Automatic winder

Abstract

To provide an automatic winder capable of suppressing reduction in operation rate of the automatic winder caused by not winding a yarn on a winding bobbin in a normal manner.SOLUTION: An automatic winder 1 comprises a yarn winding unit 2 and a doffing device 3. The yarn winding device 2 has a yarn feeding part 11, a winding part 13, and a lower yarn catch guiding part 35. The lower yarn catch guiding part 35 guides a yarn Y supplied from a feeding bobbin Bs to the doffing device 3 during doffing. The doffing device 3 has a yarn catching arm 61 carrying out acceptance guide motion. And, the auto winder 1 comprises a yarn clearer 34 and a control part. The control part carries out retry processing before stating winding motion of the yarn winding unit 2 after making the yarn catching arm 61 carry out the acceptance guide motion. The control part carries out the retry processing when determining a lower yarn Y1 is not normally guided to the winding part 13 with the yarn catching arm 61 on the basis of a detection result by the yarn clearer 34.SELECTED DRAWING: Figure 14

Description

[Technical Field]

[0001] The present invention relates to an automatic winder for winding a yarn. [Background technology]

[0002] The automatic winder disclosed in Patent Document 1 includes a winding unit (hereinafter referred to as the yarn winding unit) that winds a yarn, and a doffing device. The yarn winding unit winds the yarn unwound from a yarn supplying bobbin onto a winding bobbin to form a package. The yarn winding unit stops winding when a package with a predetermined length (weight) of yarn wound thereon is formed (i.e., when winding of the yarn is complete). A package for which winding is complete is generally called a "full bobbin" or a "full package." Hereinafter, for convenience of explanation, such a package will be referred to as a "full package." The doffing device removes the full package from the yarn winding unit and attaches an empty winding bobbin to the yarn winding unit. More specifically, when the package is full, the running yarn is cut in the yarn winding unit, and the yarn on the yarn supplying bobbin side is guided to the doffing device by a lower thread guide pipe (first guide portion). The yarn guided by the first guide unit is guided to an empty winding bobbin by a yarn pull-out arm (second guide unit) of the doffing device. The yarn guided to the winding bobbin is wound around the empty winding bobbin, allowing the formation of the next package to begin. Such an operation of the doffing device is generally called doffing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-56766 Summary of the Invention [Problem to be solved by the invention]

[0004] Although not explicitly stated in Patent Document 1, it is possible to determine whether the yarn is properly connected between the yarn supply bobbin and the winding bobbin based on the detection results of a yarn quality measuring device (detector) provided in the yarn winding unit. Here, during doffing, the yarn may not be properly wound onto the empty winding bobbin due to reasons such as the yarn not being properly captured by the capture unit. When such an event occurs, conventionally, the operation of the yarn winding unit is stopped based on the detection results of the detector. After that, an operator is always required to have the doffing device perform doffing again and resume the operation of the yarn winding unit. This has led to a problem of reduced availability of the automatic winder 1 due to the waiting time required for the operator to take action.

[0005] An object of the present invention is to suppress a decrease in the operating rate of an automatic winder caused by a yarn not being properly wound on a winding bobbin. [Means for solving the problem]

[0006] An automatic winder according to a first aspect of the present invention is an automatic winder including a yarn winding unit capable of performing a winding operation in which a yarn pulled out from a yarn supplying bobbin is wound onto a winding bobbin to form a package, and a doffing device capable of performing a doffing operation in which the package is replaced with an empty winding bobbin, wherein the yarn winding unit has a yarn supplying section that supports the yarn supplying bobbin, a winding section to which the winding bobbin is attached, and a first guide section that is configured to be able to guide the yarn supplied from the yarn supplying bobbin to the doffing device when the doffing is performed, and the doffing device receives the yarn from the first guide section and connects the yarn supplying section and the winding section to the doffing device. the control unit has a second guide section configured to be capable of performing a receiving and guiding operation to hold the supply yarn, which is the yarn on the yarn supply section side among the yarn divided between the yarn supply section and the control unit, and a detection section configured to detect the supply yarn; and a control unit, wherein after causing the second guide section to perform the receiving and guiding operation, the control unit determines based on the detection result by the detection section that the supply yarn has not been properly guided to the winding section by the second guide section before causing the yarn winding unit to start the winding operation, and then performs a retry process including a process of causing the second guide section to perform the receiving and guiding operation again.

[0007] According to the present invention, if the receiving guide operation fails, a retry process including the receiving guide operation is performed. Therefore, the receiving guide operation can be executed again before the winding operation is started. This can prevent the winding operation from being started after the receiving guide operation has failed. Therefore, it is possible to prevent a decrease in the operating rate of the automatic winder caused by the yarn not being properly wound on the winding bobbin.

[0008] The automatic winder of the second invention is characterized in that, in the first invention, the detection unit has a yarn clearer that is provided in the yarn winding unit and configured to be able to detect information regarding the quality of the yarn.

[0009] Typically, the yarn winding unit of an automatic winder is equipped with a yarn clearer, so the manufacturing cost of the automatic winder can be reduced compared to when a new detection unit is provided in the automatic winder.

[0010] The automatic winder of the third invention is characterized in that, in the first or second invention, the winding unit has a cradle configured to be able to rotatably hold the winding bobbin and to be able to attach the yarn to the winding bobbin by clamping the yarn between the winding bobbin and the cradle, the doffing device has a cradle operating unit that switches the state of the cradle between a release state in which the winding bobbin is released and a hold state in which the winding bobbin is held and the yarn can be clamped between the winding bobbin and the cradle, and the second guide unit and the cradle operating unit are driven by different drive sources.

[0011] In a configuration in which the second guide unit and the cradle operation unit are driven by the same drive source, the second guide unit and the cradle operation unit are operated, for example, by an appropriate cam mechanism. Generally, a cam mechanism cannot stop an operation or perform another operation from the start to the end of a predetermined series of operations. In this regard, in the present invention, the second guide unit can operate at any timing, independent of the operation of the cradle operation unit. Therefore, the retry process can be performed at the optimal timing depending on the situation.

[0012] The automatic winder of the fourth invention is characterized in that, in the third invention, the control unit executes the retry process before controlling the cradle operation unit to change the state of the cradle to the holding state.

[0013] In the present invention, the retry process is executed at an early timing, so even if the second guiding section fails to receive the yarn from the first guiding section, it is possible to reduce the time lost until the winding operation starts.

[0014] The automatic winder of the fifth invention is the same as that of the second invention, wherein the winding unit has a cradle configured to be able to rotatably hold the winding bobbin and to be able to attach the yarn to the winding bobbin by clamping the yarn between the winding bobbin and the cradle, the doffing device has a cradle operation unit that switches the state of the cradle between a release state in which the winding bobbin is released and a holding state in which the cradle holds the winding bobbin and can clamp the yarn between the winding bobbin and the cradle, and the control unit is characterized in that after controlling the cradle operation unit to change the state of the cradle to the holding state, it determines whether the supply yarn is being normally guided to the winding unit by the second guide unit.

[0015] Typically, a yarn clearer is used to detect the yarn connected between the yarn supply bobbin and the winding bobbin. In the present invention, by setting the cradle in a holding state, the yarn arranged between the yarn supply bobbin and the winding bobbin can be stabilized. In other words, it is possible to suppress the swaying of the yarn being guided to the winding section. Therefore, the yarn can be stably detected by the yarn clearer.

[0016] The automatic winder of a sixth invention is the automatic winder of the fifth invention, characterized in that the second guide unit and the cradle operation unit are driven by different drive sources.

[0017] In the present invention, the second guide unit can operate at any timing independent of the operation of the cradle operation unit, and therefore the retry process can be executed at the most appropriate timing depending on the situation.

[0018] The automatic winder of a seventh invention is the automatic winder of the first invention, characterized in that the detection unit is provided in the doffing device.

