Wire processing system and operation robot

Abstract

A thread processing system as well as a working robot capable of stably and smoothly rewinding the thread from the supply roller. The tensile dummy machining machine (1) has: a bobbin core (12) capable of providing a thread feed roller (5) winding with thread (3) as a POY, a machining position (35) to form a winding roll by machining the thread of the thread supply roller provided in the shuttle core; The thread supply bench car (50) is an operational robot that performs operations on the tensile dummy machine (1). The thread feed table car contains a thread feed roller position adjustment device (57), which moves the thread feed roller as well as at least one of the thread guides and reduces the distance between the thread feed roller and the thread guide by advancing with the progress of the thread backwinding line from the thread supply roller.

Description

Technical field

[0001] The invention relates to a thread processing system as well as an operating robot that performs operations on a thread processing machine. Prior technology

[0002] Patent literature 1 discloses a stretching dummy machining machine as a thread machining machine.

[0003] The tensile dummy processing machine of patent literature 1 has a dummy device as well as a yarn cylinder frame. The yarn frame has a bobbin capable of mounting the thread supply roller. In addition to the tensile dummy machine, there are separate thread supply trolleys capable of traveling along the yarn frame. The thread supply bench car is able to pull the empty thread supply roller from the bobbin and insert a new thread supply roller into the bobbin. In a stretched dummy machine, the thread is drawn from the thread supply roll inserted into the bobbin, and the thread is dummy processed by means of the dummy device. [Previous technical literature] [Patent Literature]

[0004] [Patent Literature 1] Bulletin No. 5-32377, Tekaiping, Japan.

[0005] The yarn rewinding from the thread supply roller forms an air circle on the immediately adjacent downstream side of the thread supply roller by virtue of the rotational and centrifugal forces of that thread. The position where the air circle is formed is between the thread feed roller and the thread guide immediately adjacent to the thread feed roller and located on the downstream side of the thread feed roller.

[0006] As the progress of the thread extraction advances, the diameter of the thread supply roll gradually becomes smaller, and the shape of the air circle changes accordingly. In the case of an unstable shape of the air coil, the smoothness of the unwinding of the wire from the feed roller is likely to be impaired. Invention content

[0007] The invention is accomplished in view of the above, with the purpose of being able to smoothly back-wind the wire from the wire supply roller even if it progresses from the wire supply roller.

[0008] The subject matter which the present invention seeks to solve is described above, and the means and efficacy of solving the subject matter is described below.

[0009] According to a first aspect of the present invention, a working robot having the following structure is provided. Specifically, the working robot is a working robot for operating a yarn processing machine. The yarn processing machine comprises a yarn supply holding portion, a processing station, and a yarn guide. The yarn supply holding portion is capable of accommodating a yarn supply reel wound with synthetic fiber yarn. At the processing station, the yarn on the yarn supply reel disposed on the yarn supply holding portion is processed to form a winding reel. The yarn guide guides the yarn toward the processing station at the downstream end of a balloon formed by the yarn unwound from the yarn supply reel disposed on the yarn supply holding portion. The working robot includes a balloon adjustment device that moves at least one of the yarn supply reel being unwound and the yarn guide as the yarn is unwound from the yarn supply reel progresses, thereby reducing the distance between the yarn supply reel being unwound and the yarn guide.

[0010] This allows the shape of the balloon formed when the yarn is unwound from the yarn supply reel to be controlled, thereby enabling smooth unwinding of the yarn.

[0011] In the aforementioned working robot, the preferred state is that the aforementioned balloon adjustment device is controlled by a controller so that the distance between the aforementioned wire supply reel during unwinding and the aforementioned wire guide decreases as the progress of unwinding the wire from the aforementioned wire supply reel advances.

[0012] Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

[0013] The working robot preferably has the following structure. Specifically, the wire processing machine is provided with a plurality of processing stations, and a plurality of wire feed holders and wire guides are provided corresponding to the plurality of processing stations. The working robot includes a travel device and / or a lifting device capable of moving the balloon adjustment device to the position of the plurality of wire feed holders.

[0014] Thus, the operating robot can use the balloon adjustment device to operate multiple wire feeding holding parts, thereby reducing costs by sharing the structure.

[0015] The working robot preferably has the following structure. Specifically, the working robot includes a reel supply device that performs the operation of placing the wire supply reels on each of the plurality of wire supply holding sections. The travel device and / or the lifting device are capable of moving the reel supply device and the balloon adjustment device together to the positions of the plurality of wire supply holding sections.

[0016] This allows the robot that supplies the wire reel to the wire processing machine to also perform balloon adjustment work, thereby reducing costs by sharing the same structure.

[0017] According to a second aspect of the present invention, a yarn processing system having the following structure is provided. Specifically, the yarn processing system includes a yarn processing machine and a robot for operating the yarn processing machine. The yarn processing machine includes a yarn supply holding portion, a processing station, and a yarn guide. The yarn supply holding portion can accommodate a yarn supply reel wound with synthetic fiber yarn. At the processing station, yarn from the yarn supply reel mounted on the yarn supply holding portion is processed to form a winding reel. The yarn guide guides the yarn toward the processing station at the downstream end of a balloon formed by yarn unwound from the yarn supply reel mounted on the yarn supply holding portion. The robot includes a balloon adjustment device. The balloon adjustment device moves at least one of the yarn supply reel being unwound and the yarn guide as the yarn is unwound from the yarn supply reel, thereby reducing the distance between the yarn supply reel being unwound and the yarn guide.

[0018] This allows the shape of the balloon formed when the yarn is unwound from the yarn supply reel to be controlled, thereby enabling smooth unwinding of the yarn.

[0019] The yarn processing system preferably has the following structure. Specifically, the yarn processing system includes a controller. The controller controls the balloon adjustment device so that the distance between the yarn supply reel and the yarn guide decreases as the yarn is unwound from the yarn supply reel.

[0020] Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

[0021] The aforementioned wire processing system preferably has the following structure. Specifically, the wire processing machine is provided with a plurality of processing stations, and a plurality of wire feed and holding units and wire guides are provided corresponding to the plurality of processing stations. The operating robot includes a travel device and / or a lifting device capable of moving the balloon adjustment device to the position of the plurality of wire feed and holding units.

[0022] Thus, the balloon adjustment device can be used to operate multiple wire feeding holding parts, thereby reducing costs by sharing the structure.

[0023] The yarn processing system preferably has the following structure. Specifically, the working robot includes a reel supply device that performs the operation of placing the wire supply reels on the plurality of wire supply holding sections. The travel device and / or the lifting device are capable of moving the reel supply device and the balloon adjustment device together to the positions of the plurality of wire supply holding sections.

[0024] This allows the robot that supplies the wire reel to the wire processing machine to also perform balloon adjustment work, thereby reducing costs by sharing the same structure.

[0025] In the aforementioned yarn processing system, the following configuration is preferred: that is, the balloon adjustment device of the working robot operates to gradually move at least one of the unwinding yarn supply reel and the yarn guide as the yarn unwinding progresses, thereby gradually reducing the distance between the unwinding yarn supply reel and the yarn guide.

[0026] This allows the distance between the yarn supply drum and the yarn guide to be adjusted at intervals during yarn unwinding. This allows the robot to perform other tasks between distance adjustment operations, enabling efficient operation.

