JP2519613Y2 - Robot for double twister - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for a double twister adapted to splice yarns in each unit.

[0002]

2. Description of the Related Art A double twister winds a yarn, which is drawn from a yarn feeding package supported by a spindle, through a center hole of the yarn feeding package while winding the yarn around a paper tube supported by a cradle. It is designed to form a package. When the paper core winds up all the yarns in the yarn supply package and becomes a full package, the empty yarn supply package is replaced with a full yarn supply package (yarn supply exchange) and Pull the thread end (thread out) and thread it through the center hole (thread thread), remove the winding package with full balls from the cradle, and support a new paper tube on the cradle (fried).
At the same time, the yarn end pulled out from the yarn supplying package must be fixed (thread hanging) to the paper tube.

Conventionally, these operations have been performed by humans, which is troublesome.

However, due to the increase in the frequency of operations such as doffing and thread changing due to the high-mix low-volume production,
In order to reduce labor and improve productivity, automation of the above work has been desired. Therefore, the present applicant first applied for a robot for a double twister that can automatically perform yarn supply exchange, yarn feeding, threading, doffing, and thread hooking, which can reduce labor and improve productivity ( Japanese Patent Application No. 1-63857
issue).

[0005]

However, in the above-mentioned unit as well as the above-mentioned robot, the yarn end on the yarn supplying package side and the yarn end on the winding package side are spliced when the yarn breakage occurs. Since he did not have the means, the worker had to find the unit causing the yarn breakage and perform the yarn splicing each time.

Therefore, an object of the present invention is to solve the above problems and to provide a robot for a double twister capable of automatically performing yarn splicing on a unit in which yarn breakage has occurred.

[0007]

In order to achieve the above object, the present invention provides a robot body having a yarn feeding exchange function, which is provided so as to run along a unit of a double twister,
A yarn splicing mechanism for automatically splicing the yarn end of the winding package supported by the cradle and the yarn end of the yarn supplying package on the spindle is provided, and a residual yarn sensor for detecting the presence or absence of residual yarn in the yarn supplying package is provided. It is provided.

[0008]

If the unit breaks the yarn, the robot stops at that unit, and the remaining yarn sensor first detects the presence or absence of the remaining yarn in the yarn supplying package. The splicing mechanism automatically splices the yarn end on the winding package side and the yarn end on the yarn supplying package side, and replaces the yarn supplying package if there is no residual yarn.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1, each unit 1 of the double twister is provided with a spindle 3 for vertically supporting the yarn supplying package 2 below and a cradle 5 for horizontally supporting a paper tube 4 above, and the yarn supplying package is provided. The yarn Y drawn out from No. 2 is passed through the center hole and double-twisted to be guided upward, and the rotary drum 6
It is adapted to be wound around the paper tube 4 which is driven to rotate to form a winding package 7. Above the yarn supplying package 2, a snell wire 8 for guiding the yarn Y, a drop wire 9 for detecting the presence or absence of the yarn Y, a yarn guide roller 10 and a yarn Y.
A feed roller 11 for supplying the paper to the winding package 7 is arranged in order. Further, a pedal 12 is provided in the lower front portion of the unit 1 for braking the spindle 3 with a shallow depression and for injecting compressed air for threading through the central hole with a deep depression, and the paper tube 4 is accommodated in the upper portion. The stocker 13, the indicator lamp 14 that lights up when the drop wire 9 falls due to thread breakage, and the cylinder 15 that pulls up the cradle 5 are provided.

Behind the rotary drum 6, a conveyor 16 for carrying out the doffed winding package 7 is provided on the spindle 3
In front of the above, conveyors 18 for inserting the yarn feeding package 2 upright on the tray 17 and carrying it are provided along the unit 1.

