Yarn roll package knot removal device, yarn splicing device and yarn feeding device

Abstract

The knot untying device 70 of the yarn package unties the knot KN, including the slip knot, in the yarn package P1. The knot untying device 70 of the yarn package includes a suction gun 71, a winding bar 72, a yarn hanging robot 74, and a control unit 94. By maintaining the suction gun 71 to attract the yarn end Y1 of the yarn Y that has been wound multiple times on the winding bar 72, a specific first tension is generated in the first part YQ1 of the winding end yarn part. Under the state of generating the first tension, a second tension greater than the first tension is generated in the second part YQ2 of the winding end yarn part.

Description

Technical Field

[0001] One aspect of the present invention relates to a yarn package knot untying device, a yarn splicing processing device, and a yarn feeding device. Prior Art

[0002] In yarn packages used in textile machinery, for example, to prevent the yarn from unwinding at the end of the yarn layer formed by winding the yarn onto a bobbin, the yarn is sometimes secured by tying the end of the yarn to the outer circumference of the yarn layer. In this case, if the yarn is secured with a slip knot (also called a "pull-off knot"), the knot can be easily untied by pulling the end of the yarn. In this case, a robot can easily untie the yarn knot instead of a human operator. To untie the yarn knot, the robot requires a yarn catching unit that attracts and captures the yarn end of the end of the yarn. The yarn catching unit can be configured to include only a mechanism for attracting and capturing the yarn end of the end of the yarn, or a mechanism that not only attracts and captures the yarn end of the end of the yarn, but also clamps the yarn end of the end of the yarn.

[0003] For example, the yarn processing device described in Japanese Patent Application Laid-Open No. 2021-91987 includes a yarn catching unit (second catching mechanism) that can attract and capture the yarn (yarn) by using the negative pressure generated when supplied with compressed fluid. When not supplied with compressed fluid, the yarn catching unit is in a catching state, capable of gripping and capturing the yarn. When supplied with compressed fluid, the catching unit transitions from the catching state to a released state, freeing the yarn. This yarn processing device is equivalent to a configuration that includes not only a mechanism for attracting and capturing the yarn end of the wound yarn portion, but also a mechanism for gripping the yarn end of the wound yarn portion.

[0004] However, in a yarn package in which the yarn end of the wound yarn portion is tied and fixed to the outer peripheral surface of the yarn layer of the yarn package by a knot including a sliding knot (hereinafter also referred to as a "knot"), when capturing the yarn end of the wound yarn portion, the yarn end of the wound yarn portion must be strongly pulled away from the yarn package in order to untie the knot. In the above-mentioned prior art, when the structure only includes a mechanism for sucking and capturing the yarn end of the wound yarn portion, in order to untie the knot, the yarn end of the wound yarn portion must be sucked by the negative pressure generated by the supply of a large amount of compressed fluid, so that the yarn end of the wound yarn portion is strongly pulled away from the yarn package.

[0005] Furthermore, in the aforementioned prior art, if the structure includes not only a mechanism for sucking and capturing the yarn end of the wound yarn portion but also a mechanism for clamping the yarn end of the wound yarn portion, the yarn end of the wound yarn portion can be forcibly pulled away from the yarn package by the yarn catching portion that clamps and captures the yarn. However, in this case, the yarn clamping mechanism (clamping mechanism, clipping mechanism, etc.) for clamping the yarn is provided in the yarn catching portion, which increases the size of the yarn catching portion and may not be able to fit into a narrow space, making it unrealistic. Furthermore, in this case, when the yarn end of the wound yarn portion is forcibly pulled away from the yarn package, the yarn may become entangled in the yarn clamping mechanism, which is also unrealistic. Summary of the Invention

[0006] Therefore, one aspect of the present invention is to provide a knot removing device, a yarn splicing processing device and a yarn feeding device for a yarn package, which can remove the knot containing a sliding knot of the yarn package without supplying a large amount of compressed fluid to the yarn catching part to generate a negative pressure for strongly pulling the yarn, and without providing a yarn clamping mechanism for clamping the yarn in the yarn catching part.

[0007] The yarn package of one embodiment of the present invention is a device for removing knots of yarn packages, wherein the yarn end portion of the yarn layer formed by winding the yarn on the bobbin is fixed to the outer peripheral surface of the yarn layer by a knot including a sliding knot, and the yarn end of the yarn end portion is moved to untie the knot, and the device comprises: a yarn catching portion for catching the yarn end portion of the yarn end portion by suction; a wound portion for winding the yarn end portion; a yarn catching portion moving portion for moving the yarn catching portion; and a winding control portion for moving the yarn catching portion by the yarn catching portion moving portion. The yarn catching portion that catches the yarn end moves so that the wound portion can wind the winding end yarn portion multiple times; the first tension generating portion generates a specific first tension in the first portion between the wound portion and the yarn catching portion in the winding end yarn portion by maintaining the yarn catching portion's attraction to the yarn end of the winding end yarn portion wound multiple times on the wound portion; and the second tension generating portion generates a second tension that is greater than the first tension in the second portion between the wound portion and the yarn layer in the winding end yarn portion when the first tension is generated.

[0008] In this yarn package knot-removing device, the wound yarn portion is wound multiple times around the wound portion, and a second tension greater than the first tension is generated in the second portion while the first tension is generated in the first portion. This second tension is then used to strongly pull the yarn end of the wound yarn portion, thereby untying the knot. Thus, the yarn package knot-removing device according to one aspect of the present invention can remove a knot in a yarn package without supplying a large amount of compressed fluid to the yarn catching portion to generate a negative pressure for strongly pulling the yarn, and without providing a yarn clamping mechanism for clamping the yarn in the yarn catching portion.

[0009] In one aspect of the present invention, a knot untying device for a yarn package may satisfy the following equation (1) corresponding to the capstan equation when the first tension is set to T1, the second tension is set to T2, the friction coefficient of the wound portion is set to μ, and the number of windings of the wound yarn portion relative to the wound portion is set to θ. In this case, the knot can be untied using the following equation (1) corresponding to the capstan equation. θ=ln(T2 / T1)÷μ……(1)

[0010] In one aspect of the yarn package knot untying device of the present invention, the second tension generating unit may move the winding portion of the wound yarn portion in the wound portion away from the yarn package from a first position to a second position, and the first tension generating unit may move the yarn catching unit in synchronization with the movement of the winding portion. In this case, the second tension is generated by moving the winding portion away from the yarn package from the first position to the second position. Furthermore, the first tension is generated and maintained by moving the yarn catching unit in synchronization with the movement of the winding portion.

[0011] In one aspect of the yarn package knot untying device of the present invention, the wound portion may be configured as a rod-shaped member that is oscillating about a oscillating axis at a base end thereof, the first tension generating portion and the second tension generating portion may include a guide portion that oscillates the rod-shaped member to guide the winding portion from a first position to a second position, and the first tension generating portion and the second tension generating portion may bring a yarn catching portion into contact with the rod-shaped member around which the wound yarn portion is wound, and move the yarn catching portion via a yarn catching portion moving portion. The guide portion thereby oscillates the rod-shaped member while guiding it, thereby moving the winding portion from the first position to the second position. In this case, the knot can be untied by swinging the rod-shaped member around which the wound yarn portion is wound.

[0012] In one aspect of the yarn package knot untying device of the present invention, the first position may be located within a range from the knot that is less than the length from the knot to the end of the wound yarn portion. In this case, the wound yarn portion can be reliably wound onto the wound portion.

[0013] In one aspect of the yarn package knot untying device of the present invention, the second position may be located between one end and the other end of the yarn package in the width direction of the yarn package. In this case, when the winding portion is moved to the second position, the portion of the yarn wound on the bobbin can be prevented from moving in the width direction of the yarn package until it is released from the bobbin.

[0014] In one aspect of the yarn package knot untying device of the present invention, the second tension generating unit may include a yarn package moving unit that moves the yarn package away from the wound portion while the positions of the wound portion and the yarn catching portion are fixed. In this case, the second tension can be generated by the yarn package moving unit.