[0027] According to a third aspect of the present invention, a wire processing system having the following structure is provided. Specifically, the wire processing system includes a wire processing machine and a working robot. The working robot operates the wire processing machine. The wire processing machine includes a wire supply holding portion, a processing position, and a wire guide. The wire supply holding portion can accommodate a wire supply reel wound with synthetic fiber wire. At the processing position, the wire on the wire supply reel provided on the wire supply holding portion is processed to form a winding reel. The wire guide guides the wire toward the processing position at the downstream end of the air loop formed by the wire unwound from the wire supply reel provided on the wire supply holding portion. A pair of wire supply holding portions are provided relative to the processing position, and a common wire guide is provided relative to the pair of wire supply holding portions. The wire processing machine is provided with a device for detecting the wire supply reel during wire unwinding. The wire unwinding supply reel detection device detects which of the two wire supply reels provided on the pair of wire supply holding portions is being unwound. The operating robot includes a balloon adjustment device. The balloon adjustment device moves at least one of the wire unwinding supply reel and the yarn guide as the unwinding of the wire from the wire unwinding supply reel, from which the wire unwinding detection device detects that the wire is being unwound, and reduces the distance between the wire supply reel and the yarn guide.

[0028] This allows the shape of the balloon formed when unwinding the yarn from the supply reel to be controlled, enabling smooth yarn unwinding. By appropriately switching between the supply reel currently unwinding the yarn and the standby supply reel, the continuous supply of yarn to the yarn processing machine can be ensured. The supply reel on which the yarn is being unwound can be detected, allowing the shape of the balloon formed on that reel to be appropriately controlled.

[0029] The yarn processing system preferably has the following structure. Specifically, the yarn processing system includes a controller. The controller controls the balloon adjustment device based on detection results of the yarn supply reel detection device during yarn unwinding, thereby decreasing the distance between the yarn supply reel during yarn unwinding and the yarn guide as the yarn unwinding progresses.

[0030] Thereby, the controller can control the shape of the balloon by controlling the balloon adjustment device.

[0031] The yarn processing system preferably has the following structure. Specifically, the yarn processing machine is provided with a plurality of processing stations, and a plurality of yarn feed and holding units and yarn guides are provided corresponding to the plurality of processing stations. The operating robot includes a travel device and / or a lifting device capable of moving the balloon adjustment device to the position of the plurality of yarn feed and holding units.

[0032] Thus, the balloon adjustment device can be used to operate a plurality of wire feeding holding parts, thereby reducing costs by sharing the structure.

[0033] The yarn processing system preferably has the following structure. Specifically, the working robot includes a reel supply device. The reel supply device is configured to position the wire supply reels relative to the plurality of wire supply holding sections. The travel device and / or the lifting device are capable of moving the reel supply device and the balloon adjustment device together to the plurality of wire supply holding sections.

[0034] This allows the robot that supplies the wire supply reel to the wire processing machine to also perform balloon adjustment work, thereby reducing costs by sharing the same structure.

[0035] The yarn processing system preferably has the following configuration: Specifically, the balloon adjustment device of the working robot operates to gradually move at least one of the unwinding yarn supply reel and the yarn guide as the yarn is unwound from the unwinding yarn supply reel progresses, thereby gradually reducing the distance between the unwinding yarn supply reel and the yarn guide.

[0036] This allows the distance between the yarn supply drum and the yarn guide to be adjusted at intervals during yarn unwinding. This allows the robot to perform other tasks between distance adjustment operations, enabling efficient operation.

[0037] In the aforementioned wire processing system, it is preferred that: the setting portion structure of at least the aforementioned wire supply reel of the aforementioned wire supply holding portion is capable of approaching or separating from the wire guide.

[0038] This allows the yarn supply drum to move smoothly, and thus makes it easy to adjust the distance between the yarn supply drum and the yarn guide during yarn unwinding. Simple diagram description

[0039] [Fig. [Figure 2] shows a side view of the scenario of the wire feeder bench removing the wire feed roller from the reservoir. [Figure 3] shows a side view of the scenario of removing the empty cylinder tube from the bobbin by the thread supply trolley. [Figure 4] demonstrates a side view of the scenario of the thread supply station wagon mounting the thread supply roll on the bobbin. [Figure 5] shows a side view of the scenario of a completed thread supply platform car to the bobbin setting up the thread feed roller. [Figure 6] demonstrates a side view of the scenario of the feed plate car pushing the feed roll close to the wire guide under the reduced diameter of the feed roller. [Figure 7] shows a three-dimensional view of the structure of the push-out device. [Figure 8] shows a schematic diagram of a tensile dummy machining machine unfolding along the thread path. [Figure 9] is a schematic diagram showing the structural deformation example of detecting which of the two feed rollers backwinds the wire from which one of the two feed rollers. [Figure 10] shows in detail the enlarged three-dimensional view of the scenario of pushing the thread supply roller by the push-out device. [Figure 11] shows a three-dimensional view of the structural deformation that makes the thread feed roller move. Implementation

[0040] Embodiments of the invention are described below with reference to the diagram. illustrates an overall structural side view of the dummy dick processing system 100 in one embodiment of the present invention.

[0041] The dummy machining system (an example of a “wire machining system”) 100 shown in FIG. Stretch dummy machining machine 1 is a type of thread machining machine. Other thread processing machines, for example there are airflow processing machines. Stretch dummy machining machine 1 By stretching a semi-stretched yarn (partially oriented yarn) known as POY of one of the yarn types (one of the synthetic fiber yarn types) as well as dummy machining, it is able to produce a stretched dummy machining yarn known as DTY. POY stands for Partially Oriented Yarn. DTY stands for Draw Textured Yarn.

[0042] The tensile dummy machine 1 has a yarn cylinder frame 11 as well as the main body 31 . The main body 31 has a plurality of processing bits (also known as "tablets") 35 . Each processing bit 35 has a first feed thread roller 21 , a second feed thread roller 22 , a third feed thread roller 23 , a dummy clamp device 25 , a first heater 26 , a second heater 27 , and a wire machine 28 . In a tensile dummy machining machine 1 , a plurality of machining bits 35 constituting the main body part 31 , except the parts of the weave machine 28 , are configured in a side-by-side configuration. With respect to the mesh machine 28 , the complex number of mesh machine 28 of the plural machining bits 35 is arranged in a 3-layer × m column (m is the prescribed integer).

[0043] The yarn cylinder frame 11 has a plurality of bobbins (thread supply holdings) 12 . When viewed from the side of the thread supply platform car 50, the bobbin 12 is configured side by side in a matrix of 4 layers × n columns (n ​​is the prescribed integer). Able to set up thread supply rollers 5 at each bobbin 12 . The thread feed roller 5 is a roller made by winding the POY around a core tube. The thread supply roller 5 is formed by making the POY in the spinner of a spinning winder not illustrated and winding the POY in the core tube in the winding machine of the spinning winder. With respect to a plurality of bobbins 12 of the yarn bobbin frame 11, two bobbins are assigned to each machining bit 35 .

