JPH04371457A - Package transfer method and its device - Google Patents

Abstract

PURPOSE:To simplify movement of a robot hand by carrying a yarn feeding bobbin mounted on a pallet with being chucked, transferring it to an oscillating table on which an upward peg shaft is projected, rotating the oscillating table by 90 degrees in a vetical face to make the peg shaft horizontal and by executing transfer to a yarn feeding robot. CONSTITUTION:A carrier 31 is suspended by an overhead conveying cart 22 so that it is capable of elevated up and down, and a plurality of bobbin chucks 32 are mounted downward on the carrier 31. And it is moved to a yarn feeding package 'P' mounted on a pallet 12 and the package 'P' is chucked and lifted up to be conveyed onto an oscillating table 33. A plurality of peg shafts 36 are fixed upward on the oscillating table 33, and a table 35 of the oscillating table 33 can be reciprocated and rotated by 90 degrees on a vertical face by a cylinder 39. Thus, the package 'P' which was conveyed onto the oscillating table 33 and loaded from the conveying cart 22 onto the peg 36 is rotated and the peg shaft 36 is made laterally horizontal to exchange a feeding yarn with a feeding yarn exchange robot 4. Thus, direct loading onto the exchange robot 4 is enabled and transfer procedure is simplified.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to automation of a false twisting factory that produces synthetic yarns, and more particularly to a method and apparatus for transferring a yarn supply package for a false twister from a pallet to a yarn exchange robot.

0002

2. Description of the Related Art First, the basics of the processing flow of synthetic yarns in a false twisting factory will be explained with reference to FIG. False twisting machine 101
At the step, the yarn package is subjected to a false twisting process to become a textured yarn package. In the yarn feeding package and processed yarn package, the package actually shows a full package, and the empty one shows a paper tube. The yarn supply package is packed in a pallet and carried in from the yarn factory, disassembled by the unpacking device 102, and transported to the yarn supply and conveyance device 103.
The yarn is conveyed to the yarn feeding exchange robot 104 through the. The yarn feeding package is transferred from the yarn feeding exchange robot 104 to a desired position of the false twisting machine 101. The empty paper tube remaining after processing is conveyed to the empty paper tube receiving box 105 via the same yarn feeding and changing robot 104 and yarn feeding and conveying device 103. The processed yarn package from the false twisting machine is doffed by an autodoffer 106 and transported to a stocker 108 via a processed yarn conveying device 107. Then, the product is inspected 109 and packaged 110 before being shipped. The false twister 101 operates for 24 hours, but the inspection 109 and packaging 110 normally operate for 8 hours, during which time a stocker 108 is provided as an accumulator. Paper tubes are supplied to the false twister 101 from a paper tube supply device 111 via the same textured yarn conveying device 107 and autodoffer 106.

[0003] In order to efficiently carry out the above processing flow in a space-saving manner, the deciding factor is what type of conveyance device to use for the yarn feeding and conveying device 103 and the processed yarn conveying device 107. As this conveyance device, a tray conveyor, pin track, or overhead conveyor is generally used. Referring to FIG. 11, the equipment arrangement of a false twisting factory when an overhead conveyor is used will be explained. Figure 11
In the figure, 120 is an overhead conveyor that serves both as a yarn feeding and conveying device and a processed yarn conveying device, and the various devices are arranged along this conveyor. 1A to 1N are false twisting machines, 2 is a creel, 4 is a yarn feeding exchange robot for the creel 2,
5 is a rotary peg, and 6 is an autodoffer for the rotary peg 5. 121 is a tray stocker, 7 is an inspection device provided along the tray conveyor, 8 is a packing device, 9 is an empty paper tube collection device, 10 is a paper tube supply device, 11
is an unpacking device.

Next, the distribution station A from the unpacking device 11 to the overhead conveyor 120 will be explained with reference to FIG. Yarn supply package P of unpacked pallet 12
is transferred to the lifting device 123 via the transfer robot 122, and transferred to the hanger 120a of the overhead conveyor 120. Hanger 120a after receiving yarn supply package P
The direction can be changed by 180° by a reversing cam 120b.

