Yarn threading robot and spun yarn take-up system

Abstract

A yarn threading robot capable of improving the efficiency of yarn threading is provided. A yarn threading robot 4 includes a suction nozzle 51, a guide unit 42, and a robotic arm 32. The suction nozzle 51 includes a suction port 62a and is configured to be able to suck and hold yarns Y while being connected to a suction source via a pipe. For the purpose of threading the yarns Y to a yarn threading target member, the guide unit 42 is configured to be movable relative to the suction nozzle 51 and to be capable of operating the yarns Y and guiding the yarns Y to the suction port 62a. The robotic arm 32 is configured to be able to drive and move the guide unit 42 in any directions independently from the suction nozzle 51.

Description

BACKGROUND OF THE INVENTION

[0001] The present invention relates to a yarn threading robot and a spun yarn take-up system including the yarn threading robot.

[0002] Patent Literature 1 (Japanese Patent No. 6636655) discloses a yarn threading robot which is configured to perform a yarn threading operation for a take-up apparatus configured to take up yarns. The yarn threading robot includes a robotic arm and a yarn threading unit. The yarn threading unit includes a suction in which a suction port for sucking yarns is formed. As the robotic arm moves the yarn threading unit, the yarns sucked and held by the suction are threaded to each section of the take-up apparatus. The suction is connected to a compressed air hose and a waste yarn hose. The suction generates a negative pressure at the suction port by a flow of compressed air supplied through the compressed air hose. The yarns are sucked through the suction port by the negative pressure and are discharged to the waste yarn hose.SUMMARY OF THE INVENTION

[0003] When the above-described yarn threading robot moves the suction (hereinafter, this referred to as a suction nozzle) in the yarn threading, the suction nozzle needs to be moved together with the multiple hoses (hereinafter, they referred to as pipes). Due to this, because of the weight and / or inertial mass of the pipes, the operation of the suction nozzle is difficult and the yarn threading cannot be efficiently done.

[0004] An object of the present invention is to provide a yarn threading robot capable of improving the efficiency of yarn threading.

[0005] According to a first aspect of the invention, a yarn threading robot which performs yarn threading of threading at least one running yarn to a yarn threading target member includes: a suction nozzle which includes a suction port provided to suck the at least one yarn and which is arranged to be able to suck and hold the at least one yarn while being connected to a suction source through a pipe; a yarn operation unit which is movable relative to the suction nozzle and is able to operate the at least one yarn and to guide the at least one yarn to the suction port in order to thread the at least one yarn to the yarn threading target member; and a robotic arm which is configured to be able to drive and move the yarn operation unit in any directions independently from the suction nozzle.

[0006] To improve the efficiency in the yarn threading, the weight of the pipes may be reduced. However, to reduce the weight of the pipes, it generally becomes necessary to make the pipes narrower or to select a softer material as the material for the pipes. When the pipes are narrowed, air may not easily pass through the pipes and the suction force may be deteriorated. When the pipes are made of a soft material, durability problems and specification problems (e.g., deterioration in the upper limit of the suction pressure) may occur.

[0007] Under these circumstances, according to the aspect of the present invention, after causing the suction nozzle to suck and hold the yarns, the yarn threading to the yarn threading target member can be performed by moving, in any directions, the yarn operation unit guiding the yarns independently from the suction nozzle. In the present invention, a phrase "can be driven to move any directions" indicates that an object can be driven to move in any directions along XYZ axial directions within a three-dimensional space. The yarn operation unit is driven to move independently from the suction nozzle and the pipes. Therefore, even if the movement of the suction nozzle and the pipes is necessary, the distance of the movement is suppressed to be minimum necessary. The yarn operation unit can be minimized in size and weight as long as the function of guiding the yarns is maintained. In other words, the yarn threading can be performed mainly by moving the yarn operation unit that is relatively small and light. The efficiency in the yarn threading can therefore be improved.

[0008] According to a second aspect of the invention, the yarn threading robot of the first aspect is arranged such that the suction nozzle is arranged to be movable in a specific direction.

[0009] This aspect of the present invention allows the suction nozzle to follow the movement of the yarn operation unit as needed. Because the suction nozzle is allowed to move only in the specific direction, it is possible to suppress the movement of the pipes connected to the suction nozzle to be minimum necessary.

[0010] According to a third aspect of the invention, the yarn threading robot of the second aspect further includes: a guide rail which guides the suction nozzle in the specific direction along a predetermined track; and a nozzle driving source which is configured to drive and move the suction nozzle along the guide rail.

[0011] When the distance between the yarn operation unit and the suction nozzle is long, the length of a part (hereinafter, this part will be referred to as a partial yarn) of the yarn, which runs from the yarn operation unit toward the suction nozzle, increases accordingly. Because such a partial yarn can usually be exposed to the outside, there is a risk of unintentional snagging on another member. For this reason, the yarn operation unit is preferably driven to move at a position as close as possible to the suction nozzle. According to the aspect of the present invention, by moving the suction nozzle, the suction nozzle can be positioned as close as possible to the yarn operation unit. In this regard, because the suction nozzle is not allowed to move freely but driven and moved along a predetermined track, it is possible to minimize the influence of the weight and / or inertial mass of the pipes. As a result, it is possible to move the suction nozzle at a position as close as possible to the yarn operation unit, while suppressing the influence of the pipes.

[0012] According to a fourth aspect of the invention, the yarn threading robot of any one of the first to third aspects is arranged such that the yarn operation unit includes a surrounding unit which is able to operate the at least one yarn and to guide the at least one yarn to the suction port while being in a surrounding state of surrounding part of the at least one running yarn in a suction direction in which the at least one yarn is sucked.

[0013] According to the aspect of the present invention, no matter how the yarn operation unit is moved in parallel or rotationally moved, the yarn can be reliably brought into contact with any part of the surrounding unit and guided to the suction port. This reduces the constraints regarding the way of moving the yarn operation unit during the yarn threading. The efficiency in the yarn threading can therefore be improved.

[0014] According to a fifth aspect of the invention, the yarn threading robot of the fourth aspect is arranged such that the surrounding unit has a cylindrical shape that extends in a direction orthogonal to a circumferential direction surrounding the at least one yarn.

[0015] The surrounding unit may have, for example, a ring shape. However, in this case, it may be difficult to, for example, cause the surrounding unit to enter narrow and deep locations. For this reason, when the yarn threading target member is placed in such a location, the yarn threading may be difficult. In this regard, according to the aspect of the present invention, the surrounding unit has a cylindrical shape that extends in a direction orthogonal to the circumferential direction surrounding the yarn. Therefore, for example, by operating the end portion on the downstream side in the suction direction of the surrounding unit, it becomes relatively easier for the end portion on the upstream side in the suction direction of the surrounding unit to enter narrow and deep locations. The efficiency in the yarn threading can therefore be improved.

[0016] According to a sixth aspect of the invention, the yarn threading robot of the fourth or fifth aspect is arranged such that the yarn operation unit is switchable between a partial overlapping state in which a space occupied by the yarn operation unit partially overlaps a space occupied by the suction nozzle and an overlapping cancellation state in which the partial overlapping state is canceled, and in the overlapping cancellation state, the yarn operation unit is movable in any directions independently from the suction nozzle and is able to operate the at least one yarn and to guide the at least one yarn to the suction port; and when the yarn operation unit is in the partial overlapping state and the suction nozzle is sucking and holding the at least one yarn, the yarn operation unit is in the surrounding state.

[0017] In the present invention, the occupied space is a space determined by the outer shape of an object. For example, when one cylindrical object is partially housed inside another cylindrical object, it is considered that the space occupied by the one object partially overlaps the space occupied by the another object. In the present invention, by setting the yarn operation unit in the partial overlapping state in advance before the yarn is sucked and held, the yarn sucked and held by the suction nozzle can be surrounded by the yarn operation unit. Thereafter, by setting the yarn operation unit in the overlapping cancellation state, it is possible to cause the yarn operation unit to operate and guide the yarn while maintaining the surrounding state. As a result, immediately after the yarn operation unit is switched from the partial overlapping state to the overlapping cancellation state, the yarn operation unit can start changing the yarn path. The efficiency in the yarn threading can therefore be improved.

[0018] According to a seventh aspect of the invention, the yarn threading robot of the sixth aspect is arranged such that the yarn operation unit in the partial overlapping state surrounds the suction nozzle and is supported by the robotic arm without making contact with the suction nozzle.

[0019] The suction nozzle tends to vibrate because it is connected to the sucking power source. When the yarn operation unit surrounds the suction nozzle while being in contact with the outer circumferential surface of the suction nozzle, the vibration may be transmitted to the robotic arm through the yarn operation unit, and this potentially shortens the lifespan of the robotic arm (e.g., may cause malfunction). In the present invention, the yarn operation unit surrounds the suction nozzle while not being in contact with the suction nozzle. It is therefore possible to effectively suppress the vibration of the suction nozzle from being transferred to the robotic arm through the yarn operation unit.

[0020] According to an eighth aspect of the invention, the yarn threading robot of the seventh aspect is arranged such that the suction nozzle extends in a lengthwise direction and protrudes toward the leading end side in the lengthwise direction as compared to the yarn operation unit which is in the partial overlapping state.

[0021] According to the aspect of the present invention, the suction nozzle protrudes toward the leading end side in the lengthwise direction as compared to the yarn operation unit. This allows the yarn to be directly sucked and captured by the suction nozzle without causing the yarn to make contact with the yarn operation unit. This allows the yarn to be reliably and smoothly captured by the suction nozzle.

[0022] According to a ninth aspect of the invention, the yarn threading robot of any one of the first to fifths aspects is arranged such that the yarn operation unit is switchable between a partial overlapping state in which a space occupied by the yarn operation unit partially overlaps a space occupied by the suction nozzle and an overlapping cancellation state in which the partial overlapping state is canceled, and in the overlapping cancellation state, the yarn operation unit is movable in any directions independently from the suction nozzle and is able to operate the at least one yarn and to guide the at least one yarn to the suction port.

[0023] According to the aspect of the present invention, as the yarn operation unit is arranged to be in the partial overlapping state when the yarn threading is not performed, it is possible to downsize the yarn threading robot.

[0024] According to a tenth aspect of the invention the yarn threading robot of the sixth or ninth aspect is arranged such that the yarn operation unit is attachable to and detachable from the suction nozzle, the partial overlapping state is an attached state in which the yarn operation unit is attached to the suction nozzle, and the overlapping cancellation state is a detached state in which the yarn operation unit is detached from the suction nozzle.

[0025] In the present invention, by attaching the yarn operation unit to the suction nozzle when the yarn threading is not performed, the yarn operation unit can be stably held.

[0026] According to an eleventh aspect of the invention, the yarn threading robot of the tenth aspect is arranged such that the suction nozzle includes: a nozzle main body which extends in a lengthwise direction and allows the at least one yarn to pass through in the lengthwise direction; and a fitting portion which is provided on the upstream side of the nozzle main body in the suction direction in which the at least one yarn is sucked, which includes the suction port, which extends in the lengthwise direction, and which is arranged to fit with the yarn operation unit, the attached state is a state in which the yarn operation unit is fitted with the fitting portion, the detached state is a state in which fitting of the yarn operation unit and the fitting portion is canceled, and the yarn operation unit is switchable between the attached state and the detached state by being moved in the lengthwise direction.

