JPH0366406B2 - - Google Patents

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a chuck for changing the yarn supply of a double twister robot, and in particular, the yarn supply package and the tensor cap attached thereto are connected by a common chuck piece. Regarding a chuck that can be grasped.

[Prior art] Each unit of a double twister (double twisting machine) applies double twist to the yarn pulled out from the yarn supply package supported by the spindle through its shaft hole, and then transfers it to the cradle arm. It is adapted to be wound onto a supported paper tube to form a wound package. When the paper tube winds up all the yarn in the yarn feeding package and the yarn is fully wound, replace the empty yarn feeding package with the actual yarn feeding package (yarn feeding exchange), and pull out the yarn end from the yarn feeding package. (take out) thread through the shaft hole (too much yarn), remove the full winding package from the cradle arm, supply a new paper tube to the cradle arm (doff), and attach the yarn feeding package to the paper tube. It is necessary to fix (thread) the end of the thread pulled out from the thread.

Conventionally, these operations have been carried out exclusively by hand, but with the production of a wide variety of products in small quantities, the frequency of operations such as yarn feed exchange has increased, and automation of these operations has been desired.

[Problems to be Solved by the Invention] By the way, when replacing the yarn supply, a tensioner cap is installed on the yarn supply package to guide the yarn to the shaft hole while applying appropriate tension to the yarn. It is necessary to remove the cap from the yarn supply package and then to remove the yarn supply package from the spindle. However, since the shapes of the tensor cap and the yarn feeding package are different, when automating the yarn feeding exchange, chucks for gripping them individually are considered necessary, which tends to increase the size of the apparatus.

Therefore, the purpose of the present invention is to solve the above problems,
It is an object of the present invention to provide a chuck for yarn supply exchange, which is capable of gripping a tensor cap and a yarn supply package with one mechanism, and is capable of downsizing the device.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a chucker body provided on an operating arm of a double twister robot, and a tensor cap provided on the chatter body and mounted on a yarn feeding package cage. and a common chuck piece that removably grips the yarn supply package from the inside of its shaft hole.

[Operation] When gripping the tensor cap, the chuck piece is opened and positioned outside the tensor cap, and by closing the chuck piece, the outer surface of the tensor cap can be gripped with the inner surface of the chuck piece.
When gripping the yarn supply package, close the chuck piece and insert it into the shaft hole of the yarn supply package.
By opening the chuck piece, the inner surface of the shaft hole can be pressed and gripped with its outer surface. In this way, the tensor cap and the yarn feeding package can be gripped by one mechanism, so that the apparatus can be made more compact.

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

As shown in FIG. 1, the double twister 1 has a large number of units 2 arranged in parallel, and each unit 2
As shown in the figure, a spindle 4 that vertically supports the yarn supply package 3 is provided below, and a cradle arm 6 that horizontally supports the paper tube 5 is provided above. The paper is guided upward while being double-twisted through the paper, and is wound around a paper tube 5 which is rotationally driven by a rotating drum 7 to form a winding package 8. Above the yarn supply package 3, a snell wire 9 for guiding the yarn, a drop wire 10 for detecting the presence or absence of yarn, a yarn guide roller 11, and a feed roller 12 for supplying the yarn to the winding package 8 are arranged in this order.

A tensor cap 13 having a center hole for guiding the yarn Y pulled out from the yarn layer into the shaft hole a of the yarn supply package is attached to the upper end of the yarn supply package 3.

The cradle arm 6 is pivotally supported so that it can be depressed freely in order to bring the take-up cage 8 into contact with and away from the rotating drum 7, and a cylinder 14 is connected to the cradle arm 6 to raise it to the doffing position. There is. A stocker 15 containing a plurality of paper tubes 5 is attached above the cradle arm 6.

Behind the rotating drum 7 is a conveyor 16 that conveys the doffed winding package 8, and in front of the yarn supply package 3 is a conveyor 18 that carries the actual yarn supply package on a tray 17 along the unit 2. are arranged respectively. As shown in FIG. 4, the conveyor 18 includes an endless belt 19 on which the tray 17 is placed and conveyed, and a guide frame 20 that guides the belt 19 and the tray 17. A peg 17a protrudes from the upper part of the tray 17 for inserting and supporting the yarn feeding bag.

A robot 21 is movably installed at the front of the unit 2 having such a structure, which automatically performs yarn feeding patch gauge exchange, threading, threading, doffing, and threading of each unit 2. The robot 21 is supported by wheels 23 on rails 22 attached to the upper and lower front portions of the units 2 arranged side by side so as to be freely movable.