[0015] In one aspect of the yarn package knot untying device of the present invention, the wound portion may be a rod-shaped member extending along an axis, and the second tension generating portion may include a rod-shaped member rotating portion. The rod-shaped member rotating portion rotates the rod-shaped member about the axis in a direction that pulls the wound yarn portion from the yarn package, with the rod-shaped member and the yarn catching portion fixed. In this case, the second tension can be generated by the rod-shaped member rotating portion.

[0016] In one aspect of the yarn package knot untying device of the present invention, the second tension generating unit may include a pulling unit that pulls a second portion of the wound yarn portion while the positions of the wound portion and the yarn catching unit are fixed. In this case, the second tension can be generated by the pulling unit.

[0017] The knot untying device of the yarn package of one aspect of the present invention may also include a hook member that hooks the second portion of the wound yarn portion. In this case, by using the hook member, the direction of the yarn path can be changed and the knot can be easily untied.

[0018] In a knot removing device for a yarn package body in one aspect of the present invention, the yarn package body may include a first yarn package body and a second yarn package body, the wound portion may include: a first wound portion, which winds the winding end yarn portion of the first yarn package body; and a second wound portion, which winds the winding end yarn portion of the second yarn package body, the first tension generating portion may include: a first tension generating portion for the first yarn package body, which generates a first tension in the first portion of the first yarn package body; and a first tension generating portion for the second yarn package body, which generates a first tension in the first portion of the second yarn package body, the second tension generating portion may include: a second tension generating portion for the first yarn package body, which generates a second tension in the second portion of the first yarn package body; and a second tension generating portion for the second yarn package body, which generates a second tension in the second portion of the second yarn package body. According to this structure, it is possible to deal with the untying of the knots corresponding to the two yarn packages.

[0019] One aspect of the present invention provides a yarn splicing device comprising: the aforementioned yarn package knot-releasing device; and a yarn splicing section for connecting the outer yarn end of a first yarn package to the inner yarn end of a second yarn package, or for connecting the inner yarn end of the first yarn package to the outer yarn end of the second yarn package. The yarn splicing device includes the aforementioned knot-releasing device, and thus, similar to the aforementioned configuration, can remove knots in yarn packages without supplying a large amount of compressed fluid to the yarn catching section to generate a negative pressure for strongly pulling the yarn, and without providing a yarn clamping mechanism for clamping the yarn in the yarn catching section.

[0020] One aspect of the present invention includes a yarn feeding device comprising: the aforementioned yarn package knot-releasing device; a yarn feeding frame having a first mounting portion for mounting a first yarn package and a second mounting portion for mounting a second yarn package; and a yarn splicing portion for connecting the yarn end on the outer layer side of the first yarn package to the yarn end on the inner layer side of the second yarn package, or connecting the yarn end on the inner layer side of the first yarn package to the yarn end on the outer layer side of the second yarn package. The yarn feeding device includes the aforementioned knot-releasing device, and thus, similar to the above, can remove knots in yarn packages without supplying a large amount of compressed fluid to the yarn catching portion to generate a negative pressure for strongly pulling the yarn, and without providing a yarn clamping mechanism for clamping the yarn in the yarn catching portion.

[0021] According to one aspect of the present invention, a knot releasing device, a yarn splicing processing device and a yarn feeding device for a yarn package are provided, which can release a knot including a sliding knot in a yarn package without supplying a large amount of compressed fluid to a yarn catching portion to generate a negative pressure for strongly pulling the yarn, and without arranging a yarn clamping mechanism for clamping the yarn in the yarn catching portion. Simple diagram description

[0022] FIG1 is a diagram showing the structure of a yarn feeding device according to a first embodiment. FIG2 is a perspective view showing a yarn feeding package. FIG. 3 is a perspective view showing the reel stand of FIG. 1 . FIG4 is a side view showing a schematic structure of the package replacing device of FIG1. FIG5 is a top view showing the schematic structure of the replacement unit of FIG4. FIG6 is a block diagram showing the functional structure of the package replacing device of FIG4. FIG7 is a top view showing the knot releasing device of FIG6. FIG8 is a perspective view showing the suction gun and the yarn hanging robot of FIG6 . Fig. 9(a) is a diagram showing the internal structure of the rotary cylinder of Fig. 6. Fig. 9(b) is another diagram showing the internal structure of the rotary cylinder of Fig. 6. FIG10 is a perspective view for explaining the processing of the knot releasing device of FIG6. FIG11 is a perspective view showing a continuation of FIG10. Fig. 12 is a schematic diagram for explaining the process of the knot releasing device of Fig. 6. Fig. 12(b) is a schematic diagram showing a continuation of Fig. 12(a). Fig. 13 (a) is a top view for explaining the hook member, and Fig. 13 (b) is a side view for explaining the hook member. FIG14 is a diagram showing the internal structure of a standard cylinder. FIG15 is a block diagram showing the functional configuration of the package replacing device according to the second embodiment. Fig. 16(a) is a top view for explaining the operation of the knot releasing device of Fig. 15. Fig. 16(b) is a side view for explaining the operation of the knot releasing device of Fig. 15. Fig. 17(a) is a top view showing a continuation of Fig. 16(a). Fig. 17(b) is a side view showing a continuation of Fig. 16(b). FIG18 is a block diagram showing the functional configuration of the package replacing device according to the third embodiment. Fig. 19(a) is a top view for explaining the operation of the knot releasing device of Fig. 18. Fig. 19(b) is a side view for explaining the operation of the knot releasing device of Fig. 18. Fig. 20(a) is a top view showing a continuation of Fig. 19(a). Fig. 20(b) is a side view showing a continuation of Fig. 19(b). FIG21 is a block diagram showing the functional configuration of the package replacing device according to the third embodiment. (a) of FIG. (b) of FIG. (a) of FIG.23 represents a subsequent top view of (a) of FIG. (b) of FIG. 23 represents a subsequent side view of (b) of FIG. Implementation

[0023] In the following, the embodiment is described in detail with reference to the accompanying drawings. In the description of the accompanying drawings, the same or equivalent elements are marked with the same symbols and repeated statements are omitted.

[0024] [Implementation 1] As shown in FIG. The reel frame 20 is provided in the dummy-stitch machining device 1 . The yarn handling device 9A is mounted in the winding body replacement device 9 . In the following explanation, the “Z direction” shown in the figure is the plumb direction (up and down direction), the “X direction” is the horizontal direction, and the “Y direction” is the horizontal direction orthogonal to the “X direction”.

[0025] The dummy-stitch processing apparatus 1 implements processing of yarn (co-fiber yarn) supplied from a plurality of feeder yarn curling bodies to manufacture a coiled curling body. The yarn is, for example, a syn-fiber yarn constructed of synthetic fibers of thermoplastic properties such as polyester, polyamide, and the like. The feed yarn roll body is formed by winding semi-stretched yarn (POY: Partially Oriented Yarn) from the feed cylinder tube. The winding roll body is formed by winding tensile processed yarn (DTY: Draw Textured Yarn) from the winding barrel tube. That is, the dummy clutch processing device 1 to semi-stretched yarn i.e. yarn Y implements processing and produces tensile machined yarn.

[0026] As shown in Figure 2 , an adapter 8 is installed at the feed yarn roll body P1. The joiner 8 is capable of synchronously rotating mounting at the end of the feed bobbin tube B1 of the feed roller body P1. The adapter 8 is formed as a cylindrical. A retaining hole portion 81 is formed at the joiner 8 which allows the yarn end of the yarn Y on the outer layer side (mouth yarn side) of the yarn roll fitting body P1 (hereafter, the yarn end of the yarn Y on the outer layer side is also referred to as "the 1st yarn end Y1") enters and performs holding. The first yarn end Y1 is the end (yarn end) of the winding end yarn portion of the yarn layer YL formed by giving the yarn tube B1 to wind the yarn Y.

[0027] The holding bore portion 81 is configured by a thin tube-like tube disposed inside the joiner 8 and extending bent. Keep the orifice portion 81 open at the axially of the connector 8 . A suction outlet having a counterattack with the suction nozzle 712 described later is formed at the opening portion of the holding hole portion 81 . The suction outlet is a concave concave portion as it moves toward its center. The jointer 8 is, for example, mounted by the operator in the feed yarn rolling body P1.

