JPH05106127A - Apparatus for automatically mounting cake in glass fiber twister - Google Patents

Abstract

PURPOSE:To obtain the subject apparatus, provided with fixed rails for plural twisters and capable of making a robot body movable to another twister with a moving device, controlling the robot body, automatically taking out full cakes from a cake cart and mounting the full cakes on a creel. CONSTITUTION:An apparatus for automatically mounting cakes in a glass fiber twister is equipped with a fixed rail (B) arranged along each one row of spindles of plural yarn twisters, a robot body (C) having a travel cart part 3, capable of transferring onto the rail (B) and traveling thereon and provided with a ramp 5 through an elevating mechanism 4 and a cake chuck mechanism 9 installed so as to enable horizontal direct advance through a horizontal direct advance mechanism 8 in a cake supporting frame 7 turnably provided through a turning mechanism 6 on the ramp 5, a transfer device (D) capable of moving the robot body to an optional twister (A), a cake cart (E) for supporting full cakes (G) and an automatic controller (F) for successively mounting the cakes (G) on the cake cart (E) onto a creel 2 of the twister (A). Thereby, the full cakes (G) are automatically mounted onto the creel 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cake mounting device for a glass fiber twisting machine.

[0002]

2. Description of the Related Art Generally, a glass fiber yarn is manufactured through a spinning process and a twisting process.

In the spinning process, molten glass melted in a melting furnace is ejected from a large number of bushing nozzles to form filaments, and the filaments are bundled into strands and wound into a cylindrical paper tube. -Refers to the steps up to ki (winding of roving after spinning).

In the twisting process, a cable is mounted on a reel above each spindle of a twisting machine having a large number of spindles.
The process is called pulling out a strand from a key, twisting it into a yarn, winding the yarn around a bobbin mounted on a spindle, and finishing the pattern (full bobbin).

One twisting machine has, for example, 30 on one side.
Spindles and spindles of 60 spindles are arranged on both sides. Usually, a large number of such twisting machines are aligned in the factory.

Conventionally, an operator installs a fully wound cake on each reel of a twisting machine, and a bobbin that attaches an empty bobbin to each spindle and winds the starting end of a yarn drawn out from the cake. All of the attaching work, the work for taking out the lantern, the work for removing the residual yarn cake, and the work for mounting the full winding cake again are performed manually.

[0007]

When a new full-roll cake is mounted on the car, the car is only positioned at a height where the operator can barely raise his hands, and the car The weight of the key is as large as 4 kg and 8 kg, and the work of mounting a large number of cakes on the creel not only puts a great deal of effort on the worker, but also takes a long time, which is a problem. there were. Since the weight of the cake tends to further increase in the future, labor saving and labor saving are desired.

[0008] In that case, in the usual factory equipment, a large number of twisting machines are provided, and regarding one twisting machine, the twisting work time is several hours to several tens hours. The so-called doffing work time from the simultaneous removal of the pans on all the spindles to the restart of the twisting work by the simultaneous mounting of the full-roll cake is several tens of minutes.
It should be noted that it is a waste to individually install automation equipment for all twisting machines, because each twisting machine has different doffing times.

The present invention has been proposed in view of the above points, and its object is to eliminate the waste as described above.
An object of the present invention is to provide a device for automatically mounting a full-roll cake on the reel of each twisting machine.

[0010]

In order to achieve the above object, the present invention provides a fixed rail arranged along each spindle row of a plurality of twisting machines, and traveling on the fixed rail. It has a traveling carriage that is made possible, and this traveling carriage has an elevating platform that can be raised and lowered via an elevating mechanism.
This lift table has a rake support frame installed so as to be rotatable around a vertical axis through a slewing mechanism, and the rake support frame can be horizontally moved through a horizontal linear movement mechanism. Robot body equipped with a cake chuck mechanism installed in the machine, a transfer device that can move between the twisting machines and transfer the robot body onto the fixed rail of each twisting machine, and a plurality of transfer devices. A trolley that supports the winding cake with its axis lined horizontally, and a carriage that controls the traveling of the robot body, the raising and lowering of the lifting mechanism, the turning of the turning mechanism, and the horizontal rectilinear motion of the horizontal rectilinear motion mechanism. -By the chuck mechanism
It is provided with an automatic control device for automatically and sequentially mounting the cake on the cart on the reel of the twisting machine.

