Textile machinery

Abstract

This enables movement control of the lifting cart that minimizes unnecessary movements while maintaining flexibility. [Solution] The lifting trolley has a detection unit that can detect obstacles present on one side and the other side of the lifting trolley in the direction of arrangement. The trolley control unit performs a travel stop process (S33) to stop the lifting trolley from moving when an obstacle is detected on the front side in the direction of travel of the lifting trolley by the detection unit while the lifting trolley is moving, and a travel restart process (S38, S40, S45, S47) to restart the lifting trolley from moving when any one of the predetermined first to fourth travel restart conditions (S36, S39, S44, S37) is met after the travel stop process has been executed.

Description

Technical Field

[0005] , , ,

[0001] The present invention relates to a textile machine equipped with a bobbin lifting carriage.

Background Art

[0002] Conventionally, textile machines such as automatic winders have been known, which include a plurality of winding units for winding yarn onto a winding tube to form a package, and a bobbin lifting carriage that moves between the plurality of winding units. The bobbin lifting carriage moves to a target winding unit and performs a bobbin lifting operation of removing a package from the winding unit and supplying a new winding tube to the winding unit.

[0003] In the automatic winder disclosed in Patent Document 1, a human sensor (detection unit) is provided on the bobbin lifting carriage. When a person is detected by the human sensor, the control unit that controls the travel of the bobbin lifting carriage causes the bobbin lifting carriage to travel away from the person (hereinafter, the first control), or stops the travel of the bobbin lifting carriage (hereinafter, the second control).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, we consider the case where, when an object is detected by a detection unit installed on the lifting cart, control is performed to move the lifting cart away from the object, as in the first control described in Patent Document 1. In this case, if an object is detected by the detection unit while the lifting cart is moving toward the target position, it will move in the reverse direction, away from the target position. Then, once the lifting cart has moved a certain distance from the object (for example, until the object is no longer detected by the detection unit), it will start moving toward the target position again. At this point, if the object is in the same location, the lifting cart will move in the reverse direction again before reaching the object. In other words, the lifting cart will repeat back and forth movement as long as the object is in the same location. Such wasted movement of the lifting cart may lead to increased wear and tear on the parts used for the lifting cart's movement, increased power consumption of the lifting cart, and a decrease in package production volume due to the inability to perform the lifting operation.

[0006] Furthermore, consider the case where, when an object is detected by a detection unit installed on the lifting cart, control is performed to stop the movement of the lifting cart, as in the second control described in Patent Document 1. In this case, the lifting cart will not make unnecessary movements as in the first control described above. However, Patent Document 1 does not describe the conditions under which the stopped lifting cart will resume movement. The appropriate conditions (timing) for resuming the movement of the lifting cart will vary depending on the operator's work status, the operating status of the textile machinery, etc. Therefore, flexibility is required in the conditions for resuming the movement of the lifting cart.

[0007] The objective of the present invention is to provide a textile machine that enables movement control of a lifting cart while suppressing unnecessary movements and providing flexibility. [Means for solving the problem]

[0008] The textile machine according to the first invention comprises: a plurality of winding units that wind yarn onto a winding tube to form a package; a lifting cart configured to move between the plurality of winding units by traveling along the direction of arrangement of the plurality of winding units, and which removes the package at the destination winding unit and supplies a new winding tube; and a control unit, wherein the lifting cart has a detection unit capable of detecting obstacles present on one side and the other side of the lifting cart in the direction of arrangement, and the control unit executes a travel stop process to stop the lifting cart from traveling when the detection unit detects an obstacle on the front side in the direction of travel of the lifting cart while the lifting cart is traveling, and a travel restart process to restart the lifting cart from traveling when at least one of two predetermined travel restart conditions is met after executing the travel stop process.

[0009] In this invention, the control unit stops the movement of the lifting cart if an obstacle is detected in front of it by the detection unit. Therefore, movement control is possible that suppresses unnecessary movements such as back-and-forth movement in front of the obstacle detected by the detection unit. Furthermore, after stopping the movement of the lifting cart, the control unit resumes the movement of the lifting cart if at least one of two conditions for resuming movement is met. In this way, multiple conditions for resuming the movement of the lifting cart are set, making flexible movement control of the lifting cart possible.

[0010] The textile machine according to the second invention is equipped with a signal transmitting unit that transmits signals relating to the movement of the lifting cart, and the conditions for resuming travel include the detection of the obstacle by the detection unit ceasing, and the transmission of a signal from the signal transmitting unit that designates one of the plurality of winding units, located on the opposite side of the lifting cart that is stopped due to the travel stop process, from the side on which the obstacle is detected by the detection unit, as the destination.

[0011] In this invention, if the detection unit no longer detects an obstacle, the lifting cart automatically resumes its movement. Furthermore, while the lifting cart is stopped due to the stopping process, if the signal transmission unit sends a signal designating a winding unit located on the opposite side of the lifting cart from the obstacle detected by the detection unit as the destination, the lifting cart can resume its movement. Therefore, the lifting operation can be performed by moving to the winding unit, thereby improving the efficiency of the lifting operation.

[0012] The textile machine according to the third invention is equipped with an input unit that can input instructions for the lifting cart to travel to one side and the other side, respectively, and the conditions for restarting travel are: The detection unit ceases to detect the obstacle, and the input unit receives a driving instruction for the side opposite to the side on which the obstacle is detected by the detection unit.

[0013] In this invention, if the detection unit no longer detects an obstacle, the lifting cart automatically resumes movement. Furthermore, when the lifting cart stops due to the movement stop process, the operator may want to move the lifting cart for reasons such as it interfering with work. In such cases, the operator can restart the lifting cart's movement by operating the input unit and inputting a movement command.

[0014] The textile machine according to the fourth invention, in the first invention, includes an input unit that can input instructions for the lifting cart to travel to one side and the other side, respectively, and a signal transmitting unit that transmits a signal relating to the movement of the lifting cart, wherein the conditions for resuming travel include the detection of the obstacle by the detection unit ceasing, the input unit receiving a travel instruction to the side opposite to the side on which the obstacle is detected by the detection unit, and the signal transmitting unit transmitting a signal designating the winding unit, among the plurality of winding units, as the destination, which is located on the side opposite to the side on which the obstacle is detected by the detection unit, from the lifting cart that is stopped due to the travel stop process.

