rows of carriage bobbins, capable of conveying full or empty bobbins relative to each carriage bobbin. The storage container is configured to move full bobbins attached to the carriage bobbins of the traveling bobbin trolley towards the storage bobbins, and to move empty bobbins attached to the storage bobbins towards the carriage bobbins. The number of rows of storage bobbins in one of the aforementioned storage containers is equal to the number of rows of carriage bobbins in one of the aforementioned traveling bobbin trolleys plus one. In the aforementioned bobbin conveying method, when one row of storage container bobbins is without bobbins and the remaining rows are all covered with empty bobbins, the empty bobbins of the storage container are replaced with full bobbins of the traveling bobbin trolley by alternately performing the first and second steps. In the aforementioned first step, the full bobbins of the carriage bobbins in one row of traveling bobbin trolleys are moved to the storage container bobbins in one row that are now without bobbins, so that one row of carriage bobbins is now without bobbins. In the second step described above, one row of empty bobbins hanging on the bobbins of the storage container is moved towards one row of bobbins on the trolley that were removed from the full bobbins in the first step and are now in a state without bobbins, thus making one row of the storage container bobbins in a state without bobbins. After the traveling bobbin trolley transports the full bobbins to the storage container and replaces them with the empty bobbins of the storage container, it transports the empty bobbins to a location different from the storage container. Attached Figure Description

[0027] Figure 1 This is a perspective view showing the overall configuration of a tube conveying system according to one embodiment of the present invention.

[0028] Figure 2 It is an enlarged three-dimensional view showing the perimeter of the storage container.

[0029] Figure 3 This is a schematic top view showing the operation of moving a full bobbin from the bobbin shuttle in the first row of the traveling bobbin frame to the storage shuttle.

[0030] Figure 4 This is a schematic top view showing the operation of moving an empty tube from the storage shuttle core of the storage tank to the trolley shuttle core of the first column.

[0031] Figure 5This is a schematic top view of the operation of moving a full-bore tube from the second column of the traveling bobbin carriage to the storage container bobbin.

[0032] Figure 6 This is a schematic top view showing the operation of moving an empty tube from the storage shuttle core of the storage tank to the trolley shuttle core of the second column.

[0033] Figure 7 This is a schematic top view showing the operation of moving a full bobbin from the third column of the traveling bobbin trolley to the storage container bobbin.

[0034] Figure 8 This is a schematic top view showing the operation of moving an empty tube from the storage shuttle core of the storage tank to the trolley shuttle core of the third column.

[0035] Figure 9 This is a schematic top view showing the operation of transferring full bobbins from the storage shuttle core of the storage device to the bobbin robot.

[0036] Figure 10 This is a schematic top view showing the operation of a bobbin maker removing empty bobbins from the bobbin maker of a stretching and twisting machine.

[0037] Figure 11 This is a schematic top view showing a bobbin-mounted robot placing a full load of bobbins on the bobbin mount of a stretching and twisting machine.

[0038] Figure 12 This is a schematic top view showing the operation of handing over empty bobbins from the bobbin robot to the storage shuttle core of the storage device. Detailed Implementation

[0039] Next, embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 This is a perspective view showing the overall configuration of a tube conveying system 1 according to one embodiment of the present invention. Figure 2 This is an enlarged perspective view showing the periphery of the storage container 20.

[0040] Figure 1 The bobbin conveying system 1 shown conveys full bobbins from the spinning take-up machine 60 to the stretching and twisting machine 70.

[0041] The stretching and false twisting machine 70 is a type of false twisting processing machine, and also a type of yarn processing machine. Besides yarn processing machines, there are also air-jet processing machines. The stretching and false twisting machine 70 produces stretched and false twisted yarn called DTY by stretching and false twisting a semi-drawn yarn (partially oriented yarn) called POY. POY is short for Partially Oriented Yarn. DTY is short for Draw Textured Yarn. The stretching and false twisting machine 70 has multiple processing positions for stretching and false twisting.

[0042] The full bobbin 5 is a bobbin formed by winding a specified length of POY onto a core tube. POY is produced in the spinning device of the spinning take-up machine 60, and the POY is wound onto the core tube in the take-up device of the spinning take-up machine 60, thereby forming the full bobbin 5.

[0043] The full bobbin 5 is placed on the bobbin holder 71 of the stretching and twisting machine 70. Multiple bobbins 72 are arranged in multiple layers and rows on the bobbin holder 71. The full bobbin 5 is hung on the bobbins 72, and the yarn is unwound from the full bobbin 5 toward the processing position.

