JPH0665581B2 - Double twister processing robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a double twister processing for automatically performing the yarn supply exchange, tapping, threading, doffing and thread hooking required for a double twister. Regarding robots.

[Prior Art] A double twister winds a yarn drawn from a yarn feeding package supported by a spindle through a shaft hole thereof to form a double twist and winds it around a paper tube supported by a cradle arm. To form a package. When the paper core winds up all the yarns in the yarn supply package and becomes a full winding package, replace the empty yarn supply package with a full yarn supply package (feed replacement) Pull the thread end (out) and pass it through the shaft hole (thread thread),
It is necessary to remove the winding package full of balls from the cradle arm, support a new paper core on the cradle arm (deep lifting), and fix the yarn end drawn from the yarn supply package to the paper core (thread hooking). .

Conventionally, these operations have been performed by humans, which is troublesome.

[Problems to be Solved by the Invention] However, as the frequency of operations such as doffing and thread changing increases with the production of a wide variety of products in small quantities, the above-mentioned operations are required to reduce labor and improve productivity. Automation was desired.

Therefore, an object of the present invention is to solve the above-mentioned problems and to automatically perform the yarn supply package exchange, tapping, threading, doffing and thread hooking, which can reduce labor and improve productivity. To provide a twister processing robot.

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides a bogie so that it can travel along a unit of a double twister arranged in parallel, and the bogie is supported by the spindle of each unit. A yarn feeding exchange mechanism for exchanging an empty yarn feeding package with a yarn feeding package,
A yarn feeding mechanism for pulling out the yarn end from the yarn supplying package, a yarn passing mechanism for inserting the yarn end into an axial hole of the yarn supplying package by an air flow, and a full winding package supported by a cradle arm of each unit. A doffing mechanism for supplying the paper tube to the cradle arm at the time of removal and a thread hooking mechanism for hooking the thread end of the yarn feeding package on the paper tube when the cradle arm supports the paper tube are provided.

[Operation] In the bogie, at the position of the unit where winding is completed, first, the yarn feeding exchange mechanism exchanges the empty yarn feeding package supported by the spindle with the yarn feeding package. At this time, the yarn feeding mechanism pulls out the yarn end from the yarn supplying package. Then, the threading mechanism inserts the yarn end pulled out from the yarn supplying package into the shaft hole of the yarn supplying package by the air flow.

On the other hand, the doffing mechanism removes the full winding package supported by the cradle arm from the cradle arm,
A paper tube is supplied to the cradle arm. When the cradle arm supports the paper tube, the threading mechanism hooks the thread end of the threading package, which has been threaded, onto the paper tube.

In this way, the yarn supplying package is automatically replaced, the yarn feeding, the threading, the doffing and the yarn hooking are performed, so that the labor can be reduced and the productivity can be improved.

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

As shown in FIG. 1 and FIG. 2, the double twister 1 comprises a large number of units 2 arranged side by side. Each unit 2 has a spindle 4 vertically supporting the yarn feeding package 3 and a paper tube 5 upwardly. Is provided with a cradle arm 6 for horizontally supporting the yarn, and the yarn Y drawn from the yarn supplying package 3 is guided through the shaft hole 3a while being double-twisted and wound around the paper tube 5 which is rotationally driven by the rotating drum 7. It is adapted to form a winding package 8. Above the yarn supplying package 3, a snell wire 9 for guiding the yarn, a drop wire 10 for detecting the presence or absence of the yarn Y, a yarn guide roller 11 and a yarn Y winding package 8 are provided.
The feed rollers 12 for supplying the sheet to the sheet are sequentially arranged.

As shown in FIG. 12, the spindle 4 is integrally provided with a rotary disk 13 having a yarn storage portion 13a around which the yarn Y is temporarily wound, and the spindle 4 protruding above the rotary disk 13. A stationary cylinder body 14 accommodating the yarn supplying package 3 is rotatably supported by a bearing 15. The stationary cylinder body 14 is kept stationary regardless of the rotation of the spindle 4 by the attraction action of the magnet 16a provided on the bottom and the magnet 16b provided on the fixing ring 17 surrounding the magnet 16a.

The yarn supplying package 3 is inserted into a boss portion 14a protruding from the bottom of the stationary cylindrical body 14, and the yarn Y drawn from the yarn layer of the yarn supplying package 3 is inserted into the upper end of the yarn supplying package 3. Tensor cap 1 having a central hole 18a that guides to the shaft hole 3a
8 is installed.

A yarn guiding hole 19a is formed in the yarn storage portion 13a of the rotating disk 13 in the radial direction, and the spindle 4 has a jetting hole 19b for jetting compressed air to the yarn guiding hole 19a and an ejector effect by the jet flow. a suction hole 19c for sucking the yarn end Y ₁ of the shaft hole 3a to Itoshirubeana 19a is formed. The yarn end Y ₁ ejected from the yarn guiding hole 19a by the compressed air hits the inclined inner surface 17a of the fixing ring 17 and is blown up between the balloon control cylinder 20 fixed to the fixing ring 17 and the stationary cylinder 14. ing. At the time of threading, an air flow for threading is formed on the spindle 4 in this way.

