Yarn joining device and yarn joining method

Abstract

Generation of a tail part is suppressed at joining of yarns. A yarn joining device 6 includes an interlacing means 61 having a slit 61a, a first clamp cutter 64 configured to cut and grip a yarn Y (yarn Yl), and a second clamp cutter 65 configured to cut and grip a yarn Y (yarn Y2). The first clamp cutter 64 is switchable between an open state in which a first cutting unit 64a and a first grip unit 64b are open and oppose each other over an extension of the slit 61a in the base longitudinal direction and a closed state in which the first cutting unit 64a and the first grip unit 64b are closed. The second clamp cutter 65 is switchable between an open state in which a second cutting unit 65a and a second grip unit 65b are open and oppose each other over the extension of the slit 61a in the base longitudinal direction and a closed state in which the second cutting unit 65a and the second grip unit 65b are closed.

Description

BACKGROUND OF THE INVENTION

[0001] The present invention relates to a yarn joining device configured to join two yarns together and a yarn joining method.

[0002] A known yarn joining device (i.e., splicer) is provided for joining ends of yarns of two packages with each other. For example, JP 2000-16704 A) discloses a yarn joining device (coupling device of JP 2000-16704 A) including an interlacing means including an air nozzle, a pair of yarn gripping means (i.e., a clamper in JP 2000-16704 A) which are provided on both sides of the interlacing means and configured to grip yarns, and a cutting means which is provided between the interlacing means and the yarn gripping means.

[0003] The yarn joining device of JP 2000-16704 A is configured to join two yarns with each other by interlacing the two yarns with use of compressed air injected from the air nozzle to the two yarns which are gripped by the paired yarn gripping means. In these two yarns, a part that juts out from an interlacing part where the yarns are interlaced is termed a tail part. Such a tail part of the yarn needs to be removed before advancing to the next step and is cut by the cutting means, because it may cause uneven dyeing in a textile or knit fabric produced by the yarn, for example.SUMMARY OF THE INVENTION

[0004] However, in the yarn joining device of JP 2000-16704 A, because the distance between the interlacing means and the cutting means is long, the tail part may remain between the interlacing means and the cutting means even after the cutting means cuts the tail part. Such a remaining tail part is removed as the remaining tail part is manually cut by an operator in known arrangements. However, the manual cutting performed by the operator is burdensome and may damage a part of the yarn different from the tail part.

[0005] The operator may adjust the length of the yarn inserted into the interlacing means in order not to generate the tail part. However, because whether the yarn is successfully inserted or not depends on the skill of the operator, the redundant tail part is often generated. US 4292796 A is related to the preamble of claim 1.

[0006] An object of the present invention is to suppress generation of a tail part at joining of yarns.

[0007] A yarn joining device of the present invention comprises the features of claim 1.

[0008] In this yarn joining device, a part of the one yarn jutting to the one side of the interlacing means is cut and gripped by the first yarn cutting gripping means, whereas a part of the other yarn jutting to the other side of the interlacing means is cut and gripped by the second yarn cutting gripping means. The two yarns cut by the respective yarn cutting gripping means are interlaced by the interlacing means. On this account, the closer the first yarn cutting gripping means and the second yarn cutting gripping means are to the interlacing means, the shorter the distance between each of the parts of the two yarns cut by each yarn cutting gripping means and the interlacing means, with the result that the tail part is reduced. In this regard, the positional relationship between (i) the first yarn cutting gripping means and the second yarn cutting gripping means and (ii) the interlacing means can be optionally determined as long as the two yarns can be threaded into the first yarn cutting gripping means, the second yarn cutting gripping means, and the interlacing means. However, when the first cutting unit and the first grip unit and the second cutting unit and the second grip unit which are in the open state are not provided such that a fixed blade and a movable blade of the first cutting unit as well as a fixed grip member and a movable grip member of the first grip unit and a fixed blade and a movable blade of the second cutting unit as well as a fixed grip member and a movable grip member of the second grip unit oppose each other over the extension of the slit, i.e., when the first cutting unit and the first grip unit and the second cutting unit and the second grip unit which are in the open state are deviated from the extension of the slit in the predetermined direction, it is necessary to bend parts of each yarn jutting out to the respective sides from the slit and take the parts of the yarn to locations between the cutting units and the grip members which are deviated from the extension of the slit. On this account, when the distance between the interlacing means and each yarn cutting gripping means is short, it is necessary to significantly bend the yarns on the both sides of the slit in order to provide the yarns at the locations between the cutting units and the grip members, with the result that it is difficult to thread the yarn into the slit. In this way, there is a limitation in bringing the interlacing means yarn and each yarn cutting gripping means close to each other. According to the present invention, the first cutting unit and the first grip unit and the second cutting unit and the second grip unit are opened so as to oppose each other over the extension of the slit in the predetermined direction. On this account, it is possible to easily thread the yarn into the slit and between the cutting units and the grip members by causing the yarn placed into the slit to simply extend along the extension of the slit. With this arrangement, even though each yarn cutting gripping means is brought close to the interlacing means, yarn threading into the slit and to each yarn cutting gripping means is not obstructed. It is therefore possible to arrange each yarn cutting gripping means to be as close as possible to the interlacing means, and to suppress the generation of a tail part when the yarns are joined.

[0009] Further. in the yarn joining device of the present invention, when the first yarn cutting gripping means is in the closed state, the first cutting unit and the first grip unit are deviated from the extension of the slit in the predetermined direction, and when the second yarn cutting gripping means is in the closed state, the second cutting unit and the second grip unit are deviated from the extension of the slit in the predetermined direction.

[0010] Two yarns may be joined with each other in such a way that, after one yarn is threaded into the slit and is cut and gripped by the first yarn cutting gripping means, the other yarn is threaded into the slit and is cut and gripped by the second yarn cutting gripping means. In this case, when the one yarn is threaded into the slit, it is necessary to arrange the first yarn cutting gripping means in the open state and to arrange the second yarn cutting gripping means in the closed state. These arrangements are necessary to set the one yarn to be cuttable by the first cutting unit and grippable by the first grip unit, and not to be cuttable by the second cutting unit and not to be grippable by the second grip unit. On the contrary, when the other yarn is threaded into the slit, it is necessary to arrange the second yarn cutting gripping means in the open state and to arrange the first yarn cutting gripping means in the closed state. These arrangements are necessary to set the other yarn to be cuttable by the second grip unit and grippable by the second grip unit, and not to be cuttable by the first cutting unit and not to be grippable by the first grip unit. According to the present invention, the first cutting unit and the first grip unit when the first yarn cutting gripping means is in the closed state and the second cutting unit and the second grip unit when the second yarn cutting gripping means is in the closed state are deviated from the extension of the slit in the predetermined direction. On this account, when the one yarn is threaded into the slit, the second cutting unit and the second grip unit in the closed state do not obstruct the threading of the yarn. Likewise, when the other yarn is threaded into the slit, the first cutting unit and the first grip unit in the closed state do not obstruct the threading of the yarn. This facilitates the yarn threading into the slit.

[0011] Preferably, the yarn joining device of the present invention further comprises: a first yarn gripping means which is provided on one side of the first yarn cutting gripping means in the predetermined direction and is configured to grip the yarn; a second yarn gripping means which is provided on the other side of the second yarn cutting gripping means in the predetermined direction and is configured to grip the yarn; a first movement mechanism which is able to elongate and relax the yarn gripped by the first yarn gripping means and the second yarn cutting gripping means by moving the first yarn gripping means; and a second movement mechanism which is able to elongate and relax the yarn gripped by the second yarn gripping means and the first yarn cutting gripping means by moving the second yarn gripping means.

[0012] According to the present invention, as the yarns are elongated and relaxed, the bulkiness of the yarns is decreased and the yarns are suitably loosened. Because of this, interlacing of the two yarns is facilitated.

[0013] Preferably, the yarn joining device of the present invention further comprises a controller which is configured to control the interlacing means, the first movement mechanism, and the second movement mechanism, before the two yarns are interlaced by the interlacing means, the controller controlling the first movement mechanism so that the yarn gripped by the first yarn gripping means and the second yarn cutting gripping means is elongated and relaxed, and before the two yarns are interlaced by the interlacing means, the controller controlling the second movement mechanism so that the yarn gripped by the second yarn gripping means and the first yarn cutting gripping means is elongated and relaxed.

[0014] According to the present invention, as the two yarns are elongated and relaxed before they are interlaced, the bulkiness of the yarns is decreased and the yarns are suitably loosened. Because of this, interlacing of the two yarns is further facilitated.

[0015] Preferably, the yarn joining device of the present invention further comprises a controller which is configured to control the interlacing means and switching of states of the first yarn cutting gripping means and the second yarn cutting gripping means, the controller controlling the interlacing means so that the two yarns passing through the slit are interlaced, after gripping of the yarn is canceled by switching the first yarn cutting gripping means to the open state and gripping of the yarn is canceled by switching the second yarn cutting gripping means to the open state.

[0016] According to the present invention, when the two yarns are interlaced by the interlacing means, the gripping of the two yarns by the respective yarn cutting gripping means has been canceled. On this account, due to the movement of the yarn in the interlacing, each yarn between the interlacing means and each yarn cutting gripping means is drawn into the slit. Because of this, generation of the tail part is further suppressed.

[0017] Preferably, the yarn joining device of the present invention further comprises: a first robotic arm which includes a first yarn holding member holding one of the two yarns and is configured to thread the one of the yarns held by the first yarn holding member into the slit; a second robotic arm which includes a second yarn holding member holding the other of the two yarns and is configured to thread the other of the yarns held by the second yarn holding member into the slit; and a controller which is configured to control switching of states of the first yarn cutting gripping means and the second yarn cutting gripping means and to control the first robotic arm and the second robotic arm, the controller controlling the first robotic arm so that the one of the yarns is threaded into the slit, between the two blades of the first yarn cutting gripping means in the open state, and between the two grip members of the first yarn cutting gripping means in the open state, and the controller controlling the second robotic arm so that the other of the yarns is threaded into the slit, between the two blades of the second yarn cutting gripping means in the open state, and between the two grip members of the second yarn cutting gripping means in the open state.

[0018] In the present invention, in the arrangement in which the yarn is threaded into the slit by the robotic arm, the cutting units and the grip units are provided in the open state such that a fixed blade and a movable blade of the first cutting unit as well as a fixed grip member and a movable grip member of the first grip unit and a fixed blade and a movable blade of the second cutting unit as well as a fixed grip member and a movable grip member of the second grip unit oppose one another over the extension of the slit. On this account, threading of the yarn into the slit is achieved by moving the yarn held by the robotic arm along the extension of the slit, i.e., along the straight line. Complicated control of the robotic arm is therefore unnecessary for threading the yarn into the slit.

