Bobbin transport system and bobbin transport method

Abstract

To provide a bobbin conveying system improving efficiency of bobbin conveyance.SOLUTION: The number of rows of stocker pegs 26 provided in a stocker 20 is more than the number of rows of carriage pegs 13 with which a traveling creel carriage 10 is provided only by one. A first process and a second process are alternatively carried out by a conveyance control computer 40 in a state in which one row of the stocker pegs 26 has no bobbin and all of the other rows have empty bobbins 6 placed, which allows replacement of an empty bobbin 6 in the stocker 20 for a full bobbin 5 of the traveling creel carriage 10. In the first process, the full bobbins 5 placed in one row of the carriage pegs 13 are moved to one row of the stocker pegs 26 having no bobbin. In the second process, the empty bobbins 6 in one row placed in the stocker pegs 26 are moved to the carriage pegs 13 in one row where the full bobbin 5 has been picked up in the first process. The traveling creel carriage 10 conveys the full bobbin 5 to the stocker 20 to be replaced for the empty bobbin 6 in the stocker 20 and convey the empty bobbin 6.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to bobbin transport in a yarn processing machine such as a false twisting machine. [Background technology]

[0002] Patent Document 1 discloses a package transfer method that is applied to a winding machine, etc. In this transfer method, when a package on a creel becomes empty during operation of the winding machine and needs to be replaced with a full package, the package is replaced via a creel loader that holds the full package horizontally.

[0003] An empty package can be called an empty bobbin, and a full package can be called a full bobbin.

[0004] In the configuration of Patent Document 1, a full package is temporarily placed on a package supporter before being hung on a creel. Pegs for hanging the package are provided on both sides of the package supporter. Initially, a full package is hung on one side of the package supporter, and the pegs on the other side are left empty. At this time, the side of the package supporter with the empty pegs faces the creel loader.

[0005] The creel loader picks up the empty package from the winder's creel, transfers it to the package supporter, and hangs it on the peg without a package.The package supporter then turns over, so that the side with the full package hangs faces the creel loader.

[0006] The creel loader transfers the full package from the package supporter to the winder's creel at the same location where the empty package was picked up.The creel loader then picks up the adjacent empty package from the creel and transfers it to the package supporter.

[0007] During this time, the empty package is removed from the package supporter and a full package is suspended in its place.

[0008] Patent Document 2 discloses a package conveying method used in a weft yarn supply system for a loom, etc. In Patent Document 2, a package conveying vehicle capable of holding multiple packages supplies the packages to the weft yarn supply system and can collect empty tubes.

[0009] An empty tube can be referred to as an empty bobbin, and a package can be referred to as a full bobbin.

[0010] The package transport vehicle has a plurality of chucks. The package transport vehicle receives a plurality of packages at a receiving station. At the receiving station, packages are gripped by the plurality of chucks of the package transport vehicle, but at least one chuck remains empty. The package transport vehicle travels from the receiving station to a weft yarn station. At the weft yarn station, the package transport vehicle grips an empty tube in the chuck empty of a package and supplies a package in place of the chuck. [Prior art documents] [Patent documents]

[0011] [Patent Document 1] Japanese Patent Application Publication No. 4-280777 [Patent Document 2] Japanese Patent Application Publication No. 5-319696 Summary of the Invention [Problem to be solved by the invention]

[0012] In a bobbin transport system applied to a yarn processing machine such as a false twisting machine, there is a demand for improved efficiency in transporting empty and full bobbins.

[0013] In Patent Document 1, it is unclear how the empty package is handled after it is removed from the package supporter.

[0014] In Patent Document 2, when the package transport vehicle receives a package at the receiving station, one chuck must always remain empty of a package, making it difficult to improve transport efficiency.

[0015] The present invention has been made in view of the above circumstances, and an object of the present invention is to improve the overall transport efficiency of both empty and full bobbins.

[0016] The problem to be solved by the present invention is as described above. Next, the means for solving this problem and the effects thereof will be explained.

[0017] According to a first aspect of the present invention, there is provided a bobbin transport system having the following configuration. That is, the bobbin transport system includes a stocker, a bobbin transfer robot, a traveling creel cart, and a control device. The stocker has multiple rows of stocker pegs and is capable of storing full bobbins and empty bobbins by hanging them on each stocker peg. The bobbin transfer robot removes full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker. The traveling creel cart has multiple rows of cart pegs and transports full or empty bobbins by hanging them on each cart peg. The control device controls the stocker and the traveling creel cart. The stocker is configured to be able to move full bobbins hung on the cart pegs of the traveling creel cart to the stocker pegs, and to move empty bobbins hung on the stocker pegs to the cart pegs. The number of rows of stocker pegs on one stocker is equal to the number of rows of carriage pegs on one traveling creel carriage plus one. The control device controls the stocker and the traveling creel carriage to cooperatively perform an exchange operation to exchange empty bobbins in the stocker with full bobbins on the traveling creel carriage by alternately performing a first step and a second step in a state in which one row of stocker pegs is in an empty state and empty bobbins are hung on all of the remaining rows. In the first step, full bobbins hung on one row of carriage pegs on the traveling creel carriage are moved to one row of stocker pegs that is in an empty state, thereby leaving one row of carriage pegs in an empty state. In the second step, the row of empty bobbins hung on the stocker pegs is moved to the row of cart pegs from which full bobbins have been removed in the first step and which are now in a bobbin-free state, thereby leaving the row of stocker pegs in a bobbin-free state. The control device controls the traveling creel cart so that the traveling creel cart transports full bobbins to the stocker to exchange them for empty bobbins in the stocker, and then transports the empty bobbins to a location different from the stocker.