In this embodiment, as the yarn feeding package 2,
A two-stage type yarn supplying package in which unpackaged packages 2a and 2b are vertically stacked is used, and in the unit 1, the yarns Y1 and Y2 from the upper and lower packages are combined and double twisted. . This yarn feeding package 2 is shown in FIG.
As shown in FIG. 2, two packages 2a and 2b from the upper end are mounted on a cylindrical adapter 19 in a stacked state with a spacer 20 sandwiched between them. The upper end of the spacer 20 has a thread Y1 from both packages 2a and 2b. , Y2 are inserted into the adapter 19 to integrally guide a top cap 21. The yarn feeding package 2 has the top cap 21 wound around the yarn ends of the two packages 2a and 2b and is conveyed by the conveyor 1
8 is being transported.

A robot 22 is rotatably provided in the front portion of the unit 1 thus constructed along the arrangement direction. The robot 22 is composed of a front U-shaped robot main body 25 provided with wheels 24 that run on rails 23 which are horizontally arranged above and below the unit 1. First, a sensor 26 detects a lighted indicator light 14 to detect it. It stops at the front of the unit 1 and the pedal 12 is stepped on by the lever 27 to stop the spindle 3 and the tray 17 on the conveyor 18 is locked by a stopper (not shown). Further, a peg 28 for temporarily placing the yarn feeding package 2 on the robot body 25 for feeding the yarn end thereof, a feeding mechanism 29 for feeding the yarn end of the yarn feeding package 2 on the peg 28, and a conveyer conveyor 18. The operation arm 30 for moving the yarn feeding package 2 onto the peg 28 from the upper tray 17 or the empty yarn feeding package 2 on the spindle 3 and the full winding package 7 for the cradle 5. From the conveyor 16
A doffing mechanism 31 for feeding the paper tube 4 upward from the stocker 13 to the cradle 5, a yarn splicing mechanism 32 for splicing yarns (center splicing), and the like are provided.

The robot main body 25 is shown in FIG.
As shown in FIG. 4, the peg 28 is attached via the swivel arm 33, and the yarn feeding package 2 is moved by the swivel of the swivel arm 33 from the standby position shown by the virtual line to the spout position shown by the solid line, which is separated from the operation arm 30. It is supposed to be done.

The lead-out mechanism 29 has a suction lever 35 which is connected to the upper end side of a standing suction cylinder 34 so as to be lifted up and down. The suction lever 35 has a cylinder 3 for lifting and lowering the suction lever 35.
A suction mouth 37 is attached to the tip of the suction lever 35 for sucking and unwinding (spouting) the yarn end wound around the top cap 21 of the yarn supplying package 2.

The bracket 38 standing up near the suction mouth 37 is hooked in the middle of the yarn end connected to the suction mouth 37 from each of the packages 2a and 2b of the yarn feeding package 2 which has been pulled out and returned to the standby position. A yarn pulling arm 41 for delivering to a yarn locking piece 40 mounted on the chucker 39 is provided so as to be horizontally rotatable, and a turning cylinder 42 is connected to the yarn pulling arm 41. Further, in the vicinity of the suction mouth 37, a thread hooking piece 41 hooks a thread on a thread locking piece 40, and when the chucker 39 conveys and mounts the thread supply package 2 onto the spindle 3, the thread is threaded for threading. A cutter 43 is provided for cutting the yarns Y1 and Y2 from the locking piece 40 to the suction mouth 37 in a predetermined length.

The operation arm 30 is attached to the up-and-down block 44, which is vertically movable along a left inner wall 25a of the robot body 25, by an elevating mechanism such as a ball screw (not shown) via a support shaft 45 so that the operation arm 30 can be elevated and lowered. Thirty
The rear upper surface is locked by the stopper 46 and is supported horizontally. A stopper 47 is attached to the left inner wall 25a so as to be retractable so that the lower surface of the distal end of the operation arm 30 that descends in a horizontal state is locked so that the operation arm 30 does not interfere with the unit 1 during traveling so as to be stored upright on the robot body 25 side. ing.

