JPH02259131A - Robot for double twister - Google Patents

Abstract

PURPOSE:To improve operation efficiency by making an operation standard wherein when a robot for autodoffer of double twister detects nonexistence of pick finding yarn, the following operations are not carried out, the robot transfers to the next unit and does doffing operation. CONSTITUTION:In a robot wherein the robot automatically carries out doffing such as removal of empty bobbin, packing of full bobbin (exchange of yarn feed material), pulling of yarn end from full bobbin (pick finding), air threading, bobbin exchange of winder, threading, etc., in each unit while moving along each unit of double twister, a sensor to detect existence of yarn end of pick finding is equipped. When the sensor detects nonexistence of yarn of pick finding, the following operations such as threading, etc., are not carried out and the robot transfers the next unit and does doffing operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a double twister robot 1 which performs a series of processing operations such as yarn feeding exchange, etc., and particularly relates to a robot 1 for a double twister that performs a series of processing operations such as yarn feeding exchange. This article relates to a double twister robot that has been designed to improve operating efficiency.

[Prior Art] A double twister applies a double twist to a yarn drawn from a yarn supply package supported by a spindle by passing it through its shaft hole, and then winds the yarn onto a paper tube supported by a cradle arm. It is adapted to form a winding parameter. When the paper tube winds all the yarn in the yarn supply package and becomes a fully wound package, replace the empty yarn supply package with the groover's yarn supply package (yarn supply exchange), and unwind the yarn from that yarn supply package. Pull out the end (pull out) and thread it through the shaft hole),
It is necessary to remove the groover's winding package from the cradle arm, supply a new paper tube to the cradle arm (dolphing), and fix the end of the yarn pulled out from the yarn supply package to the paper tube (dolphing). .

Conventionally, these operations have been performed exclusively by hand, which is time-consuming.

However, in today's world, the frequency of operations such as doffing, feeding, and replacing yarns has increased due to high-mix, low-volume production, and automation of the above-mentioned operations is desired in order to reduce labor and improve productivity.

[Problems to be Solved by the Invention] By the way, if a robot performs a series of these operations continuously, especially if a mistake is made in the opening culm, even if the subsequent processing operations are performed, In the end, the only thing that can be done is to drive the unit again, so the robot's processing operations are wasted and there is a problem of poor operating efficiency.

Therefore, the purpose of the present invention is to solve the above-mentioned problems, and to enable the robot to proceed to the next unit without performing any further operations in the event of a starting error, thereby improving the operation and rolling rate of the robot. An object of the present invention is to provide a double twister robot that can achieve the following.

[Means for Solving the Problems] In order to achieve the above object, the present invention travels along the double twister units arranged in parallel and performs a series of yarn feeding exchanges, thread threading, doffing, etc. of each unit. The robot that performs the processing operations includes a feeding mechanism that suctions and feeds the yarn end of the yarn supply package, a sensor that detects the presence or absence of the fed yarn end, and a yarn presence signal from the sensor that controls the subsequent series of operations. It is equipped with a control circuit that performs a processing operation and omits the processing operation in response to a no-thread signal.

[A start-up process is performed to pull out the yarn end from the yarn supply package by the working roller removal mechanism. Then, the sensor detects the presence or absence of the thread end that has been picked out, and the control circuit determines that the threading has been successful based on the thread present signal, and causes the robot to perform the subsequent series of processing operations, and the control circuit judges that the threading has been successful based on the thread presence signal, and causes the robot to perform a series of subsequent processing operations, and uses the thread no thread signal to determine if the threading is successful. Therefore, the subsequent series of processing operations will be omitted.

Therefore, in the event that an input error occurs, the robot can proceed to the next unit without performing any further processing operations, thereby improving operational efficiency.

[Example] Hereinafter, an example of the present invention will be described in detail based on the accompanying drawings.