[0018] This allows full bobbins hung on the carriage pegs of all rows of the traveling creel carriage to be stored in the stocker. Also, empty bobbins in the stocker can be hung on the carriage pegs of all rows of the traveling creel carriage that transported the full bobbins and transported to another location. Since transportation can be performed with full or empty bobbins hung on the carriage pegs of all rows of the traveling creel carriage, the entire transport capacity of the traveling creel carriage can be effectively utilized. Since the replacement work begins when one row of stocker pegs in the stocker is empty of bobbins, the bobbin replacement work between the stocker and the traveling creel carriage can be carried out smoothly.

[0019] The bobbin transport system is preferably configured as follows: the number of stages of the stocker pegs in one stocker is equal to the number of stages of the carriage pegs in one traveling creel carriage, and the control device controls the stocker and the traveling creel carriage so that, in the replacement operation, all empty bobbins in the stocker are replaced with all full bobbins in the traveling creel carriage.

[0020] This can further improve the transport efficiency.

[0021] The bobbin transport system is preferably configured as follows: the traveling creel carriage transports the full bobbins from the installation position of the take-up winder, which winds yarn onto the empty bobbins to form full bobbins, to the installation position of the stocker, and the traveling creel carriage transports the empty bobbins taken up during the replacement work from the installation position of the stocker to the installation position of the take-up winder.

[0022] This makes it possible to realize an automatic recycling system for empty bobbins.

[0023] The bobbin transport system is preferably configured as follows: The stocker pegs are capable of circulating along a loop path, and the row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes with the circulating movement.

[0024] This allows the row of stocker pegs for transferring bobbins to be switched in a short time.

[0025] In the bobbin transport system, it is preferable that the bobbin transfer robot waits without removing the full bobbin from the stocker while the replacement operation is being performed.

[0026] This eliminates the need to interrupt the exchange work between the traveling creel carriage and the stocker, thereby reducing the downtime of the traveling creel carriage.

[0027] According to a second aspect of the present invention, there is provided the following bobbin transport method. That is, this bobbin transport method is applied to a system including a stocker, a bobbin transfer robot, and a traveling creel cart. The stocker has multiple rows of stocker pegs and is capable of storing full bobbins and empty bobbins by hanging them on each stocker peg. The bobbin transfer robot removes full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker. The traveling creel cart has multiple rows of cart pegs and transports full or empty bobbins by hanging them on each cart peg. The stocker is configured to be able to move full bobbins hung on the cart pegs of the traveling creel cart to the stocker pegs, and to move empty bobbins hung on the stocker pegs to the cart pegs. The number of rows of stocker pegs on one stocker is equal to the number of rows of carriage pegs on one traveling creel carriage plus one. In the bobbin transport method, when one row of the stocker pegs is empty and empty bobbins are hung on all of the remaining rows, a first step and a second step are alternately performed to exchange the empty bobbins on the stocker for full bobbins on the traveling creel carriage. In the first step, full bobbins hung on one row of carriage pegs on the traveling creel carriage are moved to the one row of stocker pegs that is empty of bobbins, thereby leaving the one row of carriage pegs empty of bobbins. In the second step, the one row of empty bobbins hung on the stocker pegs are moved to the one row of carriage pegs from which the full bobbins were removed in the first step and that is now empty of bobbins, thereby leaving the one row of stocker pegs empty of bobbins. The traveling creel carriage transports the full bobbin to the stocker, exchanges it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a perspective view showing the overall configuration of a bobbin transport system according to an embodiment of the present invention; [Figure 2]FIG. 2 is an enlarged perspective view showing the configuration of the vicinity of the stocker. [Figure 3] FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the first row of carriage pegs on the traveling creel carriage to the stocker pegs. [Figure 4] FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of a stocker to a carriage peg in the first row. [Figure 5] FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the second row of carriage pegs on the traveling creel carriage to the stocker pegs. [Figure 6] FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of the stocker to a carriage peg in the second row. [Figure 7] FIG. 10 is a schematic plan view showing the operation of moving a full bobbin from the third row of carriage pegs on the traveling creel carriage to the stocker pegs. [Figure 8] FIG. 10 is a schematic plan view showing an operation of moving an empty bobbin from a stocker peg of the stocker to a carriage peg in the third row. [Figure 9] FIG. 10 is a schematic plan view showing the operation of transferring a full bobbin from a stocker peg of the stocker to a creel robot. [Figure 10] FIG. 10 is a schematic plan view showing the operation of the creel robot removing an empty bobbin from the creel of the draw texturing machine. [Figure 11] FIG. 10 is a schematic plan view showing the operation of a creel robot setting a full bobbin on the creel of a draw texturing machine. [Figure 12] FIG. 10 is a schematic plan view showing the operation of transferring an empty bobbin from the creel robot to a stocker peg of the stocker. DETAILED DESCRIPTION OF THE INVENTION

[0029] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view showing the overall configuration of a bobbin transport system 1 according to an embodiment of the present invention. Fig. 2 is an enlarged perspective view showing the configuration around a stocker 20.

