EP4793214A1 - Yarn feed package supplying device - Google Patents

Yarn feed package supplying device

Info

Publication number
EP4793214A1
EP4793214A1 EP26155278.0A EP26155278A EP4793214A1 EP 4793214 A1 EP4793214 A1 EP 4793214A1 EP 26155278 A EP26155278 A EP 26155278A EP 4793214 A1 EP4793214 A1 EP 4793214A1
Authority
EP
European Patent Office
Prior art keywords
yarn feed
push
feed package
yarn
pegs
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.)
Pending
Application number
EP26155278.0A
Other languages
German (de)
French (fr)
Inventor
Masato Yamamoto
Takayuki Iwaki
Yusuke Riyama
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
Application filed by TMT Machinery Inc filed Critical TMT Machinery Inc
Publication of EP4793214A1 publication Critical patent/EP4793214A1/en
Pending legal-status Critical Current

Links

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
    • 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
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/02—Arrangements for removing spent cores or receptacles and replacing by supply packages at paying-out stations
    • 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

Landscapes

  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

To provide a yarn feed package supplying device that can push out, from the peg shaft, the yarn feed package hooked on the peg shaft, without damaging the yarn layer of the yarn feed package. The yarn feed package supplying device includes: pegs 70 configured to allow a yarn feed package P, in which yarn is wound around a paper tube 160 to form a yarn layer, to be hooked thereon, distal end portions of the pegs 70 being free ends; and a push-out mechanism configured to push out the yarn feed package P, which is hooked on the pegs 70, from the distal ends of the pegs 70. The push-out mechanism includes a push-out member 92 and a cylinder 75 configured to move the push-out member 92 toward one end portion. The push-out member 92 is configured to come into contact with a first section and a second section of an end surface of the paper tube 160 of the yarn feed package P when the push-out member 92 is moved toward the one end portion, the first section and the second section being located at different positions in a height direction, and the push-out member 92 is configured to be capable of performing pendulum motion in the height direction by using a supporting shaft 87 as a turning fulcrum, the supporting shaft 87 being provided between a first portion and a second portion in the height direction, the first portion and the second portion respectively coming into contact with the first section and the second section.

