DE4134994A1 - Yarn folding frame - has a service robot to ensure continuity by automatic means - Google Patents

Abstract

A two-for-one yarn folding frame with a service robot, producing twisted thread from two stacked reels. The robot travels along the frame, and in accordance with requirements changes the reels of yarn or thread, locates yarn ends, threads up, indicates broken ends and replace and thread up any one of the two supply reels. Pref. on the yarn folding frame (1) the winding creel fills the thread reel (7) and a sensor actuates a warning when the reel is full, so that the service robot (20) may commence a thread reel changeover. The full reel is passed to the conveyor (17) and an empty tube (4) is brought down from the reserve, and which is refilled automatically. To find the thread end (Y) a suction tube and roller is actuated by the robot, between the drive roller (6) and tube (4). The warning lamp is actuated when a broken end is sensed. The robot ensures the reel (7) will accept more thread, and begins a process to changeover the supply reels, or ensure the two yarns are available at the twist point. To change the supply reels, an arm (25) in the robot has a top grip which lift both reels (2a,2b) off the spindle (3). At the same time an airpressure jet on the end of the arm blows away dust and fluff from the spindle base. New yarn supply reels are lifted from a conveyor (16) at the front of the frame, and into position on the spindle (3). To bring ends of yarn through from the supply reels (2a,2b) a top arm is provided with a suction device, which can be held in position by a pneumatic cylinder, onto the top tubular adaptor for the reels. A sensor in the arm detects when the two yarns are present, and these are held in a clamp. ADVANTAGE - Changes the yarn supply reels in an efficient manner, avoiding loss of yarn.

Description

The invention relates to a double twisting machine for other supply spools with an operating robot, in particular such a double twisting machine with a loading service robot, which is able to automatically at the Ma seem the operations to change the sequence or to delivery spools, finding the end of the thread, threading, the take-up spool removal and threading ren.

There are several threads in a single or double twister put arranged in a row. In every thread a spindle is provided on which the supply spools are held are. A thread drawn from the supply spool or spools is passed through a bore in the spindle, giving it a double rotation is granted, and the double rotation Thread becomes one on a sleeve held in support arms Package wound. When the entire thread of the Zulie reel on the take-up sleeve to a full take-up spool is wrapped and an empty sleeve is back on the spindle remains, the supply spool has to be changed with the empty sleeve removed from the spindle and a full supply spool is to be placed on the spindle (Change of supply spool). Then the thread end of the new, full supply spool is pulled off (finding the company denendes), the thread is passed through the spindle (Threading), the full package is removed from the support arm and an empty overrun sleeve is inserted into the support arm sets (spool removal), and the end part of the from the supplier The bobbin pulled thread is attached to the overrun sleeve (Threading).

However, replacing the supply spool is very complex. The present inventor has previously Japanese Patent Publication No. Hei 2-2 43 470  proposed an operating robot that is capable of change the supply spool automatically. The This robot travels along a number of twisted areas, stops at a position indicated by a signal lamp corresponds to the marked twisting point, detects whether the allowance has been completely unwound, the change of Supply spool through when the supply spool is completely removed has been spooled, or starts again without changing the closing delivery coil if the supply coil is not yet is completely unwound.

A double twisting machine for two supply bobbins duplicates the of two supply spools of the same size, one on top of the other the spindle are arranged, stripped threads and issued this a double turn. Is with the two of the two supply spools taken off during the Dublie rens and giving double rotation one under different thread tension before, it is possible that a of the two supply spools is completely unwound earlier than the other. If one of the supply spools is not yet full is always unwound is a predetermined amount of thread wound on the package, and thus can the supply coils are changed.

When using the operating robot on a double thread machine for two supply spools, however, it is difficult to detect whether the stacked on the spindle Supply spools are completely unwound, making it impossible the changing of the supply spools in an efficient manner perform.

breaks during rewinding in a double twister Thread, so the thread end part of the broken thread lies the casserole on the upstream side onto the surface of the thread layers spool up. Accordingly, to carry out a thread ver binding process between the package side end part and  the end part of the broken thread of the supply bobbin adhering to the surface of the thread layers of the package Thread part can be found.

This problem has been solved so far by the fact that a Maschi the thread end part lying against the package finds what is, however, time-consuming and labor-intensive. On egg nem automatic winder is a device for finding the company denendes provided that individually in each winding unit driven drive roller drives in the opposite direction and by means of the thread end part from the surface of the package of a suction head decreases due to suction air. This with the winding car technique used to find the thread end can but not without adaptation to a double twisting machine are transmitted because the drive rollers of the winding units in the double twisting machine firmly on a common type Drive shaft are attached and thus the drive rollers are not individually rotatable in the reverse direction are. Accordingly, a special drive device is required to each package in one of the winding direction opposite direction, i.e. to turn in the unwinding direction, resulting in a complicated structure of the double twister and thus leads to an increased cost.

It is an object of the present invention to have a double thread machine for two supply coils with one operating robot to show who is able to easily grasp if two allowances arranged one above the other on a spindle reels are used up or completely unwound and the Change the supply spools in an efficient manner ren. It is another object of the invention to provide a device to find the thread end for the operating robot for to show the double twisting machine, which is able when finding the thread end and when pulling it from to prevent the supply spools from pulling excessive thread avoid a double twisting machine with an operating robot  to show who is able to pull the thread of supply len, their carrier or spindle with a clamping device is provided to introduce an inexpensive storage facility device for sleeves for the formation of packages on a dop to show fur twisting machine that has a simple structure points and can be operated easily by the robot, as well as one Device for finding the thread end in a double propose a twine machine that has a simple structure points and is able to a thread end part on the upper surface of a package directly and easily find and subtract.

The solution to the problem arises from the patent claims. Sub-claims show preferred embodiments of the Erfin dung.

According to the invention, the task is performed by a double thread machine for two stacked supply spools with one Operating robot solved, which is able to the Be operating state of a signal lamp to indicate a thread break or a thread break. This signal lamp is in a double twine, in the thread of two over arranged supply coils is withdrawn, the company which is turned and the twisted or twisted thread is wound, provided. The operating robot is white here still able to begin changing the supply spools if the package is of a predetermined size, continue changing the supply coils if a sensor to detect the fact that a supply spool or Supply spools used up, d. H. are completely unwound, this condition on at least one of the two supply coils detected, and to finish changing the supply spools and them return to the winding position if both supply spools still have thread.  

