JPH0665774B2 - Automatic cup changer for loom - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention <Industrial field of application> The present invention relates to a device for exchanging a cup formed by winding a weft yarn on a wood pipe mounted on a shuttle that flies between warp yarns. In particular, regarding the loom cup replacement, in particular, the shuttle can be positioned, and the weft thread consumed for a predetermined amount or more and the weft thread of the next cup to be used can be combined, and a series of operations for mounting the next cup on the shuttle can be automatically performed. Regarding the device.

<Prior Art> For example, in a papermaking machine for papermaking, wet paper is compressed between opposed rolls to remove water from the wet paper, but the roll has a relatively wide endless belt shape. Press felt and the like are used. The press felt is made by needling a pad with a web over a base cloth by needling. In the weaving process of the base cloth, the warp yarn is set in the warp beam and continuously supplied, but the weft yarn is
Supplied by a 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. In addition, it is necessary to join the old weft yarn of the cup and the weft yarn of the next cup, for example, by welding each time.

Conventionally, the above-described cup replacement and weft yarn connection are manually performed, so that a dedicated worker is required for each loom, and it is difficult to reduce the weaving cost.

<Problems to be Solved by the Invention> In view of the problems of the conventional art, a main object of the present invention is to provide a cup changing device for a loom that enables unmanned work.

[Structure of the Invention] <Means for Solving the Problem> According to the present invention, such an object is to provide a shuttle for reciprocating a shuttle which holds a cup formed by winding a weft thread around a wood pipe in a detachable manner. In a running loom, weft yarns are drawn out between an old cup in which weft yarns have been consumed more than a predetermined amount and a new stored cup, and the weft yarns are joined together by a splicing means, and the old cups are discharged. A cup changing device for attaching the new cup to the shuttle, wherein the wood pipe is pivotally attached to the shuttle through a tongue so that the wood pipe can be erected and fallen relative to the shuttle, and the wood pipe And a wood pipe tilting hand for tilting the wood pipe up and down, and a wood pipe gripping hand for selectively gripping each of the corresponding wood pipes to replace the old cup and the new cup. It is achieved by providing a weaving machine for cup automatic dynamic exchange device, characterized in that provided on the articulated robot arm. Particularly, it is preferable that the robot arm be provided with a weft thread gripping hand for pulling out the weft threads from the old cup and the new cup, respectively, in order to connect the weft threads to each other. Further, the wood pipe tilting hand may be provided with an engaging sphere portion that engages with the wood pipe and the free end portion in order to make the wood pipe stand upside down, and further, the weft thread gripping hand selectively selects the weft thread. A pair of claw-shaped members pivotally attached to each other by a pivot so that they can be gripped by
It may be provided at one end of the pivot.

<Operation> When connecting the weft threads of the old cup that has been consumed more than a predetermined amount and the stored new cup, the weft thread is pulled out by the weft thread gripping hand and the old cup is discharged. When a new cup is attached to the shuttle, the wood pipe tilting hand and the wood pipe gripping hand are used to raise and lower the wood pipe and hold the wood pipe to perform a series of operations for changing the cup. It can be done by an articulated robot arm.
Further, by providing the weft thread gripping hand with the robot arm, it is possible to more favorably perform operations such as weft thread withdrawal during cup replacement work. In particular, by providing an engaging sphere portion that engages with the free end of the wood pipe on the wood pipe tilting hand, the wood pipe can be favorably raised and lowered.

<Embodiment> Hereinafter, a preferred embodiment of the present invention will 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 base fabric of a press felt for papermaking. A base cloth (not shown) is woven on the left side of FIGS. 1 and 2, but a shuttle box 1 is disposed on the right side of the drawings, and a shuttle box 1 is shown on the left side of the base cloth so as to face the shuttle box 1. A similar shuttle box that is not provided is provided. The shuttle 2 is ejected from the shuttle box 1 by a hammer device (not shown) and is returned from the opposing shuttle box, so that the shuttle 2 repeatedly reciprocates between the warp threads in the direction of the arrow A in the figure, and the warp threads 3 and the weft threads 4 The base cloth is woven and woven using twill and reed not shown. The shuttle boxes 1 are also provided with a brake device for the shuttle 2.