[0044] Two bobbins corresponding to a certain processing bit 35 are shown in Fig. 7 . As shown in Figure 7, bobbin 12 is set in sets of two. Two bobbins belonging to the same group are configured to be adjacent in the horizontal direction. Two bobbins belonging to the same group and as a pair are provided corresponding to a machining bit 35 . During backwinding the wire 3 from the bobbin 12 mounted on one side toward a machining bit 35 , the wire feed roller 5 mounted in the other bobbin 12 is in standby. The thread terminal portion of the thread feed roller 5 of the forward winding thread 3 is combined with the thread beginning end portion of the thread feed roll roller 5 on the standby side. Thus, when all threads 3 are backwound from one of the two feed rollers 5 , the wire is automatically unwinded from the remaining feed roller 5 . One side of the positive backwinding wire in the same set of two feed rollers 5 is referred to as the thread backwinding middle feed roller 5 and the remaining side of the thread feed roller 5 is called the standby feed roller 5 .

[0045] Structure of the thread feed table car 50 In a structure capable of moving to the positions of each bobbin 12 of the yarn frame 11, the operation is carried out to unwind all the threads into a thread feed roller 5 in the core tube state (referring to that state as an "empty barrel tube".) is removed from the shuttle core 12 and a new thread feed roller 5 is set in the bobbin 12 . The empty cylinder tube is moved out of the outside of the tensile dummy machine 1 from the thread supply bench cart 50 , and the new thread feed roller 5 is moved in from the outside of the stretched dummy machine 1 by the thread supply bench carriage 50 .

[0046] A yarn guide 13 is located downstream of the two bobbins 12 in the direction of yarn travel. Each bobbin 12 in the same group is assigned a single yarn guide 13. Both bobbins 12 are positioned with their front ends facing the yarn guide 13. Therefore, the two bobbins 12 are not parallel. Regardless of which of the two yarn supply reels 5 the yarn 3 is unwound from, it passes through the same yarn guide 13.

[0047] The yarn guide 13 is a guide member that the yarn 3 unwound from the yarn supply reel 5 first passes through. Therefore, the yarn 3 forms a balloon between the yarn supply reel 5 and the yarn guide 13. The yarn guide 13 is located at the downstream end of the balloon.

[0048] Hereinafter, the yarn supply structure consisting of a yarn guide 13 and a pair of bobbins 12 is sometimes referred to as a yarn supply station 9. One yarn supply station 9 corresponds to one processing station 35. The same number of yarn supply stations 9 as processing stations 35 are arranged on the yarn creel 11.

[0049] As shown in Figure 8 , a yarn unwinding detection sensor 16 (an example of a "wire unwinding supply reel detection device") is installed on the yarn guide 13. The yarn unwinding detection sensor 16 can detect which of the two wire supply reels 5, one attached to each of the two bobbins 12 belonging to the same group, is unwinding the yarn. The yarn unwinding detection sensor 16 is electrically connected to the controller 40 described above. In Figure 8 , the pair of bobbins 12 are drawn parallel to each other for simplicity. The same approach is used in Figure 9 , described later.

[0050] The thread unwinding detection sensor 16 includes a first detection unit 17 and a second detection unit 18. The first detection unit 17 is configured to detect whether the thread 3 is being unwound from one of the two thread supply reels 5 mounted on the two bobbins 12 belonging to the same group. The second detection unit 18 is configured to detect whether the thread 3 is being unwound from the other of the two thread supply reels 5. For example, the first detection unit 17 and the second detection unit 18 are optical sensors that optically detect the thread 3. For more details on the thread unwinding detection sensor 16, please refer to Japanese Patent No. 5873105. Contact sensors can also be used for the first detection unit 17 and the second detection unit 18 instead of optical sensors. Based on the detection results of the sensor 16, the controller 40 can detect that the thread unwinding has switched from one of the two thread supply reels 5 to the other, thereby detecting that one of the two thread supply reels 5 is empty. The details of the control performed by the controller 40 will be described later.

[0051] As a method of detecting which of the two feed rollers 5 backwinding the wires of the two feed rollers 5 mounted one separately on two bobbins 12 belonging to the same group, in addition to the foregoing methods, there are the following methods.

[0052] A deformation example of a junction detection sensor 19 having the junction K of the strand terminal portion and the strand starting end portion of two strand feed rollers 5 detecting the same set is shown in Figure 9 . The junction detection sensor 19 is electrically connected to the aforementioned controller 40 . By detecting the bond K by the bond detection sensor 19 , it is capable of detecting from which supply roller 5 the wire is being unwinded. Specifically, the bond K is detached from the sensor 19 when switching the backwinding of the wire 3 from one feed roller 5 to another feed roller 5 . The controller 40 is capable of determining whether the thread supply roller 5 of the unwinding thread has been switched based on the joint detection sensor 19 .

[0053] Furthermore, by confirming the diameter change of each feed roller 5 by directly determining the diameter of the same set of two feed rollers 5 , respectively, it is able to detect from which feed roller 5 is rewinding the wire. In addition, images of the same set of two feed rollers 5 and analysis of the two feed rollers 5 are taken using a camera, thereby also enabling the aforementioned detection.

[0054] On the yarn frame 11 a bobbin shaft 14 that is slender in the up and down direction is provided corresponding to the bobbin 12 , respectively. The respective bobbin shaft 14 is supported by the yarn frame 11 and is capable of centered rotation of an axis in an upward and downward direction. 1, a rotating input member 15 is provided on the bobbin shaft 14 at a position higher than the bobbin 12 . The structure of the rotary input member 15 is to arrange the rod-like member in a radial shape. When the rotating input component 15 rotates, the bobbin 12 rotates with the aid of the bobbin shaft 14 . Thereby, it is possible to switch the pose of the bobbin 12 between the pose of the front end of the bobbin 12 toward the thread guide 13 and the pose toward the side of the thread feeder cart 50 .

[0055] As shown in FIG. Between the first feeder roller 21 and the second feeder roller 22 , an appropriate tension for the stretch is applied to the thread 3 . On the downstream side between the first feeder roller 21 and the second feeder roller 22 is configured with a dummy jig device 25 . By means of the dummy cock device 25 to the thread 3 addition, the thread 3 between the first feed of the thread roller 21 and the dummy device 25 is becoming a plug state.

[0056] A first heater 26 useful for thermal setting is provided between the first feed roller 21 and the dummy clamp apparatus 25 . The thread 3 is heated by the first heater 26 to a temperature capable of stretching.

[0057] The thread 3 transported from the dummy cock device 25 to the downstream side passes through the second feed roller 22 . Thread 3 is in a relaxed state between the second feed roller 22 and the third feed roller 23 .

[0058] A second heater 27 useful for thermal setting is provided between the second feed thread roller 22 and the third feed thread roller 23 . The thread 3 is heated again by the second heater 27 in the relaxed state.

[0059] The thread 3 after passing through the third feed roller 23 is transported to the threader 28 . The threader 28 winds the supplied thread 3 around the core tube to form a roll of DTY (called a "winding roll") 6 . The winding reel 6 that becomes full reel is removed from the threader 28 by the unillustrated dropping device and moved to move out of the trolley 90 . The winding reel 6 is moved from the move out of the table cart 90 to the outside of the machine of the tensile dummy machine 1 . The moving trolley 90 can adopt a canopy running trolley structure.

