Robot for a double twister

摘要

An automatic doffing method for a double twister and a double twister movable along each unit of the double twister which is provided with a yarn supply package changing mechanism for replacing an empty feed package supported on a spindle of each unit with a feed package. A pick finding mechanism for drawing a yarn end from the feed package, a threading mechanism for inserting a yarn end into an axial hole of the feed package by way of an air flow, a doffing mechanism for removing a full winding package supported on the cradle arm of each unit and supplying a take-up tube to the cradle arm, and a yarn hanging mechanism for hanging a yarn end of the feed package on an empty take-up tube when the cradle arm supports the take-up tube.