Textile machine

Abstract

The invention provides a textile machine which can perform movement control of a doffing trolley which suppresses unnecessary actions and has flexibility. The doffing trolley is provided with a detection part, and the detection part can respectively detect obstacles on one side and the other side of the doffing trolley in the arrangement direction. The trolley control unit executes: a travel stop process (S33) for stopping the travel of the doffing trolley when an obstacle is detected by the detection unit on the front side in the travel direction of the doffing trolley during the travel of the doffing trolley; and a travel restart process (S38, S40, S45, S47) for restarting the travel of the doffing trolley when any one of predetermined first to fourth travel restart conditions (S36, S39, S44, S37) is satisfied after the travel stop process is executed.

Description

Technical Field

[0001] This invention relates to textile machinery equipped with a doffing trolley. Background Technology

[0002] Previously, textile machinery such as an automatic winding machine was known, which included multiple winding units that wound yarn onto a winding tube to form a package, and a doffing trolley that moved between the multiple winding units. The doffing trolley moved to the target winding unit and performed a doffing operation to remove the package from the winding unit and supply a new winding tube to the winding unit.

[0003] In the automatic winding machine disclosed in Patent Document 1, a human detection sensor (detection unit) is installed on the doffing carriage. Furthermore, when the human detection sensor detects a person, the control unit that controls the movement of the doffing carriage moves the doffing carriage away from the person (hereinafter referred to as first control) or stops the movement of the doffing carriage (hereinafter referred to as second control).

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-109833

[0005] Here, consider the following situation: When an object is detected by the detection unit provided on the doffing trolley, control is performed to move the doffing trolley away from the object, as in the first control described in Patent Document 1. In this case, when the doffing trolley detects an object by the detection unit while traveling towards the target position, it reverses its movement away from the target position. Moreover, when the doffing trolley moves away from the object to a certain extent (e.g., to the point where the object cannot be detected by the detection unit), it moves towards the target position again. At this time, if an object is present in the same location, the doffing trolley reverses its movement again in front of the object. That is, the doffing trolley repeatedly moves back and forth whenever an object is present in the same location. If the doffing trolley performs such unnecessary movements, it may lead to increased wear and tear on the components used for the movement of the doffing trolley, increased power consumption of the doffing trolley, and a decrease in the production volume of the rolls due to the inability to perform the doffing action.

[0006] Furthermore, consider the following scenario: when an object is detected by the detection unit installed on the doffing trolley, control is performed to stop the doffing trolley's movement, as in the second control described in Patent Document 1. In this case, the doffing trolley will not perform unnecessary actions as in the first control described above. However, Patent Document 1 does not describe the conditions for restarting the doffing trolley after it has stopped. The appropriate conditions (timing) for restarting the doffing trolley's movement vary depending on the operator's work status, the operating status of the textile machinery, etc. Therefore, flexibility is required regarding the conditions for restarting the doffing trolley's movement. Summary of the Invention

[0007] The purpose of this invention is to provide a textile machine that can perform flexible movement control of a doffing trolley, which can suppress unnecessary movements.

[0008] The textile machinery according to the first invention comprises: a plurality of winding units for winding yarn into a winding tube to form a package; a doffing trolley configured to move between the plurality of winding units by traveling along the arrangement direction of the plurality of winding units, and to remove the package from the winding unit at the destination of the movement and supply a new winding tube; and a control unit, wherein the doffing trolley has a detection unit capable of detecting obstacles present on one side and the other side of the doffing trolley in the arrangement direction, and the control unit performs the following processes: a travel stop process, wherein if the detection unit detects the obstacle on the front side of the travel direction of the doffing trolley during its travel, the travel of the doffing trolley is stopped; and a travel restart process, wherein after performing the travel stop process, the travel of the doffing trolley is restarted if any one of at least two predetermined travel restart conditions is met.

[0009] In this invention, the control unit stops the doffing trolley when the detection unit detects an obstacle in front of it. Therefore, movement control can be performed to suppress unnecessary back-and-forth movements in front of obstacles detected by the detection unit. Furthermore, after stopping the doffing trolley, the control unit restarts its movement if at least one of at least two restart conditions is met. Thus, by setting multiple restart conditions for the doffing trolley, flexible movement control of the doffing trolley is possible.

[0010] Based on the first invention, the textile machinery of the second invention includes a signal transmitting unit that transmits a signal related to the movement of the doffing trolley. The conditions for restarting the movement include: ceasing the detection of the obstacle by the detection unit; and transmitting a signal from the signal transmitting unit designating the winding unit located on the opposite side of the doffing trolley that was stopped by the movement stop process and the side on which the obstacle was detected by the detection unit as the movement destination.

[0011] In this invention, the doffing trolley automatically resumes movement when the obstacle detection unit ceases its inspection. Furthermore, if, during a stop caused by the movement stop process, a signal is sent from the signal transmitting unit designating a winding unit located on the opposite side of the doffing trolley from the obstacle detected by the detection unit as the destination, the doffing trolley can resume movement. Therefore, the doffing operation can be performed at this winding unit, improving the efficiency of the doffing operation.

[0012] Based on the first invention, the textile machinery of the third invention includes an input unit that can input travel instructions for the doffing trolley toward one side and the other side, respectively. The conditions for restarting travel include: ceasing the detection of the obstacle by the detection unit; and inputting the travel instruction to the input unit toward the side opposite to the side on which the obstacle was detected by the detection unit.

[0013] In this invention, the doffing trolley automatically resumes movement when the obstacle detection unit no longer needs to perform obstacle detection. Furthermore, when the doffing trolley is stopped by the movement stop process, the operator may sometimes want to move the doffing trolley for reasons such as obstructing operations. In such cases, the operator inputs a movement command through the input unit, thereby restarting the movement of the doffing trolley.

[0014] Based on the first invention, the textile machinery according to the fourth invention includes: an input unit capable of inputting travel instructions for the doffing trolley to one side and the other side respectively; and a signal transmission unit capable of transmitting a signal related to the movement of the doffing trolley, wherein the travel restart conditions include: ceasing the detection of the obstacle by the detection unit, inputting a travel instruction to the input unit to the side opposite to the side where the obstacle was detected by the detection unit on one side and the other side; and transmitting a signal from the signal transmission unit designating the winding unit located on the side opposite to the side where the obstacle was detected by the detection unit on one side and the other side, which is closer to the doffing trolley that was stopped by the travel stop process, as the travel destination.

