EP3722236B1 - Machine textile - Google Patents

Machine textile Download PDF

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Publication number
EP3722236B1
EP3722236B1 EP20163272.6A EP20163272A EP3722236B1 EP 3722236 B1 EP3722236 B1 EP 3722236B1 EP 20163272 A EP20163272 A EP 20163272A EP 3722236 B1 EP3722236 B1 EP 3722236B1
Authority
EP
European Patent Office
Prior art keywords
swing
suppressor
main body
contact
rail member
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20163272.6A
Other languages
German (de)
English (en)
Other versions
EP3722236A1 (fr
Inventor
Yusuke Riyama
Kenji Sugiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
TMT Machinery Inc
Original Assignee
TMT Machinery Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP3722236A1 publication Critical patent/EP3722236A1/fr
Application granted granted Critical
Publication of EP3722236B1 publication Critical patent/EP3722236B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/22—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores
    • B65H54/26—Automatic winding machines, i.e. machines with servicing units for automatically performing end-finding, interconnecting of successive lengths of material, controlling and fault-detecting of the running material and replacing or removing of full or empty cores having one or more servicing units moving along a plurality of fixed winding units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/10—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers
    • B65H54/20—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers for making packages of specified shapes or on specified types of bobbins, tubes, cores, or formers forming multiple packages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/70—Other constructional features of yarn-winding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
    • B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the present invention relates to a textile machine.
  • a yarn threading robot performs yarn threading to take-up units (yarn processing apparatuses) each of which takes up a spun yarn and wind it onto a bobbin.
  • the operational robot is suspended from two guide rails extending in a direction in which the take-up units are aligned, with wheels being provided between the robot and the rails, and the operational robot is movable along the guide rails (rail members).
  • the operational robot stops at a yarn processing apparatus and moves a robotic arm (working unit) so as to perform yarn threading (predetermined operation) to that yarn processing apparatus.
  • an operational robot which is able to run along a single rail member is under development.
  • Such an operational robot is arranged so that a wheel is on a single rail member.
  • This operational robot tends to swing in the axial direction of the wheel (orthogonal direction orthogonal to the rail member) as compared to the operational robot suspended from two rail members.
  • the operational robot swings when the working unit is driven and the weight balance in the orthogonal direction is changed. As a result, interference with a surrounding member or a hindrance to the yarn threading may occur.
  • a positioning mechanism for a doffing device recited in CN208234289U may be applied to the operational robot.
  • a pillar extending downward from the operation main body is arranged to extend along a guide formed on the floor surface. With this arrangement, swing of the operational robot is suppressed in the direction vertical to the rail member.
  • the operational robot which moves along the rail member occupies a space between the rail member and the floor surface in the vertical direction.
  • the working space is therefore disadvantageously narrowed.
  • An object of the present invention is to avoid increase in size in the vertical direction of an operational robot which moves in a suspended state, and to suppress swing of the operational robot while a working unit is in operation.
  • a textile machine includes: yarn processing apparatuses which are aligned in a predetermined direction intersecting with a vertical direction; a single rail member which extends in the predetermined direction; an operational robot which is configured to move in the predetermined direction while being suspended from the single rail member and to perform a predetermined operation for the yarn processing apparatuses; and a fixed portion which is fixedly provided at a location remote from a floor surface on which the yarn processing apparatuses are provided, the operational robot including: a main body which is suspended from the rail member; a moving unit which is configured to move the main body in the predetermined direction; a working unit which is provided at the main body to perform the predetermined operation while the moving unit is stopped; and a swing suppressor which is provided at the main body to suppress swing of the main body in an orthogonal direction which is orthogonal to both the vertical direction and the predetermined direction, one of the swing suppressor and the fixed portion including a regulatory portion which sandwiches the other one of the swing suppressor and the fixed portion at least in
  • the present invention when unintentional swing of the operational robot is about to occur in accordance with an operation of the working unit, further swing of the main body in the orthogonal direction is restricted because the regulatory portion of one of the swing suppressor and the fixed portion makes contact with the other one of the swing suppressor and the fixed portion.
  • the fixed portion is fixedly provided at a location remote from the floor surface, it is unnecessary to extend the swing suppressor to reach the floor surface. On this account, it is possible to avoid increase in size in the vertical direction of the operational robot which moves in a suspended state, and to suppress swing of the operational robot while the working unit is in operation.
  • the textile machine is arranged such that the swing suppressor includes a state switching unit which switches a state of the swing suppressor between a contact state in which the other one of the swing suppressor and the fixed portion is in contact with the regulatory portion and a non-contact state in which the other one of the swing suppressor and the fixed portion is not in contact with the regulatory portion.
  • the state switching unit actively causes the other one of the swing suppressor and the fixed portion to make contact with the regulatory portion. (To put it differently, the state switching unit actively causes the swing suppressor and the fixed portion). With this arrangement, the swing of the operational robot in the orthogonal direction is effectively suppressed. When the operational robot is moved, the contact between the swing suppressor and the fixed portion is canceled (i.e., they are switched to the non-contact state). Damages to the components are therefore prevented.