[0044] The bobbin conveying system 1 includes a traveling bobbin trolley 10, a storage device 20, a bobbin robot (transfer robot) 30, and a conveying control computer (control device) 40.

[0045] The traveling trolley 10 has a traveling section 11 and a carrier 12.

[0046] The traveling unit 11 is configured to travel along the guide rail 15 laid on the ceiling. The guide rail 15 is configured to connect the location of the spinning take-up machine 60 with the location of the storage tank 20.

[0047] The bracket 12 is configured to be suspended from the traveling section 11. The bracket 12 is frame-shaped. Multiple trolley shuttles 13 are fixed to the side of the bracket 12. Fully loaded tubes 5 or empty tubes 6 can be hung on each trolley shuttle 13. In the bracket 12, the trolley shuttles 13 are arranged in a matrix of 3 rows in the horizontal direction and 4 layers in the vertical direction.

[0048] like Figure 2As shown, each bobbin 13 is composed of two rod-shaped members arranged at an appropriate interval in the horizontal direction. After the rod member is inserted into the core tube of a bobbin that is draped over the bobbin 13, the bobbin can be draped over the rod member when the rod member rises between the rod-shaped members. Furthermore, when the core tube of a bobbin draped over the rod member has two rod-shaped members inserted into it, the bobbin can be draped over the bobbin 13 when the rod member descends between the rod-shaped members. The storage bobbin 26 and the bobbin 72 of the bobbin holder 71, described later, are also composed of two rod-shaped members, similar to the bobbin 13.

[0049] like Figure 1 As shown by the dashed line, the traveling bobbin trolley 10 stops near the spinning take-up machine 60, at the first stop position S1. Full bobbins 5 are supplied from the spinning take-up machine 60 to the traveling bobbin trolley 10 stopped at the first stop position S1. The number of full bobbins 5 supplied is 3 × 4 = 12. The traveling bobbin trolley 10 loaded with full bobbins 5 travels towards the storage tank 20. The traveling bobbin trolley 10 stops near the storage tank 20, at the second stop position S2. At the second stop position S2, the traveling bobbin trolley 10 supplies 12 full bobbins 5 to the storage tank 20.

[0050] The traveling bobbin trolley 10 unloads 12 full bobbins 5 and moves them to the storage tank 20, while simultaneously transferring 12 empty bobbins 6 from the storage tank 20. The traveling bobbin trolley 10, loaded with empty bobbins 6, moves towards the spinning take-up machine 60. The traveling bobbin trolley 10 stops at the first stop position S1. The traveling bobbin trolley 10 unloads the 12 empty bobbins 6 and moves them to the spinning take-up machine 60, and then transfers 12 full bobbins 5 from the spinning take-up machine 60. The traveling bobbin trolley 10, loaded with full bobbins 5, moves towards the storage tank 20. The traveling bobbin trolley 10 stops again at the first stop position S1. This process is repeated.

[0051] like Figure 2 As shown, the storage unit 20 has four travel units 21 and a transfer rod 22. Each travel unit 21 has a travel section 23 and a bobbin frame 24.

[0052] The traveling unit 23 is configured to travel along the guide rail 25. The guide rail 25 is configured to be elongated oval in top view. The four traveling units 21 are configured to divide the circular path defined by the guide rail 25 into four equal parts.

[0053] The bobbin frame 24 is formed into a long, thin rod shape. Multiple feeder bobbins 26 are fixed to the bobbin frame 24. Fully loaded tubes 5 or empty tubes 6 can be hung on each feeder bobbin 26. In each bobbin frame 24, four feeder bobbins 26 are arranged vertically. The number of travel units 21 is four; therefore, the feeder 20 has 4 × 4 = 16 feeder bobbins 26.

[0054] Viewed from above, the feeder bobbin 26 is configured to protrude outward from the annular guide rail 25. As the travel unit 21 travels along the guide rail 25, the orientation of the feeder bobbin 26 changes. This allows the orientation of the full or empty tube 5 attached to the feeder bobbin 26 to be changed.

[0055] Four traveling units 21 are fixed to a ring-shaped drive component (not shown). This drive component is configured, for example, as a chain or belt. The drive component is arranged substantially parallel to the guide rail 25. By driving this drive component with an actuator (not shown), the four traveling units 21 can travel simultaneously along the guide rail 25.