[0019] In many cases, an automatic winder is equipped with multiple yarn winding units, and a doffing device is used as a device common to the multiple yarn winding units. Therefore, if it becomes necessary to newly provide a detection unit in the automatic winder, attaching a detection unit to each of the multiple yarn winding units may result in a significant increase in costs. In this regard, the present invention can reduce the number of detection units. Therefore, it is possible to suppress an increase in the manufacturing cost of the automatic winder.

[0020] The automatic winder of the eighth invention is characterized in that, in the first to seventh inventions, it includes a yarn joining section that is arranged between the yarn supplying section and the winding section in the running direction of the yarn and is configured to be able to join the divided yarn, and the first guide section is configured to be able to guide the supply yarn to the yarn joining section.

[0021] In an automatic winder in which the first guide section is configured to guide the supply yarn to the yarn joining section, it is generally difficult for the first guide section to guide the supply yarn to the vicinity of the winding section. Therefore, at least a portion of the second guide section must travel a long distance to the vicinity of the yarn joining section to receive the yarn from the first guide section. In such a situation, the components constituting the second guide section generally include a long member. This increases the likelihood that the second guide section will fail to receive the yarn from the first guide section due to unintended bending of the long member, etc. In such a configuration, the retry process is particularly effective.

[0022] The automatic winder of the ninth invention is characterized in that, in the first to eighth inventions, the control unit is configured to be able to set a maximum number of executions, which is an upper limit value for the number of times the retry process is executed, and after the retry process has been executed the maximum number of times, the retry process for the yarn winding unit 2 is terminated.

[0023] If the number of retry processes is too small, the operator will have to deal with failures in the operation of the doffing device more frequently, increasing the burden on the operator. On the other hand, if the number of retry processes is too large, the doffing device may repeatedly fail to perform the receiving and guiding operation for a long period of time, which may actually reduce the availability of the automatic winder. In the present invention, by appropriately setting the maximum number of executions, it is possible to reduce the burden on the operator and prevent a decrease in the availability of the automatic winder.

[0024] The automatic winder of a tenth invention, in any one of the first to ninth inventions, further comprises a yarn supplying bobbin replacement unit configured to replace a first yarn supplying bobbin, which is the yarn supplying bobbin supported by the yarn supplying unit, with a second yarn supplying bobbin, which is another yarn supplying bobbin; the detection unit has an unwinding detection unit that can detect information regarding whether or not the yarn is being normally unwinded from the first yarn supplying bobbin; and the control unit determines, prior to the retry process, based on a detection result by the unwinding detection unit, whether or not the yarn is being normally unwinded from the first yarn supplying bobbin; and if it determines that the yarn is not being normally unwinded from the first yarn supplying bobbin, controls the yarn supplying bobbin replacement unit to replace the first yarn supplying bobbin with the second yarn supplying bobbin, and then starts the retry process.

[0025] The state in which the yarn is not being normally unwound from the first yarn supplying bobbin means that the yarn is depleted in the yarn supplying bobbin or that the yarn is not being properly unwound from the yarn supplying bobbin. In the present invention, by replacing the yarn supplying bobbin when the yarn is not being normally unwound, the retry process can be smoothly performed. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a front view of an automatic winder according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the automatic winder. [Figure 3] FIG. 2 is a schematic front view of the yarn winding unit. [Figure 4] FIG. 2 is a schematic side view of the yarn winding unit. [Figure 5] FIG. [Figure 6] FIG. 2 is a schematic front view of the doffing device. [Figure 7] FIG. 2 is a schematic side view of a doffing device. [Figure 8] 10 is a diagram showing a state in which the lower yarn catching and guiding portion catches the lower yarn during doffing; FIG. [Figure 9] FIG. 10 is a diagram showing a state in which the piston rod is extended during doffing. [Figure 10] FIG. 10 is a diagram showing the progress of doffing. [Figure 11] FIG. 10 is a diagram showing a state in which the lower thread is pulled upward during doffing. [Figure 12] 10 is a diagram showing a state in which the lower yarn is guided to the vicinity of the cradle during doffing; FIG. [Figure 13] 10 is a diagram showing a state in which the lower yarn is guided to the vicinity of the cradle during doffing; FIG. [Figure 14] 10 is a flowchart showing control by a unit control section during doffing. [Figure 15] 10 is a flowchart showing control by a doffing control unit during doffing. [Figure 16] FIG. 10 is a schematic side view of a doffing device according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0027] An embodiment of the present invention will be described. For convenience of explanation, as shown in FIG. 1, the direction in which a plurality of yarn winding units 2 (described later) are arranged is referred to as the left-right direction. The direction parallel to the vertical direction in which gravity acts is referred to as the up-down direction. The left-right direction and the up-down direction are mutually orthogonal. The direction orthogonal to both the left-right direction and the up-down direction is referred to as the front-rear direction.

[0028] (Outline of automatic winder configuration) The schematic configuration of an automatic winder 1 according to this embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a front view of the automatic winder 1. Fig. 2 is a block diagram showing the electrical configuration of the automatic winder 1. As shown in Fig. 1, the automatic winder 1 includes a plurality of yarn winding units 2, a doffing device 3, a yarn supplying bobbin transport device 4, a yarn supplying bobbin preparation device 5, and a machine control device 6.

[0029] Each of the multiple yarn winding units 2 is configured to wind the yarn Y, which is pulled out from a yarn supply bobbin Bs, onto a winding bobbin Bw (see FIG. 3), to form a package P. As shown in FIG. 1, the multiple yarn winding units 2 are arranged in the left-right direction. The yarn winding unit 2 stops winding when a package P is formed in which a predetermined length (weight) of yarn has been wound (i.e., when winding of the yarn is complete). This package P in which winding is complete is generally called a "full bobbin" or a "fully wound package." Hereinafter, for convenience of explanation, such a package P will be called a fully wound (or fully wound) package P.

[0030] The doffing device 3 is configured to perform operations such as removing a full package P to the yarn winding unit 2 and attaching an empty winding bobbin Bw to the yarn winding unit 2 (hereinafter referred to as "doffing"). As shown in FIG. 1, the doffing device 3 is disposed above the plurality of yarn winding units 2. The doffing device 3 is configured to be movable along a rail 3a extending in the left-right direction. When the doffing device 3 receives a signal from the yarn winding unit 2 indicating that the package P is full, the doffing device 3 moves above the yarn winding unit 2 and performs doffing. The doffing device 3 will be described in more detail below.

[0031] The yarn supplying bobbin transport device 4 is configured to be able to transport a tray T (see FIG. 3) that supports a yarn supplying bobbin Bs wound with a yarn Y toward the yarn winding unit 2. The yarn supplying bobbin transport device 4 is also configured to transport the yarn supplying bobbin Bs discharged from the yarn winding unit 2 to the yarn supplying bobbin preparing device 5.

[0032] The yarn supplying bobbin preparation device 5 performs a predetermined process (such as a known end-out process) on the yarn supplying bobbin Bs. This makes the yarn supplying bobbin Bs ready for the yarn Y to be pulled out in the yarn winding unit 2. The yarn supplying bobbin preparation device 5 supplies the yarn supplying bobbin Bs that has been subjected to the predetermined process to the yarn supplying bobbin transport device 4. The yarn supplying bobbin preparation device 5 receives the yarn supplying bobbin Bs that has been discharged from the yarn winding unit 2 from the yarn supplying bobbin transport device 4.

[0033] As shown in Fig. 1, the machine control device 6 is disposed, for example, on the left side of the plurality of yarn winding units 2. The machine control device 6 is electrically connected to the unit control unit 14 (see Fig. 2) of the yarn winding unit 2, the doffing control unit 100 (see Fig. 2) of the doffing device 3, etc., and communicates with these control units. The machine control device 6, the unit control unit 14, and the doffing control unit 100 together correspond to the control unit of the present invention.

[0034] (Yarn winding unit) Next, the configuration of the yarn winding unit 2 will be described with reference to Figures 2 to 4. Figure 3 is a schematic front view of the yarn winding unit 2. Figure 4 is a schematic side view of the yarn winding unit 2.