As shown in FIGS. 1 and 2, the double twister 1 is made up of a large number of units I to 2 arranged in parallel. It includes a cradle arm 6 that horizontally supports the tube 5,
The yarn Y pulled out from the yarn feeding para gauge 3 is passed through the shaft hole 3a and guided upward while being double-twisted, and is rotated by a rotating drum 7 to be wound around a filter paper tube 5 to form a winding para gauge 8. ing. Above the yarn feeding package 3, a Snell wire 9 for guiding the yarn, a drop wire 0 for detecting the presence or absence of the yarn Y, a yarn kite roller 1, and a feed roller 12 for supplying the yarn Y to the winding package 8 are arranged in this order. .

As shown in FIG. 10, the spindle 4 has a thread Y on the outer periphery.
A rotating disk 13 having a yarn storage part 13a for temporarily winding the yarn is integrally provided, and a spindle 4 protruding from the upper part of the rotating disk 13 has a stationary cylinder I4 housing the yarn feeding package 3 mounted on a bearing 15. It is rotatably supported via. The stationary cylinder 14 has a macnet 16 provided at the bottom.
a and the magnet 1 provided on the fixed ring 17 surrounding it.
1 and 6b, the spindle 4 remains stationary regardless of its rotation.

The yarn supply package 3 is inserted into the boss portion 14a protruding from the bottom of the stationary cylindrical body 14, and the yarn Y pulled out from the yarn waste is inserted into the yarn supply package at the upper end of the shaft hole of the yarn supply package 3. A tensor cap 18 having a center hole 18a that guides into the shaft hole 3a of No. 3 is attached.

A yarn guide hole 19a is formed in the yarn storage portion 1.3a of the rotating disk 13 in the opposite radial direction, and the spindle 4 has a blowout hole 19b that blows out compressed air into the yarn guide hole 19a, and A suction hole 19c is formed which sucks the yarn end Y1 from the shaft hole 3a into the yarn guide hole 19a by the esector effect. Yarn ejected from the yarn guide hole 19a by compressed air @
Y1 hits the inclined inner surface 17a of the fixed ring 17 and can be blown up between the parfum control node 20 fixed to the fixed ring 17 and the stationary cylinder 14.

During threading, air flow for threading is created in the spindle 4.As shown in Fig. 2, a pedal 21 is attached to the lower part of the unit 2, and the pedal 2] If you step lightly, the spindle 4 will be stopped by braking.
When you step deeply, compressed air is supplied to the nozzle 9b. A pressurized air supply valve 22 for supplying compressed air to processing robots I to 41, which will be described later, is disposed above the pedal 21.

The cradle arm 6 carries the winding package 8 to the rotating drum 7.
D(j (III
The cradle arm 6 is rotatably supported, and a cradle cylinder 23 is connected to the cradle arm 6 for pulling it up to the doffing position. A plurality of paper tubes 5 are provided above the cradle arm 6.
The bases 1 to 24 are installed.

The base end of the drop wire 10 is pivotally supported on the rear wall behind the yarn supply package 3, and the tip end is erected on the yarn Y between the Snell wire and the yarn kite roller 11. When the yarn Y becomes empty or the yarn breaks, it falls onto the yarn supply balance gauge 3 under its own weight. A cam 26 for opening and closing the operating valve 25 of the cradle cylinder 23 is attached to the base end of the drop wire 10. When the drop wire 10 falls, the operating valve 25 is opened and the cradle arm 6 is moved to the doffing position by the cradle cylinder 23. It is now ready to be pulled up. Above step 1~
An indicator lamp 27 that lights up when the cradle arm 6 is pulled up is attached to the tip of the hook 24.

Further, a rotating lever 10a for rotating the drop wire upward is provided at the base end of the drop wire 10, and the drop wire 10 is pushed up above the position where the distal end is placed against the thread Y. Clamps 1 to 28 for suctioning and holding the wire 10 are attached. A base end of a display lever 29 extending horizontally forward is pivotally supported near the display levers 1 to 28, and when the display lever 29 is pressed down from a horizontal position, the base end of the display lever 29 is The wire 10 attached to the dowel 28 can be pulled away from the tops 1 to 28 and pushed down. 1. The Snell wire 9 is supported at its base end so as to be horizontally rotatable so that it can escape rearward when replacing the yarn feeding package 3, and a return lever 9a is formed at the base end.