[0056] The transfer rod 22 is configured to correspond to a predetermined position of the traveling unit 21. This predetermined position is such that the storage bobbin 26 intersects with the bobbin 13 of the traveling bobbin trolley 10, which stops near the storage 20. Hereinafter, the position of the storage bobbin 26 when the traveling unit 21 is in this position is sometimes referred to as the first intersecting position P1. The storage bobbin 26 located at the first intersecting position P1 is opposite to the bobbin 13 of the traveling bobbin trolley 10, which stops at the second stopping position S2. There are three rows of bobbin 13 arranged on the traveling bobbin trolley 10, but by adjusting the stopping position of the traveling bobbin trolley 10, it is possible to change which row of bobbin 13 the storage bobbin 26 located at the first intersecting position P1 is opposite to.

[0057] The transfer rod 22 is a generally horizontally arranged rod-shaped component. Four transfer rods 22 are arranged vertically in correspondence with the feeder bobbin 26. Four through holes 27 are formed in the bobbin frame 24 corresponding to the feeder bobbin 26. The transfer rod 22 can move towards or away from the traveling bobbin trolley 10, which is stopped at the second stop position S2. When the transfer rod 22 moves towards the traveling bobbin trolley 10, it protrudes through the through holes 27 toward the traveling bobbin trolley 10.

[0058] Four transfer rods 22 are fixed to a common base component 28 that is elongated in the vertical direction. The base component 28 is fixed to the frame of the storage container 20 via a guide mechanism (not shown). The guide mechanism guides the movement direction of the base component 28.

[0059] Although not shown, the storage unit 20 is equipped with actuators for driving the base component 28 in both the horizontal and vertical directions. By moving the transfer rod 22 upwards between the two rod-shaped components of the trolley bobbin 13, the full tube 5 suspended on the trolley bobbin 13 can be lifted. By moving the transfer rod 22 upwards between the two rod-shaped components of the storage unit bobbin 26, the empty tube 6 suspended on the storage unit bobbin 26 can be lifted. When the transfer rod 22 moves downwards, the lifting state is released.

[0060] By moving along the length direction with the transfer rod 22 raised and lifted, the bobbin can be transferred between the trolley shuttle core 13 and the storage shuttle core 26.

[0061] Consider the following scenario: At the first handover position P1, the storage bobbin 26 is opposite the trolley bobbin 13. The storage bobbin 26 is without a bobbin, while a full bobbin 5 is attached to the trolley bobbin 13. The transfer rod 22 lifts the full bobbin 5 attached to the trolley bobbin 13, pulls it towards the storage bobbin 26, and then releases the lifting. This allows the full bobbin 5 to move from the trolley bobbin 13 to the storage bobbin 26.

[0062] Consider the following scenario: At the first handover position P1, the storage bobbin 26 and the trolley bobbin 13 are opposite each other. An empty tube is attached to the storage bobbin 26, while the trolley bobbin 13 is without a tube. The transfer rod 22 lifts the empty tube 6 attached to the storage bobbin 26, pushes it towards the trolley bobbin 13, and then releases the lifting. This allows the empty tube 6 to move from the storage bobbin 26 to the trolley bobbin 13.

[0063] The four transfer rods 22 move simultaneously with the base component 28. Thus, the four layers can simultaneously transfer between full-bore tubes 5 or empty-bore tubes 6.

[0064] The tube-carrying robot 30 has a working head 31, a full tube conveying rod 32, and an empty tube conveying rod 33.

[0065] The working head 31 can move in a direction parallel to the direction in which the plurality of bobbins 72 are arranged horizontally in the bobbin holder 71. By moving in the aforementioned direction, the working head 31 can move between the storage container 20 and the bobbin holder 71. Furthermore, the working head 31 can move in the vertical direction. The configuration that enables the working head 31 to move in this way can be achieved by a combination of a known XY drive mechanism and an actuator.

[0066] A full-bottle conveying rod 32 and an empty-bottle conveying rod 33 are disposed at the lower part of the working head 31. Both the full-bottle conveying rod 32 and the empty-bottle conveying rod 33 are formed into slender rods. In a top view, the length directions of the full-bottle conveying rod 32 and the empty-bottle conveying rod 33 differ by 90°. The working head 31 is equipped with a rotary actuator (not shown) that enables the full-bottle conveying rod 32 and the empty-bottle conveying rod 33 to rotate around an axis in the vertical direction.