[0015] In this invention, if the detection unit no longer detects an obstacle, the lifting cart automatically resumes movement. Furthermore, when the lifting cart stops due to the movement stop process, the operator may want to move the lifting cart for reasons such as it interfering with work. In such cases, the operator can restart the lifting cart's movement by operating the input unit to input a movement command. Moreover, while the lifting cart is stopped due to the movement stop process, if the signal transmission unit transmits a signal designating a winding unit located on the opposite side of the lifting cart from the obstacle detected by the detection unit as the destination, the lifting cart can resume movement. Therefore, the lifting operation can be performed by moving to the winding unit, improving the efficiency of the lifting operation.

[0016] In the textile machine according to the fifth invention, in any of the first to fourth inventions, the control unit maintains the stopped state when the obstacle is detected by the detection unit while the lifting cart is waiting in a stopped state until the package is completed at the winding unit at the destination.

[0017] For example, if the lifting cart is controlled to move away from an obstacle when the detection unit detects one while the cart is stationary and waiting for the package to be completed, it may become difficult to smoothly remove the package once it is finished. In this invention, the cart remains stationary when the detection unit detects an obstacle, allowing for smooth package removal once the package is completed.

[0018] In the textile machine according to the sixth invention, in the third or fourth invention, when the control unit is waiting in a stopped state until the package is completed at the winding unit at the destination, and the travel instruction is input to the input unit, the control unit executes a standby travel restart process to restart the travel of the lifting cart.

[0019] In this invention, if there is a need to move the lifting cart while it is stationary and waiting for the package to be completed, the operator can restart the movement of the lifting cart by operating the input unit and inputting a movement command.

[0020] In the textile machine according to the seventh invention, the input unit is provided on the lifting trolley in the third or fourth invention.

[0021] In this invention, the operator can input travel instructions by operating an input unit provided on the lifting trolley.

[0022] In the fiber machine according to the eighth invention, in the second or fourth invention, when the winding unit reaches the completed state where the package is completed, the signal transmitting unit transmits a completion signal designating the winding unit as the destination of movement of the bobbin carriage. When the control unit executes the traveling stop process while moving to the winding unit designated as the destination by the completion signal transmitted from the signal transmitting unit, after executing the traveling stop process, from the signal transmitting unit, among the plurality of winding units, when a completion signal designating as the destination the winding unit located on the side opposite to the side where the obstacle is detected by the detection unit, out of the one side and the other side of the bobbin carriage stopped by the traveling stop process, is transmitted, the control unit executes the traveling restart process.

[0023] In the present invention, while the bobbin carriage is stopped by the traveling stop process on the way to the winding unit that has reached the completed state, when another winding unit located on the side opposite to the obstacle detected by the detection unit across the bobbin carriage reaches the completed state, it is possible to move to the other winding unit and perform the bobbin winding operation. Therefore, the working efficiency of the bobbin winding operation can be improved.

[0024] In the fiber machine according to the ninth invention, in the eighth invention, when the remaining time until the winding unit reaches the completed state becomes a near-completion state where the remaining time is less than or equal to a predetermined length, the signal transmitting unit transmits a completion notice signal designating the winding unit as the destination of movement of the bobbin carriage. When the control unit executes the traveling stop process while moving to the winding unit designated by the completion notice signal transmitted from the signal transmitting unit, after executing the traveling stop process, from the signal transmitting unit, among the plurality of winding units, when a completion notice signal designating as the destination the winding unit located on the side opposite to the side where the obstacle is detected by the detection unit, out of the one side and the other side of the bobbin carriage stopped by the traveling stop process, is transmitted, the control unit executes the traveling restart process.

[0025] In the present invention, while the ball-lifting cart is stopped due to the running stop process on the way to the winding unit that is approaching completion, when another winding unit located on the opposite side of the obstacle detected by the detection unit across the ball-lifting cart reaches a state close to completion, it is possible to move to the other winding unit and perform the ball-lifting operation. Therefore, the working efficiency of the ball-lifting operation can be improved.

Brief Description of the Drawings

[0026] [Figure 1] It is a front view of the automatic winder according to the present embodiment. [Figure 2] It is a front view of the winding unit. [Figure 3] It is a block diagram showing the electrical configuration of the automatic winder. [Figure 4] It is a flowchart showing an example of the pre-control procedure performed by the cart control unit. [Figure 5] It is a flowchart showing an example of the main control procedure performed by the cart control unit. [Figure 6] It is a flowchart showing an example of the control procedure at the time of reaching the target position performed by the cart control unit. [Figure 7] It is a schematic diagram showing an example of the movement control of the ball-lifting cart.

Embodiments for Carrying Out the Invention

[0027] Hereinafter, a preferred embodiment of the present invention will be described. For convenience of explanation, the direction parallel to the vertical direction in which gravity acts (the direction perpendicular to the paper surface of FIG. 1) is defined as the vertical direction. As shown in FIG. 1, the direction in which a plurality of winding units 2 described later are arranged is defined as the left-right direction. The left-right direction is orthogonal to the vertical direction. The direction orthogonal to both the vertical direction and the left-right direction is defined as the front-back direction.

[0028] (Automatic winder) An embodiment of the present invention when the textile machine is applied to an automatic winder will be described. Figure 1 is a front view of the automatic winder according to this embodiment. As shown in Figure 1, the automatic winder 1 comprises a plurality of winding units 2 arranged in a predetermined arrangement direction (left-right direction in Figure 1), a hoisting cart 4 configured to move between the plurality of winding units 2 by traveling along the left-right direction, and a machine control device 5 that controls the entire automatic winder 1. Each winding unit 2 winds the yarn Y unwound from the yarn bobbin B onto a winding tube Q (see Figure 2) to form a package P. The hoisting cart 4 moves to the winding unit 2 in which the package P is completed, removes the package P from the cradle 31 (see Figure 2) described later, and performs a hoisting operation to supply a new winding tube Q.

[0029] (Rewinding unit) Figure 2 is a front view of the winding unit 2. As shown in Figure 2, the winding unit 2 includes a yarn supply section 10 that unwinds and supplies yarn Y wound on a yarn supply bobbin B, a yarn processing section 20 that performs various processes on the yarn Y supplied from the yarn supply section 10, and a winding section 30 that winds the yarn Y that has passed through the yarn processing section 20 onto a winding tube Q to form a package P. The yarn supply section 10, the yarn processing section 20, and the winding section 30 are arranged in this order from bottom to top.

