JPH03249224A - Robot for double twister - Google Patents

Abstract

PURPOSE:To carry out automatic ending of a unit containing a broken yarn by providing an ending mechanism for joining a yarn end of a winding package supported by a cradle to a yarn end of a feeding package on a spindle and attaching the mechanism to a freely traversable robot. CONSTITUTION:The main body of a robot 25 freely traversable along a unit 1 of a double twister is provided with an ending mechanism 32 for joining a yarn end of a winding package 7 supported by a cradle 5 to a yarn end of a feeding package 2 on a spindle 3. The ending mechanism 32 performs automatic ending of a yarn end at the side of winding package to a yarn end at the side of feeding package of a unit containing broken yarn.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a double twister robot that splices each unit.

E. Prior Art] A double twister applies a double twist to a yarn drawn from a yarn supply package supported by a spindle by passing it through its center hole, and then winds the yarn onto a paper tube supported by a cradle. It is designed to form a package. After winding all the yarn on the paper tube or yarn feeding palage to become the winding pa/y gauge of the groover, replace the empty yarn feeding package with the yarn feeding package of the groover (yam feeding exchange), and then replace the yarn feeding package with the yarn feeding package of the groover. Pull out the end of the thread from the package (take out) and thread it through the center hole).
It is necessary to remove the groove winding package from the cradle and support a new paper tube on the cradle (doffing), and at the same time, fix the end of the yarn drawn from the yarn supply package to the paper tube (threading).

Conventionally, these operations have been performed exclusively by hand, and have been time-consuming.

However, in today's world, where the frequency of operations such as doffing and yarn feeding changes has increased due to high-mix, low-volume production, automation of the above-mentioned operations has been desired in order to reduce labor and improve productivity. Therefore, Honde Sototo first filed an application for a double twister robot that can automatically perform yarn feeding exchange, lead-out, threading, doffing, and threading, reducing labor and improving productivity. (Patent Application No. 1-63857).

[Problems to be Solved by the Invention] However, in the above-mentioned robot as well as in the above-mentioned unit, when yarn breakage occurs, it is difficult to splice the yarn end on the yarn supplying package side and the yarn end on the winding package side. Since they did not have the means to do so, workers had to discover units with broken threads and splice the threads each time.

SUMMARY OF THE INVENTION Therefore, it is an object of the present invention to provide a double twister robot that can solve the above problem U and automatically splice yarn to a unit in which a yarn breakage has occurred.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a robot body that is provided so as to be movable along a unit of a double twister, and a yarn end of a winding package supported by a cradle and a spindle. A yarn splicing mechanism is provided for automatically splicing the yarn ends of the upper yarn feeding package.

[Operation] When a yarn breakage occurs in the unit, the yarn splicing mechanism on the robot body automatically splices the yarn end on the winding package side and the yarn end on the yarn feeding package side.

[Example] Hereinafter, an example of the present invention will be described in detail based on the accompanying drawings.

As shown in FIG. 1, each unit 1 of the tuple twister is
A spindle 3 that vertically supports the yarn feeding package 2 below.
is provided with a cradle 5 which horizontally supports a paper tube 4 above, and guides the yarn Y pulled out from the yarn supply package 2 upward through its center hole while being double-twisted, and is rotationally driven by a rotating drum 6. It is wound up onto a paper tube 4 to form a wound package 7. Above the yarn supply package 2 is the yarn Y.
A Snell wire 8 for guiding the yarn, a drop wire 9 for detecting the presence or absence of the yarn Y, a yarn guide roller 10, and a feed roller for supplying the yarn Y to the winding package 7 are arranged in this order. In addition, a pedal 12 is provided at the lower front of the unit 1 to brake and stop the spindle 3 when depressed lightly, and inject compressed air to thread the thread into the center hole when depressed deeply, and the paper tube 4 is housed in the upper part. indicator light 1 that lights up when the drop wire 9 falls due to thread breakage, etc.
4 and a cylinder 15 for lifting the cradle 5 is provided.