The operating robot detects the illuminated signal lamp and starts changing the supply spools when the package has a predetermined size. During the Change process for the supply coils give sensors an Si signal that indicates the condition of the supply spools. If that Signal indicates that at least one of the supply coils is full has been continuously unwound, the change process for the Zu delivery coils continued. However, the signal indicates that both supply spools still have thread, so the Zu supply spools returned to their original position brings and the exchange process of the supply spools is finished det.

Detecting the condition of the two supply coils during He makes the process of changing the supply spools easier summarize the fact whether one of the two supply spools or both supply spools were completely unwound. Since the Replacement process of the supply spools is continued if at least one of the supply spools completely unwound and the supply spools are returned to their place be set and the bobbin changing process is ended when both supply spools still have thread, it is possible perform the bobbin changing process in an efficient manner.

Next is to solve the task on the operating robot for the double twister a device for locating the Thread end provided that a suction nozzle for suction from has the end parts of the supply coils around an upper one Cap looped on a tubular adapter, which carries the supply spools, is arranged at the top, the Suction nozzle with a sensor for detecting the in the suction nozzle sucked in thread end parts and a gripping device which is operated to turn the thread ends on by the sensor detection signal emitted when the thread end parts are detected to take.  

Next is to achieve the object of the invention the operator robots for double twisting machines with one actuator low threading for threading the on a spindle of the spool seemingly attached thread supply spools provided with a ball holder for recording one at the top of an upper cover of the supply spoil len arranged as a clamping device steel ball during the Thread insertion serves.

There is a bearing on the double twisting machine according to the invention device for sleeves arranged as a winding core for Serving reels, the bearing device being elastic has supported, deflectable elements, the removal allow the sleeves by the operating robot, without that for the simply constructed components the risk of damage supply by a gripping device of the robot and they are not hindered on their way to work.

The object of the invention is further achieved by a device for finding a thread end in a double twisting machine solved, which can be provided on a robot and a Suction head leading to a package in a double thread Schine back and forth is movable and on the upper surface of the thread layers of the package a suction effect can practice, as well as a role held on the suction head, between the take-up reel and the drive roller drive the package can be inserted and from the An drive roller can be set in rotation, so the on reel in a direction opposite to the winding direction to drive.

To locate the thread end part, the suction head becomes open moving spool out so that the roll between the casserole coil and the drive roller is inserted. The revolution the drive roller is then over the roller onto the casserole Transfer coil so that the package is in reverse  Direction, i.e. in the unwinding direction, is driven to Locating the thread end part by the suction head to facilitate tern. Because the package over the roll from the drive roller driven in the opposite direction to the winding direction a separate drive device is not required Lich, and the device for locating the thread end has a simple structure and does not lead to an increase in Costs.

Exemplary embodiments of the invention are described below explained in more detail by figures.

Show it:

Fig. 1 is a sectional view of a preferred form of the exporting approximately Bedienungsrobo invention ters;

Fig. 2 is a side view for explaining the manner in which it is determined whether two yarn feed bobbins arranged one above the other have been completely unwound;

FIG. 3 shows a further side view of the device shown in FIG. 2;

Fig. 4 is a side view of the device for finding the thread end of the operating robot for the double-twisting machine;

Fig. 5 is a flowchart of the process for finding the thread end, which is performed by the device shown in Fig. 4;

Fig. 6 is a sectional view of a double twist;

Fig. 7 is a side view of a preferred form of execution of the operating robot for a double-twisting machine according to the present invention;

Figure 8 is a side view of a ball holder which is sensitive in the operating position;

Figure 9 is a side view of a ball holder in the waiting position during thread insertion;

FIG. 10 is a side view for explaining the operating procedure for covering a steel ball on an upper cap;

Fig. 11 is a side view of a sleeve bearing device according to the present invention;

FIG. 12 is the front view of the sleeve bearing device for presentation of their support condition;

Fig. 13 is a side view of a preferred embodiment of a Fadenendeauffindeein direction according to the present invention;

FIG. 14 is an enlarged top view of the device shown in FIG. 13;

Figure 15 is a side view of the finding means of the yarn end in which the suction nozzle is extended into an operating position.

Fig. 16 is a side view of the device for finding the thread end, in the winding package is rotated in the reverse direction, and the suction nozzle is operated; and

Fig. 17 is a side view of the device for locating the thread end, in which the suction nozzle has returned to a waiting position, whereby the operating sequence for locating the thread end is ended.

In Fig. 1, reference numeral 1 designates one of a plurality of double twisting points of a double twisting machine. The twisting point 1 has a spindle 3 , on which two thread supply bobbins 2 ( 2 a and 2 b) are held one above the other, and support arms 5 , on which an overrun sleeve 4 is held in the horizontal position. Threads Y unwound from the supply bobbins 2 are passed through the bore of the spindle 3 in order to give them a double rotation. The twisted thread continues to run upwards and is wound on the take-up sleeve 4 to a take-up spool 7 , which is driven by a drive roller 6 to rotate. On a tubular adapter 2 c, the two supply bobbins 2 are placed one above the other, with a plate or bowl-shaped thread guide 2 d between them, which serves to guide the thread Y running from the lower supply bobbin 2 b. The thread guide 2 d is gebil det by bending fine plastic or resin wires or threads.

A wire eye 8 for guiding the twisted thread Y, a case wire bracket 9 for detecting a thread break, a thread guide roller 10 and a supply roller 11 for supplying the GE twisted thread Y to the package 7 are arranged in this sequence above the supply spools 2 . The Falldrahtbü gel 9 is placed against the twisted thread Y. If both supply spools 2 are completely unwound or the twisted yarn Y breaks, the drop wire bracket 9 falls down and switches on a switch 12 located near its lower end. Then an actuating cylinder is actuated, which lifts the support arms 5 into a bobbin removal position, and a signal lamp 14 arranged at the top at the front of the twisting point 1 lights up.

In front of the spindles 3 runs along the twisting points 1, a conveyor belt 16 for transporting units of two superposed supply spools, which are placed on a Spu lenteller 15 . Behind the drive rollers 6 runs along the twisting points 1, a conveyor belt 17 for transporting from fully removed from the support arms 5 fully wound th package 7th A bearing device 18 for sleeves is arranged at the top of the front side of the twisting point 1 , in which a plurality of overrun sleeves 4 are kept ready. A pedal 19 is arranged at the bottom at the front of the twisting point 1 . If the pedal 19 is pressed down into a first position, the spindle 3 is braked until it stops. When the pedal 19 is pressed down further into a second position, the spindle 3 is supplied with compressed air for inserting the thread.