[0035] As shown in FIG. 3, the yarn winding unit 2 has a frame 10, a yarn supplying section 11, a yarn processing section 12, a winding section 13, and a unit control section 14. The frame 10 is, for example, a hollow member extending in the vertical direction. The installation position of the frame 10 is fixed. The yarn supplying section 11, the yarn processing section 12, and the winding section 13 are provided on the frame 10 and arranged in this order from upstream to downstream in the running direction of the yarn Y. Furthermore, the yarn supplying section 11, the yarn processing section 12, and the winding section 13 are arranged in this order from bottom to top. The unit control section 14 is housed, for example, inside the frame 10.

[0036] The yarn supplying unit 11 is configured to be able to supply the yarn Y wound around a yarn supplying bobbin Bs. The yarn supplying unit 11 has a yarn supplying bobbin support unit 21 and a yarn unwinding assist device 22. The yarn supplying bobbin support unit 21 supports a tray T on which a yarn supplying bobbin Bs is attached in a substantially upright position. The yarn unwinding assist device 22 uses a regulating tube 23 to regulate the expansion of the yarn Y when it is unwound from the yarn supplying bobbin Bs. The regulating tube 23 is configured to move downward as the amount of yarn Y wound around the yarn supplying bobbin Bs decreases, thereby maintaining the size of the expansion at a constant size.

[0037] The yarn supplying section 11 also has an ejector 24 (a yarn supplying bobbin replacement section of the present invention). The ejector 24 is configured to be able to eject the yarn supplying bobbin Bs, to which the supply of the yarn Y has finished, from the yarn winding unit 2. The end of the supply of the yarn Y refers to when the yarn supplying bobbin Bs becomes empty or when, for some reason, it becomes impossible to pull out the yarn Y from the yarn supplying bobbin Bs.

[0038] The yarn processing execution unit 12 is for executing various processes related to the yarn Y. The yarn processing execution unit 12 has a yarn feeler 31 (an unwinding detection unit of the present invention), a tension applying device 32, a yarn joining device 33 (a yarn joining unit of the present invention), and a yarn clearer 34 (a detection unit of the present invention).

[0039] The yarn feeler 31 is configured to be able to detect the presence or absence of the yarn Y between the yarn unwinding assisting device 22 and the tension applying device 32. The yarn feeler 31 may have, for example, a known transmissive or reflective optical sensor.

[0040] The tension applying device 32 is configured to apply a predetermined tension to the traveling yarn Y. One example of the tension applying device 32 is a so-called gate type. As shown in FIG. 3, a plurality of fixed gate bodies 32a and a plurality of movable gate bodies 32b are arranged alternately in the vertical direction. By adjusting the horizontal positions of the plurality of movable gate bodies 32b, a predetermined tension is applied to the yarn Y traveling between the fixed gate body 32a and the movable gate body 32b.

[0041] The yarn joining device 33 is configured to join the yarn Y on the yarn supplying section 11 side and the yarn Y on the winding section 13 side when the yarn Y is broken between the yarn supplying section 11 and the winding section 13. Hereinafter, for ease of explanation, the broken yarn Y on the yarn supplying section 11 side will be referred to as the lower yarn Y1 (the supply yarn of the present invention). Similarly, the yarn Y on the winding section 13 side (i.e., the yarn Y on the package P side) will be referred to as the upper yarn Y2. An example of the yarn joining device 33 is a compressed air type. The yarn joining device 33 blows compressed air supplied from a compressed air source (not shown) onto the lower yarn Y1 and the upper yarn Y2 to temporarily loosen both yarn ends. The yarn joining device 33 then blows compressed air again onto both yarn ends to intertwine the yarn ends, thereby joining the yarns together.

[0042] A lower yarn catching and guiding section 35 (first guiding section of the present invention) configured to catch the lower yarn Y1 and guide it to the yarn joining device 33 is provided below (upstream side of) the yarn joining device 33. The lower yarn catching and guiding section 35 has a shaft 35a, an arm 35b, and a suction port 35c. The shaft 35a extends, for example, in the left-right direction. The arm 35b is a pipe-shaped member that is rotatable around the shaft 35a. The suction port 35c is located at the tip of the arm 35b. The suction port 35c is configured to be able to suck and catch the yarn end of the lower yarn Y1. The arm 35b is driven to rotate by an arm motor 37.

[0043] An upper yarn catching and guiding section 36 configured to catch the upper yarn Y2 and guide it to the yarn joining device 33 is provided above (downstream of) the yarn joining device 33. The upper yarn catching and guiding section 36 has a shaft 36a, an arm 36b, and a suction port 36c. The shaft 36a extends, for example, in the left-right direction. The arm 36b is a pipe-shaped member that is rotatable around the shaft 36a. The suction port 36c is located at the tip of the arm 36b. The suction port 36c is configured to be able to suck and catch the yarn end of the upper yarn Y2. The arm 36b is driven to rotate by an arm motor 38.

[0044] The lower yarn Y1 guided to the yarn joining device 33 by the lower yarn catching and guiding section 35 and the upper yarn Y2 guided to the yarn joining device 33 by the upper yarn catching and guiding section 36 are joined by the yarn joining device 33.

[0045] The yarn clearer 34 is configured to be able to acquire information on the quality (specifically, thickness, etc.) of the traveling yarn Y. The yarn clearer 34 detects yarn defects based on this information. A cutter 34a is disposed near the yarn clearer 34. When a yarn defect is detected by the yarn clearer 34, the cutter 34a immediately cuts the yarn Y. At approximately the same time, the yarn clearer 34 outputs a detection signal to the unit control unit 14. The yarn clearer 34 is also configured to be able to detect the presence or absence of the yarn Y.

[0046] The winding unit 13 is configured to be able to perform a winding operation of winding the yarn Y onto a winding bobbin Bw to form a package P. As shown in FIG. 3 , the winding unit 13 includes a cradle 41, a traverse drum 42, and a drum drive motor 43.

[0047] The cradle 41 is configured to rotatably hold the winding bobbin Bw (package P). As shown in FIG. 3, the cradle 41 has, for example, a pair of bobbin holders 41a, 41b and a cradle lever 41c. The pair of bobbin holders 41a, 41b are configured to support the winding bobbin Bw at both ends. The bobbin holder 41a is disposed on the right side of the winding bobbin Bw. The bobbin holder 41b is disposed on the left side of the winding bobbin Bw. The cradle lever 41c is operated by the doffing device 3. The cradle 41 is configured to open and close the pair of bobbin holders 41a, 41b in the left-right direction when the cradle lever 41c is operated. For convenience of explanation, a state in which the pair of bobbin holders 41a, 41b are open (hereinafter simply referred to as a state in which the cradle 41 is open) is referred to as a release state. For convenience of explanation, the state when the pair of bobbin holders 41a, 41b are closed (hereinafter simply referred to as the state when the cradle 41 is closed) will be referred to as a holding state.

[0048] The traverse drum 42 is configured to rotate the package P in a driven manner and to traverse the running yarn Y. As shown in FIGS. 3 and 4, the traverse drum 42 is a substantially cylindrical member. The rotation axis direction of the traverse drum 42 is substantially parallel to the left-right direction. A traverse groove 42a for traversing the yarn Y is formed on the outer peripheral surface of the traverse drum 42. The traverse drum 42 rotates in contact with the surface of the package P, thereby rotating the package P in a driven manner by frictional force. At the same time, the traverse drum 42 rotates while passing the yarn Y through the traverse groove 42a, thereby traversing the yarn Y in the left-right direction. As a result, the yarn Y is wound onto the winding bobbin Bw while being traversed.

[0049] The drum drive motor 43 is configured to drive and rotate the traverse drum 42. The drum drive motor 43 can drive and rotate the traverse drum 42 in both the forward and reverse directions. The forward direction is the rotation direction of the traverse drum 42 when the yarn Y is wound onto the winding bobbin Bw. The reverse direction is the rotation direction of the traverse drum 42 when the upper yarn Y2 is pulled out from the package P, for example, during yarn splicing. The drum drive motor 43 is electrically connected to the unit control unit 14 (not shown).