Behind the rotating drum 7 is the doffed volume JI! A conveyor 30 for carrying out the package 8 and a conveyor 32 for transporting the actual yarn supply package 3A on the h-lay 31 are disposed in front of the yarn supply package 3 along the unit 2, respectively. As shown in FIG. 4, the conveyor 32 includes an endless belt 33 on which the trays 1 to 31 are placed and conveyed, and a kite frame 34 that guides the trays 33 and trays 31 to Peru.
It is equipped with A peg 31.1 to the upper part of the lay 31 is for inserting and supporting the yarn supply package 3A. A is provided protrudingly.

At the front of the unit 2 configured in this way, there is a robot that automatically performs the yarn feeding package exchange, thread threading, doffing, and yarn threading of each unit 2. It can freely travel along the robots 1 to 35 or units 1-. It is provided. The main body 35 of this V7 pot 35
a is a rail 36a at the front part of the unit 2 and at the bottom.
36b and 37a are movably supported via 37b.

A sensor 38 for detecting the indicator lamp 27 and a sensor 39 for detecting the indicator lever 29 are attached to the robot body 35a.
When the lighting state of and the horizontal state of the display lever 29 are detected simultaneously, the robots 1 to 35 are decelerated and stopped at the unit I position. At the bottom of the robot body 35a, there is a pressurized air introduction part (not shown) which is detachably connected to the pressurized air supply valve 22 provided in each unit 2, and a pedal 2.
A pedal lever 40 is provided, which is operated by a cam type drive mechanism (not shown). Further, the pressurized air introduced from the pressurized air introducing section is used as a driving source for various cylinders decorated on the robot body 35a.

The robot body 35a includes a sensor 41 for detecting the presence or absence of the paper tube 5 in the stocker 24 as a means for detecting doffing conditions.
A sensor 42 is attached to detect the presence or absence of the winding package 8 on the winding package delivery conveyor 30, and these sensors 4], , 42 detect whether there is a paper tube present or there is no winding package on the conveyor 38. When this happens, it is determined that the doffing conditions are satisfied and processes such as yarn feeding exchange and doffing are started.

The robot 35 has a conveyor 32 as shown in FIG.
A sensor 43 that detects the upper yarn feeding package 3A and a tray stop cylinder 44 that stops the tray 31 based on the detection signal are installed.
A V-shaped locking piece 45 that locks the base ends of the pegs 1 to 31 from the side is attached to the tip of the rod.

Further, a proximity sensor 46 is attached to the cylinder 44 to detect when the piston rod has extended a predetermined stroke, and the conveyor 32 is stopped in response to the detection signal.

The robot main body 35a includes the empty yarn feeding package 3B supported by the spindle 4 of each unit 2 and the yarn feeding package 3A.
and the yarn feeding exchange mechanism 47 to be replaced with the yarn feeding package 3A.
A feeder s48 that pulls out the yarn end from the yarn, and a yarn feeding package 3
The yarn end is inserted into the shaft hole 3a of A by air flow. A doffing machine [50 that supplies the tube 5, and a thread hook I that threads the yarn end of the yarn feeding package 3A onto the empty paper tube 5 when supporting the cradle arm 6 or the paper tube 5! There is also a side (not shown).

(Feeding Mechanism) The frame of the robot main body 35a is formed into a U-shape from the front, and a yarn feeding package transport conveyor 32 is mounted on the central upper surface of the frame.
A peg (pick-up peg) 51 is attached to temporarily hold the actual yarn feeding package 3A, which is stopped above, in order to pick it up.

