JP5474516B2 - Bobbin mounting device - Google Patents

Description

  The present invention relates to a bobbin attachment device that engages and attaches a bobbin to a winding rotary member that winds a cord or the like.

For example, as shown in FIG. 7, a reinforcing cord C or the like used for a component member of a tire is unwound from an unrolled bobbin 5 'and is subjected to a predetermined processing step, for example, coating the cord. After being subjected to various processes such as a dipping process D to be performed, it is wound around a bobbin (winding bobbin) 5 at a winding position A as a processed cord. During winding around the bobbin 5, the empty bobbin 5m is engaged with and attached to the rotary drive plate 2 at the standby position B which is the bobbin replacement position. Reference numeral 4 denotes a turret that holds the rotary drive plates 2 and 2 as winding rotary members (mounting shafts).
In FIG. 7, one of the flanges 6m, 6n of the bobbins 5, 5m is engaged and attached to the rotary drive plates 2, 2. The rotary drive plates 2 and 2 are attached to the parts of the turret 4 facing each other. The turret 4 can alternately position the rotary drive plates 2 and 2 at the winding position A and the standby position B of the bobbin by performing a reversing operation at the winding position A and the standby position B by 180 °.
As shown in FIG. 8, for example, 50 cords that are unwound from the unwinding bobbin 5 'are processed in parallel, and a plurality of bobbins (winding bobbins) 5, 5, 5 are provided for each cord. It is wound up by ...

Patent Document 1 proposes a bobbin attachment device that automatically takes out a full bobbin 5 and attaches an empty bobbin 5m regardless of human hands. This bobbin mounting device is generally constituted by a bobbin shaft that holds a bobbin to be replaced, a pusher having a magnet that moves forward and backward on the bobbin shaft and replaces the bobbin, and a cylinder that moves the pusher back and forth in the mounting shaft direction.
According to the bobbin mounting device having the above-described configuration, when the empty bobbin 5m on the machining process side is transferred to the bobbin mounting device side, the mounting shaft (winding) having the empty bobbin 5m after the full bobbin 5 is removed. The bobbin mounting device is arranged so that the shaft center of the rotary bobbin shaft and the empty bobbin shaft coincide with each other, the cylinder is operated, the pusher is brought close to the empty bobbin 5 m and adsorbed by the force of the magnet, and then the cylinder again To move the empty bobbin 5m to the bobbin shaft. Further, when the full bobbin 5 is transferred from the bobbin mounting device side to the machining process side mounting shaft, the bobbin shaft holding the full bobbin 5 and the empty mounting shaft are aligned with each other. The mounting device is arranged, the cylinder is operated, and the full bobbin 5 is pushed out of the bobbin shaft by the pusher and can be transferred to the mounting shaft.
As a result, bobbin replacement, which has conventionally been a heavy labor, can be easily performed. For example, the bobbin replacement operation that has been manually performed in one day can be completed in a short time.

Further, for example, the bobbins 5 and 5m are attached to the attachment shaft as shown in FIG. In the same figure, the rotary drive plate 2 has a disk part 2a and a shaft part 2b, and a projecting part 3 as an engaging body is formed in a part of the disk part 2a that is separated from the shaft part 2b in the radial direction. .
The empty bobbin 5m mounted on the shaft portion 2b of the rotary drive plate 2 at the standby position B is formed with flanges 6m and 6n provided at both ends of the cord winding cylinder 5a, on the outer surface side of the flanges 6m and 6n. Are provided with linear radial ribs 6a formed radially at regular intervals and ring-shaped ring ribs 6b. The ribs 6a and 6b form a lattice, and the ribs 6a and 6b reinforce the flanges 6m and 6n, and a plurality of groove portions 7 as engaging portions that engage the protrusions 3 are juxtaposed in the circumferential direction. The The protrusion 3 is engaged with any one of the grooves 7 so that the empty bobbin 5 m rotates together with the rotary drive plate 2.