The operating arm 30 is formed in such a length that the tip is located above the spindle 3 in a horizontal state, and the top cap 21 of the yarn feeding package 2 is provided on the side of the operating arm 30.
A chucker 39 for gripping is attached movably along the longitudinal direction of the operation arm 30 via a screw feeding device 48. On the upper part of the chucker 39, a thread locking piece 40 and threads Y1 and Y2 which are connected from the thread locking piece 40 to the suction mouse 37 at the time of threading and which are cut by the cutter 43 are attached to the adapter 19.
An injection nozzle (not shown) for spraying inside is attached.

The spindle 3 is attached to the tip of the operation arm 30.
A residual yarn sensor 49 for detecting the presence or absence of residual yarn in the upper yarn supplying package 2 is attached, and a suction pipe 50 having a slit for sucking and holding the yarn end which is threaded and blown up above the spindle 3 is attached. There is. Also,
A pusher 51 for pressing the drop wire 9 or the like to push it back is attached to the tip end of the operation arm 30 via a cylinder 52. The pusher 51 is threaded between the yarn feeding package 2 and the suction pipe 50. A thread guide piece 53 for guiding the thread Y connected to the snell wire 8 and the like to be hooked is provided so as to project.

On the other hand, the doffing mechanism 31 is provided above the left inner wall 25a of the robot body 25, and the yarn splicing mechanism 32 is provided above the right inner wall 25b, as shown in FIG.
The doffing mechanism 31 includes a lever 54 for opening and closing an arm on one side of the cradle 5, a chute (not shown) for discharging the winding package 7 with full balls removed from the cradle 5 to the carry-out conveyor 16, and the paper tube 4 from the stocker 13. It is mainly composed of a chucker arm 55 to be supplied to the cradle 5.

As shown in FIG. 5, the yarn splicing mechanism 32 includes an automatic yarn splicing device 56, a yarn end YA on the winding package 7 side and a yarn end YB on the yarn supplying package 2 side with respect to the yarn splicing device 56.
It is mainly composed of arms 57 and 30 for guiding respectively and a drive roller 58 which comes into contact with the winding package 7 and rotates the winding package 7 during the yarn splicing operation. Yarn splicing device 56
As the knitting machine, known knotting devices such as a knotter for mechanically knotting yarn ends and a splicer for knotting yarns by a swirling air flow are used. Yarn feeding package 2
The arm for guiding the yarn end YB on the side is the operation arm 30. The tilting of the operation arm 30 and the yarn guide piece 53 allow the yarn end YB on the yarn supplying package 2 side of the yarn splicing device 56 to operate in the same manner as the yarn hooking. It is designed to guide you to the front. An arm for guiding the yarn end YA on the winding package 7 side is a suction arm 57 provided so as to be vertically rotatable via a support shaft tube 59 projecting from a right inner wall 25b of the robot body 25.
The yarn end YA is suction-held by approaching the winding package 7 of the cradle 5 pulled up by the cylinder 15, and is guided to the front surface of the yarn splicing device 56. The drive roller 58 is attached to the tip end portion of a drive lever 61 that is vertically swingably provided via a support shaft 60 that is provided in the vicinity of a support shaft tube 59 of the suction arm 57, and is wound by the suction arm 57. When the yarn end YA is drawn from 7 and pulled out, it comes into contact with the winding package 7 and rotates it in the yarn unwinding direction (clockwise direction in FIG. 5), and when the yarn splicing is completed, it rotates in the winding direction (counterclockwise direction). It is designed to let you.

The yarn splicing operation of the above embodiment will be described. When a yarn breakage occurs during operation, the drop lamp 9 drops to turn on the indicator light 14 and the cradle 5 is pulled up by the cylinder 15. Robot 2
2 indicates that the indicator lamp 14 that has been turned on during patrol travel is detected by the sensor 26.
When it is detected by (1), the unit 1 is stopped in front of the unit 1, the operation arm 30 is made horizontal, and the presence or absence of residual yarn in the yarn supplying package 2 is confirmed by the residual yarn sensor 49. If there is no residual yarn, the yarn supply is replaced, and if there is residual yarn, splicing is started.