[0027] According to the aspect of the present invention, it is possible to detach the yarn operation unit from the suction nozzle simply by pulling the yarn operation unit in the attached state off from the suction nozzle in the lengthwise direction. Furthermore, by simply fitting the yarn operation unit in the detached state into the suction nozzle, it is possible to attach the yarn operation unit to the suction nozzle. The efficiency in the operation related to the yarn threading can therefore be improved.

[0028] According to a twelfth aspect of the invention, the yarn threading robot of the tenth or eleventh aspect is arranged such that the yarn operation unit and the suction nozzle are magnetically attracted to each other.

[0029] According to the aspect of the present invention, the yarn operation unit can be strongly attached to the suction nozzle by the magnetic force. This prevents the yarn operation unit in the attached state from unintentionally falling off from the suction nozzle.

[0030] According to a thirteenth aspect of the invention, the yarn threading robot of any one of the first to twelfth aspects is arranged such that the yarn operation unit is attached to the robotic arm.

[0031] The robotic arm may be configured to hold the yarn operation unit only when driving and moving the yarn operation unit. However, in this configuration, an operation to hold the yarn operation unit becomes necessary, and this may reduce the efficiency of the yarn threading. In the present invention, because the yarn operation unit is always held by the robotic arm, the above-described operation is unnecessary. It is therefore possible to suppress the deterioration in yarn threading efficiency.

[0032] According to a fourteenth aspect of the invention, the yarn threading robot of any one of the first to thirteenth aspects is arranged such that the yarn operation unit is electrically connected to a ground member via a ground wire in order to discharge the electric charge to a ground at least during the yarn threading.

[0033] Static electricity generated by frictional electrification between the yarn operation unit and the yarn may cause problems. The present invention allows the electric charge possibly accumulated in the yarn operation unit to be discharged to the ground through the ground wire and the ground member. It is therefore possible to effectively remove the electricity from the yarn operation unit.

[0034] According to a fifteenth aspect of the invention, the yarn threading robot of the fourteenth aspect is arranged such that the ground member includes the suction nozzle.

[0035] If the ground wire is long, there is a risk that the ground wire may interfere with other members. Furthermore, there is a possibility that the accurate movement of the yarn operation unit may be hindered by the inertial mass of the ground wire. In order to avoid the interference of the yarn with another member, the yarn operation unit is preferably used at a position as close as possible to the suction nozzle even in the detached state. In the present invention, the ground member includes the suction nozzle. Due to this, it is possible to suppress the ground wire from becoming long as compared to a case where the ground member is provided at a member different from the suction nozzle.

[0036] According to a sixteenth aspect of the invention, the yarn threading robot of any one of the first to fifteenth aspects further includes a yarn capturing auxiliary section which is arranged to cause the suction nozzle to take up the at least one yarn running in a predetermined running direction and which is provided separately from the yarn operation unit, and the yarn capturing auxiliary section includes: a yarn drawing section which is configured to gather part of the at least one yarn toward the suction nozzle side in the running direction; and a cutting unit which is configured to be able to cut the at least one yarn gathered toward the suction nozzle side by the yarn drawing section.

[0037] In the present invention, by cutting the yarn located in the vicinity of the suction nozzle, it is possible to cause the suction nozzle to suck and capture a portion of the yarn having been cut, which is on the upstream side in the running direction. By the yarn drawing section, it is possible to gather the yarn to the suction nozzle side without moving the suction nozzle. Furthermore, because the yarn capturing auxiliary section is provided separately from the yarn operation unit, it is possible to avoid increase in size and weight of the yarn operation unit. This enables the suction nozzle to suck and capture the yarn while suppressing a decrease in yarn threading efficiency.

[0038] According to a seventeenth aspect of the invention, the yarn threading robot of any one of the first to sixteenth aspects is arranged such that the at least one yarn includes yarns, and the yarn operation unit is configured to be able to operate the yarns and to guide the yarns to the suction port.

[0039] When plural yarns are handled, a strong suction force is required to suck and hold the yarns. Therefore, in order to stably generate strong suction power, it may be necessary to make pipes thicker and more robust. The yarn operation unit of the present invention is particularly effective for such a structure.

[0040] According to an eighteenth aspect of the invention, a spun yarn take-up system includes: the yarn threading robot according to any one of the first to seventeenth aspects; and at least one spun yarn take-up machine which includes the yarn threading target member and is configured to take up the at least one yarn spun out from a spinning apparatus.

[0041] The aspect of the present invention makes it possible to improve the efficiency in the yarn threading to the spun yarn take-up machine.

[0042] According to a nineteenth aspect of the invention, the spun yarn take-up system of the eighteenth aspect is arranged such that the at least one spun yarn take-up machine is plural spun yarn take-up machines and the spun yarn take-up machines are aligned in an alignment direction, and the yarn threading robot is arranged to be movable along the alignment direction.

[0043] In a configuration in which one yarn threading robot must perform yarn threading to plural spun yarn take-up machines, the present invention that improves the efficiency in yarn threading to each spun yarn take-up machine is particularly effective.BRIEF DESCRIPTION OF THE DRAWINGS

[0044] FIG. 1 is a front view of a spun yarn take-up system including a yarn threading robot of an embodiment. FIG. 2 is a side view of the spun yarn take-up system. FIG. 3 is a block diagram showing an electric structure of the spun yarn take-up system. Each of FIG. 4(a) and FIG. 4(b) illustrates movement of fulcrum guides. FIG. 5(a) and FIG. 5(b) are diagrams showing the arrangement of a yarn threading unit and its surroundings. FIG. 6(a) to FIG. 6(c) show a suction unit and a guide unit. FIG. 7 shows a comb teeth guide unit. FIG. 8 shows a comb teeth guide. FIG. 9 (a) and FIG. 9(b) show an elevation drive unit and its surroundings. FIG. 10(a) to FIG. 10(e) are explanatory views of steps of yarn threading. FIG. 11(a) and FIG. 11(b) are explanatory views of steps of the yarn threading. FIG. 12 is an explanatory view of a step of the yarn threading. FIG. 13 (a) and FIG. 13(b) are diagrams showing a yarn threading robot of a modification. FIG. 14 (a) to FIG. 14(e) show steps of yarn threading according to the modification. FIG. 15 (a) to FIG. 15(c) show a yarn threading unit of another modification. DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] The following will describe an embodiment of the present invention (hereinafter, present embodiment). Hereinafter, directions shown in FIG. 1 and FIG. 2 are defined as an up-down direction, a left-right direction, and a front-rear direction, for convenience of explanation. The up-down direction is a vertical direction in which the gravity acts. The left-right direction is orthogonal to the up-down direction and is a direction in which later-described spun yarn take-up machines 3 are aligned. The left-right direction is equivalent to an alignment direction of the present invention. The front-rear direction is a direction orthogonal to both the up-down direction and the left-right direction. Moreover, a direction in which a yarn Y runs is referred to as a yarn running direction.(Spun Yarn Take-Up System)

[0046] The following will outline a spun yarn take-up system 1 of the present embodiment with reference to FIG. 1. FIG. 1 is a front view of the spun yarn take-up system 1. As shown in FIG. 1, the spun yarn take-up system 1 includes spun yarn take-up positions TP, a yarn threading robot 4, and an integrated controller 100 (see FIG. 3). Each of the spun yarn take-up positions TP includes a spinning apparatus 2, a spun yarn take-up machine 3, an aspirator 11, and a position controller CP (see FIG. 3). The spun yarn take-up positions TP are aligned in the left-right direction. Therefore, the spinning apparatuses 2, the spun yarn take-up machines 3, and the aspirators 11 provided in the spun yarn take-up system 1 are also aligned in the left-right direction. Each spinning apparatus 2 spins out plural yarns Y (e.g., 12 yarns). At the spun yarn take-up positions TP, the spun yarn take-up machines 3 are provided to correspond to the respective spinning apparatuses 2. Each spun yarn take-up machine 3 is provided below the corresponding spinning apparatus 2. Each spun yarn take-up machine 3 is configured to take up yarns Y spun out from the corresponding spinning apparatus 2, to wind the yarns Y onto respective (e.g. 12) bobbins B, and to form packages P. The yarn threading robot 4 is configured to move along a rail 5 extending in the left-right direction and to perform yarn threading of threading the yarns Y to the spun yarn take-up machine 3.

[0047] The integrated controller 100 (see FIG. 3) is, for example, a typical computer device including a CPU, a ROM, and a RAM. The integrated controller 100 is electrically connected to the position controllers CP and the yarn threading controller 102 (see FIG. 3). Each position controller CP is electrically connected to the corresponding machine controller 101 (see FIG. 3) and controls the corresponding aspirator 11. The position controller CP is electrically connected to the integrated controller 100 (see FIG. 3), and communicates with the integrated controller 100. Each machine controller 101 is a device that controls the corresponding spun yarn take-up machine 3. The yarn threading controller 102 is a device that controls the yarn threading robot 4. The integrated controller 100 is configured to integrally control the entire spun yarn take-up system 1 in association with the position controllers CP and the yarn threading controller 102.(Aspirator)

[0048] The aspirator 11 is provided on the front end portion side of the spun yarn take-up machine 3 as shown in FIG. 2. The aspirator 11 is configured to suck and hold the yarns Y spun out from the spinning apparatus 2 in advance, before yarn threading to the spun yarn take-up machine 3. The aspirator 11 is provided between the spinning apparatus 2 and a first godet roller 13 (described later) in the yarn running direction.(Spun Yarn Take-Up Machine)

[0049] The structure of the spun yarn take-up machine 3 will be described with reference to FIG. 2 and FIG. 3. FIG. 2 is a side view of the spun yarn take-up system 1. FIG. 3 is a block diagram showing the electric structure of the spun yarn take-up system 1. As shown in FIG. 2, the spun yarn take-up machine 3 includes a regulatory guide 12, a first godet roller 13, a second godet roller 14, and a winding unit 15. The regulatory guide 12, the first godet roller 13, the second godet roller 14, and the winding unit 15 (later-described fulcrum guide 21) are included in a yarn threading target member of the present invention.

[0050] The regulatory guide 12 is, for example, a known comb-teeth-shaped yarn guide. As shown in FIG. 2, the regulatory guide 12 is provided below the aspirator 11. The first regulatory guide 12 is arranged to cause the yarns Y to be lined up in the left-right direction. The regulatory guide 12 regulates the movement of the yarns Y in the left-right direction such that the interval between neighboring yarns Y is equal to a predetermined interval.

[0051] The first godet roller 13 is a roller having an axis substantially parallel to the left-right direction. As shown in FIG. 2, the first godet roller 13 is provided below the regulatory guide 12. The first godet roller 13 is rotationally driven by an unillustrated motor so as to feed the yarns Y to the downstream side in the yarn running direction.

[0052] The second godet roller 14 is a roller having an axis substantially parallel to the left-right direction. As shown in FIG. 2, the second godet roller 14 is provided above and rearward of the first godet roller 13. The second godet roller 14 is rotationally driven by an unillustrated motor so as to feed the yarns Y to the downstream side in the yarn running direction. The second godet roller 14 is movably supported by a guide rail 16. The guide rail 16 extends obliquely upward and rearward from the vicinity of the first godet roller 13 and supports the second godet roller 14 to be movable. The second godet roller 14 is driven to move along the guide rail 16 by, for example, a movement mechanism that includes a roller movement motor 112 (see FIG. 3). As a result, the second godet roller 14 is movable between a production position (indicated by solid lines in FIG. 2) and a yarn threading position (indicated by two-dot chain lines in FIG. 2). The production position of the second godet roller 14 is a position for winding yarns Y onto bobbins B. The yarn threading position of the second godet roller 14 is a position where yarn threading to the second godet roller 14 is performed.

