Creel Robot Peg Rotation Accuracy via Counterweight
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Solution Overview
Problem
Existing creel robots face challenges in accurately changing the rotation angle of a peg around a vertical axis of a creel stand due to inertial forces, which affects the precision of yarn feeding package supply and empty take-up tube collection.
Innovation Solution
A creel robot equipped with a peg driving mechanism, an arm mechanism that can switch between connection and non-connection states, and an engagement mechanism that securely attaches to the creel stand, preventing sway caused by inertial forces and enabling high-accuracy rotation angle changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the peg shaft is rotated around the vertical axis of the creel stand, then the yarn feeding package can be supplied to the creel side, but the peg open mechanism and yarn-feeding changer sway due to inertial force, making it difficult to stop at the predetermined rotation angle
Solution Approach 1:
The patent introduces a counterweight mechanism that generates a counterbalancing force to offset the inertial force produced during rotation of the peg shaft. This counterweight system stabilizes the peg open mechanism and yarn-feeding changer, preventing sway and enabling accurate stopping at the predetermined rotation angle despite the dynamic rotational motion.
2Productivity
If the arm mechanism connects to the peg for transmitting rotary driving force, then the peg can be rotated, but the inertial force causes sway that reduces stopping accuracy
Solution Approach 1:
The counterweight mechanism compensates for inertial forces during rotation, allowing the arm mechanism to effectively transmit rotary driving force to the peg while maintaining stopping accuracy. This enables both efficient yarn feeding package supply and precise rotation angle control.
3Productivity
If the peg shaft rotates with high speed, then the operational efficiency improves, but the inertial force increases causing more severe sway and reduced stopping accuracy
Solution Approach 1:
The counterweight mechanism scales its counterbalancing force to match the inertial force generated during high-speed rotation of the peg shaft. This allows the system to maintain both high operational efficiency through faster rotation and high stopping accuracy by dynamically compensating for the increased inertial forces.
Data Source
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AI summary
To provide a creel robot capable of changing a rotation angle of a peg around a vertical axis of a creel stand as a rotational axis with high accuracy and capable of facilitating supplying of a yarn feeding package to the creel side and collecting of an empty take-up tube. The creel robot includes: a peg driving mechanism 46 configured to rotationally drive the peg 25 around a vertical direction as a rotational axis; an arm mechanism 41 in which the peg driving mechanism 46 is provided, the arm mechanism configured to be switchable between a connection state for a transmitting rotary driving force of the peg driving mechanism 46 to the peg 25 by advancing and connecting to the peg 25 and a non-connection state for transmitting no rotary driving force of the peg driving mechanism 46 to the peg 25 by separating and retreating from the peg 25; and an engagement mechanism 45 provided in the arm mechanism 41 and configured to be engaged with the creel stand 2 during the connection state of the peg driving mechanism 46.