[0030] The yarn feeding unit 10 has a yarn unwinding assist device 11 that assists in unwinding yarn Y from the yarn feeding bobbin B, which is held in an upright position. The yarn unwinding assist device 11 has a regulating cylinder 12 for regulating the expansion (ballooning) of yarn Y when it is unwinded to an appropriate range.

[0031] The yarn processing unit 20 includes a yarn splicing device 21, a yarn clearer 22, a lower yarn capture guide member 23, an upper yarn capture guide member 24, etc. The yarn splicing device 21 is a device that splices the ends of yarn Y when the yarn Y is cut between the supply bobbin B and the package P. The yarn clearer 22 is a device that acquires information on the quality of yarn Y and cuts the yarn Y as necessary. The lower yarn capture guide member 23 captures the yarn on the supply bobbin B side (lower yarn Y1) of the cut yarn Y and guides it to the yarn splicing device 21. The upper yarn capture guide member 24 captures the yarn on the package P side (upper yarn Y2) of the cut yarn Y and guides it to the yarn splicing device 21.

[0032] The winding unit 30 includes a cradle 31 that rotatably supports the winding tube Q, a traverse drum 32, and a drum drive motor 33 that rotates the traverse drum 32. A spiral traverse groove 32a is formed on the circumferential surface of the traverse drum 32, and this traverse groove 32a causes the yarn Y to traverse. By rotating the traverse drum 32 in contact with the package P, the yarn Y can be wound onto the package P while traversing it.

[0033] (Bamboo lifting cart) As shown in Figure 1, the lifting cart 4 has a detection unit 41 capable of detecting obstacles located to the right and left of the lifting cart 4 in the left-right direction, which is the direction of travel of the lifting cart 4. In this embodiment, the detection unit 41 includes obstacle detection sensors 41a and 41b provided on both the left and right sides of the lifting cart 4, respectively. The obstacle detection sensor 41a provided on the right side of the lifting cart 4 can detect obstacles located to the right of the lifting cart 4. The obstacle detection sensor 41b provided on the left side of the lifting cart 4 can detect obstacles located to the left of the lifting cart 4. Multiple obstacle detection sensors may be provided on each side of the lifting cart 4. Obstacle detection sensors may also be provided on surfaces other than the sides of the lifting cart 4, i.e., the top, front, bottom, etc. The detection unit 41 may consist of a single obstacle detection sensor capable of detecting obstacles located to the right and left of the lifting cart 4, respectively. For example, optical sensors can be used as obstacle detection sensors 41a and 41b. Furthermore, if infrared sensors are used as obstacle detection sensors 41a and 41b, people can be detected as obstacles.

[0034] The lifting cart 4 has an input unit 42 that can input instructions for the lifting cart 4 to move to the right and to the left, respectively. In this embodiment, the input unit 42 is provided on the front of the lifting cart 4. For example, the input unit 42 may have a button for inputting an instruction to move to the right and a button for inputting an instruction to move to the left. The input unit 42 may also consist of a lever that can swing left and right or a slider that can slide left and right. Furthermore, the input unit 42 may have an operating unit such as a push-button provided on both the left and right sides of the lifting cart 4. In this case, for example, an instruction to move to the left may be input by pushing the operating unit provided on the right side, and an instruction to move to the right may be input by pushing the operating unit provided on the left side.

[0035] (Electrical configuration) Figure 3 is a block diagram showing the electrical configuration of the automatic winder 1. As shown in Figure 3, each winding unit 2 has a unit control unit 51 that controls the operation of each part of the winding unit 2. The lifting trolley 4 also has a trolley control unit 43 that controls the operation of each part of the lifting 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 via a communication line 58, which is, for example, a CAN (Controller Area Network) bus. In this embodiment, each unit control unit 51 transmits a completion signal and a completion notification signal, described later, to the trolley control unit 43 via the communication line 58. The trolley control unit 43 then controls the movement of the lifting trolley 4 based on the signals transmitted via the communication line 58 and the signals from the detection unit 41 and the input unit 42.

[0036] (Completion signal and completion warning signal) Here, the completion signal and completion notification signal transmitted by the unit control unit 51 of each winding unit 2 will be described. Both the completion signal and the completion notification signal are signals related to the movement of the lifting trolley 4. In other words, the unit control unit 51 that transmits the completion signal and the completion notification signal corresponds to the signal transmitting unit of the present invention.

[0037] The unit control unit 51 of each winding unit 2 sends a completion signal to designate the winding unit 2 as the destination for the lifting trolley 4 when the winding unit 2 has reached the completion state in which the package P is completed. As a prerequisite, the length of yarn Y that must be wound onto the winding pipe Q for the package P to be considered complete is stored in advance, for example, in the unit control unit 51. For example, the unit control unit 51 determines that the winding unit 2 has reached the completion state when the length of yarn wound onto the winding pipe Q reaches the length of yarn required for the completion of the package P. The length of yarn already wound onto the winding pipe Q may be determined based on the rotational speed of the swivel drum 32, or it may be determined based on the output from a sensor that detects the running speed of the yarn Y.

[0038] The unit control unit 51 of each winding unit 2 transmits a completion notification signal to designate the winding unit 2 as the destination for the hoisting cart 4 when the remaining time until the winding unit 2 is completed is less than or equal to a predetermined length Ta. For example, the unit control unit 51 calculates the remaining time by subtracting the length of thread already wound onto the winding tube Q from the length of thread required to complete the package P, and then dividing this value by the winding speed (rotation speed of the swivel drum 32). In this embodiment, the predetermined length Ta is a fixed value.

[0039] Furthermore, the predetermined length Ta may be, for example, the travel time required for the lifting cart 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 lifting cart 4's current position and the speed at which the lifting cart 4 moves. Here, a method for determining the current position of the lifting cart 4 will be described. For example, each winding unit 2 may have a detection unit capable of detecting the position of the lifting cart 4, and the information of the lifting cart 4's current position may be shared among multiple unit control units 51 via the communication line 58. Alternatively, for example, the lifting cart 4 may have a detection unit capable of detecting which winding unit 2 it has passed in front of, and the cart control unit 43 may transmit the information of the lifting cart 4's current position to each unit control unit 51 via the communication line 58.