[0067] Although not shown, the working head 31 is equipped with actuators for driving the full-bore conveying rod 32 in both the horizontal and vertical directions. By moving the full-bore conveying rod 32 upwards between the two rod-shaped components of the feeder bobbin 26, the full-bore tube 5 suspended on the feeder bobbin 26 can be lifted. The full-bore conveying rod 32 can move along its length and can also rotate together with the working head 31. When the full-bore conveying rod 32 moves downwards between the two rod-shaped components of the bobbin 72 (described later) on the bobbin holder 71, the lifted state of the full-bore tube 5 is released.

[0068] Similarly, the working head 31 is equipped with actuators for driving the empty tube conveying rod 33 in both the horizontal and vertical directions. By moving the empty tube conveying rod 33 upwards between the two rod-shaped components of the bobbin 72 (described later), the empty tube 6 suspended on the bobbin 72 can be lifted. The empty tube conveying rod 33 can move along its length and can also rotate together with the working head 31. When the empty tube conveying rod 33 moves downwards between the two rod-shaped components of the storage bobbin 26, the lifted state of the empty tube 6 is released.

[0069] When an empty bobbin 6 is detected in one of the bobbins 72 of the bobbin cassette 71, the bobbin cassette robot 30 moves the working head 31 to a position corresponding to a predetermined position of the travel unit 21 of the storage unit 20. This predetermined position is where the storage unit bobbin 26 intersects with the full bobbin conveying rod 32 or empty bobbin conveying rod 33 of the working head 31, which is stationary near the storage unit 20. Hereinafter, the position of the storage unit bobbin 26 when the travel unit 21 is in this position is sometimes referred to as the second intersection position P2.

[0070] Although details will be described later, the bobbin loader robot 30 can use the full bobbin conveyor rod 32 and the empty bobbin conveyor rod 33 to replace the full bobbin 5 hanging on the storage core 26 located at the second handover position P2 with the empty bobbin 6 generated in the bobbin loader 71.

[0071] Secondly, a detailed explanation is given of the operation of replacing full and empty cylinders 5 and 6 between the traveling cylinder frame trolley 10 and the storage container 20. Figures 3 to 12The diagram sequentially illustrates the movements of the traveling cylinder trolley 10, the storage container 20, and the cylinder robot 30. The following control is provided by... Figure 1 The conveying control computer 40, the traveling bobbin trolley 10, the storage device 20, and the bobbin robot 30, as shown in the diagram, are all equipped with computers (not illustrated). The conveying control computer 40 comprehensively controls the various computers equipped in the traveling bobbin trolley 10, the storage device 20, and the bobbin robot 30.

[0072] As described above, the feeder 20 has four rows of feeder shuttle cores 26. For example... Figure 3 As shown, three out of the four columns of the storage shuttle core 26 are fitted with empty bobbins 6, while the remaining column is without bobbins. The storage 20 waits for the arrival of the traveling bobbin trolley 10 with the column of storage shuttle core 26 without bobbins in the first handover position P1.

[0073] like Figure 3 As shown, the traveling bobbin trolley 10 loaded with full bobbins 5 stops at the second stop position S2. At this time, the column of trolley shuttle cores 13 corresponding to the head of the row in the traveling direction in the traveling bobbin trolley 10 is opposite the storage shuttle core 26 in the first handover position P1, which is in a bobbin-free state. In this state, the storage device 20 actuates the transfer rod 22. The transfer rod 22 lifts the full bobbins 5 hanging on the trolley shuttle core 13, moves them to the storage shuttle core 26, and then lowers them. The full bobbins 5 are moved simultaneously on all four layers. Afterward, the storage device 20 moves the four traveling units 21 along the guide rail 25 by one pitch. In the storage device 20, the pitch refers to the interval between the multiple traveling units 21 configured in the traveling path.

[0074] As a result, the storage bobbin 26 with the full bobbin 5 attached moves from the first handover position P1 to another location, and in its place, the storage bobbin 26 in the other location arrives at the first handover position P1 while holding the empty bobbin 6. The storage bobbin 26 that has moved to the first handover position P1 is positioned opposite the trolley bobbin 13 that has just had the full bobbin 5 removed. Figure 4 The state is shown in the image.

[0075] The storage device 20 causes the transfer rod 22 to move, such as Figure 4 As shown, the empty tube 6, which is attached to the storage hopper bobbin 26, moves toward the trolley bobbin 13. Then, the traveling bobbin trolley 10 moves forward by one spacing of the column of the trolley bobbin 13 and stops. As a result, the column of the trolley bobbin 13 opposite to the storage hopper bobbin 26 at the first handover position P1 shifts backward by one column.

