Yarn hanging robot and spinning draft device

Abstract

Provided are a spinning robot and a spinning draft device that can improve the efficiency of spinning. The spinning robot (4) has a suction nozzle (51), a guide unit (42), and a robot arm (32). The suction nozzle (51) has a suction port (62a) and is configured to be able to suction and hold a plurality of threads (Y) in a state connected to a suction source via a pipe. The guide unit (42) is movable relative to the suction nozzle (51) in order to mount the plurality of threads (Y) to a spinning target member, and is able to operate the plurality of threads (Y) and guide them to the suction port (62a). The robot arm (32) is able to independently move and drive the guide unit (42) in any direction relative to the suction nozzle (51).

Description

Technical Field

[0001] This invention relates to a wire-hanging robot and a spinning traction device equipped with a wire-hanging robot. Background Technology

[0002] Patent Document 1 discloses a wire-hanging robot for performing wire-hanging operations on a traction device for drawing wires. The wire-hanging robot includes a robotic arm and a wire-hanging unit. The wire-hanging unit has a suction nozzle with a suction port for attracting the wire. The robotic arm moves the wire-hanging unit, and the wire held by the suction nozzle is drawn and hung onto various parts of the traction device. A compressed air hose and a waste wire hose are connected to the suction nozzle. The suction nozzle generates a negative pressure at the suction port using the compressed air flow supplied through the compressed air hose. The wire is drawn from the suction port by the negative pressure and discharged into the waste wire hose. Existing technical documents Patent documents

[0003] Patent Document 1: Japanese Patent No. 6636655 Summary of the Invention

[0004] When the aforementioned wire-hanging robot moves the suction nozzle (hereinafter referred to as the suction nozzle) during wire hanging, the aforementioned multiple flexible tubes (hereinafter referred to as piping) need to move together with the suction nozzle. Therefore, there are problems such as difficulty in operating the suction nozzle and reduced wire hanging efficiency due to the weight and / or inertial mass of the piping.

[0005] The purpose of this invention is to provide a wire-hanging robot that can improve the efficiency of wire hanging.

[0006] The first embodiment of the wire-hanging robot is characterized in that it performs the task of attaching at least one traveling wire to a wire-hanging target component. The wire-hanging robot comprises: a suction nozzle having a suction port for attracting the at least one wire, configured to attract and hold the at least one wire when connected to a suction source via a pipe; a wire manipulation unit configured to be movable relative to the suction nozzle for attaching the at least one wire to the wire-hanging target component, and capable of manipulating the at least one wire and guiding it toward the suction port; and a robotic arm configured to independently drive the wire manipulation unit to move in any direction relative to the suction nozzle.

[0007] To improve wire hanging efficiency, lightweight piping was also considered. However, achieving lightweight piping usually requires either reducing the size of the piping or selecting a flexible material. Reducing the size of the piping makes it difficult for air to pass through the interior, potentially reducing suction power. Using a flexible material for the piping may lead to durability issues and dimensional problems (a reduction in the upper limit of suction pressure).

[0008] Therefore, in this solution, after the thread is held at the suction nozzle, the thread-guiding operating unit can move independently in any direction relative to the suction nozzle, thereby enabling thread hanging to the target component. In this solution, "able to move in any direction" means that it can be driven to move in all directions along the XYZ axes in three-dimensional space. Since the thread operating unit is driven to move independently relative to the suction nozzle and tubing, even when movement of the suction nozzle and tubing is required, the distance of movement is limited to the necessary minimum. The thread operating unit can be miniaturized and lightweight within the scope of its function of guiding the thread. In other words, thread hanging can be performed primarily by moving a relatively small and lightweight thread operating unit. Therefore, the efficiency of thread hanging can be improved.

[0009] The second embodiment of the wire-hanging robot is characterized in that, in the first embodiment, the suction nozzle is configured to be able to move in a specific direction.

[0010] In this solution, the suction nozzle can be made to follow the movement of the wire operating part as needed. By making the suction nozzle move only in a specific direction, the movement of the piping connected to the suction nozzle can be suppressed to the necessary minimum.

[0011] The third embodiment of the wire-hanging robot is characterized in that, in the second embodiment, it comprises: a guide rail that guides the suction nozzle along a predetermined track in a specific direction; and a nozzle drive source that drives the suction nozzle to move along the guide rail.

[0012] If the distance between the thread operating part and the suction nozzle is large, the portion of the thread traveling from the thread operating part towards the suction nozzle (hereinafter referred to as the partial thread) becomes longer. This partial thread may often be exposed externally, thus posing a risk of accidental snagging on other components. Therefore, it is preferable that the thread operating part is moved and driven to a position as close as possible to the suction nozzle. In this solution, by moving the suction nozzle, it is possible to position the suction nozzle as close as possible to the thread operating part. Here, the suction nozzle is not moved freely but is driven to move along a predetermined track, thus minimizing the effects of the weight and / or inertial mass of the piping. Through these measures, the effects caused by the piping can be suppressed, and the suction nozzle can be moved to a position as close as possible to the thread operating part.

[0013] The fourth embodiment of the wire-hanging robot is characterized in that, in any one of the first to third embodiments, the wire-operating part has a surrounding part, which, in a surrounding state, surrounds a portion of the at least one wire in the moving wire in the attraction direction in which the at least one wire is attracted, and is capable of operating the at least one wire and guiding it toward the attraction port.

[0014] In this design, regardless of whether the thread operating part moves parallel or rotates, the thread can reliably contact a point on the surrounding part and be guided towards the suction port. This reduces limitations related to the movement of the thread operating part during thread hanging, thus improving thread hanging efficiency.

[0015] The fifth embodiment of the wire-hanging robot is characterized in that, in the fourth embodiment, the surrounding portion has a cylindrical shape extending in a direction orthogonal to the circumferential direction surrounding the at least one wire.

[0016] The surrounding portion can also have, for example, a ring shape, but in this case, there is a concern that it may be difficult to allow the surrounding portion to enter narrow and deep sections. Therefore, in a structure where the wire-hanging component is positioned in such a section, it is difficult to hang the wire. Regarding this aspect, in this solution, the surrounding portion has a cylindrical shape extending in a direction orthogonal to the circumferential direction of the surrounding wire. Therefore, for example, by operating the downstream end of the surrounding portion in the attraction direction, it is possible to more easily allow the upstream end of the surrounding portion in the attraction direction to enter narrow and deep sections as well. Therefore, the efficiency of wire hanging can be improved.

[0017] The sixth embodiment of the wire-hanging robot is characterized in that, in the fourth or fifth embodiment, the wire-operating unit is configured to be switchable between a partially overlapping state and a partially overlapping uncoordinated state. The partially overlapping state is a state in which the space occupied by the wire-operating unit partially overlaps with the space occupied by the suction nozzle. The partially overlapping uncoordinated state is a state in which the partially overlapping state is uncoordinated. In the partially overlapping uncoordinated state, the wire-operating unit can move independently in any direction relative to the suction nozzle, and can operate on the at least one wire and guide it toward the suction port. When the wire-operating unit is in the partially overlapping state and the suction nozzle attracts and holds the at least one wire, the wire-operating unit is in the enclosed state.

[0018] The space occupied by this solution is determined by the shape of the object. For example, when a cylindrical object is partially nested inside another cylindrical object, the space occupied by one object is defined as partially overlapping with the space occupied by the other object. In this solution, by pre-setting the thread operating section to a partially overlapping state before attracting and holding the thread, the thread operating section can surround the thread attracted and held by the suction nozzle. Then, by further setting the thread operating section to an overlap-disengaged state, the surrounded state can be maintained while the thread is manipulated and guided using the thread operating section. Thus, as soon as the thread operating section switches from the partially overlapping state to the overlap-disengaged state, the thread channel can begin to change using the thread operating section. Therefore, the efficiency of thread hanging can be improved.

[0019] The seventh embodiment of the wire-hanging robot is characterized in that, in the sixth embodiment, the wire-operating part, which is in the partially overlapping state, is held in the robotic arm while surrounding the suction nozzle and not in contact with the suction nozzle.

[0020] The suction nozzle is prone to vibration due to its connection to the suction source. If the wire operating part surrounds the suction nozzle while in contact with its outer peripheral surface, the vibration is transmitted to the robotic arm via the wire operating part, potentially shortening the robotic arm's lifespan (and causing malfunctions, etc.). In this solution, the wire operating part surrounds the suction nozzle without contacting it. Therefore, the transmission of suction nozzle vibration to the robotic arm via the wire operating part can be effectively suppressed.

[0021] The 8th embodiment of the wire-hanging robot is characterized in that, in the 7th embodiment, the suction nozzle extends along the length direction and protrudes further toward the end side in the length direction than the wire operating part in the partially overlapping state.

[0022] In this design, since the suction nozzle protrudes further towards the end of the thread operating section in the length direction, the thread can be directly attracted and captured using the suction nozzle without the thread coming into contact with the thread operating section. Therefore, the suction nozzle can reliably and smoothly attract and capture the thread.

[0023] The 9th embodiment of the wire-hanging robot is characterized in that, in any one of the 1st to 5th embodiments, the wire-operating unit is configured to be switchable between a partially overlapping state and a partially overlapping state. The partially overlapping state is a state in which the space occupied by the wire-operating unit partially overlaps with the space occupied by the suction nozzle. The partially overlapping state is a state in which the partially overlapping state is released. In the partially overlapping state, the wire-operating unit can move independently in any direction relative to the suction nozzle, and can operate on the at least one wire and guide it toward the suction port.

[0024] In this solution, the wire-hanging robot can be made compact by making the wire-hanging operation part partially overlapped except during wire hanging.

[0025] The 10th embodiment of the wire-hanging robot is characterized in that, in the 6th or 9th embodiment, the wire operating part is configured to be detachable from the suction nozzle, the partial overlap state is the installation state in which the wire operating part is installed on the suction nozzle, and the overlap release state is the removal state in which the wire operating part is removed from the suction nozzle.

[0026] In this solution, by attaching the thread operating part to the suction nozzle outside of the thread hanging process, the thread operating part can be stably maintained.

[0027] The 11th embodiment of the wire-hanging robot is characterized in that, in the 10th embodiment, the suction nozzle has: a nozzle body extending along the length direction for passing the at least one wire along the length direction; and a fitting part disposed upstream of the nozzle body in the suction direction in which the at least one wire is attracted, having the suction opening, extending along the length direction, and configured to fit with the wire operating part, wherein the installed state is the state in which the wire operating part and the fitting part are fitted together, and the removed state is the state in which the fitting of the wire operating part and the fitting part is released, and the wire operating part is configured to be switched between the installed state and the removed state by being moved in the length direction.

[0028] In this solution, the thread operating part can be detached from the suction nozzle by simply pulling it out along its length. Conversely, it can be installed into the suction nozzle by simply fitting the detached thread operating part into it. Therefore, the efficiency of operations related to thread hanging is improved.

[0029] The 12th embodiment of the wire-hanging robot is characterized in that, in the 10th or 11th embodiment, the wire-operating part is configured to attract the suction nozzle with magnetic force.

[0030] In this design, magnetic force can be used to forcefully attach the thread operating part to the suction nozzle. This prevents the thread operating part from accidentally detaching from the suction nozzle while in the installed state.

[0031] The 13th embodiment of the wire-hanging robot is characterized in that, in any one of the 1st to 12th embodiments, the wire-operating part is mounted on the robotic arm.