[0040] (Movement control of the lifting trolley) Next, an example of movement control of the lifting trolley 4 performed by the trolley control unit 43 will be described. First, referring to Figure 4, the pre-control from when the lifting trolley 4 determines the target position until it starts moving will be described.

[0041] The trolley control unit 43 determines whether or not it has received a completion signal transmitted from the unit control unit 51 of any of the winding units 2 (S10). If it determines that it has not received a completion signal (S10: NO), the trolley control unit 43 determines whether or not it has received a completion warning signal transmitted from the unit control unit 51 of any of the winding units 2 (S11). If it determines that it has not received a completion warning signal (S11: NO), the trolley control unit 43 determines whether or not a standby position has been designated (S12). The standby position is the position in which the hoisting trolley 4 waits when there are no winding units 2 in a completed or near-completed state. The standby position is, for example, the right or left side of a row of winding units 2 extending in the left-right direction. The standby position may be switchable between designated and undesignated by an operator, for example. Information regarding the standby position (location of the standby position and whether or not it has been designated) is stored in, for example, the trolley control unit 43.

[0042] If it is determined that no waiting position has been specified (S12: NO), the process returns to S10, and the trolley control unit 43 determines whether or not it has received a completion signal. On the other hand, if it is determined that a waiting position has been specified (S12: YES), the trolley control unit 43 determines whether or not the lifting trolley 4 is in the waiting position (S13). That is, the trolley control unit 43 determines whether or not the current position of the lifting trolley 4 is the waiting position. If it is determined that the lifting trolley 4 is in the waiting position (S13: YES), the process returns to S10, and the trolley control unit 43 determines whether or not it has received a completion signal. On the other hand, if it is determined that the lifting trolley 4 is not in the waiting position (S13: NO), the trolley control unit 43 starts moving the lifting trolley 4 with the waiting position as the target position (S14).

[0043] In S11, if the trolley control unit 43 determines that a completion notification signal has been received (S11: YES), it turns on the travel flag for the winding unit 2 that is nearing completion (hereinafter referred to as the "near-completion weight") (S15). The trolley control unit 43 then starts moving the lifting trolley 4 with the winding unit 2 designated as the destination by the completion notification signal transmitted from the unit control unit 51 as the target position (S16). If the trolley control unit 43 receives completion notification signals from the unit control units 51 of multiple winding units 2, it starts moving the lifting trolley 4 with the winding unit 2 designated as the destination by the earliest transmitted completion notification signal as the target position.

[0044] In S10, if the trolley control unit 43 determines that a completion signal has been received (S10: YES), it turns on the travel flag to the winding unit 2 that is in a completed state (hereinafter referred to as the "completed weight") (S17). The trolley control unit 43 then starts moving the lifting trolley 4 with the winding unit 2 designated as the destination by the completion signal transmitted from the unit control unit 51 as the target position (S18). If the trolley control unit 43 receives completion signals from the unit control units 51 of multiple winding units 2, it starts moving the lifting trolley 4 with the winding unit 2 closest to the current position of the lifting trolley 4 as the target position.

[0045] Next, referring to Figure 5, we will explain the main control, which controls the movement of the hoisting cart 4 as it travels toward the target position.

[0046] The trolley control unit 43 determines whether or not the target position has been reached (S30). If it determines that the target position has been reached (S30: YES), the trolley control unit 43 stops the movement of the lifting trolley 4 at the target position and executes the target position arrival control described later (S31). On the other hand, if it determines that the target position has not been reached (S30: NO), the trolley control unit 43 determines whether or not an obstacle has been detected on the front side in the direction of travel of the lifting trolley 4 by the detection unit 41 (S32).

[0047] If it is determined that no obstacle has been detected (S32: NO), the system returns to S30 and the trolley control unit 43 determines whether or not the target position has been reached. On the other hand, if it is determined that an obstacle has been detected (S32: YES), the trolley control unit 43 stops the movement of the lifting trolley 4 (S33: stopping the movement process). The trolley control unit 43 then turns on the obstacle flag (S34). Furthermore, the trolley control unit 43 starts measuring the elapsed time Te since the stopping the movement process was executed (S35).

[0048] Next, the trolley control unit 43 determines whether or not the detection unit 41 has stopped detecting obstacles (S36). If it determines that the detection unit 41 has stopped detecting obstacles (S36: YES), the trolley control unit 43 resets the obstacle flag and the elapsed time Te (S37). Then, the trolley control unit 43 resumes the movement of the lifting trolley 4 toward the target position (S38: Restarting movement process). In other words, the detection unit 41 no longer detecting obstacles (S36: YES) is the first condition for resuming movement of the lifting trolley 4 after the stopping process has been executed. After that, returning to S30, the trolley control unit 43 determines whether or not it has reached the target position.

[0049] On the other hand, if it is determined that the detection of an obstacle is continuing (S36: NO), the trolley control unit 43 determines whether a travel instruction has been input to the input unit 42 for the side opposite to the side on which the detection unit 41 has detected the obstacle (S39). For example, consider the case shown in Figure 7(a) where the lifting trolley 4 is traveling from left to right, and there is an obstacle O on the front side (right side) of the direction of travel of the lifting trolley 4. In this case, the trolley control unit 43 executes a travel stop process, and as shown in Figure 7(b), the lifting trolley 4 stops in front of the obstacle O (to the left of the obstacle O). In this case, the trolley control unit 43 determines whether a travel instruction to the left has been input to the input unit 42.

[0050] If the input unit 42 determines that a travel instruction has been input (S39: YES), the trolley control unit 43 resumes the movement of the lifting trolley 4 according to the instruction input to the input unit 42 (S40: Travel resumption process). In other words, inputting a travel instruction to the opposite side from the side where the obstacle is detected (S39: YES) is the second travel resumption condition for resuming the movement of the lifting trolley 4 after the travel stop process has been executed.