Description

    BACKGROUND OF THE INVENTION FIELD OF THE INVENTION
  • The present invention relates to a yarn feed package supplying device.
    • DESCRIPTION OF THE BACKGROUND ART
  • There is a known yarn feed exchange robot that, in a false twisting system, conveys a yarn feed package, in which yarn is wound around a cylindrical paper tube to form a yarn layer, and supplies the yarn feed package to a creel (see Patent Document 1, for example).
  • Patent Document 1 discloses a yarn feed exchange robot 4 that mounts a full package 6a onto a peg shaft 7 of a creel 2. This yarn feed exchange robot 4 includes a yarn feed delivery device (yarn feed package supplying device) 75 that has an air cylinder 83, a holder 86 that supports the air cylinder 83, and a package engaging/disengaging member 85 constituted of plates 91, 93. A peg shaft 88 is fixed at the distal end portion of the holder 86. When the yarn feed delivery device 75 delivers a yarn feed package 6a to the peg shaft of the creel 2, the plates 91, 93 enter a paper tube 8 due to extension of the air cylinder 83. A pressing plate 89 is attached at the distal end of a piston rod 84 of the air cylinder 83, the pressing plate 89 coming into contact with the shaft end portion of the paper tube 8. When the yarn feed package 6a supported on the peg shaft 88 is mounted on the peg shaft 7 of the creel 2, the pressing plate 89 pushes out the yarn feed package 6a according to the extension of the air cylinder 83, and therefore the yarn feed package 6a is delivered to the peg shaft 7 of the creel 2 from the peg shaft 88.
    • (Prior Art Documents) (Patent Documents)
  • Patent Document 1: Japanese Patent Application Publication No. 6-56351
    • (Problems to be Solved)
  • As shown in FIG. 7 of Patent Document 1, in the yarn feed delivery device disclosed in Patent Document 1, there is a height difference between the peg shaft 88 and the peg shaft 7 of the creel 2, and therefore the yarn feed package performs pendulum motion in the height direction due to the above-described height difference when the yarn feed package is pushed out from the peg shaft 88, and is delivered to the peg shaft 7 of the creel 2. When the yarn feed package performs pendulum motion in the height direction, there is a concern that the pressing plate 89 may come into contact with the yarn layer of the yarn feed package, thereby damaging the yarn layer of the yarn feed package.
    • SUMMARY OF THE INVENTION
  • The present invention has been made in view of the above-described technical problems, and an object thereof is to provide a yarn feed package supplying device that can push out, from the peg shaft, the yarn feed package hooked on the peg shaft, without damaging the yarn layer of the yarn feed package.
    • (Means for Solving Problems)
  • A first aspect of the present invention is a yarn feed package supplying device comprising:
    • a yarn feed holding part configured to allow a yarn feed package, in which having a yarn layer formed by winding yarn around a cylindrical member to be hooked thereon, one end portion of the yarn feed holding part being a free end; and
    • a push-out mechanism configured to push out the yarn feed package hooked on the yarn feed holding part, from the one end portion of the yarn feed holding part, wherein
    • the push-out mechanism includes
      • a push-out member, and
      • a push-out member driving part configured to move the push-out member relative to the yarn feed holding part in a direction from another end portion of the yarn feed holding part toward the one end portion and in a direction from the one end portion of the yarn feed holding part toward the other end portion, and
    • the push-out member is configured to come into contact with at least a first section and a second section of an end surface of the cylindrical member of the yarn feed package hooked on the yarn feed holding part, when the push-out member is moved in the direction from the other end portion of the yarn feed holding part toward the one end portion, the first section and the second section being located at different positions in a height direction,
    • the push-out member is a member having at least a portion that comes into contact with the end surface of the cylindrical member, the at least a portion being formed to extend in the height direction,
    • the push-out member being provided at a position that avoids the yarn feed holding part in a horizontal direction, and
    • the push-out member is configured to be capable of performing pendulum motion in the height direction by using a point located between a first portion and a second portion in the height direction as a turning fulcrum, the first portion and the second portion respectively coming into contact with the first section and the second section of the end surface of the cylindrical member of the yarn feed package, the push-out member performing the pendulum motion following a motion, in the height direction, of the yarn feed package being pushed out by the push-out member.
  • According to the above-described first aspect of the yarn feed package supplying device, even when the yarn feed package performs pendulum motion in the height direction as the yarn feed package is pushed out from the yarn feed holding part, the push-out member performs pendulum motion in the height direction in conformity with the motion of the yarn feed package and hence, it is possible to prevent the push-out member from interfering with the yarn layer of the yarn feed package, thereby preventing damage to the yarn layer. Accordingly, it is possible to provide a yarn feed package supplying device that can push out the yarn feed package from the yarn feed holding part without damaging the yarn layer of the yarn feed package.
  • A second aspect of the present invention is the yarn feed package supplying device in the above-described first aspect, wherein it is preferable that
    the first section and the second section are located at a position being line-symmetric with respect to a horizontal center line passing through a center of the cylindrical member, or at a position being point-symmetric with respect to the center of the cylindrical member in a radial direction.
  • According to the above-described second aspect of the yarn feed package supplying device, the push-out member is configured to come into contact with the first section and the second section, which are located at positions that are line-symmetric with respect to the horizontal center line passing through the center of the cylindrical member, or that are point-symmetric with respect to the center of the cylindrical member in the radial direction. Accordingly, the push-out member can be caused to follow pendulum motion of the yarn feed package with good response.
  • A third aspect of the present invention is the yarn feed package supplying device in the above-described first or second aspect, wherein it is preferable that
    • the yarn feed holding part is formed of two peg shaft members provided horizontally and in parallel, and
    • the push-out member is provided between the two peg shaft members.
  • According to the above-described third aspect of the yarn feed package supplying device, the yarn feed package hooked on the yarn feed holding part can be pushed out by the push-out member in a well-balanced manner, and it is possible to improve followability of the push-out member with respect to pendulum motion of the yarn feed package.
  • A fourth aspect of the present invention is the yarn feed package supplying device in any one of the above-described first to third aspects, wherein it is preferable that
    the push-out member is configured to maintain a predetermined erected posture in a non-contact state with the end surface of the cylindrical member.
  • According to the above-described fourth aspect of the yarn feed package supplying device, the push-out member maintains an erected state when the yarn feed holding part receives the yarn feed package and hence, there is no possibility of the push-out member becoming an obstacle when the yarn feed package is received.
  • A fifth aspect of the present invention is the yarn feed package supplying device in the above-described fourth aspect, wherein it is preferable that
    a restricting mechanism and an elastic force applying means are provided to maintain the push-out member in the predetermined erected posture, the restricting mechanism being configured to restrict a range of the pendulum motion of the push-out member to a predetermined direction, the elastic force applying means being configured to apply an elastic force to the push-out member in the predetermined direction.
  • According to the above-described fifth aspect of the yarn feed package supplying device, when the yarn feed holding part receives the yarn feed package, the push-out member can be caused to remain in an erected state, whereas when the push-out member pushes out the yarn feed package, the push-out member can be caused to follow pendulum motion of the yarn feed package with good response.
    • BRIEF DESCRIPTION OF THE DRAWINGS
    • FIG. 1 is a plan view schematically showing an example of the arrangement configuration of an entire false twisting system.
    • FIG. 2 is a perspective view schematically showing an example of a creel stand, a rail, and a creel robot of the false twisting system.
    • FIG. 3 is a perspective view schematically showing an example of the creel robot.
    • FIG. 4 is a perspective view of an example of a yarn feed package supplying device as viewed from above, with robot-side pegs located on the viewer's side.
    • FIG. 5 is a perspective view of an example of the yarn feed package supplying device, when viewed with the robot-side pegs located on the depth side.
    • FIG. 6 is a perspective view of an example of a push-out mechanism, as viewed from the upper left front side.
    • FIG. 7 is a perspective view of an example of the push-out mechanism, as viewed from the upper right front side.
    • FIGS. 8(A) and 8(B) are diagrams showing examples of a situation in which a yarn feed package hooked on the robot-side pegs is delivered to creel-side pegs, wherein FIG. 8(A) is a side view, and FIG. 8(B) is a perspective view.
    • FIG. 9 is a perspective view showing an example of a situation in which a yarn feed package is temporarily stored in a raw yarn storage.
    • FIG. 10 is a perspective view of an example of the raw yarn storage, as viewed from the back side.
    • FIG. 11 is a side view of an example of the raw yarn storage and the yarn feed package supplying device before the yarn feed package is withdrawn from storage-side pegs to the robot-side pegs.
    • FIG. 12(A) and FIG. 12(B) are diagrams (diagrams for first step) showing, in chronological order, examples of a situation in which the yarn feed package hooked on the storage-side pegs is withdrawn to the robot-side pegs.
    • FIG. 13(A) and FIG. 13(B) are diagrams (diagrams for second step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the storage-side pegs is withdrawn to the robot-side pegs.
    • FIG. 14(A) and FIG. 14(B) are diagrams (diagrams for third step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the storage-side pegs is withdrawn to the robot-side pegs.
    • FIG. 15(A) and FIG. 15(B) are diagrams (diagrams for fourth step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the storage-side pegs is withdrawn to the robot-side pegs.
    • FIG. 16 is a side view of an example of the creel stand and the yarn feed package supplying device before the yarn feed package is delivered from the robot-side pegs to the creel-sides pegs.
    • FIG. 17(A) and FIG. 17(B) are diagrams (diagrams for first step) showing, in chronological order, examples of a situation in which the yarn feed package hooked on the robot-side pegs is delivered to the creel-side pegs.
    • FIG. 18(A) and FIG. 18(B) are diagrams (diagrams for second step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the robot-side pegs is delivered to the creel-side pegs.
    • FIG. 19(A) and FIG. 19(B) are diagrams (diagrams for third step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the robot-side pegs is delivered to the creel-side pegs.
    • FIG. 20(A) and FIG. 20(B) are diagrams (diagrams for fourth step) showing, in chronological order, examples of the situation in which the yarn feed package hooked on the robot-side pegs is delivered to the creel-side pegs.
    • FIG. 21(A) and FIG. 21(B) are diagrams showing variation of modifications of a situation in which a yarn feed package P is pushed out by a push-out member.
    DESCRIPTIONS OF EMBODIMENTS OF THE INVENTION
  • Embodiments for carrying out the present invention will be described below with reference to FIGS. 1 to 21. For convenience of explanation in this specification, a front-rear direction, a left-right direction, and an up-down direction are defined as shown in each drawing. The front-rear direction, the left-right direction, and the up-down direction are mutually orthogonal. In the present embodiment, the direction in which a yarn feed package P, hooked on a robot-side peg 70 described later, is pushed out toward a creel-side peg 28 is defined as the "front".
