Wire feeding coil feeding device

Abstract

A feeding package supply device is provided, which can push a feeding package hanging on a bobbin shaft without damaging the filament layer of the feeding package. It includes: a bobbin (70) with a free end at its front end, capable of draping a feeding package (P) with filament layer formed by winding filaments around a paper tube (160); and a pushing mechanism for pushing the feeding package (P) hanging on the bobbin (70) from the front end. The pushing mechanism has a pushing member (92) and a cylinder (75) for moving the pushing member (92) toward one end. The pushing member (92) is configured to abut against a first portion and a second portion, which are different in height direction from the end face of the paper tube (160) of the feeding package (P), when moving toward one end, and is configured to oscillate in the height direction around a pivot (87) provided between the first portion and the second portion, which abut against the first portion and the second portion, respectively, in the height direction.

Description

Technical Field

[0001] This invention relates to a feeding device for yarn rolls. Background Technology

[0002] In false twist processing systems, there are known wire feeding change robots that transport wire feeding rolls formed by winding filaments on a cylindrical paper tube to a spool for supply (for example, see Patent Document 1).

[0003] Patent Document 1 discloses a yarn feeding change robot 4 that inserts a fully loaded yarn package 6a into the bobbin 7 of the bobbin holder 2. This yarn feeding change robot 4 includes a yarn feeding transfer device (yarn package supply device) 75, which has a cylinder 83, a support 86 supporting the cylinder 83, and a package release component 85 composed of plates 91 and 93. A bobbin 88 is fixed to the front end of the support 86. When the yarn package 6a is transferred to the bobbin of the bobbin holder 2, the extension of the cylinder 83 causes the plates 91 and 93 to enter the paper tube 8. A pressure plate 89 is installed at the front end of the piston rod 84 of the cylinder 83, abutting against the axial end of the paper tube 8. Furthermore, when the feed coil 6a supported on the bobbin 88 is inserted into the bobbin 7 of the bobbin holder 2, as the cylinder 83 extends, the pressure plate 89 pushes out the feed coil 6a, and the feed coil 6a is transferred from the bobbin 88 to the bobbin 7 of the bobbin holder 2.

[0004] Patent Document 1: Japanese Patent Application Publication No. 6-56351 In the wire feeding and transfer device disclosed in Patent Document 1, such as that document... Figure 7 As shown, there is a height difference between the bobbin 88 and the bobbin 7 of the bobbin holder 2. When the yarn feed roll is pushed out from the bobbin 88 and handed over to the bobbin 7 of the bobbin holder 2, the yarn feed roll oscillates in the height direction due to the aforementioned height difference. When the yarn feed roll oscillates in the height direction, the yarn layer of the yarn feed roll comes into contact with the pressure plate 89, which may damage the yarn layer of the yarn feed roll. Summary of the Invention

[0005] The present invention was made in view of the above-mentioned problems, and its object is to provide a feeding roll supply device that can push the feeding roll hanging on the bobbin from the bobbin without damaging the filament layer of the feeding roll.

[0006] (1) The feeding package supply device of the present invention comprises: a feeding holding portion, one end of which is a free end, capable of being hung on a cylindrical member to wind a filament package to form a filament layer; and an ejection mechanism for ejecting the feeding package hung on the feeding holding portion from one end of the feeding holding portion, the ejection mechanism comprising: an ejection member; and an ejection member driving portion for moving the ejection member relative to the feeding holding portion in a direction from the other end of the feeding holding portion toward one end and in a direction from one end toward the other end, the ejection member being configured such that when moving in the direction from the other end of the feeding holding portion toward one end, at least The component abuts against a first portion and a second portion of the cylindrical component of the feed coil that are different in height direction from the end face of the feed coil that is attached to the feed coil holding portion. It is a component formed such that at least the portion that abuts against the end face of the cylindrical component extends in the height direction. It is provided at a position that avoids the feed coil holding portion in the horizontal direction. It is configured to swing in the height direction with the first portion and the second portion that abut against the first portion and the second portion that are different in height direction from the end face of the cylindrical component of the feed coil as a pivot point. The swinging motion follows the movement of the feed coil in the height direction.

[0007] According to the yarn feeder described in (1) above, even when the yarn feeder oscillates in the height direction while being pushed out of the yarn feeder holding section, the pushing member also oscillates in the height direction in response to the movement of the yarn feeder. Therefore, interference between the pushing member and the yarn layer of the yarn feeder can be prevented, thereby preventing damage to the yarn layer. Therefore, a yarn feeder can be provided that can push the yarn feeder out of the yarn feeder holding section without damaging the yarn layer of the yarn feeder.

[0008] (2) In the feeding coil supply device described in (1) above, it is preferable that the first part and the second part are in a line-symmetrical position with respect to the horizontal center line passing through the center of the cylindrical member or in a point-symmetrical position with respect to the radial center of the cylindrical member.

[0009] According to the feeding coil supply device described in (2) above, the ejector part abuts against the first part and the second part, which are in a line-symmetrical position relative to the horizontal center line passing through the center of the cylindrical part or in a point-symmetrical position relative to the radial center of the cylindrical part, so that the ejector part can respond well to follow the oscillating motion of the feeding coil.

[0010] (3) In the feeding coil supply device described in (1) or (2) above, it is preferable that the feeding holding part is two bobbin shaft components arranged horizontally and parallel to each other, and the ejection part is arranged between the two bobbin shaft components.

[0011] According to the feeding coil supply device described in (3) above, the feeding coil that is attached to the feeding coil holding part can be pushed out in a balanced and good manner by means of the pushing member, and the following of the swing motion of the pushing member relative to the feeding coil is also good.

[0012] (4) In any of the above (1) to (3) feeding coil supply devices, the ejector is preferably configured to maintain a predetermined upright posture when not in contact with the end face of the cylindrical member.

[0013] According to the feeding coil supply device described in (4) above, the push-out component remains upright when the feeding coil is received by the feeding holding part, so the push-out component will not become an obstacle when receiving the feeding coil.

[0014] (5) In the feeding coil supply device described in (4) above, it is preferably configured to include a limiting mechanism that restricts the range of the oscillating motion of the push-out member in a predetermined direction and an elastic force application mechanism that applies an elastic force to the push-out member in the predetermined direction, wherein the push-out member maintains a predetermined upright posture.

[0015] According to the feeding coil supply device described in (5) above, when the feeding coil is received by the feeding holding part, the ejection member can be raised in advance, and when the feeding coil is ejected, the ejection member can respond well to follow the swinging motion of the feeding coil. Attached Figure Description

[0016] Figure 1 This is an example of a top view schematically showing the overall configuration of a false twisting system.

[0017] Figure 2 This is an example of a three-dimensional diagram schematically representing the cradle support, track, and cradle robot in a false twisting system.

[0018] Figure 3 This is an example of a schematic 3D representation of a tube frame robot.

[0019] Figure 4 This is an example of a perspective view of the wire feeding and winding device viewed from above with the robot's side bobbin facing forward.

[0020] Figure 5 This is an example of a perspective view of a wire feeding and winding device when the robot's side bobbin is on the inside.

[0021] Figure 6 This is an example of a three-dimensional view of the ejection mechanism viewed from the upper left front side.

[0022] Figure 7This is an example of a three-dimensional view of the ejection mechanism viewed from the upper right front side.

[0023] Figure 8 This is an example of a diagram showing the configuration when the wire feed roll hanging on the robot side bobbin is handed over to the bobbin side bobbin. (A) is a side view, and (B) is a perspective view.

[0024] Figure 9 This is an example of a three-dimensional diagram showing the form of a yarn feed roll temporarily stored in a raw yarn storage warehouse.

[0025] Figure 10 This is an example of a three-dimensional view of the raw silk storage warehouse viewed from the back side.

[0026] Figure 11 This is an example of a side view of the raw yarn storage warehouse and the yarn feeding device before the yarn is pulled from the storage warehouse side bobbin to the robot side bobbin.

