JPH0383771A - Automatic winding device - Google Patents

Abstract

PURPOSE:To automatically and successively wind yarn to plural spool by arranging a yarn chuck mechanism, yarn cutting mechanism, and tension-giving length- measuring mechanism in order and providing a robotistic hand between from a raw yarn bobbin support mechanism to a winding mechanism. CONSTITUTION:First yarn 5 is carried to a spool supply mechanism 6 and placed by a robotistic hand 14. Then the hand 14 extends to the part of a yarn chuck mechanism 11 to grip he tip of the yarn 5 held in the mechanism 11 in a condition where the tip of the yarn 5 is out, and guides the yarn 5 around a given yarn supply passage to lead the yarn 5 to an article 1 placed on the mechanism 6 after the gripping of the yarn 5 in the mechanism 11 is released. The yarn 5 is passed through the given portion of a tension-giving length- measuring mechanism 13 in the course of the guiding above mentioned. After that, the gripping of the yarn tip with the hand 14 is released, and the winding of the yarn 5 is started with the mechanism 6. When the winding of the given quantity of the yarn 5 is completed, the rotation of the spool 1 is stopped, the yarn 5 being drawn out from a raw yarn bobbin is gripped halfway with the mechanism 11, and the yarn 5 is out with a yarn cutting mechanism 12.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is directed to the use of yarn for bunsen, on which yarn for knitting is wound, which is used in a netting device that automatically makes a knotted net into a wa net. This invention relates to an automatic coin winding device for winding coins.

(Prior art) Generally, gill nets are formed from frog knots, and a knitting net device automatically connects one thread drawn from a bunsen and the other thread drawn from a bobbin. It is tied and knotted I5.

Generally, Bunsen 1 is two yen coins, as shown in Figure 9! !
? It is formed by fixing the four central parts of 2.2 to each other.

When winding the thread around the Bunsen 1, first manually wind the tip of the thread around the Bunsen 1 several times until it no longer loosens, and then attach the thread to the rotating shaft of the winding machine through the square hole in the center of the disk 2. was inserted, and Bunsen 1 was rotated at the same time to wind a predetermined length of thread.

(Problem to be solved by the invention!) However, in the conventional winding machine, the end of the thread must first be manually wound around the Bunsen 1 so that it does not loosen, resulting in poor winding efficiency. , which required a lot of manpower and was expensive.

The present invention has been made in view of these points, and an object of the present invention is to provide an automatic coin winder V4I4i that can automatically and sequentially wind a thread around a plurality of coins.

[Means to solve the problem]

The automatic bunsen winding vt@ of the present invention includes a thread bobbin support mechanism that rotatably supports a thread bobbin around which a thread is wound, and a thread bobbin that winds the thread unwound from the thread bobbin into a paper thread. A winding mechanism is disposed between the yarn bobbin support mechanism and the winding mechanism, and a yarn chuck mechanism that grips the middle of the yarn, an uncut mechanism that cuts the yarn, and an appropriate tension for the yarn are arranged in order between the yarn bobbin support mechanism and the winding mechanism. A tension-applying and length-measuring mechanism is provided to apply tension and measure the amount of thread supplied, and to transport the empty Bunsen at the Bunsen supply position to the winding mechanism, and to unwind the thread on the winding mechanism. A carrying operation is carried out to transport the picked Bunsen to the Bunsen retrieval position, and the thread gripped by the Yarn Guyac mechanism is passed through a predetermined thread feeding system including the tension applying length measuring mechanism and wound up. It is characterized by the provision of a robot hand that performs a thread pulling motion that leads to the coins on the mechanism.

[For production]

According to the present invention, first, the robot hand moves an empty coin at the coin supply position to the winding mechanism at a rate of 1t.

Next, the robot hand extends to the thread chuck mechanism and grasps the tip of the thread that is being held by the thread chuck mechanism with the tip cut off, and the thread chuck mechanism releases its grip on the thread. After that, the robot hand routes a predetermined yarn feeding system to the coins placed on the winding mechanism. The thread being pulled by the robot hand is
It is passed through a predetermined part of the tension applying mechanism. After that, the grip on the tip of the thread by the robot hand is released,
The winding mechanism starts winding the yarn. When winding the thread, the tension applying length measuring mechanism applies appropriate tension to the thread to be wound and measures the length of the thread to be wound around the coin. When a predetermined amount of thread has been wound, the rotation of the bunsen is stopped, the thread chuck mechanism grips the middle of the thread being pulled out from the yarn bobbin, and then the uncutting mechanism cuts the thread. Thereafter, the robot hand transports the coins that have finished winding the thread on the winding mechanism to the coin coin removal position.