By providing the lead-out peg 51 on the robot 1-35 in this way, there is no need to provide a peg for temporary storage in each unit 2, and the lead-out process can be performed while the yarn feeding package 3A is being temporarily placed, improving processing efficiency. Go up. The output peg 51, the peg 31a of the tray 31 stopped on the conveyor 32, and the spindle 4 are arranged on the same line -F perpendicular to the traveling direction of the robot 35. The above opening peg 51
is rotatably supported around its axis via a bearing 52, and a pulley 5'
3a, 53b and an endless belt 54, it is rotatably driven by a motor 55.

Furthermore, a suction arm 56 that pays out (feeds out) the yarn end from the yarn supply package 3A inserted into the feed peg 51 and a yarn support portion 57 that supports the fed yarn are disposed on the central upper surface of the robot body 35a. It has been set up. The suction arm 56 is formed in an arcuate shape so as not to interfere with the support frame 58 of the yarn support section 57, and its distal end is crowned with the upper end 3b of the paper tube of the yarn supply package 3A to perform punch winding or shaft winding on the upper end of the paper tube. A sakujo mouth 59 is attached that is inserted into the hole to suction and extract the prepared yarn end.

The base end of the suction arm 56 is rotatably connected to the upper side surface of a suction cylinder 61 that stands upright and is rotatably supported on the central upper surface of the robot body 35a via a bearing 60.
The lower end of this suction cylinder 61 is connected to a suction source (blower), not shown, mounted on the robot main body 35a.

A receiving arm 62 formed in an arc shape along the section arm 56 is fixed to the upper end of the suction cylinder 61, and a tenser chuck 63 that removably holds the tensor cap 18 is attached to the tip of the receiving arm 62. installed.

At the base end of the suction arm 56, a spring 64 is attached to a lever 65, which biases the suction arm 56 upward in order to move the suction mouth 59 away from the upper end 3b of the paper tube of the yarn feeding package 3A on the outlet peg 51. A cylinder rod 6 is attached to the receiving arm 62 for pushing down the suction arm 56 against the spring force thereof.

A rotating cylinder 68 is connected to the lower part of the suction cylinder 61 via a lever 67, and the suction arm 56 is moved from the suction mouth 5 or the extraction position located above the extraction vector 51 to a standby position where it is separated laterally. It can be rotated.

The thread support section 57 has a support frame 58 erected on the upper center surface of the robot main body 35a.
The thread kite piece 6 has an upward thread groove 69a on the side surface of the thread kite piece 8.
9 is supported so as to be able to rise and fall freely via an elevating frame 70, and 1. A lifting cylinder tough 1 is connected to the inside of the J support frame 58. In the thread groove 69a of the thread kite piece 69, a thread retaining ring (not shown) that supports the thread once entered so that it does not escape is housed. 11 is taken out and the yarn feeding parameter 3A and the suction mouse 5 in the standby position
69
The thread can be caught in the thread a and the holding height of the thread can be changed.

A sensor (1" output sensor) 72 for detecting the presence or absence of the thread is arranged on the thread path of the thread Y2, which is passed between the six thread kite pieces located at the lowest end and the five Zakujon mice at the standby position. It is detected whether or not the thread has been pulled out successfully based on the presence or absence of the thread, and the robot 1-
35 performs a series of subsequent processing operations, and is set to omit that processing operation in response to a detection signal of a (missing start without thread). In this embodiment, as shown in FIG. 11, if the control circuit 103 succeeds in starting the yarn, it sequentially performs yarn feeding, threading (air sleeve ink), doffing, and threading, and starts winding (unit If there is a mistake in feeding the yarn, the yarn is fed and installed and the operation is completed. Therefore, IT? When the pot completes its operation, it is moved to the next unit, eliminating wasteful processing operations and improving operational efficiency.

Raidomari 69a corresponds to the 6 string kite pieces located at the lowest end.
A cutter 73 is arranged to cut the thread inside. This cutter 73 consists of a fixed blade 73a and a movable blade 73b, and is driven by either the movable blade 73b or the cylinder tough 4.