[0032] The robotic arm can be configured to hold the thread manipulation unit only when it is moved. However, in such a configuration, the movement required to hold the thread manipulation unit can reduce the efficiency of thread loading. In this solution, since the thread manipulation unit is always held by the robotic arm, the aforementioned movement is unnecessary. Therefore, the reduction in thread loading efficiency can be suppressed.

[0033] The 14th embodiment of the wire-hanging robot is characterized in that, in any one of the 1st to 13th embodiments, the wire-operating unit is electrically connected via a ground wire to a grounding component for releasing charge to the ground, at least during the wire-hanging process.

[0034] Static electricity problems may arise due to frictional charging between the wire operating part and the wire. In this solution, any charge that may accumulate in the wire operating part can be released to the ground via a ground wire and a grounding component. Therefore, static electricity can be effectively eliminated from the wire operating part.

[0035] The 15th embodiment of the wire-hanging robot is characterized in that, in the 14th embodiment, the grounding component includes the suction nozzle.

[0036] With a long ground wire, there is a concern that it may interfere with other components. Additionally, there is a concern that the inertial mass of the ground wire may hinder the correct movement of the wire operating unit. Furthermore, to avoid interference between the wire and certain components, the wire operating unit is preferably used as close as possible to the suction nozzle even when detached. In this solution, the grounding component includes the suction nozzle. Therefore, compared to cases where the grounding component is located in a component other than the suction nozzle, the length of the ground wire can be suppressed.

[0037] The 16th embodiment of the wire-attaching robot is characterized in that, in any one of the embodiments of the 1st to 15th embodiments, it includes a wire-catching auxiliary unit configured to pull the at least one wire traveling in a predetermined direction toward the suction nozzle and is disposed separately from the wire-operating part. The wire-catching auxiliary unit has: a wire-pulling part configured to bring a portion of the at least one wire in the direction of travel closer to the suction nozzle; and a cutting part configured to cut the at least one wire that has approached the suction nozzle by the wire-pulling part.

[0038] In this solution, by cutting the thread near the suction nozzle, the suction nozzle can attract and capture the upstream portion of the cut thread in its direction of travel. Using the thread-pulling part, the thread can be brought close to the suction nozzle without moving the suction nozzle. Furthermore, since the thread-capturing auxiliary part and the thread operating part are separate, the size and weight of the thread operating part can be avoided. Therefore, the suction nozzle can attract and capture the thread while suppressing the deterioration of thread entanglement efficiency.

[0039] The 17th embodiment of the wire-hanging robot is characterized in that, in any one of the embodiments of the 1st to 16th embodiments, the at least one wire has multiple wires, and the wire operation unit is configured to operate the multiple wires and guide them toward the suction port.

[0040] In structures handling multiple filaments, a strong attractive force is required to hold and retain them. Therefore, to reliably generate this strong attractive force, it may be necessary to thicken and reinforce the piping. In such structures, the filament handling section of this design is particularly effective.

[0041] The spinning traction device of the 18th embodiment is characterized by comprising: a wire-hanging robot of any one of the embodiments of the 1st to 17th embodiments; and a spinning traction machine having the wire-hanging object component, for pulling the at least one filament spun from the spinning device.

[0042] This solution can improve the efficiency of attaching yarn to the spinning traction machine.

[0043] The spinning traction device of the 19th embodiment is characterized in that, in the 18th embodiment, multiple spinning traction machines are arranged along the arrangement direction, and the yarn-hanging robot is configured to be able to move along the arrangement direction.

[0044] In a structure where a wire-hanging robot needs to hang wire on multiple spinning traction machines, this solution, which can improve the efficiency of hanging wire on each spinning traction machine, is particularly effective. Attached Figure Description

[0045] Figure 1 This is a front view of the spinning traction device equipped with the wire-hanging robot of this embodiment. Figure 2 This is a side view of the spinning traction equipment. Figure 3 This is a block diagram representing the electrical structure of the spinning traction equipment. Figure 4 (a) and (b) are explanatory diagrams showing the movement of the pivot guide. Figure 5 (a) and (b) are diagrams showing the wire-hanging unit and its surrounding structure. Figure 6 (a) to (c) are diagrams representing the attraction unit and the guiding unit. Figure 7 This is a diagram representing the comb guide unit. Figure 8 This is a diagram representing a comb guide. Figure 9 (a) and (b) are diagrams showing the lifting drive unit and its surrounding structure. Figure 10 (a) to (e) are diagrams showing the order of hanging the wire. Figure 11 (a) and (b) are diagrams showing the order of hanging the wire. Figure 12 It is a diagram showing the order in which the threads are hung. Figure 13 (a) and (b) are diagrams representing modified wire-hanging robots. Figure 14 (a) to (e) are diagrams showing the order of wire hanging in the above variations. Figure 15 (a) to (c) are diagrams representing wire-hanging elements in other variations. Explanation of reference numerals in the attached figures 1. Spinning Traction Equipment 2 Spinning apparatus 3. Spinning traction machine 4. Wire-hanging robot 6. Compressed air supply source (suction source) 7. Waste filament bin (attractant) 12. Restriction Guide (Wire Hanging Object Component) 13 First guide roller (wire hanging component) 14. Second guide roller (the part that holds the wire) 21. Pivot Guide (Wire Hanging Object Component) 32 robotic arms 33. Wire-hanging unit (attraction and retention section) 41M Suction Unit (Suction Nozzle) 42. Guiding unit (thread operating section, surrounding section) 43. Comb guide unit (thread operation section) 43M Comb Guide Unit (Thread Operation Section) 51 Suction nozzle (grounding component) 54A Supply Hose (Pipeline) 54B Discharge hose (piping) 56. Wire drawing section 57 Cut-off section 61 Mouth body 62 Chimeric part 62a Suction Port 78 ground wire 82. Driver source (mouth driver source) 84-bar guide (guide rail) 95. Wire-hanging unit (attraction and retention section) 97. Guiding unit (thread operating section, surrounding section) 98 Attracting Mouth 98d suction port Y-thread Detailed Implementation

[0046] Next, embodiments of the present invention (hereinafter referred to as "this embodiment") will be described. For ease of explanation, [the following will be described]. Figure 1 and Figure 2 The directions shown are defined as up / down, left / right, and front / back. The up / down direction is the vertical direction in which gravity acts. The left / right direction is orthogonal to the up / down direction and is the orientation of the spinning traction machine 3 described later. The left / right direction corresponds to the orientation of this invention. The front / back direction is orthogonal to both the up / down and left / right directions. Furthermore, the direction of the yarn Y-axis is defined as the yarn travel direction.

[0047] (Spinning traction equipment) While referring to Figure 1 The structure of the spinning traction device 1 of this embodiment will be described. Figure 1 This is a front view of the spinning traction device 1. (Example) Figure 1 As shown, the spinning traction device 1 has multiple spinning traction stations TP, a yarn-hanging robot 4, and a comprehensive control device 100 (see reference). Figure 3 Multiple spinning traction stations TP are equipped with spinning device 2, spinning traction machine 3, yarn suction device 11, and station control device CP (see reference). Figure 3 Multiple spinning traction stations TP are arranged in a left-right direction. Therefore, the multiple spinning devices 2, multiple spinning traction machines 3, and multiple silk suction devices 11 in the spinning traction equipment 1 are also arranged in a left-right direction. Each spinning device 2 spins multiple yarns Y (e.g., 12 yarns). In the multiple spinning traction stations TP, multiple spinning traction machines 3 are respectively set up corresponding to multiple spinning devices 2. Each spinning traction machine 3 is arranged below the corresponding spinning device 2. Each spinning traction machine 3 pulls the multiple yarns Y spun from the corresponding spinning device 2 and winds them onto multiple bobbins B (e.g., 12) to form multiple packages P. The yarn hanging robot 4 moves along the track 5 extending in the left-right direction to hang the multiple yarns Y onto the spinning traction machine 3.

[0048] Overall control device 100 (refer to) Figure 3 This is, for example, a common computer device with a CPU, ROM, and RAM. The overall control unit 100 is electrically connected to multiple workstation control units CP and wire-hanging control unit 102 (see reference). Figure 3 Each workstation control device CP is electrically connected to the corresponding machine tool control device 101 (refer to...). Figure 3 ), and controls the corresponding wire suction device 11. The station control device CP and the overall control device 100 (see reference) Figure 3 The system is electrically connected to the overall control device 100 for communication. Each machine control device 101 controls its corresponding spinning traction machine 3. The yarn hanging control device 102 controls the yarn hanging robot 4. The overall control device 100, in cooperation with the workstation control device CP and the yarn hanging control device 102, comprehensively controls the entire spinning traction equipment 1.

[0049] (Silk suction device) like Figure 2 As shown, the suction device 11 is disposed at the front end of the spinning traction machine 3. The suction device 11 is configured to pre-attract and hold multiple filaments Y spun from the spinning device 2 before the filaments are attached to the spinning traction machine 3. The suction device 11 is disposed between the spinning device 2 and the first guide roller 13 (described later) in the filament travel direction.

[0050] (Spinning traction machine) Next, while referring to Figure 2 and Figure 3 The structure of the spinning traction machine 3 will be explained. Figure 2 This is a side view of the spinning traction device 1. Figure 3 This is a block diagram showing the electrical structure of the spinning traction device 1. For example... Figure 2 As shown, the spinning traction machine 3 has a limiting guide 12, a first guide roller 13, a second guide roller 14, and a winding section 15. The limiting guide 12, the first guide roller 13, the second guide roller 14, and the winding section 15 (the pivot guide 21 described later) are included in the yarn-hanging object component of the present invention.

[0051] The limiting guide 12 is, for example, a known comb-shaped wire guide. Figure 2 As shown, the limiting guide 12 is disposed on the lower side of the wire suction device 11. The limiting guide 12 is configured to arrange multiple wires Y in a left-right direction. The limiting guide 12 restricts the movement of the multiple wires Y in the left-right direction, such that the spacing between the multiple wires Y is defined as a predetermined interval.

[0052] The first guide roller 13 is a roller whose axial direction is approximately parallel to the left-right direction. For example... Figure 2 As shown, the first guide roller 13 is disposed below the limiting guide 12. The first guide roller 13 is driven to rotate by a motor (not shown), thereby conveying the yarn Y downstream in the yarn travel direction.

[0053] The second guide roller 14 is a roller whose axial direction is approximately parallel to the left-right direction. For example... Figure 2 As shown, the second guide roller 14 is positioned above and behind the first guide roller 13. The second guide roller 14 is driven to rotate by a motor (not shown), thereby conveying the yarn Y downstream in the yarn travel direction. The second guide roller 14 is movably supported on a guide rail 16. The guide rail 16 extends obliquely upward and backward from the vicinity of the first guide roller 13, movably supporting the second guide roller 14. The second guide roller 14 is, for example, supported by a roller movement motor 112 (see...). Figure 3 The second guide roller 14 is moved along the guide rail 16 by the moving mechanism. Thus, the second guide roller 14 can be moved to the production position (see reference). Figure 2 (solid line) and the position of the hanging wire (refer to) Figure 2 The second guide roller 14 moves between the double-dotted lines. The production position of the second guide roller 14 is the position used to wind the yarn Y onto the bobbin B. The yarn hanging position of the second guide roller 14 is the position when the yarn is hung onto the second guide roller 14.