[0050] The unit control unit 14 includes, for example, a CPU, a ROM, and a RAM (not shown). The unit control unit 14 controls each unit using the CPU in accordance with a program stored in the ROM. More specifically, the unit control unit 14 controls the ejector 24, the arm motor 37 (see FIG. 2), etc. The unit control unit 14 also receives signals from the yarn feeler 31, the yarn clearer 34 (see FIG. 2), etc. The unit control unit 14 also outputs a signal (hereinafter referred to as a doffing request signal) to request the doffing device 3 to perform doffing. The doffing request signal is sent from the unit control unit 14 to the doffing control unit 100.

[0051] In the yarn winding unit 2 having the above configuration, the unit control section 14 drives the drum drive motor 43 to rotate the traverse drum 42 while the package P is in contact with the traverse drum 42. As a result, the yarn Y unwound from the yarn supplying bobbin Bs is wound onto the winding bobbin Bw, and the package P is formed (winding operation).

[0052] (Yarn supply bobbin transport device) The configuration of the yarn supplying bobbin transport device 4 will be briefly described with reference to FIG. 5. FIG. 5 is a plan view of the yarn supplying bobbin transport device 4. The yarn supplying bobbin transport device 4 has a supply path 51, a plurality of individual paths 52, and a discharge path 53. The supply path 51 is a path for moving a plurality of yarn supplying bobbins Bs that have been subjected to a predetermined process in the yarn supplying bobbin preparation device 5 toward a plurality of yarn winding units 2. The supply path 51 extends, for example, in the left-right direction. The plurality of individual paths 52 are provided corresponding to the plurality of yarn winding units 2, respectively. Each of the plurality of individual paths 52 serves as both an input path and an output path for the yarn supplying bobbins Bs in the corresponding yarn winding unit 2. The plurality of individual paths 52 are arranged side by side in the left-right direction. Each of the plurality of individual paths 52 branches off from the supply path 51. Each individual path 52 extends, for example, in the front-rear direction. Each individual path 52 may be bent or curved, for example, in the left-right direction. Each individual path 52 is connected to a discharge path 53. The discharge path 53 transports the yarn supplying bobbin Bs (see the discharged bobbin Be shown in FIG. 5 ) discharged from each yarn winding unit 2 toward the yarn supplying bobbin preparing device 5. The discharge path 53 extends, for example, in the left-right direction. The combination of the yarn supplying bobbin transport device 4 and the above-described ejector 24 corresponds to the yarn supplying bobbin replacing unit of the present invention.

[0053] (Configuration of doffing device) The specific configuration of the doffing device 3 will be described mainly with reference to Figures 6 and 7. Figure 6 is a schematic front view of the doffing device 3. Figure 7 is a schematic side view of the doffing device 3.

[0054] As shown in FIG. 6, the doffing device 3 has a main body 60, a yarn capture arm 61 (a second guide portion of the present invention), a yarn shifting guide 62, a chucker 63, and a cradle opener 64 (a cradle operating portion of the present invention). The main body 60 houses each of the components of the doffing device 3. The yarn capture arm 61 captures the yarn Y pulled out from the yarn supplying bobbin Bs and guides it to the winding portion 13 (more specifically, near the cradle 41). The yarn shifting guide 62 performs an auxiliary operation to enable the yarn capture arm 61 to guide the yarn Y to the winding portion. The chucker 63 grips an empty winding bobbin Bw and positions it near the cradle 41 (more specifically, between the bobbin holders 41a and 41b in the left-right direction). The cradle opener 64 opens and closes the cradle 41.

[0055] The main body 60 is a generally box-shaped member and is configured to be able to travel along the rails 3a.

[0056] The yarn catching arm 61 is configured to be able to catch and guide the yarn Y. As shown in Figures 6 and 7, the yarn catching arm 61 has a swing shaft 61a, an air cylinder 61b, and a clamp cutter 61c. The swing shaft 61a supports the air cylinder 61b so that it can swing back and forth.

[0057] The air cylinder 61b is operated by the pressure of compressed air. The compressed air is supplied to or discharged from the air cylinder 61b through a predetermined path. The air cylinder 61b extends generally in the vertical direction. The air cylinder 61b has a piston rod 61d that can extend and retract generally in the vertical direction (see the two-dot chain line in Figure 7). The air cylinder 61b is driven to extend and retract by a telescopic drive unit 101 (see Figure 2). More specifically, the telescopic drive unit 101 has, for example, a solenoid valve (not shown) that opens and closes the path of the compressed air. It is assumed that the drive units having the air cylinder among the other drive units also have solenoid valves, and the following description will be omitted as appropriate. The telescopic drive unit 101 is controlled by a doffing control unit 100.

[0058] The clamp cutter 61c is configured to be able to capture and cut the yarn Y. The clamp cutter 61c is fixed to, for example, the tip of a piston rod 61d. The clamp cutter 61c is driven to open and close by a clamp cutter drive unit 102 (see FIG. 2). The clamp cutter drive unit 102 has, for example, an air cylinder (not shown) and an electromagnetic valve (not shown) of substantially the same type as the electromagnetic valve of the extension drive unit 101. Alternatively, the clamp cutter drive unit 102 may have a motor (not shown).

[0059] The thread catcher arm 61 is driven to swing back and forth (see solid lines and two-dot chain lines in FIG. 7) by a swing drive unit 103 (see FIG. 2). The swing drive unit 103 has, for example, an air cylinder (not shown) and an electromagnetic valve (not shown) of substantially the same type as the electromagnetic valve of the extension drive unit 101. Alternatively, the swing drive unit 103 may have a motor (not shown).

[0060] The yarn shifting guide 62 is configured to be able to guide the yarn Y toward the clamp cutter 61c of the yarn catcher arm 61. As shown in FIG. 6, the yarn shifting guide 62 has a swing shaft 62a and a lever member 62b. The swing shaft 62a swingably supports the lever member 62b. The swing shaft 62a extends, for example, in the vertical direction. The lever member 62b extends, for example, in the substantially horizontal direction. The lever member 62b is configured so that the yarn Y can be hooked at its tip. The yarn shifting guide 62 is driven to swing by, for example, a yarn shifting guide drive unit 104 (see FIG. 2). The yarn shifting guide drive unit 104 includes, for example, a motor (not shown). Alternatively, the yarn shifting guide drive unit 104 may include, for example, an air cylinder (not shown).

[0061] The chucker 63 is configured to grip an empty winding bobbin Bw and position the winding bobbin Bw near the cradle 41. Here, the empty winding bobbin Bw is stored, for example, in a stocker 44 (see FIG. 7) disposed directly above the winding unit 13. FIG. 7 illustrates only one winding bobbin Bw stored in the stocker 44. However, this is not limited to this. That is, multiple winding bobbins Bw may be stored in the stocker 44, lined up in the front-to-rear direction, for example. Although not shown, the front end of the stocker 44 is configured to be able to release the winding bobbin Bw by being pushed downward, for example, by a gripping portion 63c (described later).

[0062] As shown in FIG. 6, the chucker 63 has a swing shaft 63a, an arm 63b, and a gripper 63c. The swing shaft 63a swingably supports the arm 63b. The swing shaft 63a extends, for example, in the left-right direction. The arm 63b extends diagonally upward and forward, as shown in FIG. 7, for example. A gripper 63c is attached to the tip of the arm 63b. The arm 63b is driven to swing by, for example, an arm driver 105. The arm driver 105 has, for example, a motor (not shown). The gripper 63c is configured to be able to grip the winding bobbin Bw. The gripper 63c is driven to open and close by, for example, an opening / closing driver 106. The opening / closing driver 106 has, for example, an air cylinder (not shown) and an electromagnetic valve (not shown) of substantially the same type as the electromagnetic valve of the extension / retraction driver 101.

