JPS61263567A - Automatic yarn catching method - Google Patents

Abstract

PURPOSE:To overcome defects of prior methods and provide an automatic yarn catching method with high reliability by using a guide formed with a U-shaped yarn catch section and a operating handle having a cutter for cutting the yarn. CONSTITUTION:When a roll body of a bobbing 9 reaches a specified winding amount, a lever operated rod 17 turns a compressed air switching lever 23 to supply compressed air to an aspirator 10. Then, a yarn Y is caught by a yarn catch guide 15 and conducted to the left side of the aspirator 10. When a cutter, 16 is operated, the yarn Y begins to be attracted by the aspirator 10. Then, the lever operated rod 17 is used to move a turrest lever 24 and rotate a revolving disk 25 for interchanging the positions of bobbins 9, 9'. Further, the yarn Y is again caught by the guide 15 and wound around the bobbin 9' by several turns. Then the yarn Y is caught by the guide 15 to be conducted to a predetermined position, and cut by the cutter 16 so that the yarn Y begins to be taken up by the bobbin 9' with frictional force on the surface of bobbin.

Description

DETAILED DESCRIPTION OF THE INVENTION A) Technical field of the present invention The present invention relates to p-
The present invention relates to an automatic threading method that automatically threads objects to be threaded, such as a group of threads and a yarn winding body.

(1) Description of the prior art As a method of automatically threading an object to be threaded, there has been a method in which a suction gas that suctions and holds the thread is moved by a robot.
A method has been proposed in which the yarn is wound around a rotating body and moved by a waist spool robot that pulls and holds the μ yarn (Japanese Patent Application Laid-open No. 15361/1983).

These methods have the advantage of being easy to apply because they move commonly used suction guns and waste spools directly and hot, but have the following disadvantages.

The weight of the parts (suction gun, waist spool, etc. (hereinafter referred to as hand device)) attached to the operating section at the tip of the il+ 9-pot becomes extremely large, and the entire robot must therefore be large, making the equipment extremely expensive.

(2) The hand device becomes large both in weight and dimension, making it difficult to perform quick and fine movements, and the success rate of threading decreases.

(31 suction gun, etc.) When moving a suction gun, etc., the longer the waste thread hose increases the weight, and the resistance to transfer the waste thread also increases, causing the running thread of the continuous trowel to increase. ! ! It is extremely difficult to operate.

(4) Even when attaching a waist spool or the like to the tip of the robot, it is difficult to operate the running thread hook of the continuous plow due to the accumulation of threads. %, it is extremely difficult to do so when the yarn running speed is high or the yarn fineness is large.

c) Purpose of the Invention The present invention eliminates the disadvantages of the automatic threading method in which the suction gun or waist spool is moved directly by hot operation as described above, and makes full use of the advantages of the operating hand. A highly reliable automatic threading method is intended to be provided.

2) Structure of the Invention In order to achieve the above object, the present invention consists of the following yang sole. 1. That is, in a method of automatically threading a yarn processing roller group, a V-shaped pick of yarn, or a threading object of a yarn processing roller group and a winding body connected to the roller group, Operation unit Km of a moving device that has the ability to capture threads, draw threads, or cut threads with a degree of 2nd degree or higher
Attached. This automatic threading method is characterized in that the threading is carried out using an operating hand that cuts the threads captured by the guide and the wrinkle guide, which are formed with at least a U-shaped thread catching portion.

E) Embodiment Next, an embodiment of the present invention will be described in more detail with reference to the drawings. #! FIG. b is a schematic diagram showing a direct spinning, drawing and winding machine which is an example of a yarn processing machine to which the automatic threading method according to the present invention is applied.

In the figure, a yarn Y is spun from a spindle 1, passes through an oiling roller 2, a supply roller 3, a stretching roller 4, 4'
, 5.5', and then stretched to the dancer roller 6.
After being traversed by a traverse device 7, it is hoisted onto a hobbin 9. The row 5 bale 8 applies surface pressure to the winding body taken up by the hobbin 9. Also, aspirator ″″−
Reference numeral 10 has a function of temporarily sucking and holding the yarn sent out from the drawing group. 11 is a free roller that changes the thread guide.