[0019] In the yarn joining device of the present invention, preferably, the controller executes: first robotic arm control of controlling the first robotic arm so that the one of the yarns is threaded into the slit, between the two blades of the first yarn cutting gripping means in the open state, and between the two grip members of the first yarn cutting gripping means in the open state, after the second yarn cutting gripping means is switched to the closed state; yarn cutting gripping control of cutting and gripping the one of the yarns by switching the first yarn cutting gripping means to the closed state after the first robotic arm control is executed; and second robotic arm control of controlling the second robotic arm so that the other of the yarns is threaded into the slit, between the two blades of the second yarn cutting gripping means in the open state, and between the two grip members of the second yarn cutting gripping means in the open state, after the second yarn cutting gripping means is switched to the open state after the yarn cutting gripping control, and when the second yarn cutting gripping means is switched from the closed state to the open state, the second cutting unit and the second grip unit press the one of the yarns gripped by the first yarn cutting gripping means to a location which is deviated from the extension of the slit in the predetermined direction.

[0020] When the other yarn is threaded into the slit and is cut and gripped by the second yarn cutting gripping means after the one yarn is threaded into the slit and is cut and gripped by the first yarn cutting gripping means, the one yarn having been threaded into the slit first may obstruct the threading of the other yarn into the slit. According to the present invention, as the second yarn cutting gripping means is switched from the closed state to the open state before the other yarn is threaded into the slit, the second cutting unit and the second grip unit press the one yarn having been threaded into the slit first and gripped by the first yarn cutting gripping means to a location that is deviated from the extension of the slit in the predetermined direction. On this account, when the other yarn is threaded into the slit, the one yarn gripped by the first yarn cutting gripping means does not obstruct the threading. This further facilitates the yarn threading into the slit.

[0021] A yarn joining method of the present invention joins two yarns by using a yarn joining device which includes the features of claim 7.

[0022] In this yarn joining device, a part of the one yarn jutting to the one side of the interlacing means is cut and gripped by the first yarn cutting gripping means, whereas a part of the other yarn jutting to the other side of the interlacing means is cut and gripped by the second yarn cutting gripping means. The two yarns cut by the respective yarn cutting gripping means are interlaced by the interlacing means. On this account, the closer the first yarn cutting gripping means and the second yarn cutting gripping means are to the interlacing means, the shorter the distance between each of the parts of the two yarns cut by each yarn cutting gripping means and the interlacing means, with the result that the tail part is reduced. In this regard, the positional relationship between (i) the first yarn cutting gripping means and the second yarn cutting gripping means and (ii) the interlacing means can be optionally determined as long as the two yarns can be threaded into the first yarn cutting gripping means, the second yarn cutting gripping means, and the interlacing means. However, when the first cutting unit and the first grip unit and the second cutting unit and the second grip unit which are in the open state are not provided such that a fixed blade and a movable blade of the first cutting unit as well as a fixed grip member and a movable grip member of the first grip unit and a fixed blade and a movable blade of the second cutting unit as well as a fixed grip member and a movable grip member of the second grip unit oppose oppose each other over the extension of the slit, i.e., when the first cutting unit and the first grip unit and the second cutting unit and the second grip unit which are in the open state are deviated from the extension of the slit in the predetermined direction, it is necessary to bend parts of the yarn jutting out to the respective sides from the slit and take the parts of the yarn to locations between the cutting units and the grip members which are deviated from the extension of the slit. On this account, when the distance between the interlacing means and each yarn cutting gripping means is short, it is necessary to significantly bend the yarns on the both sides of the slit in order to provide the yarns at the locations between the cutting units and the grip members, with the result that it is difficult to thread the yarn into the slit. In this way, there is a limitation in bringing the interlacing means yarn and each yarn cutting gripping means close to each other. According to the present invention, the first cutting unit and the first grip unit and the second cutting unit and the second grip unit are opened so as to oppose each other over the extension of the slit in the predetermined direction. On this account, it is possible to easily thread the yarn into the slit and between the cutting units and the grip members by causing the yarn placed into the slit to simply extend along the extension of the slit. With this arrangement, even though each yarn cutting gripping means is brought close to the interlacing means, yarn threading into the slit and to each yarn cutting gripping means is not obstructed. It is therefore possible to arrange each yarn cutting gripping means to be as close as possible to the interlacing means, and to suppress the generation of a tail part when the yarns are joined.

[0023] The following effects are attained by the yarn joining method of the present invention. To be more specific, two yarns may be joined with each other in such a way that, after one yarn is threaded into the slit and is cut and gripped by the first yarn cutting gripping means, the other yarn is threaded into the slit and is cut and gripped by the second yarn cutting gripping means. In this case, when the one yarn is threaded into the slit, it is necessary to arrange the first yarn cutting gripping means in the open state and to arrange the second yarn cutting gripping means in the closed state. These arrangements are necessary to set the one yarn to be cuttable by the first cutting unit and grippable by the first grip unit, and not to be cuttable by the second cutting unit and not to be grippable by the second grip unit. On the contrary, when the other yarn is threaded into the slit, it is necessary to arrange the second yarn cutting gripping means in the open state and to arrange the first yarn cutting gripping means in the closed state. These arrangements are necessary to set the other yarn to be cuttable by the second grip unit and grippable by the second grip unit, and not to be cuttable by the first cutting unit and not to be grippable by the first grip unit. According to the yarn joining method of the present invention, the first cutting unit and the first grip unit when the first yarn cutting gripping means is in the closed state and the second cutting unit and the second grip unit when the second yarn cutting gripping means is in the closed state are deviated from the extension of the slit in the predetermined direction. On this account, when the one yarn is threaded into the slit, the second cutting unit and the second grip unit in the closed state do not obstruct the threading of the yarn. Likewise, when the other yarn is threaded into the slit, the first cutting unit and the first grip unit in the closed state do not obstruct the threading of the yarn. This facilitates the yarn threading into the slit.

[0024] The following effects are attained by the yarn joining method of the present invention. To be more specific, when the other yarn is threaded into the slit and is cut and gripped by the second yarn cutting gripping means after the one yarn is threaded into the slit and is cut and gripped by the first yarn cutting gripping means, the one yarn having been threaded into the slit first may obstruct the threading of the other yarn into the slit. According to the yarn joining method of the present invention, as the second yarn cutting gripping means is switched from the closed state to the open state before the other yarn is threaded into the slit, the second cutting unit and the second grip unit press the one yarn having been threaded into the slit first and gripped by the first yarn cutting gripping means to a location that is deviated from the extension of the slit in the predetermined direction. On this account, when the other yarn is threaded into the slit, the one yarn gripped by the first yarn cutting gripping means does not obstruct the threading. This further facilitates the yarn threading into the slit.

[0025] According to the yarn joining method of the present invention, when the two yarns are interlaced by the interlacing means, the gripping of the two yarns by the respective yarn cutting gripping means has been canceled. On this account, due to the movement of the yarn in the interlacing, each yarn between the interlacing means and each yarn cutting gripping means is drawn into the slit. Because of this, generation of the tail part is further suppressed.BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG. 1 is a schematic side view of a false-twist texturing machine related to an embodiment. FIG. 2 is a front view of a creel stand shown in FIG. 1. FIG. 3 is a side view showing a yarn joining device. FIG. 4 is a top view of the yarn joining device shown in FIG. 3. FIG. 5 shows a step of a yarn joining operation performed by the yarn joining device, in which a yarn of one yarn supply package is threaded into a slit. FIG. 6 shows a step of the yarn joining operation performed by the yarn joining device, in which the yarn of the one yarn supply package is cut and gripped by a first clamp cutter. FIG. 7 shows a step of the yarn joining operation performed by the yarn joining device, in which a second clamp cutter is switched from a closed state to an open state. FIG. 8 shows a step of a yarn joining operation performed by the yarn joining device, in which a yarn of the other yarn supply package is threaded into the slit. FIG. 9 shows a step of the yarn joining operation performed by the yarn joining device, in which the yarn of the other yarn supply package is cut and gripped by a second clamp cutter. FIG. 10 shows a step of the yarn joining operation performed by the yarn joining device, in which the yarn of the one yarn supply package is gripped by the first clamp cutter and a second clamp whereas the yarn of the other yarn supply package is gripped by the second clamp cutter and a first clamp. FIG. 11 shows a step of the yarn joining operation performed by the yarn joining device, in which interlacing of two yarns by the interlacing means starts. FIG. 12 shows a step of the yarn joining operation performed by the yarn joining device, in which the two yarns are being interlaced by the interlacing means. FIG. 13 shows a step of a yarn joining operation according to a modification, in which two yarns are threaded into a slit. DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] The following will describe an embodiment of the present invention with reference to figures. In the present embodiment, a yarn joining device 6 is applied to a false-twist texturing machine 1 and used for joining two yarns of two yarn supply packages Ps.(False-Twist Texturing Machine 1)

[0028] To begin with, the following will describe a schematic structure of the false-twist texturing machine 1 with reference to FIG. 1. Hereinafter, the up-down direction on the sheet of FIG. 1 will be referred to as an up-down direction, and the left-right direction on the sheet of FIG. 1 will be referred to as a base width direction. The up-down direction is a vertical direction in which the gravity acts. Furthermore, the direction perpendicular to the sheet of FIG. 1 is the base width direction. These directions will be consistently used in the following descriptions.

[0029] The false-twist texturing machine 1 can perform false twisting of yarns Y made of, for example, synthetic fibers such as nylon (polyamide fibers). The false-twist texturing machine 1 includes a yarn supplying unit 2 for supplying the yarns Y, a processing unit 3 which performs false twisting of the yarns Y supplied from the yarn supplying unit 2, and a winding unit 4 which winds the yarns Y processed by the processing unit 3 onto winding bobbins Bw. The yarn supplying unit 2, the processing unit 3, and the winding unit 4 include constituent features, and the constituent features are provided to form plural lines in a base longitudinal direction orthogonal to a yarn running surface (surface orthogonal to the direction in which FIG. 1 is viewed) in which yarn paths are provided to reach the winding unit 4 from the yarn supplying unit 2 via the processing unit 3.

[0030] The yarn supplying unit 2 includes a creel stand 5 retaining yarn supply packages Ps, and supplies the yarns Y to the processing unit 3. In the processing unit 3, the following members are provided in this order from the upstream in a yarn running direction: first feed rollers 11; a twist-stopping guide 12; a first heater 13; a cooler 14; a false-twisting device 15; second feed rollers 16; an interlacing device 17; third feed rollers 18; a second heater 19; and fourth feed rollers 20. The winding unit 4 winds the yarns Y for which the false winding has been performed at the processing unit 3 onto the bobbins Bw by winding devices 21, and forms wound packages Pw.