Along the twisting points 1 , a robot 20 for carrying out the supply bobbin change and the associated operating sequences is arranged to be movable. Wheels 22 held on the robot 20 roll on rails 21 which run along the twisting points 1 at the top and bottom of the front.

In the upper area of the robot 20 , a sensor 23 for detecting the illuminated signal lamps 14 of the twisting points 1 is provided. Below the sensor 23 , a sensor 24 for detecting the size of the package 7 , which is held in the spool removal position, is arranged. If an illuminated Si signal lamp 24 is detected, the robot 20 stops in a position corresponding to the twisting point 1 designated by the illuminated signal lamp 14 and detects the size of the opening coil 7 . Has the package 7 a predetermined size, the robot begins the operations for changing the yarn supply spools, which include a series of processes from changing the thread supply spools to attaching the thread.

If the size of the package 7 is below the predetermined value, the robot continues its journey without performing the operations for changing the supply spools.

The robot 20 is provided with an actuating arm 25 and a Zap fen 26 for temporarily receiving two supply coils 2 . The actuating arm 25 is supported on a horizontal lifting axis 27 . A stop 28 allows the arm 25 in the illustration in Fig. 1 counterclockwise to pivot about the lifting axis 27 when it is lowered to retract the actuating arm 25 in the robot 20 . If the lifting axis 27 is raised, the actuating arm 25 is pivoted clockwise about the lifting axis 27 in the illustration in FIG. 1. If the stroke axis 27 is raised above the horizontal plane of the stop 28 , the actuating arm 25 , as shown in FIG. 2, is held in a horizontal position. A gripping device 29 for gripping the upper end of the adapter 2 c is movably supported on the actuating arm 25 in the longitudinal direction thereof. A nozzle 39 for blowing compressed air into an inner cover 36 for removing fiber fly is supported at the extreme end of the actuating arm 25 so that it is directed towards the spindle 3 , as shown in Fig. 3, when the arm 25 in a horizontal Position is held. The injection of compressed air through the nozzle 39 takes place after the empty supply coils 2 have been removed from the spindle 3 and the nozzle 39 has been lowered to its lowest position, as shown in FIG. 3, which is during the transfer of the empty supply coils 2 from the spindle 3 on the spool plate 15 takes place in the course of the change process for the supply spools. The nozzle 39 is connected to a compressed air source via a guide line, not shown. A solenoid valve is provided on the supply line to control the supply of compressed air to the nozzle 39 .

If it is determined that the package 7 has the predetermined size, the robot 20 depresses the pedal 19 by means of an operating lever 30 in the first position to stop the spindle 3 , pushes with a sliding member, not shown, which is in the front region of the actuating arm 25 is held, the wire eye 8 back, presses the fall wire bracket 9 upwards so that it is attracted by a magnet 31 , and then actuates the gripping device 29 held on the actuating arm 25 to carry out the change of the supply coils. When changing the supply bobbins are two full supply reel 2, which are placed on the available on the conveyor belt 16 reel disc 15, transferred from this plate 15 to the pin 26, the unwound to supply spools 2 are transmitted from the spindle 3 to the plate 15, after which the full supply spools 2 are transferred from the pin 26 to the spindle 3 . The robot 20 is equipped with two sensors 32 a and 32 b for detecting the winding state of the two supply spools 2 removed from the spindle 3 during the supply spool changing process, ie for detecting the fact whether the supply spools 2 have been completely unwound or not.

When the gripping device 29 , which holds the supply coils 2 removed from the spindle 3 , reaches a position above the coil plate 15 , the supply coils 2 are each arranged in front of or opposite the sensors 32 a and 32 b. The Fa denendteile of the threads of the full supply bobbins 2 a and 2 b, which are placed on the bobbin 15 , are already recorded beforehand and leads into the bore of the adapter 2 c.

If it is determined during the bobbin changing process that at least one of the supply bobbins 2 a and 2 b has been completely wound off, the bobbin changing process is continued. After completing the change process, the pedal 19 is pushed in its second position by the actuating lever, whereby compressed air is supplied in order to thread the end parts of the threads introduced into the bore of the adapter 2 c for threading through the bore of the spindle 3 , so that the thread end parts outside the spindle 3 are blown upwards. At the same time, the support arms 5 are opened by means of an actuating lever 33 in order to transmit the fully wound overrun spool from the support arms 5 to the conveyor belt 17 , a sleeve gripper 34 takes one of the sleeves 4 in the sleeve bearing device 18 and sets this sleeve 4 in the support arms 5 so as to end the spool removal operation. The actuating arm 25 guides the thread ends of the threads through the wire eye 8 , the thread guide roller 10 and the delivery roller 11 and sets the thread end parts of the threads on the sleeve 4 , which is held in the support arms 5 .

After this series of operations is completed, the actuating arm 25 lowers the support arms 5 to bring the sleeve 4 into contact with the drive roller 6 and to start winding the twisted thread, the actuating lever 30 is retracted so that the pedal 19 is released and the spindle 3 can come into circulation, the fall wire bracket 9 is placed against the twisted thread, the actuating arm 25 is withdrawn and the robot 20 continues its journey.

On the other hand, if the sensors 32 a and 32 b detect that the supply bobbins 2 a and 2 b still have thread, the robot 20 guides the supply bobbins 2 back onto the spindle 3 , sets the full supply bobbins 2 on the pin 26 are placed back on the spool plate 15 , interrupts the changing process of the supply spools, pulls the actuating arm 25 back and continues its journey. The operation of the robot 20 is controlled by a control device contained in the robot 20 . The operation of this embodiment is explained below.

When the twisted thread, which is wound in the double wire thread, breaks, the fall wire bracket 9 falls down and switches on the switch 12 , whereby the support arms 5 are raised by an actuating cylinder 13 and the Si lamp 14 lights up. Then the robot 20 traveling along the twisting points 1 detects the illuminating signal lamp 14 by means of the sensor 23 and stops at a position which corresponds to the twisting point 1 identified by the signal lamp 14 , and detects the size of the package 7 by means of the sensor 24 .

If the size of the package 7 is below a predetermined value, the robot 20 starts again without changing the supply coils. If the size of the take-up spool 7 corresponds to the predetermined value, the robot 20 starts changing the supply spools.

