JPH0345959Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) This invention is a method for attaching a cylindrical article, for example, a cylindrical bobbin wound with thread to a horizontal peg, with both ends protruding. Regarding the fitting device.

(Prior Art) Conventionally, the work of fitting a cylindrical bobbin wound with thread into a large number of horizontal pegs arranged vertically at predetermined intervals had to be done manually. The reason is as follows. That is, the work of fitting the cylindrical bobbin into the peg involves inserting the free end of the peg into a hole with a small diameter (for example, a hole with a diameter of 8 mm) in the cylindrical bobbin.
Therefore, it is necessary to accurately attach a large number of horizontal pegs lined up at predetermined intervals in the vertical direction to the base frame, and to hold the cylindrical bobbin in relation to the position of the horizontal pegs. This is because the stop position control of the robot hand must be performed with extremely high precision, and the cost of construction and control is too high, and it is cheaper to do it manually.

(Background of the invention) The inventor believes that in order to automate the above-mentioned manual work at low cost, it is necessary to develop an inexpensive positioning mechanism for determining the position of the free end of the peg and the axis of the cylindrical bobbin. I thought it was a good idea to develop it first, and as a result, I completed this idea.

(Example) This invention will be described below based on an example shown in the drawings. In this specification, the front refers to the lower side of Figure 1, the rear refers to the upper side of the same figure, and the left refers to the lower side of Figure 1.
The left side of the figure refers to the right side of the figure, and the right side refers to the right side of the figure.

As shown in FIGS. 1 and 2, a large number of pegs 2 are arranged on the base frame 1 vertically and horizontally.
They are installed horizontally with their free ends facing backwards. A cylindrical bobbin (hereinafter referred to as a real bobbin 10) wound with thread is fitted into these pegs 2 with both ends protruding, and the threads of these real bobbins 10 are fed to a loom ( (not shown) are supplied to the loom as warp threads. Then, the cylindrical bobbin (hereinafter referred to as empty bobbin 11) with no thread left is extracted from the peg 2.

As shown in FIGS. 1, 3, 4, 5, and 6, a pair of upper and lower guide rails 20 are provided at the free end side of the peg 2, that is, at the rear, with their longitudinal directions facing left and right. A traveling vehicle 21 is guided by these guide rails 20 so as to be able to move left and right, and this traveling vehicle 21 is configured to be self-propelled by a motor (not shown). A positioning pin 22 (see FIG. 4) is provided on the traveling vehicle 21 so as to be movable up and down so as to face the lower guide rail 20, and to face the positioning pin 22 at the set stop position of the traveling vehicle 21. A positioning recess 23 is formed in the lower guide rail 20. With such a configuration, the positioning pin 2
2 into the positioning recess 23,
The traveling vehicle 21 can be stopped at a set position.

The traveling vehicle 21 is provided with a pair of upper and lower guide rails 25 whose longitudinal direction is directed forward and backward, and a back-and-forth movable truck 26 is provided on these guide rails 25 so as to be movable back and forth. The drive device 27 of this back-and-forth movable truck 26 has a drive motor 28, and the gear 30 of the rotating shaft 29 of this drive motor 28 is connected to the gear 3
1, and this gear 31 is fitted to the lower end of a vertical rotating shaft 32 that is rotatably fitted to the back-and-forth movable carriage 26, and the same gear 33 as the gear 31 is fitted to the upper end of this vertical rotating shaft 32. These gears 33, 31 are fitted into upper and lower racks 34, and these racks 34 are fixed to the guide rail 25 with their longitudinal directions facing forward and backward. With such a configuration, the rotating shaft 2
By rotating the wheel 9 in forward and reverse directions, the back-and-forth movable cart 26 can be moved back and forth.