    • [1. Summary of false twisting system 1]
  • First, the summary of a false twisting system 1 will be described with reference to FIG. 1 and FIG. 2. FIG. 1 is a plan view schematically showing an example of the arrangement configuration of the entire false twisting system 1.
  • As shown in FIG. 1, in the false twisting system 1 to which the present embodiment is applied, a long straight rail 16 is provided along the left-right direction. A creel robot 50 travels on this rail 16 to supply a yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) to a creel stand 20. The yarn feed package P is a take-up package formed by winding yarn around a cylindrical paper tube 160 (see FIGS. 8(A) and 8(B) described later, for example), and supplies yarn to be used in a manufacturing process performed by a false twister or the like. An example of yarn to be wound around the paper tube 160 is synthetic fiber, such as polyester. The above-mentioned "paper tube" corresponds to "cylindrical member" of the present invention.
  • The creel stand 20 includes a creel stand 20A and a creel stand 20B, the creel stand 20A being disposed at a position forward of the rail 16, the creel stand 20B being disposed at a position rearward of the rail 16. Although the creel stand 20A and the creel stand 20B differ in arrangement direction, the creel stand 20A and the creel stand 20B have the same configuration. The creel robot 50 (see FIG. 2 described later, for example) can supply a yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) to both the creel stand 20A and the creel stand 20B.
  • A machine base (false twister) 10A is provided at a position forward of the creel stand 20A. The machine base 10A mainly includes, for example, a false twisting part 12A and a winding part 14A. Yarn that is unwound from a yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) is supplied to the false twisting part 12A from the creel stand 20A. The yarn supplied to the false twisting part from the creel stand 20A is false-twisted at the false twisting part 12A, and is wound up at the winding part 14A.
  • A machine base (false twister) 10B is provided at a position rearward of the creel stand 20B. The machine base 10B mainly includes, for example, a false twisting part 12B and a winding part 14B. Yarn that is unwound from a yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) is supplied to the false twisting part 12B from the creel stand 20B. The yarn supplied to the false twisting part from the creel stand 20B is false-twisted at the false twisting part 12B, and is wound up at the winding part 14B.
  • A raw yarn storage 32 is disposed adjacent to the creel stand 20A, to the left of the creel stand 20A, for example. Yarn feed packages P are supplied to the raw yarn storage 32 from a conveying device not shown in the drawing, and the raw yarn storage 32 can temporarily store the plurality of yarn feed packages P (see FIGS. 8(A) and 8(B) described later, for example). The yarn feed package P temporarily stored in the raw yarn storage 32 is taken out by the creel robot 50 (see FIG. 2), and is conveyed and supplied to the creel stand 20A, 20B.
  • The false twisting system 1 to which the present embodiment is applied includes the creel stands 20A, 20B on both sides of the rail 16 in the front-rear direction, and is configured such that the yarn feed package P can be supplied to both the creel stands 20A, 20B by the creel robot 50. However, the configuration is not limited to such a configuration. For example, the false twisting system may include the creel stand 20 only at a position forward or rearward of the rail 16, and may be configured such that the yarn feed package P can be supplied to this creel stand 20 by the creel robot 50.
    • [2. Creel stand 20]
  • The above-described creel stand 20 will be described with reference to FIG. 2. FIG. 2 is a perspective view schematically showing an example of the creel stand 20A, the rail 16, and the creel robot 50 of the false twisting system 1. As described above, the creel stand 20A and the creel stand 20B (see FIG. 1) have the same configuration and hence, hereinafter, the description will be made mainly for the creel stand 20A, and the description of the configuration of the creel stand 20B will be omitted.
  • As shown in FIG. 2, the creel stand 20A includes a plurality of stand bodies 21A arranged along the rail 16 at predetermined intervals in the left-right direction. Although FIG. 2 shows five stand bodies 21A arranged along the left-right direction, the number of stand bodies 21A is not limited to five.
  • Each stand body 21A includes, for example, two struts 22A, one strut 23A, and a plurality of partition plates 24A, the two struts 22A being arranged along the rail 16 at a predetermined interval in the left-right direction, the one strut 23A being disposed on a side opposite to the rail 16 relative to the struts 22A, the plurality of partition plates 24A being arranged in the up-down direction. As shown in an enlarged view in FIG. 2, each strut 22A includes a pair of pegs 28A and a peg support part 25A, the pair of pegs 28A allowing a yarn feed package P to be hooked thereon, the peg support part 25A supporting the pair of pegs 28A.
  • The proximal end portions of the pegs 28A are supported on the peg support part 25A, and distal end portions of the pegs 28A are free ends, thereby allowing the yarn feed package P, in which yarn is wound around a paper tube 160 to form a yarn layer, to be hooked on the pegs 28A. The peg support part 25A is provided on the strut 22A in such a way as to be rotatable by using the axial direction of the strut 22A as an axis at the center of rotation. When the peg support part 25A is rotated by using the axial direction of the strut 22A as the axis at the center of rotation, the direction in which the distal end portions of the pegs 28A are oriented (that is, the axial directions of the pegs 28A) changes. When a yarn feed package is supplied from the creel robot 50, the peg support part 25A is rotated such that the distal end portions of the pegs 28A are oriented toward the creel robot 50. Although not shown in FIG. 2, a plurality of pegs 28A and a plurality of peg support parts 25A are provided in the up-down direction in such a way as to correspond to the partition plates 24A. Each peg support part 25A includes a cutout part 26A, and the function of this cutout part 26A will be described later. Note that "distal end portion" and "proximal end portion" of the peg 28A respectively correspond to "one end portion" and "the other end portion" of the present invention.
  • Hereinafter, in this specification, when it is unnecessary to distinguish the creel stand 20A and the creel stand 20B from each other for the description, the creel stand 20A and the creel stand 20B are simply referred to as "creel stand 20". The same also applies for the peg support parts 25 and the pegs 28.
    • [3. Creel robot 50]
  • The summary of the above-described creel robot 50 will be described with reference to FIG. 3. FIG. 3 is a perspective view schematically showing an example of the creel robot 50.
    • [3-1. Summary of creel robot 50]
  • As shown in FIG. 3, the creel robot 50 mainly includes a body part 52, a traveling mechanism 54, a yarn feed package supplying device 60, a paper tube collection device 150, an elevating/lowering mechanism 55, and a rotating mechanism 56.
  • The body part 52 is elongated in the up-down direction to have a height substantially equal to that of the creel stand 20A (see FIG. 2). The traveling mechanism 54 is configured to be moveable on the rail 16 (see FIG. 2) in the left-right direction. Consequently, the creel robot 50 can move between the raw yarn storage 32 (see FIG. 1) and the creel stand 20, which is a delivery destination of the yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example).
  • The yarn feed package supplying device 60 is supported on the body part 52, and has both a function of withdrawing the yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) from the raw yarn storage 32 (see FIG. 1) to robot-side pegs 70 and a function of pushing out the yarn feed package P received from the raw yarn storage 32, and of delivering the yarn feed package P to the creel stand 20. Although the detailed structure of the yarn feed package supplying device 60 will be described later, the yarn feed package supplying device 60 includes the pair of pegs 70 that allow the yarn feed package P (see FIGS. 8(A) and 8(B), for example) to be hooked thereon.
  • Hereinafter, in this specification, the peg 70 included in the yarn feed package supplying device 60 is referred to as "robot-side peg 70", and the peg 28 included in the creel stand 20 (see FIG. 2 for both the peg 70 and the peg 28) is referred to as "creel-side peg 28". The above-mentioned "robot-side peg 70" corresponds to "yarn feed holding part" of the present invention.
  • The paper tube collection device 150 is supported on the body part 52 via the yarn feed package supplying device 60, and is a device that collects, from the creel-side peg 28(see FIG. 2), paper tubes from which yarn has been unwound (hereinafter referred to as "empty paper tubes"). Collected empty paper tubes are collected to a collection box not shown in the drawing.
  • The elevating/lowering mechanism 55 is a mechanism that elevates/lowers the yarn feed package supplying device 60 and the paper tube collection device 150 in the up-down direction. As described above, the plurality of creel-side pegs 28 are provided in the up-down direction and hence, the yarn feed package supplying device 60 and the paper tube collection device 150 are elevated/lowered according to the height of the creel-side peg 28, which is the delivery destination of the yarn feed package P (see FIGS. 8(A) and 8(B) described later, for example) or a collection destination of an empty paper tube.
  • The rotating mechanism 56 is a mechanism that causes both the yarn feed package supplying device 60 and the paper tube collection device 150 to rotate by using a shaft member 57 as the rotary shaft, the axial direction of the shaft member 57 extending in the up-down direction. In FIG. 3, the distal end portions of the robot-side pegs 70 are oriented in the left direction, and the paper tube collection device 150 (more specifically, the opening portion of the paper tube collection device 150) is oriented in the rear direction. As described above, the creel stand 20 includes the creel stand 20A (see FIG. 1), which is disposed at the position forward of the rail 16, and the creel stand 20B (see FIG. 1), which is disposed at the position rearward of the rail 16. Therefore, when a yarn feed package P is delivered to the creel-side pegs 28A of the creel stand 20A (see FIG. 2), the rotating mechanism 56 rotates both the yarn feed package supplying device 60 and the paper tube collection device 150 such that the distal end portions of the robot-side pegs 70 are oriented forward. In contrast, when a yarn feed package P is delivered to creel-side pegs (not shown) of the creel stand 20B, the rotating mechanism 56 rotates both the yarn feed package supplying device 60 and the paper tube collection device 150 such that the distal end portions of the robot-side pegs 70 are oriented rearward. Further, when an empty paper tube is collected from the creel-side pegs 28A of the creel stand 20A, the rotating mechanism 56 rotates both the yarn feed package supplying device 60 and the paper tube collection device 150 such that the paper tube collection device 150 is oriented forward. In contrast, when an empty paper tube is collected from the creel-side pegs (not shown) of the creel stand 20B, the rotating mechanism 56 rotates both the yarn feed package supplying device 60 and the paper tube collection device 150 such that the paper tube collection device 150 is oriented rearward.
    • [3-2. Yarn feed package supplying device 60]
  • Next, the detailed structure of the yarn feed package supplying device 60 will be described with reference to FIG. 4 and FIG. 5. FIG. 4 is a perspective view of an example of the yarn feed package supplying device 60, as viewed from above, with the robot-side pegs located on the viewer's side. FIG. 5 is a perspective view of an example of the yarn feed package supplying device 60, when viewed with the robot-side pegs located on the depth side. That is, in FIG. 4 and FIG. 5, the distal end portions of the robot-side pegs 70 are oriented toward the creel stand 20A.