First, the operating lever 30 depresses the pedal 19 to the first position to stop the spindle 3 , the axis 27 is raised so as to extend the operating arm 25 horizontally, and the gripping device 29 is simultaneously moved along the operating arm 25 . The gripping device 29 transmits the full supply spools 2 from the spool plate 15 , which is on the conveyor belt 16 for the supply of the spools, to the pin 26 , whereupon the gripping device 29 transmits the unwound supply spools 2 from the spindle 3 to the spool plate 15 .

After the unwound supply spools 2 have been lifted off the spindle 3 , compressed air is injected from the nozzle 39 into the interior of the inner cover 36 onto the spindle 3 , through openings 40 which are in the inner cover 36 and an outer cover 38 are trained to blow out the accumulated fiber fly within half of the inner cover 36 . This removal of fiber fly or fiber waste from the spindle 3 can be carried out effectively since the compressed air is blown out of the nozzle 39 , the supply spools are removed from the spindle 3 and the nozzle 39 is in its lowest position, namely one of the spindle 3 closest position.

While the unwound supply coils 2 are in front of the sensors 32 a and 32 b, these sensors detect how far the supply coils 2 a and 2 b have been unwound. If at least one of the supply coils 2 a or 2 b has been completely unwound, the robot 20 continues the changing process of the supply coils and continues the supply coils 2 a and 2 b on the plate 15 , whereupon it removes the full, new supply coils 2 from the spigot 26 transmits to the spindle 3 .

After the change of the supply spools 2 has thus been completed, the actuating lever 30 further depresses the pedal 19 into its second position in order to blow compressed air for threading in, the actuating lever 33 opens the support arms 5 in order to discharge the full package 7 onto the conveyor belt 17 , a sleeve gripping device 34 takes a sleeve 4 from the sleeve bearing device 18 and inserts it into the support arms 5 , thus completing the bobbin removal process. The actuating arm 25 guides the threads through the wire eye 8 and sets the thread end parts of the threads on the sleeve 4 held in the support arms 5 , so as to complete the thread insertion process.

After this series of operations has been completed, the actuating arm 25 of the robot 20 lowers the support arms 5 to bring the sleeve 4 into contact with the drive roller 6 , the actuating lever 30 releases the pedal 19 to enable the spindle 3 to rotate , the fall wire bracket 9 is placed against the thread Y, the actuating arm 25 is withdrawn, and then the robot 20 starts its run again.

Detect the sensors 32 a and 32 b during the changeover process of the supply bobbins on both supply bobbins 2 a and 2 b still existing thread, so the robot 20 sets the supply bobbins 2 back on the spindle 3 , sets the full supply bobbins 2 from the pin 26 back on the plate 15 , pulls the actuating arm 25 and continues its course, omitting the subsequent steps of changing the supply spools.

The twisted thread in the twisting point 1 identified by the illuminating signal lamp 14 , in which the robot has not changed the supply bobbin, has broken. Thereupon, a machine attendant carries out a thread joining process with the threads drawn off from the supply spools 2 and the twisted thread pulled off the take-up spool 7 and then starts the double twisting process of this twisting point 1 again .

As is clear from the above explanation, it is invented According to the Easily ascertainable whether and to what extent the Zu delivery spools were unwound because the winding condition of the Supply spools during the change of the supply spool len is detected, and the change of the supply spools can in be done more efficiently since the changing process is continued if at least one of the supply spools was completely unwound, and the change process of the zu supply coils is interrupted and the coils turn on the spindle will be reset when both supply spools still have an existing amount of thread.

Fig. 4 shows the general structure of a device for finding a thread end for a robot for a double fur twisting machine.

Supply coils Pu and Pd are placed on top of one another on an adapter 101 . The adapter 101 carrying the supply coils Pu and Pd is placed on a pin 105 held on a swivel arm 104 . The swivel arm 104 is pivoted to convey the adapter 101 carrying the supply bobbins Pu and Pd from a position in which the supply bobbins are delivered to a position A shown in FIG. 4 for locating the thread end. A suction pipe 107 is placed upright on a table 106 located at position A for locating the thread end. At the upper end of the suction pipe 107 , a suction arm 108 is held at one end so that it can be pivoted in a vertical plane. A suction nozzle 103 is provided at the non-articulated end of the suction arm 108 . The suction arm 108 is between a working position, which is shown in FIG. 4 by solid lines and in which the suction nozzle 103 on an upper cap 102 , which is arranged on the top of the adapter 101 , and a waiting position, which is shown by broken lines 103 a is shown, pivoted in a vertical plane from a ge on the intake manifold 107 actuating cylinder 109 . The Fa denzulieferspulen Pu and Pd can be rotated together with the pin 105 in one of the winding direction of the wraps around the upper cap 102 turns B of the threads opposite direction ge.

On the suction nozzle 103 , a sensor 110 , for example a photoelectric sensor, is provided, which is used to detect the threads sucked into the suction nozzle 103 , and a gripping device 111 , which is similar to a closure and for closing the suction nozzle 103 when the threads are detected by the Sensor 110 is used.

After the yarn feed bobbins Pu and Pd have been brought into the position A shown in FIG. 4 to find the thread end by pivoting the swivel arm 104 , the suction arm 108 is pivoted from the position shown in broken lines to the position shown by solid lines bring the suction nozzle 103 onto the upper cap 102 , which is attached to the upper end of the adapter 101 , whereupon the supply coils Pu and Pd are rotated. Subsequently, the loops B wound around the upper cap 102 are unwound and the threads are sucked into the suction nozzle 103 . When the sensor 110 has detected the threads, the gripping device 111 is actuated in order to detect the threads so that they are no longer drawn off.

In some cases it may happen that the turns B are not completely unwound before the threads are gripped by the gripping device 111 . Therefore, an unwinding operation of the turns carried out in which the suction nozzle a is 103 in the depicted by dashed line position 103 to lift, at the same time the gripper 111 releases the thread, the suction nozzle 103 is in turn mounted on the top cap 102, whereupon the threads can be gripped again by the gripping device 111 .

This thread end detection process is repeated several times in order to completely unwind the turns B and to pull the thread ends Yd and Yu so that they extend directly between the supply spools Pd and Pu and the suction nozzle 103 .

In the following, the above operation procedure for finding the thread end will be explained with reference to FIG. 5.

