JPH0616927Y2 - Two-stage yarn feed type double twister robot - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a two-stage yarn feeding type double twister robot, and in particular, detects the presence or absence of residual yarn in a two-stage yarn feeding package during the yarn feeding exchange operation. If at least one of the packages has no residual yarn, the operation is continued, and if there is residual yarn in both packages, the two-stage yarn supply package is returned to the original state and the operation is terminated. Type double twister robot.

[Prior Art] A double twister is composed of a plurality of units arranged in parallel, and each unit adds a double twist by passing a yarn drawn from a yarn feeding package supported by a spindle through its shaft hole. The core tube supported by the cradle arm is wound to form a winding package.
When the core tube winds up all the yarns in the yarn supplying package and becomes a full winding package, replace the empty yarn supplying package with a full yarn supplying package (feed replacement) Pull out the thread end (feed), pass it through the shaft hole (thread thread), remove the winding package with full balls from the cradle arm, and supply a new core tube to the cradle arm (deep-fried) and the core tube. The end of the yarn pulled out from the yarn supply package must be fixed (thread hook).

However, since these operations are very time-consuming, the applicant of the present invention first applied for a robot that automatically performs a series of operations from thread supply replacement to thread hooking (Japanese Patent Application No. 1-63857).
issue). This robot runs along the unit, stops at the position of the unit where the indicator lamp lights up due to yarn breakage, first detects the presence or absence of residual yarn in the yarn supplying package, and if there is no residual yarn, the above work is performed. When there is a residual yarn, it is designed to run without performing any work.

[Problems to be solved by the invention] By the way, a double twister uses a two-stage yarn supply package in which yarn supply packages are arranged in two upper and lower stages, and the yarns from both packages are combined and double twisted. There is something. In such a two-stage yarn feeding type double twister,
Depending on how tension is applied, the yarn may remain in either one of the yarn supplying packages, but if there is no residual yarn in at least one of the yarn supplying packages, a specified amount of yarn is wound in the winding package. You may perform the said work.

However, when the robot is applied to the two-stage yarn feeding type double twister, it is difficult to detect the presence or absence of residual yarn in the upper and lower yarn feeding packages, and there is a problem that the work cannot be performed efficiently.

Therefore, the present invention has been made to solve the above problems, and it is possible to easily detect the presence or absence of residual yarns in a two-stage yarn supply package and to perform work efficiently. It is an object to provide a robot for a twister.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a yarn breakage indicator lamp in a unit for drawing a yarn from a two-stage yarn supplying package and adding the twist to the winding package, and A robot is provided that detects the indicator lamp and starts the yarn feeding exchange operation when the winding package has a predetermined ball size, and detects the presence or absence of each residual yarn of the two-stage yarn feeding package during the operation of the robot. The above-mentioned operation is continued if at least one of the remaining yarns is absent, and if there is a residual yarn on both of them, the package is returned to the original state and the operation is terminated.

[Operation] The robot detects the display lamp of the unit and, when the winding package has a predetermined ball size, starts the yarn supplying operation. In the middle of this operation, the presence or absence of individual residual yarns in the two-stage yarn feeding package is detected by the sensor. If there is no residual yarn in at least one of the packages, the above operation is continued. The operation is ended by returning to.

In this way, the presence or absence of residual yarn in the two-stage yarn supplying package is detected during the process of changing the yarn supplying operation, so that the presence or absence of individual residual yarn in the two-stage yarn supplying package can be easily detected.
If there is no residual thread on at least one side, continue the above operation,
If there is residual yarn on both sides, the package is returned to the original state and the operation is terminated, so that the work can be performed efficiently.

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

In FIG. 1, 1 is a unit which is arranged in parallel and constitutes a double twister. Each unit 1 has a spindle 3 vertically supporting a two-stage yarn feeding package 2 and a core tube 4 upwardly.
Is provided with a cradle arm 5 for horizontally supporting the yarn, and the yarn Y drawn from the two-stage yarn feeding package 2 is guided through the shaft hole while being double-twisted to the core tube 4 which is rotationally driven by the rotating drum 6. It is adapted to be wound up to form a winding package 7. The two-stage yarn feeding package 2 is composed of a cylindrical adapter 2c which is vertically mounted with two yarn feeding packages 2a and 2b interposed therebetween with a yarn guide 2d interposed between them. The attached one guides the yarn of the lower yarn supplying package 2b.

Above the two-stage yarn supply package 2, a snell wire 8 for guiding the yarn Y, a drop wire 9 for detecting the presence or absence of the yarn Y, that is, a yarn breakage, a yarn guide roller 10, and a feed roller for supplying the yarn Y to the winding package 7. 11 are arranged in order. The drop wire 9 is leaned against the yarn Y, and when the yarn of the two-stage yarn feeding package 2 becomes empty or a middle break (a yarn break in the state where there is a residual yarn) occurs, the drop wire 9 falls. ON the switch 12 at the base end
Then, the cradle arm 5 is pulled up to the doffing position by the cylinder 13 and the indicator lamp 14 provided on the upper front surface of the unit 1 is turned on.