[0031] Each yarn Y supplied to the processing unit 3 from the yarn supplying unit 2 is drawn between the first feed rollers 11 and the second feed rollers 16, and twisted by the twisting unit 15. The twist formed by the twisting unit 15 is propagated to the twist-stopping guide 12, but is not propagated to the upstream in the yarn running direction of the twist-stopping guide 12. The yarn Y drawn and twisted in this way is heated by the first heater 13, and is then cooled by the cooler 14 and thermally set. The yarn Y having passed the pin-type twisting unit 15 is unwound before the yarn Y reaches the second feed rollers 16. The twist of each yarn Y, however, is thermally set as described above. Each of the filaments therefore maintains a wavy false-twisted state. Thereafter, interlacing is performed by the interlacing device 17, and the yarn Y thermally set by the second heater 19 is wound by the winding device 21.

[0032] As shown in FIG. 1, the false-twist texturing machine 1 includes a main base 8 and a winding base 9 which are placed to be spaced apart from each other in the base width direction. The main base 8 and the winding base 9 are provided to extend in a substantially same length in the base longitudinal direction, and placed to oppose each other. An upper part of the main base 8 is connected to an upper part of the winding base 9 by a supporting frame 10. Each device constituting the processing unit 3 is mainly attached to the main base 8 or the supporting frame 10. The winding devices 21 constituting the winding unit 4 are attached to the winding base 9.

[0033] The creel stand 5 is provided to oppose the main base 8 over the winding base 9 in the base width direction. A pair of the creel stands 5 are provided back to back in the base width direction. The creel stands 5 are aligned along the base longitudinal direction. The total length of the creel stands 5 aligned along the base longitudinal direction is substantially identical with the length in the base longitudinal direction of the main base 8 and the winding base 9.

[0034] Rails R are provided to extend in the base longitudinal direction on a floor so as to sandwich the pair of the creel stands 5 provided back to back, in the base width direction. A running wagon (not illustrated) supporting a yarn joining device 6 (shown in FIG. 3 and FIG. 4) described later runs along the rails R.

[0035] The false-twist texturing machine 1 is arranged to be symmetrical in the base width direction with the main base 8 being at the center. In other words, the winding base 9 and the creel stands 5 are provided on each side of the main base 8 in the base width direction. In FIG. 1, the winding base 9 and creel stands 5 provided on the left side of the main base 8 are not shown.(Creel Stand)

[0036] The following will describe the structure of each creel stand 5 with reference to FIG. 2. As shown in FIG. 2, the creel stand 5 mainly includes a creel base portion 51, pillars 52a and 52b, partition plates 53, and pegs 54. The creel base portion 51 is structured as a frame-shaped frame. The pillars 52a and 52b are provided to vertically extend on the creel base portion 51. The pillars 52a and 52b extend along an up-down direction. The pillars 52a and 52b are aligned in the base longitudinal direction with a predetermined interval. The partition plates 53 are provided at the pillars 52a and 52b. The partition plates 53 are aligned in the up-down direction of the pillars 52a and 52b, at predetermined intervals.

[0037] The pegs 54 support the yarn supply packages Ps, respectively. The pegs 54 are provided at the pillars 52a and 52b. Hereinafter, a yarn supply package Ps supported by a peg 54 provided at the pillar 52a may be referred to as a "yarn supply package Ps1", and a yarn supply package Ps supported by a peg 54 provided at the pillar 52b may be referred to as a "yarn supply package Ps2".

[0038] The plural (e.g., eight) pegs 54 are aligned in the up-down direction of the pillars 52a and 52b at predetermined intervals. Each peg 54 are provided between each pair of the partition plates 53. Each peg 54 on the pillar 52a is provided to be at the same vertical position as each peg 54 provided on the pillar 52b. In other words, the plural yarn supply packages Ps are supported by the respective pegs 54 while being provided in a matrix manner in the up-down direction and the base longitudinal direction in the creel stand 5.

[0039] In two yarn supply packages Ps supported by two pegs 54 provided at the same vertical position in the creel stand 5, the following yarns Y are joined with each other by the yarn joining device 6 described later: a yarn Y1 provided on the inner layer side of the yarn supply package Ps1 which is one of the two yarn supply packages Ps; and a yarn Y2 provided on the outer layer side of the yarn supply package Ps2 which is the other of the two yarn supply packages Ps. Because of this, a yarn Y is supplied from the other yarn supply package Ps even when a yarn Y of one yarn supply package Ps is run out in the creel stand 5. As a result, yarns Y can be continuously supplied.(Yarn Joining Device 6)

[0040] The following will describe the yarn joining device 6 with reference to FIG. 3 and FIG. 4. The yarn joining device 6 is supported by the base 22. The base 22 is provided to be able to move up and down along a pillar 23 which vertically extends on a running wagon (not illustrated) running along the rails R (as shown in FIG. 1). The yarn joining device 6 includes a splicer 60, a robotic arm 25, and a controller 69.

[0041] The yarn joining device 6 is movable to a position opposite to each of the creel stands 5 which are provided along the base longitudinal direction, as the running wagon runs along the rails R. Furthermore, the yarn joining device 6 can move to a position opposite to each of the yarn supply packages Ps supported by the creel stand 5, as the base 22 moves up and down along the pillar 23.

[0042] The splicer 60 includes an interlacing means 61, a first clamp 62 (i.e., a first yarn gripping means of the present invention), a second clamp 63 (i.e., a second yarn gripping means of the present invention), a first clamp cutter 64 (first yarn cutting gripping means of the present invention), a second clamp cutter 65 (second yarn cutting gripping means of the present invention), two guides 66 and 67, and a main body portion 68. The interlacing means 61, the first clamp 62, the second clamp 63, the first clamp cutter 64, the second clamp cutter 65, and the two guides 66 and 67 are attached to the main body portion 68. The main body portion 68 is attached to the base 22.

[0043] As shown in FIG. 3, the interlacing means 61 includes a slit 61a, a nozzle (not illustrated), and a nozzle lid (not illustrated). The slit 61a penetrates the interlacing means 61 in the base longitudinal direction, and each yarn Y is able to run through the slit 61a. The base longitudinal direction is equivalent to a predetermined direction of the present invention. The nozzle is able to inject compressed air in the base width direction. The nozzle lid is openable and closeable as a member covering the slit 61a from above. The nozzle lid is open so that the slit 61a is open top before each yarn Y is threaded into the slit 61a, and closed so as to form the top surface of the slit 61a after each yarn Y is threaded into the slit 61a. The interlacing means 61 is configured to join two yarns Y together by interlacing the yarns Y with use of the compressed air injected from the nozzle to the yarns Y which are threaded into the slit 61a.

[0044] The first clamp 62 is configured to grip a yarn Y threaded into the slit 61a. The first clamp 62 is provided on one side of the interlacing means 61 in the base longitudinal direction. The first clamp 62 includes a fixed portion 62a and a movable portion 62b. The fixed portion 62a and the movable portion 62b are provided on a straight line along the base width direction. The movable portion 62b is movable along the base width direction by means of, e.g., an unillustrated air cylinder. The movable portion 62b can take a sandwiching position (see FIG. 10 to FIG. 12) where it is able to sandwich the yarn Y with the fixed portion 62a and a cancellation position (see FIG. 4 to FIG. 9) which is far from the fixed portion 62a as compared to the sandwiching position. An end portion of the first clamp 62 is provided with a rotational shaft 62c extending along the up-down direction, on the side where the movable portion 62b is provided. The first clamp 62 is rotationally movable by rotating about the rotational shaft 62c. When the movable portion 62b is at the cancellation position, the rotational movement of the first clamp 62 about the rotational shaft 62c is restricted. Meanwhile, when the movable portion 62b is at the sandwiching position, the rotational movement of the first clamp 62 about the rotational shaft 62c is allowed. The rotational movement of the first clamp 62 is, for example, performed by a cam mechanism 90. The cam mechanism 90 is equivalent to a first movement mechanism of the present invention.

[0045] The second clamp 63 is configured to grip a yarn Y threaded into the slit 61a. The second clamp 63 is provided on the other side of the interlacing means 61 in the base longitudinal direction. The second clamp 63 includes a fixed portion 63a and a movable portion 63b. The fixed portion 63a and the movable portion 63b are provided on a straight line along the base width direction. The movable portion 63b is movable along the base width direction by means of, e.g., an unillustrated air cylinder. The movable portion 63b can take a sandwiching position (see FIG. 10 to FIG. 12) where it is able to sandwich the yarn Y with the fixed portion 63a and a cancellation position (see FIG. 4 to FIG. 9) which is far from the fixed portion 63a as compared to the sandwiching position. An end portion of the second clamp 63 is provided with a rotational shaft 63c extending along the up-down direction, on the side where the movable portion 63b is provided. The second clamp 63 is rotationally movable by rotating about the rotational shaft 63c. When the movable portion 63b is at the cancellation position, the rotational movement of the second clamp 63 about the rotational shaft 63c is restricted. Meanwhile, when the movable portion 63b is at the sandwiching position, the rotational movement of the second clamp 63 about the rotational shaft 63c is allowed. The rotational movement of the second clamp 63 is, for example, performed by a cam mechanism 90. The cam mechanism 90 is equivalent to a second movement mechanism of the present invention. In the present embodiment, the first movement mechanism and the second movement mechanism are equivalent to the common cam mechanism 90.

[0046] The first clamp cutter 64 is configured to cut and grip one of two yarns Y threaded into the slit 61a. The first clamp cutter 64 is provided on one side of the interlacing means 61 and on the other side of the first clamp 62 in the base longitudinal direction. In other words, the first clamp cutter 64 is provided between the interlacing means 61 and the first clamp 62 in the base longitudinal direction. As shown in FIG. 4, the first clamp cutter 64 includes a first cutting unit 64a having a fixed blade 64a1 and a movable blade 64a2 and a first grip unit 64b having a fixed grip member 64b1 and a movable grip member 64b2. The fixed blade 64a1 and the movable blade 64a2 are equivalent to two blades of the present invention. The fixed grip member 64b1 and the movable grip member 64b2 are equivalent to two grip members of the present invention.

[0047] The fixed blade 64a1 and the movable blade 64a2 are provided on a straight line extending along the base width direction. The fixed blade 64a1 and the movable blade 64a2 are openable and closeable relative to each other. To be more specific, the movable blade 64a2 is movable along the base width direction by means of, e.g., an unillustrated air cylinder. With this arrangement, the fixed blade 64a1 and the movable blade 64a2 are switched between an open state (see FIG. 4 to FIG. 5 and FIG. 11) and a closed state (see FIG. 6 to FIG. 10 and FIG. 12). In the open state in which the blades are open, the fixed blade 64a1 and the movable blade 64a2 oppose each other over an extension of the slit 61a in the base longitudinal direction. This extension of the slit 61a in the base longitudinal direction is a straight line that passes though the center of the slit 61a in the base width direction and extends in the base longitudinal direction. In the closed state in which the blades are closed, the fixed blade 64a1 and the movable blade 64a2 cut a yarn Y provided between the fixed blade 64a1 and the movable blade 64a2. In the closed state in which the blades are closed, the fixed blade 64a1 and the movable blade 64a2 are deviated from the extension of the slit 61a in the base longitudinal direction.