[0051] Here, we will explain the control by the trolley control unit 43 when the input unit 42 is operated by the operator. For example, when the input unit 42 is operated by the operator, the trolley control unit 43 may make the lifting trolley 4 travel for a predetermined time (predetermined distance) and then stop it. Also, if the input unit 42 is a button or the like, the trolley control unit 43 may continue to move the lifting trolley 4 while the input unit 42 is being operated by the operator (the button is pressed), and stop the lifting trolley 4 when the operation of the input unit 42 stops (the button is no longer pressed). Furthermore, the trolley control unit 43 may change the distance the lifting trolley 4 travels in proportion to the length of time the input unit 42 is being operated by the operator (the button is pressed).

[0052] Subsequently, the bogie control unit 43 determines whether the elapsed time Te has reached a predetermined time (S41). The determination in S41 is repeated until it is determined that the predetermined time has been reached. If it is determined that the predetermined time has been reached (S41: YES), the bogie control unit 43 resets the running flag, the obstacle flag, and the elapsed time Te that were turned on in the pre-control (S42). Then, returning to S10 of the pre-control, the bogie control unit 43 determines whether or not it has received a completion signal.

[0053] Furthermore, if in S39 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 weight is on (S43). If it is determined that the travel flag to the completed weight is on (S43: YES), the trolley control unit 43 determines whether it has received a completion signal to specify as the destination a winding unit 2 among the multiple winding units 2 that is located to the right or left of the lifting trolley 4 which has stopped due to the travel stop process, on the side opposite to the side where the detection unit 41 has detected an obstacle (S44).

[0054] Here, for example, in the example shown in Figure 7(b), the target winding unit group is defined as one or more winding units 2 located to the left of the lifting trolley 4, which is stopped due to the traction stop process (winding units 2 within the area R enclosed by the dashed line in Figure 7(b)). The trolley control unit 43 determines whether or not it has received a completion signal designating any of the winding units 2 included in the target winding unit group as the destination.

[0055] If the unit control unit 43 determines that it has not received a completion signal designating the winding unit 2 located on the opposite side of the obstacle as the destination (S44: NO), it returns to S36 and determines whether or not the detection unit 41 has stopped detecting obstacles. On the other hand, if it determines that it has received a completion signal designating the winding unit 2 located on the opposite side of the obstacle as the destination (S44: YES), the unit control unit 43 changes the target position to the winding unit 2 designated as the destination by the completion signal and resumes the movement of the hoisting trolley 4 (S45: Resuming movement process). In other words, the transmission of a completion signal from the unit control unit 51 designating the winding unit 2 located on the opposite side of the side where the obstacle is detected as the destination (S44: YES) is a third condition for resuming movement of the hoisting trolley 4 after the stopping process has been executed. After that, it returns to S30 and determines whether or not the target position has been reached.

[0056] In S43, if it is determined that the flag for traveling to the completed weight is not on (S43: NO), the trolley control unit 43 determines whether or not the flag for traveling to the weight nearing completion is on (S46). If it is determined that the flag for traveling to the weight nearing completion is on (S46: YES), the trolley control unit 43 determines whether or not it has received a completion notification signal that designates one of the winding units 2 located to the right or left of the lifting trolley 4, which is stopped due to the travel stop process, on the side opposite to the side where the detection unit 41 has detected an obstacle, as the destination (S47). That is, for example, in the example shown in Figure 7(b), the trolley control unit 43 determines whether or not it has received a completion notification signal that designates one of the winding units 2 included in the target winding unit group (winding units 2 in area R) as the destination.

[0057] If the unit control unit 43 determines that it has not received a completion notification signal designating the winding unit 2 located on the opposite side of the obstacle as the destination (S47: NO), it returns to S36 and determines whether or not the detection unit 41 has stopped detecting obstacles. On the other hand, if it determines that it has received a completion notification signal designating the winding unit 2 located on the opposite side of the obstacle as the destination (S47: YES), the unit control unit 43 changes the target position to the winding unit 2 designated as the destination by the completion notification signal and resumes the movement of the hoisting trolley 4 (S48: Resuming movement process). In other words, the transmission of a completion notification signal from the unit control unit 51 designating the winding unit 2 located on the opposite side of the side where the obstacle is detected as the destination (S47: YES) is the fourth condition for resuming movement of the hoisting trolley 4 after the stopping process has been executed. After that, it returns to S30 and determines whether or not the target position has been reached.

[0058] Furthermore, if in S46 the traction control unit 43 determines that the flag for moving towards the weight nearing completion is not turned on (S46: NO), it returns to S36 and determines whether or not the detection unit 41 has stopped detecting obstacles.

[0059] Furthermore, the control upon reaching the target position described above will be explained with reference to Figure 6. First, the trolley control unit 43 determines whether the flag for traveling to the completed weight is on (S60). If it determines that the flag for traveling to the completed weight is on (S60: YES), the trolley control unit 43 executes the lifting operation (S61). That is, since the lifting trolley 4 is stopped at the winding unit 2 in the completed state with the package P completed, the completed package P can be removed from the winding unit 2.

[0060] Subsequently, the bogie control unit 43 determines whether the obstacle flag is on or off (S62). If it determines that the obstacle flag is on (S62:YES), the bogie control unit 43 determines whether the elapsed time Te since the execution of the train stopping process has reached a predetermined time (S63). If it determines that the elapsed time Te has not reached a predetermined time (S63:NO), it returns to S43 of the main control.

[0061] Furthermore, when the system returns to the main control in S43 and then determines again in S44 whether a completion signal has been received, the trolley control unit 43 determines whether a completion signal has been received that designates a winding unit 2 included in the same target winding unit group as when S44 was first executed as the destination. Also, when the system returns to the main control in S43 and then determines again in S47 whether a completion warning signal has been received, the trolley control unit 43 determines whether a completion signal has been received that designates a winding unit 2 included in the same target winding unit group as when S47 was first executed as the destination. In other words, as long as the obstacle flag is on, the target winding unit group when making the decisions in S44 and S47 is one or more winding units 2 located on the opposite side of the obstacle with respect to the stopping position of the hoisting trolley 4 when the running stop process was executed in S33.

[0062] If it is determined in S62 that the obstacle flag is not on (S62: NO), the bogie control unit 43 resets the running flag that was turned on in the pre-control (S65). Then, it returns to S10 of the pre-control.