  • the textile machine of the first is arranged such that the fixed portion is the rail member.
  • the rail member which is necessary for moving the operational robot functions as the fixed portion, it is unnecessary to provide another fixed portion in addition to the rail member. It is therefore possible to suppress increase in cost for the components.
  • the textile machine of the second aspect is arranged such that the swing suppressor includes the regulatory portion.
  • the rail member is not provided with a regulatory portion which is positioned to sandwich another member in the orthogonal direction. Additional labor and cost are therefore required when a regulatory portion is newly provided at the rail member.
  • the regulatory portion is provided on the swing suppressor side, it is possible to save the labor and cost for manufacturing the rail member.
  • the textile machine of the third aspect is arranged such that the regulatory portion includes a contact member in which a first surface and a second surface are formed, the first surface being inclined relative to the vertical direction and being able to make contact with an end portion on one side in the orthogonal direction of the rail member and the second surface being inclined relative to the vertical direction and being able to make contact with an end portion on the other side in the orthogonal direction of the rail member, and the swing suppressor includes a driving unit which moves the contact member at least in the vertical direction to switch a state of the swing suppressor between a contact state in which the contact member is in contact with the rail member and a non-contact state in which the contact member is not in contact with the rail member.
  • the contact member is moved by the driving unit so that the first surface and the second surface make contact with the fixed portion, it is possible to restrict the swing of the main body in the orthogonal direction. It is therefore possible to effectively suppress the swing of the operational robot while the working unit is in operation, by a simple arrangement.
  • the textile machine of any one of the first to fourth aspects is arranged such that the swing suppressor is provided above a lower end of the main body.
  • the swing suppressor is provided above the lower end of the main body. To put it differently, the swing suppressor does not protrude downward as compared to the main body. It is therefore possible to avoid increase in size of the operational robot in the vertical direction.
  • the textile machine of any one of the first to fifth aspects is arranged such that, when viewed in the vertical direction, the swing suppressor is provided inside a contour line of the main body.
  • the swing suppressor when viewed in the vertical direction, the swing suppressor is provided inside the contour line of the main body. To put it differently, the swing suppressor does not protrude from the main body in the horizontal direction. It is therefore possible to avoid increase in size of the operational robot in the horizontal direction.
  • a textile machine includes: yarn processing apparatuses which are aligned in a predetermined direction intersecting with a vertical direction; a single rail member which extends in the predetermined direction; an operational robot which is configured to move in the predetermined direction while being suspended from the single rail member and to perform a predetermined operation for the yarn processing apparatuses; and a fixed portion which is fixedly provided at a location remote from a floor surface on which the yarn processing apparatuses are provided, the operational robot including: a main body which is suspended from the rail member; a moving unit which is configured to move the main body in the predetermined direction; a working unit which is provided at the main body to perform the predetermined operation while the moving unit is stopped; and a swing suppressor which is provided at the main body to suppress swing of the main body in an orthogonal direction which is orthogonal to both the vertical direction and the predetermined direction, the fixing portion including a pair of contact surfaces which are provided along the orthogonal direction, and the swing suppressor including a sandwiching unit which
  • the swing suppressor including a state switching unit which switches a state of the swing suppressor between a contact state in which the pair of contact surfaces are in contact with the sandwiching unit and a non-contact state in which one of the pair of contact surfaces is not in contact with the sandwiching unit.
  • the sandwiching unit of the swing suppressor makes contact with the pair of contact surfaces and sandwiches the fixed portion, friction force is generated between the sandwiching unit and the contact surfaces.
  • the friction force acts in a direction of suppressing the swing.
  • the fixed portion is fixedly provided at a location remote from the floor surface, it is unnecessary to extend the swing suppressor to reach the floor surface. On this account, it is possible to avoid increase in size in the vertical direction of the operational robot which moves in a suspended state, and to suppress swing of the operational robot while the working unit is in operation.
  • the up-down direction is a vertical direction in which the gravity acts.
  • the left-right direction (predetermined direction in the present invention) is orthogonal to the up-down direction and is a direction in which later-described take-up units 3 are aligned.
  • the front-rear direction (orthogonal direction in the present invention) is a direction orthogonal to both the up-down direction and the left-right direction.
  • the left-right direction and the front-rear direction are parallel to the horizontal direction.
  • FIG. 1 is a front elevation of a spun yarn take-up machine 1 (textile machine of the present invention) of the present embodiment.
  • the spun yarn take-up machine 1 includes take-up units 3 (yarn processing apparatuses of the present invention) and a yarn threading robot 4 (operational robot of the present invention).
  • the take-up units 3 are aligned in the left-right direction and each of the take-up units 3 takes up yarns Y spun out from a spinning apparatus (not illustrated) provided above the take-up unit 3, and form packages P by winding the yarns Y onto bobbins B.
  • the yarn threading robot 4 is movable in the left-right direction and performs yarn threading to thread the yarns Y to parts constituting each take-up unit 3 before the formation of packages by the take-up unit 3.
