Bobbin creel robot

Abstract

The invention provides a bobbin creel robot which can change the rotation angle of a shuttle peg with the longitudinal axis of a bobbin creel as the rotation axis with high precision, and facilitates the supply of yarn supply packages to the bobbin creel side and the collection of empty paper tubes. The bobbin creel robot is provided with: a bobbin drive mechanism (46) for rotationally driving a bobbin (25) by taking the vertical direction as a rotation axis; an arm mechanism (41) provided with the bobbin drive mechanism (46) and capable of switching between a connected state in which the rotation drive force of the bobbin drive mechanism (46) is transmitted to the bobbin (25) by entering and connecting with the bobbin (25), and a non-connected state in which the rotation drive force of the bobbin drive mechanism (46) is not transmitted to the bobbin (25) by being separated and retracted with respect to the bobbin (25); and an engagement mechanism (45) provided to the arm mechanism (41) and engaged with the bobbin creel (2) when the bobbin drive mechanism (46) is connected.

Description

Technical Field

[0001] The invention relates to a creel robot. Background Art

[0002] Regarding the technology of a creel stand robot that supplies a yarn supply package to the bobbin of a creel stand that holds a yarn supply package formed by winding yarn around empty paper tubes, and collects the empty paper tubes, Patent document 1 discloses the following technology: a yarn supply changing robot is composed of a traveling trolley that travels on a track that serves as a trolley travel path, a yarn supply changing device that is freely raised and lowered on the traveling trolley, and a workbench that is alternately raised and lowered with the yarn supply changing device. When the bobbin shaft of the creel stand is rotated about the longitudinal axis of the creel stand by the bobbin opening mechanism of the yarn supply changing device and stops at a specified rotation angle, a full package is supplied to the creel stand side by the yarn supply changing mechanism.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 6-56349 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, when the bobbin shaft of the creel is rotated with the longitudinal axis of the creel as the rotation axis and stopped at a predetermined rotation angle, due to the weight of the supply yarn package, the bobbin opening mechanism of the yarn supply replacement device and the like swings due to the inertia force at the start and end of the rotation, making it difficult to stop at the predetermined rotation angle. As a result, the stopping accuracy is reduced for the bobbin rotation angle with the longitudinal axis of the creel as the rotation axis. The reduction in stopping accuracy makes it difficult to supply a full package to the creel side by the yarn supply replacement mechanism, and there is room for improvement in this regard.

[0008] The present invention is completed in view of the above problems, and its purpose is to provide a creel robot that can change the rotation angle of the bobbin with the longitudinal axis of the creel as the rotation axis with high precision, and can facilitate the supply of yarn packages to the creel side and the collection of empty paper tubes.

[0009] Means for solving problems

[0010] (1) A creel robot of the present invention is capable of moving forward and backward relative to a creel, the creel supporting a bobbin capable of holding a yarn supply package wound with a yarn, and supplies the yarn supply package to the bobbin, and is characterized by comprising:

[0011] A bobbin driving mechanism, which drives the bobbin to rotate with the vertical direction as the rotation axis;

[0012] an arm mechanism provided with the bobbin drive mechanism, capable of switching between a connected state and a disconnected state; the connected state is connected by advancing relative to the bobbin, thereby transmitting the rotational drive force of the bobbin drive mechanism to the bobbin; the disconnected state is retreated by separating relative to the bobbin, thereby not transmitting the rotational drive force of the bobbin drive mechanism to the bobbin; and

[0013] The engaging mechanism is provided on the arm mechanism and is engaged with the creel when the bobbin driving mechanism is in the connected state.

[0014] According to the creel robot described in (1), when the bobbin drive mechanism provided in the arm mechanism is connected to the bobbin by moving the arm mechanism inward, and the bobbin is rotated with the longitudinal axis of the creel as the rotation axis by transmitting the rotational drive force of the bobbin drive mechanism to the bobbin, an inertial force is generated at the location where the bobbin drive mechanism is provided in the arm mechanism during rotation, but when the bobbin drive mechanism is in the connected state, the engaging mechanism engages with the creel, thereby preventing the bobbin opening mechanism of the yarn supply replacement device from swinging due to the inertial force. As a result, the rotation angle of the bobbin can be changed with high precision at the start and end of the rotation of the bobbin with the longitudinal axis of the creel as the rotation axis, thereby facilitating the supply of the yarn supply package wound with the yarn and the collection of the empty paper tubes.

[0015] (2) In the creel robot of the present invention, preferably,

[0016] The creel has a support member erected in a vertical direction.

[0017] The above-mentioned engaging mechanism is configured to include an engaging plate, which has a recessed portion that can be engaged with the above-mentioned support member of the above-mentioned creel stand at the front end portion of the above-mentioned arm mechanism in the entry direction. The above-mentioned engaging mechanism engages with the above-mentioned creel stand by engaging the above-mentioned recessed portion of the above-mentioned engaging plate with the above-mentioned support member of the above-mentioned creel stand.