[0027] Figure 12 This is an example of a time-series diagram showing the pattern of the feed roll hanging on the storage side bobbin being pulled out to the robot side bobbin (the diagram of the first step).

[0028] Figure 13 This is an example of a time-series diagram showing the pattern of the feed roll hanging on the storage side bobbin being pulled out to the robot side bobbin (the diagram for the second step).

[0029] Figure 14 This is an example of a time-series diagram showing the shape of the wire feed roll hanging on the storage side bobbin as it is pulled out to the robot side bobbin (the diagram for the third step).

[0030] Figure 15 This is an example of a time-series diagram showing the shape of the feed roll hanging on the storage side bobbin as it is pulled out to the robot side bobbin (the diagram for the fourth step).

[0031] Figure 16 This is an example of a side view of the bobbin holder and the bobbin feeding device before the transfer of the bobbin from the robot side to the bobbin side.

[0032] Figure 17 This is an example of a diagram (the diagram of the first step) that shows the sequence of events from when the wire feed roll hanging on the robot side bobbin is handed over to the bobbin side bobbin.

[0033] Figure 18 This is an example of a diagram (the diagram of the second step) that shows the sequence of events from when the wire feed roll hanging on the robot side bobbin is handed over to the bobbin side bobbin.

[0034] Figure 19This is an example of a diagram (the diagram of the third step) that shows the sequence of events from when the wire feed roll hanging on the robot side bobbin is handed over to the bobbin side bobbin.

[0035] Figure 20 This is an example of a time-series diagram showing the sequence from when the wire feed roll hanging on the robot side bobbin is handed over to the bobbin side bobbin (the diagram for the fourth step).

[0036] Figure 21 The diagram shows a variation of the form of the feed coil P being ejected by the ejection component.

[0037] Explanation of reference numerals in the attached figures 60-coil feeder 70 Robot Side Shuttle Core 74 Launching Institutions 75 cylinder 84 Fixed side shaft components 87 shafts 88 Fixed side elongated hole 92 launched components 96 movable side elongated holes 100 pull-in components 104 movable side shaft 110 elastic component 160 paper tube One end face of the 161 paper tube 161a upper end face 161b lower end face 981 Part 1 982 Part Two P-feed silk rolls Detailed Implementation

[0038] The following is for reference Figures 1-21 The method for implementing the present invention will be described. Furthermore, for ease of explanation, the front-back direction, left-right direction, and up-down direction are defined in this specification as shown in the figures. The front-back direction, left-right direction, and up-down direction are orthogonal to each other. Additionally, in this embodiment, the direction in which the yarn feed roll P, which is attached to the robot-side bobbin 70 (described later), is pushed towards the bobbin-side bobbin 28 is defined as "front".

[0039] [1. Overview of the false twisting machining system 1] First, refer to Figure 1 and Figure 2 An overview of the false twisting processing system 1 is provided. Figure 1 This is an example of a top view schematically showing the overall configuration of the false twisting system 1.

[0040] like Figure 1As shown, in the false twist processing system 1 of this embodiment, a relatively long track 16 is arranged in a straight line along the left-right direction. The bobbin gantry robot 50 travels on this track 16, feeding the yarn package P (for example, see below) Figure 8 The feed coil P is fed into a cylindrical paper tube 160 (e.g., see below). Figure 8 This is a wound package made by winding filaments onto a paper tube 160, used for supplying filaments used in manufacturing processes such as false twisting machines. Examples of filaments wound on the paper tube 160 include synthetic fibers such as polyester. Furthermore, the aforementioned "paper tube" corresponds to the "cylindrical component" of this invention.

[0041] The gantry frame support 20 has a gantry frame support 20A disposed on the front side of the track 16 and a gantry frame support 20B disposed on the rear side of the track 16. Although the gantry frame supports 20A and 20B are arranged in different directions, they have the same structure. The gantry frame robot 50 (see, for example, the following description) Figure 2 ) can feed the wire coil into P (e.g., see below) Figure 8 ) is supplied to either the tube frame support 20A or the tube frame support 20B.

[0042] A machine body (false twisting machine) 10A is provided on the front side of the bobbin holder 20A. The machine body 10A mainly includes, for example, a false twisting section 12A and a winding section 14A. A yarn package P (e.g., referred to later) is fed from the bobbin holder 20A to the false twisting section 12A. Figure 8 The unwound yarn. The yarn supplied from the bobbin holder 20A to the false twisting section is false twisted in the false twisting section 12A and wound in the winding section 14A.

[0043] A machine body (false twisting machine) 10B is provided on the rear side of the bobbin holder 20B. The machine body 10B mainly includes, for example, a false twisting section 12B and a winding section 14B. A yarn package P (e.g., as described later) is fed from the bobbin holder 20B to the false twisting section 12B. Figure 8 The unwound yarn. The yarn supplied from the bobbin holder 20B to the false twisting section is false twisted in the false twisting section 12B and wound in the winding section 14B.

[0044] For example, on the left side of the bobbin holder 20A, adjacent to the bobbin holder 20A, a raw yarn storage chamber 32 is arranged. The raw yarn storage chamber 32 is supplied with yarn feed packages P by a conveying device (not shown), and can temporarily store multiple yarn feed packages P (e.g., see below). Figure 8 The feeding coil P-type bobbin frame robot 50 (refer to) is temporarily stored in the raw silk storage warehouse 32. Figure 2 The tubes are removed, transported, and supplied to the tube rack supports 20A and 20B.

[0045] Furthermore, the false twisting processing system 1 of this embodiment is configured to have bobbin holders 20A and 20B on both the front and rear sides of the track 16, and can supply yarn feed packages P to either bobbin holder 20A or 20B by the bobbin holder robot 50, but is not limited to this. For example, it may also be a false twisting processing system configured to have bobbin holders 20 only on the front or rear side of the track 16, and can supply yarn feed packages P to the bobbin holders 20 by the bobbin holder robot 50.

[0046] [2. Cylindrical stand bracket 20] Reference Figure 2 The above-mentioned tube frame support 20 will be described. Figure 2 This is a schematic perspective view of the creel support 20A, track 16, and creel robot 50 in the false twisting system 1. As described above, due to the creel support 20A and creel support 20B (see reference 1) Figure 1 Since they have the same structure, the following mainly describes the tube frame support 20A, omitting the description of the structure of the tube frame support 20B.

[0047] like Figure 2 As shown, the tube frame support 20A has a plurality of support bodies 21A arranged at predetermined intervals in the left-right direction along the track 16. Figure 2 Five support bodies 21A are shown in the middle along the left and right direction, but the number of support bodies 21A is not limited to this.

[0048] The support body 21A, for example, has two pillars 22A arranged at predetermined intervals in the left-right direction along the track 16, a pillar 23A arranged opposite the pillar 22A to the track 16, and a plurality of partitions 24A in the up-down direction. Figure 2 As shown in the enlarged view, each support 22A has a pair of bobbins 28A capable of being attached to the yarn feed roll P and a bobbin support portion 25A supporting the pair of bobbins 28A.

[0049] The base end of the bobbin 28A is supported by the bobbin support 25A, and the front end becomes a free end, capable of being hooked onto the paper tube 160 to form a filament-layered feed roll P. The bobbin support 25A is provided on the support column 22A in a manner that allows it to rotate about the axis of the support column 22A. When the bobbin support 25A is rotated with the axis of the support column 22A as the axis of rotation, the direction in which the front end of the bobbin 28A faces (i.e., the axis of the bobbin 28A) changes. When the feed roll is supplied from the bobbin cradle robot 50, the bobbin support 25A is rotated with the front end of the bobbin 28A facing the bobbin cradle robot 50. Although in Figure 2Although not shown in the diagram, multiple bobbin 28A and bobbin support portion 25A are provided in the vertical direction corresponding to the partition plate 24A. Furthermore, the bobbin support portion 25A has a cutout portion 26A, the function of which will be described later. Additionally, the "front end" and "base end" of the bobbin 28A correspond to the "one end" and "the other end" of the present invention, respectively.