The above transfer device is mounted on a hand-pushed trolley, and the robot main body can be transferred onto a fixed rail of an optional twisting machine, or it is mounted on a ceiling traveling rail. The robot body is mounted so that it can run, and the robot body is transferred and mounted on a fixed rail of an arbitrary twisting machine.

Further, the cake chuck mechanism is provided with a CCD camera and an illuminating lamp on the front surface, and the present position of the cake chuck mechanism is corrected by image processing of the CCD camera.

[0013]

When the pan having a predetermined winding amount is taken out from the spindle and the residual yarn cake is taken out from the reel, the robot body of the present invention fixes the twisting machine by a transfer device. It is transferred to the rail. Then, the traveling carriage moves on the fixed rail of the twisting machine, and the full-roll cakes on the cake carriage are mounted on the creel one by one from one end to the other end. .. The robot body is turned by the turning mechanism, and first, one of the full-rolled cakes on the dolly truck is queried.
The support frames are made to face each other, and then the horizontal rectilinear motion mechanism is advanced to chuck one of the fully wound cakes on the cake carriage by the cake chuck mechanism and retract the horizontal rectilinear motion mechanism. Case
Remove the full-rolled cake from the top of the trolley to the top of the cradle support frame. Then, the cake support frame is made to face the desired clear by the turning by the swivel mechanism and the ascending / descending operation by the ascending / descending mechanism, and in this state, the horizontal rectilinear motion mechanism is moved forward to clear the fully wound cake. Mount it on the phone. After mounting, the horizontal rectilinear motion mechanism is retracted, and the next full-roll cake is picked up by the cake carriage, and the above operation is repeated. The above operation of the robot body
This is performed according to the operation program input to the automatic control device for each twisting machine. When the mounting of the fully wound cake on one yarn twisting machine is completed, the yarn is moved to the next yarn twisting machine by the transfer device. If this transfer device is mounted on a hand-held cart,
The operator pushes the hand-pushed carriage to move it to the target position of the yarn twisting machine and transfers it onto the fixed rail of the yarn twisting machine. When the transfer device is mounted on the overhead traveling rail so as to be able to travel, it is moved to the target position of the twisting machine by the operator's operation and transferred onto the fixed rail of the twisting machine. Further, the cake chuck mechanism has a C on the front surface thereof.
If the CD chuck and the illumination lamp are provided and the current position of the cake chuck mechanism is corrected by the image processing of the CCD camera, the full-roll cake can be accurately placed on the reel of each twisting machine. It can be installed by aligning with.

[0014]

1 is a front view showing an embodiment of the device of the present invention, FIG. 2 is a side view, FIG. 3 is a side view of a transfer device, FIG. 4 is a front view of the transfer device, and FIG. (B)
Is a fixed rail, (C) is a robot body, (D) is a transfer device, (E) is a dolly carrier, (F) is an automatic control device, and (G) is a full-roll cake. ..

In the twisting machine (A), as shown in FIG. 5 (a), a large number of spindles (1) are set upright at the bottom so as to be rotatable at equal intervals, and the same number as the spindles (1) are installed at the top. The clear (2) is installed rotatably. The reel (2) is equipped with a full-rolling case (G), and the spindle (1) is equipped with an empty bobbin (not shown).
The yarn wound from the key (G) is twisted and wound around the bobbin. This operation is similar to that of a known ring twisting machine. Glass fiber has a larger specific gravity than natural fiber, chemical fiber, synthetic fiber, etc.
It is not smooth to pull it out of the clear (2), and the yarns rub against each other on the outer peripheral surface of the cake to cause fluffing, or to induce yarn breakage. For the reason, the clear (2) is positively driven to rotate independently of the rotation of the spindle (1).