[0054] The winding section 15 is configured to wind multiple threads Y onto multiple bobbins B to form multiple rolls P. For example... Figure 2As shown, the winding section 15 is disposed below the first guide roller 13, the second guide roller 14, etc. The winding section 15 includes a frame 20, a plurality of fulcrum guides 21 (included in the wire hanging object component of the present invention), a plurality of traverse guides 22, a turntable 23, two bobbin supports 24, a contact roller 25, and a machine control device 101.

[0055] Frame 20 is a component, for example, set on the ground of a factory and used to mount or house the various components of the winding section 15. Figure 2 As shown, the frame 20 has, for example, a base portion 20a, a rear portion 20b, and an upper portion 20c. The base portion 20a is fixed to the ground and extends in the front-rear direction. The rear portion 20b is the portion erected at the rear end of the base portion 20a. The upper portion 20c is the portion extending forward from the upper side of the rear portion 20b.

[0056] Multiple pivot guides 21 serve as pivots for multiple threads Y as they traverse separately via multiple traverse guides 22. Each pivot guide 21 is individually configured corresponding to a specific thread Y. For example... Figure 2 As shown, multiple pivot guides 21 are arranged in the front-to-back direction. Each of the multiple pivot guides 21 has a slot 21a that opens to the rear (see reference). Figure 4 (a) and (b)). The thread Y is held in place by inserting it into the groove 21a from the rear side of the fulcrum guide 21. Each fulcrum guide 21 has a mounting portion 21b. The mounting portion 21b is a cylindrical portion that is open in the front-rear direction. The mounting portion 21b is movably mounted on the guide support 26 (see reference 26). Figure 4 (a) and (b)). The guide support 26 is a cylindrical component extending in the front-to-back direction. The guide support 26 is, for example, fixed to the upper part 20c of the frame 20.

[0057] During wire hanging, multiple pivot guides 21 are driven by guide drive unit 113 (see reference). Figure 3 The guide guide 21 is driven to move in the front-to-back direction along the guide support 26. The guide drive unit 113 has a known cylinder as a drive source, but the drive source is not limited to this. The guide drive unit 113 is electrically connected to the machine tool control device 101. Multiple pivot guides 21 are in a separated position (see reference 101) via the guide drive unit 113. Figure 4 (a) and the location of the near position (refer to) Figure 4 The movement is driven between (b). The separation position is the position for winding multiple threads Y onto multiple bobbins B respectively. Multiple pivot guides 21 located at the separation position are respectively positioned directly above the corresponding bobbins B (see reference). Figure 2 The approach position is the position used for attaching wire to the multiple pivot guides 21. The multiple pivot guides 21 in the approach position are grouped together on the front side and approach each other compared to when they are in the separate position.

[0058] Multiple traverse guides 22 are used to traverse multiple threads Y individually. The multiple traverse guides 22 are individually arranged corresponding to the multiple threads Y. The multiple traverse guides 22 are arranged in a front-to-back direction. The traverse guides 22 can be, for example, known blade-type guides, but are not limited to this. The traverse guides 22 are driven, for example, by a traverse motor (not shown). The threads Y traverse in the front-to-back direction with the fulcrum guide 21 as the fulcrum and via the traverse guides 22.

[0059] The turntable 23 is a circular plate-shaped component whose axial direction is approximately parallel to the front-rear direction. The turntable 23 is driven to rotate by a turntable motor (not shown). The turntable 23 rotatably supports the two tube supports 24.

[0060] Two tube supports 24 are configured to hold multiple tubes B rotatably in a front-to-back direction. Each of the two tube supports 24 is rotatably supported on a turntable 23. The two tube supports 24 are arranged symmetrically about the rotation axis of the turntable 23 (see reference). Figure 1 Each tube support 24 extends along the front-to-back direction (see reference). Figure 2 Each bobbin support 24 supports multiple bobbins B arranged in a front-to-back direction. Each of the two bobbin supports 24 is driven to rotate by a separate winding motor (not shown). Imagine multiple threads Y wound onto the multiple bobbins B held by one of the two bobbin supports 24 (see reference). Figure 1 and Figure 2 For ease of explanation, one tube support 24 is referred to as the upper tube support 24.

[0061] The contact roller 25 is a roller positioned immediately above the upper bobbin support 24. The axial direction of the contact roller 25 is approximately parallel to the front-to-back direction. The contact roller 25 contacts the surfaces of multiple coils P supported on the upper bobbin support 24. Thus, the contact roller 25 applies contact pressure to the surfaces of the multiple coils P during winding, adjusting the shape of each coil P.

[0062] Machine control device 101 (refer to) Figure 3 It includes a CPU, ROM, and RAM. The machine control device 101 is configured to control the operation of the roller movement motor 112, etc. The machine control device 101 is electrically connected to the station control device CP and communicates with the station control device CP.

[0063] In the winding section 15 with the above structure, if the upper bobbin support 24 is driven to rotate, the filament Y, which is laterally moved by the lateral guide 22, is wound onto the corresponding bobbin B to form a roll P. Furthermore, when multiple rolls P are fully wound, the turntable 23 is rotated to interchange the vertical positions of the two bobbin supports 24. As a result, the lower bobbin support 24 moves to the upper side. By winding multiple filaments Y onto the multiple empty bobbins B mounted on the bobbin support 24 that has moved to the upper side, multiple new rolls P are formed. The bobbin support 24 with the multiple fully wound rolls P is moved to the lower side. The multiple fully wound rolls P are recovered, for example, by a roll recovery device (not shown).

[0064] Additionally, the winding section 15 has an internal wire-hanging section 114 (see reference) where wire hanging to a plurality of bobbins B is performed inside the winding section 15. Figure 3 The internal wire-hanging part 114 is electrically connected to the machine control device 101. The structure of the internal wire-hanging part 114 is known. The structure of the internal wire-hanging part 114 is not directly related to the structure of the wire-hanging robot 4 of this embodiment, so a detailed description is omitted.

[0065] Additionally, the winding section 15 has a wire take-up guide 27 (see reference). Figure 2 The yarn gathering guide 27 is used for internal yarn hanging section 114 (see reference). Figure 3 During the process of attaching wires to multiple bobbins B, multiple wires Y are bundled together while the multiple wires Y are temporarily held in place. A wire bundle guide 27 is, for example, positioned in front of two bobbin supports 24. The wire bundle guide 27 is, for example, positioned vertically between the two bobbin supports 24. The configuration of the wire bundle guide 27 is not limited to this.

[0066] (A rough outline of the wire-hanging robot) Next, while referring to Figure 2 The general structure of the wire-hanging robot 4 will be described below. The wire-hanging robot 4 includes a robot body 31, a robotic arm 32, a wire-hanging unit 33 (the attraction and holding part of the present invention), and a wire-hanging control device 102 (see reference). Figure 3 The robot body 31 is, for example, a hollow component in a roughly rectangular parallelepiped shape. The robot body 31 is moved by motor 121 (see reference). Figure 3 The robotic arm 32 is supported by the robot body 31. The robotic arm 32 is configured to move and drive a portion of the wire-hanging unit 33 (details will be described later) in any direction (up, down, forward, backward, left, right), i.e., in all orientations along the XYZ axes. The robotic arm 32 has multiple arms 32a and multiple joints 32b connecting the arms 32a to each other. Each joint 32b houses an arm motor 122 (see reference). Figure 3If the arm motor 122 is driven, the arm 32a swings around the joint 32b. The wire-hanging unit 33 is configured to attract and hold multiple wires Y. Additionally, two flexible tubes (in...) are used to attract and hold the multiple wires Y. Figure 2 (Illustration omitted) is connected to the wire-hanging unit 33. One of the two hoses (supply hose 54A, described later) is used for supplying compressed air. The other hose (discharge hose 54B, described later) is used for attracting, holding, and discarding the wire Y. More specifically, the supply hose 54A is connected to the compressed air supply source 6 (see Figure 6). Figure 2 Connect the discharge hose 54B to the waste wire box 7 of the wire supply line Y (refer to...). Figure 2 The combination of compressed air supply source 6 and waste filament box 7 is equivalent to the attraction source of this invention.

[0067] In conventional wire-hanging robots (not shown), the flexible tube needs to be moved as a whole when the robotic arm (not shown) moves. Therefore, the wire-hanging efficiency deteriorates due to the weight and / or inertial mass of the flexible tube. To improve wire-hanging efficiency, the wire-hanging robot 4 of this invention has the following structure.

[0068] (Detailed structure of the wire-hanging robot) While referring to Figure 5 (a) ~ Figure 9 (b) The detailed structure of the wire-hanging robot 4 will be explained. Figure 5 (a) and Figure 5 (b) is a diagram showing the structure of the wire-hanging unit 33 and its surrounding area. Figure 6 (a) ~ Figure 6 (c) is a diagram representing the attraction unit 41 and the guide unit 42, which will be described later. Figure 6 (a) is a side view of the attraction unit 41 and the guide unit 42. Figure 6 (b) and Figure 6 (c) is a cross-sectional view of the attraction unit 41 and the guide unit 42, parallel to the length direction described later. Figure 7 This is a diagram representing the comb guide unit 43 described later (more specifically, for example, a diagram viewed from above). Figure 8 This is a diagram representing the comb guide 75, which will be described later. Figure 9 (a) and Figure 9 (b) is a diagram showing the lifting drive unit 44 and its surrounding structure, which will be described later. For ease of explanation, the direction in which the multiple wires Y are attracted by the attraction unit 41 is referred to as the attraction direction (see Figure 44). Figure 6 (b) and Figure 6 (c)).

[0069] like Figure 5 (a) and Figure 5 As shown in (b), the wire hanging unit 33 has an attraction unit 41, a guide unit 42 (the wire operating part and the surrounding part of the present invention) and a comb guide unit 43 (the wire operating part of the present invention).

[0070] First, the suction unit 41 and the guide unit 42 are disposed separately from each other. More specifically, the guide unit 42 is configured to be detachable from the suction unit 41 (details will be described later). The guide unit 42 is installed in the suction unit 41 in the following state (refer to...). Figure 5 (a) and the removed state from the attraction unit 41 (see reference) Figure 5 The states are switched between (b) and (c). The installation state is included in the partial overlap state of the present invention. The removal state is included in the overlap release state of the present invention.

[0071] The suction unit 41 is configured to attract and hold multiple threads Y in either the installed or removed state of the guide unit 42. The suction unit 41 is driven to move vertically (moved vertically) by the lifting drive unit 44. The guide unit 42 is configured to guide the multiple threads Y toward the suction unit 41. The guide unit 42 assists the suction unit 41 in attracting and holding the threads Y. When in the installed state, the guide unit 42 is configured to attract and hold the multiple threads Y together with the suction unit 41. The guide unit 42 is mounted on and supported by the robotic arm 32. The guide unit 42 is switched between the installed and removed states via the robotic arm 32. When in the removed state, the guide unit 42 can be moved and driven in any direction (up, down, forward, backward, left, right) via the robotic arm 32. In other words, the robotic arm 32 independently moves and drives the guide unit 42 relative to the suction unit 41 (including the suction nozzle 51 described later).

[0072] The comb guide unit 43 is used when threading wire onto the multiple pivot guides 21. The comb guide unit 43 is supported by the robotic arm 32. The comb guide unit 43 is moved and driven in any direction (up, down, forward, backward, left, right) via the robotic arm 32. In other words, both the guide unit 42 and the comb guide unit 43 are moved and driven in any direction (up, down, forward, backward, left, right) via the robotic arm 32.