[0060] The thread supply platform car 50 is explained below. The thread supply bench cart 50 is equivalent to an operation robot outside the machine in its relationship with the tensile dummy jig processing machine 1 . The thread supply table cart 50 performs the installation operation of the thread supply roller 5 from the outside on the yarn frame 11 of the tensile dummy machine 1 .

[0061] The thread supply trolley 50 has a traveling component 51 (part of the "running device"), a lifting member 52 (part of the "lifting device"), a bobbin rotating device 53, a rotating head 54, a thread feed roller setting device 55 (part of a "roll feed device"), an empty barrel tube recovery device 56, and a thread feed roller position adjustment device 57 (an example of a "air coil adjustment device").

[0062] The marching member 51 has a pedestal member 61 as well as a column member 62 .

[0063] The pedestal component 61 is disposed to be capable of moving along a length of track 63 disposed on the ground. The length of track 63 is oriented parallel to the horizontal arrangement of a set of bobbins 12 in the yarn frame 11 .

[0064] The column member 62 is an elongated member extending in an up and down direction. The column member 62 is configured to protrude upward from the pedestal member 61 .

[0065] The lifting member 52 is provided to be able to lift along the length direction of the column member 62 . A bobbin rotating device 53 and a rotating head 54 described later are provided on the lifting member 52 .

[0066] A plurality of actuators (not shown) are provided on the wire feeding carriage 50. By means of these actuators, the traveling member 51 can be moved horizontally along the rail 63, and the lifting member 52 can be moved vertically.

[0067] The bobbin rotating device 53 is mounted on the upper portion of the lifting member 52. The bobbin rotating device 53 includes an engaging head 64 that is rotatable in a state of engaging with the rotation input member 15.

[0068] The meshing head 64 includes a rotating disk. A plurality of vertically elongated pins are provided on the bottom surface of the rotating disk. The pins are arranged at equal intervals along the circumference of the rotating disk. To rotate the rotating disk, an actuator (not shown) is provided on the bobbin rotating device 53. Rotating the rotating disk while the pins are inserted between the rod-shaped members of the rotation input member 15 rotates the rotation input member 15. As a result, the bobbin shaft 14 can be rotated, changing the orientation of the bobbin 12.

[0069] The bobbin rotating device 53 includes an actuator (not shown). This actuator can move the engaging head 64 toward or away from the bobbin shaft 14 of the bobbin holder 11. Therefore, the engaging head 64 can be engaged with the rotation input member 15 only when necessary.

[0070] A support shaft 65 is provided so as to protrude from the lower surface of the bobbin rotating device 53. The rotary head 54 is arranged so as to be suspended from the bobbin rotating device 53 via the support shaft 65.

[0071] The wire feeding carriage 50 includes an actuator (not shown) that can rotate the rotary head 54 about the support shaft 65.

[0072] A wire supply drum setting device 55 , an empty bobbin recovery device 56 , and a wire supply drum position adjustment device 57 are mounted on the rotary head 54 .

[0073] The yarn supply drum installation device 55 includes a slidable transfer bobbin 68. The yarn supply drum 5, which is to be mounted on the bobbin 12 of the creel holder 11, can be mounted and held on this transfer bobbin 68. To move the transfer bobbin 68 in the longitudinal direction, an actuator (not shown) is provided on the yarn supply drum installation device 55.

[0074] A reservoir 66 is provided in a manner adjacent to the path of travel of the thread supply trolley 50 . The reservoir 66 is capable of holding multiple feed reels 5 . The reservoir 66 is disposed on the opposite side to the yarn frame 11 across the path of the thread supply trolley 50 . However, the reservoir 66 may also be disposed on the same side as the yarn frame 11 .

[0075] By making the rotating head 54 rotate, it is possible to change the orientation of the thread supply roller setup device 55 between the state of the handover bobbin 68 towards the reservoir 66 and the state of the handover bobbin 68 towards the yarn frame 11 .

[0076] The empty cylinder tube recovery device 56 has a pull-in member 69 capable of sliding. The pull-in member 69 is formed in a straight-line elongated shape. In the overhead view, the length direction of the pull-in component 69 differs by 90° from that of the handover bobbin 68 . At the front end of the pulled component 69 a hook hanging portion is formed that bends so that it is directed upwards.

[0077] The controller 40 is structured as a well-known computer having a computing device, a storage device, and the like. The controller 40 manages and / or controls the tensile dummy jig processing machine 1 , the wire supply trolley 50 , and the move-out trolley 90 . In addition, the controller 40 can also be divided into separate settings for stretching dummy machine processing machine 1, for thread trolley 50 and for moving out the trolley 90 . A signal is input to the controller 40 from a wire backwinding detection sensor set up for each feed bit 9 of the tensile dummy machine 1 . Thereby, the controller 40 is able to grasp which of the two bobbins of the same set of two bobbins installed at each thread supply position 9 is the thread supply roller 5 in the unwinding and the thread backwinding switches from one side to the other thread supply roller 5 . In addition, the controller 40 is able to grasp the situation in which a certain side of the thread supply roller 5 becomes empty (the thread is exhausted) by knowing the situation in which the thread unwinding switches from one side to the other party. In addition, the controller 40 is capable of mastering the diameter of the thread supply roller 5 in the thread backwinding according to the situation of the thread backwinding switching, the diameter and the full thread length of the initial full roll of the thread supply roller 5 , the thread backwinding speed and the elapsed time from the thread backwinding switch. Also, the controller 40 has a means of mastering the diameter of the thread feed roller 5 in the thread backwinding. In addition, in this embodiment, the means of grasping the diameter of the thread feed roller in the thread backwinding can grasp the diameter of the thread supply roller 5 in the thread backwinding in three stages from the full roll of the thread supply roller 5 to the large diameter, medium diameter, and small diameter until emptying. The size of large, medium, and small diameters can be set appropriately. The mastery of the controller 40 as shown above is capable of mastering in all thread feed bits 9 (in other words, machining bits 35).

[0078] The wire feeding trolley 50 operates according to commands from the controller 40. The wire feeding reel position adjustment device 57 included in the wire feeding trolley 50 also operates according to commands from the controller 40. When the wire feeding reel 5 being unwound at a particular wire feeding position 9 becomes empty, the controller 40 issues a command to the wire feeding trolley 50 to move toward that wire feeding position 9. Furthermore, when the wire feeding reel 5 being unwound at a particular wire feeding position 9 changes from a large diameter to a medium diameter, or from a medium diameter to a small diameter, the controller 40 issues a command to the wire feeding trolley 50 to move toward that wire feeding position 9. Sometimes, the wire feeding reels 5 being unwound become empty, or the wire feeding reels 5 being unwound change from a large diameter to a medium diameter, or from a medium diameter to a small diameter, at approximately the same time at multiple wire feeding positions 9. In such cases, the wire feeding trolley 5 moves to the wire feeding position 9 with the highest priority according to a predetermined priority order.

[0079] The wire feeding trolley 50 has approached the wire feeding position 9 where the wire feeding reel 5 in the process of unwinding the wire changes from a large diameter to a medium diameter or from a medium diameter to a small diameter. At the wire feeding position 9, the wire feeding reel position adjusting device 57 is used to make the wire feeding reel 5 in the process of unwinding the wire approach a specified distance to the wire guide 13.