[0053] The winding unit 15 is configured to form the packages P by winding the yarns Y onto the respective bobbins B. As shown in FIG. 2, the winding unit 15 is provided below members such as the first godet roller 13 and the second godet roller 14. The winding unit 15 includes a frame 20, fulcrum guides 21 (included in the yarn threading target member of the present invention), traverse guides 22, a turret 23, two bobbin holders 24, a contact roller 25, and a machine controller 101.

[0054] The frame 20 is a member which is placed on, for example, a floor of a factory, and to which components of the winding unit 15 are attached or in which components of the winding unit 15 are accommodated. As shown in FIG. 2, the frame 20 includes, for example, a base portion 20a, a rear portion 20b, and an upper portion 20c. The base portion 20a is fixed to the floor surface and extends in the front-rear direction. The rear portion 20b is a portion that stands up at a rear end portion of the base portion 20a. The upper portion 20c extends forward from an upper part of the rear portion 20b.

[0055] The fulcrum guides 21 are guides about which the yarns Y are traversed by the respective traverse guides 22. The fulcrum guides 21 are provided for the respective yarns Y. As shown in FIG. 2, the fulcrum guides 21 are aligned in the front-rear direction. Each of the fulcrum guides 21 includes a groove 21a that opens to the rear side (see FIG. 4(a) and FIG. 4(b)). As the yarn Y is inserted into the groove 21a from the rear side of the fulcrum guide 21, the yarn Y is held. Each fulcrum guide 21 has an attachment 21b. The attachment 21b is a cylindrical part that is open in the front-rear direction. The attachment 21b is movably attached to the guide supporter 26 (see FIG. 4(a) and FIG. 4(b)). The guide supporter 26 is a cylindrical member extending in the front-rear direction. The guide supporter 26 is fixed to the upper portion 20c of the frame 20, for example.

[0056] When yarn threading is performed, the fulcrum guides 21 are driven to move in the front-rear direction along the guide supporter 26 by a guide drive unit 113 (see FIG. 3). While the guide drive unit 113 includes, for example, a known air cylinder as a driving source, the driving source may be different from this. The guide drive unit 113 is electrically connected to the machine controller 101. The fulcrum guides 21 are driven to move between distanced positions (see FIG. 4(a)) and gathered positions (see FIG. 4(b)) by the guide drive unit 113. The distanced positions are positions for winding the yarns Y onto the bobbins B respectively. Each of the fulcrum guides 21 positioned at the distanced positions is directly above the corresponding bobbin B (see FIG. 2). The gathered positions are positions where yarn threading to the fulcrum guides 21 is performed. The fulcrum guides 21 positioned at the gathered positions are gathered at positions forward of the distanced positions and are close to one another.

[0057] The traverse guides 22 are provided to traverse the respective yarns Y. The traverse guides 22 are provided for the respective yarns Y. The traverse guides 22 are aligned in the front-rear direction. Each traverse guide 22 may be, for example, a known blade-type guide, but is not limited to this. Each of the traverse guides 22 is driven by, for example, an unillustrated traverse motor. Each yarn Y is traversed about a corresponding fulcrum guide 21 in the front-rear direction by the traverse guide 22.

[0058] The turret 23 is a disc-shaped member having an axis substantially parallel to the front-rear direction. The turret 23 is rotationally driven by an unillustrated turret motor. The turret 23 rotatably supports the two bobbin holders 24.

[0059] Each of the two bobbin holders 24 is arranged to rotatably hold the bobbins B so that the bobbins B are aligned in the front-rear direction. Each of the two bobbin holders 24 is rotatably supported by the turret 23. The two bobbin holders 24 are arranged to be point symmetric with each other about the rotation axis center of the turret 23

[0060] (see FIG. 1). Each bobbin holder 24 extends along the front-rear direction (see FIG. 2). Each bobbin holder 24 supports bobbins B which are aligned in the front-rear direction. Each of the two bobbin holders 24 is rotationally driven by an individual winding motor (not illustrated). Assume that yarns Y are being wound onto bobbins B held by one of the two bobbin holders 24 (see FIG. 1 and FIG. 2). In this connection, the one of the bobbin holders 24 is referred to as an upper bobbin holder 24 for the sake of convenience.

[0061] The contact roller 25 is provided immediately above the upper bobbin holder 24. The axial direction of the contact roller 25 is substantially parallel to the front-rear direction. The contact roller 25 makes contact with the surfaces of the packages P supported by the upper bobbin holder 24. With this arrangement, the contact roller 25 applies a contact pressure to the surfaces of the packages P so as to adjust the shape of each of the packages P on which the yarns are being wound.

[0062] The machine controller 101 (see FIG. 3) includes members such as a CPU, a ROM, and a RAM. The machine controller 101 is configured to perform control for driving members such as the roller movement motor 112. The machine controller 101 is electrically connected to the position controller CP and communicates with the position controller CP.

[0063] In the winding unit 15 structured as described above, when the upper bobbin holder 24 is rotationally driven, the yarns Y traversed by the traverse guides 22 are wound onto the corresponding bobbins B, with the result that the packages P are formed. When the formation of the packages P is completed, the turret 23 is rotated to switch over the upper and lower positions of the two bobbin holders 24. Because of this, the bobbin holder 24 having been at the lower position is accordingly moved to the upper position. By winding the yarns Y onto the respective empty bobbins B attached to the bobbin holder 24 moved to the upper position, new packages P are formed. The bobbin holder 24 to which the fully-formed packages P are attached is moved to the lower position. The fully-formed packages P are collected by, e.g., an unillustrated package collector.

[0064] The winding unit 15 includes an internal yarn threading unit 114 (see FIG. 3) configured to perform yarn threading to the bobbins B in the winding unit 15. The internal yarn threading unit 114 is electrically connected to the machine controller 101. The structure of the internal yarn threading unit 114 is known. Because there is no direct relationship between the structure of the internal yarn threading unit 114 and the structure of the yarn threading robot 4 of the present embodiment, a detailed explanation is omitted.

[0065] The winding unit 15 includes a yarn convergence guide 27 (see FIG. 2). The yarn convergence guide 27 is designed to converge the yarns Y at one place and to temporarily hold the yarns Y while the internal yarn threading unit 114 (see FIG. 3) is performing the yarn threading to the bobbins B. The yarn convergence guides 27 are provided, for example, in front of the two bobbin holders 24. The yarn convergence guide 27 is positioned, for example, between the two bobbin holders 24 in the up-down direction. The arrangement of the yarn convergence guide 27 is not limited to this.(Overall Structure of Yarn Threading Robot)

[0066] The following will describe the overall structure of the yarn threading robot 4 with reference to FIG. 2. The yarn threading robot 4 includes a robot main body 31, a robotic arm 32, a yarn threading unit 33 (sucking-holding unit of the present invention), and a yarn threading controller 102 (see FIG. 3). The robot main body 31 is, for example, a hollow member which is substantially rectangular parallelepiped in shape. The robot main body 31 is driven to move in the left-right direction by a movement motor 121 (see FIG. 3). The robotic arm 32 is supported by the robot main body 31. The robotic arm 32 is capable of driving and moving a part (detailed later) of the yarn threading unit 33 in any directions, namely upward, downward, forward, rearward, leftward, or rightward, i.e., in any directions along X, Y, and Z axes. The robotic arm 32 includes arms 32a and joints 32b connecting the arms 32a with one another. Each joint 32b incorporates therein an arm motor 122 (see FIG. 3). As arm motors 122 are driven, the arms 32a are swung about the joints 32b. The yarn threading unit 33 is arranged to be able to suck and hold the yarns Y. Furthermore, two hoses (not illustrated in FIG. 2) for sucking and holding the yarns Y are connected to the yarn threading unit 33. One of the two hoses (later-described supply hose 54A) is used for supplying compressed air. The other of the two hoses (later-described discharge hose 54B) is used for sucking and holding the yarns Y and for discarding the yarns Y. More specifically, the supply hose 54A is connected to a compressed air supply source 6 (see FIG. 2) configured to supply compressed air. The discharge hose 54B is connected to a waste yarn box 7 (see FIG. 2) where the yarns Y are discarded. A combination of the compressed air supply source 6 and the waste yarn box 7 is equivalent to a suction source of the present invention.

[0067] In a known yarn threading robot (not illustrated), when moving a robotic arm (not illustrated), it was necessary to move hoses together with the robotic arm. For this reason, there was a problem of deterioration of yarn threading efficiency due to the weight and / or inertial mass of the hoses. In order to improve the efficiency of the yarn threading, the yarn threading robot 4 of the embodiment of the present invention has the following structure.(Details of Yarn Threading Robot)

[0068] The following will detail the structure of the yarn threading robot 4 with reference to FIG. 5(a) to FIG. 9(b). FIG. 5(a) and FIG. 5(b) are diagrams showing the configuration of the yarn threading unit 33 and its surroundings. FIG. 6(a) to FIG. 6(c) are diagrams showing the suction unit 41 and the guide unit 42 described later. FIG. 6(a) is a side view of the suction unit 41 and the guide unit 42. FIG. 6(b) and FIG. 6(c) are sectional views of the suction unit 41 and the guide unit 42 cut along a direction parallel to a later-described lengthwise direction. FIG. 7 is a diagram showing a later-described comb teeth guide unit 43 (to be more specific, showing the comb teeth guide unit 43 from above, for example). FIG. 8 is a diagram showing a comb teeth guide 75 described below. FIG. 9(a) and FIG. 9(b) show a later-described elevation drive unit 44 and its surroundings. For the sake of explanation, the direction in which the yarns Y are sucked by the suction unit 41 is referred to as a suction direction (see FIG. 6(b) and FIG. 6(c)).

[0069] As shown in FIG. 5(a) and FIG. 5(b), the yarn threading unit 33 includes a suction unit 41, a guide unit 42 (a yarn operation unit and a surrounding unit of the present invention), and a comb teeth guide unit 43 (a yarn operation unit of the present invention).

[0070] The suction unit 41 and the guide unit 42 are provided separately from each other. More specifically, the guide unit 42 is detachably attached to the suction unit 41 (as detailed later). The state of the guide unit 42 is switched between an attached state of being attached to the suction unit 41 (see FIG. 5(a)) and a detached state of being detached from the suction unit 41 (see FIG. 5(b)). The attached state is encompassed in a partial overlapping state of the present invention. The detached state is encompassed in an overlapping cancellation state of the present invention.

[0071] The suction unit 41 is arranged to be able to suck and hold the yarns Y no matter whether the guide unit 42 is in the attached state or the detached state. The suction unit 41 is driven up and down by the elevation drive unit 44 (i.e., driven to move in the up-down direction). The guide unit 42 is configured to guide the yarns Y to the suction unit 41. The guide unit 42 is configured to assist the sucking and holding of the yarns Y by the suction unit 41. In the attached state, the guide unit 42 is arranged to be able to suck and hold the yarns Y together with the suction unit 41. The guide unit 42 is attached to the robotic arm 32 and is supported by the robotic arm 32. The guide unit 42 is switchable between the attached state and the detached state by the robotic arm 32. In the detached state, the guide unit 42 can be driven to move any directions, namely upward, downward, forward, rearward, leftward, and rightward, by the robotic arm 32. In other words, the robotic arm 32 drives and moves the guide unit 42 independently from the suction unit 41 (including a later-described suction nozzle 51).