However, as described above, when the concave and convex engaging structure for rotationally driving the empty bobbin 5m by the rotary drive plate 2 is provided, the bobbin mounting device disclosed in Patent Document 1 is used to empty the rotary drive plate 2. If the bobbin 5m is simply pushed out, the empty bobbin 5m may not be correctly mounted on the rotary drive plate 2. Specifically, the position of the groove portion 7 as the engaging portion and the position of the protruding portion 3 as the engaging body do not match well, and the protruding portion 3 collides with the radial rib 6a (the bank of the groove portion 7) formed on the outer surface of the flange 6. Resulting in.
In such a case, the cylinder or pusher that pushes out the empty bobbin 5m is overloaded, which may cause a failure on the bobbin attachment device side or a failure on the rotary drive plate 2 side in the machining process. Therefore, the cylinder overload is stopped by detecting the above overload with a separate pressure sensor, but the bobbin mounting operation is stopped, so the bobbin mounting is interrupted and the cord winding operation is stopped. There is a problem that efficiency decreases.

JP 49-31775 A

  Hereinafter, the present invention will be described in detail through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims, and all combinations of features described in the embodiments are included in the invention. It is not necessarily essential to the solution, but includes a configuration that is selectively adopted.

  In order to solve the above-mentioned problems, the present invention provides a bobbin mounting device that can automatically retry the mounting operation without stopping the bobbin mounting device completely when the bobbin is mounted on the winding rotary member.

According to a first configuration of the present invention, in a bobbin mounting device in which an engagement portion provided on a flange surface on one side of the bobbin is advanced by the bobbin mounting means toward the engaging body of the bobbin receiver and engaged. A displacement member that has one end side directed toward the engagement body and displaced in the forward direction; a measurement unit that measures a displacement amount of the displacement member; and a control unit that controls the bobbin mounting unit. The bobbin is attached so that the bobbin is retracted and then advanced again based on the amount of displacement when the engaging body collides with a part other than the engaging part, and the engaging part is engaged with the engaging body. The means was controlled .
According to the present invention, when the bobbin mounting means is mounted by the bobbin mounting means, when the engaging body of the bobbin receiving body collides with a portion other than the engaging portion, and the displacement amount of the displacement member is measured by the measuring member, the control means is Since the bobbin mounting means is retracted, the bobbin can be moved away from the bobbin receiver before excessive force is applied to the bobbin receiver and bobbin mounting means such as the take-up rotating member and unwinding rotating member. Avoid unnecessary troubles.
Further, when the bobbin is mounted by the bobbin mounting means, when the engaging body collides with a part other than the engaging portion, the measuring means measures the displacement amount of the displacement member, and the control means retracts the bobbin from the bobbin and the bobbin receiving body. Then, the bobbin is advanced again with respect to the bobbin receiver, so that even when the bobbin is not engaged with the bobbin receiver, the engagement operation can be automatically repeated until the bobbin is correctly engaged. This saves the labor of manually correcting the engagement between the bobbin and the bobbin receiver.

As a second configuration of the present invention, the bobbin mounting means includes a catch body having a lock arm that grips the bobbin, and a support body that fixes a support shaft that penetrates the through hole of the catch body, and catches the displacement member. It comprised so that it might provide between a body and a support body.
According to the present invention, when a force is applied in the direction of the support shaft of the bobbin mounting means, the displacement member is displaced, so that the bobbin held by the lock arm of the catch body can move along the support shaft.

As a third configuration of the present invention, the bobbin mounting means includes a catch body having a lock arm for gripping the bobbin and a support body having a through hole through which a support shaft of the catch body passes, and the displacement member is a catch body. And the support.
According to the present invention, when a force is applied in the direction of the support shaft of the bobbin mounting means, the displacement member is displaced, so that the bobbin held by the lock arm of the catch body can move along the support shaft.