[0063] If the system determines in S63 that the elapsed time Te has reached a predetermined time (S63: YES), the bogie control unit 43 resets the obstacle flag and the elapsed time Te (S64). Then, proceeding to S65, the bogie control unit 43 resets the running flag that was turned on in the pre-control and returns to S10 of the pre-control.

[0064] If the traction flag for the completed weight is not turned on in S60 (S60:NO), the traction control unit 43 determines whether the traction flag for the weight nearing completion is turned on (S66). If the traction flag for the weight nearing completion is not turned on (S66:NO), the process proceeds to 65, where the traction control unit 43 resets the traction flag that was turned on in the pre-control and returns to S10 of the pre-control. At this time, the hoisting traction unit 4 is stopped in the standby position and pre-control is performed to determine the next target position.

[0065] If the trolley control unit 43 determines that the flag for moving to the weight nearing completion is on (S66: YES), it determines whether or not the hoisting trolley 4 has received a completion signal from the winding unit 2 where it is stopped (S67). That is, since the hoisting trolley 4 is stopped at the winding unit 2 where the package P is nearing completion, it waits in a stopped state until the package P is completed. In this embodiment, when the hoisting trolley 4 is waiting in a stopped state until the package P is completed, the trolley control unit 43 controls the trolley to maintain the stopped state if an obstacle is detected by the detection unit 41. Note that the detection unit 41 may not detect obstacles while waiting until the package P is completed.

[0066] If it is determined that a completion signal has been received (S67: YES), the process proceeds to S61, and the trolley control unit 43 executes the lifting operation. On the other hand, if it is determined that a completion signal has not been received (S67: NO), the trolley control unit 43 determines whether or not a travel instruction has been input to the input unit 42 (S68). If it is determined that no travel instruction has been input (S68: NO), the process returns to S67, and the trolley control unit 43 determines whether or not a completion signal has been received. If it is determined that a travel instruction has been input (S68: YES), the trolley control unit 43 resumes the movement of the lifting trolley 4 according to the instruction input to the input unit 42 (S69: Standby travel restart process).

[0067] Subsequently, the bogie control unit 43 determines whether the elapsed time Te has reached a predetermined time (S70). The determination in S70 is repeated until it is determined that the predetermined time has been reached. If it is determined that the predetermined time has been reached (S70: YES), the bogie control unit 43 resets the obstacle flag and the elapsed time Te (S71). Then, proceeding to S65, the bogie control unit 43 resets the running flag that was turned on in the pre-control and returns to S10 of the pre-control.

[0068] (Characteristics of the embodiment) As described above, the automatic winder 1 of this embodiment includes a plurality of winding units 2 that wind yarn Y onto a winding tube Q to form a package P, a lifting cart 4 configured to move between the plurality of winding units 2 by traveling along the left-right direction which is the arrangement direction of the plurality of winding units 2, and which removes the package P from the winding unit 2 at the destination and supplies a new winding tube Q, and a cart control unit 43. The lifting cart 4 has a detection unit 41 that can detect obstacles located to the right and left of the lifting cart 4 in the arrangement direction, respectively, and the cart control unit 43 executes a travel stop process that stops the movement of the lifting cart 4 when an obstacle is detected in front of the lifting cart 4 in the direction of travel by the detection unit 41 while the lifting cart 4 is traveling, and a travel restart process that restarts the movement of the lifting cart 4 when any one of the predetermined first to fourth travel restart conditions is met after the travel stop process has been executed.

[0069] In this configuration, the trolley control unit 43 stops the movement of the lifting trolley 4 if an obstacle is detected in front of the moving lifting trolley 4 by the detection unit 41. Therefore, movement control that suppresses unnecessary movements such as back-and-forth movement in front of the obstacle detected by the detection unit 41 becomes possible. Furthermore, after stopping the movement of the lifting trolley 4, the trolley control unit 43 resumes the movement of the lifting trolley 4 if any one of the predetermined first to fourth conditions for resuming movement is met. In this way, multiple conditions for resuming the movement of the lifting trolley 4 are set, making flexible movement control of the lifting trolley 4 possible.

[0070] Furthermore, the automatic winder 1 of this embodiment includes a unit control unit 51 that transmits signals related to the movement of the lifting cart 4, and an input unit 42 that can input instructions for the lifting cart 4 to move to the right and to the left, respectively. The conditions for resuming movement are: - The detection unit 41 ceases to detect obstacles (first condition for resuming driving). - The input unit 42 receives a driving instruction to the right and left sides, opposite to the side on which the detection unit 41 has detected an obstacle (second driving restart condition). - The unit control unit 51 sends a signal to specify, among the multiple winding units 2, the winding unit 2 located to the right or left of the lifting trolley 4 which is stopped due to the travel stop process, on the side opposite to the side where the obstacle is detected by the detection unit 41, as the destination (third travel restart condition or fourth travel restart condition). It includes.

[0071] With this configuration, if the detection unit 41 stops detecting obstacles, the first condition for restarting travel is met, and the lifting cart 4 automatically resumes moving. Also, when the lifting cart 4 stops due to the travel stop process, the operator may want to move the lifting cart 4 for reasons such as it interfering with work. In such cases, the operator can input a travel command by operating the input unit 42, which satisfies the second condition for restarting travel and allows the lifting cart 4 to resume moving. Furthermore, while the lifting cart 4 is stopped due to 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 lifting cart 4 from the obstacle detected by the detection unit 41, as the destination, the third or fourth condition for restarting travel is met, and the lifting cart 4 can resume moving. Therefore, the lifting work can be performed by moving to the winding unit 2, improving the efficiency of the lifting work.

[0072] Furthermore, in the automatic winder 1 of this embodiment, the trolley control unit 43 maintains the stopped state if an obstacle is detected by the detection unit 41 while the hoisting trolley 4 is waiting in a stopped state until the package P is completed at the winding unit 2 at the destination. For example, if the hoisting trolley 4 is controlled to move away from the obstacle when the detection unit 41 detects an obstacle while the hoisting trolley 4 is waiting in a stopped state until the package P is completed, there is a risk that the hoisting operation will not be able to be performed smoothly when the package P is completed. In this configuration, the stopped state is maintained when an obstacle is detected by the detection unit 41, so the hoisting operation can be performed smoothly when the package P is completed.