[0030] The bobbin transport system 1 shown in FIG. 1 transports full bobbins from a take-up winder 60 to a draw texturing machine 70.

[0031] The draw texturing machine 70 is a type of false twisting machine, which is also a type of yarn processing machine. Other types of yarn processing machines include air processing machines. The draw texturing machine 70 can produce a draw texturing yarn called DTY by drawing and false twisting a semi-drawn yarn (partially oriented yarn) called POY, which is a type of yarn. POY is an abbreviation for Partially Oriented Yarn. DTY is an abbreviation for Draw Textured Yarn. The draw texturing machine 70 has multiple processing positions for drawing and false twisting.

[0032] The full bobbin 5 is formed by winding a predetermined length of POY around a core tube. The full bobbin 5 is formed by producing POY in the spinning device of the take-up winder 60 and winding the POY around a core tube in the winding device of the take-up winder 60.

[0033] The full bobbin 5 is set on a creel 71 provided in the draw texturing machine 70. The creel 71 is provided with a large number of pegs 72 arranged in multiple rows and multiple stages. The full bobbin 5 is hung on the pegs 72, and the yarn is unwound from the full bobbin 5 toward the processing position.

[0034] The bobbin transport system 1 includes a traveling creel cart 10, a stocker 20, a creel robot (transfer robot) 30, and a transport control computer (control device) 40.

[0035] The traveling creel carriage 10 includes a traveling section 11 and a carrier 12.

[0036] The traveling section 11 is provided so as to be able to travel along a rail 15 laid on the ceiling. The rail 15 is arranged so as to connect the installation position of the take-up winder 60 and the installation position of the stocker 20.

[0037] The carrier 12 is arranged so as to be suspended from the running part 11. The carrier 12 is configured in a frame shape. A plurality of carriage pegs 13 are fixed to the side of the carrier 12. A full bobbin 5 or an empty bobbin 6 can be hung on each carriage peg 13. In the carrier 12, the carriage pegs 13 are arranged in a matrix of three rows horizontally and four rows vertically.

[0038] As shown in Fig. 2, each of the carriage pegs 13 is composed of two rod-shaped members arranged at an appropriate interval in the horizontal direction. After inserting a rod member into the core tube of a bobbin hung on the carriage peg 13, the rod member moves up between the rod-shaped members, allowing the bobbin to be hung on the rod member. Also, with two rod-shaped members inserted into the core tube of a bobbin hung on the rod member, the rod member moves down between the rod-shaped members, allowing the bobbin to be hung on the carriage peg 13. The stocker peg 26 and the peg 72 of the creel 71, which will be described later, are also composed of two rod-shaped members, just like the carriage peg 13.

[0039] As shown by the dotted line in FIG. 1 , the traveling creel cart 10 stops at a first stop position S1 near the take-up winder 60. Full bobbins 5 are supplied from the take-up winder 60 to the traveling creel cart 10 stopped at the first stop position S1. The number of full bobbins 5 supplied is 3 × 4 = 12. The traveling creel cart 10 loaded with full bobbins 5 travels toward the stocker 20. The traveling creel cart 10 stops at a second stop position S2 near the stocker 20. At the second stop position S2, the traveling creel cart 10 supplies 12 full bobbins 5 to the stocker 20.

[0040] The traveling creel cart 10 unloads 12 full bobbins 5 and transports them to the stocker 20, while simultaneously transporting 12 empty bobbins 6 from the stocker 20. The traveling creel cart 10 loaded with empty bobbins 6 travels toward the take-up winder 60. The traveling creel cart 10 stops at a first stop position S1. The traveling creel cart 10 unloads 12 empty bobbins 6 and transports them to the take-up winder 60, and simultaneously transports 12 full bobbins 5 from the take-up winder 60. The traveling creel cart 10 loaded with full bobbins 5 travels toward the stocker 20. The traveling creel cart 10 stops again at the first stop position S1. The above operations are repeated.

[0041] 2, the stocker 20 includes four traveling units 21 and a transfer rod 22. Each traveling unit 21 includes a traveling portion 23 and a peg frame 24.

[0042] The traveling section 23 is provided so as to be able to travel along a rail 25. The rail 25 is arranged so as to have an oval shape in a plan view. The four traveling units 21 are arranged so as to divide the loop-shaped path defined by the rail 25 into four equal parts.

[0043] The peg frame 24 is formed in the shape of a vertically elongated rod. A plurality of stocker pegs 26 are fixed to the peg frame 24. A full bobbin 5 or an empty bobbin 6 can be hung on each stocker peg 26. In each peg frame 24, four stocker pegs 26 are arranged vertically. Since there are four traveling units 21, the stocker 20 has 4 x 4 = 16 stocker pegs 26.

[0044] In a plan view, the stocker pegs 26 are arranged so as to protrude outward from the loop-shaped rail 25. The orientation of the stocker pegs 26 changes as the traveling unit 21 travels along the rail 25. This allows the orientation of the full bobbin 5 or empty bobbin 6 hung on the stocker pegs 26 to be changed.

