JPH0152304B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for transferring articles such as thread-wound packages to predetermined positions.

(Prior art and its problems) The yarn feeding section of a drawn false twisting device for obtaining bulky textured yarn from undrawn yarn or semi-drawn yarn of synthetic fibers feeds the undrawn yarn or semi-drawn yarn to a creel stand with a plurality of pegs. A structure in which a package of drawn yarn is attached is widely used. Recently, packages have become larger and heavier due to improvements in productivity, etc., and transport work such as supplying or replacing packages becomes labor intensive. For this reason, various devices are being developed that can reliably carry out the work of transferring packages. As the device, for example, JP-A-52-
Some are described in Publication No. 42952.

However, in order to transfer a package that has been transported with the bobbin axis vertical to a conveyor that is approximately horizontal or to a peg of a transport trolley, it is necessary to use a horizontal shaft that is rotatably installed as a rotation fulcrum. Then, the chuck, which is integrally attached to the shaft, must be rotated 90 degrees in the vertical direction together with the package, which requires a very large rotational force, and the rotating part of the transfer device becomes large. There are problems such as the need for a large-capacity drive device, and a fully satisfactory device has not yet been put into practical use. Therefore, it is desired to develop a transfer device that is compact and capable of reliably transferring packages. Similar problems occur when processing parts are supplied to machine tools.

(Objective) The object of the present invention is to facilitate the alignment of the article and the chuck in order to rotate the article whose axis is vertical to a substantially horizontal state and transfer it to a predetermined position. The goal is to reduce the capacity of the drive device.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the article transfer device of the present invention has a movable arm that vertically moves up and down along a support installed on the floor. A horizontal movement mechanism for position correction that moves linearly in the front, back, left, and right directions is attached, and a rotation drive device for changing posture is attached to the horizontal movement mechanism so that the central axis of its output shaft is at an angle of 45 degrees with respect to the horizontal direction. In addition to installing it at an angle,
The chuck is attached to the output shaft of the rotary drive device via a connecting member such that the chuck is inclined at an angle of 135° perpendicular to the central axis of the chuck.

Here, the article refers to a heavy article such as a thread-wound package or a part processed by a machine tool or the like.

The chuck used is one that transfers articles from the outside or inside using a movable claw, and the claw is connected to a wedge shaft,
Alternatively, it can be opened and closed using a link mechanism.

The rotary drive device is configured to rotate a hydraulic cylinder or an output shaft of an electric motor in forward and reverse directions to rotate the chuck together with a connecting member from a vertical state to a horizontal state, or in the opposite direction.

The mechanism for attaching the bracket with the rotary drive device attached to the movable arm so that it can be moved horizontally back and forth and left and right is a mechanism in which a grip attached to a slider, etc. that moves on a rail can be moved horizontally back and forth and left and right. Moreover, it is a device that can be fixed in a predetermined position by driving a positioning fixing pin or the like.

(Example) A schematic cross-sectional view of a transfer device of the present invention is shown in FIG. 1, a plan view is shown in FIG. 2, and a view taken along the Z arrow in FIG. 2 is shown in FIG. 3, and the configuration thereof will be explained.

The transfer device of the present invention connects a chuck 1 to a rotary drive device 3 through a connecting portion 2, and
The movable arm 5 is moved by the horizontal movement mechanism 4 equipped with the
The configuration is such that it is installed on the