[0080] Next, the operation of the yarn supply carriage 50 when all the yarn 3 is unwound from the yarn supply reel 5 that is unwinding the yarn from a bobbin 12 hung on the creel holder 11 will be described.

[0081] As shown in Figure 2, when the yarn 3 is completely unwound from the unwinding yarn supply reel 5 at a certain yarn supply position 9, resulting in an empty bobbin 5a, the yarn supply carriage 50 first advances to the accumulator 66 and stops. As described above, the controller 40 can detect that the yarn 3 has been completely unwound from the unwinding yarn supply reel 5 at a certain yarn supply position 9, resulting in an empty bobbin 5a. In this state, the yarn supply carriage 50 rotates the rotary head 54. This positions the transfer bobbin 68 of the yarn supply reel installation device 55 toward the accumulator 66. In this state, the transfer bobbin 68 moves toward the fully wound yarn supply reel 5 held in the accumulator 66 and removes the fully wound yarn supply reel 5 from the accumulator 66. This allows the yarn supply reel 5 stored in the accumulator 66 to be mounted on the transfer bobbin 68. In a state where the yarn supply reel 5 is mounted, the delivery bobbin 68 moves in a direction away from the accumulator 66 .

[0082] Then, the yarn feeding carriage 50 receives a command from the controller 40 and moves along the track 63, while moving the lifting member 52 vertically as needed. The yarn feeding carriage 50 stops when the lifting member 52 is located near the bobbin 12 of the yarn feeding position 9 where an empty bobbin has been produced.

[0083] Almost simultaneously with the movement of the lifting member 52, the yarn supply cart 50 rotates the rotary head 54, changing the orientation of the empty bobbin recovery device 56 so that the pull-in member 69 faces the creel holder 11. The empty bobbin recovery device 56 then moves the pull-in member 69 closer to the creel holder 11. As a result, the hook portion of the pull-in member 69 approaches the base of the bobbin 12. In this state, the bobbin rotating device 53 engages the engaging head 64 with the rotary input member 15 and rotates it, rotating the bobbin 12, which is loaded with the empty bobbin 5a, toward the yarn supply cart 50, as shown in Figure 3. Simultaneously, the empty bobbin 5a held by the bobbin 12 is positioned closer to the yarn supply cart 50 than the hook portion of the pull-in member 69.

[0084] The empty bobbin recovery device 56 then moves the pulling member 69 away from the creel holder 11. As a result, the hook portion of the pulling member 69 pushes the empty bobbin 5a, allowing it to be removed from the bobbin 12. The empty bobbin 5a, removed from the bobbin 12 by the pulling, falls onto the receiving tray 67 mounted on the rotary head 54.

[0085] After the empty bobbin recovery device 56 completes its operation, the yarn supply cart 50 rotates the rotary head 54. This allows the yarn supply reel setting device 55 to be oriented so that the transfer bobbin 68 faces the creel holder 11. As shown in Figure 4, the yarn supply reel setting device 55 moves the transfer bobbin 68, on which the fully wound yarn supply reel 5 is mounted, toward the creel holder 11. This allows the yarn supply reel 5 to be mounted on the bobbin 12. The yarn supply reel setting device 55 then moves the transfer bobbin 68 away from the creel holder 11, thereby separating the yarn supply reel 5 from the transfer bobbin 68.

[0086] In this state, the rotating device 53 rotates the engaging head 64 and the rotating input member 15. As shown in FIG5, the bobbin 12 with the yarn supply drum 5 mounted thereon can be rotated toward the yarn guide 13 side.

[0087] At this point, the process of replacing the empty bobbin 5a with the fully wound supply reel 5 is complete. The supply cart 50 then retracts the meshing head 64 of the bobbin rotating device 53 and moves forward to transport the empty bobbin 5a, which has been collected on the receiving tray 67, to another location. The starting point of the fully wound supply reel 5, now set on the bobbin 12, is then connected to the trailing end of the supply reel 5 on the side where the yarn 3 is being unwound, by appropriate means.

[0088] Next, the wire supply drum position adjustment device 57 included in the wire supply carriage 50 will be described in detail.

[0089] As shown in FIG6 , the yarn supply drum position adjustment device 57 includes a slidable push-out device 70. The push-out device 70 pushes the yarn supply drum 5 mounted on the bobbin 12 from outside the creel holder 11, thereby allowing the yarn supply drum 5 to approach the yarn guide 13 along the length of the bobbin 12.

[0090] As shown in FIG. 7 , the ejection device 70 includes a slide base 71 , a guide plate 72 , a motor 73 , a pressing member 74 , and a rack and pinion mechanism 75 .

[0091] The slide base 71 is a long and narrow plate-shaped member and is arranged so as to protrude from the rotary head 54. The direction in which the slide base 71 faces is parallel to the direction in which the transfer bobbin 68 in the yarn supply drum installation device 55 faces.

[0092] The rotary head 54 is provided with a rail 81. The slide base 71 is slidable along the rail 81. The longitudinal direction of the rail 81 is parallel to the longitudinal direction of the slide base 71.

[0093] To move the slide base 71, an air cylinder 82 serving as an actuator is attached to the rotary head 54. By supplying working fluid to drive the air cylinder 82, the slide base 71 can be moved between a position where the front end of the slide base 71 approaches the bobbin shaft 14 and a position where the front end of the slide base 71 is retracted from the bobbin shaft 14. The actuator is not limited to an air cylinder; for example, an electric motor can also be used.

[0094] The guide plate 72 is fixed to the front end portion of the slide base 71. The guide plate 72 moves integrally with the slide base 71. A rail 83 is fixed to the guide plate 72 for guiding the moving direction of the pressing member 74.

[0095] The motor 73 can drive the pressing member 74. The housing of the motor 73 is fixed to the guide plate 72. A pinion gear is fixed to the output shaft of the motor 73.

[0096] The pressing member 74 is L-shaped. It can slide along the length of the rail 83. The direction of movement of the pressing member 74 is inclined relative to the direction of movement of the slide base 71 when viewed from above. The direction of movement of the pressing member 74 is substantially parallel to the length of the bobbin 12. The direction of movement of the pressing member 74 can also be said to be a direction approaching the yarn guide 13.

[0097] A toothed rack is formed at the base of the pressing member 74, and the racks are arranged in a straight line parallel to the rail 83. The racks and a pinion system fixed to the output shaft of the motor 73 together constitute a rack-and-pinion mechanism 75.

[0098] The front end of the pressing member 74 is bent into an L shape. This bent portion can contact the end surface of the core tube of the yarn supply reel 5 mounted on the bobbin 12, which is away from the yarn guide 13. The position where the pressing member 74 contacts the core tube is lower than the bobbin 12.

[0099] As described above, the controller 40 estimates and measures the cumulative length of the yarn 3 unwound from the time the new yarn supply spool 5 is installed, based on the diameter of the new yarn supply spool 5, the total yarn length, the yarn unwinding speed, and other factors. Based on this cumulative length, the controller 40 estimates the diameter of the yarn supply spool 5 during unwinding. Alternatively, a suitable sensor can be used to measure the diameter of the yarn supply spool 5 during unwinding, and the measurement result transmitted to the controller 40. If the estimated diameter of the yarn supply spool 5 is less than a predetermined value, the controller 40 transmits a position adjustment request signal to the yarn supply carriage 50.