At least two bearings 38 are attached to the hollow mast 37 of the longitudinally movable truck 26 so that their axes are directed in the vertical direction and are concentric, and an elevating vertical shaft 39 is movable up and down on these bearings 38. This vertical vertical axis 39 is a lifting device (not shown).
It is designed so that it can be raised and lowered by. The lifting vertical shaft 39 has pegs 2 arranged vertically.
A number of sleeves 42 corresponding to the number of sleeves 42 are fitted so as to be vertically movable and rotatable, and these sleeves 4
2 is urged upward at a height position corresponding to the peg 2 by a spring 43 which does not bend under the weight of the real bobbin 10. That is, the lower end of the spring 43 is connected to a spring receiver 44 fixed to the vertical vertical shaft 39.
The upper end of the sleeve 42, which is urged upward by a spring 43, contacts a stopper 45 fixed to the vertical vertical shaft 39. sleeve 42
are provided with brackets 46, which project to the outside of the mast 37 through vertically elongated slits 47 formed in the mast 37, and at each projecting end of the brackets 46,
A bobbin support frame 50 having a U-shape in plan view is provided so that the opposing pieces 51 facing each other are perpendicular to the pegs 2 when viewed from above, and the connecting piece 52 is positioned on the left. ing. The bobbin support frame 50 and the peg guide 54, which will be described later, are configured so as not to hit the real bobbin 10 fitted in the peg 2 when the vertical vertical shaft 39 is at the lowest position. The inner diameter of the opposing piece 51 is made slightly longer than the width of the thread wound on the actual bobbin 10. This bobbin support frame 5
A bobbin receiving recess 53 is formed in the upper part of the free end of the facing piece 51 of 0, and a peg guide 54 having a V-shaped notch 55 is provided on the side of the facing piece 51 that is closer to the peg 2. This pezgu guide 54 is
When the vertical axis 39 is at the lowest position, the peg 2
Further, when the longitudinal movable carriage 26 is at the farthest position from the peg 2 in the longitudinal direction, it is arranged in front of the free end of the peg 2. The cutout 55 is
It has an upper peg guide part 55a and a lower peg receiving part 55b (see FIG. 5). and,
The axis of the end of the real bobbin 10 on the peg 2 side supported in the bobbin receiving recess 53 is aligned with the axis of the free end of the peg 2 fitted into the peg receiving part 55b. With such a configuration,
After positioning the peg guide 54 below the free end of the peg 2, the lifting vertical shaft 39 is raised to bring the tip of the peg 2 to the peg receiving part 55b, and it is automatically supported in the bobbin receiving recess 53. The axis of the end of the real bobbin 10 on the peg 2 side and the peg receiving part 5
The axis of the free end of the peg 2 fitted into the peg 5b coincides with the axis. By the way, the Pezug 2 and the Pezug receiving part 55
If there is a slight deviation in the horizontal position with respect to b, the peg 2 will hit the peg guide part 55a of the peg guide 54 as the vertical shaft 39 rises, but as the vertical shaft 39 rises further, the peg 2 will hit the peg guide 55a of the peg guide 54. Then, move the bobbin support frame 50 so that the peg 2 reaches the peg receiving part 55b.
Since the peg 2 and the peg receiving portion 55b are horizontally swung around the vertical axis 39, there is no problem even if the left and right positions of the peg 2 and the peg receiving portion 55b are slightly shifted. Furthermore, even if there is a slight deviation between the vertical position of the peg 2 and the vertical position of the bobbin support frame 50 or the peg guide 54, the sleeve 42, which is movable up and down with respect to the vertical axis 39, By descending against the spring 43, the displacement can be absorbed, so that all the upper and lower pegs 2
can be made to reach the peg receiving portion 55b.

A horizontal shaft 58 is provided on the sleeve 42 so as to protrude in the opposite direction to the bracket 46. A roller 59, which is a cam follower, is rotatably fitted to the free end of the horizontal shaft 58. The cam hole 61 is fitted into a vertically long cam hole 61 (see FIG. 6) formed in a position regulating plate 60 provided on the moving carriage 26, and the cam hole 61 has an upper portion 61a that allows the roller 59 to move laterally; It has a lower part 61b that does not allow the roller 59 to move laterally. Then, this cam hole 61 and the roller 5
The positional relationship with 9 is as follows. That is, when the lifting vertical shaft 39 is at the lowest position, the roller 59 is fitted into the lower part 61b, and the lifting vertical shaft 39 is raised, that is, the peg guide 54 is raised to include its upper end. When the peg 2 enters the virtual horizontal plane, the upper part 61 is moved to allow the left and right movement of the roller 59.
Even if the peg 2 is moved to the a side and the peg 2 is fitted into the peg receiving portion 55b, the roller 59 is prevented from hitting the upper end of the upper portion 61a.

