JPH01321264A - Sticking device for fixing thread end of transfer tail to bobbin end - Google Patents

Abstract

PURPOSE:To fix a sealing paper to a bobbin end part certainly by providing a means for sticking the sealing paper to the position forming the thread end of a transfer tail, and a means for pressing the sticked sealing paper thereto. CONSTITUTION:When a gripper of a sealing paper holder 20 catches the non- adhered part of a sealing paper from a sealing paper feeder 60, a compound hand 2 is raised, and a said gripper is rotated nearly by 90 deg. and moved above the end part of a bobbin 41 to stick the sealing paper to the position of the bobbin contact end part of a transfer tail thread laid by an aspirator 50, together with the movement of the hand 2. Then, the hand 2 is horizontally rotated by 90 deg. so that a free roller 95 is faced in the same direction as the circumferential direction of the bobbin 41, and moved to the position above the bobbin 41. Thereafter, the hand 2 is lowered to bring the free roller 95 into contact with the sealing paper sticked to the bobbin 41, and the free roller 95 reciprocates on the tape in the circumferential direction of the bobbin 41 with pressing the sealing paper. Thus, the sealing paper uniformly receives a proper pressing force over its whole length by the elastic force of the spring, and closely adhered to the bobbin surface.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a sticker paper pasting device for fixing a yarn end such as a pigtail or transfer tail formed at the bobbin end of a yarn package to the bobbin.

(Prior art) In recent years, when synthetic fiber yarns such as polyester and polyamide fibers are processed using a draw-twisting machine, a draw-twisting machine, etc., the spring end and the winding end end are separated between the raw yarn bobbins. In order to perform continuous processing by tying the bobbins together, a so-called transfer tail is formed at the bobbin (end) outside the traverse area at the beginning of winding (Japanese Patent Publication No. 57-36233, Japanese Patent Application Laid-Open No. 5G-119553).

The yarn package wound in this way leaves a certain length of transfer tail to facilitate transfer tail processing, and the punch winding or pigtail formed at the end of the bobbin is stripped off. The end of the thread is fixed to the bobbin with a label or sticker (paper).

Conventionally, such yarn end treatment was performed manually, but this process required a large number of people and time, and there were problems in that the product would become dirty and it was difficult to consistently obtain products of consistent quality. . For this reason, mechanization and automation have recently been attempted, and a method of automatically performing sealing using a robot has been proposed and is being put into practical use, as in Japanese Patent Laid-Open No. 112570/1983.

However, with this method, the thread end is fixed using a commercially available label sticking machine, but it is difficult to stick the yarn end continuously and reliably for a long time with these general sticking machines, especially when the curvature of the bobbin is affected. It is difficult to perform the combined seal smoothly,
There is a problem in that the sticker paper floats up, and it is not preferable to arrange such a machine alone because it becomes complicated in terms of space.

(Purpose of the Invention) In view of the current situation, the present inventor has studied the possibility of using a robot to perform operations such as optical cutting and thread end fixing, and has found that if pasting and fixing are performed separately, the above-mentioned The inventors have discovered that it is possible to solve these problems, to securely fix the sticker paper attached to the end of the bobbin, and to easily perform continuous automation, resulting in the present invention.

(Structure of the Invention) That is, the present invention is a device for fixing the yarn end of an I-transfer tail formed at the beginning of winding in a yarn package to the end of a bobbin with a seal paper. It consists of a means for pasting the sticker paper at the end position and a means for pressing the pasted sticker paper. A freely rotating roller that is movably housed and a spring body that restricts the rotation of the free rotating roller are provided, and the free rotating roller is pressed onto the seal paper to press the seal paper onto the bobbin. This is an attachment device for fixing the yarn end of a transfer tail to a bobbin end.

(Examples) Hereinafter, the present invention will be described based on Examples. FIG. 1 is an overall perspective layout view of an apparatus for implementing the present invention, and FIG. 2 is a partial front perspective view of the apparatus shown in FIG.

In the figure, ■ is a multi-articulated robot that can perform three-dimensional movements, and at its tip is a compound hand 2 that performs multi-functional operations.
is provided.

The composite hand 2 includes a seal gripper 10 for taking out a seal paper S for fixing the yarn end of the transfer tail to the bobbin end, a yarn gripper 20 for gripping the cut yarn end of the overlapped yarn at the bobbin end, and a yarn gripper 20 for gripping the cut yarn end of the overlapped yarn at the bobbin end. It has a cutter 30 consisting of a heater, a device 90 for fixing the seal paper S pasted on the end of the bobbin, and the like.

A bobbin holder 4 ( ) for gripping a yarn thread gauge is provided at the front of the robot 1 .

Further, two yarn suction devices 50 are disposed facing each other on the left and right positions of the front surface of the yarn package P (bobbin holder 40), and a seal paper supply device 60 is provided at an intermediate position below the suction devices 50. is provided.