By repeating the above operations, thread winding for a plurality of coins is performed in sequence fully automatically.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 8.

1 and 2 show the entirety of this embodiment.

As shown in FIGS. 1 and 2, in this embodiment, a winding mechanism 6 for winding the thread 5 around the coin 1 is provided approximately in the center of the main body 4 of the device.

On the front side of this device main body 4, there is a carry-in belt conveyor 7 that transports a plurality of empty paper coins 1.1 in a stacked state to a paper coin supply position E, and a plurality of paper coins 1. A delivery side belt conveyor 8 is provided which receives the coins 1 in a stacked state at the coin removal position (3) and transports them to the outside. Furthermore, a yarn bobbin support mechanism 10 that supports a plurality of yarn bobbins 9 around which the yarn 5 is wound is provided at the back of the device main body 4. The yarn 5 is pulled out from the yarn bobbin 9 supported by the yarn bobbin support mechanism 10 and guided to the bunsen 1 placed on the winding mechanism 6 through a predetermined yarn feeding system. It has become. Between the yarn bobbin support mechanism 10 and the winding mechanism 6, a yarn chuck mechanism 11 that grips the yarn 5 midway, an uncut mechanism 12 that cuts the yarn 5, and a While applying a predetermined tension to the thread 5, the winding amount of the thread 5 wound around the coin 1 is set to 3I.
A tension applying length measuring mechanism 13 having a length of 11 is provided respectively. In addition, a robot hand 14 is provided on the side of the device main body 4.
is provided. This robot hand 14 carries out operations such as transporting the coins 1 located at the coin supply position ill onto the winding mechanism 6 and transporting the coins 1 on the winding mechanism 6 to the coin removal position ■. At the same time, prior to the start of winding the yarn 5, the tip of the yarn 5, which has been pulled out from the yarn bobbin 9 and is held by the yarn chuck mechanism 11, is held and guided along a predetermined yarn feeding system path. It is formed so as to carry out a thread-pulling operation to draw the thread and guide it to the coin 1.

Next, the configuration of each part will be further explained.

The winding mechanism 6 is formed as shown in FIG. That is, the rotating shaft 1 is mounted on the pedestal 15 in the device main body 4.
6 is rotatably supported around a vertical axis, and a turntable 17 on which the coin 1 is placed on the upper end of the rotating wheel 16.
is fixed.

Rotation protruding upward from turntable 17 @16
The upper end of the numeral coin 1 is formed into a cylindrical shape into which the square hole 3 of the numeral coin 1 is loosely fitted. 51 and the turntable 17 are fixed by an electromagnet 62 mounted inside the turntable 17. The rotating shaft 16 is formed so that a rotational force is applied to the pulley 18 from a drive motor (not shown) via a belt. Further, the turntable 17 is formed with a pinching mechanism 63 that pinches the thread 5 drawn by the robot hand 14, and near the turntable 17 on the upper surface of the winding mechanism 6, a paper coin 1 An auxiliary arm 19 is pivotally attached to a central shaft 20 with a boss 21 for arch-shaped winding in which the protruding thread 5 is pushed into the coin 1 when winding of the thread 5 is started. The pinching mechanism 63 holds a rotary cylinder 65 formed as shown in FIG. A lever 68 is mounted so as to be freely movable in the axial direction, and has one end engaged with a lower peripheral groove 66 of the rotary cylinder 65 with a roller 67.The other end of the lever 68, which is external to the fulcrum 69, is moved up and down by an actuator 70. I have to. For winding, the auxiliary arm 19 pivots a lever 22 protruding on the opposite side of the boss 21 to the plunger 23a of the actuator 23, and moves the plunger 23a in and out between the solid line position and the broken line position in FIG. can be driven.