As shown in FIG. 1, FIG. 7, and FIG. 8, the traveling vehicle 21 is provided with a pair of upper and lower guide rails 70 whose longitudinal direction is directed back and forth, and a back-and-forth movable truck 71 is mounted on these guide rails 70. It is set up so that it can move freely. This back-and-forth moving truck 71 is configured to move back and forth by a mechanism (not shown) similar to that of the back-and-forth moving truck 26. Robot hands 72 of the number corresponding to the number of pegs 2 lined up in the vertical direction are provided on this back-and-forth movable carriage 71 in a manner that corresponds to the number of pegs 2 and are lined up vertically. Note that the center of the robot hand 72 in the left and right direction (the axis 7 to be described later)
4) and the axis of the peg receiving portion 55b when the lifting vertical shaft 39 is at the lowest position is equal to the mounting pitch of the peg 2 in the left-right direction. Each of these robot hands 72 is attached to a pair of upper and lower brackets 73 of the back-and-forth movable cart 71.
It has a pair of rocking pieces 75 that are provided on a pivot shaft 74 whose axis is directed upward and downward and are swingable from side to side. These swinging pieces 7
A bobbin clamping body 78 is connected to the free end of 5 by a shaft 77.
These bobbin holding bodies 78 are connected to a half-cylindrical main body 79 and its pegs 2.
It has a semicircular retaining piece 80 at the tip of the side. A bobbin holding body 78 is attached to the swinging piece 75.
A stopper 81 is provided to prevent the tip of the retaining piece 80 from approaching within a set distance. These robot hands 72, specifically, the swinging pieces 75 are actuated by an actuating device 84 as described below. A motor 85 is provided on the back-and-forth moving truck 71, a rotary disk 87 is fitted onto a rotating shaft 86 of the motor 85, a rod 88 is pivotally connected around this rotating disk 87, and the back-and-forth moving truck 71 is attached to the rod 88. The lower end of a lifting rod 89, which is provided to be able to rise and fall freely, is pivotally connected to the lifting rod 89.Horizontal elongated holes 90 are formed in this elevating rod 89 so as to correspond to the robot hands 72, and a bell crank is inserted into each of these horizontal elongated holes 90. A pin 92 provided on one arm of the bell crank 91 is fitted, and these bell cranks 91 are pivotally attached to the back-and-forth movable cart 71 on a pivot 93 whose axis is directed left and right, so that the bell cranks 91 can freely swing up and down. A roller 94 is provided on the other arm of the bell crank 91, and the axis of this roller 94 is located at a position facing the middle of the length of the pivot shaft 74. A freely provided rod 95 is arranged so as to touch the end of the side that does not face the robot hand 72, and a horizontal plate 96 that is long in the left-right direction is provided at the end of the rod 95 that faces the robot hand 72. Protrusions 97 are provided at the left and right ends of this horizontal plate 96, and a roller 98 whose axis is directed in the vertical direction is pivoted to the bent portion of the base of the swinging piece 75 so as to face these protrusions 97. has been done. With such a configuration, by pushing the roller 98 with the protrusion 97, the swinging piece 75 and the bobbin clamping body 7
8 can be opened, and the swinging piece 75 and thus the bobbin clamping body 78 can be closed by preventing the protrusion 97 from pushing the roller 98. A chute 100 is provided on the back-and-forth movable carriage 71 so as to be located below each of the robot hands 72. This chute 100 is designed not to collide or interfere with the peg 2 or the empty bobbin 11 fitted therein. The lower part of the robot hand 72 of the chute 100 is an empty bobbin receptacle 101, and the front end thereof is an empty bobbin outlet 102. A gate 103 is provided.

As shown in FIGS. 1, 9 and 10, a supply station 110 is provided on the right side of the base frame 1,
A chute 111 that slopes downward from the right side to the left side is provided in the supply station 110 so as to face each of the bobbin support frames 50, and a pair of left and right guide side plates 112 are provided above both sides of the chute 111. The inner diameter of the guide side plate 112 is equal to or approximately equal to the inner diameter of the opposing piece 51 of the bobbin support frame 50. The traveling vehicle 21 is configured to stop at a position where the opposing pieces 51 can receive both ends of the real bobbin 10, which is discharged from the tip of the chute 111, protruding from the winding yarn. In other words, the traveling vehicle 21 is configured to stop at a position where both ends of the real bobbin 10, which is discharged from the tip of the chute 111, protruding from the winding thread do not enter below the opposing piece 51.
At this time, the vertical lift shaft 39 is at the lowest position, and the back-and-forth movable carriage 26 is at the farthest position from the base frame 1 in the front-back direction. A stopper 113 is provided at the tip of the chute 111 and is movable up and down by a fluid pressure cylinder (not shown). has been done.