As shown in FIG. 2, a pedal 21 is attached to the lower portion of the unit 2. When the pedal 21 is stepped on shallowly, the spindle 4 is braked, and when it is stepped deeply, compressed air is supplied to the ejection hole 19b. ing. Above the pedal 21, a compression supply valve 22 for supplying compressed air to a processing robot 41 described later is arranged.

The cradle arm 6 rotates the winding package 8 onto the rotating drum 7
The cradle arm 6 is connected to a cylinder 23 for pulling the cradle arm 6 to a doffing position so that the cradle arm 6 can be raised and lowered so as to be brought into contact with and separated from the top. Further, as shown in FIG. 14, the tip of the cradle arm 6 has a fixed arm piece 24.
a and movable arm piece 24b that is pivotally supported to open and close
And holders 25a and 25b for supporting both ends of the paper tube 5 are rotatably attached to both arm pieces 24a and 24b. A spring 26 for urging the movable arm piece 24b in a closing direction is connected to the movable arm piece 24b, and a cradle lever 27 for opening the movable arm piece 24b and pushing down the cradle arm 6 toward the rotary drum 7 is provided in a protruding manner. ing.

A stocker 28 accommodating a plurality of paper tubes 5 is mounted above the cradle arm 6, and the stocker 28 tilts downwards forward and is capable of removing the paper tubes 5 from the openable / closable bottom plate 28a.
(See Fig. 15).

As shown in FIGS. 3 and 4, the base end portion of the drop wire 10 is axially supported by a horizontal shaft 29 arranged at the rear of the yarn feeding package 3, and the tip end portion of the snell wire 9 and the yarn guide roller 11 is connected. The yarn Y is leaned against the yarn Y between them, and when the yarn Y of the yarn supplying package 3 becomes empty or a yarn break occurs, the yarn Y falls on the yarn supplying package 3 by its own weight. A cam 31 for opening and closing the operation valve 30 of the cradle arm cylinder 23 is attached to the base end of the snell wire 9, and the drop wire 10
When is dropped, the operation valve 30 is opened and the cradle arm 6 is pulled up to the doffing position by the cylinder 23. Above the stocker 28, a display lamp 32 that is turned on when the cradle arm 6 is pulled up is attached.

In addition, a pivot lever 33 for pivoting the drop wire 10 upward is provided at the base end portion of the drop wire 10, and the drop wire 10 is pushed up above the position where the tip end is leaned against the yarn Y. A magnet 34 for attracting and holding the magnet is attached. A base end portion of a display lever 35 extending horizontally forward is pivotally supported near the magnet 34, and a tip end portion of the drop wire 10 attracted to the magnet 34 is attached to the base end portion of the display lever 35. Push lever 35 for pushing down
a is projected, and when the display lever 35 is returned to the horizontal position as shown by the phantom line, the drop wire 10 is separated from the magnet 34 and dropped by the pressing lever 35a.

A base end portion of the snell wire 9 is horizontally rotatably supported via a bracket 36 so that it can escape backward when the yarn supplying package 3 is replaced, and a return lever 9a is formed at the base end portion.

A guide plate 37 for guiding the yarn to the rear side is attached to the yarn guide roller 11. Further, a conveyor for carrying out the doffed winding package 8 behind the rotary drum 7.
In front of the yarn feeding package 3, conveyors 40 for loading the full yarn feeding package 3A on the tray 39 and carrying the yarn feeding package 3A are arranged along the unit 2. Yarn supply package 3A
As shown in FIG. 8, the conveyor 40 has an endless belt 40a on which the tray 39 is placed and conveyed, and the belt 40a and the tray 39.
And a guide frame 40b for guiding. Tray 3
A peg 39a for inserting and supporting the yarn supplying package 3A is projectingly provided on the upper part of the 9.

At the front of the unit 2 thus configured, a processing robot 41 for automatically changing the yarn supplying package of each unit, threading, doffing and threading is provided movably.
The processing robot 41 is provided with a carriage 42 that can travel along the units 2 arranged in parallel. Rails 43a and 43b are attached to the upper and lower portions of the front portion of the unit 2, and the carriage 42 is movably supported by these rails 43a and 43b via wheels 44a and 44b. A traveling drive device 45 is connected to the lower wheel 44b.

A sensor 46 for detecting the display lamp 32 and a sensor 47 for detecting the display lever 35 are attached to the carriage 42.
The lighting state of the display lamp 32 and the display lever 35 are controlled by 46 and 47.
When the horizontal state is simultaneously detected, the traveling drive device 45 is decelerated and stopped, and the carriage 42 is positioned and stopped at the front part of the unit 2. At the bottom of the carriage 42, there are provided a pressure air introducing portion (not shown) that is detachably connected to the pressure air supply valve 22 provided in each unit 2 and a pedal lever 48 that depresses the pedal 21, and these are cam type drive (not shown). It is designed to be operated by a mechanism. Further, the compressed air introduced from the compressed air introduction section is used as a drive source for various cylinders provided on the carriage 42.

The trolley 42 has a stocker 28
A sensor 49 for detecting the presence / absence of the paper tube 5 in the inside and a sensor 50 for detecting the presence / absence of the winding package 8 on the take-up package carry-out conveyor 38 are attached. When the state without the upper winding package is detected, it is determined that the doffing condition is satisfied, and the processing such as the yarn supply exchange and the doffing is started.