[0076] Figure 5 as well as Figure 7 The actions shown are Figure 3 The actions described earlier are the same, so the explanation is omitted. Figure 6 as well as Figure 8 The actions shown are Figure 4 The actions described earlier are the same, so the explanation is omitted.

[0077] Thus, in this embodiment, the operation of [A] moving the full bobbin 5 from the trolley shuttle 13 in one row to the storage shuttle 26 in the state without bobbins, and the operation of [B] moving the empty bobbin 6 from the storage shuttle 26 in one row to the trolley shuttle 13 in the state without bobbins are alternately and repeatedly performed for 3 rows.

[0078] Therefore, it is possible to replace 3 rows (12 units) of full bobbins 5 in the traveling bobbin trolley 10 with 3 rows (12 units) of empty bobbins 6 in the storage tank 20. For example... Figure 8 As shown, the traveling bobbin trolley 10, carrying 12 empty bobbins 6, moves from the second stop position S2 to the first stop position S1. This allows the empty bobbins 6 to be automatically returned to the spinning take-up machine 60 for reuse.

[0079] To ensure uninterrupted bobbin replacement between the traveling bobbin trolley 10 and the storage tank 20 during the repeated three-times-per-column bobbin replacement cycle, the bobbin trolley robot 30 remains idle, refraining from retrieving full bobbins 5 from the storage tank 20. This allows for rapid bobbin replacement between the traveling bobbin trolley 10 and the storage tank 20. The bobbin trolley robot 30 remains idle without performing any special operations. After all empty bobbins 6 in the storage tank 20 have been replaced with full bobbins 5, the bobbin trolley robot 30, based on requests from the stretching and twisting machine 70, performs the retrieval of empty bobbins 6 and the supply of full bobbins 5.

[0080] Specifically, the cradle robot 30 moves the working head 31 to a position corresponding to any one of the four feeder cores 26 located at the second junction position P2. Furthermore, the cradle robot 30 rotates the lower part of the working head 31, as... Figure 9 As shown, the full-bore tube conveyor 32 is positioned opposite the feeder core 26. The bobbin-mounted robot 30 actuates the full-bore tube conveyor 32, inserting it into the core tube of the full-bore tube 5 that is suspended from the feeder core 26. Then, after slightly raising the full-bore tube 5, the full-bore tube conveyor 32 moves away from the feeder core 26.

[0081] Subsequently, the liner robot 30 moves the working head 31 to a position corresponding to the bobbin 72 in the liner 71 where the empty bobbin 6 has been generated. In parallel with the movement of the working head 31, the liner robot 30 rotates the lower part of the working head 31 so that the empty bobbin conveying rod 33 is facing the liner 71.

[0082] After the work head 31 reaches the target position, such as Figure 10 As shown, the bobbin carrier robot 30 actuates the empty bobbin delivery rod 33, inserting it into the core tube of the empty bobbin 6, which is suspended from the bobbin 72. At this time, the orientation of the front end of the bobbin 72 on the bobbin carrier 71 is temporarily changed to face the empty bobbin delivery rod 33. This change in the orientation of the bobbin 72 can be achieved, for example, by a rotary mechanism (not shown) on the working head 31 that drives the bobbin 72. Next, after slightly raising the empty bobbin 6, the empty bobbin delivery rod 33 moves away from the bobbin 72.

[0083] The bobbin-shaped robot 30 rotates the lower part of the working head 31, positioning the full-bobbin conveying rod 32 opposite the bobbin 72. Secondly, as... Figure 11 As shown, the bobbin carrier robot 30 moves the full bobbin conveyor rod 32, placing it above the bobbin 72 and near its root. As a result, the bobbin 72 is inserted into the core tube of the full bobbin 5, which moves along with the bobbin conveyor rod 32. Afterward, the bobbin conveyor rod 32 lowers slightly, releasing the raised state. This allows the bobbin 72 to be hooked onto the full bobbin 5. Then, the bobbin 72 returns to its original orientation.

[0084] Next, the spool robot 30 moves the working head 31 to the position corresponding to the storage core 26 that has removed the full bobbin 5 at the second handover position P2. In parallel with the movement of the working head 31, the spool robot 30 rotates the lower part of the working head 31 so that the empty bobbin conveying rod 33 is facing the storage device 20.