  • FIG. 2 is a profile of the take-up unit 3.
  • the take-up unit 3 includes a first godet roller 12, a second godet roller 13, and a winding unit 14.
  • the first godet roller 12 is a roller having an axis substantially in parallel to the left-right direction and is provided above a front end portion of the winding unit 14.
  • the first godet roller 12 is rotationally driven by a first godet motor 111 (see FIG. 4 ).
  • the second godet roller 13 is a roller having an axis substantially in parallel to the left-right direction, and is provided above and rearward of the first godet roller 12.
  • the second godet roller 13 is rotationally driven by a second godet motor 112 (see FIG. 4 ).
  • the second godet roller 13 is movably supported by the guide rail 15.
  • the guide rail 15 extends obliquely upward and rearward.
  • the second godet roller 13 is movable along the guide rail 15 by, for example, a motor 113 (see FIG. 4 ) and unillustrated members such as a pulley pair and a belt. With this, the second godet roller 13 is movable between a position which is indicated by full lines in FIG. 2 , where winding of the yarns Y is carried out and a position which is indicated by dashed lines in FIG. 2 , where the second godet roller 13 is close to the first godet roller 12 and yarn threading is carried out.
  • the winding unit 14 is arranged to perform winding such that the yarns Y are wound onto bobbins B and package P are formed.
  • the winding unit 14 is provided below the first godet roller 12 and the second godet roller 13.
  • the winding unit 14 includes: fulcrum guides 21; traverse guides 22; a turret 23; two bobbin holders 24; and a contact roller 25.
  • Each of the fulcrum guides 21 is a guide about which a yarn Y is traversed by each traverse guide 22.
  • the fulcrum guides 21 are provided for the yarns Y, respectively, and are aligned in the front-rear direction.
  • the fulcrum guides 21 are movable between positions where the fulcrum guides 21 are separated from one another in the front-rear direction and the yarns Y are wound and positions where the fulcrum guides 21 are gathered to the front side and yarn threading is performed (not illustrated).
  • the traverse guides 22 are provided for the respective yarns Y and are aligned in the front-rear direction. Each traverse guide 22 is driven by a traverse motor 114 (see FIG. 4 ) and reciprocates in the front-rear direction. With this, the yarns Y threaded to the traverse guides 22 are traversed about the fulcrum guides 21.
  • the turret 23 is a disc-shaped member having an axis which is in parallel to the front-rear direction.
  • the turret 23 is rotationally driven by a turret motor which is not illustrated.
  • the two bobbin holders 24 have axes in parallel to the front-rear direction and are rotatably supported at an upper end portion and a lower end portion of the turret 23, respectively.
  • bobbins B provided for the respective yarns Y are attached to be aligned in the front-rear direction (bobbin axial direction).
  • Each of the two bobbin holders 24 is rotationally driven by an individual winding motor 115 (see FIG. 4 ).
  • the contact roller 25 is a roller having an axis substantially in parallel to the front-rear direction and is provided immediately above the upper bobbin holder 24.
  • the contact roller 25 is configured to make contact with the surfaces of the packages P supported by the upper bobbin holder 24. With this, the contact roller 25 applies a contact pressure to the surfaces of the unfinished packages P, to adjust the shape of each package P.
  • the yarns Y traversed by the traverse guides 22 are wound onto the bobbins B, with the result that the packages P are formed.
  • the turret 23 rotates to switch over the upper and lower positions of the two bobbin holders 24.
  • the bobbin holder 24 having been at the lower position is moved to the upper position, which allows the yarns Y to be wound onto the bobbins B attached to the bobbin holder 24 having been moved to the upper position, to form packages P.
  • the bobbin holder 24 to which the fully-formed packages P are attached is moved to the lower position, and the packages P are collected by, for example, an unillustrated package collector.
  • FIG. 3(a) is a side view illustrating the entirety of the yarn threading robot 4.
  • FIG. 3(b) is an enlarged view of FIG. 3(a) and illustrates an upper end portion of the yarn threading robot 4.
  • FIG. 3(c) shows the upper end portion of the yarn threading robot 4 viewed from the rear side.
  • the yarn threading robot 4 threads the yarns Y to the first godet roller 12, the second godet roller 13, the fulcrum guides 21, etc. (i.e., perform a predetermined operation of the present invention).
  • the yarn threading robot 4 includes a main body 31, a robotic arm 32, a yarn threading unit 33, and a moving unit 34.
  • the robotic arm 32 and the yarn threading unit 33 are equivalent to a working unit of the present invention.
  • the main body 31 is formed to be substantially rectangular parallelepiped in shape.
  • the main body 31 includes a substantially rectangular parallelepiped frame 31a and a plate-shaped protrusion 31c which protrudes upward from a front end portion of an upper surface 31b of the frame 31a.
  • a yarn threading controller 102 (see FIG. 4 ) is provided inside the frame 31a to control operations of the robotic arm 32, etc.
  • the protrusion 31c rotatably supports wheels 36 (described later) of the moving unit 34.
