IT9047770A1 - PROCESS ROBOT FOR A TWO-BY-ONE TWISTING. - Google Patents

Description

paper.

DESCRIPTION

Field of the invention

The present invention relates to a process robot for a two-by-one twister, which automatically performs yarn exchange, yarn end finding, threading, doffing and yarn engagement required by a two-by-one twister.

Presentation of the relevant technique

In a two-for-one twister, a yarn pulled away from a reel of yarn supported on a furso is threaded into an axial hole thereof whereby the yarn is wound onto a paper tube supported on a saddle arm by imparting into the same time a double twist to it to form a wound cone. When the paper tube winds all the yarns on the yarn package to form a winding package for full bundles, an empty yarn package is exchanged for a full yarn package (yarn exchange), the yarn end is pulled away from the yarn package (finding the yarn end) and inserted into the axial hole (threading), the full winding package is moved away from the saddle arm and a new paper tube is supported on the saddle arm (lift), and the The yarn end pulled away from the yarn package is secured (engaged) to the paper tube.

In the past, these operations were done exclusively by hand, taking a long time.

However, at present, when the frequencies of operations such as doffing, yarn swapping and the like increase with the recent production of a variety of types in small quantities, it is desired that the above-mentioned operations be automated in terms of labor reduction and improvement of the productivity.

Objective and summary of the invention

It is therefore an object of the present invention to provide a process robot for a two-for-one twister which automatically performs yarn bobbin exchange, yarn end finding, threading, doffing and yarn engagement, and which can work and improve productivity.

In order to achieve the aforementioned object, the present invention provides an arrangement in which a carriage is provided such that the carriage can travel along units of a two-by-one twister, the carriage comprising a yarn exchange mechanism. . for exchanging an empty yarn package supported on a spindle of each unit with a yarn package, a yarn end finding mechanism for pulling one yarn end from the yarn package, a threading mechanism for inserting the yarn end yarn into an axial hole of the yarn package by means of an airflow, a take-off mechanism for moving away a full bundle winding package supported on a saddle arm of each unit - and to provide a paper tube to the saddle arm , and a yarn engaging mechanism for engaging the yarn end of the yarn package with the paper tube when the saddle arm supports the paper tube.

In the position of the unit with completed winding, the yarn exchange mechanism first exchanges an empty yarn supported on the spindle with a package of yarn. At that point, the yarn end finder mechanism pulls the yarn end away from the yarn package. Then, the threading mechanism inserts the pulled-away yarn end of the yarn package into the axial hole of the yarn package by the air flow.

On the other hand, the take-off mechanism moves the winding package for solid bundles supported on the saddle arm away from the saddle arm and supplies the paper tube to the saddle arm. The saddle arm supports the paper tube, and the yarn engagement mechanism engages the yarn end of the yarn package with the paper tube:

Since the change of yarn bobbins, yarn end finding, threading, doffing and yarn engagement are performed automatically in the procedure as described above, work reduction and productivity improvement can be added.

Brief description of the drawings

Figure 1 is a perspective view of the two-for-one whole twister showing an embodiment of the present invention;

Figure 2 is an enlarged side sectional view showing the relative structure between two-by-one twister units and the process robot;

Figure 3 is a plan view of a portion of a yarn package of the unit as viewed from above;

Figure 4 is a side view showing the relative structure between a descent wire in the unit and an indication lever;

Figure 5 is a partial plan view of the process robot;

Figure 6 is a partially sectional plan view showing an operation arm of the process robot;

Figure 7a is a sectional view taken on the line A-A of Figure 6;

Figures 7a and 7b are a view showing an operation of a locking element;

figure 8 is a sectional view taken on line B-B of figure 5;

figure 9 is a sectional view taken on the line C-C of figure 5;

Figure 10 is a plan view showing the state in which a locking element mounted on an operating arm grasps a yarn of a yarn package subjected to yarn end finding;

Figure 11 is a perspective view showing the state in which a tensor capsule is transferred onto the spool of yarn by the blocking element of Figure 10;

Figure 12a is an enlarged sectional view showing the threading;

Figure 12b is a sectional view showing a yarn in threading;

Figure 13 is a side view showing a lifting mechanism of the process robot;

Figure 14 is a plan view of Figure 13; Figure 15a is a side view of a paper tube feeding arm of the process robot;

Figures 15b and 15c are views showing the movement of a paper tube blocking element;

Figure 16 is a plan view showing the state of engagement of the yarn to the paper tube;

Fig. 17 is a perspective view showing the state in which a core guide receives a yarn from an operating arm;

Figure 18 is a perspective view showing the core winding operation by the core guide; And

Figure 19 is a flow chart showing the operation of the process robot.

Detailed Description of Preferred Embodiments An embodiment of the present invention will now be described with reference to the accompanying drawings.

As shown in Figures 1 and 2, a two-by-one twister 1 comprises a number of juxtaposed units 2, each unit 2 comprising a spindle 4 to vertically support a spool 3 of yarn JiGl the lower part, and a saddle arm 6 to horizontally support a tube 5 of paper in the upper part, whereby a yarn Y pulled away from the spool 3 of yarn is threaded into an axial hole 3a directed upwards, imparting to it at the same time a double twist and a paper tube 5 driven in rotation from a rotary drum 7 it is wound to form a winding cone 8. Arranged upward from the spool 3 of yarn are a spiral metal thread 9 for guiding a yarn, a descent metal thread 10 for detecting the presence or absence of yarn Y, a yarn guide roller 11 and a yarn roller 12 feeding to supply the yarn Y to the winding bobbin 8 in said order.

As shown in Figure 12a, the spindle 4 is provided integrally with a rotary disc 13 which has a yarn storage portion 13a for transiently winding the yarn Y on the outer periphery, and a stationary tubular element 14 for receiving the yarn package 3 is rotatably supported through a bearing 15 on the spindle 4 made to protrude upwards of the rotary disk 13. The stationary tubular element 14 is maintained in its stationary state regardless of the rotation of the spindle 4 from the attraction action of a magnet 16a provided on the bottom and of a magnet 16b provided on a fixed ring 17 which surrounds the magnet 16a.