[0063] The cradle opener 64 is configured to open and close the cradle 41. In other words, the cradle opener 64 is configured to switch the state of the cradle 41 between a release state and a holding state. The cradle opener 64 has, for example, a swing shaft 64a and an opener lever 64b. The swing shaft 64a swingably supports the opener lever 64b. The swing shaft 64a extends, for example, in the left-right direction. The opener lever 64b is configured to operate the cradle lever 41c (see FIG. 7). More specifically, the cradle 41 is configured so that the distance between the bobbin holder 41a and the bobbin holder 41b in the left-right direction changes when the cradle lever 41c is operated. The cradle opener 64 is driven, for example, by an opener drive unit 107. The opener drive unit 107 has, for example, a motor and an air cylinder (not shown). For example, the opener lever 64b may be driven to swing by a motor, and the opener lever 64b may be driven in a direction to push the cradle lever 41c by an air cylinder, for example. The type of drive source for the opener drive unit 107 is not limited to this.

[0064] As described above, the yarn catching arm 61, the yarn pulling guide 62, the chucker 63 and the cradle opener 64 are driven by different drive sources.

[0065] (Doffing operation) The simplest series of operations (hereinafter referred to as the shortest operation) among the doffing operations performed by the doffing device 3 will be described with reference to Figs. 8 to 13. The shortest operation is an operation in which no errors occur in the operations of the yarn winding unit 2 and the doffing device 3 from the time the package P becomes full until winding of the yarn Y onto the next winding bobbin Bw begins. Figs. 8 to 12 are schematic side views of the yarn winding unit 2 and the doffing device 3 for explaining doffing. Fig. 13 is a schematic front view of the vicinity of the cradle 41 for explaining doffing.

[0066] When the unit control unit 14 of a certain yarn winding unit 2 (hereinafter referred to as the target yarn winding unit 2) determines that the package P will soon be full, it outputs a doffing preparation signal. The doffing preparation signal is a signal for moving the doffing device 3 as necessary. The doffing preparation signal is sent from the unit control unit 14 to the doffing control unit 100. Upon receiving the doffing preparation signal, the doffing control unit 100 recognizes that the target yarn winding unit 2 will soon be full. If the doffing device 3 has stopped operating, for example, the doffing control unit 100 moves the doffing device 3 above (directly above) the target yarn winding unit 2 to prepare for a doffing request signal.

[0067] The unit control unit 14 controls the cutter 34a of the yarn clearer 34 to cut the yarn Y when the package P is fully wound. The cut yarn Y on the package P side is wound onto the package P. The unit control unit 14 also stops the rotation of the traverse drum 42. The cut yarn Y on the yarn supply bobbin Bs side (lower yarn Y1) is sucked and caught by the suction port 35c of the lower yarn catching and guiding unit 35 (see FIG. 8). The unit control unit 14 also controls the arm motor 37 to rotate the arm 35b upward with the lower yarn Y1 caught in the suction port 35c (see FIG. 9). Thereafter, the unit control unit 14 outputs a doffing request signal to call the doffing device 3.

[0068] After the doffing device 3 arrives above the target yarn winding unit 2, the doffing control unit 100 performs the following control. In summary, the doffing control unit 100 executes, in parallel, an exchange operation for exchanging the full package P with an empty winding bobbin Bw, and a receiving and guiding operation for capturing and guiding the lower yarn Y1.

[0069] First, the receiving and guiding operation will be described up to a certain point. The doffing control unit 100 controls the telescopic drive unit 101 to extend the piston rod 61d of the yarn catching arm 61, thereby lowering the clamp cutter 61c (see FIG. 9). Next, the doffing control unit 100 controls the swing drive unit 103 to swing the clamp cutter 61c near the suction port 35c of the lower yarn catching and guide unit 35 (see FIG. 10). Next, the doffing control unit 100 controls the clamp cutter drive unit 102 to cause the clamp cutter 61c to grip and cut the yarn Y. This causes the lower yarn Y1 to be handed over from the lower yarn catching and guide unit 35 to the clamp cutter 61c. After that, the unit control unit 14 rotates the lower yarn catching and guide unit 35 downward to return it to its original position (see FIG. 11). Next, the doffing control unit 100 controls the swing drive unit 103 to move the clamp cutter 61c away from the lower yarn catching and guide unit 35. Thereafter, the doffing control section 100 contracts the piston rod 61d to raise the clamp cutter 61c (see FIG. 11), thereby pulling out the lower yarn Y1 from the yarn supplying bobbin Bs.

[0070] Next, the exchange operation that is executed in parallel with the receiving and guiding operation will be described. The doffing control unit 100 controls the opener driving unit 107 to cause the cradle opener 64 to open the cradle 41 (see the solid line in FIG. 13; the released state described above). As a result, the full package P is released from the bobbin holders 41a and 41b by its own weight and is dispensed to a collection lane (not shown). Next, the doffing control unit 100 controls the arm driving unit 105 to swing the arm 63b of the chucker 63 and move the gripper 63c to the vicinity of the winding bobbin Bw in the stocker 44. Next, the doffing control unit 100 controls the opening / closing driving unit 106 to cause the gripper 63c to grip the winding bobbin Bw. Furthermore, the doffing control unit 100 controls the arm driving unit 105 to swing the arm 63b, and moves the gripping unit 63c gripping the winding bobbin Bw to the vicinity of the cradle 41 (see FIG. 10). As described above, the front end of the stocker 44 is pushed downward by the gripping unit 63c, so that the winding bobbin Bw gripped by the gripping unit 63c is released from the stocker 44. The operations up to this point are the replacement operation in this embodiment.

[0071] The receiving and guiding operation will be further described. The doffing control unit 100 controls the swing drive unit 103 to position the clamp cutter 61c near the cradle 41 (see FIGS. 12 and 13). At the same time, the doffing control unit 100 controls the yarn shifting guide drive unit 104 to cause the yarn shifting guide 62 to assist the clamp cutter 61c in guiding the lower yarn Y1 (see FIG. 13). As a result, the yarn catch arm 61 and the yarn shifting guide 62 position the tip end of the lower yarn Y1 between the winding bobbin Bw and the bobbin holder 41a (see FIG. 13). This completes the receiving and guiding operation.

[0072] Thereafter, the doffing control unit 100 controls the opener driving unit 107 to close the cradle 41 (see the two-dot chain line in FIG. 13; the holding state described above). As a result, the winding bobbin Bw is held by the cradle 41, and the lower yarn Y1 is sandwiched between the winding bobbin Bw and the bobbin holder 41a. As a result, the yarn Y is wound (attached) on the winding bobbin Bw. Thereafter, the doffing control unit 100 releases the winding bobbin Bw from the chucker 63. A detailed description of the process thereafter will be omitted. Normally, the unit control unit 14 and the doffing control unit 100 cooperate to perform well-known bunch winding and tail winding processes on the winding bobbin Bw.

[0073] In this way, the shortest doffing operation is completed. Thereafter, the unit control section 14 rotates the traverse drum 42, thereby starting the winding operation.

[0074] Incidentally, based on the detection result by the yarn clearer 34 provided in the yarn winding unit 2, it can be determined whether the yarn Y is properly connected between the yarn supply bobbin Bs and the winding bobbin Bw. Here, during doffing, the yarn Y may not be properly wound around the empty winding bobbin Bw, for example, because the yarn Y is not properly caught by the lower yarn catcher / guide 35. When such an event occurs, the operation of the yarn winding unit 2 is conventionally stopped based on the detection result by the yarn clearer 34 just before the start of the winding operation. After that, an operator is always required to make the doffing device 3 perform doffing again and resume the operation of the yarn winding unit 2. This has resulted in a problem of a reduced availability rate of the automatic winder 1 due to the waiting time until the operator takes action.