[0015] In this invention, the doffing trolley automatically resumes movement when the obstacle detection unit ceases its inspection. Furthermore, when the doffing trolley is stopped by the movement stop process, the operator may sometimes wish to move it for reasons such as obstruction of work. In such cases, the operator inputs a movement instruction through the input unit, thereby restarting the doffing trolley's movement. Moreover, during the doffing trolley's stoppage due to the movement stop process, if a signal is sent from the signal transmission unit designating a winding unit located on the opposite side of the obstacle detected by the detection unit as the movement destination, the doffing trolley's movement can be restarted. Therefore, it is possible to move to this winding unit for doffing operations, improving the efficiency of the doffing operation.

[0016] Based on any one of the inventions 1 to 4, in the textile machinery involved in the fifth invention, when the doffing trolley is in a stopped state in the winding unit at the moving destination until the winding is completed, the control unit maintains the stopped state if the detection unit detects the obstacle.

[0017] For example, if the doffing trolley is in a stopped standby state until the roll is completed, and the detection unit detects an obstacle, controlling the doffing trolley to move away from the obstacle, it is possible that the roll unloading operation cannot be performed smoothly when the roll is completed. In this invention, the stop state is maintained when the detection unit detects an obstacle, so the roll unloading operation can be performed smoothly when the roll is completed.

[0018] Based on the third or fourth invention, in the textile machinery involved in the sixth invention, when the doffing trolley is in a stopped standby state in the winding unit at the moving destination until the winding is completed, the control unit performs a standby process to restart the movement of the doffing trolley when the movement instruction is input to the input unit.

[0019] In this invention, when the doffing trolley is in a stopped standby state until the roll is completed, and it is sometimes desired to move the doffing trolley, the operator can input a travel instruction by operating the input unit, thereby enabling the doffing trolley to resume travel.

[0020] Based on the third or fourth invention, in the textile machinery involved in the seventh invention, the above-mentioned input section is provided on the above-mentioned doffing trolley.

[0021] In this invention, the operator can input a travel instruction by operating the input section set on the doffing trolley.

[0022] Based on the second or fourth invention, in the textile machinery according to the eighth invention, when the winding in the winding unit is completed and the package is completed, the signal transmitting unit sends a completion signal designating the winding unit as the destination of the doffing trolley. When the control unit performs the travel stop process midway through the movement of the winding unit designated as the destination according to the completion signal sent from the signal transmitting unit, after performing the travel stop process, when it sends the completion signal from the signal transmitting unit designating the winding unit located on the opposite side of the side where the doffing trolley is stopped by the travel stop process and the side where the obstacle was detected by the detection unit as the destination, the travel restart process is performed.

[0023] In this invention, while the doffing trolley is stopped midway towards a completed winding unit via a travel stop process, if another winding unit located on the opposite side of the doffing trolley from an obstacle detected by the detection unit becomes completed, the trolley can move to that other winding unit to perform the doffing operation. Therefore, the efficiency of the doffing operation can be improved.

[0024] Based on the 8th invention, in the textile machinery according to the 9th invention, when the winding unit is in a near-completion state where the remaining time until it reaches the completion state is less than a predetermined length, the signal transmitting unit sends a completion warning signal designating the winding unit as the destination of the doffing trolley. When the control unit performs the travel stop process midway through the movement of the winding unit designated according to the completion warning signal sent from the signal transmitting unit, after performing the travel stop process, when the signal transmitting unit sends the completion warning signal designating the winding unit located on the opposite side of the doffing trolley that was stopped by the travel stop process and the side on which the detection unit detected the obstacle, as the destination, the travel restart process is performed.

[0025] In this invention, while the doffing trolley is stopped midway towards a winding unit that is nearing completion via a travel stop process, if another winding unit located on the opposite side of the doffing trolley from an obstacle detected by the detection unit is nearing completion, the trolley can be moved to that other winding unit to perform the doffing operation. Therefore, the efficiency of the doffing operation can be improved. Attached Figure Description

[0026] Figure 1 This is a front view of the automatic winding machine involved in this embodiment.

[0027] Figure 2 This is the front view of the winding unit.

[0028] Figure 3 This is a block diagram showing the electrical structure of an automatic winding machine.

[0029] Figure 4 This is a flowchart illustrating an example of the pre-control process performed by the trolley control unit.

[0030] Figure 5 This is a flowchart illustrating an example of the main control process performed through the trolley control unit.

[0031] Figure 6 This is a flowchart illustrating an example of the process of controlling the arrival of a target position via the trolley control unit.

[0032] Figure 7 This is a schematic diagram illustrating an example of the movement control of a doffing trolley.

[0033] Explanation of reference numerals in the attached figures

[0034] 1...Automatic winding machine (textile machinery); 2...Winding unit; 4...Doffing trolley; 41...Detection unit; 42...Input unit; 43...Trolley control unit (control unit); 51...Unit control unit (signal transmission unit); P...Cab; Q...Winding tube; Y...Yarn. Detailed Implementation

[0035] Hereinafter, a preferred embodiment of the present invention will be described. For ease of explanation, the direction parallel to the vertical direction in which gravity acts ( Figure 1 The vertical direction of the paper is set as the up and down direction. For example... Figure 1 As shown, the direction in which the multiple winding units 2, described later, are arranged is defined as the left-right direction. The left-right direction is orthogonal to the up-down direction. The direction orthogonal to both the up-down and left-right directions is defined as the front-back direction.

[0036] (Automatic winding machine)

[0037] An embodiment of applying the textile machinery of the present invention to an automatic winding machine will be described. Figure 1 This is a front view of the automatic winding machine involved in this embodiment. (Example) Figure 1 As shown, the automatic winding machine 1 includes: multiple winding units 2 arranged in a predetermined direction ( Figure 1The winding machine 1 is arranged in a left-right direction; the doffing trolley 4 is configured to move between multiple winding units 2 by traveling in a left-right direction; and the machine control device 5 controls the entire automatic winding machine 1. Each winding unit 2 winds the yarn Y unwound from the feed tube B onto the winding tube Q (see reference). Figure 2 The yarn roll P is formed. The doffing trolley 4 moves to the winding unit 2 where the yarn roll P is completed, and the yarn roll P is unwound from the cradle 31 (see below). Figure 2 The unwinding operation involves removing the yarn and supplying a new winding tube Q.