Although the detailed configuration of the movable arm 5 in the figure is not disclosed, the arm is extended and contracted by a hydraulic cylinder, and vertically moves up and down along the column by a screw mechanism, and is moved vertically along the column by a gear mechanism. The arms are designed to pivot in the horizontal direction as a unit. Reference numeral 8 denotes a detector, and when the detection piece 6 comes into contact with the end of the thread winding or the end of the bobbin of the package cage and is pulled in, the operating piece 7 moves to operate the detector 8 and send out a signal indicating that the position is inappropriate. , the movement of the movable arm 5 is stopped, and an alarm is activated to notify the operator. A detection piece 9 is movably attached to the bracket 12 so as to be located near the chuck 1, and an actuation piece 10 is attached to one end of the detection piece. In addition, the detection piece 9 is always in a protruding state due to a spring.
When a package is gripped by the chuck 1, the detection piece 9 is pressed by the bobbin end of the package and moves backward, and the actuating piece 10 operates the detector 11 attached to the bracket 12 to send out a package gripping confirmation signal. It's becoming like that. The above-mentioned bracket 12 has a shaft 13 connected to the chuck 1 at one end and the output shaft 3a of the rotary drive device 3 at the other end, with the center axis (X) of the chuck 1 and the center axis (Y) of the shaft 13 It is installed so that the inclination angle (θ ₁ ) in the vertical direction is 135°. Reference numeral 14 denotes a casing that is integrally attached to the rotary drive device 3, and the shaft 13 is rotatably attached via a bearing 15. Reference numeral 16 denotes a bracket, in which a washer 17 for positioning and fixing is integrally formed, and the rotary drive device 3 has an inclination angle (θ ₂ ) of the central axis (Y) of the output shaft 3a with respect to the horizontal direction of 45. It is installed so that Further, the bracket 16 is attached to a slider 18 mounted on a rail 19, and the bracket 16 is attached to a slider 18 mounted on a rail 19.
It is designed to move left and right with respect to the figure). The rail 19 is mounted on a bed 20 attached to a slider 21. The slider 21 is attached to the tip of the movable arm 5 in a horizontal state and in a direction perpendicular to the drawing.
2 and is adapted to move in a direction perpendicular to the drawing (Fig. 1). As the sliders 18 and 21 move on the rails 19 and 22 arranged to intersect with each other in the horizontal direction, the bracket 16 attached to the rotary drive device 3 moves freely in the horizontal direction with respect to the movable arm 5. It is becoming possible to do so. 23 is a spring, and arms 24 and 25 protrude from both ends of the rail 19;
and an arm 26 protruding from the center of the side of the bracket 16, and the bracket 16 is positioned approximately at the longitudinal center of the rail 19 by the biasing force of two springs 23. The spring 27 is stretched between arms 28 and 29 that protrude from both ends of the rail 22 and an arm 30 that protrudes from the center of the side of the bed 20 attached to the slider 21. The urging force causes the bed 20 to be positioned approximately at the longitudinal center of the rail 22. 31 is a fluid pressure operated cylinder, and a conical positioning fixing piece 32 is attached to the output shaft. When the output shaft protrudes, the positioning and fixing piece 32 protrudes from the hole in the positioning and fixing washer 17, allowing the bracket 16 to move freely in the horizontal direction, and when the output shaft retracts, the positioning and fixing piece 32 fits into the hole in the positioning and fixing washer 17. When engaged, the bracket 16 is integrally connected to the movable arm 5. 33 is a hydraulic cylinder, which is attached to the bracket 12.
Further, a pressing piece 34 is attached to the rod of the cylinder 33, so that the package held by the chuck 1 is pushed out and inserted into a peg of a creel stand.

A control device (not shown) consisting of a storage circuit, a comparison calculation circuit, an operation command circuit, and an operation panel with an input operation switch button allows package transfer operations after bobbin gripping to be carried out by simply pressing the automatic operation switch button on the operation panel. The passages of the compressed air supply piping, etc. will be switched so that each device will automatically operate.

The package transfer operation by the above-mentioned transfer device will be explained.

First, the peg position of the creel stand, the order of inserting the package, etc. are input into the control device and stored. Further, the cart on which the package is placed with its axis oriented in the vertical direction is transported to a predetermined transfer position. Next, press the manual operation switch button on the operation panel to operate the rotary drive device 3 and rotate the output shaft 3a.
Rotate 180° and attach chuck 1 with bracket 12.
while rotating it vertically downward and switching the compressed air supply passage to the fluid pressure operated cylinder 31,
The positioning fixing piece 32 is made to protrude from the hole of the positioning fixing washer 17 together with the rod, and the rails 19, 2
Each slider 18, 21 moves freely along the chuck 2, allowing the chuck 1 to move freely within a predetermined range in the horizontal direction.

When these preparations are completed, the movable arm 5 is manually lowered to a predetermined position and rotated horizontally to move the chuck 1 onto a trolley (not shown).
2. Move the bobbin B of the package P placed on the bobbin B. When the chuck 1 is approximately aligned with the hole in the bobbin B, the movable arm 5 is further lowered to remove the bobbin B.
Insert chuck 1 into the hole. At this time, when the tip of the chuck 1 is inserted into the hole of the bobbin B, even if the position of the chuck 1 is slightly shifted from the hole center of the bobbin B, the sliders 18 and 21 move on the rails 19 and 22. Its position is corrected to ensure that it is inserted into the hole. When the chuck 1 is inserted to a predetermined position, the end of the bobbin B of the package P comes into contact with the detection piece 9. When the chuck 1 further descends, the spring contracts and the detection piece 9 stops at that position, and the detector 11, which is integrally attached to the chuck 1, moves and is operated by the actuating piece 10, and the bobbin end face detection signal is sent to the control device. The lowering of the movable arm 5 is stopped.

