JPS60171974A - Robot device for doffing work - Google Patents

Robot device for doffing work

Info

Publication number
JPS60171974A
JPS60171974A JP2293584A JP2293584A JPS60171974A JP S60171974 A JPS60171974 A JP S60171974A JP 2293584 A JP2293584 A JP 2293584A JP 2293584 A JP2293584 A JP 2293584A JP S60171974 A JPS60171974 A JP S60171974A
Authority
JP
Japan
Prior art keywords
cartridge
winding
doffing
paper tube
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2293584A
Other languages
Japanese (ja)
Inventor
Tsugio Sekii
次男 関井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2293584A priority Critical patent/JPS60171974A/en
Publication of JPS60171974A publication Critical patent/JPS60171974A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Landscapes

  • Manipulator (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)

Abstract

PURPOSE:To automatically conduct a doffing work and to accomplish a reliable and quick doffing work by providing a moving piece having a hook for pulling out a paper tube where a glass yarn is wound from a take-up shaft to be moved to a cartridge. CONSTITUTION:On completion of winding a designated amount of a glass yarn 26, the glass yarn extended between paper tubes 2a and the terminal end yarn are cut. Subsequently, a cartridge 13 is again placed opposite concentrically to a take-up shaft 1a of a winder 1, and a hook 19 is lifted up to be engaged with the outer periphery of a cake 2. After that, the on the take-up shaft 1a is pulled out by rotation of a screw lead by an electric motor 17 to be moved to the cartridge 13. When all cake 2 are thus moved to the cartridge 13, the cartridge 13 is detached from a collet chuck, and another new cartridge 13 is inserted in the collet chuck 14 and supported thereon. Accordingly, the paper tube can be automatically moved to the winder and a doffing work for pulling out cake from the winder can be automatically performed.

Description

【発明の詳細な説明】 〔発明の技術分野〕 この発明は、ガラス材料（ガラス塊）を融解して生成し
たガラス糸（たとえば直径０．１〜３Ｘ程度のもの）を
紙チューブに巻回する採糸工程によって製作されたケー
クを取扱うドフイング（Ｄｏｆｆｉｎｇ）作業（ガラス
糸を巻回した紙チューブを巻取ワインダ装置から抜き取
る作業）を行なうドフイング作業用ロボット装置に関す
るものである。[Detailed Description of the Invention] [Technical Field of the Invention] This invention involves winding a glass thread (for example, a diameter of about 0.1 to 3X) produced by melting a glass material (glass lump) around a paper tube. The present invention relates to a doffing robot device that performs doffing work (taking out a paper tube around which a glass thread is wound from a take-up winder device) that handles a cake produced by a thread collecting process.

〔従来技術〕[Prior art]

第１図は作業員の手作業によるドフイング作業の説明図
である。（１）は所定速度で回転する巻取シ軸（１ａ）
を有する従来周知の巻取シワインダ装置、（２）はこの
巻取シワインダ装置（１）の巻取シ軸（ｌａ）に挿脱自
在に挿着された紙チューブ（２ａ）と、これの外周に巻
回されたガラス糸（２ｂ）とによって°形成されたケー
ク、（４）は上記巻取υワインダ装置（１）の巻取り軸
（１＆）から、抜き取ったケーク（２）を保持するため
の保持軸（４ａ）を有する搬送トラック装置である。FIG. 1 is an explanatory diagram of doffing work performed manually by a worker. (1) is a winding shaft (1a) that rotates at a predetermined speed.
A conventionally known take-up swinder device (2) has a paper tube (2a) removably inserted into the take-up shaft (la) of this take-up swinder device (1), and a A cake (4) formed by the wound glass thread (2b) is used to hold the cake (2) pulled out from the winding shaft (1&) of the winding device (1). This is a conveyance track device having a holding shaft (4a).