  • a rail member 35 (fixed portion of the present invention) is provided to extend in the left-right direction.
  • the rail member 35 is, for example, H-shaped in cross section (see FIG. 3(b) ).
  • the rail member 35 is fixedly provided at a location remote from a floor surface 5 (see FIG. 1 and FIG. 2 ) on which the take-up units 3 are provided.
  • two rail members 35 are aligned in the front-rear direction (e.g., Japanese Laid-Open Patent Publication No. 2017-82381 ). Meanwhile, in the present embodiment, only one rail member 35 is provided.
  • the main body 31 is suspended from the rail member 35 through the wheels 36.
  • the robotic arm 32 is, for example, attached to a lower surface 31d of the main body 31.
  • the robotic arm 32 includes arms 32a and joints 32b connecting the arms 32a with one another.
  • Each joint 32b incorporates therein an arm motor 122 (see FIG. 4 ).
  • the arm motor 122 see FIG. 4
  • the arm 32a is swung about the joint 32b.
  • the yarn threading unit 33 is attached to a leading end portion of the robotic arm 32.
  • the yarn threading unit 33 includes members such as an unillustrated suction, and is able to temporarily hold the yarns Y.
  • the moving unit 34 is configured to move the main body 31 in the left-right direction along the rail member 35.
  • the moving unit 34 includes the wheels 36 which are rotatably attached to the protrusion 31c of the main body 31.
  • the wheels 36 are provided on the upper surface of the one rail member 35 (see FIG. 3(b) ).
  • Two wheels 36 are provided in the left-right direction (see FIG. 3(c) ).
  • the wheels 36 are driven by a moving motor 121 (see FIG. 4 ).
  • the moving unit 34 is not arranged to ride on two rail members 35 which are aligned in the front-rear direction as in the known arrangements.
  • the moving unit 34 is therefore small in the front-rear direction as compared to the known arrangements. Accordingly, the main body 31 is small in the front-rear direction as compared to the known arrangements (i.e., is narrow in the up-down direction).
  • each take-up unit controller 101 is provided in each take-up unit 3, and the take-up unit controller 101 controls the first godet motor 111, the second godet motor 112, the motor 113, the traverse motor 114, the winding motor 115, etc.
  • Each take-up unit 3 includes plural traverse motors 114 and two winding motors 115, but FIG. 4 shows only one traverse motor 114 and only one winding motor 115.
  • the yarn threading controller 102 is provided in the yarn threading robot 4.
  • the yarn threading controller 102 controls the moving motor 121, the arm motor 122, the yarn threading unit 33, a cylinder 42 (described later), etc.
  • the robotic arm 32 includes plural joints 32b and plural arm motors 122 corresponding to the respective joints 32b, FIG. 4 shows only one arm motor 122.
  • the spun yarn take-up machine 1 includes a controller 100 which serves to control the entire machine.
  • the controller 100 is connected with the take-up unit controllers 101 of the take-up units 3 and the yarn threading controller 102. By controlling the take-up unit controllers 101 and the yarn threading controller 102, the controller 100 controls the entire spun yarn take-up machine 1.
  • FIG. 5(a) and FIG. 5(b) illustrates yarn threading onto the first godet roller 12 and the second godet roller 13.
  • the take-up unit controller 101 of the take-up unit 3 which is the target of the yarn threading controls the motor 113 to position the second godet roller 13 to be close to the first godet roller 12 (see one-dot chain lines in FIG. 2 ).
  • the yarn threading controller 102 then controls the moving motor 121 to drive the wheels 36 so as to move the yarn threading robot 4 to a position overlapping, in the front-rear direction, the take-up unit 3 which is the target of the yarn threading. Subsequently, the yarn threading controller 102 controls the robotic arm 32 and the yarn threading unit 33 to hold the yarns Y spun out from the spinning apparatus. Furthermore, the yarn threading controller 102 drives the robotic arm 32 to cause the yarn threading unit 33 to perform yarn threading. To be more specific, the yarn threading controller 102 causes the yarn threading unit 33 to perform yarn threading to the first godet roller 12 (see FIG.
  • the yarn threading controller 102 causes the yarn threading unit 33 to perform yarn threading to the fulcrum guides 21 (not illustrated).
  • the moving unit 34 and the main body 31 are small in the front-rear direction as compared to the known arrangements, as described above. In other words, these members are long and narrow as compared to the known arrangements. For this reason, during the yarn threading, the weight balance in the front-rear direction (i.e., the axial direction of the wheels 36) tends to be significantly changed in accordance with the operations of the robotic arm 32 and the yarn threading unit 33, with the result that unintentional swing of the yarn threading robot 4 in the front-rear direction tends to occur (see arrows in FIG. 5(a) and FIG. 5(b) ). As a result, interference with a surrounding member or a hindrance to the yarn threading may occur.
  • the spun yarn take-up machine 1 includes a swing suppressor 40 which is arranged as described below.
  • FIG. 6(a) and FIG. 6(b) are side views of an upper part of the yarn threading robot 4.