[0073] (Attraction Unit) Details of the attraction unit 41 are explained below. For example... Figure 6 As shown in (a), the suction unit 41 includes a suction nozzle 51, a tube 52, and a thread-catching auxiliary part 53. The suction nozzle 51 is configured to attract and hold the thread Y in either the state where the guide unit 42 is installed in the suction unit 41 or the state where the guide unit 42 is removed from the suction unit 41. The suction nozzle 51 extends along a predetermined length direction (refer to...). Figure 6(a) ~ Figure 6 Extending upwards from (c). The suction nozzle 51 uses the negative pressure generated by compressed air supplied from the compressed air supply source 6 to attract and hold multiple traveling filaments Y. Moreover, the multiple filaments Y attracted by the suction nozzle 51 are discharged into the waste filament box 7 together with the compressed air. The internal structure of the suction nozzle 51 used to generate negative pressure is known, so detailed descriptions related to it are omitted. The suction nozzle 51 is connected to the tube 52. The suction nozzle 51 is driven to move up and down integrally with the tube 52 via the lifting drive unit 44.

[0074] Hereinafter, for ease of explanation, regarding the length direction, the side that coincides with the upstream side in the suction direction will be referred to as the end side, and the side that coincides with the downstream side in the suction direction will be referred to as the base end side. The detailed structure of the suction nozzle 51, especially the detailed structure of the end portion in the length direction, will be described. Figure 6 (b) and Figure 6 As shown in (c), the suction nozzle 51 has, for example, a nozzle body 61, a fitting part 62, an O-ring 63 and a magnet 64.

[0075] The mouth body 61 is a generally cylindrical portion extending along its length. The mouth body 61 extends along its length over approximately the entire length of the suction mouth 51. A space for air and the thread Y to pass through is formed on the radially inner side of the mouth body 61. The mouth body 61 is formed of a component made of, for example, a strong magnet such as iron. However, the material of the mouth body 61 is not limited to this. The fitting portion 62 is the portion that fits into the guide unit 42. The fitting portion 62 is a generally cylindrical portion extending along its length. The outer diameter of the fitting portion 62 is, for example, smaller than the outer diameter of the mouth body 61. The fitting portion 62 is disposed at the end portion of the suction mouth 51 along its length. That is, the fitting portion 62 is located further to the end than the mouth body 61 along its length. At the end portion of the fitting portion 62 along its length, a suction port 62a (see reference) for attracting multiple threads Y is formed. Figure 6(c) The fitting portion 62 is integrally formed with the mouth body portion 61, for example. For example, the mouth body portion 61 and the fitting portion 62 may be formed from a single component, but are not limited thereto. The O-ring 63 is a component used to prevent air leakage between the suction unit 41 and the guide unit 42 when the guide unit 42 is installed on the suction unit 41. The O-ring 63 is provided, for example, at the end of the fitting portion 62 on the base end side in the longitudinal direction. The O-ring 63 is provided in a manner that surrounds the fitting portion 62 when viewed from the longitudinal direction (illustration omitted). The magnet 64 is provided to attract the guide unit 42 to the base end side in the longitudinal direction using magnetic force. The magnet 64 is, for example, a ring-shaped component. The magnet 64 is provided, for example, at the end portion in the longitudinal direction of the mouth body portion 61. In addition, the magnet 64 also functions as a limiting part to restrict the movement of the guide unit 42. More specifically, the magnet 64 restricts the movement of the guide unit 42 in the installed state towards the base end in the longitudinal direction.

[0076] Pipe part 52 (refer to Figure 6 (a) is a component for supplying compressed air to the suction nozzle 51 and discharging the wire Y and compressed air from the suction nozzle 51. The pipe section 52 has a supply pipe 52A and a discharge pipe 52B. The supply pipe 52A and the discharge pipe 52B are hollow components that allow compressed air to flow. The supply pipe 52A and the discharge pipe 52B can be formed, for example, from a component made of a metal material that is difficult to deform.

[0077] The supply pipe 52A is positioned upstream of the suction nozzle 51 in the direction of compressed air flow. The supply pipe 52A and the supply hose 54A (see reference) Figure 6 (a) Connection. The supply hose 54A is a flexible hose. The supply hose 54A is positioned downstream of the compressed air supply source 6 and upstream of the supply pipe 52A in the flow direction. The supply hose 54A is connected to a fixed pipe (not shown) connected to the compressed air supply source 6 via a connector (not shown). At least a portion of the supply hose 54A is housed inside the robot body 31 (see reference). Figure 9 (a) and Figure 9 (b)). Supply hose 54A is included in the piping of the present invention.

[0078] The discharge pipe 52B is positioned downstream of the suction nozzle 51 in the flow direction. The discharge pipe 52B and the discharge hose 54B (see reference) Figure 6 (a) Connection. The discharge hose 54B is a flexible hose. The discharge hose 54B is positioned downstream of the discharge pipe 52B in the flow direction and the waste wire box 7 (refer to) Figure 1 The discharge hose 54B is located upstream of the waste wire box 7. A fixed conduit (not shown) is connected to the waste wire box 7 via a connector (not shown). At least a portion of the discharge hose 54B is housed within the robot body 31 (see reference 31). Figure 9(a) and Figure 9 (b)). The discharge hose 54B is included in the piping of the present invention in the same way as the supply hose 54A.

[0079] In the above structure, compressed air is supplied from the compressed air supply source 6. The compressed air passes through the supply hose 54A and supply pipe 52A and is supplied to the suction nozzle 51, thereby creating a negative pressure near the suction port 62a of the suction nozzle 51. Multiple threads Y are drawn into the suction nozzle 51 by passing through the suction port 62a under the negative pressure. The compressed air supplied to the suction nozzle 51 and the multiple threads Y drawn into the suction nozzle 51 pass through the discharge pipe 52B and discharge hose 54B and are discharged into the waste wire box 7.

[0080] Thread capturing auxiliary part 53 (see reference) Figure 6 (a) is configured such that when the wire-hanging unit 33 pulls multiple wires Y from the wire-suction device 11, it assists the wire-hanging unit 33 in attracting and capturing the wires Y. The wire-capturing auxiliary unit 53 has a frame 55, a wire-pulling part 56 for pulling the multiple wires Y, and a cutting part 57 for cutting the multiple wires Y. The frame 55 is a component that supports the wire-pulling part 56 and the cutting part 57. The frame 55 is fixed to the supply tube 52A, for example. That is, the frame 55 is fixed in position relative to the suction nozzle 51. Furthermore, the component for fixing the frame 55 is not limited to the supply tube 52A.

[0081] The wire pulling section 56 is used to pull multiple wires Y, which are attracted and held by the wire suction device 11, toward the wire hanging unit 33 in the length direction. The wire pulling section 56 has a pulling member 58 (see reference). Figure 6 (a) and pull drive unit 59 (see reference) Figure 3 The pulling member 58 is a component that contacts and pulls multiple threads Y together. The pulling member 58 has an extension 58a and a hook portion 58b. The extension 58a is a component that extends along the length direction. The extension 58a is configured to be extended and retracted relative to the suction nozzle 51 in the length direction by a pulling drive 59. The hook portion 58b is a portion for hooking onto the multiple threads Y. The hook portion 58b is provided at the end of the extension 58a. The hook portion 58b extends from the end of the extension 58a in a direction that is, for example, approximately orthogonal to the length direction. The pulling drive 59 is configured to drive the pulling member 58 to move along the length direction. The pulling drive 59 has, for example, a cylinder (not shown) as a drive source, but the drive source is not limited to this. The pulling drive 59 is electrically connected to the thread-hanging control device 102.

[0082] The cutting section 57 is configured to cut multiple wires Y that have been pulled back towards the base end in the length direction by the wire drawing section 56. The cutting section 57 has a cutter 57a (see reference). Figure 6 (a) and cutter drive 57b (see reference) Figure 3The cutter 57a is positioned to contact the multiple wires Y pulled back by the wire-pulling section 56. The cutter 57a is configured to cut the multiple wires Y by being driven by the cutter drive section 57b. The cutter drive section 57b causes the cutter 57a to perform the action of cutting the multiple wires Y. The cutter drive section 57b has, for example, a cylinder (not shown) as a drive source, and a linkage mechanism (not shown) as a force transmission mechanism. The drive source and transmission mechanism are not limited to these. Alternatively, the structure can be configured such that the cutter drive section 57b is omitted, and the multiple wires Y are pulled towards the cutter 57a by the wire-pulling section 56, thereby cutting the multiple wires Y using the cutter 57a.

[0083] The suction nozzle 51 is preferably grounded by some means. That is, as described later, the suction nozzle 51 is preferably configured to release the charge generated by the frictional charging of the wire Y and the guide unit 42 to the ground. In this case, the suction nozzle 51 corresponds to the grounding component of the present invention. For example, a ground wire (not shown) preferably extends from the suction nozzle 51 (or the tube 52) along the supply hose 54A or the discharge hose 54B. In this case, the ground wire is preferably configured to be able to connect to, for example, the fixed piping (not shown) described above. That is, the fixed piping is preferably grounded by some means. However, the grounding means are not limited to this.

[0084] (Guiding Unit) For the guide unit 42 (refer to) Figure 6 (b) and Figure 6 Details of (c) will be described below. The guide unit 42 is a unit that can be attached to and detached from the suction unit 41. The guide unit 42 is a unit used to guide the multiple threads Y toward the suction port 62a while they are surrounded. The guide unit 42 is configured to be movable and driven in any direction (up, down, forward, backward, left, right) via the robotic arm 32, i.e., in all directions along the XYZ axes. In addition, the guide unit 42 can also be oriented to a certain extent via the robotic arm 32. The guide unit 42 has a generally cylindrical shape as a whole. That is, the guide unit 42 has a cylindrical shape that extends in a direction that is generally orthogonal to the circumferential direction surrounding the multiple threads Y. The guide unit 42 has a guide body 71, a fitting part 72, and a contact part 73 (the contact part of the present invention).

[0085] The guide body 71 is a generally cylindrical portion. The guide body 71 extends along its length when the guide unit 42 is in the installed state. The guide body 71 is preferably formed, for example, of a component made of a strong magnet such as iron. The inner diameter of the guide body 71 is, for example, approximately equal to the inner diameter of the suction nozzle 51, but is not limited thereto. The guide body 71 has an inner circumferential surface 71a. The inner circumferential surface 71a is provided in such a way that it surrounds a portion of the multiple wires Y in the suction direction (see reference). Figure 6 (b) and Figure 6(c) Preferably, a handle 74 formed of a heat-insulating material such as resin is provided on the guide body 71. The handle 74 is effective, for example, when an operator needs to manipulate the guide unit 42 by hand. The handle 74 may be provided, for example, in a manner that surrounds the outer periphery of the guide body 71. The outer diameter of the upstream end of the guide body 71 in the suction direction is, for example, slightly larger than the outer diameter of other parts of the guide body 71. This is to accommodate the contact member 73 on the radially inner side of this end.

[0086] Fitting portion 72 (refer to Figure 6 (b) and Figure 6 (c) is the portion used to engage with the fitting portion 62 of the suction nozzle 51. The fitting portion 72 is a generally cylindrical portion extending along the length direction when the guide unit 42 is in the installed state. The inner diameter of the fitting portion 72 is, for example, larger than the inner diameter of the guide body portion 71. The inner diameter of the fitting portion 72 is slightly larger than the outer diameter of the fitting portion 62. When the guide unit 42 is in the installed state, the fitting portion 72 is positioned along the length direction closer to the suction nozzle 51 than the guide body portion 71. The fitting portion 72 is, for example, integrally formed with the guide body portion 71. For example, the guide body portion 71 and the fitting portion 72 may be formed from a single component, but this is not a limitation.