As a fourth configuration of the present invention, the measuring means is composed of a distance sensor and a member to be measured, and is configured to be separately provided on the catch body and the support body so that the distance sensor and the member to be measured are opposed to each other.
According to the present invention, the distance sensor provided on the catch body measures the distance to the member to be measured provided on the support, or the distance to the member to be measured provided on the catch body can be provided on the support. Since the distance sensor measures the movement of the catch body relative to the support body, it is possible to detect an abnormal attachment of the bobbin to the bobbin receiver.

As a fifth configuration of the present invention, the displacement member is a spring member.
According to the present invention, since the displacement member is formed of a spring member, the impact of the collision can be absorbed when the bobbin held by the bobbin mounting means collides with the engaging body of the winding rotary member. For example, the winding rotary member If the position of the bobbin attachment means is maintained by rotating the bobbin, the engagement portion of the bobbin and the engagement body of the winding rotary member can be engaged.

As a seventh configuration of the present invention, the control means is configured to control the bobbin mounting means so as to temporarily stop the bobbin before retreating.
According to the present invention, since the control means temporarily stops the bobbin mounting operation and then retracts the bobbin, the engaging body provided on the bobbin receiver and the engaging portion provided on the flange-side surface on one side of the bobbin Since the opportunity to engage can be given, an engaging body and an engaging part can be engaged efficiently. Further, if the engaging portion does not enter the engaging body during the stop, the bobbin is advanced again after retreating, so that the bobbin can be attached to the bobbin receiving body almost automatically, and the working efficiency of bobbin replacement is improved. .

The schematic block diagram of the bobbin attachment apparatus which concerns on embodiment of this invention. The expanded block diagram of the bobbin attachment means which concerns on embodiment of this invention. FIG. 3 is an attachment diagram of a rotation drive plate and a bobbin of the turret according to the embodiment of the present invention. The enlarged view which shows the engagement relationship of the engaging body which concerns on embodiment of this invention, and an engaging part. The operation | movement flowchart figure of the bobbin attachment apparatus which concerns on embodiment of this invention. The operation | movement figure of the bobbin catch which concerns on embodiment of this invention. The conceptual diagram from the unwinding of a cord to winding. FIG. The figure which shows the engaging part of the engaging body of a rotation drive plate, and a bobbin.

FIG. 1 shows an embodiment of a bobbin attachment device 1 that winds up a processed cord, removes a fully wound bobbin 5 from the turret 4, and newly attaches an empty bobbin 5m to the turret 4. 2 shows an enlarged view of the bobbin catch 30 as the bobbin mounting means M.
As shown in FIG. 1, the bobbin attachment device 1 includes, for example, a plurality of turrets 4 (see FIG. 8) arranged in an orderly manner in a factory, and a moving carriage 82 that moves on rails 81 laid on the floor surface 99. The robot bobbin 5 serving as a bobbin mounting means M for mounting and removing the bobbins 5 and 5m, the transport unit 84 for placing the empty bobbin 5m for mounting on the movable carriage upper surface 83 and the bobbin 5 after full winding, and the bobbin 5 And a control unit 100 for controlling the bobbin attaching means M to control the attaching and detaching operations of the bobbins 5 and 5m.

Hereinafter, the relationship between the turret 4 and the bobbins 5 and 5m will be described with reference to FIG.
A rotary drive plate constituting a winding rotary member as two bobbin receivers mounted with bobbins 5 and 5m facing each other on the turret 4 which rotates intermittently in the R direction about the turning shaft 4b as a fulcrum. 2 and 2 are mounted. The turret 4 rotates intermittently so that one rotational drive plate 2 is disposed at the winding position A and the other rotational drive plate 2 is disposed at the standby position B. Each rotation drive plate 2 and the turret 4 are individually rotated by motors 2 d, 2 d, 4 d and controlled by the control unit 100.
For example, at the winding position A, the rotary drive plate 2 rotates together with the shaft portion 2b by driving the motor 2d and winds the cord around the bobbin 5, so that the bobbin 5 becomes a full bobbin 5. While the bobbin 5 is being wound at the winding position A, the empty bobbin 5m is engaged at the standby position B as follows.
As shown in FIG. 3, the rotary drive plate 2 has a disk portion 2a and a shaft portion 2b, and the disk portion 2a has a protrusion 3 as an engaging body at a portion away from the shaft portion 2b in the radial direction. Is formed.