[0072] The comb teeth guide unit 43 is used for performing yarn threading to the fulcrum guides 21. The comb teeth guide unit 43 is supported by the robotic arm 32. The comb teeth guide unit 43 is driven to move upward, downward, forward, rearward, leftward, and rightward by the robotic arm 32. In other words, both the guide unit 42 and the comb teeth guide unit 43 are driven to move in any directions, namely upward, downward, forward, rearward, leftward, and rightward, by the robotic arm 32.(Suction Unit)

[0073] The details of the suction unit 41 will be described. As shown in FIG. 6(a), the suction unit 41 includes a suction nozzle 51, a pipe section 52, and a yarn capturing auxiliary section 53. The suction nozzle 51 is configured to be able to suck and hold the yarns Y both in the state in which the guide unit 42 is attached to the suction unit 41 and in the state in which the guide unit 42 is detached from the suction unit 41. The suction nozzle 51 extends in a predetermined lengthwise direction (see FIG. 6(a) to FIG. 6(c)). The suction nozzle 51 is configured to suck and hold the running yarns Y by means of negative pressure generated by compressed air supplied from the compressed air supply source 6. The yarns Y sucked by the suction nozzle 51 are discharged to the waste yarn box 7 together with the compressed air. Because the internal structure of the suction nozzle 51 for generating negative pressure is known, the internal structure is not detailed. The suction nozzle 51 is connected with the pipe section 52. The suction nozzle 51 is driven to move up and down integrally with the pipe section 52 by the elevation drive unit 44.

[0074] Hereafter, for the convenience of explanation, the upstream side in the suction direction is equivalent to the leading end side in the lengthwise direction, and the downstream side in the suction direction is equivalent to the base end side in the lengthwise direction. The detailed structure of the suction nozzle 51, particularly the detailed structure of a leading end portion in the lengthwise direction will be explained. As shown in FIG. 6(b) and FIG. 6(c), the suction nozzle 51 has, for example, a nozzle main body 61, a fitting portion 62, an O-ring 63, and a magnet 64.

[0075] The nozzle main body 61 is a substantially cylindrical part which extends in the lengthwise direction. The nozzle main body 61 extends more or less over the whole length of the suction nozzle 51 in the lengthwise direction. On the inside in the radial direction of the nozzle main body 61, a space is formed to allow air and yarns Y to pass through. The nozzle main body 61 is formed of a member made of a ferromagnetic material such as iron. However, the material of the nozzle main body 61 is not limited to this. The fitting portion 62 is a portion that is engaged with the guide unit 42. The fitting portion 62 is a substantially cylindrical part which extends in the lengthwise direction. The outer diameter of the fitting portion 62 is smaller than, for example, the outer diameter of the nozzle main body 61. The fitting portion 62 is provided at a leading end portion in the lengthwise direction of the suction nozzle 51. In other words, the engagement portion 62 is provided on the leading end side of the nozzle main body 61 in the lengthwise direction. At a leading end portion of the fitting portion 62 in the lengthwise direction, a suction port 62a (see FIG. 6(c)) is formed to suck the yarns Y. The fitting portion 62 is, for example, integrated with the nozzle main body 61. For example, the nozzle main body 61 and the engagement portion 62 may be formed of a single member. The disclosure, however, is not limited to this arrangement. The O-ring 63 is a member that prevents air from leaking from between the suction unit 41 and the guide unit 42 when the guide unit 42 is attached to the suction unit 41. The O-ring 63 is provided at an end portion on the base end side in the lengthwise direction of the fitting portion 62, for example. The O-ring 63 is provided to surround the fitting portion 62 when viewed in the lengthwise direction (not illustrated). The magnet 64 is provided to attract the guide unit 42 toward the base end side in the lengthwise direction by a magnet force. The magnet 64 is, for example, a ring-shaped member. The magnet 64 is provided at a leading end portion in the lengthwise direction of the nozzle main body 61, for example. Additionally, the magnet 64 functions as a regulating portion configured to regulate the movement of the guide unit 42. To be more specific, the magnet 64 regulates the movement of the guide unit 42 in the attached state toward the base end portion in the lengthwise direction.

[0076] The pipe section 52 (see FIG. 6(a)) is a member that is configured to supply compressed air to the suction nozzle 51 and to discharge the yarns Y and the compressed air from the suction nozzle 51. The pipe section 52 includes a supply pipe 52A and a discharge pipe 52B. Each of the supply pipe 52A and the discharge pipe 52B is a hollow member through which compressed air can flow. Each of the supply pipe 52A and the discharge pipe 52B may be formed from a deformation-resistant member made of, for example, a metal material.

[0077] The supply pipe 52A is positioned on the upstream side of the suction nozzle 51 in a flow direction in which compressed air flows. The supply pipe 52A is connected to a supply hose 54A (see FIG. 6(a)). The supply hose 54A is a flexible hose. The supply hose 54A is provided on the downstream side of the compressed air supply source 6 and on the upstream side of the supply pipe 52A in the flow direction. The supply hose 54A is connected to an unillustrated fixed pipe connected to the compressed air supply source 6 by an unillustrated coupling. At least part of the supply hose 54A is accommodated in the robot main body 31 (see FIG. 9(a) and FIG. 9(b)). The supply hose 54A is encompassed in the pipes of the present invention.

[0078] The discharge pipe 52B is provided on the downstream side of the suction nozzle 51 in the flow direction. The discharge pipe 52B is connected to the discharge hose 54B (see FIG. 6(a)). The discharge hose 54B is a flexible hose. The discharge hose 54B is provided on the downstream side of the discharge pipe 52B and on the upstream side of the waste yarn box 7 (see FIG. 1) in the flow direction. The discharge hose 54B is connected to an unillustrated fixed pipe connected to the waste yarn box 7 by an unillustrated coupling. At least part of the discharge hose 54B is accommodated in the robot main body 31 (see FIG. 9(a) and FIG. 9(b)). The discharge hose 54B is encompassed in the pipes of the present invention in the same manner as the supply hose 54A.

[0079] In the above configuration, the compressed air is supplied from the compressed air supply source 6. By supplying the compressed air to the suction nozzle 51 through members such as the supply hose 54A and the supply pipe 52A, a negative pressure is generated in the vicinity of the suction port 62a of the suction nozzle 51. The yarns Y are sucked into the suction nozzle 51 through the suction port 62a by the negative pressure. The compressed air supplied to the suction nozzle 51 and the yarns Y sucked into the suction nozzle 51 are discharged to the waste yarn box 7 through the discharge pipe 52B and the discharge hose 54B.

[0080] The yarn capturing auxiliary section 53 (see FIG. 6(a)) is configured to assist the sucking and capturing of the yarns Y by the yarn threading unit 33 when the yarn threading unit 33 takes up the yarns Y from the aspirator 11. The yarn capturing auxiliary section 53 has a frame 55, a yarn drawing section 56 that gathers the yarns Y, and a cutting unit 57 that cuts the yarns Y. The frame 55 is a member that supports the yarn drawing section 56 and the cutting unit 57. The frame 55 is fixed to, for example, the supply pipe 52A. That is, the frame 55 is positionally fixed relative to the suction nozzle 51. In this regard, the member to which the frame 55 is fixed is not limited to the supply pipe 52A.

[0081] The yarn drawing section 56 is provided to draw the yarns Y sucked and held by the aspirator 11 to the yarn threading unit 33 in the lengthwise direction. The yarn drawing section 56 includes a drawing member 58 (see FIG. 6(a)) and a drawing drive unit 59 (see FIG. 3). The drawing member 58 is a member that makes contact with the yarns Y and draws the yarns Y. The drawing member 58 includes an extending portion 58a and a hooking portion 58b. The extending portion 58a is a member extending in the lengthwise direction. The extending portion 58a is driven to extend and contract in the lengthwise direction relative to the suction nozzle 51 by the drawing drive unit 59. The hooking portion 58b is a portion that is hooked onto the yarns Y. The hooking portion 58b is provided at a leading end portion of the extending portion 58a. The hooking portion 58b extends from the leading end portion of the extending portion 58a in a direction that is, for example, substantially orthogonal to the lengthwise direction. The drawing drive unit 59 is configured to drive and move the drawing member 58 in the lengthwise direction. While the drawing drive unit 59 includes, for example, a known air cylinder as a driving source, the driving source may be different from this. The drawing drive unit 59 is electrically connected to the yarn threading controller 102.

[0082] The cutting unit 57 is configured to cut the yarns Y that have been drawn toward the base end side in the lengthwise direction by the yarn drawing section 56. The cutting unit 57 has a cutter 57a (see FIG. 6(a)) and a cutter driver 57b (see FIG. 3). The cutter 57a is positioned to make contact with the yarns Y having been drawn by the yarn drawing section 56. The cutter 57a is configured to cut the yarns Y by being driven by the cutter driver 57b. The cutter driver 57b causes the cutter 57a to cut the yarns Y. The cutter driver 57b includes, for example, an unillustrated air cylinder as a driving source and an unillustrated link mechanism as a power transmission mechanism. The driving source and the transmission mechanism are not limited to these. The cutter driver 57b may be omitted, and the yarns Y may be cut by the cutter 57a by drawing the yarns Y toward the cutter 57a by the yarn drawing section 56.

[0083] The suction nozzle 51 is preferably grounded by any means. That is to say, the suction nozzle 51 is preferably configured to discharge the electric charge generated by the frictional electrification between the yarns Y and the guide unit 42 to the ground, as described later. In this case, the suction nozzle 51 is equivalent to a ground member of the present invention. For example, preferably, an unillustrated ground wire extends from the suction nozzle 51 (or the pipe section 52) along the supply hose 54A or the discharge hose 54B. In this case, the ground wire is preferably connectable to the above-described fixed pipe (not illustrated), for example. To put it differently, the fixed pipe is preferably grounded by any means. However, the means for grounding is not limited to this.(Guide Unit)

[0084] The following will detail the guide unit 42 (see FIG. 6(b) and FIG. 6(c)). The guide unit 42 is attachable to and detachable from the suction unit 41. The guide unit 42 is provided to guide the yarns Y toward the suction port 62a side while surrounding the yarns Y. The guide unit 42 can be driven by the robotic arm 32 to move in any directions, namely upward, downward, forward, rearward, leftward, and rightward, i.e., in any directions along X, Y, and Z axes. The orientation of the guide unit 42 may be changed to some degree by the robotic arm 32. The guide unit 42 is substantially cylindrical in shape on the whole. That is to say, the guide unit 42 has a cylindrical shape that extends in a direction substantially orthogonal to the circumferential direction surrounding the yarns Y. The guide unit 42 includes a guide main body 71, a fitting portion 72, and a contact member 73 (contact portion of the present invention).

[0085] The guide main body 71 is a substantially cylindrical portion. When the guide unit 42 is in the attached state, the guide main body 71 extends in the lengthwise direction. The guide main body 71 is preferably formed of a member made of a ferromagnetic material such as iron. The inner diameter of the guide main body 71 is substantially equal to, for example, the inner diameter of the suction nozzle 51. The disclosure, however, is not limited to this arrangement. The guide main body 71 has an inner circumferential surface 71a. The inner circumference 71a is provided to surround a part of the yarns Y in the suction direction (see FIG. 6(b) and FIG. 6(c)). To the guide main body 71, a handle 74 made of an insulating material such as resin is preferably attached. The handle 74 is useful when, for example, an operator needs to handle the guide unit 42 by hand. The handle 74 may be provided, for example, to surround the outer circumference of the guide main body 71. The external diameter of an end portion of the guide main body 71 on the upstream side in the suction direction is, for example, slightly larger than the external diameter of other parts of the guide main body 71. This is to accommodate the contact member 73 inside in the radial direction of the end portion.

