JPH06264331A - Control of cop exchanger for loom - Google Patents

Abstract

PURPOSE:To avoid the catch of a weft between a wooden bobbin and a shuttle or on a circumferential part in the case of fitting a new cop on a standing tongue. CONSTITUTION:A robot arm 26 having a cop-holding hand 27 for the automatic exchange of an old cop with a new cop 32 is provided with a weft-gripping hand 28. In setting a new weft on a weft-knotting apparatus for tying an old weft with a new weft 34, the new weft is passed through a hooking tool and a weft-gripping chuck. The part of the new weft between the hooking tool and the weft-gripping chuck is held with the weft-gripping hand and the new cop is held with the cop-holding hand 27 while gripping the weft and put on a tongue 18. The new weft is supported by the weft-gripping hand in a state separated from the new cop and, accordingly, the sagging of the weft is prevented and the catch of the weft between the base end 35a of the wooden bobbin and the shoulder face 18a of the tongue or on the circumferential part can be avoided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for exchanging a cup formed by winding a weft yarn around a wood pipe mounted on a shuttle that flies between warp yarns, and particularly to an old device in which the weft yarn is consumed more than a predetermined amount. The present invention relates to a method for controlling a weaving machine cup changing device, which is configured such that a new cup is attached to a wood pipe insertion / extraction tongue in an upright state when the cup is exchanged with a new cup.

[0002]

2. Description of the Related Art For example, in a paper machine, wet paper is compressed between opposed rolls to remove moisture from the wet paper. The roll has a relatively wide endless belt-like press. Felt or the like is used. The press felt is made by needling a bat with a web overlaid on a base cloth by needling. In the weaving process of the base cloth, the warp yarns are set in the warp beam and continuously supplied, while the weft yarns are supplied by the cup attached to the shuttle.
Therefore, in order to weave the above wide base fabric for a press felt, it is necessary to replace the cup every time the number of shuttle shuttle movements reaches a constant value. Also, each time, weave the old weft and the weft of the next cup,
For example, the work of joining by welding is also necessary.

As an apparatus for automatically changing the cup and connecting the weft threads, there is an apparatus disclosed in, for example, Japanese Patent Application Laid-Open No. 2-154030 by the same applicant. In this device, a shuttle box for reciprocating the shuttle between the warp threads is arranged on both sides of the warp thread, and a device for pulling out the shuttle from the shuttle receiving chamber of the shuttle box at the time of cup replacement, a weft thread of an old cup and a new one. The robot arm is provided with a cup gripping hand capable of sequentially pulling out the weft yarns of the cup to the yarn knotting device and selectively gripping the wood pipe to replace the old cup and the new cup.

In the above apparatus, the wood pipe is removably attached to the shuttle through a wood pipe insertion / removal tongue which is capable of standing upside down with respect to the shuttle. When changing the cup, first, the shuttle is fixed at a predetermined position, and the wood pipe of the old cup is raised by the cup gripping hand and pulled out from the tongue. Then, with the cup gripping hand, transfer a new cup from the wood pipe storage area,
It is possible to restart the weaving using the new cup by inserting the new cup into the upright tongue by inserting it relatively and putting it down.

However, depending on the type of weft thread, some of the weft thread can be easily unraveled from the wound state, and if the weft thread is unraveled when carrying a new cup, when installing a wood tube of a new cup on the standing tongs. , A weft thread is sandwiched between the base end surface of the wood pipe and the shoulder surface of the tongue facing each other,
There is a risk of being caught by surrounding members. If the weft thread is caught, the weft thread is cut when the shuttle is put in the shuttle box after the cup is attached, or if the shuttle is ejected from the shuttle box while the weft thread is caught, the sandwiched weft thread entangles the warp thread. There is a problem that not only problems such as disconnection occur but also a great deal of time is consumed for repair.

[0006]

SUMMARY OF THE INVENTION In view of the above problems of the prior art, the main object of the present invention is to attach a new wood tube to the standing tongs so that the wood tube and the shuttle are It is an object of the present invention to provide a method for controlling a cup changing device for a loom that can prevent the weft yarn from being caught between the members and being caught by a peripheral member.