Next, the transfer station B from the overhead conveyor 120 to the yarn feeding and changing robot 4 is shown in FIG.
This is explained by: The yarn supply package P of the hanger 120a is transferred to the arm 124a of the lifting device 124, and
As the yarn 24a descends, it rotates 90 degrees and faces the yarn feeding exchange robot 4. Then, the yarn feeding exchange robot 4 moves and receives this yarn feeding package P.

Next, the receiving station C from the rotary peg 5 of the false twister to the overhead conveyor 120 will be explained with reference to FIG. , lifting device 1 from rotary peg 5
The processed yarn packages P are transferred one by one onto the arm 125a of No. 25, and the arm 125a rises and rotates 90 degrees, and the hanger 120a receives this processed yarn package P.

Next, the distribution station D from the overhead conveyor 120 to the tray stocker 121 will be explained with reference to FIG. The processed yarn package P on the hanger 120a is transferred to the lifting device 126, and the arm 126a is lowered. The transfer robot 127 receives the processed yarn package P on the arm 126a, and inserts the processed yarn package into the tray 13 on the conveyor 121a leading to the tray stocker.

[0008]

[Problems to be Solved by the Invention] In the method of transferring yarn feeding packages from the pallet of distribution station A to the yarn feeding exchange robot of transfer station B using the overhead conveyor described in the prior art, it is difficult to Since the pieces are distributed and transferred one by one, there is a limit to the transportation capacity, and there is a problem that if the number of false twisting machines increases, the transportation capacity cannot keep up. In addition, the distribution station A requires a lifting device in addition to the transfer robot, making the transfer procedure complicated and the equipment configuration complicated.

The present invention has been made in view of the above-mentioned problems of the conventional technology, and its purpose is to: The purpose of this invention is to provide a package transfer method and device that has transportation capability and has simple procedures and equipment configuration.

0010

[Means for Solving the Problems] In order to achieve the above object, the package transfer method of the present invention includes a step of chucking and transporting a yarn feeding bobbin placed on a pallet, and a step in which an upward peg shaft protrudes. The process of transferring the yarn feed to a rocking table that is installed and can freely rotate 90 degrees in a vertical plane, and rotating the rocking table 90 degrees.
This process consists of rotating the yarn, inserting it into a horizontal peg shaft, and then transferring it to a yarn feeding robot. The transfer device for this purpose includes a ceiling transport vehicle that suspends a carrier having a plurality of downward bobbin chucks projecting thereon in a vertically movable manner, and an upward peg shaft that is installed at the part where the carrier is suspended. It consists of a rocking table that can reciprocate by 90 degrees in a vertical plane, and a yarn feeding and changing robot that runs at a position opposite the horizontal peg shaft of the rocking table.

[0011]

[Effect] Increasing the number of downward bobbin chucks protruding from the carrier of the overhead transport vehicle increases the conveyance capacity, directly distributing the yarn feeding packages on the pallet, and placing the yarn feeding packages on the rocking table with the upward peg shaft. 9 on the rocking platform after the transfer of
When the yarn is rotated by 0°, it becomes a sideways yarn feeding package and is directly transferred to the yarn feeding exchange robot.

0012

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an equipment layout diagram of an overall processing system to which the package storage method and apparatus of the present invention are applied.

In FIG. 1, reference numeral 21 denotes a running rail for an overhead conveyance vehicle 22 for conveying a yarn supply package and an overhead conveyance vehicle 23 for conveying a processed yarn package, and various devices are arranged along this rail 21. ing. Note that the layout has been simplified to show the basics of the system. 1A is a false twister, 2 and 3 are creels, 4 is a yarn feeding exchange robot for the creel 2, 5 is a rotary peg, and 6 is an autodoffer for the rotary peg 5. 24 is a rotary stocker, 7 is an inspection device provided along the tray conveyor 25, and 11 is an unpacking device. In addition, packaging equipment,
Illustrations of an empty paper tube recovery device and a paper tube supply device are omitted.