従来、作業員の手作業によるドフイング作業は、まず、
巻取シワインダ装置（１）の巻取シ軸（１ａ）に複数の
紙チューブ（２ａ）を挿入したあと、この紙チューブ（
２ａ）の外周にガラス糸（２ｂ）の一端を巻付けて巻取
りワインダ装置（１）を起動し、複数の各紙チューブ（
２ａ）に順次ガラス糸（２ｂ）を巻掛ける。そして、各
紙チューブ（２ａ）に所定量のガラス糸（２ｂ）の巻回
が終了すると、巻取シワインダ装置（１）を停止させて
ガラス糸（２ｂ）の最終端部を切断し、さらに各紙チュ
ーブ（２＆）間の渡シガ巻取り軸（１ａ）からガラス糸
（２ｂ）を巻回した紙チューブ（２ａ）　、すなわちケ
ーク（２）を順次抜き取シ、隣接する搬送トラック装置
（４）の保持軸（４ａ）（て保持させる。Traditionally, doffing work was done manually by workers.
After inserting a plurality of paper tubes (2a) into the winding shaft (1a) of the winding winder device (1),
2a), one end of the glass thread (2b) is wound around the outer periphery of the paper tube (2a), the take-up winder device (1) is started, and each of the plurality of paper tubes (
Glass thread (2b) is sequentially wound around 2a). When winding of a predetermined amount of glass thread (2b) around each paper tube (2a) is completed, the take-up and swinder device (1) is stopped to cut the final end of the glass thread (2b), and then each paper tube Paper tubes (2a) around which glass thread (2b) is wound, that is, cakes (2), are sequentially pulled out from the winding shaft (1a) between (2 &) and held by the adjacent transport track device (4). Hold the shaft (4a).

従来のこの種ケークの作業員の手作業によるドフイング
作業は、上述した作業要領で行なわれるが、その作業は
きわめて面倒で重労働であるばかシでなく、安全面にお
いても問題があシ、作業員１名で行なうドフイング作業
には限度があるので、巻取シ軸（１ａ）の多い巻取シワ
インダ装置の場合には、多数の作業員を配置しなければ
ならない欠点があった。The conventional manual doffing work by workers for this type of cake is carried out according to the procedure described above, but the work is not only extremely troublesome and hard work, but also poses safety problems and is dangerous for workers. Since there is a limit to the doffing work that can be carried out by one person, in the case of a take-up winder device having many take-up shafts (1a), there is a drawback that a large number of workers must be arranged.

〔発明の概要〕[Summary of the invention]

この発明は、かかる点に着目してなされたもので、上述
したケークのドフイング作業を自動的に行なうロボット
装置を提供しようとするものである。The present invention has been made with this point in mind, and it is an object of the present invention to provide a robot device that automatically performs the above-mentioned cake doffing operation.

〔発明の実施例〕[Embodiments of the invention]