[0048] The fixed grip member 64b1 and the movable grip member 64b2 are provided on a straight line extending along the base width direction. The fixed grip member 64b1 and the movable grip member 64b2 are provided on the other side of the fixed blade 64a1 and the movable blade 64a2 in the base longitudinal direction. To put it differently, the fixed grip member 64b1 and the movable grip member 64b2 are between (i) the interlacing means 61 and (ii) the fixed blade 64a1 and the movable blade 64a2 in the base longitudinal direction. The fixed grip member 64b1 and the movable grip member 64b2 are openable and closeable relative to each other. To be more specific, the movable grip member 64b2 is movable together with the movable blade 64a2. With this arrangement, the fixed grip member 64b1 and the movable grip member 64b2 are switched between an open state (see FIG. 4 to FIG. 5 and FIG. 11) and a closed state (see FIG. 6 to FIG. 10 and FIG. 12). In the open state in which the members are open, the fixed grip member 64b1 and the movable grip member 64b2 oppose each other over the extension of the slit 61a in the base longitudinal direction. In the closed state in which the members are closed, the fixed grip member 64b1 and the movable grip member 64b2 grip a yarn Y between the fixed grip member 64b1 and the movable grip member 64b2. In the closed state in which the members are closed, the fixed grip member 64b1 and the movable grip member 64b2 are deviated from the extension of the slit 61a in the base longitudinal direction.

[0049] The second clamp cutter 65 is configured to cut and grip the other of the two yarns Y threaded into the slit 61a. The second clamp cutter 65 is provided on the other side of the interlacing means 61 and on one side of the second clamp 63 in the base longitudinal direction. In other words, the second clamp cutter 65 is provided between the interlacing means 61 and the second clamp 63 in the base longitudinal direction. As shown in FIG. 4, the second clamp cutter 65 includes a second cutting unit 65a having a fixed blade 65a1 and a movable blade 65a2 and a second grip unit 65b having a fixed grip member 65b1 and a movable grip member 65b2. The fixed blade 65a1 and the movable blade 65a2 are equivalent to the two blades of the present invention. The fixed grip member 65b1 and the movable grip member 65b2 are equivalent to the two grip members of the present invention.

[0050] The fixed blade 65a1 and the movable blade 65a2 are provided on a straight line extending along the base width direction. The fixed blade 65a1 and the movable blade 65a2 are openable and closeable relative to each other. To be more specific, the movable blade 65a2 is movable along the base width direction by means of, e.g., an unillustrated air cylinder. With this arrangement, the fixed blade 65a1 and the movable blade 65a2 are switched between an open state (see FIG. 4, FIG. 7, FIG. 8, and FIG. 11) and a closed state (see FIG. 5, FIG. 6, FIG. 9, FIG. 10, and FIG. 12). In the open state in which the blades are open, the fixed blade 65a1 and the movable blade 65a2 oppose each other over an extension of the slit 61a in the base longitudinal direction. In the closed state in which the blades are closed, the fixed blade 65a1 and the movable blade 65a2 cut a yarn Y provided between the fixed blade 65a1 and the movable blade 65a2. In the closed state in which the blades are closed, the fixed blade 65a1 and the movable blade 65a2 are deviated from the extension of the slit 61a in the base longitudinal direction.

[0051] The fixed grip member 65b1 and the movable grip member 65b2 are provided on a straight line extending along the base width direction. The fixed grip member 65b1 and the movable grip member 65b2 are provided on one side of the fixed blade 65a1 and the movable blade 65a2 in the base longitudinal direction. To put it differently, the fixed grip member 65b1 and the movable grip member 65b2 are between (i) the interlacing means 61 and (ii) the fixed blade 65a1 and the movable blade 65a2 in the base longitudinal direction. The fixed grip member 65b1 and the movable grip member 65b2 are openable and closeable relative to each other. To be more specific, the movable grip member 65b2 is movable together with the movable blade 65a2. With this arrangement, the fixed grip member 65b1 and the movable grip member 65b2 are switched between an open state (see FIG. 4, FIG. 7, FIG. 8, and FIG. 11) and a closed state (see FIG. 5, FIG. 6, FIG. 9, FIG. 10, and FIG. 12). In the open state in which the members are open, the fixed grip member 65b1 and the movable grip member 65b2 oppose each other over the extension of the slit 61a in the base longitudinal direction. In the closed state in which the members are closed, the fixed grip member 65b1 and the movable grip member 65b2 grip a yarn Y between the fixed grip member 65b1 and the movable grip member 65b2. In the closed state in which the members are closed, the fixed grip member 65b1 and the movable grip member 65b2 are deviated from the extension of the slit 61a in the base longitudinal direction.

[0052] The two guides 66 and 67 are provided for guiding the yarns Y captured by a later-described yarn handling device 70 to the interlacing means 61. As shown in FIG. 3, when viewed in the base longitudinal direction, both end portions of the guide 67 are provided above a substantially central part of the guide 67 and are inclined downward toward the substantially central part of the guide 67. The guide 66 is similarly arranged. With this arrangement, at the guides 66 and 67, the yarns Y are guided along the inclined end portions to the substantially central parts. As shown in FIG. 4, the guide 66 is provided on one side of the first clamp 62 in the base longitudinal direction. The guide 67 is provided on the other side of the second clamp 63 in the base longitudinal direction.

[0053] The robotic arm 25 includes the yarn handling device 70 holding a yarn Y, and is configured to thread the yarn Y held by the yarn handling device 70 into the slit 61a. The yarn handling device 70 is able to suck and hold the yarn Y. As shown in FIG. 3, the yarn handling device 70 is attached to a leading end portion of the robotic arm 25 and is supported by the base 22. In the present embodiment, the robotic arm 25 is equivalent to a first robotic arm and a second robotic arm of the present invention. The yarn handling device 70 is equivalent to a first yarn holding member and a second yarn holding member of the present invention. The robotic arm 25 includes a rotating base 25a, three arms 25b, 25c, and 25d, and two joints 25e and 25f. The rotating base 25a is provided on the upper surface of the base 22. The rotating base 25a is rotatable in a horizontal plane by driving force of an unillustrated motor. The arm 25b is provided to vertically extend on the rotating base 25a. The arm 25c is attached to the leading end portion of the arm 25b via the joint 25e. The arm 25c is rotatable about the joint 25e by driving force of an unillustrated motor. The arm 25d is attached to an end portion of the arm 25c via the joint 25f. This end portion is on the side opposite to the joint 25e side of the arm 25c. The arm 25d is rotatable about the joint 25f by driving force of an unillustrated motor. The yarn handling device 70 is attached to an end portion of the arm 25d. This end portion is on the side opposite to the joint 25f side of the arm 25d.

[0054] The controller 69 controls the interlacing means 61, the first clamp 62, the second clamp 63, the first clamp cutter 64, the second clamp cutter 65, the robotic arm 25, and the cam mechanism 90. To be more specific, the controller 69 is programmed to control the interlacing means 61 so as to inject the compressed air into the slit 61a from an unillustrated nozzle. The controller 69 is programmed to control the first clamp 62 so as to switch the movable portion 62b between the sandwiching position and the cancellation position. The controller 69 is programmed to control the second clamp 63 so as to switch the movable portion 63b between the sandwiching position and the cancellation position. The controller 69 controls switching between an open state in which the first cutting unit 64a and the first grip unit 64b of the first clamp cutter 64 are open and a closed state in which the first cutting unit 64a and the first grip unit 64b are closed. The controller 69 controls switching between an open state in which the second cutting unit 65a and the second grip unit 65b of the second clamp cutter 65 are open and a closed state in which the second cutting unit 65a and the second grip unit 65b are closed. Furthermore, the controller 69 controls the operation of the robotic arm 25. The controller 69 is programmed to control the cam mechanism 90 so as to rotate the first clamp 62 and the second clamp 63 about the respective rotational shafts 62c and 63c. The controller 69 is electrically connected with the interlacing means 61, the first clamp 62, the second clamp 63, the first clamp cutter 64, the second clamp cutter 65, the robotic arm 25, and the cam mechanism 90.(Yarn Joining Operation)

[0055] The following will describe an example of steps of a yarn joining operation in which a yarn joining method of joining two yarns by the yarn joining device 6 is executed, with reference to FIG. 5 to FIG. 12. In the yarn joining operation, the following yarns Y are joined with each other: a yarn Y1 provided on the inner layer side of one of two yarn supply packages Ps1 and Ps2 which are placed at the same vertical position in the creel stand 5; and a yarn Y2 provided on the outer layer side of the other of the two yarn supply packages Ps1 and Ps2. As shown in FIG. 4, in the present embodiment, in the base longitudinal direction, the yarn supply package Ps1 is on the other side of the yarn joining device 6 and the yarn supply package Ps2 is on one side of the yarn joining device 6.

[0056] At the start of the yarn joining operation, each of (i) the movable portion 62b of the first clamp 62 and (ii) the movable portion 63b of the second clamp 63 is switched to the cancellation position as shown in FIG. 5. Furthermore, the first clamp cutter 64 is switched to the open state in which (i) the fixed blade 64a1 and the movable blade 64a2 of the first cutting unit 64a and (ii) the fixed grip member 64b1 and the movable grip member 64b2 of the first grip unit 64b are open. Furthermore, the second clamp cutter 65 is switched to the closed state in which (i) the fixed blade 65a1 and the movable blade 65a2 of the second cutting unit 65a and (ii) the fixed grip member 65b1 and the movable grip member 65b2 of the second grip unit 65b are closed.

[0057] In the yarn joining operation, to begin with, the controller 69 controls the robotic arm 25 so as to capture the yarn Y1 provided on the inner layer side of the one yarn supply package Ps1 by the yarn handling device 70. Subsequently, the yarn Y1 is pulled out by a predetermined length from the yarn supply package Ps1 by a pulling out mechanism (not illustrated).

[0058] Subsequently, the controller 69 controls the robotic arm 25 so as to thread the yarn Y1 held by the yarn handling device 70 from the guide 67 to the guide 66. In this regard, as shown in FIG. 5, the controller 69 executes first robotic arm control of controlling the robotic arm 25 so that the yarn Y1 is threaded into the slit 61a, between the fixed portion 62a and movable portion 62b of the first clamp 62, between the fixed portion 63a and movable portion 63b of the second clamp 63, between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed grip member 64b1 and the movable grip member 64b2 of the first cramp cutter 64. It is noted that the step in which the first clamp cutter 64 is switched to the open state and the second clamp cutter 65 is switched to the closed state and one yarn Y1 is threaded into the slit 61a, between the fixed blade 64a1 and the movable blade 64a2, and between the fixed grip member 64b1 and the movable grip member 64b2 from the other side toward the one side in the base longitudinal direction is equivalent to a first yarn insertion step of the present invention.

