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Yarn processing system, automatic yarn threading device, teaching method, and teaching system

A processing device and processing equipment technology, applied in the direction of thin material processing, general control system, control/adjustment system, etc., can solve the problem of teaching a lot of time and labor

Pending Publication Date: 2021-08-06
TMT MACHINERY INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, when the yarn processing device is replaced or maintained, the position of each part of the device may change, so it is necessary to perform the above-mentioned teaching again in order to cope with this change.
Therefore, there is a problem that teaching takes a lot of time and labor

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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  • Yarn processing system, automatic yarn threading device, teaching method, and teaching system
  • Yarn processing system, automatic yarn threading device, teaching method, and teaching system
  • Yarn processing system, automatic yarn threading device, teaching method, and teaching system

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Embodiment Construction

[0049] Next, embodiments of the present invention will be described. In addition, for the sake of illustration, the figure 1 as well as figure 2 The directions shown are assumed to be front, rear, left, right, up and down directions. In addition, let the direction in which the thread Y advances be the thread advancing direction (advancing direction of this invention).

[0050] (Outline configuration of spinning take-up equipment)

[0051] figure 1 It is a front view of the spinning drawing device 1 (yarn processing device of the present invention) of the present embodiment. The spinning drawing facility 1 includes a plurality of spinning devices 2 , a plurality of drawing units 3 (yarn processing devices of the present invention), and a spinning robot 4 . The plurality of spinning devices 2 are arranged in the left-right direction, and each spins a plurality of yarns Y (for example, 12). The plurality of drawing units 3 are arranged below the plurality of spinning devic...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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Abstract

The invention relates to a yarn processing system, an automatic yarn threading device, a teaching method, and a teaching system. The time and labor required for teaching for a yarn threading robot are reduced. A spun yarn take-up system 1 includes: a take-up unit 3; a yarn threading robot 4 which includes a yarn threading arm 32 and is configured to perform yarn threading to the take-up unit 3 by using the yarn threading arm 32; a yarn threading storage unit 102a which is able to store information regarding coordinates of points P to which a predetermined part (TCP) of the yarn threading arm 32 is moved in a predetermined order when the yarn threading is performed; and a yarn threading controller 102 which is configured to cause the yarn threading robot 4 to perform the yarn threading based on the information regarding the coordinates of the points. When the points are grouped into predetermined groups, the yarn threading controller 102 acquires coordinates of a specific point based on a result of teaching regarding the yarn threading, each of the predetermined groups including at least one specific point, and the yarn threading controller 102 acquires coordinates of a relative point which is different from the at least one specific point, based on predetermined relative coordinates relative to the coordinates of the specific point belonging to the same group as the relative point.

Description

technical field [0001] The invention relates to silk processing equipment, an automatic wire hanging device in the silk processing equipment, a teaching method in the silk processing equipment and a teaching system in the silk processing equipment. Background technique [0002] In the spinning pulling equipment (yarn processing equipment) described in Patent Document 1, a spinning robot having a spinning arm performs spinning on a pulling unit (yarn processing device) that pulls and spins the yarn and winds it up on a bobbin. The control unit that controls the threading robot operates the threading arm based on arm movement information (operation information) related to a manner of moving the threading arm. In general, the operation information includes information on the coordinates of a plurality of points where the tip of the wire arm should be located in a predetermined order. The control unit moves the tip portion of the threading arm in a predetermined order based on ...

Claims

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Application Information

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IPC IPC(8): D01D7/00B65H57/16
CPCD01D7/00B65H57/16B65H57/003B65H2701/3132B65H54/26B25J11/00G05B2219/45193G05B19/42B25J9/1656
Inventor 高桥智也那须葵
Owner TMT MACHINERY INC
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