The process for finding the thread end is started in step 115 . In step 116 , the thread feed bobbins Pu and Pd are rotated, the gripping device 111 is opened and the suction nozzle starts sucking the thread end parts. In step 117 it is determined whether the sensor 110 has detected or registered the thread ends. If this is answered in the affirmative, the gripping device 111 is actuated in step 118 to grasp the thread ends, whereupon the suction nozzle 103 is raised in step 119 . After opening the gripping device 111 to release the thread ends in step 120 , the suction nozzle 103 is again placed on the upper cap 102 in step 121 . The Fadenend are parts that are drawn during lifting the suction nozzle 103 goes up, sucked into the suction nozzle 103, so that the windings B are handled. In step 122 it is determined whether the suction nozzle 103 has carried out a predetermined number of lifting operations. If this is answered in the negative, the process returns to step 118 .

If the question asked in step 122 is confirmed, finding the thread end or pulling off the thread end is ended. If step 117 is answered in the negative, it is determined in step 124 whether a period of time before the thread has been found has passed. If step 124 is answered in the affirmative, an alarm is issued by a suitable device in step 125 in order to inform a machine attendant that the thread ends cannot be found.

This prevents excess unwinding of the threads, by holding the thread ends by a gripping device when they are detected.

After completion of the finding process of the thread ends, the supply bobbins Pu and Pd are fed to the double twisting machine (not shown), the thread end parts Yu and Yd running between the suction nozzle 103 and the supply bobbins Pu and Pd are cut off and the thread ends Yu and Yd into the hole in the hole Adapters 101 for performing the Fadenein introduction process introduced.

Above, the facility for finding Fa the ends at two superimposed on an adapter Thread supply spools are described. The one according to the invention However, direction is also one for finding a thread end individual thread supply spool can be used.

As is clear from the description above, this is excess unwinding of threads from supply bobbins  the cooperative operation of the sensor and the gripper Direction, which are provided on the suction nozzle, avoidable, because the thread ends only after grasping the thread ends the sensor is held by the gripping device.

As a further inventive aspect within the scope of the entire invention, a conical depression 219 is formed in some winding or twisting points at the upper end of an upper cover cap 216 , into which a steel ball 220 , ie a clamping ball, is used, as shown in FIG. 6 is to prevent fluctuations in the thread tension and the occurrence of kinks during the pulling of the thread from the supply bobbins. In such a construction, the steel ball 220 disabled during threading of the threads of the supply reel 202 by the spindle, the movement of the filaments, making it difficult for a conventional boter Ro perform the Fadeneinführvorgang.

The present invention thus shows a robot for a Double twisting machine, which is able to thread from to introduce the supply spools onto one with a tension ball-fitted spindle are to be placed.

For this purpose, this robot has an actuating arm for insertion of threads of thread supply bobbins, which on a spindle of the Double twisting machine are put on, with a Ku Gel holding device for tightening or lifting the on the steel ball attached to the upper end of the upper cap during threading or insertion of the thread or Threads of thread supply bobbins is provided.

When the thread is inserted, it is placed on the cover cap Steel ball lifted from this and from the ball holder direction of the actuating arm held to the threading to facilitate the process.  

Below is a preferred embodiment of this robo ters explained.

In Fig. 7, the parts corresponding to those shown in Fig. 6 are designated by the same reference numerals. An explanation of these parts is omitted. In a double twisting machine 221 shown in FIG. 7, a plurality of twisting or winding points are arranged in a row next to one another. Each twisting point is provided with a spindle 201 corresponding to the spindle 201 described above. A conveyor belt 223 for supplying thread supply bobbins 202 , which are placed on bobbin wafers 222 , runs in front of the twine points along the double twisting machine. A robot 224 is arranged along the front side of the conveyor belt 223 .

The robot 224 has an elongated actuating arm 226 which is pivotally mounted on a lifting axis 225 . When the lift axis 225 is lowered to its lowermost position, the front portion of the actuator arm 226 comes into contact with a stopper 227 and the actuator arm 226 is retracted into the machine body of the robot 224 so that the actuator arm 226 moves along while the robot 224 is moving the double twisting machine. If the front portion of the operating arm 226 does not abut the stop 227 , the operating arm 226 , as shown in FIG. 7, is held in a horizontal position and moves together with the lifting axis 225 in the vertical direction.

The robot 224 is provided with a journal 228 for temporarily storing fully wound supply spools 202 A, which are fed to the robot 224 via the conveyor belt 223 , egg suction nozzle 229 for removing or unwinding Fadenendtei len around the upper end of an upper Cap 216 are wound, which is connected to the full supply spools 202 A, this thread pulling is done by suction air, and a cutter 230 , which serves to cut off the thread end parts YX, which were placed between the supply spools 202 A, which were placed on the spindle 201 , and the suction nozzle 229 run while the threads of the full feed coils 202 A are threaded.

A gripping device 231 for gripping the upper cap 216 , which is connected to the supply spools (both full supply spools as well as unwound supply spools), is slidably supported in the longitudinal direction along the actuating arm 226 to the sem. As shown in Fig. 7 and 8 show, the gripping means through 231, a suture holder 232 is provided, which hold the solid 202 A and the suction nozzle 229 extending thread parts YX is between the full supply bobbins. A jet nozzle 233 for blowing compressed air into a thread channel 215 of the cap 216 , which is connected to the full supply spools 202 A, for the purpose of thread insertion is provided above the thread holder 232 . A ball holder 234 for gripping or tightening the steel ball 220 , which serves as a tension ball and is inserted into the recess 219 formed on the top of the cap 216 , is arranged below the thread holder 232 .

As shown in Fig. 8, 9 and 10 show, the ball retainer 234 comprises a frame 235 having an L-shaped cross section on which a Per manentmagnet is fixed 236th At the base end of the thread holder 232 , a pneumatic actuator 237 is provided to move the ball holder 234 along the lower surface of the thread holder 232 . If the ball holder 234 is pushed into its working position by the actuating device 237 , the permanent magnet 236 is located immediately below the jet nozzle 233 , as shown in FIG. 8. If the ball holder 234 is withdrawn into its waiting position, the permanent magnet 236 will be in a position near the base end of the thread holder 232 and thus away from the jet nozzle 233 .

The following is the operation of this embodiment explained in more detail.

To insert the threads, the full supply bobbins 202 A are moved from the bobbin 222 placed on the conveyor belt 223 onto the bearing journal 228 of the robot 224 by a combination of the vertical movement of the actuating arm 226 , the movement of the gripping device 231 along the actuating arm 226 and closing mechanism. or opening movements of the gripping device 231 transmitted, whereupon the suction nozzle 229 to unwind the thread around the upper cap 216 , which is connected to the full supply spools 202 A placed on the bearing journal 228 , by means of suction air. While the thread end parts are unwound from the cap 216 , the empty supply spools 202 B are transferred from the spindle 201 to the spool plate 222 . This is done by operations that correspond to those for transferring the full supply coils 202 A from the plate 222 to the pin 228 .