[0050] In this specification, unless it is necessary to distinguish between bobbin holder 20A and bobbin holder 20B, they will be referred to simply as bobbin holder 20. The same applies to bobbin support 25 and bobbin 28.

[0051] [3. Tube Shelf Robot 50] Reference Figure 3 A summary of the aforementioned tube frame robot 50 will be provided. Figure 3 This is an example of a schematic three-dimensional view of a tube frame robot 50.

[0052] [3-1. Overview of the Tube Frame Robot 50] like Figure 3 As shown, the bobbin-shaped robot 50 mainly comprises a main body 52, a traveling mechanism 54, a wire feeding and winding supply device 60, a paper tube recycling device 150, a lifting mechanism 55, and a rotating mechanism 56.

[0053] The main body 52 has a sleeve support 20A (see reference). Figure 2 The same level of height is longer in the vertical direction. The traveling mechanism 54 is configured to be able to travel on track 16 (see reference). Figure 2 The 50-roller robot can move left and right along the rigging. Thus, the rigging robot 50 can move along the rigging storage 32 (see reference 32). Figure 1 ) and as a feed coil P (e.g., see below) Figure 8 The tube frame supports 20 move between the handover destinations.

[0054] The yarn feeder 60 is supported on the main body 52 and also serves to feed the yarn feeder P (for example, see below). Figure 8 From raw silk storage warehouse 32 (refer to) Figure 1 The device has the functions of pulling in the robot side bobbin 70 and pushing out the feed roll P received from the raw yarn storage silo 32 and handing it over to the bobbin holder 20. The detailed structure of the feed roll supply device 60 will be described later. The feed roll supply device 60 has the ability to hook the feed roll P (e.g., see reference 20) Figure 8 A pair of bobbins 70.

[0055] In this specification, the bobbin 70 of the yarn feeding device 60 will be referred to as the "robot-side bobbin 70", and the bobbin 28 of the bobbin holder 20 (both referred to as the "robot-side bobbin 70") will be referred to as the "robot-side bobbin 70". Figure 2This is referred to as "boob side bobbin 28". Furthermore, the aforementioned "robot side bobbin 70" corresponds to the "feed holding part" of this invention.

[0056] The paper tube recycling device 150 is supported on the main body 52 via the yarn feeding and winding supply device 60, and is fed from the bobbin 28 on the bobbin side (see reference). Figure 2 An apparatus for recycling paper tubes (hereinafter referred to as "empty paper tubes") after the yarn has been unwound. The recycled empty paper tubes are collected into a recycling bin (not shown).

[0057] The lifting mechanism 55 is a mechanism that causes the yarn feed roll supply device 60 and the paper tube recovery device 150 to move up and down in the vertical direction. As described above, multiple bobbins 28 are provided on the bobbin side in the vertical direction, therefore, depending on the yarn feed roll P (for example, see below), Figure 8 The height of the bobbin 28 on the side of the bobbin rack at the destination of the transfer or the destination of the empty paper tube is adjusted so that the wire feeding roll supply device 60 and the paper tube recycling device 150 are raised or lowered.

[0058] The rotating mechanism 56 is a mechanism that uses a shaft component 57 with the vertical direction as the axis of rotation to rotate the yarn feeding package supply device 60 and the paper tube recycling device 150 together. Figure 3 In the middle, the front end of the robot-side shuttle core 70 faces to the left, and the paper tube recycling device 150 (more specifically, the opening portion of the paper tube recycling device 150) faces to the rear. As described above, the tube holder support 20 has a tube holder support 20A (see reference) disposed on the front side of the track 16. Figure 1 ) and the tube frame support 20B configured on the rear side of track 16 (see reference) Figure 1 Therefore, on the bobbin side of the bobbin holder 20A (refer to...) Figure 2 When transferring the yarn feed roll P, the rotating mechanism 56 rotates the yarn feed roll supply device 60 and the paper tube recovery device 150 together so that the front end of the robot-side bobbin 70 faces forward. Conversely, when transferring the yarn feed roll P to the bobbin side bobbin (not shown) of the bobbin holder 20B, the rotating mechanism 56 rotates the yarn feed roll supply device 60 and the paper tube recovery device 150 together so that the front end of the robot-side bobbin 70 faces backward. Furthermore, when recovering an empty paper tube from the bobbin side bobbin 28A of the bobbin holder 20A, the rotating mechanism 56 rotates the yarn feed roll supply device 60 and the paper tube recovery device 150 together so that the paper tube recovery device 150 faces forward. Conversely, when recovering an empty paper tube from the bobbin side bobbin (not shown) of the bobbin holder 20B, the rotating mechanism 56 rotates the yarn feed roll supply device 60 and the paper tube recovery device 150 together so that the paper tube recovery device 150 faces backward.

[0059] [3-2. Wire feeding coil supply device 60] Next, refer to Figure 4 as well as Figure 5 The detailed structure of the yarn feeding coil supply device 60 is described below. Figure 4 This is an example of a perspective view of the wire feeding and winding supply device 60 viewed from above with the robot's side bobbin facing forward. Figure 5 This is an example of a perspective view of the yarn feeding device 60 with the robot's side bobbin facing inwards. That is, in... Figure 4 and Figure 5 In the middle, the front end of the robot-side shuttle core 70 faces the side of the tube frame support 20A.

[0060] like Figure 4 as well as Figure 5 As shown, the yarn feeding coil supply device 60 mainly has a main body 52 supported on the bobbin frame robot 50 (see figure). Figure 3 The base portion 62, a pair of robot-side spindles 70, an ejection mechanism 74 capable of moving forward and backward relative to the base portion 62, and a reaction force absorbing mechanism 130. The base portion 62 is capable of moving with the shaft member 57 (see reference). Figure 3 The axis of rotation rotates relative to the main body 52, while the axis of rotation is fixed relative to the main body 52 in the front-back direction, left-right direction, and up-down direction.

[0061] (Base section 62) The base portion 62 mainly comprises a horizontal portion 63 with a horizontal upper surface and a front portion 64 extending downward from the front end of the horizontal portion 63. The front portion 64 is a surface along both the left-right and up-down directions. A cylinder support frame 66 for supporting the cylinder 75 (described later) is provided midway along the front-rear direction of the horizontal portion 63. The front portion 64 and the cylinder support frame 66 each have an opening 65 and an opening 67, respectively, to allow the cylinder 75 (described later) to pass through.

[0062] An opening 65 in the front part 64 is provided with a supported part 85 (see reference 80) that can support the fixing member 80 described later from below. Figure 6 The support roller 69. A support member 68 is provided at the opening 67 of the cylinder support frame 66, which can support the cylinder 75 (described later) from below.

[0063] (Robot side shuttle core 70) A pair of robot-side bobbins 70 are arranged horizontally and parallel to each other, with their front ends serving as free ends. Furthermore, the base ends of the pair of robot-side bobbins 70 are fixedly mounted to the front portion 64 of the base portion 62 in a horizontal axial manner, enabling them to be wound onto the paper tube 160 to form a filament-layered feed roll P. Figure 4 and Figure 5In this embodiment, a pair of robot-side bobbins 70 are provided extending from the front portion 64 toward the tube holder support 20A (i.e., the front side). The front ends of the pair of robot-side bobbins 70 are inclined downwards. In this specification, the boundary between the horizontal portion and the downwardly inclined portion of the pair of robot-side bobbins 70 is referred to as the "boundary portion 70a". An end face 161 (see below) is provided adjacent to each other in the left-right direction of the pair of robot-side bobbins 70, which can be connected to one side of the paper tube 160 in the axial direction. Figure 8 The wall portion 71 abuts against the base portion 62. The wall portion 71 is mounted to the front part 64 of the base portion 62 via the wall mounting member 72.