As shown in FIGS. 5, 8 and 9, the carriage 42 includes a sensor 51 for detecting the yarn feeding package 3A on the yarn feeding package transfer conveyor 40, and a cylinder 52 for stopping the tray 39 by the detection signal. A V-shaped locking piece 53 for locking the base end of the peg 39a of the tray 39 from the side is attached to the tip end of the piston rod 52a of the cylinder 52.
Further, a proximity sensor 54 that detects that the piston rod 52a extends a predetermined stroke is attached to the cylinder 52, and the conveyor 40 is stopped by a detection signal from the proximity sensor 54. When handling various types of yarn feeding bobbins, if the diameter of the base end of the peg 39A of the tray 39 is changed for each type, the stroke of the piston rod 52a at the time of locking by the locking piece 53 is changed accordingly. However, it is possible to select this yarn supply package by detecting this stroke.

On the carriage 42, a yarn feeding exchange mechanism 55 for exchanging the empty yarn feeding package 3B supported by the spindle 4 of each unit 2 with the yarn feeding package 3A, an outlet mechanism 56 for pulling the yarn end from the yarn feeding package 3A, and a feeding mechanism. The threading mechanism 57 for inserting the thread end into the shaft hole 3a of the thread package 3A by the air flow, and the full winding package 8 supported by the cradle arm 6 of each unit 2 are removed, and the cradle arm 6 has a paper tube. A doffing mechanism 58 for supplying 5 and a yarn hooking mechanism 59 for hooking the yarn end of the yarn feeding package 3A onto the empty paper pipe 5 when the cradle arm 6 supports the paper pipe 5 are provided below. It is configured like.

(Feed-out mechanism) The frame 60 of the carriage 42 is formed in a U-shape on the front side, and the central upper surface portion 60a thereof temporarily puts the yarn-feeding package 3A stopped on the yarn-feeding package transport conveyor 40 in order to take out it. The lead-out peg 61 to be kept is attached. By providing the lead-out peg 61 on the processing robot 41 in this manner, it is not necessary to provide a peg for temporary placement in each unit 2, and the lead-out process can be performed during the temporary placement of the yarn feeding package 3A, and the processing efficiency is improved. . The lead-out peg 61, the peg 39a of the tray 39 stopped on the conveyor 40, and the spindle 4 are arranged on the same line at right angles to the traveling direction of the carriage 42. The lead-out peg 61 is rotatably supported around a shaft thereof through a bearing 62, and is rotationally driven by a motor 65 via pulleys 63a and 63b and an endless belt 64 in a direction in which a yarn end is fed during a lead-out process. It is like this.

In addition, on the upper surface of the frame 60, a suction arm 66 for lead-out processing for feeding the yarn end from the yarn feeding package 3A inserted on the lead-out peg 61 and a yarn support portion for supporting the released yarn.
67 is installed. Suction arm 66 is thread support 67
It is formed in an arc shape so as not to interfere with the support frame 68 of
A suction mouth 69 is attached to the tip end of the yarn feeding package 3A for sucking out the yarn end which is capped on the upper end 3b of the paper tube and wound around the upper end of the paper core. The base end of the suction arm 66 is rotatably connected to the upper side surface of a suction cylinder 71 that is rotatably supported by the upper surface 60a of the frame 60 via a bearing 70. The lower end portion is connected to a suction source (blower) (not shown) mounted on the carriage 42.

A receiving arm 72 formed in an arc shape along the suction arm 66 is fixed to the upper end portion of the suction cylinder 71.
A cap chucker 73 that detachably holds the tensor cap 18 is attached to the tip of 72.

A spring 74 for urging the suction arm 66 upward is connected via a lever 75 to the base end of the suction arm 66 so as to separate the suction mouth 69 from the upper end 3b of the paper tube 3A of the yarn feeding package 3A on the lead-out peg 61. The receiving arm 72 is provided with a pressing cylinder 76 that presses the suction arm 66 downward against the spring force of the receiving arm 72.

A swiveling cylinder 78 is connected to a lower portion of the suction cylinder body 71 via a lever 77, and the suction arm 66 is moved from the mouth-out position where the suction mouth 69 is located above the mouth-out peg 61 to a standby position where the suction mouth 66 is separated laterally. It can be turned.

The thread supporting portion 67 has a support frame 68 erected on the upper surface 60a of the frame 60, and a thread guide piece 79 having an upward thread groove 79a is provided on the side surface of the support frame 68.
A lifting cylinder 81 mounted in a support frame 68 is connected to the lifting frame 80 so as to be lifted and lowered through 0. A thread holding ring (not shown) is mounted in the thread groove 79a of the thread guide piece 79 so as to prevent the once-inserted thread from escaping. The thread guide piece 79 is ejected as shown by a dotted line in FIG. The yarn Y ₂ straddled between the 3A and the suction mouth 69 in the standby position is moved up and down to cause the yarn groove 79
You can change the holding height of the thread while catching it in a.

A lead-out sensor 82 for detecting the presence or absence of a yarn is arranged in the yarn path of the yarn Y _{2 which} is stretched between the yarn guide piece 79 located at the lowermost end and the suction mouth 69 at the standby position. It detects whether or not it succeeds, and if it succeeds, it proceeds to the next process such as threading, and if it does not succeed, it performs thread supply replacement and doffing without threading and ends the operation. Is set to.