As shown in FIGS. 1, 2, and 4, the yarn bobbin support mechanism 10 supports a plurality of yarn bobbins 9 on a vertical pedestal 24 erected at the back of the winding mechanism 6. is formed. A plurality of cantilever-shaped support rods 25 are protruded from the vertical frame 24, and below each support rod 25, a support rod 27 that supports one end of the yarn bobbin 9 is cantilever-shaped and protrudes. It is set up. A stay 29 having a protruding support rod 28 opposite to the support rod 27 is attached to the tip of one of the support rods 25 so as to be movable in the axial direction with a boss 30. There is a boss 30 between the tip and the tip. Stay 29 and support iron 28
A compression spring 31 is interposed to press the support rod 27 in the direction of the support rod 27 . One end of the center hole of the yarn bobbin 9 is loosely fitted into the support iron 28, and the compression spring 31. Push the support rod 25 together with the stay 29 and the boss 30 toward the distal end against the elastic force of the support rod 27, loosely fit the other end of the center hole into the support rod 27, and then apply the force against the elastic force of the compression spring 31. When released, it is rotatably and elastically supported between the support rods 27 and 28. In addition, to prevent excessive thread 5 from coming out due to inertia at the end of winding at 7,
A brake (not shown) is installed.

A yarn guide mechanism 32 is provided between the yarn bobbin support mechanism 10 and the yarn chuck mechanism 11, which changes the direction of the yarn 5 pulled out downward from the yarn bobbin 9 in the horizontal direction and discharges it. As shown in FIG. 5, the thread guide mechanism 32 is moved in parallel to the axial direction of the yarn bobbin 9 by an appropriate drive mechanism on the upper surface of the winding mechanism 6. [1] It has a freely movable board 33. On this movable blocking plate 33, eye members 34 are provided at predetermined intervals, allowing the six yarns 5 pulled out from each yarn bobbin 9 to pass through a predetermined position. The thread is sequentially wound around the two guide rolls 35, 35 and pulled out in the horizontal direction, and after passing through the eye member 36, the thread chuck mechanism 1
It is guided so as to pass over the upper surface of the setter 37 that is closer to 1.

Further, the thread chuck mechanism 11 and the uncutting mechanism 12 are formed as shown in FIGS. 1, 2, and 6.

One thread jack mechanism 11 has two parallel guide shafts 39.39 horizontally suspended between a pair of fixed stays 38.38 fixed to the upper surface of the device main body 4, and one A pair of sliders 40 and 40 are arranged to be freely movable in the axial direction. Gripping teeth 41 for gripping the thread 5 are fixed to each slider 40 so as to face each other. Each slider 40 also has a plunger 42a of an actuator 42 fixed to each fixed stay 38.
is connected to. Therefore, by driving each actuator 42 to cause the plunger 42a to protrude and move in and out, each gripping tooth 41 is moved closer and closer together with each slider 40 to grip and release the thread 5.

In the other uncut mechanism 12, an actuator 43 is suspended from the upper surface of the winding mechanism 6, and a plunger 43a can be freely projected upward and retracted from the upper surface of the winding mechanism 6, and the upper end of the plunger v43a is energized. A thermal heater 44 made of nichrome wire or the like is attached to the thread 5 so that it becomes red hot and melts the thread 5.

The thread 5 that has been pulled out from the setter 37 section of the thread guide mechanism 32 via the thread chuck mechanism 11 and the uncut mechanism 12 section is then passed through the fixed guide 45 and the reversing roller as shown in FIGS. 1 and 2. 46, is led to the coin 1 through a tension roller 47, a reversing roller 48, and a vertical movement guide 49, which constitute the tension applying length measuring mechanism 13, in this order. A length measuring device 50 including an encoder or the like is attached to the lower part of the tension roller 47 to measure the length of the thread 5 wound around the coin 1.

Further, the robot hand 14 is formed as shown in FIGS. 1, 2, 7, and 8.

A rotating body 51, which serves as the base of the robot hand 14, is disposed in the winding mechanism 6 so as to be rotatable about a vertical axis, and a telescoping arm 52 extends horizontally from the rotating body 51. This telescopic arm 52 is formed to be horizontally telescopic and vertically movable relative to the rotating main body 51. Mounting stay 5 fixed to the tip of this telescoping arm 52
At the center in the width direction of the lower stay 53a of No. 3, a chuck hand 54 having a pair of gripping teeth 55, 55 that grips the thread 5 downward and can be closed freely is provided. Further, an actuator 56 is fixed downward to the center of the upper stay 53b of the mounting stay 53, and a support stay 57 having approximately the same width as the lower stay 538 is attached to the lower end of the plunger 56a that protrudes in and out of the actuator 56. It is fixed. Two shafts 58° 58 are suspended downward from both ends of the support stay 57, and each shaft 58.
pass through the lower stay 53a, and are supported by a bearing 59 so as to be vertically movable. And each shaft 5
Electromagnets 60 for magnetically attracting and attracting the coins 1 are attached to the lower ends of the coins 8, respectively. Furthermore, the movement range of the chuck hand 54 of the robot hand 14 and the electromagnet 60 is defined by the chain line A-B-C-Dk:In in FIG.