The empty bobbin 5m attached to the shaft portion 2b of the rotary drive plate 2 is formed with flanges 6m and 6n provided at both ends of the cord winding cylinder 5a. On the outer surface side of the flanges 6m and 6n, FIG. The linear radial rib 6a and the ring-shaped ring rib 6b which are radially formed at regular intervals as shown in FIG. A lattice is formed by the ribs 6a and 6b, and a plurality of groove portions 7 are formed as engaging portions that engage the protrusions 3 while reinforcing the flanges 6m and 6n with the lattice. The bobbin 5 rotates with the rotation of the rotary drive plate 2 by engaging the projection 3 with one of the grooves 7 of the flange 6m on one side. In this example, the protrusion 3 is engaged with one of the circumferential grooves 7 at the center in the radial direction of the flange 6m. The protrusion 3 protrudes from the center of the rotary drive plates 2 and 2 at a position away from the center in the radial direction.
At the winding position A, the bobbin 5 is fully wound by the rotation of the rotary drive plate 2. At this time, at the standby position B, the empty bobbin 5m is gripped by the lock arm 37, and the bobbin catch 30 is operated to empty the bobbin 5m. The shaft portion 2b is inserted into the through-hole 5c of the winding cylinder 5a, and the protrusion 3 is engaged with one of the grooves 7 on the outer side of the flange 6m, so that the rotary drive plate 2 at the standby position B is empty. The bobbin 5m is engaged and integrated, and the power of the rotary drive plate 2 is transmitted to the empty bobbin 5m.
In the present embodiment, when the empty bobbin 5m is advanced for engagement and attachment of the empty bobbin 5m and the shaft portion 2b is inserted into the through hole 5c, it protrudes from the bank (radial rib 6a) of the groove portion 7. When the part 3 collides and the engagement (locking) operation is not performed (the engagement is impossible), the spring 39 as the displacement member is contracted by the insertion operation as it is, and the distance sensor 21 and Since the distance d to the dog (member to be measured) 22 becomes small, the disengagement state is detected by the measuring means comprising the distance sensor 21 and the dog 22. At this time, after the empty bobbin 5m is retracted, a retry operation is performed in which the empty bobbin 5m is advanced again and the protrusion 3 is engaged with the groove 7.
Conventionally, if the engagement fails when the empty bobbin 5m is moved forward, the pressure sensor 23 detects this and stops the engagement operation, and the cause of the stop has been ascertained, so the work efficiency of winding the cord decreases. However, it is often possible to engage by retry. Therefore, in this embodiment, before the pressure sensor 23 is activated and the engaging operation is interrupted, it is detected that the spring 39 is contracted and not engaged, and the empty bobbin is stopped after the engaging operation is stopped. Since 5 m is immediately retracted and moved forward again to perform the engaging operation, workability can be improved.
In the present embodiment, the winding rotating member as the bobbin receiver is assumed to be two and actively rotated. However, the present invention is not limited to the above quantity, and does not actively rotate. , It may be rotated or fixed in a driven manner, and may be set appropriately.
Further, the bobbin receiver is not limited to winding, and may be combined with an unwinding rotating member when unwinding the cord from the bobbin.