第２図〜第４図は何れもこの発明の一実施例を示すもの
で、第２図はロボット装置の斜視図、第６図はロボット
装置によるドフイング作業の動作説明図、第４図はロボ
ット装置のカートリッジの一半を断面にして示す正面図
である。まず第２図において、（５）は一対のレール（
６）　（６）上を移動する走行台車（７）上に組付けら
れたドフイング作業用のロボット本体で、上記走行台車
（７）の上面には、上記レール（６）　（６）と直交す
る一対のレール（８）　（８）に沿って移動する横行テ
ーブル（９）が載置されている。６時はこの横行テーブ
ル（９）上のロボット本体（５）の上面に装着され所定
速度で回転される旋回テーブル、αυはこの旋回テーブ
ル（至）上において電動機ａ邊によシ所定速度で回転さ
れる回転テーブルで、この回転テーブルαυの垂直面に
は、１８０°の間隔をあけて一対のカートリッジ顛がコ
レットチャックα４に着脱自在に装着し得るようになさ
れておシ、この両カートリッジＱ３は紙チューブ（２ａ
）を着脱自在に挿入支持するために設けられえものであ
る。０５は上記ロボット本体（５）　Ｋ互いに所定間隔
をあけて平行に固定された一対のガイドバー〇〇αＱに
沿って水平方向に移動し得るように支持され、電動機Ｑ
７）により正逆回転するスクリューリードａ樽によって
駆動される移動片で、この移動片０９には上記巻取シワ
インダ装置（１）の巻取り軸（１ａ）からケーク（２）
を抜き取るために、とのケーク（２）を引掛けるほぼコ
字形鉤片←埠が設けられ、たとえば油圧シリンダ翰によ
って上昇し、ケーク（２）の外周に係合するように構成
されている。？１Ｇ　Ｉｎは上記カートリッジ鰻をコレ
ットチャックＩに支持させ、また複数の紙チューブ（２
＆）を挿入支持したカートリソ２０階を巻取シワインダ
装置（１）の巻取シ軸（１ａ）に移動させるためのたと
えば油圧シリンダである。Figures 2 to 4 all show one embodiment of the present invention. Figure 2 is a perspective view of the robot device, Figure 6 is an explanatory diagram of the operation of doffing work by the robot device, and Figure 4 is the robot. FIG. 3 is a front view showing a cross section of one half of the cartridge of the device. First, in Figure 2, (5) is a pair of rails (
6) (6) A robot body for doffing work that is assembled on a traveling trolley (7) that moves above, and on the upper surface of the traveling trolley (7) there is a rail (6) that is perpendicular to the rail (6). A transverse table (9) is mounted that moves along a pair of rails (8) (8). 6 o'clock is a turning table that is attached to the upper surface of the robot body (5) on this transverse table (9) and rotates at a predetermined speed, and αυ is a turning table that is rotated at a predetermined speed by the electric motor a side on this turning table (top). A pair of cartridges are arranged on the vertical surface of the rotary table αυ so that they can be detachably attached to the collet chuck α4 at an interval of 180°, and both cartridges Q3 are attached to the collet chuck α4. Paper tube (2a
) may be provided for detachably inserting and supporting. 05 is the robot main body (5) K supported so as to be movable in the horizontal direction along a pair of guide bars 〇〇αQ fixed in parallel with a predetermined distance from each other.
7) is a moving piece driven by a screw lead a barrel that rotates in forward and reverse directions.
In order to extract the cake (2), a substantially U-shaped hook is provided, which hooks the cake (2), and is configured to be raised by, for example, a hydraulic cylinder and engage the outer periphery of the cake (2). ? 1G In supports the cartridge eel on collet chuck I, and also supports a plurality of paper tubes (2
This is, for example, a hydraulic cylinder for moving the 20th floor of the cart lithography in which the &) is inserted and supported to the take-up shaft (1a) of the take-up winder device (1).

この発明のドフイング作業用ロボット装置は上記のよう
に構成されておシ、第６図によってその動作を説明する
。ｔ　ｆ、回転テーブルＩのコレットチャックＩに挿入
保持させたカートリッジ（ｌＨｃ複数の紙チューブ（２
ｍ）を挿入したあと、横行テーブル（９）を移動させて
紙チューブ（２１）と共にカートリッジａ１を巻取シワ
インダ装置（１）の巻取シ軸（１ａ）に同心的に対向さ
せ、鉤片ａｌを上昇させてこれを紙チューブ（２ａ）に
係合させたあと、電動機ａηによるスクリューリードＯ
ｅの回転によってカートリッジａ３上の紙チューブ（２
ａ）を１個あて、順次巻取シ軸（１ａ）に移動させる。The robot device for doffing work according to the present invention is constructed as described above, and its operation will be explained with reference to FIG. t f, Cartridge (lHc) multiple paper tubes (2
m), move the traversing table (9) so that the cartridge a1 together with the paper tube (21) is concentrically opposed to the winding shaft (1a) of the winding winder device (1), and After raising it and engaging it with the paper tube (2a), the screw lead O is raised by the electric motor aη.
The paper tube (2) on cartridge a3 is rotated by e.
A) is applied one by one and sequentially moved to the winding shaft (1a).