Next, the distribution station A from the unpacking device 11 to the overhead carrier 22 according to the method and device of the present invention
will be explained with reference to FIGS. 1 and 2. In FIG. 1, the overhead vehicle 22 can stop directly above the pallet 12, and the pallet 1
2 can be moved in the horizontal direction of the drawing for each arrangement pitch. In FIG. 2, the top plate and the like of the pallet 12 are sequentially removed by an unpacking device 11 (not shown), and the yarn supply package P is placed with its bobbin B facing upward. A carrier 31 is suspended from the ceiling transport vehicle 22 by a hoisting belt so as to be movable up and down, and two bobbin chucks 32 are attached to the carrier 31 so as to face downward. The bobbin chuck 32 has a rubber pad that can be expanded or contracted in the diameter direction of the inner surface of the bobbin B. The bobbin chuck 32 is brought into a contracted state, the carrier 31 is lowered, and the bobbin chuck 32 is inserted into the bobbin B of the yarn supply package P placed on the pallet 12. Bobbin chuck 32
When the carrier 31 is enlarged and the carrier 31 is raised, it becomes the state shown in the figure, and the overhead carrier 22 moves to the next receiving station B.
run.

Next, the transfer station B from the overhead transport vehicle 22 to the yarn feeding and changing robot 4 according to the method and apparatus of the present invention will be explained with reference to FIGS. 1 and 2 to 4. In FIG. 1, the yarn feeding exchange robot 4 is located on the same line as the creel 2.
A rocking table 33 is installed at a position facing the. The ceiling transport vehicle 22 stops right above this rocking table 33. The structure and operation of this rocking table 33 will be explained with reference to FIG. A table 35 is fixed to a rotatably supported shaft 34. Two peg shafts 36 are provided on this table 35 to protrude upward. Further, an arm 37 is fixed to the shaft 34, and a cylinder 39 is attached between the tip of the arm 37 and the base 38. Note that 38a is a guide rod for positioning the carrier. When the cylinder 39 is in the illustrated shortened state, the table 35 becomes a horizontal surface and the peg shaft 36 faces upward. When the cylinder 39 is extended and the arm 37 is at the two-dot chain line position, the table 35 becomes a vertical plane and the peg shaft 36 becomes horizontal. The operation of this swing table 33 will be explained with reference to FIG. When the ceiling transport vehicle 22 lowers the carrier 31, the carrier 32 is positioned by the guide rod 38a, and the yarn supply package P is positioned directly above the table 35. When the bobbin chuck 32 is in the contracted state, the yarn supply package P is inserted into the upward peg shaft 36. After the carrier 31 is raised, the thin lid 39 is extended, the table 35 is rotated 90 degrees counterclockwise about the shaft 34, and the yarn supply package P is turned sideways as shown by the two-dot chain line. Then, the yarn feeding exchange robot 4 receives the yarn feeding packages P in order.

Distribution station A in FIG. 2 and transfer station B in FIG. 3 according to the above-described method and apparatus of the present invention
With this configuration, a number of yarn feeding packages P corresponding to the number of bobbin chucks 32 (two in the illustrated example) protruding from the carrier 31 of the ceiling transport vehicle 22 can be transported at once. Further, at the distribution station A in FIG. 2, the yarn supply package P placed on the pallet 12 is directly distributed to the bobbin chuck 32, and the transfer robot and lifting device as shown in FIG. 12 are not required, thereby saving space. Furthermore, in the transfer station B of FIG. 3, a plurality of yarn feeding packages P can be sequentially transferred to the yarn feeding exchange robot 4 simply by using the rocking table 33 having the same number of peg shafts as the bobbin chucks 32. Also,
As shown in FIG. 1, the transfer directions of the yarn feeding packages of the creel 2 and the rocking table 33 are the same with respect to the yarn feeding exchange robot 4, so the movement of the hand of the yarn feeding exchange robot 4 is simplified. be done.

