JPH07189096A - Braider - Google Patents

Abstract

PURPOSE:To shorten a time for change of attitude control and a gripping position of a mandrel by using a robot handle and to reduce labor and to improve productivity. CONSTITUTION:In changing attitude control and a gripping position of a mandrel in a braider, a mandrel (m) is attached to a mandrel gripping device R arranged on a floor in front of the braider. In the case of controlling the position and the attitude, a rotary column b1, a first to a third arms b2 to b4, a base plate b5 and a supporting plate b6 which constitute the robot hand R are properly operated by corresponding normally and reversely rotating motors a1, a2, a3, a4, a5 and a6 to change the mandrel into a desired position or attitude. In the case of changing the gripping position of the mandrel (m) from one end to the other end, a subsidiary mandrel gripping device is operated, drawn once, the other end of the mandrel (m) is positioned in front of the gripping device S and gripped again by the gripping device S.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a braider for forming various compositions by assembling a plurality of yarns or fiber bundles (hereinafter simply referred to as "yarns").

[0002]

2. Description of the Related Art Heretofore, various braiders have been known in which a plurality of yarns are crossed around a mandrel having various shapes such as a T-shape, an I-shape and a tetrapot shape to form a composition. .

[0003]

In the conventional braider, the mandrel attached to the braider is limited to a simple shape because the composition is formed while holding one end of the mandrel. , The composition cannot be formed around the mandrel having a complicated two-dimensional or three-dimensional structure, or the yarns are not continuous at the connecting portion or the bending portion of the mandrel, or a sufficient number of yarns are provided. Since there are no stripes, there is a problem that the strength of the formed composition in this portion is reduced.

In the conventional braider, when exchanging the gripping position of the mandrel, as shown below, the mandrel is manually moved from the gripping device after the drive of the braider is stopped once during the composition. After detaching and exchanging the grip position, the drive of the braider is restarted to form the composition on the mandrel.

As an example, exchange of the gripping position of the mandrel when the composition is formed on the T-shaped mandrel will be described with reference to FIGS. 9 and 10. (A) First, the composition point P is positioned at one end (1) of the mandrel m as shown in FIG. 9 (a). For convenience of explanation, a triangle mark (Δ) is attached to the gripping position of the mandrel m. Further, Y is a yarn heading to a composition point P described later. (B) From this state, the composition is started by driving the braider and causing the bobbin carrier to travel along the track, and as shown in FIG. 9 (b), the composition is directed toward the joint j of the mandrel m. To do. (C) After composition up to the joint j of the mandrel m, FIG.
As shown in (c), the gripping position of the mandrel m is rotated counterclockwise to the state shown in FIG. 9 (d). From this state, as shown in FIG. 9 (e), the branch portion m1 of the mandrel m is formed.

(D) As shown in FIG. 9 (e),
After composition of the mandrel m to the end of the branch part m1 is stopped, the braider is stopped, and one end (1) of the mandrel m is removed from the mandrel gripping device as shown in FIG. 9 (f). Rotate the mandrel m by 180 degrees so that one end (1) of the mandrel m and one end (2) on the opposite side
Is attached to the mandrel gripping device.

(E) After that, the drive of the braider is restarted, and as shown in FIG. 10 (a), the mandrel m
The ends of the branched portion m1 are folded back to compose the branched portion m1 again. (F) After composition up to the joint j of the mandrel m, FIG.
As shown in FIG. 10B, the joint portion j of the mandrel m is formed by rotating the mandrel m in the clockwise direction.
The mandrel m is rotated to the position shown in (c), and thereafter, as shown in FIG. 10 (d), the composition is formed up to the end of the mandrel m, and the composition is formed on the T-shaped mandrel m. To compose.

At the stage of the above step (d), conventionally,
The mandrel was manually removed from the gripping device, the mandrel was rotated, and the mandrel was attached to the gripping device again. Such manual mandrel gripping position exchange requires time, and
Since a large number of yarns in the middle of the composition are interlaced on the mandrel, it requires considerable skill and labor to rotate the mandrel and exchange the gripping position of the mandrel. Furthermore, in a large braider, it is substantially difficult to manually change the gripping position of the mandrel.