[0028] The winding end yarn portion of the yarn layer YL in the yarn curling body P1 is fixed to the outer peripheral surface of the yarn layer YL using a knot head KN knot containing a slip knot. In other words, the winding ending yarn portion of the yarn layer YL in the yarn curling body P1 is knotted by the knot head KN to avoid unwinding. Slip knots are also known as pull-open knots. Such knot head KN fixes the winding end yarn portion of the yarn layer YL on the outer peripheral surface of the yarn layer YL, and the fixation is unfastened by pulling the first yarn end Y1. As a method of making the knot KN, there are no special limitations and various methods that are known to be used are able to be used.

[0029] As shown in FIG. There are a plurality of the respective configurations possessed by the feed yarn section 2 and the machining section 3 in the Y direction (in the direction of the body length) orthogonal to the traveling surface of the yarn Y configured to reach the yarn channel from the feed yarn section 2 to the processing section 3 (the paper surface of FIG.

[0030] The yarn section 2 supplies yarn Y to the machining section 3 . The feeder yarn section 2 has a reel frame 20 holding a plurality of feeder rollers P1. As shown in FIGS. The reel abutment portion 21 is disposed on the ground, etc., supporting the first strut 22 and the second strut 23 . The first strut 22 and the second strut 23 are erected and disposed on the reel abutment portion 21 .

[0031] Pillar 1 22 extends in the Z direction. The 1st pillar 22 is arranged equally spaced in the Y direction. The first strut 22 is configured on side C1 in the X direction of the reel frame 20 . One side C1 in the X direction is configured the side of the machining portion 3 described in detail in the rear section and the side of the yarn Y is sent to the machining portion 3 in which the dummy jig machining is implemented.

[0032] Pillar 23 extends in the Z direction. The 2nd pillar 23 is arranged in groups of two in the Y direction, and the 2nd pillars 23 , 23 of the plural group are arranged in the Y direction. The second strut 23 is disposed on the other side C2 in the X direction of the reel frame 20 . The other side C2 in the X direction is the side of the winding body replacement device 9 traveling in detail described in the rear section, and the side of the operator's operation implementing the yarn catching operation. The 1st set of pillars 22 made up of the 1st pillar 22 of the plural root and the 2nd set of pillars 23 made up of the 2nd pillar 23 of the plural root are arranged opposite in the X direction.

[0033] Dividers 24 are provided to span a 1st strut 22 and a 2nd strut 23 . The divider plate 24 is a plate-like member that separates a particular spacing configuration in the Z direction. The divider plate 24 prevents the feed yarn roller body P1 from falling from the bolt 25 .

[0034] The bolt 25 supports the yarn roll body P1. The bolt 25 is disposed at the second strut 23 . The bolt 25 separates a particular interval configuration plural (e.g., 4) in the Z direction of the second strut 23 . The bolt pin 25 is disposed between two sheets of divider plate 24 in the Z direction. Furthermore, the bolts 25 are arranged in the Y direction with the 2nd struts 23 , 23 of the two-in-one configuration correspondingly in two set configurations, and the plural group (one pair) of the bolts 25 , 25 .

[0035] In the bolt pin 25 of the configuration, it is capable of connecting the yarn Y of the feed roll body P1 supporting the bolt 25 of one party in the pair with the yarn Y of the feed roll body P1 supporting the bolt pin 25 in the other pair. Specifically, it is capable of combining the 1st yarn end Y1 of the yarn feed roll body P1 supporting the bolt 25 of one party in the pair with the yarn end of the yarn Y on the inner layer side (tail yarn side) of the yarn feed roll body P1 supporting the bolt pin 25 of the other party in the pair (hereafter, the inner layer will also be placed The yarn end of the yarn Y on the side is referred to as a "2nd yarn end") connection, or, the second yarn end of the feed yarn roll body P1 supporting the bolt 25 on one side of the pair is connected with the first yarn end Y1 of the feed yarn roll body P1 supporting the bolt 25 on the other side in the pair. Thereby, one yarn Y is supplied to the machining section 3 from two feeder yarn roll bodies P1, P1 supported in a pair of bolt pins 25 , 25 , respectively, to the machining section 3 (continuously supplying yarn Y).

[0036] The machining section 3 performs dummy pinch processing on the yarn Y supplied from a plurality of feeder yarn curling bodies P1, and the processed yarn is rolled in a winding cylinder tube to form a winding roll body.

[0037] The package replacing device 9 retrieves the yarn feeding bobbin B1 from the peg 25 and attaches the yarn feeding package P1 to the peg 25. As shown in FIG4 and FIG6 , the package replacing device 9 includes a travel unit 90, a lifting unit 91, a holding unit 92, and a replacing unit 93.

[0038] The travel unit 90 is configured to travel along a rail 98 extending in the Y direction. It supports a holding unit 92 and a replacement unit 93. An operator rides on the lifting unit 91 for lifting. The holding unit 92 holds a plurality of yarn feeding packages P1. The holding unit 92 receives yarn feeding packages P1 from a package replenishing device (not shown) to temporarily store the yarn feeding packages P1 and then supplies the yarn feeding packages P1 to the replacement unit 93.

[0039] The replacement unit 93 retrieves the yarn feeding bobbin B1 from the peg 25 and attaches the yarn feeding package P1 to the peg 25. As shown in Figures 4, 5, and 6, the replacement unit 93 includes a rotating device 932, a retrieving device 933, a supply device 934, and a rotating table 936. The rotating device 932 rotates the peg 25 to change its orientation when attaching the yarn feeding package P1 to the peg 25. The retrieving device 933 retrieves the yarn feeding bobbin B1 from the peg 25. The supply device 934 supplies the yarn feeding package P1 to the peg 25.

[0040] The yarn splicing device 9A performs processing to untie the knot KN of the yarn feeder package P1 (hereinafter also referred to as "knot untying processing") and to connect the yarn ends of the pair of yarn feeder packages P1, P1 attached to the pair of pegs 25, 25 (hereinafter also referred to as "yarn splicing processing"). The yarn splicing device 9A includes a yarn splicing device (yarn splicing section) 60 and a knot untying device (yarn package knot untying device) 70.

[0041] The yarn splicing device 60 splices the first yarn end Y1 of the yarn feeding package P1 supported by one peg 25 with the second yarn end of the yarn feeding package P1 supported by the other peg 25, or splices the second yarn end of the yarn feeding package P1 supported by one peg 25 with the first yarn end Y1 of the yarn feeding package P1 supported by the other peg 25. Hereinafter, the yarn feeding package P1 supported (attached) by one peg 25 will also be referred to as the first yarn feeding package (first yarn package) P11, and the yarn feeding package P1 supported (attached) by the other peg 25 will also be referred to as the second yarn feeding package (second yarn package) P12.

[0042] The peg 25 for attaching the first yarn feeding package P11 constitutes a first attachment portion, and the peg 25 for attaching the second yarn feeding package P12 constitutes a second attachment portion. The yarn splicing device 60 constitutes a yarn splicing portion for splicing the first yarn end Y1 of the first yarn feeding package P11 to the second yarn end of the second yarn feeding package P12, or vice versa.

[0043] As shown in Figures 6 and 7, the knot untying device 70 moves the first yarn end Y1, the yarn end of the wound yarn portion, to untie the knot KN in the yarn feeder package P1. The knot untying device 70 includes a suction gun (yarn catching unit) 71, a winding rod (wound unit) 72, a rotary cylinder (guide unit) 73, a yarn hanging robot (yarn catching unit moving unit) 74, and a control unit 94.

[0044] As shown in Figures 7 and 8 , the suction gun 71 captures the yarn end of the wound yarn portion, namely the first yarn end Y1, by suction (hereinafter referred to as "suction capture"). The suction gun 71 is located at the front end of the yarn hanging robot 74. The suction gun 71 includes a suction arm 711 and a suction nozzle 712.

[0045] A suction hose 713 connected to a negative pressure source is connected to the suction arm 711, thereby generating a suction flow in the suction gun 71. The base end of the suction arm 711 is connected to the yarn hanging robot 74. A suction nozzle 712 is provided at the front end of the suction arm 711. The suction nozzle 712 sucks the yarn Y. The surface of the front end side of the suction nozzle 712 is formed into a hemispherical shape. The suction nozzle 712 is connected to the suction arm 711 via a shaft and can be elastically moved relative to the suction arm 711 in its axial direction by a spring or the like. The suction gun 71 is connected to the control unit 94 (see Figure 6), and the execution and stop of suction and capture are controlled by the control unit 94.