[0018] According to the creel robot described in (2) above, the engagement mechanism is engaged with the creel by a simple structure and operation of engaging the recessed portion of the engagement plate with the support member of the creel, and the rotation angle of the bobbin can be changed with high precision when the creel is driven to rotate about the longitudinal axis of the creel.

[0019] (3) In the creel robot of the present invention, preferably,

[0020] The above-mentioned engaging mechanism has:

[0021] a pin member that axially supports the rear end of the engaging plate and has a central axis that is perpendicular to the advancing and retreating direction of the arm mechanism and is perpendicular to the vertical direction; and

[0022] The posture switching mechanism is rotatably connected between the axial support position of the above-mentioned engaging plate axially supported by the above-mentioned pin component and the formation position of the above-mentioned recess. By rotating the above-mentioned engaging plate with the above-mentioned pin component as the rotation axis, the posture switching mechanism is switched to a horizontal setting posture adopted when the above-mentioned arm mechanism moves forward or backward, and an upright setting posture adopted when the above-mentioned arm mechanism is on standby.

[0023] According to the creel robot described in (3) above, when the bobbin is not rotated, the engaging plate is set to the upright position by the posture switching mechanism, thereby shortening the length of the engaging mechanism in the forward and backward directions. As a result, the engaging mechanism can be prevented from becoming an obstacle when the creel robot moves.

[0024] (4) In the creel robot of the present invention, preferably, the recessed portion of the engaging plate opens to a size larger than a diameter of the support member of the creel and gradually narrows to a size equal to the diameter of the support member from the opening toward the bottom.

[0025] According to the creel stand robot described in (4) above, when the recessed portion of the engaging plate is engaged with the support member of the creel stand, since the recessed portion of the engaging plate is opened with a size larger than the diameter of the support member, the recessed portion of the engaging plate can be engaged with the support member even when a slight positional deviation occurs.

[0026] (5) In the creel robot of the present invention, it is preferable that the engagement mechanism can move forward and backward relative to the creel independently of the arm mechanism.

[0027] According to the creel robot described in (5) above, the engaging mechanism can move forward and backward with a movement amount and movement timing that are independent of the movement amount and movement timing of the forward and backward movement of the arm mechanism. Thus, for example, if the engaging mechanism is moved with a movement amount greater than that of the arm mechanism, the position of the engaging mechanism when not connected can be set within the full length of the arm mechanism. In addition, after the engaging mechanism is first engaged with the creel to fix the positional relationship between the arm mechanism and the creel, the shuttle drive mechanism is connected to the shuttle, thereby stabilizing the connection state.

[0028] (6) In the creel robot of the present invention, preferably,

[0029] The bobbin has:

[0030] The externally embedded component is configured to be rotatable with the vertical direction as the rotation axis and is externally embedded in the above-mentioned supporting column component;

[0031] a yarn supply package holding mechanism, disposed on the externally embedded component, for holding the yarn supply package; and

[0032] The rotation transmission part can transmit the rotation driving force from the above-mentioned bobbin driving mechanism with the vertical direction as the rotation axis to the above-mentioned bobbin,

[0033] When the arm mechanism is in the connection state, the bobbin drive mechanism is connected to the rotation transmission portion, and the bobbin drive mechanism is rotationally driven to rotate the external component about the vertical direction to change the horizontal direction of the yarn supply package holding mechanism.

[0034] According to the creel robot described in (6), the bobbin drive mechanism and the rotation transmission section are connected to each other to rotationally drive the bobbin drive mechanism, thereby preventing the yarn supply replacement device from swinging due to inertia and changing the horizontal direction of the package holding mechanism.

[0035] (7) In the creel robot of the present invention, it is preferable to include a creel-side engaging member provided on the creel and engaged with the engaging mechanism.

[0036] According to the creel robot described in (7) above, the amount of entry for engaging the engaging mechanism with the creel can be adjusted by the creel-side engaging member.

[0037] The creel robot of the present invention may be composed of only the configuration described in the creel robot described in (1) above, or may arbitrarily combine the configuration described in (1) above with any of the configurations described in (2) to (7) above within the scope of integration. When combining the configuration described in (1) above with any of the configurations described in (2) to (7) above, all or part of the configuration described in (1) above may be combined with all or part of the configurations described in (2) to (7) above within the scope of integration.

[0038] Effects of the Invention

[0039] According to the present invention, a creel robot can be provided which can change the rotation angle of a bobbin with a vertical axis of the creel as a rotation axis with high accuracy and can facilitate the supply of a yarn supply package and the collection of empty paper tubes. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is an explanatory diagram showing the relationship between the yarn supply and replacement device and the creel.

[0041] Figure 2 It is an explanatory diagram showing the relationship between the creel robot and the creel.

[0042] Figure 3 It is a perspective view showing the yarn supply replacement device.

[0043] Figure 4 It is an explanatory diagram showing the relationship between the engaging plate of the engaging mechanism and the second support column.

[0044] Figure 5 It is a top view showing a state where the creel robot is provided with an engagement advance and retreat mechanism.

[0045] Figure 6 It is an explanatory diagram showing the relationship between the engaging plate of the engaging mechanism and the second support column.