A cutter 83 that cuts the yarn in the yarn groove 79a is arranged corresponding to the yarn guide piece 79 located at the lowermost end. This cutter 83
Is composed of a fixed blade 83a and a movable blade 83b, and the movable blade 83b is driven by a cylinder 84.

(Yarn Supply Exchange Mechanism) An operation arm 85 for changing the yarn supply and the like is attached to the left inner wall 60b of the frame 60 so that it can be raised and lowered and raised and lowered.
On the outside of the left inner wall 60b, a screw rod 86 is erected and rotatably provided, and a guide rod 87 is erected and the screw rod 86 is provided with a lifting motor 88 for rotationally driving the pulley 89a. , 89b and the endless belt 90 are connected. The screw rod 86 and the guide rod 87 support an elevating block 91 which is moved up and down by the rotation of the screw rod 86. The elevating block 91 has a shaft 92 protruding from the rear left side of the operation arm 85 and a bearing 93. It is rotatably supported via. A vertical slit 94 that allows the bearing 93 to move up and down is formed on the left inner wall 60b, and a stopper 95 that locks the rear upper surface of the operation arm 85 and horizontally supports it is attached to the bearing 93. . When the tip of the operation arm 85 is horizontal,
It is positioned above the yarn supplying package 3 on the spindle 4, and a residual yarn detecting sensor 96 for detecting the presence or absence of residual yarn in the yarn supplying package 3 is attached to the tip end portion thereof.

The left side inner wall 60b of the frame 60 is locked with the front lower surface of the operation arm 85 that moves downward in a horizontal state.
A stopper 97 for erected and storing the carriage on the side of the carriage 42 is attached so as to be retractable by a drive mechanism (not shown). As a result, the operation arm 85 is housed with its tip end facing forward and obliquely upward, and does not interfere with the unit 2 during traveling.

As shown in FIGS. 6 and 7, the operation arm 85 has a long box-shaped frame 98, and a chucker 99 for holding the yarn supplying package 3A and the tensor cap 18 is provided on one side of the frame 98.
Is provided slidably along the longitudinal direction. In order to slide the chucker 99, a screw rod 101 having a motor 100 at one end is supported in the frame 98 along the longitudinal direction, and the screw rod 101 is provided with a moving block 102 that is moved by its rotation. The side portion of the chucker 99 is supported. Frame 98
A horizontal slit 103 for slidably guiding the moving block 102 is formed on the side wall of the.

The chucker 99 has bifurcated arm pieces 105a and 105b which are opened and closed by a cylinder 104, one arm piece 105a is used as a pusher for pushing the snell wire 9 to escape, and the other arm piece 105b has a tip end portion. It is extended diagonally outward to catch the thread. Both arm pieces 105a, 105b
The lower surface of the chuck has chuck pieces 106a, 106
b is hung integrally, and the tensor cap 18 is gripped inside both chuck pieces 106a, 106b, so that both chuck pieces 106a, 106b
The inner surface of the shaft hole of the yarn supplying package 3A is pressed and grasped on the outer side of. In this way, since the yarn feeding package 3A and the tensor cap 18 are grasped by one chucker 99, the number of parts is reduced and the device is made compact.

To change the yarn supply, open and close the chuck pieces 106a, 106b, and checker 99.
As shown in FIG. 8, the yarn feeding package 3A on the peg 39a of the tray 39 is first moved to the lead-out peg 61 () by sliding the operating arm 85 and the empty yarn feeding package 3B on the spindle 4 of the tray 39. It is set so that the yarn feeding package 3A that has been spouted () is transferred onto the peg 39a (), and then the spouted yarn feeding package 3A is transferred () from the spout peg 61 onto the spindle 4 ().

In addition, chuck pieces 106a, 106b are provided between the arm pieces 105a, 105b.
The thread holding ring 107 is attached so as to match the axis of the thread holding ring 107, and the thread holding ring 1 is attached to the upper side of the thread holding ring 107.
A nozzle 108 for injecting compressed air toward the center of 07 is attached. The nozzle 108 is adapted to inject compressed air during threading and insert the yarn end into the shaft hole 3a together with the sucked air flow acting on the shaft hole 3a of the yarn supplying package 3.

A suction pipe 109 for sucking and holding the yarn end Y ₁ which is threaded on the operation arm 85 and is blown up between the balloon control cylinder 20 and the stationary cylinder body 14 is just above the yarn supply package 3 on the spindle 4. It is installed so that it is located. The suction pipe 109 is formed with a suction slit 109a having a predetermined length from the tip.

A telescopic arm 111 which is telescopically moved forward by the operation of the cylinder 110 is attached to the tip of the operation arm 85.
The tip of the telescopic arm 111 is the push-down lever 3 of the display lever 35.
5a, the rotating lever 33 of the drop wire 10 and the return lever 9a of the snell wire 9 are pushed. Further, a yarn guide piece 112 for guiding the yarn Y ₁ stretched between the suction pipe 109 and the yarn supplying package 3 to the snell wire 9, the yarn guide roller 11 and the like projects laterally from the telescopic arm 111. It is set up.