Furthermore, since the mandrel is attached to the mandrel holding plate or the like of the braider by means of fixing means such as bolts, nuts or screws, it is difficult to remove and attach the mandrel, and the mandrel holding position. Therefore, there is a problem that the time required for replacement of the blades becomes long, and thus the productivity of the braider becomes poor.

An object of the present invention is to solve the problems of the conventional braider as described above, and to provide a braider having excellent productivity or workability and capable of being automated.

[0011]

In order to achieve the above-mentioned object, the present invention is provided with at least one robot hand device for exchanging the gripping position of the mandrel.

[0012]

EXAMPLES Examples of the present invention will be described below, but the present invention is not limited to these examples without departing from the gist of the present invention.

First, the braider robot hand device of the present invention will be described with reference to FIG. 1, which is a perspective view of the robot hand device.

The robot hand device R has a base b fixed to the floor, and a rotation cylinder b1 is indicated by an arrow x1 by a motor a1 mounted on the base b and capable of rotating in the forward and reverse directions. As described above, the first arm b2 pivotally attached to the frame body b1 ′ standing upright on the upper portion of the rotary cylinder b1 is configured to be horizontally rotatable, and the first arm b2 is disposed on the first arm b2. As shown by an arrow x2, a reversely rotatable motor a2 is configured to be capable of undulating around a frame body b1 ′ of a rotary cylinder b1.

A second arm is provided at the tip of the first arm b2.
The arm b3 is pivotally attached, and the second arm b3 is the second arm b3.
As shown by an arrow x3, a forward / reverse rotatable motor a3 disposed at the lower end of the arm b3 is configured to be capable of undulating about the tip end of the first arm b2.
Furthermore, a third arm b4 is pivotally attached to the tip of the second arm b3, and the third arm b4 is driven by a forward-reverse rotatable motor a4 arranged at the tip of the second arm b3. As shown by an arrow x4, the second arm b3 is configured to be capable of undulating about the tip end thereof.

A base plate b5 is attached to the tip of the third arm b4, and the base plate b5 is indicated by an arrow x5 by a forward / reverse rotatable motor a5 disposed on the base plate b5. As shown, a horizontally rotatable mandrel support plate b6 is erected. And, on the mandrel support plate b6,
As shown by an arrow x6, a mandrel gripping device S for gripping a mandrel rotatable in a vertical plane is arranged by a motor a6 capable of rotating in the normal and reverse directions provided on the mandrel support plate b6. In addition, in FIG. 1, Y is
The yarn is drawn from a bobbin placed on a bobbin carrier C, which will be described later, toward the composition point P.

As described above, the rotary cylinder b1, the first arm b2, the second arm b3, the third arm b4, the base plate b5, and the mandrel support plate b6 can be rotated forward and backward by the motor a.
The mandrel m gripped by the mandrel gripping device S can be controlled to a predetermined position and posture by appropriately rotating the mandrel gripping device S by 1, a2, a3, a4, a5, and a6. The arms rotating in the same direction can be omitted if necessary. For example, the second arm b3 can be omitted because it rotates in the same direction as the first arm b2.

Next, an example of a braider provided with the robot hand device R as described above will be described with reference to FIG. 2 which is a side view of the braider. In FIG.
BR is a braider, and in front of the braider BR,
The robot hand device R having the above-described configuration is arranged, and the mandrel gripping device S of the robot hand device R is attached with the mandrel m.

The braider BR has a curved upper plate U having a predetermined radius of curvature W arranged in a substantially cylindrical machine base Fb having a horizontal axis, and a track formed along the curved upper plate U. It is composed of a bobbin carrier C that travels, a drive device D for causing the bobbin carrier C to travel along a track, a yarn guide member G, and the like. 2 and 3, the rectangular portion shown by the dotted line above the bobbin carrier C is a yarn guide portion c3 of the bobbin carrier C described later.
Is omitted.

