Yarn package supply device

Abstract

The present invention provides a yarn package feeding device that can push out a yarn package, which is hung on a peg shaft, from the peg shaft without damaging the yarn layer of the yarn package. [Solution] A peg 70 that has a free end at its tip and can hold a yarn supply package P on which yarn is wound around a paper tube 160 to form a yarn layer, and the yarn supply package P that is hung on the peg 70 edge The system includes an extrusion mechanism for pushing out the material. The extrusion mechanism includes an extrusion member 92 and a cylinder 75 for moving the extrusion member 92 toward one end. The extrusion member 92 is configured to contact different first and second portions in the height direction of the end face of the paper tube 160 of the yarn supply package P when moving toward one end, and is configured to be able to swing like a pendulum in the height direction with a pivot shaft 87 provided between the first and second portions that contact the first and second portions, respectively, as the pivot point.

Description

Technical Field

[0001] The present invention relates to a yarn supply package feeding device.

Background Art

[0002] In a false twisting processing system, there is known a yarn supply exchange robot that transports a yarn supply package in which yarn is wound around a cylindrical paper tube to form a yarn layer to a creel for supply (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a yarn supply exchange robot 4 that inserts a full package 6a into a peg shaft 7 of a creel 2. This yarn supply exchange robot 4 includes a yarn supply and delivery device (yarn supply package feeding device) 75 having an air cylinder 83, a holder 86 that supports the air cylinder 83, and a package engagement and disengagement member 85 composed of plates 91 and 93. A peg shaft 88 is fixed to the tip of the holder 86. When the yarn supply and delivery device 75 delivers a yarn supply package 6a to the peg shaft of the creel 2, the plates 91 and 93 enter into the paper tube 8 due to the extension of the air cylinder 83. A pressing plate 89 that abuts against the axial end of the paper tube 8 is attached to the tip of the piston rod 84 of the air cylinder 83. When inserting the yarn supply package 6a supported by the peg shaft 88 into the peg shaft 7 of the creel 2, the pressing plate 89 pushes out the yarn supply package 6a as the air cylinder 83 extends, and the yarn supply package 6a is delivered from the peg shaft 88 to the peg shaft 7 of the creel 2.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The yarn feeding and transfer device disclosed in Patent Document 1, as shown in Figure 7 of the same document, has a height difference between the peg shaft 88 and the peg shaft 7 of the creel 2. When the yarn feeding package is pushed out from the peg shaft 88 and transferred to the peg shaft 7 of the creel 2, the aforementioned height difference causes the yarn feeding package to swing like a pendulum in the vertical direction. When the yarn feeding package swings like a pendulum in the vertical direction, the yarn layer of the yarn feeding package may come into contact with the presser plate 89, potentially damaging the yarn layer of the yarn feeding package.

[0006] The present invention has been made in view of the above problems, and aims to provide a yarn supply package supply device that can push out a yarn supply package hung on a peg shaft without damaging the yarn layer of the yarn supply package. [Means for solving the problem]

[0007] (1) The yarn package supply device of the present invention is A yarn supply holding section has one end as a free end and can hold a yarn supply package on which yarn is wound around a cylindrical member to form a yarn layer, An extrusion mechanism for pushing out the yarn package placed on the yarn holding section from one end of the yarn holding section, Equipped with, The extrusion mechanism described above is Extruded member and An extrusion member drive unit moves the extrusion member relative to the yarn supply holding unit in the direction from the other end to one end and from one end to the other end, It has, The extruded member is When the yarn-feeding and holding portion moves from one end to the other end, it is configured to contact at least two different first and second portions in the height direction of the end face of the cylindrical member of the yarn-feeding package that is hung on the yarn-feeding and holding portion. Furthermore, the member is formed such that at least the portion that contacts the end face of the cylindrical member extends in the height direction, Furthermore, it is provided in a position that avoids the aforementioned yarn feeding and holding section in the horizontal direction. Furthermore, the end face of the cylindrical member of the yarn supply package is in contact with the first and second portions, which are different in the height direction. The first It is configured to be able to swing like a pendulum in the height direction, with the point of rotation between part 1 and part 2 in the height direction as the pivot point. Nari , The aforementioned pendulum motion follows the vertical movement of the yarn supply package being pushed out. .

[0008] According to the yarn package supply device described in (1) above, even if the yarn package swings vertically when it is pushed out from the yarn holding section, the extrusion member swings vertically in accordance with the movement of the yarn package. This prevents the extrusion member from interfering with the yarn layer of the yarn package, and thus prevents damage to the yarn layer. Therefore, it is possible to provide a yarn package supply device that can push out the yarn package from the yarn holding section without damaging the yarn layer of the yarn package.

[0009] (2) In the yarn package supply device described in (1) above, The first portion and the second portion are positioned symmetrically with respect to a horizontal center line passing through the center of the cylindrical member, or point-symmetrically with respect to the radial center of the cylindrical member. It is preferable.

[0010] According to the yarn package supply device described in (2) above, the extrusion member is positioned to contact the first and second portions, which are either line-symmetrical with respect to a horizontal center line passing through the center of the cylindrical member or point-symmetrical with respect to the radial center of the cylindrical member. This allows the extrusion member to respond well to the pendulum motion of the yarn package.

[0011] (3) In the yarn package supply device described in (1) or (2) above, The aforementioned yarn-feeding and holding section consists of two peg shaft members arranged horizontally and parallel to each other. The extruded member is provided between the two peg shaft members. It is preferable.

[0012] According to the yarn package supply device described in (3) above, the yarn package hung on the yarn holding part can be pushed out evenly by the pushing member, and the followability of the pushing member with respect to the pendulum movement of the yarn package is also improved.

[0013] (4) In the yarn package supply device according to any one of (1) to (3) above, The pushing member is configured to maintain a predetermined standing posture when it is not in contact with the end surface of the cylindrical member. This is preferable.

[0014] According to the yarn package supply device described in (4) above, when the yarn package is received by the yarn holding part, the pushing member maintains a standing state, so the pushing member does not become an obstacle when receiving the yarn package.

[0015] (5) In the yarn package supply device according to (4) above, A regulating mechanism for regulating the range in which the pushing member can perform pendulum movement in a predetermined direction and an elastic force applying means for applying an elastic force to the pushing member in the predetermined direction are provided, and the pushing member is configured to maintain a predetermined standing posture. This is preferable.

[0016] According to the yarn package supply device described in (5) above, when receiving the yarn package by the yarn holding part, the pushing member can be made to stand up, and when pushing out the yarn package, the pushing member can follow the pendulum movement of the yarn package in a responsive manner.