[0086] The fitting portion 72 (see FIG. 6(b) and FIG. 6(c)) is a portion that is fitted with the fitting portion 62 of the suction nozzle 51. The fitting portion 72 is a substantially cylindrical portion extending in the lengthwise direction when the guide unit 42 is in the attached state. The inner diameter of the fitting portion 72 is, for example, larger than the inner diameter of the guide main body 71. The inner diameter of the fitting portion 72 is slightly larger than the outer diameter of the fitting portion 62. When the guide unit 42 is in the attached state, the fitting portion 72 is provided on the suction nozzle 51 side of the guide main body 71 in the lengthwise direction. The fitting portion 72 is, for example, integrated with the guide main body 71. For example, the guide main body 71 and the fitting portion 72 may be formed of a single member. The disclosure, however, is not limited to this arrangement.

[0087] The fitting portion 72 is, for example, preferably made of a ferromagnetic material such as iron. With this arrangement, the guide unit 42 and the magnet 64 of the suction nozzle 51 are magnetically attracted to each other in the lengthwise direction.

[0088] Because of the above-described structure of the fitting portion 62 and the fitting portion 72, the guide unit 42 is switchable between the attached state and the detached state by being moved in the lengthwise direction. To be more specific, the attached state is a type of a state in which the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 partially overlap each other (hereinafter, partial overlapping state). The occupied space is a space determined by the outer shape of an object. For example, as shown in FIG. 6(b), when the fitting portion 62 fits inside the fitting portion 72, it is considered that the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 partially overlap each other. By moving such a guide unit 42 in the attached state away from the nozzle main body 61 (i.e., toward the leading end side) in the lengthwise direction, it is possible to pull off and detach the guide unit 42 from the suction nozzle 51 (i.e., to switch the guide unit 42 to the detached state). In other words, the detached state is a state in which the fitting portion 72 of the guide unit 42 and the fitting portion 62 of the suction nozzle 51 are not fitted. The detached state is a type of a state in which the partial overlapping state is canceled (hereinafter, an overlapping cancellation state). On the other hand, the guide unit 42 can be pressed into and attached to the suction nozzle 51 in such a way that the fitting portion 72 of the guide unit 42 in the detached state is aligned with the fitting portion 62 of the suction nozzle 51 and the guide unit 42 is moved toward the nozzle main body 61 (i.e., toward the base end side) in the lengthwise direction.

[0089] The contact member 73 (see FIG. 6(b) and FIG. 6(c)) is a part that comes into contact with the yarns Y. In the attached state, the contact member 73 functions as a suction port for sucking the yarns Y. The contact member 73 is a substantially ring-shaped member. The contact member 73 is made of, for example, a ceramic material. The contact member 73 is preferably made of a highly wear-resistant material, because the contact member 73 makes contact with the running yarns Y. Furthermore, because the contact member 73 makes contact with the running yarns Y, frictional heat and frictional electrification tend to be generated. For this reason, the material of the contact member 73 is preferably a material that does not easily transmit frictional heat to the guide main body 71 (i.e., is low in heat conductivity). The material of the contact member 73 is preferably a material that easily discharges the electric charge generated by frictional electrification to the guide main body 71. The contact member 73 is positioned at a leading end portion in the lengthwise direction (i.e., at an upstream end portion in the suction direction) of the guide main body 71 in the attached state. The contact member 73 is provided on the inside of the guide main body 71 in the radial direction. The contact member 73 is fitted into the guide main body 71 via, for example, multiple O-rings 73a. Two O-rings 73a are provided in FIG. 6(b) and FIG. 6(c). The number of O-rings 73a is not limited to this. The number may be one, or may be three or more. Additionally, a member made of a material identical with or similar to that of the contact member 73 may be provided at an end portion of the guide main body 71 on the downstream side in the suction direction. In this case, preferably, the outer diameter of the end portion of the guide main body 71 on the downstream side in the suction direction is slightly large in the same manner as the outer diameter of the end portion on the upstream side.

[0090] As shown in FIG. 6(b) and FIG. 6(c), the guide unit 42 is preferably connected to the suction nozzle 51 via, for example, a ground wire 78. That is to say, preferably, when the guide unit 42 is at least in the detached state, the ground wire 78 electrically connects the guide unit 42 to the suction unit 41 as a ground member. The ground wire 78 is a member that discharges the electric charge generated by the frictional electrification between the yarns Y and the contact member 73 from the guide unit 42 to the suction unit 41. Because the suction unit 41 is grounded as described above, the electric charge transferred from the guide unit 42 to the suction unit 41 via the ground wire 78 can be discharged to the ground. As shown in FIG. 6(b) and FIG. 6(c), the ground wire 78 may be a lead wire simply extending from the guide unit 42 to the suction unit 41.

[0091] Alternatively, the ground wire 78 may have, for example, an unillustrated tension coil spring to allow expansion and contraction. The spring part of the tension coil spring may be provided to be helical along the circumferential direction of the suction unit 41, for example. When the guide unit 42 is in the detached state, the spring part of the tension coil spring may be shaped like a pipe sandwiched between the guide unit 42 and the suction unit 41 as a whole. This allows the yarns Y to pass through the space formed inside the tension coil spring. It is therefore possible to reduce the possibility of unintentional contact between the yarns Y and members other than the yarn threading target member. Instead of the tension coil spring, a known spring cable may be provided.(Comb Teeth Guide Unit)

[0092] The comb teeth guide unit 43 (see FIG. 5(a) and FIG. 5(b)) will be described. The comb teeth guide unit 43 is used for performing yarn threading to the fulcrum guides 21. The comb teeth guide unit 43 is driven and moved by the robotic arm 32. The comb teeth guide unit 43 may be attached to the guide unit 42, for example. Alternatively, the comb teeth guide unit 43 may be attached to the robotic arm 32 independently from the guide unit 42. The comb teeth guide unit 43 includes a comb teeth guide 75 (see FIG. 7 and FIG. 8), a guide supporter 76 (see FIG. 7), and a comb teeth guide drive unit 77 (see FIG. 3). The comb teeth guide 75 holds the yarns Y to be spaced apart from one another. To be more specific, the comb teeth guide 75 has holding grooves 75a (see FIG. 7 and FIG. 8). The holding grooves 75a are provided for the respective yarns Y. Each holding groove 75a holds the corresponding yarn Y. It is desirable that holding grooves 75a be capable of holding the yarns Y at increased intervals. That is, preferably, the interval between parts of the holding grooves 75a, where the yarns Y are held, is larger than the interval between the holding grooves 75a at the entrances. However, the shape of the holding grooves 75a is not limited to this. The comb teeth guide 75 is swingably supported by the guide supporter 76 about, for example, a swing shaft 75b as the axial center (see FIG. 7). As shown in FIG. 7, the guide supporter 76 includes, for example, a support frame 76a and a protrusion 76b. The supporting frame 76a is fixed to, for example, the guide main body 71. The protrusion 76b is provided, for example, to extend away from the suction nozzle 51 from the supporting frame 76a in the longitudinal direction (see FIG. 7) of the guide main body 71. The protrusion 76b supports the comb teeth guide 75 to be swingable in a range of not interfering with the guide unit 42. The comb teeth guide drive unit 77 is configured to drive and swing the comb teeth guide 75 relative to the guide unit 42, for example. The comb teeth guide drive unit 77 may have a driving source such as an unillustrated motor, for example. The comb teeth guide 75 is driven by the comb teeth guide drive unit 77 to move between a retracted position and a holding position. The retracted position is a position of the comb teeth guide 75 that is not in contact with the yarns Y sucked toward the suction unit 41 side through the guide unit 42 (see solid lines in FIG. 7). The holding position is a position of the comb teeth guide 75 that holds the yarns Y sucked by the suction unit 41 (see two-dot chain lines in FIG. 7). The holding position is on the upstream side of the guide unit 42 in the suction direction. As the comb teeth guide 75 is moved from the retracted position to the holding position, each of the yarns Y is captured and held by the corresponding holding groove 75a (see one-dot chain lines in FIG. 7). While in the description above the comb teeth guide drive unit 77 is configured to swing and drive the comb teeth guide 75, the disclosure is not limited to this. For example, an unillustrated drive unit configured to move the comb teeth guide 75 along the longitudinal direction of the guide main body 71 may be provided instead of the comb teeth guide drive unit 77. In this case, the drive unit may be configured to drive and move the comb teeth guide 75 while maintaining the posture for capturing the yarns Y. In addition, in order to assist in the capturing of the yarns Y by the comb teeth guide 75, for example, an unillustrated pressing roller (see, e.g., Japanese Laid-Open Patent Publication No. 2017-82379 for details) may be further provided to widen the intervals between the yarns Y to predetermined intervals. The pressing roller may be either rotatable or non-rotatable.(Elevation Drive Unit)

[0093] The following will describe the elevation drive unit 44 (see FIG. 9(a) and FIG. 9(b)). The elevation drive unit 44 is configured to drive and move the suction unit 41 in the up-down direction (specific direction in the present invention). The elevation drive unit 44 is electrically connected to the yarn threading controller 102. The elevation drive unit 44 includes, for example, a frame member 81, a driving source 82 (nozzle driving source of the present invention), a guide fixing portion 83, a bar guide 84, a linear bush 85, and a slide member 86. In summary, the driving source 82 supported by the frame member 81 is configured to move, along the bar guide 84, the slide member 86 that supports the suction unit 41. The bar guide 84 is fixed to the frame member 81 by the guide fixing portion 83. The linear bush 85 is interposed between the slide member 86 and the bar guide 84.

[0094] The frame member 81 is a member that supports the driving source 82 and the guide fixing portion 83. The frame member 81 extends in the up-down direction. The frame member 81 is fixed to, for example, the lower end of the robot main body 31. The driving source 82 is a driving source for driving and moving the slide member 86 in the up-down direction. The driving source 82 may be, for example, a known air cylinder. The air cylinder may be, for example, a two-stage stroke air cylinder or a multi-stage stroke air cylinder. Alternatively, the driving source 82 may be, for example, a known motor. In this case, a transmission mechanism (not illustrated) is required to transmit the power of the motor to the slide member 86. Each guide fixing portion 83 is provided for fixing the bar guide 84 to the frame member 81. The guide fixing portion 83 has a fixing member 83A and a fixing member 83B. The fixing member 83A is fixed to, for example, an upper end portion of the frame member 81. The fixing member 83A supports an upper end portion of the bar guide 84. The fixing member 83B is fixed to, for example, a lower end portion of the frame member 81. The fixing member 83B supports a lower end portion of the bar guide 84. The bar guide 84 functions as a guide rail that guides the slide member 86 along a predetermined track. The bar guide 84 extends in the up-down direction. The bar guide 84 is fixed to the frame member 81 by the guide fixing portion 83. The bar guide 84 guides the slide member 86 in the up-down direction via the linear bush 85. The linear bush 85 is a known component that moves smoothly along the bar guide 84. A slide member 86 is fixed to the linear bush 85. The slide member 86 is a component that supports the suction unit 41. The slide member 86 is driven by the driving source 82 to move integrally with the suction unit 41. The slide member 86 is guided in the up-down direction along the bar guide 84 via the linear bush 85.(Method of Yarn Threading)

[0095] The following will describe a method of yarn threading by the yarn threading robot 4 mainly with reference to FIG. 10(a) to FIG. 12. Each of FIG. 10(a) to FIG. 10(e), FIG. 11(a), FIG. 11(b), and FIG. 12 is a diagram showing the steps of the yarn threading. FIG. 10(d) is viewed along an arrow D in FIG. 10(c). As overall steps of the yarn threading, yarns Y spun out from the spinning apparatus 2 are threaded by the yarn threading robot 4 to the regulatory guide 12, the first godet roller 13, the second godet roller 14, and the fulcrum guides 21 in this order. Subsequently, the yarns Y are threaded onto the respective bobbins B by the internal yarn threading unit 114. For example, the position controller CP, which includes the integrated controller 100 and the machine controller 101, cooperates with the yarn threading controller 102 to control the components of the spun yarn take-up machine 3 and the components of the yarn threading robot 4, thereby performing the above-described yarn threading.