The above devices and members will be described below. First, mainly using FIG. 3 which is an enlarged front view of the drive device D for causing the bobbin carrier C including the II cross section of FIG. 2 and FIG. 2 to travel along the track, the upper plate U of the braider BR is used. A drive device D for causing the bobbin carrier C to travel along the track will be described.

As shown in FIG. 2, the curved upper plate U is arranged at a predetermined interval in a substantially cylindrical machine frame f1 arranged in a substantially cylindrical machine stand Fb. It is attached by appropriate fixing members f2 and f2 ', and a known track is formed in the upper plate U in the circumferential direction. A hollow bolt f3 is attached to the machine frame f1 by a nut f4. A gear d1 is fitted to the hollow bolt f3 via an appropriate bearing f5. The gear d1 has a bobbin carrier which will be described later on its upper surface. An impeller d2 having a groove into which the engagement shaft c1 of C is fitted is fixed so as to rotate integrally with the gear d1.

Y is a yarn that is unwound from the bobbin placed on the bobbin carrier C and heads to the composition point P on the mandrel m held by the mandrel holding device S of the robot hand device R, and y is The bobbin carrier C arranged substantially horizontally on the frame Fb ′ of the machine stand Fb having a substantially cylindrical shape is unwound, guided in a substantially right angle direction by the guide roller f6 attached to the machine stand Fb, and is inserted into the hollow bolt f3. After being inserted, it is a yarn for a middle thread or a reinforcing yarn (hereinafter, simply referred to as a “middle yarn thread”) toward the composition point P on the mandrel m.

The gear d is driven by a suitable driving means such as a motor.
By rotating 1 to rotate the impeller d2,
The engagement shaft c1 of the bobbin carrier C fitted in the groove formed in the impeller d2 is moved to move the bobbin carrier C along the track. As described above, by moving the bobbin carrier C along the track formed in the curved upper plate U, a large number of yarns Y are formed.
To form the composition on the mandrel m of various shapes, and, if necessary, from the bobbin carrier C arranged in a substantially horizontal shape on the frame Fb ′ of the machine base Fb to the yarn for middle thread. The yarn y is unwound from the bobbin carrier C traveling along the track to be entangled with the yarn Y to form a composition.

Next, the bobbin carrier C will be described with reference to FIG. 4, which is a front view of the bobbin carrier C. In FIG. 4, c2 is an upper flange, and the upper flange c
2, a mast c4 having a U-shaped cross section and a spindle c5 in which a yarn guide portion c3 is rotatably arranged at the tip end are provided upright. A bobbin c6 around which the yarn Y is wound is inserted and attached to the spindle c5, and a fryer c8 having a bearing c7 is rotatably fitted to the tip end of the spindle c5.

A slit (not shown) extending in the longitudinal direction is provided at the tip of the spindle c5, and a pair of hook members c9, c whose tip is substantially triangular is provided in the slit.
9'is arranged, and the lower ends of the hook members c9, c9 'are pivotally supported by a shaft (not shown) attached to the spindle c5. The hook members c9, c9 'are constantly urged in directions away from each other by an elastic member such as a compression spring arranged between the hook members c9, c9', and the bobbin c6 or the flyer c8 is hooked on the hook members c9, c9 '.
The hook members c9, c9 'are rotated in a direction in which they approach each other when they are inserted into the bobbin c6 or the flyer c8 so that they can be mounted on the spindle c5. Bobbin c6 or flyer c8 is spindle c5
When mounted on the bobbin c, the hook members c9, c9 'are expanded in a direction in which they are separated from each other by an elastic member such as a compression spring.
6 or the fryer c8 is configured so as not to come out of the spindle c5.

Reference numeral c6 'denotes a cylindrical bobbin cover, which is attached to the upper flange c2. The cylindrical bobbin cover c6 'is wound around an adjacent bobbin when the yarn Y wound around the bobbin c6 is pulled out or droops when the bobbin carrier C is inclined or positioned upside down. This is to prevent troubles such as being entangled with the thread that is present or entangled with other members of the braider.