(Threading Mechanism) The threading mechanism 57 is mainly configured by a nozzle 108 provided on the chucker 99 of the operation arm 85 and a suction pipe 109 provided on the operation arm 85, and a thread generated on the spindle 4 part. Threading is performed together with the air flow for passing. In this case, as shown in FIG. 11, the yarn end Y ₂ pulled out from the yarn supplying package 3A mounted on the spindle 4 by the yarn supplying exchange is the chucker 99 of the operating arm 85 and the yarn guide piece 79 of the yarn holding portion 67. When the tensor cap 18 received by the chucker 99 from the cap chucker 73 is transferred to the yarn feeding package 3A and attached to the shaft hole 3a of the pedal lever 48, the pedal lever 48 Presses the pedal 21 of the unit 2 deeply to generate the air flow for the outlet in the spindle 4 and
When compressed air is jetted from the nozzle 108 of 99 and the cutter 83 of the yarn bearing portion 67 cuts the yarn Y ₂ at the same time, the cut yarn end Y ₁ as shown in FIG. It is set so that the thread is threaded through the hole 3a and suction-held by the section pipe 109 to complete threading.

(Doffing mechanism) As shown in FIGS. 13 and 14, the left inner wall 60b of the frame 60
The operation lever 113 that operates the cradle lever 27 of the cradle arm 6 that is pulled up to the doffing position, and the movable lever piece 24b is opened by this operation lever 113 and the winding package 8 of the full ball that falls is received. A tray 114 that is rolled on the carry-out conveyor 38 and a paper tube supply arm 115 that extracts the paper tube 5 from the stocker 28 and supplies it to the cradle arm 6 are attached as shown in FIGS. 15 and 16.

The operation lever 113 penetrates the left inner wall 60b of the frame 60 and is supported by the drive shaft 11 which is supported so as to be rotatable and slidable in the axial direction.
A protrusion 113a that is attached to the tip of the operation lever 113 and that engages with the upper surface of the cradle rail 27 is provided at the tip of the operation lever 113. When the operating lever 113 is not in operation, the operating lever 113 is turned upward so that it does not interfere with the winding package 8 during traveling. When the doffing is performed, the operating lever 113 is turned so as to be located inside the cradle lever 27 and then is slid. The cradle lever 27 is moved as shown by an imaginary line in FIG. 14 to open the movable arm piece 24b of the cradle arm 6.

The saucer 114 penetrates the left inner wall 60b of the frame 60 and is rotatably supported by a pair of rotating shafts 117a and 117b.
An impact absorbing plate 119, which is connected and supported via 18a and 118b and absorbs an impact when the winding package 8 falls, is attached on the receiving tray 114 in a state of being inclined downward to the rotating drum 7 side. When the tray 114 is not in operation, it is stored on the side of the carriage 42 as shown by the phantom line in FIG. 13, and when it is doffed, it is extended directly below the winding package 8 by the rotation of the rotary shafts 117a and 117b. It has become.

The paper tube supply arm 115 has a frame 6 as shown in FIG.
Rotating shaft rotatably supported through the left inner wall 60b of 0
A paper tube chucker 121 is attached to the tip of the paper tube 120, and detachably holds the paper tube 5 at the tip. A clamp cutter 122 is attached to one side of the paper tube chucker 121. This Kracamp cutter 122 has a fixed blade 122
a and a movable blade 122b driven by a cylinder 123. As shown in phantom in FIG.
And a yarn Y ₁ straddled between a bunch guide 126 to be described later is cut to grasp a yarn end connected to the yarn supply package side. When the paper tube supply arm 115 removes the paper tube 5 from the stocker 28, it pivots downward and stands by (a).
As shown in FIG. 17, when the yarn is hooked on the bunch guide 126, the yarn is turned upward and stopped at the position of the cradle arm 6 while cutting and grasping the yarn by the clamp cutter 122 (b), and the paper tube 5 is fixed. When delivered to the cradle arm 6, it is swiveled and stored above the trolley side.

The drive shaft 116 of the operation lever 113, the rotary shaft 117a of the pan 114,
The rotation shaft 120 of 117b and the paper tube supply arm 115 are interlocked by a cam type drive mechanism (not shown).

Further, as shown in FIG. 4, a push-up lever for pushing up the display lever 35 in a horizontal state is provided on the left inner wall 60b of the frame 60.
124 is pivotally supported, and the push-up lever 124 is operated via a link 125 by a cam type drive mechanism (not shown).

(Thread hook mechanism) The thread hook mechanism 59 is composed of a paper tube supply arm 115 having a paper tube chucker 121, and a clamp cutter 122 attached to one side of the paper tube chucker 121, and as shown in FIG. When the paper tube supply arm 115 stops at the position of the cradle arm 6, the yarn end Y ₁ gripped and pulled by the clamp cutter 122 is located just between one end of the paper tube 5 and one holder 25a, and the movable arm One piece 24b is closed and both holders 25a, 2
When the paper tube is gripped between 5b, one end of the paper tube 5 and one holder
The yarn end Y ₁ is clamped between the yarn 25a and the yarn 25a so that the yarn can be hooked. When the thread is hooked, the clamp cutter 122 opens the thread end Y ₁ . Since the paper cutter supply arm 115 is provided with the clamp cutter 122 as described above, the supply of the paper core 5 and the thread hooking on the paper core 5 can be performed by a simple mechanism.