Brief Description of the Drawings

[0017] [Figure 1] It is an example of a plan view schematically showing the overall layout configuration of the false twist processing system. [Figure 2] It is an example of a perspective view schematically showing a creel stand, a rail, and a creel robot in the false twist processing system. [Figure 3]This is an example of a schematic perspective view illustrating a creel robot. [Figure 4] This is an example of a perspective view of the yarn supply package device, seen from above with the robot-side peg facing forward. [Figure 5] This is an example of a perspective view of the yarn supply package device, with the robot-side peg facing the back. [Figure 6] This is an example of a perspective view of the extrusion mechanism, seen from the upper left front side. [Figure 7] This is an example of a perspective view of the extrusion mechanism, seen from the upper right front side. [Figure 8] This is an example diagram showing how a yarn supply package, which is attached to a robot-side peg, is transferred to a creel-side peg. (A) is a side view, and (B) is a perspective view. [Figure 9] This is an example of a perspective view showing how yarn supply packages are temporarily stored in a yarn storage facility. [Figure 10] This is an example of a perspective view of a yarn storage facility seen from the rear. [Figure 11] This is an example of a side view of the yarn storage unit and yarn package supply device before the yarn package is pulled out from the storage unit side peg to the robot side peg. [Figure 12] This is an example of a diagram (Figure 1) that shows the sequence of events from when the yarn supply package, which is hung on the storage unit's peg, is pulled out onto the robot's peg. [Figure 13] This is an example of a diagram (Figure for Step 2) that shows the sequence of events from when the yarn supply package, which is hung on the storage unit's peg, is pulled out onto the robot's peg. [Figure 14] This is an example of a diagram (diagram of step 3) that shows the sequence of events from when the yarn supply package, which is hung on the storage unit's peg, is pulled out onto the robot's peg. [Figure 15] This is an example of a diagram (Figure 4) that shows the sequence of events from when the yarn supply package, which is hung on the storage unit's peg, is pulled out onto the robot's peg. [Figure 16]This is an example of a side view of the creel stand and yarn package supply device before the yarn package is transferred from the robot-side peg to the creel-side peg. [Figure 17] This is an example of a diagram (Figure 1) that shows the process in chronological order from the transfer of the yarn supply package, which is attached to the robot-side peg, to the creel-side peg. [Figure 18] This is an example of a diagram (Figure 2) that shows the process in chronological order from the transfer of the yarn supply package, which is attached to the robot-side peg, to the creel-side peg. [Figure 19] This is an example of a diagram (diagram of step 3) that shows the process in chronological order from the transfer of the yarn supply package, which is attached to the robot-side peg, to the creel-side peg. [Figure 20] This is an example of a diagram (Figure 4) that shows the process in chronological order from the transfer of the yarn supply package, which is attached to the robot-side peg, to the creel-side peg. [Figure 21] This figure shows variations in the modification of the method of extruding the yarn supply package P using an extrusion member. [Modes for carrying out the invention]

[0018] Hereinafter, embodiments for carrying out the present invention will be described with reference to Figures 1 to 21. For the sake of explanation, in this specification, the front-back direction, left-right direction, and up-down direction are defined as shown in each figure. The front-back direction, left-right direction, and up-down direction are orthogonal to each other. In this embodiment, the direction in which the yarn supply package P, which is hung on the robot-side peg 70 (described later), is pushed toward the creel-side peg 28 is defined as "front".

[0019] [1. Overview of False Twist Processing System 1] First, an overview of the false twisting system 1 will be described with reference to Figures 1 and 2. Figure 1 is an example of a schematic plan view showing the overall arrangement of the false twisting system 1.

[0020] As shown in Figure 1, in the false twisting system 1 to which this embodiment is applied, a long, straight rail 16 is provided along the left-right direction. The creel robot 50 travels along this rail 16 and supplies the yarn supply package P (see, for example, Figure 8 described later) to the creel stand 20. The yarn supply package P is a cylindrical paper tube 160 (see, for example, Figure 8 described later) with yarn wound around it, and is a winding-type package for supplying yarn used in manufacturing processes such as false twisting machines. Examples of yarn wound around the paper tube 160 include synthetic fibers such as polyester. Note that the "paper tube" mentioned above corresponds to the "cylindrical member" of the present invention.

[0021] The creel stand 20 includes a creel stand 20A positioned on the front side of the rail 16 and a creel stand 20B positioned on the rear side of the rail 16. Although the orientation of the creel stands 20A and 20B differs, they have the same configuration. The creel robot 50 (see, for example, Figure 2 described later) can supply the yarn supply package P (see, for example, Figure 8 described later) to either the creel stand 20A or the creel stand 20B.

[0022] A machine stand (false twisting machine) 10A is provided on the front side of the creel stand 20A. The machine stand 10A mainly comprises, for example, a false twisting section 12A and a winding section 14A. Yarn unwound from a yarn supply package P (see, for example, Figure 8 described later) is supplied to the false twisting section 12A from the creel stand 20A. The yarn supplied from the creel stand 20A to the false twisting section is false twisted in the false twisting section 12A and then wound up in the winding section 14A.

[0023] A machine stand (false twisting machine) 10B is provided on the rear side of the creel stand 20B. The machine stand 10B mainly comprises, for example, a false twisting section 12B and a winding section 14B. Yarn unwound from a yarn supply package P (see, for example, Figure 8 described later) is supplied to the false twisting section 12B from the creel stand 20B. The yarn supplied from the creel stand 20B to the false twisting section is false twisted in the false twisting section 12B and then wound up in the winding section 14B.

[0024] For example, to the left of the creel stand 20A, adjacent to the creel stand 20A, is a yarn storage unit 32. The yarn storage unit 32 is supplied with yarn packages P from a conveying device (not shown) and can temporarily store multiple yarn packages P (see, for example, Figure 8 described later). The yarn packages P temporarily stored in the yarn storage unit 32 are retrieved by the creel robot 50 (see Figure 2) and transported to the creel stands 20A and 20B for supply.

[0025] The false twisting system 1 to which this embodiment is applied has creel stands 20A and 20B on both the front and rear sides of the rail 16, and is configured so that the creel robot 50 can supply the yarn packages P to either creel stand 20A or 20B, but is not limited to this configuration. For example, the false twisting system may have creel stands 20 only on the front or rear side of the rail 16, and is configured so that the creel robot 50 can supply the yarn packages P to these creel stands 20.

[0026] [2. Creel Stand 20] The creel stand 20 described above will be explained with reference to Figure 2. Figure 2 is an example of a schematic perspective view showing the creel stand 20A, rail 16, and creel robot 50 of the false twisting system 1. As mentioned above, the creel stand 20A and the creel stand 20B (see Figure 1) have the same configuration, so below we will mainly explain the creel stand 20A, and omit the explanation of the configuration of the creel stand 20B.

[0027] As shown in Figure 2, the creel stand 20A has a plurality of stand bodies 21A arranged along the rail 16 at predetermined intervals in the left-right direction. In Figure 2, five stand bodies 21A are shown along the left-right direction, but the number of stand bodies 21A is not limited to this.

[0028] The stand body 21A includes, for example, two support columns 22A arranged at a predetermined interval in the left-right direction along the rail 16, one support column 23A arranged on the opposite side of the rail 16 from the support columns 22A, and a plurality of partition plates 24A in the vertical direction. Each support column 22A has a pair of pegs 28A on which a yarn supply package P can be hung, and a peg support section 25A that supports this pair of pegs 28A, as shown in the enlarged view in Figure 2.

[0029] The peg 28A has its base end supported by the peg support part 25A and its tip is a free end, allowing it to hold a yarn supply package P that has been wound around a paper tube 160 to form a yarn layer. The peg support part 25A is provided on the support column 22A so that it can rotate with the axial direction of the support column 22A as the axis of rotation. When the peg support part 25A is rotated with the axial direction of the support column 22A as the axis of rotation, the direction in which the tip of the peg 28A faces (i.e., the axial direction of the peg 28A) changes. When a yarn supply package is supplied from the creel robot 50, the peg support part 25A is rotated so that the tip of the peg 28A faces towards the creel robot 50. Although not shown in Figure 2, multiple pegs 28A and peg support parts 25A are provided in the vertical direction corresponding to the partition plate 24A. Furthermore, the peg support portion 25A has a notch 26A, the function of which will be described later. Note that the "tip portion" and "base portion" of the peg 28A correspond to the "one end" and "other end" of the present invention, respectively.