A fixed frame 5 made of a channel material or the like is arranged along the movement direction of the shuttle 2, and a slide rail 6 extended to the fixed frame 5 as shown in FIG.
Thus, the movable mount 8 of the shuttle movable device 7 is reciprocally supported. . The movable mount 8 includes a small air cylinder 11 fixed to a movable bracket 9 which is 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 the direction indicated by the arrow B in FIG. 2 with a stroke length of two steps. The shuttle movable device 7 includes a suction pad 13 for supporting the tip of the shuttle 2 with a negative pressure.
The arm portion 14 having a pair of rod guides 15,
The air cylinder 16 is guided so as to be reciprocally movable in the direction indicated by the arrow C in FIG. 2 and vertically in FIG.
Driven by. 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 2 so as to be tiltable in the longitudinal direction of the groove portion 17, and the base end portion of the wood pipe 21 is detachably held by the tongue 18. A cup 19 formed by winding a weft thread 4 around a wood pipe 21 is held in a horizontal state in a groove portion 17 as shown by an imaginary line in FIG. 1 when the shuttle 2 is flying, and the shuttle on the side surface of the shuttle 2 is held. The weft thread 4 is fed from the eye.

After the shuttle 2 flies a predetermined number of times and the weft thread 4 is consumed from the cup 19 for a predetermined amount or more, the shuttle 2 stopped in the shuttle box 1 is braked by a brake device (not shown) in order to replace the cup 19. As described above, the tip portion of the shuttle 2 is sucked by the suction pad 13, the shuttle movable device is pulled out to the state shown by the solid line in FIG. 2, and the shuttle 2 is placed on the support base 23. Then, in order to prevent the rear portion of the shuttle 2 from being lifted at that position, a fixed air cylinder 22 fixed to a fixed frame (not shown) is provided,
The shuttle 2 is positioned in the vicinity of the entrance / exit 1a of the shuttle box 1 in the vicinity of the flight section of the shuttle 2 by the positioning means configured in this way.

Shuttle 2 positioned as shown in FIG.
An articulated robot is mounted on a common mount 25 arranged on the side of the
24 are fixed. The robot 24 is shown in FIGS.
As shown in the figure, a wood pipe gripping hand 27 capable of gripping the tip end of the wood pipe 21, a weft thread gripping hand 28 capable of gripping the weft yarn 4, and a wood pipe 21 as shown in FIG.
A wood pipe engaging hand 29 as a wood pipe tilting hand that can be engaged with the opening at the tip of the above is provided at the tip of one arm 26.

The wood pipe gripping hand 27 includes a pair of air cylinders 31 facing each other and provided coaxially, and respective pistons 32.
It comprises a pair of parallel arm portions 33 fixed to each other and extending downward in FIG. 6, and a pad 34 fixed to the facing surface of the tip portion of each arm portion 33. Both pistons
A return coil spring 35 is interposed between the two 32, and both arm portions 33 are elastically returned in the state shown by the solid line in FIG. 6 when not operating. At the time of operation, both arm portions 33 are driven in the direction of arrow D in the figure, and as shown by the imaginary line in the figure,
The tip portion of the wood pipe 21 can be held by the pads 34 of both arm portions 33.

The weft thread grasping hand 28 is composed of a fixed claw portion 37 formed at the tip of the fixed hand 36, and a movable hand 38 having a movable claw portion 39 for holding the weft thread 4 in cooperation with the fixed claw portion 37. Become. The movable hand 38 is rotatably supported by a support shaft 40 provided in a slot formed in the fixed hand 36, and the movable moving claw portion 39 is moved in the direction of an arrow E in the drawing. It is opened and closed by 30. In addition, the wood pipe hand 29 is used as a fixed hand as a pivot of both hands 36 and 38.
It has a spherical head portion 41 as an engaging spherical body portion integrally formed on one end portion of a support shaft 40 fixedly mounted on the sixth shaft.
As shown in the figure, the opening is provided at the tip of the wood pipe 21.

In addition, in the upper right part of the common mount 25 in FIG.
A discharge chute 42 for discharging 19 is opened,
To the right of the common mount 25, a cup storage device 4 for storing a new cup 43 to be used next is provided. The new cup 43 is formed by winding a new weft yarn 45, which is to be combined with the old weft yarn 4, around a new wood pipe 46, and is sequentially set at a predetermined position of the cup storage device 44.