[0038] (Winding unit)

[0039] Figure 2 This is the front view of winding unit 2. (Example) Figure 2 As shown, the winding unit 2 includes: a yarn feeding section 10, which supplies yarn Y while unwinding it from the yarn feeding tube B; a yarn processing section 20, which performs various processing on the yarn Y supplied from the yarn feeding section 10; and a winding section 30, which winds the yarn Y that has passed through the yarn processing section 20 onto the winding tube Q to form a package P. The yarn feeding section 10, the yarn processing section 20, and the winding section 30 are arranged in this order from bottom to top.

[0040] The yarn feeding section 10 has a yarn unwinding assist device 11 that assists in unwinding the yarn Y when the yarn feeding tube B, which is held in an upright state, unwinds the yarn Y. The yarn unwinding assist device 11 has a limiting cylinder 12 for limiting the expansion (air ring) of the yarn Y during unwinding within an appropriate range.

[0041] The yarn processing unit 20 includes a yarn splicing device 21, a yarn clearer 22, a lower yarn capture guide 23, and an upper yarn capture guide 24. The yarn splicing device 21 splices the ends of the broken yarn Y together when the yarn Y is broken between the feed tube B and the package P. The yarn clearer 22 obtains information related to the quality of the yarn Y and cuts the yarn Y as needed. The lower yarn capture guide 23 captures the yarn on the feed tube B side of the broken yarn Y (lower yarn Y1) and guides it towards the yarn splicing device 21. The upper yarn capture guide 24 captures the yarn on the package P side of the broken yarn Y (upper yarn Y2) and guides it towards the yarn splicing device 21.

[0042] The winding section 30 includes a rocker arm 31 that supports the winding tube Q for rotation, a traverse drum 32, and a drum drive motor 33 that rotates the traverse drum 32. A helical traverse groove 32a is formed on the circumferential surface of the traverse drum 32, through which the yarn Y is traversed. By rotating the traverse drum 32 in contact with the package P, the yarn Y can be traversed while being wound onto the package P.

[0043] (Yarn unwinding machine)

[0044] like Figure 1 As shown, the doffing trolley 4 has a detection unit 41, which can detect obstacles existing on the right and left sides of the doffing trolley 4 in the left-right direction, which is the traveling direction of the doffing trolley 4. In this embodiment, the detection unit 41 includes obstacle detection sensors 41a and 41b respectively provided on the left and right sides of the doffing trolley 4. The obstacle detection sensor 41a provided on the right side of the doffing trolley 4 can detect obstacles existing on the right side of the doffing trolley 4. The obstacle detection sensor 41b provided on the left side of the doffing trolley 4 can detect obstacles existing on the left side of the doffing trolley 4. Multiple obstacle detection sensors may also be provided on each side of the doffing trolley 4. The obstacle detection sensors may also be provided outside the sides of the doffing trolley 4, such as the upper surface, front surface, and lower surface. The detection unit 41 may also be composed of a single obstacle detection sensor capable of detecting obstacles existing on the right and left sides of the doffing trolley 4. For example, optical sensors can be used as obstacle detection sensors 41a and 41b. Alternatively, when infrared sensors are used as obstacle detection sensors 41a and 41b, people can be detected as obstacles.

[0045] The doffing carriage 4 has an input section 42 for inputting travel instructions to the right and left sides, respectively. In this embodiment, the input section 42 is provided on the front surface of the doffing carriage 4. For example, the input section 42 may have a button for inputting a travel instruction to the right and a button for inputting a travel instruction to the left. In addition, the input section 42 may be composed of a lever that can swing left and right or a slider that can slide left and right. Furthermore, the input section 42 may also have operation sections such as push-buttons provided on the left and right sides of the doffing carriage 4, respectively. In this case, for example, a travel instruction to the left can be input by pressing the operation section provided on the right side, and a travel instruction to the right can be input by pressing the operation section provided on the left side.

[0046] (Electrical Structure)

[0047] Figure 3 This is a block diagram showing the electrical structure of the automatic winding machine 1. For example... Figure 3As shown, each winding unit 2 has a unit control unit 51 that controls the operation of each part of the winding unit 2. Additionally, the doffing trolley 4 has a trolley control unit 43 that controls the operation of each part of the doffing trolley 4. The machine control device 5, each unit control unit 51, and the trolley control unit 43 are configured to communicate electrical signals with each other, for example, via a communication line 58 formed by a CAN (Controller Area Network) bus. In this embodiment, each unit control unit 51 sends a completion signal and a completion warning signal (described later) to the trolley control unit 43 via the communication line 58. Then, the trolley control unit 43 performs movement control of the doffing trolley 4 based on the signals sent via the communication line 58 and the signals from the detection unit 41 and the input unit 42.

[0048] (Completion signal and completion warning signal)

[0049] Here, the completion signal and completion warning signal sent by the unit control unit 51 of each winding unit 2 will be explained. Both the completion signal and the completion warning signal are signals related to the movement of the doffing trolley 4. That is, the unit control unit 51 that sends the completion signal and the completion warning signal is equivalent to the signal transmitting unit of the present invention.

[0050] When the unit control unit 51 of each winding unit 2 reaches a completed state where winding and package P are both completed in that winding unit 2, it sends a completion signal designating the winding unit 2 as the destination for the doffing trolley 4. As a prerequisite, the unit control unit 51 may pre-store, for example, the required length of yarn Y wound on the winding tube Q before determining that package P is complete. For example, the unit control unit 51 determines that the winding unit 2 is in a completed state when the length of yarn wound on the winding tube Q reaches the length required for package P to be completed. The length of yarn already wound on the winding tube Q can be determined based on the rotational speed of the traverse drum 32, or it can be determined based on the output from a sensor that detects the travel speed of the yarn Y.

[0051] When the unit control unit 51 of each winding unit 2 reaches a near-completion state where the remaining time until completion is less than or equal to a predetermined length Ta, it sends a completion warning signal designating the winding unit 2 as the destination for the doffing trolley 4. For example, the unit control unit 51 calculates the remaining time by dividing the value obtained by subtracting the length of yarn already wound on the winding tube Q from the yarn length required to complete the package P by the winding speed (the rotational speed of the traverse drum 32). In this embodiment, the predetermined length Ta is a fixed value.