In addition, ilJ1m1 that operates each of the above-mentioned components in I11 sequence.
161$61 are provided at appropriate locations.

Next, the operation of this embodiment will be explained.

The plurality of coins 1.1 stacked 1!112 on the conveyance entrance side belt conveyor 7 are conveyed to the coin supply position IHI.

Next, the robot hand 14 moves the electromagnet 60.60 to a position directly above the bunsen supply position II, and the actuator 56
is driven to project the plunge t56a downward and bring each electromagnet 60 attached to the lower end of each shaft 58 into contact with the upper surface of the coin 1, and then energizes each electromagnet 60 to move the coin 1 to each electromagnet. 60 to be magnetized and attached. Next, plunge t 56
The telescopic arm 52 is raised while a is left protruding to lift the topmost coin 1, and then the rotation of the telescopic arm 52, the vertical movement, and the telescopic movement are combined to turn the mechanism 6 to pick up the coin 1. The money coins 1 are transported onto the table 17, the energization to each electromagnet 60 is cut off, and the money coins 1 are placed on the turntable 17. Next, the plunger 56a of the actuator 56 is raised to raise the both-type magnets 60°60, and the gripping teeth 55 of the chuck hand 54 are moved to both 1! Make it protrude downward from the magnet 60°60.

In this state, by combining the rotation, vertical movement, and telescopic movement of the telescopic arm 52, the chuck hand 54 is placed on the dark thread 5 between the guide roll 35 of the thread guide mechanism 32 and the setter 37, and the gripping tooth 55 The thread 5 is gripped by the thread 5. after that,
Thread chuck mechanism 11 that used to hold the tip of thread 5
A pair of grippers [141, 41 for each actuator 42]
By pulling back the plungers 42a, they are separated from each other and the grip on the thread 5 is released. Thereafter, by combining the rotation, vertical movement, and telescopic movement of the telescopic arm 52, the thread 5 is moved above the new thread cutting mechanism 12, fixed guide 45, reversing roller 46, tension roller 47, and reversing as shown in FIG. The thread 5 is routed through a predetermined thread feeding system passing through the rollers 48 and the vertical movement guide 49, and the tip of the thread 5 is guided to a thread pinching mechanism 63 provided at the bottom of the turntable 17. Then, pull the actuator 70 downward to release the lever 6.
Rotate 8 clockwise around the fulcrum 69 to rotate 1165
, the end of the thread 5 is sandwiched between the 7 langes 64 and the outer peripheral flange of the turntable 17, and the thread 5 is tied to the rotating shaft 1.
6. Rotate the coin 1 counterclockwise in FIG. 2 together with the turntable 17 and the rotary cylinder 65, and wind the thread 5 between the disks 2, 2 of the coin 1. At the start of winding of the thread 5, the winding of the thread 5 which has been drawn out by t and its tip reaching the center is prevented by the restraining action of the auxiliary arm 19.
is tightly wound around the center of Bunsen 1 without any slack.

When winding the thread 5, the thread 5 is routed in a zigzag pattern through the reversing roller 46, the tension roller 47, and the reversing roller 48, so that a predetermined tension is applied to the thread 5 to be wound around the coin 1. Ru. Maiko, tension roller 4
A length measuring device 50 provided at 7 constantly measures the length of the thread 5 wound around the coin 1. Furthermore, by vertically moving the vertically movable guide 49, the thread 5 is wound while being distributed in a well-balanced manner in the thickness direction of the coin 1. When the length measured by the length measuring device 50 reaches a predetermined length, the rotation of the rotating shaft 16 and the turntable 17 is stopped, and winding of the thread 5 by the coin 1 is stopped. Subsequently, each actuator 42 of the yarn chuck mechanism 11 is driven to cause each plunger 42a to protrude, and the yarn 5 is gripped by both grippers 61141. Thereafter, the heater 44 is energized to red-hot, the lever 43 is driven to raise the heater 44 together with the plunger 43a, and the thread 5 is ff1li.