[0059] Subsequently, the controller 69 executes first yarn cutting gripping control (equivalent to yarn cutting gripping control of the present invention) of cutting and gripping the yarn Y1 by switching the first clamp cutter 64 to the closed state in which the first cutting unit 64a and the first grip unit 64b are closed. To be more specific, as shown in FIG. 6, the movable blade 64a2 and the movable grip member 64b2 are moved by an unillustrated air cylinder so that the first clamp cutter 64 is switched to the closed state in which (i) the fixed blade 64a1 and the movable blade 64a2 and (ii) the fixed grip member 64b1 and the movable grip member 64b2 are closed. As a result, the yarn Y1 is cut by the fixed blade 64a1 and the movable blade 64a2. At this stage, in the base longitudinal direction, a part of the yarn Y1, which is on one side of the fixed blade 64a1 and the movable blade 64a2, is sucked by the yarn handling device 70, whereas a part of the yarn Y1, which is on the other side of the fixed blade 64a1 and the movable blade 64a2, is gripped by the fixed grip member 64b1 and the movable grip member 64b2. To put it differently, a part of the yarn Y1 on the other side in the base longitudinal direction of a part of the yarn Y1 cut by the fixed blade 64a1 and the movable blade 64a2 is gripped by the fixed grip member 64b1 and the movable grip member 64b2. It is noted that the step in which one yarn Y1 is cut and gripped as the first clamp cutter 64 is switched from the open state to the closed state is equivalent to the first yarn cutting gripping step of the present invention.

[0060] Subsequently, as shown in FIG. 7, the controller 69 switches the second clamp cutter 65 from the closed state to the open state while keeping the yarn Y1 to be gripped by the first clamp cutter 64. To be more specific, the movable blade 65a2 and the movable grip member 65b2 are moved by an unillustrated air cylinder so that the second clamp cutter 65 is switched to the open state in which (i) the fixed blade 65a1 and the movable blade 65a2 and (ii) the fixed grip member 65b1 and the movable grip member 65b2 are open. At this stage, the yarn Y1 gripped by the first clamp cutter 64 is pressed in the base width direction by the movable blade 65a2 and the movable grip member 65b2 so as to be moved to a position that is deviated from an extension of the slit 61a in the base longitudinal direction. As a result, the yarn Y1 does not exist between the fixed blade 65a1 and the movable blade 65a2 and between the fixed grip member 65b1 and the movable grip member 65b2 of the second clamp cutter 65 in the open state.

[0061] Subsequently, the controller 69 controls the robotic arm 25 so as to capture the yarn Y2 provided on the outer layer side of the other yarn supply package Ps2 by the yarn handling device 70. Subsequently, the yarn Y2 is pulled out by a predetermined length from the yarn supply package Ps2 by a pulling out mechanism (not illustrated).

[0062] Subsequently, the controller 69 controls the robotic arm 25 so as to thread the yarn Y2 held by the yarn handling device 70 from the guide 66 to the guide 67. In this regard, as shown in FIG. 8, the controller 69 executes second robotic arm control of controlling the robotic arm 25 so that the yarn Y2 is threaded into the slit 61a, between the fixed portion 62a and movable portion 62b of the first clamp 62, between the fixed portion 63a and movable portion 63b of the second clamp 63, between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed grip member 65b1 and the movable grip member 65b2 of the second cramp cutter 65. It is noted that the step in which the second clamp cutter 65 is switched from the closed state to the open state and the other yarn Y2 is threaded into the slit 61a, between the fixed blade 65a1 and the movable blade 65a2, and between the fixed grip member 65b1 and the movable grip member 65b2 from one side to the other side in the base longitudinal direction is equivalent to a second yarn insertion step of the present invention.

[0063] Subsequently, the controller 69 executes second yarn cutting gripping control of cutting and gripping the yarn Y2 by switching the second clamp cutter 64 from to the closed state in which the second cutting unit 65a and the second grip unit 65b are closed. To be more specific, as shown in FIG. 9, the movable blade 65a2 and the movable grip member 65b2 are moved by an unillustrated air cylinder so that the second clamp cutter 65 is switched to the closed state in which (i) the fixed blade 65a1 and the movable blade 65a2 and (ii) the fixed grip member 65b1 and the movable grip member 65b2 are closed. As a result, the yarn Y2 is cut by the fixed blade 65a1 and the movable blade 65a2. At this stage, in the base longitudinal direction, a part of the yarn Y2, which is on the other side of the fixed blade 65a1 and the movable blade 65a2, is sucked by the yarn handling device 70, whereas a part of the yarn Y2, which is on the one side of the fixed blade 65a1 and the movable blade 65a2, is gripped by the fixed grip member 65b1 and the movable grip member 65b2. To put it differently, a part of the yarn Y2 on the one side in the base longitudinal direction of a part of the yarn Y2 cut by the fixed blade 65a1 and the movable blade 65a2 is gripped by the fixed grip member 65b1 and the movable grip member 65b2. It is noted that the step in which the other yarn Y2 is cut and gripped as the second clamp cutter 65 is switched from the open state to the closed state is equivalent to the second yarn cutting gripping step of the present invention.

[0064] Subsequently, the controller 69 moves each of (i) the movable portion 62b of the first clamp 62 and (ii) the movable portion 63b of the second clamp 63 to the sandwiching position by an unillustrated air cylinder as shown in FIG. 10. Because of this, the yarn Y1 is sandwiched between the fixed portion 63a and the movable portion 63b of the second clamp 63 and the yarn Y2 is sandwiched between the fixed portion 62a and the movable portion 62b of the first clamp 62.

[0065] Subsequently, the controller 69 controls the cam mechanism 90 to rotationally move the first clamp 62 about the rotational shaft 62c. To be more specific, when viewed in the up-down direction, the first clamp 62 is rotationally moved clockwise about the rotational shaft 62c. As a result, the yarn Y2 gripped by the first clamp 62 and the second clamp cutter 65 is elongated between the first clamp 62 and the second clamp cutter 65 in the base longitudinal direction. Subsequently, when viewed in the up-down direction, the first clamp 62 is rotationally moved counterclockwise about the rotational shaft 62c (as indicated by a solid two-way arrow in FIG. 10). As a result, the yarn Y2 gripped by the first clamp 62 and the second clamp cutter 65 is relaxed between the first clamp 62 and the second clamp cutter 65 in the base longitudinal direction.

[0066] In addition to the above, the cam mechanism 90 rotationally moves the second clamp 63 about the rotational shaft 63c. To be more specific, when viewed in the up-down direction, the second clamp 63 is rotationally moved clockwise about the rotational shaft 63c. As a result, the yarn Y1 gripped by the second clamp 63 and the first clamp cutter 64 is elongated between the second clamp 63 and the first clamp cutter 64 in the base longitudinal direction. Subsequently, when viewed in the up-down direction, the second clamp 63 is rotationally moved clockwise about the rotational shaft 63c (as indicated by a solid two-way arrow in FIG. 10). As a result, the yarn Y1 gripped by the second clamp 63 and the first clamp cutter 64 is relaxed between the second clamp 63 and the first clamp cutter 64 in the base longitudinal direction.

[0067] In the present embodiment, the rotational movement of the first clamp 62 is synchronized with the rotational movement of the second clamp 63. To be more specific, when viewed in the up-down direction, the rotational movement of the first clamp 62 about the rotational shaft 62c in the clockwise direction is synchronized with the rotational movement of the second clamp 63 about the rotational shaft 63c in the counterclockwise direction. When viewed in the up-down direction, the rotational movement of the first clamp 62 about the rotational shaft 62c in the counterclockwise direction is synchronized with the rotational movement of the second clamp 63 about the rotational shaft 63c in the clockwise direction.

[0068] To be more specific, as shown in FIG. 11, the controller 69 moves the movable blade 64a2 and the movable grip member 64b2 by an unillustrated air cylinder so that the first clamp cutter 64 is switched to the open state in which (i) the fixed blade 64a1 and the movable blade 64a2 and (ii) the fixed grip member 64b1 and the movable grip member 64b2 are open. Because of this, the yarn Y1, i.e., gripping by the first clamp cutter 64 is canceled. At this stage, the yarn Y2 gripped by the first clamp 62 is pushed and curved in the base width direction by the movable blade 64a2 and the movable grip member 64b2 which are moving. Furthermore, the controller 69 moves the movable blade 65a2 and the movable grip member 65b2 by an unillustrated air cylinder so that the second clamp cutter 65 is switched to the open state in which (i) the fixed blade 65a1 and the movable blade 65a2 and (ii) the fixed grip member 65b1 and the movable grip member 65b2 are open. Because of this, the gripping of the yarn Y2 by the second clamp cutter 65 is canceled. At this stage, the yarn Y1 gripped by the second clamp 63 is pushed and curved in the base width direction by the movable blade 65a2 and the movable grip member 65b2 which are moving. The switching of the first clamp cutter 64 from the closed state to the open state is performed substantially at the same time as the switching of the second clamp cutter 65 from the closed state to the open state in a synchronous manner.

[0069] Subsequently, the controller 69 executes interlacing control of controlling the interlacing means 61 so as to interlace the two yarns Y1 and Y2 inserted into the slit 61a. To be more specific, the yarn Y1 and yarn Y2 threaded into the slit 61a start to be interlaced by the interlacing means 61 substantially at the same time as the yarn Y1 gripped by the first clamp cutter 64 and the yarn Y2 gripped by the second clamp cutter 65 are released. The length of time from the release of the yarn Y1 from the first clamp cutter 64 and the release of the yarn Y2 from the second clamp cutter 65 to the start of interlacing of the yarns Y1 and Y2 by the interlacing means 61 is, for example, 0.05 to 1.00 second. AS a result, the yarn Y1 and yarn Y2 are joined together to form one yarn Y. It is noted that the step in which the gripping of one yarn Y1 is canceled as the first clamp cutter 64 is switched from the closed state to the open state and the gripping of the other yarn Y2 is canceled as the second clamp cutter 65 is switched from the closed state to the open state and then the two yarns Y1 and Y2 threaded into the slit 61a are interlaced by the interlacing means 61 is equivalent to an interlacing step of the present invention.

[0070] In addition to the above, as shown in FIG. 12, when the yarns Y1 and Y2 threaded into the slit 61a are being interlaced by the interlacing means 61, the movable blade 64a2 and the movable grip member 64b2 are moved by an unillustrated air cylinder so that the first clamp cutter 64 is switched to the closed state in which (i) the fixed blade 64a1 and the movable blade 64a2 and (ii) the fixed grip member 64b1 and the movable grip member 64b2 are closed. Because of this, the yarn Y2 pushed and curved in the base width direction by the first clamp cutter 64 is released from being curved. Furthermore, the movable blade 65a2 and the movable grip member 65b2 are moved by an unillustrated air cylinder so that the second clamp cutter 65 is switched to the closed state in which (i) the fixed blade 65a1 and the movable blade 65a2 and (ii) the fixed grip member 65b1 and the movable grip member 65b2 are closed. Because of this, the yarn Y1 pushed and curved in the base width direction by the second clamp cutter 65 is released from the curved state. The switching of the first clamp cutter 64 from the open state to the closed state is performed substantially at the same time as the switching of the second clamp cutter 65 from the open state to the closed state in a synchronous manner. These operations may be performed after the interlacing control by the interlacing means 61 ends.

