JPH10182009A - Bobbin carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform simultaneous carriage of a number of bobbins by a method wherein a rod being large in diameter and having a tip on which a protrusion for preventing a fall is formed is fixed at a hand, and the rod has diameter large enough to allow insertion of the rod in a below the peg of a bobbin. SOLUTION: A hand 6 for carrying a bobbin is fixed on one surface of a base part 61 at a robot 1 for industrial use. A rod 62 having a tip on which a protrusion 63 is formed is fixed on the other surface of the base part 61. The rod 62 is inserted in the lower part of a peg 4 in the pipe 5a of a bobbin 5. When a rod 62 is then rotated around the peg 4 arranged at the frame of a bobbin carrier truck, the bobbin 5 is also rotated around the peg 4. Further, when the rod 62 is rotated, a vertical relation between the rod 62 and the peg 4 is reversed and the rod 62 is brought into a state to hang down the bobbin 5 therefrom. The bobbin 5 is lifted by the rod 62 and pulled out from the peg 4 and taken out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bobbin conveying device for taking out a bobbin wound with a thread around a tube from storage means arranged side by side with a peg and sending the bobbin to the next step.

[0002]

2. Description of the Related Art In a spinning or weaving factory, a bobbin transport cart is provided with a large number of diagonally upward bar-shaped pegs, and a bobbin wound with a thread is inserted into a tube for temporary storage and transport. In recent years, a method of automating the operation of taking out a bobbin from a bobbin carrier and sending the bobbin to the next process using an industrial robot has been attempted in order to save labor.

As a first example of the prior art, there has been a method using a so-called outer gripping hand as shown in FIG. FIG. 4 is a side view showing an example of the first related art. Hereinafter, the first related art will be described with reference to the drawings. 1 is an industrial robot, and 3 is a frame erected on a bobbin carrier (not shown). The frame 3 has a number of bar-shaped pegs 4
Are installed diagonally upward. 5 is a bobbin,
The bobbin 5 is formed by winding a thread 5b around a tube 5a. The bobbin 5 is hung on the bobbin carrier by inserting the pegs 4 into the pipe 5a. Reference numeral 6 denotes a bobbin carrying hand attached to the industrial robot 1. Bobbin transport hand 6
Is provided with a pawl 64 that opens and closes by pneumatic drive, and grips the bobbin 5 from outside. However, with this method,
Since the hand 6 directly touches the thread 5b of the bobbin 5, the thread 5b
May be damaged or soiled. Bobbin 5
Is caught from the outside by the claws 64, so that the hand 6 becomes large, and interferes with the bobbin near the bobbin 5 to be worked.
Further, since the hand 6 is heavy, it is also difficult to hold the industrial robot 1 with a large number of hands and transport a large number of bobbins at the same time. As a remedy for this, the second method shown in FIG.
There is a prior art. FIG. 5 is a plan sectional view showing a second conventional technique. Hereinafter, the second related art will be described with reference to the drawings. 1 is an industrial robot. Reference numeral 4 denotes a peg, which is attached to a bobbin carrier (not shown). Reference numeral 5 denotes a bobbin, which is obtained by winding a thread 5b around a tube 5a. Bobbin 5
Is hung on a bobbin carrier through a peg 4 on a pipe 5a. Reference numeral 6 denotes a bobbin transporting hand attached to the industrial robot 1 and includes a base 61 and two rods 65. The rod 65 is a thin and long rod, and is fixed to the base 61 with two rods arranged horizontally. Connect two rods 65 to the tube 5 of the bobbin 5.
a, pass through both sides of the peg 4, lift the bar 65, suspend the bobbin 5, and take it out.

[0004]

However, the second prior art also has the following problems. In this method, the diameter of the rod 65 cannot be increased, that is, the radius of the rod 65 cannot be increased to more than one half of the difference between the inner radius of the pipe 5a and the radius of the peg 4. The bending stress of the rod 65 is inversely proportional to the section modulus, and the bending deflection is inversely proportional to the second moment of area. In other words, the bending stress and bending deflection of the bar 65 are inversely proportional to the cube and the fourth power of the cross-sectional radius. Therefore, if the cross-section radius of the bar 65 is small, the strength and rigidity are significantly reduced. Therefore, the posture of the bobbin at the time of handling is unstable, and there has been a problem of vibration and a decrease in positioning accuracy. Therefore, an object of the present invention is to provide a bobbin carrying hand that is lightweight and has high strength and high rigidity, and a bobbin handling method that can simultaneously carry a large number of bobbins.