[0007]

According to the present invention, the object described above is detachably held so that a cup formed by winding a weft thread on a wood pipe can be erected and laid down via a tongue for inserting and removing the wood pipe. In a loom that selectively reciprocates shuttles between warp threads, when the weft threads are consumed for more than a predetermined amount, each weft thread between the consumed old cup and the new stored cup Control of a weaving cup changer configured to pull out each other with a weft thread grasping hand to bind yarn, remove the old cup from the shuttle with the cup grasping hand, and attach the new cup to the tongue in an upright state A method of gripping the new cup by the cup gripping hand, and weft thread pulled out from the new cup by the weft thread gripping hand. And a step of mounting the new cup on the tongue in the upright state while gripping the position of the drawn-out weft thread separated from the new cup by a predetermined length with the weft thread gripping hand. It is achieved by providing a method of controlling a cup changing device for a loom.

[0008]

[Operation] In this way, when a new cup is carried out from the storage site and attached to the tongue in the upright state of the shuttle in order to replace the new cup with the old one,
Since the weft thread gripping hand grips the new weft thread at a position that is separated from the new cup by a predetermined length, the weft thread does not hang down from the cup, and the weft thread is caught between the wood tube and the tongs of the cup. It is possible to prevent the member from being caught.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

1 to 4 show an embodiment of a cup changing device according to the present invention which can be used for weaving a press felt base fabric for a paper machine. A base cloth (not shown) is woven on the left side of FIGS. 1 and 2, but a shuttle box 1 is arranged on the right side of the drawings, and a left side of the base cloth is not shown so as to face the shuttle box 1. There is a shuttle box. In this device, two shuttles 2 are used to weave the base fabric into, for example, two layers, and each shuttle 2 is released from the shuttle ejection chambers 10a and 10b in the upper and lower two stages of the shuttle box 1 by a hammer device (not shown). They are struck alternately and are struck back from the opposing shuttle boxes.

Then, each shuttle 2 repeatedly reciprocates between the warp yarns in the direction of arrow A in the figure, the weft yarns 4 are woven by the warp yarns 3, and the base cloth is woven by using a twill and a reed (not shown). A brake device for the shuttle 2 is provided in each of the shuttle boxes 1. Further, in the present embodiment, the cups are exchanged on the side of the shuttle box 1 on the right side shown with the lower side in FIG. 1 as the front side.

A fixed frame 5 made of a channel material or the like is arranged along the movement direction of the shuttle 2, and a shuttle movable device 7 is provided by a slide rail 6 extending on the fixed frame 5 as shown in FIG. Movable stand 8
Are reciprocally supported. The movable base 8 includes a small air cylinder 11 fixed to a movable bracket 9 also supported by the slide rail 6, and a large air cylinder 12 connected to the movable bracket 9 and fixed to the fixed frame 5. Thus, it is possible to reciprocate in a direction indicated by an arrow B in FIG. 2 with a stroke length of two steps.

The shuttle movable device 7 includes a shuttle 2
An arm portion 14 having a suction pad 13 for supporting the tip portion of the with a negative pressure is provided. The arm portion 14 is provided with a pair of rod guides 15 so that
It is guided so as to be reciprocally movable in the direction indicated by the arrow C and is driven by the air cylinder 16 in the vertical direction in FIG. A negative pressure generating means (not shown) is connected to the suction pad 13.

A tongue 18 is pivotally attached to the groove portion 17 in the middle portion of the shuttle so as to be tiltable in the longitudinal direction of the groove portion 17. A wood pipe 21 for winding the weft thread 4 to form the cup 19 is provided with an axial hole (not shown) which is opened at the end face of the base end thereof, and the axial hole can be inserted into and removed from the tongue 18. Is designed to be plugged in,
The wood pipe 21 is held in a state of being inserted into the tongue 18. When the shuttle 2 is flying, the cup 19 is held in a state of lying down in the groove 17 as shown by an imaginary line in FIG. 1, and the weft thread 4 is paid out from the shuttle eye on the side surface of the shuttle 2 when flying.

After the shuttle 2 flies a predetermined number of times and the weft yarn 4 is consumed from the cup 19a by a predetermined number or more, the old cup 19a is replaced. At the time of replacement, the shuttle 2 to be replaced is stopped in the shuttle box 1 by a brake device (not shown).