[0071] Finally, each of the movable portions 62b and 63b is moved to the cancellation position by an unillustrated air cylinder. Because of this, a single yarn formed by joining the yarn Y1 and the yarn Y2 together is released from the gripping by the first clamp 62 and the second clamp 63. By doing this, the yarn joining operation that is performed for the yarn Y1 and the yarn Y2 by the yarn joining device 6 is completed.(Effects)

[0072] As described above, the yarn joining device 6 of the present embodiment includes the interlacing means 61 having the slit 61a, the first clamp cutter 64 configured to cut and grip the yarn Y (yarn Y1), and the second clamp cutter 65 configured to cut and grip the yarn Y (yarn Y2). The first clamp cutter 64 includes the first cutting unit 64a having the fixed blade 64a1 and the movable blade 64a2 and the first grip unit 64b having the fixed grip member 64b1 and the movable grip member 64b2. The first clamp cutter 64 is switchable between the open state in which the first cutting unit 64a and the first grip unit 64b are open and oppose each other over the extension of the slit 61a in the base longitudinal direction and the closed state in which the first cutting unit 64a and the first grip unit 64b are closed. The second clamp cutter 65 includes the second cutting unit 65a having the fixed blade 65a1 and the movable blade 65a2 and the second grip unit 65b having the fixed grip member 65b1 and the movable grip member 65b2. The second clamp cutter 65 is switchable between the open state in which the second cutting unit 65a and the second grip unit 65b are open and oppose each other over the extension of the slit 61a in the base longitudinal direction and the closed state in which the second cutting unit 65a and the second grip unit 65b are closed.

[0073] In the yarn joining device 6 of the present embodiment, a part of the yarn Y (yarn Y1) jutting to the one side of the interlacing means 61 is cut and gripped by the first clamp cutter 64, whereas a part of the yarn Y (yarn Y2) jutting to the other side of the interlacing means 61 is cut and gripped by the second clamp cutter 65. The two yarns Y (the yarn Y1 and the yarn Y2) cut by the respective clamp cutters are interlaced by the interlacing means 61. On this account, the closer the first clamp cutter 64 and the second clamp cutter 65 are to the interlacing means 61, the shorter the distance between each of the parts of the two yarns Y (the yarn Y1 and the yarn Y2) cut by each clamp cutter and the interlacing means 61, with the result that the tail part is reduced. In this regard, the positional relationship between (i) the first clamp cutter 64 and the second clamp cutter 65 and (ii) the interlacing means 61 can be optionally determined as long as the two yarns Y (the yarn Y1 and the yarn Y2) can be threaded into the first clamp cutter 64, the second clamp cutter 65, and the interlacing means 61. However, when the first cutting unit 64a and the first grip unit 64b and the second cutting unit 65a and the second grip unit 65b which are in the open state are not provided to oppose each other over the extension of the slit 61a, i.e., when the first cutting unit 64a and the first grip unit 64b and the second cutting unit 65a and the second grip unit 65b which are in the open state are deviated from the extension of the slit 61a in the predetermined direction, it is necessary to bend parts of the each yarn Y jutting out to the respective sides from the slit 61a and take the parts to locations between the cutting units and the grip members which are deviated from the extension of the slit 61a. On this account, when the distance between the interlacing means 61 and each clamp cutter is short, it is necessary to significantly bend the yarn Y on the both sides of the slit 61a in order to provide the yarn Y at the locations between the cutting units and the grip members, with the result that it is difficult to thread the yarn into the slit 61a. In this way, there is a limitation in bringing the interlacing means 61 and each clamp cutter close to each other. According to the present embodiment, the first cutting unit 64a and the first grip unit 64b and the second cutting unit 65a and the second grip unit 65b are opened so as to oppose each other over the extension of the slit 61a in the base longitudinal direction. On this account, it is possible to easily thread the yarn Y into the slit 61a and between the cutting units and the grip members by causing the yarn Y placed into the slit 61a to simply extend along the extension of the slit 61a. With this arrangement, even though each clamp cutter is brought close to the interlacing means 61, yarn threading into the slit 61a and to each clamp cutter is not obstructed. It is therefore possible to arrange each clamp cutter to be as close as possible to the interlacing means 61, and to suppress the generation of a tail part when the two yarns Y (the yarn Y1 and the yarn Y2) are joined.

[0074] In the present embodiment, when the first clamp cutter 64 is in the closed state, the first cutting unit 64a and the first grip unit 64b are deviated from the extension of the slit 61a in the base longitudinal direction, and when the second clamp cutter 65 is in the closed state, the second cutting unit 65a and the second grip unit 65b are deviated from the extension of the slit 61a in the base longitudinal direction. Two yarns Y may be joined with each other in such a way that, after one yarn Y (yarn Y1) is threaded into the slit 61a and is cut and gripped by the first clamp cutter 64, the other yarn Y (yarn Y2) is threaded into the slit 61a and is cut and gripped by the second clamp cutter 65. In this case, when the one yarn Y (yarn Y1) is threaded into the slit 61a, it is necessary to arrange the first clamp cutter 64 in the open state and to arrange the second clamp cutter 65 in the closed state. These arrangements are necessary to set the one yarn Y (yarn Y1) to be cuttable by the first cutting unit 64a and grippable by the first grip unit 64b, and not to be cuttable by the second cutting unit 65a and not to be grippable by the second grip unit 65b. On the other hand, when the one yarn Y (yarn Y2) is threaded into the slit, it is necessary to arrange the second clamp cutter 65 in the open state and to arrange the first clamp cutter 64 in the closed state. These arrangements are necessary to set the other yarn Y (yarn Y2) to be cuttable by the second cutting unit 65a and grippable by the second grip unit 65b, and not to be cuttable by the first cutting unit 64a and not to be grippable by the first grip unit 64b. In the present embodiment, the first cutting unit 64a and the first grip unit 64b when the first clamp cutter 64 is in the closed state and the second cutting unit 65a and the second grip unit 65b when the second clamp cutter 65 is in the closed state are deviated from the extension of the slit 61a in the base longitudinal direction. On this account, when the one yarn Y (yarn Y1) is threaded into the slit 61a, the second cutting unit 65a and the second grip unit 65b in the closed state do not obstruct the threading of the yarn. Likewise, when the other yarn Y (yarn Y2) is threaded into the slit 61a, the first cutting unit 64a and the first grip unit 64b in the closed state do not obstruct the threading of the yarn. This facilitates the yarn threading into the slit 61a.

[0075] In addition to the above, the yarn joining device 6 of the present embodiment includes the first clamp 62, the second clamp 63, and the cam mechanism 90. The cam mechanism 90 moves the first clamp 62 so as to elongate and relax the yarn Y2 gripped by the first clamp 62 and the second clamp cutter 65. Furthermore, the cam mechanism 90 elongates and relaxes the yarn Y1 gripped by the second clamp 63 and the first clamp cutter 64. In the present embodiment, as the yarn Y1 and the yarn Y2 are elongated and relaxed, the bulkiness of the yarns Y is decreased and the yarns Y are suitably loosened. Because of this, interlacing of the two yarns Y (the yarn Y1 and the yarn Y2) is facilitated.

[0076] The yarn joining device 6 of the present embodiment includes the controller 69 configured to control the interlacing means 61 and the cam mechanism 90. Before interlacing the two yarns Y (the yarn Y1 and the yarn Y2) by the interlacing means 61, the controller 69 controls the cam mechanism 90 so that the yarn Y2 gripped by the first clamp 62 and the second clamp cutter 65 is elongated and relaxed. Before interlacing the two yarns Y (the yarn Y1 and the yarn Y2) by the interlacing means 61, the controller 69 controls the cam mechanism 90 so that the yarn Y1 gripped by the second clamp 63 and the first clamp cutter 64 is elongated and relaxed. In the present embodiment, as the yarn Y1 and the yarn Y2 are elongated and relaxed before the two yarns Y (the yarn Y1 and the yarn Y2) are interlaced, the bulkiness of the yarns Y is decreased and the yarns Y are suitably loosened. Because of this, interlacing of the two yarns Y (the yarn Y1 and the yarn Y2) is further facilitated.

[0077] In the present embodiment, the controller 69 controls switching of the state of the first clamp cutter 64 and the second clamp cutter 65. The controller 69 controls the interlacing means 61 so that, after the gripping of the yarn Y1 is canceled by switching the first clamp cutter 64 to the open state and the gripping of the yarn Y2 is canceled by switching the second clamp cutter 65 to the open state, the two yarns Y (the yarn Y1 and the yarn Y2) passing through the slit 61a are interlaced. In the present embodiment, when the two yarns Y (the yarn Y1 and the yarn Y2) are interlaced by the interlacing means 61, the gripping of the two yarns Y (the yarn Y1 and the yarn Y2) by the clamp cutters has been canceled. On this account, due to the movement of the yarns Y in the interlacing, each yarn Y between the interlacing means 61 and each clamp cutter is drawn into the slit. Because of this, generation of the tail part is further suppressed.

[0078] The yarn joining device 6 of the present embodiment includes the robotic arm 25 including the yarn handling device 70 configured to hold the yarn Y. The controller 69 executes the first robotic arm control of controlling the robotic arm 25 so that the yarn Y1 is threaded into the slit 61a, between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed grip member 64b1 and the movable grip member 64b2 of the first clamp cutter 64. Furthermore, the controller 69 executes the second robotic arm control of controlling the robotic arm 25 so that the yarn Y2 is threaded into the slit 61a, between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed grip member 65b1 and the movable grip member 65b2 of the second clamp cutter 65. In the present embodiment, in the arrangement in which the yarn Y is threaded into the slit 61a by the robotic arm 25, the cutting units and the grip units are provided in the open state so as to oppose one another over the extension of the slit 61a. On this account, threading of the yarn Y into the slit 61a is achieved by moving the yarn Y held by the robotic arm 25 along the extension of the slit 61a, i.e., along the straight line. Complicated control of the robotic arm 25 is therefore unnecessary for threading the yarn Y into the slit 61a.