As shown in FIGS. 1 and 11, the traveling vehicle 2
A discharge chute 117 is provided so as to be continuous with the empty bobbin discharge port 102 of the chute 100 when the bobbin 1 stops at a position where the real bobbin 10 is received from the chute 111.

(Effect of Example) Next, the operation of the embodiment device will be explained.

First, the operation of fitting the real bobbin 10 into the peg 2 will be explained. Note that when the traveling vehicle 21 stops, the positioning pin 22 is fitted into the positioning recess 23, and when the traveling vehicle 21 is running, the positioning pin 22 is pulled out from the positioning recess 23. Don't explain everything. In order to place the real bobbin 10 on the empty bobbin support frame 50, the traveling vehicle 21 moves to the left side of the chute 111, and places both ends of the real bobbin 10, which are discharged from the tip of the chute 111, protruding from the winding thread, facing each other. Piece 5
1. Stop at a position where you can receive it. In addition,
At this time, the vertical vertical shaft 39 (bobbin support frame 50) is at the lowest position, and the back-and-forth movable carriage 26 is at the farthest position from the peg 2 in the front-rear direction. Thereafter, the stopper 113 descends to free the most advanced real bobbin 10, and immediately rises to stop the second and subsequent real bobbins 10. Free bobbin 1
0 slides down the chute 111, and it slides down the opposite piece 5
The bobbin is received by the bobbin receiving recess 53 of No. 1.
Thereafter, the traveling vehicle 21 travels to the position of the empty peg 2 and stops at a set position where the axis of the peg 2 and the axis of the real bobbin 10 are aligned. that time,
The peg guide 54 is located in front of the peg 2 (see FIG. 12A). After that, the longitudinally movable trolley 26
moves slightly toward Pezug 2, and Pezug guide 5
4 below the free end of peg 2 (first
(See Figure 2 B). After that, the lifting vertical shaft 39 (bobbin support frame 50), which has been at the lowest position until now, rises, so the free end of the peg 2 is fitted into the peg receiving part 55b, with or without being guided by the peg guide part 55a. (See Figure 12, c). Errors in the mounting position of the peg 2 are absorbed by the horizontal rocking of the bobbin support frame 50 and the degree of freedom of downward movement, as described above. In this way, the axial center of the end of the real bobbin 10 on the peg 2 side is made to coincide with the axial center of the free end of the peg 2. After that, the back-and-forth movable carriage 26 (bobbin support frame 5
0) moves a little further to the PETGU 2 side, and the real bobbin 1
0 is fitted onto the free end of peg 2. In this state, the real bobbin 10 is supported by the peg 2 (see FIG. 12D). Thereafter, the bobbin support frame 50 is slightly lowered to the extent that the vertical shaft 39, that is, the peg guide 54 is removed from the peg 2 (see FIG. 12E).
Thereafter, the back-and-forth movable carriage 26 further moves toward the peg 2, so that the real bobbin 10 is pushed by the opposing piece 51 and completely fitted into the peg 2 (see FIG. 12). Thereafter, the vertical lift shaft 39 descends to the lowest position. Then, the bobbin support frame 50 and the peg guide 54 are attached to the real bobbin 10 supported by the peg 2.
It will be located below the lower end of (see Figure 12, G). Thereafter, the back-and-forth movable carriage 26 moves in a direction away from the peg 2 (see FIG. 12-1).

Next, the method of carrying out the empty bobbin 11 will be explained.
Note that the work of carrying out these empty bobbins 11 is carried out in parallel with the work of fitting the real bobbin 10 into the peg 2 to the extent that it does not interfere with the work of fitting the real bobbin 10 into the peg 2.