Next, as described above, the suction pad 1
The tip of the shuttle 2 is sucked by 3 and pulled out onto the upper surface 23a of the support base 23 as a shuttle race integrated with the reed, for example, by the shuttle moving device until the state shown by the solid line in FIG. Although the replacement is performed, a fixed air cylinder 22 fixed to a fixed frame (not shown) is provided to prevent the shuttle 2 from being lifted at the predetermined replacement position.

As shown in FIG. 1, a common pedestal 25 disposed on the side of the shuttle 2 positioned at the exchange position.
An articulated robot 24 is fixed on the top. As shown in FIGS. 3 and 4, the tip end of the robot arm 26 includes a wood pipe gripping hand 27 as a cup gripping hand capable of selectively gripping the tip end of the wood pipe 21, and the weft thread 4
A weft thread grasping hand 28 capable of selectively grasping the wood pipe and a wood pipe engaging hand 29 capable of engaging with the opening portion at the tip of the wood pipe 21 are provided as shown in FIG.

In the lower right part of the common mount 25 in FIG.
A weft yarn threading device 36 for connecting the old weft yarn 4 and the new weft yarn 34 is provided. The weft yarn binding device 3
In the vicinity of 6, the weft thread 4 fed from the old cup 19 mounted on the shuttle 2 is weft thread binding device 36.
And a hook 38 for similarly guiding the new weft yarn 34 drawn from the new cup 32 in the cup storage device 33 as a storage area.
And are arranged in appropriate places.

Further, in the vicinity of the hanging tool 38 for guiding the new weft thread 34 and on the side of the weft thread binding device 36 side, in order to selectively grip the intermediate portion of the new weft thread 34 pulled out from the new cup 32. A weft thread chuck 30 is provided. The weft thread chuck 30 is composed of a pair of opening / closing bodies driven by a cylinder (not shown) or the like, and the new weft thread 34 can be dropped between the opening and closing bodies from above. Therefore, when the new weft yarn 34 is set on the weft yarn binding device 36, the new weft yarn 34 is hung on the hanging tool 38 and then pulled out toward the weft yarn binding device 36 via the weft yarn chuck 30.

A fixed guide rod 39 for guiding the weft yarn 4 fed from the shuttle 2 side toward the weft yarn splicing device 36 from the side opposite to the hook 37 is provided on the common frame 25. ing. In addition, the common mount 25
The movable guide bar 4 reciprocally movable in the direction of arrow F in FIG. 1 so that the distance between the weft thread 4 and the new weft thread 34 can be varied relative to each other in order to relatively shift the connecting portion.
A connecting point changing device 41 having 0, a clamp device 42 for supporting the tip of the new weft yarn 34, and a residual yarn collecting device 43 for collecting the remainder of the new weft yarn 34 connected to the weft yarn 4. , Are arranged at predetermined positions.

As shown in FIGS. 3 and 4, the weft yarn binding device 36 described above has a welding machine 45 which can be moved up and down by a pivot 44 which is erected on a common mount 25, a weft yarn 4, and a new weft yarn. A pair of positioning pins 46 for intersecting the weft thread 34 at three points, a weft thread cutting machine 47 for cutting out unnecessary portions of the weft thread after combination, and positioning of the weft thread 4 and the new weft thread 34 after combination It is composed of a hanging machine 48 for unhooking from the pin 46. The main body of the welding machine 45 supported in a cantilevered state by the pivot 44 is provided with a welding horn 49 that can reciprocate downward from the lower end surface of the free end portion, and the welding on the common mount 25 is performed. Horn 4
An anvil 50 for a welding machine is fixedly installed at a position corresponding to No. 9, and the weft thread 4 hung on both positioning pins 46.
And, the three intersections of the new weft thread 34 are sandwiched by the welding horn 49 and the anvil 50 to be weld-bonded.

As described above, the robot arm 26 of this apparatus has a wood pipe gripping hand 27 and a weft thread gripping hand 28.
And a wood pipe engaging hand 29. less than,
Each hand will be described with reference to FIGS. 5 and 6.

