Yarn package supply device

Abstract

The present invention provides a yarn package supply device that can suppress damage to components when handing over or receiving yarn packages, and that can hand over or receive yarn packages without problems even if there are variations in the distance to the handover or receiving destination. [Solution] The device comprises an extrusion mechanism that pushes out the yarn supply package P, which is hung on a peg 70, from its tip, and a base portion 62. The extrusion mechanism has an extrusion member 92, a cylinder 75 that moves the extrusion member 92, and a reaction force absorption mechanism 130. When the extrusion member 92 moves toward the tip, it contacts the end face 161 of the paper tube 160 of the yarn supply package P that is hung on the peg 70, the cylinder 75 is supported by the base portion 62 and acts with a force F2 greater than the force pushing out the yarn supply package P, and the reaction force absorption mechanism 130 operates with a force smaller than the force F2 of the cylinder 75 when a reaction force F4 greater than the force pushing out the yarn supply package P acts on it, and absorbs the reaction force F4 acting on the extrusion member 92.

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 receives a yarn supply package in which yarn is wound around a cylindrical paper tube at a package station and transports the received yarn supply package to a creel for supply (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a yarn supply exchange robot 4 that receives a full package of yarn supply package 6a from the peg shaft 76 of the package transfer device 10 of the package station 5 and inserts the full package 6a into the peg shaft 7 of the creel 2. This yarn supply exchange robot 4 includes a yarn supply and transfer device 75 (yarn supply package feeding device) having an air cylinder 83, a holder 86 that supports the air cylinder 83, and a package engaging and disengaging 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 transfer device 75 delivers a full package of 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. The creel 2 is provided with a large number (a plurality) of pairs of peg shafts 7, and the yarn supply and transfer device 75 can deliver the yarn supply package 6a to any of these plurality of peg shafts 7.

[0004] Furthermore, when the yarn transfer device 75 receives a full yarn package 6a from the peg shaft 76 of the package transfer device 10, it moves plates 91 and 93 into the paper tube 8 together with the presser plate 89 as the air cylinder 83 extends. When the tip of plate 93 comes out from the end of the paper tube 8, the hook portion 98 is lifted, and the shaft end of the paper tube 8 is hooked onto the hook portion 98. The yarn package 6a is then detached from the peg shaft 76, pulled in, and transferred to the peg shaft 88 of the holder 86. The package station 5 is also equipped with multiple peg shafts 76, and the yarn transfer device 75 can pull out the yarn package 6a from any of these multiple peg shafts 76. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 6-56351 [Overview of the project] [Problems that the invention aims to solve]

[0006] As disclosed in Patent Document 1, when the yarn transfer device 75 can transfer the yarn package 6a to any of a plurality of pairs of peg shafts 7, the distance from the base end of the air cylinder 83 to the creel 2 may differ depending on the peg shaft 7 to which the package is transferred. If the distance from the base end of the air cylinder 83 to the creel 2 is small, when the presser plate 89 pushes out the yarn package 6a as the air cylinder 83 extends, the yarn package 6a may come into contact with the creel 2, and a force greater than the force required to push out the yarn package 6a may act on the air cylinder 83. If a force greater than the force required to push out the yarn package 6a acts on the air cylinder 83, the components of the yarn transfer device 75, such as the air cylinder 83 and its surrounding members, may be damaged, which is undesirable.

[0007] Furthermore, even when the yarn supply package 6a can be pulled out and received from any of the multiple peg shafts 76 of the package transfer device 10, the distance from the base end of the air cylinder 83 to the package transfer device 10 may differ depending on the peg shaft 76 to which the package supply package is pulled. If the distance from the base end of the air cylinder 83 to the package transfer device 10 is small, the presser plate 89 will also enter when the plates 91 and 93 enter the paper tube 8, causing the yarn supply package 6a, pushed by the presser plate 89, to come into contact with the package transfer device 10, and a force greater than the force required to push out the yarn supply package 6a may act on the air cylinder 83. If a force greater than the force required to push out the yarn supply package 6a acts on the air cylinder 83, as described above, there is a risk of damage to the components of the yarn supply transfer device 75, which is undesirable. Furthermore, the same problem arises when the distance between the yarn transfer device 75 and the peg shaft 7 of the creel 2 is different from the distance between the yarn transfer device 75 and the peg shaft 76 of the package transfer device 10.

[0008] The present invention has been made in view of the above problems, and aims to provide a yarn package supply device that can suppress damage to components when handing over or receiving yarn packages, and to provide a yarn package supply device that can hand over or receive yarn packages to or from an object without problems, even if the distance to the object to which the yarn package is pushed or received varies depending on the object. [Means for solving the problem]

[0009] (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, Support part and 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 and holding portion within a predetermined range in a direction from the other end toward one end of the yarn supply and holding portion or from one end toward the other end; Reaction force absorption mechanism, It has, The extrusion member is configured to contact the end face of the cylindrical member of the yarn package that is placed over the yarn holding portion when it moves from the other end of the yarn holding portion toward one end. The extrusion member drive unit is supported by the support unit and is configured to apply an extrusion force to the extrusion member that is greater than the force required to push the yarn supply package in the direction from the other end to the one end of the yarn supply holding unit. The reaction force absorption mechanism is configured to absorb the reaction force acting on the extrusion member when a reaction force greater than the force required to extrude the yarn package acts on the extrusion member in the direction from one end to the other of the yarn holding portion, by operating with a force smaller than the extrusion force.