[0052] Alternatively, the specified length Ta could be, for example, the travel time required for the doffing carriage 4 to move from its current position to the winding unit 2. The unit control unit 51 can calculate the travel time based on the information of the current position of the doffing carriage 4 and the travel speed of the doffing carriage 4. Here, the method for determining the current position of the doffing carriage 4 will be described. For example, each winding unit 2 has a detection unit capable of detecting the position of the doffing carriage 4, and the information of the current position of the doffing carriage 4 can be shared among multiple unit control units 51 via a communication line 58. In addition, for example, the doffing carriage 4 has a detection unit capable of detecting which winding unit 2 it has passed in front of, and the carriage control unit 43 can also transmit the information of the current position of the doffing carriage 4 to each unit control unit 51 via the communication line 58.

[0053] (Movement control of the doffing trolley)

[0054] Next, an example of the movement control of the doffing trolley 4 via the trolley control unit 43 will be explained. First, refer to... Figure 4 The pre-control process until the doffing trolley 4 determines the target position and begins to move is explained.

[0055] The trolley control unit 43 determines whether a completion signal has been received from the unit control unit 51 of any winding unit 2 (S10). If no completion signal has been received (S10: No), the trolley control unit 43 determines whether a completion warning signal has been received from the unit control unit 51 of any winding unit 2 (S11). If no completion warning signal has been received (S11: No), the trolley control unit 43 determines whether a standby position has been designated (S12). The standby position is the position where the doffing trolley 4 stands when the winding unit 2 is in a state that is not yet completed or is close to being completed. The standby position is, for example, the right or left side of the column of winding units 2 extending in the left-right direction. The standby position can also be designated and deselected by the operator. Information related to the standby position (location of the standby position, whether it is designated or not) is stored, for example, in the trolley control unit 43.

[0056] If it is determined that no standby position has been specified (S12: No), the process returns to S10, and the carriage control unit 43 determines whether a completion signal has been received. On the other hand, if it is determined that a standby position has been specified (S12: Yes), the carriage control unit 43 determines whether the doffing carriage 4 is in the standby position (S13). That is, the carriage control unit 43 determines whether the current position of the doffing carriage 4 is the standby position. If it is determined that the doffing carriage 4 is in the standby position (S13: Yes), the process returns to S10, and the carriage control unit 43 determines whether a completion signal has been received. On the other hand, if it is determined that the doffing carriage 4 is not in the standby position (S13: No), the carriage control unit 43 begins moving the doffing carriage 4 with the standby position as the target position (S14).

[0057] In S11, if it is determined that a completion warning signal has been received (S11: Yes), the trolley control unit 43 activates the travel flag for the winding unit 2 (hereinafter referred to as "near completion spindle") which is in a near-completion state (S15). Then, the trolley control unit 43 begins to move the doffing trolley 4 with the winding unit 2, which is designated as the movement destination according to the completion warning signal sent from the unit control unit 51, as the target position (S16). Furthermore, if the trolley control unit 43 receives a completion warning signal from the unit control unit 51 of multiple winding units 2, it begins to move the doffing trolley 4 with the winding unit 2, which is designated as the movement destination according to the earliest sent completion warning signal, as the target position.

[0058] In S10, if a completion signal is received (S10: Yes), the trolley control unit 43 activates the travel flag for the completed winding unit 2 (hereinafter referred to as the "completed spindle") (S17). Then, the trolley control unit 43 begins to move the doffing trolley 4 with the winding unit 2 designated as the movement destination according to the completion signal sent from the unit control unit 51 as the target position (S18). Furthermore, if the trolley control unit 43 receives a completion signal from the unit control unit 51 of a plurality of winding units 2, it begins to move the doffing trolley 4 with the winding unit 2 closest to the current position of the doffing trolley 4 among the plurality of winding units 2 as the target position.

[0059] Then, while referring to Figure 5 The movement control, or main control, of the doffing trolley 4 moving toward the target position will be explained.

[0060] The trolley control unit 43 determines whether the target position has been reached (S30). If the target position has been reached (S30: Yes), the trolley control unit 43 stops the movement of the doffing trolley 4 at the target position and performs the target position arrival control described later (S31). On the other hand, if the target position has not been reached (S30: No), the trolley control unit 43 determines whether an obstacle has been detected by the detection unit 41 in front of the doffing trolley 4 in the direction of travel (S32).

[0061] If no obstacle is detected (S32: No), the process returns to S30, and the trolley control unit 43 determines whether the target position has been reached. Conversely, if an obstacle is detected (S32: Yes), the trolley control unit 43 stops the movement of the doffing trolley 4 (S33: Movement Stop Processing). Then, the trolley control unit 43 activates the obstacle marker (S34). Furthermore, the trolley control unit 43 begins measuring the elapsed time Te since the movement stop processing was executed (S35).

[0062] Next, the trolley control unit 43 determines whether to discontinue obstacle detection by the detection unit 41 (S36). If it is determined that obstacle detection will no longer be performed (S36: Yes), the trolley control unit 43 resets the obstacle marker and the elapsed time Te (S37). Then, the trolley control unit 43 resumes the movement of the doffing trolley 4 toward the target position (S38: Movement restart processing). That is, discontinuing obstacle detection by the detection unit 41 (S36: Yes) is the first movement restart condition for resuming the movement of the doffing trolley 4 after the movement stop processing. Afterwards, returning to S30, the trolley control unit 43 determines whether the target position has been reached.

[0063] On the other hand, if the detection of an obstacle continues (S36: No), the trolley control unit 43 determines whether to input a travel instruction to the input unit 42 for the side opposite to the side where the obstacle was detected by the unit 41, either to the right or to the left (S39). For example, here... Figure 7 As shown in (a), consider the doffing trolley 4 traveling from the left to the right. Sometimes, an obstacle O exists on the right side (in front of) the doffing trolley 4 in the direction of travel. In this case, the trolley control unit 43 performs a travel stop operation, as shown in (a). Figure 7 As shown in (b), the doffing trolley 4 stops near the obstacle O (to the left of the obstacle O). In this case, the trolley control unit 43 determines whether a leftward travel instruction has been input to the input unit 42.