As shown in FIGS. 17 and 18, the right inner wall 60c of the frame 60 is shown.
Bunch guide 126 that applies a bunch winding YR to the end of the paper tube 5
Is installed. This bunch guide 126 has a cylinder 127 attached to the right inner wall 60c in a state where the downward piston rod 127a is inclined so as to face diagonally to the left.
A bunch guide body 129 having an upward drum-shaped thread hooking roller 128 is attached to the tip of the piston rod 127a. When the operation arm 85 hooks the thread guide roller 11 on the unit 2 side with the thread guide piece 112, the posture of the operation arm 85 is changed to a state in which it obliquely faces the upper side (stored state), and in this state, the thread guide roller 11 and the suction pipe 109. pushes up obliquely upward wants the yarn Y ₁ engaged by the thread guide piece 112 straddled between. The bunch guide 126 lowers the bunch guide body 129 to lock the yarn Y ₁ straddling the yarn guide roller 11 and the yarn guide piece 112 to the yarn hooking roller 128.
In this case, the mounting angle of the cylinder 127 is determined so that the yarn Y ₁ is located above the bunch guide body 129, that is, between the yarn hooking roller 128 and the piston rod 127a, and the yarn Y ₁ is attached to the bottom of the bunch guide body 129. Is formed with a guide surface 129a for guiding the above.

When the bunch guide body 129 locks the yarn Y ₁ and rises,
A thread is hooked on the paper tube 5 by the clamp cutter 122 of the paper tube supply arm 115, and then the cradle arm 6 is pushed down by the operation lever 113 so that the paper tube 5 comes into contact with the rotating roller 7 to rotate, The winding of Y is started. At this time, the yarn Y between the paper tube 5 and the yarn guide roller 11 is hooked on the yarn hooking roller 128 of the bunch guide body 129 as shown in FIG. Bunch winding around the paper core 5 by moving it up and down multiple times within the range.
YR is applied. And bunch guide
After the bunch is wound, the bunch guide body 129 is lowered to remove the yarn Y from the yarn hooking roller 128 and delivered to the feed roller 12, and then the bunch guide body 129 is pulled up to the uppermost end to finish the operation. Paper tube 5 through feed roller 12
The yarn Y wound around is caught by the traverse guide 130 traversing the rotating roller 7 and traversed.

Next, the operation of the above embodiment will be described with reference to the flowchart shown in FIG.

The processing robot 41 runs along the unit 2 (S ₁ ),
When the sensor 47 detects the display lamp 32 and the display lever 35 in the horizontal state lit _{(S 2) (S 3)} , the stop indexes in before of the unit 2 becomes slow (S _4). In this state, the sensors 49 and 50 detect whether or not the doffing conditions (the paper core is on the stocker and the winding package is not on the carry-out conveyor 4) are satisfied (S ₅ ), and if not, the index It is out (S ₆ ), and the traveling of the processing robot 41 is restarted (S ₁ ).

When the doffing condition is satisfied, the vertical movement of the operation arm 85 is started (S ₇ ), the pedal lever 48 depresses the pedal 21 shallowly to stop the rotation of the spindle 4, and the pressurized air introduction portion is pressurized. Connected to supply valve 22. Further, the telescopic arm 111 of the operation arm 85 is connected to the rotation lever 33 of the display lever 35.
Is pressed, the display lever 35 is pushed down (S ₈ ), and the presence or absence of residual yarn in the yarn supplying package 3 is detected by the residual yarn detecting sensor 96 (S ₉ ). If the residual thread there is without feed yarn exchange and doffing operation (S _10), the operating arm 85 and the stored state and returns to the origin (S _11), it becomes an index out (S _12), the processing robot 41 resumes the running of (S _13).

If the residual thread without starting the yarn feeding exchange operation and the doffing operation _{(S 14) (S 15)} .

When performing the yarn feeding exchange, first, the telescopic arm 111 of the operation arm 85 pushes the rotating lever 33 of the drop wire 10 and the left arm piece 105a of the chucker 99 pushes the snell wire 9 to release them from the yarn feeding package 3 (first (See FIGS. 3 and 4). Also, the yarn feeding package detection sensor 51 is
When the yarn feeding package 3A transferred on the tray 39 is detected by the 40, the cylinder 52 operates to engage the locking piece 53 with the base end of the peg 39a of the tray 39 as shown in FIG. 3
9 is stopped and the proximity sensor 54 on the cylinder 52 also stops the conveyor 40.

Then, the chucker 99 first grips the tensor cap 18 mounted on the empty yarn feeding package 3B on the spindle 4 and delivers it to the cap chucker 73 of the receiving arm 72, and then grasps the yarn feeding package 3A on the tray 39 to process the robot.
It moves to the lead-out peg 61 on 41, and further grips the empty yarn feeding package 3A on the spindle 4 and moves it onto the peg 39a of the tray 39. When receiving the tensor cap 18, the receiving arm 72 is pivotally moved from the standby position to the exit position by the pivoting cylinder 78, and is returned to the standby position again after receiving.