The bobbin 3 of yarn is made to stand vertically on a portion 14a of the hub which is protruding from the bottom. The upper end of the bobbin 3 of. yarn a tensor capsule 18 having a central hole 18a for guiding the yarn Y pulled away from the yarn layer to the axial hole 3a of the yarn package 3 is mounted.

The yarn storage portion 13a of the rotary disc 13 is formed radially with a yarn guide hole 19a. The spindle 4 is formed with a jet hole 19b for injecting compressed air into the yarn guide hole 19a and a suction hole 19c for sucking the yarn Y1 into the yarn guide hole 19a from the axial hole 3a as a result of the effect of ejector caused by jet flow. The end of yarn VI expelled from the yarn guide hole 19a by the compressed air impacts an inclined internal surface 17a of a fixed ring 17 so as to be blown between a ball control tube 20 and the stationary tubular element 14. During threading, a flow of air for threading is formed in the spindle 4 as described above.

As shown in Figure 2, a pedal 21 is mounted on the lower portion of the unit 2 so that when the pedal 21 is moved slightly, the spindle 4 is braked and stopped when moved deeply, compressed air is fed to the jet hole 19b. A pressure air supply valve 22 is arranged towards the top of the pedal 21 for supplying compression air to a process robot 41 which will be described later.

The saddle arm 6 is pivotally supported so as to place the winding bobbin 8 in contact with or move it away from the rotary drum 7, and a cylinder 23 for lifting it to a raised position is connected to the saddle arm 6. Also, as shown in Figure 14, the saddle arm 6 has in its extreme terminal part a portion 24a of a fixed arm, and a portion 24b of a movable arm hinged in an openable and closable manner, and supports 25a and 25b to support both ends. of the paper tube 5 are rotatably mounted on both arm portions 24a and 24b. A spring 26 is connected to the movable arm portion 24b to push the former in a closing direction, and a saddle lever 27 is projected to open the movable arm portion 24b or lower the saddle arm 6 towards the rotary drum 7 .

A store 28 having a plurality of paper tubes 5 received therein is mounted over the harness arm 6 and the store 28 is provided with a lockable and openable bottom plate 28a which is moved downwardly and inclined forward and which can move away the paper tube 5 (see figure 15).

The base end of the descent metal thread 10 is supported on a lateral shaft 29 arranged on the back of the spool of yarn 3 as shown in figure 4 and the extreme terminal part thereof is placed against the yarn Y between the metal thread 9 a scroll and the yarn guide roller 11 and falls by its own weight onto the yarn bobbin 3 when the yarn Y of the yarn bobbin 3 becomes empty or when cuts occur. A cam 31 for opening and closing an operation valve 30 of a cylinder 23 for the saddle arm is mounted on the base end of the spiral wire 9 so that when the descent wire 10 falls, the operation valve 30 is open and the saddle arm 6 is raised to the raised position by the cylinder 23. Upward from the storage 28 there is mounted an indicator lamp 32 which is turned on when the saddle arm 6 is raised.

A rotating lever 33 is provided on the base end of the descending wire 10 to turn the former upwards, and a magnet is mounted upwards to the position at which the extreme end part is made to rest against the yarn Y 34 to take the attracted raised descent wire 10. The base end of an indicator lever 35 extending horizontally forward is pivoted in proximity to the magnet 34, and a lowering lever 35a for lowering the extreme terminal portion of the descending wire 10 attracted by the magnet 34 is projected onto the base end of the indicating lever 35 so that when the indicating lever 35 is returned to a horizontal position as indicated by the dashed line, the descent wire 10 is moved away from the magnet 34 by the lowering lever 35a and falls.

The base end of the spiral wire 9 is rotatably supported horizontally through a bracket 36 so that it can be slipped back during the change of the yarn package 3, and a return lever 9a is formed at the 'base end.

A guide plate 37 for guiding the yarn back is mounted on the yarn guide roller 11. A conveyor 28 for delivering the raised winding package 8 and a conveyor 40 for placing the package 3a of yarn for full bundles on a tray 39 and transporting it are arranged along the unit 2 at the rear of the rotary drum 7 and forward of the package 3 of yarn, respectively. Conveyor 40 for the yarn bobbin 3A comprises an endless belt 40a for locating and transporting the tray 39 and a guide frame 40b for guiding the tray 39. A pin 39a is provided above the tray 39 to vertically support the bobbin. yarn 3a.

From the front part of the unit 2 constructed as described above, a free-to-travel process robot 41 is provided which automatically carries out the change of the yarn package, the threading, the doffing and the yarn engagement.

This process robot 41 is provided with a carriage 42 free to move along the juxtaposed units 2. Tracks 43a and 43b are mounted on the upper and lower forward portions of the unit 2, and the carriage 42 is supported for free path on the tracks 43a and 43b through wheels 44a and 44b. A path guiding device 45 is connected to the lower wheel 44b.

A sensor 46 for detecting the indicating lamp 32 and a sensor 47 for detecting the indicating lever 35 are mounted on the carriage 42.

When the illumination condition of the indication lamp 32 and the horizontal condition of the indication lever 35 are simultaneously detected by sensors 46 and 47, respectively, the path guiding device 45 is decelerated and stopped so that the carriage 42 is placed and stopped in the front position of unit 2. The carriage 42 is provided at the bottom with a pressure air inlet not shown separably connected to the pressure air supply valve 22 supplied on each unit 2 to a pedal lever 48 which moves pedal 21, which are operated by a cam-type drive mechanism not shown. The pressurized air introduced through the pressurized air inlet is used as a power source for various cylinders procured on the carriage 42.

