JPH06128824A - Robot for treating double twister - Google Patents

Abstract

PURPOSE:To provide the double twister-treating robot operated so as to pass through a yarn piecing-missed unit, even when a display lump is lighted. CONSTITUTION:The double twister-treating robot for traveling along the parallelly disposed units of the double twister, while recognizing the number of spindles, stopping at the unit on which a display lamp disposed thereon is lighted, and subsequently performing a piecing work is characterized by memorizing the number of the spindle when the treating robot misses the piecing in the piecing work, passing the unit through the spindle even when the unit again comes to the front of the unit and when the display lamp is lighted, and disposing a switch for eliminating the spindle number stored in the robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention runs along a double twister unit arranged in parallel, while recognizing the weight number, and stops at a unit in which an indicator lamp provided in each unit is lit. The present invention relates to a double twister processing robot that performs a series of operations from thread supply replacement to thread hooking.

[0002]

2. Description of the Related Art A double twister (double twisting machine) is provided with a plurality of units arranged in parallel, and each unit puts a yarn drawn from a yarn supplying package supported by a spindle into a shaft hole of the yarn supplying package. While passing a double twist by passing through, it is wound around a core tube supported by a cradle arm to form a winding package.

The applicant of the present invention travels along the unit, stops at the position of the unit when detecting the lit indicator lamp, and confirms the presence or absence of the residual yarn in the yarn supplying package. A double twister processing robot was applied for performing a series of operations from thread replacement to thread hooking, and performing a splicing operation when there is residual thread (Japanese Patent Laid-Open No. 3-249).
224).

Each unit of the double twister is provided with a yarn sensor for detecting a yarn breakage of a yarn traveling from the yarn supplying package to the winding package, and an indicator which is turned on when the yarn sensor detects the yarn breakage. A lamp is provided.

The indicator lamp is lit when the yarn of the yarn supplying package is empty and when the yarn is cut in the state where the yarn supplying package has a residual yarn (hereinafter referred to as "mid-cutting").
When the robot finds the indicator lamp that is lit, it first checks whether there are any remaining threads in the yarn supplying package.If there are any remaining threads, connect the yarn ends on the yarn supplying package side, and if there are no remaining threads, Replace the empty yarn supply package with a fully-wound yarn supply package (yarn supply exchange), pull out the yarn end from the yarn supply package (feed), pass it through the shaft hole (thread passage), and fully wind it from the cradle arm. Remove the winding package of and supply a new core tube to the cradle arm (deep frying),
The yarn end pulled out from the yarn supplying package is fixed (thread hanging) to the core tube.

[0006]

By the way, in the above-mentioned robot, when the threading mistake is made by the spindle of the weight in the unit during the intermediate joint processing work, when the threading mistake is made even if the thread is redoed several times, the intermediate joint of the weight is made. The process is stopped and the weight is turned on to perform a relaying process for the weight, and the weight of the weight that has been threaded mistakenly is reworked by the operator.

However, when the operator cannot rework the weight where the threading mistake is made by the robot, and when the robot makes a round and reaches the front of the unit where the threading mistake is made, the indicator lamp is still lit, so the robot is The relay process will be performed again. Moreover, since the weight has a thread hooking error, even if the splicing process is performed again, the splicing error will reoccur, and if it is operated in such a defective state, thread waste will be mixed in and other troubles will occur, resulting in a production efficiency Will fall.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above problems and to provide a double twister processing robot in which a unit in which the robot misses the relay is passed through even if the display lamp is lit.

[0009]

In order to achieve the above object, the present invention provides a display provided on each unit while traveling along a unit of a double twister arranged in parallel and while recognizing a weight number. In a double twister processing robot that stops at a unit whose lamp is lit and performs a relay work, when the processing robot makes a threading mistake in the relay work, it memorizes the weight number and then runs, and the unit with that weight number again When the display lamp is lit before passing, the switch is provided to allow the indicator lamp to pass through and to erase the weight number stored in the robot.

[0010]

According to the above construction, when the processing robot makes a threading mistake, it memorizes the weight number and then runs, and when the processing robot comes in front of the unit of that weight number again, the thread is lit even if the indicator lamp is lit. Since the vehicle passes through without being subjected to the hanging process or the yarn supply exchange, the operator can perform the repair work such as confirming the cause of the relay failure of the unit whose display lamp is lit and the lead out. Moreover, the processing robot is equipped with a switch that erases the weight number when the cause of the relay failure of the unit that has missed the relay is removed or when the repair work is completed. The processing is prevented and the normal relay processing is performed, so that the defective rate and the failure rate are reduced, and the production efficiency is improved.