If the positions of the holes in chuck 1 and bobbin B are greatly misaligned and the detection piece 6 comes into contact with the end face of bobbin B or package P, and even if chuck 1 subsequently descends further, the detection piece 6 will remain in that position. , the detector 8, which is integrally attached to the chuck 1, moves and is operated by the actuating piece 7, sending a position inappropriate signal to the control device to stop the lowering of the movable arm 5,
An alarm (not shown) notifies the user of inappropriate position.
When the alarm sounds, the movable arm 5 is raised to a predetermined position, and the chuck 1 is again moved to match the hole in the bobbin B and lowered. Chuck 1 is bobbin B
Repeat this operation until it is inserted into the hole.

When the chuck 1 is inserted into the bobbin B to a predetermined position by the above-described operation, the compressed air supply passage is switched to spread the claws of the chuck 1 and press it against the inner wall surface of the bobbin B.

Once the bobbin B has been gripped, the automatic operation switch button is pressed to transfer the package P based on the pre-input operation order.

That is, when the movable arm 5 is raised to a predetermined position and the bobbin is gripped, the compressed air supply passage to the fluid pressure actuated cylinder 31 is switched, and the positioning fixing piece 32 is lowered together with the rod to engage with the positioning fixing washer 17. , so that chuck 1 cannot move freely in the horizontal direction. Thereafter, the rotary drive device 3 is activated to rotate the output shaft 180 degrees, thereby rotating the package P together with the bracket 16 and the chuck 1 from a vertical position to a horizontal position. When the package P is in a horizontal state, the movable arm 5 is rotated in the direction of the peg of the creel stand. When the package P moves to a predetermined peg position, the movable arm 5 is horizontally projected to engage the bobbin B hole of the package P with the tip of the peg. Next, the compressed air supply passage is switched and the claw of the chuck 1 is retracted to release the grip on the bobbin. In this state, the pressurized air supply passage to the fluid pressure actuated cylinder 33 is switched and the pressure piece 3 is released together with the rod.
4 is pushed out, and the package P held by the chuck 1 is pushed out and inserted into the peg.

When the package P is transferred from the transfer device to the peg, the movable arm 5 is retracted and rotated toward the cart.

Next, the rotary drive device 3 is operated to rotate the output shaft.
Rotate 180° and attach chuck 1 with bracket 16.
is rotated from a horizontal state to a vertically downward state, and the movable arm 5 is lowered to a predetermined position. When the movable arm 5 moves to a predetermined position, the circuit of the control device is automatically switched so that the movable arm 5 and the compressed air supply passages to each hydraulic cylinder can be manually switched.

The above-described operation is repeated to sequentially transfer the package P placed on the cart to the pegs of the creel stand.

(Effects of the Invention) In the article transfer device of the present invention, the horizontal movement mechanism for position correction is attached to the end of the movable arm that moves up and down in the vertical direction along a support installed on the floor. The chuck can be easily positioned with respect to an article such as a package placed on a cart or the like with its axial center perpendicular, by simply moving the chuck in the front, back, left and right directions by manual or automatic operation. The positioning of the movable arm, the stopping mechanism, and the control circuit can be simplified.

Further, the rotation drive device for changing the posture is attached to the horizontal movement mechanism so that the central axis of its output shaft is inclined at 45 degrees with respect to the horizontal direction, and the chuck is attached to the output shaft of the rotation drive device at its center. Since it is attached via a connecting member so that the inclination angle perpendicular to the axis is 35 degrees, the item can be rotated 90 degrees with a minimum of space, and the center of gravity hardly moves when rotated. Therefore, the torque required during rotation is approximately 1/10 or less compared to a device configured to rotate the chuck 90 degrees, and the capacity of the drive device can be reduced.

[Brief explanation of drawings]

FIG. 1 is a schematic front sectional view showing one embodiment of the transfer device of the present invention. FIG. 2 is a plan view thereof, and FIG. 3 is a view taken along the Z arrow in FIG. 1: chuck, 2: connecting portion, 3: rotational drive device, 4: horizontal movement mechanism, 5: movable arm, 6,
9: Detection piece, 7, 10: Actuation piece, 8, 11: Detector, 12, 16: Bracket, 13: Axis, 14:
Casing, 17: Positioning and fixing washer, 1
8, 21: Slider, 19, 22: Rail, 2
0: bed, 24, 25, 26, 28, 29, 3
0: Arm, 31, 33: Fluid pressure operated cylinder, 32: Positioning fixing piece.

Claims (1)

[Claims] 1. A horizontal movement mechanism for position correction that moves linearly in the front, back, left, and right directions is attached to the end of a movable arm that moves up and down vertically along a column installed on the floor, and a rotation drive for changing posture. The device is attached to the horizontal movement mechanism so that the center axis of its output shaft is inclined at 45 degrees with respect to the horizontal direction, and the chuck is attached to the output shaft of the rotary drive device at an angle of inclination in the vertical direction with respect to the center axis. 1. An article transfer device, characterized in that the article is attached via a connecting member so that the angle is 135°.