Collected within the support 42, as means for detecting the doffing condition, are a sensor 49 for detecting the presence or absence of the paper tube 5 within the storage 28 and a sensor 50 for detecting the presence or absence of the bobbin. 8 of winding on a winding package delivery conveyor 38 so that when the condition of presence of the paper tube and the condition of absence of the winding package are detected by these sensors 49 and 50, respectively, it is judged that the raised condition has been fulfilled and processes such as yarn change, doffing and the like start.

As shown in Figures 5, 8 and 9, mounted on the carriage 42 are a sensor 51 for detecting a reel 3A of yarn on the conveyor 40 for supporting the reels of yarn, and a cylinder 52 for stopping the tray 39 according to the detection signal of it. A V-shaped engagement member 53 for engaging the base end of a pin 39a of the tray 39 is mounted on the extreme end of a piston rod 52a of the cylinder 52. A proximity sensor 54 for detecting that the rod The piston 52a has covered a predetermined stroke is mounted on the cylinder 52, and the conveyor 40 is stopped by the detection signal thereof. In the event that a variety of yarn spools are handlebars the diameter of the base end of the pin 39A of the tray 39 can be varied according to the types. Thus, the stroke of the piston rod 52a when engaged by the engaging member 53 varies accordingly and thus, the stroke can be detected to select necessary packages.

The carriage 42 is equipped with a yarn change mechanism 55 for changing an empty yarn package 3B supported on the spindle 4 of each unit 2 with a yarn package 3A, with a yarn end finding mechanism 56 for pulling the yarn end from the yarn package 3A, of a threading mechanism 57 for inserting the yarn end into the axial hole 3A of the yarn package 3A by means of an air flow, of a take-up mechanism 58 to remove the yarn. full bundle winding spool 8 supported on the harness arm 6 of the unit 2 and feeding the paper tube 5 to the harness arm 6, and a yarn engagement mechanism 59 for engaging the yarn end of the spool 3A of yarn with the empty yarn tube 5 when the saddle 6 supports the paper tube 5. These mechanisms will be described hereinafter.

Yarn End Finding Mechanism A loom 60 of carriage 42 is formed of a U shape at the front, and a yarn end finding pin 61 is mounted on a central upper surface portion 60a thereof so that the bobbin 3A of yarn which has been stopped on the conveyor 40 supporting the bobbin of yarn is transiently placed thereon for the retrieval of the yarn end. If the yarn end locating pin 61 is procured on the process robot 41 as described above, a transient locating pin need not be provided on the unit 2C, and the yarn end finding process may be performed during the transitory placement of the yarn package 3A to increase the process efficiency. The yarn end find peg 61, the peg

39a of the tray 39 stopped on the conveyor

40 and spindle 4 are arranged on the same right angled line with the direction of travel of carriage 42. Yarn end finder pin 61 is rotatably supported through a bearing 62 and is rotatably driven by a motor 65 through the pulleys 63a and 63b and the endless belt 64 in a yarn end delivery direction during the yarn end finding process.

A yarn end finder suction arm 66 for delivering the yarn end from the yarn bobbin 3A placed vertically on yarn end finder pin 61 and a yarn support portion 67 for carrying the yarn subjected to the the yarn ends are arranged on the upper surface portion of the frame 60. The suction arm 66 is formed with a circular configuration so as not to interfere with the frame 68 supporting the portion 67 which carries the yarn and a mouth of suction 69 put to cover the upper end

3b of the paper tube of the yarn package 3A for sucking and finding the yarn end wound as a core on the upper end of the paper tube is mounted on the extreme end of the suction arm 66. The base end of the suction arm 69 is pivotally connected to the upper portion of a vertical suction pipe 71 and rotatably supported through a bearing 70 on the upper surface portion 60a of the frame 60, and the lower end of the suction pipe 71 is connected to a fan not shown mounted on trolley 42.

A receiving arm 72 formed to be circular along the suction arm 66 is secured to the upper end of the suction tube 71, and a capsule locking member 73 for separably holding a tensor capsule 18 is mounted on the extreme end of the receiving arm 72.

A spring 74 for biasing the suction arm 66 upwardly to move the suction mouth 69 away from the upper end 3b of the yarn package 3A on the yarn end finder pin 61 is connected through a lever 75 at the end. base of the suction arm 66, and a pressure cylinder 76 for pressing down the suction arm 66 against spring force is mounted on the receiving arm 72.

A rotating cylinder 78 is connected through a lever 77 to the lower portion of the suction tube 71 so that the suction mouth 69 causes the suction arm 66 to be rotated from the position where the yarn end located upwards of the pin is found. 61 to find the yarn end at the reserve position facing the side. The yarn carrying portion 67 has a support frame 68 seated vertically on the upper surface portion 60a of the frame 60. A guide member 79 having an upwardly directed yarn groove 79a is movably supported up and down. through an elevation frame 80 on the side of the support frame 68 and an elevation cylinder 81 mounted on the support frame 68 is connected to the elevation frame 80. A yarn holding ring not shown for retaining a yarn once it is received so as not to let it escape is mounted on the yarn groove 79a of the yarn guide member 79. The yarn guide element 79 is designed to grip the yarn Y2 subjected to yarn end retrieval as indicated by the dotted line in Figure 5 and extended between the yarn package 3A and the suction mouth 69 in the reserve position. and to change the yarn holding height.

A yarn end find sensor 82 for detecting the presence or absence of the yarn is located in the yarn run area of the yarn Y2 extending between the yarn guide element 79 and the suction mouth 69 in the position reserve so that whether or not the yarn ends are found according to the presence or absence of the yarn, and in case of success, the following stage takes place such as threading, while, in case of failure, the yarn change and doffing take place, without making the filament to complete the operation.

A cutting machine 83 for cutting a yarn within the yarn groove 79a is arranged corresponding to the yarn guide member 79 positioned at the lower end. This cutting machine 83 includes a fixed knife 83a and a movable knife 83b, the movable knife 83b being driven. from cylinder 84.