[0096] In the initial state, the yarns Y spun out from the spinning apparatus 2 are sucked and held by the aspirator 11 related to the spun yarn take-up position TP that is the target of yarn threading (see FIG. 10(a)). The yarn threading robot 4 is provided immediately in front of the spun yarn take-up machine 3.

[0097] To begin with, the machine controller 101 controls the components of the spun yarn take-up machine 3 to move the components that are targets of yarn threading. To be more specific, the roller movement motor 112 moves the second godet roller 14 to the yarn threading position, with the result that the fulcrum guides 21 move to the gathered positions. Subsequently, a signal for continuing the yarn threading is sent from, for example, the machine controller 101 to the yarn threading controller 102 via the integrated controller 100.

[0098] The yarn threading controller 102 positions the yarn threading unit 33 at a position immediately above the yarns Y that are being sucked and held by the aspirator 11 (see FIG. 10(a)). The yarn threading controller 102 controls the drawing drive unit 59 (see FIG. 3) to extend the drawing member 58 rearward (see two-dot chain lines in FIG. 10(a)). This causes the hooking portion 58b to hook the yarns Y. Subsequently, the yarn threading controller 102 controls the drawing drive unit 59 to retract the drawing member 58 forward. As a result, the yarns Y are drawn to the vicinity of the cutting unit 57 and to the vicinity of the guide unit 42. Subsequently, the yarn threading controller 102 controls the cutter driver 57b to cause the cutter 57a to cut the yarns Y. As a result, in the yarns Y having been cut, parts on the side opposite to the aspirator 11 in the yarn running direction, i.e., parts of the yarns Y on the side of being spun out from the spinning apparatus 2, are sucked and captured by the suction unit 41 through an opening portion (contact member 73; see FIG. 6(b) and FIG. 6(c)) of the guide unit 42. In this way, the yarns Y spun out from the spinning apparatus 2 are handed over from the aspirator 11 to the yarn threading unit 33.

[0099] At the stage of handing over of the yarns Y from the aspirator 11 to the yarn threading unit 33, the guide unit 42 is in the attached state and the suction unit 41 (and the guide unit 42) sucks and holds the yarns Y. At this stage, the guide unit 42 is in a state of surrounding part of the yarns Y in the suction direction (hereinafter, this state referred to as a surrounding state), and is capable of operating the yarns Y and guiding the yarns Y to the downstream side in the suction direction.

[0100] Subsequently, the yarn threading controller 102 controls the arm motor 122 to move the guide unit 42 rearward relative to the suction unit 41 (i.e., toward the leading end side in the lengthwise direction). As a result, the guide unit 42 is detached from the suction unit 41 and becomes in the detached state (see FIG. 10(b)).

[0101] In the detached state, the guide unit 42 can be moved in any directions, namely upward, downward, forward, rearward, leftward, and rightward, by the robotic arm 32, independently from the suction unit 41, in order to thread the yarns Y to the yarn threading target member. In addition, in the detached state, the guide unit 42 is able to operate the yarns Y and to guide the yarns Y to the suction port 62a (see FIG. 6(c)). To be more specific, the guide unit 42 can operate the yarns Y and guide the yarns Y to the suction port 62a while maintaining the above-described surrounding state. The operation of the yarns Y is performed by the movement of the guide unit 42. Because the guide unit 42 moves independently from the suction unit 41, the passage (yarn path) in which the yarns Y run is changeable even when the suction unit 41 does not move.

[0102] Subsequently, the yarn threading controller 102 controls the arm motor 122 (see FIG. 3) to move the guide unit 42 downward (see FIG. 10(c)). To be more specific, the yarn threading controller 102 moves the guide unit 42 to a location which is below and forward of the regulatory guide 12 (see FIG. 10(c) and FIG. 10(d)). Concurrently, the yarn threading controller 102 controls the elevation drive unit 44 (see FIG. 3) to move the suction unit 41 downward (see FIG. 10(c)). Subsequently, the yarn threading controller 102 moves the guide unit 42 rearward so as to thread the yarns Y to the regulatory guide 12. Subsequently, the yarn threading controller 102 moves the guide unit 42 so as to thread the yarns Y to the first godet roller 13 and to the second godet roller 14 in order (see FIG. 10(e)). In this way, the yarn threading is performed for the regulatory guide 12, the first godet roller 13, and the second godet roller 14.

[0103] While the above-described yarn threading is being performed, it is preferable for the yarn threading controller 102 to appropriately drive and move the suction unit 41 up and down in accordance with the movement of the guide unit 42 in the up-down direction. The same applies to the descriptions below.

[0104] Subsequently, the yarn threading controller 102 performs yarn threading to the fulcrum guides 21. More specifically, the yarn threading controller 102 controls the comb teeth guide drive unit 77 (see FIG. 3) to cause the comb teeth guide 75 (see FIG. 8) to hold the yarns Y in the state of being spaced apart from one another. Subsequently, the yarn threading controller 102 controls the robotic arm 32 to move the comb teeth guide 75 to a predetermined position (see two-dot chain lines in FIG. 8). Furthermore, the yarn threading controller 102 moves the comb teeth guide 75 obliquely leftward and forward (as indicated by an arrow in FIG. 8). As a result, the yarns Y are threaded to the corresponding fulcrum guides 21 (see FIG. 8 and FIG. 11(a)).

[0105] Subsequently, the machine controller 101 moves the second godet roller 14 to the production position and moves the fulcrum guides 21 to the distanced positions (see FIG. 11(b)). Subsequently, the yarn threading controller 102 moves the guide unit 42 downward to cause the yarn convergence guide 27 to hold the yarns Y. As a result, the yarns Y are moved to positions where the yarns Y are captured by the internal yarn threading unit 114 (see FIG. 3, FIG. 11(b), and FIG. 12). Thereafter, the machine controller 101 controls the internal yarn threading unit 114 to thread the yarns Y onto the respective bobbins B. When the yarns Y are threaded onto the respective bobbins B, portions of the yarns Y, which are on the downstream side of the bobbins B in the suction direction, are cut by the tension applied to the yarns Y. The portions cut off from the yarns Y are sucked by the suction unit 41 via the guide unit 42 and are supplied to the waste yarn box 7. In this way, the yarn threading is finished, and the winding of the yarns Y by the spun yarn take-up machine 3 starts.

[0106] As described above, the yarn threading robot 4 includes a suction nozzle 51, a guide unit 42, and a robotic arm 32. For the purpose of threading the yarns Y to the yarn threading target members, the guide unit 42 is configured to be movable relative to the suction nozzle 51 and to be capable of operating the yarns Y and guiding the yarns Y to the suction port 62a. The robotic arm 32 is configured to be able to drive and move the guide unit 42 in any directions independently from the suction nozzle 51. After causing the suction nozzle 51 to suck and hold the yarns Y, the yarn threading to the yarn threading target members can be performed by moving, in any directions, the guide unit 42 guiding the yarns Y independently from the suction nozzle 51. In addition to this, the guide unit 42 can move independently from the supply hose 54A and the discharge hose 54B (pipes). Therefore, even if the movement of the suction nozzle 51 and the pipes is necessary, the distance of the movement is suppressed to be minimum necessary. The guide unit 42 can be minimized in size and weight as long as the function of guiding the yarns Y is maintained. In other words, the yarn threading can be performed mainly by moving the guide unit 42 that is relatively small and light. The efficiency in the yarn threading is therefore improved.

[0107] In addition, the suction nozzle 51 is arranged to be movable in a specific direction (up-down direction). This allows the suction nozzle 51 to follow the movement of the guide unit 42 as needed. Because the suction nozzle 51 is allowed to move only in the specific direction, it is possible to suppress the movement of the pipes connected to the suction nozzle 51 to be minimum necessary.

[0108] The yarn threading robot 4 includes the bar guide 84 and the driving source 82. By moving the suction nozzle 51, the suction nozzle 51 can be positioned as close as possible to the guide unit 42. In this regard, because the suction nozzle 51 is not allowed to move freely but driven and moved along a predetermined track, it is possible to minimize the influence of the weight and / or inertial mass of the pipes. As a result, it is possible to move the suction nozzle 51 at a position as close as possible to the guide unit 42, while suppressing the influence of the pipes.

[0109] Furthermore, the guide unit 42 can operate the yarns Y and guide the yarns Y to the suction port 62a, in the surrounding state in which at least one in the suction direction of the running yarns Y. Therefore, no matter how the guide unit 42 is moved in parallel or rotationally moved, the yarns Y can be reliably brought into contact with any part of the guide unit 42 and guided to the suction port 62a. This reduces the constraints regarding the way of moving the guide unit 42 during the yarn threading. The efficiency in the yarn threading can therefore be improved.

[0110] In addition to the above, the guide unit 42 has a cylindrical shape that extends in a direction orthogonal to the circumferential direction surrounding the yarns Y. Therefore, by operating the end portion on the downstream side in the suction direction of the guide unit 42, it becomes relatively easier for the end portion on the upstream side in the suction direction of the guide unit 42 to enter narrow and deep locations. The efficiency in the yarn threading can therefore be improved.

[0111] In addition to the above, the guide unit 42 is switchable between the partial overlapping state and the overlapping cancellation state. In the overlapping cancellation state, the guide unit 42 is able to move in any directions independently from the suction nozzle 51 and is able to operate the yarns Y and to guide the yarns Y to the suction port 62a. When the guide unit 42 is in the partial overlapping state and the yarn threading unit 33 sucks and holds the yarns Y, the guide unit 42 is in the surrounding state. As a result, the guide unit 42 can maintain the surrounding state even after the switch to the overlapping cancellation state. Consequently, it is possible to start changing the yarn path by the guide unit 42 immediately after switching from the attached state to the detached state. The efficiency in the yarn threading can therefore be improved. Furthermore, as the guide unit 42 is arranged to be in the partial overlapping state when the yarn threading is not performed, it is possible to downsize the yarn threading robot 4.

[0112] In the present embodiment, the partial overlapping state is the attached state and the overlapping cancellation state is the detached state. By attaching the guide unit 42 to the suction nozzle 51 when the yarn threading is not performed, the guide unit 42 can be stably held.

[0113] In addition to the above, the guide unit 42 is configured to be switchable between the attached state and the detached state by being moved in the lengthwise direction. It is therefore possible to detach the guide unit 42 from the suction nozzle 51 simply by pulling the guide unit 42 in the attached state off from the suction nozzle 51 in the lengthwise direction. Furthermore, by simply fitting the guide unit 42 in the detached state into the suction nozzle 51, it is possible to attach the guide unit 42 to the suction nozzle 51. The efficiency in the operation related to the yarn threading can therefore be improved.

[0114] In addition to the above, the guide unit 42 and the suction nozzle 51 are magnetically attracted to each other. For this reason, the guide unit 42 can be strongly attached to the suction nozzle 51 by the magnetic force. This prevents the guide unit 42 in the attached state from unintentionally falling off from the suction nozzle 51.