The sticker paper supply device 60 is a gable table in which a strip-shaped one-sided sticker having a non-adhesive portion at the tip is symmetrically joined onto a tape h with its center line sandwiched therebetween so that the non-adhesive portion is on the center side. Fold each side of H 90 degrees from the center l1t
l! The non-adhesive part of the sticker paper S protrudes from the tape h, and is gradually bent from a slit-like entrance with approximately the same width as the sticker paper S to form a 1T-shaped hollow path and the seal tape. It has a guide main body 61 forming a collection part and a collection means 62 for collecting the seal tape 11 intermittently.

Further, the yarn suction device 50 is attached to a bracket 53 fixed to a drive shaft 52 of an air motor 51 via an arm 54 provided so as to be movable back and forth in a direction along the end surface of the package P.

55 is a fluid pressure cylinder that moves the arm 54 back and forth;
6 is a guide rod.

The suction device 50 is housed via two fixed shafts 57 and 58 so as to be adjustable in the left and right and up and down directions. 70 is a pedestal that supports the air motor.

The thread gripper 1o of the compound hand 2 of the Robo Soto 1 is disposed on both sides of the thread cutter 3o located in the center of the hand 2. It has a gripper 11 consisting of two movers 12 and 13 (one of which may be fixed) that opens and opens like scissors by a fluid pressure cylinder (not shown) inside. This gripper 11 grips the yarn.

Further, the gripper 10 is attached to a fluid pressure cylinder 14 provided on the bracket 3 of the operating hand 2, and is configured to move back and forth in the direction of the package P. 15.16
is the guide rod.

The seal gripper 20 has a gripping portion shaped like an inverted letter, and its configuration is comprised of a box 21 containing a fluid pressure cylinder similar to that of the thread gripper 10, a gripper 22, etc., and an arm. The air motor 24 is attached to the air motor 24 which is disposed below the cutter 0 through the thread 23. Then, the air motor 24 is driven and the arm 23 is rotated to bring the gripper 22 to a position above the bobbin end.

The seal paper fixing device 90 is disposed below the thread gripper 10 on one side (on the left side in FIG. 2), and is attached to a bracket 91 attached to the machine base 97. Bracket: A support shaft 92 horizontally fixed to the I tray 1, an arm 93 rotatably attached vertically to the support shaft 92, a shaft 94 that does not protrude horizontally from the arm 93, and a shaft 94 attached to the shaft 94. A free roller 95 wider than the seal paper S which is held rotatably, and an arm 93 (roller 95) whose both ends are fixed to the machine base 97 and the arm 93.
It is composed of a coil spring 96 and the like that restricts the rotation of the.

The free roller 95 is preferably one whose outer peripheral surface is lined with an elastic material such as rubber, but is not limited thereto.

In the apparatus configured in this way, first, the yarn package P is inserted into the bobbin holder 40, but the bobbin holder 40 is provided on a turntable (not shown) and is rotatably supported, and the bobbin holder 40 The turntable itself is rotatable by a motor, so when the package P is inserted into the bobbin holder 40 automatically or manually by the robot 1 at the C-yielding position, the turntable rotates and the robot 1 Stop at a position facing the

An image storage device is installed on the bobbin side on the front side of the yarn package P in order to detect the peeling position of the overlapping winding formed at the end of the bobbin as described in the previously filed Japanese Patent Application No. 166854/1983. C for detecting the peeling position connected to the computer via
A CD camera 80 (only one side shown) is provided, and the CCD camera 80 sequentially scans in the axial direction of the bobbin 41 at regular intervals to automatically determine the stripping position of the overlapping yarn.

That is, a video signal obtained by scanning in the axial direction of the bobbin 41 is compared with a predetermined value (threshold value) to detect a continuous group of light receiving elements having a level value higher than the predetermined value corresponding to the yarn overlapping at the end of the bobbin. At the same time, the number of light-receiving elements in the light-receiving element group is counted, and the difference between the counted value and the previously detected number of light-receiving elements in the light-receiving element group is calculated, and based on the difference, positions with different widths of yarn overlapping are determined. By this detection, the peeling position of the overlapping yarn is detected.

In this case, if the predetermined stripping position is not detected, the signal drives the motor connected to the bobbin holder 40 to rotate the yarn package P by a certain angle, for example, 30 degrees, and the same operation is repeated. Detects the peeling position.

Note that the stripping position is normally such that the bobbin surface 43 on which the slit grooves 42 are not formed is at the upper position, but is not limited to this.

Once this position is determined, the robot 1 is activated, its compound hand 2 moves forward toward the package P, and as shown in FIG. Next, by descending and rising, it comes into contact with the lapped yarn Y and melts and cuts the lapped yarn Y, leaving the necessary transfer tail portion 1''.

Since this contact with the yarn Y is for a short time, the bobbin surface is not slanted.

At the same time, the suction 2S50 is activated by the cylinder 5 as shown in FIG.
5 moves forward in the direction of the overlapping yarn Y and is located close to its upper part, so that both ends Ya and Yb of the overlapping yarn Y that have been fused are sucked into the suction device 5o.