[0073] In addition, in the automatic winder 1 of this embodiment, the trolley control unit 43 executes a standby restart process to restart the movement of the lifting trolley 4 when a travel instruction is input to the input unit 42 while the lifting trolley 4 is waiting in a stopped state until the package P is completed at the winding unit 2 at the destination. With this configuration, if there is a reason to move the lifting trolley 4 while it is waiting in a stopped state until the package P is completed, the operator can restart the movement of the lifting trolley 4 by operating the input unit 42 and inputting a travel instruction.

[0074] Furthermore, in the automatic winder 1 of this embodiment, the input unit 42 is provided on the lifting trolley 4. With this configuration, the operator can input travel instructions by operating the input unit 42 provided on the lifting trolley 4. In particular, if the obstacle detected by the detection unit 41 is a person (operator), the operator is located near the lifting trolley 4, making it easy to operate the input unit 42 provided on the lifting trolley 4.

[0075] Furthermore, in the automatic winder 1 of this embodiment, when the winding unit 2 reaches a completed state in which the package P is finished, the unit control unit 51 sends a completion signal designating the winding unit 2 as the destination for the lifting trolley 4. If the trolley control unit 43 executes a stop-travel process while moving to the winding unit 2 designated as the destination by the completion signal sent from the unit control unit 51 (when the flag for moving to the completed weight is on), after executing the stop-travel process, the trolley control unit 43 executes a restart-travel process when the unit control unit 51 sends a completion signal designating one of the winding unit 2s, located to the right or left of the lifting trolley 4 which is stopped due to the stop-travel process, on the opposite side from the side where the obstacle has been detected by the detection unit 41, as the destination. With this configuration, while the lifting trolley 4 is stopped due to the stop-travel process on its way to the completed winding unit 2, if another winding unit 2 located on the opposite side of the lifting trolley 4 from the obstacle detected by the detection unit 41 reaches a completed state, the trolley control unit 43 can move to that other winding unit 2 and perform the lifting operation. Therefore, the efficiency of lifting operations can be improved.

[0076] In addition, in the automatic winder 1 of this embodiment, when the winding unit 2 is nearing completion, with the remaining time until completion being less than or equal to a predetermined length, the unit control unit 51 sends a completion notification signal designating the winding unit 2 as the destination for the lifting trolley 4. If the trolley control unit 43 executes a stop-travel process while moving to the winding unit 2 designated as the destination by the completion notification signal sent from the unit control unit 51 (when the flag for moving to the near-completion weight is on), after executing the stop-travel process, the trolley control unit 43 executes a restart-travel process when the unit control unit 51 sends a completion notification signal designating one of the winding unit 2s, located to the right or left of the lifting trolley 4 which is stopped by the stop-travel process, on the opposite side from the side where the detection unit 41 has detected an obstacle, as the destination. With this configuration, while the lifting trolley 4 is stopped due to a stop-travel process on its way to a winding unit 2 that is nearing completion, if another winding unit 2 located on the opposite side of the lifting trolley 4 from the obstacle detected by the detection unit 41 is nearing completion, the trolley can move to that other winding unit 2 and perform the lifting operation. Therefore, the work efficiency of the lifting operation can be improved.

[0077] Although embodiments of the present invention have been described above with reference to the drawings, it should be understood that the specific configurations are not limited to these embodiments. The scope of the present invention is indicated by the claims rather than the above description of embodiments, and all modifications within the meaning and scope equivalent to the claims are included.

[0078] In the above embodiment, a case was described in which, after executing a running stop process, the trolley control unit 43 executes a running restart process to restart the lifting trolley 4 when any one of the predetermined first to fourth running restart conditions is met. However, the embodiment is not limited to this. The running restart process only needs to be executed when any one of the predetermined at least two running restart conditions is met.

[0079] In other words, for example, the trolley control unit 43 may execute a driving restart process when either of the following conditions is met: the detection unit 41 no longer detects obstacles (first driving restart condition), or a driving instruction to the opposite side from the side where the obstacle is detected is input to the input unit 42 (second driving restart condition).

[0080] For example, the trolley control unit 43 may also execute a restart process when either of the following conditions is met: the detection unit 41 no longer detects obstacles (first restart condition), or the unit control unit 51 sends a signal specifying the winding unit 2 located on the opposite side from where the obstacle is detected as the destination (third restart condition or fourth restart condition).

[0081] Furthermore, for example, the trolley control unit 43 may execute the restart process when either of the following conditions is met: the detection unit 41 no longer detects obstacles (first restart condition), or the unit control unit 51 sends a completion signal specifying the winding unit 2 located on the opposite side from where the obstacle is detected as the destination (third restart condition).

[0082] Furthermore, in the above-described embodiment, the trolley control unit 43 maintains the stopped state when an obstacle is detected by the detection unit 41 while the lifting trolley 4 is waiting in a stopped state until the package P is completed at the winding unit 2 to which it is moving. However, the invention is not limited to this. That is, for example, the trolley control unit 43 may control the lifting trolley 4 to move away from the obstacle when an obstacle is detected by the detection unit 41 while the lifting trolley 4 is waiting in a stopped state.

[0083] Furthermore, in the above-described embodiment, the trolley control unit 43 was shown to perform a standby restart process to resume the movement of the lifting trolley 4 when a travel instruction is input to the input unit 42 while the lifting trolley 4 is waiting in a stopped state until the package P is completed at the winding unit 2 at the destination. However, the invention is not limited to this. That is, for example, the trolley control unit 43 does not have to perform a standby restart process to resume the movement of the lifting trolley 4 when the lifting trolley 4 is waiting in a stopped state.

[0084] In addition, although the above embodiment described a case in which the input unit 42 is provided on the lifting trolley 4, the invention is not limited to this. For example, the input unit 42 may be provided on the machine stand control device 5. Alternatively, for example, the input unit 42 may be provided on a tablet terminal or the like that can communicate wirelessly with the lifting trolley 4.

[0085] Furthermore, in the above-described embodiment, the bogie control unit 43 executes a restart process when it receives a completion signal if it executes a stop process while moving to a winding unit 2 in a completed state, and executes a restart process when it receives a completion warning signal if it executes a stop process while moving to a winding unit 2 in a near-completion state. However, it is not limited to this. That is, for example, the bogie control unit 43 may also execute a restart process when it receives a completion warning signal if it executes a stop process while moving to a winding unit 2 in a completed state. Also, the bogie control unit 43 may also execute a restart process when it receives a completion signal if it executes a stop process while moving to a winding unit 2 in a near-completion state.