Supply yarn package. 3A When mounted on the lead-out peg 61 starts the yarn end finding (S _16). In this case, the suction arm 66 is pivotally moved to the feeding position and the pressing cylinder 76 covers the suction mouth 69 on the paper tube upper end portion 3b of the yarn feeding package 3A. As a result, the suction arm 66 sucks the yarn end bunch-wound around the upper end 3b of the paper tube from the suction mouth 69 and returns to the standby position.

During this time, the supply yarn package 3A is rotated in the thread unwinding direction through the yarn end finding peg 61 by the motor 65, the yarn end Y ₂ which are dispensed are stored in the suction arm 66 and the suction tube body 71. Next, the thread guide piece 79 of the thread support portion 67 is moved up and down by the lifting cylinder 81, so that the thread Y ₂ that straddles between the thread supply package 3A and the suction mouth 69 is thread groove 79 of the thread guide piece 79.
The yarn Y ₂ is caught in a through the yarn holding ring, and the yarn Y ₂ is positioned at the lead-out sensor 82.

Then, it is determined whether or not the yarn feeding is successful depending on the presence or absence of the yarn (S ₁₇ ), and if successful, the yarn feeding exchange (S ₁₈ ) and the yarn threading (air threading) (S ₁₉ ) are sequentially performed. That is, first, the yarn guide piece 79 is moved upward, and as shown in FIG. 10, the chucker 99 advances the yarn Y ₂ that straddles between the yarn supply package 3A and the yarn guide piece 79 to move the yarn in the yarn holding ring 107. Catch on. Next, the thread guide piece 79 is moved down and the chucker 99
Is a receiving arm that grips the yarn feeding package 3A on the lead-out peg 61, moves it onto the spindle 4, and swivels it to the lead-out position.
The tensor cap 18 is received from the cap chucker 73 of 72 and mounted on the upper end 3b of the paper core of the yarn supplying package 3A (No. 11).
(See Fig. 12).

Next, the pedal lever 48 generates an air flow for threading on the spindle 4 part where the pedal 21 is deeply depressed, and
Compressed air is ejected from the nozzle 108 of the chatsuka 99, and in this state, the cutter 83 of the yarn support 67 is activated and the yarn feeding package
When the yarn Y ₂ connected to the suction mouth 69 from 3A is cut, the cut yarn end Y ₁ on the yarn feeding package side is ejected from the nozzle 10
The compressed air flow from 8 and the suction flow from the center hole 18a of the tensor cap are surely sucked into the center hole 18a, and the threading into the shaft hole 3a is reliably performed as shown by the dotted line in FIG. The threaded yarn end Y ₁ is suction-held by the suction pipe 109.

When the threading is completed, the telescopic arm 111 moves the snell wire 9
The return lever 9a is pushed to return the snell wire 9, and the yarn guide piece 112 sequentially hangs the yarn Y ₁ between the yarn supplying package 3A and the suction pipe 109 on the snell wire 9 and the yarn guide roller 11. When this thread hooking is completed, the operation arm 85 returns to the origin and enters the stored state.

On the other hand, as shown in FIGS. 13 and 14, the cradle arm 6
The operation lever 113 of the above turns the cradle lever 27, opens the movable arm piece 24b, removes the winding package 8 full of balls from the cradle arm 6, and the pan 114 extends below the winding package 8 and falls. The take-up package 8 is received, and the take-up package 8 is rolled on the rotating drum 7 by its own weight from the inclined impact absorbing plate 119 of the tray 114 and is carried out onto the carry-out conveyor 38. Further, the paper tube supply arm 115 pivots as shown in FIG. 15 to remove the paper tube 5 from the stocker 28 by the paper tube chucker 121, and waits below (a). Meanwhile, as shown in FIG. 17, the thread guide piece 112 of the telescopic arm 111 pushes up the thread Y ₁ between the thread guide roller 11 and the suction pipe 109, and then the bunch guide 126 and the thread guide piece 112 and the thread guide piece 112. The yarn Y ₁ between it and the guide roller 11 is hooked on the yarn hooking roller 128 of the bunch guide 126 and further pulled up as shown by the phantom line. In this state, the paper tube supply arm 115 pivots upward and cuts the yarn Y ₁ straddled between the suction pipe 109 and the yarn hooking roller 128 of the bunch guide body 129 with the clamp cutter 122 to feed the yarn. The yarn end Y ₁ connected to the package side is gripped and stopped at the position (b) of the cradle arm 6. At this time, since the yarn end Y ₁ grasped and pulled by the clamp cutter 122 is located just between one end of the paper tube 5 and the one holder 25a, the movable arm piece 24b is closed by the operation lever 113. Both holders 25a,
When gripping the paper tube 5 between 25b, the yarn end Y ₁ is sandwiched yarn hooking between the one end and the one of the holders 25a of the paper tube 5 is made.

Doffing Thus, when the paper tube mounting and the yarn hooking ends (S _20), the cradle arm 6 is pushed down by the operation lever 113. This turns off the display lamp 32. Further, the pedal 21 is released from the shallow depression state, and the rotation of the spindle 4 is started. When the cradle arm 6 is pushed down, the paper tube 5 comes into contact with the rotating drum 7 and rotates, and the yarn Y is wound around the paper tube 5. At this time, the yarn Y between the paper tube 5 and the yarn guide roller 11 is hooked on the yarn hooking roller 128 of the bunch guide body 129 as shown in FIG. Bunch winding on one side of the paper tube 5 by moving it up and down multiple times within the range.
YR is applied (S ₂₁ ). Then, after the bunch guide 126 has wound the bunch, the bunch guide body 129 is lowered to remove the yarn Y from the yarn hooking roller 128 and delivered to the feed roller 12, and then the bunch guide body 129 is pulled up to the uppermost end to end the operation. . The yarn Y wound around the paper tube 5 via the feed roller 12 is caught by the traverse guide 130 traversing on the rotary drum 7 and traversed, and full-scale yarn winding starts (S _22). ).