In the lower right part of the common mount 25 in FIG.
A weft yarn threading device 47 is provided as a yarn threading means for connecting the new weft yarn 45 with the new weft yarn 45. In addition, weft knotting device
In the vicinity of 47, a hook 48 for guiding the weft thread 4 fed from the old cup 19 attached to the shuttle 2 toward the weft thread binding device 47, and a new cup 43 in the cup storage device 44. Hooks 49 for similarly guiding the fed out new weft thread 45 are arranged at appropriate positions. Further, on the common mount 25, a guide rod 51 for guiding the weft thread 4 fed from the shuttle 2 side toward the weft thread binding device 47 from the opposite sides of the hanger 48.
Is provided. In addition, a guide bar is provided on the common mount 25 in order to relatively shift the connecting portion of the weft thread 4 and the new weft thread 45.
A connecting point changing device 52 having a movable guide rod 50 capable of reciprocating in the direction of the arrow F in FIG. 1 so as to make the distance to the variable 51, and a clamping device for supporting the tip of the new weft thread 45. 53 and a residual yarn collecting device 54 for collecting the remainder of the new weft yarn 45 bonded to the weft yarn 4 are arranged at predetermined positions.

As shown in FIGS. 3 and 4, the weft binding device 47 described above includes a welding machine 56 that can be moved up and down by a pivot 55 that is erected on the common mount 25, and FIGS. As shown in FIG. 9, a pair of positioning pins 58 for crossing the weft thread 4 and the new weft thread 45 with each other at three points, and a weft cutting machine 57 for cutting unnecessary parts of the weft thread after joining are shown.
And the weft thread 4 after joining and the new weft thread 45 from the positioning pin 58. The main body of the welding machine 56 supported in a cantilever state by the pivot 55 has a welding horn 61 that can reciprocate downward from the lower end of the free end.
And the welding horn 61 on the common mount 25.
An anvil 62 for a welding machine is fixedly installed at a position corresponding to, and as shown in FIG. 8, three intersections of the weft thread 4 and the new weft thread 45, which are hung on both positioning pins 58,
The welding horn 61 and the anvil 62 sandwich and weld together.

The weft cutting machines 57 are arranged on both sides of the anvil 62, and each have a scissor shape composed of a fixed blade 63 and a movable blade 64, and the movable blade 64 is not shown in the direction shown by an arrow G in FIG. By driving with an air cylinder or the like, unnecessary parts of the weft thread 4 and the new weft thread 45 are cut off. Further, the unhooking machine 59 vertically moves the pair of parallel arm portions 65 and the arm portion 65 located below the joint portion of the weft yarn 4 and the new weft yarn 45 in order to hang the weft yarn after the joining from the positioning pin 58. It has an air cylinder 66 fixedly installed in the common mount 25 so as to be driven.

In the automatic locomotive automatic cup changing device configured as described above, the shuttle 2 positioned, the new cup 43 in the cup storing device 44, and the above-mentioned devices provided on the common mount 25 are provided. , Are arranged within the movable range of the arm 26 of the robot 24. Further, each of the above devices is automatically operated based on a work flow programmed in advance 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. An optical sensor for the weft thread 4
A memit switch or the like is provided at an appropriate position for disconnecting.

Further, in order to prevent the weft thread 4 from loosening between the shuttle 2 and the base cloth when the weft thread 4 is paid out from the shuttle 2, a loosening prevention device 67 supported by a fixed frame (not shown) is provided. This slack prevention device 67 has a second
As shown in FIGS. 4 and 5, the fixing ring 6 and the movable hand 69 capable of gripping the weft thread 4 in the fixing ring 68 are provided.
And have. The movable hand 69 is provided at the tip of the rod of the air cylinder 70 via a hand opening / closing actuator 71, and is reciprocated in the vertical direction by the air cylinder 70.

The operating procedure of this device will be described below.

First, with the weft grasping hand 28, the cup storage device 44
While pulling out while grasping the tip of the new weft thread 45 of the new cup 43, hanging it on the hanging tool 49, it is hung between both positioning pins 58 so as to cross the weft thread 4 alternately.
A new weft thread 45 is placed in the residual thread recovery device 54 through the clamp device 53.
The new weft thread 45 is set in the state shown in FIG.