[0010] The yarn package supply device described in (1) above is equipped with a reaction force absorption mechanism configured to absorb the reaction force acting on the extrusion member when a reaction force greater than the force required to extrude the yarn package acts on the extrusion member, by operating with a force smaller than the extrusion force. Therefore, even if an excessive reaction force acts on the extrusion member, this reaction force is absorbed, making it possible to suppress damage to the extrusion member, the extrusion member drive unit, and other various components and parts that constitute the yarn package supply device. Furthermore, even if there are multiple objects to which the yarn package is extruded and delivered, and the distance to each of these objects differs, the movement of the extrusion member from the other end to the one end of the yarn holding unit is automatically controlled according to the distance to the object due to the presence of the reaction force absorption mechanism, so that the yarn package can be delivered to any of the multiple objects without any problems.

[0011] (2) In the yarn package supply device described in (1) above, The reaction force absorption mechanism absorbs the reaction force acting on the extruder member by supporting the extruder member drive unit relative to the support unit so that the extruder member drive unit moves relative to the support unit in the direction from one end to the other end of the yarn holding unit when a reaction force greater than the force required to extrude the yarn package acts on the extruder member in the direction from one end to the other of the yarn holding unit. It is preferable.

[0012] According to the yarn package supply device described in (2) above, when pushing out the yarn package from one end of the yarn holding section, even if a reaction force greater than the force required to push out the yarn package acts on the extrusion member in the direction from one end of the yarn holding section to the other, this reaction force can be absorbed by the extrusion member drive unit moving relative to the support unit in the direction from one end of the yarn holding section to the other. Therefore, with a simple configuration, it is possible to suppress damage to various members and parts that constitute the yarn package supply device, such as the extrusion member drive unit and the extrusion member. Furthermore, even if there are multiple objects to which the yarn package is pushed out and delivered, and the distance to each of these objects differs, the yarn package can be delivered to any of the multiple objects without any problems.

[0013] (3) In the yarn package supply device described in (2) above, The extrusion member drive unit is a cylinder having a shell portion and a rod portion that is extendable and retractable relative to the shell portion, The extrusion member is attached to the tip of the rod portion, The reaction force absorption mechanism absorbs the reaction force acting on the extruder member by supporting the cylinder with respect to the support portion such that the shell portion moves relative to the support portion in the direction from one end to the other end of the yarn holding portion when a reaction force greater than the force required to extrude the yarn package acts on the extruder member in the direction from one end to the other end of the yarn holding portion. It is preferable.

[0014] According to the yarn package supply device described in (3) above, the extrusion member drive unit is composed of a cylinder having a shell portion and a rod portion that is extendable and retractable relative to the shell portion. When pushing out the yarn package from one end of the yarn holding portion, even if a reaction force greater than the force required to push out the yarn package acts on the extrusion member in the direction from one end of the yarn holding portion to the other, the shell portion moves relative to the support portion in the direction from one end of the yarn holding portion to the other, thereby absorbing this reaction force. Therefore, with a simple configuration, it is possible to suppress damage to various components and parts that constitute the yarn package supply device, such as the shell portion, rod portion, and extrusion member. Furthermore, even if there are multiple objects to which the yarn package is pushed out and delivered, and the distance to each of these objects differs, the yarn package can be delivered to any of the multiple objects without any problems.

[0015] (4) In the yarn package supply device described in any one of (1) to (3) above, The extrusion mechanism further includes a pull-in member for pulling in a yarn supply package, which is hung on a holding part of a storage unit, from one end of the yarn supply holding part. The aforementioned pull-in member is The yarn-feeding and holding portion moves in a direction from the other end toward one end or from one end toward the other end in conjunction with the movement of the extrusion member. Furthermore, when the yarn supply holding portion moves from one end to the other end, it passes through the hollow portion of the cylindrical member of the yarn supply package and moves to the other end face, which is the end face of the cylindrical member on the opposite side of the yarn supply holding portion, and is then lifted upward and moves from one end to the other end of the yarn supply holding portion while in contact with the other end face, so that the yarn supply package can be pulled in from one end of the yarn supply holding portion. When the introduction member moves to a position beyond the other end face of the cylindrical member or when it is lifted upward after moving to a position beyond the other end face of the cylindrical member, if a reaction force greater than the force required to push out the yarn supply package against the extrusion member acts in the direction from one end to the other end of the yarn holding portion when the extrusion member abuts against the end face of the cylindrical member of the yarn supply package, the reaction force absorbing mechanism causes the extrusion member driving portion to move relative to the support portion in the direction from one end to the other end of the yarn holding portion, thereby absorbing the reaction force acting on the extrusion member. This is preferable.