[0064] If it is determined that a travel instruction has been input to the input unit 42 (S39: Yes), the trolley control unit 43 restarts the travel of the doffing trolley 4 according to the instruction input to the input unit 42 (S40: Travel restart processing). That is, inputting a travel instruction from the side opposite to the side where the obstacle was detected to the input unit 42 (S39: Yes) is the second travel restart condition for restarting the travel of the doffing trolley 4 after the travel stop processing has been performed.

[0065] Here, the control of the carriage control unit 43 when the input unit 42 is operated by an operator will be explained. For example, when the input unit 42 is operated by an operator, the carriage control unit 43 can also stop the doffing carriage 4 after traveling for a predetermined time (predetermined distance). Furthermore, if the input unit 42 is a button or the like, the carriage control unit 43 can continue the travel of the doffing carriage 4 while the input unit 42 is operated by the operator (pressing the button), and can also stop the doffing carriage 4 when the operation of the input unit 42 is no longer performed (the button is no longer pressed). Moreover, the carriage control unit 43 can also change the travel distance of the doffing carriage 4 proportionally to the length of time the input unit 42 is operated by the operator (pressing the button).

[0066] Subsequently, the trolley control unit 43 determines whether the elapsed time Te has reached the specified time (S41). The determination in S41 is repeated until the specified time is reached. If the specified time has been reached (S41: Yes), the trolley control unit 43 resets the travel marker, obstacle marker, and elapsed time Te that were activated in the pre-control phase (S42). Then, returning to the pre-control phase S10, the trolley control unit 43 determines whether a completion signal has been received.

[0067] Additionally, in S39, if it is determined that no travel instruction has been input to the input unit 42 (S39: No), the trolley control unit 43 determines whether the travel flag to the completed spindle is on (S43). If it is determined that the travel flag to the completed spindle is on (S43: Yes), the trolley control unit 43 determines whether it has received a completion signal designating the winding unit 2 located on the opposite side of the side where the obstacle was detected by the detection unit 41, which is located on the right or left side of the doffing trolley 4 that was stopped by the travel stop process, as the destination of the movement (S44).

[0068] Here, for example, in Figure 7 In the example shown in (b), one or more winding units 2 located to the left of the doffing trolley 4, which is stopped by the travel stop process, are... Figure 7 In (b), the winding unit 2 within the area R enclosed by the dashed line is designated as the target winding unit group. The trolley control unit 43 determines whether it has received a completion signal that designates any one of the winding units 2 contained in the target winding unit group as the movement destination.

[0069] If it is determined that a completion signal designating the winding unit 2 located on the opposite side from the obstacle as the moving destination has not been received (S44: No), the process returns to S36, where the trolley control unit 43 determines whether to cease obstacle detection by the detection unit 41. Conversely, if it is determined that a completion signal designating the winding unit 2 located on the opposite side from the obstacle as the moving destination has been received (S44: Yes), the trolley control unit 43 changes the target position to the winding unit 2 designated as the moving destination based on the completion signal and restarts the movement of the doffing trolley 4 (S45: Movement restart processing). That is, sending a completion signal from the unit control unit 51 designating the winding unit 2 located on the opposite side from the detected obstacle as the moving destination (S44: Yes) is the third movement restart condition for restarting the movement of the doffing trolley 4 after performing the movement stop processing. Afterwards, the process returns to S30, where the trolley control unit 43 determines whether the target position has been reached.

[0070] In S43, if it is determined that the travel marker towards the completed spindle is not open (S43: No), the trolley control unit 43 determines whether the travel marker towards the approaching completed spindle is open (S46). If the travel marker towards the approaching completed spindle is open (S46: Yes), the trolley control unit 43 determines whether it has received a completion warning signal that designates the winding unit 2 located on the opposite side of the side where the obstacle was detected by the detection unit 41, between the right and left sides of the doffing trolley 4 that was stopped by the travel stop process, as the moving destination (S47). That is, for example, in Figure 7 In the example shown in (b), the trolley control unit 43 determines whether it has received a completion warning signal that designates any one of the winding units 2 included in the object winding unit group (winding units 2 in region R) as the moving destination.

[0071] If it is determined that a completion warning signal designating the winding unit 2 located on the opposite side of the obstacle as the moving destination has not been received (S47: No), the process returns to S36, where the trolley control unit 43 determines whether to cease obstacle detection by the detection unit 41. Conversely, if it is determined that a completion warning signal designating the winding unit 2 located on the opposite side of the obstacle as the moving destination has been received (S47: Yes), the trolley control unit 43 changes the target position to the winding unit 2 designated as the moving destination according to the completion warning signal and restarts the movement of the doffing trolley 4 (S48: Movement restart processing). That is, sending a completion warning signal from the unit control unit 51 designating the winding unit 2 located on the opposite side of the detected obstacle as the moving destination (S47: Yes) is the fourth movement restart condition for restarting the movement of the doffing trolley 4 after performing movement stop processing. Afterwards, the process returns to S30, where the trolley control unit 43 determines whether the target position has been reached.

[0072] Additionally, in S46, if it is determined that the travel marker for the near-complete spindle is not open (S46: No), the system returns to S36, and the trolley control unit 43 determines whether to stop the detection unit 41 from detecting obstacles.

[0073] Furthermore, while referring to Figure 6 The control upon reaching the target position will be explained below. First, the trolley control unit 43 determines whether the travel indicator to the completed spindle is open (S60). If it is determined that the travel indicator to the completed spindle is open (S60: Yes), the trolley control unit 43 performs the doffing operation (S61). That is, the doffing trolley 4 stops in the winding unit 2 in the completed state of the package P, so the completed package P of the winding unit 2 can be removed.

[0074] Subsequently, the trolley control unit 43 determines whether the obstacle marker is open (S62). If the obstacle marker is open (S62: Yes), the trolley control unit 43 determines whether the elapsed time Te since the execution of the travel stop process has reached the specified time (S63). If the elapsed time Te has not reached the specified time (S63: No), it returns to the main control unit S43.

[0075] Furthermore, after returning to the main control in S43, if a completion signal is received again in S44, the trolley control unit 43 determines whether a completion signal has been received designating the winding unit 2 included in the same target winding unit group as when S44 was initially executed as the destination. Additionally, after returning to the main control in S43, if a completion warning signal is received again in S47, the trolley control unit 43 determines whether a completion signal has been received designating the winding unit 2 included in the same target winding unit group as when S47 was initially executed as the destination. That is, during the obstacle marker opening period, regarding the stopping position of the doffing trolley 4 when the travel stop process is performed in S33, one or more winding units 2 located on the opposite side of the obstacle become the target winding unit group when S44 and S47 are determined.