As shown in FIGS. 6 (a) and 6 (b), the clear (2) includes a boss portion (2b) fixed to the rotary shaft (2a) of the yarn twisting machine (A) and the rear ends thereof. A plurality of arms (2c) pivotally attached to the rear end of the boss (2b) so as to be swingable in the radial direction and equally arranged around the boss (2b), and the boss (2b). A shifter (2d) slidably fitted to the front end of each arm, and the front end and shifter of each arm (2c).
A link (2e) for pin-connecting with (2d) and a plurality of circles mounted on the outer periphery of each arm (2c) so as to be slightly movable in the radial direction and pressed outward by the spring (2f) in the radial direction. Each link (2e) is provided with an arc-shaped outer cylinder (2g), and the shifter (2d) is slid in the axial direction.
Swing the front end of each arm (2c) in the radial direction via
As a result, the outer cylinder (2g) can be expanded and contracted from a conical shape having a small diameter at the front end to a cylindrical shape having the same diameter in the front-rear direction.
The outer diameter of g) is slightly larger than the inner diameter of the paper tube (G ') of the cake, and the outer diameter of the front end of the outer cylinder (2g) when reduced is smaller than the inner diameter of the paper tube (G') of the cake. In addition, the outer cylinder (2g)
During expansion, the shifter (2d) can be stopped by sliding it to a position slightly beyond the maximum expanded position of the outer cylinder (2g).

The fixed rail (B) is shown in (b) and (c) of FIG.
And as shown in FIG. 7, it is arrange | positioned along each spindle (1) row | line | column on both sides of each twisting machine (A) of several sets.

The robot body (C) has a fixed rail (B).
A traveling carriage unit (3) which is capable of traveling by moving up,
An elevating table (5) installed on the traveling carriage section (3) so as to be able to ascend and descend via an elevating mechanism (4), and can be swiveled on the elevating table (5) about a vertical axis through a swiveling mechanism (6). And a cake chuck mechanism installed on the cake support frame (7) via a horizontal rectilinear motion mechanism (8) so that the rectilinear motion is possible. (9) and. As shown in FIG. 8, the traveling carriage unit (3) has a fixed rail.
A plurality of guide wheels (3a) that can roll by contacting the upper surface and both side surfaces of the rail (B) and a rack (10) fixed along the entire length of the fixed rail (B). And a traveling motor (3c) for driving the pinion (3b) to rotate normally and reversely. Lifting mechanism (4)
As shown in FIG. 2, a pillar (4a) fixed to a part of the traveling carriage (3) and pulleys (4b) (4c) installed above and below the pillar (4a). , This pulley (4b)
Toothed belt (4d) stretched endlessly between (4c)
And a drive pulley (4e) meshed with a part of the toothed belt (4d), and a lifting motor (4f) for driving the drive pulley (4e) to rotate forward and backward. ing. The lifting table (5) is connected to a part of the toothed belt (4d) and is supported so as to be able to move up and down along the column (4a).

As shown in FIG. 2, the swivel mechanism (6) is a swivel motor (6a) installed on an elevator (5), and a normal and reverse rotation drive by this swivel motor (6a). The pulling pulley (6b), a vertical shaft (6c) rotatably supported by the lifting table (5) corresponding to the pulling pulley (6b), and fixed to the vertical shaft (6c). It has a pulley (6d) and a transmission belt (6e) stretched between these pulleys (6b) and (6d) for transmitting a rotational force. As shown in FIG. 9, the cake supporting frame (7) includes a supporting substrate (7a) and circular frames (7b) fixed before and after the supporting substrate (7a).
(7c) and a plurality of support bars (7d) arranged at equal intervals between the circular frames (7b) and (7c), and the lower rear end side of the support substrate (7a). Swivel mechanism (6)
Is fixed to the vertical axis (6c) of.

In FIGS. 1 and 2, the cake supporting frame (7) is vertically moved to the lifting table (5) through the connecting frame (7e).
The installation intervals of the upper and lower cake support frames (7) are set to be the same as the upper and lower installation intervals of the reel (2) of the twisting machine (A). It is configured such that two (G) can be mounted.

The upper and lower cake support frames (7) have the same structure, and the cake chuck mechanism (7) is mounted on the cake support frame (7) through the horizontal rectilinear motion mechanism (8). 9) is installed so that it can move horizontally and straight. Horizontal translation mechanism (8)
As shown in FIGS. 9 and 10, a main forward / rearward movement cylinder (8a) having a rodless cylinder structure fixedly mounted on a support substrate (7a) of the cake support frame (7) and the main forward / backward movement cylinder. The main front-rear carriage (8) that is connected to the cylinder (8a) and moves back and forth.
b) and an auxiliary front-rear carriage (8d) installed on the main front-rear carriage (8b) so as to be movable back and forth via a sub-rear cylinder (8c). 8c)
Is connected to the auxiliary front-rear carriage (8d) via a damper cylinder (8f) having a spring (8e) installed therein.
This damper-cylinder (8f) absorbs the positioning error of the forward end positions of the main front-rear movement cylinder (8a) and the auxiliary front-rear movement cylinder (8c) while buffering it, and supplies air pressure to the inside at a predetermined time. It is possible to cancel the action of the spring (8e).