  • FIG. 6(c) is a plan view of the yarn threading robot 4.
  • the rail member 35 is depicted by two-dot chain lines for easy understanding.
  • the swing suppressor 40 is provided in the main body 31 of the yarn threading robot 4 and is configured to suppress swing of the main body 31 by restricting the movement of the main body 31 in the front-rear direction.
  • the swing suppressor 40 is, for example, provided on the upper surface 31b of the main body 31 and directly below the rail member 35. To put it differently, the swing suppressor 40 is provided above the lower surface 31d of the main body 31 (the lower end of the main body 31).
  • the swing suppressor 40 is provided inside a contour line 31e of the main body 31 when viewed in the up-down direction.
  • the swing suppressor 40 includes, for example, a V-shaped block 41 (a regulatory portion and a contact member of the present invention) and a cylinder 42 (a state switching unit and a driving unit of the present invention).
  • the V-shaped block 41 is a member in which a cutout which is triangular prism in shape is formed in a substantially rectangular parallelepiped block.
  • the V-shaped block 41 includes a flat first surface 41a which is oriented upward and rearward (obliquely upward and rearward) and a flat second surface 41b which is oriented upward and forward (obliquely upward and forward).
  • a V shape is formed by the first surface 41a and the second surface 41b (see FIG. 6(a) and FIG. 6(b) ).
  • the first surface 41a is inclined to form a negative slope relative to the front-rear direction (i.e., is inclined upward and forward in a direction toward one side in the orthogonal direction of the present invention).
  • the first surface 41a is provided below a front end portion 35a of a lower part of the rail member 35.
  • the second surface 41b is provided behind the first surface 41a and is inclined to form a positive slope relative to the front-rear direction (i.e., is inclined upward and rearward in a direction toward the other side in the orthogonal direction of the present invention).
  • the first surface 41a and the second surface 41b are inclined relative to the vertical direction.
  • the second surface 41b is provided below a rear end portion 35b of the lower part of the rail member 35.
  • the lower surface of the V-shaped block 41 is connected to the cylinder 42.
  • the cylinder 42 is provided to move the V-shaped block 41 in the up-down direction by, for example, pressure of compressed air.
  • the cylinder 42 is connected to an unillustrated compressed air source.
  • the cylinder 42 includes a piston rod 42a which is able to extend and contract in the up-down direction.
  • the V-shaped block 41 is connected to a leading end (upper end) of the piston rod 42a.
  • the first surface 41a of the V-shaped block 41 makes contact with the front end portion 35a of the rail member 35 and the second surface 41b of the V-shaped block 41 makes contact with the rear end portion 35b of the rail member 35 (contact state; see FIG. 6(b) ).
  • the swing suppressor 40 is switchable between the contact state and the non-contact state by the cylinder 42.
  • the rail member 35 is sandwiched (gripped) by the V-shaped block 41 in the front-rear direction, with the result that the swing of the main body 31 to which the V-shaped block 41 and the cylinder 42 are attached is suppressed in the front-rear direction.
  • the V-shaped block 41 is in contact with the both end portions in the front-rear direction of the rail member 35, unintentional swing of the main body 31 in the front-rear direction is effectively suppressed during the above-described yarn threading.
  • the swing of the yarn threading robot 4 in the front-rear direction is suppressed.
  • the cylinder 42 actively causes the rail member 35 and the V-shaped block 41 to make contact with each other, the swing of the yarn threading robot 4 is effectively suppressed in the front-rear direction.
  • the contact between the swing suppressor 40 and the rail member 35 is canceled (i.e., they are switched to the non-contact state). Damages to the components are therefore prevented.
  • the fixedlyprovided rail member 35 is used as a fixed portion, it is unnecessary to provide a fixed portion in addition to the rail member 35. It is therefore possible to suppress increase in cost for the components.
  • the swing suppressor 40 includes the V-shaped block 41 (regulatory portion) which sandwiches the rail member 35. Because the regulatory portion is provided on the swing suppressor 40 side, it is possible to save the labor and cost for manufacturing the rail member 35 as compared to a case where a regulatory portion is additionally provided in the rail member 35.
  • the swing suppressor 40 is provided above the lower end (lower surface 31d) of the main body 31. To put it differently, the swing suppressor 40 does not protrude downward as compared to the main body 31. It is therefore possible to avoid increase in size of the yarn threading robot 4 in the vertical direction.