When weaving Shuttle 2 while weaving,
The shuttle movable device 7 is positioned in the standby state indicated by the imaginary line indicated by the arrow A in FIG. 2 by setting the large air cylinder 12 and the air cylinder 16 in a contracted state. After the shuttle 2 has been hit a certain number of times,
Stop shuttle 2 in shuttle box 1,
By extending the air cylinder 16 and contracting the small air cylinder 11, the arm portion 14 is inserted into the shuttle box 1 as shown by the imaginary line indicated by the arrow B in FIG. Engage 13 with the tip of shuttle 2. Then suction pad
The inside of 13 is evacuated to attract the tip of the shuttle 2, and the large air cylinder 12 is extended, and the shuttle 2 is pulled out to the position shown by the solid line in the figure.
Then, the rod of the fixed air cylinder 22 is lowered toward the upper surface of the shuttle 2 from the standby state shown by the imaginary line in the figure, and cooperates with the shuttle movable device 7 to cause the shuttle 2 to move.
Position and fix. Further, the slack prevention device 67 is operated to pull up to the position of the imaginary line shown by the arrow C in FIG. 2 to remove the slack of the weft thread 4 between the shuttle 2 and the base cloth.

Next, the arm 26 of the robot 24 is driven to raise the wood pipe 21 while engaging the wood pipe engaging hand 29 with the opening portion of the tip end of the wood pipe 21 lying sideways in the shuttle 2 as described above. After that, the weft thread 4 near the cup 19 is pulled out while being held by the weft thread hand 28. The weft yarn 4 pulled out from the cup 19 is hung on the fixed guide rod 51 and the movable guide rod 50 of the connecting point varying device 52, and then diagonally laid between the positioning pins 58, and further on the hanging device 48. It is hung and set in the state shown in FIG.

Next, at the three intersections of the weft thread and the new weft thread 45 set as shown in FIG.
61 is lowered and held by the welding horn 61 and the anvil 62 to be weld-bonded as described above. Then weft 4
Also, unnecessary parts of the new weft thread 45 are cut off by a weft thread cutting machine 57 to join the weft thread 4 and the new weft thread 45 into one. Then, after raising the welding horn 61, the joining portion of the old and new weft threads 45, 4 unified by the unhooking machine 59 is unhooked from the positioning pin 58.

In this device, if the connecting parts of the old and new wefts 45 and 4 are always at the same position, the connecting parts will be arranged in the same row of the base cloth, so that the bulging parts due to the connecting parts are scattered, The position of the movable guide rod 50 with respect to the fixed guide rod 51 is appropriately changed.

After the weft thread joining work is completed, the wood pipe 21 is gripped by the wood pipe gripping hand 28 of the robot 24 and the tongs of the shuttle 2 are gripped.
It is pulled out from 18 and discharged to the discharge chute 42. And
After grasping a new wood pipe 46 to be used next in the cup storage device 44 and moving it toward the shuttle 2 and inserting it into the tongue 18, the new wood pipe 46 is moved by the wood pipe engaging hand 29 as shown in FIG. Similar to the state shown by the imaginary line, the groove 17 is laid down and set, and the fixed air cylinder 22 is contracted and returned to the standby state. During the cup replacement work, the remaining yarn collecting device 54 collects the cut portion of the new weft yarn 45.

In this way, the shuttle 2 fitted with the new wood pipe 46
After returning both air cylinders 11 and 12 into the shuttle box 1 by contracting them, the vacuuming is released and the cylinders 11, 12 and 16 are operated in the opposite direction to the arrow in FIG. The shuttle movable device 7 is returned to the standby state indicated by b. Then, the shuttle 2 is hammered out from the shuttle box 1 and weaving is started. In this device, immediately before this hammering action, the movable hand 69 of the slack preventive device 67 is raised to the uppermost position to remove the weft yarn. Then, at the same time when the shuttle is launched, the gripping state of the weft thread by the movable hand 69 is released. Therefore, when the weaving is resumed, it is possible to automatically prevent the looseness of the weft yarn caused by the cup replacement.

[Effects of the Invention] As described above, according to the present invention, after connecting the weft threads of the old cup and the new cup that have been consumed more than a predetermined amount, the old cup is discharged and the new cup is attached to the shuttle. Since the above work can be easily and automatically performed by the articulated robot arm, the weaving cup replacement work can be unmanned and the weaving cost can be reduced. In addition, by providing the weft thread gripping hand for pulling out the weft thread from the cup on the robot arm,
A common robot arm can be used for pulling out the weft thread when exchanging the cup, and the apparatus can be simplified.
Furthermore, by providing the engaging sphere portion on the hand for tilting the wooden pipe, the engaging sphere portion can be engaged with the free end portion of the wooden pipe to easily raise and lower the wooden pipe, and the engaging sphere portion By installing it on one end of the pivot of the weft thread grasping hand,
For example, a hand for tilting a wood pipe can be easily formed.
The effect is extremely large.