[0115] In addition to the above, the guide unit 42 is attached to the robotic arm 32. In other words, because the guide unit 42 is always held by the robotic arm 32, it is unnecessary to perform an operation to cause the robotic arm 32 to hold the guide unit 42. It is therefore possible to suppress the deterioration in yarn threading efficiency.

[0116] In addition to the above, the guide unit 42 is electrically connected to the suction nozzle 51 (ground member) via the ground wire 78 at least during the yarn threading. This allows the electric charge possibly accumulated in the guide unit 42 to be discharged to the ground through the ground wire 78 and the suction nozzle 51. It is therefore possible to effectively remove the electricity from the guide unit 42. Furthermore, it is possible to suppress the ground wire 78 from becoming long as compared to a case where the ground member is provided at a member different from the suction nozzle 51.

[0117] The yarn threading robot 4 includes the yarn capturing auxiliary section 53. The yarn capturing auxiliary section 53 has the yarn drawing section 56 and the cutting unit 57. By cutting the yarns Y located in the vicinity of the suction nozzle 51 by the cutting unit 57, it is possible to cause the suction nozzle 51 to suck and capture portions of the yarns Y having been cut, which are on the upstream side in the running direction. By the yarn drawing section 56, it is possible to gather the yarns Y to the suction nozzle 51 side without moving the suction nozzle 51. Furthermore, because the yarn capturing auxiliary section 53 is provided separately from the guide unit 42, it is possible to avoid increase in size and weight of the guide unit 42. This enables the suction nozzle 51 to suck and capture the yarns Y while suppressing a decrease in yarn threading efficiency.

[0118] In addition to the above, the guide unit 42 is arranged to be able to operate the yarns Y and to guide the yarns Y to the suction port 62a. When plural yarns Y are handled, a strong suction force is required to suck and hold the yarns Y. Therefore, in order to stably generate strong suction power, it may be necessary to make pipes thicker and more robust. The present invention is particularly effective for such a structure.

[0119] In addition to the above, the spun yarn take-up system 1 includes the yarn threading robot 4 and the spun yarn take-up machine 3. It is therefore possible in the present embodiment to improve the efficiency in the yarn threading to the spun yarn take-up machine 3. To be more specific, it is possible to improve the efficiency in the yarn threading by the yarn threading robot 4.

[0120] In the present embodiment, one yarn threading robot 4 must perform yarn threading to the spun yarn take-up machines 3. For such an embodiment, the present invention that improves the efficiency in yarn threading to each spun yarn take-up machine 3 is particularly effective.

[0121] 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. (1) In the embodiment above, the ground wire 78 is connected to the suction nozzle 51. However, the disclosure is not limited to this. The ground wire 78 may be connected to another member. For example, the ground wire 78 may be provided to hang down from the robotic arm 32 and extend upward while maintaining insulation from the robot main body 31. Furthermore, the ground wire 78 may be arranged to be able to directly make contact with the above-described fixed pipe. (2) In the embodiment above, the yarn threading robot 4 is provided with the ground wire 78. However, the disclosure is not limited to this. The yarn threading robot 4 may not include the ground wire 78. In this case, the guide unit 42 may be grounded by means different from the ground wire 78. Alternatively, when it is not necessary to consider the frictional electrification between the guide unit 42 and the yarns Y, the guide unit 42 may not be grounded. (3) In the embodiment above, the suction nozzle 51 is driven to move up and down by the elevation drive unit 44. However, the disclosure is not limited to this. The yarn threading robot 4 may not include the elevation drive unit 44. In this case, the distance between the suction nozzle 51 and the guide unit 42 may be long. For this reason, part of the yarns Y, which is traveling from the guide unit 42 toward the suction nozzle 51, may be long as compared to the embodiment above. Because this part is exposed to the outside space, the part may unintentionally interfere with the members of the spun yarn take-up machine 3. Due to this, in order to prevent the interference between the yarns Y and the members of the spun yarn take-up machine 3, the spun yarn take-up machine 3 preferably includes a guide (not illustrated) used for temporarily holding the part of the yarns Y running from the guide unit 42 to the suction nozzle 51, during the yarn threading. Alternatively, such a guide may be provided in the yarn threading robot 4. In this case, the guide may be driven and moved by a different robotic arm (not illustrated) from the robotic arm 32. In this case, furthermore, the suction nozzle 51 may not be movable in the up-down direction. (In other words, the position of the suction nozzle 51 may be fixed in the up-down direction.) (4) In the embodiment above, the suction nozzle 51 includes the magnet 64. However, the disclosure is not limited to this. In place of the suction nozzle 51, an unillustrated magnet may be provided on the guide unit 42 side. Alternatively, magnets may be provided on both the suction nozzle 51 and the guide unit 42. In these cases, the guide unit 42 and the suction nozzle 51 are magnetically attracted to each other. (5) In the embodiment above, the guide unit 42 and the suction nozzle 51 are designed to be magnetically attracted to each other. However, the disclosure is not limited to this. The guide unit 42 may be attached to the suction nozzle 51 only by being fitted to the fitting portion 62. (6) In the embodiment above, the inner diameter of the fitting portion 72 is arranged to be larger than the outer diameter of the fitting portion 62. In other words, when the guide unit 42 is in the attached state, the fitting portion 72 is positioned outside of the fitting portion 62 in the radial direction of the nozzle main body 61. However, the disclosure is not limited to this. The outer diameter of the fitting portion 72 may be smaller than the inner diameter of the engagement portion 62. In other words, when the guide unit 42 is in the attached state, the fitting portion 72 may be positioned inside the fitting portion 62 in the radial direction of the nozzle main body 61. (7) In the embodiment above, the guide unit 42 is arranged to have a cylindrical shape. However, the disclosure is not limited to this. The guide unit 42 may be, for example, substantially ring-shaped. (8) In the embodiment above, the guide unit 42 is in the surrounding state, when the guide unit 42 is in the attached state and the yarn threading unit 33 is sucking and holding the yarns Y. However, the disclosure is not limited to this. In place of the guide unit 42, an unillustrated guide unit as described below may be provided. This guide unit may have two semi-cylindrical members that are connected by a hinge to be closable and openable, for example. In this case, the surrounding state may be established by closing the two semi-cylindrical members to form a substantially cylindrical shape. In other words, the guide unit may not be in the surrounding state when attached to the suction nozzle 51. The guide unit may be in the surrounding state only when the guide unit is in the detached state. Alternatively, a guide unit (not illustrated) which has three or more long members connected to one another and can be in the surrounding state as a result of deformation may be provided. (9) As a further modification of the above-described modification (8), the guide unit may be configured not to be attachable to the suction nozzle 51. The guide unit may be spaced apart from the suction nozzle 51 when the yarn threading is not performed. The guide unit is required to be in the surrounding state at least when the guide unit is in the detached state. (10) In the embodiment above, the guide unit 42 is switchable between the attached state and the detached state by being moved in the lengthwise direction. However, the disclosure is not limited to this. At a part of the suction nozzle 51, which is different from the suction port 62a, a fitting portion (not illustrated) may be provided to fit with the guide unit 42 (or the above-described unillustrated guide unit; hereinafter, the guide unit, etc.). Alternatively, the guide unit 42, etc. may be attachable to and detachable from the suction nozzle 51 by means different from the fitting portion. (11) In the embodiment above, the guide unit 42, etc. takes the surrounding state. However, the disclosure is not limited to this. The guide unit 42, etc. may be arranged not to surround the yarns Y. However, in this case, when moving the guide unit 42, etc., a more careful operation is required to prevent the yarns Y from dropping off from the guide unit 42, etc. (12) In the embodiment above, the guide unit 42, etc. and the comb teeth guide unit 43 are driven to move integrally by the robotic arm 32. However, the disclosure is not limited to this. For example, the comb teeth guide unit 43 may be independently driven and moved in any directions relative to both the suction unit 41 and the guide unit 42, etc. by another robotic arm (not illustrated) different from the robotic arm 32. When the guide unit 42, etc. and the comb teeth guide unit 43 are independently movable in this way, it is possible to effectively avoid the yarns Y from making contact with a member different from the yarn threading target member during the yarn threading, by suitably changing the yarn path. In this modification, for example, only the above-described comb guide 75 may be provided in place of the comb teeth guide unit 43. (13) In the embodiment above, both the guide unit 42, etc. and the comb teeth guide unit 43 are provided. However, the disclosure is not limited to this. The following will describe an alternative with reference to FIG. 13(a) to FIG. 14(e). FIG. 13(a) and FIG. 13(b) correspond to FIG. 5(a) and FIG. 5(b), respectively. FIG. 14(a) to FIG. 14(e) correspond to FIG. 10(a) to FIG. 10(e), respectively. As shown in FIG. 13(a) and FIG. 13(b), a yarn threading robot 4M may be provided in place of the yarn threading robot 4. The yarn threading robot 4M may have a yarn threading unit 33M in place of the yarn threading unit 33. The yarn threading unit 33M may have a suction unit 41M (suction nozzle of the present invention) and a comb teeth guide unit 43M (yarn operation unit of the present invention). In other words, the yarn threading unit 33M may not have the guide unit 42, etc. In this case, only the comb teeth guide unit 43M is equivalent to the yarn operation unit of the present invention. The suction unit 41M has, for example, the same function as the above-described suction unit 41, and may be identical in length with a combination of the suction unit 41 and the guide unit 42 in the lengthwise direction. The suction unit 41M may be driven and moved up and down by the above-described elevation drive unit 44. The comb teeth guide unit 43M may have the same configuration as, for example, the above-described comb teeth guide unit 43. That is to say, the above-described comb teeth guide 75 and the pressing roller (not illustrated) may be provided. Alternatively, the comb teeth guide unit 43M may only have the above-described comb teeth guide unit 75, for example. The comb teeth guide unit 43M may be driven to move independently in any directions relative to the suction unit 41M by the robotic arm 32. The comb teeth guide unit 43M may not be configured to be attachable to and detachable from the suction unit 41M.

[0122] During the yarn threading, the above-described yarn threading robot 4M may be controlled as described below by the yarn threading controller 102. The yarn threading controller 102 positions the suction unit 41M at a position immediately above the yarns Y that are being sucked and held by the aspirator 11 (see FIG. 14(a)). The yarn threading controller 102 extends the drawing member 58 rearward (see two-dot chain lines in FIG. 14(a)), and then retracts the drawing member 58 forward. Subsequently, the yarn threading controller 102 causes the cutting unit 57 to cut the yarns Y. As a result, the yarns Y are sucked and held by the suction unit 41M. Subsequently, the yarn threading controller 102 controls the arm motor 122 (see FIG. 3) to move the comb teeth guide unit 43M to a position above the suction unit 41M. As a result, the yarn threading controller 102 causes the comb teeth guide unit 43M to hold the yarns Y at a location on the upstream side of the suction unit 41M in the suction direction (see FIG. 14(b)). Subsequently, the yarn threading controller 102 moves the comb teeth guide unit 43M downward (see FIG. 14(c)). To be more specific, the yarn threading controller 102 moves the comb teeth guide unit 43M to a location which is below and in front of the regulatory guide 12 (see FIG. 14(c) and FIG. 14(d)). Concurrently, the yarn threading controller 102 moves the suction unit 41M downward (see FIG. 14(c)). Subsequently, the yarn threading controller 102 moves the comb teeth guide unit 43M rearward so as to thread the yarns Y to the regulatory guide 12. Subsequently, the yarn threading controller 102 moves the comb teeth guide unit 43M so as to thread the yarns Y to the first godet roller 13 and to the second godet roller 14 in order (see FIG. 14(e)). Furthermore, the yarn threading controller 102 may appropriately move the comb teeth guide unit 43M so as to continue the yarn threading to the fulcrum guides 21. The yarn threading may be executed in this way.