When the traveling vehicle 21 moves to the left of the chute 111 and the chute 100 is connected to the discharge chute 117, the gate 103 opens and the empty bobbin 11 on the chute 100 is discharged to the discharge chute 117. At this time, the longitudinal movable carriage 71 (robot hand 72) is at the farthest position from the peg 2 in the longitudinal direction. Thereafter, when the gate 103 is closed, the back-and-forth movable cart 26 moves, and the robot hand 7
2 to face the peg 2 into which the empty bobbin 11 is fitted.
The distance between the horizontal center of the peg 2 and the axis of the peg receiving part 55b when the vertical vertical shaft 39 is at the lowest position is equal to the horizontal mounting pitch of the peg 2. This is the position to fit into the peg 2. ) to stop. Thereafter, as the back-and-forth movable carriage 71 moves, the bobbin clamping body 78 moves toward the peg 2 in an open state and stops at a position where the bobbin clamping body 78 completely covers the empty bobbin 11. Thereafter, the bobbin clamping body 78 closes, so that the empty bobbin 11 is clamped by the bobbin clamping body 78. Thereafter, the back-and-forth movable carriage 71 moves in the direction away from the peg 2, so that the empty bobbin 11 is moved away from the peg 2.
can be extracted from After that, the bobbin clamping body 78
opens, the empty bobbin 11 falls into the chute 100, reaches the empty bobbin discharge port 102, and passes through the gate 1.
03, it is stopped at that position. after that,
When the traveling vehicle 21 moves to the left of the chute 111 and the chute 100 is connected to the discharge chute 117, the empty bobbin 11 is discharged as described above.

(Effects of the invention) This invention achieves the following effects by virtue of the configuration described above.

Since it has an inexpensive positioning mechanism for determining the position of the free end of the peg and the axis of the cylindrical article, it is not necessary to accurately attach the horizontal peg to the base frame with high precision, and the horizontal peg Since there is no need to control the stop position of the cylindrical article support frame that holds the cylindrical article with extremely high precision with respect to the position of the cylindrical article, the work of fitting the cylindrical article into the horizontal peg can be automated at low cost. .

[Brief explanation of the drawing]

The drawings show an embodiment of this invention,
Figure 1 is a schematic plan view of a partially fractured part, Figure 2 is an enlarged sectional view taken along the line from Figure 1, and Figure 3 is a schematic diagram of a partially fractured area.
Figure 4 is an enlarged cross-sectional view along the line with the middle omitted; Figure 4 is a cross-sectional view along the Figure 3-line with the middle omitted; Figure 5 is the
FIG. 6 is an enlarged sectional view taken along the line of FIG. 3, FIG. 7 is an enlarged sectional view of the main part along the line of FIG. 1, and FIG. 8 is a sectional view taken along the line of FIG. Figure 9 is an enlarged cross-sectional view of the main part along the line of Figure 1, Figure 10 is a cross-sectional view of the main part along the line of Figure 9, and Figure 11 is a cross-sectional view of the main part taken along the line of Figure 1.
FIG. 12 is an enlarged cross-sectional view of the main part taken along the line in FIG. 12, and FIGS. DESCRIPTION OF SYMBOLS 1... Base frame, 2... Petsugu, 26... Back-and-forth moving truck, 39... Lifting vertical shaft, 42... Sleeve, 4
3... Spring, 50... Bobbin support frame, 51... Opposing piece, 53... Bobbin receiving recess, 54... Petz guide, 55... Notch, 55a... Petz guide, 55b... Petz Receiving portion, 59...Roller, 60...Position regulating plate, 61...Cam hole, 61
a...upper part, 61b...lower part.

Claims (1)

[Scope of utility model registration request] A peg is provided horizontally on the base frame, a horizontal movable carriage is provided on the free end side of the peg so as to be horizontally movable toward the peg, and an elevating vertical shaft is erected on the horizontal movable carriage so as to be vertically movable; A sleeve is fitted onto the vertical shaft so as to be movable up and down and rotatable, and is biased upward by the sleeve spring.
A cam follower is protruded from this sleeve, and this cam follower is fitted into a vertically long cam hole formed in a position regulating plate provided on the horizontally movable truck, and this cam hole allows the cam follower to move laterally. The sleeve has an upper part and a lower part which does not allow left-right movement of the cam follower, and the sleeve has a cylindrical article support frame having a pair of opposing pieces spaced apart from each other by a predetermined distance. A cylindrical article receiving recess is formed in the upper part of the opposing piece of the cylindrical article support frame, and a V-shaped recess is formed in the opposing piece of the cylindrical article support frame closer to the peg. A peg guide having a notch is provided, and the axis of the peg side of the cylindrical article supported in the cylindrical article receiving recess is aligned with the axis of the free end of the peg fitted into the lowest part of the notch. A device for fitting a cylindrical article into a peg.