[0087] The fitting portion 72 is preferably formed of a strong magnet, such as iron. Thus, the guide unit 42 is attracted to the magnet 64 of the attraction nozzle 51 in the longitudinal direction by magnetic force.

[0088] Through the aforementioned construction of the fitting portions 62 and 72, the guide unit 42 can be switched between an installed state and a removed state by being moved along its length. More specifically, the installed state is a state in which the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 partially overlap (hereinafter referred to as the partially overlapping state). The occupied space is the space determined according to the shape of the object. For example, such as... Figure 6 As shown in (b), when the fitting portion 62 is retracted inside the fitting portion 72, the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 can be said to partially overlap. By moving the guide unit 42 in this installed state toward the opposite side (i.e., the end side) of the nozzle body 61 in the length direction, the guide unit 42 can be pulled out from the suction nozzle 51 and removed (i.e., it becomes the removed state). In other words, the removed state is the state in which the fitting portion 72 of the guide unit 42 and the fitting portion 62 of the suction nozzle 51 are disengaged. The removed state is a state in which the partial overlap state is disengaged (hereinafter referred to as the overlap disengagement state). In addition, by aligning the fitting portion 72 of the guide unit 42 in the removed state with the fitting portion 62 of the suction nozzle 51, and moving the guide unit 42 toward the nozzle body 61 side (i.e., the base end side) in the length direction, the guide unit 42 can be pressed into the suction nozzle 51 and installed.

[0089] Contact component 73 (reference) Figure 6 (b) and Figure 6 (c) is the part used to contact multiple filaments Y. In the installed state, the contact member 73 functions as a suction port for attracting multiple filaments Y. The contact member 73 is a generally annular component. The contact member 73 is formed of, for example, a ceramic material. Since the contact member 73 is in contact with the traveling filaments Y, it is preferably made of a material with high wear resistance. In addition, since the contact member 73 is in contact with the traveling filaments Y, it is easy to generate frictional heat and triboelectric charging. Therefore, the material of the contact member 73 is preferably a material that is difficult to transfer frictional heat to the guide body 71 (i.e., low thermal conductivity). In addition, the material of the contact member 73 is preferably a material that easily releases the charge generated by triboelectric charging to the guide body 71. The contact member 73 is disposed at the end portion in the longitudinal direction of the guide body 71 in the installed state (i.e., the upstream end in the suction direction). The contact member 73 is disposed on the inner side in the radial direction of the guide body 71. The contact component 73 is embedded in the guide body 71, for example, via a plurality of O-rings 73a. Figure 6 (b) and Figure 6 In (c), two O-rings 73a are provided. The number of O-rings 73a is not limited to this; there may be one or more. Furthermore, a component made of the same or similar material as the contact member 73 may also be provided at the downstream end of the guide body 71 in the attraction direction. In this case, the outer diameter of the downstream end of the guide body 71 in the attraction direction is the same as, or preferably slightly larger than, the outer diameter of the upstream end.

[0090] like Figure 6 (b) and Figure 6 As shown in (c), the guide unit 42 is preferably connected to the suction nozzle 51, for example, via a ground wire 78. That is, the ground wire 78 preferably electrically connects the guide unit 42 to the suction unit 41, which is a grounding component, when the guide unit 42 is at least in a detached state. The ground wire 78 is a component that releases the charge generated by the friction between the multiple wires Y and the contact member 73 from the guide unit 42 to the suction unit 41. By grounding the suction unit 41 as described above, the charge that has moved from the guide unit 42 to the suction unit 41 via the ground wire 78 can be released to the ground. Figure 6 (b) and Figure 6 As shown in (c), the ground wire 78 can be a wire that simply extends from the guide unit 42 to the attraction unit 41.

[0091] Alternatively, the ground wire 78 may also have, for example, a tension coil spring (not shown), configured to be telescopic. The spring portion of this tension coil spring may be configured, for example, to wrap around the circumference of the attraction unit 41. When the guide unit 42 is in the detached state, the spring portion of the tension coil spring as a whole may be in the shape of a tube configured to be sandwiched between the guide unit 42 and the attraction unit 41. In this case, multiple threads Y can pass through the space formed inside the tension coil spring. This reduces the possibility of accidental contact between the multiple threads Y and components other than the part to which the threads are to be hung. Alternatively, a known spring wire may be used instead of a tension coil spring.

[0092] (Comb guide unit) For comb guide unit 43 (refer to) Figure 5 (a) and Figure 5 (b) will be described below. The comb guide unit 43 is used for threading wire to the multiple pivot guides 21. The comb guide unit 43 is moved and driven by the robotic arm 32. The comb guide unit 43 can be mounted on the guide unit 42, for example. Alternatively, the comb guide unit 43 can be mounted independently of the guide unit 42 on the robotic arm 32. The comb guide unit 43 has a comb guide 75 (see reference 1). Figure 7 and Figure 8 ), Guide support 76 (refer to) Figure 7 ) and comb guide drive 77 (see reference) Figure 3 The comb guide 75 holds the multiple threads Y in a state where the multiple threads Y are separated from each other. More specifically, the comb guide 75 has multiple retaining grooves 75a (see reference). Figure 7 and Figure 8 Multiple retaining grooves 75a are respectively provided corresponding to multiple threads Y. Each retaining groove 75a retains its corresponding thread Y. Preferably, the multiple retaining grooves 75a can retain the threads Y with the spacing between them widened. That is, preferably, the spacing between the portions of the multiple retaining grooves 75a that hold the multiple threads Y is wider than the spacing at the entrance portions of the multiple retaining grooves 75a. However, the shape of the multiple retaining grooves 75a is not limited to this. The comb guide 75 is supported on the guide support portion 76, for example, oscillating about the swing shaft 75b as the axis center (see reference). Figure 7 ).like Figure 7 As shown, the guide support 76 has, for example, a support frame 76a and a protrusion 76b. The support frame 76a is, for example, fixed to the guide body 71. The protrusion 76b is, for example, positioned longitudinally along the guide body 71 (see reference). Figure 7The comb guide 75 is provided in such a way that it extends from the support frame 76a to the opposite side of the suction nozzle 51. The protrusion 76b supports the comb guide 75 in a swingable manner within a range that does not interfere with the guide unit 42. The comb guide drive unit 77 is configured to drive the comb guide 75 relative to the guide unit 42, for example, by swinging. The comb guide drive unit 77 has, for example, a motor or other drive source not shown. The comb guide 75 is moved between a retracted position and a holding position by the comb guide drive unit 77. The retracted position is the position of the comb guide 75 when it is not in contact with the multiple threads Y that are attracted toward the suction unit 41 by the guide unit 42 (see reference). Figure 7 (The solid line). The holding position is used to hold the comb guide 75 of the multiple filaments Y attracted by the attraction unit 41 in position (see reference). Figure 7 (The double-dotted line). The holding position is the position upstream of the guide unit 42 in the attraction direction. By moving the comb guide 75 from the retracted position to the holding position, multiple filaments Y are captured and held in their respective holding slots 75a (see reference). Figure 7 (A single-dot dashed line). The comb guide drive unit 77 drives the comb guide 75 to oscillate, but is not limited to this. Instead of the comb guide drive unit 77, a drive unit (not shown) configured to move the comb guide 75 longitudinally along the guide body 71 may be provided. In this case, the drive unit may be configured to drive the comb guide 75 to move while maintaining the posture for capturing multiple threads Y. In addition, to assist the comb guide 75 in capturing multiple threads Y, a pressing roller (not shown) may be further provided, for example, to widen the spacing between the multiple threads Y to a constant interval (see, for example, Japanese Patent Application Laid-Open No. 2017-82379 for details). The pressing roller may or may not be rotatable.

[0093] (Lifting drive unit) For the lifting drive unit 44 (refer to) Figure 9 (a) and Figure 9 (b) will be described below. The lifting drive unit 44 is used to drive the suction unit 41 to move in the vertical direction (the specific direction of the present invention). The lifting drive unit 44 is electrically connected to the wire-hanging control device 102. The lifting drive unit 44 includes, for example, a frame member 81, a drive source 82 (the mouth drive source of the present invention), a guide fixing part 83, a rod guide 84, a linear bushing 85, and a sliding member 86. In general, the drive source 82, supported on the frame member 81, causes the sliding member 86 supporting the suction unit 41 to move along the rod guide 84. The rod guide 84 is fixed to the frame member 81 by the guide fixing part 83. The linear bushing 85 is located between the sliding member 86 and the rod guide 84.

[0094] The frame component 81 supports the drive source 82 and the guide fixing part 83. The frame component 81 extends in the vertical direction. The frame component 81 is fixed to the lower end of the robot body 31, for example. The drive source 82 is a drive source for moving the sliding member 86 in the vertical direction. The drive source 82 can be, for example, a known cylinder. The cylinder can be, for example, a two-stroke or other multi-stroke cylinder. Alternatively, the drive source 82 can also be, for example, a known motor. In this case, a transmission mechanism (not shown) is needed to transmit the power of the motor to the sliding member 86. The guide fixing part 83 is used to fix the rod-type guide 84 to the frame component 81. The guide fixing part 83 has a fixing part 83A and a fixing part 83B. The fixing part 83A is fixed to the upper end of the frame component 81, for example. The fixing part 83A supports the upper end of the rod-type guide 84. The fixing part 83B is fixed to the lower end of the frame component 81, for example. The fixing part 83B supports the lower end of the rod-type guide 84. The rod guide 84 functions as a guide rail for guiding the sliding member 86 along a predetermined track. The rod guide 84 extends vertically. The rod guide 84 is fixed to the frame member 81 via a guide fixing part 83. The rod guide 84 guides the sliding member 86 vertically via a linear bushing 85. The linear bushing 85 is a known component that moves smoothly along the rod guide 84. The sliding member 86 is fixed to the linear bushing 85. The sliding member 86 is a component that supports the attraction unit 41. The sliding member 86 is moved and driven integrally with the attraction unit 41 by a drive source 82. The sliding member 86 is guided vertically along the rod guide 84 via the linear bushing 85.

[0095] (Method of hanging silk) Next, one side mainly refers to Figure 10 (a) ~ Figure 12 The method of wire hanging implemented by the wire hanging robot 4 with the above structure will be explained. Figure 10 (a) ~ Figure 10 of (e) Figure 11 of (a) Figure 11 (b) and Figure 12 It is a diagram showing the order in which the threads are attached. Furthermore, Figure 10 (d) is Figure 10(c) View from direction D. As part of the overall yarn hanging sequence, multiple yarns Y spun from the spinning device 2 are hung onto these devices by the yarn hanging robot 4 in the order of limiting guide 12, first guide roller 13, second guide roller 14, and multiple fulcrum guides 21. Then, the multiple yarns Y are hung onto multiple bobbins B respectively through the internal yarn hanging part 114. For example, the overall control device 100, the station control device CP including the machine control device 101, and the yarn hanging control device 102 cooperate with each other to control the various parts of the spinning traction machine 3 and the various parts of the yarn hanging robot 4, thereby performing the above-mentioned yarn hanging.

[0096] In the initial state, multiple filaments Y spun from the spinning device 2 are attracted and held at the filament suction device 11 associated with the spinning traction station TP of the object to be spun (see reference). Figure 10 (a)). The wire-hanging robot 4 is positioned immediately in front of the spinning traction machine 3.