The gripping device 231 is then moved in order to insert a section of the thread parts YX of the threads running between the full supply bobbins 202 A and the suction nozzle 229 into the thread holder 232 and to transfer the full supply bobbins 202 A from the pin 228 to the spindle 201 ( FIG. 7).

Then, as shown in FIG. 8, the ball holder 234 is moved to its operating position by the pneumatic actuator 237 , and the actuator arm 226 is lowered to bring the ball holder 234 close to the cap 216 of the supply spools 202 so that the steel ball 220 is attracted by the permanent magnet 236 . The actuating arm 226 is then raised to lift the steel ball 220 out of the recess 219 of the cap 216 , the ball holder 234 is pulled back into its waiting position by the actuating device 237 , as shown in FIG. 9, whereupon the actuating arm 226 is lowered again to bring the jet nozzle 233 close to the cap 216 . Subsequently, compressed air is blown into an air channel 209 of the spindle 201 in order to generate a suction air flow in a thread channel 208 , compressed air is blown out of the jet nozzle 233 into the thread channel 215 of the upper cap 216 , and at the same time that between the supply spools 202 A and the suction nozzle 229 end thread ends YX from the cutting device 230 by severing. Correspondingly, the thread end parts YX are blown through the upper end of the cap 216 , pass through the thread channels 215 , 210 and 208 , are deflected upward by a deflection plate 217 and through the gap 217 between the fixed cylinder 206 and the balloon control cylinder 207 blown up to complete the thread insertion process. After the thread insertion is completed, the ball holder 234 is brought into its operating position shown in FIG. 8, the actuating arm 226 is lowered to place the steel ball 220 in the recess 219 of the cap 216 , whereupon the ball holder 234 , as in FIG. 10 shown, is brought into its waiting position, the steel ball 220 remaining in the recess 219 of the cap 216 .

The permanent magnet 236 used to hold the steel ball 220 in this embodiment can also be replaced by a suction cup or a similar holding element.

As is clear from the above description, it is invented according to the arranged in the upper cap steel ball of the ball holder attached to the actuating arm and from the top cap during thread insertion removed, making it possible to thread the supply spool len through the spindle, even if the spindle with a tension ball is provided.

Fig. 11 shows a sleeve bearing device 321 according to a preferred embodiment of the invention.

The bearing device 321 is provided with stoppers 322 for holding a sleeve 309 in a predetermined position of a sleeve removal unit 313 , which can be steered in a vertical plane.

The stoppers 323 comprise a round rod 323 and a spiral spring 324 with which the rod 323 is held on a base plate 314 . The rod 323 is formed by injection molding from a synthetic resin or corresponding plastic and has a rounded tip. The length of the rod 323 is far greater than the diameter of a sleeve 309 . The coil spring 324 is attached at one end to the lower surface of the base plate 314 , while its other end is embedded in the rod 323 at a predetermined depth.

The rod 323 extends in the extension of the inclined base plate 314 to hold the sleeve 309 to be removed, projecting into a movement line A along which a gripping device moves. If the gripping device comes into contact with the rod 323 in its upward or downward movement, the spiral spring 324 yields elastically and is deflected or bent at its base end 325 . After the rod 323 comes out of contact with the gripping device, the spiral spring 324 leads it back into its sleeve holding position, which is shown in Fig. 11 with solid lines.

In this embodiment, the respective bearing devices 321 for cores, which are assigned to the twisting or winding positions, are fastened to an elongated frame 326 which, as shown in FIG. 12, runs along the twisting points arranged in a row, the bearing devices 321 being so at predetermined intervals are arranged that the center of each of the bearing devices 321 is located at a position which corresponds to the axis B 'of the respective spindle. Those at the ends of the longitudinal frame 326 are attached to the main machine frame 327 of the double twister.

The operation of the sleeve bearing device 321 of this embodiment is explained below.

Empty sleeves 309 for winding packages are arranged on the base plate 314 of the bearing device 321 . The lowermost or in the end position sleeve 309 is held between the stoppers 322 of the removal unit 313 and free ends 319 from side plates 318 . When feeding the sleeves 309 to the double fur-twisting machine by means of the robot, the sleeves feed arm moves downward, a gripping device arranged at the end of this arm detects the sleeve 309 which is in the end position and moves into a waiting position. The stoppers 323 , which hold the sleeve 309 , are deflected by the gripping device so that the gripping device can detect the sleeve 309 .

In some cases, when the sleeve supply arm is returned to its upper position past the bearing means 321 after feeding the sleeve 309 to the support arms, the outer end of the sleeve feed arm abuts the rods 323 . In this case, the coil springs 324 allow the rods 323 to be deflected upward, so that the impact which arises when touched is reduced.

Even if the rods 323 are deflected upwards, the rods 323 will return to their sleeve holding position due to the elasticity of the spiral springs 324 and keep the sleeves 309 located on the base plate 314 ready for the next sleeve transmission operation.

Since the rods 323 are held on coil springs 324 on the base plate 314 so that they can be deflected upwards and downwards, the rods 323 can be bent over by the gripping device when they hit the rods 323 during its upward movement, so that the Bars 323 not be damaged. Since this embodiment of the stopper has a smaller number of components than conventional stoppers, it is possible to manufacture these stoppers with less labor for assembly and at a lower cost.

Since the sleeve bearing devices 321 for the spindles are formed as a coherent unit in contrast to the sleeve bearing devices of an automatic winder, it is not necessary for him to individually adjust the individual positions of the bearing devices 321 so that the individual frame parts of the double twisting machine are put together quickly and easily can.

In contrast to the stoppers 322 described here, which in this embodiment comprise the rod 323 and the spiral spring 324 , the stopper 323 can also be designed as a single element with high elasticity, which is attached to the base plate 314 (sleeve removal unit 313 ).

As is clear from the above explanation, this shows Embodiment of the invention has the following advantages: Since the sleeve removal unit is provided with stoppers that are able to hold sleeves in a predetermined position ten and which are deflectable up and down, the Sleeve removal unit is not damaged even if the Sleeve removal arm or similar with this from below in Be come touch. There is also a reduction in the number of components elements and thus a cost reduction possible.

The following is another embodiment of the invention explained.  