[0016] According to the yarn supply package supply device described in (4) above, when pulling the yarn supply package from the storage to the yarn holding portion, even if a reaction force greater than the force required to push out the yarn supply package against the extrusion member acts in the direction from one end to the other end of the yarn holding portion when the extrusion member abuts against the end face of the cylindrical member of the yarn supply package, such a reaction force is absorbed by the reaction force absorbing mechanism, so that it is possible to suppress breakage of various members and various components constituting the yarn supply package supply device, such as the extrusion member driving portion and the extrusion member. Further, even if the distance between the object to which the yarn supply package is pushed out and delivered and the distance between the storage holding portion (the object to which the yarn supply package is pulled in and received) are different, by providing the reaction force absorbing mechanism, the movement of the extrusion member in the direction from the other end to the one end of the yarn holding portion is automatically controlled according to the distance from the object, so that it is possible to deliver the yarn supply package to and receive it from each of the respective objects without problems.

Brief Description of the Drawings

[0017] [Figure 1] It is an example of a plan view schematically showing the overall arrangement 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] It is an example of a perspective view schematically showing 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 a schematic diagram to explain why the distance from the base of the cylinder to the front of the storage unit-side peg support differs before and after the hook portion is lifted. [Figure 17] 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 18] 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 19] This is an example of a diagram (Figure for Step 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 20] 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 21] 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 22] This is an example of a side view showing a creel stand and a yarn package supply device, illustrating the operation of the reaction force absorption mechanism when an excessive reaction force acts on the cylinder. [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. The "yarn storage unit 32" described above corresponds to the "storage unit" of the present invention.

[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 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 holding part" of the present invention. The "creel-side peg 28" mentioned above corresponds to the "object to which the yarn package is pushed out and handed over" 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 has a creel stand 20A (see Figure 1) which is positioned in front of the rail 16, and a creel stand 20B (see Figure 1) which is positioned behind the rail 16. Therefore, when transferring the 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 the yarn supply package P to the creel-side peg (not shown) of the creel stand 20B, the rotating mechanism 56 rotates both the yarn supply package supply device 60 and the paper tube recovery device 150 so that the tip of the robot-side peg 70 faces backward. Also, when recovering an empty paper tube from the creel-side peg 28A of the creel stand 20A, the rotating mechanism 56 rotates both the yarn supply 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 recovering an empty paper tube from the creel-side peg (not shown) of the creel stand 20B, the rotating mechanism 56 rotates both the yarn supply package supply device 60 and the paper tube recovery device 150 so that the paper tube recovery device 150 faces backward.

[0039] [3-2. Yarn package supply 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. The above-described "base portion 62" corresponds to the "support portion" of the present invention.

[0042] The opening 65 of the front section 64 is provided with a support roller 69 that can support the supported portion 85 (see Figure 6) of the fixing member 80, which will be described later, from below. The opening 67 of the cylinder support frame 66 is provided with a support member 68 that can support the cylinder 75, which will be 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 and from the tip to the base end of the robot-side peg 70. The cylinder 75 has a longitudinal shell portion 76 and a rod portion 77 (see Figures 6 and 7 below), and an air cylinder, for example, is used. The base end of the cylinder 75 (more specifically the shell portion 76) is supported by a support member 132 that extends downward from the lower end of the right end of the base portion 62. 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 is such that a first portion 981 and a second portion 982, which are different in the up-down direction (height direction), can contact one end face 161 of the paper tube 160 (see, for example, Figure 8 described later) at the upper end face 161a and lower end face 161b, respectively. The portion of the extrusion member 92 that contacts one end face 161 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.

[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 respect to the origin position, 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.

[0051] The retraction member 100 is a flat, longitudinal member having planes along the front-rear and up-down directions, similar to the supported portion 85, and extends forward from the center of the contact surface 98 in the up-down direction. The retraction member 100 has a longitudinal portion 102 that is horizontal in the front-rear direction, and a hook portion 106 provided at the front end of the longitudinal portion 102. As described above, since the retraction member 100 is integrally configured with the extrusion member 92, when the extrusion member 92 rotates relative to the fixed member 80 with the support shaft 87 as the axis of rotation, the retraction 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 designed 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.

[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.

[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." The above-mentioned "one end face 161 of the paper tube 160" and "the other end face 163" correspond to the "end face" and "other end face" of the present invention, respectively.