As shown in FIG. 9, the cake chuck mechanism (9) includes a support cylinder (9a) fixed to the auxiliary front and rear movement table (8d).
And a pair of chuck arms (9b) (9b) pivotably attached to the upper and lower front ends of the support cylinder (9a) and links (9c) (9c) to the chuck arms (9b) (9b).
And a chuck opening / closing cylinder (9e) connected via a sliding cylinder (9d), and the sliding cylinder (9d) is slidably mounted on the support cylinder (9a). 9d) and the piston rod (9) of the chuck opening / closing cylinder (9e).
The tip of f) is connected by a connecting pin (9g).
It should be noted that the auxiliary push-motion base (8d) has a cake pushing plate (9h).
(9h) is attached integrally. The cake pushing plates (9h) (9h) are attached to the chuck arms (9b) (9h).
b) together with the full-width cake (G) supported by the cake support frame (7) by pressing approximately three points around one end of the paper tube (G ') of the full-width cake (G). ) Is pushed into the clearer (2) of the twisting machine (A) to be mounted.

A CCD camera (11) is installed at the center of the front end surface of the cake support frame (7) as shown in FIGS. (12) and (12) are installed on both sides of (). These are installed on the supporting substrate (7a) of the cake supporting frame (7) via the bracket (13). This CCD camera (11) takes an image of the clear (2) of the twisting machine (A) and searches for the center position thereof, and the center of the CCD camera (11) coincides with the center of the clear (2). Thus, the position correction operation of the robot body (C) is performed by the automatic control device (F). Specifically, in the image of the CCD camera (11) when the clear (2) is photographed, as shown in (a) and (b) of FIG. 11, a white circular bright part (a) is displayed on the screen. The robot main body (C) is position-corrected by the automatic control unit (F) so that the black dark portion (b) comes to the outside in the center. For that purpose, the cap (2h) having the above-mentioned light and dark identification pattern is attached to the front surface of the shifter (2d) of the clear (2) shown in FIG. If there is a spindle (1) that is malfunctioning for some reason, it is necessary to supply a full-roll cake (G) to the clear (2) corresponding to the spindle (1). In some cases,
The identification pattern of the cap (2h) is identified as a single black color.

As shown in FIGS. 1 and 2, a clear knob pulling mechanism (14) is installed on the traveling carriage portion (3) of the robot body (C). This clear knob pulling mechanism (14) pulls out the shifter (2d) of the clear (2) shown in (a) of FIG. 2g) is expanded so that the mounted full-roll cake (G) can be securely fixed to the clear (2). The concrete structure of the clear knob pulling mechanism (14) is, as shown in (d) of FIG. 11, a robot body (C).
A front-rear moving cylinder (14b) is attached to a column (14a) provided upright on the traveling carriage (3), and a cup-shaped gripping head (14d) is attached to a tip of a piston rod (14c) of the front-rear moving cylinder (14b). An annular rubber tube (14e) is attached to the inside of the gripping head (14d) by a flange portion (14f). The annular rubber tube (14e) is capable of supplying and discharging air. By supplying the
Knob (2) at the front end of the shifter (2d)
d ') is gripped, the piston rod (14c) of the forward-backward movement cylinder (14b) is retracted, the shifter (2d) is pulled out, and the full-roll cake (G) is securely fixed to the clear (2). It is what makes them. After this, the air inside is discharged, the annular rubber tube (14e) contracts and restores, and the knob (2
d ′) is released, and the forward / backward movement cylinder (14
The piston rod (14c) of b) is retracted, and the gripping head (14d) is returned to the original position. The forward / rearward movement cylinder (14b) is a two-stage operating cylinder, and the two-stage cylinder continuously operates during forward movement, and the first stage operation during backward movement causes the shifter (2d) of the clear (2). ) Pull out the knob (2d ') at the front end to the cake fixing position, temporarily stop at this position, and wait for gripping and releasing of the knob (2d') by contraction and restoration of the annular rubber tube (14e). This is to operate the stage. As shown in FIG. 11C, two clear knob pulling mechanisms (14) are installed one above the other in accordance with the clearance of the clear (2), and the robot body (C) runs. On the trolley (3),
It is parallel to the support frames (7) and (7), and is arranged behind the robot main body (C) in the traveling direction by one pitch (P) of the clear (2). As a result, the full-roll cake (G) mounted on the clear (2) of the robot body (C) is successively and reliably fixed by the clear knob pulling mechanism (14).