[0097] First, the machine control unit 101 controls the various parts of the spinning traction machine 3, causing the components that are to be attached to the yarn to move. Specifically, the second guide roller 14 is moved to the yarn-attaching position by the roller movement motor 112, and the multiple pivot guides 21 are moved to the approach position. Then, for example, a signal for continuing yarn attachment is sent from the machine control unit 101 to the yarn-attaching control unit 102 via the overall control unit 100.

[0098] The wire-hanging control device 102 positions the wire-hanging unit 33 on top of the multiple wires Y held and attracted by the wire suction device 11 (see reference). Figure 10 (a)). The wire-hanging control device 102 controls the pull drive unit 59 (see reference). Figure 3 ), causing the pull-back component 58 to extend rearward (see reference). Figure 10 (a) with double-dotted lines). This allows the hook portion 58b to hook multiple threads Y. Next, the thread-hanging control device 102 controls the pull drive portion 59 to pull the pull member 58 forward. This pulls the multiple threads Y close to the vicinity of the cutting portion 57 and the guide unit 42. Next, the thread-hanging control device 102 controls the cutter drive portion 57b to cut the multiple threads Y using the cutter 57a. As a result, the portion of the cut threads Y that is opposite to the thread suction device 11 in the thread travel direction, i.e., the portion of the threads Y spun from the spinning device 2, exits through the opening of the guide unit 42 (contact member 73). (See reference...) Figure 6 (b) and Figure 6 (c) is attracted and captured by the attraction unit 41. Thus, the multiple filaments Y spun from the spinning device 2 are transferred from the suction device 11 to the hanging unit 33.

[0099] During the stage where multiple threads Y are transferred from the thread suction unit 11 to the thread hanging unit 33, the guide unit 42 is in the installed state, and the suction unit 41 (and the guide unit 42) attracts and holds the multiple threads Y. At this time, the guide unit 42 is in a state of surrounding a portion of the multiple threads Y in the attraction direction (hereinafter referred to as the surrounding state), and can operate on the multiple threads Y and guide them downstream in the attraction direction.

[0100] Next, the wire-hanging control device 102 controls the arm motor 122 to move the guide unit 42 rearward (in other words, at the end in the length direction) relative to the suction unit 41. As a result, the guide unit 42 is detached from the suction unit 41, becoming a detached state (see reference). Figure 10 (b)

[0101] In the detached state, the guide unit 42 can be moved independently of the suction unit 41 in any direction (up, down, forward, backward, left, right) via the robotic arm 32 in order to attach multiple threads Y to the target component. Furthermore, in the detached state, the guide unit 42 can manipulate the multiple threads Y and can guide them to the suction port 62a (see reference). Figure 6 (c) guides the threads. More specifically, the guide unit 42 maintains the aforementioned enclosing state and is able to operate on the multiple threads Y and guide them toward the suction port 62a. The operation of the multiple threads Y is performed by moving the guide unit 42. Since the guide unit 42 moves independently relative to the suction unit 41, the path (thread channel) traveled by the threads Y can be changed even when the suction unit 41 is not moving.

[0102] Next, the wire-hanging control device 102 controls the arm motor 122 (see reference). Figure 3 ), causing the guide unit 42 to move downwards (see reference). Figure 10 (c)). More specifically, the wire-hanging control device 102 moves the guide unit 42 to a position below and in front of the limiting guide 12 (see (c)). Figure 10 (c) and Figure 10 (d)). At the same time, the wire-hanging control device 102 controls the lifting drive unit 44 (see reference). Figure 3 ), causing the attraction unit 41 to move downwards (see reference). Figure 10 (c) Next, the wire-hanging control device 102 moves the guide unit 42 rearward, hooking multiple wires Y onto the limiting guide 12. Then, the wire-hanging control device 102 moves the guide unit 42 to hook the wires Y sequentially onto the first guide roller 13 and the second guide roller 14 (see reference 1). Figure 10 (e)). As described above, the wire is attached to the limiting guide 12, the first guide roller 13, and the second guide roller 14.

[0103] During the wire hanging process described above, the wire hanging control device 102 preferably drives the suction unit 41 to move up and down appropriately in coordination with the vertical movement of the guide unit 42. The same applies below.

[0104] Next, the wire-hanging control device 102 performs the process of hanging wires onto the multiple pivot guides 21. More specifically, the wire-hanging control device 102 controls the comb guide drive unit 77 (see reference 102). Figure 3 This keeps multiple threads Y in a separated state within the comb guide 75 (see reference). Figure 8 Next, the wire-hanging control device 102 controls the robotic arm 32 to move the comb guide 75 to a predetermined position (see reference). Figure 8 (The double-dotted line). Further, the wire-hanging control device 102 moves the comb guide 75 diagonally forward to the left (see reference). Figure 8 (The arrow). Thus, multiple threads Y are attached to the corresponding fulcrum guide 21 (see the arrow). Figure 8 and Figure 11 (a)).

[0105] Next, the machine control device 101 moves the second guide roller 14 to the production position and moves the multiple pivot guides 21 to the separation position (see reference). Figure 11 (b) Next, the wire-hanging control device 102 moves the guide unit 42 downward, holding the multiple wires Y in the wire-gathering guide 27. Thus, the multiple wires Y are moved from the internal wire-hanging part 114 (see reference 114). Figure 3 , Figure 11 (b) and Figure 12 The machine control device 101 then controls the internal yarn hanging section 114 to attach multiple yarns Y to multiple bobbins B. While the multiple yarns Y are attached to the bobbins B, the portion of the multiple yarns Y downstream of the bobbins B in the attraction direction is broken by the tension applied to the yarns Y. The broken portion of the multiple yarns Y is attracted to the attraction unit 41 via the guide unit 42 and conveyed to the waste yarn box 7. After the yarn hanging process is completed as described above, the winding of the multiple yarns Y by the spinning traction machine 3 begins.

[0106] As described above, the wire-hanging robot 4 includes a suction nozzle 51, a guide unit 42, and a robotic arm 32. The guide unit 42 is configured to move relative to the suction nozzle 51 to hang multiple wires Y onto the desired component, and is capable of manipulating the multiple wires Y and guiding them towards the suction port 62a. The robotic arm 32 is configured to independently drive the guide unit 42 to move in any direction relative to the suction nozzle 51. By attracting and holding the wires Y at the suction nozzle 51, and then independently moving the guide unit 42, which guides the wires Y, relative to the suction nozzle 51 in any direction, the wire-hanging process onto the desired component can be performed. Furthermore, the guide unit 42 can also move independently relative to the supply hose 54A and the discharge hose 54B (piping). Therefore, even when movement of the suction nozzle 51 and the piping is required, their movement distance can be limited to the necessary minimum. The guide unit 42 can be miniaturized and lightweight within the scope of its function of guiding the wires Y. In other words, wire hanging can be performed primarily by moving the relatively small and lightweight guide unit 42. Therefore, the efficiency of wire hanging can be improved.

[0107] Furthermore, the suction nozzle 51 is configured to move in a specific direction (vertical direction). Therefore, the suction nozzle 51 can follow the movement of the guide unit 42 as needed. By moving the suction nozzle 51 only in a specific direction, the movement of the piping connected to the suction nozzle 51 can be suppressed to the necessary minimum.

[0108] Furthermore, the wire-carrying robot 4 includes a rod-type guide 84 and a drive source 82. By moving the suction nozzle 51, it can be positioned as close as possible to the guide unit 42. Here, the suction nozzle 51 is not moved freely but is driven to move along a predetermined track, thus minimizing the effects caused by the weight and / or inertial mass of the piping. Through the above, the effects caused by the piping can be suppressed, and the suction nozzle 51 can be moved to a position as close as possible to the guide unit 42.

[0109] Furthermore, when the guide unit 42 is in a state of surrounding a portion of the traveling multiple threads Y in the attraction direction, it can operate on the multiple threads Y and guide them towards the attraction port 62a. Therefore, regardless of how the guide unit 42 is moved parallel to or rotated, the multiple threads Y can reliably contact a point on the guide unit 42 and be guided towards the attraction port 62a. This reduces limitations related to the operation of the guide unit 42 during thread hanging. Therefore, thread hanging efficiency can be improved.

[0110] Furthermore, the guide unit 42 has a cylindrical shape extending in a direction orthogonal to the circumferential direction surrounding the multiple filaments Y. Therefore, by operating the downstream end of the guide unit 42 in the attraction direction, the upstream end of the guide unit 42 in the attraction direction can also more easily enter the narrow and deep section. Thus, the efficiency of filament hanging can be improved.

[0111] Furthermore, the guide unit 42 can be switched between a partially overlapping state and a partially overlapping state. In the partially overlapping state, the guide unit 42 can move independently in any direction relative to the suction nozzle 51, and can manipulate the thread Y and guide it towards the suction port 62a. When the guide unit 42 is in the partially overlapping state and the thread-hanging unit 33 is holding multiple threads Y, the guide unit 42 is in an enclosing state. Thus, the guide unit 42 can maintain the enclosing state even after switching to the partially overlapping state. Therefore, the thread channel can be changed using the guide unit 42 immediately after switching from the installation state to the removal state. Thus, the thread-hanging efficiency can be improved. In addition, by making the guide unit 42 partially overlapping except during thread hanging, the thread-hanging robot 4 can be made more compact.

[0112] Furthermore, in this embodiment, the partially overlapping state is the installed state, and the overlapping release state is the removed state. By installing the guide unit 42 onto the suction nozzle 51 except when hanging the wire, the guide unit 42 can be stably held in place.

[0113] Furthermore, the guide unit 42 is configured to switch between an installed state and a removed state by being moved along its length. Therefore, the guide unit 42 can be removed from the suction nozzle 51 by simply pulling it out along its length. Conversely, the guide unit 42 can be installed into the suction nozzle 51 by simply fitting it into its removed state. This improves the efficiency of operations related to wire hanging.

[0114] Furthermore, the guide unit 42 is configured to attract the suction nozzle 51 using magnetic force. Therefore, the guide unit 42 can be forcefully installed onto the suction nozzle 51 using magnetic force. This prevents the guide unit 42 from accidentally falling off the suction nozzle 51 while it is in the installed state.

[0115] Furthermore, the guide unit 42 is mounted on the robotic arm 32. That is, the guide unit 42 is always held on the robotic arm 32, therefore the robotic arm 32 does not need to maintain the movement of the guide unit 42. Thus, the reduction in wire-hanging efficiency can be suppressed.

[0116] Furthermore, the guide unit 42 is electrically connected to the suction nozzle 51 (grounding component) via the ground wire 78, at least during wire hanging. This allows any charge that may accumulate in the guide unit 42 to be released to the ground via the ground wire 78 and the suction nozzle 51. Therefore, the guide unit 42 can be effectively de-energized. Additionally, compared to cases where the grounding component is located outside the suction nozzle 51, the length of the ground wire 78 can be prevented.

[0117] Furthermore, the wire-catching robot 4 includes a wire-catching auxiliary unit 53. The wire-catching auxiliary unit 53 has a wire-pulling part 56 and a cutting part 57. By using the cutting part 57 to cut multiple wires Y located near the suction nozzle 51, the suction nozzle 51 can attract and catch the upstream portion of the cut multiple wires Y in the direction of travel. Using the wire-pulling part 56, the multiple wires Y can be brought closer to the suction nozzle 51 without moving the suction nozzle 51. In addition, since the wire-catching auxiliary unit 53 is separately provided from the guide unit 42, the increase in the size and weight of the guide unit 42 can be avoided. Therefore, the deterioration of wire-catching efficiency can be suppressed, and the suction nozzle 51 can attract and catch multiple wires Y.