[0100] Upon receiving the position adjustment request signal, the yarn supply cart 50 activates the ejector 70 of the yarn supply reel position adjustment device 57 at the yarn supply position 9, which corresponds to the unwinding yarn supply reel 5, as determined by the signal. Specifically, the ejector 70 drives the air cylinder 82, causing the slide base 71 to move into the bobbin holder 11. This causes the pressing member 74 at the front end of the slide base 71 to approach the base of the bobbin 12. The ejector 70 then drives the motor 73, which uses the rack and pinion mechanism 75 to move the pressing member 74 the required distance. The tip of the pressing member 74 pushes against the core tube, allowing the yarn supply reel 5 to slide in the longitudinal direction relative to the bobbin 12. As a result, the distance between the yarn guide 13 and the yarn supply reel 5 is reduced, enabling a stable balloon to be formed between the yarn guide 13 and the yarn supply reel 5.

[0101] When the yarn supply drum 5 has completed its movement, the ejection device 70 drives the motor 73 in the opposite direction to the previous one. As a result, the pressing member 74 moves away from the yarn supply drum 5. After the pressing member 74 returns to its original position, the ejection device 70 drives the cylinder 82 to retract the sliding base 71 relative to the bobbin holder 11.

[0102] Typically, a plurality of thread feed rollers 5 are provided on the yarn frame 11 of the tensile dummy machine 1, with multiple threads 3 back-winding simultaneously and in parallel. In this embodiment, a thread feed trolley 50 adjusts the position of the aforementioned plurality of thread feed rollers 5 . In the case of a larger number of object feed rollers 5 , it is difficult to make the respective thread feed rollers 5 move slightly. However, if the thread supply roller 5 can be made to move roughly in stages, the backwinding line 3 from the thread supply roller 5 will become smoother, and in addition, it is expected to maintain the tension stability of the backwinding line 3 .

[0103] Although not illustrated, the thread feed roller position adjustment device 57 has an inverting device that changes the orientation of the push-out device 70 . The reversing device is capable of rotating the push-out device 70 180° by centered on an axis parallel to the length direction of the sliding base 71 . As shown in Figure 10 , the orientations of the two bobbins 12 belonging to the same group are different from each other. In Figure 10 , the scenario of the rollout device 70 inversion is represented by a dotted line. By inverting the direction of the push-out device 70 as required by the reversing device, the wire supply roller 5 is enabled to move along the bobbin 12 , regardless of the backwinding line 3 from which of the two feed rollers 5 , achieving control of the air circle.

[0104] As stated above, the thread supply trolley 50 of this embodiment is an off-machine operating robot that performs operations on the tensile dummy processing machine 1 . The tensile dummy machining machine 1 has a bobbin 12, a machining bit 35, and a thread guide 13 . A supply roller 5 winding with thread 3 as POY can be provided on the bobbin 12 . At the machining position 35 , the thread 3 of the thread supply roller 5 disposed at the bobbin 12 is machined to form a winding roller 6 . The thread guide 13 guides the thread 3 to the downstream side end of the air circle formed from the thread 3 backwinded from the thread feed roller 5 disposed at the bobbin 12 . The thread supply table cart 50 contains the thread supply roller position adjustment device 57 . The thread feed roller position adjustment device 57 causes the thread feed roller 5 as well as at least one of the thread guides 13 to move as the progress from the thread feed roller 5 backwinding wire 3 moves, and the distance between the thread feed roller 5 in the thread backwinding and the thread guide 13 decreases.

[0105] Thereby, the unwinding of the thread 3 can be performed smoothly due to the ability to control the shape of the air circle formed when the thread 3 is reversed from the supply roller 5 . The thread supply trolley 50 as an out-of-machine robot performs operations to control the air circle, and therefore, there is no need to substantially change the structure of the tensile dummy machining machine 1 . Therefore, it is also easily applied to existing tensile false twist processing machines1.

[0106] The dummy machining system 100 under this embodiment has a controller 40 . In the thread supply table car 50 , the thread supply roller position adjustment device 57 resorts to the control of the controller 40 , which reduces the distance between the thread supply roller 5 in the thread backwinding and the thread guide 13 as the progress from the thread supply roller 5 backwinding line 3 is advanced.

[0107] Thereby, the controller 40 is able to control the shape of the air ring by controlling the thread supply roll position adjustment device 57 .

[0108] In the tensile dummy machine machine 1 under this embodiment, a plurality of machining bits 35 is provided, and correspondingly to the plurality of machining bits 35 , a plurality of bobbins 12 as well as thread guides 13 are provided, respectively. The thread supply platform car 50 has a traveling member 51 capable of moving the thread supply roller position adjustment device 57 to a plurality of bobbin 12 positions and a lifting member 52 .

[0109] Thereby, the thread supply trolley 50 is able to operate on a plurality of bobbins 12 using the thread supply roller position adjustment device 57 , thus reducing the cost by resorting to the commonization of the configuration.

[0110] In addition, it is also possible to adopt a structure that performs the aforementioned air circle adjustment operation by a robot different from the wire supply platform car 50 . The robot is equivalent to the robot outside the machine relative to the tensile dummy processing machine 1, and only performs air circle adjustment operations. The structure of the robot is arbitrary, such as the structure of a self-propelled arm robot capable of adopting. The robot is able to move the thread supply roller 5 by pushing the end face of the thread supply roller 5 with the front end of the arm.

[0111] In the structure, the control of the robot is able to be simplified.

[0112] In this embodiment, the thread supply trolley 50 has a thread supply roller dispensing device 55 . The thread feed roller setup apparatus 55 performs the operation of separately setting up the thread feed roller 5 relative to the plurality of bobbins 12 . The traveling member 51 as well as the lifting member 52 enables the thread feed roller setting device 55 to move together with the thread feed roller position adjustment device 57 to the position of a plurality of bobbins 12 .

[0113] Thereby, since the thread supply table car 50 supplying the thread supply roller 5 to the tensile dummy machine 1 will also perform air ring adjustment operations, it can cut costs by sharing the structure.

[0114] In the tensile dummy machine 1 in this embodiment, a thread guide 13 is used in common relative to the two bobbins 12 . The thread supply stage car 50 is capable of moving each thread supply roller 5 disposed in the two bobbins 12 .

[0115] Thereby, the continuity of the thread supply to the tensile dummy machine 1 can be ensured by appropriately switching the thread supply roller 5 of the forward-back winding thread 3 and the thread supply roller 5 on the standby side. No matter which one of the two thread feed rollers 5 is back-winding the thread 3 , it is able to control the shape of the air ring and achieve a smooth unwinding of the thread 3 .

[0116] In the thread feed trolley 50 under this embodiment, the position of the thread feed roller 5 with respect to the bobbin 12 is capable of changing in the length direction of the bobbin 12 . In the air circle adjustment operation, the thread supply platform car 50 exerts force on the thread supply roller 5 causing the thread supply roller 5 to move with respect to the bobbin 12 .

