JPH0333720Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention is a cloth roll transfer device that can be used in an automatic cloth roll exchange system, and more specifically, a cloth roll transfer device that can be used in a cloth roll automatic exchange system. This invention relates to a roll exchange arm mechanism that allows stable transfer.

[Conventional technology, technical issues to be solved]

Currently, to replace the fabric roll on a loom, the loom is stopped when the woven fabric is fully wound onto the fabric roll, the worker cuts the fabric in the width direction with a cutter, and then the fabric roll is transferred to the loom. After removing the loom from the loom, a new empty roll is reset on the loom, the end of the fabric is wound around this empty roll, and the loom is restarted.

However, such replacement work takes an unexpectedly long time, and especially in high-speed looms, the drop in productivity due to stoppage of operation is significant. For this reason, attempts have recently been made to apply robot technology to automatically perform roll replacement work. It is extremely difficult to do this automatically and quickly, and there is currently no effective solution.

This invention was devised in view of the above-mentioned difficulties in replacing rolls of cloth-wrapped rolls, and it is a method to maintain the cloth-wrapped rolls wound up from the loom in a rotatable state without stopping the loom. It is an object of the present invention to provide a cloth-wrapped roll transfer device that can be removed and transferred to a predetermined position on a cart without fail.

[Means adopted to solve the problem]

The means adopted by the present inventor to solve the above problem will be explained below with reference to the accompanying drawings.

That is, in the present invention, the cloth roll 1 which has been set on the loom T and has become thicker is transferred to the clothing roll B by the bending/extension/detachment operation of the roll changing arms 6, 6 installed on the cart 2 disposed oppositely in front of the loom T. In the cloth roll transfer device for transferring the woven cloth W to the trolley 2 in a stretched state between the two, each of the free ends of the roll exchange arms 6,
A hand section 61 is provided to receive the cloth-wrapped roll 1, and a bearing mechanism that can support the cloth-wrapped roll 1 freely around the axis is provided on the roll support surface of these hand portions 61. roll 8,
By adopting a means of providing a roll storage section that can hold the cloth rolls 8 in an array, the cloth rolls 1 on the loom T can be received in a state where rotation is allowed and transferred to the cloth roll support mechanism section 7 on the cart 2. This has made it possible to put into practical use a fabric roll transfer device that can load empty rolls 8 and sequentially take out the empty rolls 8 from the roll storage section and reset them on the loom T.

〔Example〕

Hereinafter, the present invention will be explained in more detail based on embodiments shown in the accompanying drawings. In addition, FIGS. 1 to 9 are operational explanatory diagrams showing, in order of process, the state in which cloth-wound rolls are automatically replaced by the apparatus of this embodiment, in which the roll changing arm is configured as an arm of a two-joint link mechanism.
FIG. 10 is a horizontal sectional view showing the movement mechanism of the roll exchange arm in this embodiment, FIG. 11 is a preferred configuration example of the hand section connected to the tip of the roll exchange arm, and FIG. 12 is another example of the hand section. Configuration example, 1st
3 to 3 are operation explanatory diagrams showing other examples of operation modes of the roll exchange arm.

As shown in FIGS. 1 to 9, the apparatus of this embodiment has a structure in which the cart 2 is guided to a position facing the loom T.
The roll changing arms 6, 6, which are comprised of a pair of link mechanisms, are supported so as to be able to bend and extend, and the changing arms 6, 6 are actuated based on a predetermined changing signal to perform the winding operation of the cloth W. The cloth roll 1 is received by the hand part 61 at the tip of the exchange arms 6, 6, and is transferred as it is onto the rotating rolls 7, 7 that constitute the cloth roll support mechanism of the trolley 2, where it is wound up. The operation is continued (see Figures 1 to 3), and the cloth W woven by the loom T is wound up by winding the cloth roll 1 on the cart 2, and the roll is replaced. Arm 6,6
holds the empty rolls 8 stacked in rows in the roll storage section on the upper part of the trolley 2 with the hand portion 61 at its tip, carries them to the loom T side, and places them on the fabric W being moved to the fabric roll 1. The loom T is smoothly reset (see Figs. 4 to 6), and then the cloth W woven and sent out by the loom T is cut in the cloth width direction with a cutter 10 near the reset empty roll 8. The cut-off side of the fabric W ₁ is rolled onto the fabric roll 1 transferred onto the cart 2, while the other fabric edge W ₂ on the empty roll 8 side is wrapped around the outer periphery of the same empty roll 8. By winding the fabric roll (see Figs. 7 to 9), it is possible to automatically change the fabric roll without stopping the loom. However,
The fabric roll transfer device of this embodiment plays an important role in an automatic fabric roll exchange system in which the fabric roll 1 is removed from the loom T and transferred to a predetermined location on the cart 2.