[0046] Figure 7 It is an explanatory diagram showing the relationship between the engaging plate of the engaging mechanism and the frame-side engaging member.

[0047] Figure 8 It is an explanatory diagram showing the relationship between the engaging plate of the engaging mechanism and the frame-side engaging member. DETAILED DESCRIPTION

[0048] Hereinafter, the mode for implementing the present invention will be described with reference to the accompanying drawings. In the following description, the "Z direction" shown in the drawings is a vertical direction (up and down direction), and the "X direction" is a horizontal direction. In addition, the "Y direction" is a horizontal direction orthogonal to the "X direction" and is also orthogonal to the Z direction.

[0049] (Creel 2)

[0050] Figure 1 The "creel 2" shown is arranged in the false twisting process of synthetic fibers. The creel 2 is configured to support a bobbin 25, which can hold a yarn supply package wound with yarn. If a specific example is shown, the creel 2 is provided with a creel base 21, a first support 22, a second support 23, a partition plate 24 and a bobbin 25. The creel base 21 is arranged on the ground, etc., and supports the first support 22 and the second support 23. The first support 22 and the second support 23 are erected and arranged on the creel base 21. The first support 22 extends along the Z direction (vertical direction). The first support 22 is arranged at equal intervals in the Y direction. The first support 22 is arranged on one side F1 of the X direction in the creel 2. The second support 23 extends along the Z direction. The second support 23 is arranged in groups of two in the Y direction, and multiple groups of second supports 23, 23 are arranged in the Y direction. The second support 23 supports the bobbin 25 so that it can rotate with the second support 23 as the rotation axis, and is arranged on the other side F2 of the X direction in the creel 2. The other side F2 of the X direction is the side on which the creel robot 1 travels and the side on which the operator who performs the piecing operation performs the operation. The partition plate 24 is arranged to span the first support 22 and the second support 23. The partition plate 24 is a plate-shaped member, and is arranged at a predetermined interval in the Z direction. The partition plate 24 prevents the supply yarn package from falling from the bobbin 25.

[0051] In addition, in this embodiment, if Figure 2As shown, the case where the other sides F2, F2 of the two creels 2, 2 in the X direction are arranged opposite to each other and the creel robot 1 arranged between the creels 2, 2 is configured to be able to travel along the creels 2, 2 is described, but the present invention is not limited to this, and the creel robot 1 may also be configured to be able to travel along one creel 2.

[0052] (Overview of Creel Robot 1)

[0053] like Figure 2 As shown, the creel robot 1 can be relative to the bobbin 25 (see Figure 1 ) of the creel 2 moves forward and backward in the X direction, and is configured to supply the yarn package to the bobbin 25. Specifically, the creel robot 1 has: a yarn supply replacement device 4; a traveling mechanism 11, which is arranged between the creels 2, 2 and travels along the creels 2, 2; a lifting mechanism 12, which is upright and arranged on the traveling mechanism 11, and can lift the yarn supply replacement device 4 in the up and down direction; and a suspension mechanism 13, which is arranged at the upper end of the lifting mechanism 12 and is mounted on the creels 2, 2 to stabilize the distance between the lifting mechanism 12 and the creels 2, 2. The creel robot 1 can perform the following processing: a processing of transporting the yarn supply package stored in the original yarn storage part not shown to the creel 2 and supplying it to each bobbin 25; a processing of collecting empty paper tubes without yarn wound around from the bobbin 25 after all the yarns are unwound from the yarn supply package, and putting them into the empty paper tube collection box through the empty paper tube collection chute not shown.

[0054] Here, "yarn" exemplifies synthetic fibers such as polyester. "Yarn supply package" is a winding package for supplying yarn (synthetic fiber) used in the manufacturing process of false twist processing machines, etc. The yarn supply package is composed of a cylindrical paper tube in the center and yarn wound on the paper tube, and is held by inserting the bobbin shaft 251 of the bobbin 25 into the inner side of the paper tube.

[0055] (Bobbin 25)

[0056] return Figure 1 The bobbin 25 supports the yarn supply package. The bobbin 25 is provided on the second support 23. A plurality of bobbins 25 are arranged at predetermined intervals in the Z direction of the second support 23. The bobbin 25 is arranged between the two partition plates 24 in the Z direction. In addition, the bobbin 25 is arranged in groups of two corresponding to the second support 23, 23 arranged in groups of two, and a plurality of groups (a pair) of bobbins 25, 25 are arranged in the Y direction. And, by connecting the yarn of the yarn supply package supported by the bobbin (first bobbin) 25 of one of the pair with the yarn of the yarn supply package supported by the bobbin 25 of the other of the pair, one yarn can be continuously supplied from the two yarn supply packages respectively supported by the pair of bobbins 25, 25 to the processing section 3 that performs false twist processing and the like.

[0057] The bobbin 25 includes a pair of bobbin shafts 251, 251, a bobbin body component 252, an external component 253, and a rotation transmission component 254. The pair of bobbin shafts 251, 251 support the yarn supply package so that it can rotate. The pair of bobbin shafts 251, 251 are arranged in parallel with each other at a predetermined interval. The bobbin shafts 251, 251 support the yarn supply package by being inserted into the paper tube of the yarn supply package. The two bobbin shafts 251, 251 are supported by the bobbin body component 252. The bobbin body component 252 is inserted through the second support 23 of the creel 2, so that the bobbin shafts 251, 251 can rotate around the rotation axis in the Z-axis direction.