[0075] Therefore, in order to suppress a decrease in the operating rate of the automatic winder 1 due to the yarn Y not being properly wound around the winding bobbin Bw, the unit control unit 14 and the doffing control unit 100 of this embodiment perform the following control. In summary, the unit control unit 14 and the doffing control unit 100 are configured to cooperate to execute a retry process (details of which will be described later) for redoing part of the doffing operation. The unit control unit 14 executes part of the retry process as needed based on the detection result of the yarn clearer 34, and outputs a detection abnormality signal (described later) to the doffing control unit 100. Based on the detection abnormality signal from the unit control unit 14, the doffing control unit 100 causes the doffing device 3 to execute part of the retry process, and outputs a signal instructing the retry process to the unit control unit 14 (retry instruction). Alternatively, the doffing control unit 100 outputs a signal instructing the unit control unit 14 to stop doffing as needed.

[0076] (Settings in the doffing control section) Before describing the retry process in detail, the settings in the doffing control unit 100 will be described. The doffing control unit 100 is configured to be able to set an upper limit value for the number of times the retry process is executed (hereinafter referred to as the maximum number of executions). The maximum number of executions is preferably between 1 and 3. The doffing control unit 100 is configured to be able to count and reset the number of times the retry process is executed.

[0077] (Controlled by the unit control unit) First, the control (part of the retry process) executed by the unit control unit 14 during doffing will be described mainly with reference to the flowchart in Fig. 14. The control executed by the doffing control unit 100 will be described in detail later. As an initial state, it is assumed that a package P being formed in a certain yarn winding unit 2 is fully wound. At this time, the unit control unit 14 of the yarn winding unit 2 has already completed outputting the doffing preparation signal. Also, the number of times the retry process has been executed in the doffing control unit 100 has been reset to 0.

[0078] First, the unit control unit 14 causes the cutter 34a of the yarn clearer 34 to cut the yarn Y, as described above (step S101 shown in FIG. 14; see FIG. 8). Next, the unit control unit 14 causes the lower yarn catching and guiding unit 35 to catch and guide the lower yarn Y1 upward (step S102; see FIG. 9). Next, the unit control unit 14 outputs the above-mentioned doffing request signal (not shown). Thereafter, the unit control unit 14 waits, for example, for a predetermined time (not shown). The predetermined time refers to, for example, an estimated value of the time required from the execution of the process of step S102 until the state of the cradle 41 is switched to the holding state by the cradle opener 64 (step S210, described later). The predetermined time may be stored in advance in the unit control unit 14. While the unit control unit 14 is waiting, the doffing device 3 performs operations such as receiving and guiding the lower yarn Y1, as described above. Thereafter, the unit control section 14 rotates the lower thread catching and guiding section 35 downward to return it to its original position (see FIG. 11).

[0079] When a predetermined time has elapsed, the unit control unit 14 determines whether the lower yarn Y1 has been detected by the yarn feeler 31 (step S103; hereinafter, for convenience of explanation, this will be referred to as a supply determination process). Information on the detection result obtained by the yarn feeler 31 corresponds to "information regarding whether the yarn is being normally unwound from the yarn supplying bobbin" in the present invention. The determination of whether the yarn Y has been detected by the yarn feeler 31 corresponds to the determination of "whether the yarn is being normally unwound from the yarn supplying bobbin" in the present invention. If it is determined that the yarn Y has been detected by the yarn feeler 31 (step S103: Yes), the unit control unit 14 determines whether the yarn Y has been detected by the yarn clearer 34 (step S104; hereinafter, for convenience of explanation, this will be referred to as a guide determination process). The detection of the yarn Y by the yarn clearer 34 indicates that the lower yarn Y1 is being normally guided to the winding unit 13. Conversely, the fact that the yarn Y is not detected by the yarn clearer 34 indicates that the lower yarn Y1 is not properly guided to the winding section 13. The guidance determination process is started at a timing after the cradle 41 enters the holding state.

[0080] If it is determined that the yarn Y has been detected by the yarn clearer 34 (step S104: Yes), the unit control unit 14 executes bunch winding and tail winding processes (step S105). Thereafter, the unit control unit 14 starts the winding operation (step S106). The above control is performed when the shortest possible operation described above is performed.

[0081] Control when an operation other than the shortest operation is performed will be described. For convenience of explanation, first, control when it is determined that the yarn Y has not been detected in the guidance determination process (step S104: No) will be described. The yarn Y is not detected in the guidance determination process in most cases because the yarn catching arm 61 cannot normally receive the lower yarn Y1 from the lower yarn catching and guiding section 35. In this case, the unit control section 14 outputs a signal indicating that the yarn Y has not been normally detected (hereinafter, referred to as a detection abnormality signal) to the doffing control section 100 (step S107). Thereafter, the unit control section 14 determines whether it has received a retry instruction signal or a doffing suspension signal from the doffing control section 100 (step S108). When the retry instruction signal is received (step S108: retry), the unit control section 14 returns to step S102. The process of executing step S102 again is part of the retry process performed on the unit control section 14 side. On the other hand, when a signal to stop the doffing is received (step S108: stop), the unit control section 14 issues an alarm, for example (step S109), to stop the doffing.

[0082] Next, the control when the yarn Y is not detected by the yarn feeler 31 in the supply determination process (step S103: No) will be described. The following two causes are main reasons why the yarn Y is not detected in the supply determination process. The first cause is that the yarn supplying bobbin Bs has become empty (i.e., the yarn Y wound on the yarn supplying bobbin Bs has run out). The second cause is that an abnormality has occurred in the unwinding of the yarn Y from the yarn supplying bobbin Bs on which the yarn Y is wound, for some reason. Either cause will prevent the yarn Y from being properly unwound from the yarn supplying bobbin Bs. If the yarn Y is not detected by the yarn feeler 31 in the supply determination process, the unit control unit 14 determines that the yarn Y has not been properly unwound from the yarn supplying bobbin Bs. In this case, the unit control unit 14 replaces the yarn supplying bobbin Bs (step S110). More specifically, the unit control unit 14 operates the ejector 24 to discharge the yarn supplying bobbin Bs1 (see FIG. 5; the first yarn supplying bobbin of the present invention) from the yarn supplying unit 11. As a result, the next yarn supplying bobbin Bs2 (see FIG. 5; the second yarn supplying bobbin of the present invention) waiting on the individual path 52 (see FIG. 5) of the yarn supplying bobbin transport device 4 is supplied to the yarn supplying unit 11. The process of step S110 is part of the retry process performed by the unit control unit 14, similar to the process of re-executing step S102. Thereafter, the unit control unit 14 performs the process of step S107 and the determination of step S108 described above.

[0083] The above control is the control including the retry process on the unit control section 14 side.

[0084] (Controlled by the doffing control unit) Next, the control executed by the doffing control unit 100 during doffing will be described, mainly with reference to the flowchart in Fig. 15. As an initial state, it is assumed that the doffing device 3 has arrived above the target yarn winding unit 2. In the doffing control unit 100, the number of times the retry process has been executed is reset to 0, as described above.

[0085] First, the doffing control unit 100 starts the doffing operation by the doffing device 3 (step S201 shown in FIG. 15). The doffing control unit 100 executes the above-mentioned exchange operation (steps S202 to S205) and the above-mentioned receiving guiding operation (steps S206 to S209) in parallel.

[0086] The replacement operation will be briefly explained again. As described above, the doffing control unit 100 causes the cradle opener 64 to open the cradle 41 (step S202). Next, the doffing control unit 100 swings the arm 63b of the chucker 63 to position the gripper 63c near the stocker 44 (step S203). Next, the doffing control unit 100 causes the gripper 63c to grip an empty winding bobbin Bw (step S204). Next, the doffing control unit 100 swings the arm 63b to position the gripper 63c near the cradle 41 (step S205; see FIG. 10).

[0087] The receiving guide operation will be briefly explained again. As described above, the doffing control unit 100 extends the piston rod 61d of the yarn catch arm 61 (step S206, see FIG. 9). Next, the doffing control unit 100 causes the clamp cutter 61c to grip and cut the lower yarn Y1 (step S207). The doffing control unit 100 retracts the piston rod 61d (step S208, see FIG. 11). Next, the doffing control unit 100 swings the yarn catch arm 61 to position the clamp cutter 61c near the cradle 41 (step S209, see FIGS. 12 and 13).