When a yarn breakage occurs, one of the cut yarn ends YA is wound around the winding package 7, and the other yarn end YB outside the spindle 3 is the spindle 3.
Since the portion inside the spindle 3 is excessively twisted by the rotation of the spindle 3 in the adapter 19, the yarn feeding package 2 is temporarily moved to the peg of the robot 22 by the operation arm 30. 28, and the yarn end YB is fed by the yarn feeding mechanism 29.

After the yarn feeding is completed, the yarn feeding package 2 is returned to the spindle 3 for threading, and the yarn end YB blown up above the spindle 3 is suction-held by the suction pipe 50 of the operation arm 30, and the spindle 3 The yarn end YB connected to the suction pipe 50 is hooked on the snell wire 8 and the yarn guide roller 10 by tilting the operation arm 30 and advancing and retracting the yarn guide piece 53, and then guided to the yarn joining device 56.

On the other hand, the drive roller 58 is brought into contact with the winding package 7 which has been pulled up from the rotary drum 6 and stopped, and the suction arm 57 is approached to rotate the winding package 7 in the yarn unwinding direction. The yarn end YA is pulled out by sucking the layer surface and guided onto the yarn joining device 56. The yarn ends YA and YB thus guided are automatically spliced by the splicing device 56, and when the splicing is completed, the winding package 7 is rotated in the winding direction by the drive roller 58 to drive the drive roller 58. Is returned to the robot 22 side, and the cradle 5 is pushed down to bring the winding package 7 into contact with the rotary drum 6 to restart the operation.

When the yarn is spouted and the yarn is spliced after the yarn breaks, the drop wire 9 is pushed up by the pusher 51 at the tip of the operating arm 51 to the position shown by the chain double-dashed line in FIG. When the operation is restarted after the completion of the yarn joining, the magnetic force is released and the yarn Y is tilted so as to hit the yarn Y as shown by the solid line.

As described above, the robot 22 can automatically perform the yarn splicing of each unit 1, and thus all the operations required for the automatic operation of the double twister can be performed, and the labor can be greatly reduced. Further, in the past, since one winding package 7 was formed from one yarn supplying package 2, a large yarn supplying package 2 was required to form a large winding package 7, but yarn splicing is possible. Therefore, it is possible to add a plurality of yarn feeding packages 2 to form a large winding package 7. Further, by downsizing the yarn feeding package 2, the spindle 3 can be downsized and power consumption can be reduced.

In the above embodiment, the case where the two-stage type yarn supplying package is used as the yarn supplying package 2 has been described, but a one-stage type yarn supplying package in which yarns are combined in advance may be used. Further, in the embodiment, when the yarn splicing is performed, the yarn supplying package 2 is once moved to the peg 28 on the robot 22 side to perform the yarn ejection, but since the yarn end YB remains in the adapter 19, the yarn ejection operation is performed. Pedal 1 without
Alternatively, the threading may be directly performed by the action of the compressed air by the deep stepping operation of 2.

[0029]

In summary, according to the present invention, the robot is provided with a residual thread sensor, and the unit that has broken the thread detects the presence of the residual thread in the yarn supplying package first, and if there is a residual thread, the automatic thread splicing is performed. If there is no thread, the work can be done efficiently by replacing the yarn supply.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a double twister robot according to the present invention.

FIG. 2 is a front view of the robot.

FIG. 3 is a partially enlarged plan view of the robot.

FIG. 4 is a side view showing a lead-out processing state.

FIG. 5 is a side view showing a spliced state.

[Explanation of symbols]

 1 unit 2 yarn feeding package 5 cradle 7 winding package 25 robot body 32 yarn splicing mechanism

Claims (1)

(57) [Scope of utility model registration request] 1. A robot main body having a yarn feeding exchange function, which is provided so as to be freely movable along a unit of a double twister, and a yarn end of a winding package supported by a cradle and a yarn end of a yarn feeding package on a spindle. A robot for a double twister, which is provided with a yarn splicing mechanism for automatically splicing yarns and a residual yarn sensor for detecting the presence or absence of residual yarns in a yarn supply package.