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

[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. The support member 132 takes its origin position as, for example, when the first axis member 134 and the second axis member 136 are on the same straight line in the vertical direction. When the support member 132 rotates from its origin position with the first axis member 134 as the axis of rotation, the elastic member 138 applies an elastic force to the support member 132 in the direction of returning the support member 132 to its origin position. For example, if an excessive reaction force acts on the cylinder 75 when the support member 132 is in the origin position, the support member 132 will rotate around the first shaft member 134 as the axis of rotation so that the base end of the cylinder 75 moves backward. However, when the excessive reaction force acting on the cylinder 75 decreases or disappears, the support member 132 returns to the origin position due to the elastic force provided by the elastic member 138. The appropriate magnitude of the elastic force that the elastic member 138 provides to the support member 132 will be described later.

[0059] [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).

[0060] 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 section 35 that supports the storage unit side pegs 38 will be referred to as "storage unit side peg support section 35". The above-mentioned "storage unit side peg support section 35" corresponds to the "storage unit holding section" of the present invention. Furthermore, the above-mentioned "storage unit side pegs 38" corresponds to the "object into which the yarn supply package is drawn and received" of the present invention.

[0061] 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).

[0062] 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, a longitudinal shaft member 45, a link mechanism 44, and a lifting part 46.

[0063] 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.

[0064] 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. 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 as the axis of rotation, 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)).

[0065] [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.

[0066] 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 is kept in a nearly horizontal state. Furthermore, while the supported portion 85 is supported by the support roller 69, the cylinder 75 is not supported by the support member 68.

[0067] 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), both the extrusion member 92 and the pull-in member 100 advance forward so as to approach the storage side peg 38, as shown in Figures 12(A) and (B). As the extrusion member 92 and the pull-in member 100 advance forward, the supported portion 85 becomes supported by the support roller 69 at the tapered portion 86. 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.

[0068] 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), instead of the support of the fixing member 80 by the support roller 69, 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 unit-side peg support portion 35 is provided with an opening 36 (see Figure 9), the hook portion 106 passes through this opening 36 and moves above the upper portion 46.

[0069] 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).

[0070] 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 is 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) (when the rod portion 77 moves further backward relative to the shell portion 76), as shown in Figure 15(B), the yarn supply package P moves completely toward the robot side peg 70, 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 received 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 creel robot 50 carries the yarn supply package P, it is possible to carry the yarn supply package P in a stable state, sandwiched between the hook portion 106 and the wall portion 71.

[0071] Incidentally, the distance from the base end of the cylinder 75 to the front surface 35a of the storage-side peg support 35 (see FIG. 13(B)) is different before and after the hook portion 106 is lifted by the hook lifting mechanism 40. This will be briefly described with reference to FIG. 16. FIG. 16 is a schematic diagram for explaining the reason why the distance from the base end of the cylinder 75 to the front surface 35a of the storage-side peg support 35 is different before and after the hook portion 106 is lifted by the hook lifting mechanism 40.

[0072] In FIG. 16, let the base end of the cylinder 75 be α, the distance from the base end α of the cylinder 75 before the hook portion 106 is lifted to the front surface 35a of the storage-side peg support 35 (for example, the rear surface shown in FIG. 15) be L1, and the distance from the base end α of the cylinder 75 after the hook portion 106 is lifted to the front surface 35a of the storage-side peg support 35 be L2. In this case, the relationship of "L2 < L1" holds. Therefore, as shown in FIG. 13(B), when the hook portion 106 is lifted to the height position where it is hooked on the other end 162 of the paper tube 160 in a state where the contact surface 98 of the extrusion member 92 abuts on one end surface 161 of the paper tube 160 and the other end surface 163 of the paper tube 160 abuts on the front surface 35a of the storage-side peg support 35, since the position of the storage-side peg support 35 is fixed and does not move, an excessive reaction force (a force backward) acts on the rod portion 77 and thus on the cylinder 75.

[0073] Furthermore, the distance from the base end α of the cylinder 75 to the front surface 35a of the storage-side peg support portion 35 does not change only before and after the hook portion 106 is lifted by the hook portion lifting mechanism 40. For example, since not all of the multiple column members 34 are in the same position, the distance from the base end of the cylinder 75 to the front surface 35a of the storage-side peg support portion 35 may also change if the storage-side peg 38 that is targeted to pull in the yarn supply package P changes. Therefore, if the distance from the base end of the cylinder 75 to the front surface 35a of the storage-side peg support portion 35 is small, the hook portion 106 of the pull-in member 100 may move more than set when it moves through the hollow portion of the paper tube 160 toward the other end 162 of the paper tube 160. For example, when the contact surface 98 of the extrusion member 92 is in contact with one end face 161 of the paper tube 160 and the other end face 163 of the paper tube 160 is in contact with the front surface 35a of the storage-side peg support part 35, the extrusion member 92 may attempt to move forward relative to the shell part 76. In this case, as described above, the position of the storage-side peg support part 35 is fixed and does not move, so an excessive reaction force (a force to the rear) acts on the rod part 77 and consequently the cylinder 75.