As FIG. 13 shows, in a double twisting machine 401, a plurality of twisting or winding positions 402 are arranged side by side in a row. In the lower region of each twisting point 402 , a spindle 403 is arranged in a vertical position, and in the upper region of the twisting point, a drive roller 404 is arranged in a horizontal position, which is driven by a common drive shaft.

Within a fixed cylinder 405 , which is fixedly held on the spindle 403 , a supply coil 406 is inserted. A thread Y drawn off the supply bobbin 406 is inserted through the upper end of the spindle 403 into a longitudinal bore of the spindle 403 and drawn off radially to the spindle 403 . The thread Y is given a rotation when the spindle 403 rotates. The thread Y forms a ball lon between the spindle 403 and a wire eye 407 arranged above the spindle 403 . The thread Y continues over a guide roller 408 and a delivery roller 409 upwards and is wound on a take-up spool 411 , which is held on support arms 410, the take-up spool 411 being held in contact with the drive roller 404 by gravity and so on is driven by this.

If there is a thread break in a twisting point 402 of the double twisting machine 401 , the end part on the package side is wound onto the package 411 and lies against the surface of the thread layers of the package. A device 412 for locating the thread end detects the thread end part adhering to the surface of the thread layers of the winding spool 411 for connecting the winding end and the supply spool side thread end part.

Even if the device 412 for locating the thread end in this embodiment is shown as being integrated in the robot shown in FIG. 1 for a double twisting machine, it is also possible to equip each twisting point 402 with a device 412 in each case.

The robot 413 travels along the twists 402 . When it detects a flashing signal lamp that indicates a thread break, the robot 413 stops at a position corresponding to the twisting point provided with the lamp on. The robot 413 is equipped with an actuating arm for changing the supply coils. This actuation arm is not directly related to the device described here and is therefore not explained in detail here.

The robot 413 is further provided with an actuating arm 414 for the support arms, which is used for the vertical pivoting, opening and closing of the support arms 410 for removing the spool. One end of the operating arm 414 is articulated on the side wall of the robot 413 , and the other end is provided with a projection 416 which comes into contact with the extreme end of the support arms 410 from the bottom thereof.

The device 412 for locating the thread end can be moved toward and away from the winding spool 411 held in the support arms 414 on the double twisting machine 401 . The wesent union components of the thread end finder 412 are a suction head 417 , through which a suction effect can be exerted on the surface of the package 411 , and a roller 418 held on the suction head 417 , which can be inserted between the package 411 and the drive roller 404 , so that it can be inserted the drive roller 404 is driven in rotation and thus drives the package 411 in a direction opposite to the winding direction. As Fig. 14 shows the essential components of the suction head 417 is a hollow pivot arm 419 which is pivotally supported on the robot 413, and a nozzle body 421, which is connected to the end of the pivot arm 419 via a hollow articulated pivotably are. A hollow joint 422 connected to the base end of the swivel arm is connected to a suction air source, not shown.

A pneumatic actuator 423 pivots the swing arm 419 substantially in a horizontal plane between a waiting position on the robot 413 side and an operating position near the drive roller 404 . The nozzle body 421 widens in a funnel shape towards its free end. The width of the free end of the nozzle body 421 corresponds approximately to the width of the thread layers of the package 411 . A suction opening 424 is formed at the free end of the nozzle body 421 . In the operating position, the nozzle body 421 with its suction opening 424 is located below the thread layers of the package 411 .

On one side at the free end of the nozzle body 421 , a frame 425 is attached, on which a roller 418 is rotatably supported in the horizontal position. The nozzle body 421 is moved between the waiting position and the operating position, in which the roller 418 is inserted between the package 411 and the drive roller 404 , by a parallel movement mechanism, not shown.

The following is the operation of the locating facility of the thread end explained.

If a thread break occurs in the twisting point 402 shown in FIG. 13, the thread end part on the package side is wound on the surface of the thread layers of the package 411 . After detecting the illuminated signal lamp, which denotes the twisting point 402 at which the thread breakage occurred, the robot 413 stops at a position corresponding to this twisting point 402 in order to find the end part of the thread on the package 411 .

First, the actuator arm 414 for the support arms 410 lifts them to lift the package 411 from the drive roller 404 , and the pivot arm 419 is pivoted to bring the suction head 417 from the waiting position to the operating position near the package 411 . The roller 418 held at the free end of the nozzle body 421 by the frame 425 , as shown in FIG. 15, is placed on the drive roller 404 . Then, the operating arm 414 lowers the support arms 410 to bring the package 411 into contact with the roller 418 , as shown in FIG. 16.

The package 411 is driven via the roller 418 on the drive roller 404 in a direction opposite to the winding direction of the thread Y, i.e. in the direction of the winding, and suction air is driven through the suction opening 424 of the nozzle body 421 , which is close to the surface of the thread layers of the package 411 is arranged, sucked in, so that the thread end part of the broken thread, which adheres to the surface of the thread layers of the package 411 , can be easily found and lifted off.

After a predetermined period of time has elapsed or after the thread end part of the broken thread has been detected by means of a sensor arranged within the nozzle body 421 , the actuating arm 414 lifts the support arms 410 again. Then the package 411 stops by itself and the suction head 417 is returned to its waiting position together with the thread end part YX, as shown in FIG. 17.

The package 411 can thus be rotated by the drive roller 404 simply by inserting the roller 418 between the drive roller 404 and the package 411 in the reverse direction, whereby special drive devices for rotating the package 411 in the opposite direction are not required. The device for finding the thread of the has a simple structure and can be produced at low cost. Since the package 411 is placed on the roller 418 attached to the free end of the nozzle body 421 , it is possible to always place the suction opening 424 at a predetermined distance from the surface of the package 411 without the need for positioning means. The winding diameter of the package 411 is irrelevant.

As is clear from the above description, according to this embodiment, the rotation of the drive roller transfer the role to the package, so that this in reverse direction, d. H. in the unwinding direction, driven is to find the thread end part through the suction nozzle to facilitate. This is done by placing the roll between the package and the drive roller when advancing the suction head Rewinder inserted. The thread end is corresponding partly easily found and from the surface of the company Removable positions of the package, separate drives directions for rotating the package in reverse direction tion are not required, and the facility for recovery that of the thread end can be reduced with a simple structure Costs to be executed.

As is apparent from the above, the invention is made not only in the double twisting machine, but also in the Individual parts, especially the operating robot, the instep device, the devices for locating the thread end, the sleeve bearing device and the bobbin changing device.