[0058] The lower end of a cylindrical external fitting member 253 is connected to the bobbin body member 252. The second support 23 of the creel 2 is inserted through the external fitting member 253. On the other hand, a rotation transmission member 254 is connected to the upper end of the external fitting member 253. The rotation transmission member 254 is formed in the shape of a gear of a Malta wheel constituting a Malta mechanism, and the gear portion 254a is formed in a wave shape or an arc shape. The rotation transmission member 254 is rotated by the drive of the bobbin drive mechanism 46 described later, and the bobbin body member 252 is rotated via the external fitting member 253, thereby rotating the bobbin shafts 251, 251 supported by the bobbin body member 252 at a predetermined rotation angle. Thus, the bobbin 25 can be rotated to the following rotational states: the first rotational state is a rotational angle of a state in which the yarn supply package is supported in a manner that the yarn can be supplied to the processing section 3 that processes the yarn; the second rotational state is a rotational angle of a state in which the yarn supply package is supported in a manner that the yarn supply package can be replaced (collection of paper tubes and installation of the yarn supply package); and the third rotational state is a rotational angle of a state in which the yarn supply package is mounted on the bobbin 25 in the second rotational state and faces a direction between the first rotational state and the second rotational state. In addition, the third rotational state is a rotational angle different from the first rotational state and the second rotational state, so that the operator can easily recognize that the piecing operation has not been completed, and the operator can prevent the operator from missing the operation after the yarn supply package is mounted on the bobbin 25.

[0059] In detail, in the first rotation state in which the front end of the bobbin shaft 251 faces the creel robot 1 and the axis of the bobbin shaft 251 intersects at an inclination angle of about 45 degrees with respect to the X direction, the yarn is unwound from the yarn supply package supported by the bobbin shaft 251 and supplied to the processing unit 3. Thereafter, when all the yarn is unwound from the yarn supply package and the bobbin shaft 251 supports an empty paper tube with no yarn wound around it, the bobbin 25 rotates so that the front end of the bobbin shaft 251 faces the other side F2 of the X direction and the axis of the bobbin shaft 251 coincides with the X direction, thereby becoming the second rotation state. In addition, in the second rotation state, the used yarn supply package, that is, the empty paper tube, is pulled out from the bobbin shaft 251 and replaced with the yarn supply package before use.

[0060] Thereafter, the bobbin 25 rotates so that the front end of the bobbin shaft 251 faces the Y direction and the axis of the bobbin shaft 251 is orthogonal to the X direction. As a result, the bobbin 25 is in a third rotational state, which is a rotational state between the first rotational state and the second rotational state. The visual appearance of the yarn supply package supported by the bobbin 25 in the third rotational state is greatly different from that of the yarn supply package supported by the bobbin 25 in the first rotational state when viewed from the creel robot 1 side. Therefore, the operator can distinguish the bobbin 25 in the third rotational state from the bobbin 25 in the first rotational state and the second rotational state. In other words, although the installation operation of the yarn supply package is completed, the joint operation is not completed, and the operator can easily identify the yarn supply package supported by the bobbin 25 in a state where these operations should be performed.

[0061] (Details of creel robot 1)

[0062] like Figure 3 As shown, the creel robot 1 includes a yarn supply replacement device 4. The yarn supply replacement device 4 includes an arm mechanism 41, a yarn supply package holding mechanism 43, a rotation mechanism 42 for independently rotating the arm mechanism 41 and the yarn supply package holding mechanism 43, and an empty paper tube storage mechanism 44.

[0063] (Rotation mechanism 42)

[0064] The rotation mechanism 42 has a first motor 421 and a second motor 423 arranged side by side. The first motor 421 and the second motor 423 are arranged so that the axis of the motor rotation shaft coincides with the travel direction (Y direction) of the creel robot 1. The first rotation direction conversion mechanism 422 and the second rotation direction conversion mechanism 424 for converting the rotation direction of the motor rotation shaft into an orthogonal direction are connected to the motor rotation shafts of the first motor 421 and the second motor 423, respectively. The first gear 425 and the second gear 426 arranged horizontally are meshed with the gears on the output side of the first rotation direction conversion mechanism 422 and the second rotation direction conversion mechanism 424, respectively. The first gear 425 and the second gear 426 are arranged to overlap in the up-down direction in such a manner that the first gear 425 is located above the second gear 426, and the rotation axis is set in the vertical direction, and the rotation axis coincides.

[0065] One end of the arm mechanism 41 is provided on the upper surface of the first gear 425. The rotation axis of the arm mechanism 41 coincides with the rotation axis of the first gear 425, and the first gear 425 causes the other end of the arm mechanism 41 to rotate around the rotation axis. On the other hand, one end of the yarn supply package holding mechanism 43 is provided on the lower surface of the second gear 426. The rotation axis of the yarn supply package holding mechanism 43 coincides with the rotation axis of the second gear 426, and the second gear 426 causes the other end of the yarn supply package holding mechanism 43 to rotate around the rotation axis.