Next, the transfer device (D) moves between the twisting machines (A) to transfer the robot body (C) onto the fixed rail (B) of each twisting machine (A). Of
There are a hand-held trolley system and an overhead traveling rail system. First,
As shown in (b) and (c) of FIG.
A short rail (1) for mounting the traveling carriage (3) of the robot body (C) on a wheeled hand-held carriage (15).
6) is provided, the robot main body (C) is placed on the rail (16), and the robot is moved to the position of the fixed rail (B) of the yarn twisting machine (A), and the short rail is moved. (16) is aligned with the starting end of the fixed rail (B) of the yarn twisting machine (A), and a plurality of outrigger jacks (17) provided on the hand-pull type carriage (15) are projected to make the hand-pull type The carriage (15) is raised so that the upper surface of the short rail (16) coincides with the upper surface of the fixed rail (B), and the hand-pushed carriage (15) is fixed, and the twisting machine (A) Full roll cake (G) on all clears (2)
Wait until the robot body (C) returns after wearing the robot. A locating pin, a locating hole, and an engaging step are provided at the joint between the short rail (16) of the hand-pushed trolley (15) and the fixed rail (B) of the twisting machine (A). Is. In addition, a hydraulic unit (not shown) for operating the plurality of outrigger jacks (17) is installed in the hand-pushed truck (15).

Next, a ceiling traveling rail type transfer device (D) will be described with reference to FIGS. 3 and 4. The transfer device (D) of the ceiling traveling rail system is the ceiling rail (1
8) A suspended ceiling type trolley (19) installed so as to be movable along the ceiling suspended type trolley (19).
A suspension frame (21) suspended and supported via the cables (20) and (20), and a short rail (22) supported by the suspension frame (21) are provided to suspend the ceiling. The traveling wheels (24) and (24) are driven by the traveling motor (23) installed on the type carriage (19) to the target position of the twisting machine (A) along the ceiling rail (18). It is intended to drive. The robot body (C) is on the short rail (22).
Is placed and moved. Short rail (22)
Is connected to the chain (20) through the support frame (21).
The chains (20) and (20) are suspended from the ceiling suspension type trolley (19) by (20), and the chains (20) and (20) are mounted on the ceiling suspension type trolley (19).
5) It is driven up and down by (25). That is, a chain wheel (26) (26) is installed in the ceiling-suspended trolley (19), and a chain (2) is attached to the chain wheel (26) (26).
0) and (20) are put together. And the lifting mode
By driving the motors (25) and (25) to rotate in the forward and reverse directions, the chains (20) and (20) are passed through the chain wheels (26) and (26).
Is to wind up and down. A level gauge is mounted on the support frame (21), and the lifting motors (25) (2) are placed so that the level gauge is horizontal.
5) is driven. Describing in concrete operation, the robot main body (C) is transported to a target twisting machine (A) by a ceiling-suspended trolley (19), and a lifting motor (2) is placed at that position.
5) (25) unwind the chain (20) (20) through the chain wheel (26) (26), and the short rail (2
2) is placed on the starting end of the fixed rail (B) of the target twisting machine (A) and connected, and in this state, the leveling motors are further leveled so that the horizontal gauge is horizontal. Is controlled in forward and reverse directions to make the short rail (22) flush with the fixed rail (B). After this, the robot body (C) is moved onto the fixed rail (B) to clear the full-roll cake (G).
It is to be attached to the le (2). A plurality of guide columns (27) are vertically hung from the ceiling-suspended carriage (19) in order to prevent lateral vibration of the support frame (21) while the ceiling-suspended carriage (19) is being moved. The supporting frame (21) is made to correspond to the lower end of the guide column (27).
An engaging pin (28) is installed on the upper side, and when the ceiling-suspended trolley (19) is moved, the supporting frame (21) is lifted and the engaging pin (28) is moved to the guide column (27). It is designed to be engaged with the bottom hole. This ceiling traveling train
In the case of the transfer device (D) of the roll type, a positioning pin, a positioning hole, and an engaging step are provided at the joint between the short rail (22) and the fixed rail (B). The ceiling rail (18) is arranged so that the robot main body (C) can be transported to one end of each twisting machine (A), for example, as shown in FIG. 7. 3 and 4
The transfer device (D) of the robot body (C)
Although the case where the unit is carried is illustrated, only one unit may be used.