Therefore, to add a note to the specific configuration, when the cloth roll 1 mounted on the loom T becomes full (or almost full), the trolley 2 receives a predetermined call signal to It is called to the front of the loom T, and is placed facing a predetermined cloth roll exchange position by the interaction of the positioning sensors F ₁ and F 2 of the loom T and the cart ₂ (see FIG. 1). In addition,
A is a guide roller, B is a winding roller, 3 is a press roll, 4 is a winding press roll, 5 is a stopper, and 9 in FIG. 6 is a roll rest.

The trolley 2 is provided with a pair of roll changing arms 6, 6 at a constant interval in the width direction of the cloth-wrapped roll 1, and the interval between these two changing arms can be adjusted along the width direction of the cloth-wrapped roll. ing. 1st
In the specific example shown in FIG. The rear end of part 6b is the first joint 6
At 2, it is rotatably supported on the chassis of the truck 2. That is, the roll exchange arms 6, 6 perform bending/extending/turning motions by a combination of complex movements of a link mechanism constituted by the forearm part 6a, the upper arm part 6b, and the first joint 62 and the second joint 63. This movement causes the hand portion 61 to move forward and backward, and move up and down.

More specifically, as shown in FIG.
This is done by driving through 4 and 65.

That is, the upper arm portion 6b is connected to the drive shaft 62a of the first joint.
is supported by the chassis of the truck 2 via bearings 62b, 62b, and can be turned up and down by a timing belt 64 via this drive shaft 62a.

On the other hand, in the forearm section 6a, a drive shaft 63a in the second joint 63 is supported by the tip of the upper arm section 6b via bearings 63b, 63b, and can be turned up and down by timing belts 65, 65 via this drive shaft 63a. ing. Note that 62c and 63c are harmonic drives attached to each drive shaft 62a and 63a.

As a result of adopting the above-mentioned configuration, the device of this embodiment has the ability to extend the roll exchange arm 6 forward from the position shown in FIG. Hand part 6 at the tip
1 reaches a position where the cloth roll 1 is handled (see FIG. 2). However, in this case, the hand portion 6
In order to facilitate the handling of the fabric roll 1 by the handler 1, it is preferable that the connection relationship and structure between the hand portion 61 and the forearm portion 6a be configured as shown in FIG. That is, while the hand part 61 is supported by a pair of support rods 67, 67 that are slidably supported by linear bearings 66, 66, etc. installed inside the forearm part 6a, the hand part 61 is supported by a drive motor M via a speed reducer C. The support rods 67, 67 are configured to be slidably driven via a transmission nut 69 that engages with a rotationally driven screw rod 68, and the hand section 61 can be extended and retracted at the tip of the forearm section 6a.

The cloth roll 1 held by the hand parts 61, 61 at the tips of the roll changing arms 6, 6 in the position shown in FIG. By turning approximately 120 degrees, the material is transferred onto a pair of rotating rolls 7, 7 (fabric roll support mechanism) rotating clockwise on the trolley 2 (see Fig. 3). Since the fabric roll 1 is not separated from the fabric W, it needs to be able to rotate freely during movement. Therefore, the tip hand portion 61 of the forearm portion 6a
As shown in FIGS. 11 and 12, the cloth roll 1 is constructed so that both ends of the cloth roll 1 can be handled in a freely rotatable state. Specifically, in the case of FIG. 11, since the cloth-wrapped roll 1 is received at the lower receiving portion 61a, a V-shaped recess is formed in the lower receiving portion 61a, and this V-shaped recess is provided with a groove that is connected to the cloth-wrapped roll shaft. Steel ball insertion holes 70, 71 are drilled at the abutment point, and steel balls 73, 73 biased by insert springs 72, 72 are supported between the upper receiving portion 61b to reduce rotational resistance. We are trying to

On the other hand, in the case of the configuration shown in FIG. 12, the fabric roll 1 is received with the recessed openings formed by the receiving parts 61a' and 61b' facing upward, so that the relationship between the receiving parts 61a' and 61b' and the fabric roll shaft is A ball bearing consisting of steel ball insertion holes 70, 71, an inner spring 72, and a steel ball 73 is provided at the contact point. Furthermore, the hand portion 61
A proximity or pressure sensor S is provided in the bottom area of the cloth roll 1 to detect the supporting state of the cloth roll 1, thereby making the handling operation more reliable.