[0076] If it is determined in S62 that the obstacle marker is not open (S62: No), the trolley control unit 43 will reset the travel marker that was opened in the pre-control (S65). After that, it returns to the pre-control S10.

[0077] If it is determined in S63 that the elapsed time Te has reached the specified time (S63: Yes), the trolley control unit 43 resets the obstacle marker and the elapsed time Te (S64). Then, proceeding to S65, the trolley control unit 43 resets the travel marker that was opened in the pre-control and returns to the pre-control S10.

[0078] If in S60 it is determined that the travel marker towards the completed spindle is not open (S60: No), the trolley control unit 43 determines whether the travel marker towards the approaching completed spindle is open (S66). If it is determined that the travel marker towards the approaching completed spindle is not open (S66: No), proceed to 65, and the trolley control unit 43 resets the travel marker that was open in the pre-control, returning to the pre-control S10. At this time, the doffing trolley 4 performs pre-control to determine the next target position while stopped in the standby position.

[0079] If the travel indicator indicating near completion of the spindle is open (S66: Yes), the trolley control unit 43 determines whether a completion signal has been received from the winding unit 2 where the doffing trolley 4 is stopped (S67). That is, the doffing trolley 4 stops in the winding unit 2 where the package P is nearing completion, and therefore remains in a stopped state until the package P is completed. In this embodiment, while the doffing trolley 4 remains in a stopped state until the package P is completed, the trolley control unit 43 controls it to maintain the stopped state if an obstacle is detected by the detection unit 41. Furthermore, during the standby period before the package P is completed, obstacle detection based on the detection unit 41 may not be performed.

[0080] If a completion signal is received (S67: Yes), proceed to S61, and the trolley control unit 43 performs the doffing operation. Conversely, if a completion signal is not received (S67: No), the trolley control unit 43 checks whether a travel instruction has been input to the input unit 42 (S68). If no travel instruction has been input (S68: No), return to S67, and the trolley control unit 43 checks whether a completion signal has been received. Then, if a travel instruction has been input (S68: Yes), the trolley control unit 43 restarts the movement of the doffing trolley 4 according to the instruction input to the input unit 42 (S69: Travel restarts during standby).

[0081] Subsequently, the trolley control unit 43 determines whether the elapsed time Te has reached the specified time (S70). The determination in S70 is repeated until it is determined that the specified time has been reached. If the specified time has been reached (S70: Yes), the trolley control unit 43 resets the obstacle marker and the elapsed time Te (S71). Then, proceeding to S65, the trolley control unit 43 resets the travel marker that was activated in the pre-control phase, returning to the pre-control phase in S10.

[0082] (Features of the implementation method)

[0083] Thus, the automatic winding machine 1 of this embodiment includes: a plurality of winding units 2, which wind yarn Y onto a winding tube Q to form a package P; a doffing trolley 4, configured to move between the plurality of winding units 2 by traveling in a left-right direction that is the arrangement direction of the plurality of winding units 2, and to remove the package P from the winding unit 2 at the destination of the movement and supply a new winding tube Q; and a trolley control unit 43. The doffing trolley 4 has a detection unit 41 capable of detecting obstacles present on the right and left sides of the doffing trolley 4 in the arrangement direction, respectively. The trolley control unit 43 performs the following processes: a travel stop process, in which the travel of the doffing trolley 4 is stopped when the detection unit 41 detects an obstacle in front of the travel direction of the doffing trolley 4 during its travel; and a travel restart process, in which the travel of the doffing trolley 4 is restarted after the travel stop process is performed, provided that any one of the predetermined first to fourth travel restart conditions is met.

[0084] According to this structure, the trolley control unit 43 stops the movement of the doffing trolley 4 when the detection unit 41 detects an obstacle in front of it. Therefore, movement control can be performed to suppress unnecessary movements such as reciprocating near obstacles detected by the detection unit 41. Furthermore, after stopping the doffing trolley 4, the trolley control unit 43 restarts the movement of the doffing trolley 4 if any one of the predetermined first to fourth restart conditions is met. Thus, since multiple restart conditions for the doffing trolley 4 are set, flexible movement control of the doffing trolley 4 is possible.

[0085] Furthermore, the automatic winding machine 1 of this embodiment includes: a unit control unit 51 that sends signals related to the movement of the doffing carriage 4; and an input unit 42 that can input movement instructions for the doffing carriage 4 to the right and left respectively. Moreover, the conditions for resuming movement include:

[0086] • Obstacle detection by the detection unit 41 will no longer be performed (condition for restarting the first movement).

[0087] • Input the input unit 42 with a travel instruction to the opposite side of the side where the obstacle was detected by the detection unit 41, either to the right or left (condition for restarting the second travel).

[0088] • A signal is sent from the unit control unit 51 designating the winding unit 2 located on the opposite side of the side where the obstacle was detected by the detection unit 41, which is on the right or left side of the doffing trolley 4 that was stopped by the travel stop process, as the travel destination (third travel restart condition or fourth travel restart condition).

[0089] According to this structure, when the detection unit 41 no longer detects obstacles, the first travel restart condition is met, and the movement of the doffing carriage 4 automatically resumes. Furthermore, when the doffing carriage 4 is stopped by the travel stop process, the operator may sometimes want to move it for reasons such as obstructing operations. In such cases, the operator inputs a travel instruction through the input unit 42, thereby satisfying the second travel restart condition and allowing the doffing carriage 4 to resume movement. Moreover, during the stop of the doffing carriage 4 by the travel stop process, if the unit control unit 51 sends a signal designating the winding unit 2, located on the opposite side of the obstacle detected by the detection unit 41 (across the doffing carriage 4), as the movement destination, the third or fourth travel restart condition is met, thus allowing the doffing carriage 4 to resume movement. Therefore, by moving to the winding unit 2 to perform the doffing operation, the efficiency of the doffing operation can be improved.