The wood pipe gripping hand 27 is provided with a pair of air cylinders 51 which are parallel to each other and are coaxial with each other.
Each of the air cylinders 51 has a pair of hand portions 53 fixed to the opposing end surfaces of the pistons 52 and extending downward and parallel to each other in FIG. Pads 54 are fixed to the facing surfaces of the tip portions of the hand portions 53, respectively. A return coil spring 55 is interposed between the two pistons 52, and when the piston 52 is actuated in the direction of arrow D in FIG. Can be held between the two hand parts 53 so that they are separated from each other as shown by the solid line when not in operation.
Is returned suddenly.

The weft thread gripping hand 28 is a bifurcated fork-shaped fixed hand 56 formed at the tip of a rectangular rod extending axially from the tip of the robot arm 26, and the weft thread in cooperation with the fixed hand 56. Movable hand 5 to hold 4
It consists of 7. The movable hand 57 is rotatably supported by a pivot 58 provided so as to cross the slot of the bifurcated fork-shaped fixed hand 56, and also the air cylinder 51 so that it can be opened and closed with respect to the fixed hand 56.
Driven by.

The wood pipe engaging hand 29 is composed of a spherical head integrally formed at one end of the pivot 58 of the movable hand 58 of the weft thread gripping hand 28, and is a recess formed at the tip of the wood pipe 21. Alternatively, it is adapted to engage with a hole (not shown).

In order to prevent the weft thread 4 between the shuttle 2 and the base cloth from loosening when the weft thread 4 is paid out from the shuttle 2, this apparatus has a loosening prevention device 61 supported by a fixed frame (not shown). Is provided. This slack prevention device 61, as shown in FIG. 2 and FIG.
The fixing ring 62 and the weft thread 4 in the fixing ring 62.
And a movable hand 63 capable of gripping. The movable hand 63 is provided at the tip of the rod of the air cylinder 65 via a hand opening / closing actuator 64, and is reciprocated in the vertical direction by the air cylinder 65.

In this device, the shuttle 2 which is positioned, the new cup 32 in the cup storage device 33,
The respective devices provided on the common mount 25 are arranged within the movable range of the arm 26 of the robot 24. In addition, the above-mentioned devices are automatically operated based on a work flow preprogrammed by a control device (not shown) such as a sequencer. As a sensor required for the automatic operation, the remaining yarn amount of the weft yarn 4 is detected. Is provided with an optical sensor, and a limit switch or the like is provided at an appropriate position for cutting the weft thread 4.

The operation procedure of the cup exchange in the automatic cup exchanging device for a loom thus constructed will be described below with reference to FIGS. 7 to 9. A wood pipe stand (not shown) for supporting the new cup 32 in the cup storage device 33 in an upright state is integrally provided with a yarn end support stand 66, respectively. As shown in FIG. 7, the yarn end supporting stand 66 is sandwiched between a pair of slits of a U-shaped clip piece provided on the upper end of the yarn end supporting stand 66 and is spanned.

First, the weft thread gripping hand 28 is made to face between the U-shaped clip pieces of the thread end support stand 66 to grip the end portion of the new weft thread 34 that has been suspended, and the new weft thread 34 is gripped. The weft thread gripping hand 28 in the state
Move toward 8. At this time, since the new wood pipe 35 can rotate, the new weft thread 34 is pulled out from the new wood pipe 35.
After the drawn out new weft thread 34 is hung on the hanging tool 38, the new weft thread 34 is passed over the weft thread gripping chuck 30 in the open state and is slanted over between the positioning pins 46. The tip of the new weft yarn 34 is put into the residual yarn collecting device 43 via the clamp device 42, and the new weft yarn 34 is set in the state shown in FIG. Then, the intermediate portion from which the new weft thread 34 is pulled out is gripped by closing the weft thread grip chuck 30. In this way, the portion of the new weft thread 34 between the hanging tool 38 and the weft thread gripping chuck 30 is positioned.

On the other hand, when the shuttle 2 is flying and weaving, the large movable air cylinder 12 and the air cylinder 16 are contracted, and the shuttle movable device 7 is
It is placed in the standby state as indicated by the imaginary line indicated by the arrow a in FIG. After the shuttle 2 is driven a predetermined number of times, the shuttle 2 is stopped in the shuttle box 1.