[0046] As shown in Figures 7, 9, and 10, the winding rod 72 is a member for winding the yarn Y at the end of the winding. The winding rod 72 is a rod-shaped member extending along an axis. Here, the winding rod 72 is in the shape of a circular tube. The winding rod 72 is formed, for example, of metal. The winding rod 72 is configured to be able to swing about a rotation axis 72X on the base end side as the base axis. The rotation axis 72X is orthogonal to the axis of the winding rod 72. The rotation axis 72X extends, for example, along the end face of the adapter 8 in the width direction of the yarn feeding package body P1 when the end face is facing the suction gun 71. Such a winding rod 72 can swing in a manner such that the base end side serves as the support end and the front end side moves in a direction away from the yarn feeding package body P1 and a direction toward the yarn feeding package body P1.

[0047] The winding rods 72 include a first winding rod (first wound portion) 72A, which winds the completed yarn portion of the first yarn feeding package P11, and a second winding rod (second wound portion) 72B, which winds the completed yarn portion of the second yarn feeding package P12. The first winding rod 72A is positioned at one end of the replacement unit 93 in the Y direction, and the second winding rod 72B is positioned at the other end of the replacement unit 93 in the Y direction.

[0048] The rotary cylinder 73 swings the winding rod 72, guiding the winding portion Q (hereinafter referred to as the "winding portion Q") of the wound yarn Y on the winding rod 72, where the yarn is wound, from a first position to a second position, away from the yarn feeder package P1. For example, as shown in Figure 9(a), the rotary cylinder 73 includes an air cylinder 73X, a rack 73Y disposed at the front end of a piston rod 731 of the air cylinder 73X, and a pinion 73Z meshing with the rack 73Y. The air cylinder 73X includes a throttle portion (not shown) that throttles the exhaust air. The air cylinder 73X is connected to a control unit 94, and the air supply to the air cylinder 73X is controlled by the control unit 94. The throttle portion of the air cylinder 73X can be implemented, for example, by providing a throttle valve on the exhaust side. The pinion 73Z is rotatable about the rotating shaft 72X. The base end of the winding rod 72 is fixed to the pinion 73Z for synchronous rotation.

[0049] In the rotary cylinder 73, for example, when the piston rod 731 is retracted (retracted), the winding rod 72 is tilted so that its front end approaches the yarn feed package P1, and the winding position Q of the winding rod 72 is located in the first position (see FIG9(a)). On the other hand, in the rotary cylinder 73, for example, when the piston rod 731 is advanced (extended), the winding rod 72 is tilted so that its front end moves away from the yarn feed package P1, and the winding position Q of the winding rod 72 is located in the second position (see FIG9(b)).

[0050] The first position is a position within a range where the distance from the knot KN is less than the length from the knot KN to the first yarn end Y1. The first position is the position of the winding portion Q when the piston rod 731 of the air cylinder 73X is in the state of being advanced to the maximum extent. The second position is a position farther from the yarn feeding package body P1 than the first position. For example, the second position is, for example, more than 100 mm away from the first position. The second position is the position of the winding portion Q when the piston rod 731 of the air cylinder 73X is in the state of being retreated to the maximum extent. In addition, the second position is a position within a range H (see FIG. 7 ) between one end and the other end of the yarn feeding package body P1 in the width direction of the yarn feeding package body P1 when the pin 25 is operated and the end face of the connector 8 is facing the suction gun 71.

[0051] The rotary cylinder 73 includes a first rotary cylinder 73A that guides the winding portion Q of the first winding rod 72A from a first position to a second position in a direction away from the first yarn feeding package P11, and a second rotary cylinder 73B that guides the winding portion Q of the second winding rod 72B from a first position to a second position in a direction away from the second yarn feeding package P12. The first rotary cylinder 73A and the second rotary cylinder 73B are supported by a frame 93F of the replacement unit 93 via a bracket BR1. The first rotary cylinder 73A is located at one end of the replacement unit 93 in the Y direction, and the second rotary cylinder 73B is located at the other end of the replacement unit 93 in the Y direction.

[0052] In addition, the rotary cylinder 73 can be a reciprocating type rotary cylinder in which the piston rod 731 is moved forward and backward by air, or it can be a unidirectional type rotary cylinder in which the piston rod 731 is moved forward or backward by air (the other one of the forward and backward movements is achieved by a spring, etc.).

[0053] As shown in Figures 7 to 10, the yarn hanging robot 74 moves the suction gun 71. The yarn hanging robot 74 is connected to the base end of the suction gun 71. The yarn hanging robot 74 is configured to include a link mechanism and multiple motors. The yarn hanging robot 74 is supported by the frame 93F of the replacement unit 93 via the bracket BR2. The yarn hanging robot 74 is arranged in the center of the replacement unit 93 in the Y direction. The yarn hanging robot 74 is located between the first winding rod 72A and the second winding rod 72B in the Y direction. The yarn hanging robot 74 is not particularly limited, and various well-known robot arms can be used. The yarn hanging robot 74 is connected to the control unit 94, and the movement of the suction gun 71 is controlled by the control unit 94.

[0054] As shown in Figures 6, 10, and 12, the control unit 94 is an electronic control unit comprised of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), I / O ports, and communication ports. By loading specific computer software into the CPU and hardware such as the main memory, the various functions of the control unit 94 are executed under the control of the CPU. The control unit 94 controls at least the suction gun 71, the rotary cylinder 73, and the yarn hanging robot 74 to perform the knot undoing process. The control unit 94 also controls at least the suction gun 71, the yarn hanging robot 74, and the yarn splicing device 60 to perform the yarn splicing process.

[0055] During the knot untying process, the control unit 94 controls the yarn hanging robot 74 to move the suction gun 71 that attracts and captures the first yarn end Y1, so that the wound portion of the yarn Y is wound multiple times around the winding rod 72. During the knot untying process, the control unit 94 maintains suction of the first yarn end Y1 by the suction gun 71. The suction amount of the suction gun 71 during the knot untying process can be maintained constant or varied within a set allowable range.

[0056] During the knot untying process, the control unit 94 moves the suction gun 71 away from the yarn feeder package P1 in synchronization with the movement of the winding portion Q away from the yarn feeder package P1 from the first position to the second position. During the knot untying process, the control unit 94 brings the suction gun 71 into contact with the winding rod 72 around which the finished portion of the yarn Y is wound, and the yarn hanging robot 74 moves the suction gun 71. This causes the rotating cylinder 73 to guide and oscillate the winding rod 72, thereby moving the winding portion Q from the first position to the second position.

[0057] As a result, a specific first tension is generated in the first portion YQ1 between the winding rod 72 and the suction gun 71 at the winding end of the yarn Y. Furthermore, while the first tension is generated, a second tension greater than the first tension is generated in the second portion YQ2 between the winding rod 72 and the yarn layer YL at the winding end of the yarn Y. In this embodiment, when the first tension is set to T1, the second tension is set to T2, the friction coefficient of the winding rod 72 is set to μ, and the number of windings of the winding end of the yarn Y with respect to the winding rod 72 is set to θ, the following relationship corresponding to the capstan equation is satisfied. The specific first tension may remain constant, for example, during the execution of the knot untying process, or may vary within a set allowable range. θ=ln(T2 / T1)÷μ……(1)

[0058] Next, a series of operation examples including the knot untying process and the yarn splicing process of the yarn splicing processing device 9A will be described in detail.

[0059] The following description will focus on an example of removing a knot KN from the outer circumference of the yarn layer YL of the first yarn feeding package P11 when joining the first yarn end Y1 of the first yarn feeding package P11 to the second yarn end of the second yarn feeding package P12. Here, the first yarn feeding package P11 is a newly inserted, fully wound package, and the second yarn feeding package P12 is a package currently being unwound.