[0086] In addition, in the above-described embodiment, the lifting trolley 4 has a trolley control unit 43, and the trolley control unit 43 functions as the control unit of the present invention. For example, the machine stand control device 5 can also be given the functions of the control unit of the present invention. However, in that case, it is necessary to first send a completion signal and a completion notification signal from the unit control unit 51 to the machine stand control device 5, and the machine stand control device 5 must decide which winding unit 2 to move the lifting trolley 4 to based on the signals received, and then issue a movement command 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, it is sufficient to directly send the completion signal and completion notification signal from the unit control unit 51 to the trolley control unit 43, thus shortening the control time lag.

[0087] Furthermore, in the above-described embodiment, each winding unit 2 has a unit control unit 51, and each unit control unit 51 functions as a signal transmitting unit of the present invention. For example, the machine base control device 5 could also be equipped with the function of a signal transmitting unit of the present invention, but in that case, progress information regarding the progress of package P formation for each winding unit 2 (such as the remaining time until completion) would have to be transmitted from each winding unit 2 to the machine base control device 5 at any time, which would increase the communication load. In this respect, if each unit control unit 51 functions as a signal transmitting unit of the present invention, it becomes unnecessary to transmit progress information from each unit control unit 51, and only a completion signal and a completion notification signal need to be transmitted, thereby reducing the communication load.

[0088] Furthermore, in the above-described embodiment, only one ball-lifting cart 4 is provided on the automatic winder 1. However, two or more ball-lifting carts 4 may be provided.

[0089] In addition, the above-described embodiment described the case in which the present invention is applied to the hoisting cart 4 of the automatic winder 1. However, the present invention can also be applied to other textile machines (e.g., spinning machines) that have multiple winding units and hoisting carts. [Explanation of Symbols]

[0090] 1. Automatic winder (textile machinery) 2-winding unit 4. Ball lifting cart 41 Detection unit 42 Input section 43. Bogie Control Unit (Control Unit) 52 Unit Control Unit (Signal Transmission Unit) P Package Q Winding pipe Y thread

Claims

1. Multiple winding units that wind thread onto a winding tube to form a package, A lifting cart is configured to move between the multiple winding units by traveling along the direction of arrangement of the multiple winding units, and removes the package at the destination winding unit to supply a new winding tube, It includes a control unit, The aforementioned lifting trolley has a detection unit that can detect obstacles present on one side and the other side of the lifting trolley in the aforementioned arrangement direction, The control unit, If the obstacle is detected by the detection unit on the front side in the direction of travel of the lifting trolley while the lifting trolley is in motion, a travel stop process is performed to stop the movement of the lifting trolley. A textile machine characterized by performing a restart process to restart the movement of the lifting trolley when, after performing the aforementioned stop process, one of at least two predetermined restart conditions is met.

2. It is equipped with a signal transmitting unit that transmits signals related to the movement of the aforementioned lifting cart. The aforementioned conditions for resuming driving are: The detection unit will no longer be able to detect the obstacle, and The textile machine according to claim 1, wherein the signal transmitting unit transmits a signal designating, among the plurality of winding units, the winding unit located on one side and the other side opposite to the side where the obstacle is detected by the detection unit, from the winding cart which is stopped due to the running stop process, as the destination.

3. It is equipped with an input unit that can input instructions for the lifting trolley to travel to one side and the other side, respectively. The aforementioned conditions for resuming driving are: The detection unit will no longer be able to detect the obstacle, and The textile machine according to claim 1, wherein the input unit receives the driving instruction to the side opposite to the side on which the obstacle is detected by the detection unit.

4. An input unit that can input instructions for the lifting trolley to travel to one side and the other side, It includes a signal transmitting unit that transmits signals related to the movement of the aforementioned lifting cart, The aforementioned conditions for resuming driving are: The detection unit will no longer detect the obstacle. The input unit receives the driving instruction for the side opposite to the side on which the obstacle is detected by the detection unit, and The textile machine according to claim 1, wherein the signal transmitting unit transmits a signal designating, among the plurality of winding units, the winding unit located on one side and the other side opposite to the side where the obstacle is detected by the detection unit, from the winding cart which is stopped due to the running stop process, as the destination.

5. The textile machine according to any one of claims 1 to 4, wherein the control unit maintains the stopped state when the lifting trolley is waiting in a stopped state until the package is completed at the winding unit at the destination, and the detection unit detects the obstacle.

6. The textile machine according to claim 3 or 4, wherein the control unit, when the lifting cart is waiting in a stopped state until the package is completed at the winding unit at the destination, executes a waiting restart process to restart the lifting cart when the travel instruction is input to the input unit.

7. The textile machine according to claim 3 or 4, wherein the input unit is provided on the lifting trolley.

8. When the winding unit reaches a completed state in which the package is finished, the signal transmitting unit transmits a completion signal designating the winding unit as the destination of the lifting trolley. The control unit, If the vehicle is moving to the winding unit designated as the destination by the completion signal transmitted from the signal transmitting unit, and the vehicle is in the process of stopping its movement, The textile machine according to claim 2 or 4, which, after performing the running stop process, has the signal transmitting unit transmit a completion signal designating one of the plurality of winding units as the destination, which is located on the side opposite to the side of the lifting cart that has stopped due to the running stop process, and which is on the other side of the other side that the detection unit has detected the obstacle on.

9. When the winding unit reaches a near-completion state where the remaining time until completion is less than or equal to a predetermined length, the signal transmitting unit transmits a completion notification signal designating the winding unit as the destination of the lifting trolley. The control unit, If the vehicle is moving to the winding unit specified by the completion notification signal transmitted from the signal transmitting unit, the vehicle stops moving while the vehicle is in transit. The textile machine according to claim 8, in which, after the running stop process is performed, the signal transmitting unit transmits a completion notification signal designating one of the plurality of winding units as the destination, which is located on the side opposite to the side of the lifting cart that has stopped due to the running stop process, and the other side of the other side that is opposite to the side where the obstacle has been detected by the detection unit.

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