[0045] The four traveling units 21 are fixed to an endless driving member (not shown). This driving member can be configured as, for example, a chain or a belt. The driving member is disposed substantially parallel to the rail 25. By driving this driving member with an actuator (not shown), the four traveling units 21 can travel simultaneously along the rail 25.

[0046] The transfer rod 22 is positioned to correspond to a predetermined position of the traveling unit 21. This predetermined position is the position where the stocker peg 26 transfers the bobbin to and from the carriage peg 13 of the traveling creel carriage 10 stopped near the stocker 20. Hereinafter, the position of the stocker peg 26 when the traveling unit 21 is in this position may be referred to as the first transfer position P1. The stocker peg 26 at the first transfer position P1 faces the carriage peg 13 of the traveling creel carriage 10 stopped at the second stop position S2. The carriage pegs 13 are arranged in three rows on the traveling creel carriage 10, but which row of carriage pegs 13 faces the stocker peg 26 at the first transfer position P1 can be changed by adjusting the stop position of the traveling creel carriage 10.

[0047] The transfer rod 22 is a rod-shaped member arranged generally horizontally. Four transfer rods 22 are arranged vertically in correspondence with the stocker pegs 26. Four through holes 27 are formed in the peg frame 24 in correspondence with the stocker pegs 26. The transfer rod 22 can move in a direction approaching or away from the traveling creel cart 10 stopped at the second stop position S2. When the transfer rod 22 moves in a direction approaching the traveling creel cart 10, the transfer rod 22 passes through the through holes 27 and protrudes toward the traveling creel cart 10.

[0048] The four transfer rods 22 are fixed to a common base member 28 that is elongated in the vertical direction. The base member 28 is fixed to the frame of the stocker 20 via a guide mechanism (not shown). The guide mechanism guides the movement direction of the base member 28.

[0049] Although not shown, the stocker 20 is equipped with actuators for driving the base member 28 in the horizontal and vertical directions. When the transfer rod 22 moves upward between the two rod-shaped members of the carriage peg 13, the full bobbin 5 hung on the carriage peg 13 can be lifted by the transfer rod 22. When the transfer rod 22 moves upward between the two rod-shaped members of the stocker peg 26, the empty bobbin 6 hung on the stocker peg 26 can be lifted by the transfer rod 22. When the transfer rod 22 moves downward, the lifted state is released.

[0050] The transfer rod 22 moves in the longitudinal direction while lifting up the bobbin, thereby allowing the bobbin to be transferred between the carriage peg 13 and the stocker peg 26.

[0051] Consider a case where the stocker peg 26 at the first transfer position P1 faces the carriage peg 13, the stocker peg 26 has no bobbin, and a full bobbin 5 is hung on the carriage peg 13. The transfer rod 22 lifts the full bobbin 5 hung on the carriage peg 13, pulls it toward the stocker peg 26, and then releases the lift. This allows the full bobbin 5 to be moved from the carriage peg 13 to the stocker peg 26.

[0052] Consider a case where the stocker peg 26 at the first transfer position P1 and the carriage peg 13 face each other, an empty bobbin is hung on the stocker peg 26, and the carriage peg 13 has no bobbin. The transfer rod 22 lifts up the empty bobbin 6 hung on the stocker peg 26, pushes it toward the carriage peg 13, and then releases the lifting. This allows the empty bobbin 6 to be moved from the stocker peg 26 to the carriage peg 13.

[0053] The four transfer rods 22 move simultaneously together with the base member 28. Therefore, full bobbins 5 or empty bobbins 6 are transferred simultaneously for four stages.

[0054] The creel robot 30 includes a working head 31, a full bobbin transport rod 32, and an empty bobbin transport rod 33.

[0055] The working head 31 is movable in a direction parallel to the direction in which the multiple pegs 72 are horizontally arranged on the creel 71. By moving in the above direction, the working head 31 can move between the stocker 20 and the creel 71. In addition, the working head 31 is movable in the vertical direction. The configuration for moving the working head 31 in this manner can be achieved by combining a known XY drive mechanism and an actuator.

[0056] The full bobbin transport rod 32 and the empty bobbin transport rod 33 are disposed below the work head 31. Both the full bobbin transport rod 32 and the empty bobbin transport rod 33 are formed in the shape of a long, thin rod. In a plan view, the longitudinal directions of the full bobbin transport rod 32 and the empty bobbin transport rod 33 differ by 90°. The work head 31 is equipped with a rotation actuator (not shown), which can rotate the full bobbin transport rod 32 and the empty bobbin transport rod 33 around a vertical axis.

[0057] Although not shown, the work head 31 is equipped with actuators for driving the full bobbin transport rod 32 in the horizontal and vertical directions. When the full bobbin transport rod 32 moves upward between the two rod-shaped members of the stocker peg 26, the full bobbin 5 hung on the stocker peg 26 can be lifted by the full bobbin transport rod 32. The full bobbin transport rod 32 can move in its longitudinal direction and can also rotate together with the work head 31. When the full bobbin transport rod 32 moves downward between the two rod-shaped members of a peg 72 (described later) provided on the creel 71, the lifted state of the full bobbin 5 is released.