[0011]

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 2 is a perspective view of the entire double twister showing an embodiment of the present invention, and FIG. 3 is an enlarged side sectional view showing a related configuration of a unit of the double twister and a processing robot (hereinafter referred to as a robot). .

In FIG. 2, reference numeral 1 denotes a double twister, which is composed of a plurality of units 2 arranged in parallel. The double twister 1 travels in the direction of the arrow (reciprocating) along each of these units 2 and stops at the unit 2 in which the indicator lamp 3 provided in each unit 2 is lit to perform a relaying process or a doffing process. A robot 4 is arranged to perform a series of operations such as.

In FIG. 3, each unit 2 is provided with a spindle 6 for vertically supporting the yarn supplying package 5 below.
A cradle arm 8 for horizontally supporting the core tube 7 is provided above, and the yarn Y drawn from the yarn supplying package 5 is passed through the shaft hole of the yarn supplying package 5 and guided upward while being double-twisted, and rotated by the rotating drum 9. It is adapted to be wound around a driven core tube 7 to form a winding package 10.

Above the yarn supply package 5, a snell wire 11 for guiding the yarn Y, a drop wire 12 for detecting the presence or absence of an incomplete break, a yarn guide roller 13, and a feed roller 14 for supplying the yarn Y to the winding package 10 are provided in this order. It is arranged.

The yarn Y of the yarn supplying package 5 becomes empty,
When a break occurs, the drop wire 12 falls, the switch 15 at the base end is turned on, the cradle arm 8 is pulled up to the doffing position by the cylinder 16, and the indicator lamp 3 provided on the upper front surface of the unit 2 is turned on. It is designed to be turned on.

The yarn supplying package 5 is provided in front of the spindle 6.
A supply conveyor 18 for carrying and transporting the trays 17 on the tray 17 is provided along the unit 2, and a carry-out conveyor for carrying out the fully wound winding package 10 removed from the cradle arm 8 behind the rotary drum 9. 19 are provided along the unit 2.

An operating pedal 20 is provided at the lower front of the unit 2.
Is provided, the rotation of the spindle 6 is stopped when the operation pedal 20 is depressed shallowly, and the compressed air for threading is supplied to the spindle 6 when the operation pedal 20 is further depressed.

In the double twister 1 constructed in this way, a robot 4 for performing a doffing process (deep frying, yarn supply exchange and yarn hooking), a middle splicing process (feeding, yarn hooking and yarn splicing), etc. Is provided so as to be able to travel along (in a direction perpendicular to the plane of FIG. 3). Rails 21 are horizontally installed above and below the front surface of the unit 2, and the robot 4 is provided with wheels 22 that travel on these rails 21 and a traveling device 23 that rotationally drives the wheels 22.

A lamp detection sensor 24 for detecting the lit indicator lamp 3 and a weight number detection sensor 25 for detecting the weight number of the unit 2 are provided at the position where the robot 4 faces above the robot 4.

When the robot 4 detects the indicator lamp 3 which is turned on by the lamp detecting sensor 24, the robot 4 stops in front of the unit 2 and the operating pedal 20 is depressed by the lever 26 to stop the spindle 6 and the yarn supplying package 5 The presence or absence of residual thread is checked by the residual thread sensor 31 provided at the tip of the operation arm 41.

When the robot 4 determines that there is no remaining yarn, the doffing device 27 discharges the fully wound winding package 10 to set the empty core tube 7, and the yarn feeding exchange device 28 fully fills it. The winding yarn feeding package 10 and the empty yarn feeding package 5 are exchanged, and the first yarn hooking device 29 winds the yarn Y of the yarn feeding package 5 around the empty core tube 7 (thread hooking). Do the work.

When the robot 4 determines that there is a residual yarn, that is, when a middle break occurs, one of the cut yarn ends is wound up by the winding package 10 and the spindle 6 of the other yarn ends is wound. The outer part is torn off by the rotation of the spindle 6, and the part inside the spindle 6 is excessively twisted by the rotation of the spindle 6 in the adapter. 5 is once transferred to the peg 30 of the robot 4, and the yarn end is squeezed out by the squeeze device 33 (FIG. 4).

After the yarn feeding is completed, the yarn supplying package 5 is returned onto the spindle 6 for threading, and the yarn end blown above the spindle 6 is sucked and held by a suction pipe (not shown) of the operation arm, The thread end connecting from 6 to the suction pipe is moved by tilting the operation arm and advancing and retracting the thread guide piece.
After the yarn is hooked on 3, the yarn is guided onto the yarn joining device 32. The suction pipe of the operation arm, the yarn guide piece, and a drive device (not shown) that drives both of them constitute the second yarn hooking device 38 (FIG. 4).