[0118] Furthermore, the guiding unit 42 is configured to operate on multiple filaments Y and guide them towards the suction port 62a. In structures that handle multiple filaments Y, a strong suction force is required to attract and retain the multiple filaments Y. Therefore, in order to stably generate a strong suction force, it may be necessary to thicken and reinforce the piping. In such a structure, the present invention is particularly effective.

[0119] Furthermore, the spinning traction device 1 includes a yarn-coating robot 4 and a spinning traction machine 3. Therefore, in this embodiment, the efficiency of yarn loading onto the spinning traction machine 3 can be improved. More specifically, the efficiency of yarn loading performed by the yarn-coating robot 4 can be improved.

[0120] Furthermore, in the structure of this embodiment where a wire-hanging robot 4 needs to hang wire on multiple spinning traction machines 3, the present invention is particularly effective in improving the efficiency of hanging wire on each spinning traction machine 3.

[0121] Next, variations obtained by making changes to the above embodiments will be described. Wherein, parts having the same structure as the above embodiments will be labeled with the same reference numerals and their descriptions will be omitted as appropriate.

[0122] (1) In the above embodiment, the ground wire 78 is connected to the suction nozzle 51. However, it is not limited to this. The ground wire 78 can also be connected to other components. For example, the ground wire 78 can be configured to be suspended from the robotic arm 32 and extend upwards to maintain insulation from the robot body 31. Furthermore, the ground wire 78 can also be configured to be in direct contact with the aforementioned fixed piping.

[0123] (2) In the embodiments described above, the wire-hanging robot 4 has a ground wire 78. However, it is not limited to this. The wire-hanging robot 4 may also not have a ground wire 78. In this case, the guide unit 42 may be grounded by a means different from the ground wire 78. Alternatively, the guide unit 42 may not be grounded if there is no need to consider the frictional electrification of the guide unit 42 with the multiple wires Y.

[0124] (3) In the embodiments described above, the suction nozzle 51 is driven to move up and down by the lifting drive unit 44. However, this is not a limitation. The yarn-hanging robot 4 may not have the lifting drive unit 44. In this case, there is a possibility that the distance between the suction nozzle 51 and the guide unit 42 becomes longer. Therefore, there is a possibility that the portion of the multiple yarns Y that travels from the guide unit 42 toward the suction nozzle 51 is longer than in the embodiments described above. Since this portion is exposed in the external space, there is a risk of accidental interference with various components of the spinning traction machine 3. Therefore, in order to prevent interference between the multiple yarns Y and various components of the spinning traction machine 3, the spinning traction machine 3 preferably has a guide (not shown) for temporarily holding the portion of the multiple yarns Y that travels from the guide unit 42 toward the suction nozzle 51 during the yarn-hanging process. Alternatively, such a guide may also be provided in the yarn-hanging robot 4. In this case, the guide can be moved and driven by a different robotic arm (not shown) than the robotic arm 32. In addition, in this case, the suction nozzle 51 may not be configured to be movable in the vertical direction (that is, the position of the suction nozzle 51 in the vertical direction may be fixed).

[0125] (4) In the embodiments described above, the suction nozzle 51 has a magnet 64. However, it is not limited to this. A magnet (not shown) may be provided on the guide unit 42 side instead of the suction nozzle 51. Alternatively, magnets may be provided on both the suction nozzle 51 and the guide unit 42. Even in these cases, the guide unit 42 is attracted to the suction nozzle 51 by magnetic force.

[0126] (5) In the embodiments described above, the guide unit 42 attracts the suction nozzle 51 using magnetic force. However, it is not limited to this. The guide unit 42 may also be installed on the suction nozzle 51 simply by fitting into the fitting part 62.

[0127] (6) In the embodiments described above, the inner diameter of the fitting portion 72 is larger than the outer diameter of the fitting portion 62. In other words, when the guide unit 42 is in the installed state, the fitting portion 72 is located radially outward of the mouth body portion 61 than the fitting portion 62. However, this is not a limitation. The outer diameter of the fitting portion 72 may also be smaller than the inner diameter of the fitting portion 62. That is, when the guide unit 42 is in the installed state, the fitting portion 72 may be located radially inward of the mouth body portion 61 than the fitting portion 62.

[0128] (7) In the embodiments described above, the guide unit 42 is cylindrical. However, it is not limited to this. The guide unit 42 may also be, for example, generally annular.

[0129] (8) In the embodiments described above, when the guide unit 42 is in the installed state and the wire-hanging unit 33 attracts and holds multiple wires Y, the guide unit 42 is in an enclosed state. However, this is not a limitation. Instead of the guide unit 42, a guide unit (not shown) may be provided as follows. This guide unit may have two semi-cylindrical components connected, for example, in a manner that allows it to be opened and closed by a hinge. In this case, the enclosed state can be obtained by closing the two semi-cylindrical components to make them substantially cylindrical. That is, the guide unit may not be in an enclosed state when installed on the suction nozzle 51. The guide unit may only be in an enclosed state when removed. Alternatively, a guide unit (not shown) may be provided that is configured to have three or more elongated components connected to each other and obtains an enclosed state by deformation.

[0130] (9) As another variation of (8) above, the guide unit may not be configured to be installed on the suction nozzle 51. The guide unit may be detached from the suction nozzle 51 at any time other than when the wire is being hung. The guide unit only needs to be in the enclosed state at least when it is removed.

[0131] (10) In the embodiments described above, the guide unit 42 can be switched between the installed state and the removed state by being moved in the longitudinal direction. However, it is not limited to this. A fitting part (not shown) for fitting the guide unit 42 (or the guide unit not shown above, hereinafter referred to as guide unit, etc.) may also be provided in a part of the suction nozzle 51 other than the suction port 62a. Alternatively, the guide unit 42, etc., may be configured to be able to be installed and removed from the suction nozzle 51 by means other than the fitting part.

[0132] (11) In the embodiments described above, the guide unit 42, etc., is in an enclosing state. However, it is not limited to this. The guide unit 42, etc., may not be configured to enclose the multiple threads Y. However, in this case, more careful operation is required when moving the guide unit 42, etc., to avoid the multiple threads Y from falling off the guide unit 42, etc.

[0133] (12) In the embodiments described above, the guide unit 42 and the comb guide unit 43 are moved and driven as a single unit by the robotic arm 32. However, this is not a limitation. For example, the comb guide unit 43 can also be moved and driven independently in any direction relative to both the attraction unit 41 and the guide unit 42 by a different robotic arm (not shown) than the robotic arm 32. In such cases, where the guide unit 42 and the comb guide unit 43 can be moved separately, by appropriately changing the thread channel, it is possible to effectively prevent multiple threads Y from contacting components other than the thread-hanging target component during thread hanging. In this modified example, the comb guide unit 43 may be replaced by only the comb guide 75 as described above.

[0134] (13) In the embodiments described above, both a guide unit 42 and a comb guide unit 43 are provided. However, it is not limited to this. Hereinafter, reference will be made to... Figure 13 (a) ~ Figure 14 (e) will be explained on one side. Figure 13 (a) and Figure 13 (b) and Figure 5 (a) and Figure 5 (b) corresponds to each. Figure 14 (a) ~ Figure 14 (e) and Figure 10 (a) ~ Figure 10 The (e) corresponds to each. For example Figure 13 (a) and Figure 13 As shown in (b), a wire-hanging robot 4M can be provided instead of the wire-hanging robot 4. The wire-hanging robot 4M can replace the wire-hanging unit 33, resulting in a wire-hanging unit 33M. The wire-hanging unit 33M can have an attraction unit 41M (the attraction nozzle of the present invention) and a comb guide unit 43M (the thread handling part of the present invention). That is, the wire-hanging unit 33M may not have a guide unit 42, etc. In this case, only the comb guide unit 43M is equivalent to the thread handling part of the present invention. The attraction unit 41M may, for example, have the same function as the attraction unit 41 described above, and have a length in the longitudinal direction that combines the attraction unit 41 and the guide unit 42. The attraction unit 41M can be driven to rise and fall by the lifting drive unit 44 described above. The comb guide unit 43M may have, for example, the same structure as the comb guide unit 43 described above. That is, it may be provided with the comb guide 75 described above and a pressing roller (not shown). Alternatively, the comb guide unit 43M may only have, for example, the comb guide 75 described above. The comb guide unit 43M can be moved and driven independently in any direction relative to the attraction unit 41M via the robotic arm 32. The comb guide unit 43M may not be configured to be detached from the attraction unit 41M.

[0135] The aforementioned wire-hanging robot 4M can be controlled by the wire-hanging control device 102 during wire hanging as follows: The wire-hanging control device 102 positions the suction unit 41M directly above the multiple wires Y held and attracted by the wire suction device 11 (see reference). Figure 14 (a)). The wire-hanging control device 102 causes the pull member 58 to extend rearward (see reference). Figure 14 (a) double-dotted line), and then pulled forward. Next, the wire-hanging control device 102 causes the cutting part 57 to cut multiple wires Y. As a result, the multiple wires Y are attracted and held in the attraction unit 41M. Next, the wire-hanging control device 102 controls the arm motor 122 (see Figure 3 This causes the comb guide unit 43M to move upward toward the suction unit 41M. Consequently, the wire-hanging control device 102 positions the comb guide unit 43M upstream of the suction unit 41M in the suction direction, holding the wire Y (refer to...) Figure 14 (b)). Next, the wire-hanging control device 102 moves the comb guide unit 43M downward (see reference). Figure 14 (c)). More specifically, the wire-hanging control device 102 moves the comb guide unit 43M to a position lower and forward of the limiting guide 12 (see reference). Figure 14 (c) and Figure 14 (d)). At the same time, the wire-hanging control device 102 moves the suction unit 41M downward (see reference). Figure 14 (c) Next, the yarn-hanging control device 102 moves the comb guide unit 43M backward, hooking multiple yarns Y onto the limiting guide 12. Then, the yarn-hanging control device 102 moves the comb guide unit 43M to hook the yarns Y sequentially onto the first guide roller 13 and the second guide roller 14 (see reference 1). Figure 14 (e)). Furthermore, the wire-hanging control device 102 can also move the comb guide unit 43M appropriately, and then perform wire hanging to the multiple pivot guides 21. Wire hanging can be performed as described above.

[0136] (15) In the embodiments described above, the guide unit 42 and the comb guide unit 43 (or comb guide unit 43M, hereinafter referred to as comb guide unit 43, etc.) are capable of moving in any direction. However, this is not a limitation. It is also possible that one of the guide unit 42 and the comb guide unit 43 is configured to be able to move only on, for example, a predetermined imaginary plane. Alternatively, it is also possible that one of the above is configured to be able to move only along a predetermined track for performing the thread hanging. This track can be predetermined by, for example, a track-like component not shown. In this case, only the other of the guide unit 42 and the comb guide unit 43 corresponds to the thread operating part of the present invention.

[0137] (16) The structure of the comb guide unit 43, etc., is not limited to the structure described above. The pressing roller (not shown) described above may be provided instead of the comb guide unit 43, etc. A yarn guide (not shown) may be provided based on or instead of the comb guide unit 43, etc. This yarn guide may be provided for the purpose of appropriately changing the yarn path to avoid accidental interference with parts other than the yarn-hanging part.