[0058] Similarly, the work head 31 is equipped with actuators for driving the empty bobbin transport rod 33 in the horizontal and vertical directions. When the empty bobbin transport rod 33 moves upward between two rod-shaped members of a peg 72 (described later), the empty bobbin 6 hung on the peg 72 can be lifted by the empty bobbin transport rod 33. The empty bobbin transport rod 33 can move in its longitudinal direction and can also rotate together with the work head 31. When the empty bobbin transport rod 33 moves downward between the two rod-shaped members of the stocker peg 26, the lifted state of the empty bobbin 6 is released.

[0059] When an empty bobbin 6 is detected on any of the pegs 72 of the creel 71, the creel robot 30 moves the working head 31 to a position corresponding to a predetermined position of the traveling unit 21 provided in the stocker 20. This predetermined position is a position where the stocker peg 26 transfers the bobbin to the full bobbin transport rod 32 or empty bobbin transport rod 33 of the working head 31 that is stationary near the stocker 20. Hereinafter, the position of the stocker peg 26 when the traveling unit 21 is in this position may be referred to as the second transfer position P2.

[0060] As will be described in more detail later, the creel robot 30 can use a full bobbin transport rod 32 and an empty bobbin transport rod 33 to exchange a full bobbin 5 hung on the stocker peg 26 at the second transfer position P2 with an empty bobbin 6 generated on the creel 71.

[0061] Next, the operation of exchanging a full bobbin 5 and an empty bobbin 6 performed between the traveling creel cart 10 and the stocker 20 will be described in detail. Figures 3 to 12 show the operations of the traveling creel cart 10, the stocker 20, and the creel robot 30 in order. The following control is realized by the transport control computer 40 shown in Figure 1 and other figures, and computers (not shown) provided in each of the traveling creel cart 10, the stocker 20, and the creel robot 30. The transport control computer 40 performs integrated control of the computers provided in each of the traveling creel cart 10, the stocker 20, and the creel robot 30.

[0062] As described above, the stocker 20 has four rows of stocker pegs 26. As shown in Fig. 3, empty bobbins 6 are hung on three of the four rows of stocker pegs 26, while the remaining row is empty of bobbins. The stocker 20 waits for the arrival of the traveling creel cart 10 with the row of stocker pegs 26 empty of bobbins at the first transfer position P1.

[0063] As shown in FIG. 3, the traveling creel cart 10 loaded with full bobbins 5 stops at the second stop position S2. At this time, the row of cart pegs 13 corresponding to the row at the front of the traveling creel cart 10 in the traveling direction faces the stocker pegs 26 without bobbins at the first transfer position P1. In this state, the stocker 20 operates the transfer rod 22. The transfer rod 22 lifts the full bobbins 5 hanging on the cart pegs 13, moves them to the stocker pegs 26, and sets them down. Four levels of full bobbins 5 are moved simultaneously. Then, the stocker 20 moves the four traveling units 21 one pitch along the rails 25. In the stocker 20, a pitch refers to the interval at which multiple traveling units 21 are arranged on the travel path.

[0064] As a result, the stocker peg 26 on which the full bobbin 5 is hung moves from the first transfer position P1 to another location, and instead, the stocker peg 26 at the other location reaches the first transfer position P1 while holding the empty bobbin 6. The stocker peg 26 that has moved to the first transfer position P1 faces the carriage peg 13 from which the full bobbin 5 was removed. This state is shown in Figure 4.

[0065] The stocker 20 operates the transfer rod 22 to move the empty bobbin 6 that was hanging on the stocker peg 26 to the carriage peg 13, as shown in Figure 4. Then, the traveling creel carriage 10 moves forward one pitch of the row of carriage pegs 13 and stops. As a result, the row of carriage pegs 13 facing the stocker peg 26 at the first transfer position P1 shifts backward by one row.

[0066] The operations shown in Figures 5 and 7 are the same as those described in Figure 3, and therefore their explanations will be omitted. The operations shown in Figures 6 and 8 are the same as those described in Figure 4, and therefore their explanations will be omitted.

[0067] In this manner, in this embodiment, the following operations are alternately repeated for three rows: [A] moving full bobbins 5 from one row of carriage pegs 13 to stocker pegs 26 with no bobbins; and [B] moving empty bobbins 6 from one row of stocker pegs 26 to carriage pegs 13 with no bobbins.

[0068] This allows three rows (12 bobbins) of full bobbins 5 on the traveling creel cart 10 to be exchanged for three rows (12 empty bobbins 6) on the stocker 20. As shown in Fig. 8, the traveling creel cart 10 loaded with 12 empty bobbins 6 moves from the second stop position S2 to the first stop position S1. This allows the empty bobbins 6 to be automatically returned to the take-up winder 60 for reuse.

[0069] While the bobbin replacement for one row is repeated three times, the creel robot 30 waits without removing full bobbins 5 from the stocker 20 so as not to interrupt the bobbin replacement work between the traveling creel cart 10 and the stocker 20. Therefore, the bobbin replacement work between the traveling creel cart 10 and the stocker 20 can be performed quickly. The creel robot 30 waits without performing any particular work. After all the empty bobbins 6 in the stocker 20 have been replaced with full bobbins 5, the creel robot 30 retrieves the empty bobbins 6 and supplies full bobbins 5 based on a request from the draw texturing machine 70.