A two-stage yarn feeding package is provided in front of the spindle 3 in the tray 1.
A supply conveyor 16 for mounting and transporting on 5 is provided along the unit 1, and a unloading conveyor 17 for unloading the full-rolled winding package 7 removed from the cradle arm 5 behind the rotary drum 6 Are provided along the unit 1. A stocker 18 accommodating a plurality of core tubes 4 is provided on the upper front surface of the unit 1. Further, an operation pedal 19 is provided on the lower front surface of the unit 1. When the operation pedal 19 is stepped on shallowly, the rotation of the spindle 3 stops, and when it is stepped on further, compressed air for threading is supplied to the spindle 3. It has become.

The double twister thus constructed is provided with a robot 20 for freely changing the yarn supply along the unit 1. Rails 21 are horizontally installed above and below the front surface of the unit 1, and the robot 20 is provided with wheels 22 that travel on these rails 21.

A sensor 23 for detecting the lit indicator lamp 14 of the unit 1 is provided above the robot 20, and a sensor 24 for detecting the ball size of the winding package 7 in the doffing position is provided below the sensor 23. Has been. When the robot 20 detects the lit indicator lamp 14, the robot 20 stops at the position of the unit 1 to detect the ball size of the winding package 7, and when the predetermined ball size is reached, the yarn supplying operation to the thread hooking are performed. When a series of work is started and the predetermined ball size is not reached, the above work is not started and the traveling is restarted toward the next unit.

The robot 20 includes an operation arm 25 and a temporary placing peg 26 for temporarily placing the two-stage yarn feeding package 2. The operation arm 25 is supported by a horizontal lifting shaft 27,
When is lowered, it hits the stopper 28 and inclines and is stored in the robot side. When the raising / lowering shaft 27 is above the stopper 28, as shown in FIG. Further, a chucker 29 that detachably holds the upper end portion of the adapter 2c of the two-stage yarn feeding package 2 is provided on the operation arm 25 so as to be reciprocally movable along the longitudinal direction of the operation arm 25.

When the robot 20 determines that the winding package 7 has a predetermined ball size, the pedal lever 30 depresses the operation pedal 19 shallowly to stop the rotation of the spindle 3, and the pusher (not shown) provided at the tip of the operation arm 25 After the snell wire 8 is pushed backward and the drop wire 9 is pushed upward to be attracted to the magnet 31, the chucker 29 of the operation arm 25 replaces the yarn. This yarn replacement is performed by the tray 15 of the supply conveyor 16.
Pick up the two-stage yarn feeding package 2 from above and temporarily place the peg 26
Then, the two-stage yarn feeding package 2 is moved from the spindle 3 onto the tray 15, and then the two-stage yarn feeding package 2 is moved onto the spindle 3 from the temporary placement peg 26. In order to detect the presence or absence of individual residual yarns in the two-stage yarn supply package 2 during the yarn supply exchange operation, the robot 20 includes the two-stage yarn supply package 2 picked up by the chucker 29 from the spindle 3 on the tray 15. Upper and lower yarn feeding packages 2 approaching the two-stage yarn feeding package 2 when moved horizontally to the
Sensors 32a and 32b are provided to face a and 2b, respectively. In the present embodiment, it is assumed that the two-stage yarn feeding package 2 is inserted in advance by inserting the yarn ends of both yarn feeding packages 2a and 2b into the upper portion of the shaft hole of the adapter 2c.

The robot 20 uses the sensors 32a, 3 during the above-mentioned yarn feeding exchange operation.
2b detects that at least one of the yarn supplying packages 2a or 2b has no residual yarn, the yarn supplying operation is continued, and when the yarn supplying operation is completed, the pedal lever 30 is depressed to deeply depress the operation pedal 19 to thread the yarn. Compressed air is supplied, and the yarn end inserted into the adapter 2c of the two-stage yarn feeding package 2 is blown upward from the axial center of the spindle 3 through the side, and at the same time as this yarn threading, the operating lever 33 The cradle arm 5 is pushed open by the cradle arm 5 and the winding package 7 full of balls is discharged from the cradle arm 5 to the carry-out conveyor 17, and the core tube chucker 34 causes the stocker 18 to move.
The inner core tube 4 is supplied to the cradle arm 5 to finish the doffing. The operation arm 25 guides and fixes the threaded end of the thread on the snell wire 8 or the like to the core tube 4 of the cradle arm 5 to finish the threading.

When the robot 20 completes such a series of operations, the operation lever 33 pushes down the cradle arm 5 to bring the core tube 4 into contact with the rotary drum 6, and the pedal lever 30 returns the operation pedal 19 to rotate the spindle 3. Then, the winding of the unit 1 is started, the drop wire 9 is leaned against the thread, the operation arm 25 is housed, and then the traveling is resumed.

