JPS60178165A - Yarn cutting device in doffing operation robot - Google Patents
Yarn cutting device in doffing operation robotInfo
- Publication number
- JPS60178165A JPS60178165A JP2877884A JP2877884A JPS60178165A JP S60178165 A JPS60178165 A JP S60178165A JP 2877884 A JP2877884 A JP 2877884A JP 2877884 A JP2877884 A JP 2877884A JP S60178165 A JPS60178165 A JP S60178165A
- Authority
- JP
- Japan
- Prior art keywords
- arm mechanism
- robot
- yarn
- cutter
- cutter support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
- B65H54/71—Arrangements for severing filamentary materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
- Spinning Or Twisting Of Yarns (AREA)
- Coiling Of Filamentary Materials In General (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、ガラス材料（ガラス塊）を融解して中成し
たガラス系（たとえば直径０１〜３〜程度のもの）を紙
チューブに巻回する採糸工程によって製作されたケーク
を取扱うドフイング■ｏｆｆｉｎｇ）作業（ガラス糸を
巻回した紙チューブを巻取ワインダ装置から抜き取る作
業）を行なうドフイング作業ロボットにおける糸切り装
置に関するものである。[Detailed Description of the Invention] [Technical Field of the Invention] The present invention involves winding a glass material (for example, a diameter of 01 to 3 or more) formed by melting a glass material (glass lump) into a paper tube. This invention relates to a thread cutting device in a doffing work robot that performs a doffing operation (taking out a paper tube around which a glass thread is wound from a take-up winder device) that handles a cake produced in a yarn harvesting process.
第１図は従来のドフィック作業ロボットを示す斜視図で
あシ、図において、（１）は一対のレール（２） ＬＩ
Ｊ（２）上を移動す否走行台車（３）上に組付けられた
ドフイング作業用のロボット本体で、上記走行台車（３
）の上面には、上記レール（２） （２１と直交する一
対のレール（４） （４）に漬って移動する横行デープ
ル（５）が載置されている。（６）はこの横行テーブル
（５）上のロボット本体（１）の上面に装置され所定速
度で回転される旋回テーブル、（７）はこの旋回テーブ
ル（６）上において電動機（８）により所定速度で回転
される回転テーブルで、この回転テーブル（７）の垂直
面には、１８００の間隔をあけて一対のカートリッジ（
９）がコレットチャックＱＯに着脱自在に装着し得るよ
うになされておシ、この両カートリッジ（９）は紙チュ
ーブａ→を着脱自在に挿入支持するだめに設けられたも
のである。■は上記ロボット本体（１）に互いに所定間
隔をあけて平行に固定された一対のガイドバーα２ａ４
に沿って水平方向に移動し得るように支持され、電動機
０１により正逆回転するスクリューリードＩによって駆
動される移動片で、この移動片ａｌｌにはほぼコ字形鉤
片０つが設けられ、たとえば油圧シリンダＯｅによ、っ
て上昇するように構成されている。Fig. 1 is a perspective view showing a conventional Dophic working robot. In the figure, (1) is a pair of rails (2) LI
A robot body for doffing work that is assembled on a running trolley (3) that does not move on the running trolley (3).
) A transverse table (5) is placed on the upper surface of the rail (2) (a pair of rails (4) perpendicular to the above rails (21) (4). (6) is a transverse table. (5) A turning table installed on the upper surface of the upper robot body (1) and rotating at a predetermined speed; (7) a rotating table that is rotated at a predetermined speed by an electric motor (8) on the turning table (6); , a pair of cartridges (1800 mm apart) are mounted on the vertical surface of this rotary table (7).
9) can be detachably attached to the collet chuck QO, and both cartridges (9) are provided for detachably inserting and supporting the paper tube a→. ■ is a pair of guide bars α2a4 fixed in parallel to the robot body (1) at a predetermined distance from each other.
