JPH0243180A - Removing method for lap winding filament at bobbin end and cutting device thereof - Google Patents

Abstract

PURPOSE:To remove an unused part for a lap winding filament quickly and accurately without entailing any damage to a bobbin by cutting the lap winding filament from the upside or the side of the lap winding filament along the bobbin axial direction and, after holding two yarn ends of this cut filament by suction, holding these filaments and moving them downward in both directions along the bobbin circumferential direction. CONSTITUTION:At the time of removing a lap winding filament from a filament package P wound up in forming a transfer tail after holding a filament at the outset of winding at time of a filament changeover for lap winding on a slit groove installed along the circumferential direction of the end of a bobbin 41, the lap winding filament is cut off by a fusing heater of a cutting device 30 attached to a topper on a robot hand 2 via a plate spring along the bobbin axial direction from the upside or the side of the lap winding filament in a position where the slit groove is not installed. Next, two yarn ends of this cut filament are drawn in by suction and held by a sucker 50, and then this filament is held by a holder 10, moving it downward in both directions along the circumferential direction of the bobbin 41.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention relates to a method for removing overlapping yarn (the beginning of overlapping yarn winding) that occurs when a transfer tail is formed at the end of a bobbin (particularly a paper tube), and The present invention relates to a cutting device for overlapping threads.

(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.
A so-called transfer tail is formed at the end of the bobbin outside the traverse area at the beginning of winding to enable continuous processing by tying the yarn end at the beginning of winding and the yarn end at the end of winding between the raw yarn bobbins. (Japanese Patent Publication No. 57-36233, Japanese Patent Application Laid-open No. 119553/1982).

In order to facilitate transfer tail processing, the yarn package that has not been wound in this way is stripped of the punch winding (overlapping winding) or pigtail formed at the end of the bobbin, leaving a certain length of transfer tail. The thread end after being removed is fixed to the bobbin end with a tab, label, sticker (paper), etc.

Conventionally, such yarn end stripping processing was performed manually, but such processing work required a large number of people and time, and
There were problems in that the products were dirty and it was difficult to consistently obtain products of consistent quality. For this reason, recently, JR mechanization and automation have been attempted, and a system has been proposed in which the punch windings at the end of the bobbin are scraped off by a scraping hand provided on a robot, as in Japanese Patent Laid-Open No. 112570/1983.

However, recently attempts have been made to reuse bobbins, and with this method, if the bobbin has a slit for threading at the end of the bobbin, the thread may have entered the slit, so the thread in this area cannot be removed. It has the problem that it is difficult to break and remains, and also has the disadvantage of damaging the bobbin. Not only is the quality of this licked product not sufficient, but it also has a major drawback in that it cannot be reused.

(Object of the Invention) The present invention was made in view of the above-mentioned problems, and an object of the present invention is to reliably and quickly remove the punch winding formed at the end of the bobbin without damaging the bobbin.

(Structure of the Invention) That is, the present invention grips the yarn at the beginning of winding at the time of yarn switching in the slit groove cut in the circumferential direction at the end of the bobbin, overlaps the yarn, and then forms a transfer tail and winds the yarn. When removing the overlapping yarn from the taken yarn package, the overlapping yarn is cut along the bobbin axial direction from above or from the side of the overlapping yarn at a position where no slit groove is cut. A bobbin end overlapping yarn characterized in that the two yarn ends of the cut yarn are held by suction, and then the yarn being suctioned and held is gripped by a gripping tool and moved left and right downward along the circumferential direction of the bobbin. A cutting device having an electric heater for fusing and cutting an overlapping yarn yarn formed at the end of a bobbin, and an L-shaped stopper whose front surface is in contact with the end surface of the bobbin is moved back and forth via a coil spring. The stopper is movably attached to the robot's hand, and the stopper is provided with a leaf spring.
This is an overlapping yarn cutting device characterized in that a heater for fusing and cutting is attached to the plate spring.

(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-jointed 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 20 for taking out a seal paper for fixing the yarn end of the transfer tail to the bobbin end, a yarn gripper 10 for gripping the cut yarn end of the overlapped yarn at the bobbin end, and a heater for the thread cutting area. It has a cutting device 30 etc. consisting of.

A bobbin holder 40 for gripping a yarn package is provided at the front of the robot 1.