  • As shown in FIG. 4 and FIG. 5, the yarn feed package supplying device 60 mainly includes a base part 62, the pair of robot-side pegs 70, a push-out mechanism 74, and a reaction force absorbing mechanism 130, the base part 62 being supported on the body part 52 of the creel robot 50 (see FIG. 3 for both), the push-out mechanism 74 being movable forward and backward relative to the base part 62. Although the base part 62 is rotatable relative to the body part 52 by using the shaft member 57 (see FIG. 3) as the rotary shaft, the base part 62 is not movable relative to the body part 52 in the front-rear direction, the left-right direction, and the up-down direction.
    • (Base part 62)
  • The base part 62 mainly includes a horizontal portion 63 and a front surface portion 64, the horizontal portion 63 having a horizontal upper surface, the front surface portion 64 being provided to extend downward from the end portion of the horizontal portion 63 on the front side. The front surface portion 64 is a surface extending along the left-right direction and the up-down direction. A cylinder support frame 66 is provided at the intermediate portion of the horizontal portion 63 in the front-rear direction, the cylinder support frame 66 supporting a cylinder 75 described later. The front surface portion 64 and the cylinder support frame 66 respectively have an opening 65 and an opening 67 to allow the cylinder 75 described later to be disposed in a penetrating manner.
  • A support roller 69 is provided in the opening 65 of the front surface portion 64, the support roller 69 being capable of supporting a portion to be supported 85 included in a fixed member 80 described later (see FIG. 6) from below. A support member 68 is provided in the opening 67 of the cylinder support frame 66, the support member 68 being capable of supporting the cylinder 75 described later from below.
    • (Robot-side peg 70)
  • The pair of robot-side pegs 70 are provided horizontally and in parallel, and the distal end portions of the pair of robot-side pegs 70 are free ends. The proximal end portions of the pair of robot-side pegs 70 are fixed and mounted on the front surface portion 64 of the base part 62 with the axial directions of the pair of robot-side pegs 70 extending horizontally, thereby allowing the yarn feed package P, in which yarn is wound around the paper tube 160 to form a yarn layer, to be hooked on the pair of robot-side pegs 70. In FIG. 4 and FIG. 5, the pair of robot-side pegs 70 are provided to extend from the front surface portion 64 toward the creel stand 20A (that is, toward the front side). The distal end portions of the pair of robot-side pegs 70 are inclined downward. In this specification, in each of the pair of robot-side pegs 70, a boundary between a horizontal portion and a portion inclined downward is referred to as "boundary portion 70a". Wall parts 71 are provided at positions adjacent to the pair of robot-side pegs 70 in the left-right direction, the wall parts 71 being capable of coming into contact with one end surface 161 of the paper tube 160 in the axial direction (see FIGS. 8(A) and 8(B) described later). Each wall part 71 is mounted on the front surface portion 64 of the base part 62 via a wall mounting member 72.
    • (Push-out mechanism 74)
  • The push-out mechanism 74 is a mechanism for pushing out, from the free ends of the robot-side pegs 70, the yarn feed package P hooked on the robot-side pegs 70. The push-out mechanism 74 mainly includes the cylinder 75, the fixed member 80, and a movable member 90, the cylinder 75 being extendable and retractable relative to the base part 62, that is, the body part 52 of the creel robot 50, the fixed member 80 being fixed to the cylinder 75, the movable member 90 being provided in such a way as to be movable relative to the fixed member 80. The above-mentioned "cylinder 75" corresponds to "push-out member driving part" of the present invention.
  • The cylinder 75 moves a push-out member 92 described later relative to the robot-side pegs 70 within a predetermined range in the direction from the proximal end portions of the robot-side pegs 70 toward the distal end portions and the direction from the distal end portions of the robot-side pegs 70 toward the proximal end portions. The cylinder 75 includes a longitudinal shell portion 76 and a rod portion 77 (see FIG. 6 and FIG. 7 described later), and an air cylinder, for example, is used for the cylinder 75. The rod portion 77 is extendable and retractable relative to the shell portion 76 along the axial direction.
  • The fixed member 80 and the movable member 90 will be described with reference to FIG. 6 and FIG. 7. FIG. 6 is a perspective view of an example of the push-out mechanism 74 (excluding the shell portion 76), as viewed from the upper left front side. FIG. 7 is a perspective view of an example of the push-out mechanism 74 (excluding the shell portion 76), as viewed from the upper right front side. Directions shown in FIG. 6 and FIG. 7 are directions with the distal end portions of the robot-side pegs 70 (see FIG. 4) oriented toward the creel stand 20A (see FIG. 1).
  • The fixed member 80 mainly includes a base 82 and the portion to be supported 85 that may be supported on the above-described support roller 69 (see FIG. 4, FIG. 5). The base 82 is a member having a substantially L shape when viewed in a plan view, and is fixed to the distal end portion of the rod portion 77. The base 82 includes a fixed-side shaft member 84, the axial direction of which extends in the left-right direction. The portion to be supported 85 is a flat plate-like longitudinal member having a flat surface extending along the front-rear direction and the up-down direction, and is fixed to the base 82. The portion to be supported 85 includes a tapered portion 86 at the rear end portion (rear end portion in FIG. 6) thereof, the tapered portion 86 being inclined upward from the front side toward the rear side. The portion to be supported 85 includes a supporting shaft 87 (see FIG. 6) at a position obliquely in front of and below the fixed-side shaft member 84, the axial direction of the supporting shaft 87 extending horizontally in the left-right direction. The portion to be supported 85 also has an elongated hole (hereinafter referred to as "fixed-side elongated hole 88 (see FIG. 7)") at a position obliquely behind and below the fixed-side shaft member 84, the elongated hole being elongated in the up-down direction.
  • The movable member 90 includes the push-out member 92 and the withdrawing member 100. The push-out member 92, the withdrawing member 100, and a movable-side shaft part 104 are integrally formed. The functions of the push-out member 92 and the withdrawing member 100 will be described later.
  • The push-out member 92 is a member having a substantially L shape when viewed in a plan view, and has a side surface portion 94 and a contact surface 98, the side surface portion 94 having a flat surface extending along the front-rear direction and the up-down direction, the contact surface 98 having a flat surface extending along the left-right direction and the up-down direction. The contact surface 98 can contact an upper end surface 161a and a lower end surface 161b described later of the one end surface 161 of the paper tube 160 (see FIGS. 8(A) and 8(B) described later, for example) at a first portion 981 and a second portion 982, which are located at different positions in the up-down direction (height direction). The push-out member 92 is formed such that a portion that comes into contact with the one end surface 161 of the paper tube 160 extends in the height direction. The push-out member 92 is pivotally supported on the supporting shaft 87 (see FIG. 6) at the side surface portion 94, thereby being rotatable relative to the fixed member 80 (more specifically, the base 82) by using the supporting shaft 87 as the rotary shaft. The supporting shaft 87 is provided between the first portion 981 and the second portion 982 in the height direction. The above-mentioned "supporting shaft 87" corresponds to "shaft member" of the present invention.
  • The push-out member 92 includes the movable-side shaft part 104 at the side surface portion 94, the axial direction of the movable-side shaft part 104 extending in the left-right direction. This movable-side shaft part 104 engages with the above-described fixed-side elongated hole 88. The push-out member 92 also has an elongated hole (hereinafter referred to as "movable-side elongated hole 96 (see FIG. 6)") that engages with the above-described fixed-side shaft member 84. The fixed-side elongated hole 88 engages with the movable-side shaft part 104, and the fixed-side shaft member 84 engages with the movable-side elongated hole 96, so that the rotation range of the push-out member 92, which is rotated relative to the fixed member 80 by using the supporting shaft 87 as the rotary shaft, is restricted to a certain range. The rotation range of the push-out member 92, which is restricted by the fixed-side shaft member 84, the movable-side elongated hole 96, the fixed-side elongated hole 88, and the movable-side shaft part 104, includes a posture in which the contact surface 98 of the movable member 90 is erected to be orthogonal to the robot-side pegs 70 (that is, a posture extending along the up-down direction, hereinafter, this posture is referred to as "zero posture"). The movable member 90 is rotatable, with the zero posture as a reference, within a certain range in one direction (in the direction in which the contact surface 98 is oriented downward) using the supporting shaft 87 as the rotary shaft. The above-mentioned "fixed-side elongated hole 88", "movable-side shaft part 104", "fixed-side shaft member 84", and "movable-side elongated hole 96" correspond to "restricting mechanism" of the present invention.
  • In the same manner as the portion to be supported 85, the withdrawing member 100 is a flat plate-like longitudinal member having a flat surface extending along the front-rear direction and the up-down direction, and extends forward from the center portion of the contact surface 98 in the up-down direction. The withdrawing member 100 includes a longitudinal portion 102 and a hook portion 106, the longitudinal portion 102 having a longitudinal shape extending horizontally in the front-rear direction, the hook portion 106 being provided at the end portion of the longitudinal portion 102 on the front side. As described above, the withdrawing member 100 is integrally formed with the push-out member 92 movable member 90 and hence, when the push-out member 92 rotates relative to the fixed member 80 by using the supporting shaft 87 as the rotary shaft, the withdrawing member 100 also rotates integrally therewith.
  • An elastic member 110 is provided between the supporting shaft 87 and the movable-side shaft part 104, the supporting shaft 87 being a member included in the fixed member 80, the movable-side shaft part 104 being a member included in the movable member 90. A torsion spring, for example, is used for the elastic member 110. One end portion of the torsion spring is connected to the base 82, and the other end portion of the torsion spring is connected to the movable-side shaft part 104. When the movable member 90 is rotated in one direction relative to the zero posture by using the supporting shaft 87 as the rotary shaft, the elastic member 110 exerts a force on the movable member 90 toward the other direction, which is opposite to the one direction. That is, the movable member 90 is configured such that an elastic force is applied to the movable member 90 by the elastic member 110 in a direction in which the movable member 90 is returned to the zero posture. Provided that the elastic member 110 can exert a force in the direction in which the movable member 90 is returned to the zero posture, the elastic member 110 is not limited to the torsion spring. The above-mentioned "elastic member 110" corresponds to "elastic force applying means" of the present invention.
  • Next, the action of the movable member 90 will be described with reference to FIGS. 8(A) and 8(B). FIGS. 8(A) and 8(B) are diagrams showing examples of the situation in which the yarn feed package P hooked on the robot-side pegs 70 is delivered to the creel-side pegs 28, wherein FIG. 8(A) is a side view, and FIG. 8(B) is a perspective view.
  • As shown in FIGS. 8(A) and 8(B), the push-out member 92 is provided between the pair of robot-side pegs 70 in such a way as to avoid the pair of robot-side pegs 70 in the horizontal direction. The push-out member 92 is configured such that the contact surface 98 comes into contact with and pushes both the upper end surface 161a (see FIG. 8(B)) and the lower end surface 161b (see FIG. 8(B)) of the one end surface 161 of the paper tube 160 in the axial direction, the upper end surface 161a and the lower end surface 161b being portions located on a straight line that passes through the center of the paper tube 160 in the radial direction and that extends in the up-down direction along the one end surface 161 of the paper tube 160. The upper end surface 161a and the lower end surface 161b are located at positions that are line-symmetric with respect to the horizontal center line that passes through the center of the paper tube 160 in the radial direction and that extends along the longitudinal direction. Further, the robot-side pegs 70 are located at positions higher than that of the creel-side pegs 28, and the distal end portions of the robot-side pegs 70 are inclined downward. With such a configuration, the yarn feed package P hooked on the robot-side pegs 70 can be pushed out toward the creel-side pegs 28 in a well-balanced manner, and therefore can be smoothly delivered from the robot-side pegs 70 toward the creel-side pegs 28. The above-mentioned "upper end surface 161a" corresponds to "first section" of the present invention, and the above-mentioned "lower end surface 161b" corresponds to "second section" of the present invention.
  • Hereinafter, in this specification, of both end surfaces of the paper tube 160 in the axial direction, the surface that can contact the contact surface 98 is referred to as "one end surface 161 of the paper tube 160", and the end surface on the side opposite to the one end surface 161 is referred to as "the other end surface 163". Further, in the paper tube 160, a portion that is hooked by the hook portion 106 is referred to as "the other end portion 162".
    • (Reaction force absorbing mechanism 130)
  • Returning to FIG. 4 and FIG. 5, the reaction force absorbing mechanism 130 will be simply described. The reaction force absorbing mechanism 130 is a mechanism that absorbs a force applied to the cylinder 75 when a force larger than a force necessary to push out the yarn feed package P is exerted rearward (the direction from the distal end portions of the robot-side pegs 70 toward the proximal end portions).
  • The reaction force absorbing mechanism 130 mainly includes a support member 132, a first shaft member 134, a second shaft member 136, and elastic members 138, the first shaft member 134 being provided to the base part 62, the second shaft member 136 being provided to the support member 132, the elastic member 138 being provided to the base part 62. The reaction force absorbing mechanism 130 is connected to the end portion (proximal end portion) of the cylinder 75 on a side opposite to the base 82. Consequently, the proximal end portion of the cylinder 75 is supported on the base part 62 via the reaction force absorbing mechanism 130.
  • The first shaft member 134 is a shaft member that pivotally supports the upper end portion of the support member 132, the axial direction of the shaft member extending in a direction (that is, the left-right direction) that is orthogonal to the direction from the distal end portions of the robot-side pegs 70 to the proximal end portions, and that is along the horizontal direction. Therefore, the support member 132 is rotatable relative to the base part 62 by using the first shaft member 134 as the rotary shaft. The second shaft member 136 is a shaft member, the axial direction of which extends in the left-right direction, and the second shaft member 136 pivotally supports the proximal end portion of the cylinder 75 (the shell portion 76) at the lower end portion of the support member 132 such that the cylinder 75 is rotatable relative to the support member 132. The origin position of the support member 132 is, for example, defined as the position at which the first shaft member 134 and the second shaft member 136 are aligned on the same straight line extending in the up-down direction. When the support member 132 is rotated from the origin position by using the first shaft member 134 as the rotary shaft, the elastic members 138 apply an elastic force to the support member 132 in the direction in which the support member 132 is returned to the origin position.
    [4. Raw yarn storage 32] Next, the summary of the raw yarn storage 32 will be described with reference to FIG. 9 and FIG. 10. FIG. 9 is a perspective view showing an example of a situation in which the yarn feed package P is temporarily stored in the raw yarn storage 32. FIG. 10 is a perspective view of an example of the raw yarn storage 32, as viewed from the back side (the front side in FIG. 9).
  • As shown in FIG. 9, the raw yarn storage 32 includes a columnar member 34 elongated in the up-down direction. A plurality of peg support parts 35, each of which supports a pair of pegs 38, are provided to this columnar member 34 in the up-down direction. The proximal end portions of the pegs 38 are supported on the peg support parts 35, and the distal end portions of the pegs 38 are free ends, thereby allowing the yarn feed package P, in which yarn is wound around the paper tube 160 to form a yarn layer, to be hooked on the pegs 38. Hereinafter, in this specification, the pegs 38 included in the raw yarn storage 32 are referred to as "storage-side pegs 38". The peg support part 35 that supports the storage-side pegs 38 is referred to as "storage-side peg support part 35".
  • Each storage-side peg support part 35 has an opening 36 at a position between the pair of storage-side pegs 38. This opening 36 is provided to prevent the hook portion 106 (see FIG. 4, for example) from interfering with the storage-side peg support part 35 when the yarn feed package P hooked on the storage-side pegs 38 is withdrawn to the creel-side pegs 28 by the yarn feed package supplying device 60 (see FIG. 4, for example).
  • As shown in FIG. 10, a hook portion lifting mechanism 40 is provided on the rear side (the front side in FIG. 10) of the columnar member 34. This hook portion lifting mechanism 40 includes a vertically movable part 42 having a flat plate shape, a shaft member 45 having a longitudinal shape, a link mechanism 44, and a lift part 46.
  • The vertically movable part 42 is configured to be movable in the up-down direction. The shaft member 45 is provided in such a way as to penetrate through the vertically movable part 42 with the axial direction of the shaft member 45 extending in the left-right direction. For example, when the vertically movable part 42 moves in the downward direction, the shaft member 45 moves in the downward direction, and therefore the lift part 46 is actuated to rotate upward (in the counterclockwise direction in FIG. 10) via the link mechanism 44 by using a supporting shaft 48 as the rotary shaft, the axial direction of the supporting shaft 48 extending in the left-right direction. In contrast, when the vertically movable part 42 moves in the upward direction, the shaft member 45 moves in the upward direction, and therefore the lift part 46 is actuated to rotate in the downward direction (in the clockwise direction in FIG. 10) via the link mechanism 44 by using the supporting shaft 48 as the rotary shaft.
  • In the present embodiment, a detector (not shown in the drawing) is provided that detects extension of the rod portion 77 (see FIG. 6, for example) to a predetermined length (for example, the farthest end) relative to the shell portion 76 (see FIG. 4, for example). When the extension of the rod portion 77 to the predetermined length relative to the shell portion 76 is detected, the vertically movable part 42 is moved in the downward direction. Further, when the rod portion 77 extends to the predetermined length relative to the shell portion 76, the hook portion 106 is located above the lift part 46. Therefore, when the lift part 46 is actuated to rotate upward by using the supporting shaft 48 as the rotary shaft, the hook portion 106 is lifted. At this point of operation, the hook portion 106 is lifted to a height at which the hook portion 106 is hooked onto the other end portion 162 of the paper tube 160 (see FIG. 8(A)).
    • [5. Withdrawing of yarn feed package P from raw yarn storage 32 to yarn feed package supplying device 60]
  • Next, a description will be made, with reference to FIG. 11 to FIG. 15(B), for a situation in which the yarn feed package P hooked on the storage-side pegs 38 is withdrawn from the storage-side pegs 38 to the robot-side pegs 70 by the yarn feed package supplying device 60. FIG. 11 is a side view of an example of the raw yarn storage 32 and the yarn feed package supplying device 60 before the yarn feed package P is withdrawn from the storage-side pegs 38 to the robot-side pegs 70. More specifically, FIG. 11 is a side view of an example of the raw yarn storage 32 and the yarn feed package supplying device 60 when the creel robot 50 moves to the front side of the raw yarn storage 32, and therefore the storage-side pegs 38 face the robot-side pegs 70. FIG. 12(A), FIG. 12(B), FIG. 13(A), FIG. 13(B), FIG. 14(A), FIG. 14(B), FIG. 15(A), and FIG. 15(B) are diagrams showing, in chronological order, examples of the situation in which the yarn feed package P hooked on the storage-side pegs 38 is withdrawn to the robot-side pegs 70. In FIG. 11 to FIG. 15(B), for the sake of convenience, only the yarn feed package supplying device 60 of the creel robot 50 is shown. The distal end portions of the robot-side pegs 70 shown in FIG. 11 to FIG. 15(B) are oriented toward the raw yarn storage 32 (see FIG. 1). The positional relationship between the storage-side pegs 38 and the robot-side pegs 70 in the up-down direction is set such that the storage-side pegs 38 are slightly higher than the robot-side pegs 70.
  • As shown in FIG. 11, before the yarn feed package P is withdrawn from the storage-side pegs 38 to the robot-side pegs 70 with the storage-side pegs 38 facing the robot-side pegs 70, the cylinder 75 is in a retracted state. In this state, the push-out member 92 is in the zero posture by the action of the above-described elastic member 110 (see FIG. 6), so that the longitudinal portion 102 of the withdrawing member 100 maintains a substantially horizontal state. Although the portion to be supported 85 is supported on the support roller 69, the cylinder 75 is not supported on the support member 68.
  • When the cylinder 75 is actuated in the extending direction (when the rod portion 77 is actuated forward relative to the shell portion 76) from the state shown in FIG. 11, as shown in FIG. 12(A) and 12(B), both the push-out member 92 and the withdrawing member 100 move forward in such a way as to approach the storage-side pegs 38. When the push-out member 92 and the withdrawing member 100 move forward, the portion to be supported 85 comes to be supported on the support roller 69 at the tapered portion 86. Therefore, the entire push-out mechanism 74 is turned downward about the second shaft member 136, so that the push-out member 92 and the withdrawing member 100 are inclined such that the hook portion 106 is oriented downward. Consequently, the withdrawing member 100 can enter the hollow portion of the paper tube 160.
  • When the cylinder 75 is further actuated in the extending direction (when the rod portion 77 is further actuated forward relative to the shell portion 76) from the state shown in FIG. 12(B), the push-out member 92 and the withdrawing member 100 move forward. That is, the withdrawing member 100 passes through the hollow portion of the paper tube 160, and moves toward the other end portion 162 of the paper tube 160. Further, as shown in FIG. 13(A), the cylinder 75 (more specifically, the shell portion 76) comes to be supported on the support member 68 instead of supporting the fixed member 80 on the support roller 69. When the withdrawing member 100 is moved until the hook portion 106, which is located at the distal end portion of the withdrawing member 100, moves to a position beyond the other end portion 162 of the paper tube 160 to penetrate through the paper tube 160, as shown in FIG. 13(B), the hook portion 106 is located on the lift part 46. As described above, the opening 36 (see FIG. 9) is provided in the storage-side peg support part 35 and hence, the hook portion 106 penetrates through this opening 36, and moves to a position above the lift part 46.
  • When the lift part 46 is actuated to rotate upward by using the supporting shaft 48 as the rotary shaft in the state shown in FIG. 13(B), as shown in FIG. 14(A), the hook portion 106 of the withdrawing member 100 is lifted to a height at which the hook portion 106 can be hooked onto the other end portion 162 of the paper tube 160, and the withdrawing member 100 comes into contact with the other end surface 163 of the paper tube 160. When the cylinder 75 is actuated in the retracting direction (when the rod portion 77 is actuated rearward relative to the shell portion 76) in the state shown in FIG. 14(A), as shown in FIG. 14(B), the hook portion 106 comes into contact with the other end surface 163 of the paper tube 160, and is hooked onto the other end portion 162 of the paper tube 160.
  • When the cylinder 75 is further actuated in the retracting direction (when the rod portion 77 is further actuated rearward relative to the shell portion 76) in the state shown in FIG. 14(B), the other end surface 163 of the paper tube 160 is pushed by the hook portion 106 of the withdrawing member 100, so that the yarn feed package P hooked on the storage-side pegs 38 is moved toward the rear side. As described above, the withdrawing member 100 has a function of withdrawing, to the robot-side pegs 70, the yarn feed package P hooked on the storage-side pegs 38. Then, the yarn feed package P is hooked on the robot-side pegs 70 as shown in FIG. 15(A). When the cylinder 75 is further actuated in the retracting direction (when the rod portion 77 is further actuated rearward relative to the shell portion 76) in the state shown in FIG. 15(A), as shown in FIG. 15(B), the yarn feed package P is completely moved to the robot-side peds 70, and delivery of the yarn feed package P from the storage-side pegs 38 to the robot-side pegs 70 is completed. When the delivery of the yarn feed package P from the storage-side pegs 38 to the robot-side pegs 70 is completed, the creel robot 50 (see FIG. 3) conveys the yarn feed package P, delivered from the raw yarn storage 32, to the creel stand 20, and supplies the yarn feed package P to the creel stand 20. During conveyance of the yarn feed package P by the creel robot 50, a force in the retracting direction of the cylinder 75 (rear direction) is exerted on the other end surface 163 of the paper tube 160 by the hook portion 106. The one end surface 161 of the paper tube 160 is in contact with the wall parts 71. Therefore, when the creel robot 50 conveys the yarn feed package P, the yarn feed package P can be conveyed in a stable state in which the yarn feed package P is sandwiched between the hook portion 106 and the wall parts 71.
    • [6. Delivery of yarn feed package P from yarn feed package supplying device 60 to creel stand 20]
  • Next, the situation in which the yarn feed package P conveyed by the creel robot 50 to the creel stand 20 is delivered from the robot-side pegs 70 to the creel-side pegs 28 by the yarn feed package supplying device 60 will be described with reference to FIG. 16 to FIG. 20(B). FIG. 16 is a side view of an example of the creel stand 20 and the yarn feed package supplying device 60 before the yarn feed package P is delivered from the robot-side pegs 70 to the creel-side pegs 28. More specifically, FIG. 16 is a side view of an example of the creel stand 20 and the yarn feed package supplying device 60 when the creel robot 50 moves to the front side of the creel stand 20, and therefore the creel-side pegs 28 face the robot-side pegs 70. FIG. 17(A), FIG. 17(B), FIG. 18(A), FIG. 18(B), FIG. 19(A), FIG. 19(B), FIG. 20(A), and FIG. 20(B) are diagrams showing, in chronological order, examples of the situation in which the yarn feed package P hooked on the robot-side pegs 70 is delivered to the creel-side pegs 28. In FIG. 16 to FIG. 20(B), for the sake of convenience, only the yarn feed package supplying device 60 of the creel robot 50 is shown. The creel stand 20 shown in FIG. 16 to FIG. 20(B) is the creel stand 20A disposed at the position forward of the rail 16, and the distal end portions of the robot-side pegs 70 are oriented toward the creel stand 20A (see FIG. 1). Although the yarn feed package supplying device 60 is oriented forward when the yarn feed package P is delivered from the robot-side pegs 70 to the creel stand 20A, and the yarn feed package supplying device 60 is oriented rearward when the yarn feed package P is delivered from the robot-side pegs 70 to the creel stand 20B, the situation in which the yarn feed package P is delivered from the robot-side pegs 70 to the creel stand 20A is the same as the situation in which the yarn feed package P is delivered from the robot-side pegs 70 to the creel stand 20B. Accordingly, in the description made hereinafter, the creel stand 20A and the creel stand 20B are collectively referred to as "creel stand 20" without distinction.
  • As shown in FIG. 16, before the yarn feed package P is delivered from the robot-side pegs 70 to the creel-side pegs 28 with the creel stand 20 facing the robot-side pegs 70, the cylinder 75 is in a retracted state. In this state, the push-out member 92 is in a zero posture by the action of the above-described elastic member 110 (see FIG. 6), so that the longitudinal portion 102 of the withdrawing member 100 maintains a substantially horizontal state. Although the portion to be supported 85 is supported on the support roller 69, the cylinder 75 is not supported on the support member 68. The robot-side pegs 70 are set at a position higher than that of the creel-side pegs 28.
  • The one end surface 161 of the paper tube 160 is in contact with the wall parts 71, and the other end portion 162 of the paper tube 160 is hooked on the hook portion 106. Therefore, when the creel robot 50 conveys the yarn feed package P to the position that faces the creel-side pegs 28, the yarn feed package P is conveyed in a stable state in which the yarn feed package P is sandwiched between the hook portion 106 and the wall parts 71.
  • When the cylinder 75 starts to be actuated in the extending direction (when the rod portion 77 is actuated forward relative to the shell portion 76) from the state shown in FIG. 16, as shown in FIG. 17(A), the push-out member 92 moves forward, and the contact surface 98 approaches the one end surface 161 of the paper tube 160. At this point of operation, the withdrawing member 100 also moves forward, and therefore hooking of the hook portion 106 onto the other end portion 162 of the paper tube 160 is released.
  • When the rod portion 77 is further actuated forward relative to the shell portion 76 from the state shown in FIG. 17(A), as shown in FIG. 17(B), the push-out member 92 pushes the one end surface 161 of the paper tube 160 with the contact surface 98, thereby pushing out the yarn feed package P from the free ends of the robot-side pegs 70 toward the creel-side pegs 28. As described above, the push-out member 92 has a function of pushing out, toward the creel-side pegs 28, the yarn feed package P hooked on the robot-side pegs 70. The push-out member 92 shown in FIG. 17(B) is in the zero posture or a posture close to the zero posture. The portion to be supported 85 is no more supported on the support roller 69, and the cylinder 75 is rotated relative to the support member 132, and therefore the withdrawing member 100 is inclined such that the hook portion 106 is oriented downward. Consequently, the yarn feed package P can be pushed out toward the creel-side pegs 28 without causing interference between the other end surface 163 of the paper tube 160 and the hook portion 106.
  • When the rod portion 77 is further actuated forward relative to the shell portion 76 from the state shown in FIG. 17(B), the one end surface 161 of the paper tube 160 is pushed by the contact surface 98, so that the yarn feed package P is further moved toward the creel-side pegs 28 as shown in FIG. 18(A) and FIG. 18(B). In the present embodiment, it is assumed that a center of gravity G of the yarn feed package P is located on a center line C that passes through the center of the yarn feed package P in the axial direction. In FIG. 18(A), the position of the center of gravity G is supported by the boundary portion 70a of each robot-side peg 70. In contrast, in FIG. 18(B), the boundary portion 70a of each robot-side peg 70 is located at a position rearward of the position of the center of gravity G, so that the position of the center of gravity G is not supported by the boundary portion 70a of each robot-side peg 70. When the position of the center of gravity G of the yarn feed package P is no more supported by the boundary portion 70a of each robot-side peg 70, due to a height difference between the robot-side pegs 70 and the creel-side pegs 28, as shown in FIG. 18(B), the yarn feed package P is inclined in the counterclockwise direction on the paper on which FIG. 18(B) is shown. When the yarn feed package P is inclined in the counterclockwise direction, the push-out member 92 is also inclined in the counterclockwise direction following the yarn feed package P.
  • When the rod portion 77 is further actuated forward relative to the shell portion 76 from the state shown in FIG. 18(B), the one end surface 161 of the paper tube 160 is pushed by the contact surface 98, so that the yarn feed package P is further moved toward the creel-side pegs 28. Then, as shown in FIG. 19(A), the yarn feed package P comes to be supported on the creel-side pegs 28 at the other end portion 162 of the paper tube 160. Thereafter, when the rod portion 77 is further actuated forward, support of the paper tube 160 by the robot-side pegs 70 is removed.
  • When the support of the paper tube 160 by the robot-side pegs 70 is removed, due to a height difference between the robot-side pegs 70 and the creel-side pegs 28, as shown in FIG. 19(A), FIG. 19(B), and FIG. 20(A), the yarn feed package P performs pendulum motion in the height direction. At this point of operation, by using the supporting shaft 87 as the center of rotation, the push-out member 92 performs pendulum motion such that the contact surface 98 follows the one end surface 161 of the paper tube 160. Particularly, as described above, the upper end surface 161a and the lower end surface 161b are located at positions that are line-symmetric with respect to the horizontal center line that passes through the center of the paper tube 160 in the radial direction and that extends along the longitudinal direction and hence, the push-out member 92 can be caused to follow pendulum motion of the yarn feed package P with good response. Further, as described above, the push-out member 92 is provided between two robot-side pegs 70 provided horizontally and in parallel and hence, the yarn feed package P hooked on the robot-side pegs 70 can be pushed out by the push-out member 92 in a well-balanced manner.
  • When the rod portion 77 is further actuated forward relative to the shell portion 76 from the state shown in FIG. 20(A), as shown in FIG. 20(B), the yarn feed package P comes to be supported on the creel-side pegs 28 substantially over the entire range in the axial direction of the paper tube 160.
  • When the yarn feed package P is delivered from the robot-side pegs 70 to the creel-side pegs 28 as shown in FIG. 20(B), there is a concern of the hook portion 106 interfering with the peg support part 25. In view of the above, the cutout part 26 (see the cutout part 26A in FIG. 2) is provided in the peg support part 25 as shown in FIG. 2, thereby preventing interference between the hook portion 106 and the peg support part 25.
  • As described above, when the yarn feed package P is delivered from the robot-side pegs 70 to the creel-side pegs 28, due to the height difference between the robot-side pegs 70 and the creel-side pegs 28, the yarn feed package P performs pendulum motion in the height direction (see FIG. 19(A), FIG. 19(B), and FIG. 20(A)). Therefore, when the configuration is not adopted in which the contact surface 98 of the push-out member 92 is rotated following the one end surface 161 of the paper tube 160 (for example, when the contact surface 98 of the push-out member 92 is fixed in a posture orthogonal to the robot-side pegs 70), there is a concern that the contact surface 98 of the push-out member 92 may interfere with the yarn layer of the yarn feed package P, thereby damaging the yarn layer. However, in the case of the push-out member 92 in the present embodiment, even when the yarn feed package P performs pendulum motion, the contact surface 98 can perform pendulum motion in such a way as to follow the one end surface 161 of the paper tube 160 by using the supporting shaft 87 as the rotary shaft. As described above, the push-out member 92 performs pendulum motion following the motion, in the height direction, of the yarn feed package P being pushed out by push-out member 92 and hence, it is possible to prevent interference between the push-out member 92 and the yarn layer of the yarn feed package P. Accordingly, the yarn feed package P can be pushed out from the robot-side pegs 70 without damaging the yarn layer of the yarn feed package P.
  • When the delivery of the yarn feed package P from the robot-side pegs 70 to the creel-side pegs 28 is completed, the contact surface 98 of the push-out member 92 is brought into a non-contact state with the one end surface 161 of the paper tube 160, and the push-out member 92 is returned to the zero posture by the action of the elastic member 110 (see FIG. 6). Therefore, when the robot-side pegs 70 receive the yarn feed package P, the push-out member 92 can be caused to remain in an erected state, whereas when the push-out member 92 pushes out the yarn feed package P, the push-out member 92 can be caused to follow pendulum motion of the yarn feed package P with good response.
  • As described above, the rotation range of the movable member 90, which uses the supporting shaft 87 as the rotary shaft, is restricted to a certain range. For example, when the push-out member 92 is rotated more than necessary, there is a concern that the contact surface 98 does not come into contact with the one end surface 161 of the paper tube 160, and the push-out member 92 enters the hollow portion of the paper tube 160, thereby preventing the one end surface 161 of the paper tube 160 from being pushed by the contact surface 98. In view of the above, the rotation range of the movable member 90 is restricted. With such a configuration, it is possible to prevent a situation in which the one end surface 161 of the paper tube 160 cannot be pushed by the contact surface 98.