[0070] Specifically, the creel robot 30 moves the working head 31 to a position corresponding to one of the four stocker pegs 26 at the second transfer position P2. The creel robot 30 also rotates the lower part of the working head 31 so that the full bobbin transport rod 32 faces the target stocker peg 26, as shown in FIG. 9. The creel robot 30 operates the full bobbin transport rod 32 and inserts it into the core tube of the full bobbin 5 hung on the stocker peg 26. Next, the full bobbin transport rod 32 rises slightly to lift up the full bobbin 5, and then moves away from the stocker peg 26.

[0071] Thereafter, the creel robot 30 moves the working head 31 to a position corresponding to the peg 72 on the creel 71 where the empty bobbin 6 has occurred. In parallel with the movement of the working head 31, the creel robot 30 rotates the lower part of the working head 31 so that the empty bobbin transport rod 33 faces the creel 71.

[0072] After the work head 31 arrives at the target position, the creel robot 30 operates the empty bobbin transport rod 33, as shown in Figure 10, and inserts the empty bobbin transport rod 33 into the core tube of the empty bobbin 6 hung on the peg 72. At this time, the orientation of the tip of the peg 72 of the creel 71 is temporarily changed so that it faces the empty bobbin transport rod 33. The orientation of the peg 72 can be changed, for example, by providing the work head 31 with a turning mechanism (not shown) that rotates the peg 72. Next, the empty bobbin transport rod 33 rises slightly to pick up the empty bobbin 6, and then moves away from the peg 72.

[0073] The creel robot 30 rotates the lower part of the work head 31 so that the full bobbin transport rod 32 faces the peg 72. Next, as shown in FIG. 11, the creel robot 30 operates the full bobbin transport rod 32, moving it above the peg 72 and approaching the base of the peg 72. As a result, the peg 72 is inserted into the core tube of the full bobbin 5 that is moving together with the full bobbin transport rod 32. The full bobbin transport rod 32 then descends slightly, and the lifted state is released. This allows the full bobbin 5 to be hung on the peg 72. The peg 72 then returns to its original orientation.

[0074] Next, the creel robot 30 moves the working head 31 to a position at the second transfer position P2 corresponding to the stocker peg 26 from which the full bobbin 5 was removed. In parallel with the movement of the working head 31, the creel robot 30 rotates the lower part of the working head 31 so that the empty bobbin transport rod 33 faces the stocker 20.

[0075] After the work head 31 has reached its target position, the creel robot 30 operates the empty bobbin transport rod 33 as shown in FIG. 12, moving it above the stocker peg 26 and approaching the base of the stocker peg 26. As a result, the stocker peg 26 is inserted into the core tube of the empty bobbin 6 that is moving together with the empty bobbin transport rod 33. The empty bobbin transport rod 33 then descends slightly, and the lifted state is released. This allows the empty bobbin 6 to be hung on the stocker peg 26. The creel robot 30 then waits for a new request from the draw texturing machine 70.

[0076] The creel robot 30 supplies full bobbins 5 to the creel 71 and collects empty bobbins 6 in response to requests from the draw texturing machine 70 until all 12 full bobbins 5 stored in the stocker 20 have been replaced with empty bobbins 6. Unlike the transfer rod 22 of the stocker 20, which simultaneously replaces four rows of bobbins, the creel robot 30 replaces bobbins one row at a time. When all of the full bobbins 5 hung on the four stocker pegs 26 at the second transfer position P2 have been used, the stocker 20 is driven. This allows the traveling unit 21, with full bobbins 5 hung on the stocker pegs 26, to move from another location to the second transfer position P2. When all of the full bobbins 5 stored in the stocker 20 are used up, the stocker 20 outputs a stock request signal and waits for the traveling creel cart 10 loaded with full bobbins 5 to arrive at the second stop position S2. When the traveling creel carriage 10 arrives, the state returns to that shown in FIG. 3, and the above operations are repeated.

[0077] As described above, the bobbin transport system 1 of this embodiment includes the stocker 20, the creel robot 30, the traveling creel cart 10, and the transport control computer 40. The stocker 20 includes multiple rows of stocker pegs 26, and is capable of storing full bobbins 5 and empty bobbins 6 by hanging them on each stocker peg 26. The creel robot 30 removes full bobbins 5 stored in the stocker 20 and attaches them to the creel 71 of the draw texturing machine 70, and removes empty bobbins 6 from the creel 71 and stores them in the stocker 20. The traveling creel cart 10 includes multiple rows of cart pegs 13, and transports full bobbins 5 or empty bobbins 6 by hanging them on each cart peg 13. The transport control computer 40 controls the stocker 20 and the traveling creel cart 10. The stocker 20 is configured to be able to move full bobbins 5 hung on the carriage pegs 13 of the traveling creel cart 10 to the stocker pegs 26, and to move empty bobbins 6 hung on the stocker pegs 26 to the carriage pegs 13. The number of rows of stocker pegs 26 provided in one stocker 20 is equal to the number of rows of carriage pegs 13 provided in one traveling creel cart 10 plus one. The transfer control computer 40 controls the stocker 20 and the traveling creel cart 10 so that the stocker 20 and the traveling creel cart 10 cooperate to perform an exchange operation of exchanging empty bobbins 6 in the stocker 20 for full bobbins 5 on the traveling creel cart 10 by alternately performing a first step and a second step while one row of the stocker pegs 26 is in a state where there are no bobbins and empty bobbins 6 are hung on all of the remaining rows. In the first step (FIGS. 3, 5, and 7), the full bobbins 5 hung on one row of carriage pegs 13 of the traveling creel carriage 10 are moved to one row of stocker pegs 26 that are currently in a bobbin-free state, thereby leaving the row of carriage pegs 13 in a bobbin-free state. In the second step (FIGS. 4, 6, and 8), the row of empty bobbins 6 hung on the stocker pegs 26 are moved to one row of carriage pegs 13 from which the full bobbins 5 were removed in the first step and are now in a bobbin-free state, thereby leaving the row of stocker pegs 26 in a bobbin-free state. The transport control computer 40 controls the traveling creel carriage 10 so that the traveling creel carriage 10 transports the full bobbins 5 to the stocker 20 to exchange them for empty bobbins 6 in the stocker 20, and then transports the empty bobbins 6 to a location different from the stocker 20.