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

The sticker paper supply device 60 attaches a strip-shaped one-sided sticker having a non-adhesive portion at the tip onto the tape in a symmetrical manner with the center line of the sticker sandwiched between the tape and the non-adhesive portion is on the center side. One side of each is bent 90 degrees so that the non-adhesive part of the sticker paper protrudes from the tape, and the slit-shaped entrance, which is approximately the same width as the seal tape, is gradually bent to form an 11-shaped hollow path and the sticker paper. The guide main body 61. It has a take-up means 62 that takes in the seal tape 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 arms 4 and 54 which are provided so as to be movable back and forth in the 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 attached 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 10 of the composite hand 2 of the robot 1 is the hand 2
They are arranged on both sides of the yarn cutting device 30, which is located in the center of the yarn cutting device 30. This gripper 10 is opened in the shape of scissors by a hydraulic cylinder (not shown) in a box.
It has a gripper 11 consisting of movable elements 12 and 13 (one of which may be fixed), and grips the yarn with this gripper 11.

Further, one 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 part formed in an inverted shape, and its structure is composed of a box 21 containing a fluid pressure cylinder similar to that of the thread gripper 10, a gripper 22, etc., and an arm. 23 to the air motor 24 disposed below the cutting device 30, and is normally located below the yarn gripper 10 on the piece (!1 (right side) shown in FIG. 2). At this time, the air motor 24 is driven and the arm 23 is rotated to bring the gripper 22 to a position above the bobbin end.

Here, it is preferable that the cutting device 30 can cut accurately and reliably even if its position with respect to the bobbin is slightly shifted vertically or horizontally, and at the same time avoid leaving fusing marks on the surface of the bobbin.

Such a cutting device is shown in FIG. In the figure, reference numeral 31 denotes a bracket fixed to the composite hand 2 of the robot. A guide rod 32 is inserted horizontally through the bracket 31, and guides a coil spring 34 installed between it and a fixing member 33 provided at the tip. are doing. An L-shaped stopper 35 whose front surface is in contact with the end surface of the bobbin is attached to the fixing member 33, and a leaf spring 37 is attached to the rear portion via a spacer 36.

An electric yarn cutting heater 39 having a knife-shaped fusing blade 391 protruding from the holder 38 is disposed on the leaf spring 37 .

Note that the locking member 3 sufficiently holds the stopper 35, etc.
3 and the bracket 31, one or more guide rods may be separately provided between the bracket 31 and the guide rod 32.
It may be fixed to the fixing member 33 and inserted into the fixing member 33 to be slidable.

In the device configured as described above, 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 itself The turntable is also 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 working position, the turntable rotates and faces the robot 1. Stop in position.

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, the image 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 whose level value is higher than the predetermined loading value corresponding to the overlapping yarn winding 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 number of light-receiving elements in the light-receiving element group detected earlier is calculated, and based on the difference, the positions of the yarn overlapping windings with different widths are calculated. is detected to detect the peeling position of the overlapped thread.

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 where the slit grooves 42 are not carved is the upper position, but it is not limited to this. If the device is set in a predetermined position manually or automatically and transported, the above operations are not particularly necessary.

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

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

At this time, if the cutting device 30 is set to always be at a constant position, if there is a slight deviation in the bobbin position, part of the transfer tail may be cut or part of the overlapping yarn may remain. Not only will the bobbin not be able to be cut reliably, but the bobbin may be damaged due to too much pressure.

For this reason, the bobbin is made to move an extra amount (about a few mm) by the amount of deviation that may normally occur, and this excessive amount is absorbed by the spring body as described above, so that the bobbin is not subjected to excessive force. It is preferable that no force be applied, and that a more or less constant force be applied.

Therefore, in this case, as the cutting device 30 moves forward, the upright front surface of the stopper 35 comes into contact with the end surface of the bobbin and stops at a certain position, thereby ensuring that the cutting position in the bobbin axial direction is accurate. It can be decided. Next, in this state, the fusing blade 391 descends a certain distance and rises again at the moment when it comes into contact with the lapped yarn and a certain amount of force is applied to the leaf spring 37, so that the bones of the lapped yarn can be melted and cut as required without any trouble. It will definitely be done.

In this case, it is possible to reduce the difference in force due to the compression distance by changing the spring diameter, etc., but it cannot be kept strictly constant, so it is necessary to use the guide rod 32 or bracket in the bobbin axial direction. It is also possible to detect the position of 31 etc. with a limit switch, phototube, etc. and stop the movement. It goes without saying that movement in the vertical direction can also be done in the same way.