[0088] After the replacement operation and the receiving guide operation, the doffing control unit 100 causes the cradle opener 64 to close the cradle 41 (step S210; see the two-dot chain line in FIG. 13; holding state). As a result, the yarn Y is sandwiched and stabilized between the bobbin holder 41a and the winding bobbin Bw. Thereafter, the doffing control unit 100 determines whether or not the above-mentioned detection abnormality signal has been received (step S211).

[0089] If the detection abnormality signal is received (step S211: Yes), the doffing control unit 100 further determines whether the number of times the retry process has been executed is less than the maximum number of times (step S212). If the number of times the retry process has been executed is less than the maximum number of times (step S212: Yes), the doffing control unit 100 outputs a retry instruction signal (step S213). The doffing control unit 100 controls the opener driving unit 107 to make the cradle opener 64 open the cradle 41 (step S214). The doffing control unit 100 also controls the clamp cutter driving unit 102 to open the clamp cutter 61c (step S214). The doffing control unit 100 also returns the yarn pulling guide 62 to its original position (not shown). Thereafter, the doffing control unit 100 returns to step S206 and again executes the receiving guiding operation out of the exchanging operation and the receiving guiding operation. Furthermore, the doffing control unit 100 adds 1 to the number of times the retry process has been executed (not shown). The processes of steps S213 to S215 and the reprocessing of steps S206 to S209 are retry processes performed by the doffing control unit 100. In other words, the retry process includes a process of executing the receiving guide operation again. During the retry process, it is preferable that the gripping unit 63c is maintained in a state where it grips the winding bobbin Bw and is positioned near the cradle 41.

[0090] If the yarn Y was gripped by the clamp cutter 61c before step S214, the clamp cutter 61c opens, thereby releasing the yarn Y. The retry process is performed even though the yarn Y is gripped by the clamp cutter 61c when, for example, the yarn Y runs out just as it is being pulled out from the yarn supplying bobbin Bs for doffing. In this case, the released short yarn Y is sucked and removed by, for example, a waste yarn suction device (not shown).

[0091] On the other hand, if the number of times the retry process has been executed reaches the maximum number of times (step S212: No), the doffing control unit 100 outputs, for example, a signal to instruct the unit control unit 14 to stop doffing (step S216). As a result, the doffing control unit 100 stops the doffing operation in the yarn winding unit 2 and the doffing device 3. In other words, the doffing control unit 100 ends the retry process after executing the retry process the maximum number of times.

[0092] If the doffing control unit 100 does not receive the detection abnormality signal (step S211: No), it performs bunch winding and tail winding processes in cooperation with the unit control unit 14 (step S217). Thereby, the control by the doffing control unit 100 ends.

[0093] As described above, if the receiving guide operation fails, a retry process including the receiving guide operation is performed. Therefore, the receiving guide operation can be executed again before the winding operation is started. This can prevent the winding operation from starting when the receiving guide operation has failed. Therefore, it can prevent a decrease in the operating rate of the automatic winder caused by the yarn not being properly wound on the winding bobbin.

[0094] Furthermore, the guidance determination process is performed based on the detection results from the yarn clearer 34 that has conventionally been provided in the yarn winding unit 2. Therefore, compared to when a detection unit is newly provided in the automatic winder 1, an increase in the manufacturing cost of the automatic winder 1 can be suppressed.

[0095] Furthermore, the thread catching arm 61 and the cradle opener 64 are driven by different drive sources. This allows the thread catching arm 61 to operate at any timing, independent of the operation of the cradle opener 64. Therefore, the retry process can be performed at the optimal timing depending on the situation.

[0096] Furthermore, the guidance determination process is started after the cradle opener 64 places the cradle 41 in the holding state. This stabilizes the yarn Y arranged between the yarn supplying bobbin Bs and the winding bobbin. In other words, it is possible to suppress the swaying of the yarn Y being guided to the winding section 13. Therefore, the yarn Y can be stably detected by the yarn clearer 34.

[0097] Furthermore, the lower thread catching and guiding portion 35 is configured to be able to guide the lower thread Y1 to the yarn joining device 33. In an automatic winder 1 in which the yarn winding unit 2 has such a configuration, it is generally difficult for the lower thread catching and guiding portion 35 to guide the lower thread Y1 to the vicinity of the winding portion 13. For this reason, at least a portion of the thread catching arm 61 needs to move a long distance to the vicinity of the yarn joining device 33 in order to receive the yarn Y from the lower thread catching and guiding portion 35. In such a situation, there is a high possibility that the thread catching arm 61 will fail to receive the yarn Y from the lower thread catching and guiding portion 35. In such a configuration, the retry process is particularly effective.

[0098] Furthermore, the retry process is terminated after the maximum number of retry attempts has been made. If the number of retry attempts is too small, the operator will have to deal with failures in the operation of the doffing device 3 more frequently, increasing the burden on the operator. On the other hand, if the number of retry attempts is too large, the doffing device 3 may repeatedly fail to perform the receiving and guiding operation for a long period of time, which may actually reduce the availability of the automatic winder 1. In this embodiment, by appropriately setting the maximum number of retry attempts, it is possible to reduce the burden on the operator and prevent a decrease in the availability of the automatic winder 1.

[0099] Furthermore, a supply determination process is performed before the retry process. If it is determined that the yarn Y is not being normally unwound from the first yarn supplying bobbin, the first yarn supplying bobbin is replaced with the second yarn supplying bobbin, and then the retry process is started. By replacing the yarn supplying bobbin Bs when the yarn Y is not being normally unwound, the retry process can be performed smoothly.

[0100] Next, a modified example of the embodiment will be described, with the same reference numerals being used to designate components having the same configuration as the embodiment, and the description thereof will be omitted as appropriate.

[0101] (1) In the above embodiment, the timing at which the retry process is executed is the timing after the cradle 41 is put into the holding state. However, this is not limited to this. For example, the unit control unit 14 may execute the retry process before the cradle 41 is put into the holding state. This allows the retry process to be executed at an earlier timing. In this case, even if the thread catching arm 61 fails to receive the lower thread Y1 from the lower thread catching and guiding unit 35, the time lost until the winding operation is started can be reduced.

[0102] (2) In the above-described embodiments, the yarn clearer 34 corresponds to the detection unit of the present invention. However, this is not limited to this. For example, each yarn winding unit 2 may have a sensor (not shown) separate from the yarn clearer 34 that is configured to detect the yarn Y being guided to the winding section 13 by the yarn catch arm 61. In this case, the sensor corresponds to the detection unit of the present invention.

[0103] (3) In the above-described embodiment, each yarn winding unit 2 includes the detection unit of the present invention. However, this is not limited to this. For example, the doffing device 3 may include the detection unit of the present invention. More specifically, as shown in FIG. 16 , a yarn detection sensor 65 configured to detect the yarn Y may be provided, for example, near the clamp cutter 61c of the yarn catch arm 61. Alternatively, instead of being disposed near the clamp cutter 61c, the yarn detection sensor 65 may be disposed near the path of the yarn Y guided to the winding section 13 by the yarn catch arm 61. This allows the number of detection units to be kept small even when a new detection unit must be provided separately from the yarn clearer 34. This prevents an increase in the manufacturing cost of the automatic winder 1.

[0104] (4) In the above-described embodiment, the doffing control unit 100 outputs a retry instruction signal. However, this is not limited to this. For example, the unit control unit 14 may output a retry instruction signal. Furthermore, the doffing control unit 100 is configured to be able to set the maximum number of executions. However, this is not limited to this. Instead of the doffing control unit 100, each unit control unit 14 may be configured to be able to set the maximum number of executions. In this case, the same maximum number of executions may be set among the multiple yarn winding units 2, or different maximum numbers of executions may be set among the multiple yarn winding units 2. Furthermore, the doffing control unit 100 and the unit control unit 14 do not have to be configured to be able to set the maximum number of executions. For example, the doffing control unit 100 (or the unit control unit 14) may be configured to output a retry instruction signal only once during doffing. Alternatively, the doffing control unit 100 (or the unit control unit 14) may be configured to output a retry instruction signal multiple times until doffing is successful.