[0064] (74 issuing organizations) The ejection mechanism 74 is used to eject the feed roll P, which is attached to the robot-side bobbin 70, from the free end of the robot-side bobbin 70. The ejection mechanism 74 mainly comprises: a cylinder 75, which is retractable relative to the base portion 62, i.e., the main body portion 52 of the bobbin frame robot 50; a fixed member 80, fixed to the cylinder 75; and a movable member 90, configured to move freely relative to the fixed member 80. The aforementioned "cylinder 75" corresponds to the "ejection member drive unit" of this invention.

[0065] Cylinder 75 causes the ejection member 92, described later, to move relative to the robot-side bobbin 70 within a predetermined range in both the direction from the base end of the robot-side bobbin 70 toward the front end and in the direction from the front end toward the base end. Cylinder 75 has an elongated housing portion 76 and a rod portion 77 (see later description). Figure 6 and Figure 7 For example, a cylinder can be used. The rod 77 is axially extendable relative to the housing 76.

[0066] Reference Figure 6 and Figure 7 The fixed part 80 and the movable part 90 will be described. Figure 6 This is an example of a perspective view of the ejection mechanism 74 (excluding the shell 76) viewed from the upper left front side. Figure 7 This is an example of a perspective view of the ejection mechanism 74 (excluding the housing 76) viewed from the upper right front side. Additionally, Figure 6 and Figure 7 The direction shown indicates the robot-side spindle 70 (reference). Figure 4 The front end of the tube frame is oriented towards the support bracket 20A (refer to...). Figure 1 The direction when viewed from the side.

[0067] The fixing component 80 mainly has a base 82 and a support roller 69 (see above) that can be supported on the aforementioned roller. Figure 4 , Figure 5The supported portion 85 is a generally L-shaped component when viewed from above, fixed to the front end of the rod portion 77. The base portion 82 has a fixed side shaft component 84 with the left-right direction as the axial direction. The supported portion 85 is a flat strip component with planes along the front-back direction and the up-down direction, fixed to the base portion 82. The supported portion 85 has a rear end (at... Figure 6 The rear end (middle section) has an inclined portion 86 that slopes upward from the front side toward the rear side. The supported portion 85 has a support shaft 87 (see reference) located slightly below and forward of the fixed side shaft member 84, with its axial direction in the horizontal left-right direction. Figure 6 Furthermore, the supported portion 85 has an elongated hole (hereinafter referred to as "fixed-side elongated hole 88") that is longer in the vertical direction and located obliquely below and rearward compared to the fixed-side shaft member 84. Figure 7 )”).

[0068] The movable part 90 has an ejector part 92 and a pull-in part 100. The ejector part 92, the pull-in part 100 and the movable side shaft part 104 are integrally formed. The functions of the ejector part 92 and the pull-in part 100 will be described later.

[0069] The ejector component 92 is a component that is generally L-shaped when viewed from above, and has: a side portion 94 having planes along the front-back direction and the top-bottom direction; and an abutment surface 98 having planes along the left-right direction and the top-bottom direction. Regarding the abutment surface 98, on one side of the paper tube 160, at the end face 161 (for example, see below...), Figure 8 In the paper tube 160, the first portion 981 and the second portion 982, which are different in the vertical direction (height direction), can respectively abut against the upper end face 161a and the lower end face 161b described later. The ejector member 92 is formed such that the portion of the ejector member 92 that abuts against the end face 161 on one side of the paper tube 160 extends in the height direction, and the ejector member 92 is supported by a support shaft 87 (see reference) at the side portion 94. Figure 6 The support shaft 87 allows the ejector member 92 to rotate relative to the stationary member 80 (more specifically, the base 82) about the support shaft 87 as the axis of rotation. Furthermore, the support shaft 87 is positioned between the first portion 981 and the second portion 982 in the height direction. The aforementioned "support shaft 87" corresponds to the "shaft member" of the present invention.

[0070] The ejector component 92 has a movable side shaft portion 104 on its side surface 94, with the axial direction in the left-right direction. This movable side shaft portion 104 engages with the aforementioned fixed side elongated hole 88. Additionally, the ejector component 92 has an elongated hole (hereinafter referred to as "movable side elongated hole 96") that engages with the aforementioned fixed side shaft component 84. Figure 6The fixed side elongated hole 88 engages with the movable side shaft portion 104, and the fixed side shaft component 84 engages with the movable side elongated hole 96, thereby limiting the rotation range of the ejector component 92, which rotates relative to the fixed component 80 with the support shaft 87 as the rotation axis, to a certain range. Furthermore, the rotation range of the ejector component 92 defined by the fixed side shaft component 84, the movable side elongated hole 96, the fixed side elongated hole 88, and the movable side shaft portion 104 includes the posture in which the contact surface 98 of the movable component 90 is upright in a manner orthogonal to the robot-side shuttle core 70 (i.e., the posture along the vertical direction, hereinafter referred to as the "origin posture"). Moreover, the movable component 90 can rotate within a certain range in one direction (the direction where the contact surface 98 faces downward) with the support shaft 87 as the rotation axis, based on the origin posture. The aforementioned "fixed side elongated hole 88," "movable side shaft portion 104," "fixed side shaft component 84," and "movable side elongated hole 96" correspond to the "limiting mechanism" of the present invention.

[0071] Similar to the supported portion 85, the pull-in member 100 is a flat, elongated member with planes along both the front-rear and vertical directions, extending forward from the center portion of the abutment surface 98 in the vertical direction. The pull-in member 100 has a horizontally elongated portion 102 and a hook portion 106 located at the front end of the elongated portion 102. Furthermore, as described above, since the pull-in member 100 is integrally formed with the push-out member 92, when the push-out member 92 rotates relative to the fixed member 80 about the support shaft 87, the pull-in member 100 also rotates accordingly.

[0072] An elastic member 110 is provided between the support shaft 87 of the component serving as the fixed component 80 and the movable side shaft 104 of the component serving as the movable component 90. This elastic member 110 is, for example, a torsion spring, with one end connected to the base 82 and the other end connected to the movable side shaft 104. With the origin position as a reference, the elastic member 110 applies a force to the movable component 90 in the opposite direction when the movable component 90 rotates about the support shaft 87 as its rotation axis. That is, the movable component 90 is subjected to an elastic force by the elastic member 110 in the direction that returns the movable component 90 to its origin position. Furthermore, the elastic member 110 is not limited to a torsion spring as long as it can apply a force in the direction that returns the movable component 90 to its origin position. Additionally, the aforementioned "elastic member 110" corresponds to the "elastic force application mechanism" of the present invention.

[0073] Next, refer to Figure 8 The function of the movable part 90 will be explained. Figure 8 The diagram shows an example of the configuration when the wire feed roll P, which is attached to the robot side bobbin 70, is handed over to the bobbin 28 on the bobbin holder side. (A) is a side view and (B) is a perspective view.

[0074] like Figure 8 As shown in (A) and (B), the ejector 92 is positioned between the pair of robot-side bobbins 70 in a manner that avoids them in the horizontal direction. The portion of the ejector 92's contact surface 98 on the axial side end face 161 of the paper tube 160 that passes through the radial center of the paper tube 160 and runs along a straight line in the vertical direction of the end face 161 on one side of the paper tube 160 is the upper end face 161a (see reference). Figure 8 (B) and lower end face 161b (refer to) Figure 8 The two sides (B) are pressed together. The upper end face 161a and the lower end face 161b are in a linearly symmetrical position with respect to the horizontal center line along the length direction passing through the radial center of the paper tube 160. Furthermore, the robot-side bobbin 70 is located above the bobbin 28 on the cradle side, with its front end inclined downwards. As a result, the yarn feed package P hanging on the robot-side bobbin 70 can be pushed out towards the bobbin 28 in a balanced and good manner, and the transfer from the robot-side bobbin 70 to the bobbin 28 can be smooth. The above-mentioned "upper end face 161a" corresponds to the "first part" of the present invention, and the above-mentioned "lower end face 161b" corresponds to the "second part" of the present invention.