On the robot 21, as shown in FIG.
Tray stop mechanism 2 that detects the detection signal by 4 and uses the signal to engage the locking piece 26 with the peg base of the tray 17 via the cylinder 25 to stop the tray 17.
7. Operation arm 28 for changing yarn feeding, etc., tray 1
A pick-up peg 2 temporarily places the actual yarn feeding package 3A on the robot 21 on the robot 21 to pick it up.
9. A rotatable suction arm 31 having a suction mass 30 that takes out the actual yarn feeding package 3A on the delivery peg 29, and a tensor cap 1.
3, and a receiving arm 34, which is rotated together with the suction arm 31 by a rotating cylinder 33, is provided.

The outlet peg 29 on the robot 21, the tray 17 stopped on the conveyor 18, and the spindle 4 are arranged on the same line perpendicular to the traveling direction of the robot 21, and the operating arm 28 is arranged parallel to that line. .

The operating arm 28 is attached facing the unit 2 so that it can be depressed and moved up and down, and is formed in such a length that its tip is positioned above the yarn feeding package 3 on the spindle 4 when it is horizontal. In order to support the operation arm 28 so that it can be depressed and raised and lowered, the robot 21
An elevating block 37 is supported on one side so as to be able to rise and fall freely via a vertical screw rod 35 and a guide rod 36, and a support shaft 38 protruding from one side of the operating arm 28 is attached to the elevating block 37 via a bearing 39. It is rotatably supported. The screw rod 35 is rotatably driven by a motor 40 via pulleys 41, 42 and an endless belt 43.

A stopper 44 is attached to the bearing 39 of the lifting block 37 to lock the rear upper surface of the operating arm 28 and horizontally support it. A stopper 45 that locks the lower surface and allows it to be stored upright on the robot side is attached by a cylinder 46 so as to be freely protrusive and retractable. This allows operation arm 2
The unit 8 is housed with its tip facing forward and diagonally upward, so that it does not interfere with the unit 2 when traveling.

As shown in FIGS. 5 and 6, a chuck 47 for gripping the yarn feeding bobbin and tensor cap 13 is provided on one side of the operating arm 28 so as to be slidable along the longitudinal direction. In order to operate this checker 47 with a slider, the frame 2 of the operating arm 28
A screw rod 49 having a motor 48 at one end is supported along the longitudinal direction within the screw rod 8a, and a chucker body 51 is supported on the screw rod 49 via a moving block 50 that is moved by the rotation of the screw rod 49. .

Two arm pieces 53a and 53b which are opened and closed by a cylinder 52 are attached to the chuck main body 51, and chuck pieces 54a and 54b each having a shape of a cylinder divided in half are attached to the lower surfaces of both arm pieces 53a and 53b.
are integrally hung down, and by closing both chuck pieces 54a and 54b as shown in FIG.
4a, 54b are inserted into the shaft hole 3a of the yarn supply package 3 and opened, so that the inner surface of the shaft hole 3a can be pressed and gripped. chuck piece 54a,
54b is the tensile cap 13 when closed.
The yarn feeding package 3 is formed in a size that can be inserted into the shaft hole 3a of the yarn feeding package 3 when the yarn feeding package 3 is closed. Yarn feeding exchange is performed using such chucks 54a,
54b, slide the chucker 47, and raise and lower the operating arm 28, the tensor cap 1 is first moved from above the empty yarn package 3B at the spindle 4 position.
After pulling out the yarn package 3A from the tray 17 and transferring it to the tensioner chucker 32 of the receiving arm 34, as shown in FIG.
Pull out the empty yarn feed package 3B from above and remove it from the tray 1.
7 (), then the threaded yarn supply package 3A is pulled out from above the threading peg 29 and transferred onto the spindle 4 () to complete the process.

A telescopic arm 55 for pushing the drop wire 10 upwardly above the yarn supply package 3 and releasing it, a suction pipe 56 for suctioning the end of the yarn during threading, etc. are attached to the tip of the operating arm 28. The robot 21 also has an operating lever 5 for opening and closing the cradle arm 6 which has been pulled up to the doffing position.
7. A tray 5 that extends below the take-up package cage 8 and receives the full take-up package cage 8 that falls when the cradle arm 6 is opened, and rolls it onto the conveyor 16.
8. A paper tube supply arm 59 and the like that extract the paper tube 5 from the stocker 15 and supply it to the cradle arm 6 are attached.

Next, the operation of the embodiment will be explained.