(Yarn feeding exchanger 8V1) An operating arm 75 for changing the yarn feeding, etc. is attached to the left inner wall of the 1-cobot 1 to the main body 35a so as to be movable up and down and up and down. An elevating block 78 is supported on the outside of the left inner wall so as to be able to rise and fall freely via a screw rod 76 and a kite rod 77 that are arranged vertically. 7
9 is rotatably supported via a bearing 80. A lifting motor 81 for rotationally driving the screw rod 76 is connected to the screw rod 76 via pulleys 8.2a, 82b and an endless belt 83.

Attached to the bearing 80 is a stopper 84 that locks the two rear surfaces of the operating arm 75 and supports it horizontally.
A collar 85 is attached below the operating arm 75 so as to be able to appear and retract by a drive mechanism (not shown), which locks the front lower surface of the operating arm 75 that moves downward in a horizontal state and allows it to be stored upright on the robot 1 side. ing. As a result, the operating arm 75 is housed with its tip facing diagonally forward, so that it does not interfere with the unit 2 during travel.

When the tip of the operating arm 75 is in a horizontal state, the spindle 4
It is located above the upper yarn supplying package 3, and a remaining yarn detection sensor 86 for detecting the presence or absence of residual yarn in the yarn supplying package 3 is attached to its tip.

As shown in FIGS. 5 and 6, a chuck 87 for gripping the yarn supply package 3 and the tensor cap 18 is provided on one side of the operating arm 75 so as to be slidable along the longitudinal direction. In order to slide the chutka 87, a screw rod 89 having a motor 88 at one end is installed inside along the longitudinal direction. or supported.

The chutka 87 has two arm pieces 92a and 92b that are opened and closed by a sill 91. One of the arm pieces 92a is used as a pusher to press the Snell wire 9 to prevent it from escaping, and the tip of the other arm piece 92b The section extends diagonally outward to catch the thread. Chuck pieces 93a and 93b, which are shaped like halves of a cylinder, are integrally suspended from the lower surfaces of both arm pieces 92a and 92b, and grip the tensor cap 18 on the inside of both chuck pieces 93a and 93b. The inner surface of the shaft hole of the yarn supply package 3 is pressed and gripped on the outside of the yarn supply package 3.

Also, a chuck piece 93 is provided between both arm pieces 92a and 92b.
A thread holding ring 94 is attached to match the axes of the threads a and 93b, and a nozzle 95 for injecting compressed air toward the center of the thread holding link 94 is attached above the thread holding ring 94. The nozzle 95 is configured to inject compressed air during threading and insert the yarn end into the shaft hole 3a together with the suction 1 airflow acting on the shaft hole 3a of the yarn feeding parameter 3.

A balloon control tube 20 is threaded onto the operating arm 85.
The suction pipe 96, which has a suction slit 96a for suctioning and holding the yarn end Y1 blown up between the stationary cylinder body 14 and the stationary cylinder 14, is placed so that it is once located above the yarn supply package 3 on the spindle 4. It is being

A cylinder 97 is attached to the tip of the operating arm 75.
A telescoping arm 98 that extends and contracts forward when activated is attached, and the tip of the telescoping arm 98 or the base end of the display lever 29 (
(not shown), the rotation lever 10a of the drop ear 10 and the return lever 9a of the Snell wire 9 are pushed. Further, the telescopic arm 98 is provided with a thread kite piece 99 protruding from the side for guiding the thread Y1 between the suction pipe 96 and the thread supply package 3 so as to be threaded onto the Snell wire 9 or the thread kite roller 11. .