  • the swing suppressor 40 when viewed in the vertical direction, the swing suppressor 40 is provided inside the contour line 31e of the main body 31. To put it differently, the swing suppressor 40 does not protrude from the main body 31 in the horizontal direction. It is therefore possible to avoid increase in size of the yarn threading robot 4 in the horizontal direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Textile Engineering (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Spinning Methods And Devices For Manufacturing Artificial Fibers (AREA)
  • Manipulator (AREA)

Claims (12)

  1. Machine textile (1) comprenant :
    des appareils de traitement de fil (3) qui sont alignés dans une direction prédéterminée croisant une direction verticale ;
    un seul élément de rail (35) qui s'étend dans la direction prédéterminée ;
    un robot opérationnel (4, 4a, 4b) qui est configuré pour se déplacer dans la direction prédéterminée tout en étant suspendu au seul élément de rail (35) et pour réaliser une opération prédéterminée pour les appareils de traitement de fil (3) ; et
    une portion fixée (35, 38, 62) qui est fixement prévue à un emplacement à distance d'une surface de sol (5), sur laquelle les appareils de traitement de fil (3) sont prévus,
    le robot opérationnel (4, 4a, 4b) incluant :
    un corps principal (31) qui est suspendu à l'élément de rail (35) ;
    une unité mobile (34) qui est configurée pour déplacer le corps principal (31) dans la direction prédéterminée ;
    une unité de travail (32, 33) qui est prévue au niveau du corps principal (31) pour réaliser l'opération prédéterminée alors que l'unité mobile (34) est arrêtée ; et
    un suppresseur d'oscillation (40, 50, 60, 70, 80) qui est prévu au niveau du corps principal (31) pour supprimer l'oscillation du corps principal (31) dans une direction orthogonale qui est orthogonale à la fois à la direction verticale et à la direction prédéterminée,
    un du suppresseur d'oscillation (40, 50, 60, 70, 80) et de la portion fixée (35, 38, 62) incluant une portion de régulation (41, 53, 62) qui prend en sandwich l'autre du suppresseur d'oscillation (40, 50, 60, 70, 80) et de la portion fixée (35, 38, 62) au moins dans la direction orthogonale, alors que l'unité de travail (32, 33) est en fonctionnement ;
    caractérisée en ce que le suppresseur d'oscillation (40, 50, 60, 70, 80) inclut une unité de commutation d'état (42, 51) qui commute un état du suppresseur d'oscillation (40) entre un état de contact, dans lequel l'autre du suppresseur d'oscillation (40, 50, 60) et de la portion fixée (35, 38, 62) est en contact avec la portion de régulation (41, 53, 62) et un état sans contact, dans lequel l'autre du suppresseur d'oscillation (40) et de la portion fixée (35, 38, 62) n'est pas en contact avec la portion de régulation (41, 53, 62).
  2. Machine textile (1) selon la revendication 1, dans laquelle la portion fixée (35) est l'élément de rail (35).
  3. Machine textile (1) selon la revendication 2, dans laquelle le suppresseur d'oscillation (40) inclut la portion de régulation (41, 53, 62).
  4. Machine textile (1) selon la revendication 3, dans laquelle,
    la portion de régulation (41) inclut
    un élément de contact (41), dans lequel une première surface (41a) et une seconde surface (41b) sont formées, la première surface (41a) étant inclinée par rapport à la direction verticale et étant capable de faire contact avec une portion d'extrémité (35a) sur un côté dans la direction orthogonale de l'élément de rail (35) et la seconde surface (41b) étant inclinée par rapport à la direction verticale et étant capable de faire contact avec une portion d'extrémité (35b) sur l'autre côté dans la direction orthogonale de l'élément de rail (35), et
    le suppresseur d'oscillation (40) inclut
    une unité d'entraînement (42) qui déplace l'élément de contact (41) au moins dans la direction verticale pour commuter un état du supporteur d'oscillation (40) entre un état de contact, dans lequel l'élément de contact (41) est en contact avec l'élément de rail (35) et un état sans contact, dans lequel l'élément de contact (41) n'est pas en contact avec l'élément de rail (35).
  5. Machine textile (1) selon l'une quelconque des revendications 1 à 4, dans laquelle le suppresseur d'oscillation (40) est prévu au-dessus d'une extrémité inférieure (31d) du corps principal (31).
  6. Machine textile (1) selon l'une quelconque des revendications 1 à 5, dans laquelle lorsque vu dans la direction verticale, le suppresseur d'oscillation (40) est prévu à l'intérieur d'une ligne de contour (31e) du corps principal (31).