The movable carriage 82 includes a drive unit 85 that moves to a position of a bobbin to be exchanged based on a movement signal 102 input from the control unit 100, which will be described later, and an empty bobbin 5m to be exchanged and a full winding. The transporting portion 84 for transporting the bobbin 5 and the robot arm 10 (which constitutes the bobbin catching means M together with the bobbin catch 30) are fixed.
The robot arm 10 has, for example, three joints, is fixed on a moving carriage 82, and rotates around a vertical axis. One end of the robot arm 10 is connected to the rotating unit 12 via a shaft 12a and the shaft 12a is connected. A first arm 13 that pivots back and forth, a second arm 14 that has one end connected to the other end of the first arm 13 via a shaft 13a and pivots back and forth around the shaft 13a, and the second A third arm 15 is rotatably attached to the other end of the arm 14 via a shaft 14a. Note that the arm tip 15a is configured to be freely movable in the three-dimensional directions of up, down, left, and right.
Further, when an unintended load is applied to the third arm 15 around the shaft 14a that rotates and supports the third arm 15 of the robot arm 10, the force in the three-axis direction is measured as a pressure and an operation stop signal is output. A pressure sensor 23 is attached as a pressure measuring unit that outputs to the control unit 100. The pressure sensor 23 is for measuring the force acting on the bobbin catch 30 and the force acting on the robot arm 10 via the third arm 15 to prevent an accident. In addition, each joint and the rotation unit are provided with actuators (not shown), and the operation is controlled by the control unit 100 described later.
A bobbin catch 30 as a bobbin mounting means for holding the bobbins 5 and 5 m is attached to the arm tip 15 a of the third arm 15.
In this embodiment, the robot arm 10, the base body 31, the catch body 33, the lock arm 37, and the like constitute the bobbin attachment means M.

  The bobbin catch 30 includes a base body 31 fixed to the arm tip 15a and a catch body 33 that holds the bobbins 5 and 5m, and a support shaft that extends from the base body 31 to a through hole 34 formed in the catch body 33. 32 is inserted, and the rotary drive plate 2 and the catch body 33 are slidable in the front-rear direction. In this case, both ends of a spring 39 as a connecting and buffering displacement member attached to the outer periphery of the support shaft 32 are connected to the base body 31 and the catch body 33. With this configuration, the base body 31 and the catch body 33 are normally held by the spring 39, but when the force in the direction of the support shaft 32 acts on the catch body 33, the catch body 33 is caused by the elastic force of the spring 39. It can slide backwards.

At the tip of the catch body 33, there is a frame 35 that extends in the vertical direction, and a support arm 36 that supports the flange 6n of the bobbin 5 from below is provided at the bottom of the frame 35. A lock arm 37 that holds the upper side of 6n is provided.
The support arm 36 is made of a member that is fixed to the lower end side of the frame 35 and protrudes forward, and is subjected to non-slip processing or the like with small unevenness to support the outer periphery of the flange 6n.
The lock arm 37 is controlled by an operating device including a link mechanism and a motor (not shown) so that the rear end is fixed to the frame 35 via a shaft 35a and the front end side opens and closes in the vertical direction with the shaft 35a as a fulcrum. A tip of the lock arm 37 is formed with a downward U-shaped lock portion 38 that grips the upper portion of the flange 6n. When the lock arm 37 is opened and closed vertically via the shaft 35a, the bobbin 5 The upper part of the flange 6n is grasped or released. The opening / closing operation of the lock arm 37 is controlled by the control unit 100 described later.