[0074] In this regard, according to the yarn package supply device 60 of this embodiment, since the reaction force absorption mechanism 130 described above is provided, even if an excessive reaction force acts on the rod portion 77 and consequently the cylinder 75, the cylinder 75 (the shell portion 76 of the cylinder 75) retracts backward, thereby absorbing such excessive reaction force. Therefore, it is possible to suppress damage to the cylinder 75, the extrusion member 92, and other various components and parts that constitute the yarn package supply device 60.

[0075] [6. Transfer of yarn package P from yarn package supply device 60 to creel stand 20] Next, the process by which the yarn supply package P, which has been transported to the creel stand 20 by the creel robot 50, is transferred 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 17 to 21. Figure 17 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 17 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 18(A), 18(B), 19(A), 19(B), 20(A), 20(B), 21(A), and 21(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 17 to 21, only the yarn supply package supply device 60 of the creel robot 50 is shown. Also, the creel stand 20 shown in Figures 17 to 21 is a creel stand 20A positioned in front of the rail 16, and the tip of the robot-side peg 70 faces towards 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.

[0076] As shown in Figure 17, 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 is kept in a nearly horizontal position. Furthermore, the supported portion 85 is supported by the support roller 69, while the cylinder 75 is not supported by the support member 68. Note that the robot-side peg 70 is set to be higher than the creel-side peg 28.

[0077] 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, when the yarn supply package P is transported by the creel robot 50 to a position facing the robot-side peg 70, it is transported in a stable state, sandwiched between the hook portion 106 and the wall portion 71.

[0078] When the cylinder 75 starts to extend from the state shown in Figure 17 (when the rod portion 77 moves forward relative to the shell portion 76), the extrusion member 92 moves forward as shown in Figure 18(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 grip on the other end 162 of the paper tube 160.

[0079] As the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 18(A), the extrusion member 92 presses one end face 161 of the paper tube 160 with its contact surface 98, as shown in Figure 18(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 18(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.

[0080] 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, as shown in Figures 19(A) and 19(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 19(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 19(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 tilts counterclockwise in the plane of the figure, as shown in Figure 19(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 counterclockwise, the extrusion member 92 also tilts counterclockwise in accordance with the yarn supply package P.

[0081] As the rod portion 77 moves further forward relative to the shell portion 76 from the state shown in Figure 19(B), one end face 161 of the paper tube 160 is pressed against the contact surface 98, causing the yarn supply package P to move further toward the creel-side peg 28. Then, through the processes shown in Figures 20(A), 20(B), 21(A), and 21(B), the yarn supply package P comes to be supported by the creel-side peg 28. 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 may cause the yarn supply package P to swing vertically like a pendulum, but the contact surface 98 swings vertically in accordance with the one end face 161 of the paper tube 160.

[0082] Furthermore, as shown in Figure 21(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 creel-side peg support portion 25. Therefore, as shown in Figure 2, a notch 26 (see notch 26A in Figure 2) is provided in the creel-side peg support portion 25 to prevent interference between the hook portion 106 and the creel-side peg support portion 25.

[0083] 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.

[0084] 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.

[0085] [7. Reaction force acting on the cylinder 75 when the yarn supply package P is transferred to the creel stand 20] Incidentally, as mentioned above, when the yarn package P is drawn in from the yarn storage unit 32 to the yarn package supply device 60, an excessive reaction force may act on the cylinder 75. However, an excessive reaction force may also act on the cylinder 75 when the yarn package P is transferred from the yarn package supply device 60 to the creel stand 20. This is because the distance from the base end of the cylinder 75 to the front surface 25a of the creel-side peg support part 25 varies depending on the creel-side peg support part 25 that supports the creel-side peg 28 to which the yarn package P is transferred. Therefore, if the distance from the base end of the cylinder 75 to the front surface 25a of the creel-side peg support part 25 is small, the contact surface 98 of the extrusion member 92 may contact one end surface 161 of the paper tube 160 and the other end surface 163 of the paper tube 160 may contact the front surface 25a of the creel-side peg support part 25, and the extrusion member 92 may also attempt to move forward relative to the shell part 76. In this case, the position of the peg support portion 25 on the creel side is fixed and does not move, so an excessive reaction force (rearward force) acts on the rod portion 77 and, consequently, the cylinder 75.

[0086] In this regard, the yarn package supply device 60 of this embodiment is equipped with the reaction force absorption mechanism 130 described above. As shown in Figure 22, even if an excessive reaction force (a force to the rear in Figure 22) acts on the rod portion 77 and consequently the cylinder 75, the cylinder 75 (the shell portion 76 of the cylinder 75) retracts backward, absorbing the reaction force. Therefore, it is possible to suppress damage to the cylinder 75, the extrusion member 92, and other various components and parts that constitute the yarn package supply device 60. Figure 22 is an example of a side view showing the creel stand 20 and the yarn package supply device 60, and is a diagram showing the operation of the reaction force absorption mechanism 130 when an excessive reaction force acts on the cylinder 75.

