| 摘要 |
<p>To the end of carrying out the process of replacing a cop in an automated weaving machine by using a single multi-joint robot, the robot (9) is placed near a cop replacing position of a shuttle 2) which is reciprocated between warps (3), and a hand stand (15) is provided for supporting first through third hands (12-14) which can be detachably mounted on the robot arm (11). The first hand (12) is provided with fingers for individually handling the new cop (17) and the new weft (23), the second hand (13) is provided with fingers for handling the old cop (7) and the old weft 4, and the third hand (14) is provided with a suction pad for engaging the shuttle (2) with vacuum suction when transferring the shuttle (2), and a hook 28 for raising and lowering the bobbin (8) fitted on a tong 6 of the shuttle (2). The various hands allow various work steps to be carried out each in an optimum fashion without requiring so many hands to be carried by the robot arm at the same time.</p> |