(Threading mechanism) The threading mechanism 49 is mainly composed of a nozzle 95 provided on the chatter 87 of the operating arm 75 and a suction pipe 96 provided on the operating arm 75, and the threading mechanism 49 is composed of a nozzle 95 provided on the chatter 87 of the operating arm 75 and a suction pipe 96 provided on the operating arm 75. Threading is performed together with the threading air flow. In this case, as shown in FIG. 9, the yarn end Y2 pulled out from the yarn supplying package 3A that is not mounted on the spindle 4 due to the yarn supply exchange moves through the chutka 87 of the operating arm 75 and the yarn kite piece 69 of the yarn support section 57. In this state, when the tensor cag 18 received from the chutka 87 or the cap jacker 63 is transferred onto the yarn feeding package 3A and attached to its shaft hole 3a, the pedal lever 40 presses deeply on the heel 21 of the unit 2 to generate an outlet air flow to the spindle 4, and at the same time, the nozzle 95 of the chatka 87
When the cutter 73 of the yarn support section 57 cuts the yarn Y2 at the same time, the cut yarn end Y1 is threaded into the shaft hole 3a by the action of the air flow, as shown in FIG. The suction pipe 96 holds the suction pipe 96 under suction to complete threading.

(Doffing mechanism, etc.) On the left inner wall of the main body 35a of the robot, there is a doffing mechanism 50 including an operating lever 100 for opening/closing and pushing down the cradle arm 6 that has been pulled up to the doffing position, and a control lever 100 that appears below the winding package. A receiving tray 101 that freely extends and receives the winding pallet gauge 8 of the trencher that falls when the cradle arm is opened and rolls it onto the carry-out conveyor 30, and a tray 101 that extracts the paper tube 5 from the stocker 24 and supplies it to the cradle arm 6. The paper tube supply arm 102 is removed.

Note that a clamp cutter (not shown) that constitutes the yarn hooking mechanism is attached to the paper tube supply arm 102, and when the paper tube 5 is supplied to the paper tube supply arm 102 or the cradle arm 6, the clamp cutter closes the yarn feeding package. Thread from 3A @Y
1 is held between one end of the paper tube 5 and one holder (not shown) of the cradle arm 6, and the thread @\1 is identified when the cradle arm 6 or the paper tube 5 is grasped. There is.

Next, the operation of the above embodiment will be explained.

The robot 35 patrols along the unit 2, and when the sensors 38 and 39 detect the lit indicator lamp 27 and the horizontal indicator lever 29, the robot 35 slows down and moves toward the unit 1.
The sensor 4142 detects whether or not the doffing conditions (paper tube on the stocker, no winding package on the carry-out conveyor) are satisfied, and if not, the machine resumes running.

If the doffing conditions are satisfied, the operation arm 75 starts to move up and down, the pedal lever 4o or the pedal 21 is lightly depressed to stop the rotation of the spindle 4, and the pressurized air introduction part is connected to the pressurized air supply valve 22. Concatenated. In addition, the telescopic arm 98 of the operation arm 75 pushes the base ends of the two display levers to push down the display lever 29, and the remaining yarn detection sensor 89
The presence or absence of remaining yarn in the yarn supplying package 3 is detected. If there is yarn remaining, the robot 35 resumes running with the operation arm 75 in the retracted state without performing yarn feeding exchange or doffing operation.

If there is no remaining yarn, the yarn feeding operation and doffing operation are started.

When replacing the yarn supply, first, move the telescoping arm 98 of the operating arm 75 or the rotating lever 10a of the drop wire 10.
The left arm pieces 92a of the chukka 87 push the Snell wires 9 and do not let them escape from the yarn feeding package 3''. Further, when the yarn feeding pal gauge detection sensor 43 detects the yarn feeding package 3A on the tray 31 being transferred by the conveyor 32, the tray stop cylinder 44 is activated to move the locking piece 45 to 1 as shown in FIG. ~ Ray 31's Peg 31. Stop the tray 31 by engaging the base end of the cylinder 4.a.
4. The conveyor 32 is also stopped by the proximity sensor 46 of 1.