[0085] After the work head 31 reaches the target position, the gantry robot 30 proceeds as follows: Figure 12 The empty bobbin conveyor rod 33 is moved as shown, moving above the feeder bobbin 26 and close to its root. As a result, the feeder bobbin 26 is inserted into the core tube of the empty bobbin 6, which moves along with the empty bobbin conveyor rod 33. Afterwards, the empty bobbin conveyor rod 33 is slightly lowered, and the raised state is released. Thus, the empty bobbin 6 can be hooked onto the feeder bobbin 26. Then, the bobbin carrier robot 30 awaits new requests from the stretching and twisting machine 70.

[0086] The cradle robot 30, upon request from the stretching and twisting machine 70, supplies full spools 5 to the cradle 71 and retrieves empty spools 6 until all 12 full spools 5 stored in the storage tank 20 are replaced with empty spools 6. Unlike the transfer rod 22 of the storage tank 20, which simultaneously replaces spools on all four layers, the cradle robot 30 replaces spools layer by layer. When all the full spools 5 attached to the four storage tank bobbins 26 at the second handover position P2 are used, the storage tank 20 is driven. This allows the travel unit 21, which carries the full spools 5 attached to the storage tank bobbins 26, to move from another location to the second handover position P2. When all the full spools 5 stored in the storage tank 20 are used up, the storage tank 20 outputs a storage request signal, waiting for the traveling cradle trolley 10 carrying the full spools 5 to reach the second stop position S2. When the traveling trolley 10 arrives, return. Figure 3 Repeat the above operations in the same state.

[0087] As described above, the bobbin conveying system 1 of this embodiment includes a storage container 20, a bobbin scaffold robot 30, a traveling bobbin scaffold trolley 10, and a conveying control computer 40. The storage container 20 has multiple rows of storage bobbins 26, capable of storing full bobbins 5 and empty bobbins 6 on each bobbin 26. The bobbin scaffold robot 30 retrieves full bobbins 5 stored in the storage container 20 and installs them onto the bobbin scaffold 71 of the stretching and twisting machine 70. Empty bobbins 6 are removed from the bobbin scaffold 71 and stored in the storage container 20. The traveling bobbin scaffold trolley 10 has multiple rows of trolley bobbins 13, capable of conveying full bobbins 5 or empty bobbins 6 on each trolley bobbin 13. The conveying control computer 40 controls the storage container 20 and the traveling bobbin scaffold trolley 10. The storage device 20 is configured to move full bobbins 5 attached to the carriage bobbin 13 of the traveling bobbin trolley 10 towards the storage device bobbin 26, and to move empty bobbins 6 attached to the storage device bobbin 26 towards the carriage bobbin 13. The number of rows of storage device bobbins 26 in one storage device 20 is equal to the number of rows of carriage bobbins 13 in one traveling bobbin trolley 10 plus one. The conveying control computer 40 controls the storage device 20 and the traveling bobbin trolley 10 so that, with one row of storage device bobbins 26 empty and the remaining rows all attached to empty bobbins 6, the storage device 20 and the traveling bobbin trolley 10 cooperate to perform the replacement operation of empty bobbins 6 of the storage device 20 with full bobbins 5 of the traveling bobbin trolley 10 by alternately performing the first and second operations. In the first operation ( Figure 3 , Figure 5 , Figure 7In the second process, the full bobbin 5 of one row of bobbin 13 suspended on the traveling bobbin frame trolley 10 is moved towards the storage bobbin 26 of one row, which is now in a bobbin-free state, so that one row of bobbin 13 is in a bobbin-free state. Figure 4 , Figure 6 , Figure 8 In the process, the empty bobbins 6 hanging on the storage device bobbin 26 are moved towards the trolley bobbin 13, which is now empty of bobbins after the full bobbins 5 were removed in the first process, so that the storage device bobbin 26 is now empty of bobbins. The conveying control computer 40 controls the traveling bobbin trolley 10 so that after the traveling bobbin trolley 10 delivers the full bobbins 5 to the storage device 20 and replaces them with empty bobbins 6 from the storage device 20, it delivers empty bobbins 6 to a location different from the storage device 20.

[0088] Therefore, the full bobbins 5 of all the bobbins 13 of the traveling bobbin trolley 10 can be stored in the storage tank 20. Furthermore, empty bobbins 6 of the storage tank 20 can be attached to all the bobbins 13 of the traveling bobbin trolley 10 that transport full bobbins 5 and transported to other locations. Since transport can be carried out with full bobbins 5 or empty bobbins 6 attached to the bobbins 13 of all the traveling bobbin trolley 10, the overall transport capacity of the traveling bobbin trolley 10 can be effectively utilized. Because the bobbin replacement operation begins when one of the storage bobbins 26 in the storage tank 20 is without bobbins, the bobbin replacement operation between the storage tank 20 and the traveling bobbin trolley 10 can be carried out smoothly.