次に、カートリッジ０３を後退させたあと、巻取シ軸（
１ａ）を回転させて各紙チューブ（２ａ）に順次ガラス
糸（２ｂ）を巻掛ける。そして所定量のガラス糸（２ｂ
）の巻回が終了すると、各紙チューブ（２ａ）間の渡り
ガラス糸および最終端糸を切断する。次に再びカー）　
ＩＪッジ０■を巻取シワインダ装置（１）の巻取り軸（
１ａ）に同心的に対向させ、鉤片翰を上昇させてこれを
ケーク（２）の外周に係合させたあと、電動機（１？）
によるスクリューリードα印の回転によって巻取シ軸（
１ａ）上のケーク（２）を抜き取シカートリッジ（１３
１に移動させる。このよう圧して、ケーク（２）をカー
トリッジＯｊに全部移動させると、このカートリッジａ
ｊをコレットチャックＱ４）から取外し、新たに別個の
カートリッジ（１■をコレットチャック（１４）に挿入
支持させたあと、再びこのカートリッジに紙チューブ（
２ａ）を挿入し、これを巻取りワインダ（１）の巻取シ
軸（１ａ）に移動させてガラス糸（２ｂ）の巻掛は動作
に入る。Next, after retracting the cartridge 03, the winding shaft (
1a) and wind the glass thread (2b) around each paper tube (2a) one after another. Then, a predetermined amount of glass thread (2b
) When the winding of paper tubes (2a) is completed, the crossing glass thread and the final end thread between each paper tube (2a) are cut. then car again)
Take up the IJ edge 0■ with the winding shaft (
1a) and raise the hook to engage the outer periphery of the cake (2), then connect the electric motor (1?)
The winding shaft (
1a) Pull out the upper cake (2) and remove the cartridge (13).
Move it to 1. When the cake (2) is completely moved to the cartridge Oj by applying pressure in this way, this cartridge a
j from the collet chuck Q4), insert and support a new separate cartridge (1) into the collet chuck (14), and then insert the paper tube (1) into this cartridge again.
2a) is inserted and moved to the winding shaft (1a) of the winder (1), and winding of the glass thread (2b) begins.

〔発明の効果〕〔Effect of the invention〕

以上述べたように、この発明によれば、ガラス糸を巻回
する紙チューブの巻取シワインダ装置への移動、および
ガラス糸を巻回した紙チューブ、すなわちケークを巻取
りワインダ装置から抜き取るドフイング作業の自動化が
可能となりドフイング作業がきわめて確実かつ迅速にな
り、作業効率の向上に貢献するところきわめて大である
。As described above, according to the present invention, the paper tube around which the glass thread is wound is moved to the take-up and winder device, and the paper tube around which the glass thread is wound, that is, the cake is pulled out from the take-up and winder device. This makes it possible to automate the doffing process, making doffing work extremely reliable and quick, which greatly contributes to improving work efficiency.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は作業員の手作業によるドフイング作業の説明図
、第２図〜第４図は何れもこの発明の一実施例を示すも
ので、第２図はドフイング用ロボット装置の斜視図、第
６図はロボット装置と巻取υワイン、ダ装置によるドフ
イング作業の説明図、第４図はカートリッジの一半を断
面にして示す正面図である。 図において、（１）は巻取シワインダ装置、’（１ａ）
は巻取シ軸、（５）はロボット本体、（７）は走行台車
、（９）は横行テーブル、０１は旋回テーブル、０υは
回転テーブル、０４Ｊはコレットチャック、（ＩＥ９は
移動片、αｅはガイドバー、（ＩＱはスクリューリード
、α樟は鉤片である。 なお、図中同一符号は同一または和尚部分を示す。 代理人　弁理士　木　村　三　朗 第１図 １ −「−ｍ−ゴー 口　口Fig. 1 is an explanatory diagram of doffing work performed manually by an operator, Figs. 2 to 4 all show an embodiment of the present invention, and Fig. 2 is a perspective view of a doffing robot device; FIG. 6 is an explanatory diagram of the doffing operation using the robot device, the winding device, and the winding device, and FIG. 4 is a front view showing a half of the cartridge in cross section. In the figure, (1) is a take-up shiwinder device, '(1a)
is the winding axis, (5) is the robot body, (7) is the traveling carriage, (9) is the traversing table, 01 is the turning table, 0υ is the rotary table, 04J is the collet chuck, (IE9 is the moving piece, αe is the Guide bar, (IQ is a screw lead, α樟 is a hook piece. In addition, the same reference numerals in the figures indicate the same or Japanese monk parts. Agent Patent Attorney Sanro Kimura Fig. 1 - "-m-Go mouth" mouth

Claims (5)