[0030] Hereafter in this specification, unless it is necessary to distinguish between the creel stand 20A and the creel stand 20B, they will simply be referred to as the creel stand 20. The same applies to the peg support portion 25 and the peg 28.

[0031] [3. Creel Robot 50] The overview of the creel robot 50 described above will be explained with reference to Figure 3. Figure 3 is an example of a schematic perspective view showing the creel robot 50.

[0032] [3-1. Overview of Creel Robot 50] As shown in Figure 3, the creel robot 50 mainly comprises a main body 52, a traveling mechanism 54, a yarn package supply device 60, a paper tube recovery device 150, a lifting mechanism 55, and a rotating mechanism 56.

[0033] The main body 52 is elongated vertically to have a height similar to that of the creel stand 20A (see Figure 2). The traveling mechanism 54 is configured to move horizontally along the rail 16 (see Figure 2). This allows the creel robot 50 to move between the yarn storage 32 (see Figure 1) and the creel stand 20, which is the destination for the yarn supply package P (see, for example, Figure 8 described later).

[0034] The yarn package supply device 60 is supported by the main body 52 and has the function of drawing yarn packages P (see, for example, Figure 8, described later) from the raw yarn storage 32 (see Figure 1) onto the robot-side pegs 70, and the function of pushing the yarn packages P received from the raw yarn storage 32 onto the creel stand 20 for transfer. The detailed structure of the yarn package supply device 60 will be described later, but the yarn package supply device 60 has a pair of pegs 70 on which yarn packages P (see, for example, Figure 8) can be hung.

[0035] Hereinafter, in this specification, the peg 70 of the yarn supply package supply device 60 will be referred to as the "robot-side peg 70," and the peg 28 of the creel stand 20 (see Figure 2 for both) will be referred to as the "creel-side peg 28." The "robot-side peg 70" mentioned above corresponds to the "yarn-feeding holding unit" of the present invention.

[0036] The paper tube recovery device 150 is supported by the main body 52 via the yarn package supply device 60 and is a device that recovers paper tubes (hereinafter referred to as "empty paper tubes") after the yarn has been unwound from the creel-side peg 28 (see Figure 2). The recovered empty paper tubes are collected in a collection box (not shown).

[0037] The lifting mechanism 55 is a mechanism that raises and lowers the yarn package supply device 60 and the paper tube recovery device 150 in the vertical direction. As described above, since there are multiple creel-side pegs 28 in the vertical direction, the yarn package supply device 60 and the paper tube recovery device 150 are raised and lowered according to the height of the creel-side pegs 28 that are the destinations for receiving the yarn packages P (see, for example, Figure 8 described later) or for recovering empty paper tubes.

[0038] The rotation mechanism 56 is a mechanism that rotates both the yarn package supply device 60 and the paper tube recovery device 150 using a shaft member 57 with the vertical direction as the axis of rotation. In Figure 3, the tip of the robot-side peg 70 is facing left, and the paper tube recovery device 150 (more specifically, the open part of the paper tube recovery device 150) is facing rear. As described above, the creel stand 20 consists of a creel stand 20A (see Figure 1) positioned in front of the rail 16 and a creel stand 20 behind the rail 16. Placed The system includes a creel stand 20B (see Figure 1). Therefore, when transferring a yarn package P to the creel-side peg 28A (see Figure 2) of the creel stand 20A, the rotation mechanism 56 rotates both the yarn package supply device 60 and the paper tube recovery device 150 so that the tip of the robot-side peg 70 faces forward. On the other hand, when transferring a yarn package P to the creel-side peg 28B (not reference numeral in the figure) of the creel stand 20B, the rotation mechanism 56 rotates both the yarn package supply device 60 and the paper tube recovery device 150 so that the tip of the robot-side peg 70 faces backward. Furthermore, when recovering an empty paper tube from the creel-side peg 28A of the creel stand 20A, the rotation mechanism 56 rotates both the yarn package supply device 60 and the paper tube recovery device 150 so that the paper tube recovery device 150 faces forward. On the other hand, when retrieving an empty paper tube from the creel-side peg 28B (not referenced in the figure) of the creel stand 20B, the rotating mechanism 56 rotates both the yarn package supply device 60 and the paper tube retrieval device 150 so that the paper tube retrieval device 150 faces the rear.

[0039] [3-2. Yarn supply package feeding device 60] Next, the detailed structure of the yarn package supply device 60 will be described with reference to Figures 4 and 5. Figure 4 is an example of a perspective view of the yarn package supply device 60 when viewed from above with the robot-side peg facing forward. Figure 5 is an example of a perspective view of the yarn package supply device 60 when viewed with the robot-side peg facing backward. That is, in Figures 4 and 5, the tip of the robot-side peg 70 is facing towards the creel stand 20A.

[0040] As shown in Figures 4 and 5, the yarn package supply device 60 mainly consists of a base portion 62 supported by the main body portion 52 of the creel robot 50 (see Figure 3 in both cases), a pair of robot-side pegs 70, an extrusion mechanism 74 that can move forward and backward relative to the base portion 62, and a reaction force absorption mechanism 130. The base portion 62 is rotatable relative to the main body portion 52 with a shaft member 57 (see Figure 3) as the axis of rotation, while being fixed relative to the main body portion 52 in the front-rear, left-right, and up-down directions.

[0041] (Base section 62) The base portion 62 mainly consists of a horizontal portion 63, which has a horizontal upper surface, and a front portion 64 that extends downward from the front end of the horizontal portion 63. The front portion 64 is a surface that is aligned in the left-right and up-down directions. In the middle of the horizontal portion 63 in the front-rear direction, there is a cylinder support frame 66 for supporting the cylinder 75 described later. The front portion 64 and the cylinder support frame 66 each have an opening 65 and an opening 67, respectively, so that the cylinder 75 described later can be inserted through them.

[0042] The opening 65 of the front section 64 is described later. Supported portion 85 of the fixing member 80 (figure 6 A support roller 69 is provided that can support the cylinder (see reference) from below. The opening 67 of the cylinder support frame 66 is provided with a support member 68 that can support the cylinder 75 (described later) from below.

[0043] (Robot-side peg 70) The pair of robot-side pegs 70 are provided horizontally and parallel to each other, with their tips being free ends. The base ends of the pair of robot-side pegs 70 are fixed to the front portion 64 of the base portion 62 so that their axial direction is horizontal, and a yarn supply package P, which has a yarn layer formed by winding yarn around the paper tube 160, can be hung on them. In Figures 4 and 5, the pair of robot-side pegs 70 are provided so as to extend from the front portion 64 toward the creel stand 20A side (i.e., the front side). The tips of the pair of robot-side pegs 70 are inclined downward. In this specification, the boundary between the horizontal portion and the downward-inclined portion of the pair of robot-side pegs 70 is referred to as the "boundary portion 70a". At positions adjacent to the left and right of the pair of robot-side pegs 70, there are wall portions 71 that can abut against one end face 161 of the paper tube 160 in the axial direction (see Figure 8 described later). This wall portion 71 is attached to the front portion 64 of the base portion 62 via a wall mounting member 72.

[0044] (Extrusion mechanism 74) The extrusion mechanism 74 is a mechanism for pushing out the yarn supply package P, which is hung on the robot-side peg 70, from the free end of the robot-side peg 70. The extrusion mechanism 74 mainly comprises a cylinder 75 that is extendable and retractable relative to the base portion 62, i.e., the main body portion 52 of the creel robot 50, a fixing member 80 fixed to the cylinder 75, and a movable member 90 that is movably provided relative to the fixing member 80. The above-mentioned "cylinder 75" corresponds to the "extrusion member drive unit" of the present invention.