Then, the chatter 87 first grasps the tensor cap 18 attached to the empty fiber package 3B on the spindle 4'' and transfers it to the tenser cap 63 of the receiving arm 62, and then places it on the tray 31 as shown in FIG. grips the yarn feeding package 3A and inserts it into the opening peg 51 on the robot 35.
Then, the entire yarn supply package 3B on the spindle 4 is grasped and transferred onto the peg 31a of the tray 31. When receiving the tensor cap 18, the receiving arm 62 is pivoted from the standby position to the delivery position by the rotating cylinder rotor 8.
After receiving it, it is returned to the standby position.

When the yarn feeding package 3A is attached to the lead-out peg 51'', the lead-out starts. In this case, the suction arm 56 is pivoted to the output position, and the press cylinder 66
As a result, the suction mouth 59 is placed on the upper end 3b of the paper tube of the yarn supply package 3A. As a result, the suction arm 56 suctions the thread end stamped on the upper end portion 3b of the paper tube from the five suction mouths, and returns to the standby position.

During this time, the yarn supply package 3A is rotated in the yarn payout direction by the motor 55 via the feed peg 51, and the fed yarn end Y2 is stored in the suction arm 56 and the suction image body 61. Next, the thread kite piece 79 of the thread support portion 57
is moved downward by the lifting cylinder 71, and the yarn straddles between the yarn supply package 3A and the five suction mouths.
Is it the thread of thread guide piece 69? The thread Y2 is caught in the thread Fi 69a via the thread holding ring and positioned on the feed sensor 72.

Then, as shown in Fig. 1J, it is determined whether or not the lead-out is successful based on the presence or absence of the thread (Sl), and if it is successful, the thread is fed (S2) and the thread is threaded (air threading) (S1).
Perform 3) in sequence. That is, first, the six thread kite pieces are moved upward, and as shown in FIG. capture. Next, the six yarn guide pieces were moved downward, and the chatka 87 grasped the yarn feeding package 3A on the first output pegula 1, transferred it onto the spindle 4, and further rotated it to the no-opening position as shown in FIG. The tensor cap 18 is received from the tenser chuck 63 of the receiving arm 62 and attached to the upper end 3b of the paper tube of the yarn feeding package 3A.

Next, the pedal lever 40 or the pedal 21 is depressed deeply to generate an air flow for threading the spindle 4, and compressed air is ejected from the nozzle 95 of the chutka 87.
In this state, the cutter 73 of the yarn support section 57 operates to connect the yarn Y2 from the yarn supply package 3A to the suction mouth 59.
When cut, the cut yarn end Y1 on the yarn supply package side
is reliably sucked into the center hole 18a by the compressed airflow from the nozzle 65 and the suction flow from the tensor cap center hole 18a, and the threading into the shaft hole 3a is ensured as shown by the dotted line in FIG. be exposed. The thread end Y1 that has not been threaded is suctioned and held by the suction pipe 96.

When threading is finished, the telescopic arm 98 or the Snell wire 9
Press the return lever 9a to return the Snell wire 9.
After the yarn guide piece 99 sequentially threads the yarn Y1 between the yarn supply package 3A and the suction pipe 96 onto the Snell wire 9 and the yarn guide roller 11, the operating arm 75 enters the storage state.

On the other hand, the doffing machine removes the take-up parameter from the cradle arm and supplies the paper tube to the cradle arm (S4), and the mechanism threads the paper tube 5 (S5). When doffing and threading are completed, the cradle arm 6 is pushed down by the operating lever 100, whereby the paper tube 5 contacts and rotates on the rotating drum 7, and winding of the yarn Y onto the paper tube 5 begins. Do (S6) Do. At the same time, the pedal 21 is released from the lightly depressed state, and the spindle 4
starts rotating. Furthermore, when the cradle arm 6 is pressed down, the display rung 27 is turned off.

Next, the pressurized air introduction part is removed from the pressurized air supply valve 22,
The display lever 29 is pushed up by a push-up lever (not shown) provided on the robot, and the robot 35 resumes running. When the display lever 29 is pushed up, the drop wire 10 is pulled away from the magnet 28 by its base end.
It leans against the running yarn Y between the Snell wire and the yarn guide roller 11 due to its own weight.