[0079] In the present embodiment, the controller 69 executes the first yarn cutting gripping control of cutting and gripping the yarn Y1 in such a way that, after the second clamp cutter 65 is switched to the closed state and the first robotic arm control is executed, the first clamp cutter 64 is switched to the closed state in which the first cutting unit 64a and the first grip unit 64b are closed. Subsequently, after the first yarn cutting gripping control, the controller 69 executes the second robotic arm control by switching the second clamp cutter 65 from the closed state to the open state. When the second clamp cutter 65 is switched from the closed state to the open state, the second cutting unit 65a and the second grip unit 65b press the one yarn Y1 gripped by the first clamp cutter 64 to a location that is deviated from the extension of the slit 61a in the base longitudinal direction. When the other yarn Y2 is threaded into the slit 61a and is cut and gripped by the second clamp cutter 65 after the one yarn Y1 is threaded into the slit 61a and is cut and gripped by the first clamp cutter 64, the one yarn Y1 having been threaded into the slit 61a first may obstruct the threading of the other yarn Y2 into the slit 61a. In the present embodiment, as the second clamp cutter 65 is switched from the closed state to the open state before the other yarn Y2 is threaded into the slit 61a, the second cutting unit 65a and the second grip unit 65b press the one yarn Y1 having been threaded into the slit 61a first and gripped by the first clamp cutter 65 to a location that is deviated from the extension of the slit 61a in the base longitudinal direction. On this account, when the other yarn Y2 is threaded into the slit 61a, the one yarn Y1 gripped by the first clamp cutter 64 does not obstruct the threading. This further facilitates the yarn threading into the slit 61a.

[0080] In the present embodiment, the yarn Y1 and the yarn Y2 threaded into the slit 61a are provided on a substantially identical yarn path in the slit 61a. On this account, the overlapping part between the two yarns Y (the yarn Y1 and the yarn Y2) is long in the slit 61a, with the result that the two yarns Y (yarn Y1 and yarn Y2) are beautifully interlaced by the interlacing means 61.(Modifications)

[0081] The following will describe modifications of the above-described embodiment. The members identical with those in the embodiment above will be denoted by the same reference numerals and the explanations thereof are not repeated.

[0082] In the embodiment above, when the first clamp cutter 64 is in the closed state, the first cutting unit 64a and the first grip unit 64b are deviated from the extension of the slit 61a in the base longitudinal direction, and when the second clamp cutter 65 is in the closed state, the second cutting unit 65a and the second grip unit 65b are deviated from the extension of the slit 61a in the base longitudinal direction. Alternatively, when the first clamp cutter 64 is in the closed state, the first cutting unit 64a and the first grip unit 64b may be on the extension of the slit 61a in the base longitudinal direction. Furthermore, when the second clamp cutter 65 is in the closed state, the second cutting unit 65a and the second grip unit 65b may be on the extension of the slit 61a in the base longitudinal direction. For example, when the first clamp cutter 64 is in the closed state and the first cutting unit 64a and the first grip unit 64b are on the extension of the slit 61a in the base longitudinal direction, the yarn Y2 is threaded into the slit 61a along the extension of the slit 61a in the base longitudinal direction, while the yarn Y2 is prevented from passing through between the first cutting unit 64a and the first grip unit 64b of the first clamp cutter 64 in the closed state.

[0083] In the embodiment above, when the second clamp cutter 65 is switched from the closed state to the open state, the movable blade 65a2 and the movable grip member 65b2 press the one yarn (yarn Y1) gripped by the first clamp cutter 64 to a location that is deviated from the extension of the slit 61a in the base longitudinal direction. Alternatively, when the second clamp cutter 65 is switched from the closed state to the open state, the movable blade 65a2 and the movable grip member 65b2 may not press the yarn Y1 to a location that is deviated from the extension of the slit 61a in the base longitudinal direction. In this case, the yarn Y2 is threaded into the slit 61a while avoiding the yarn Y1 to be threaded into the slit 61a first and gripped by the first clamp cutter 64.

[0084] In the embodiment above, after the yarn Y1 threaded into the slit 61a is cut and gripped by the first clamp cutter 64, the yarn Y2 is threaded into the slit 61a and the yarn Y2 is cut and gripped by the second clamp cutter 65. Alternatively, after both of the yarn Y1 and the yarn Y2 are threaded into the slit 61a, the yarn Y1 may be cut and gripped by the first clamp cutter 64 and the yarn Y2 may be cut and gripped by the second clamp cutter 65. To be more specific, to begin with, when the yarn joining operation starts, the first clamp cutter 64 is switched to the open state and the second clamp cutter 65 is switched to the open state as shown in FIG. 13. Subsequently, while being inserted into the slit 61a, the yarn Y1 is threaded between the fixed portion 62a and the movable portion 62b of the first clamp 62, between the fixed portion 63a and the movable portion 63b of the second clamp 63, between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed grip member 64b1 and the movable grip member 64b2 of the first clamp cutter 64. At this time, the yarn Y1 is not threaded between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65 and between the fixed grip member 65b1 and the movable grip member 65b2 of the second clamp cutter 65. Furthermore, while being inserted into the slit 61a, the yarn Y2 is threaded between the fixed portion 62a and the movable portion 62b of the first clamp 62, between the fixed portion 63a and the movable portion 63b of the second clamp 63, between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed grip member 65b1 and the movable grip member 65b2 of the second clamp cutter 65. At this time, the yarn Y2 is not threaded between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64 and between the fixed grip member 64b1 and the movable grip member 64b2 of the first clamp cutter 64. Because of the above, the first clamp cutter 64 is able to cut only the yarn Y1 and the second clamp cutter 65 is able to cut only the yarn Y2, among the yarn Y1 and the yarn Y2 threaded into the slit 61a. The steps after the yarn Y1 is cut and gripped by the first clamp cutter 64 and the yarn Y2 is cut and gripped by the second clamp cutter 65 are identical with those of the embodiment above.

[0085] In the embodiment above, after the yarn Y1 is released from the first clamp cutter 64 and the yarn Y2 is released from the second clamp cutter 65, the interlacing means 61 interlaces the yarn Y1 and the yarn Y2. Alternatively, after the yarn Y1 and the yarn Y2 are interlaced by the interlacing means 61, the yarn Y1 may be released from the first clamp cutter 64 and the yarn Y2 may be released from the second clamp cutter 65. The interlacing of the yarn Y1 and the yarn Y2 by the interlacing means 61, the releasing of the yarn Y1 from the first clamp cutter 64, and the releasing of the yarn Y2 from the second clamp cutter 65 may be simultaneously done.

[0086] In the embodiment above, the first clamp 62 is rotationally moved about the rotational shaft 62c, and the second clamp 63 is rotationally moved about the rotational shaft 63c. However, how each clamper moves is not limited to the rotational movement. For example, the first clamp 62 and the second clamp 63 may be configured to elongate and relax the yarn Y1 and the yarn Y2 by moving linearly along, e.g., rails extending in the base longitudinal direction.

[0087] In the embodiment above, before the two yarns Y are interlaced by the interlacing means 61, the two yarns Y gripped by the first clamp 62 and the second clamp 63 are elongated and relaxed by moving the first clamp 62 and the second clamp 63. In this connection, the step of elongating and relaxing the two yarns Y by moving the first clamp 62 and the second clamp 63 may not be performed.

[0088] While in the embodiment above the first clamp 62 and the second clamp 63 are provided, the yarn joining device 6 of the present invention may not include these members.

[0089] In the embodiment above, the cam mechanism 90 is provided as one movement mechanism shared between the first clamp 62 and the second clamp 63. In this regard, a movement mechanism configured to move the first clamp 62 and a movement mechanism configured to move the second clamp 63 may be independently provided.

[0090] In the embodiment above, the two yarns Y (the yarn Y1 and the yarn Y2) are threaded into the slit 61a of the interlacing means 61 by the robotic arm 25 of the yarn handling device 70. Alternatively, an operator may manually thread the two yarns Y (the yarn Y1 and the yarn Y2) into the slit 61a by using a suction gun which sucks and holds the yarns Y.

[0091] In the embodiment above, the creel stand 5 is able to hold the yarn supply packages Ps in a matrix manner in the up-down direction and the base longitudinal direction, and includes a pair of the creel stands 5 provided back to back in the base width direction. However, the arrangement of the creel stands 5 is not limited to this. The creel stands 5 may be aligned along, e.g., the base longitudinal direction. The creel stand 5 may be a rotary creel stand which is able to hold the yarn supply packages Ps around a shaft parallel to the up-down direction, in which yarn supply packages Ps go around the shaft of the stand, as the shaft rotates. By using the rotary creel stand, as compared to cases where the creel stands 5 of the above-described embodiment are aligned along the base longitudinal direction, the height of each creel stand is suppressed on condition that each of the creel stands is provided with the same number of yarn supply packages Ps. In the embodiment above, the rails R are provided on the respective sides of a pair of creel stands 5 provided back to back. The arrangement of the rails R is, however, suitably changed in accordance with the arrangement of the creel stands 5.

[0092] In the embodiment above, the invention is applied to handle yarns in the yarn joining operation in which the yarn Y1 provided on the inner layer of the one of the two yarn supply packages Ps1 and Ps2 held by the creel stand 5 of the yarn supplying unit 2 is joined with the yarn Y2 provided on the outer layer of the other of the two yarn supply packages Ps1 and Ps2, in the false-twist texturing machine 1. However, the range of applications of the yarn handling device 70 of the present invention is not limited to this and is applicable to the entire yarn handling in textile machines.

[0093] In the embodiment above, the robotic arm for threading the yarn Y1 into the slit 61a and the robotic arm for threading the yarn Y2 into the slit 61a are the same robotic arm 25. In this regard, the robotic arm for threading the yarn Y1 into the slit 61a and the robotic arm for threading the yarn Y2 into the slit 61a may be different robotic arms. In this case, each robotic arm includes the yarn handling device 70.

[0094] In the embodiment above, the controller 69 controls the cam mechanism 90 that is equivalent to the first movement mechanism and the second movement mechanism of the present invention, switching of the states of the first clamp cutter 64 and the second clamp cutter 65, and the robot arm 25. To put it differently, the controller 69 of the embodiment above is equivalent to a controller of claim 4, 5, or 6. In this regard, a controller of claim 4 of the present invention, the controller of claim 5 of the present invention, and the controller of claim 6 of the present invention may be an identical controller or different controllers. To be more specific, for example, a controller controlling the cam mechanism 90 and a controller controlling the switching of the states of the first clamp cutter 64 and the second clamp cutter 65 may be an identical controller or different controllers. Likewise, a controller controlling the cam mechanism 90, a controller controlling the switching of the states of the first clamp cutter 64 and the second clamp cutter 65, and a controller controlling the robot arm 25 may be an identical controller or different controllers.