[0075] Note that in this specification, of the two end faces of the paper tube 160 along the axial direction, the face that can abut against the abutment surface 98 is referred to as "one end face 161 of the paper tube 160", and the end face opposite to one end face 161 is referred to as "the other end face 163". In addition, the part of the paper tube 160 that is hooked by the hook portion 106 is referred to as "the other end 162".

[0076] (Reaction force absorption mechanism 130) return Figure 4 and Figure 5 The reaction force absorbing mechanism 130 will be briefly described below. The reaction force absorbing mechanism 130 is a mechanism that absorbs a force greater than the force required to push out the yarn feed package P when it acts on the cylinder 75 in a rearward direction (from the front end of the robot-side bobbin 70 toward the base end).

[0077] The reaction force absorbing mechanism 130 mainly includes a support member 132, a first shaft member 134 disposed on the base portion 62, a second shaft member 136 disposed on the support member 132, and an elastic member 138 disposed on the base portion 62. The reaction force absorbing mechanism 130 is connected to the end (base end) opposite to the base portion 82 of the cylinder 75. Thus, the base end of the cylinder 75 is supported on the base portion 62 via the reaction force absorbing mechanism 130.

[0078] The first shaft member 134 is an axial member that is orthogonal to the direction from the front end of the robot-side bobbin 70 toward the base end and along the horizontal direction (i.e., the left-right direction), and provides axial support to the upper end of the support member 132. Therefore, the support member 132 can rotate relative to the base portion 62 about the first shaft member 134 as the rotation axis. The second shaft member 136 is an axial member that is axial in the left-right direction, and at the lower end of the support member 132, it supports the base end of the cylinder 75 (shell portion 76) in such a way that the cylinder 75 can rotate relative to the support member 132. The support member 132 is positioned at its origin, for example, when the first shaft member 134 and the second shaft member 136 are aligned vertically. The elastic member 138 applies an elastic force to the support member 132 in the direction that returns it to its origin position when the support member 132 rotates from its origin position about the first shaft member 134 as the rotation axis.

[0079] [4. Raw silk storage warehouse 32] Next, refer to Figure 9 and Figure 10 A brief description of the raw silk storage warehouse 32 is provided. Figure 9 This is an example of a perspective view showing the form in which the feed roll P is temporarily stored in the raw silk storage warehouse 32. Figure 10 From the back side ( Figure 9 An example of a three-dimensional view of the raw silk storage warehouse 32 (shown from the front side).

[0080] like Figure 9 As shown, the raw yarn storage chamber 32 has a column member 34 that is relatively long in the vertical direction. On this column member 34, a plurality of bobbin support portions 35 are provided in the vertical direction to support a pair of bobbins 38. The base end of the bobbin 38 is supported by the bobbin support portions 35, and the front end becomes a free end, capable of being hooked onto the yarn feed package P wound on the paper tube 160 to form a yarn layer. Hereinafter, in this specification, the bobbin 38 of the raw yarn storage chamber 32 will be referred to as the "storage chamber-side bobbin 38". Furthermore, the bobbin support portion 35 supporting the storage chamber-side bobbin 38 will be referred to as the "storage chamber-side bobbin support portion 35".

[0081] The storage compartment side bobbin support 35 has an opening 36 at a position where it is sandwiched between a pair of storage compartment side bobbins 38. This opening 36 is configured to allow for access via the yarn feed mechanism 60 (see, for example, reference 60). Figure 4 When the feed roll P, which is hanging on the storage side bobbin 38, is pulled into the bobbin 28 on the bobbin side, the hook 106 (for example, refer to...) Figure 4 It does not interfere with the core support part 35 on the storage side.

[0082] like Figure 10 As shown, on the rear side of column component 34 ( Figure 10A hook lifting mechanism 40 is provided on the front side shown. The hook lifting mechanism 40 has a flat, vertically movable part 42, a long shaft part 45, a linkage mechanism 44, and a lifting part 46.

[0083] The movable part 42 is configured to move vertically. A shaft member 45 is provided that passes through the movable part 42 with its axial direction aligned horizontally. For example, when the movable part 42 moves downwards, the shaft member 45 moves downwards, and via the linkage mechanism 44, the lifting part 46 rotates upwards with the support shaft 48, whose axial direction is horizontal, as its rotational axis. Figure 10 The rotating motion is counterclockwise. On the other hand, when the movable part 42 moves upward, the shaft member 45 moves upward, and via the linkage mechanism 44, the lifting part 46 rotates downward about the support shaft 48 as the axis of rotation. Figure 10 Rotate clockwise (in the middle).

[0084] In this embodiment, a detection rod 77 is provided (for example, see reference 77). Figure 6 ) relative to shell 76 (e.g., see reference) Figure 4 The detector (not shown) extends to a predetermined length (e.g., the longest end). When the rod 77 is detected to have extended to the predetermined length relative to the housing 76, the movable part 42 moves downwards. Furthermore, when the rod 77 extends to the predetermined length relative to the housing 76, the hook 106 is positioned above the lifting part 46. Therefore, when the lifting part 46 rotates upwards about the pivot 48, the hook 106 is lifted. At this time, the hook 106 is lifted to hook onto the end 162 on the other side of the paper tube 160 (see reference). Figure 8 The height of (A)).

[0085] [5. Pull the feed roll P from the raw silk storage warehouse 32 into the feed roll feeding device 60] Next, refer to Figures 11-15 The form in which the wire feed roll P hanging on the storage side bobbin 38 is pulled from the storage side bobbin 38 into the robot side bobbin 70 by the wire feed roll supply device 60 is described. Figure 11 This is an example of a side view of the raw yarn storage tank 32 and the yarn feeding device 60 before the yarn is pulled from the storage tank-side bobbin 38 to the robot-side bobbin 70 into the yarn feed package P. More specifically, Figure 11 This is an example of a side view of the raw yarn storage warehouse 32 when the bobbin 50 moves to the front of the raw yarn storage warehouse 32, and the raw yarn storage warehouse 38 and the robot side bobbin 70 are facing each other. Figure 12 (A) Figure 12 (B) Figure 13 (A) Figure 13 (B) Figure 14 (A) Figure 14 (B) Figure 15 (A) Figure 15 (B) is an example of a diagram showing the sequence of events from when the feed roll P, hanging on the storage side bobbin 38, is pulled into the robot side bobbin 70. Furthermore, in Figures 11-15 For simplicity, only the wire feeding device 60 of the bobbin robot 50 is shown in the illustration. Additionally, Figures 11-15 The front end of the robot-side bobbin 70 shown in the illustration faces the raw silk storage casket 32 ​​(see reference). Figure 1 The vertical positional relationship between the vault-side shuttle core 38 and the robot-side shuttle core 70 is set such that the vault-side shuttle core 38 is slightly higher than the robot-side shuttle core 70.

[0086] like Figure 11 As shown, with the storage side bobbin 38 and the robot side bobbin 70 facing each other, cylinder 75 is in a retracted state before the feed roll P is pulled from the storage side bobbin 38 to the robot side bobbin 70. At this time, the ejector 92 passes through the aforementioned elastic member 110 (see reference). Figure 6 The pull-in component 100 is in a roughly horizontal position due to the action of the support roller 69. Meanwhile, the supported portion 85 is supported by the support roller 69, while the cylinder 75 is not supported by the support component 68.

[0087] When cylinder 75 from Figure 11 When the rod 77 moves in the direction of extension (when the rod 77 moves forward relative to the shell 76), such as Figure 12 As shown in (A) and (B), both the ejector 92 and the pull-in 100 move forward toward the storage compartment side bobbin 38. As the ejector 92 and pull-in 100 move forward, they are supported by the support roller 69 at the inclined portion 86 of the support portion 85. Therefore, the ejector mechanism 74 rotates downward about the second shaft member 136, and the ejector 92 and pull-in 100 are inclined downward with the hook portion 106 facing downward. Thus, the pull-in 100 can enter the hollow portion of the paper tube 160.