In the case of a mistake in starting, the robot 35 only performs yarn feeding and attachment (S7), skips the processing operations of threading, doffing, and threading, puts the operating arm 75 in the retracted state, and pushes up the two display levers. and resume driving.

In this way, when an input error occurs, the robot does not perform any further processing operations at the unit position and proceeds to the next unit, thereby improving the operating efficiency of the robot. In this case, since the yarn Y is not connected to the paper tube 5 from the yarn feeding package 3A, when the drop wire 10 is pulled away from the magnet 28 by pushing up the display lever 29, it will fall, the operation valve 25 will be opened, and the cradle arm 6
is pulled up, and the display lamp 27 lights up. Komeme,
During the patrol run, the robot 35 detects the unit 2 again and stops, presses down the display lever 29, and detects the remaining yarn on the yarn feeding side, but since there is some remaining yarn, it performs yarn feeding exchange and doffing operation. I will now start driving again. However, since the display lever 29 is now lowered, the robot 35 no longer stops at the unit position, and unnecessary operation of the robot 35 is avoided. Since a unit with two display levers down is not moving, a worker can find two display levers that are down in this way and process the unit.

It should be noted that if the pick-up sensor 72 detects a pick-up error, an alarm may be issued at the same time to notify the worker. Alternatively, the yarn supplying package that has been mislead may not be supplied to the spindle 4 as in the embodiment, but may be returned to the tray 31, a new yarn supplying package 3A may be received from the conveyor combiner 32, and the yarn feeding process may be performed again. . In this case, the yarn feeding paragauge returned to the tray 31 due to a mis-starting process may be detected during conveyance by the conveyor 32 and moved to the yarn end preparation station.

In the embodiment, a case has been described in which the lead-out peg 51 is provided on the robot I/main body 35a, but the present invention can also be applied to a case where the lead-out peg 51 is provided on each unit 2 side, or to a robot that directly takes out the lead on the conveyor 32. The intent is applicable.

[Effects of the Invention] According to the present invention as described above, if an input error occurs, the robot can proceed to the next unit without performing any subsequent processing operations, so that the operating efficiency of the robot is improved.

[Brief explanation of drawings]

FIG. 1 is a perspective view of the entire double twister showing one embodiment of the present invention, FIG. 2 is an enlarged side sectional view showing the related structure of the tagle twister unit and the robot, and FIG. 3 is a partial plan view of the robot. 4 is a sectional view taken along the line A-A in FIG. 3, FIG. 5 is a partially sectional plan view showing the operating arm of the robot, FIG. 6 is a sectional view taken along the line BB in FIG. 5, and FIG. C-=C in Figure 3
8 is a plan view showing a state in which the chutka attached to the operating arm catches the yarn of the yarn supply package that has been pulled out, and FIG. Perspective view showing the state transferred upward, 1st
Figure 0 is enlarged 1 showing the state of threading! J1 side view and FIG. 11 are flowcharts 1 to 1 showing the control circuit. In the figure, 1 is a double twister, 2 is to unit 1, 3 (3A
) is a yarn feeding package, 35 is 17 pounds, /1.8 is a feed mechanism, 72 is a sensor (feed sensor), and 103 is a control circuit. Patent Applicant Murata Machinery Co., Ltd. Representative Patent Attorney Nobuo Kinutani Figure 8 Procedure: fqlt official document (spontaneous) May 1999 12L1

Claims (1)

[Claims] 1. A robot that patrols along the double twister units installed in parallel and performs a series of processing operations such as yarn feeding exchange, thread threading, and doffing for each unit, sucks the yarn end of the yarn feeding package. A pick-up mechanism that picks out a thread, a sensor that detects the presence or absence of a thread end that has been put out, and a control circuit that performs a series of subsequent processing operations based on a thread presence signal from the sensor and omits the processing operations based on a thread absence signal. A double twister robot featuring the following features: