JPH0640208Y2 - Package exchange robot - Google Patents

Description

[Detailed Description of the Invention] [Industrial application] The present invention relates to a package exchanging robot for exchanging a bobbin with a residual thread attached to a peg in a creel used in a warper or the like for a package. Regarding improvement.

[Prior Art] In order to continuously supply a large number of warp yarns to a loom, a warper T as shown in Fig. 4 is used. This warper T
Behind the beam A, two creels 1 are arranged in a V shape.

This creel 1 is a sprocket D in which a large number of creel frames 3 each having a plurality of pegs 2 for inserting a package P in the vertical direction are connected in the horizontal direction via an endless chain C, and the endless chain C is arranged in front and rear. It is configured so that it can be circulated between them. In this creel 1, when the yarn amount of the packages P arranged on the front side becomes small,
The package P is sent to the back side one after another, and the thread is cut from the package P to connect it to the thread of the new package P on the front side, and the bobbin B with residual thread from which the thread has been cut is removed from the peg 2. Package replacement work for inserting the new package P into the peg 2 is performed. In particular, since this package replacement work was performed manually, a great deal of labor was required.

Therefore, the applicant has previously disclosed a package exchanging robot that automatically performs the above package exchanging work. This robot is provided so as to be able to travel along the creel 1 on the back side, and an extraction unit that collectively removes the bobbin B with residual thread for each creel frame 3 and an insertion unit that collectively inserts the package P for each creel frame. Since the mounting unit and the mounting unit are provided in parallel, the package P can be quickly replaced.

[Problems to be Solved by the Invention] However, in the above robot, since the extraction unit and the insertion unit are fixed at the same height, the peg 2 has a grid pattern as shown in FIG. However, when the pegs 2 are arranged in a staggered manner as shown in (b) of the figure, the heights of the units and the pegs 2 do not correspond to each other, and the package P There is a problem that it becomes difficult to perform the replacement operation. In this case, it is conceivable to employ a robot corresponding to the pegs 2 in the odd-numbered rows and a robot corresponding to the pegs 2 in the even-numbered rows, but this cannot be adopted because it impairs the running property of the robot.

Therefore, an object of the present invention is to solve the above problems and to provide a package exchange robot that can easily exchange packages even when pegs are arranged in a staggered manner.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a carriage that freely travels along a creel on which pegs are arranged, a frame is provided on the carriage, and a desired row is provided on the frame. The bobbin with residual thread is removed from the peg and the mounting unit that mounts the package on the peg in the next row can be moved up and down, and the height of each unit corresponds to each row peg as the carriage moves. It was made to let.

[Operation] When the carriage is stopped at the peg position of the creel where the package should be replaced, the height of each unit may be switched by the switching mechanism so that each unit corresponds to the peg in each row. As a result, not only when the pegs are arranged in a grid pattern but also when they are arranged in a staggered pattern, it is possible to remove the bobbin with residual thread and mount the package at the same time by each unit. It becomes possible to easily replace the same.

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

In FIG. 2, reference numeral 1 denotes a circulation type creel of a warper, which is constituted by horizontally connecting a plurality of creel frames 3 each having a plurality of pegs 2 in the vertical direction in a horizontal direction through an endless chain (not shown). (See FIG. 4). The pegs 2 are arranged in a zigzag pattern on the adjacent creel frames 3 with a vertical displacement.

A package exchanging robot 4 is installed on the peg projecting side of the creel 1 so that the package exchanging robot 4 can travel back and forth within a predetermined range along the circulating movement direction. This robot 4 has upper and lower rails
A trolley 7 supported movably along 5, 6 is provided. The trolley 7 includes a take-out unit 8 for collectively removing the bobbin B with residual thread for each creel frame 3 and a package P for each creel frame 3. Insertion unit 9 for collectively inserting
And are equipped so that the height can be switched via the switching mechanism 10.

The dolly 7 is formed in a rectangular frame shape, a traveling wheel 11 traveling on one lower rail 6 is attached to the front and rear at a lower portion, and a guide roller 12 moving along an upper rail 5 made of a groove rail at an upper portion. Are attached to the front and back. A gear 14 is fixed to the axle 13 of the traveling wheel 11 as shown in FIG. 2, and a carriage motor 16 having a drive gear 15 meshing with the gear 14 is attached to the carriage 7.

Support shafts 17 and 18 are mounted on the upper and lower parts of the bogie 7 at right angles to the traveling direction.
The upper and lower support shafts 17 and 18 are attached via 9,20, and a pair of swing frames 21 and 22 that form a part of the switching mechanism 10 are fixed to the upper and lower support shafts 17 and 18, respectively. These upper and lower facing rocking frames 21, 2
An extraction unit 8 and an insertion unit 9 are laid between the two ends in parallel at the same pitch as the arrangement pitch of the pegs 2. In order to switch the height positions of the units 8 and 9 to correspond to the pegs 2 in each row, the traveling wheels 11 are
A drive wheel 23 serving as a crank is rotatably mounted on the axle 13 of the vehicle via a bearing 24. The drive wheel 23 and a bracket 25 projecting from the lower center of the lower swing frame 22 have a connecting rod 26. The ends are connected by shafts 27 and 28. A gear 29 is formed on the drive wheel 23, and a swing motor 31 having a drive gear 30 meshing with the gear 29 is attached to the carriage 7.

The switching stroke S of the rocking frames 21 and 22 is set to match the vertical shift amount between the pegs 2 arranged in a staggered manner. Proximity sensors 32 and 33 are arranged at both stroke ends (dead points) of the connecting rod 26 around the drive wheel 23 so that the drive wheel 23 can be stopped at a switching point between the swing frames 21 and 22.

In order to support each unit 8 and 9 to move toward and away from the peg 2, groove guides 34 are attached to both ends of the swing frames 21 and 22 by a shaft 35, and upper and lower ends of each unit 8 and 9 are attached. A guide roller 36 that rolls on the bottom surface and both side surfaces of the groove guide 34 is attached to the portion. An auxiliary guide 37 that rotatably supports the front guide roller 36 is attached to the peg-side front end of the lower groove guide 34 of the insertion unit 9.

A rack 38 is fixed to one side surface of the groove guide 34, and a pair of upper and lower pinions 39 that mesh with the racks 38 is fixed to each unit 8 and 9, and a shaft 40 is rotatably supported and a lower pinion of the shaft 40 is supported. A unit moving motor 42 having a drive gear 41 meshing with 39 is attached.

A clamper 43 for holding the bobbin B with residual thread attached to the peg 2 is attached to the extraction unit 8 in multiple stages corresponding to the peg 2. As shown in FIG. 3, the clamper 43 has a pair of left and right arms 45 whose base ends are pivotally supported by a bracket 44 fixed to the extraction unit 8, and a spring for biasing the arms 45 in the closing direction between the arms 45. 46 is attached, and a clamp piece 47 for holding the bobbin B with residual thread is attached to the tip of the arm 45. The base ends of the arms 45 are L-shaped so as to intersect with each other, and the intersecting portions 48
When is pressed, the clamper 43 is opened. In order to open and close these clampers 43 at the same time, a rotation shaft 49 is supported by the extraction unit 8 along its vertical direction, and a crank that rotates this rotation shaft 49 via a link 50.
A motor 52 having 51 is attached, and a pressing piece 53 for pressing the intersection 48 of each clamper 43 is attached to the rotating shaft 49.

The bobbin B with residual thread taken out by the clamper 43 is dropped onto a belt conveyor 54 installed below the lower rail 6 at a predetermined bogie stop position so that it can be collected at one place.

The package P is attached to the insertion unit 9 by the creel frame 3
The mounting arms 55 to be mounted on the pegs 2 are attached in multiple stages corresponding to the pegs 2 on the creel frame 3, and a lifting mechanism for simultaneously lifting and lowering the mounting arms 55.
56 are provided. This lifting mechanism 56 is an insertion unit 9
An elevating shaft 57 that is supported so as to be vertically movable along the vertical direction of
It is supported in parallel with the lifting shaft 57, and a gear 59 is
And a screw shaft 60 that is driven to rotate through the screw shaft 60. A nut body 61 screwed to the screw shaft 60 is connected to an operation arm 62 projecting from an elevating shaft 57.

A support block 63, to which each insertion arm 55 is fixed, is rotatably attached to the lifting shaft 57 via a bearing 64,
A guide arm 65 is provided on each of the support blocks 63 so as to project rearward, and a guide slit 67 is formed in the insertion unit 9 for guiding a guide roller 66 attached to the tip end of the guide arm 65 in its vertical movement range. . This guide slit 67
Is formed so as to gradually expand upward, so that the mounting arm 55 can be horizontally swung when positioning with respect to the peg 4.

The insertion arm 55 is a plane U opened to face the rear in the traveling direction.
Receiving portions 68 that are formed in a letter shape and that lock both end portions of the bobbin of the package P are formed on the upper edge portions on both sides thereof. Also,
A positioning member 70 having a V-shaped groove 69 with which the tip of the peg 2 is locked is attached to the front end of the insertion arm 55.
When the package P is attached to the peg 2, the insertion arm 55 is positioned below the corresponding peg 2, and the positioning member 70 is advanced until the positioning member 70 is located at the tip of the peg 2, and then raised. When the V-shaped groove 69 is engaged with the tip portion of the peg 2 and the positioning of the insertion arm 55 is completed by this, the package P may be further advanced to insert the package P into the peg 2. After the package P is inserted into the peg 2, the insertion arm 55 is lowered to separate the package P, the carriage 7 is advanced to a position where the insertion arm 55 does not interfere with the package P on the peg 2, and then the insertion arm 55 is inserted. All you have to do is retreat 55.