Next, the receiving station C from the rotary peg to the overhead transport vehicle will be explained with reference to FIGS. 1, 5 and 6. In FIG. 1, the overhead transport vehicle 23 stops directly above the end of the rotary peg 6. In FIG. 5, the ceiling transport vehicle 2
3, a carrier 51 having an inverted L-shaped frame structure when viewed from the side is suspended by a hoisting belt so as to be movable up and down. A first horizontal plate 52 is fixed on the upper side of the central frame 51a of the carrier 51 in FIG. 6, a second horizontal plate 53 is fitted in the middle so as to be slidable up and down, and a third horizontal frame 54 is installed on the lower side so as to be slidable up and down. It is inserted. Lateral peg shafts 55 are protruded on the left and right sides of these horizontal frames 52, 53, 54, so that 3 x 2 rows = 6 processed yarn packages P can be transported at once as shown in the figure. It has become. Further, an upper limit stopper 51c for the second horizontal frame 53 and the third horizontal frame 54 is provided on the central frame 51a.
and the lower limit stopper 51d are attached, and the second horizontal frame 53
is slidable by a distance L1, and the third horizontal frame 54 is slidable by a distance L1.
2 slides are possible. As a result, the large pitch P1 between the peg shafts 55 is variable to the small pitch P2. Further, a guide hole member 51e is attached to the outer frame 51b, and four guide rods 56a to 56d are protruded from positions facing the rotary peg 5. When guided, the peg shaft 55 on the left side of the drawing and the rotary peg 5 face each other, and when the guide hole member 51e is guided by the guide rods 56a and 56c, the peg shaft 55 on the right side of the drawing and the rotary peg 5 face each other.
are facing each other. Further, as shown in FIG. 5, pushers 57a to 57c are provided at the ends of the rotary peg 5 to push the yarn supply package P to the peg shaft 55 on the carrier 51 side.

The operation of receiving station C having such a structure will be explained with reference to FIG. The overhead transport vehicle 23 descends at the position shown, receives three processed yarn packages on the left peg shaft 55, and once ascends, moves horizontally a distance L and transfers to the carrier 5.
1 is at the two-dot chain line position, and further lowers to the right peg shaft 55
Receive three processed yarn packages at the same time. Therefore, six processed yarn packages can be received and transported at the same time. Also, the pitch of the upper and lower peg shafts 55 is P
It is variable from 1 to P2, and can receive the processed yarn packages from the rotary peg 5 with the long pitch P1 and distribute the processed yarn packages at once to the peg shaft of the rotary stocker with the short pitch P2 described below. , efficient.

Next, the distribution station D from the overhead carrier to the rotary stocker will be explained with reference to FIGS. 1 and 7. In FIG. 1, the overhead transport vehicle 23 stops directly above the end of the rotary stocker 24. In FIG. 7, the rotary stocker 24 has a vertical plate 62 with six horizontal peg shafts protruding from above and below, which are connected in an oval shape when viewed from above, and the vertical plate 62 is connected to a drive chain or the like (not shown) for control. It is possible to move around. As shown in Figure 1,
Two peg shafts are located at the left end of the rotary stocker 24 in the drawing, and one peg shaft is located at the right end in the drawing. Returning to FIG. 7, the distribution device 63 is arranged opposite to the left end of the rotary stocker 24 in the drawing, and the transfer device 70 described above is arranged opposite to the right end of the drawing. The distribution device 63 includes 12 pushers 64 (6 pushers x 2 rows), two guide rods 65 arranged in the thickness direction of the paper, and horizontal plates 53,5.
4 and a positioning member (not shown). As shown in the figure, in the illustrated state in which the guide hole member 51e is guided by the guide rod 65 and the carrier 51 is the lowest, the lowering of the horizontal plates 53 and 54 is regulated by a positioning member (not shown), and the pitch P1 becomes P2. The pusher 64 faces the peg shafts 61 in the lower three stages of the rotary stocker 24, and six processed yarn packages P are delivered to the rotary stocker 24 at once by the pusher 64. Even when the carrier 51 is halfway down as shown by the two-dot chain line, the horizontal plates 53 and 54 are prevented from descending by positioning members (not shown), the pitch P1 becomes P2, and the upper three peg shafts of the rotary stocker 24 61 and 6 processed yarn packages P
The pusher 64 moves the rotary stocker 24 at once.
will be distributed to