[0045] The cylinder 75 moves the extrusion member 92, described later, relative to the robot-side peg 70 within a predetermined range in the direction from the base end to the tip end and from the tip end to the base end. The cylinder 75 has a longitudinal shell portion 76 and a rod portion 77 (see Figures 6 and 7 described later), and an air cylinder, for example, is used. The rod portion 77 is extendable and retractable relative to the shell portion 76 along the axial direction.

[0046] The fixed member 80 and the movable member 90 will be described with reference to Figures 6 and 7. Figure 6 is an example of a perspective view of the extrusion mechanism 74 (excluding the shell portion 76) as seen from the upper left front side. Figure 7 is an example of a perspective view of the extrusion mechanism 74 (excluding the shell portion 76) as seen from the upper right front side. Note that the directions shown in Figures 6 and 7 indicate the direction when the tip of the robot-side peg 70 (see Figure 4) is facing the creel stand 20A (see Figure 1).

[0047] The fixing member 80 mainly comprises a base portion 82 and a supported portion 85 that can be supported by the support roller 69 (see Figures 4 and 5) described above. The base portion 82 is a member that is substantially L-shaped in plan view and is fixed to the tip of the rod portion 77. The base portion 82 has a fixing-side shaft member 84 whose axis is oriented in the left-right direction. The supported portion 85 is a flat plate-shaped longitudinal member having planes along the front-rear and up-down directions and is fixed to the base portion 82. The supported portion 85 has a tapered portion 86 at its rear end (rear end in Figure 6) that slopes upward from the front to the rear. The supported portion 85 has a support shaft 87 (see Figure 6) whose axis is oriented horizontally in the left-right direction, located diagonally forward and downward from the fixing-side shaft member 84. The supported portion 85 also has an elongated hole (hereinafter referred to as "fixing-side elongated hole 88 (see Figure 7)") that is elongated in the vertical direction, located diagonally backward and downward from the fixing-side shaft member 84.

[0048] The movable member 90 includes an extrusion member 92 and a retraction member 100. The extrusion member 92, the retraction member 100, and the movable side shaft portion 104 are integrally configured. The functions of the extrusion member 92 and the retraction member 100 will be described later.

[0049] The extrusion member 92 is a member that is substantially L-shaped in plan view and has a side portion 94 having planes along the front-rear and up-down directions, and a contact surface 98 having planes along the left-right and up-down directions. The contact surface 98 allows the first portion 981 and the second portion 982, which are different in the up-down direction (height direction), to contact the end face 161 of one side of the paper tube 160 (see, for example, Figure 8 described later) at the upper end face 161a and the lower end face 161b, respectively. The portion of the extrusion member 92 that contacts the end face 161 of one side of the paper tube 160 extends in the height direction, and is pivotally supported by a support shaft 87 (see Figure 6) at the side portion 94, so that it can rotate with respect to the fixing member 80 (more specifically, the base 82) with the support shaft 87 as the axis of rotation. The support shaft 87 is provided between the first portion 981 and the second portion 982 in the height direction. The above-mentioned "support shaft 87" corresponds to the "shaft member" of the present invention.

[0050] The extruded member 92 has a movable shaft portion 104 on its side portion 94, with the left-right direction as its axial direction. This movable shaft portion 104 engages with the fixed elongated hole 88 described above. The extruded member 92 also has an elongated hole (hereinafter referred to as "movable elongated hole 96 (see Figure 6)") that engages with the fixed shaft member 84 described above. The engagement of the fixed elongated hole 88 and the movable shaft portion 104, and the engagement of the fixed shaft member 84 and the movable elongated hole 96, restricts the rotation range of the extruded member 92, which rotates relative to the fixed member 80 with the support shaft 87 as the axis of rotation, so that it remains within a certain range. The rotation range of the extrusion member 92, defined by the fixed shaft member 84, the movable elongated hole 96, the fixed elongated hole 88, and the movable shaft portion 104, includes the position in which the contact surface 98 of the movable member 90 is upright so as to be perpendicular to the robot-side peg 70 (i.e., a position along the vertical direction, which will be hereinafter referred to as the "origin position"). Then, with the origin position as a reference, the movable member 90 can rotate within a certain range in one direction (the direction in which the contact surface 98 faces downward) with the support shaft 87 as the axis of rotation. The "fixed elongated hole 88," "movable shaft portion 104," "fixed shaft member 84," and "movable elongated hole 96" described above correspond to the "regulating mechanism" of the present invention.

[0051] The retraction member 100 is a flat, elongated member having planes along the front-rear and up-down directions, similar to the supported portion 85, and extends forward from the central part in the up-down direction of the contact surface 98. The retraction member 100 has an elongated portion 102 that is horizontal in the front-rear direction, and a hook portion 106 provided at the front end of the elongated portion 102. As described above, the retraction member 100 is Extruded member 92 Because it is integrally constructed, the pivot shaft 87 is the axis of rotation relative to the fixed member 80 Extruded member 92 As it rotates, the pull-in member 100 also rotates accordingly.

[0052] An elastic member 110 is provided between the support shaft 87, which is a member on the fixed member 80 side, and the movable shaft portion 104, which is a member on the movable member 90 side. This elastic member 110 is, for example, a torsion spring, with one end of the torsion spring connected to the base portion 82 and the other end of the torsion spring connected to the movable shaft portion 104. The elastic member 110 is configured to act on the movable member 90 in a direction opposite to the direction in which it rotated when the movable member 90 rotates in one direction with the support shaft 87 as the axis of rotation, relative to the origin position. In other words, the movable member 90 is subjected to an elastic force by the elastic member 110 in a direction that returns the movable member 90 to the origin position. Note that the elastic member 110 is not limited to a torsion spring as long as it can act on the movable member 90 in a direction that returns it to the origin position. Note that the "elastic member 110" described above corresponds to the "elastic force applying means" of the present invention.

[0053] Next, the operation of the movable member 90 will be explained with reference to Figure 8. Figure 8 is an example of a diagram showing how the yarn supply package P, which is hung on the robot-side peg 70, is transferred to the creel-side peg 28, and is (A) a side view and (B) a perspective view.

[0054] As shown in Figures 8(A) and (B), the extrusion member 92 is positioned between the pair of robot-side pegs 70 so as to avoid them horizontally. The contact surface 98 of the extrusion member 92 contacts and presses against both the upper end surface 161a (see Figure 8(B)) and the lower end surface 161b (see Figure 8(B)), which are portions of one end surface 161 of the paper tube 160 in the axial direction, passing through the radial center of the paper tube 160 and lying on a straight line in the vertical direction along the one end surface 161 of the paper tube 160. The upper end surface 161a and the lower end surface 161b are symmetrical with respect to a horizontal center line along the longitudinal direction passing through the radial center of the paper tube 160. The robot-side pegs 70 are positioned above the creel-side pegs 28, and their tips are inclined downwards. In this way, the yarn supply package P, which is attached to the robot-side peg 70, is pushed out toward the creel-side peg 28 in a balanced manner, allowing for a smooth transfer from the robot-side peg 70 to the creel-side peg 28. The "upper end surface 161a" described above corresponds to the "first part" of the present invention, and the "lower end surface 161b" described above corresponds to the "second part" of the present invention.