Next, the structure of the cake carriage (E) will be described with reference to FIG. The cake trolley (E) is a trolley with wheels (2
9), a support plate (30) is erected on the support plate (30).
A plurality of cake support tools (31) are installed in the. Figure 1
In the case of No. 2, the cake support tool (31) is arranged in two rows in the upper and lower directions, and the upper and lower intervals are the intervals between the two upper and lower cake support frames (7) and (7) of the robot body (C). Same as. The structure of the cake support tool (31) may be one that can support the full-roll cake (G) in parallel with the axis of the reel (2) of the twisting machine (A), and for example, , A semi-circular plate may be used to support the inside diameter of the cake paper tube (G '), or the outside diameter slightly smaller than the inside diameter of the cake paper tube (G'). It may be configured with a pipe. Then, the CCD camera (1) of the cake chuck mechanism (9) of the robot body (C) is provided on the front surface of the cake support (31).
Cap for identification (2)
It is preferable to wear h). The dolly (29) with wheels of the dolly (E) has a plurality of positioning pins (3
2) is removably installed, and correspondingly, a positioning hole (33) is formed at a predetermined position on the floor surface between the twisting machines (A). As a result, the cake carriage (E) can be positioned and fixed at a predetermined position between the twisting machines (A).
This cake cart (E) is pushed and moved by an operator.

Finally, the automatic controller (F) will be described. This automatic control device (F) is a robot body (C)
For controlling the operation of the robot body (C)
And the transfer device (D).
First, the automatic control device (F) installed in the robot body (C) travels the traveling carriage section (3) of the robot body (C), raises and lowers the elevating mechanism (4), and turns the turning mechanism (6). The horizontal rectilinear motion of the horizontal rectilinear motion mechanism (8) is controlled for each twisting machine (A), and the cake chuck mechanism (9) moves the fully wound cake (G) on the cake carriage (E). Each clear of twisting machine (A)
The yarns are automatically and sequentially mounted on the reel (2), and a specific operation is performed according to an operation program previously input to the automatic control device (F) for each twisting machine (A). As an example, a series of operation procedures and common movement information are registered in the automatic control device (F), and each twisting machine (A) is registered.
Individual information such as the clear pitch and height of each is given to the automatic controller (F) by the ID card (34), and the cake mounting operation is performed by this information. Of course CC
The position correction operation information by the image processing of the D camera (11) is also given to the automatic control device (F) to automatically perform the position correction operation. The ID card (34) is
It may be installed at a part of the starting end of the fixed rail (B) of each twisting machine (A), and correspondingly, a reading means may be provided at a part of the robot body (C) side. it can.

The automatic control device (F) provided in the transfer device (D) transfers the robot body (C) from the transfer device (D) to the fixed rail (B) of the twisting machine (A) and It is responsible for the operation when returning from the fixed rail (B) of the twisting machine (A) to the transfer device (D). The automatic control device (F) of the robot body (C) and the automatic control device (F) of the transfer device (D) can mutually transmit information by wire, wireless or optical communication. The automatic control device (F) of the transfer device (D) of the ceiling traveling rail system also has means for controlling the traveling of the ceiling suspension type carriage (19) and the raising and lowering of the supporting frame (21). It is provided. In addition, as a method of supplying power to the automatic control device (F) of the robot body (C) and the automatic control device (F) of the transfer device (D), a fixed rail (B), a ceiling rail (18), Transfer device (D)
When the trolley wire (35) is arranged on each of the short rails (16) and (22), and the current collecting brush (36) is installed on the robot body (C) and the ceiling-hung carriage (19). Although illustrated, a cable and a cable reel may be used instead of this.