Next, when the upper arm portion 6b is pivoted downward from the state shown in FIG. 3 (corresponding to the α position in FIG. 4) to the β position in FIG. 4, the hand portion 61 is separated from the fabric roll 1. Therefore, when the forearm portion 6a is slightly turned forward and the upper arm portion 6b is turned upward, the hand portion 61 at the tip of the exchange arm can pick up the empty rolls 8 stored in a row in the roll storage section above the trolley 2. (See Figure 5). Therefore,
While rotating the upper arm part 6b downward, the forearm part 6
If a is turned forward, the empty roll 8 will be reset to the loom T.

The embodiments of the present invention are generally as described above, but the present invention is by no means limited to the above-mentioned embodiments, and specific requests for mechanical design can be made within the scope of the "claims for utility model registration." Various design changes are possible in response to this. In other words, in the present invention, it is important to hold the cloth roll in a state where it can roll freely. Therefore, for example, the cloth roll is transferred with both ends placed in the recesses of the hand part. In order to prevent the fabric roll from falling from the hand section, the combination of rotational movements of the forearm section and upper arm section should be considered.In addition to the arm motion in the above embodiment, the forearm and upper arm motion may be combined. Note that the same parts are given the same numbers and their explanations will be omitted.

[Effects of this invention]

As explained above using the embodiments, according to the present invention, the fabric roll 1 can be
While keeping it free to rotate, the entire arm is skillfully bent, extended, and turned to drive the loom to weave and transfer the fabric roll from the loom side to the trolley without separating it from the fabric. Since empty rolls can be transferred to the loom, the transfer operation of the cloth rolls required for automatic cloth roll exchange can be performed accurately, and the automatic cloth roll exchange system can function effectively. It plays an important role as a basic technology.

[Brief explanation of the drawing]

Figures 1 to 9 are operational explanatory diagrams showing the automatic exchange of cloth rolls in the order of steps by the device of this embodiment, in which the roll exchange arm is configured as an arm of a two-joint link mechanism, and Figure 10 is an explanatory diagram of the operation according to the present embodiment. FIG. 11 is a horizontal cross-sectional view showing the movement mechanism of the roll exchange arm in the example, FIG. 11 is a preferred configuration example of the hand section connected to the tip of the roll exchange arm, FIG. 12 is another configuration example of the hand section, and FIG. 13 - are operation explanatory diagrams showing other examples of operation modes of the roll exchange arm. DESCRIPTION OF SYMBOLS 1... Cloth wrapping roll, 2... Cart, 6... Roll exchange arm, 61... Hand part, 7... Cloth wrapping support mechanism part, 8... Empty roll, B... Clothes wrapping roll, T... Loom.

Claims (1)

[Claims for Utility Model Registration] By the bending/extension/detachment action of the roll changing arms 6, 6 installed on the cart 2 disposed opposite to the front of the loom T, the fabric roll 1 set on the loom T, which has become thicker, is rolled up. In a fabric roll transfer device that transfers the woven fabric W to the trolley 2 while being stretched between the rolls B, each of the free ends of the roll exchange arms 6, 6 is provided with a fabric wrap. Hand portions 61 for receiving the roll 1 are provided, and a bearing mechanism 73 capable of supporting the fabric roll 1 freely around the axis is provided on the roll support surface of these hand portions 61. A roll storage section for holding the rolls 8, 8, etc. in an array is provided, and the cloth roll 1 on the loom T is received in a state where rotation is allowed and transferred to the cloth roll support mechanism section 7 on the trolley 2, and A fabric roll transfer device characterized in that empty rolls 8 are taken out from a roll storage section one after another and reset on a loom T.