Yarn change mechanism

An operation arm 85 for changing yarns or the like is movably mounted up and down and for elevation on the left inner wall 60b of the loom 60. Outside the left inner wall 60b a vertical rotatable screw rod 86 is placed and placed a vertical guide rod 87. An elevation motor 88 for rotatingly driving a screw rod 86 is connected thereto through pulleys 89a and 89b and an endless belt 90. An elevation block 91 moved vertically by rotation of screw rod 86 is supported on screw rod 86 and guide rod 87, and a shaft 92 projected to the left behind the operation arm 85 is rotatably supported through a bearing 93 on the elevation block 91. The left inner wall 60b is formed with a vertical slot 94 to allow vertical movement of the bearing portion 93, and a plug 95 engaged with the rear upper surface of the operation arm 85 to support it horizontally is mounted on the bearing portion 93. The extreme end portion of the operation arm 85 is positioned upwards in the spool 3 of yarn on the spindle 4 at the time of the horizontal state, and a sensor 96 for detecting remaining yarn for detecting and the presence or absence of the remaining yarn of the spool 3 of yarn is mounted on the extreme end part thereof.

Mounted on the left inner wall 60b of the frame 60 is a plug 97 which engages the lower surface on the front side of the operation arm 85 which moves downwardly in a horizontal state to receive the operation arm 85 on the side of the carriage 42 in one. vertical state, the plug 97 being moved in and out by a guide mechanism not shown. By this, the operation arm 85 is received so that its extreme end part is positioned obliquely and upward from the front so as not to interfere with the units 2 during the path.

As shown in Figures 6 and 7, the operation arm 85 has a long box-like frame 98, and a locking element 99 for holding the package 3A of yarn, and a tensor capsule 18 slidably supplied along the length on one side. of frame 98 .. A screw rod 101 having a motor 100 at one end thereof is longitudinally supported within the frame 98 so as to slip and actuate the locking element 99, and the side of the locking element 99 is supported on the screw rod 101 through a movable block 102 moved by rotation of the rotation rod 101. The frame 98 is formed on the side wall thereof with a horizontal slot 103 for slidingly guiding the immobile block 102.

The locking element 99 has bifurcated arm elements 105a and 105b open and closed by the cylinder 104, one arm element 105a being used as a pusher to let the spiral metal wire 9 escape, the other arm element 105a having the part extreme terminal extended obliquely outwards to grasp the yarn. Slot locking elements 106a and 106b are entirely suspended in the lower surfaces of the arm elements 105a and 105b so that the tensor capsule 18 within both the locking elements 106a and 106b and the inner surface of the axial bore of the spool 3A of yarn are pressed and held outside the locking elements 106a and 106b. As described above, the single blocking element 99 is used to hold the spool of yarn 3A and to hold the tensor capsule 18. Hence, the number of parts is reduced and the equipment becomes compact.

By closing the locking elements 106a and 106b, the tensor capsule 18 can be tightened between them from the outside, as shown in figure 76. Furthermore, by inserting the locking elements 106a and 106b into the axial hole 3A of the bobbin 3 for feeding yarn and then by opening them, as shown in Figure 7c, the internal surface of the axial hole 3.a is pressed, so that the feeding bobbin 3 can be tightened. The locking elements 106a and 106b have a dimension which allows the tensor capsule 18 to be sandwiched between both the locking elements when they are closed and also allows both locking elements to be inserted into the axial hole 3a of the package 3 when they are closed. .

The yarn change is carried out by opening and closing the locking elements 106a and 106b, making the locking element 99 slide and raising and rationing the arm 85 by means of which, as shown in figure 8, firstly, the spool of yarn 3A on the pin 39a of the tray 39 is transferred to the pin 61 for finding the yarn end (@), then, the empty yarn cone 3b on the spindle 4 is transferred to the pin 39a of the tray 39 ((D), and subsequently, the yarn cone 3a subjected to finding the yarn end, it is transferred to the spindle 4 by the yarn end finding pin 61 ((3 ^), thus completing the yarn change.

A yarn holding ring 107 is mounted between both arm elements 105a and 105b in registration with the axis of elements 106a and 106b, and a nozzle for injecting compressed air towards the center of the yarn holding ring 107 is mounted on the upper side of the yarn retaining ring 107. During threading, the nozzle 108 injects compressed air to insert the yarn end into the axial hole 3a together with a suction air flow that acts on the axial hole 3a of the yarn package 3a.

A suction tube 109 for sucking and holding the yarn end Ϋ1 threaded and blown between the balloon control tube 20 and the stationary tube 14 is mounted on the operation arm 85 so as to be positioned towards the top of the cone 3a of yarn on the spindle 4. The suction tube 109 is formed with a suction slot 109a of a predetermined length from the extreme end of it. An arm is mounted on the extreme end of the operation arm 85. The expansion 11 which is caused to expand forward by the operation of the cylinder 110, the extreme terminal part of the expansion arm 111 urging the lowering lever 35a of the indication lever 35, the turning lever 33 of the descent wire and the lever 9a return of the metal wire 9a. A yarn guiding element 112 is made to project sideways on the expansion arm 111 to guide and pass the extended yarn Y1 between the suction tube 109 and the yarn bobbin 3 on the spiral metallic yarn 9; the yarn guide roller 11 and the like.

Threading mechanism

The threading mechanism 57 consists mainly of the nozzle 108 provided on the blocking element 99 of the operation arm 85 and the suction tube 109 provided on the operation arm 85, by means of which threading is carried out together with an air flow. for

The threading produced in the portion of the spindle 4.