It is a movable piece that is supported so as to be able to move in the horizontal direction along the horizontal direction and is driven by a screw lead I that is rotated in forward and reverse directions by an electric motor 01. It is configured to be raised by the cylinder Oe.
０７）面は上記カートリッジ（９）をコレットチャック
αＱに支持させ、また複数の紙チユーブα時を挿入支持
したカートリッジ（９）を巻取シワインダ装置（人優の
巻取り軸（１）に移動させるだめのたとえば油圧シリン
ダである。07) The above-mentioned cartridge (9) is supported by the collet chuck αQ, and the cartridge (9) in which a plurality of paper tubes α are inserted and supported is moved to the winding shaft (1) of the winding shiwinder device (human operator). An example of this is a hydraulic cylinder.
従来のドフイング作業用ロボット装置は上記のように構
成されている。第２図及び第５図によってその動作を説
明する。まず、回転テーブル（７）のコレットチャック
００に挿入保持させたカートリッジ（９）に複数の紙チ
ユーブα時を挿入したあと、横行テーブル（５）゛を移
動させて紙チューブ０時と共にカートリッジ（９）を巻
取りワインダ装置ＤＩの巻取シ軸（イ）に同心的に対向
させ、鉤片０９を上昇させてこれを紙チューブ四に係合
させたあと、電動機（１３によるスクリューリード■の
回転によってカートリッジ（９）上の紙チューブ（旧を
１個あて、順次巻取り軸（イ）に移動させる。次に、カ
ートリッジ（９）を後退させたあと、巻取シ軸■を回転
させて各紙チューブ０→に順次ガラス糸Ｉ２１）を巻掛
ける。そして所定量のガラス糸（ハ）の巻回が終了する
と、各紙チューブＯ呻間の渡りガラス糸（２１＆）およ
び最終端糸を作業者が糸切りナイフ＠を用いて手作業で
切断する。次に再びカートリッジ（９）を巻取シワイン
ダ装置ｉｌｌの巻取り軸（イ）に同心的に対向させ、鉤
片０四を上昇させてこれをケーク（イ）の外周に係合さ
せたあと、電動機０３によるスクリューリードαりの回
転によって巻取り軸…上のケーク（財）を抜き取りカー
トリッジ（９）に移動させる。このようにしで、ケーク
（ホ）をカートリッジ（９）に全部移動させると、この
カートリッジ（９）をコレットチャック（ｌ［）から取
外し、新たに別個のカートリッジ（９）をコレットチャ
ックα１に挿入支持させたあと、再びこのカートリッジ
に紙チューブｑ→を挿入し、これを巻取シワインダ（６
）の巻取り軸（１）に移動させてガラス糸Ｑ］）の巻掛
は動作に入る。A conventional robot device for doffing work is configured as described above. The operation will be explained with reference to FIGS. 2 and 5. First, a plurality of paper tubes α are inserted into the cartridge (9) inserted and held in the collet chuck 00 of the rotary table (7), and then the transverse table (5) is moved and the paper tubes 0 and the cartridge (9) are inserted and held. ) is concentrically opposed to the winding shaft (A) of the winder DI, and after raising the hook 09 and engaging it with the paper tube 4, the motor (13) rotates the screw lead ■. Place one paper tube (old) on the cartridge (9) and move it to the take-up shaft (A) one by one.Next, after retracting the cartridge (9), rotate the take-up shaft (■) to remove each paper. The glass thread I21) is sequentially wound around the tube 0→.When the winding of a predetermined amount of glass thread (c) is completed, the worker wraps the glass thread (21&) between each paper tube O and the final end thread. Cut it manually using a cutting knife @.Next, place the cartridge (9) again concentrically facing the winding shaft (A) of the winding and winding device ill, and raise the hook piece 04 to cut the cake. After engaging the outer periphery of (a), the cake (goods) on the winding shaft is extracted by rotation of the screw lead α by the electric motor 03 and moved to the cartridge (9). ) into the cartridge (9), remove this cartridge (9) from the collet chuck (l[), insert and support a new separate cartridge (9) into the collet chuck α1, and then insert it into the cartridge again. Insert the paper tube q → and take it up with the winder (6
) to the winding shaft (1) and winding of the glass thread Q]) begins.