[0087] Next, the preferred magnitude of the elastic force that the elastic member 138 imparts to the support member 132 will be explained with reference to Figures 17 and 22.

[0088] First, let F1 be the elastic force that the elastic member 138 exerts on the support member 132, that is, the elastic force that acts on the support member 132 in the clockwise direction in Figure 22 (the direction that opposes the excessive reaction force mentioned above) with the first shaft member 134 as the axis of rotation. Furthermore, let the forward component of the elastic force F1 be the first extrusion limit force F11 (see Figure 17), and let the force component in the direction (i.e., the axial direction of the cylinder 75) that presses one end face 161 of the paper tube 160 by the contact surface 98 when the support of the supported part 85 by the support roller 69 is released and the hook part 106 tilts downward be the second extrusion limit force F12 (see Figure 22).

[0089] The thrust on the extension side of the cylinder 75, that is, the maximum extension force when the rod portion 77 attempts to extend in the extension direction (forward direction in Figures 17 and 22) relative to the shell portion 76 (hereinafter referred to as "maximum extension force of cylinder 75"), is defined as F2 (see Figures 17 and 22). The maximum extension force of cylinder 75 is a pressing force greater than the force required to push the yarn supply package P out of the extrusion member 92 in the direction from the base end to the tip end of the robot-side peg 70. Note that the maximum extension force (pressing force) F2 of cylinder 75 is the same regardless of whether the longitudinal direction of cylinder 75 is horizontal or not.

[0090] The maximum resistance force generated when pushing out the yarn supply package P supported by the robot-side peg 70, i.e., the maximum static friction force generated between the robot-side peg 70 and the yarn supply package P (more specifically, the inner surface of the paper tube 160), is defined as F3 (see Figure 17). This maximum static friction force F3 is a force acting in a backward direction. Due to the action of the cylinder 75, the contact surface 98 of the extrusion member 92 presses against one end face 161 of the paper tube 160 with a force greater than the maximum static friction force F3, thereby pushing out the yarn supply package P supported by the robot-side peg 70 from the tip of the robot-side peg 70.

[0091] Furthermore, when the other end face 163 of the paper tube 160 comes into contact with the front surface 25a of the creel-side peg support portion 25, an excessive reaction force F4 acts backward on the contact surface 98 and, consequently, on the rod portion 77 of the cylinder 75 (see Figure 21).

[0092] Under the above conditions, in order to push the yarn supply package P, which is attached to the robot-side peg 70, toward the creel-side peg 28, the following force relationships must be met: "First extrusion limit force F11 > Maximum static friction force F3 AND Second extrusion limit force F12 > Maximum static friction force F3" and "Maximum extension force F2 of cylinder 75 > Maximum static friction force F3". If the first extrusion limit force F11 and the second extrusion limit force F12 are smaller than the maximum static friction force F3, when pushing the yarn supply package P forward, the support member 132 may rotate counterclockwise around the first shaft member 134 as its central axis in Figure 17 before the yarn supply package P begins to move forward. Also, if the maximum extension force F2 of cylinder 75 is not greater than the maximum static friction force F3, the yarn supply package P cannot be pushed forward.

[0093] Furthermore, if an excessive reaction force F4 acts on the cylinder 75 in a rearward direction, the force relationship "excessive reaction force F4 > first extrusion limit force F11 AND excessive reaction force F4 > second extrusion limit force F12" must be met for the reaction force absorption mechanism 130 to absorb such excessive reaction force F4. This requires the force relationship "maximum extension force F2 of cylinder 75 > first extrusion limit force F11 AND maximum extension force F2 of cylinder 75 > second extrusion limit force F12" to be met. As mentioned above, the position of the creel-side peg support part 25 is fixed and does not move, so this force relationship "excessive reaction force F4 > first extrusion limit force F11 AND excessive reaction force F4 > second extrusion limit force F12" is met. Furthermore, considering the inclination of the cylinder 75 when the support of the supported portion 85 by the support roller 69 is released and the hook portion 106 tilts downward, it can be said that the first extrusion limit force F11 and the second extrusion limit force F12 are approximate. In that case, by setting the elastic force F1 to a magnitude such that the force relationship "maximum elongation force F2 of cylinder 75 > first extrusion limit force F11 ≈ second extrusion limit force F12 > maximum static friction force F3" holds, when the yarn supply package P is pushed out by the contact surface 98, the yarn supply package P can be moved forward, and when an excessive reaction force F4 (a force greater than the second extrusion limit force F12) acts on the cylinder 75, the entire cylinder 75 moves backward, making it possible to release the excessive reaction force F4.