The robot 21 stops in front of the unit 2 that requests yarn feeding exchange, etc., and starts processing operations such as yarn feeding exchange. When changing the yarn feed, first change the checker 4.
7 is positioned above the spindle 4, and when the operation arm 28 is lowered, the chuck pieces 54a and 54b are opened and lowered to the position of the tensor cap 13 on the empty yarn package 3 (empty yarn package 3B), and the chuck pieces are opened. 54a, 54b close and grip the outer surface of the tensor cap 3 with their inner surfaces.
In this gripping state, the tensor cap 13 is pulled out from the empty yarn package 3B by raising the operating arm 28, and the tenser cap 13 is moved onto the outlet peg 29 by retreating the chucker 47. on the other hand,
The tensor chuck 32 of the receiving arm 34 rotates from the standby position to the outlet peg 29, receives the tensor cap 13 from the chuck pieces 54a and 54b, and returns to the standby position to wait.

During this time, the tray 17 with the actual yarn supply package A inserted therein is stopped by the tray stop mechanism 27 on the conveyor 18, and the chuck 47
is now positioned above the tray 47, and as the operating arm 28 descends, the chuck pieces 54a, 54b
is inserted into the shaft hole 3a of the actual yarn feeding package 3A on the tray 17 in the closed state. Next, the chuck pieces 54a and 54b are opened and the outer surfaces thereof press and grip the inner surface of the shaft hole 3a, and in this state, the operating arm 28 is raised to remove the actual yarn feeding package 3A from above the peg 17a of the tray 17, and the chuck 47 is moved back. And the actual yarn feeding package 3 is lowered by lowering the operation arm 28.
Mount A on the outlet peg 29 (Fig. 4).
While the yarn end of the actual yarn feeding package 3A is being pulled out on the lead-out peg 29 by the suction mouse 30, the chucker 47 is again operated on the spindle 4.
Move upward and pull out the empty yarn package 3B from above the spindle 4 using the same operation, and place it on the tray 1.
7 and attach it to the peg 17a (see the same figure).

Then, the actual yarn supply package 3A that has been pulled out is pulled out from above the output peg 29, moved to the top of the spindle 4, and installed (see the same figure), thereby completing the yarn feeding exchange.

Such chuck pieces 54a, 54 that can be opened and closed freely
Since the structure is such that the outer surface of the yarn supplying package 3a grips the inner surface of the shaft hole 3a of the yarn supplying package, and the inner surface of the tensor cap 13 is gripped by the inner surfaces of the chuck pieces 54a and 54b, a single mechanism can grip the yarn supplying package 3 and grip the tensor cap 13. It can be held by the cap 13, and the device can be made smaller. Further, the spindle 4, the tray 17 and the output peg 29 are arranged on the same line,
Since the chucker 47 is configured to move along the operating arm 28 arranged parallel to this line, it is easy to position the chuck pieces 54a, 54b with respect to the spindle 4, etc., and yarn feeding can be quickly exchanged. .

[Effects of the Invention] In summary, according to the present invention, the outer surface of the freely openable and closable chuck piece grips the inner surface of the shaft hole of the yarn feeding package, and the inner surface of the chuck piece grips the outer surface of the tensor cap. A single mechanism can grip the yarn supply package and the tensor cap, reducing the number of parts and making the device more compact.

[Brief explanation of drawings]

FIG. 1 is a perspective view of the entire double twister showing an embodiment of the present invention, FIG. 2 is an enlarged side sectional view showing the related structure of the double twister unit and the robot,
Figure 3 is a partial plan view of the robot, and Figure 4 is a partial plan view of the robot.
5 is a partially sectional plan view of the operating arm; FIG. 6 is a sectional view taken along line B-B in FIG. 5;
FIG. 7 is a diagram showing a state in which the tensor cap is gripped, and FIG. 8 is a diagram showing a state in which the yarn feeding package is gripped. In the figure, 1 is a double twister, 2 is a unit, and 3 is a double twister.
is a yarn feeding package, 3a is a shaft hole, 13 is a tensor cap, 21 is a robot, 47 is a chuck, 5
1 is a chuck main body, and 54a and 54b are chuck pieces.

Claims (1)

[Claims] 1. A chucker body provided on the operating arm of a double twister robot, a tensor cap provided on the chucker body and mounted on the yarn feeding package from the outside, and a yarn feeding package from the inside of its shaft hole in a detachable manner. A yarn feeding exchange chuck characterized in that it is equipped with a common chuck piece.