A tension washer c11 and a guide roller c1 are arranged in this order from the bottom on the substantially U-shaped frame c10 of the yarn guide c3 arranged at the tip of the mast c4.
2. A slack eliminating member c13 and a guide roller c14 are arranged. A guide portion c15 having a guide roller c15 'is attached to the tip of the slack eliminating member c13, and the other end of the slack eliminating member c13 has a coil spring c.
One end of 16 is attached, and the coil spring c16
The other end of is attached to the frame c10. The slack eliminating member c13 is pivotally supported on the frame c10 via a shaft member c17 ′ attached to a bearing member c17 arranged on the frame c10, and is always counterclockwise in FIG. 4 by a coil spring c16. It is biased to rotate. Therefore, when the yarn Y unwound from the bobbin c6 becomes loose, the slack eliminating member c13 rotates counterclockwise around the shaft member c17 'in FIG. 4 to absorb the looseness of the yarn Y. Is configured.

In addition, adjacent to the tension washer c11 and the guide roller c14, through holes c18 and c19 through which the yarn Y is inserted are formed in the frame c10. Further, the substantially U-shaped frame c10 is configured to be rotatable clockwise about an axis c20 arranged on the mast c4. When the bobbin c6 or the fryer c8 is mounted on the spindle c5, the frame c10 is used. Is rotated clockwise to make a space above the spindle c5, and the bobbin c6 or the fryer c8 is mounted on the spindle c5. After mounting the bobbin c6 or the fryer c8 on the spindle c5, the frame c10 is rotated counterclockwise and arranged at the position shown in FIG. Further, the frame c10 is configured to be held in the position shown in FIG. 4 unless the lock means is released by an appropriate lock means.

In FIG. 4, c21 is a substantially elliptical lower flange, and c22 is an upper flange c2 and a lower flange c2 which are slidably fitted into a track formed in the upper plate U.
It is a guide portion arranged between the two. Bobbin carrier C
Is the upper plate U due to the upper flange c2 and the lower flange c21.
By being sandwiched between the upper plate U and the upper plate U, it is configured to travel along the track while being held substantially vertically.

Next, the yarn guide member G shown in FIG.
Will be described. The yarn guide member G has a predetermined interval with respect to the first yarn guide member g1 and the first yarn guide member g1 which are attached to a frame g1 ′ extending substantially horizontally from the intermediate frame Fb ″ of the machine base Fb. A second yarn guide member g attached to a tip end portion of a frame member (not shown) provided on a floor member or a front frame of the machine base Fb arranged apart from each other.
It consists of two.

The first yarn guide member g1 and the second yarn guide member g2 sway as the bobbin carrier C, which runs while meandering along the track formed in the upper plate U, moves laterally. The yarn Y is guided by the first yarn guide member g1 and the second yarn guide member g2 which are arranged at a predetermined interval, and the composition point P is maintained at a substantially constant position by controlling the swing thereof. By maintaining the composition point P at a substantially constant position in this manner, a stable composition can be realized without the yarn Y to be composed being entangled in an irregular state near the composition point P. Therefore, the composition It is possible to produce a stable composition having a uniform shape of the obtained composition. Also,
When the mandrel m is moved to the right in FIG. 2 after the composition is completed by disposing the yarn guide member G, a large number of yarns connected to the composition formed by the second yarn guide member g2. The yarn Y can be converged, and the yarn Y can be effectively cut by an appropriate cutting device (not shown).

Next, the mandrel m held by the mandrel holding device S of the robot hand device R described above.
A sub-mandrel holding device H for temporarily holding the mandrel m when the holding position is exchanged will be described with reference to FIG. 2 and FIG. 5 which is a perspective view of the sub-mandrel holding device H.