The device of the present invention has the above-mentioned structure, and its operation will be described below. Each twisting machine (A), each twisting machine (A)
Each spindle (1) is simultaneously driven and controlled by the drive source provided for each spindle, so that the bobbins mounted on each spindle (1) are fully wound at the same time. The twisting machine (A) thus fully wound is automatically stopped and a worker is notified by a buzzer or the like. However,
The time for full winding is different for each twisting machine (A).
When one of the twisting machines (A) is fully wound, the pan (I) is taken out from each spindle (1) of the twisting machine (A), and each reel of the twisting machine (A) is taken out. The residual yarn cake is taken out from (2). And this twisting machine (A)
The dolly carriage (E) having the required number of full-rolled cakes (G) mounted thereon is carried into the position (1) and positioned at a predetermined position. After that, the robot body (C) of the present invention is conveyed to the position of the twisting machine (A) by the transfer device (D). The short rail (16) or (22) of the transfer device (D) is connected to the fixed rail (B) of the twisting machine (A), and the robot body (C) is unrolled. The individual information on the twisting machine (A) is read from the ID card (34) or the like, and approaches the full-rolling cake (G) supported by the cake carriage (E) to approach the cake chuck mechanism ( The chuck arms (9b) and (9b) of 9) grab the upper end of one end of the cake paper tube (G '), and the retreating operation of the main and auxiliary forward / backward moving cylinders (8a) and (8c) causes the full-roll cake. (G) Cake trolley (E)
Of the cake supporting member (31) and placed on the cake supporting frame (7), and in this state, the cake supporting frame (7) is rotated 180 degrees by the rotating mechanism (6). Then, the lifting mechanism (4) raises it to the position of the clear (2) at the starting end of the yarn twisting machine (A). Then, the front surface of the cake chuck mechanism (9) is positioned on the front surface of the creel (2), and in this state, the CCD camera (11) starts photographing,
The image is processed to C at the center of the clear (2).
The robot body (C) is controlled so that the CD camera (11) comes, and in this state, the main longitudinal cylinder (a) and the auxiliary longitudinal cylinder (8c) of the horizontal rectilinear motion mechanism (8) are sequentially moved forward, The rear end of the full-rolled cake (G) supported by the cake support frame (7) is attached to the chuck arms (9b) (9).
b) and the rake push-in plate (9h) (9h) are pressed at three points to be mounted on the clear (2). And chucker
The frames (9b) and (9b) are opened, the main longitudinal cylinder (a) and the auxiliary longitudinal cylinder (8c) are retracted, the elevator mechanism (4) lowers them, and the swivel mechanism (6) rotates 180 degrees. It is turned and the next full roll cake (G) supported by the dolly carriage (E) is picked up. In this case as well, the CCD camera (11) is taken out in conformity with the center of the fully rolled cake (G) supported by the dolly carriage (E). Thereafter, in the same manner, the fully wound cake (G) supported by the cake carriage (E) is taken out by the robot main body (C) and is sequentially placed in each of the reels (2) of the yarn twisting machine (A) from the starting end. I will wear it. Then, the reel (2) with the full roll cake (G) attached is fully attached with the knob (2d ') of the shifter (2d) pulled out by the reel knob pulling mechanism (14). The winding cake (G) is securely fixed to the clear (2). When the mounting of the full-roll cake (G) on each reel (2) of the twisting machine (A) is completed, the operation of the twisting machine (A) is restarted, and the robot body (C) is Short rail (16) or (2) of transfer device (D)
2) It is returned to the top and conveyed to the next twisting machine (A).

[0031]

According to the present invention, the work of mounting the fully wound cake on the reel of the twisting machine is automated, the labor load on the operator can be reduced, and the robot body is provided with each twisting yarn. It can be shared by machines, is economical, and is economical. Also,
When the transfer device is mounted on a hand-pushed trolley, the transfer device can be freely moved and connected to a fixed rail of any twisting machine even if the arrangement of the twisting machine is complicated.
On the other hand, in the case of a ceiling traveling rail type transfer device, since the work of moving the robot main body between the twisting machines can be performed by the ceiling traveling rail, the labor burden on the operator can be reduced. it can. Also, by installing a CCD camera in front of the cake chuck mechanism,
Remove the full roll cake from the dolly trolley and clear the twisting machine.
It is possible to surely carry out the work of mounting on the cable.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the device of the present invention.