  7. Machine textile (1) selon la revendication 1, dans laquelle le suppresseur d'oscillation (40) comprend un bloc en forme de V (41) comme la portion de régulation configurée pour prendre en sandwich l'élément de rail (35) et un cylindre (42) comme une unité de commutation d'état et une unité d'entraînement ;
    dans laquelle le suppresseur d'oscillation (40) est prévu à l'intérieur d'une ligne de contour (31e) du corps principal (31) lorsque vu dans la direction de haut en bas ;
    dans laquelle le bloc en forme de V (41) est un élément, dans laquelle une découpe qui est un prisme de forme triangulaire est formée dans un bloc parallélépipédique sensiblement rectangulaire ;
    dans laquelle le bloc en forme de V (41) inclut une première surface plate (41a) qui est orientée vers le haut et vers l'arrière et une seconde surface plate (41b) qui est orientée vers le haut et vers l'avant ;
    dans laquelle lorsque le bloc en forme de V (41) est vu dans la direction prédéterminée, une forme de V est formée par la première surface (41a) et la seconde surface (41b) ;
    dans laquelle la première surface (41a) est inclinée pour former une pente négative par rapport à la direction orthogonale ;
    dans laquelle la première surface (41a) est prévue sous une portion d'extrémité avant (35a) d'une partie inférieure de l'élément de rail (35), la seconde surface (41b) étant prévue derrière la première surface (41a) et étant inclinée pour former une pente positive par rapport à la direction orthogonale ;
    dans laquelle la seconde surface (41b) est prévue sous une portion d'extrémité arrière (35b) de la partie inférieure de l'élément de rail (35) ; la surface inférieure du bloc en forme de V (41) étant reliée au cylindre (42) ;
    dans laquelle le cylindre (42) est prévu pour déplacer le bloc en forme de V (41) dans la direction verticale ;
    dans laquelle le cylindre (42) inclut une tige de piston (42a) qui est capable de s'étendre et de se contracter dans la direction verticale ; le bloc en forme de V (41) étant relié à une extrémité avant de la tige de piston (42a) ;
    dans laquelle dans l'état sans contact, le bloc en forme de V (41) n'interfère pas avec l'élément de rail (35) de sorte que le corps principal (31) soit mobile par l'unité mobile (34) ;
    dans laquelle le suppresseur d'oscillation (40) est commutable entre l'état de contact et l'état sans contact par le cylindre (42) ;
    dans laquelle lorsque le suppresseur d'oscillation (40) est dans l'état de contact, l'élément de rail (35) est pris en sandwich et saisi par le bloc en forme de V (41) dans la direction orthogonale.
  8. Machine textile selon la revendication 1, dans laquelle le suppresseur d'oscillation (50) inclut une paire de suiveurs de came (53) comme la portion de régulation, un moteur (51) comme l'unité de commutation d'état prévue sur une surface supérieure (31b) du corps principal (31) et une table rotative (52) reliée à un arbre de rotation (51a) du moteur (51) ; dans laquelle la paire de suiveurs de came (53) est placée sur une portion d'extrémité qui est sur le côté radialement extérieur de la table rotative (52) ; et
    la distance entre la paire de suiveurs de came (53) et l'élément de rail (35) est changée dans la direction orthogonale lorsque le moteur est tourné, de sorte qu'un état du suppresseur d'oscillation (50) soit commuté entre un état sans contact, dans lequel les suiveurs de came (53) ne sont pas en contact avec une surface d'extrémité avant (35c) et une surface d'extrémité arrière (35d) de l'élément de rail (35) et un état de contact, dans lequel les suiveurs de came (53) sont en contact avec la surface d'extrémité avant (35c) et la surface d'extrémité arrière (35d) ;
    dans laquelle l'arbre de rotation (51a) du moteur (51) s'étend vers le haut depuis le corps principal du moteur (51) ; le centre de rotation de la table rotative (52) étant identique au centre de rotation de l'arbre de rotation (51a) ;
    dans laquelle la paire de suiveurs de came (53) est prévue pour prendre en sandwich une portion d'extrémité inférieure de l'élément de rail (35) au moins dans la direction orthogonale ; la paire de suiveurs de came (53) s'opposant l'un à l'autre sur le centre de rotation de la table rotative (52) et s'étendent sensiblement verticalement.
  9. Machine textile selon la revendication 1, dans laquelle,
    la portion fixée est un élément d'axe (38) attaché à un élément de faisceau (37) qui est prévu fixement,
    le suppresseur d'oscillation (60) inclut un cylindre (61) et un bloc (62) comme la portion de régulation mobile dans la direction verticale,
    une rainure (62a) s'étendant vers le bas est formée dans une surface supérieure du bloc (62), et
    lorsque le suppresseur d'oscillation (60) est dans l'état de contact, le bloc (62) est déplacé vers le haut de sorte que l'élément d'axe (38) soit pris en sandwich par la rainure (62a) dans la direction orthogonale ;
    dans laquelle l'élément d'axe (38) s'étend vers le bas et est distant de la surface de sol (5) ;
    dans laquelle le cylindre (61) est attaché à la surface avant du cadre (31a) du corps principal (31) ; dans laquelle une tige de piston (61a) du cylindre (61) s'étend vers le haut depuis le corps principal du cylindre (61) et est capable de s'étendre et se contracter dans la direction verticale ;
    dans laquelle l'élément d'axe (38) est capable d'entrer relativement dans la rainure (62a) ; le bloc (62) étant attaché à une extrémité supérieure de la tige de piston (61a) ;
    dans laquelle, lorsqu'aucun air compressé n'est fourni au cylindre (61), le bloc (62) et l'élément d'axe (38) sont séparés l'un de l'autre dans la direction verticale ;
    dans laquelle, lorsque de l'air compressé est fourni au cylindre (61) et la tige de piston (61) s'étend vers le haut, le bloc (62) est déplacé vers le haut et l'élément d'axe (38) entre dans la rainure (62a).