Then, gas introduction portion is removed from the gas supply valve 22, the display lever 35 pushed up by the push-up lever 124 (S _23), becomes an index out (S _24), it restarts the traveling of the handling robot 41 (S ₂₅₎ . When the display lever 35 is pushed up, the drop wire 10 is pulled away from the magnet 34 by the push-down lever 35a at the base end thereof, and leans against the running yarn Y between the snell wire 9 and the yarn guide roller 11 by its own weight.

If the feeding is not successful, the yarn feeding is replaced, the doffing and the paper tube are mounted (S ₂₆ , S ₂₇ ), and after returning the operation arm to the origin (S ₂₈ ), the display lever is raised (S ₂₃ ), The index is out (S ₂₄ ), and the traveling of the processing robot 41 is restarted (S ₂₅ ). In this case, since the yarn Y is not connected to the paper tube 5 from the yarn supplying package 3A, when the drop wire 10 is separated from the magnet 34 by pushing up the display lever 35, the drop wire 10 falls as it is, the operation valve 30 is opened, and the cradle arm is opened. 6 is pulled up, and the indicator lamp 32 lights up. Therefore, the processing robot 41 again detects the unit 2 and lowers the display lever 35 (S ₈ ) to detect the residual yarn on the yarn supplying side (S ₉ ). No doffing operation (S ₁₀ ), index out (S ₁₂ ),
The traveling of the processing robot is restarted (S ₁₃ ). Therefore, the worker is in charge of the unit 2 in which the display lever 35 is lowered.
Should be managed. Further, since the display lever 35 is lowered, the processing robot 41 does not stop at the position of the unit 2 thereafter, and useless operation of the processing robot 41 is avoided.

[Effects of the Invention] According to the present invention required as described above, it is possible to automatically perform the replacement of the yarn supplying package, the yarn feeding, the threading, the doffing, and the yarn hooking, thereby reducing the labor and improving the productivity. Further, since these processings are performed by one processing robot, the apparatus can be made much more compact than the case where the processing mechanism is attached to each unit.

[Brief description of drawings]

FIG. 1 is a perspective view of an entire double twister showing an embodiment of the present invention, FIG. 2 is an enlarged cross sectional front view showing a related configuration of a unit of the double twister and a processing robot, and FIG. 3 is a yarn feeding package of the unit. Fig. 4 is a plan view of the portion viewed from above, Fig. 4 is a side view showing the related configuration of the drop wire and the display lever in the unit, Fig. 5 is a partial plan view of the processing robot, and Fig. 6 is an operation arm of the processing robot. 7 is a sectional view taken along line AA in FIG. 6, FIG. 8 is a sectional view taken along line BB in FIG. 5, and FIG. 9 is a sectional view taken along line CC in FIG. Fig. 10 is a plan view showing a state in which the chucker attached to the operation arm catches the yarn of the yarn feeding package that has come out, and Fig. 11 is the chucker of Fig. 10 that transfers the tensor cap onto the yarn feeding package. Fig. 12 is a perspective view showing the state, and Fig. 12 is an enlarged view showing the state of threading. Rear view, FIG. 13 is a side view showing the doffing mechanism of handling robot, FIG. 14 is a plan view of FIG. 13, the
FIG. 15 is a side view of the paper tube supply arm of the processing robot, FIG. 16 is a plan view showing a thread hooking state on the paper tube, and FIG. 17 is a perspective view showing a state where the bunch guide receives the thread from the operation arm.
FIG. 18 is a perspective view showing a bunch winding work state by the bunch guide, and FIG. 19 is a flowchart showing an operation of the processing robot. In the figure, 1 is a double twister, 2 is a unit, 3 (3A) is a yarn feeding package, 4 is a spindle, 5 is a paper tube, 6 is a cradle arm, 8 is a winding package, 41 is a processing robot, 42 is a carriage, 55 is a yarn feeding exchange mechanism, 56 is a lead-out mechanism, 57
Is a threading mechanism, 58 is a doffing mechanism, and 59 is a threading mechanism.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location D01H 15/013

Claims (1)

[Claims] 1. A yarn feeding exchange mechanism for movably providing a carriage along a unit of a double twister arranged in parallel, and for replacing the empty yarn feeding package supported by the spindle of each unit with the yarn feeding package on the carriage. A yarn feeding mechanism for pulling the yarn end out of the yarn supplying package, a yarn passing mechanism for inserting the yarn end into the shaft hole of the yarn supplying package by an air flow, and a winding of a full ball supported by a cradle arm of each unit. A doffing mechanism for removing the package and supplying the paper tube to the cradle arm, and a thread hooking mechanism for hooking the thread end of the yarn feeding package on the paper tube when the cradle arm supports the paper tube are provided. Double twister processing robot.