    • [7. Manner of operation and advantageous effects]
  • The yarn feed package supplying device 60 of the present embodiment includes: the robot-side pegs 70 configured to allow the yarn feed package P, in which yarn is wound around the paper tube 160 to form a yarn layer, to be hooked thereon, the distal end portions of the robot-side pegs 70 being free ends; and the push-out mechanism 74 configured to push out the yarn feed package P, which is hooked on the robot-side pegs 70, from one end portions of the robot-side pegs 70. The push-out mechanism 74 includes the push-out member 92, and the cylinder 75 configured to move the push-out member 92 relative to the robot-side pegs 70 in the direction from the proximal end portions of the robot-side pegs 70 toward the distal end portions and the direction from the distal end portions of the robot-side pegs 70 toward the proximal end portions. The push-out member 92 is configured to come into contact with two portions of the one end surface 161 of the paper tube 160 of the yarn feed package P, which is hooked on the robot-side pegs 70, when the push-out member 92 is moved in the direction from the proximal end portions of the robot-side pegs 70 toward the distal end portions, the two portions being located at different positions in the height direction. The push-out member 92 is a member in which a portion that comes into contact with the one end surface 161 of the paper tube 160 is formed to extend in the height direction. The push-out member 92 is provided at the position that avoids the robot-side pegs 70 in the horizontal direction, and the push-out member 92 is configured to be capable of performing pendulum motion in the height direction by using the supporting shaft 87, which is provided between the first portion 981 and the second portion 982 in the height direction, as a turning fulcrum, the first portion 981 and the second portion 982 respectively coming into contact with the upper end surface 161a and the lower end surface 161b of the one end surface 161 of the paper tube 160 of the yarn feed package P, the upper end surface 161a and the lower end surface 161b being located at different positions in the height direction. According to the yarn feed package supplying device 60 having such a configuration, even when the yarn feed package P performs pendulum motion in the height direction as the yarn feed package P is pushed out from the robot-side pegs 70, the push-out member 92 performs pendulum motion in the height direction in conformity with the motion of the yarn feed package P and hence, it is possible to prevent the push-out member 92 from interfering with the yarn layer of the yarn feed package P, thereby preventing damage to the yarn layer. Accordingly, it is possible to provide the yarn feed package supplying device 60 that can push out the yarn feed package P from the robot-side pegs 70 without damaging the yarn layer of the yarn feed package P.
  • In the yarn feed package supplying device 60 of the present embodiment, the upper end surface 161a and the lower end surface 161b are located at positions that are line-symmetric with respect to the horizontal center line that passes through the center of the paper tube 160. Accordingly, the push-out member 92 can be caused to follow pendulum motion of the yarn feed package with good response.
  • In the yarn feed package supplying device 60 of the present embodiment, the robot-side pegs 70 are two peg shaft members provided horizontally and in parallel, and the push-out member 92 is provided between the two peg shaft members. Accordingly, the yarn feed package hooked on the yarn feed holding part can be pushed out by the push-out member in a well-balanced manner, and it is possible to improve followability of the push-out member with respect to pendulum motion of the yarn feed package.
  • In the yarn feed package supplying device 60 of the present embodiment, the push-out member 92 is configured to maintain a predetermined erected posture in a non-contact state with the one end surface 161 of the paper tube 160. Accordingly, the push-out member 92 maintains an erected state when the robot-side pegs 70 receive the yarn feed package P and hence, there is no possibility of the push-out member 92 becoming an obstacle when the yarn feed package P is received.
  • In the yarn feed package supplying device 60 of the present embodiment, the range of pendulum motion of the push-out member 92 is restricted to a predetermined direction by the fixed-side elongated hole 88, the movable-side shaft part 104, the fixed-side shaft member 84, and the movable-side elongated hole 96. In addition, the elastic member 110 is provided to maintain the push-out member 92 in a predetermined erected posture, the elastic member 110 being configured to apply an elastic force to the push-out member 92 in the predetermined direction. Accordingly, when the robot-side pegs 70 receive the yarn feed package P, the push-out member 92 can be caused to remain in an erected state, whereas when the push-out member 92 pushes out the yarn feed package P, the push-out member 92 can be caused to follow pendulum motion of the yarn feed package P with good response.
    • [8. Modification]
  • The embodiment of the present invention has been described heretofore. However, the present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, when the push-out member 92 pushes out the yarn feed package P hooked on the robot-side pegs 70, the contact surface 98 is in contact with both the upper end surface 161a and the lower end surface 161b. However, provided that the push-out member 92 can push out the yarn feed package P, which is hooked on the robot-side pegs 70, toward the creel-side pegs 28 in a well-balanced manner without causing interference between the contact surface 98 and the yarn layer of the yarn feed package P, the situation in which the yarn feed package P is pushed out by the push-out member 92 is not limited to the above.
  • FIGS. 21(A) and 21(B) are diagrams showing variation of modifications of a situation in which the yarn feed package P is pushed out by the push-out member. Both FIG. 21(A) and 21(B) show the one end surface 161 of the paper tube 160 and, for the sake of convenience, the yarn feed package P is not shown in the drawing.
  • FIG. 21(A) shows a first modification of the push-out member, and is a diagram showing a case that includes, for example, two push-out members 921A, 921B in place of the push-out member 92. In FIG. 21(A), for the sake of convenience, the two push-out members 921A, 921B are shown by chain lines.
  • In FIG. 21(A), on the one end surface 161 of the paper tube 160, any two surfaces that are located at positions higher than a center O of the paper tube 160 in the radial direction, and that are different from the upper end surface 161a are defined as a first upper surface 161c and a second upper surface 161d. In addition, a portion that is line-symmetric to the first upper surface 161c with respect to a straight line S is defined as a first lower surface 161e, and a portion that is line-symmetric to the second upper surface 161d with respect to the straight line S is defined as a second lower surface 161f, the straight line S passing through the center O of the paper tube 160 in the radial direction, and extending in the horizontal direction along the one end surface 161 of the paper tube 160. In FIG. 21(A), the portions of the upper end surface 161a, the lower end surface 161b, the first upper surface 161c, the second upper surface 161d, the first lower surface 161e, and the second lower surface 161f are shown by hatched ellipses.
  • Although each of the two push-out members 921A, 921B shown in FIG. 21(A) has the same shape as the push-out member 92, each of the two push-out members 921A, 921B differs from the push-out member 92 in the portion of the one end surface 161 of the paper tube 160 that is pushed by the contact surface. To be more specific, the push-out member 921A comes into contact with at least the first upper surface 161c and the first lower surface 161e. The push-out member 921B comes into contact with at least the second upper surface 161d and the second lower surface 161f. Even in such a situation, it is possible to push out the yarn feed package P, which is hooked on the robot-side pegs 70, toward the creel-side pegs 28 in a well-balanced manner without causing interference between the contact surface of the push-out member 921A, 921B and the yarn layer of the yarn feed package P.
  • FIG. 21(B) shows a second modification of the push-out member, and is a diagram showing a case that includes a push-out member 922, in place of the push-out member 92. In FIG. 21(B), for the sake of convenience, the push-out member 922 is shown by a chain line.
  • In FIG. 21(B), on the one end surface 161 of the paper tube 160, any two surfaces that are located at positions higher than the center O of the paper tube 160 in the radial direction and lower than the robot-side pegs 70, and that are different from the upper end surface 161a are defined as a third upper surface 161g and a fourth upper surface 161h. In addition, a portion that is line-symmetric to the third upper surface 161g with respect to the straight line S is defined as a third lower surface 161i, and a portion that is line-symmetric to the fourth upper surface 161h with respect to the straight line S is defined as a fourth lower surface 161j, the straight line S passing through the center O of the paper tube 160 in the radial direction, and extending in the horizontal direction along the one end surface 161 of the paper tube 160. In FIG. 21(B), the portions of the third upper surface 161g, the fourth upper surface 161h, the third lower surface 161i, and the fourth lower surface 161j are shown by hatched ellipses, and illustration of the upper end surface 161a and the lower end surface 161b is omitted.
  • The push-out member 922 shown in FIG. 21(B) is a plate member having a rectangular shape elongated in the lateral direction, and is provided below the robot-side pegs 70 in such a way as to avoid the robot-side pegs 70. The push-out member 922 comes into contact with at least the third upper surface 161g, the fourth upper surface 161h, the third lower surface 161i, and the fourth lower surface 161j. Even in such a situation, it is possible to push out the yarn feed package P, which is hooked on the robot-side pegs 70, toward the creel-side pegs 28 in a well-balanced manner without causing interference between the contact surface of the push-out member 922 and the yarn layer of the yarn feed package P.
  • Provided that the push-out member 922 can push out the yarn feed package P, which is hooked on the robot-side pegs 70, toward the creel-side pegs 28 in a well-balanced manner without causing interference between the contact surface of the push-out member 922 and the yarn layer of the yarn feed package P, other situations may be adopted. For example, a situation may be adopted in which the push-out member 922 pushes a plurality of portions of the one end surface 161 of the paper tube 160, the plurality of portions being located at positions that are point-symmetric with respect to the center O of the paper tube 160 in the radial direction.
  • In the above-described embodiment, the push-out member 92 is pivotally supported on the supporting shaft 87, the axial direction of which extends horizontally in the left-right direction, and therefore the push-out member 92 is caused to follow pendulum motion of the yarn feed package P when the push-out member 92 pushes out the yarn feed package P. However, provided that the push-out member 92 can be caused to follow pendulum motion of the yarn feed package P, the configuration is not limited to the above-mentioned configuration. For example, the push-out member may be caused to follow pendulum motion of the yarn feed package P by using, for example, a ball joint that can be rotated in any direction by causing a socket to be brought into spherical contact with a ball stud.
    • (Reference Numerals)
    • 60
    Yarn feed package supplying device
    70
    Robot-side peg
    74
    Push-out mechanism
    75
    Cylinder
    84
    Fixed-side shaft member
    87
    Supporting shaft
    88
    Fixed-side elongated hole
    92
    Push-out member
    96
    Movable-side elongated hole
    100
    Withdrawing member
    104
    Movable-side shaft part
    110
    Elastic member
    160
    Paper tube
    161
    One end surface of the paper tube
    161a
    Upper end surface
    161b
    Lower end surface
    981
    First portion
    982
    Second portion
    P
    Yarn feed package