[0105] (5) In the above-described embodiments, the yarn supplying bobbin transport device 4 and the ejector 24 of each yarn winding unit 2 correspond to the yarn supplying bobbin replacement section of the present invention. However, this is not limited to this. Instead of the yarn supplying bobbin transport device 4, for example, a known magazine (not shown) may be provided in each yarn winding unit 2. The magazine is configured to be able to store multiple yarn supplying bobbins Bs and to sequentially supply them to the yarn supplying section 11.

[0106] (6) In the above-described embodiment, the unit control unit 14 executes the supply determination process before the guidance determination process. However, this is not limited to this. For example, the unit control unit 14 may execute the supply determination process only if the yarn Y is not detected in the guidance determination process after executing the guidance determination process. In this case, the unit control unit 14 and the doffing control unit 100 may cooperate to execute the retry process as long as the yarn Y is detected in the supply determination process.

[0107] (7) In the above-described embodiment, the unit control unit 14 performs the supply determination process. However, this is not limited to this. The unit control unit 14 does not have to perform the supply determination process during doffing.

[0108] (8) In the above-described embodiments, the lower thread Y1 is transferred between the lower thread catching and guiding portion 35 and the thread catching arm 61. However, this is not limited to this. A mechanism (not shown) that can guide the lower thread Y1 above the lower thread catching and guiding portion 35 may be provided. In this case, the lower thread Y1 may be transferred between this mechanism and the thread catching arm 61.

[0109] (9) In the above-described embodiment, the gripping portion 63c of the chucker 63 grips the winding bobbin Bw and maintains a state in which the gripping portion 63c is positioned near the cradle 41 during the retry process. However, this is not limited to this. For example, the doffing control unit 100 may execute a process to move the gripping portion 63c away from the cradle 41 during the retry process. Alternatively, for example, the doffing control unit 100 may release the winding bobbin Bw from the chucker 63 during the retry process.

[0110] (10) In the above-described embodiments, the yarn catching arm 61, the yarn pulling guide 62, the chucker 63, and the cradle opener 64 are driven by different drive sources. However, this is not limited to this. Each part of the doffing device 3 may be driven by a single drive source (e.g., a motor) using, for example, a cam mechanism (not shown). In this case, after the series of operations of the doffing device 3 for doffing is completed, the series of operations may be started again as a retry process. In this case, the series of operations includes the above-described replacement operation.

[0111] (11) In the above-described embodiment, the cradle opener 64 operates the cradle 41. However, this is not limited to this. For example, each yarn winding unit 2 may have an opening / closing mechanism (not shown) that can open and close the cradle 41.

[0112] (12) In the above-described embodiments, the automatic winder 1 is provided with a plurality of yarn winding units 2. However, this is not limited to this. The number of yarn winding units 2 may be one. [Explanation of symbols]

[0113] 1 Automatic winder 2 Yarn winding unit 3 Doffing device 4 Yarn supply bobbin transport device (yarn supply bobbin exchange unit) 6 Machine control device (control unit) 11 Yarn feeder 13 Winding section 14 Unit control section (control section) 24 Ejector (yarn supply bobbin replacement part) 31 Yarn feeler (unwinding detection unit) 33 Yarn splicing device (yarn splicing section) 34 Yarn clearer (detection unit) 35 Bobbin thread catching guide section (first guide section) 41 Cradle 61 thread capture arm (second guide portion) 64 Cradle opener (cradle operation part) 65 Yarn detection sensor (detection unit) 100 Doffing control unit (control unit) Bs Yarn supply bobbin Bs1 yarn supply bobbin (first yarn supply bobbin) Bs2 yarn supply bobbin (second yarn supply bobbin) Bw Winding bobbin P Package Y thread Y1 Lower thread (supply thread)

Claims

1. An automatic winder including: a yarn winding unit capable of performing a winding operation of winding a yarn pulled out from a yarn supplying bobbin onto a winding bobbin to form a package; and a doffing device capable of performing doffing to replace the package with an empty winding bobbin, The yarn winding unit includes: a yarn supplying section that supports the yarn supplying bobbin; a winding section to which the winding bobbin is attached; a first guide portion configured to guide the yarn supplied from the yarn supplying bobbin to the doffing device when the doffing is performed, The doffing device is a second guide unit configured to receive the yarn from the first guide unit, hold a supply yarn that is the yarn on the yarn supply unit side among the yarns separated between the yarn supply unit and the winding unit, and guide the supply yarn to the winding unit, a detection unit configured to be able to detect the supply yarn; a control unit, The control unit After the second guide section has performed the receiving and guiding operation, and before the yarn winding unit has started the winding operation, An automatic winder characterized in that, when it is determined based on the detection result by the detection unit that the supply yarn is not properly guided to the winding unit by the second guide unit, a retry process is executed, which includes a process of causing the second guide unit to perform the receiving and guiding operation again.

2. The detection unit 2. The automatic winder according to claim 1, further comprising a yarn clearer provided in the yarn winding unit and configured to be able to detect information relating to the quality of the yarn.

3. The winding section a cradle configured to be able to rotatably hold the winding bobbin and to be able to attach the yarn to the winding bobbin by sandwiching the yarn between the winding bobbin and the cradle; The doffing device is a cradle operating unit that switches the state of the cradle between a release state in which the winding bobbin is released and a holding state in which the winding bobbin is held and a yarn can be sandwiched between the winding bobbin and the cradle; 3. The automatic winder according to claim 1, wherein the second guide unit and the cradle operation unit are driven by different drive sources.

4. The control unit 4. The automatic winder according to claim 3, wherein the retry process is executed before the cradle operation unit is controlled to change the state of the cradle to the holding state.

5. The winding section a cradle configured to be able to rotatably hold the winding bobbin and to be able to attach the yarn to the winding bobbin by sandwiching the yarn between the winding bobbin and the cradle; The doffing device is a cradle operating unit that switches the state of the cradle between a release state in which the winding bobbin is released and a holding state in which the cradle holds the winding bobbin and can pinch the yarn between the winding bobbin and the cradle; The control unit The automatic winder according to claim 2, characterized in that after the cradle operating unit is controlled to change the state of the cradle to the holding state, it is determined whether the supply yarn is being normally guided to the winding unit by the second guide unit.

6. 6. The automatic winder according to claim 5, wherein the second guide unit and the cradle operation unit are driven by different drive sources.

7. 2. The automatic winder according to claim 1, wherein the detection unit is provided in the doffing device.

8. a yarn splicing unit disposed between the yarn supplying unit and the winding unit in the running direction of the yarn, the yarn splicing unit being configured to be able to splice the divided yarn, 8. The automatic winder according to claim 1, wherein the first guide section is configured to be able to guide the supply yarn to the yarn joining section.

9. The control unit a maximum number of executions, which is an upper limit of the number of times the retry process is executed, can be set; 9. The automatic winder according to claim 1, wherein the retry process for the yarn winding unit 2 is terminated after the retry process has been performed the maximum number of times.

10. a yarn supplying bobbin replacement unit configured to replace a first yarn supplying bobbin, which is the yarn supplying bobbin supported by the yarn supplying unit, with a second yarn supplying bobbin, which is another yarn supplying bobbin; the detection unit has an unwinding detection unit capable of detecting information regarding whether the yarn is being normally unwound from the first yarn supplying bobbin, The control unit Before the retry process, it is determined whether or not the yarn is being normally unwound from the first yarn supplying bobbin based on a detection result by the unwinding detection unit, 10. The automatic winder according to claim 1, wherein, when it is determined that the yarn is not being normally unwound from the first yarn supplying bobbin, the yarn supplying bobbin replacement unit is controlled to replace the first yarn supplying bobbin with the second yarn supplying bobbin, and then the retry process is started.

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