Thereafter, by combining the rotation, vertical movement, and telescopic movement of the telescopic arm 52, the cocoon heavy magnet 60, 60 is moved to a position directly above the coin 1 on the turntable 17, and the actuator 56 is driven to move the plunger 56a downward. Each electromagnet 60 is protruded
．． 60 is lowered and brought into contact with Bunsen 1. Subsequently, each electromagnet 60 is energized to attract and attach the coin 1 to each electromagnet 60. Next, in this state, the telescoping arm 52 is raised to lift the bunsen 1 on which the thread 5 is wound from the turntable 17, and then the telescoping arm 52 is rotated, vertically moved, and telescopically moved in combination. Guide the coin 1 to the coin removal position ■ and place it on the belt conveyor delivery side 8.

Subsequently, the thread 5 is wound around a new coin 1 by repeating the above-mentioned and ms operations.

Thereby, winding of the thread 5 onto the plurality of coins 1.1 is carried out fully automatically.

In the embodiment described above, the thread 5 is wound in one part of the winding mechanism 6 using the robot hand 14 of 11I, but there is also a robot hand on the opposite side of the robot hand 14. Other llB except 14
By arranging the threads in symmetrical positions, when one winding mechanism 6 is winding the thread 5, the robot hand 14 can route the thread 5 to the other winding mechanism 6. Alternatively, the thread 5 may be wound around a plurality of coins 1, 1 using two systems to improve the winding efficiency.

Furthermore, the present invention is not limited to the above embodiments,
It can be changed as necessary.

(Effects of the Invention) Since the automatic coin winding device of the present invention is constructed and operates as described above, it is possible to automatically wind the thread around a plurality of coins in sequence, and each Since the winding tension of the yarn is equal and uniform to each other, the knitting of the knotted net by the knitting device is extremely smooth, and the knitted knotted net is of good quality and has a smooth shape, which saves labor. Qin, labor saving can be greatly improved and other effects.

[Brief explanation of drawings]

1 to 8 show an embodiment of the automatic money winding device of the present invention, FIG. 1 is a perspective view schematically showing the whole, FIG. 2 is a plan view of the whole, and FIG. 3 is a winding A half-sectional view of the mechanism, FIG. 4 is a perspective view of the yarn bobbin support mechanism, and FIG.
An enlarged sectional view along the v line, FIG. 6 is Vl-Vl in FIG.
FIG. 7 is a front view of the robot hand, FIG. 8 is a right side view of FIG. 7, and FIG. 9 is a perspective view showing an ordinary coin. 1... Bunsen, 5... Thread, 6... Winding mechanism, 7.
... Carrying-in side belt conveyor, 8... Carrying-out side belt conveyor, 9... Yarn bobbin, 10... Yarn bobbin support mechanism, 11... Yarn chuck mechanism, 12... Yarn cutting I
I, 13... Tension applying length measuring mechanism, 14... Robot hand, I... Bunsen supply position, ■... Bunsen removal position. Tortoise 3 Figure/A Tail 5 Figure Tail 7 Yuanwei 8 (!! Procedural amendments Display of the 21st month of 2008 case 2008 Patent Application No. 17950 Title of clever invention Automatic 4-mon coin winding case relationship with

Claims (1)

[Claims] A yarn bobbin support mechanism that rotatably supports a raw yarn bobbin around which yarn is wound, and a winding mechanism that winds the yarn unwound from the yarn bobbin into a bun coin are provided. Between the bobbin support mechanism and the winding mechanism, there are, in order, a thread chuck mechanism that grips the middle of the thread, a thread cutting mechanism that cuts the thread, and a thread cutting mechanism that applies appropriate tension to the thread and measures the amount of thread supplied. A tension-applying and length-measuring mechanism is provided to transport the empty coins at the Bunsen supply position to the winding mechanism, and to transport the Bunsen coins wound by the thread on the winding mechanism to the Bunsen retrieval position. At the same time, a thread pulling operation is carried out to guide the thread gripped by the thread chuck mechanism to a bunsen on the winding mechanism through a predetermined thread feeding system including the tension applying length measuring mechanism. An automatic coin winding device characterized by being equipped with a robot hand for winding paper money.