YARN FEEDING BODY TRANSFERRING ROBOT SYSTEM IN WOVEN FABRIC PREPARATION PROCESS

PURPOSE:To improve the working efficiency of the whole woven fabric preparation work by shortening the time necessary for the recognizing work for the yarn feeding body position, in a system for successively transferring the yarn feeding body automatically by a yarn feeding body transferring work unit supported on a robot hand between the yarn feeding body supply part and a receiving part. CONSTITUTION:The positions of at least two selected detection objects which represent the position of a pallet C are detected by a sensor 31, and a detection position signal DS is outputted, and the registration position of each yarn feeding body A on the pallet C is calculated by a calculator 51 from the detection position signal DS supplied from the sensor 31 and the standard position signal RS representing the position relation of each yarn feeding body piled on the pallet, and a registration position signal TS is outputted. On the basis of the registration position signal TS, a control mechanism successively shifts a yarn feeding body shifting work unit 20 to the registration position of each yarn feeding body A.