FIG. 2A is a side view showing an embodiment of the device of the present invention,
(B) is an enlarged view of the cake support frame.

FIG. 3 is a side view of a transfer device.

FIG. 4 is a front view of a transfer device.

5A is a schematic perspective view of a twisting machine, FIG. 5B is a schematic perspective view showing a relationship between a transfer device of a hand-push type carriage system, a fixed rail, and a robot body, and FIG. Schematic phantom view showing the relationship between the transfer device of the automatic carriage system, the fixed rail, the robot body, the twisting machine, and the cake carriage.

FIG. 6 (a) is an enlarged vertical side view showing an example of the clearer, and (b) is a partial front view thereof.

[Figure 7] Plan layout of the twisting machine in the factory

FIG. 8 is an enlarged view of a main part showing a relationship between a fixed rail and a traveling carriage of the robot body.

FIG. 9 is an enlarged side view of the cake support frame of the robot body.

FIG. 10 is a schematic side view of a horizontal rectilinear motion mechanism of the robot body.

11A is a front view for explaining the clear, FIG. 11B is a view for explaining the image processing of the CCD camera, and FIG. 11C is a cake support frame of the robot main body and a clear knob pulling. The front view showing the positional relationship with the mechanism, (d) is a schematic vertical sectional side view of the clear knob pulling mechanism.

[Explanation of symbols]

 A Twisting machine B Fixed rail C Robot main body D Transfer device E Cake trolley F Automatic control device 1 Spindle 2 Clear 3 Traveling trolley part 4 Elevating mechanism 5 Elevating platform 6 Swivel mechanism 7 Key supporting frame 8 Horizontal rectilinear motion mechanism 9 Key chuck mechanism 11 CCD camera 12 Illumination lamp 15 Hand-held cart 18 Ceiling rail 19 Ceiling suspension cart

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomoatsu Sato 2-7-1, Harashira, Otsu-shi, Shiga Nihon Denki Glass Co., Ltd. (72) Inventor Hikaru Tomita 2-7-1 Harashiran, Otsu, Shiga Prefecture No. Nippon Electric Glass Co., Ltd.

Claims (4)

[Claims] 1. A traveling rail having a fixed rail arranged along each spindle row of a plurality of twisting machines and a traveling carriage capable of traveling on the fixed rail. Is provided with a lift base that can be lifted and lowered via a lift mechanism, and has a cake support frame that is mounted on the lift base so as to be rotatable about a vertical axis through the swing mechanism. A robot body equipped with a cake chuck mechanism installed on the support frame so that it can be moved horizontally and horizontally via a horizontal rectilinear movement mechanism, and the robot main body is moved between the yarn twisting machines so that the robot body can be fixed on each of the twisting machines. -A transfer device that can be placed on the rail, a trolley that supports a plurality of fully-rolled rakes with their axes horizontal, and a traveling trolley of the robot body, ascending and descending the elevating mechanism, and turning. Controls the turning of the mechanism and the horizontal rectilinear motion of the mechanism. To Ke - Ke by Kichakku mechanism - key Ke on the dolly - key a twisting machine chestnut - Ke fiberglass yarn twisting machine, characterized in that is comprises an automatic control device for sequentially automatically attached to the Le -
Automatic mounting device. 2. The glass fiber according to claim 1, wherein the transfer device is mounted on a hand-pushed trolley, and the robot main body can be transferred onto a fixed rail of an arbitrary twisting machine. Automatic cake setting device for twisting machine. 3. The transfer device is movably mounted on a ceiling traveling rail, and is configured to transfer the robot main body onto a fixed rail of an arbitrary yarn twisting machine. Item 1. An automatic cake setting device for a glass fiber twisting machine according to Item 1. 4. The cake chuck mechanism is provided with a CCD camera and an illuminating lamp on the front surface, and the present position of the cake chuck mechanism is corrected by image processing of the CCD camera. An automatic cake setting device for the glass fiber twisting machine described in 1.