On the other hand, the robot 20 uses the sensor 32 during the above-mentioned yarn supply exchange operation.
When it is detected that there are residual yarns in both the yarn supplying packages 2a and 2b by a and 32b, the two-stage yarn supplying package 2 is returned to the spindle 3 and the two-stage yarn supplying package 2 on the temporary placing peg 26 is trayed. The operation arm 25 is retracted and the traveling is resumed without performing the subsequent work. In addition, such a robot 2
The operation of 0 is controlled by a controller incorporated in the robot 20.

Next, the operation of the above embodiment will be described.

In the unit 1, if a yarn breakage occurs during winding, the drop wire 9 falls and the switch 12 is turned on, so that the cradle arm 5 is pulled up to the doffing position by the cylinder 13 and the indicator lamp 14 lights up. The robot 20 is traveling along the unit 1, and the sensor 23
When the indicator lamp 14 lit by is detected, it stops at the unit position and the sensor 24 detects the ball size of the winding package 7.

When the winding package 7 has not reached the predetermined ball size, the robot 20 restarts the traveling without starting the yarn supplying operation. When the winding package 7 has a predetermined ball size, the robot 20 starts the yarn supply exchange operation.

First, the pedal lever 30 depresses the operation pedal 19 shallowly to stop the spindle 3, and then the operation arm 25 extends horizontally from the storage position by the elevation of the elevating shaft 27, and the elevating operation of the operating arm 25 and the gripping of the chucker 29 are performed. By the combination of the horizontal movement operations, first, the two-stage yarn feeding package 2 is picked up from the tray 15 of the feeding conveyor 16 and moved to the temporary placement peg 26, and then the two-stage yarn feeding package 2 is picked up from the spindle 3 and placed on the tray 15. Transport to. During this conveyance, the sensors 32a and 32b detect the presence or absence of residual yarn in the upper and lower yarn supplying packages 2a and 2b of the two-stage yarn supplying package 2, and if there is no residual yarn in at least one of the yarn supplying packages 2a or 2b, The yarn supplying operation is continued.
That is, the two-stage yarn supplying package 2 is transferred onto the tray 15, and then the two-stage yarn supplying package 2 is picked up from the temporary placing peg 26 and transferred onto the spindle 3.

When the yarn supplying operation is completed in this way, the pedal lever 30
Presses the operation pedal 19 further deeply to eject compressed air for threading to perform threading, and at the same time the operation lever 33 pushes the cradle arm 5 open to eject the winding package 7 to the carry-out conveyor 17, The chucker 34 supplies the core tube 4 in the stocker 18 to the cradle arm 5,
Finish the doffing. Further, the operation arm 25 guides and fixes the threaded thread end on the snell wire 8 or the like to the core tube 4 of the cradle arm 5, and finishes threading.

When the robot 20 completes such a series of operations, the operation lever 25 pushes down the cradle arm 5 to bring the core tube 4 into contact with the rotary drum 6, and the pedal lever 30 returns the operation pedal 19 to rotate the spindle 3. Then, the winding of the unit 1 is started, the drop wire 9 is leaned against the yarn Y, the operation arm 25 is housed, and then the traveling is resumed.

On the other hand, the robot 20 uses the sensor 32 during the above-mentioned yarn supply exchange operation.
When it is detected that there are residual yarns in both the yarn feeding packages 2a and 2b by a and 32b, the two-stage yarn feeding package 2 is returned to the spindle 3 and then the two-stage yarn feeding package 2 on the temporary placement peg 26 is trayed. 15, the operation arm 25 is retracted without performing the subsequent work, and then the traveling is resumed.

Since the unit 1 in which the indicator lamp 14 is turned on and the robot 20 has not changed the yarn supply has a middle break, the worker has the yarn end on the winding package 7 side and the two-stage yarn supply package 2 side. You can connect the yarn ends of the above and restart the winding.

[Effects of the Invention] In short, according to the present invention, the presence or absence of the residual yarn in the two-stage yarn supply package is detected during the process of the yarn supplying exchange operation. Can be easily detected.If there is no residual yarn on at least one side, the above operation is continued, and if there is residual yarn on both sides, the package is returned to the original state and the operation is terminated, so that the work efficiency is improved. Can be done well.

[Brief description of drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention, and FIG. 2 is a side view showing a situation of detecting a residual yarn of a two-stage yarn supplying package. In the figure, 1 is a unit, 2 is a two-stage yarn feeding package, 7 is a winding package, 14 is an indicator lamp, 20 is a robot,
32a and 32b are sensors.

Claims (1)

[Scope of utility model registration request] 1. A yarn breakage indicator lamp is provided in a unit for drawing a yarn from a two-stage yarn supply package and twisting the yarn into a take-up package, and the take-up package is detected to detect a predetermined ball size. A robot that starts the yarn feeding exchange operation at the time of, and a sensor that detects the presence or absence of each remaining yarn of the two-stage yarn feeding package during the operation of the robot, and the above operation if there is no remaining yarn in at least one The robot for the two-stage yarn feeding type double twister, which is configured to continue the operation, and to return the package to the original state if there are residual yarns on both sides to end the operation.