On the other hand, when the drive roller 39 comes into contact with the winding package 10 which has been pulled up from the rotary drum 9 and stopped and the suction arm 40 approaches, the winding package 10 is rotated in the yarn unwinding direction and the yarn layer surface is rotated. The yarn end is pulled out by suction and guided onto the yarn joining device 32. The two yarn ends thus guided are automatically spliced by the splicing device 32. When the splicing is completed, the winding package 10 is rotated by the drive roller 39 in the winding direction, and the drive roller 39 is moved by the robot 4. The operation is restarted by returning to the side and pushing down the cradle arm 16 to bring the winding package 10 into contact with the rotating drum 9.

The above is the same as the double twister robot previously filed, but in such a structure, when the robot 4 makes a threading mistake as shown in FIG. A control device 34 for traveling to the next weight, a memory 35 for storing the weight number for which the threading error has occurred, and a switch 36 for erasing the weight number stored in the memory 35 are newly provided. Incidentally, FIG.
FIG. 4 is a diagram showing a schematic configuration diagram of a control system of the processing robot of the double twister shown in FIG. 3.

In FIG. 4, the weight number detection sensor 24 is composed of, for example, a photo interrupter, and the robot 4
When the vehicle passes in front of each unit 2, the light blocking piece 37 (FIG. 3) provided in each unit 2 blocks the optical path of the photo interrupter to count the number of passing through each unit 2. . The controller 34 recognizes the weight number from the count number and the traveling direction of the robot 4. For example, the unit 2 at the end is set as the home position, the number of other units 2 that have passed when the robot 4 travels away from the home position is sequentially counted, and when the robot 4 travels in the approaching direction, it is sequentially decreased. The obtained number is recognized as a weight number. Although the weight number detection sensor is composed of a photo interrupter, the weight number detection sensor is not limited to this and may be a combination of a photodiode and a phototransistor.
It is also possible to determine the weight number by counting the number of rotations of the wheel after preventing 2 from slipping.

The control device 34 is connected to the lamp detection sensor 24 and the weight number detection sensor 25 described above, and receives the detection signals from the lamp detection sensor 24 and the weight number detection sensor 25. When the control device 34 detects the unit 2 in which the lamp 3 is turned on by the lamp detection sensor 24, the control device 34 confirms the presence or absence of the residual yarn in the yarn supplying package 5. If there is no residual yarn, the doffing process is performed, and the residual yarn is removed. If there is, relay processing is performed. However, when the display lamp of the unit 2 which has been subjected to the relay processing by the lamp detection sensor 24 again after the relay processing is turned on and remains lit, it is determined that the relay processing has been missed, and the threading operation is not performed again, and the unit is not re-loaded. After the weight number 2 is stored in the memory 35, the traveling device 23 is activated, and when the weight is stored again on the front surface of the unit 2, as long as the weight number is stored, nothing is done and the next unit 2 is headed. It is designed to resume running.

The control device 34 controls not only the memory 36 but also the doffing device 27, the yarn splicing device 32, the spout device 33, the second yarn hooking device 38 and the like.

The memory 35 is composed of, for example, a RAM (random access memory), and stores the weight number sent from the control device 34.

The switch 36 is composed of, for example, a number of push buttons corresponding to the number of weight numbers that the robot is responsible for, and a signal corresponding to the number input by the push buttons is sent to the control device 34. ing. The control device 34 sends an erase signal for erasing the spindle number corresponding to the number entered on the ten-key pad to the memory 35, and the memory 35 erases the spindle number when receiving the erase signal. For example, if the worker follows the robot 4 after reworking the unit with the weight number “18”, or if the worker turns on the push button of No. 18 when he / she goes around the robot 4, the weight number “18” in the memory 35. Will be erased.

As a means for detecting a splicing error, a) a yarn feeler (not shown) for detecting the presence or absence of the yarn Y drawn from the package side is provided, and if the feeler does not detect the yarn Y, it is regarded as a splicing mistake. , The display lamp 3 is turned on. b) A yarn feeler for detecting the presence / absence of the yarn pulled out from the yarn supplying package by the yarn feeding device is provided,
If this feeler does not detect the yarn Y, it is determined as a splice failure. c) A yarn traveling sensor is provided in the vicinity of the yarn splicing device, and if the sensor does not detect the yarn traveling after the yarn splicing operation, it is possible to adopt a means such as an intermediate splicing error. Has been applied.

Next, the operation of the embodiment will be described.

FIG. 1 is an operation flowchart of the double twister processing robot.

As shown in the figure, when the control unit 34 operates the operation unit 23, the robot 4 runs along the double twister 1 (S-1).

The weight number detecting sensor 25 detects the weight number (S-2).

The lamp detection sensor 24 detects whether or not the display lamp 3 of the weight is on (S-3).