A doffed winding package 7 is placed behind the rotating drum 6.
A conveyor 16 is provided in front of the spindle 3 and a conveyor 18 is provided along the unit 1 to insert the yarn supply package 2 into a tray 17 and convey it.

In this embodiment, a two-stage yarn feeding package in which uncombined packages 2a and 2b are stacked one above the other is used as the yarn feeding package 2, and in the unit 1, the yarns Yl and Y2 from the upper and lower packages are combined into yarns. It is designed to be double twisted while doing so. As shown in FIG.
Packages 2a and 2b are stacked on top of each other with a spacer 20 in between, and both packages 2a are attached to the upper end of the spacer 20.

A top cap 21 for inserting and guiding the threads Y1 and Y2 from 2b into the adapter 19 is integrally formed.

The yarn supply package 2 is conveyed on the conveyor 18 with the yarn ends of both packages 2a and 2b wrapped around the top cap 21.

A robot 22 is provided at the front of the unit 1 configured in this manner so as to be able to travel freely along the direction in which the robot 22 is arranged. This robot 22 consists of a front U-shaped robot body 25 equipped with wheels 24 that run on rails 23 suspended above and below the unit 1. First, a sensor 26 detects a lit indicator light 14, and It is stopped in front of the unit 1, and the spindle 3 is stopped by depressing the pedal 12 with a lever 27, and the tray 17 on the conveyor 18 is locked with a stone bar (not shown). The robot main body 25 also includes a bed 28 for temporarily placing the yarn supply package 2 in order to take out the yarn end.
A guide m paulownia 29 that guides the yarn end of the yarn supply package 2 on the bed 28, and a tray 17 on the conveyor 18.
Move the yarn feeding package 2 onto the bed 28 from above,
An operating arm 30 that moves the empty yarn supply package 2 on the spindle 3 onto the tray 17, delivers the winding package 7 of the trencher from the cradle 5 onto the carry-out conveyor 16, and supplies the paper tube 4 from the stocker 13 to the cradle 5. Doffing tI & structure 31, thread splicing 1fi performing thread splicing (intermediate splicing)
1132 etc. are provided.

As shown in FIGS. 3 and 4, the bevel 28 is attached to the approximate center of the robot body 25 via a rotating arm 33, and the yarn feeding package 2 is moved to the standby position shown by the imaginary line by rotating the rotating arm 33. It is adapted to be moved from the position shown in the solid line away from the operating arm 30 to the opening position shown by the solid line.

The outlet mechanism 29 has a suction lever 35 connected to the upper end side of the upright suction cylinder 34 so as to be able to move up and down. Yarn supply package 2 at the tip
The end of the thread wound around the top cap 21 is suctioned and unwound (
A suction mouth 37 is attached to the mouth.

Bracket 38 standing near suction mouth 37
Yarn supply package 2 was opened and returned to the standby position.
A thread shifting arm 41 is provided which can freely rotate horizontally to hook the thread end from each package 2a, 2b to the suction mouth 37 and deliver it to the thread locking piece 40 mounted on three hooks of the operation arm 30. A turning cylinder 42 is connected to this thread shifting arm 41. Also,
In the vicinity of the suction mouth 37, there is a thread pulling arm 41 for threading the thread onto the thread locking piece 40, and when the chutka 39 conveys the yarn feeding package 2 onto the spindle 3 and attaches it, the thread is locked for threading. Suction mouse 3 from piece 40
Thread Y1 connected to 7.

A cutter 43 is provided to cut Y2 to a predetermined length.

The operating arm 30 is connected to the left inner wall 25 of the robot body 25.
It is attached via a support shaft 45 to a lifting block 44 that can be raised and lowered along the direction a by a lifting mechanism such as a ball screw (not shown) so as to be able to rise and fall freely, and the rear upper surface of the operating arm 30 is locked to a stopper 46 so that it is horizontal. It is gaining support. The lower surface of the tip of the operating arm 30 that descends in a horizontal state is fixed to the left inner wall 25a to prevent the operating arm 30 from interfering with the unit 1 when traveling.
A stopper 47 that allows the J to be stored in an upright position is attached so as to be retractable.