[0020] In the above-mentioned rotary stocker 24,
The six processed yarn packages in the vertical direction are arranged closely without any gaps, and many rows of them are connected, so the height direction can be used effectively and a large number of processed yarn packages can be installed despite the small installation space. Can be stored. In this way, processed yarn packages P from the false twisting machine operating 24 hours a day are delivered to the distribution device 63.
The processed yarn packages P are then stored densely and efficiently in the rotary stocker 24, and are sequentially transferred to the trays 13 via the transfer device 70 for an 8-hour inspection process, and transported together with the tray 13 to the inspection device. It has become so.

Next, the transfer station E from the rotary stocker 24 to the tray conveyor 25 is shown in FIGS. 1 and 8.
This will be explained with reference to FIG. In FIG. 1, a rotary stocker 24 and a tray conveyor 25 are arranged in series, and a transfer device 70 is located between them. The processed yarn packages P in the upper and lower rows of the rotary stocker 24 are transferred one by one onto the tray 13 by the transfer device 70, and then transported to the inspection device 7 for each tray. In FIG. 8, rotary stocker 2
A pusher 66 is installed at the right end of the figure 4, and can push out any processed yarn package P on a row of upper and lower peg shafts 61. The transfer device 70 includes a tray holding table 71 shown in FIG. 8, a lifting table 72, and a cylinder 73 as a driving device.
It mainly consists of a vertical frame 74, an empty tray carry-in conveyor 75 shown in FIG. 9, and a real tray carry-out conveyor 76. A locking device 77 for the tray 13 is attached to the lower surface of the tray holding base 71 in FIG. 8, and is adapted to lock or unlock a protrusion (not shown) on the lower surface of the tray 13. A shaft 78 of this tray holding base 71 is rotatably supported by a bearing block 79.
is connected to the slide rod 80. The slide rod 80 is slidable in the left-right direction in the drawing by a guide 81 fixed to the lifting table 72. Further, a cylinder 73 is attached between the tray gripping table 71 and the lifting table 72, and when the cylinder 73 is extended, the tray gripping table 71 is moved to the slide rod 80.
9 in the counterclockwise direction around the axis 78.
It rotates by 0° and changes from the solid line position to the two-dot chain line position. The lifting platform 72 is guided by a vertical frame 74 and is hooked onto a drive chain 82 provided along the vertical frame and driven by a motor 83.
can be moved to a predetermined vertical position. The empty tray carry-in conveyor 75 in FIG. 9 is provided with a pusher 84 that reciprocates between the solid line position and the two-dot chain line position. pusher 84
When the tray moves forward, the empty tray 13 is pushed out onto the tray holding stand 71, and the real tray 13 that was on the tray holding stand 71 is pushed out onto the real tray carrying out conveyor 76.