[0055] In this specification, of the two end faces of the paper tube 160 in the axial direction, the one that can come into contact with the contact surface 98 will be referred to as "one end face 161 of the paper tube 160," and the end face opposite to the one end face 161 will be referred to as "the other end face 163." Furthermore, the portion of the paper tube 160 that is hooked by the hook portion 106 will be referred to as "the other end 162."

[0056] (Reaction force absorption mechanism 130) Returning to Figures 4 and 5, the reaction force absorption mechanism 130 will be briefly explained. The reaction force absorption mechanism 130 is a mechanism that absorbs a force greater than the force required to push out the yarn package P when it acts on the cylinder 75 in a rearward direction (from the tip to the base of the robot-side peg 70).

[0057] The reaction force absorption mechanism 130 mainly comprises a support member 132, a first axial member 134 provided on the base portion 62, a second axial member 136 provided on the support member 132, and an elastic member 138 provided on the base portion 62. The reaction force absorption mechanism 130 is connected to the end (base end) of the cylinder 75 opposite to the base portion 82. As a result, the base end of the cylinder 75 is supported by the base portion 62 via the reaction force absorption mechanism 130.

[0058] The first axis member 134 is an axis member whose axial direction is perpendicular to the direction from the tip to the base of the robot-side peg 70 and along the horizontal direction (i.e., left-right direction), and pivotally supports the upper end of the support member 132. Therefore, the support member 132 is rotatable relative to the base portion 62 with the first axis member 134 as the axis of rotation. The second axis member 136 is an axis member whose axial direction is in the left-right direction, and pivotally supports the base end of the cylinder 75 (shell portion 76) at the lower end of the support member 132 so that the cylinder 75 can rotate relative to the support member 132. For example, the first axis member 134 and the second axis member 136 are aligned in the vertical direction of the support member 132. above The origin position is defined as the position when it is in this state. When the support member 132 rotates from the origin position with the first shaft member 134 as the axis of rotation, the elastic member 138 applies an elastic force to the support member 132 in the direction that returns the support member 132 to the origin position. [4. Raw yarn storage room 32] Next, an overview of the yarn storage facility 32 will be described with reference to Figures 9 and 10. Figure 9 is an example of a perspective view showing how the yarn supply packages P are temporarily stored in the yarn storage facility 32. Figure 10 is an example of a perspective view of the yarn storage facility 32 as seen from the rear side (the front side shown in Figure 9).

[0059] As shown in Figure 9, the yarn storage unit 32 has a vertically elongated column member 34. Multiple peg support sections 35 are provided vertically on this column member 34 to support a pair of pegs 38. The base end of each peg 38 is supported by the peg support section 35, and the tip is a free end, allowing a yarn supply package P, which has been wound around a paper tube 160 to form a yarn layer, to be hung on it. Hereinafter in this specification, the pegs 38 of the yarn storage unit 32 will be referred to as "storage unit side pegs 38". The peg support sections 35 that support the storage unit side pegs 38 will be referred to as "storage unit side peg support sections 35".

[0060] The storage-side peg support section 35 has an opening 36 positioned between a pair of storage-side pegs 38. This opening 36 is provided so that the hook portion 106 (see, for example, Figure 4) does not interfere with the storage-side peg support section 35 when the yarn supply package P, which is hung on the storage-side pegs 38, is pulled onto the creel-side pegs 28 by the yarn supply package supply device 60 (see, for example, Figure 4).

[0061] As shown in Figure 10, a hook lifting mechanism 40 is provided on the rear side (front side shown in Figure 10) of the column member 34. This hook lifting mechanism 40 has a flat plate-shaped vertically movable part 42, long It has a hand-shaped shaft member 45, a link mechanism 44, and a gripping part 46.

[0062] The vertically movable part 42 is configured to be movable in the vertical direction. The shaft member 45 is provided so as to pass through the vertically movable part 42 with its axial direction being the left-right direction. For example, when the vertically movable part 42 moves downward, the shaft member 45 moves downward, and via the link mechanism 44, the upper part 46 rotates upward (counterclockwise in Figure 10) with the support shaft 48, whose axial direction is the left-right direction, as the axis of rotation. On the other hand, when the vertically movable part 42 moves upward, the shaft member 45 moves upward, and via the link mechanism 44, the upper part 46 rotates downward (clockwise in Figure 10) with the support shaft 48 as the axis of rotation.

[0063] In this embodiment, a detector (not shown) is provided to detect when the rod portion 77 (see, for example, Figure 6) extends to a predetermined length (e.g., the longest end) relative to the shell portion 76 (see, for example, Figure 4). When it is detected that the rod portion 77 has extended to a predetermined length relative to the shell portion 76, the vertically movable portion 42 moves downward move Furthermore, when the rod portion 77 extends to a predetermined length relative to the shell portion 76, the hook portion 106 is positioned above the holding portion 46. Therefore, when the holding portion 46 rotates upward around the pivot shaft 48, the hook portion 106 is lifted. At this time, the hook portion 106 is lifted to a height where it can be hooked onto the other end 162 of the paper tube 160 (see Figure 8(A)).

[0064] [5. Drawing the yarn package P from the yarn storage unit 32 to the yarn package supply device 60] Next, the method of drawing the yarn supply package P, which is hung on the storage-side peg 38, from the storage-side peg 38 to the robot-side peg 70 using the yarn supply package supply device 60 will be described with reference to Figures 11 to 15. Figure 11 is an example of a side view of the raw yarn storage 32 and the yarn supply package supply device 60 before the yarn supply package P is drawn from the storage-side peg 38 to the robot-side peg 70. More specifically, Figure 11 is an example of a side view of the raw yarn storage 32 and the yarn supply package supply device 60 when the creel robot 50 has moved to the front of the raw yarn storage 32 and the storage-side peg 38 and the robot-side peg 70 are facing each other. Figures 12(A), 12(B), 13(A), 13(B), 14(A), 14(B), 15(A), and 15(B) are examples of diagrams showing the process in chronological order from when the yarn supply package P, which is hung on the storage-side peg 38, is pulled into the robot-side peg 70. For convenience, in Figures 11 to 15, only the yarn supply package supply device 60 of the creel robot 50 is shown. Also, the tip of the robot-side peg 70 shown in Figures 11 to 15 faces the yarn storage 32 (see Figure 1). The vertical positional relationship between the storage-side peg 38 and the robot-side peg 70 is set such that the storage-side peg 38 is slightly higher than the robot-side peg 70.

[0065] As shown in Figure 11, with the storage-side peg 38 and the robot-side peg 70 facing each other, the cylinder 75 is in a retracted state before the yarn supply package P is drawn from the storage-side peg 38 to the robot-side peg 70. At this time, the extrusion member 92 is in the origin position due to the action of the elastic member 110 (see Figure 6) described above, and the longitudinal portion 102 of the pull-in member 100 remains almost horizontal. , covered The support portion 85 is supported by the support roller 69, while the cylinder 75 is not supported by the support member 68.

[0066] When the cylinder 75 is operated in the direction of extension from the state shown in Figure 11 (when the rod portion 77 is operated forward relative to the shell portion 76), as shown in Figures 12(A) and (B), both the extrusion member 92 and the retraction member 100 advance forward so as to approach the storage side peg 38. When the extrusion member 92 and the retraction member 100 advance forward, The supported portion 85 is, The tapered section 86 is supported by the support roller 69. As a result, the entire extrusion mechanism 74 rotates downward around the second shaft member 136, and the extrusion member 92 and the pull-in member 100 tilt so that the hook portion 106 faces downward. This allows the pull-in member 100 to enter the hollow portion of the paper tube 160.