As shown in FIG. 2, the auxiliary mandrel gripping device H comprises a substantially vertical intermediate frame Fb ″ of the machine base Fb.
Further, the frame h2 having a substantially L-shaped side surface is attached by a suitable fastener such as a bolt h1. A long hole h2 'is formed in the frame h2, and a bolt h is formed in the long hole h2'.
It is preferable that the position of the frame h2 can be adjusted along the long hole h2 ′ by inserting 1 and attaching the intermediate frame Fb ″ to the frame h2.

H3 is a cylinder attached to the lower surface of the frame h2, and the piston rod h of the cylinder h3
At the end of 3 ', a sliding frame h having a substantially T-shaped side surface is formed.
4 is attached. A motor h5 capable of forward and reverse rotation is attached to an upper portion of the vertical portion h4 'of the substantially T-shaped sliding frame h4, and a lower portion of the vertical portion h4' is attached to the piston rod h3 '. It is attached to the tip. The horizontal portion h4 ″ of the substantially T-shaped sliding frame h4 has groove portions h6 ′ on both sides attached to the horizontal portion h2 ″ of the frame h2 described above.
Is inserted in the groove portion h6 ′ of the guide member h6 in which it is arranged. Therefore, by operating the cylinder h3 and reciprocally moving the piston rod h3 ′, the sliding frame h6 is moved.
4 is configured to be slidable with respect to the frame h2.

The vertical portion h of the substantially T-shaped sliding frame h4
A boss h7 'of a rotating frame h7 is attached to an output shaft h5' of a motor h5 extending through 4'and capable of normal and reverse rotation. A horizontal cylinder h8 is disposed in the lower horizontal portion h7 'of the rotating frame h7, and a substantially U-shaped mandrel to which a fixed chuck h10 is attached is attached to a tip end portion of a piston rod h9 of the horizontal cylinder h8. The positioning member h11 is attached.

On the other hand, a horizontal frame h12 extends on the upper horizontal portion h7 "of the rotary frame h7, and the horizontal frame h7
At 12, a stopper h12 'is hung. In addition, the mandrel positioning member h11 includes a bracket h
13 is attached, and a movable chuck h14 is pivotally attached to the bracket h13 on a horizontal axis h13 ′. Further, a horizontal guide shaft h15 is attached to an end of the bracket h13, and the horizontal guide shaft h15 is inserted and attached to a guide block h16 arranged on the rotating frame h7.

The auxiliary mandrel gripping device H includes a cylinder h
By operating 3 to reciprocate the piston rod h3 ', the slidable frame h4 can be slid with respect to the frame h2, and therefore, the forward and reverse rotations arranged in the slidable frame h4 can be performed. Output shaft h of the motor h5
The rotary frame h7 attached to 5'can be reciprocated in the same manner. Further, by appropriately driving the motor h5 capable of rotating in the normal and reverse directions, the rotating frame h7 can be rotated to rotate the mandrel m held by the fixed chuck h10 and the movable chuck h14. ing.

The sub-mandrel gripping device H, except for performing the operation of temporarily gripping the mandrel m gripped by the mandrel gripping device S of the robot hand device R,
By activating the cylinder h3 and pushing out the piston rod h3 ′, the robot hand device R is at a rear standby position so as not to interfere with the movement of the mandrel m by the robot hand device R, as shown in FIG.

When the gripping position of the mandrel m is exchanged, the cylinder h3 is operated to move the piston rod h.
3'is retracted and the rotary frame h7 is advanced toward the mandrel m. After that, the mandrel m is moved to the movable chuck h.
14 and the fixed chuck h10, the horizontal cylinder h8 is operated to advance the piston rod h9 in the direction of the mandrel m, and the movable chuck h14 and the fixed chuck h10 are bored at the end of the mandrel m. To insert. At this time, as described above, the bracket h13 is attached to the mandrel positioning member h11, and the horizontal guide shaft h15 to which the bracket h13 is attached is a guide provided on the rotating frame h7. Block h
Since the movable chuck h14, the fixed chuck h10, and the mandrel positioning member h11 can be horizontally moved in a stable state without swinging to the left or right or up and down, the movable chuck h14, the fixed chuck h10, and the mandrel positioning member h11 are drilled at the end of the mandrel m. The movable chuck h14 and the fixed chuck h10 can be surely inserted into the formed holes m ', and the mandrel m
Can be accurately positioned.