Next, the air cylinder 16 is expanded and the small air cylinder 11 is contracted, so that the shuttle striking chamber 10a that has received the shuttle 2 is in the imaginary line shown by the arrow B in FIG. The arm portion 14 is inserted into and the suction pad 13 is fitted to the tip portion of the shuttle 2. The suction pad 13 is evacuated to suck the tip portion of the shuttle 2, and the large air cylinder 12 is extended, so that the support surface 23a of the support table 23 is held.
Pull out the shuttle 2a to the position shown by the solid line in the above figure. Furthermore, the rod of the fixed air cylinder 22 is
From the standby state shown by the imaginary line in the figure, the shuttle 2 is lowered toward the upper surface of the shuttle 2 and cooperates with the shuttle movable device 7 to position and fix the shuttle 2.

Then, by driving the robot arm 26,
As described above, the wood pipe engaging hand 29 is engaged with the opening portion at the tip of the wood pipe 21 in the shuttle 2 while standing up, and the wood pipe 21 is erected, and the weft yarn 4 fed from the erected cup 19 is fed. Is pulled out while being held by the weft thread holding hand 28. The weft yarn 4 pulled out from the cup 19 is fixed to the fixed guide rod 39 and the connecting point changing device 41.
After being hung on the movable guide rod 40 of the
6 is laid over the new weft yarn 34 in a staggered manner and further hung on the hanging device 37, as shown in FIG.
It is set to the state shown in.

At the three intersections of the weft thread 4a and the new weft thread 34 set in the weft thread binding device 36, the welding horn 49 is lowered by the welding machine 45 and held by the welding horn 49 and the anvil 50 as described above. And weld and bond. After that, unnecessary parts of the weft thread 4 and the new weft thread 34 are respectively cut by the weft thread cutting machine 47, and the weft thread 4
And the new weft thread 34 are joined together. Then, after raising the welding horn 49, the connecting portion of the old and new weft threads 34, 4a that are unified by the unhooking machine 48 is unhooked from the positioning pin 46.

In this device, the old and new weft 3
When the connecting portions of 4 and 4 are always at the same position, the connecting portions are arranged in the same row of the base cloth, so that the movable guide rods 40 with respect to the fixed guide rods 39 are scattered in order to disperse the bulging portions of the connecting portions. The position is changed appropriately. After the weft thread joining work is completed, the wood tube gripping hand 28 of the robot 24 grips and lifts the old wood tube 21 of the shuttle 2, pulls it out of the tongue 18 of the shuttle 2, and discards it in the cup recovery input port 31.

Next, the robot arm 26 is moved to grip the portion of the new weft thread 34 between the hook 38 and the weft thread gripping chuck 30 with the weft thread gripping hand 28. At this time, since the new weft thread 34 is positioned as described above, it is only necessary to make the robot remember the grip position in advance, and it is not necessary to provide a sensor or the like. Next, as shown in FIG. 8, the weft gripping chuck 30 is opened to release the new weft thread 34, and the grip state by the weft thread hand 28 is held, so that the new weft pipe 35 of the new weft thread 34 and the weft thread hand 28 are held. The tip portion of the new wood pipe 35 of the new cup 32 to be used next in the cup storage device 33 is gripped by the wood pipe gripping hand 27 so that the part between the space and the part ahead of the weft yarn gripping hand 28 does not hang down. . Then, the new cup 32 is carried toward the shuttle 2.

By the way, the weft thread gripping hand 28 extends from the wood tube gripping hand 27 by the amount of the hand reach, and the respective gripping positions of both hands are separated from each other by a predetermined length and are supported midway. As shown in FIG. 9, the new cup 32 is inserted into the upright tongue 18 so that the line connecting the gripping positions of both hands 27 and 28 is horizontal. By doing so, the new weft thread 34 does not hang from the new wood pipe 35, and when the new wood pipe 35 is inserted into the tongue 18, the base end surface 35a of the new wood pipe 35 and the shoulder surface of the tong 18 corresponding to the base end surface 35a. 1
It is possible to prevent the new weft thread 34 from being sandwiched between it and 8a.