[0088] When cylinder 75 from Figure 12 When state (B) moves further in the elongation direction (the rod 77 moves further forward relative to the housing 76), the pushing member 92 and the pulling member 100 advance forward. That is, the pulling member 100 moves through the hollow portion of the paper tube 160 toward the end 162 on the other side of the paper tube 160. Additionally, as... Figure 13As shown in (A), instead of the support roller 69 supporting the fixed member 80, the cylinder 75 (more specifically, the housing 76) is supported by the support member 68. When the pull-in member 100 moves to the position where the hook 106 at its front end passes through the paper tube 160 and extends beyond the end 162 on the other side of the paper tube 160, as... Figure 13 As shown in (B), the hook portion 106 is located above the lifting portion 46. Furthermore, as described above, since an opening 36 is provided on the core support portion 35 on the storage side (see reference...), Figure 9 Therefore, the hook 106 passes through the opening 36 and moves above the lifting part 46.

[0089] When in Figure 13 When the lifting part 46 rotates upward about the support shaft 48 as the rotation axis in state (B), as Figure 14 As shown in (A), the hook 106 of the pull-in member 100 is raised to the height of the end 162 hooked on the other side of the paper tube 160, and the pull-in member 100 abuts against the end face 163 on the other side of the paper tube 160. When in Figure 14 When the cylinder 75 moves in the retracting direction in state (A) (when the rod 77 moves rearward relative to the housing 76), as Figure 14 As shown in (B), the hook 106 abuts against the end face 163 on the other side of the paper tube 160 and hooks onto the end 162 on the other side of the paper tube 160.

[0090] When in Figure 14 When the cylinder 75 moves further in the retracting direction in state (B) (when the rod 77 moves further rearward relative to the housing 76), the end face 163 on the other side of the paper tube 160 is pressed by the hook 106 of the pull-in component 100, and the feed roll P attached to the storage compartment side bobbin 38 moves rearward. Thus, the pull-in component 100 has the function of pulling the feed roll P attached to the storage compartment side bobbin 38 towards the robot side bobbin 70. Furthermore, as... Figure 15 As shown in (A), the wire feed roll P is attached to the robot-side bobbin 70. When in Figure 15 When the cylinder 75 moves further in the retracting direction in state (A) (when the rod 77 moves further rearward relative to the housing 76), as Figure 15 As shown in (B), the yarn feed roll P is fully moved to the robot-side bobbin 70, and the transfer of the yarn feed roll P from the storage side bobbin 38 to the robot-side bobbin 70 is completed. When the transfer of the yarn feed roll P from the storage side bobbin 38 to the robot-side bobbin 70 is completed, the bobbin holder robot 50 (refer to...) Figure 3The yarn feed roll P, transferred from the raw yarn storage 32, is moved to the bobbin holder 20 and supplied to it. When the bobbin holder robot 50 moves the yarn feed roll P, the hook 106 applies a force to the other end face 163 of the paper tube 160 in the retraction direction (rearward) of the cylinder 75. Additionally, one end face 161 of the paper tube 160 abuts against the wall 71. Therefore, when the bobbin holder robot 50 moves the yarn feed roll P, it can move it in a stable state, held by the hook 106 and the wall 71.

[0091] [6. Transfer of the wire feed roll P from the wire feed roll supply device 60 to the bobbin holder support 20] Next, refer to Figures 16-20 The form in which the wire feed roll P, which is transported from the cradle robot 50 to the cradle support 20, is transferred from the robot-side bobbin 70 to the cradle-side bobbin 28 by the wire feed roll supply device 60 is described. Figure 16 This is an example of a side view of the bobbin holder 20 and the yarn feeder 60 before the transfer of the yarn package P from the robot-side bobbin 70 to the bobbin-side bobbin 28. More specifically... Figure 16 This is an example of a side view of the bobbin holder 20 and the yarn feeding device 60 when the bobbin holder robot 50 moves to the front of the bobbin holder support 20, and the bobbin holder side bobbin 28 is facing the robot side bobbin 70. Figure 17 (A) Figure 17 (B) Figure 18 (A) Figure 18 (B) Figure 19 (A) Figure 19 (B) Figure 20 (A) Figure 20 (B) is an example of a diagram showing the sequence of events from when the feed roll P, hanging on the robot-side bobbin 70, is transferred to the bobbin-side bobbin 28. Furthermore, in Figures 16-20 For simplicity, only the wire feeding device 60 of the bobbin robot 50 is shown in the illustration. Furthermore, Figures 16-20 The illustrated bobbin support 20 is a bobbin support 20A positioned at the front relative to the track 16, with the front end of the robot-side spindle 70 facing the bobbin support 20A (see reference). Figure 1 However, although there is a difference between whether the yarn feeder 60 faces forward or backward, the way the yarn feeder P is transferred from the robot-side bobbin 70 to the bobbin 28 on the bobbin holder side is the same. Therefore, the bobbin holder 20A and bobbin holder 20B will not be distinguished below and will be referred to as bobbin holder 20.

[0092] like Figure 16As shown, with the bobbin holder 20 facing the robot-side bobbin 70, before the yarn feed package P is transferred from the robot-side bobbin 70 to the bobbin holder 28, the cylinder 75 is in a retracted state. At this time, the ejector 92 passes through the aforementioned elastic member 110 (see reference). Figure 6 The pull-in member 100 is positioned at its origin due to the action of the pull-in member 68, with its long side 102 remaining approximately horizontal. The supported part 85 is supported by the support roller 69, while the cylinder 75 is not supported by the support member 68. Furthermore, the robot-side bobbin 70 is positioned higher than the bobbin-side bobbin 28.

[0093] Furthermore, one end face 161 of the paper tube 160 abuts against the wall portion 71, and the other end face 162 of the paper tube 160 is hooked onto the hook portion 106. Therefore, when the yarn feed roll P is transported by the bobbin loader robot 50 to a position opposite to the bobbin loader side core 28, it is transported in a stable state clamped by the hook portion 106 and the wall portion 71.

[0094] When cylinder 75 from Figure 16 When the state begins to move in the direction of extension (when the rod 77 moves forward relative to the shell 76), such as Figure 17 As shown in (A), the push-out component 92 moves forward, and the contact surface 98 approaches the end face 161 of one side of the paper tube 160. At this time, the pull-in component 100 also moves forward, thereby releasing the hook 106 from the other end 162 of the paper tube 160.

[0095] When the lever 77 is from Figure 17 When state (A) moves further forward relative to shell 76, as Figure 17 As shown in (B), the ejector 92 presses the end face 161 of one side of the paper tube 160 with the abutment surface 98, and ejects the yarn feed roll P toward the bobbin 28 from the free end of the robot-side bobbin 70. In this way, the ejector 92 has the function of ejecting the yarn feed roll P hanging on the robot-side bobbin 70 toward the bobbin 28. Figure 17 The ejector 92 shown in (B) is in a position at or near the origin. Furthermore, the supported portion 85 is not supported by the support roller 69, the cylinder 75 rotates relative to the support member 132, and the pull-in member 100 tilts downwards with the hook portion 106 facing downwards. Thus, the end face 163 on the other side of the paper tube 160 does not interfere with the hook portion 106, allowing the feed roll P to be ejected towards the bobbin 28 on the bobbin holder side.