[0094] [8. 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; 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; and a base portion 62. The extrusion mechanism 74 includes an extrusion member 92; a cylinder 75 for moving the extrusion member 92 relative to the robot-side peg 70 within a predetermined range in the direction from the base end to the tip or from the tip to the base end; and a reaction force absorption mechanism 130. The extrusion member 92 is configured to contact one end face 161 of the paper tube 160 of the yarn package P hung on the robot-side peg 70 when it moves in the direction from the base end to the tip. Furthermore, the cylinder 75 is supported by the base portion 62 and is configured to be able to act on the extrusion member 92 with a maximum extension force (pushing force) F2 that is greater than the force required to push the yarn supply package P in the direction from the base end to the tip end of the robot-side peg 70. The reaction force absorption mechanism 130 is configured such that when a reaction force (excessive reaction force) F4 greater than the force required to push the yarn supply package P is acted on the extrusion member 92 in the direction from the tip end to the base end of the robot-side peg 70, the cylinder 75 operates with a force smaller than the maximum extension force F2 that can be acted on the extrusion member 92, thereby absorbing the excessive reaction force F4 acting on the extrusion member 92. Therefore, even if an excessive reaction force F4 acts on the extrusion member 92, this reaction force is absorbed, making it possible to suppress damage to the extrusion member 92, the cylinder 75, and other various components and parts that constitute the yarn supply package supply device 60.Furthermore, even if the distance to each of the multiple creel-side pegs 28 (the distance between each of the multiple creel-side pegs 28 and the robot-side peg 70) differs for each creel-side peg 28, the reaction force absorption mechanism 130 ensures that the movement of the extrusion member 92 from one end to the other end of the robot-side peg 70 is automatically controlled according to the distance to the creel-side peg 28. In other words, if an excessive reaction force acts on the extrusion member 92 moving from the base end to the tip end of the robot-side peg 70, the extrusion member 92 will not move any further. This makes it possible to absorb variations in the distance to each of the multiple creel-side pegs 28, and to push out and transfer the yarn supply package P to any of the multiple creel-side pegs 28 without any problems.

[0095] Furthermore, the reaction force absorption mechanism 130 can absorb a reaction force F4 greater than the force required to push the yarn package P out onto the extrusion member 92 by supporting the cylinder 75 relative to the base 62 so that the cylinder 75 moves relative to the base 62 in the direction from the tip to the base of the robot-side peg 70. As a result, it is possible to suppress damage to various components and parts that make up the yarn package supply device 60, such as the cylinder 75 and the extrusion member 92, with a simple configuration. In addition, even if the distance to each of the multiple creel-side pegs 28 differs for each creel-side peg 28, it is possible to transfer the yarn package P to any of the multiple creel-side pegs 28 without any problems.

[0096] Furthermore, the extrusion mechanism 74 also includes a pull-in member 100 for pulling in the yarn supply package P, which is hung on the storage-side peg support portion 35 of the yarn storage unit 32, from the tip of the robot-side peg 70. The pull-in member 100 moves in conjunction with the movement of the extrusion member 92 in the direction from the base end to the tip of the robot-side peg 70 or from the tip to the base end. When moving in the direction from the base end to the tip of the robot-side peg 70, it passes through the hollow portion of the paper tube 160 of the yarn supply package P and moves to the other end face 163 of the paper tube 160 on the opposite side of the robot-side peg 70. After that, it is lifted upward and moves in the direction from the tip to the base of the robot-side peg 70 while in contact with the other end face 163, so that the yarn supply package P can be pulled in from the tip of the robot-side peg 70. Furthermore, when the pull-in member 100 moves to a position beyond the other end face 163 of the paper tube 160, or when it is lifted upward after moving to a position beyond the other end face 163 of the paper tube 160, the extrusion member 92 comes into contact with one end face 161 of the paper tube 160 of the yarn supply package P, and a reaction force (excessive reaction force) greater than the force required to push out the yarn supply package P acts on the extrusion member 92 in the direction from the tip to the base of the robot-side peg 70, the reaction force absorption mechanism 130 causes the cylinder 75 to move relative to the base portion 62 in the direction from the tip to the base of the robot-side peg 70. Therefore, when the yarn supply package P is pulled from the yarn storage unit 32 to the robot-side peg 70, even if the extrusion member 92 and one end face 161 of the paper tube 160 of the yarn supply package P come into contact and an excessive reaction force F4 acts in the direction from the tip to the base of the robot-side peg 70, this reaction force F4 is absorbed by the reaction force absorption mechanism 130, thereby suppressing damage to the cylinder 75, the extrusion member 92, and other components and parts that make up the yarn supply package supply device 60.Furthermore, even if the distance to the creel-side peg 28 (the distance between the creel-side peg 28 and the robot-side peg 70) and the distance to the storage-side peg support section 35 of the yarn storage 32 (the distance between the storage-side peg support section 35 and the robot-side peg 70) are different, the reaction force absorption mechanism 130 ensures that the movement of the extrusion member 92 from one end to the other end of the robot-side peg 70 is automatically controlled according to the distance to the creel-side peg 28 and the distance to the storage-side peg support section 35. In other words, if an excessive reaction force acts on the extrusion member 92 moving from the base end to the tip end of the robot-side peg 70, the extrusion member 92 will not move any further. This makes it possible to absorb the distance difference between the creel-side peg 28 and the storage-side peg support section 35, enabling the yarn supply package P to be pushed out and handed over to the creel-side peg 28 and the yarn supply package P to be pulled in and received from the storage-side peg support section 35 without any problems.