[0066] (Yarn supply package holding mechanism 43)

[0067] The yarn supply package holding mechanism 43 has a pair of rod-shaped parts 431, 431, and a holding mechanism support body 432 that supports the rod-shaped parts 431, 431. The rod-shaped parts 431, 431 are supported on the holding mechanism support body 432 in a cantilever state and are arranged horizontally. In addition, the rod-shaped parts 431, 431 are set to be parallel to each other. The yarn supply package holding mechanism 43 holds the yarn supply package by inserting a pair of rod-shaped parts 431, 431 into the paper tube of the yarn supply package. The holding mechanism support body 432 is connected to the lower surface of the second gear 426 at the position that becomes the other end of the yarn supply package holding mechanism 43.

[0068] (Empty paper tube storage mechanism 44)

[0069] An empty paper tube storage mechanism 44 is provided on the lower surface of the holding mechanism support body 432. Thus, the empty paper tube storage mechanism 44 rotates together with the yarn supply package holding mechanism 43. The empty paper tube storage mechanism 44 has an empty paper tube storage box 441 for storing all the empty paper tubes after the yarn is unwound. The empty paper tube storage box 441 is a rectangular box-shaped box in a top view, surrounded by walls in three of the four horizontal directions, and opened in one direction of the four horizontal directions where no wall is formed. The opening direction of the empty paper tube storage box 441 has a relationship of being approximately staggered by 90 degrees in a top view relative to the direction to which the front ends of the rod-shaped parts 431 and 431 of the yarn supply package holding mechanism 43 are facing. For example, when the front end of the yarn supply package holding mechanism 43 faces forward, the opening direction of the empty paper tube storage box 441 is the right direction, and when the front end of the yarn supply package holding mechanism 43 faces left, the opening direction of the empty paper tube storage box 441 is the front.

[0070] In addition, the empty paper tube storage mechanism 44 has a storage box rotation drive mechanism 442 that tilts the empty paper tube storage box 441. When empty paper tubes are stored in the empty paper tube storage box 441, the storage box rotation drive mechanism 442 can move the empty paper tubes toward the wall by rotating the empty paper tube storage box 441 so that the opening is tilted toward the upper side. On the other hand, the storage box rotation drive mechanism 442 can move the empty paper tubes toward the opening by rotating the empty paper tube storage box 441 so that the opening is tilted toward the lower side.

[0071] (Arm mechanism 41)

[0072] One end of the arm mechanism 41 is provided on the upper surface of the first gear 425 in the rotating mechanism 42. The rotation axis of the arm mechanism 41 coincides with the rotation axis of the first gear 425, and the first gear 425 causes the other end (front end) of the arm mechanism 41 to rotate around the rotation axis. The bobbin drive mechanism 46 and the engaging mechanism 45 are provided at the other end (front end) of the arm mechanism 41. The arm mechanism 41 is configured to be switchable between a connected state in which the rotational drive force of the bobbin drive mechanism 46 is transmitted to the bobbin 25 by being connected by advancing relative to the bobbin 25, and a non-connected state in which the rotational drive force of the bobbin drive mechanism 46 is not transmitted to the bobbin 25 by being separated relative to the bobbin 25 and retreating.

[0073] Specifically, the arm mechanism 41 includes: a frame 411 having a storage space inside and opening at the other end side (front end side) in the direction of the bobbin 25; a horizontal support member 414 provided on the lower wall of the frame 411 and extending from the opening in the horizontal direction; a vertical support member 415 provided vertically at the front end of the horizontal support member 414; and an arm cylinder member 412 and a guide rod 413 provided in the frame 411. One end side of the arm cylinder member 412 and the guide rod 413 is fixed to the frame 411. The other end side (front end side) of the piston rod 412a of the arm cylinder member 412 and the guide rod 413 is exposed from the opening of the frame 411. The front end side of the piston rod 412a of the arm cylinder member 412 is fixed to the vertical support member 415. On the other hand, the other end side (front end side) of the guide rod 413 is slidably supported by the vertical support member 415. Thus, the arm mechanism 41 can limit the forward and backward movement direction by the guide rod 413, and at the same time, through the forward and backward movement of the piston rod 412a in the arm cylinder member 412, the bobbin drive mechanism 46 and the engaging mechanism 45 provided at the other end (front end) can move forward and backward relative to the bobbin 25 in the X direction. In addition, as described later, the engaging mechanism 45 can engage with the bobbin frame 2, but as long as the engaging mechanism 45 can engage with the bobbin frame 2, the direction in which the bobbin drive mechanism 46 and the engaging mechanism 45 move forward and backward relative to the bobbin 2 is not limited to the X direction, that is, the horizontal direction. For example, the bobbin drive mechanism 46 and the engaging mechanism 45 can also move forward and backward relative to the bobbin 2 at a specified angle (the angle that enables the engaging mechanism 45 to engage with the bobbin frame 2) relative to the horizontal direction.