[0096] When the lever 77 is from Figure 17 When state (B) moves further forward relative to shell 76, the end face 161 on one side of paper tube 160 is pressed by abutment surface 98, such as Figure 18 (A) and Figure 18As shown in (B), the feed coil P moves further toward the bobbin 28 on the bobbin side. Here, it is assumed that the center of gravity G of the feed coil P is located on the centerline C passing through the center of the feed coil P in the axial direction. Figure 18 In (A), the center of gravity G is supported at the boundary portion 70a of the robot-side shuttle core 70. On the other hand, in Figure 18 In (B), the boundary portion 70a of the robot-side bobbin 70 is located further back than the center of gravity G, and the center of gravity G is not supported by the boundary portion 70a of the robot-side bobbin 70. When the center of gravity G of the yarn feed package P is not supported by the boundary portion 70a of the robot-side bobbin 70, the yarn feed package P, due to the height difference between the robot-side bobbin 70 and the bobbin 28 on the bobbin holder side, such as... Figure 18 As shown in (B), it is tilted counterclockwise in the plane of the paper. As the feed coil P is tilted counterclockwise, the ejector 92 also tilts counterclockwise in the same direction.

[0097] When the lever 77 is from Figure 18 When state (B) moves further forward relative to shell 76, end face 161 on one side of paper tube 160 is pressed by abutment surface 98, and the feed roll P moves further toward bobbin 28 on bobbin side. Thus, as Figure 19 As shown in (A), the other end 162 of the paper tube 160 of the feeding coil P is supported by the bobbin 28 on the bobbin side. Then, as the rod 77 moves further forward, the support of the robot-side bobbin 70 on the paper tube 160 is disengaged.

[0098] When the robot-side bobbin 70 detaches from the support of the paper tube 160, due to the height difference between the robot-side bobbin 70 and the bobbin holder-side bobbin 28, such as Figure 19 (A) Figure 19 (B) and Figure 20 As shown in (A), the yarn feed roll P oscillates in the height direction. At this time, the ejector 92 oscillates around the pivot 87, causing the contact surface 98 to follow one end face 161 of the paper tube 160. Specifically, as described above, the upper end face 161a and the lower end face 161b are in a line-symmetrical position relative to a horizontal centerline along the length direction passing through the radial center of the paper tube 160, thus enabling the ejector 92 to respond well to the oscillation of the yarn feed roll P. Furthermore, as described above, the ejector 92 is positioned between two horizontally and parallelly arranged robot-side bobbins 70, thus allowing the ejector 92 to smoothly and evenly eject the yarn feed roll P that is attached to the robot-side bobbins 70.

[0099] Furthermore, when the rod 77 moves from... Figure 20 When state (A) moves further forward relative to shell 76, as Figure 20As shown in (B), the wire feed roll P is supported by the bobbin 28 on the bobbin side over approximately the entire axial region of the paper tube 160.

[0100] In addition, such as Figure 20 As shown in (B), when the yarn feed package P is transferred from the robot-side bobbin 70 to the bobbin 28 on the bobbin holder side, the hook portion 106 may interfere with the bobbin support portion 25. Therefore, as Figure 2 As shown, a notch 26 is provided in the bobbin support portion 25 (see reference). Figure 2 The cut portion 26A), hook portion 106 and bobbin support portion 25 do not interfere with each other.

[0101] Furthermore, as described above, during the transfer of the yarn feed package P from the robot-side bobbin 70 to the bobbin 28 on the bobbin side, due to the height difference between the robot-side bobbin 70 and the bobbin 28 on the bobbin side, the yarn feed package P undergoes a swaying motion in the height direction (see reference). Figure 19 (A) Figure 19 (B) and Figure 20 (A) Therefore, if the abutment surface 98 of the ejector member 92 is not configured to rotate following the end face 161 on one side of the paper tube 160 (for example, if the abutment surface 98 of the ejector member 92 is fixed in an orthogonal position relative to the robot-side bobbin 70), the abutment surface 98 of the ejector member 92 may interfere with the yarn layer of the feed roll P, potentially causing damage to the yarn layer. In this regard, the ejector member 92 of this embodiment can swing about the support shaft 87 as the axis of rotation even if the feed roll P swings, so that the abutment surface 98 follows the end face 161 on one side of the paper tube 160. In this way, the ejector member 92 swings in accordance with the movement in the height direction of the ejected feed roll P, thus preventing interference between the ejector member 92 and the yarn layer of the feed roll P, and ejecting the feed roll P from the robot-side bobbin 70 without damaging the yarn layer of the feed roll P.

[0102] Furthermore, when the transfer of the yarn feed package P from the robot-side bobbin 70 to the bobbin 28 on the cradle side ends, the abutment surface 98 of the ejector component 92 is no longer in contact with the end face 161 on one side of the paper tube 160. The ejector component 92 then passes through the elastic member 110 (see reference). Figure 6 The device returns to its original position by function. Therefore, when the wire feed roll P is stored in the robot side bobbin 70, the ejector 92 can be raised, and when the wire feed roll P is ejected, the ejector 92 can respond well to the swinging motion of the wire feed roll P.

[0103] Furthermore, as described above, the rotation range of the movable member 90, which rotates around the support shaft 87, is limited to a certain range. For example, if the ejector member 92 rotates excessively, the contact surface 98 may not contact the end face 161 on one side of the paper tube 160, causing the ejector member 92 to enter the hollow portion of the paper tube 160, while the contact surface 98 cannot press against the end face 161 on one side of the paper tube 160. Therefore, by limiting the rotation range of the movable member 90, it is possible to prevent the contact surface 98 from failing to press against the end face 161 on one side of the paper tube 160.

[0104] [7. Effects] The yarn feeding device 60 of this embodiment includes: a robot-side bobbin 70, the front end of which is a free end, capable of attaching yarn to a paper tube 160 to form a yarn-coated yarn feed roll P; and an ejection mechanism 74 for ejecting the yarn feed roll P attached to the robot-side bobbin 70 from one end of the robot-side bobbin 70. The ejection mechanism 74 includes an ejection member 92 and a cylinder 75 for moving the ejection member 92 relative to the robot-side bobbin 70 in a direction from the base end of the robot-side bobbin 70 toward the front end and in a direction from the front end toward the base end. The ejection member 92 is configured to abut against two different portions in the height direction of the end face 161 on one side of the paper tube 160 to which the yarn feed roll P is attached when moving in the direction from the base end of the robot-side bobbin 70 toward the front end, and the portion that abuts against the end face 161 on one side of the paper tube 160 extends in the height direction. Furthermore, the ejector 92 is positioned horizontally away from the robot-side bobbin 70 and is configured to swing about a pivot point 87 in the height direction. This pivot 87 is located between the height directions of a first portion 981 and a second portion 982, which respectively abut against the upper end face 161a and lower end face 161b of the paper tube 160 of the feed roll P, which are different in height direction from the end face 161 on one side. With this feed roll supply device 60, even when the feed roll P swings in the height direction while being ejected from the robot-side bobbin 70, the ejector 92 also swings in the height direction in response to the movement of the feed roll P. Therefore, interference between the ejector 92 and the yarn layer of the feed roll P can be prevented, thereby preventing damage to the yarn layer. Thus, a feed roll supply device 60 is provided that can eject the feed roll P from the robot-side bobbin 70 without damaging the yarn layer of the feed roll P.

[0105] Furthermore, in the filament feeding device 60 of this embodiment, the upper end face 161a and the lower end face 161b are in a linearly symmetrical position with respect to the horizontal center line passing through the center of the paper tube 160. Therefore, the ejection member 92 can respond well to and follow the oscillating motion of the filament feeding device.

[0106] Furthermore, in the yarn feeder 60 of this embodiment, the robot-side bobbin 70 consists of two bobbin shaft components arranged horizontally and parallel to each other, and the ejector 92 is disposed between the two bobbin shaft components. Therefore, the yarn feeder 70 hanging on the yarn feeder holding part can be ejected in a balanced and good manner by means of the ejector, and the following performance of the ejector relative to the swinging motion of the yarn feeder is also good.

[0107] Furthermore, in the yarn feeder 60 of this embodiment, the ejector 92 is configured to maintain a predetermined upright posture when it does not come into contact with the end face 161 on one side of the paper tube 160. Therefore, when the yarn feeder P is received into the robot-side bobbin 70, the ejector 92 remains upright, so it does not become an obstacle when receiving the yarn feeder P.