In this embodiment, when the winding body being wound on the bobbin 9 reaches a specified winding amount, the yarn traveling between the free roller 11 and the roller pail 8 is cut using a yarn catching guide and a yarn cutting cutter. The second bobbin 9' is automatically transferred to the standby bobbin 9' without depending on the operator, by catching it using the operating hand 12, routing it between various parts of the winding machine, and cutting the yarn. FIG. 1 is a perspective view showing an example of an apparatus for implementing the automatic threading method according to the present invention.

As a device having a movement function with two or more degrees of freedom, a general robot 13 capable of three-dimensional movement, which is currently employed in various industrial fields, can be used (hereinafter referred to as the moving device nerobot).

Ropop) 13 is the 1st rf! ABCDE indicated by J arrow
F It is movable in each direction and moves according to a program that determines the trajectory of the operating hand I2 attached to the tip of the drive unit, and captures, cuts, and draws the yarn to each part of the winding machine.
Alternatively, winding the yarn onto the bobbin, etc.

Note that the robot 13 is movable in the G direction, and can be moved to another bonito as necessary after the thread switching is completed.

Next, FIG. 2 is a detailed perspective view of the operating hand 12 in FIGS. 6 and 1. This operating hand has a substantially T-shaped main body 14.
A yarn catching guide 15. Crest guide 1
Yarn cutting cutter 16 arranged in parallel with 5. It has a structure with two parallel lever operating rods 17 and 17' vertically installed at both ends of the lower part of the tip 14', and is attached to the operating section (not shown) at the tip of the robot via a flange 18. V
C is fixed. The yarn catching guide 15 has a structure that allows it to easily catch the yarn while it is running, wind the yarn around the bobbin, etc., and prevent it from accidentally coming off, for example (horizontal). The guide has a yarn catching portion 15' having a U-shaped, V-shaped, or Snell-shaped structure (these are represented by the term "U-shaped"). The yarn cutting cutter 16 has a structure in which a cutter blade 19, which is housed inside and can be freely moved in and out, is driven by a compressed air cylinder 20. Compressed air is supplied to the cylinder 20 through a compressed air hose 21 from a compressed air pipe (not shown) opened at the tip of the robot. In addition, the lever operation iron 17, 17' allows quiet and accurate operation of various levers provided on the winding machine side.The exterior of the machine is made of a rubber-like elastic material, and the single-shaped main body 14 is designed to reduce weight. It is made of light alloy.

Next, in this example. The function of each part will be explained. FIGS. 3 to S are perspective views showing the yarn switching state in the winding machine according to the present invention, and respectively show a state at the beginning of thread switching, a state in the middle of thread switching, and a state on the thread switching path.

In FIG. 3, the yarn Y fed out from a drawing section (not shown) is moved to a dancer roller 6, which is part of the equipment for controlling the spindle rotation speed by tension. After passing through a free roller 11 for changing the yarn guide, the yarn is wound onto the bobbin 9 while being traversed by a traverse tip 22 reciprocating inside the traverse device 7. Here, when the winding body being wound on the bobbin 9 reaches a predetermined winding amount, a robot (not shown) starts operating in response to an external signal, and the tip of the operating part of the robot starts operating according to a previously taught program. The standby bobbin 9 is operated by the operating hand 12 attached to the
The thread switching to ' is started. That is, first, when the lever operating rod 17 located at the lower end of the operating hand grips the compressed air opening/closing lever 23 located at the upper part of the aspirator 10 and turns it with one side thereof in contact, compressed air is supplied to the aspirator and suction is started.