[0060] In the initial state, for example, the peg rotating device of the yarn splicing device 60 has not yet operated the peg 25, and the first yarn feeding package P11 has not yet rotated. In this initial state, the end face of the splicer 8 advances toward the piston rod 731 of the first rotary cylinder 73A on the side opposite to the suction gun 71, and the winding rod 72 is maintained with its front end tilted away from the yarn feeding package P1.

[0061] In this initial state, as shown in Figure 7, the peg 25 is first operated to rotate the first yarn feeding package P11 so that the end face of the adapter 8 faces the suction gun 71. The control unit 94 controls the yarn hanging robot 74 to move the suction nozzle 712 of the suction gun 71 so that the nozzle 712 contacts the suction port of the holding hole 81 in the adapter 8, which holds the first yarn end Y1. Simultaneously, the control unit 94 initiates suction by the suction gun 71, and the suction nozzle 712 sucks and captures the first yarn end Y1.

[0062] In addition, air is supplied to the first rotating cylinder 73A by the control unit 94, thereby, as shown in Figures 7 and 9 (a), the piston rod 731 is retracted, the pinion 73Z engaged with the rack 73Y is rotated in one direction, and the winding rod 72 is swung in a manner such that the front end portion is tilted toward the yarn feeding package body P1.

[0063] Next, as shown in Figure 10, the control unit 94 controls the yarn hooking robot 74 to move the suction gun 71, which attracts and captures the first yarn end Y1, so that the wound yarn portion of the yarn Y is wound three times around the leading end of the first winding rod 72A. For example, the control unit 94 controls the yarn hooking robot 74 so that the suction nozzle 712 of the suction gun 71, which attracts and captures the first yarn end Y1, wraps approximately three times around the leading end of the first winding rod 72A. This forms a winding section Q on the leading end of the first winding rod 72A, where the wound yarn portion of the yarn Y is wound three times. The winding section Q is now at the first position. In this embodiment, when the yarn Y is wound around the winding rod 72, the yarn Y is wound from the base end toward the leading end.

[0064] Here, the yarn Y is wound three times around the outer circumference of the first winding rod 72A, and the yarn portions of each winding may partially or completely overlap, approach, touch, or separate. When the winding portion Q is in the first position, the restricted portion of the air cylinder 73X acts as resistance, hindering the discharge of air from the air cylinder 73X. This generates a force that maintains the tilt of the first winding rod 72A, maintaining the winding portion Q in the first position. This force can be achieved, for example, by utilizing the elastic force of a spring or the magnetic force of a magnet.

[0065] Next, as shown in Figures 9(b), 11, 12(a), and 12(b), while the suction gun 71 is sucking and capturing the first yarn end Y1, the control unit 94 causes the suction nozzle 712 of the suction gun 71 to contact (hook) the first yarn feeding package P11 side of the winding position Q of the winding rod 72. Meanwhile, the yarn hooking robot 74 moves (pulls) the suction nozzle 712 away from the first yarn feeding package P11. At this time, the suction nozzle 712 is pressed inward away from the first yarn feeding package P11, overcoming the force that maintains the tilt of the first winding rod 72A. As a result, the first winding rod 72A tilts so that the front end of the first winding rod 72A is away from the yarn feeding package P1, causing the pinion 73Z to rotate in the other direction, and the piston rod 731 to advance. The winding rod 72 is swung while being guided by the first rotary cylinder 73A, so that the winding portion Q moves from the first position to the second position.

[0066] As a result, to satisfy the relationship of equation (1) corresponding to the capstan equation, a first tension T1 is generated in the first portion YQ1 of the wound yarn portion between the first winding rod 72A and the suction gun 71, and a second tension T2 is generated in the second portion YQ2 of the wound yarn portion between the first winding rod 72A and the yarn layer YL. In other words, the wound yarn portion of the yarn Y can be strongly pulled away from the first yarn feeding package P11. As described above, the knot KN of the first yarn feeding package P11, including the slip knot, is untied.

[0067] The control unit 94 then controls the yarn hanging robot 74 to move the suction nozzle 712, which has been sucking and catching the first yarn end Y1, to the yarn splicing device 60. The suction nozzle 712 then stops sucking and releasing the suction and catching function, placing (guiding) the first yarn end Y1 to the yarn splicing device 60. Furthermore, the control unit 94 controls the suction gun 71 and the yarn hanging robot 74 to cause the suction nozzle 712 to suck and catch the second yarn end of the second yarn feeding package P12. After moving the suction nozzle 712 to the yarn splicing device 60, the suction nozzle 712 stops sucking and releasing the suction and catching function, placing the second yarn end of the second yarn feeding package P12 to the yarn splicing device 60. The control unit 94 then controls the yarn splicing device 60 to splice (connect) the first yarn end Y1 of the first yarn feeding package P11 to the second yarn end of the second yarn feeding package P12.

[0068] In addition, when the first yarn end Y1 of the newly inserted second yarn feeding package P12 is joined with the second yarn end of the first yarn feeding package P11 which is being unwound, the same processing as the above processing is performed when the knot KN on the outer peripheral surface of the yarn layer YL of the second yarn feeding package P12 is released.

[0069] As described above, in the knot untying device 70, the wound yarn portion is wound multiple times around the winding rod 72. While the first portion YQ1 is under the first tension T1, the second portion YQ2 is under the second tension T2, which is greater than the first tension T1. This second tension T2 is then used to strongly pull the first yarn end Y1, thereby untying the knot KN. Therefore, the knot untying device 70 eliminates the need to supply a large amount of compressed fluid to the suction gun 71 to generate a negative pressure for strongly pulling the yarn Y, and eliminates the need to provide a yarn clamping mechanism for clamping the yarn Y within the suction gun 71. This allows the untying of a knot KN including a slip knot in the yarn feeder package P1.

[0070] The knot-releasing device 70 can generate a greater tension, for example, ten times greater, at the wound yarn end portion, compared to a case where the suction gun 71 is pulled, sucked, and captured to capture the first yarn end Y1. Furthermore, the knot-releasing device 70 can generate a greater tension, for example, ten times greater, at the wound yarn end portion, compared to a case where the wound yarn end portion is simply wound around the winding rod 72 and then lifted.

[0071] In the knot untying device 70, the first tension T1, the second tension T2, the friction coefficient μ of the winding rod 72, and the number θ of the windings of the wound yarn portion relative to the winding rod 72 satisfy the relationship of the above equation (1) corresponding to the capstan equation. Thus, the knot KN can be untied using the relationship of the above equation (1) corresponding to the capstan equation.

[0072] In the knot untying device 70, the winding portion Q of the finished yarn portion of the winding rod 72 is moved from a first position to a second position in a direction away from the yarn feed package P1. Simultaneously with this movement of the winding portion Q, the suction gun 71 is moved. In this manner, a second tension T2 is generated. Furthermore, the first tension T1 is generated and maintained.

[0073] The knot untying device 70 includes a rotary cylinder 73 that swings the winding rod 72, guiding the winding portion Q from a first position to a second position. A suction gun 71 is brought into contact with the winding rod 72, where the finished yarn portion is wound, and is moved by a yarn hooking robot 74. The rotary cylinder 73 guides the winding rod 72 while swinging it, moving the winding portion Q from the first position to the second position. This swings the winding rod 72, where the finished yarn portion is wound, and unties the knot KN. By designing the knot untying device 70 to swing the winding rod 72, the amount of movement of the suction gun 71 can be reduced, thereby increasing the degree of freedom in the configuration of the various components of the knot untying device 70.

[0074] In the knot untying device 70, the first position is a position within a range of less than the length from the knot KN to the first yarn end Y1. In this case, the wound yarn portion can be reliably wound on the winding rod 72.

[0075] In the knot untying device 70, the second position is located within a range H between one end and the other end of the yarn feeding package P1 in the width direction of the yarn feeding package P1. In this case, when the winding portion Q is moved to the second position, the wound yarn portion wound on the yarn feeding bobbin B1 is prevented from moving in the width direction of the yarn feeding package P1 until it is released from the yarn feeding bobbin B1.