A distance sensor 21 and a dog 22 are attached to each of the catch body 33 and the base body 31 of the bobbin catch 30 so as to measure the distance so as to face the protrusion 3.
The distance sensor 21 is provided, for example, on the upper portion of the catch body 33, and a dog 22 serving as a reference position for measurement by the distance sensor 21 is attached to the upper portion of the base body 31 so as to correspond thereto. For example, the distance sensor 21 is a non-contact type sensor such as a laser sensor, and the irradiation light from the distance sensor 21 is reflected by the dog 22 and the distance is measured by the laser sensor receiving the reflected light. It has become. When the distance sensor 21 measures the distance to the dog 22, the displacement amount of the distance in the front-rear direction of the catch body 33 relative to the base body 31 can be measured.
Thereby, when the bobbin catch 30 attaches the empty bobbin 5m to the rotary drive plate 2, for example, when the radial rib 6a of the empty bobbin 5m collides with the protrusion 3 of the disk part 2a, the catch body 33 and the base Since the distance from the body 31 is shortened, it is detected that the bobbin 5 is abnormally attached.
Specifically, as shown in FIG. 6, when the radial rib 6a of the empty bobbin 5m collides with the protrusion 3 of the disk portion 2a, the catch body 33 moves toward the base body 31 and the distance d is detected by the distance sensor 21. The amount of displacement is measured. When the distance sensor 21 measures the amount of displacement equal to or greater than the height h of the protrusion 3, the control unit 100 causes the robot arm 10 to temporarily stop the mounting operation of the empty bobbin 5m, retreat the bobbin catch 30, and then again. A retry signal 106 is output so that the bobbin catch 30 attaches an empty bobbin 5m. In many cases, the protrusion 3 is engaged with any one of the grooves 7 in the course of such an operation, and when the engagement becomes possible, the separate pressure sensor 23 does not reach the operation, so that the operation is not interrupted. .

  The control unit 100 outputs a pressure output from a turning signal 101 output from the turret 4, a distance measurement signal 105 output from the distance sensor 21 of the bobbin catch 30, and a pressure measurement signal 107 output from the pressure sensor 23 of the robot arm 10. Based on the measurement signal 107, the robot arm 10 and the bobbin catch 30 are controlled to attach and detach the bobbin 5.

According to the above configuration, the bobbin replacement operation is performed as shown in FIGS.
At the upper position of the turret 4, that is, at the winding position A, when the fully wound bobbin 5 is driven to rotate by the rotation drive plate 2 and the cord is wound up to full winding, the turret 4 is rotated halfway and fully wound. The bobbin 5 and the empty bobbin 5m attached in advance to the standby position B are switched, and the turning signal 101 of the turret 4 is input to the control unit 100 of the bobbin attaching device 1 (step S1).
Based on the turn signal 101, the control unit 100 outputs the movement signal 102 to the moving carriage 82 and moves it to the turret 4 that has output the turn signal 101 (step S2).
When the moving carriage 82 moves to the target turret 4, the control unit 100 outputs an exchange operation signal 103 to the robot arm 10 and starts an attaching / detaching operation of the bobbins 5 and 5 m at the previously stored position. The bobbin catch 30 is opposed to grip the full bobbin 5 at the standby position B (step S3).
Next, the control unit 100 outputs the opening / closing signal 104 to move the lock arm 37 upward, while moving the support arm 36 and the lock arm 37 to the position stored in advance with respect to the fully wound bobbin 5 at the standby position B. It moves and is firmly gripped by sandwiching one flange 6n of the full bobbin 5 from above and below (step S4). At this time, the full bobbin 5 attached to the rotary drive plate 2 is not rotating.
The robot arm 10 holding the full bobbin 5 moves the bobbin catch 30 so as to slide along the shaft portion 2b of the rotary drive plate 2, and pulls out the full bobbin 5 from the rotary drive plate 2. The fully wound bobbin 5 is placed on the conveyance unit 84 of the moving carriage 82 (step S5).
Next, the empty bobbin 5m placed on the transport unit 84 is held at the standby position B (step S6).