The movable chuck h14 and the fixed chuck h10
When almost the entire length of the vertical portion h14 'of the substantially L-shaped movable chuck h14 is inserted into the hole m'drilled at the end of the mandrel m, the tip of the vertical portion h14' is suspended from the horizontal frame h12. When the piston rod h9 is further advanced in the mandrel m direction after coming into contact with the h12 ′, the substantially L-shaped movable chuck h14 moves to the movable chuck h14 about the horizontal axis h13 ′ attached to the bracket h13. Grooves h1 provided on the outer periphery of the fixed chuck h10, respectively.
4 ″, h10 ′ is rotated upward against an elastic band (not shown) fitted, and is pressed against the inner wall of the hole m ′ formed at the end of the mandrel m to grip the mandrel m. Further, the movable chuck h14 and the fixed chuck h10 are moved in the mandrel m direction, so that the mandrel positioning member h11 is brought into contact with the end of the mandrel m, so that the movable chuck h14 and the fixed chuck h10 and the mandrel m are held at a constant position. Is configured to be.

The movable chuck h14 and the fixed chuck h10
When the piston rod h9 is retracted from the state of gripping the mandrel m, the movable chuck h14 having a substantially L shape is formed.
The tip of the vertical portion h14 'of the horizontal axis h1 attached to the bracket h13 is separated from the stopper h12' hung from the horizontal frame h12, and the substantially L-shaped movable chuck h14 is attached to the bracket h13.
By rotating downward about 3 ', the elastic band (not shown) contracts. Therefore, the grip of the mandrel m by the movable chuck h14 and the fixed chuck h10 can be released.

Next, regarding the cooperative operation of the mandrel holding device S and the sub mandrel holding device H of the robot hand device R, the mandrel holding device S and the sub mandrel holding device H will be described.
This will be described with reference to FIG. 6, which is a schematic plan view showing the operation process of FIG.

As shown in FIG. 6A, during the mandrel m composition work, the mandrel gripping device S of the robot hand device R grips one end (1) of the mandrel m, and The gripping device H stands by at a position apart from the mandrel m gripped by the mandrel gripping device S by operating the cylinder h3 and pushing out the piston rod h3 ′.

Mandrel m by mandrel gripping device S
When the gripping position of the mandrel m is changed from one end (1) of the mandrel m to the other end (2), first, as shown in FIG.
5 to move the slidable frame h4 in the direction of arrow A in FIG. 5, and to rotate the slidable frame h4 attached to the output shaft h5 ′ of the forward / reverse rotatable motor h5 disposed in the slidable frame h4. Similarly, the moving frame h7 is moved in the arrow A direction in FIG.

Next, the piston rod h9 of the horizontal cylinder h8 is moved in the direction of arrow A in FIG. 5 to fix the fixed chuck h10 of the auxiliary mandrel holding device H.
The movable chuck h14 is inserted into a hole m ′ formed at the end of the mandrel m, the fixed chuck h10 and the movable chuck h14 hold the mandrel m, and the mandrel holding device S releases the holding of the mandrel m.

Then, the motor h5 capable of rotating in the forward and reverse directions is appropriately driven to fix the fixed chuck h of the auxiliary mandrel holding device H.
10 and the mandrel m held by the movable chuck h14 are rotated as shown in FIG. 6C to position the other end (2) of the mandrel m in front of the mandrel holding device S.

Thereafter, as shown in FIG. 6D, the other end (2) of the mandrel m is attached to the mandrel holding device S.
Gripping the mandrel m by the sub-mandrel gripping device H and releasing the cylinder h3.
Is operated to push out the piston rod h3 ′ to return the auxiliary mandrel holding device H to the standby position.

As described above, the auxiliary mandrel holding device H
By arranging, the work of exchanging the gripping position of the mandrel m gripped by the mandrel gripping device S can be automated, the productivity of the braider can be improved, and the labor can be saved.