  10. Machine textile selon la revendication 1, dans laquelle,
    la portion fixée est un élément d'axe (38),
    le suppresseur d'oscillation (70) inclut un bloc (62) comme la portion de régulation qui est prévue fixement, le bloc (62) étant attaché à un élément de faisceau (37) pour s'étendre vers le bas ;
    une rainure (62a) est formée dans une surface inférieure du bloc (62),
    dans laquelle une tige de piston (61a) du cylindre (61) s'étend vers le haut depuis le corps principal du cylindre (61) et est capable de s'étendre et de se contracter dans la direction verticale,
    dans laquelle l'élément d'axe (38) est attaché à la tige de piston (61a) du cylindre (61) ;
    lorsque le suppresseur d'oscillation (40) est dans l'état de contact, le bloc (62) est déplacé vers le haut de sorte que l'élément d'axe (38) soit pris en sandwich par la rainure (62a) dans la direction orthogonale ;
    dans laquelle l'élément d'axe (38) est inséré dans la rainure (62a) du bloc (62) par fourniture d'air compressé au cylindre (61) et extension de la tige de piston (61a) vers le haut.
  11. Machine textile selon la revendication 1, dans laquelle,
    la portion fixée est une pluralité d'éléments d'axe (38) prévus sur la surface inférieure de l'élément de rail (35) à des intervalles prédéterminés dans la direction prédéterminée,
    le suppresseur d'oscillation (80) est un bloc (62) prévu sur une surface supérieure du corps principal (31),
    une rainure (62a) s'étendant vers le bas est formée dans une surface supérieure du bloc (62), l'élément d'axe (38) est capable d'entrer relativement dans la rainure (62a), le bloc (62) est attaché à une extrémité supérieure de la tige de piston (61a),
    lorsque le suppresseur d'oscillation (40) est dans l'état de contact, l'élément d'axe (38) est pris en sandwich par le bloc (62) dans la direction orthogonale,
    lorsque le robot d'enfilage de fil (4d) est arrêté dans une position prédéterminée dans la direction prédéterminée, le bloc (62) est positionné pour prendre en sandwich l'élément d'axe (38) dans la direction orthogonale,
    lorsque le corps principal (31) est sur le point d'osciller dans la direction orthogonale alors que le robot d'enfilage de fil (4d) est arrêté dans la position prédéterminée et l'enfilage de fil est en train d'être réalisé par le bras robotique (32), le bloc (62) fait contact avec l'élément d'axe (38) et l'oscillation du corps principal (31) est restreinte.
  12. Machine textile (1) comprenant :
    des appareils de traitement de fil (3) qui sont alignés dans une direction prédéterminée croisant une direction verticale ;
    un seul élément de rail (35) qui s'étend dans la direction prédéterminée ;
    un robot opérationnel (4, 4a, 4b) qui est configuré pour se déplacer dans la direction prédéterminée tout en étant suspendu au seul élément de rail (35) et pour réaliser une opération prédéterminée pour les appareils de traitement de fil (3) ; et
    une portion fixée (35, 38, 62) qui est fixement prévue à un emplacement à distance d'une surface de sol (5), sur laquelle les appareils de traitement de fil (3) sont prévus,
    le robot opérationnel (4, 4a, 4b) incluant :
    un corps principal (31) qui est suspendu à l'élément de rail (35) ;
    une unité mobile (34) qui est configurée pour déplacer le corps principal (31) dans la direction prédéterminée ;
    une unité de travail (32, 33) qui est prévue au niveau du corps principal (31) pour réaliser l'opération prédéterminée alors que l'unité mobile (34) est arrêtée ; et
    un suppresseur d'oscillation (90) qui est prévu au niveau du corps principal (31) pour supprimer l'oscillation du corps principal (31) dans une direction orthogonale qui est orthogonale à la fois à la direction verticale et à la direction prédéterminée,
    la portion fixée (35, 38, 62) incluant une paire de surfaces de contact (35e, 35f) qui sont prévues le long de la direction orthogonale, et
    le suppresseur d'oscillation (90) incluant une unité de prise en sandwich (36, 91) qui est en contact avec la paire de surfaces de contact (35e, 35f) et prend en sandwich la portion fixée (35, 38, 62) alors que l'unité de travail (32, 33) est en fonctionnement ; et caractérisée en ce que
    le suppresseur d'oscillation (90) inclut une unité de commutation d'état (42, 51) qui commute un état du suppresseur d'oscillation (90) entre un état de contact, dans lequel la paire de surfaces de contact (35e, 35f) est en contact avec l'unité de prise en sandwich (36, 91) et un état sans contact, dans lequel une de la paire de surfaces de contact (35e, 35f) n'est pas en contact avec l'unité de prise en sandwich (36, 91).
EP20163272.6A 2019-04-08 2020-03-16 Machine textile Active EP3722236B1 (fr)

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CN208234289U (zh) * 2018-04-09 2018-12-14 广东科达洁能股份有限公司 一种丝饼的自动落筒装置

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EP3722236A1 (fr) 2020-10-14
TWI839486B (zh) 2024-04-21
JP7286385B2 (ja) 2023-06-05

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