[0076] In the knot untying device 70, the yarn feeding package P1 includes a first yarn feeding package P11 and a second yarn feeding package P12, and the winding rod 72 includes a first winding rod 72A and a second winding rod 72B. In the knot untying device 70, the control unit 94 and the first rotary cylinder 73A generate a first tension T1 in the first portion YQ1 of the first yarn feeding package P11, and a second tension T2 in the second portion YQ2 of the first yarn feeding package P11. The control unit 94 and the second rotary cylinder 73B generate a first tension T1 in the first portion YQ1 of the second yarn feeding package P12, and a second tension T2 in the second portion YQ2 of the second yarn feeding package P12. This configuration allows untying of knots KN corresponding to each of the two yarn feeding packages P11 and P12.

[0077] In the knot-untying device 70, the suction gun 71 is located at the front end of the yarn-hanging robot 74. This allows the yarn-hanging robot 74 to easily operate the suction gun 71. In the knot-untying device 70, when winding the yarn Y around the front end of the winding rod 72, the yarn Y is wound from the base end toward the front end. This prevents the yarn Y from overlapping at the winding location Q, compared to winding the yarn Y from the front end toward the base end.

[0078] The yarn splicing processing device 9A and the yarn feeding device 100 are equipped with a knot releasing device 70. Therefore, as described above, there is no need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and there is no need to set a yarn clamping mechanism for clamping the yarn Y on the suction gun 71, so that the knot KN containing the slip knot of the yarn feeding package P1 can be released.

[0079] As shown in Figures 13(a) and 13(b), the knot untying device 70 of this embodiment may also include a hook member 78 that hooks the second portion YQ2 between the first winding rod 72A and the yarn layer YL in the wound yarn portion. In this case, the hook member 78 can be used to change the direction of the yarn path, making it easier to untie the knot KN.

[0080] As shown in Figure 13(a), the hook member 78 is positioned on one side of the axis of the yarn feeder package P1, perpendicular to the axis, when viewed from above. The hook member 78 is fixed, for example, to the frame 93F of the replacement unit 93 (see Figure 7). The hook member 78 is an inverted J-shaped member. The shape of the hook member 78 is not particularly limited and can be various shapes. The hook member 78 can also hook the second portion YQ2 within a range F1 defined by an auxiliary line when viewed from above. The auxiliary line extends from the intersection point Pn of the knot reference line F0, which passes through the knot KN and extends in the width direction, and the two widthwise edges of the yarn feeder package P1, toward the direction inclined 45° with respect to the axial direction of the yarn feeder package P1. The hook member 78 can also hook the second portion YQ2 within a range H in the widthwise direction of the yarn feeder package P1 when viewed from above.

[0081] As shown in Figure 13(b), the hook member 78 can also hook the second portion YQ2 within a range F3 defined by a knot reference line F2 extending vertically through the knot KN and extending horizontally, and an auxiliary line extending horizontally from the intersection Pm of the knot reference line F2 and the surface of the yarn feeder package P1, when viewed from above. Alternatively, the hook member 78 can hook the second portion YQ2 within a range F4 defined by an auxiliary line extending horizontally and an auxiliary line extending upward at a 45° angle relative to the horizontal. The hook member 78 can be positioned horizontally within approximately 300 mm from the knot reference line F2.

[0082] The knot untying device 70 of this embodiment includes a rotary cylinder 73 as a guide portion for swinging the winding rod 72 to guide the winding portion Q, but the guide portion is not particularly limited. For example, the guide portion may be a device including a linear motion track, or may be a standard air cylinder 173 shown in Figure 14. The standard air cylinder 173 includes a cylinder 173X, a connecting portion 173Y provided on the front end side of the piston rod 731 of the cylinder 173X, and a support portion 173Z that supports the base end side of the winding rod 72. The connecting portion 173Y is slidably connected to the winding rod 72. The support portion 173Z can swing the winding rod 72 so that the front end side of the winding rod 72 moves away from the yarn feeding package body P1 and toward the yarn feeding package body P1.

[0083] In the above description, at least the control unit 94 constitutes the winding control unit. At least the control unit 94, the suction gun 71, and the winding rod 72 constitute the first tension generating unit. At least the control unit 94, the suction gun 71, and the first winding rod 72A constitute the first tension generating unit for the first yarn package. At least the control unit 94, the suction gun 71, and the second winding rod 72B constitute the first tension generating unit for the second yarn package. At least the control unit 94, the rotary cylinder 73, the suction gun 71, the winding rod 72, and the yarn hanging robot 74 constitute the second tension generating unit. At least the control unit 94, the first rotary cylinder 73A, the suction gun 71, the first winding rod 72A, and the yarn hanging robot 74 constitute the second tension generating unit for the first yarn package. At least the control unit 94, the second rotary cylinder 73B, the suction gun 71, the second winding rod 72B, and the yarn hanging robot 74 constitute the second tension generating unit for the second yarn package. In addition, as in the present embodiment, when the first tension generating portion is moved (specifically, the suction gun 71 is moved), the control portion 94 is included in the first tension generating portion as an exception, but in other cases, the control portion 94 is not included in the first tension generating portion in principle.

[0084] [Second embodiment] The second embodiment will be described. In the description of the second embodiment, the differences from the first embodiment will be described.

[0085] As shown in Figure 15 , the knot untying device 270 of this embodiment differs from the first embodiment described above in that it includes a package moving device (yarn package moving section) 273 in place of the rotating cylinder 73 (see Figure 6 ). With the winding rod 72 and suction gun 71 fixed in position, the package moving device 273 moves the yarn feeder package P1 horizontally away from the winding rod 72. The package moving device 273 is not particularly limited; various known devices can be used. The package moving device 273 constitutes the second tension generating section. For example, the package moving device 273 may include an air cylinder that can separate the yarn feeder package P1 from the winding rod 72. The package moving device 273 is connected to the control unit 94, which controls its operation. The winding rod 72 of this embodiment is, for example, fixed to the frame 93F of the replacement unit 93 (see Figure 7 ).

[0086] Figure 16(a) is a top view illustrating the operation of the knot-releasing device 270. Figure 16(b) is a side view illustrating the operation of the knot-releasing device 270. Figure 17(a) is a top view subsequent to Figure 16(a). Figure 17(b) is a side view subsequent to Figure 16(b). For ease of explanation, in Figures 16 and 17, the axial direction of the yarn feed package P1 is the Y direction, and the axial direction of the winding rod 72 is the Z direction (the same applies to Figures 19, 20, 22, and 23 below).

[0087] In the knot untying device 270, after the winding rod 72 winds the yarn Y multiple times and the yarn portion is wound, the first yarn end Y1 is sucked and captured by the suction gun 71, and at the same time, as shown in Figure 16 (a) and Figure 16 (b), with the positions of the winding rod 72 and the suction gun 71 fixed, the control unit 94 controls the action of the package moving device 273 to move the yarn feeding package P1 in a direction away from the winding rod 72.

[0088] As a result, to satisfy the relationship of equation (1) corresponding to the capstan equation, a first tension T1 is generated in the first portion YQ1 between the winding rod 72 and the suction gun 71 in the wound yarn portion, and a second tension T2 is generated in the second portion YQ2 between the first winding rod 72A and the yarn layer YL in the wound yarn portion. In other words, the yarn feed package P1 can be strongly pulled in the direction in which the wound yarn portion of the yarn Y and the yarn feed package P1 separate from each other. As described above, as shown in Figures 17(a) and 17(b), the knot KN of the yarn feed package P1, including the slip knot, is untied.

[0089] As described above, the knot-releasing device 270 can remove a slip knot KN in the yarn feed package P1 without supplying a large amount of compressed fluid to the suction gun 71 to generate negative pressure to strongly pull the yarn Y, and without providing a yarn clamping mechanism to clamp the yarn Y on the suction gun 71. Furthermore, the knot-releasing device 270 can generate a second tension T2 using the package moving device 273. In this embodiment, at least the suction gun 71, the winding rod 72, the package moving device 273, and the control unit 94 constitute the second tension generating unit.

[0090] [Third embodiment] The third embodiment will be described. In the description of the third embodiment, the differences from the first embodiment will be described.