Further, since the work of exchanging the gripping position of the mandrel m can be automated, the work of exchanging the mandrel holding position of the mandrel, which has been difficult to perform manually, can be easily replaced with a large-sized braider. Braiding allows the composition of large braids of various shapes.

A gripping device similar to the sub-mandrel gripping device H described above is preferably applied to the mandrel gripping device S of the robot hand device R, but is not limited to the gripping device having such a configuration. For example, the outer circumference of the end of the mandrel m may be configured to be gripped by a suitable chuck. Further, instead of the robot hand device R fixed to the floor by the base b, a mobile or self-propelled robot hand device R can be used.

Next, an embodiment in which the above-mentioned auxiliary mandrel gripping device H is eliminated and two robot hand devices R1 and R2 are arranged on the front surface of the braider BR will be described with reference to FIGS.

As shown in FIG. 7, the mandrel m
During the composition of the composition around the robot, one of the two robot hand devices R1 and R2 is used.
The mandrel m is gripped by the first mandrel gripping device S and the posture of the mandrel m is controlled.

When the gripping position of the mandrel m is exchanged, as shown in FIG. 8, the mandrel m by the mandrel gripping device S of one robot hand device R1 is used.
During gripping, the mandrel gripping device S of the other robot hand device R2 grips the mandrel m, and then
The mandrel gripping device S of the robot hand device R1 releases the grip of the mandrel m, and the robot hand device R2
To restart the composition of the composition.

As described above, by disposing the two robot hand devices R1 and R2 on the front surface of the braider BR, the mandrel gripping device S of the robot hand device R1 which has completed the exchanging of the gripping position of the mandrel m is connected to the robot. During the composition of the composition by the hand device R2, it is possible to hold a new mandrel m in which the composition is not prepared and prepare for the start of the next composition, so that the braider BR with improved productivity is provided. Can be configured.

Further, after the composition of the composition by the robot hand device R2 is finished and the composition by the robot hand device R1 is newly started, until the composition of the composition is grasped by the robot hand device R2 until the mandrel m is gripped. Since the mandrel m held by the robot hand device R2 whose composition has been completed can be removed, a braider BR with further improved productivity can be constructed.

[0056]

Since the present invention is constructed as described above, it has the following effects. Since the gripping position of the mandrel is automatically changed, the time required to change the gripping position of the mandrel is shortened.
The productivity of the braider can be improved, and labor for exchanging the mandrel gripping position can be saved.

[Brief description of drawings]

FIG. 1 is a perspective view of an example robot hand device used in a braider of the present invention.

FIG. 2 is a side view of the braider of the present invention.

FIG. 3 is an enlarged front view of a driving device for causing the bobbin carrier to travel along the track, including the I-I cross section of FIG. 2.

FIG. 4 is a front view of the bobbin carrier.

FIG. 5 is a perspective view of an auxiliary mandrel holding device.

FIG. 6 is a schematic plan view showing an operation process of the mandrel gripping device and the sub mandrel gripping device of the robot hand device.

FIG. 7 is a perspective view of a braider in which two robot hand devices are arranged.

FIG. 8 shows a mandrel gripping position exchange operation 2
It is a perspective view of the braider which has arranged a robot hand device.

FIG. 9 is a process drawing showing the composition order of the composition to be a T-shaped mandrel.

10 is a process drawing following FIG. 9 showing the composition sequence of the composition to be a T-shaped mandrel.

[Explanation of symbols]

 BR: Braider C: Bobbin carrier D: Drive device Fm: Machine stand G・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Thread guide member H ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Sub mandrel gripping device S ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Mandrel support device R ・ ・ ・ ・ ・・ ・ ・ Robot hand device U ・ ・ ・ ・ ・ ・ ・ ・ ・ ・ Upper plate

Claims (1)

[Claims] 1. To replace the gripping position of a mandrel,
A braider characterized in that at least one robot hand device is provided.