Two-for-one twister - which is served by robot to give doffing at stations with automatic yarn end detection

摘要

A mobile robot travels along the stations of a two-for-one twister (1), on a mobile trolley (42) with a doffing mechanism to replace a full bobbin (3A) with an empty sleeve on a spindle (4) at the station (2). A further mechanism locates the yarn end from the bobbin (3A) for insertion into the new sleeve by an air stream. A bobbin removal system takes a full twisted bobbin (8) from a carrier frame (6) at the station (2) and inserts an empty cardboard sleeve (5) in the carrier arm (6). The yarn end from the bobbin (3A) is prepared at the sleeve (5) in the carrier arm (6).