| 摘要 |
PURPOSE:To make possible to perform the doffing certainly and quickly utilizing the deadweight of a bobbin by holding the bobbin with a pair of arcked arms which are opened and closed by the pushing pressure to the bobbin due to the support plate of a robot. CONSTITUTION:Upon doffing, when the support plate 18 of an articulated robot hand is raised as high as it contacts with the lowest part of the external periphery of a bobbin 31, the bobbin 31 is released from the bobbin holder of a winder. In the next step, when only the hand body is raised, pinions 22 and 23 are rotated by racks 27 and 28 to close arms 24 and 25 holding the external peripheral face of the bobbin 31. When the arms are raised further in this state, all the deadweight of the thread reel 31 weight to the support plate 18 holding the bobbin 31 firmly. And the robot releases the thread reel 31 from the bobbin holder and place it on a peg. The bobbin is thus performed the doffing certainly and quickly being utilized its deadweight.
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