Next, when the suction device 50 retreats to the side of the bobbin 41, the cylinder 14 is actuated and the gripping device 1o moves forward, and the suction device 50 and the bobbin 41, which are suctioning and gripping the yarn ends Ya and Yb of the overlapping yarn, The gripper 11 grips the overlapping yarn Y that is continuous between the threads 41 and 41 (FIG. 5).

This grip causes the suction device 50 to temporarily suspend its suction operation.

When the suction is interrupted, the gripper 1 is lowered by the lowering of the compound hand 2.
0 descends while gripping the yarn Y, so that the yarn in the slit groove 42 is reliably pulled out from the slit groove 42 as the gripper 10 descends.

If the yarn is wound counterclockwise at this time, the yarn y connected to the package body will be collected by the suction device 50 on the left side in FIG. It is in the winding thread (group) Y.

When the left and right grippers 10 are lowered to the lower position of the bobbin 41 and the yarn engaged with the slit cleaner 42 is taken out of the bobbin (Fig. 6), the grippers 10 are moved (rotated) by the compound hand 2. is the overlapped thread Y while gripping the overlapped thread Y.
(Figure 7).

After this, the suction device 50 is activated, and the gripping device 10
When the grip is released, the overlapping thread Y is sucked into the suction device 50 and removed. In this case, the yarn end of yarn y that forms a transfer tail connected to the package body through several windings on the bobbin is also suctioned by the suction device 50, but since it is connected to the package body, the bobbin 41 It remains suspended between the upper surface of the suction device 50 (FIG. 8).

Therefore, in the subsequent process, when the gripper 21 of the sticker paper gripper 2o grabs the non-adhesive part of the sticker paper S from the sticker paper supply device 60, the composite hand 2 moves upward 9 After that, the gripper 21 almost The transfer tail yarn y is rotated by 90 degrees and moved above the bobbin end, and in response to the operation of the composite hand 2, the bobbin contact end of the transfer tail yarn y is stretched by the suction device 50. Paste it in the position.

When the sticker paper S is pasted to a predetermined position on the bobbin 41, the hand 2 rotates 90 degrees horizontally so that the free roller 95 faces in the same direction as the circumferential direction of the bobbin 41, and moves to a position above the bobbin 41. do.

After that, the hand 2 descends and the free roller 95 moves the bobbin 4
The tape contacts the seal paper S attached to the tape 1, presses it, and reciprocates on the tape paper S in the circumferential direction of the bobbin 41 (FIG. 9).

For this reason, the entire length of the sticker paper S is uniformly subjected to an appropriate pressing force by the elasticity of the spring 96, and adheres tightly to the bobbin surface, and after this, the tape paper S lifts up or shifts, causing the thread end to loosen or come off. It will not cause any trouble, and
It is very preferable to use sticker paper with one end made into a non-sealed portion, since the sticker paper can be peeled off from the bobbin 41 reliably and easily.

Next, the cutter 30 moves to cut the yarn between the bobbin 41 and the suction device 50, and the transfer tail y of a predetermined length is cut.
A yarn package P having the following is produced.

When the yarn package P in which the yarn end of the transfer tail y is fixed in this manner is formed, the composite hand 2. The suction device 50 and the like return to their original positions, and then the package is turned over by rotation of the turntable, replaced with the next package to be processed, and returned to its previous position.

Thereafter, similar operations are repeated to efficiently process the yarn ends of one cage.

(Effects of the Invention) As explained below, according to the present invention, it is possible to easily and reliably fix the thread ends of the lance-first tail to the bobbin surface, and it is extremely effective for full automation. be.

[Brief explanation of the drawing]

FIG. 1 is a schematic overall perspective view of a device suitable for carrying out the present invention, FIG. 2 is a perspective view of the front part of the device 1L1, and FIG.
This figure is a plan view of the end of the bobbin shown in FIG. 1, and FIGS. 4 to 9 are explanatory views of the operation of the apparatus shown in FIG. 1. 1...Robo...I. 2... Composite hand, 10... Yarn gripper, 20... Seal gripper, 30... Cutting device 40... Bobbin holder 41...Bobbin 50...Yarn suction device 90...Seal paper fixing device 95...Free roller Fig. 1 Fig. 2 Figure 5 Figure 8

Claims (1)

[Claims] A device for fixing the yarn end of a transfer tail formed at the beginning of winding in a yarn package to the end of a bobbin with a seal tape, a means for pasting a seal paper at a position where the yarn end of the transfer tail will become, and the pasting. The seal paper pressing means is mounted on a machine base that can move vertically and horizontally via a spindle so as to be rotatable in the vertical direction, and the free rotation roller The yarn end of the transfer tail is fixed to the bobbin end, characterized in that a spring body is provided to restrict the rotation of the roller, and the freely rotating roller is pressed onto the sticker paper to press the sticker paper onto the bobbin. Adhesive device.