When it is determined in step (S-3) that the display lamp 3 is lit, it is detected whether or not the weight number of the lit weight is stored in the memory 35 (S-4).

If it is determined in step (S-3) that the indicator lamp 3 is off, that is, if the weight is operating normally, the process returns to step (S-1) to continue traveling.

When the weight number of the weight turned on in step (S-4) is not stored, the traveling device 23 is stopped,
The robot 4 is stopped in front of the surface of the unit 2 of the weight (S
-5), perform the required processing of the intermediate processing or the doffing processing (S-6), and if the intermediate processing is successful (S-7),
Returning to step (S-1), the traveling is continued.

If the weight number of the weight lit in step (S-4) is stored, that is, a relay processing error occurs, the weight signal is stored in the memory 35, and in step (S-1). Continue returning.

When the operator has not reworked the weight, the indicator lamp is on and the switch 36 is not pressed. Therefore, in step (S-4), the process returns to step (S-1). The robot 4 runs without doing anything.

When the operator repairs the weight and presses the switch 36, the indicator lamp 3 lights up,
Moreover, since the weight number stored in the memory 35 is deleted, the robot 4 performs the relay process of the unit 2 whose display lamp 3 is lit, and if successful, the step (S-
Return to 1) and continue traveling.

From step (S-1) to step (S)
Repeat the operation up to -8).

In this embodiment, when the processing robot 4 makes a threading error, the weight number is stored in the memory 35 and the vehicle travels. When the processing robot 4 comes in front of the unit 4 having the weight number again, the display lamp 3 is turned on. Even if it is lit, it passes through without thread hooking and thread supply replacement, so the worker checks the cause of the relay failure of the unit 4 whose indicator lamp 3 is lit and performs repair work such as lead-out. be able to. Moreover, since the processing robot is provided with the switch 36 for deleting the weight number when the cause of the relay failure of the unit 4 which has made the relay failure is removed or the repair work is completed, the robot 4 performs the relay processing only on the repaired weight. Normal relay processing is performed, the defective rate and the failure rate are reduced, and the production efficiency is improved.

In this embodiment, the case where the operator deletes the weight number by pressing the switch provided on the back surface of the robot has been described, but the present invention is not limited to this.
It may be configured such that each unit lights the repair end lamp when the worker repairs, and the robot detects this and erases the weight number. Further, in the present embodiment, the case where the yarn supplying package used for the unit of the double twister is the compound yarn type has been described, but the present invention is not limited to this and may be the case of the two-stage yarn supplying type.
Furthermore, although a plurality of push buttons are used for the switch in the present embodiment, the present invention is not limited to this, and it is needless to say that a ten-key pad that can represent the number of the weight that the robot handles can be formed. Nor.

[0047]

In summary, according to the present invention, the following excellent effects are exhibited.

(1) Since the unit that the robot misses in relaying is passed through even if the indicator lamp is lit, the operator can perform appropriate reworking processing, etc. Is improved.

[Brief description of drawings]

FIG. 1 is an operation flowchart of a processing robot with a double twister showing an embodiment of the present invention.

FIG. 2 is a perspective view of a double twister processing robot and an entire double twister showing an embodiment of the present invention.

FIG. 3 is an enlarged side sectional view showing a related configuration of a unit of the double twister shown in FIG. 2 and a processing robot.

4 is a diagram showing a schematic configuration diagram of a control system of the processing robot of the double twister shown in FIG.

[Explanation of symbols]

 2 unit 3 indicator lamp 4 robot 5 yarn supply package 6 spindle 7 core tube 8 cradle arm 9 rotating drum 10 winding package 11 snell wire 12 drop wire 13 yarn guide roller 14 feed roller 15, 36 switch 16 cylinder 17 tray 18 supply conveyor 19 Carry-out conveyor 20 Operation pedal 21 Rail 22 Car wheel 23 Traveling device 24 Lamp detection sensor 25 Weight number detection sensor 26 Lever 27 Doffing device 28 Yarn supply changing device 29 First yarn hooking device 30 Peg 31 Remaining yarn sensor 32 Thread splicing device 37 Light Blocking Piece 38 Second Thread Hooking Device 39 Drive Roller 40 Suction Arm

Claims (1)

[Claims] 1. A relay work is performed along a unit of double twisters arranged side by side, while recognizing the weight number, and stopped at a unit in which an indicator lamp provided in each unit is lit. In the processing robot of the double twister, when the processing robot makes a threading mistake in the intermediate work, it memorizes the weight number and then travels, and when it comes in front of the unit of the weight number again, the indicator lamp is lit. A double twister processing robot characterized in that it is provided with a switch that also allows the weight number stored in the robot to be erased.