[0091] As shown in Figure 18, the knot untying device 370 of this embodiment differs from the first embodiment described above in that it includes a winding rod rotation drive device (rod-shaped member rotating portion) 373 in place of the rotating cylinder 73 (see Figure 6). With the winding rod 72 and the suction gun 71 fixed in position, the winding rod rotation drive device 373 rotates the winding rod 72 about the axis of the winding rod 72 in the direction that pulls the finished yarn portion from the yarn feed package P1. The winding rod rotation drive device 373 is not particularly limited; various known devices can be used. The winding rod rotation drive device 373 constitutes the second tension generating portion. For example, the winding rod rotation drive device 373 may include a motor to rotate the winding rod 72. The winding rod rotation drive device 373 is connected to the control unit 94, which controls the operation of the winding rod rotation drive device 373.

[0092] In the knot untying device 370, after the winding rod 72 winds the yarn Y multiple times to wind the winding end yarn portion, the first yarn end Y1 is sucked and captured by the suction gun 71, and at the same time, as shown in Figure 19 (a) and Figure 19 (b), with the positions of the winding rod 72 and the suction gun 71 fixed, the control unit 94 controls the operation of the winding rod rotation drive device 373 to rotate the winding rod 72 and pull out the winding end yarn portion from the yarn feeding package body P1.

[0093] Here, the finished yarn portion is wound counterclockwise around the winding rod 72, and the winding rod rotation drive device 373 rotates the winding rod 72 counterclockwise. As the winding rod 72 rotates, the finished yarn portion wound around the winding rod 72 is unwound, a portion of the first portion YQ1 between the winding rod 72 and the suction gun 71 is re-sucked by the suction gun 71, and a portion of the second portion YQ2 between the winding rod 72 and the yarn layer YL is re-wound around the winding rod 72.

[0094] As a result, to satisfy the relationship of equation (1) corresponding to the capstan equation, a first tension T1 is generated in the first portion YQ1 between the winding rod 72 and the suction gun 71 at the winding end of the yarn portion, and a second tension T2 is generated in the second portion YQ2 between the winding rod 72 and the yarn layer YL at the winding end of the yarn portion. In other words, the winding end of the yarn Y can be strongly pulled from the yarn feeder package P1. As described above, as shown in Figures 20(a) and 20(b), the knot KN of the yarn feeder package P1, including the slip knot, is untied.

[0095] As described above, the knot-releasing device 370 can remove a slip-knot KN in the yarn feed package P1 without supplying a large amount of compressed fluid to the suction gun 71 to generate negative pressure to strongly pull the yarn Y, and without providing a yarn clamping mechanism on the suction gun 71 to clamp the yarn Y. Furthermore, the knot-releasing device 370 can generate a second tension T2 using the winding rod rotation drive 373. In this embodiment, at least the suction gun 71, the winding rod 72, the winding rod rotation drive 373, and the control unit 94 constitute the second tension generating unit.

[0096] [Fourth embodiment] The fourth embodiment will be described. In the description of the fourth embodiment, the differences from the first embodiment will be described.

[0097] As shown in Figure 21, the knot untying device 470 of this embodiment differs from the first embodiment described above in that it includes a pulling member drive device (pulling unit) 473 and a pulling member (pulling unit) 479 in place of the rotary cylinder 73 (see Figure 6). The pulling member 479 is positioned between the winding rod 72 and the yarn layer YL. The pulling member 479 is a rod-shaped member having an axis perpendicular to the yarn path of the second portion YQ2 between the winding rod 72 and the yarn layer YL in the wound yarn portion. The pulling member 479 here is tubular.

[0098] The pulling member drive device 473 is a drive device that pushes the pulling member 479 to move it relative to the second portion YQ2. The pulling member drive device 473 is not particularly limited, and various known devices can be used. For example, the pulling member drive device 473 may include a cylinder that moves the pulling member 479 toward the second portion YQ2 (downward in the illustrated example). The pulling member drive device 473 is connected to the control unit 94, which controls the operation of the pulling member drive device 473.

[0099] In the knot untying device 470, after the winding rod 72 winds the yarn Y multiple times and the yarn portion is wound, the first yarn end Y1 is sucked and captured by the suction gun 71, and at the same time, as shown in Figure 22 (a) and Figure 22 (b), with the positions of the winding rod 72 and the suction gun 71 fixed, the control unit 94 controls the action of the pulling member driving device 473 to push the pulling member 479 to move it downward relative to the second portion YQ2, and the second portion YQ2 is pulled by the pulling member 479.

[0100] As a result, to satisfy the relationship of equation (1) corresponding to the capstan equation, a first tension T1 is generated in the first portion YQ1 between the winding rod 72 and the suction gun 71 at the winding end of the yarn portion, and a second tension T2 is generated in the second portion YQ2 between the winding rod 72 and the yarn layer YL at the winding end of the yarn portion. In other words, the winding end of the yarn Y can be strongly pulled from the yarn feeder package P1. As described above, as shown in Figures 23(a) and 23(b), the knot KN of the yarn feeder package P1, including the slip knot, is untied.

[0101] As described above, the knot-releasing device 470 can remove a knot KN including a slip knot in the yarn feeder package P1 without supplying a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and without providing a yarn clamping mechanism on the suction gun 71 to clamp the yarn Y. Furthermore, the knot-releasing device 470 can generate a second tension T2 using the pulling member driving device 473 and the pulling member 479.

[0102] In this embodiment, the pulling member 479 is moved downward from above to press the first portion YQ1, untying the knot KN. However, the pulling member 479 can also be moved upward from below to press the first portion YQ1, or can be moved horizontally from one side to the other. The shape of the pulling member 479 is not particularly limited and can have various shapes. The pulling member drive device 473 and the pulling member 479 correspond to the pulling section. At least the suction gun 71, the winding rod 72, the pulling member drive device 473, the pulling member 479, and the control unit 94 constitute the second tension generating unit.

[0103] As mentioned above, an embodiment of one aspect of the present invention has been described. However, one aspect of the present invention is not necessarily limited to the above embodiment, and various modifications can be made without departing from the scope of the present invention.

[0104] In the foregoing embodiments, the control portion 94 may also not be disposed at the roller replacement device 9 , but located far away from the roller replacement device 9 in a manner that enables communication via wired or wireless. In the foregoing embodiments and the foregoing variations, as an example of a yarn processing device, the example of a dummy cock processing device 1 is illustrated, but is not limited to this. Namely, as an example of the machining department 3, the apparatus implementing jig yarn machining (pseudo machining) is illustrated, but it can also be applied to the apparatus implementing jigless yarn machining (air jet machining).

[0105] In the foregoing embodiments and the foregoing variations, the feed yarn may also be rolled by turning the bolt pin 25 after the winding end yarn portion of the winding rod 72 plurality of winding yarn Y, while maintaining the attraction of the first yarn end Y1 by the suction gun 71 Body P1 is rotated so that the yarn feeder roller body P1 is far away from the winding rod 72, whereby a first tension T1 and a second tension T2 are generated at the first part YQ1 and at the second part YQ2, respectively, thereby unwinding the knot head KN of the feeder roller body P1.

[0106] In the foregoing embodiments and the foregoing variations, it is also possible to make the feed yarn curling body P1 toward and from the giving while maintaining the attraction of the first yarn end Y1 after the winding end yarn portion of the winding rod 72 plurality of winding yarn Y Yarn roller body P1 rotates in the opposite direction of pulling out yarn Y, whereby a first tension T1 and a second tension T2 are generated in part 1 YQ1 and part 2 YQ2, respectively, thereby unwinding the knot KN to the yarn roller body P1.

[0107] In the above embodiments and the above variations, the winding end yarn portion may be wound on the winding rod 72 3 times, 2 times, and more than 4 times. In the above embodiments and the above variations, a winding rod 72 is used as a winding portion, but other members may also be used as winding portions as long as the winding ending yarn portion is capable of winding.

[0108] Each configuration of the foregoing embodiments or variations is capable of readily applied to each of the other embodiments or variations. Part of each of the above embodiments or variations is capable of being appropriately omitted to the extent that it does not deviate from the subject matter of one modality of the present invention. The invention is not limited to the embodiments described above, capable of making various changes within the scope that does not depart from the subject matter of the invention.