Claims (5)

  1. A yarn feed package supplying device (60) comprising:
    a yarn feed holding part (70) configured to allow a yarn feed package (P) having a yarn layer formed by winding yarn around a cylindrical member (160) to be hooked thereon, one end portion of the yarn feed holding part (70) being a free end; and
    a push-out mechanism (74) configured to push out the yarn feed package (P) hooked on the yarn feed holding part (70), from the one end portion of the yarn feed holding part (70), wherein
    the push-out mechanism (74) includes
    a push-out member (92), and
    a push-out member driving part (75) configured to move the push-out member (92) relative to the yarn feed holding part (70) in a direction from another end portion of the yarn feed holding part (70) toward the one end portion and in a direction from the one end portion of the yarn feed holding part (70) toward the other end portion, and
    the push-out member (92) is configured to come into contact with at least a first section (161a) and a second section (161b) of an end surface of the cylindrical member (160) of the yarn feed package (P) hooked on the yarn feed holding part (70), when the push-out member (92) is moved in the direction from the other end portion of the yarn feed holding part (70) toward the one end portion, the first section (161a) and the second section (161b) being located at different positions in a height direction,
    the push-out member (92) is a member having at least a portion that comes into contact with the end surface of the cylindrical member (160), the at least a portion being formed to extend in the height direction,
    the push-out member (92) being provided at a position that avoids the yarn feed holding part (70) in a horizontal direction, and
    the push-out member (92) is configured to be capable of performing pendulum motion in the height direction by using a point located between a first portion (981) and a second portion (982) in the height direction as a turning fulcrum (87), the first portion (981) and the second portion (982) respectively coming into contact with the first section (161a) and the second section (161b) of the end surface of the cylindrical member (160) of the yarn feed package (P), the push-out member (92) performing the pendulum motion following a motion, in the height direction, of the yarn feed package (P) being pushed out by the push-out member (92).
  2. The yarn feed package supplying device (60) according to claim 1, wherein
    the first section (161a) and the second section (161b) are located at a position being line-symmetric with respect to a horizontal center line passing through a center of the cylindrical member (160), or at a position being point-symmetric with respect to the center of the cylindrical member (160) in a radial direction.
  3. The yarn feed package supplying device (60) according to claim 1 or claim 2, wherein
    the yarn feed holding part (70) is formed of two peg shaft members (70) provided horizontally and in parallel, and
    the push-out member (92) is provided between the two peg shaft members (70).
  4. The yarn feed package supplying device (60) according to any one of claims 1 to 3, wherein
    the push-out member (92) is configured to maintain a predetermined erected posture in a non-contact state with the end surface of the cylindrical member (160).
  5. The yarn feed package supplying device (60) according to claim 4, wherein
    a restricting mechanism (96) and an elastic force applying means (110) are provided to maintain the push-out member (92) in the predetermined erected posture, the restricting mechanism (96) being configured to restrict a range of the pendulum motion of the push-out member (92) to a predetermined direction, the elastic force applying means (110) being configured to apply an elastic force to the push-out member (92) in the predetermined direction.
EP26155278.0A 2025-02-14 2026-01-30 Yarn feed package supplying device Pending EP4793214A1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2025022728 2025-02-14

Publications (1)

Publication Number Publication Date
EP4793214A1 true EP4793214A1 (en) 2026-08-19

Family

ID=98567189

Family Applications (1)

Application Number Title Priority Date Filing Date
EP26155278.0A Pending EP4793214A1 (en) 2025-02-14 2026-01-30 Yarn feed package supplying device

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EP (1) EP4793214A1 (en)
CN (1) CN122561677A (en)

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Publication number Publication date
CN122561677A (en) 2026-08-14