[0074] In addition, the arm cylinder member 412 and the guide rod 413 are arranged at one end in the width direction of the arm mechanism 41. Thus, the arm mechanism 41 can arrange the bobbin drive motor 462 at the center in the width direction and arrange the engagement mechanism 45 at the other end in the width direction, thereby preventing the engagement mechanism 45 from being enlarged.

[0075] (Bobbin drive mechanism 46)

[0076] The bobbin drive mechanism 46 is configured to drive the bobbin 25 to rotate about a rotation axis in a vertical direction. Specifically, the bobbin drive mechanism 46 includes a bobbin drive plate 463 having a rotation axis in a vertical direction and having a star shape when viewed from above, and a plurality of rotating rollers 461, each disposed on the top of the bobbin drive plate 463. The pitch of the rotating rollers 461 is consistent with the pitch of the gear portions 254a of the rotation transmission member 254 in the bobbin 25. Thus, the bobbin drive mechanism 46 achieves smooth movement and low friction when the rotating rollers 461 contact and mesh with the gear portions 254a of the rotation transmission member 254 of the bobbin 25.

[0077] A bobbin drive motor 462 is disposed above the bobbin drive plate 463. The bobbin drive motor 462 is provided on the horizontal support member 414. The bobbin drive motor 462 is disposed at the center portion in the width direction of the arm mechanism 41, and is disposed on the side of the piston rod 412a and the guide rod 413 of the bobbin drive mechanism 46. The rotation axis of the rotation shaft of the bobbin drive motor 462 is consistent with the rotation axis of the bobbin drive plate 463. In addition, the rotation shaft of the bobbin drive motor 462 is connected to the bobbin drive plate 463, and the bobbin drive plate 463 is rotationally driven at a predetermined rotation angle. Thus, the bobbin drive mechanism 46 can rotate the bobbin 25 in a manner that stops at the rotation angles in the first rotation state, the second rotation state, and the third rotation state via the rotation transmission member 254.

[0078] As described above, the bobbin 25 in the bobbin rack robot 1 is arranged to be able to rotate freely with the vertical direction as the rotation axis, and comprises: an externally embedded component 253, which is externally embedded in the second support 23 serving as a support component; a yarn supply package holding mechanism 43, which is arranged on the externally embedded component 253 and holds the yarn supply package; and a rotation transmission component 254, which can transmit the rotational driving force from the bobbin driving mechanism 46 with the vertical direction as the rotation axis to the bobbin 25, and is constructed so that when the arm mechanism 41 is in a connected state, the bobbin driving mechanism 46 is connected to the rotation transmission component 254, and the externally embedded component 253 is rotated with the vertical direction as the axis through the rotation drive of the bobbin driving mechanism 46, thereby changing the horizontal direction of the yarn supply package holding mechanism 43.

[0079] (Engagement mechanism 45)

[0080] The engaging mechanism 45 is provided in the arm mechanism 41, and is configured to engage with the creel 2 when the bobbin drive mechanism 46 is in the connected state. Thus, the creel robot 1 advances the arm mechanism 41 in the yarn supply replacement device 4, and the bobbin drive mechanism 46 provided in the arm mechanism 41 is in the connected state with respect to the bobbin 25. When the rotational driving force of the bobbin drive mechanism 46 is transmitted to the bobbin 25 and the bobbin 25 is rotated about the longitudinal axis of the second support 23 of the creel 2, an inertial force is generated at the installation position of the bobbin drive mechanism 46 in the arm mechanism 41 when rotating or stopping. However, when the bobbin drive mechanism 46 is in the connected state, since the engaging mechanism 45 is engaged with the creel 2, the bobbin drive mechanism 46 (bobbin opening mechanism) of the yarn supply replacement device 4 can be prevented from swinging due to the inertial force. As a result, the rotation angle of the bobbin 25 can be changed with high accuracy when the bobbin 25 starts and ends rotating about the longitudinal axis of the creel 2, thereby facilitating the supply of the yarn supply package wound with the yarn and the collection of the empty paper tubes.

[0081] In a specific example, the engaging mechanism 45 includes an engaging plate 452, and the engaging plate 452 has a recessed portion 452a that can be engaged with the second support column 23 (support member) of the creel 2 at the front end portion of the arm mechanism 41 in the entry direction, and is configured to engage with the creel 2 by engaging the recessed portion 452a of the engaging plate 452 with the second support column 23 of the creel 2. Thus, the creel robot 1 engages the engaging mechanism 45 with the creel 2 by a simple configuration and operation such as engaging the recessed portion 452a of the engaging plate 452 with the second support column 23 of the creel 2, and can change the rotation angle of the bobbin 2 when the bobbin 2 is driven to rotate about the longitudinal axis of the creel 2 with high accuracy.