A package transfer device 71 for transferring the package P supplied from a package transfer line (not shown) to the insertion arm 55 is arranged at the traveling start position of the robot 4. The package transfer device 71 includes movable chutes 72 arranged in multiple stages corresponding to the insertion arm 55 of the robot 4 which has returned to the traveling start position. Each movable chute 72 is rotatably attached to a fixed frame 73 arranged vertically on one side thereof via a horizontal support shaft 74. Further, these movable chutes 72 are connected through a common operating rod (not shown) so that they can be tilted at the same time.

The tip of the movable chute 72 is formed so as to extend between the insertion arms 55, and a stopper portion 75 for locking the package P is formed by bending the tip upward. The movable chute 72 is tilted from a standby position where the tip is located at almost the same height as the insertion arm 55 as shown by the solid line in FIG. 1 to an operating position which is located below the insertion arm 55 as shown by the phantom line. Then, both ends of the bobbin of the package P locked to the tip end portion are mounted on the receiving portion 68 of the insertion arm 55.

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

The robot 4 first travels to a predetermined position of the creel frame 3 and pulls out one row of the bobbin B with residual thread by the pulling-out unit 8, and then inserts and removes the package P by the insertion unit 9 to the peg 2 in that row. The cycle in which the unit 8 simultaneously removes the bobbin B with residual thread in the next row, returns to the traveling start position, and transfers the package P to the insertion arm 55 is repeated.

When the robot 4 stops at the peg 2 position of the creel 1 where the package P should be exchanged, the switching mechanism 10 causes the units 8 and 9 to correspond to the pegs 2 in each row.
Switch the height of. For example, when the heights of both units 8 and 9 are switched from the state shown in FIG. 1 to the opposite arrangement, the drive wheel 23 may be rotated half a turn by driving the swinging motor 31. The rotation position of the drive wheel 23 is detected by the proximity sensors 32 and 33 arranged at the dead center position, and the drive wheel 23 is moved to one dead center position 32.
To the dead center position 33 on the other side, it is stopped half a turn. The driving force of the drive wheels 23 is transmitted to the lower swing frame 22 via the connecting rod 26, and the swing frame 22 is switched from the left tilted position to the right tilted position.
The height of the switches at the same time. Then, in this state, the bobbin B with residual thread and the package P may be removed at the same time.

This makes it possible to easily replace the packages P with the pegs 2 arranged in a staggered pattern. When the pegs 2 are arranged in a grid pattern, for example, after the extraction unit 8 is switched to the height of the corresponding peg 2 to perform the extraction operation, the insertion unit 9 is moved to the corresponding height of the peg 2. It is sufficient to switch to and perform the insertion operation. In this way, the single robot 4 can exchange the packages P for the pegs 2 in the staggered arrangement and the lattice arrangement.

Further, since the crank motion is adopted as means for swinging the swing frames 21 and 22, the movement is constant, ideal acceleration / deceleration of simple oscillatory movement can be performed, and the rotation is stopped at the dead center position. As a result, the stationary accuracy is improved, the stationary locking is easy, and there is an advantage that it is not necessary to employ an unnecessary control system.

In the embodiment, the package exchanging robot of the warper has been described, but it goes without saying that the present invention can be applied to other package exchanging robots.

[Advantages of the Invention] In short, according to the present invention, the height positions of the extraction unit and the insertion unit can be switched corresponding to the pegs in each row, so that the pegs are arranged in a grid pattern only. Also, the packages can be easily replaced even when they are arranged in a staggered pattern.

[Brief description of drawings]

FIG. 1 is a front view of a package exchange robot showing an embodiment of the present invention, FIG. 2 is a side view of the same, FIG. 3 is a plan view of the same, and FIG. 4 is a schematic plan view of a warper. The figure shows the arrangement of pegs. In the figure, 1 is a creel, 2 is a peg, 7 is a dolly, 8 is an extraction unit, 9 is an insertion unit, and 10 is a switching mechanism.

Claims (1)

[Scope of utility model registration request] 1. A bogie that travels freely along a creel on which pegs are arranged, a frame is provided on the bogie, and a withdrawing unit for withdrawing bobbins with residual thread from the pegs in a desired row is provided in the frame. A package exchanging robot characterized in that a mounting unit for mounting a package on a row of pegs is provided so as to be able to move up and down, and the height of each unit is made to correspond to each row peg as the carriage moves.