[0005]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention fixes a single large-diameter rod provided with a projection for preventing falling off at the tip to a hand, and attaches this rod to a bobbin. Is inserted under the peg of the tube, and furthermore, the rod is rotated about the peg, moved on the peg, and the bobbin is lifted by the rod to pull out the bobbin from the peg.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of an apparatus showing an embodiment of the present invention, and FIG. 2 is a side sectional view showing details of a bobbin carrying hand of the embodiment of the present invention. In the figure, reference numeral 1 denotes an industrial robot, to which a bobbin carrying hand 6 is fixed at its tip. Reference numeral 61 denotes a base of the bobbin carrying hand 6, which is fixed to the industrial robot 1 on one side.
A rod 62 is fixed to the other surface of the base 61. Stick 6
Reference numeral 2 denotes a hollow cylinder or a solid cylinder having a projection 63 at its tip for preventing falling off. The projection 63 is welded to the rod 62, but may be fixed by screwing, bonding or other fixing method. Alternatively, the rod 62 and the projection 63 may be made of an integral material by cutting, shaving, or pressing. Next, a method of removing the bobbin from the peg using the bobbin carrying hand will be described. FIG. 3 is a sectional view taken along line AA ′ of FIG. First, as shown in FIG. 3A, the rod 62 is inserted into the lower part of the peg 4 in the pipe 5a. Next, as shown in FIG.
, The bobbin 5 also rotates about the peg 4. When the rod 62 is further rotated, the vertical relationship between the rod 62 and the peg 4 is reversed as shown in FIG.
2 becomes a form in which the bobbin 5 is suspended. Bobbin 5 with stick 62
And pull it out from peg 4 to take it out. In this embodiment, the case where only one rod 62 is attached to the base 61 is shown. However, when a plurality of rods 62 are arranged and attached to the base 61, a plurality of bobbins can be taken out at the same time.

[0007]

As described above, according to the present invention, the following effects can be obtained. (1) Since there is no interference between the bobbin carrying hand and surrounding bobbins and the like as compared with the method of gripping outside, a plurality of bobbins can be easily taken out at the same time. In addition, the bobbins can be densely arranged on the bobbin carrier. (2) The diameter of the rod can be doubled as compared with the method using two rods. Since the bending stress and bending deflection of the beam are inversely proportional to the cube of the diameter and the cube of the beam, respectively, the beam is lightweight and has excellent strength and rigidity. Therefore, it is possible to avoid the problems of vibration and a decrease in positioning accuracy.

[Brief description of the drawings]

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

FIG. 2 is a side sectional view of a bobbin carrying hand according to the embodiment of the present invention.

FIG. 3 is an explanatory view showing the operation of the bobbin carrying hand according to the embodiment of the present invention, and is a cross-sectional view taken along the line AA ′ of FIG. 2;

FIG. 4 is a side view showing an example of the first related art.

FIG. 5 is a plan sectional view showing an example of a second conventional technique.

[Explanation of symbols]

 1: industrial robot 2: bobbin transporting trolley 3: frame 4: pegs 5: bobbin 5a: pipe 5b: thread 6: bobbin transporting hand 61: base 62: rod 63: projection 64: claw 65: rod

Claims (1)

[Claims] 1. An industrial robot comprising a bobbin transport cart, wherein the industrial robot includes a bobbin transport hand.
The bobbin transport trolley is provided with a peg, and in a bobbin transport device in which a bobbin tube is hung on the peg, the bobbin transport hand comprises a base and one rod fixed to the base. A bobbin transporting device characterized in that the rod has a protrusion at its tip and has a diameter that can be inserted into a gap between the bobbin tube and the peg.