しかるに上記のように所定量のガラス糸（’４１）の巻
回が終了すると、各紙チューブ（時間の渡りガラス糸（
２１＆）を作業イが糸切りナイフ（イ）を用いて手間と
時間がかかるという欠点があった。However, when the winding of a predetermined amount of glass thread ('41) is completed as described above, each paper tube (time-varying glass thread ('41)
There was a drawback that the work of 21&) was laborious and time consuming as it required a thread cutting knife (a).
この発明〇よ、かかる点に着目してなされたもので、各
紙チユーブ間の＋ｌ、！Ｆリガラス糸を匂す断する作業
を自動的に行なう糸ゆノリ装置を提供しようとするもの
で、りる。This invention 〇 was made with attention to this point, and +l between each paper tube! This paper aims to provide a yarn twisting device that automatically performs the work of cutting glass yarn.
第４図及び第５図はこの発明の一実施例を示す説明図で
ちり、第４図は側面からの説明図、第５図はＩＥ面から
の説明椀１である。同図において、い→はロボット本体
（１）にガイドバーａｚを介して横方向に移動可能に取
付けたケーク跡送用のアーム機構である。（１４１はア
ーム機構（ハ）を横方向に移動させるスフ１斤＝リード
である。（ハ）は略コ字状のカッター支持台であり、カ
ッター支持台（ハ）はアーム機構（ハ）に上下動１ｆｆ
Ｊ能に上向きに取付けられている。カッター支持台（ハ
）の各月には糸切りカッター斡）、四が各各上向きに取
付けられている。翰はカッター支持台（ハ）を上下させ
て糸切りカッター＠、（ハ）を上下きせるシリンダーで
あり、シリンダー（ロ）はアーム機構に取付けられてい
る。4 and 5 are explanatory diagrams showing one embodiment of the present invention. FIG. 4 is an explanatory diagram from the side, and FIG. 5 is an explanatory diagram of the bowl 1 from the IE side. In the figure, I→ is an arm mechanism for transferring a cake trail that is attached to the robot body (1) so as to be movable in the lateral direction via a guide bar az. (141 is a sufu 1 loaf = lead that moves the arm mechanism (C) laterally. (C) is a roughly U-shaped cutter support stand, and the cutter support stand (C) is attached to the arm mechanism (C). Vertical movement 1ff
It is mounted upwards on the J-noh. On each month of the cutter support stand (c), thread trimmers (4) are attached facing upward. The kiln is a cylinder that raises and lowers the cutter support base (c) to raise and lower the thread trimming cutter (c), and the cylinder (b) is attached to the arm mechanism.
次に上記した糸切り装置の動作について説明する。ケー
ク（イ）が出来るまでの手順は従来の動作と同様でワイ
ンダーが装置Ｑつが停止すると、ロボットのアーム機構
（ハ）が前進してケーク■間に位置決めされる。糸切り
カッター（ハ）が所定の位（１にセットされると、シリ
ンダー（イ）が動作して、カッター支持台（ハ）、及び
糸切りカッター（ハ）が上昇し、ケーク翰間に押し付け
る。ここで、ワインダー装置（至）の巻取り軸（イ）を
低速回転させることにより、ケーク（ハ）間のワタリ糸
（２１ａ）が切断されることになる。Next, the operation of the thread cutting device described above will be explained. The procedure until the cake (A) is made is the same as the conventional operation, and when the winder device Q stops, the arm mechanism of the robot (C) moves forward and is positioned between the cakes. When the thread cutter (C) is set to the specified position (1), the cylinder (A) operates, the cutter support stand (C) and the thread cutter (C) rise, and press them between the cake pans. Here, by rotating the winding shaft (a) of the winder device (to) at a low speed, the wading thread (21a) between the cakes (c) is cut.