Claims

1. A yarn joining device (6) comprising: an interlacing means (61) which has a slit (61a) extending in a predetermined direction and is configured to interlace two yarns (Y) passing through the slit (61a); a first yarn cutting gripping means (64) which is provided on one side of the interlacing means (61) in the predetermined direction and is configured to cut and grip a yarn (Y); and a second yarn cutting gripping means (65) which is provided on the other side of the interlacing means (61) in the predetermined direction and is configured to cut and grip a yarn (Y), the first yarn cutting gripping means (64) including: a first cutting unit (64a) which has two blades (64a1, 64a2) openable and closable relative to each other and is configured to cut the yarn (Y) by sandwiching the yarn (Y) between the two blades (64a1, 64a2); and a first grip unit (64b) which is provided between the first cutting unit (64a) and the interlacing means (61), includes two grip members (64b1, 64b2) openable and closable relative to each other, and is configured to grip the yarn (Y) by sandwiching the yarn (Y) between the two grip members (64b1, 64b2), the first yarn cutting gripping means (64) being switchable between an open state in which the first cutting unit (64a) and the first grip unit (64b) are open and a fixed blade (64a1) and a movable blade (64a2) of the first cutting unit (64a) as well as a fixed grip member (64b1) and a movable grip member (64b2) of the first grip unit (64b) oppose each other over an extension of the slit (61a) in the predetermined direction and a closed state in which the first cutting unit (64a) and the first grip unit (64b) are closed, the second yarn cutting gripping means (65) including: a second cutting unit (65a) which has two blades (65a1, 65a2) openable and closable relative to each other and is configured to cut the yarn (Y) by sandwiching the yarn (Y) between the two blades (65a1, 65a2); and a second grip unit (65b) which is provided between the second cutting unit (65a) and the interlacing means (61), includes two grip members (65b1, 65b2) openable and closable relative to each other, and is configured to grip the yarn (Y) by sandwiching the yarn (Y) between the two grip members (65b1, 65b2), and the second yarn cutting gripping means (65) being switchable between an open state in which the second cutting unit (65a) and the second grip unit (65b) are open and a fixed blade (65a1) and a movable blade (65a2) of the second cutting unit (65a) as well as a fixed grip member (65b1) and a movable grip member (65b2) of the second grip unit (65b) oppose each other over the extension of the slit (61a) in the predetermined direction and a closed state in which the second cutting unit (65a) and the second grip unit (65b) are closed, characterized in that: when the first yarn cutting gripping means (64) is in the closed state, the first cutting unit (64a) and the first grip unit (64b) are deviated from the extension of the slit (61a) in the predetermined direction, and when the second yarn cutting gripping means (65) is in the closed state, the second cutting unit (65a) and the second grip unit (65b) are deviated from the extension of the slit (61a) in the predetermined direction.

2. The yarn joining device (6) according to claim 1, further comprising: a first yarn gripping means (62) which is provided on one side of the first yarn cutting gripping means (64) in the predetermined direction and is configured to grip the yarn (Y); a second yarn gripping means (63) which is provided on the other side of the second yarn cutting gripping means (65) in the predetermined direction and is configured to grip the yarn (Y); a first movement mechanism (90) which is able to elongate and relax the yarn (Y) gripped by the first yarn gripping means (62) and the second yarn cutting gripping means (65) by moving the first yarn gripping means (62); and a second movement mechanism (90) which is able to elongate and relax the yarn (Y) gripped by the second yarn gripping means (63) and the first yarn cutting gripping means (64) by moving the second yarn gripping means (63).

3. The yarn joining device (6) according to claim 2, further comprising a controller (69) which is configured to control the interlacing means (61), the first movement mechanism (90), and the second movement mechanism (90), before the two yarns (Y) are interlaced by the interlacing means (61), the controller (69) controlling the first movement mechanism (90) so that the yarn (Y) gripped by the first yarn gripping means (62) and the second yarn cutting gripping means (65) is elongated and relaxed, and before the two yarns (Y) are interlaced by the interlacing means (61), the controller (69) controlling the second movement mechanism (90) so that the yarn (Y) gripped by the second yarn gripping means (63) and the first yarn cutting gripping means (64) is elongated and relaxed.

4. The yarn joining device (6) according to any one of claims 1 to 3, further comprising a controller (69) which is configured to control the interlacing means (61) and switching of states of the first yarn cutting gripping means (64) and the second yarn cutting gripping means (65), the controller (69) controlling the interlacing means (61) so that the two yarns (Y) passing through the slit (61a) are interlaced, after gripping of the yarn (Y) is canceled by switching the first yarn cutting gripping means (64) to the open state and gripping of the yarn (Y) is canceled by switching the second yarn cutting gripping means (65) to the open state.

5. The yarn joining device (6) according to any one of claims 1 to 4, further comprising: a first robotic arm (25) which includes a first yarn holding member (70) holding one of the two yarns (Y) and is configured to thread the one of the yarns (Y) held by the first yarn holding member (70) into the slit (61a); a second robotic arm (25) which includes a second yarn holding member (70) holding the other of the two yarns (Y) and is configured to thread the other of the yarns (Y) held by the second yarn holding member (70) into the slit (61a); and a controller (69) which is configured to control switching of states of the first yarn cutting gripping means (64) and the second yarn cutting gripping means (65) and to control the first robotic arm (25) and the second robotic arm (25), the controller (69) controlling the first robotic arm (25) so that the one of the yarns (Y) is threaded into the slit (61a), between the two blades (64a1, 64a2) of the first yarn cutting gripping means (64) in the open state, and between the two grip members (64b1, 64b2) of the first yarn cutting gripping means (64) in the open state, and the controller (69) controlling the second robotic arm (25) so that the other of the yarns (Y) is threaded into the slit (61a), between the two blades (65a1, 65a2) of the second yarn cutting gripping means (65) in the open state, and between the two grip members (65b1, 65b2) of the second yarn cutting gripping means (65) in the open state.

6. The yarn joining device (6) according to claim 5, wherein, the controller (69) executes: first robotic arm control of controlling the first robotic arm (25) so that the one of the yarns (Y) is threaded into the slit (61a), between the two blades (64a1, 64a2) of the first yarn cutting gripping means (64) in the open state, and between the two grip members (64b1, 64b2) of the first yarn cutting gripping means (64) in the open state, after the second yarn cutting gripping means (65) is switched to the closed state; yarn cutting gripping control of cutting and gripping the one of the yarns (Y) by switching the first yarn cutting gripping means (64) to the closed state after the first robotic arm control is executed; and second robotic arm control of controlling the second robotic arm (25) so that the other of the yarns (Y) is threaded into the slit (61a), between the two blades (65a1, 65a2) of the second yarn cutting gripping means (65) in the open state, and between the two grip members (65b1, 65b2) of the second yarn cutting gripping means (65) in the open state, after the second yarn cutting gripping means (65) is switched to the open state after the yarn cutting gripping control, and when the second yarn cutting gripping means (65) is switched from the closed state to the open state, the second cutting unit (65a) and the second grip unit (65b) press the one of the yarns (Y) gripped by the first yarn cutting gripping means (64) to a location which is deviated from the extension of the slit (61a) in the predetermined direction.

7. A yarn joining method of joining two yarns by using a yarn joining device (6) which includes: an interlacing means (61) which has a slit 61a extending in a predetermined direction and is configured to interlace two yarns (Y) passing through the slit (61a); a first yarn cutting gripping means (64) which is provided on one side of the interlacing means (61) in the predetermined direction and is configured to cut and grip a yarn (Y); and a second yarn cutting gripping means (65) which is provided on the other side of the interlacing means (61) in the predetermined direction and is configured to cut and grip a yarn (Y), the first yarn cutting gripping means (64) including: a first cutting unit (64a) which has two blades (64a1, 64a2) openable and closable relative to each other and is configured to cut the yarn (Y) by sandwiching the yarn (Y) between the two blades (64a1, 64a2); and a first grip unit (64b) which is provided between the first cutting unit (64a) and the interlacing means (61), includes two grip members (64b1, 64b2) openable and closable relative to each other, and is configured to grip the yarn (Y) by sandwiching the yarn (Y) between the two grip members (64b1, 64b2), the first yarn cutting gripping means (64) being switchable between an open state in which the first cutting unit (64a) and the first grip unit (64b) are open and a fixed blade (64a1) and a movable blade (64a2) of the first cutting unit (64a) as well as a fixed grip member (64b1) and a movable grip member (64b2) of the first grip unit (64b) oppose each other over an extension of the slit (61a) in the predetermined direction and a closed state in which the first cutting unit (64a) and the first grip unit (64b) are closed, the second yarn cutting gripping means (65) including: a second cutting unit (65a) which has two blades (65a1, 65a2) openable and closable relative to each other and is configured to cut the yarn (Y) by sandwiching the yarn (Y) between the two blades (65a1, 65a2); and a second grip unit (65b) which is provided between the second cutting unit (65a) and the interlacing means (61), includes two grip members (65b1, 65b2) openable and closable relative to each other, and is configured to grip the yarn (Y) by sandwiching the yarn (Y) between the two grip members (65b1, 65b2), the second yarn cutting gripping means (65) being switchable between an open state in which the second cutting unit (65a) and the second grip unit (65b) are open and a fixed blade (65a1) and a movable blade (65a2) of the second cutting unit (65a) as well as a fixed grip member (65b1) and a movable grip member (65b2) of the second grip unit (65b) oppose each other over the extension of the slit (61a) in the predetermined direction and a closed state in which the second cutting unit (65a) and the second grip unit (65b) are closed, when the first yarn cutting gripping means (64) is in the closed state, the first cutting unit (64a) and the first grip unit (64b) being deviated from the extension of the slit (61a) in the predetermined direction, when the second yarn cutting gripping means (65) is in the closed state, the second cutting unit (65a) and the second grip unit (65b) being deviated from the extension of the slit (61a) in the predetermined direction, and when the second yarn cutting gripping means (65) is switched from the closed state to the open state, the second cutting unit (65a) and the second grip unit (65b) pressing the one of the yarns (Y) gripped by the first yarn cutting gripping means (64) to a location which is deviated from the extension of the slit (61a) in the predetermined direction, the yarn joining method comprising: a first yarn insertion step of threading the one of the yarns (Y) into the slit (61a), between the two blades (64a1, 64a2) of the first yarn cutting gripping means (64), and between the two grip members (64b1, 64b2) of the first yarn cutting gripping means (64) from the other side to the one side in the predetermined direction, after the first yarn cutting gripping means (64) is switched to the open state and the second yarn cutting gripping means (65) is switched to the closed state; a first yarn cutting gripping step of cutting and gripping the one of the yarns (Y) by switching the first yarn cutting gripping means (64) from the open state to the closed state; a second yarn insertion step of threading the other of the yarns (Y) into the slit (61a), between the two blades (65a1, 65a2) of the second yarn cutting gripping means (65), and between the two grip members (65b1, 65b2) of the second yarn cutting gripping means (65) from the one side to the other side in the predetermined direction, after the second yarn cutting gripping means (65) is switched from the closed state to the open state; a second yarn cutting gripping step of cutting and gripping the other of the yarns (Y) by switching the second yarn cutting gripping means (65) from the open state to the closed state; and an interlacing step of interlacing the two yarns (Y) threaded into the slit (61a) by the interlacing means (61), after gripping of the one of the yarns (Y) is canceled by switching the first yarn cutting gripping means (64) from the closed state to the open state and gripping of the other of the yarns (Y) is canceled by switching the second yarn cutting gripping means (65) from the closed state to the open state.

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