[0078] As a result, full bobbins 5 hung on the carriage pegs 13 of all rows of the traveling creel cart 10 can be stored in the stocker 20. Also, empty bobbins 6 in the stocker 20 can be hung on the carriage pegs 13 of all rows of the traveling creel cart 10 that transported the full bobbins 5 and transported to another location. Since transportation can be performed with full bobbins 5 or empty bobbins 6 hung on the carriage pegs 13 of all rows of the traveling creel cart 10, the entire transport capacity of the traveling creel cart 10 can be effectively utilized. Since the replacement work starts when one row of stocker pegs 26 in the stocker 20 is empty of bobbins, the bobbin replacement work between the stocker 20 and the traveling creel cart 10 can be performed smoothly.

[0079] In the bobbin transport system 1 of this embodiment, the number of stocker pegs 26 provided in one stocker 20 is equal to the number of carriage pegs 13 provided in one traveling creel carriage 10. The transport control computer 40 controls the stocker 20 and the traveling creel carriage 10 so that all empty bobbins 6 in the stocker 20 are replaced with all full bobbins 5 on the traveling creel carriage 10 during the replacement operation.

[0080] This can further improve the transport efficiency.

[0081] In the bobbin transport system 1 of this embodiment, the traveling creel cart 10 transports the full bobbin 5 from the installation position of the take-up winder 60, which winds yarn onto the empty bobbin 6 to form a full bobbin 5, to the installation position of the stocker 20. The traveling creel cart 10 transports the empty bobbin 6 that has been picked up for replacement work from the installation position of the stocker 20 back to the installation position of the take-up winder 60.

[0082] This makes it possible to realize an automatic reuse system for the empty bobbins 6.

[0083] In the bobbin transport system 1 of this embodiment, the stocker pegs 26 can circulate along a loop-shaped path defined by the rails 25. The row of the stocker pegs 26 that delivers the full bobbins 5 or the empty bobbins 6 to the carriage pegs 13 changes due to the circulating movement.

[0084] This allows the row of stocker pegs 26 for transferring bobbins to be switched in a short time.

[0085] In the bobbin transport system 1 of this embodiment, while the bobbin exchange operation is being performed between the traveling creel cart 10 and the stocker 20, the creel robot 30 waits without performing the operation of removing the full bobbin 5 from the stocker 20.

[0086] This prevents the bobbin exchange operation between the traveling creel carriage 10 and the stocker 20 from being interrupted, and reduces the downtime of the traveling creel carriage 10.

[0087] The preferred embodiment of the present invention has been described above, but the above configuration can be modified, for example, as follows. Each modification may be made alone, or multiple modifications may be made in any combination.

[0088] Each stocker peg 26 is made up of two rod-shaped members arranged in parallel. Alternatively, the stocker peg 26 can be made up of a single rod-shaped member. The same applies to the carriage pegs 13 and pegs 72.

[0089] The number of rows of the carriage pegs 13 in the traveling creel carriage 10 is not limited to three, but may be two or four or more. The number of rows of the stocker pegs 26 in the stocker 20 is not limited to four, but may be three or five or more. The number of rows of the carriage pegs 13 and the number of rows of the stocker pegs 26 can also be changed. The number of rows of the carriage pegs 13 and the number of rows of the stocker pegs 26 may be only one.

[0090] In the stocker 20, the traveling unit 21 may be configured to be able to travel along a non-loop path.

[0091] The rail 15 of the traveling creel carriage 10 may be configured in a non-loop shape.

[0092] The number of stages of the stocker pegs 26 is not limited to the same as the number of stages of the carriage pegs 13. For example, the number of stages of the carriage pegs 13 may be four, and the number of stages of the stocker pegs 26 may be two. In this case, one traveling creel carriage 10 supplies full bobbins 5 to two stockers 20.