[0082] In addition, the engaging mechanism 45 includes a pin member 453 and an engaging cylinder 451 as a posture switching mechanism. The pin member 453 axially supports the rear end of the engaging plate 452 and has a central axis that coincides with the direction orthogonal to the forward and backward direction of the arm mechanism 41 and the vertical direction. The engaging cylinder 451 is rotatably connected between the axial support position of the engaging plate 452 axially supported by the pin member 453 and the formation position of the recess 452a. By rotating the engaging plate 452 with the pin member 453 as the rotation axis, the lateral setting posture taken when the arm mechanism 41 advances and retreats and the upright setting posture taken when the arm mechanism 41 is on standby can be switched. As a result, when the bobbin 25 is not rotated, the engaging plate 452 is set to the upright setting posture by retreating the piston rod of the engaging cylinder 451, and the length of the engaging mechanism 45 in the forward and backward direction can be shortened. As a result, when the creel robot 1 moves, it is possible to prevent the engaging mechanism 45 from becoming an obstruction.

[0083] like Figure 4 As shown, the recessed portion 452a of the engaging plate 452 opens with a size L1 larger than the diameter L2 of the second support 23 (support member) of the creel 2, and gradually narrows from the opening toward the middle of the bottom to a size equal to the diameter L2 of the second support 23. Thus, when the recessed portion 452a of the engaging plate 452 is engaged with the second support 23 of the creel 2, since the recessed portion 452a of the engaging plate 452 opens with a size L1 larger than the diameter L2 of the second support 23, the recessed portion 452a of the engaging plate 452 can be engaged with the second support 23 even when a slight positional deviation occurs.

[0084] (Variation Example)

[0085] In the above description, the engaging mechanism 45 is arranged at the front end of the arm mechanism 41, and the engaging mechanism 45 is configured to move forward and backward in conjunction with the forward and backward movement of the arm mechanism 41, but is not limited to this. For example, the engaging mechanism 45 can also be configured to be able to move forward and backward independently of the arm mechanism 41 relative to the bobbin frame 2. In this case, the engaging mechanism 45 can move forward and backward with a movement amount and movement timing that are independent of the movement amount and movement timing of the forward and backward movement of the arm mechanism 41. Thus, for example, if the engaging mechanism 45 can be moved with a larger movement amount than the arm mechanism 41, the position of the engaging mechanism 45 when not connected can be set within the full length of the arm mechanism 41. In addition, the engaging mechanism 45 is first engaged with the bobbin frame 2, and after the positional relationship between the arm mechanism 41 and the bobbin frame 2 is fixed, the bobbin drive mechanism 46 is connected to the bobbin 25, thereby stabilizing the connection state.

[0086] If a specific example is shown, Figure 5 As shown, the engaging mechanism 45 may also be configured such that an engaging advancing and retreating mechanism 454 is provided on the frame 411 of the arm mechanism 41, and the engaging plate 452 is moved forward and backward relative to the second support 23 of the creel 2 by the engaging advancing and retreating mechanism 454. As the engaging advancing and retreating mechanism 454, there are exemplified a configuration in which the engaging plate 452 is connected to the front end of the piston rod of a cylinder device such as a hydraulic cylinder or a pneumatic cylinder, a configuration in which the engaging plate 452 is connected to the front end of the rack so that a pinion driven by a motor is engaged with a rack so as to be able to move forward and backward, and a configuration in which the engaging plate 452 is connected to a nut member screwed with a screw driven by a motor.

[0087] In addition, as the engagement method of the engagement mechanism 45 and the creel stand 2, it is preferable to form a fixed state in which the engagement portion of the engagement mechanism 45 and the creel stand 2 cannot rotate. In this case, even if the inertial force of the bobbin 25 during rotation or stop acts on the arm mechanism 41, it does not rotate around the engagement portion of the bobbin drive mechanism 46 and the creel stand 2 as a fulcrum, so that the arm mechanism 41, the bobbin drive mechanism 46, etc. can be firmly prevented from swinging.

[0088] If a specific example is shown, Figure 6 As shown, the engaging mechanism 45 is exemplified in that the recessed portion 452a of the engaging plate 452 is formed into a rounded rectangular shape with rounded corners, and the cross-sectional shape of the second support 23 of the creel 2 is formed into a rounded rectangular shape. In this case, when the recessed portion 452a of the engaging plate 452 is engaged with the second support 23, the side surface of the recessed portion 452a and the side surface of the second support 23 are linearly abutted in the horizontal direction, and the second support 23 prevents the engaging plate 452 from rotating.

[0089] Furthermore, if Figure 7As shown, the engagement mechanism 45 may also include a frame side engagement member 457, which is provided on the creel stand 2 and engages with the engagement plate 452 of the engagement mechanism 45. In this case, the amount of entry of the arm mechanism 41 for engaging the engagement mechanism 45 with the creel stand 2 can be adjusted by the frame side engagement member 457.

[0090] If a specific example is shown, the engaging mechanism 45 is illustrated as a structure including an engaging plate 452 having a recessed portion 452a, and a frame-side engaging component 457 provided on the creel stand 2 and having a convex engaging portion 457a engaging with the recessed portion 452a of the engaging plate 452. In addition, it is preferred that the frame-side engaging component 457 has a through hole 457b for the second support 23 to be inserted, and can be divided into a plurality of components, and the through hole 457b is formed by these plurality of components. In this case, when the frame-side engaging component 457 is mounted on the second support 23 of the existing creel stand 2, even without removing a part of the second support 23, the frame-side engaging component 457 can be mounted on the second support 23 by arranging a plurality of components around the second support 23 and forming the through hole 457b by joining the plurality of components.