[0089] In the bobbin conveying system 1 of this embodiment, the number of layers of the storage bobbin 26 in a storage tank 20 is equal to the number of layers of the carriage bobbin 13 in a traveling bobbin trolley 10. The conveying control computer 40 controls the storage tank 20 and the traveling bobbin trolley 10 so that during the replacement operation, all empty bobbins 6 in the storage tank 20 are replaced with all full bobbins 5 in the traveling bobbin trolley 10.

[0090] This will further improve the efficiency of transportation.

[0091] In the bobbin conveying system 1 of this embodiment, the traveling bobbin trolley 10 conveys the full bobbin 5 from the setting position of the spinning take-up machine 60, which winds yarn onto empty bobbins 6 to form full bobbins 5, to the setting position of the storage container 20. The traveling bobbin trolley 10 conveys the empty bobbins 6 retrieved through a changeover operation back from the setting position of the storage container 20 to the setting position of the spinning take-up machine 60.

[0092] This enables an automated recycling system for empty tubes 6.

[0093] In the bobbin conveying system 1 of this embodiment, the storage bobbin 26 can move cyclically along a circular path defined by the guide rail 25. The column of storage bobbins 26 that exchange full bobbins 5 or empty bobbins 6 with the trolley bobbin 13 changes as the system moves cyclically.

[0094] Therefore, the switching of the column of the feeder core 26 for the transfer tube can be carried out in a short time.

[0095] In the bobbin conveying system 1 of this embodiment, during the bobbin replacement operation between the traveling bobbin trolley 10 and the storage container 20, the bobbin trolley robot 30 does not perform the operation of taking out full bobbins 5 from the storage container 20 and stands by.

[0096] Therefore, the bobbin replacement operation between the traveling bobbin trolley 10 and the storage container 20 will not be interrupted, and the downtime of the traveling bobbin trolley 10 can be shortened.

[0097] The preferred embodiments of the present invention have been described above, but the above configuration can also be modified as follows. Modifications can be made individually or in arbitrary combinations.

[0098] Each feeder bobbin 26 is constructed by arranging two rod-shaped components in parallel. Alternatively, the feeder bobbin 26 can also be constructed using a single rod-shaped component. The same applies to the trolley bobbins 13 and 72.

[0099] The number of rows of trolley shuttle cores 13 in the traveling trolley frame trolley 10 is not limited to 3; it can be set to 2 or 4 or more. The number of rows of storage shuttle cores 26 in the storage tank 20 is not limited to 4; it can be set to 3 or 5 or more. The number of layers of trolley shuttle cores 13 and storage shuttle cores 26 can also be changed. The number of layers of trolley shuttle cores 13 and storage shuttle cores 26 can also be only 1 layer.

[0100] In the storage container 20, the travel unit 21 can also be configured to travel along a non-circular path.

[0101] The guide rail 15 of the traveling cylinder frame trolley 10 can also be configured as non-circular.

[0102] The configuration is not limited to the same number of layers in the storage bobbin 26 as in the trolley bobbin 13. For example, the trolley bobbin 13 could have 4 layers and the storage bobbin 26 could have 2 layers. In this case, one traveling bobbin trolley 10 could supply full bobbins 5 to both storage bins 20.

[0103] The traveling bobbin trolley 10 can also transport empty bobbins taken from the storage tank 20 through a changeover operation to a location different from the spinning take-up machine 60 (e.g., the waste disposal site of the empty bobbins 6).