【特許請求の範囲】[Claims] （１）ｃ１ポット本体の所定位置に着脱自在に取り付け
られ、外周に挿入した紙チューブを巻取υワインダ装置
の巻取シ軸に移動させるカートリッジおよび上記巻取り
ワインダ装置においてガラス糸を巻回した紙チューブを
上記巻取シ軸から抜き取ってカートリッジに移動させる
鉤片を有する移動片を備えたことを特徴とするドフイン
グ作業用ロボット装置。(1) A cartridge that is detachably attached to a predetermined position on the c1 pot body and that moves a paper tube inserted into the outer periphery to the winding axis of the winding winder device, and a cartridge for winding glass thread in the winding winder device. A robot device for doffing work, comprising a moving piece having a hook for extracting the paper tube from the winding shaft and moving it to the cartridge. （２）ロボット本体は、走行台車と、横行テーブルと、
旋回テーブルと、回転テーブルによって構成されている
ことを特徴とする特許請求の範囲第１項記載のドフイン
グ作業用ロボット装置。(2) The robot body includes a traveling cart, a traveling table,
A robot device for doffing work according to claim 1, characterized in that it is constituted by a turning table and a rotary table. （３）移動片は、ロボット本体に互いに平行に固定され
た一対のガイドバーに沿って移動し、回転するスクリュ
ーリードによって駆動されることを特徴とする特許請求
の範囲第１項記載のドフイング作業用ロボット装置。(3) The doffing operation according to claim 1, wherein the movable piece moves along a pair of guide bars fixed to the robot body in parallel with each other and is driven by a rotating screw lead. robot equipment. （４）移動片の鉤片は、油圧シリンダによる上昇時に紙
チューブに巻回されたガラス糸の外周に係合するようＫ
なされていることを特徴とする特許請求の範囲第１項記
載のドフイング作業用ロボット装置。(4) The hook piece of the movable piece is set so that it engages with the outer periphery of the glass thread wound around the paper tube when raised by the hydraulic cylinder.
A robot device for doffing work according to claim 1, characterized in that: （５）カートリッジは、回転円板の複数のコレットチャ
ックに着脱自在に取付けられていることを特徴とする特
許請求の範囲第１項記載のドフイング作業用ロボット装
置。(5) A robot device for doffing work according to claim 1, wherein the cartridge is detachably attached to a plurality of collet chucks on a rotating disk.
JP2293584A 1984-02-13 1984-02-13 Robot device for doffing work Pending JPS60171974A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2293584A JPS60171974A (en) 1984-02-13 1984-02-13 Robot device for doffing work

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2293584A JPS60171974A (en) 1984-02-13 1984-02-13 Robot device for doffing work

Publications (1)

Publication Number Publication Date
JPS60171974A true JPS60171974A (en) 1985-09-05

Family

ID=12096484

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2293584A Pending JPS60171974A (en) 1984-02-13 1984-02-13 Robot device for doffing work

Country Status (1)

Country Link
JP (1) JPS60171974A (en)

Similar Documents

Publication Publication Date Title
CN102337616B (en) Automatic vertical doffer
DE3312116C2 (en)
JPS6357478A (en) Silver exchange method in fine spinning machine
GB1504992A (en) Yarn winding apparatus and device for automatic bobbin changing on a winding machine
EP0310871A1 (en) Method and device for automatically exchanging roving bobbins in a ring spinning machine
DE3448249C2 (en)
DE4324039A1 (en) Transport system on a can-spinning machine
JPS60171974A (en) Robot device for doffing work
JP6527818B2 (en) Yarn winding machine, yarn hooking member, and yarn hooking method of yarn winder
DE19851751C2 (en) Device for the automatic removal of roving residues from roving sleeves
CN219823246U (en) Robot tail end clamping mechanism for carrying steel cord spool
EP0410021A1 (en) Process and apparatus for automatically replacing bobbin adaptors loaded with empty bobbins by bobbin adaptors loaded with full bobbins at the processing station of a textile machine
CN214455679U (en) Cable unloading system
JPH08225827A (en) Roll changing device
CN214692677U (en) Automatic bobbin withdrawing device for warping machine
CN212127271U (en) Travelling crane for producing stainless steel band
US3344594A (en) Autodoffing apparatus
ATE80122T1 (en) METHOD AND DEVICE FOR YARN DRAWING.
GB1519297A (en) Method and apparatus for producing wound pull skeins
JPS61289917A (en) Method and device for rearranging roll
DE3876397T2 (en) DEVICE FOR LOADING SPIDERING MACHINES WITH SUPPLY REELS.
EP0320802A1 (en) Method and device for producing a crosswound bobbin
CN110589614A (en) Wire coil transfer device
US4618104A (en) Strand transfer
CN217024862U (en) Intelligent double-take-up device capable of automatically penetrating fibers