[0091] More specifically, the frame-side engaging member 457 is preferably divisible into a first member 4571 disposed on the engaging plate 452 side and having a through hole 457b through which the second support 23 is inserted, and a second member 4572 disposed on the side opposite to the engaging plate 452 side, and the through hole 457b is formed by these first member 4571 and the second member 4572. In addition, the frame-side engaging member 457 is preferably provided with fastening bolts 4573, 4573 on both sides of the second member 4572 across the through hole 457b, and the first member 4571 and the second member 4572 are fastened by screwing these fastening bolts 4573, 4573 into the threaded holes of the first member 4571. In this case, the first member 4571 and the second member 4572 can be easily joined, and therefore, the operation of attaching the frame-side engaging member 457 to the second support 23 can be simplified. Furthermore, it is preferred that the frame side engaging member 457 is provided with a fixing bolt 4574 between the fastening bolts 4573, 4573 of the second member 4572, and the front end of the fixing bolt 4574 is pressed against the second support column 23. In this case, since the frame side engaging member 457 is firmly fixed to the second support column 23, the positional displacement of the frame side engaging member 457 can be prevented.

[0092] in addition, Figure 7 The engaging mechanism 45 is composed of an engaging plate 452 having a concave portion 452a and a frame-side engaging member 457 having a convex engaging portion 457a, but is not limited thereto. Figure 8As shown, the engagement mechanism 45 may be configured to include an engagement plate 452 having a convex fitting portion 452b and a rack-side engagement member 457 having a concave portion 457c.

[0093] Figure 2 The creel stand 2 shown is arranged on both sides of the creel stand robot 1 in the X direction ( Figure 2 That is, one creel robot 1 is configured to supply yarn packages to both sides of two creels 2, 2 arranged on both sides in the X direction. However, this is not limited to this, and the creel robot 1 may also be configured to supply yarn packages to the creel 2 arranged on one side in the X direction.

[0094] In this embodiment, the case where the "yarn" is used in the false twisting process of synthetic fibers such as polyester is described, but it is not limited to this. For example, the "yarn" can be synthetic fibers such as nylon and rayon, or natural fibers such as cotton, wool, and silk, or film fibers formed into a film shape by polyvinyl chloride, polyurethane, Teflon (registered trademark), etc. In addition, the "yarn supply package" can also be used in the manufacturing process of knitted fabrics and woven fabrics by knitting machines, braiding machines, etc. in addition to false twisting machines.

[0095] Explanation of symbols:

[0096] 1 bobbin rack robot; 2 bobbin rack; 3 processing unit; 4 yarn supply replacement device; 25 bobbin; 41 arm mechanism; 42 rotation mechanism; 43 yarn supply package holding mechanism; 44 empty paper tube storage mechanism; 45 engagement mechanism; 46 bobbin drive mechanism.

Claims

1. A creel robot capable of moving forward and backward relative to a creel, the creel supporting a bobbin capable of holding a yarn supply package wound with yarn, the creel robot supplies the yarn supply package to the bobbin, characterized in that: have: A bobbin driving mechanism, which drives the bobbin to rotate with the vertical direction as the rotation axis; an arm mechanism provided with the bobbin drive mechanism, capable of switching between a connected state and a disconnected state; the connected state is connected by advancing relative to the bobbin, thereby transmitting the rotational drive force of the bobbin drive mechanism to the bobbin; the disconnected state is retreated by separating relative to the bobbin, thereby not transmitting the rotational drive force of the bobbin drive mechanism to the bobbin; and The engaging mechanism is provided on the arm mechanism and is engaged with the creel when the bobbin driving mechanism is in the connected state.

2. The creel robot according to claim 1, characterized in that: The creel has a support member erected in a vertical direction. The engaging mechanism includes an engaging plate having a recessed portion engageable with the support member of the creel stand at a front end portion of the arm mechanism in the entry direction. The engaging mechanism engages with the creel stand by engaging the recessed portion of the engaging plate with the support member of the creel stand.

3. The creel robot according to claim 2, characterized in that: The above-mentioned engaging mechanism has: A pin member axially supports the rear end of the engaging plate and has a central axis that is perpendicular to the advancing and retreating direction of the arm mechanism and is perpendicular to the vertical direction; as well as The posture switching mechanism is rotatably connected between the axial support position of the above-mentioned engaging plate axially supported by the above-mentioned pin component and the formation position of the above-mentioned recess. By rotating the above-mentioned engaging plate with the above-mentioned pin component as the rotation axis, the posture switching mechanism is switched to a horizontal setting posture adopted when the above-mentioned arm mechanism moves forward or backward, and an upright setting posture adopted when the above-mentioned arm mechanism is on standby.

4. The creel robot according to any one of claims 1 to 3, characterized in that: The engagement mechanism is capable of advancing and retreating relative to the creel independently of the arm mechanism.

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