[0090] Furthermore, in the automatic winding machine 1 of this embodiment, when the doffing carriage 4 is in a stopped standby state in the winding unit 2 at its destination until the package P is completed, the carriage control unit 43 maintains the stopped state if an obstacle is detected by the detection unit 41. For example, if the doffing carriage 4 is in a stopped standby state until the package P is completed, and an obstacle is detected by the detection unit 41, and the control is performed to move the doffing carriage 4 away from the obstacle, the doffing operation may not be able to be performed smoothly when the package P is completed. In this structure, the stopped state is maintained when an obstacle is detected by the detection unit 41, so the doffing operation can be performed smoothly when the package P is completed.

[0091] Furthermore, in the automatic winding machine 1 of this embodiment, when the doffing carriage 4 is in a stopped standby state in the winding unit 2 at its destination until the package P is completed, the carriage control unit 43 performs a restart process for restarting the movement of the doffing carriage 4 when a movement instruction is input to the input unit 42. According to this structure, if it is desired to move the doffing carriage 4 when it is in a stopped standby state until the package P is completed, the operator can input a movement instruction through the input unit 42, thereby restarting the movement of the doffing carriage 4.

[0092] Furthermore, in the automatic winding machine 1 of this embodiment, the input unit 42 is provided on the doffing carriage 4. With this structure, a travel instruction can be input by operating the input unit 42 provided on the doffing carriage 4. In particular, when the obstacle detected by the detection unit 41 is a person (operator), the operator is located near the doffing carriage 4, making it easy to operate the input unit 42 provided on the doffing carriage 4.

[0093] Furthermore, in the automatic winding machine 1 of this embodiment, when the unit control unit 51 reaches a completed state where winding in the winding unit 2 is completed and package P is completed, it sends a completion signal designating the winding unit 2 as the destination of the doffing trolley 4. If the trolley control unit 43 performs a travel stop process midway through the movement of the winding unit 2 designated as the destination according to the completion signal sent from the unit control unit 51 (when the travel flag from the completed spindle is opened), after performing the travel stop process, when the unit control unit 51 sends a completion signal designating the winding unit 2 located on the opposite side of the doffing trolley 4 that was stopped by the travel stop process and the side opposite to the side where the obstacle was detected by the detection unit 41, as the destination, it performs a travel restart process. According to this structure, while the doffing carriage 4 is stopped midway towards the completed winding unit 2 via a travel stop process, if another winding unit 2 located on the opposite side of the doffing carriage 4, across an obstacle detected by the detection unit 41, becomes completed, the carriage can move to the other winding unit 2 to perform the doffing operation. Therefore, the efficiency of the doffing operation can be improved.

[0094] Furthermore, in the automatic winding machine 1 of this embodiment, when the winding unit 2 is in a near-completion state where the remaining time until it reaches the completion state is less than a predetermined length, the unit control unit 51 sends a completion warning signal designating the winding unit 2 as the destination of the doffing trolley 4. If the trolley control unit 43 performs a travel stop process midway through the movement of the winding unit 2 designated as the destination according to the completion warning signal sent from the unit control unit 51 (when the travel flag towards the near-completion spindle is opened), after performing the travel stop process, when the unit control unit 51 sends a completion warning signal designating the winding unit 2 located on the opposite side of the doffing trolley 4 stopped by the travel stop process (either the side to the right or left of which an obstacle was detected by the detection unit 41) as the destination, it performs a travel restart process. According to this structure, while the doffing carriage 4 is stopped midway towards the winding unit 2 that is nearing completion through a travel stop process, if another winding unit 2 located on the opposite side of the doffing carriage 4, across an obstacle detected by the detection unit 41, becomes near completion, the carriage can move to that other winding unit 2 to perform the doffing operation. Therefore, the efficiency of the doffing operation can be improved.

[0095] While the accompanying drawings have described embodiments of the present invention above, it should be understood that the specific structures are not limited to these embodiments. The scope of the present invention is defined by the scope of the claims rather than by the description of the embodiments described above, and includes all modifications within the scope of the claims.

[0096] In the above embodiment, the process of restarting the movement of the doffing trolley 4 by the trolley control unit 43 after the movement stop process is performed, provided that any one of the specified first to fourth movement restart conditions is met, is described. However, this is not a limitation. The movement restart process can be performed as long as any one of the specified at least two movement restart conditions is met.

[0097] That is, for example, the trolley control unit 43 may also perform the travel restart process if either the detection unit 41 stops detecting obstacles (first travel restart condition) or the travel instruction to the input unit 42 is input to the side opposite to the side where the obstacle was detected (second travel restart condition).

[0098] Alternatively, for example, the trolley control unit 43 may perform the travel restart process if either the detection unit 41 stops detecting obstacles (first travel restart condition) or the unit control unit 51 sends a signal designating the winding unit 2 located on the opposite side of the side where the obstacle was detected as the travel destination (third travel restart condition or fourth travel restart condition).

[0099] Furthermore, for example, the trolley control unit 43 may also perform the travel restart process if either the detection unit 41 stops detecting obstacles (first travel restart condition) or the unit control unit 51 sends a completion signal designating the winding unit 2 located on the opposite side of the side where the obstacle was detected as the travel destination (third travel restart condition).

[0100] Furthermore, although the above embodiment describes a situation where the trolley control unit 43 maintains the doffing trolley 4 in a stopped state and detects an obstacle through the detection unit 41 while it is in a stopped standby state in the winding unit 2 at the destination until the winding P is completed, this is not a limitation. For example, the trolley control unit 43 may also control the doffing trolley 4 to move away from the obstacle when the detection unit 41 detects an obstacle while the doffing trolley 4 is in a stopped standby state.

[0101] Furthermore, although the above embodiment describes a scenario where the trolley control unit 43 inputs a travel instruction to the input unit 42 when the doffing trolley 4 is in a stopped standby state in the winding unit 2 at the destination until the winding P is completed, and performs a restart process for the travel of the doffing trolley 4 during standby, this is not a limitation. For example, the trolley control unit 43 may also perform a restart process for the travel of the doffing trolley 4 during standby when the doffing trolley 4 is in a stopped standby state.

[0102] Furthermore, although the above embodiment describes the case where the input unit 42 is provided on the doffing carriage 4, it is not limited to this. For example, the input unit 42 may also be provided on the machine control device 5. In addition, for example, the input unit 42 may also be provided on a tablet terminal or the like that is capable of wireless communication with the doffing carriage 4.