[0097] [9. Variant] 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-described embodiment, when the cylinder 75 receives an excessive reaction force, the support member 132 that holds the cylinder 75 rotates relative to the base portion 62 with the first shaft member 134 as the axis of rotation, thereby moving the entire cylinder 75 toward the rear. In other words, the cylinder 75 is configured to absorb excessive reaction forces by rotating it, but the invention is not limited to this. For example, instead of absorbing excessive reaction forces by rotating the cylinder 75, the cylinder 75 may be moved in parallel toward the rear relative to the base portion 62, for example, as shown in Figure 14(A), to absorb excessive reaction forces.

[0098] Furthermore, in the above-described embodiment, the cylinder 75 is positioned below the base portion 62, but the system is not limited to this. The cylinder 75 may be positioned above the base portion 62 as long as it can absorb the reaction force acting on the cylinder 75. The extrusion member drive unit is not limited to a cylinder, but can be any mechanism that moves the extrusion member, such as a combination of a ball screw and a motor that rotates it. [Explanation of Symbols]

[0099] 25 Creel-side peg support section 32. Raw yarn storage facility 35 Storage cabinet side peg support section 60 Yarn package supply device 62 Base section 70 Robot-side pegs 74 Extrusion mechanism 75 cylinders 92 Extruded member 98 Contact surface 100 Lead-in member 130 Reaction force absorption mechanism 134 1st shaft member 160 Paper tube 161 One end face of the paper tube 163 The other end face of the paper tube P Yarn supply package

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, Support part and 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 and holding portion within a predetermined range in a direction from the other end toward one end of the yarn supply and holding portion or from one end toward the other end; Reaction force absorption mechanism, It has, The extrusion member is configured to contact the end face of the cylindrical member of the yarn package that is placed over the yarn holding portion when it moves from the other end of the yarn holding portion toward one end. The extrusion member drive unit is supported by the support unit and is configured to apply an extrusion force to the extrusion member that is greater than the force required to push the yarn supply package in the direction from the other end to the one end of the yarn supply holding unit. The reaction force absorption mechanism is configured to absorb the reaction force acting on the extrusion member when a reaction force greater than the force required to extrude the yarn package acts on the extrusion member in the direction from one end to the other of the yarn holding portion, by operating with a force smaller than the extrusion force. Yarn package supply device.

2. The reaction force absorption mechanism absorbs the reaction force acting on the extruder member by supporting the extruder member drive unit relative to the support unit so that the extruder member drive unit moves relative to the support unit in the direction from one end to the other end of the yarn holding unit when a reaction force greater than the force required to extrude the yarn package acts on the extruder member in the direction from one end to the other of the yarn holding unit. The yarn package supply device according to claim 1.

3. The extrusion member drive unit is a cylinder having a shell portion and a rod portion that is extendable and retractable relative to the shell portion, The extrusion member is attached to the tip of the rod portion, The reaction force absorption mechanism absorbs the reaction force acting on the extruder member by supporting the cylinder with respect to the support portion such that the shell portion moves relative to the support portion in the direction from one end to the other end of the yarn holding portion when a reaction force greater than the force required to extrude the yarn package acts on the extruder member in the direction from one end to the other end of the yarn holding portion. The yarn package supply device according to claim 2.

4. The extrusion mechanism further includes a pull-in member for pulling in a yarn supply package, which is hung on a holding part of a storage unit, from one end of the yarn supply holding part. The aforementioned pull-in member is The yarn-feeding and holding portion moves in a direction from the other end toward one end or from one end toward the other end in conjunction with the movement of the extrusion member. Furthermore, when the yarn supply holding portion moves from one end to the other end, it passes through the hollow portion of the cylindrical member of the yarn supply package and moves to the other end face, which is the end face of the cylindrical member on the opposite side of the yarn supply holding portion, and is then lifted upward and moves from one end to the other end of the yarn supply holding portion while in contact with the other end face, so that the yarn supply package can be pulled in from one end of the yarn supply holding portion. When the pull-in member moves to a position beyond the other end face of the cylindrical member, or when it is lifted upward after moving to a position beyond the other end face of the cylindrical member, the extrusion member and the end face of the cylindrical member of the yarn supply package come into contact, and a reaction force greater than the force required to push the yarn supply package acts on the extrusion member in the direction from one end to the other end of the yarn supply holding portion. In such a case, the reaction force absorption mechanism absorbs the reaction force acting on the extrusion member by moving the extrusion member drive portion relative to the support portion in the direction from one end to the other end of the yarn supply holding portion. A yarn package supply device according to any one of claims 1 to 3.

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