Furthermore, if there is a circumferential groove or the like in the overlapping yarn section bone at the end of the bobbin, and when cutting is performed at this section, the heater 39 is placed at the center of the knife-shaped fusing blade 391, as shown in FIG. In addition, a fusing blade 392 for the first lap winding is used, which has approximately the same length as the circumferential groove cut at the position where the lap winding thread is to be formed and protrudes by the depth of the groove. It is also preferable to fuse it in the same way.

Next, the suction device 50 is moved to the cylinder 55 as shown in FIG.
As a result of the operation, the thread moves forward in the direction of the overlapped thread Y and is located close to the upper part thereof, so that both ends Ya and Yb of the overlapped thread Y that have been fused are sucked into the suction device 50.

Thereafter, when the suction device 50 retreats to the side of the bobbin 41, the cylinder 14 is actuated and the gripping device 10 moves forward, and the suction device 50 suctions and grips the yarn ends Ya and Yb of the overlapped yarn.
gripper 1
1 (FIG. 7), and 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 goes down while gripping the thread Y, so it is a slit? The yarn contained in A42 is reliably pulled out from the slit shaft 42 as the gripper 10 descends.

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

The left and right grippers 10 are lowered to the lower position of the bobbin 41 and there is a slit? When the yarn engaged with the II 42 is taken out of the bobbin (FIG. 8), the gripper 10 grips the overlapping yarn Y by the movement (rotation) of the compound hand 2 and unwinds the overlapping yarn Y. The yarn Y is moved to be located in front of the suction device 50 on the right side (FIG. 9).

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 in a stretched state between the top surface of the aspirator 50 and the aspirator 50 (FIG. 1O).

Therefore, in the subsequent stroke, when the gripper 21 of the sticker paper gripper 20 grips the non-adhesive portion of the sticker paper from the sticker paper supply device 60, the composite hand 2 rises, and then the gripper 2
1 rotates approximately 90 degrees and moves above the end of the bobbin, and together with the operation of the composite hand 2, the transfer tail yarn y, which is being stretched by the suction device 50, is
Attach and fix it at the position of the bobbin contact end.

Next, the cutting device 30 moves to cut the yarn between the bobbin 41 and the suction device 50, creating a yarn package P having a transfer tail y of a predetermined length.

When the yarn package P in which the yarn end of the transfer tail y is fixed is formed in this way, the compound hand 2, suction device 50, etc. return to their original positions, and then the package is turned over by rotation of the turntable. It is replaced by the next package to be processed and returns to its previous position.

Thereafter, the same operation is repeated to efficiently process the yarn ends of the package.

(Effects of the Invention) As explained above, according to the present invention, the unnecessary portion of the overlapping yarn generated during winding can be quickly and reliably removed without damaging the bobbin, and the bobbin can be reused. This has the great effect of making it possible.

[Brief explanation of the drawing]

FIG. 1 is a schematic overall perspective view of an apparatus suitable for carrying out the present invention, FIG. 2 is a perspective view of the front part of the apparatus shown in FIG. 1, and FIG. 3 is a preferred embodiment of the cutting apparatus shown in FIG. 1. FIG. 4 is a schematic side view of another example of a cutting device; FIG.
This figure is a plan view of the end of the bobbin shown in FIG. 1, and FIGS. 6 to 10 are explanatory views of the operation of the apparatus shown in FIG. 1. ■...Robot, 2...Combined hand, 10...Yarn gripper, 20-...Seal gripper, 30... Cutting device 34... Coil spring 35... Stopper 37... Leaf spring 39... Heater 40... Bobbin holder 41... Bobbin 50...--Yarn suction device

Claims (2)

[Claims] (1) The yarn at the beginning of winding at the time of yarn switching is held in the slit groove cut along the circumferential direction at the end of the bobbin, and after overlapping winding, a transfer tail is formed and the yarn package is then wound. When removing the overlapped yarn, the overlapped yarn is cut along the bobbin axis direction from above or from the side of the overlapped yarn at a position where no slit groove is cut. A method for removing overlapping yarn from a bobbin end, which comprises sucking and holding the yarn end, then gripping the yarn being suctioned and held by a gripping tool, and moving the yarn in the left and right downward directions along the circumferential direction of the bobbin. (2) A cutting device equipped with an electric heater that melts and cuts the overlapping yarn formed at the end of the bobbin, and the L-shaped stopper whose front surface is in contact with the end surface of the bobbin can be moved back and forth via a coil spring. What is claimed is: 1. A cutting device for overlapping yarn, which is attached to a hand of a robot; a plate spring is provided on the stopper; and a heater for fusing and cutting is attached to the plate spring.