[0103] Furthermore, although the above embodiment describes a scenario where the trolley control unit 43 performs a travel stop process midway through moving to the completed winding unit 2, and then performs a travel restart process upon receiving a completion signal, and performs a travel stop process midway through moving to the winding unit 2 near the completed state, and then performs a travel restart process upon receiving a completion warning signal, this is not a limitation. For example, the trolley control unit 43 may also perform a travel restart process upon receiving a completion warning signal if it performs a travel stop process midway through moving to the completed winding unit 2. Additionally, the trolley control unit 43 may also perform a travel restart process upon receiving a completion signal if it performs a travel stop process midway through moving to the winding unit 2 near the completed state.

[0104] Furthermore, in the above-described embodiment, the doffing trolley 4 has a trolley control unit 43, which functions as the control unit of the present invention. For example, the machine control device 5 can also function as the control unit of the present invention. However, in this case, a completion signal and a completion warning signal are temporarily sent from the unit control unit 51 to the machine control device 5, and the machine control device 5 determines which winding unit 2 to move the doffing trolley 4 to based on the signals received. Then, a movement command needs to be issued to the trolley control unit 43. On the other hand, if the trolley control unit 43 functions as the control unit of the present invention, the completion signal and the completion warning signal can be sent directly from the unit control unit 51 to the trolley control unit 43, which can shorten the control time delay.

[0105] Furthermore, in the above-described embodiment, each winding unit 2 has a unit control unit 51, which functions as a signal transmission unit of the present invention. For example, although the machine control device 5 could also function as a signal transmission unit of the present invention, in this case, progress information related to the formation progress of the package P associated with each winding unit 2 (such as the remaining time until completion) must be sent from each winding unit 2 to the machine control device 5 at all times, increasing the communication load. In this respect, if each unit control unit 51 functions as a signal transmission unit of the present invention, it is not necessary to send progress information from each unit control unit 51; only a completion signal and a completion warning signal need to be sent, thus reducing the communication load.

[0106] Furthermore, in the above embodiment, only one doffing trolley 4 is provided in the automatic winding machine 1. However, two or more doffing trolleys 4 may also be provided.

[0107] Furthermore, the above embodiments illustrate the application of the present invention to the doffing carriage 4 of the automatic winding machine 1. However, the present invention can also be applied to other textile machinery (e.g., spinning machines) having multiple winding units and doffing carriages.

Claims

1. A textile machinery, characterized in that, The textile machinery has the following features: Multiple winding units wind yarn into a winding tube to form a package; A doffing trolley is configured to move between the plurality of winding units by traveling along the arrangement direction of the plurality of winding units, and to remove the roll from the winding unit at the destination of the movement and supply a new winding tube; and Control Department The doffing trolley has a detection unit that can detect obstacles present on one side and the other side of the doffing trolley in the arrangement direction. The control unit performs the following processing: The travel stop process involves stopping the doffing trolley when the detection unit detects an obstacle in front of the doffing trolley during its travel. and The process of restarting the journey begins when, after the process of stopping the journey has been performed, the journey of the doffing trolley is restarted if any one of the specified two conditions for restarting the journey is met.

2. The textile machinery according to claim 1, characterized in that, It includes a signal transmitting unit that transmits signals related to the movement of the doffing trolley. The conditions for resuming the journey include: The detection of the obstacle by the detection unit is no longer performed; and The signal transmitting unit sends a signal designating the winding unit located on the opposite side of the side where the obstacle was detected by the detection unit, which is closer to the doffing trolley than the side that was stopped by the travel stop process, as the moving destination.

3. The textile machinery according to claim 1, characterized in that, It is equipped with an input unit that can input travel instructions for the doffing trolley toward both one side and the other side. The conditions for resuming the journey include: The detection of the obstacle by the detection unit is no longer performed; and The input unit receives the travel instruction to the opposite side of the side on which the obstacle was detected by the detection unit, which is either the side on which the obstacle was detected.

4. The textile machinery according to claim 1, characterized in that, The textile machinery has the following features: The input unit is capable of inputting travel instructions for the doffing trolley towards one side and the other side, respectively; and The signal transmitting unit transmits signals related to the movement of the doffing trolley. The conditions for resuming the journey include: The detection of the obstacle by the detection unit is no longer performed. The input unit receives a travel instruction directed toward the opposite side of the side on which the obstacle was detected by the detection unit, from one side to the other; and The signal transmitting unit sends a signal designating the winding unit located on the opposite side of the side where the obstacle was detected by the detection unit, which is closer to the doffing trolley than the side that was stopped by the travel stop process, as the moving destination.

5. The textile machinery according to any one of claims 1 to 4, characterized in that, When the doffing trolley is in a stopped standby state in the winding unit at the moving destination until the winding is completed, the control unit maintains the stopped state if the detection unit detects an obstacle.

6. The textile machinery according to claim 3 or 4, characterized in that, When the doffing trolley is in a stopped standby state in the winding unit at the moving destination until the winding is completed, the control unit performs a standby start process to restart the movement of the doffing trolley when the movement instruction is input to the input unit.

7. The textile machinery according to claim 3 or 4, characterized in that, The input section is located on the doffing trolley.

8. The textile machinery according to claim 2 or 4, characterized in that, When the winding in the winding unit is completed and the package is in a completed state, the signal transmitting unit sends a completion signal designating the winding unit as the moving destination of the doffing trolley. If the control unit performs the travel stop process midway through movement towards the winding unit, which is designated as the movement destination based on the completion signal sent from the signal transmitting unit, After the travel stop process is executed, when the signal transmission unit sends a completion signal designating the winding unit located on the opposite side of the side of the doffing trolley that was stopped by the travel stop process and the side of the doffing trolley that was detected by the detection unit as the destination for movement, the travel restart process is executed.

9. The textile machinery according to claim 8, characterized in that, When the winding unit reaches a near-completion state where the remaining time until it reaches the completed state is less than a predetermined length, the signal transmitting unit sends a completion warning signal designating the winding unit as the moving destination of the doffing trolley. When the control unit performs the travel stop process midway through the movement of the winding unit designated according to the completion warning signal sent from the signal transmission unit, after performing the travel stop process, it sends a completion warning signal from the signal transmission unit designating the winding unit located on the opposite side of the side where the obstacle was detected by the detection unit from the side of the doffing trolley that was stopped by the travel stop process as the destination, and then performs the travel restart process.

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