[0093] The traveling creel carriage 10 can also transport the empty bobbins taken from the stocker 20 for replacement work to a location different from the take-up winder 60 (for example, a location for disposing of the empty bobbins 6). [Explanation of symbols]

[0094] 1. Bobbin transport system 5 full bobbins 6 empty bobbins 10 Traveling creel cart 13 Dolly Peg 20 Stocker 26 Stocker Peg 30 Creel robot (bobbin transfer robot) 40 Transport control computer (control device) 60 Spinning Winder 70 Stretch false twisting machine 71 Creel

Claims

1. a stocker having a plurality of rows of stocker pegs, each of which can store full bobbins and empty bobbins by hanging them on the stocker pegs; a bobbin transfer robot that takes out full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker; a traveling creel carriage having a plurality of rows of carriage pegs, which transports a full bobbin or an empty bobbin by hanging it on each carriage peg; a control device for controlling the stocker and the traveling creel carriage; Equipped with the stocker is configured to be able to move a full bobbin hung on the carriage peg of the traveling creel carriage to the stocker peg, and to move an empty bobbin hung on the stocker peg to the carriage peg, the number of rows of stocker pegs provided in one stocker is equal to the number of rows of carriage pegs provided in one traveling creel carriage plus one, The control device In a state where one row of the stocker pegs has no bobbins and empty bobbins are hung on all of the remaining rows, a first step of moving full bobbins hung on one row of carriage pegs of the traveling creel carriage to one row of the stocker pegs that is in a bobbin-free state, thereby leaving one row of the carriage pegs in a bobbin-free state; a second step of moving the row of empty bobbins hung on the stocker pegs to the row of carriage pegs from which the full bobbins have been removed in the first step and which are now in a bobbin-free state, thereby leaving the row of stocker pegs in a bobbin-free state; and controlling the stocker and the traveling creel cart so that the stocker and the traveling creel cart cooperate to perform an exchange operation of exchanging an empty bobbin in the stocker with a full bobbin on the traveling creel cart by alternately performing the above operations. A bobbin transport system characterized by controlling the traveling creel cart so that the traveling creel cart transports a full bobbin to the stocker, exchanges it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker.

2. 2. The bobbin transport system according to claim 1, the number of stages of the stocker pegs provided in one of the stockers is equal to the number of stages of the carriage pegs provided in one of the traveling creel carriages; a control device for controlling the stocker and the traveling creel cart so that, during the replacement operation, all empty bobbins in the stocker are replaced with all full bobbins on the traveling creel cart;

3. 3. The bobbin transport system according to claim 1, the traveling creel carriage transports the full bobbin from an installation position of a take-up winder that winds yarn onto an empty bobbin to form a full bobbin to an installation position of the stocker; The bobbin transport system is characterized in that the traveling creel cart transports the empty bobbins taken over during the replacement work from an installation position of the stocker to an installation position of the take-up winder.

4. 3. The bobbin transport system according to claim 1, The stocker peg is circulatively movable along a looped path; A bobbin transport system characterized in that the row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes by circular movement.

5. A bobbin transport system as described in claim 3, The stocker peg is circulatively movable along a looped path; A bobbin transport system characterized in that the row of stocker pegs that delivers full or empty bobbins to the carriage pegs changes by circular movement.

6. 3. The bobbin transport system according to claim 1, the control device is configured to control the bobbin transfer robot; a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed;

7. A bobbin transport system according to claim 3, the control device is configured to control the bobbin transfer robot; a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed;

8. A bobbin transport system according to claim 4, the control device is configured to control the bobbin transfer robot; a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed;

9. A bobbin transport system according to claim 5, the control device is configured to control the bobbin transfer robot; a bobbin transport system that controls the bobbin transfer robot so that the bobbin transfer robot waits without removing a full bobbin from the stocker while the replacement operation is being performed;

10. a stocker having a plurality of rows of stocker pegs, each of which can store full bobbins and empty bobbins by hanging them on the stocker pegs; a bobbin transfer robot that takes out full bobbins stored in the stocker and attaches them to a creel of a yarn processing machine, and removes empty bobbins from the creel and stores them in the stocker; a traveling creel carriage having a plurality of rows of carriage pegs, which transports a full bobbin or an empty bobbin by hanging it on each carriage peg; Equipped with a bobbin transport method in a system in which the stocker is configured to be able to move a full bobbin hung on the carriage peg of the traveling creel carriage to the stocker peg and to move an empty bobbin hung on the stocker peg to the carriage peg, the number of rows of stocker pegs provided in one stocker is equal to the number of rows of carriage pegs provided in one traveling creel carriage plus one, In a state where one row of the stocker pegs has no bobbins and empty bobbins are hung on all of the remaining rows, a first step of moving full bobbins hung on one row of carriage pegs of the traveling creel carriage to one row of the stocker pegs that is in a bobbin-free state, thereby leaving one row of the carriage pegs in a bobbin-free state; a second step of moving the row of empty bobbins hung on the stocker pegs to the row of carriage pegs from which the full bobbins have been removed in the first step and which are now in a bobbin-free state, thereby leaving the row of stocker pegs in a bobbin-free state; By alternately performing the above steps, an exchange operation is performed in which an empty bobbin in the stocker is exchanged with a full bobbin in the traveling creel carriage, The bobbin transport method is characterized in that the traveling creel cart transports a full bobbin to the stocker to exchange it for an empty bobbin in the stocker, and then transports the empty bobbin to a location different from the stocker.

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