Therefore, the yarn being traversed between the 7-lead roller 11 and the traverse guide 22 is captured by the yarn capturing guide 15, guided as it is to the left side of the aspirator, and then transferred to the cylinder 2.
When the cutter 16 is actuated by applying air pressure to the yarn Y, the yarn Y, which has been wound up on the hobbin 9, begins to be sucked into the aspirator. Threaded operation hand 12
is the robot's A-axis (see Figure 1)? : Tears at 90°
After rotating, operate the two levers Rondo 17, 17'
When the turret lever 24 is moved vertically using bobbin 9' is set.

Next, as shown in the figure, the traverse device 7 is brought close to the empty bobbin 9' using the lever operating rod 17, and the yarn Y traveling under suction between the feed roller 11 and the aspirator 10 is caught. The guide 15 captures the bobbin 9.
When the thread Y is guided to the tip of the bobbin 9' and wound several times around the bobbin 9', the thread Y is traversed again by the traverse guide 22, and is passed through the aspirator I without slipping on the surface of the bobbin 9'.
OK continues to be attracted.

Therefore, when the thread Y is guided to the position shown in the figure while being caught by the thread catching guide 15 and the thread is cut by the cutter 16, the thread that has been slipping on the surface of the bobbin 9' is removed from the bobbin 9'. J on the surface! At the same time as bobbin 9'K begins to be wound due to frictional force, spindle 1 tip and cutter blade 1
The thread Y that was between the thread 9 and the thread 9 wraps around the tip of the spindle, forming a so-called pigtail. So the last K,
7 Compressed air opening/closing lever 23 located at the top of subilator lO
Turn to stop the supply of compressed air and complete the series of thread switching operations.

Due to the above-described operation, the yarn Y sent out from the drawing section is automatically switched from the first hobbin 9 to the next hobbin 9'K, regardless of the operator.

In this embodiment, all operations for thread switching are performed by the robot through the operation hand 12, but an auxiliary cylinder is used to operate the turret lever 24, for example, by using an auxiliary cylinder, supply of compressed air for the aspirator, etc. For stopping, it is also possible to use a solenoid valve or the like to exchange signals with the outside at the same time as each axis of the robot's drive unit, and to switch yarns efficiently.

F) Effects of the Invention As explained above, the present invention uses the above structure 9 and has the following effects.

(11 The operating hand attached to the operating unit 111 at the tip of the robot can be made extremely lightweight.

It became possible to turn the robot body into a hut, making it possible to significantly reduce equipment costs.

(The 21-hand device can be made smaller in both weight and dimensions, so it operates quickly.

Fine movements can be made easily, and threading can be carried out quickly and reliably.

+31 Problems such as transporting the waste thread hose and accumulation of waste thread on the waist roller have been solved, and it has become much easier to thread the thread while running the continuous trowel.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an example of the structure of an apparatus for implementing the automatic threading method according to the present invention, FIG. 2 is a detailed perspective view of the operating hand portion in FIG. 2, and FIG. 4 and 5 are perspective views showing a yarn switching situation in a winding machine to explain the operation according to the present invention, and FIG. 6 is a perspective view of a yarn processing machine to which the automatic thread hooking method according to the present invention is applied. It is a schematic diagram showing a direct spinning draw winder as an example. Machining: Mouthpiece 2: Oiling roller 3:
...Supply roller 4.4', 5.5'...Stretching roller 6...Dancer roller 7...Traverse device 9.9'...Bobby 7 10...7 Spirator 13...Robot 15... Yarn catching guide 16...
・Cutter 17... Lever operating rod 24...
・Turret lever

Claims (1)

[Claims] In a method for automatically threading a yarn processing roller group, a yarn winding body, or a threading target object of a yarn processing roller group and a winding body connected to the yarn processing roller group, the method includes: capturing the yarn;
A guide having at least a U-shaped yarn catching section attached to the operating section of a moving device that has an operating function of drawing a yarn or cutting a yarn with two or more degrees of freedom, and a yarn caught by the guide. An automatic threading method characterized in that the threading is carried out using an operating hand having a cutter for cutting the threads.