[0117] Thereby, it is possible to maintain the thread supply roll 5 and control the shape of the air ring by resorting to a simple structure.

[0118] The deformation example of the preceding embodiment is described below. Figure 11 demonstrates a three-dimensional view of the deformation case. In the description of the present example, the same symbol is marked in the schema for a part of the same or similar form as the preceding embodiment, and sometimes the statement is omitted.

[0119] In the deformation example shown in FIG. To mount a thread feed reel 5 , two bobbins 12x are configured in parallel at suitable spacing apart. The respective bobbin 12x extends to the opposite side from the part supporting the thread feeder roller 5 across the bobbin shaft 14 . A transmitting member 84 is fixed on the end on the opposite side of the part in the bobbin 12x on the opposite side of the portion supporting the thread feeder roller 5 . The transmission part 84 is formed as a plate. The pressing component 74 of the push-out device 70 is capable of making contact with the transmission component 84 .

[0120] In the present example, the pressing member 74 of the push-out device 70 pushes the transfer member 84 instead of directly pushing the thread supply roller 5 . The result is the overall movement of the bobbin 12x including the setup portion of the thread feed roller 5 . Thus, it is possible to make the thread feed roller 5 and the bobbin 12x slide together in a direction close to the thread guide 13 . It is also possible to slide only a part of the thread supply roller 5 provided in the bobbin 12x.

[0121] The preferred embodiment and modified examples of the present invention have been described above, but the aforementioned structure can also be modified into the following structure, for example. The modification can be made individually or in any combination of multiple modifications.

[0122] The creel holder 11 is not limited to the structure having one yarn guide 13 for two bobbins 12 and 12x, and may be a structure having one yarn guide 13 for one bobbin 12. The same applies to the modified example of FIG11.

[0123] Furthermore, the position of the yarn guide 13 in the creel holder 11 can be changed. For example, a configuration can be employed in which the yarn supply cart 50 applies force to the yarn guide 13, moving it toward the yarn supply reel 5. For example, a device similar to the pull-in device 69 can be provided in place of the push-out device 70 to pull the yarn guide 13 toward the yarn supply cart 50 (an example of a "balloon adjustment device"). A configuration can also be employed in which both the yarn supply reel 5 and the yarn guide 13 move as the diameter of the yarn supply reel 5 decreases. However, when changing the position of the yarn guide 13, the yarn guide 13 must be returned to its original position (moved away from the yarn supply reel 5) when the unwinding yarn supply reel 5 switches from one yarn supply reel 5 to the other.

[0124] The diameter of the yarn supply reel 5 may be actually detected using an appropriate sensor instead of being estimated based on the length of the unwound yarn 3.

[0125] A plurality of yarn supply carts 50 may be provided with respect to the creel holder 11 .

[0126] In the aforementioned embodiment and variations, the wire feeding carriage 50 includes the wire feeding reel position adjustment device 57. However, a configuration in which the wire feeding reel position adjustment device 57 is separate from the wire feeding carriage 50 may be employed. In other words, a working robot equipped with the wire feeding reel position adjustment device 57 (the "working robot" in the present invention) and a working robot serving as the wire feeding carriage 50 without the wire feeding reel position adjustment device 57 may be provided separately. In this case, a plurality of either or both of the working robots may be provided.

[0127] The operating robot having a thread supply roller position adjustment device 57 , also the operation robot having an air circle adjustment device may be able to move in the same way as the thread supply table car 50 , or may be fixedly set up. In the case of a fixed setup, it is set correspondingly to each thread feed bit 9 , or to each set of a plurality of thread feed bits 9 in a group. In the case of set up corresponding to each thread feed bit 9 , a working robot may be provided with respect to a set of bobbins 12 , or a working robot may be provided separately with respect to each bobbin 12 of a set of bobbins 12 . In the case where each set is set correspondingly with a plurality of thread feed bits 9 , for example, it is only necessary to enable the air ring adjustment device to lift and be able to move to the various positions of the bobbin 12 of a plurality of thread feed bits 9 configured in the upper and lower direction of the yarn cylinder frame 11 .

[0128] The structure of the dummy machine is not limited to the stretched dummy machining machine 1 of FIG. 1 , capable of various changes.

[0129] 1: Stretch dummy cock processing machine 3: Thread 5: Supply thread roller 5a: Empty tube 6: Winding Roller 9: thread supply 11: Yarn cylinder frame 12: Bobbin 12x: bobbin 13: Thread Guide 14: bobbin shaft 15: Rotate the input component 16: Wire Unwinding Detection Sensor 17: First Testing Department 18: Second Testing Department 19: junction detection sensor 21: First feed thread roller 22: Second feed thread roller 23: Third feed thread roller 25: Fake dick device 26: First heater 27: Second heater 28: Threading machine 31: main body 35: Processing position 40: Controller 50: Supply thread table car 51: Marching Parts 52: Lifting parts 53: bobbin rotating device 54: Rotate head 55: Thread supply roller setting device 56: Empty cylinder tube recovery device 57: Wire supply roll position adjustment device 61: Base components 62: Column components 63: Orbit 64: Cocktail 65: Branch shaft 66: Reservoir 67: Undertake the deal 68: Handover bobbin 69: Pull in parts 70: Launch the device 71: Sliding pedestal 72: Guide plate 73: Motor 74: Press components 75: Gear rack mechanism 81: Orbit 82: gas cylinder 83: Orbit 84: Transmission components 90: Move out of the trolley 100: Fake fuck processing system K: junction

Claims

1. A work robot for operating a yarn processing machine, the yarn processing machine comprising: a yarn supply holding section capable of housing a yarn supply spool wound with synthetic fiber yarn; a processing station for processing the yarn on the yarn supply spool provided on the yarn supply holding section to form a winding spool; and a yarn guide for guiding the yarn to the processing station from the downstream end of an air ring formed by the yarn unwinding from the yarn supply spool provided on the yarn supply holding section; the work robot includes an air ring adjustment device, which, as the yarn unwinding progresses from the yarn supply spool, moves at least one of the yarn supply spool and the yarn guide, and reduces the distance between the yarn supply spool and the yarn guide.

2. The work robot as described in claim 1, wherein the aforementioned air ring adjustment device, under the control of the controller, reduces the distance between the aforementioned wire feed drum and the aforementioned wire guide as the progress of unwinding the wire from the aforementioned wire feed drum advances.

3. The work robot as described in claim 1 or 2, wherein the aforementioned wire processing machine is provided with a plurality of the aforementioned processing positions, and a plurality of the aforementioned wire feeding holding parts and the aforementioned wire guides are respectively provided corresponding to the plurality of the aforementioned processing positions; the aforementioned work robot has a traveling device and / or a lifting device capable of moving the aforementioned air ring adjusting device to the position of the plurality of the aforementioned wire feeding holding parts.

4. The work robot as described in claim 3, wherein the work robot has a spool supply device, the spool supply device performs the operation of setting the spools relative to the plurality of the aforementioned spool holding portions, and the traveling device and / or the lifting device are capable of moving the spool supply device together with the air ring adjusting device to the positions of the plurality of the aforementioned spool holding portions.