[0067] As the cylinder 75 moves further in the direction of extension from the state shown in Figure 12(B) (the rod portion 77 moves further forward relative to the shell portion 76), the extrusion member 92 and the pull-in member 100 advance forward. That is, the pull-in member 100 moves through the hollow portion of the paper tube 160 toward the other end 162 of the paper tube 160. Also, as shown in Figure 13(A), the support roller 69 Fixing member 80Instead of being supported by the support member, the cylinder 75 (more specifically, the shell portion 76) is supported by the support member 68. When the pull-in member 100 moves to a position beyond the other end 162 of the paper tube 160 so that the hook portion 106 at its tip penetrates the paper tube 160, the hook portion 106 is positioned above the holding portion 46, as shown in Figure 13(B). As mentioned above, since the storage cabinet side peg support portion 35 is provided with an opening 36 (see Figure 9), the hook portion 106 moves through this opening 36 to above the holding portion 46.

[0068] In the state shown in Figure 13(B), when the upper part 46 rotates upward with the pivot shaft 48 as the axis of rotation, the hook portion 106 of the pull-in member 100 is raised to a height where it can hook onto the other end 162 of the paper tube 160, and the pull-in member 100 comes into contact with the other end face 163 of the paper tube 160. In the state shown in Figure 14(A), when the cylinder 75 moves in the retracting direction (when the rod portion 77 moves backward relative to the shell portion 76), the hook portion 106 comes into contact with the other end face 163 of the paper tube 160 and hooks onto the other end 162 of the paper tube 160, as shown in Figure 14(B).

[0069] When the cylinder 75 moves further in the retraction direction in the state shown in Figure 14(B) (when the rod portion 77 moves further backward relative to the shell portion 76), the other end face 163 of the paper tube 160 is pressed by the hook portion 106 of the pull-in member 100, and the yarn supply package P that is hanging on the storage side peg 38 moves backward. In this way, the pull-in member 100 has the function of pulling the yarn supply package P that is hanging on the storage side peg 38 toward the robot side peg 70. Then, as shown in Figure 15(A), the yarn supply package P becomes hung on the robot side peg 70. When the cylinder 75 moves further in the retraction direction in the state shown in Figure 15(A) ( Shell section 76 When the rod portion 77 moves further backward, as shown in Figure 15(B), the yarn supply package P Robot-side peg 70The package is fully moved, and the transfer of the yarn supply package P from the storage-side peg 38 to the robot-side peg 70 is completed. Once the transfer of the yarn supply package P from the storage-side peg 38 to the robot-side peg 70 is complete, the creel robot 50 (see Figure 3) carries the yarn supply package P transferred from the yarn storage 32 to the creel stand 20 and supplies it to the creel stand 20. When the creel robot 50 carries the yarn supply package P, a force is applied to the other end face 163 of the paper tube 160 by the hook portion 106 in the retraction direction (rearward direction) of the cylinder 75. Also, one end face 161 of the paper tube 160 is in contact with the wall portion 71. Therefore, when the yarn supply package P is carried by the creel robot 50, the yarn supply package P can be carried in a stable state, sandwiched between the hook portion 106 and the wall portion 71.

[0070] [6. Transfer of yarn package P from yarn package supply device 60 to creel stand 20] Next, the process of transferring the yarn supply package P, which has been carried to the creel stand 20 by the creel robot 50, from the robot-side peg 70 to the creel-side peg 28 by the yarn supply package supply device 60 will be described with reference to Figures 16 to 20. Figure 16 is an example of a side view of the creel stand 20 and the yarn supply package supply device 60 before the yarn supply package P is transferred from the robot-side peg 70 to the creel-side peg 28. More specifically, Figure 16 is an example of a side view of the creel stand 20 and the yarn supply package supply device 60 when the creel robot 50 has moved to the front of the creel stand 20 and the creel-side peg 28 and the robot-side peg 70 are facing each other. Figures 17(A), 17(B), 18(A), 18(B), 19(A), 19(B), 20(A), and 20(B) are examples of diagrams showing the process in chronological order from the transfer of the yarn supply package P, which is hung on the robot-side peg 70, to the creel-side peg 28. For convenience, in Figures 16 to 20, only the yarn supply package supply device 60 of the creel robot 50 is shown. Also, the creel stand 20 shown in Figures 16 to 20 is the creel stand 20A, which is positioned in front of the rail 16, and the tip of the robot-side peg 70 faces the creel stand 20A (see Figure 1). However, although there is a difference in whether the yarn package supply device 60 faces forward or backward, the manner in which the yarn package P is transferred from the robot-side peg 70 to the creel-side peg 28 is the same. Therefore, in the following description, the creel stand 20A and the creel stand 20B will not be distinguished and will simply be referred to as the creel stand 20.

[0071] As shown in Figure 16, with the creel stand 20 and the robot-side peg 70 facing each other, the cylinder 75 is in a retracted state before the yarn supply package P is transferred from the robot-side peg 70 to the creel-side peg 28. At this time, the extrusion member 92 is in the origin position due to the action of the elastic member 110 (see Figure 6) described above, and the longitudinal portion 102 of the pull-in member 100 remains almost horizontal. , coveredThe support section 85 is supported by the support roller 69, while the cylinder 75 is not supported by the support member 68. The robot-side peg 70 is set to be higher than the creel-side peg 28.

[0072] Furthermore, one end face 161 of the paper tube 160 is in contact with the wall portion 71, and the other end 162 of the paper tube 160 is hooked onto the hook portion 106. Therefore, the yarn feeding package P is fed by the creel robot 50 Creel side peg 28 When transported to a position opposite to it, it is transported in a stable state, sandwiched between the hook portion 106 and the wall portion 71.

[0073] When the cylinder 75 starts to extend from the state shown in Figure 16 (when the rod portion 77 moves forward relative to the shell portion 76), the extrusion member 92 moves forward as shown in Figure 17(A), and the contact surface 98 approaches the end face 161 on one side of the paper tube 160. At this time, the pull-in member 100 also moves forward, and the hook portion 106 is released from its engagement with the other end 162 of the paper tube 160.

[0074] As the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 17(A), the extrusion member 92 presses one end face 161 of the paper tube 160 with its contact surface 98, as shown in Figure 17(B), and pushes the yarn supply package P toward the creel-side peg 28 from the free end of the robot-side peg 70. In this way, the extrusion member 92 has the function of pushing the yarn supply package P, which is hanging on the robot-side peg 70, toward the creel-side peg 28. The extrusion member 92 shown in Figure 17(B) is in the origin position or a position close to the origin position. Also, the supported portion 85 is no longer supported by the support roller 69, the cylinder 75 rotates relative to the support member 132, and the pull-in member 100 tilts so that the hook portion 106 faces downward. This allows the yarn supply package P to be pushed towards the creel-side peg 28 without interference between the other end face 163 of the paper tube 160 and the hook portion 106.

[0075] As the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 17(B), one end face 161 of the paper tube 160 is pressed against the contact surface 98, and the yarn supply package P moves further toward the creel-side peg 28, as shown in Figures 18(A) and 18(B). Here, we assume that the center of gravity G of the yarn supply package P is located on the center line C passing through the center of the yarn supply package P in the axial direction. In Figure 18(A), the center of gravity G is supported by the boundary portion 70a of the robot-side peg 70. On the other hand, in Figure 18(B), the boundary portion 70a of the robot-side peg 70 is located behind the center of gravity G, and the center of gravity G is not supported by the boundary portion 70a of the robot-side peg 70. When the center of gravity G of the yarn supply package P is no longer supported by the boundary portion 70a of the robot-side peg 70, the yarn supply package P will tilt in a counterclockwise direction in the plane of the figure, as shown in Figure 18(B), due to the height difference between the robot-side peg 70 and the creel-side peg 28. As the yarn supply package P tilts in a counterclockwise direction, the extrusion member 92 will also tilt in a counterclockwise direction in accordance with the yarn supply package P.