After inserting the new cup 32 into the tongue 18, the robot arm 26 is moved while holding the tip of the new wood pipe 35 with the wood pipe gripping hand 27, and the new wood pipe 35 is laid down in the shuttle 2. At this time, as shown in the imaginary line in FIG. 9, if the new cup 32 is tilted by about 45 degrees,
Opening the weft thread gripping hand 28, weft thread gripping hand 2
The holding state of the new weft thread 34 by 8 is released. In this way, the cup replacement work can be automatically performed.

[0038]

As described above, according to the present invention, a new cup is attached to the tongue in an upright state, while the weft thread gripping hand grips a position of the weft thread pulled out from the new cup by a predetermined distance. Therefore, the weft thread gripped by the weft thread gripping hand does not hang down, and the weft thread is not pinched between the base end surface of the wood pipe and the corresponding shoulder surface of the tongs or caught by the surrounding members. Therefore, the automatic cup replacement work by the robot arm can be suitably performed without any inconvenience.

[Brief description of drawings]

FIG. 1 is a plan view showing an entire automatic cup changing device for a loom according to the present invention.

FIG. 2 is a front view of the device seen from the line II-II in FIG.

FIG. 3 is a side view of the main part of the apparatus viewed from the line III-III in FIG.

FIG. 4 is a perspective view showing a main part of the apparatus.

FIG. 5 is an enlarged view of a main part of a robot arm.

FIG. 6 is a view seen from the arrow VI line in FIG.

FIG. 7 is an explanatory view showing an operating procedure for cup replacement.

FIG. 8 is an explanatory view following an operation procedure of cup exchange, which is subsequent to FIG. 7.

FIG. 9 is an explanatory view showing an operating procedure of cup exchange, which is continued from FIG.

[Explanation of symbols]

 1 Shuttle Box 2 Shuttle 3 Warp Thread 4 Weft Thread 5 Fixed Frame 6 Slide Rail 7 Shuttle Movable Device 8 Movable Stand 9 Movable Brackets 10a and 10b Shuttle Launch Room 11 Small Air Cylinder 12 Large Air Cylinder 13 Suction Pad 14 Arm Part 15 Rod Guide 16 Air Cylinder 17 Shuttle groove 18 Tong 18a Shoulder surface 19 Cup 21 Wood pipe 22 Fixed air cylinder 23 Support stand 23a Upper surface 24 Robot 25 Common mount 26 Arm 27 Wood pipe gripping hand 28 Weft thread gripping hand 29 Wood pipe engaging hand 30 Weft thread gripping chuck 31 For collecting cups Input port 32 New cup 33 Cup storage device 34 New weft 35 New wood pipe 35a Base end face 36 Weft yarn splicing device 37 ・ 38 Hook 39 Fixed guide bar 40 Movable gas Do rod 41 Coupling point changing device 42 Clamping device 43 Residual yarn collecting device 44 Axis 45 Welding machine 46 Positioning pin 47 Weft thread cutting machine 48 Unhooking machine 49 Welding horn 50 Anvil 51 Air cylinder 52 Piston 53 Hand part 54 Pad 55 Return coil spring 56 Fixed Hand 57 Movable Hand 58 Axis 61 Slack Prevention Device 62 Fixed Ring 63 Movable Hand 64 Air Cylinder 65 Actuator 66 Thread End Support Stand

Claims (1)

[Claims] 1. A weaving machine for selectively reciprocating shuttles between warp yarns for holding a shuttle detachably held so that a cup formed by winding a weft yarn around a wood pipe can be erected upside down through a tongue for inserting and removing wood pipes. At this time, when the weft thread is consumed more than a predetermined amount, each weft thread is pulled out by the weft thread gripping hand between the old cup that has been consumed and the new cup that has been stored, and the weft thread is connected by the cup gripping hand. ,
A method for controlling a loom cup changing device, wherein the old cup is removed from the shuttle and the new cup is attached to the tongue in an upright state, wherein the new cup is gripped by the cup gripping hand. A step of gripping the weft yarn drawn from the new cup by the weft yarn gripping hand, and a position of the pulled-out weft yarn separated from the new cup by a predetermined length by the weft yarn gripping hand. And a step of mounting the new cup on the tongue in the upright state, the method of controlling a cup changing device for a loom.