Next, as shown in FIG. 6A, the empty bobbin 5m and the rotary drive plate 2 face each other so that the empty bobbin 5m is attached to the rotary drive plate 2 at the standby position B of the turret 4. In this manner, the bobbin catch 30 is moved (step S7). At this time, the rotation drive plate 2 on which the empty bobbin 5m is mounted starts to rotate.
Next, the empty bobbin 5m is inserted into the rotary drive plate 2 that rotates by moving the empty bobbin 5m forward so as to slide (step S8).
In this insertion of the empty bobbin 5m, for example, if the groove 7 on the outer surface of the flange 6m of the empty bobbin 5m and the protrusion 3 of the rotary drive plate 2 match well, the catch body 33 measured by the distance sensor 21 Since the displacement amount of the distance d with respect to the base body 31 is within a predetermined specified value or hardly changes, the control unit 100 determines that the bobbin 5 is normally mounted (step S9). Note that “within a predetermined specified value” indicates, for example, a height h or less of the protrusion 3.
Next, if there is no abnormality in the pressure measured by the pressure sensor 23, it is determined that the bobbin 5 is normally attached (step S10).
Next, after mounting the empty bobbin 5m to a predetermined position, the lock arm 37 is moved upward to open the flange 6n of the empty bobbin 5m, and the mounting of the empty bobbin 5m is completed (step S12).
Next, the bobbin catch 30 and the robot arm 10 are stored up to the zero point of the bobbin attachment operation, and the attachment / detachment operation is completed by returning to the device origin of the operation of the bobbin attachment device 1 (step S13).

However, as shown in FIG. 6 (b), when mounting the empty bobbin 5m, for example, the timing of the protrusion 3 of the rotary drive plate 2 in which the groove 7 on the outer surface of the flange 6m rotates on the protrusion 3 of rotation rotates. If the bank of the groove 7 and the projection 3 collide without matching, the robot arm 10 rotates and drives the empty bobbin 5m together with the catch body 33 in an attempt to mount the empty bobbin 5m on the rotary drive plate 2 to the position stored in advance. Press against the plate 2. Due to this collision, as shown in FIG. 6C, the distance d between the base body 31 and the catch body 33 measured by the distance sensor 21 is reduced to the distance d ′, and the displacement amount (dd ′) of the measured distance is reduced. ) Is larger than the height h of the protrusion 3, it is determined that the positions of the groove 7 and the protrusion 3 do not coincide with each other, the mounting operation of the empty bobbin 5 m is stopped, and the retry signal is performed again. 106 is output to the robot arm 10 (step S9).
Further, in the above step S9, when the distance sensor 21 does not detect the displacement amount of the distance and the pressure sensor 23 measures the pressure abnormality, it is assumed that the positions of the groove 7 and the protrusion 3 do not match. Determination is made to stop the mounting operation of the empty bobbin 5m, and the retry signal 106 for performing the mounting operation again is output to the robot arm 10 (step S10).
Thereby, as shown in FIG. 6 (d), the robot arm 10 temporarily stops the empty bobbin 5m from the rotary drive plate 2 and then moves it backward (step S11). For example, as shown in FIG. 6A, the empty bobbin 5m, which is the starting position of the bobbin mounting operation, moves backward to a position where the rotary drive plate 2 faces, and the robot arm 10 advances the empty bobbin 5m again. The mounting operation of the empty bobbin 5m is started. That is, the control unit 100 outputs a retry signal 106 to the robot arm 10 so as to automatically retry the mounting operation of the empty bobbin 5m.
In this operation, the operations of Steps S7 to S11 are automatically repeated any number of times until the protrusion 3 provided on the disk portion 2a of the rotary drive plate 2 engages with the groove portion 7 on the outer surface of the flange 6m.
Then, when the empty bobbin 5m is inserted to a predetermined position on the rotary drive plate 2, that is, a position stored in advance by the robot arm 10, the lock arm 37 is moved upward to release the empty bobbin 5m (step S12). ).
The bobbin catch 30 in which the installation of the empty bobbin 5m has been completed is retracted to the starting point of the bobbin mounting operation, and then transported to the stock location where the full bobbin 5 detached from the turret 4 is stocked. By returning to the operating origin of operation, the full bobbin 5 is automatically replaced with an empty bobbin 5m (step S13).