Claims (11)

1.Double twisting machine for supply spools ( 2 ; Pu, Pd; 202 ) arranged one above the other with a robot ( 20 ; 224 ; 413 ) and with a plurality of threading lines ( 1 ) arranged in a row, in which threads of two supply spools arranged one above the other ( 2 ; Pu, Pd; 202 ) are unwound, the threads are twisted and the twisted thread thus produced is wound on, the robot ( 20 ; 224 ; 413 ) running along the row of twisting points ( 1 ) and with a device for changing the Supply bobbins, a device for opening the thread end, a device for inserting or threading the thread and a device for take-up bobbins are provided, a signal lamp being provided at each twisting point ( 1 ) to indicate a thread break and the bobbin changing device of the robot ( 20 ; 224 ; 413 ) is able to detect the operating state of the signal lamp, to change the supply coils ( 2 ; Pu, Pd; 202 ) to b If the take-up spool has a predetermined size, continue the changing process of the supply spools if a sensor for detecting the winding condition or the fact whether the supply spools ( 2 ; Pu, Pd; 202 ) are completely uncoiled, a thread winding is detected on one of the two supply bobbins ( 2 ; Pu, Pd; 202 ), and the supply bobbins ( 2 ; Pu, Pd; 202 ) are returned to their position and the supply bobbin changing process is ended when both To supply bobbins ( 2 ; Pu, Pd; 202 ) still have thread winding. 2. Double twisting machine according to claim 1, characterized in that the device for threading the thread comprises an actuating arm ( 226 ) for threading the supply bobbins ( 202 ) held on a spindle ( 201 ) of the double twisting machine and as a tensioning device for the Thread (Y) in a recess ( 219 ) in a cap ( 216 ) arranged on top of a bobbin holder, a ball ( 220 ) is inserted, where in the actuating arm ( 226 ) with a ball holder ( 234 ) for tightening the to the upper end of the upper cap ( 216 ) for the supply spools ( 202 ) fitted ball ( 220 ) is equipped during the thread insertion process. 3. Double twisting machine according to claim 1, characterized in that the device for changing the thread supply bobbins an actuation arm ( 25 ) for changing the supply spools ( 2 a, 2 b) placed on the spindle ( 3 ) of a twisting point ( 1 ) by means of a gripping device ( 29 ) to grasp the upper end of a supply adapter ( 2 a, 2 b) carrying adapters and a nozzle ( 39 ) for inflating compressed air to the spindle ( 3 ), for removing fiber fly, which contains at the end of the actuation gungsarms ( 25 ) is provided. 4. Double twisting machine according to claim 1, characterized in that the device for locating the thread end a suction nozzle ( 103 ) for sucking the end parts of threads of supply bobbins (Pu, Pd), which around a top of a tubular adapter ( 101 ), the the supply coils (Pu, Pd) carry, provided cap ( 102 ) are looped, the suction nozzle ( 103 ) being provided with a sensor ( 110 ) for detecting the end parts sucked into the suction nozzle ( 103 ) and a gripping device ( 111 ), which is actuated to grasp the threads (Yu, Yd) in response to a detection signal emitted by the sensor ( 110 ) when detecting the threads (Yu, Yd) in order to grip and hold the threads (Yu, Yd). 5. Double twisting machine according to claim 1, characterized in that a La gereinrichtung ( 321 ) for empty tubes ( 309 ) with stoppers ( 322 ) for holding empty tubes ( 309 ) in a predetermined position on a tube removal unit ( 313 ) is provided, the Stopper ( 322 ) can be deflected in a vertical plane. 6. Double twisting machine with a robot according to claim 1, characterized in that a device ( 412 ) for locating the thread end one on a package ( 411 ) in the double twisting machine ( 401 ) to and from this movable suction head ( 417 ) comprises is able to exert a suction effect on the surface of the thread layers of the package ( 411 ), as well as a roller ( 418 ) held on the suction head ( 417 ), which coil between the package ( 411 ) and a drive roller ( 404 ) for driving the package ( 411 ) can be inserted and can be driven by the drive roller ( 404 ) in order to in turn drive the package ( 411 ) in a direction opposite to the winding direction. 7.Double twisting machine for stacking supply spools with a robot that is able to capture the operating status of a signal lamp to indicate a thread break, which is arranged in a double threading station ( 1 ), in the threads of two stacking supply spools ( 2 ; 202 ) are withdrawn, the threads are rotated, the twisted thread is wound up, the robot ( 20 ; 224 ; 413 ) being able to start a supply bobbin replacement process when the winding package ( 7 ) is a predetermined size comprises the supply bobbin replacing continue when a sensor for He grasp the Bewicklungszustandes the supply coil (2; 202) determines that one of the two supply spools; thread is present, and the supply coil (2; 202) (2 202) in its position resets and the supply bobbin changing process ends when both supply bobbins ( 2 ; 202 ) still have thread. 8. Double twisting machine with a robot, in which an actuating arm is provided for changing thread supply bobbins held on a spindle of each twisting point and which can be moved along the twisting points, characterized in that on the actuating arm ( 25 ) a nozzle ( 39 ) for inflating Compressed air is provided on the spindle ( 3 ) in order to remove this fiber fly. 9. Device for locating the thread end for a robot for a double twisting machine with a suction nozzle for sucking on end parts of the threads of thread feed bobbins which are wound around an upper cap and which are placed on a tubular adapter which carries the supply bobbins, characterized in that that the suction nozzle ( 103 ) is provided with a sensor ( 110 ) for detecting the thread end parts sucked into the suction nozzle ( 103 ) and with a gripping device ( 111 ) which is actuated in response to a detection signal emitted by the sensor ( 110 ) when detecting the thread end parts to take the threads. 10. Double twisting machine with a robot with an actuating arm for threading threads that are drawn off from supply bobbins held on a spindle of the double twisting machine, characterized in that the actuating arm ( 226 ) with a ball holder ( 234 ) for tightening egg ner on the upper one End of a cap ( 216 ) attached ball ( 220 ) is provided during the thread insertion process. 11. Device for finding the thread end in a double fur twisting machine, one on a package ( 411 ) in the double twisting machine ( 401 ) to and away from this movable suction head ( 417 ), which is able to the surface of the thread layer Take up reel ( 411 ) suction, and contains a roller ( 418 ) held on the suction head ( 417 ), which can be inserted between the reel spool ( 411 ) and a drive roller ( 404 ) for driving the reel spool ( 411 ) and from the drive roller ( 404 ) can be driven all around to drive the package ( 411 ) in a direction opposite to the winding direction.