[0076] As the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 18(B), one end face 161 of the paper tube 160 is pressed against the contact surface 98, and the yarn supply package P moves further toward the creel-side peg 28. Then, as shown in Figure 19(A), the other end 162 of the paper tube 160 of the yarn supply package P is supported by the creel-side peg 28. Subsequently, as the rod portion 77 moves further forward, the support of the paper tube 160 by the robot-side peg 70 is released.

[0077] When the support of the paper tube 160 by the robot-side peg 70 is released, the difference in height between the robot-side peg 70 and the creel-side peg 28 causes the yarn supply package P to swing vertically like a pendulum, as shown in Figures 19(A), 19(B), and 20(A). At this time, the extrusion member 92 swings vertically like a pendulum with the pivot shaft 87 as its center of rotation, so that the contact surface 98 follows the end face 161 on one side of the paper tube 160. In particular, as described above, the upper end face 161a and the lower end face 161b are symmetrical with respect to a horizontal center line along the longitudinal direction passing through the radial center of the paper tube 160, so the extrusion member 92 can respond well to the pendulum motion of the yarn supply package P. Also, as described above, since the extrusion member 92 is located between two robot-side pegs 70 that are arranged horizontally and parallel to each other, the yarn supply package P hung on the robot-side pegs 70 can be pushed out by the extrusion member 92 in a balanced manner.

[0078] Then, as the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 20(A), the yarn supply package P becomes supported by the creel-side peg 28 over almost the entire axial area of ​​the paper tube 160, as shown in Figure 20(B).

[0079] As shown in Figure 20(B), when the yarn supply package P is transferred from the robot-side peg 70 to the creel-side peg 28, the hook portion 106 may interfere with the peg support portion 25. Therefore, as shown in Figure 2, a notch 26 (see notch 26A in Figure 2) is provided in the peg support portion 25 to prevent interference between the hook portion 106 and the peg support portion 25.

[0080] Incidentally, as mentioned above, when the yarn supply package P is transferred from the robot-side peg 70 to the creel-side peg 28, the difference in height between the robot-side peg 70 and the creel-side peg 28 causes the yarn supply package P to swing like a pendulum in the vertical direction (see Figures 19(A), 19(B), and 20(A)). Therefore, if the contact surface 98 of the extrusion member 92 is not configured to rotate in accordance with one end face 161 of the paper tube 160 (for example, if the contact surface 98 of the extrusion member 92 is fixed in a position perpendicular to the robot-side peg 70), the contact surface 98 of the extrusion member 92 and the yarn layer of the yarn supply package P may interfere with each other, potentially damaging the yarn layer. In this regard, the extrusion member 92 of this embodiment is capable of swinging like a pendulum even if the yarn supply package P swings like a pendulum, so that the contact surface 98 follows one end face 161 of the paper tube 160 with the pivot shaft 87 as the axis of rotation. In this way, the extrusion member 92 performs a pendulum motion in accordance with the vertical movement of the yarn supply package P being extruded, thereby preventing interference between the extrusion member 92 and the yarn layer of the yarn supply package P. This makes it possible to extrude the yarn supply package P from the robot-side peg 70 without damaging the yarn layer of the yarn supply package P.

[0081] Furthermore, once the transfer of the yarn supply package P from the robot-side peg 70 to the creel-side peg 28 is complete, the contact surface 98 of the extrusion member 92 is no longer in contact with one end face 161 of the paper tube 160, and the extrusion member 92 returns to its home position due to the action of the elastic member 110 (see Figure 6). Therefore, when receiving the yarn supply package P into the robot-side peg 70, the extrusion member 92 can be kept upright, and when pushing out the yarn supply package P, the extrusion member 92 can be made to follow the pendulum motion of the yarn supply package P in a responsive manner.

[0082] Furthermore, as described above, the rotation range of the movable member 90, which has the pivot shaft 87 as its axis of rotation, is restricted to a certain range. For example, if the extrusion member 92 rotates more than necessary, the contact surface 98 and one end face 161 of the paper tube 160 will not come into contact, and the extrusion member 92 may enter the hollow part of the paper tube 160, potentially preventing the contact surface 98 from pressing against one end face 161 of the paper tube 160. By restricting the rotation range of the movable member 90, it is possible to prevent the contact surface 98 from failing to press against one end face 161 of the paper tube 160.

[0083] [7. Effects and Benefits] The yarn package supply device 60 of this embodiment includes a robot-side peg 70 on which a yarn package P, which has a yarn layer formed by winding yarn around a paper tube 160 and whose tip is a free end, can be hung, and an extrusion mechanism 74 for pushing out the yarn package P hung on the robot-side peg 70 from one end of the robot-side peg 70. The extrusion mechanism 74 includes an extrusion member 92 and a cylinder 75 that moves the extrusion member 92 relative to the robot-side peg 70 in the direction from the base end to the tip and in the direction from the tip to the base end. The extrusion member 92 is configured to contact the end face 161 of one side of the paper tube 160 of the yarn package P hung on the robot-side peg 70 at two different locations in the height direction when moving in the direction from the base end to the tip of the robot-side peg 70, and is formed so that the portion that contacts the end face 161 of one side of the paper tube 160 extends in the height direction. Furthermore, the extrusion member 92 is positioned to avoid the robot-side peg 70 in the horizontal direction, and is configured to swing like a pendulum in the height direction with a pivot shaft 87 provided between the height direction of the first portion 981 and the second portion 982, which abut against the upper end surface 161a and the lower end surface 161b, respectively, which are different in the height direction of one end surface 161 of the paper tube 160 of the yarn supply package P. With such a yarn supply package supply device 60, even if the yarn supply package P swings like a pendulum in the height direction when it is pushed out from the robot-side peg 70, the extrusion member 92 swings like a pendulum in the height direction in accordance with the movement of the yarn supply package P, so that the extrusion member 92 does not interfere with the yarn layer of the yarn supply package P, and thus damage to the yarn layer can be prevented.Therefore, it is possible to provide a yarn supply package supply device 60 that can push out the yarn supply package P from the robot-side peg 70 without damaging the yarn layer of the yarn supply package P.

[0084] Furthermore, in the yarn package supply device 60 of this embodiment, the upper end surface 161a and the lower end surface 161b are symmetrical with respect to a horizontal center line passing through the center of the paper tube 160. Therefore, the extrusion member 92 can be made to follow the pendulum motion of the yarn package with good responsiveness.

[0085] Furthermore, in the yarn package supply device 60 of this embodiment, the robot-side peg 70 consists of two peg shaft members arranged horizontally and parallel to each other, and the extrusion member 92 is provided between the two peg shaft members. Therefore, the yarn package placed on the yarn holding section can be pushed out in a balanced manner by the extrusion member, and the ability of the extrusion member to follow the pendulum motion of the yarn package is also improved.

[0086] Furthermore, in the yarn package supply device 60 of this embodiment, the extrusion member 92 is configured to maintain a predetermined upright position when it is not in contact with one end face 161 of the paper tube 160. Therefore, since the extrusion member 92 maintains an upright position when the yarn package P is received by the robot-side peg 70, the extrusion member 92 does not become an obstacle when receiving the yarn package P.