[0138] (17) A general description of variations of the thread operating unit described above. The thread operating unit may have both a guide unit 42 and a comb guide unit 43, or only one of them. When both a guide unit 42 and a comb guide unit 43 are provided, they can be moved and driven as a unit by the robotic arm 32, or they can be moved and driven in any direction by separate robotic arms (not shown). The guide unit 42 and / or the comb guide unit 43 may have any of the structures described above.

[0139] (18) While referring to Figure 15 (a) ~ Figure 15 (c) On the other hand, other variations of the above-mentioned guide unit 42 will be described. Figure 15 (a) ~ Figure 15 (c) is a diagram showing the wire-hanging unit 95 (attraction and holding part of the present invention) of other variations. Figure 15 (a) and Figure 15 Figure (b) shows the wire-hanging unit 95 when the guide unit 97 described later is in a partially overlapping state. Figure 15 Figure (c) shows the wire-hanging unit 95 when the guide unit 97 is in the overlap-disengaged state. In this variation, the wire-hanging unit 95 replaces the wire-hanging unit 33. The wire-hanging unit 95 has an attraction unit 96 and a guide unit 97 (the wire operating part and the surrounding part of the present invention). The attraction unit 96 replaces the attraction unit 41. The attraction unit 96 has an attraction nozzle 98. The attraction nozzle 98 is a generally cylindrical component that replaces the attraction nozzle 51. The attraction nozzle 98 has a length in the longitudinal direction that is, for example, enough to join the attraction nozzle 51 and the guide unit 42 together. For example, a contact member 98b and a plurality of O-rings 98c may be provided at the end portion in the longitudinal direction of the attraction nozzle 98. The contact member 98b has, for example, the same function as the contact member 73 described above. An attraction port 98d is formed through the inner circumferential surface of the contact member 98b. The plurality of O-rings 98c have, for example, the same function as the plurality of O-rings 73a described above. The guide unit 97 replaces the guide unit 42. The guide unit 97 has a guide body 99. The guide body 99 is a generally cylindrical component that replaces the guide body 71. Figure 15 (a) and Figure 15As shown in (b), the guide body 99 is shorter than the suction nozzle 98 in the length direction. Furthermore, the inner diameter of the guide body 99 is larger than the outer diameter of the suction nozzle 98. Therefore, the guide unit 97 is supported on the robotic arm 32 when the inner circumferential surface 99a of the guide body 99 is separated from the outer circumferential surface 98a of the suction nozzle 98. Contact members 73 and multiple O-rings 73a, as described above, can be provided at both ends of the guide body 99 in the length direction. A handle 74, as described above, can be provided at the center of the guide body 99 in the length direction. Although not shown in the figure, the guide body 99 can be connected to the suction nozzle 98 via a ground wire 78, as described above. Similarly, the guide unit 97 can be partially overlapped by being moved in the length direction (see reference 42). Figure 15 (b) and the overlapping release state (refer to) Figure 15 The state is switched between (c). The guide unit 97 in the overlap-released state can operate on multiple threads Y and can guide them to the suction port 98d. In addition, in a variation of (18), a comb guide unit 43 as described above can be provided. In this case, both the guide unit 97 and the comb guide unit 43 can be mounted on the robotic arm 32. Alternatively, the guide unit 97 can be mounted on the robotic arm 32, and the comb guide unit 43 can be mounted on another robotic arm (not shown).

[0140] Before the multiple threads Y are transferred from the thread suction device 11 to the thread hanging unit 95, the guide unit 97 is in the aforementioned partially overlapping state. In this partially overlapping state, the guide unit 97 is positioned along its length closer to the base end than the end of the suction nozzle 98. In other words, the suction nozzle 98 protrudes further along its length than the guide unit 97 in the partially overlapping state. Therefore, the suction nozzle 98 can directly attract and capture the multiple threads Y without them contacting the guide unit 97. Thus, the suction nozzle 98 can reliably and smoothly attract and capture the threads Y. Furthermore, the guide unit 97, in its partially overlapping state, is held in the robotic arm 32 while surrounding the suction nozzle 98 without contacting it. Therefore, the vibration of the suction nozzle 98 transmitted to the robotic arm 32 via the guide unit 97 can be effectively suppressed.

[0141] (19) In the embodiments described above, the thread operating part is mounted on the robotic arm 32. However, it is not limited to this. The robotic arm 32 may also have, for example, a clamping device not shown, configured to support the thread operating part by gripping it.

[0142] (20) In the embodiments described above, the wire-hanging robot 4 (or wire-hanging robot 4M) is capable of moving in the left-right direction. That is, the wire-hanging robot 4 (or wire-hanging robot 4M) is a common robot for multiple spinning traction stations TP. However, it is not limited to this. For example, multiple wire-hanging robots 4 (or wire-hanging robots 4M) can be provided. The multiple spinning traction stations TP can be divided into multiple groups. Each of the multiple wire-hanging robots 4 (or wire-hanging robots 4M) can hang wire onto one or more spinning traction machines 3 contained in the corresponding group. The number of groups can be equal to the number of spinning traction stations TP. In this case, the wire-hanging robot 4 (or wire-hanging robot 4M) may not be able to move in the left-right direction.

[0143] (21) The spinning traction device 1 has multiple spinning traction stations TP. However, it is not limited to this. The spinning traction device 1 may also have only one spinning traction station TP.

[0144] (22) In the state before the yarn hanging begins, multiple yarns Y are attracted and held in the yarn suction device 11. However, this is not a limitation. For example, a known yarn lowering device (not shown) can be provided near the spinning device 2, which holds the multiple yarns Y spun from the holding spinning device 2 while lowering the multiple yarns Y downward. The yarn hanging robot 4 can directly collect the multiple yarns Y from the yarn lowering device during yarn hanging.

[0145] (23) The spinning traction machine 3 draws and winds multiple filaments Y. However, it is not limited to this. The spinning traction machine 3 may also be configured to draw and wind only one filament Y.

[0146] (24) The wire-hanging robot is not limited to the spinning traction device 1, but can also be installed in various devices that process at least one filament Y.

Claims

1. A wire-hanging robot, characterized in that, The wire-hanging robot performs the function of attaching at least one moving thread to a target component, and the wire-hanging robot has the following features: A suction nozzle having a suction port for attracting the at least one filament, configured to attract and retain the at least one filament when connected to a suction source via a pipe; The thread operating unit is configured to be movable relative to the suction nozzle in order to hang the at least one thread onto the thread hanging object member, and to operate the at least one thread and guide it toward the suction port. and A robotic arm configured to independently drive the filament manipulation unit to move in any direction relative to the suction nozzle.

2. The wire-hanging robot according to claim 1, characterized in that, The suction nozzle is configured to move in a specific direction.

3. The wire-hanging robot according to claim 2, characterized in that, have: Guide rails that guide the suction nozzle along predetermined tracks in the specific direction; and A mouth drive source that moves the suction mouth along the guide track.

4. The wire-attaching robot according to any one of claims 1 to 3, characterized in that, The thread operating part has a surrounding part that, in a surrounding state, surrounds a portion of the at least one traveling thread in the attraction direction in which the at least one thread is attracted, enabling operation of the at least one thread and guidance toward the attraction port.

5. The wire-hanging robot according to claim 4, characterized in that, The surrounding portion has a cylindrical shape extending in a direction orthogonal to the circumferential direction surrounding the at least one filament.

6. The wire-hanging robot according to claim 4 or 5, characterized in that, The thread operating unit is configured to be switchable between a partially overlapping state and a partially overlapping de-overlap state. The partially overlapping state is when the space occupied by the thread operating unit partially overlaps with the space occupied by the suction nozzle, and the partially overlapping de-overlap state is when the partially overlapping state is de-overlapped. In the overlap-de-aligned state, the thread manipulation unit can move independently in any direction relative to the suction nozzle, and can operate on at least one thread and guide it towards the suction port. When the thread operating part is in the partially overlapping state and the suction nozzle attracts and holds the at least one thread, the thread operating part is in the surrounded state.

7. The wire-hanging robot according to claim 6, characterized in that, The thread manipulation part, which is in the partially overlapping state, is held in the robotic arm while surrounding the suction nozzle and not in contact with it.

8. The wire-hanging robot according to claim 7, characterized in that, The suction nozzle extends along the length direction and protrudes further towards the end of the length direction than the thread operating portion which is in the partially overlapping state.

9. The wire-attaching robot according to any one of claims 1 to 5, characterized in that, The thread operating unit is configured to be switchable between a partially overlapping state and a partially overlapping de-overlap state. The partially overlapping state is when the space occupied by the thread operating unit partially overlaps with the space occupied by the suction nozzle, and the partially overlapping de-overlap state is when the partially overlapping state is de-overlapped. In the overlap-released state, the thread operating part can move independently in any direction relative to the suction nozzle, and can operate on at least one thread and guide it toward the suction port.

10. The wire-hanging robot according to claim 6 or 9, characterized in that, The thread operating part is configured to be attachable and detachable relative to the suction nozzle. The partial overlap state refers to the installation state in which the thread operating part is installed on the suction nozzle. The overlap release state is the detached state in which the thread operating part is removed from the suction nozzle.

11. The wire-hanging robot according to claim 10, characterized in that, The suction nozzle has: The mouth body extends along its length, allowing the at least one filament to pass through along the length direction; and The fitting portion, which is disposed upstream of the nozzle body in the attraction direction in which the at least one thread is attracted, has the attraction opening, extends along the length direction, and is configured to fit into the thread operating portion. The installation state refers to the state in which the thread operating part and the fitting part are engaged. The "disassembly state" refers to the state in which the engagement between the thread operating part and the fitting part is released. The thread operating part is configured to switch between the installed state and the removed state by being moved in the length direction.

12. The wire-hanging robot according to claim 10 or 11, characterized in that, The thread operating part is configured to attract the suction nozzle using magnetic force.

13. The wire-attaching robot according to any one of claims 1 to 12, characterized in that, The thread manipulation unit is mounted on the robotic arm.

14. The wire-attaching robot according to any one of claims 1 to 13, characterized in that, The wire operating part is electrically connected via a ground wire to a grounding component for releasing charge to the ground, at least during the wire hanging process.

15. The wire-hanging robot according to claim 14, characterized in that, The grounding component includes the suction nozzle.

16. The wire-attaching robot according to any one of claims 1 to 15, characterized in that, The device includes a thread-catching assist unit configured to guide at least one thread traveling in a predetermined direction toward the suction nozzle, and is disposed separately from the thread-operating part. The thread-catching auxiliary part has: The wire-pulling section is configured to bring a portion of the at least one wire in the direction of travel closer to the suction nozzle side; and The cutting section is configured to cut at least one filament that has passed through the wire-pulling section and approached the suction nozzle side.

17. The wire-attaching robot according to any one of claims 1 to 16, characterized in that, The at least one thread has multiple threads. The thread operating unit is configured to operate the plurality of threads and guide them toward the suction port.

18. A spinning traction device, characterized in that, have: The wire-hanging robot according to any one of claims 1 to 17; and A spinning traction machine having the aforementioned filament-hanging component, which pulls the at least one filament spun from the spinning device.

19. The spinning traction device according to claim 18, characterized in that, Multiple spinning traction machines are arranged along the arrangement direction. The wire-hanging robot is configured to move along the arrangement direction.

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