# US 5,349,807 A · Robot apparatus for double twister > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,349,807 A - Document ID: US5349807A - Status: Granted - Kind: A - Application number: 07/870,550 - Filed: 1992-04-17 - Granted: 1994-09-27 - Earliest claimed: 1991-04-19 - Assignees: Murata Kikai Kabushiki Kaisha - Inventors: Tsukasa Kawarabashi; Hiroshi Mima; Tadashi Suzuki - Web page: https://patentgrep.com/patent/US5349807A ## CPC - D01H 15/013: Carriages travelling along the machines - D01H 15/007: for two-for-one twisting machines - D01H: SPINNING OR TWISTING (twisting oakum D01G35/00; crimping or curling of fibres, filaments, or yarns D02G1/00) ## Abstract A robot apparatus for a double twister, which can travel along the units of the double twister, is provided with an operating arm for drawing a yarn end from a feed package, a suction arm for drawing a yarn end from a winding package, a yarn hook portion for hooking both the drawn yarn ends, and a piecing device for piecing both the yarn ends at the hook portion. The robot apparatus is operated to enable formation of a full winding package having a predetermined winding amount from a plurality of feed packages without requiring a yarn length counter. ## Claims ### Claim 1 A method of operating a robot device for a double twister, the double twister comprising a plurality of units, each of the units configured for supporting a winding package and a feed package, the winding package defining a yarn end and the feed package defining a yarn end, the method comprising: detecting a unit having a yarn breakage, detecting whether the unit having the yarn breakage has a winding package having a predetermined diameter and which a yarn feed package has yarn remaining thereon, exchanging the yarn feed package and doffing the winding package when a winding package having a predetermined diameter is detected and yarn remaining on the feed package is not detected, exchanging the yarn feed package and piecing the yarn end of the winding package and the yarn end of the feed package when a winding package having a predetermined diameter is not detected and yarn remaining on the feed package is not detected, and piecing the yarn end of the winding package and the yarn end of the feed package when a winding package having a predetermined diameter is not detected and yarn remaining on the feed package is detected. ### Claim 2 In a double twister comprising a plurality of units, each of the units configured for supporting a winding package and a feed package, the winding package defining a yarn end and the feed package defining a yarn end, a robot device configured for traveling along the units of the double twister, a robot device comprising: means for detecting a unit having a yarn breakage, means for detecting whether the unit having the yarn breakage has a winding package having a predetermined diameter and a yarn feed package having yarn remaining thereon, means for exchanging the yarn feed package and doffing the winding package when a winding package having a predetermined diameter is detected and yarn remaining on the feed package is not detected, means for exchanging the yarn feed package and piecing the yarn end of the winding package and the yarn end of the feed package when a winding package having a predetermined diameter is not detected and yarn remaining on the feed package is not detected, and means for piecing the yarn end of the winding package and the yarn end of the feed package when a winding package having a predetermined diameter is not detected and yarn remaining on the feed package is detected. ### Claim 3 (depends on 2) The device of claim 2, wherein the means for piecing comprises: an operating arm for drawing a yarn end from the feed package, a suction arm for drawing a yarn end from the winding package, a yarn hook portion for hooking the yarn end drawn from the feed package and the yarn end drawn from the winding package, and a piecing device for piecing the yarn end drawn from the feed package and the yarn end drawn from the winding package. ### Claim 4 (depends on 3) The device of claim 3, further comprising a cylinder and a piston rod provided on the robot, wherein the yarn hook portion is provided on the piston rod and wherein the yarn hook portion comprises: a horizontal hook surface secured to the piston rod, a roller provided on the horizontal hook surface, a first projection positioned forward of the roller, and a second projection positioned between the first projection and the piston rod, the first projection and the second projection being configured to hook therebetween a yarn end drawn out of a feed package by the operating arm, and the second projection and the piston rod being configured to hook therebetween a yarn end drawn out of a winding package by the suction arm when the hook portion moves upward. ### Claim 5 (depends on 4) The device of claim 4, wherein the hook portion defines a rear end and further comprising: a yarn guide lever rockably supported at the rear of the hook portion, the yarn guide lever defining an extreme end, and a roller located at the extreme end of the yarn guide lever for hooking a middle portion of a yarn end between the hook portion and the operating arm for moving the yarn away from the hook portion. ### Claim 6 (depends on 2) The device of claim 2, wherein at least one of the units has a feed package having a top cap defining an upper end and a ball mounted on the upper end of the top cap, and further comprising: a ball retaining portion provided on the operating arm for holding the ball during threading. ### Claim 7 (depends on 6) The device of claim 6, wherein the ball defines an upper surface having a spherical convex shape and wherein the ball retaining portion defines a spherical concave portion corresponding to the upper surface of the ball. ### Claim 8 (depends on 7) The device of claim 7, wherein the ball retaining portion comprises an elastic member. ### Claim 9 (depends on 7) The device of claim 7, further comprising: means for producing negative pressure in the concave portion for attracting and holding the ball. ### Claim 10 (depends on 9) The device of claim 9, wherein the means for producing negative pressure comprises an air suction hole in the concave portion. ### Claim 11 (depends on 6) The device of claim 6, wherein the operating arm is provided with a magnet for mounting and removing, from a ball receiver, a steel ball for a tensor provided with a steel ball which is placed in a ball receiver formed at a top of a spindle and which applies tension to a yarn between ball receivers, the magnet having an N-pole and an S-pole vertically positioned with respect to a support member for vertical movement and forward and backward movement being fixed adjacent to each other so that the directions of poles are different from each other. ### Claim 12 (depends on 8) The device of claim 8, wherein the elastic member comprises rubber. ### Claim 13 (depends on 8) The device of claim 8, wherein the elastic member comprises synthetic resin.