[Brief description of drawings]

FIG. 1 is a plan view showing the entire automatic cup changing device for a loom according to the present invention. FIG. 2 is a front view of the apparatus taken along the line II-II in FIG. FIG. 3 is a side view of the main part of the apparatus seen 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 an essential part showing an arm part of a robot used in the apparatus. FIG. 6 is a partial arrow view seen from the line VI in FIG. FIG. 7 is a partial arrow view seen from the arrow VII line in FIG. FIG. 8 is a plan view of relevant parts as seen from the line VIII in FIG. FIG. 9 is a side view of the main part as seen from the line IX-XI in FIG. 1 …… shuttle box 1a …… entrance / exit 2 …… shuttle 3 …… warp thread 4 …… weft thread 5 …… fixed frame, 6 …… slide rail 7 …… shuttle movable device 8 …… movable mount, 9 …… movable Dynamic bracket 11 …… Small air cylinder, 12 …… Large air cylinder 13 …… Suction pad 14 …… Arm part, 15 …… Rod guide 16 …… Air cylinder, 17 …… Shatter groove 18 …… Tongs, 19 …… Cup 21 …… Wood pipe, 22 …… Fixed air cylinder 23 …… Support base, 24 …… Robot 25 …… Common mount, 26 …… Arm 27 …… Wood pipe gripping hand 28 …… Weft thread gripping hand 29 …… Wood pipe Engaging hand 31 …… Air cylinder, 32 …… Piston 33 …… Arm part, 34 …… Pad 35 …… Return coil spring, 36 …… Fixed hand 37 …… Fixed claw part, 38 …… Movable hand 39 …… Movable claw, 40 ... Support shaft 41 ... Ball Head, 42 …… Ejection chute 43 …… New cup, 44 …… Cup storage device 45 …… New weft yarn, 46 …… Shinkikan 47 …… Weft yarn splicing device, 48, 49 …… Hanging device 50 …… Movable guide rod, 51 …… Fixed guide rod 52 …… Coupling point changing device, 53 …… Clamping device 54 …… Residual yarn collecting device, 55 …… Pivot 56 …… Welding machine, 57 …… Weft cutting machine 58 …… Positioning pin, 59 ...... Unhooking machine 61 …… Welding horn, 62 …… Anvil 63 …… Fixed blade, 64 …… Movable blade 65 …… Arm part, 66 …… Air cylinder 67 …… Slack prevention device, 68 …… … Fixing ring 69 …… Movable hand, 70 …… Air cylinder 71 …… Actuator

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Tokuji Iwasaki 2-11-7-103 Maihama, Urayasu City, Chiba Prefecture (72) Inventor Tetsuya Konno 63-2 Higashikawajima-cho, Hodogaya-ku, Yokohama-shi, Kanagawa Chiyoda Corporation Hoshikawa Dormitory (56) Reference JP-A-57-205547 (JP, A) JP-A-63-315640 (JP, A)

Claims (4)

[Claims] 1. A weaving machine that reciprocates shuttles between warp threads that retain a cup in which weft threads are wound around a wood pipe in a detachable manner. A cup changing device for pulling out the weft threads from each other and connecting them by means of a knotting device, and discharging the old cup to attach the new cup to the shuttle. Is pivotally attached to the shuttle through a tongue so as to be able to stand and fall with respect to the shuttle, and a hand for tilting the wood pipe for standing and lying the wood pipe,
An automatic cup replacement for a loom, characterized in that a multi-joint robot arm is provided with a wood pipe gripping hand for selectively gripping each corresponding wood pipe in order to replace the old cup and the new cup. apparatus. 2. The robot arm is provided with weft thread gripping hands for pulling out the weft threads from the old cup and the new cup, respectively, in order to connect the weft threads to each other. An automatic cup changing device for a loom according to. 3. The wooden pipe tilting hand comprises an engaging sphere portion which engages with a free end portion of the wooden pipe in order to raise and lower the wooden pipe. Automatic cup changing device for the loom described. 4. The weft thread gripping hand has a pair of claw-shaped members pivotally attached to each other by a pivot so that the weft thread can be selectively gripped, and the engaging sphere portion is provided at one end of the pivot axis. The automatic cup changing device for a loom according to claim 3, wherein the cup automatic changing device is provided.