[0109] 1: Fake fuck processing device 2: To the yarn department 3: Machining Department 8: Adapter 9: Roller body replacement device 9A: Yarn splicing device 20: Reel rack (feeder rack) 21: Scroll base 22: Pillar 1 23: Pillar 2 24: Divider 25: Pins (1st mounting part, 2nd mounting part) 60: Yarn splicing device (yarn splicing part) 70, 270, 370, 470: Knot releasing device (knot releasing device for yarn package) 71: Suction gun (yarn catching part, first tension generating part, second tension generating part) 72: Winding rod (wound portion, rod-shaped member, first tension generating portion, second tension generating portion) 72A: First winding rod (first wound portion, first tension generating portion for first yarn package, second tension generating portion for first yarn package) 72B: Second winding rod (second wound portion, first tension generating portion for second yarn package, second tension generating portion for second yarn package) 72X: Rotation axis 73: Rotating cylinder (guide part, second tension generating part) 73A: 1st rotary cylinder (2nd tension generating section for 1st yarn package) 73B: Second rotary cylinder (second tension generating portion for second yarn package) 73X: Cylinder 73Y: rack 73Z: Small gear 74: Yarn hanging robot (yarn catching part moving part, second tension generating part) 78: Hook member 81: Holding hole 90: Travel unit 91: Lifting unit 92: Holding unit 93: Replacement unit 93F:Frame 94: Control unit (winding control unit, first tension generating unit, second tension generating unit) 98: Track 100: Yarn feeding device 173: Standard cylinder (guide part, second tension generating part) 173X: Cylinder 173Y: Connecting part 173Z: Support Department 270: Knot release device 273: Package moving device (yarn package moving section, second tension generating section) 370: Knot release device 373: Winding rod rotation drive device (rod-shaped member rotation unit, second tension generating unit) 470: Knot release device 473: Pulling member driving device (pulling part, second tension generating part) 479: Pulling member (pulling portion, second tension generating portion) 711: Suction arm 712: Nozzle 713: Suction hose 731:Piston rod 932: Rotating device 933: Recovery Device 934: Supply device 936: Rotating table B1: Yarn feeding tube (bobbin) BR1: Bracket BR2: Bracket C1: One side in the X direction C2: The other side of the X direction F0: knot reference line F1: Range F2: Knot baseline F3: Range F4: Range H: Range KN: Knot Pn: Intersection point Pm: intersection point P1: Yarn feeding package (yarn package) P11: 1st yarn feeding package (1st yarn package) P12: Second yarn feeding package (second yarn package) Q: Winding location X, Y, Z: direction Y: Yarn Y1: 1st yarn end (the yarn end at the end of winding, the yarn end on the outer layer side) YL: yarn layer YQ1: Part 1 YQ2: Part 2

Claims

1. A knot-removing device (70, 270, 370, 470) for a yarn package, wherein the yarn end portion of a yarn layer (YL) formed by winding yarn (Y) on a bobbin (B1) is fixed to the outer peripheral surface of the yarn layer by a knot (KN) including a slip knot, and the knot is removed by moving the yarn end (Y1) of the yarn end portion, and comprises: a yarn capturing part (71) for capturing the yarn end of the yarn end portion by attraction; a wound part (72) for winding the yarn end portion; a yarn capturing part moving part (74) for moving the yarn capturing part; and a winding control part (94) for moving the yarn capturing part that has captured the yarn end by the yarn capturing part moving part, so that the wound part can repeatedly wind the yarn end portion. The first tension generating unit (71, 72, 94) generates a specific first tension in the first part (YQ1) between the wound portion and the yarn capturing unit in the wound-end yarn portion by maintaining the attraction of the yarn capturing unit on the yarn end of the wound portion that has been wound multiple times; and the second tension generating unit (71, 72, 73, 74, 94, 173, 273, 373, 473, 479) generates a second tension greater than the first tension in the second part (YQ2) between the wound portion and the yarn layer in the wound-end yarn portion when the first tension is generated.

2. The knot release device for the yarn package of claim 1, wherein when the first tension is set to T1, the second tension is set to T2, the coefficient of friction of the wound portion is set to μ, and the number of windings of the finished yarn portion relative to the wound portion is set to θ, the following relationship (1) corresponding to the winch equation is satisfied: θ=ln(T2 / T1)÷μ ……(1).

3. The knot release device for the yarn package as claimed in claim 1 or 2, wherein the second tension generating part causes the winding portion (Q) of the winding end yarn portion in the winding portion to move from the first position to the second position in a direction away from the yarn package, and the first tension generating part and the movement of the winding portion synchronously cause the yarn capturing part to move.

4. The knot release device for the yarn package as claimed in claim 3, wherein the wound portion is configured as a rod-shaped member capable of swinging about a swing axis on the base end side, the first tension generating portion and the second tension generating portion include guide portions (73, 173), the guide portions (73, 173) causing the rod-shaped member to swing, guiding the wound portion from the first position to the second position, so that the yarn capturing portion contacts the rod-shaped member on which the wound end yarn portion is wound, and the yarn capturing portion is moved by the yarn capturing portion moving portion, thereby guiding the rod-shaped member to swing while the guide portion guides it, so that the wound portion moves from the first position to the second position.

5. The knot release device for the yarn package as claimed in claim 3, wherein the first position is a position within a range of less than the length from the knot to the end of the winding end yarn portion.

6. The knot-removing device for the yarn roll as claimed in claim 3, wherein the second position is a position within a range between one end and the other end of the yarn roll in the width direction of the yarn roll.

7. The knot release device for the yarn package as claimed in claim 1 or 2, wherein the second tension generating part includes a yarn package moving part (273), which moves the yarn package away from the wound part while the positions of the wound part and the yarn capturing part are fixed.

8. A knot release device for a yarn package as claimed in claim 1 or 2, wherein the wound portion is a rod-shaped member extending along an axis, and the second tension generating portion includes a rod-shaped member rotating portion (373), which, with the positions of the rod-shaped member and the yarn capturing portion fixed, rotates the rod-shaped member in the rotation direction in which the wound-end yarn portion is pulled out of the yarn package, with the axis as the base axis.

9. The knot release device for the yarn package as claimed in claim 1 or 2, wherein the second tension generating part includes a pulling part (473, 479), which pulls the second part of the winding end yarn portion while the positions of the wound portion and the yarn capturing portion are fixed.

10. The knot release device of the yarn package as claimed in claim 1 or 2, which has a hook member (78) that hooks the second part of the winding end yarn portion.

11. The knot release device of the yarn package as claimed in claim 3, which has a hook member (78) that hooks the second part of the winding end yarn portion.

12. The knot release device of the yarn package as claimed in claim 8, which includes a hook member (78) that hooks the second part of the winding end yarn portion.

13. The knot release device of the yarn package as claimed in claim 9, which has a hook member (78) that hooks the second part of the winding end yarn portion.

14. A knot-removing device for a yarn package as claimed in claim 1 or 2, wherein the yarn package includes a first yarn package (P11) and a second yarn package (P12), and the wound portion includes: The first wound portion (72A) winds the winding end yarn portion of the first yarn package. The first tension generating part includes: a first tension generating part (72A) for the first yarn package, which generates the first tension in the first portion of the first yarn package; and a first tension generating part (72B) for the second yarn package, which generates the first tension in the first portion of the second yarn package. The second tension generating part includes: a second tension generating part (72A, 73A) for the first yarn package, which generates the second tension in the second portion of the first yarn package; and a second tension generating part (72B, 73B) for the second yarn package, which generates the second tension in the second portion of the second yarn package.

15. A yarn splicing processing apparatus (9A) comprising: a knot untying device for a yarn roll body as claimed in claim 14; and a yarn splicing part (60) for connecting the yarn end on the outer layer side of the first yarn roll body to the yarn end on the inner layer side of the second yarn roll body, or connecting the yarn end on the inner layer side of the first yarn roll body to the yarn end on the outer layer side of the second yarn roll body.

16. A yarn feeding device (100) comprising: a knot untying device for a yarn roll as claimed in claim 14; a yarn feeding frame (20) having a first mounting portion (25) for mounting the first yarn roll and a second mounting portion (25) for mounting the second yarn roll; and a yarn receiving portion for connecting the yarn end on the outer layer side of the first yarn roll to the yarn end on the inner layer side of the second yarn roll, or connecting the yarn end on the inner layer side of the first yarn roll to the yarn end on the outer layer side of the second yarn roll.

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