5. A yarn processing system comprising a yarn processing machine and a work robot for operating the yarn processing machine, the yarn processing machine comprising: a yarn supply holding section capable of housing a yarn supply spool wound with synthetic fiber yarn; a processing station for processing the yarn on the yarn supply spool provided on the yarn supply holding section to form a winding spool; and a yarn guide for guiding the yarn towards the processing station from the downstream end of an air ring formed by the yarn unwinding from the yarn supply spool provided on the yarn supply holding section; the work robot comprising an air ring adjustment device, the air ring adjustment device moving at least one of the yarn supply spool and the yarn guide as the yarn unwinding progresses from the yarn supply spool, and reducing the distance between the yarn supply spool and the yarn guide.

6. The yarn processing system as described in claim 5, wherein the yarn processing system has a controller; the controller controls the air ring adjustment device such that the distance between the yarn feed drum and the yarn guide decreases as the yarn is unwound from the yarn feed drum.

7. The wire processing system as described in claim 5, wherein a plurality of the aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of the aforementioned wire feeding holding parts and the aforementioned wire guides are respectively provided corresponding to the plurality of the aforementioned processing positions; the aforementioned work robot has a traveling device and / or a lifting device capable of moving the aforementioned air ring adjusting device to the position of the plurality of the aforementioned wire feeding holding parts.

8. The wire processing system as described in claim 6, wherein a plurality of the aforementioned processing positions are provided in the aforementioned wire processing machine, and a plurality of the aforementioned wire feeding holding parts and the aforementioned wire guides are respectively provided corresponding to the plurality of the aforementioned processing positions; the aforementioned work robot has a traveling device and / or a lifting device capable of moving the aforementioned air ring adjusting device to the position of the plurality of the aforementioned wire feeding holding parts.

9. The thread processing system as described in claim 7, wherein the aforementioned work robot has a spool supply device, the aforementioned spool supply device performs the operation of setting the aforementioned spools relative to the plurality of aforementioned spool holding parts, and the aforementioned traveling device and / or the aforementioned lifting device are capable of moving the aforementioned spool supply device together with the aforementioned air ring adjusting device to the positions of the plurality of aforementioned spool holding parts.

10. The thread processing system as described in claim 8, wherein the aforementioned work robot has a spool supply device, the aforementioned spool supply device performs the operation of setting the aforementioned spools relative to the plurality of aforementioned spool holding parts, and the aforementioned traveling device and / or the aforementioned lifting device are capable of moving the aforementioned spool supply device together with the aforementioned air ring adjusting device to the positions of the plurality of aforementioned spool holding parts.

11. The wire processing system described in any one of claims 5 to 10, wherein the aforementioned air ring adjustment device of the aforementioned work robot performs the following actions: as the progress of unwinding the wire from the aforementioned wire unwinding spool advances, at least one of the aforementioned wire unwinding spool and the aforementioned wire guide is moved in stages, and the distance between the aforementioned wire unwinding spool and the aforementioned wire guide is reduced in stages.

12. The yarn processing system described in any one of claims 5 to 10, wherein at least the aforementioned yarn feed drum of the aforementioned yarn feed holding part is configured to be able to approach or separate relative to the aforementioned yarn guide.

13. The yarn processing system as described in claim 11, wherein at least the aforementioned yarn feed drum of the aforementioned yarn feed holding section is configured to be able to approach or separate relative to the aforementioned yarn guide.

14. A yarn processing system comprising a yarn processing machine and a work robot for operating the yarn processing machine, the yarn processing machine comprising: a yarn supply holding section capable of housing a yarn supply spool wound with synthetic fiber yarn; a processing station for processing the yarn on the yarn supply spool provided on the yarn supply holding section to form a winding spool; and a yarn guide for guiding the yarn from the downstream end of an air ring formed by the yarn unwinding from the yarn supply spool provided on the yarn supply holding section to the processing station, wherein a pair of yarn supply holding sections are provided opposite to the processing station, and a common yarn guide is provided opposite to the pair of yarn supply holding sections; further comprising a yarn unwinding yarn supply spool detection device for detecting which of the two yarn supply spools respectively provided on the pair of yarn supply holding sections is unwinding the yarn; The aforementioned work robot includes an air ring adjustment device. As the progress of the unwinding of the yarn from the unwinding yarn feeding drum detected by the aforementioned yarn unwinding drum detection device advances, at least one of the aforementioned yarn unwinding drum and the aforementioned yarn guide moves, and the distance between the aforementioned yarn feeding drum and the aforementioned yarn guide decreases.

15. The yarn processing system as described in claim 14, wherein the yarn processing system has a controller; the controller controls the air ring adjustment device based on the detection result of the yarn unwinding drum detection device, such that the distance between the yarn unwinding drum and the yarn guide decreases as the yarn unwinding progresses from the yarn unwinding drum.

16. The wire processing system as described in claim 14, wherein the aforementioned wire processing machine is provided with a plurality of the aforementioned processing positions, and a plurality of the aforementioned wire feeding holding parts and the aforementioned wire guides are respectively provided corresponding to the plurality of the aforementioned processing positions; the aforementioned work robot has a traveling device and / or a lifting device capable of moving the aforementioned air ring adjusting device to the position of the plurality of the aforementioned wire feeding holding parts.

17. The wire processing system as described in claim 15, wherein the aforementioned wire processing machine is provided with a plurality of the aforementioned processing positions, and a plurality of the aforementioned wire feeding holding parts and the aforementioned wire guides are respectively provided corresponding to the plurality of the aforementioned processing positions; the aforementioned work robot has a traveling device and / or a lifting device capable of moving the aforementioned air ring adjusting device to the position of the plurality of the aforementioned wire feeding holding parts.

18. The thread processing system as described in claim 16, wherein the aforementioned work robot has a spool supply device, the aforementioned spool supply device performs the operation of setting the aforementioned spools relative to a plurality of the aforementioned spool holding portions, and the aforementioned traveling device and / or the aforementioned lifting device is capable of moving the aforementioned spool supply device together with the aforementioned air ring adjusting device to the positions of the plurality of the aforementioned spool holding portions.

19. The thread processing system as described in claim 17, wherein the aforementioned work robot has a spool supply device, the aforementioned spool supply device performs the operation of setting the aforementioned spools relative to a plurality of the aforementioned spool holding portions, and the aforementioned traveling device and / or the aforementioned lifting device is capable of moving the aforementioned spool supply device together with the aforementioned air ring adjusting device to the positions of the plurality of the aforementioned spool holding portions.

20. The thread processing system described in any one of claims 15 to 19, wherein the aforementioned air ring adjustment device of the aforementioned work robot performs the following action: as the progress of unwinding the thread from the aforementioned thread unwinding spool advances, at least one of the aforementioned thread unwinding spool and the aforementioned thread guide moves in stages, thereby reducing the distance between the aforementioned thread unwinding spool and the aforementioned thread guide in stages.

21. The thread processing system described in any one of claims 14 to 19, wherein at least the aforementioned thread feed drum of the aforementioned thread feed holding unit is configured to be able to approach or separate relative to the aforementioned thread guide.

22. The yarn processing system as described in claim 20, wherein at least the aforementioned yarn feed drum of the aforementioned yarn feed holding section is configured to be able to approach or separate relative to the aforementioned yarn guide.

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