In this case, the yarn end Y2 pulled away from the yarn package 3A mounted on the spindle 4 as a result of the yarn change as shown in Figure 11 is in the state sucked by the suction mouth 69 through the blocking element 99 of the arm. operation 85 and the yarn guiding element 79 of the yarn holding portion 67, in which state, when the blocking element 99 carries the tensor capsule 18 received from the capsule blocking element 73 on the spool 3A of yarn for mount it in the axial hole 3, the double lever 48 deeply moves the pedal 21 of the unit 2 to produce an air flow for finding the yarn end in the spindle portion 4 and injects compressed air from the nozzle 108 of the blocking element 99. At the same time, when the cutting machine 33 of the portion 67 carrying the yarn cuts the yarn Y2, the end of yarn Y1 cut as shown in figure 12 is inserted into the axial hole 3A med by the action of the air flow and sucked and retained by the suction pipe 109, thus completing the threading. Lift mechanism

As shown in Figures 13 and 14, mounted on the left inner wall 60b of the loom 60 there are an operation lever 113 for operating the saddle lever 27 of the seilette arm 6 raised to the raised position, a tray 114 for receiving the bobbin 8 winding mechanism for full bundles which descends when the movable arm element 24b is opened by the operation lever 113 to roll the winding package 8 on the conveyor 38, and a paper tube feeding arm 115 to remove the paper tube 5 from the storage unit 28 / - to supply it to the arm 6; harness as shown in figures 15 and 16.

The operation lever 113 is mounted on the extreme end of a drive shaft 116 which extends through the left inner wall 60b of the frame 60 and is slidably supported in the axial direction, and a projection 113a is provided in engagement with the surface. of the saddle lever 27 on the extreme end of the operation lever 113.

When not in action, the operation lever 113 pivots over the carriage 42 so as not to interfere with the winding bobbin 8 during its travel, and during doffing it rotates so as to position the interior of the saddle lever 27. Then, the sliding operation causes the saddle lever 27 to move as shown by the dotted line of Figure 14 so as to open the movable arm element 24b of the saddle arm 6.

The pan 114 is connected and supported through parallel connections 118a and 118b on a pair of rotary shafts 117a and 117b which extend through the left inner wall 60b of the frame 60 and are rotatably supported, and a shock absorber plate 119 for absorbing produced shocks. when the winding cone 8 falls, it is mounted on the tray 114 in the state in which it is inclined downwards towards the rotary drum 7. When not in action, the tray 114 is received on the side of the carriage 42 as indicated by the dashed line of figure 13, and, during the doffing, it extends immediately under the winding bobbin for the rotation of the rotary shafts 117a and 117b.

The paper tube feed arm 115 is mounted on the end of a rotary shaft 120 which extends through the left inner wall 60b of the frame 60 and is rotatably supported as shown in Figure 15a, and a tube blocking element 121 of paper to detachably hold the paper tube 5 is mounted on the extreme end part thereof.

A clamp cutter 122 is mounted on one side of the paper tube blocker 121.

The clamping cutter 122 comprises a fixed knife 122a and a movable knife 122b driven by a cylinder 123, so that the yarn Y1 extends between the suction tube 109 as indicated by the dashed line of Figure 17 and a core guide 126 which will be described later, is cut to keep the yarn end continuous to the side of the yarn package. After the paper tube 5 has been moved away from the storage 28, the paper tube feed arm 115 pivots down and is in the spare position figure 15b; when the yarn is engaged with the core guide 126 as shown in figure 17, the arm turns upwards so that the yarn is cut by the clamp cutter 122 and the arm 115 stops at the position of the belletta arm 6. 15c; and after the paper tube 5 has been transferred to the carrier arm 6, the arm 115 pivots over the carriage and is received.

The drive shaft 116 of the operation lever 113, the rotary shafts 117a and 117b of the tray 114 and the rotary shaft 120 of the paper tube supply arm 115 are operationally driven by a cam-type drive mechanism, not shown.

A lifting lever 124 for raising the indicating lever 35 to a horizontal state as shown in FIG. 4 is supported on the left inner wall 60b of the frame 60, and the lifting lever 124 is operated by a cam-type drive mechanism. not shown through a 125 connection.

Yarn engagement mechanism

The yarn engaging mechanism 59 includes a paper tube feeding arm 115 having a paper tube locking element, and a clamp cutter 122 mounted on one side of the paper tube locking element so that when the arm 115 for feeding paper tubes stops at the position of the saddle arm 6 as shown in Figure 16, the yarn Yl held and stretched by the clamp cutter 122 is positioned right between one end of the paper tube 5 and a support 25a, and , when the movable arm element 24b is closed to hold the paper tube between the two supports 25a and 25b, the yarn end Y1 is held between one end of the paper tube 5 and a support 25a to effect engagement of yarn. When the yarn engagement is effected, the clamp cutter 122 releases the yarn end Y1. Since the clamp cutter 122 is provided on the paper tube feed arm 115 as described above, the feeding of the paper tube 5 and the engagement of yarn to the paper tube 5 can be effected by a simple mechanism.

As shown in Figures 17 and 18, a core guide 126 for applying a core winding YR to the end of the paper tube 5 is mounted on the right inner wall 60c of the frame 60. The core guide 126 has a cylinder 127 mounted on the wall right inner 60c in the state that a piston rod 127a is inclined to face the left oblique front portion, and a core guide body 129 having an upwardly directed drum-like yarn engaging roller 128 is mounted on the extreme end of the piston rod 127a. When the yarn is engaged with the yarn guide roller 11 on the side of the unit 2 by the yarn guide member 112, the operation arm 85 is changed to the position in which it faces

the obliquely upward portion, in which state, the yarn Y1 extended between the yarn guide roller 11 and the suction tube 109.

is engaged by the yarn guide member 112 to raise it obliquely and upwardly. The core guide 126 causes the core guide body 129 to move downwardly to engage the extended yarn Y1 between the yarn guide roller 11 and the yarn guide member 112 with the roller 128 engaging the yarn. In this case, an assembly angle of the cylinder 127 is determined so that the yarn Y1 is positioned over the core guide body 129, i.e., between the roller 128 which engages the yarn and the piston rod 127a, and the body Core guide 129 is formed at the bottom with a guide surface 129a for guiding the yarn Y1 upward.

As the core guide body 129 moves upwardly with the yarn Y1 engaged therewith, the engagement of yarn to the paper tube 5 by the cutter 122 to clamping the paper tube feed arm 115, the saddle arm 6 is then lowered by the operation lever 113 and the paper tube 5 comes into contact with the rotary roller 7 and rotates to start the winding of the yarn Y. At that point, the yarn Y, between the paper tube 5 and the yarn guide roller 11 is in the state where the yarn engages the yarn engaging roller 128 of the core guide body 129, in which state the yarn guide body 129 is moved up and down several times in a predetermined interval that the core winding YR is applied to the paper tube 5. After the core winding, the core guide 126 causes the core guide body 129 to move downward to disengage the yarn from the roller 128 which engages the yarn to transfer 10 to the feed roller 12, then the core guide body 128 is raised to the upper end to complete the operation. The yarn Y wound on the paper tube 5 through the feed roller 12 is gripped by the transverse guide 130 which passes through the rotary roller 7 transversely.

The function of the embodiment described above will be described with reference to the flow chart shown in Figure 19.

When the process robot 41 travels along the unit 2 (SI) and the sensors 46 and 47 detect the illuminated indication lamp 2 and the horizontal status indication lever 35 (S2) (S3), the robot 41 is decelerated and it stops in front of unit 2 to take an indexing in entry (S4). In this state, the sensors 49 and 50 detect whether or not the doffing condition (S5) has been fulfilled (the paper tube is present on the storage unit, and the winding reel is absent on the delivery conveyor), and if the condition is not satisfied, an indexing output is indicated (S6). The process robot 41 path restarts (YES).

In the event that the lifting condition is fulfilled, the upward and downward operation of the operation arm 85 (S7) begins. The double lever 48 slightly moves the pedal 21 to stop the rotation of the 4, and the pressure air inlet portion is connected to the pressure air supply valve 22. The expansion arm 111 of the operation arm 85 pushes the rotation lever 33 of the operation lever 35 to push indicator lever 35 (S8) at the bottom, and the presence or absence of the remaining yarn on the yarn package 3 is detected by the remaining yarn detection sensor 96 (S9). the change and doff operations (SIO) are performed but the operation arm 85 is returned to the original and accepted point (SII). An indexing output is indicated (S12). The path of the process robot 41 restarts (S13).

In the event that the remaining yarn is absent, the yarn change operation and the doffing operation begin.;. I.1. (S14) (S15).

In the yarn change, first, the expansion arm 111 of the operation arm 85 and the left arm element 105a of the locking element 99 presses the rotation lever 33 of the descent wire 10 and of the spiral wire 9, respectively to make them escape from the spool 3 of yarn (see Figures 3 and 4). When the yarn bobbin detection sensor 51 detects the yarn bobbin 3a on the tray 39 which is carried by the conveyor 40, the cylinder 52 is operated as shown in FIG. 5 to bring the engaging member 53 into engagement with the end of base of the pin 39a of the tray 39, and the conveyor 40 is also stopped by the proximity sensor 54 on the cylinder 52.

Hence, the locking element 99 first holds the tensor capsule 18 mounted on the empty yarn cone 3B on the spindle 4 to transfer it to the capsule locking element 73 of the receiving arm 72, and then holds the yarn cone 3A on the tray 39 to transfer it to the yarn end finding pin 61 on the process robot 41 and further holds the empty yarn package 3A on the spindle 4 to transfer it to the pin 39a of the tray 39. When it receives the tensor capsule 18, the receiving arm 72 it is turned and moved from the reserve position to the yarn finding position by rotating the cylinder 78 and, after receipt, the arm 72 is again returned to the reserve position.

When the yarn package 3A is mounted on the yarn end finding pin 61, yarn end finding (S16) is initiated. In this case, the suction arm 66 is turned and moved to the yarn end finding position, and the suction mouth 69 is set to cover the upper end 3t> of the paper tube of the yarn bobbin 3A by means of the cylinder 76 of pressure. By this, the suction arm 66 sucks the core-wound yarn end on the upper end 3B of the paper tube from the suction mouth 69 and is returned to the reserve position.

During that period, the yarn package 3A is rotated in a yarn delivery direction through yarn end finder pin 61 by the motor 65 and the delivered yarn end Y2 is stored in the suction arm 66 and in the suction pipe 71. Thereafter, the yarn guiding element 79 of the yarn carrying portion 67 is moved up and down by the elevating cylinder 81 to grasp the yarn Y2 extended between the yarn package 3A and the suction mouth 69 within the groove 79a of yarn of the yarn guide member 70 through the yarn holding ring, and yarn Y2 is positioned by yarn end find sensor 82.

Whether or not the yarn end has been found according to the presence or absence of the yarn (S17), if successful, the yarn change (S18) and threading (threading with air) ( S19) are done in order. That is, as shown in Figure 10, the yarn Y2 extended between the yarn bobbin 3A and the yarn guide element 70 is gripped within the yarn retaining ring 107 by the advancement of the locking element 99. Hereinafter, the yarn guide element 79 is moved downwards, and the blocking element 99 holds the yarn package 3A on the yarn end locating pin 61 to transfer it to the spindle 4, and the tensor capsule 18 is received by the The capsule locking element 73 of the receiving arm 72 turned to the position of finding the yarn end is mounted on the upper end 3b of the paper tube of the yarn package 3A (see Figures 11 and 12).

Thereafter, the pedal lever 48 deeply moves the pedal 21 to produce a flow of air by threading into the spindle 4 and injects compressed air from the nozzle 108 of the blocking element 99, in which state, when the cutter 83 of the portion 67 which carries the yarn is operated to cut the continuous yarn Y2 at the suction mouth 69 from the yarn package 3A, the yarn end Yl on the side of the yarn-cut package is positively sucked into the center hole 18a by the flow of air compressed by the nozzle 108 and flow aspirated by the hole 18a in the center of the tensor capsule by means of which the threading into the axial hole 3a can be positively effected as shown by the dotted line of figure 12. The threaded yarn end Yl is sucked and held by the suction tube 109.

The threading operation is further described.

As shown in Figure 12, the yarn feeding bobbin 3A is fitted onto the hub 14a of the stationary cylinder 14, and the yarn end Y2 pulled away from the feeding bobbin 3 is sucked and held by the suction mouth 69 (Figure 9) through the yarn retaining ring 107. Furthermore, the tensor capsule 18 is adapted in the upper end portion of the axial hole of the feeding bobbin 3. In this state, the yarn end Y2 is positioned over the tensor capsule 18 through the yarn retaining ring 107. Then, the pedal 21 is deeply depressed by the pedal lever 48 to create an air stream for threading into the spindle 4. As a result, the yarn end (the © state) located between the feed package 3 and the yarn retaining ring 107 is deflected (the state of) towards the central hole 18a of the tensor capsule 18 by effect of the suction current, as shown in Figure 12b. In this state, the yarn end Y2 located between the yarn retaining ring 107 and the suction mouth is cut with the cutting machine 83 (Fig. 9). Simultaneously with or just after said cut, compressed air is expelled from the nozzle 108 into the axial hole 3a. As a result, the yarn end Y2 from the feed bobbin side is guided and inserted positively into the central hole 18a of the tensor capsule by means of the injection stream from the nozzle 108 and the suction stream from said central hole. After the yarn end Y2 has been inserted into the central hole 18a of the tensor capsule 18, as in the prior art, as indicated by the dotted line in FIG. 12, the yarn end Y2 passes through the axial hole 3a, the hole suction 19c and reaches the yarn guide hole 19a under the action of the suction current. Then, in the inner surface 17a of the fixed ring 17, the direction of movement of the yarn end Y2 is changed upward by the injection stream from the yarn guide hole 19a and is thereby blown between the stationary cylinder 14 and the cylinder. 20 control balloon. In this way, 1 * threading is completed. The end Y1 of yarn thus blown is sucked and retained by the suction tube 109.

As stated above, since one end of yarn is inserted into the axial hole of the yarn supply bobbin by the action of both a suction stream created within said axial hole and an injection stream from above. axial bore, the yarn end can be positively inserted into the axial bore of the bobbin. Consequently, threading can be carried out easily and exactly without advance insertion of the yarn end of the axial hole, and thus it becomes possible to carry out threading using a robot.

After completion of the threading, the expansion arm 111 presses the return lever 9a of the spiral metal thread 9 to bring the latter back, and the yarn Y between the yarn package 3A and the suction tube 109 is passed over the thread. spiral metal 9 and the yarn guide roller 11 in that order from the yarn guide member 112. After completion of the yarn engagement, the operation arm 85 returns to the original point to assume the received state.

On the other hand, as shown in FIGS. 13 and 14, the operation lever 113 of the seiler arm 6 pivots over the cell lever 27 to open the movable arm member 24b so that the winding reel 8 for full bundles it is moved away from the saddle arm 6 and the basin 114 receives the winding cone 8 which extends under the winding cone 8 and falls. The winding package 8 is rolled onto the rotary drum 7 by its own weight by the inclined shock absorber plate 109 of the tray 114 then delivered onto the conveyor 38. The paper tube feed arm 115 rotates as shown in Figure 15 and the paper tube 5 it is moved away from the storage 28 by the paper tube blocking member 121, and the arm 115 is in the reserve position in the lower position (a). During that period, as shown in Figure 17, the yarn guide element 112 of the expansion arm 111 pushes up the yarn Y1 between the yarn guide roller 11 and the suction tube 109, and hence the guide 126 of core causes the yarn Y1 between the yarn guide element 112 and the yarn guide roller 11 to be engaged with the roller 128 which engages the yarn of the core guide 126 to lift it as indicated by the shaded line. In this state, the paper tube feed arm 115 turns upward, and the yarn Y1 extended between the suction tube 109 and the roller 128 which engages the yarn of the core guide body 129 is cut by the cutting machine 122 to hold the yarn end Y1 continuous to the yarn bobbin, and the arm 115 stops at the position (b) of the seilette arm 6. Since at this point the end Y1 of yarn held and stretched by the clamp cutter 122 is positioned just between one end of the paper tube 5 and a support 25a, when the element 24b of the movable arm is closed by the operating lever 113 and the paper tube 5 is held between both supports 25a and 25b, the yarn Y1 is held between one end of the paper tube 5 and a support 25a to effect the engagement of yarn.

After completion of the doffing, attachment of a paper tube and engagement of the yarn in the manner as described (S20), the saddle arm 6 is pushed down by the operation lever 113. By this the indication lamp 32 is turned off. Pedal 21 'is released from its slightly moved state, and spindle 4 begins to rotate. When the cell arm 6 is pushed down, the paper tube 5 comes into contact with the rotary drum 7 and rotates so that the yarn Y is wound on the paper tube 5. At this point, the yarn Y between the tube of paper 5 and the yarn guide 11 assumes the engaged state with the roller 128 which engages the yarn of the core guide body 129. In this state, the core guide body 129 is moved up and down several times in a predetermined interval by which the core winding YR is applied to one side of the paper tube (S21). After completion of the core winding, the core guide 126 causes the core guide body 129 to be moved downwardly to disengage the yarn Y from the yarn engaging roll and deliver it to the feed roll 12, hence the core guide body 129 is raised

at the upper end to finish the operation. The yarn Y wound on the paper tube 5 through the feed roller 12 is gripped by the transverse guide 130 and passes through the rotary drum 7 transversely, and a full-scale winding of yarn (S22) begins.

Thereafter, the inlet portion of the pressure air is disengaged by the pressure air supply valve 22 and the indication lever 35 is pushed up by the lift lever 124 (S23), and an indexing output is indicated. (S24) for which the path of process robot 41 (S25) is restarted.

When the indication lever 35 is pushed upwards, the descent wire 10 is removed away from the magnet. 34 by the lowering lever 35a at its base and is made to rest against the yarn Y traveling between the wire 9 and the roll 11 of yarn guide by its own weight of it.