The process of transferring the processed yarn package to the tray by the package transfer device 70 described above will be explained. Figure 9
At this time, the empty tray 13 is carried onto the tray holding table 71 by the pusher 84. And the locking device 7
At step 7, the tray 13 is integrated with the tray holding base 71. The lifting platform 72 in FIG. 8 is connected to a motor 83 and a drive chain 8
2 gives a predetermined height. In the illustrated example, the lifting platform 72 is located at the lower limit position. When the cylinder 73, which is the driving device, is extended, the tray gripping base 71 moves forward and rotates 90 degrees counterclockwise, reaching the position shown by the two-dot chain line, and the tray 13 is placed on the lowermost peg shaft of the rotary stocker 24. Facing 61. Then, the processed yarn package P is pushed out onto the tray 13 by the pusher 66. Then, when the cylinder 73 is shortened, the actual tray 13 is placed on the tray holding base 71 indicated by the solid line. Then, the next empty tray 13 is moved to the tray gripping base 7 by the pusher 84 shown in FIG.
At the same time as the actual tray 13 is carried onto the actual tray 13, the actual tray 13 is pushed out onto the actual tray delivery conveyor 76. By repeating the above operations, the six processed yarn packages P above and below the rotary stocker 24 are sequentially inserted into the tray, the rotary stocker 24 is laterally moved one row, and the next six processed yarn packages P above and below are sequentially inserted into the tray. inserted. In the transfer process using the package transfer device 70 described above, there is no need for a separate lifting device as shown in FIG. It is now possible to reliably transfer processed yarn packages from the rotary stocker to the tray in a short cycle time.

[0023]

Effects of the Invention In the package transfer method and device of the present invention, increasing the number of downward bobbin chucks protruding from the carrier of the overhead transport vehicle increases the transport capacity, and allows yarn feeding packages on the pallet to be directly transferred. The yarn feeding package is distributed and transferred to a rocking table with an upward peg shaft, and when the rocking table is rotated 90 degrees, it becomes a sideways yarn feeding package, which is directly transferred to the yarn feeding exchange robot, which increases the conveyance capacity. However, the transfer procedure and equipment configuration can be simplified.

[Brief explanation of drawings]

FIG. 1 is an equipment layout diagram of an overall processing system to which the package storage method and device of the present invention are applied.

FIG. 2 is a side view of a dispensing station from an unpacking device to an overhead carriage according to the method and apparatus of the invention;

FIG. 3 is a side view showing a transfer station from an overhead transport vehicle to a yarn feeding exchange robot according to the method and apparatus of the present invention.

FIG. 4 is a side view of the rocking table.

FIG. 5 is a side view of the receiving station from the rotary peg to the overhead vehicle.

FIG. 6 is a front view of the receiving station from the rotary peg to the overhead vehicle.

FIG. 7 is a side view showing a distribution station to the rotary stocker and a transfer station from the rotary stocker.

FIG. 8 is a side view of the transfer device.

FIG. 9 is a top view of the transfer device.

FIG. 10 is a processing flow diagram of synthetic yarn in a false twisting factory.

FIG. 11 is an equipment layout diagram of a false twisting factory when an overhead conveyor is used as a conveyance device.

FIG. 12 shows a dispensing station from the unpacking device to the overhead conveyor.

FIG. 13 is a diagram showing a transfer station from an overhead conveyor to a yarn feeding and changing robot.

FIG. 14 is a diagram showing the transfer of a package from a rotary peg to an overhead conveyor.

FIG. 15 is a diagram showing package transfer from an overhead conveyor to a tray stocker.

[Explanation of symbols]

4 Yarn feeding exchange robot 12 Palette 22 Ceiling carrier 31 Career 32 Bobbin chuck 33 Rocking table

Claims (2)

[Claims] Claim 1: The process of chucking and transporting the bobbin of yarn feeding placed on a pallet, and transferring the yarn feeding to a rocking table with an upward peg shaft protruding and capable of reciprocating 90 degrees in a vertical plane. A package transfer method comprising the steps of: rotating the rocking table by 90 degrees to feed yarn inserted into a horizontal peg shaft, and then transferring the yarn to a yarn feeding robot. Claim 2: A ceiling transport vehicle for vertically suspending a carrier having a plurality of downward bobbin chucks projecting thereon, and a ceiling transport vehicle for lifting and lowering a carrier having a plurality of downward bobbin chucks projecting thereon; This package transfer device consists of a rocking table that can freely rotate 90 degrees back and forth, and a yarn feeding and changing robot that runs in a position opposite to the horizontal peg shaft of the rocking table.