The operating arm 30 is formed in such a length that its tip is located above the spindle 3 in a horizontal state, and a chuck 39 that grips the top cap 21 of the yarn feeding package 2 is attached to the side of the operating arm 30, and a screw feeding device 48 is attached to the side of the operating arm 30. Operation arm 30 through
It is attached so that it can move freely along the longitudinal direction. At the top of the chutka 39, there is a thread locking piece 40, and a cutter 43 that connects from the thread locking piece 40 to the sac John mouth 37 during threading.
A spray nozzle (not shown) is attached to spray the cut yarns Y1 and Y2 into the adapter 19.

A sensor 49 is attached to the tip of the operating arm 30 for detecting the presence or absence of remaining yarn in the yarn feeding package 2 on the spindle 3, and a slit is attached to the tip of the operating arm 30 to suck and hold the yarn end that is passed through the yarn and blown upwards onto the spindle 3. A suction vibrator 50 is attached. Further, a button 51 for pressing the drop wire 9 and the like to return to its original position is attached to the tip of the operating arm 30 via a cylinder 52, and a thread is passed through the button 51 to connect the yarn supply package 2 and suction pipe 50. A thread guide piece 53 is provided in a protruding manner to guide the continuous thread Y to be threaded onto the Snell wire 8 or the like.

On the other hand, the doffing m oval 31 is provided above the left inner wall 25a of the robot main body 25, as shown in FIG.
2 is provided above the right inner wall 25b. The doffing mechanism 31 is a lever 5 that opens and closes an arm on one side of the cradle 5.
4, and a chute (not shown) for discharging the winding package 7 of the trencher removed from the cradle 5 to the carry-out conveyor 16;
It mainly consists of a chuck arm 55 that supplies the paper tube 4 from the stocker 13 to the cradle 5.

The thread splicing machine 32 is connected to an automatic thread splicing device 5 as shown in FIG.
6, an arm 5730 that guides the yarn fIAYA of the winding package 7 example and the yarn 4YB of the yarn feeding package 2 side to the yarn splicing device 56, respectively, and an arm 5730 that comes into contact with the winding parameter 7 during the yarn splicing operation. Drive roller 5 that rotates
It is mainly composed of 8. As the yarn splicing device 56, a known yarn splicing device is used, such as a knotter that mechanically ties yarn ends together, a splicer that splices the yarn without knots using a swirling air flow. Thread m on the yarn feeding balance gauge 2 side
The arm that guides YB is composed of the operating arm 30, and similarly to threading, the thread end YB on the thread supply balance gauge 2 is guided to the front of the thread splicing device 56 by the tilting of the operating arm 30 and the thread guide piece 53. The arm that guides the thread f4YA of the zero-winding package 7 (11) is connected to a suction arm 57 that is vertically rotatable via a shaft pipe 59 that projects from the right inner wall 25b of the robot body 25. , and the cradle 5 pulled up by the cylinder 15
By approaching the winding package 7 of
A is held under suction and guided to the front of the splicing device 56. The drive roller 58 is attached to the tip of a drive shiver 61 that is vertically rotatable via a support shaft 60 protruding near the support shaft tube 9 of the suction arm 57. The yarn end YA is suctioned from the take-up package 7, and when it is pulled out, the take-up parameter gauge 7
When the thread is spliced, it is rotated in the yarn unwinding direction (clockwise in FIG. 5), and when the splicing is completed, it is rotated in the winding direction (counterclockwise).