In the event that the finding of yarn ends has not been successful, the yarn change, doffing and feeding of the paper tube (S26) and (S27) are carried out.

The operation arm is returned to the original point (S28), after which the indication lever is raised {S23), the indexing output is indicated (S24) and the path of the process robot 41 (S25) is restarted. Since in this case the yarn Y is not connected to the paper tube 5 by the spool 3 of yarn, when the descending metal thread 10 is moved away from the magnet 34 by pushing up the indication lever 35, it falls as it is. The operation valve 30 is opened, the cell arm is raised and the indication lamp 32 is turned on. Then, the process robot 41 again advises the unit 2 to lower the indication lever 35 (S8). Detection of the remaining yarn on the feed side (S9) is carried out. However, since the remaining yarn is present, the yarn change is not carried out and the doffing operation (S10) is indicated by the outgoing indexing (S12), and the process robot path (S13) is restarted. Consequently, an operator can control the unit 2 from which the indication lever 35 is lowered. Since the indicating lever 35 is lowered, the process robot 41 does not make a longer stop in the position of the unit 2, and unnecessary operation of the process robot 41 is avoided.

As described above, according to the present invention, it is possible to automatically carry out the change of yarn bobbins, the finding of the yarn end, the threading, the doffing and the engagement of yarn to decrease the work and increase the productivity. Furthermore, since these operations are performed by a single process robot, the equipment can be constructed in a considerably compact manner compared to the case where the process mechanism is mounted on each unit.

Claims (10)

CLAIMS 1. Process robot for a twister two-by-one in which a carriage is provided so that said carriage can travel along units of a prearranged two-by-one twister, said carriage comprising a yarn exchange mechanism for exchanging an empty yarn package supported on a spindle of each unit with a spool of yarn, a yarn end finding mechanism for pulling a yarn end from said yarn package, a threading mechanism for inserting the yarn end into an axial hole of the yarn package yarn by means of an air flow, a take-off mechanism for removing a package of yarn for full bundles supported on a saddle arm of each unit and providing a paper tube to the saddle arm, and a yarn engagement mechanism for engaging the yarn unit of said yarn package with the paper tube when the saddle arm supports the paper tube. 2. Process robot for a two-by-one twister that can travel along units of a two-by-one twister arranged to exchange an empty yarn package with a yarn package, thread one end of yarn and take off a winding package, characterized in that said process robot provides a yarn end finding mechanism for sucking a yarn end of a yarn feeding package, a sensor for detecting the presence or absence of the yarn end found, and a control for handling the subsequent process upon detection of a yarn presence signal, or for omitting the subsequent process upon detection of a yarn absence signal. 3. Process robot for a two-by-one twister that can travel along units of a two-by-one twister, characterized in that said process robot provides a yarn end find pin for transiently placing a yarn package on it when an empty yarn package is exchanged for a yarn supply package in the two-by-one twister unit. 4. Blocking element for the replacement of yarn feed packages including a blocking body provided in an actuator arm of a robot for a two-for-one twister, and common blocking pieces for removably locking a tensor capsule from the external part thereof, which capsule is mounted on a yarn feeding bobbin or to block the yarn feeding bobbin from inside an axial hole of the bobbin. 5. Yarn changing device for a two-for-one twister for changing an empty yarn package to a yarn supply package, characterized in that a yarn changing means provides an operation arm for inserting or withdrawing a bobbin of yarn in or from a spindle, said operation arm being mounted on an expansion arm for moving a down yarn and a spiral yarn which engages with a yarn of a yarn package at a position remote from the yarn package. yarn feed to be exchanged. 6. Device for exchanging the paper tube for a yarn reel mounted on a loom body facing units of a two-for-one twister, characterized in that said device for exchanging the paper tube includes a paper tube supply means for providing a paper tube to a unit, wherein a spool of yarn is lifted, comprising a paper tube supply arm and a paper tube locking member, said paper tube locking member paper tube providing a clamp cutter to hold one end of continuous yarn to one side of the yarn package. 7. A core winding device comprising a core guide which engages a yarn extending between a yarn feed package of a two-by-one twister and an empty paper tube of a yarn winding package, and directs a yarn passage in a direction which crosses the empty paper tube, and means for moving the yarn guide alternately along the yarn passage of the yarn supply package side. 8. Device for stopping a tray in a yarn feed package transport system, in which a yarn feed package is placed upright on a tray and circulated along units of a two-by-one twister, characterized by this that said tray stop device includes a sensor for detecting a yarn feed bobbin transported along the unit and a tray engaging mechanism having an engaging member which can be projected or retracted from a transport passage of a bowl as a result of a detection signal from the sensor. 9. Method for the operation of a robot for a two-for-one twister characterized by the detection, during the path, of a first portion of indicator which causes a robot to carry out all the processes except the joining of yarn diunit for traveling along a plurality of juxtaposed units of a two-for-one twister reveals the presence or absence of a yarn in a yarn path passage of the units and is turned on when the yarn is absent, and a second indicator portion that is turned off when the robot process is started, detects the remaining yarn in a yarn portion of the unit, remains when the remaining yarn is present, and is turned on after the process is finished because the remaining yarn is absent, stopping the robot at the unit position when both the first and second indicator portions are on, and causing the robot to pass when the second indicator portion is off. 10. In a threading method where compressed air is expelled radially from the axis of a rotary disc mounted on a spindle of a two-by-one twister to create a suction stream in an axial hole of a yarn supply package held above the rotary disc, and an end of yarn pulled away from the yarn feeding bobbin is made to pass through said axial hole by said suction current, then made to pass radially by the axis of the rotary disc by means of compressed air and is blown upwards along the outside of the yarn feed package, the improvement characterized in that the yarn end pulled away from the yarn feed package is positioned over said axial hole and, after suction current has been created in the axial hole, compressed air is expelled from above into the axial hole to effect threading.