また、上記実施例では、ドフイング作業ロボットにおけ
る糸切シ装置について説明したが、他の機械装置や一般
の糸切シ装置でおってもよく、上記実施例と同様の効果
を奏する。Further, in the above embodiment, a thread cutting device in a doffing work robot has been described, but other mechanical devices or a general thread cutting device may be used, and the same effects as in the above embodiment can be obtained.
以上のように、この発明によれば、ロボットのアーム機
構に糸切りカッターを取付けたので、ワインダーの停止
位置にかかわらず謀り糸の糸切りが出来、装置ガが簡単
になり、人力による作業をなくせる等効果がある。As described above, according to the present invention, since the thread cutter is attached to the arm mechanism of the robot, it is possible to cut the threads regardless of the stop position of the winder, simplifying the equipment, and reducing the need for manual work. It has the effect of eliminating it.
第１図は従来のドブ４フフ作栗ロボットの斜視図、第２
図は従来のドフイング作業ロボットのドフインク作業の
説明図１、第６図は第２図の要部拡大図、肌４図及び第
５図はこの発明の一実施例をノドーＪ′詣、１シ４図で
あり、２８４図は９１１１面からの説明図、第５図は正
面からの説明図である。
トロボット本体、 ２４・・・アーム機構、２５・・カ
ッター支持台、２６・・・糸切シカツタ−１２７・・・
シリンダー
なお、各図中同一符号は同−又は相当部分を示すものと
ｊ−る。
代理人 弁理士 木 村 三 朗
第１図
７
第２図
第３図
第４図
２１
第５図
１Figure 1 is a perspective view of the conventional Dobu 4 Fufu chestnut harvesting robot, Figure 2
Figure 1 is an illustration of the doffing work of a conventional doffing work robot, Figure 6 is an enlarged view of the main part of Figure 2, and Figures 4 and 5 show an embodiment of the present invention. 4, FIG. 284 is an explanatory view from the 9111 side, and FIG. 5 is an explanatory view from the front. Trobot main body, 24... Arm mechanism, 25... Cutter support stand, 26... Thread cutting cutter 127...
The same reference numerals in each figure indicate the same or corresponding parts. Agent Patent Attorney Sanro Kimura Figure 1 Figure 7 Figure 2 Figure 3 Figure 4 Figure 21 Figure 5 1
Claims (1)
を介して横方向に移動可能に取付け、このアーム機構に
略コ字状のカッター支持台を上１下動可能に上向きに取
付け、このカッター支持台の各片に糸切りカッターを上
向きに取付け、前記アーム機構に前記カッター支持台を
上下させるシリンダーを取付けたドフイング作業ロボッ
トにおける糸切り装（置。An arm mechanism for transferring the cake is attached to the robot body so as to be movable laterally via a guide bar, and a substantially U-shaped cutter support stand is attached to the arm mechanism so as to be movable up and down. A thread cutting device for a doffing work robot, in which a thread cutting cutter is attached upward to each piece of the robot, and a cylinder for moving the cutter support up and down is attached to the arm mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2877884A JPS60178165A (en) | 1984-02-20 | 1984-02-20 | Yarn cutting device in doffing operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2877884A JPS60178165A (en) | 1984-02-20 | 1984-02-20 | Yarn cutting device in doffing operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60178165A true JPS60178165A (en) | 1985-09-12 |
Family
ID=12257856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2877884A Pending JPS60178165A (en) | 1984-02-20 | 1984-02-20 | Yarn cutting device in doffing operation robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60178165A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100846363B1 (en) | 2006-09-20 | 2008-07-21 | 한국오므론전장주식회사 | Cutting Type Relay winding apparatus and the method |
-
1984
- 1984-02-20 JP JP2877884A patent/JPS60178165A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100846363B1 (en) | 2006-09-20 | 2008-07-21 | 한국오므론전장주식회사 | Cutting Type Relay winding apparatus and the method |
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