Claims

1. A bobbin transport system characterized by, Possessing: a storage device provided with a plurality of columns of storage device spools capable of storing full bobbins and empty bobbins in a state of being hung from each storage device spool; a bobbin transfer robot that takes out full bobbins stored in the storage device and mounts them on a bobbin cradle of a yarn processing machine, and takes down empty bobbins from the bobbin cradle and stores them in the storage device; a traveling bobbin cradle cart provided with a plurality of columns of cart spools that convey full bobbins or empty bobbins in a state of being hung from each cart spool; and a control device that controls the storage device and the traveling bobbin cradle cart, the storage device is configured to move full bobbins hung from the cart spools of the traveling bobbin cradle cart to the storage device spools, and to move empty bobbins hung from the storage device spools to the cart spools, the number of columns of storage device spools possessed by one storage device is equal to the number of columns of cart spools possessed by one traveling bobbin cradle cart plus 1, the control device controls the storage device and the traveling bobbin cradle cart so that, in a state in which one column of the storage device spools is in a state of having no bobbins and the remaining columns are all hung with empty bobbins, the storage device and the traveling bobbin cradle cart cooperate to perform a replacement work of replacing empty bobbins of the storage device with full bobbins of the traveling bobbin cradle cart by alternately performing a first process and a second process, in the first process, full bobbins hung from one column of cart spools of the traveling bobbin cradle cart are moved to one column of the storage device spools in a state of having no bobbins, thereby causing one column of the cart spools to be in a state of having no bobbins, in the second process, empty bobbins hung from one column of the storage device spools are moved to one column of the cart spools from which full bobbins were taken out in the first process and which is in a state of having no bobbins, thereby causing one column of the storage device spools to be in a state of having no bobbins, and the control device controls the traveling bobbin cradle cart so that, after the traveling bobbin cradle cart conveys full bobbins to the storage device and replaces them with empty bobbins of the storage device, the traveling bobbin cradle cart conveys the empty bobbins to a location different from the storage device.

2. The bobbin conveying system according to claim 1, wherein the number of columns of storage device spools possessed by one storage device is equal to the number of columns of cart spools possessed by one traveling bobbin cradle cart, the control device controls the storage device and the traveling bobbin cradle cart so that, in the replacement work, all empty bobbins of the storage device are replaced with all full bobbins of the traveling bobbin cradle cart.

3. The bobbin conveying system according to claim 1 or 2, wherein the traveling bobbin cradle cart conveys full bobbins from a setting position of a spinning frame that winds yarn on empty bobbins to form full bobbins, to a setting position of the storage device, the traveling bobbin cradle cart conveys the empty bobbins taken out by the replacement work from the setting position of the storage device to a setting position of the spinning frame.

4. The bobbin conveying system according to any one of claims 1 to 3, characterized in that the storage magazine bobbins are capable of circulating movement along a looped path, the column of the storage magazine bobbins that hands over the creeling or uncreeling of the creeling carriage bobbins is changed by the circulating movement.

5. The bobbin conveying system according to any one of claims 1 to 4, characterized in that the control device is configured to control the creeling carriage robot so that the creeling carriage robot stands by without performing the operation of taking out the full bobbins from the storage magazine during the changing operation.

6. A bobbin conveying method, which is a bobbin conveying method of a system characterized by comprising: a storage magazine that has a plurality of columns of storage magazine bobbins and is capable of storing full bobbins and empty bobbins in association with each of the storage magazine bobbins; a creeling carriage robot that takes out the full bobbins stored in the storage magazine and mounts them on a creeling frame of a yarn processing machine, and takes down the empty bobbins from the creeling frame and stores them in the storage magazine; and a traveling creeling carriage that has a plurality of columns of carriage bobbins and conveys full bobbins or empty bobbins in association with each of the carriage bobbins, the storage magazine is configured so that the full bobbins associated with the carriage bobbins of the traveling creeling carriage are moved to the storage magazine bobbins, and the empty bobbins associated with the storage magazine bobbins are moved to the carriage bobbins, the number of columns of the storage magazine bobbins possessed by one of the storage magazines is equal to the number obtained by adding 1 to the number of columns of the carriage bobbins possessed by one of the traveling creeling carriages, the changing operation of changing the empty bobbins of the storage magazine to the full bobbins of the traveling creeling carriage is performed by alternately performing a first process and a second process, in a state in which one of the storage magazine bobbins is in a state of having no bobbins and the remaining columns are all associated with empty bobbins, in the first process, the full bobbins associated with one of the carriage bobbins of the traveling creeling carriage are moved to one of the storage magazine bobbins that is in a state of having no bobbins, thereby making one of the carriage bobbins of the traveling creeling carriage in a state of having no bobbins, in the second process, the empty bobbins associated with one of the storage magazine bobbins are moved to one of the carriage bobbins of the traveling creeling carriage from which the full bobbins were taken out in the first process and which is in a state of having no bobbins, thereby making one of the storage magazine bobbins in a state of having no bobbins, the traveling creeling carriage conveys the empty bobbins to a place different from the storage magazine after conveying the full bobbins to the storage magazine and changing them to the empty bobbins of the storage magazine. ​

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