[0108] Furthermore, in the yarn feed roll supply device 60 of this embodiment, the range of swinging motion of the ejector member 92 is limited to a predetermined direction by the fixed side elongated hole 88, the movable side shaft portion 104, the fixed side shaft member 84, and the movable side elongated hole 96. Additionally, an elastic member 110 is provided to apply an elastic force to the ejector member 92 in the predetermined direction, maintaining the ejector member 92 in a predetermined upright posture. Therefore, when the yarn feed roll P is housed in the robot-side bobbin 70, the ejector member 92 can be uprighted, and when the yarn feed roll P is ejected, the ejector member 92 can respond well to and follow the swinging motion of the yarn feed roll P.

[0109] [8. Variations] The embodiments of the present invention have been described above, but the present invention is not limited to the embodiments described above. For example, in the embodiments described above, when the ejector 92 ejects the feed roll P attached to the robot-side bobbin 70, the contact surface 98 abuts against both the upper end surface 161a and the lower end surface 161b. However, as long as the feed roll P attached to the robot-side bobbin 70 can be ejected in a balanced and good manner toward the bobbin 28 on the bobbin holder side without interference between the contact surface 98 and the yarn layer of the feed roll P, the method of ejecting the feed roll P using the ejector 92 is not limited to the above method.

[0110] Figure 21 The diagram shows a variation of the form of the feed coil P being ejected by the ejection component. Figure 21 (A) and (B) both represent the end face 161 on one side of the paper tube 160. For convenience, the wire feed roll P is not shown.

[0111] Figure 21 (A) represents a first variation of the ejection component, which is a diagram showing, for example, two ejection components 921A and 921B, replacing the ejection component 92. Figure 21In (A), for convenience, two ejection components 921A and 921B are represented by a single-dot dash.

[0112] exist Figure 21 In (A), two arbitrary surfaces on one side of the end face 161 of the paper tube 160, located above the radial center O of the paper tube 160 and different from the upper end face 161a, are designated as the first upper surface 161c and the second upper surface 161d. Furthermore, relative to a straight line S passing through the radial center O of the paper tube 160 and along the horizontal direction of the end face 161 on one side of the paper tube 160, the portion symmetrical to the first upper surface 161c is designated as the first lower surface 161e, and the portion symmetrical to the second upper surface 161d is designated as the second lower surface 161f. Figure 21 In (A), the upper end face 161a, the lower end face 161b, the first upper surface 161c, the second upper surface 161d, the first lower surface 161e, and the second lower surface 161f are each represented by an ellipse with oblique lines drawn inside.

[0113] Figure 21 The two ejection components 921A and 921B shown in (A) have the same shape as ejection component 92, but the portion pressed by the abutment surface in the end face 161 on one side of the paper tube 160 is different from that of ejection component 92. Specifically, ejection component 921A abuts at least with the first upper surface 161c and the first lower surface 161e. In addition, ejection component 921B abuts at least with the second upper surface 161d and the second lower surface 161f. In this way, the abutment surfaces of ejection components 921A and 921B can also eject the feed roll P, which is attached to the robot-side bobbin 70, toward the bobbin-side bobbin 28 in a balanced manner without interfering with the yarn layer of the feed roll P.

[0114] Figure 21 (B) represents a second variation of the ejection component, shown in a diagram where ejection component 922 is provided instead of ejection component 92. Figure 21 In (B), for convenience, the ejection component 922 is represented by a single-dot dash.

[0115] exist Figure 21 In (B), two arbitrary surfaces on one side end face 161 of the paper tube 160, located above the radial center O of the paper tube 160 and below the robot-side bobbin 70, and different from the upper end face 161a, are designated as the third upper surface 161g and the fourth upper surface 161h. Furthermore, relative to a straight line S passing through the radial center O of the paper tube 160 and along the horizontal direction of the end face 161 on one side of the paper tube 160, the portion symmetrical to the third upper surface 161g is designated as the third lower surface 161i, and the portion symmetrical to the fourth upper surface 161h is designated as the fourth lower surface 161j. Figure 21In (B), the third upper surface 161g, the fourth upper surface 161h, the third lower surface 161i, and the fourth lower surface 161j are represented by ellipses with oblique lines drawn inside, while the illustrations of the upper end face 161a and the lower end face 161b are omitted.

[0116] Figure 21 The ejector 922 shown in (B) is a horizontally elongated rectangular plate component, positioned below the robot-side bobbin 70 to avoid it. The ejector 922 abuts against at least the third upper surface 161g, the fourth upper surface 161h, the third lower surface 161i, and the fourth lower surface 161j. In this manner, the abutting surface of the ejector 922 can also eject the yarn package P, which is attached to the robot-side bobbin 70, toward the bobbin-side bobbin 28 in a balanced manner without interfering with the yarn layer of the yarn package P.

[0117] Furthermore, other methods are also possible, as long as the abutment surface of the ejector 922 can be well balanced and evenly pushed towards the bobbin 28 towards the bobbin 28, so that the feed roll P hanging on the robot-side bobbin 70 is not interfered with by the yarn layer of the feed roll P. For example, it is also possible to press multiple parts of the end face 161 on one side of the paper tube 160 that are at point-symmetrical positions relative to the radial center O of the paper tube 160.

[0118] Furthermore, in the above-described embodiment, by supporting the ejector member 92 on a support shaft 87 with the horizontal left-right direction as the axial direction, the ejector member 92 follows the oscillating motion of the wire feed coil P when ejecting it. However, the structure is not limited to the above-described structure as long as the ejector member 92 can follow the oscillating motion of the wire feed coil P. For example, a ball joint, which can rotate in any direction by contacting the socket with the spherical surface of the ball head bolt, can also be used to make the ejector member follow the oscillating motion of the wire feed coil P.

Claims

1. A wire feeding coil supply device, comprising: The feeding holding part has a free end, which can be hung on the cylindrical component to wind the filament into a feeding package with a filament layer; and An ejection mechanism is used to eject the yarn feed package attached to the yarn feed holding part from one end of the yarn feed holding part. The launching mechanism has: Launching components; and The ejector drive unit causes the ejector to move relative to the wire feed holder in both directions: from one end toward the other end and from one end toward the other end. The ejection component is... The device is configured such that, when moved in a direction from one end of the yarn feed holding portion toward the other end, it abuts against at least a first portion and a second portion that are different in height direction from the end face of the cylindrical component of the yarn feed winding that is attached to the yarn feed holding portion. Furthermore, it is a component formed such that at least the portion abutting against the end face of the cylindrical component extends along the height direction. Furthermore, it is positioned to avoid the wire feeding holding part in the horizontal direction. Furthermore, it is configured to swing in the height direction with the first part and the second part, which are respectively abutting each other in the height direction of the first part and the second part, which are different from the height direction of the end face of the cylindrical component of the feed coil, as a pivot point, and the swinging motion follows the movement in the height direction of the pushed feed coil.

2. The wire feeding coil supply device according to claim 1, wherein, The first portion and the second portion are in a line-symmetrical position with respect to the horizontal centerline passing through the center of the cylindrical component, or in a point-symmetrical position with respect to the radial center of the cylindrical component.

3. The feeding coil supply device according to claim 1 or 2, wherein, The yarn feeding holding part consists of two horizontally and parallel bobbin shaft components. The ejection component is disposed between the two bobbin shaft components.

4. The feeding coil supply device according to any one of claims 1 to 3, wherein, The ejector component is configured to maintain a predetermined upright posture when it is not in contact with the end face of the cylindrical component.

5. The wire feeding coil supply device according to claim 4, wherein, The device is configured to include a limiting mechanism that restricts the range of swinging motion of the ejector component to a predetermined direction, and an elastic force applying mechanism that applies an elastic force to the ejector component in the predetermined direction, wherein the ejector component maintains a predetermined upright posture.

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