Next, we will explain especially the thread splicing operation in Example A above.
If a thread breakage occurs during operation, the drop wire 9 falls, causing the indicator light 14 to light up and the cradle 5 to be pulled up by the cylinder 15. When the robot 22 detects the illuminated indicator light 14 with the sensor 26 during patrolling, it stops in front of the unit 1, holds the operating arm 30 horizontally, and uses the sensor 49 to check whether there is any remaining yarn on the yarn feeding parameter gauge 2. do. If there is no remaining yarn, yarn feeding is performed, and if there is remaining yarn, yarn splicing is started.

When a yarn breakage occurs, one of the cut yarn ends YA is wound onto the winding package 7, and the portion of the other yarn end YB outside the spindle 3 is torn off by the rotation of the spindle 3, and Since the part on the inside of the thread 3 is excessively twisted within one adapter due to the rotation of the spindle 3, the yarn feeding para gauge 2 is temporarily transferred to the lug 28 of the robot 22 using the operating arm 30 and then the thread is pulled out. The thread fifAYB is taken out by the mechanism 29.

After the threading is finished, the yarn feeding package 2 is returned to the spindle 3 to thread the yarn, and the yarn end YB blown upward from the spindle 3 is suctioned and held by the suction pipe 50 of the operation arm 30, and then passed from the spindle 3 to the suction pipe. 50 by tilting the operating arm 30 and thread guide piece 5.
After the thread is hooked onto the Snell wire 41 and the thread guide roller 10 by the forward and backward movement of step 3, the thread is guided onto the thread splicing device 56.

On the other hand, the drive roller 58 comes into contact with the winding package 7 that has been pulled up from the rotating drum 6 and has stopped, and the suction arm 57 approaches it, rotating the winding package 7 in the yarn unwinding direction while cleaning the surface of the yarn waste. Yarn #iYA is pulled out by suction and guided onto the splicing device 56. Both yarns @YA and YB guided in this way are automatically spliced by the splicing device 56. When the splicing is completed, the winding balance gauge 7 is rotated in the winding direction by the drive roller 58, and the drive roller 58 is returned to the robot 22 side, and the cradle 5 is pushed down to move the winding package 7 onto the rotating drum 6.
Operation can be restarted by touching the

In this way, the robot 22 can automatically splice the yarns of each unit 1, thereby making it possible to perform all the operations necessary for automatic operation of the double twister, thereby significantly reducing labor. In addition, in the past, one winding package 7 was formed from one yarn feeding baggage 2, so a large yarn feeding baggage 2 was required to form a large winding package 7, but yarn splicing is now possible. From there, multiple yarn feeding packages 2 are added to form a large winding parameter 7.
By making the yarn feeding package 2 smaller, the spindle 3 can be made smaller and the power consumption can be reduced.

In addition, in the above embodiment, a case was explained in which a two-stage type yarn feeding package was used as the yarn feeding package 2, but a single-stage type yarn feeding package in which the yarns are combined in advance may also be used. Yarn supply package 2 when splicing
was moved to the bevel 28 on the robot 22 side to perform the lead-out operation, but since the yarn end YB remains in the adapter 19, the action of compressed air due to deep depression of the bevel 12 is required to perform the lead-out operation. It is also possible to thread the thread directly.

[Effects of the Invention] In short, according to the present invention, thread splicing can be automatically performed on a unit in which thread breakage has occurred.

[Brief explanation of drawings]

FIG. 1 is a side view showing an embodiment of the double twister robot according to the present invention, FIG. 2 is a front view of the same robot, and FIG.
The figure is a partially enlarged plan view of the same robot, FIG. 4 is a side view showing a lead-out processing state, and FIG. 5 is a side view showing a thread splicing state. In the figure, 1 is a unit, 2 is a yarn feeding parameter, 5 is a cradle, 7 is a winding package, 25 is a robot body, 32
is a spliced m-ellipse.

Claims (1)

[Claims] 1. A yarn splicer is installed on the robot body, which is movable along the double twister unit, to automatically splice the yarn end of the winding package supported on the cradle and the yarn end of the yarn feeding package on the spindle. A double twister robot featuring a mechanism.