  According to the above configuration, before the empty bobbin 5m pressed together with the bobbin catch 30 comes into contact with the protrusion 3 of the rotary drive plate 2 and becomes overloaded, that is, the pressure sensor 23 included in the robot arm 10 is abnormal. Since the distance sensor 21 detects an attachment abnormality of the empty bobbin 5m before the detection, the empty bobbin 5m can be attached to the rotary drive plate 2 without breaking the bobbin catch 30, the rotary drive plate 2 or the robot arm 10. Before the operation is stopped by the pressure sensor 23, when replacing the full bobbin 5 with the empty bobbin 5m, the bobbins 5 and 5m are replaced without automatically stopping as in the conventional case. Such labor can be saved.

In addition, in the said embodiment, although the bobbin attachment apparatus 1 demonstrated the replacement | exchange of the bobbin located in the winding side of a code | cord | chord, you may use for the bobbin attachment of the unwinding apparatus which unwinds a code | cord | chord.
Further, the robot arm 10 as a moving body for moving the bobbin catch 30 as the bobbin attachment means M has been described as an articulated robot. However, the robot arm 10 can be operated according to a predetermined program and the bobbin catch 30 of the present invention is attached. As long as the axis of the rotary drive plate 2 of the bobbins 5 and 5m and the through hole 5c of the bobbins 5 and 5m attached thereto can coincide with each other.
Further, in the present embodiment, it has been described that the full winding and the empty bobbin are attached at the two positions of the winding position A and the standby position B. However, after removing the full bobbin at one place, the empty bobbin is attached. The present invention can also be applied to a type configured to be engaged and attached.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various modifications or improvements can be added to the above embodiment.

1 Bobbin mounting device, 2 rotary drive plate, 2a disk part, 2b shaft part, 2d motor,
3 Projection, 4 Turret, 4b Rotating shaft, 4d Motor, 5: 5m bobbin,
6a radial rib, 6b ring rib, 6m: 6n flange, 7 groove,
10 robot arm, 12 rotating part, 13 first arm, 14 second arm,
12a to 14a shaft, 15 third arm, 15a arm tip, 21 distance sensor,
22 dog, 23 pressure sensor, 30 bobbin catch, 31 base body,
33 catch body, 34 through hole, 36 support arm, 37 lock arm,
100 Control unit, A winding position, B standby position.

Claims (6)

In the bobbin mounting device for engaging the engaging portion provided on the surface of the flange on one side of the bobbin with the bobbin mounting means by moving it forward in the direction of the engaging body of the bobbin receiver,
A displacement member provided on the bobbin attachment means, wherein one end side faces the engagement body direction and is displaced in the forward direction;
Measuring means for measuring a displacement amount of the displacement member;
Control means for controlling the bobbin mounting means,
The control means moves the bobbin backward and then advances again based on the amount of displacement when the engaging body collides with a part other than the engaging part when the bobbin advances, and engages the engaging part with the engaging body. A bobbin mounting device, wherein the bobbin mounting means is controlled so as to perform a retry operation .   The bobbin mounting means includes a catch body having a lock arm for gripping the bobbin, and a support body for fixing a support shaft that penetrates the through hole of the catch body, and the displacement member is disposed between the catch body and the support body. The bobbin mounting device according to claim 1, wherein the bobbin mounting device is provided.   The bobbin mounting means includes a catch body having a lock arm for gripping the bobbin, and a support body having a through hole through which a support shaft of the catch body passes, and the displacement member is disposed between the catch body and the support body. The bobbin mounting device according to claim 1, wherein the bobbin mounting device is provided. Said measuring means, distance consists sensor and the measurement member, claim 2 or claim wherein said distance sensor and said object body, characterized in that the provided individually to the support and the catch member so as to face Item 4. The bobbin mounting device according to Item 3 . The bobbin mounting device according to claim 1, wherein the displacement member is a spring member . The bobbin mounting device according to any one of claims 1 to 5 , wherein the control unit controls the bobbin mounting unit so that the bobbin is temporarily stopped before the bobbin is retracted.

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