[0087] Furthermore, in the yarn package supply device 60 of this embodiment, 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 restrict the range in which the extrusion member 92 can swing like a pendulum in a predetermined direction. that place An elastic member 110 is provided to apply elastic force in a fixed direction, and the extrusion member 92 is configured to maintain a predetermined upright position. Therefore, when receiving the yarn supply package P into the robot-side peg 70, the extrusion member 92 can be kept upright, and when pushing out the yarn supply package P, the extrusion member 92 can be made to follow the pendulum motion of the yarn supply package P in a responsive manner.

[0088] [8. Variation] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. For example, in the above embodiment, when the extrusion member 92 extrudes the yarn supply package P that is hung on the robot-side peg 70, the contact surface 98 is in contact with both the upper end surface 161a and the lower end surface 161b. However, the yarn supply package P that is hung on the robot-side peg 70 is directed toward the creel-side peg 28 in a balanced manner without interference between the contact surface 98 and the yarn layer of the yarn supply package P. PressThe manner in which the yarn supply package P is extruded by the extrusion member 92 is not limited to the above, provided that it can be done in a manner that allows it to be extruded.

[0089] Figure 21 shows variations of modified examples of how the yarn supply package P is extruded by the extrusion member. Both Figures 21(A) and (B) show one end face 161 of the paper tube 160, and for convenience, the yarn supply package P is not shown.

[0090] Figure 21(A) shows a first modified example of the extruded member, in which, for example, two extruded members 921A and 921B are provided instead of the extruded member 92. In Figure 21(A), for convenience, the two extruded members 921A and 921B are shown by dashed lines.

[0091] In Figure 21(A), two arbitrary surfaces of one end face 161 of the paper tube 160 that are 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, with respect to a horizontal line S passing through the radial center O of the paper tube 160 and along one end face 161 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. In Figure 21(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 shown as ellipses with diagonal lines drawn inside.

[0092] The two extrusion members 921A and 921B shown in Figure 21(A) have the same shape as the extrusion member 92, but the portion of the end face 161 on one side of the paper tube 160 that is pressed by the contact surface differs from that of the extrusion member 92. Specifically, the extrusion member 921A contacts at least the first upper surface 161c and the first lower surface 161e. The extrusion member 921B contacts at least the second upper surface 161d and the second lower surface 161f. Even in this configuration, it is possible to extrude the yarn supply package P, which is hung on the robot-side peg 70, toward the creel-side peg 28 in a balanced manner without interference between the contact surfaces of the extrusion members 921A and 921B and the yarn layer of the yarn supply package P.

[0093] Figure 21(B) shows a second modified example of the extruded member, in which an extruded member 922 is provided instead of the extruded member 92. In Figure 21(B), for convenience, the extruded member 922 is shown by a dashed line.

[0094] In Figure 21(B), two arbitrary faces of one end face 161 of the paper tube 160 that are above the radial center O of the paper tube 160 and below the robot-side peg 70, and different from the upper end face 161a, are designated as the third upper surface 161g and the fourth upper surface 161h. Furthermore, with respect to a horizontal line S passing through the radial center O of the paper tube 160 and along one end face 161 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. In Figure 21(B), the portions of the third upper surface 161g, fourth upper surface 161h, third lower surface 161i, and fourth lower surface 161j are shown as ellipses with diagonal lines drawn inside, and the upper end face 161a and lower end face 161b are omitted from the illustration.

[0095] The extrusion member 922 shown in Figure 21(B) is a horizontally elongated rectangular plate member and is positioned below the robot-side peg 70 so as to avoid the robot-side peg 70. The extrusion member 922 contacts at least the third upper surface 161g, the fourth upper surface 161h, the third lower surface 161i, and the fourth lower surface 161j. Even in this configuration, the yarn supply package P, which is hung on the robot-side peg 70, can be extruded toward the creel-side peg 28 in a balanced manner without interference between the contact surface of the extrusion member 922 and the yarn layer of the yarn supply package P.

[0096] In addition, other configurations are acceptable as long as the yarn supply package P, which is hung on the robot-side peg 70, can be pushed out toward the creel-side peg 28 in a balanced manner without interference between the contact surface of the extrusion member 922 and the yarn layer of the yarn supply package P. For example, a configuration may be used in which multiple parts of one end face 161 of the paper tube 160 are pressed at point-symmetrical positions with respect to the radial center O of the paper tube 160.

[0097] Furthermore, in the above-described embodiment, the extrusion member 92 is pivotally supported on a support shaft 87 with its axial direction in the horizontal left-right direction, so that when the yarn supply package P is extruded, the extrusion member 92 follows the pendulum motion of the yarn supply package P. However, the configuration is not limited to the above, as long as the extrusion member 92 can be made to follow the pendulum motion of the yarn supply package P. For example, a ball joint that can be rotated in any direction by making spherical contact between a socket and a ball stud may be used to make the extrusion member follow the pendulum motion of the yarn supply package P. [Explanation of Symbols]

[0098] 60 Yarn package supply device 70 Robot-side pegs 74 Extrusion mechanism 75 cylinders 84 Fixed side shaft member 87 Spindle 88 Fixed side long hole 92 Extruded member 96 Movable side long hole 100 Lead-in member 104 Movable shaft 110 Elastic member 160 Paper tube 161 One end face of the paper tube 161a Top surface 161b Lower end surface 981 Part 1 982 Part 2 P yarn supply package Ji

Claims

1. A yarn supply holding section has one end as a free end and can hold a yarn supply package on which yarn is wound around a cylindrical member to form a yarn layer, An extrusion mechanism for pushing out the yarn package placed on the yarn holding section from one end of the yarn holding section, Equipped with, The extrusion mechanism described above is Extruded member and An extrusion member drive unit moves the extrusion member relative to the yarn supply holding unit in the direction from the other end to one end and from one end to the other end, It has, The extruded member is When the yarn-feeding and holding portion moves from one end to the other end, it is configured to contact at least two different first and second portions in the height direction of the end face of the cylindrical member of the yarn-feeding package that is hung on the yarn-feeding and holding portion. Furthermore, the member is formed such that at least the portion that contacts the end face of the cylindrical member extends in the height direction, Furthermore, it is provided in a position that avoids the aforementioned yarn feeding and holding section in the horizontal direction. Furthermore, the cylindrical member of the yarn supply package is configured to be able to swing like a pendulum in the height direction, with the pivot point being the space between the height directions of at least the first and second portions that abut each other in the height direction of the end face of the first and second portions, respectively. Yarn package supply device.

2. The first portion and the second portion are positioned symmetrically with respect to a horizontal center line passing through the center of the cylindrical member, or point-symmetrically with respect to the radial center of the cylindrical member. The yarn package supply device according to claim 1.

3. The aforementioned yarn-feeding and holding section consists of two peg shaft members arranged horizontally and parallel to each other. The extrusion member is provided between the two peg shaft members. The yarn package supply device according to claim 1 or 2.

4. The extruded member is configured to maintain a predetermined upright position when it is not in contact with the end face of the cylindrical member. A yarn package supply device according to any one of claims 1 to 3.

5. The system is configured such that the extruder maintains a predetermined upright position, and includes a restricting mechanism that restricts the pendulum motion range of the extruder in a predetermined direction, and an elastic force applying means that applies an elastic force to the extruder in the predetermined direction. The yarn package supply device according to claim 4.

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