[0123] (15) In the embodiment above, the guide unit 42, etc. and the comb teeth guide unit 43 (or the comb teeth guide unit 43M; hereinafter, the comb teeth guide unit 43, etc.) are movable in any directions. However, the disclosure is not limited to this. One of the guide unit 42, etc. and the comb teeth guide unit 43, etc. may be arranged to be movable only on a predetermined virtual plane, for example. Alternatively, one of the above-described units may be arranged to be movable only along a predetermined track for executing the yarn threading. The track may be determined in advance by an unillustrated rail-shaped member, for example. In this case, only the other of the guide unit 42, etc. and the comb teeth guide unit 43, etc. is equivalent to the yarn operation unit of the present invention.

[0124] (16) The structure of the comb teeth guide unit 43, etc. is not limited to the units described above. In place of the comb teeth guide unit 43, etc., the above-described pressing roller (not illustrated) may be provided. In addition to the comb teeth guide unit 43, etc. or in place of the comb teeth guide unit 43, etc., an unillustrated yarn guide may be provided. Such a yarn guide may be provided for the purpose of appropriately changing the yarn path to avoid unintentional interference with a member different from the yarn threading target member.

[0125] (17) A modification of the above-described yarn operation unit will be comprehensively described. The yarn operation unit may have both or at least one of the guide unit 42, etc. and the comb teeth guide unit 43, etc. When both the guide unit 42, etc. and the comb teeth guide unit 43, etc. are provided, they may be integrally driven and moved by the robotic arm 32, or may be driven and moved in any directions by different robotic arms (not illustrated), respectively. The guide unit 42, etc. and / or the comb teeth guide unit 43, etc. may have any of the above-described arrangements.

[0126] (18) The following will describe another modification of the above-described guide unit 42 with reference to FIG. 15(a) to FIG. 15(c). Each of FIG. 15(a) to FIG. 15(c) shows a yarn threading unit 95 (sucking-holding unit of the present invention) related to another modification. Each of FIG. 15(a) and FIG. 15(b) shows the yarn threading unit 95 when a later-described guide unit 97 is in a partial overlapping state. FIG. 15(c) shows the yarn threading unit 95 when the guide unit 97 is in an overlapping cancellation state. In this modification, the yarn threading unit 95 is provided in place of the yarn threading unit 33. The yarn threading unit 95 has a suction unit 96 and a guide unit 97 (the yarn operation unit and the surrounding unit of the present invention). The suction unit 96 is provided in place of the suction unit 41. The suction unit 96 includes a suction nozzle 98. The suction nozzle 98 is a substantially cylindrical member provided in place of the suction nozzle 51. In the lengthwise direction, the suction nozzle 98 is more or less identical in length with a combination of the suction nozzle 51 and the guide unit 42, for example. At a leading end portion of the suction nozzle 98 in the lengthwise direction, for example, a contact member 98b and plural O-rings 98c are provided. The contact member 98b has the same function as the above-described contact member 73, for example. A suction port 98d is formed by the inner circumferential surface of the contact member 98b. The O-rings 98c have the same function as the above-described O-rings 73a, for example. The guide unit 97 is provided in place of the guide unit 42. The guide unit 97 includes a guide main body 99. The guide main body 99 is a substantially cylindrical member provided in place of the guide main body 71. As shown in FIG. 15(a) and FIG. 15(b), the guide main body 99 is shorter than the suction nozzle 98 in the lengthwise direction. Furthermore, the inner diameter of the guide main body 99 is larger than the outer diameter of the suction nozzle 98. As a result, the guide unit 97 is supported by the robotic arm 32 in a state in which the inner circumferential surface 99a of the guide main body 99 is spaced apart from the outer circumferential surface 98a of the suction nozzle 98. At both end portions in the lengthwise direction of the guide main body 99, for example, the above-described contact member 73 and O-rings 73a may be provided. At a central portion of the guide main body 99 in the lengthwise direction, the above-described handle 74 may be provided, for example. Although not illustrated, the guide main body 99 may be connected to the suction nozzle 98 by, for example, the above-described ground wire 78. In the same manner as the guide unit 42, the guide unit 97 is switchable between the partial overlapping state (see FIG. 15(b)) and the overlapping cancellation state (see FIG. 15(c)) by being moved in the lengthwise direction. The guide unit 97 in the overlapping cancellation state is able to operate the yarns Y and to guide the yarns Y to the suction port 98d. In a modification of the modification (18), for example, the above-described comb teeth guide unit 43 may be provided. In this case, both the guide unit 97 and the comb teeth guide unit 43 may be attached to the robotic arm 32. Alternatively, the guide unit 97 may be attached to the robotic arm 32, and the comb teeth guide unit 43 may be attached to another robotic arm (not illustrated).

[0127] Before the yarns Y are handed over from the aspirator 11 to the yarn threading unit 95, the guide unit 97 is in the above-described partial overlapping state. The guide unit 97 in the partial overlapping state is provided on the base end side of an end of the suction nozzle 98, which is on the leading end side in the lengthwise direction. In other words, the suction nozzle 98 protrudes toward the leading end side in the lengthwise direction as compared to the guide unit 97 in the partial overlapping state. As a result, the yarns Y can be directly sucked and captured by the suction nozzle 98 without requiring the yarns Y to make contact with the guide unit 97. Therefore, the yarns Y can be reliably and smoothly sucked and captured by the suction nozzle 98. Furthermore, the guide unit 97 in the partial overlapping state is held by the robotic arm 32 while surrounding the suction nozzle 98 and not in contact with the suction nozzle 98. It is therefore possible to effectively suppress the vibration of the suction nozzle 98 from being transferred to the robotic arm 32 through the guide unit 97.

[0128] (19) In the embodiment above, the yarn operation unit is attached to the robotic arm 32. However, the disclosure is not limited to this. For example, the robotic arm 32 may include an unillustrated clamp device and is configured to be able to grip and support the yarn operation unit.

[0129] (20) In the embodiment above, the yarn threading robot 4 (or the yarn threading robot 4M) is movable in the left-right direction. In other words, the yarn threading robot 4 (or yarn threading robot 4M) is a robot shared between plural spun yarn take-up positions TP. However, the disclosure is not limited to this. For example, plural yarn threading robots 4 (or yarn threading robots 4M) may be provided. The spun yarn take-up positions TP may be grouped into plural groups. Each of the yarn threading robots 4 (or the yarn threading robots 4M) may perform yarn threading to one or more spun yarn take-up machine 3 included in the corresponding group. The number of the groups may be equal to the number of the spun yarn take-up positions TP. In this case, the yarn threading robot 4 (or yarn threading robot 4M) may not be movable in the left-right direction.

[0130] (21) The spun yarn take-up system 1 includes plural spun yarn take-up positions TP. However, the disclosure is not limited to this. The spun yarn take-up system 1 may include only one spun yarn take-up position TP.

[0131] (22) In the state before the start of the yarn threading, the yarns Y are sucked and held by the aspirator 11. However, the disclosure is not limited to this. For example, in the vicinity of the spinning apparatus 2, an unillustrated known yarn bring-down device may be provided to bring the yarns Y down while holding the yarns Y spun out from the spinning apparatus 2. The yarn threading robot 4 may directly receive the yarns Y from the yarn bring-down device at the time of the yarn threading.

[0132] (23) The spun yarn take-up machine 3 is configured to take up and wind the yarns Y. However, the disclosure is not limited to this. The spun yarn take-up machine 3 may be configured to take up and wind a single yarn Y.

[0133] (24) The yarn threading robot may be provided not only in the spun yarn take-up system 1 but also in various systems configured to process at least one yarn Y.

Claims

1. A yarn threading robot (4) which performs yarn threading of threading at least one running yarn (Y) to a yarn threading target member (12, 13, 14, 21), comprising: a suction nozzle (51) which includes a suction port (62a) provided to suck the at least one yarn (Y) and which is arranged to be able to suck and hold the at least one yarn (Y) while being connected to a suction source (6, 7) through a pipe (54A, 54B); a yarn operation unit (42) which is movable relative to the suction nozzle (51) and is able to operate the at least one yarn (Y) and to guide the at least one yarn (Y) to the suction port (62a) in order to thread the at least one yarn (Y) to the yarn threading target member (12, 13, 14, 21); and a robotic arm (32) which is configured to be able to drive and move the yarn operation unit (42) in any directions independently from the suction nozzle (51).

2. The yarn threading robot (4) according to claim 1, wherein, the suction nozzle (51) is arranged to be movable in a specific direction.

3. The yarn threading robot (4) according to claim 2, further comprising: a guide rail (84) which guides the suction nozzle (51) in the specific direction along a predetermined track; and a nozzle driving source (82) which is configured to drive and move the suction nozzle (51) along the guide rail (84).

4. The yarn threading robot (4) according any one of claims 1 to 3, wherein, the yarn operation unit (42) includes a surrounding unit (42) which is able to operate the at least one yarn (Y) and to guide the at least one yarn (Y) to the suction port (62a) while being in a surrounding state of surrounding part of the at least one running yarn (Y) in a suction direction in which the at least one yarn (Y) is sucked.

5. The yarn threading robot (4) according to claim 4, wherein, the surrounding unit (42) has a cylindrical shape that extends in a direction orthogonal to a circumferential direction surrounding the at least one yarn (Y).

6. The yarn threading robot (4) according to claim 4 or 5, wherein, the yarn operation unit (42) is switchable between a partial overlapping state in which a space occupied by the yarn operation unit (42) partially overlaps a space occupied by the suction nozzle (51) and an overlapping cancellation state in which the partial overlapping state is canceled, and in the overlapping cancellation state, the yarn operation unit (42) is movable in any directions independently from the suction nozzle (51) and is able to operate the at least one yarn (Y) and to guide the at least one yarn (Y) to the suction port (62a); and when the yarn operation unit (42) is in the partial overlapping state and the suction nozzle (51) is sucking and holding the at least one yarn (Y), the yarn operation unit (42) is in the surrounding state.

7. The yarn threading robot (4) according to claim 6, wherein, the yarn operation unit (42) in the partial overlapping state surrounds the suction nozzle (51) and is supported by the robotic arm (32) without making contact with the suction nozzle (51).

8. The yarn threading robot (4) according to claim 7, wherein, the suction nozzle (51) extends in a lengthwise direction and protrudes toward the leading end side in the lengthwise direction as compared to the yarn operation unit (42) which is in the partial overlapping state.

9. The yarn threading robot (4) according to any one of claims 1 to 5, wherein, the yarn operation unit (42) is switchable between a partial overlapping state in which a space occupied by the yarn operation unit (42) partially overlaps a space occupied by the suction nozzle (51) and an overlapping cancellation state in which the partial overlapping state is canceled, and in the overlapping cancellation state, the yarn operation unit (42) is movable in any directions independently from the suction nozzle (51) and is able to operate the at least one yarn (Y) and to guide the at least one yarn (Y) to the suction port (62a).

10. The yarn threading robot (4) according to claim 6 or 9, wherein, the yarn operation unit (42) is attachable to and detachable from the suction nozzle (51), the partial overlapping state is an attached state in which the yarn operation unit (42) is attached to the suction nozzle (51), and the overlapping cancellation state is a detached state in which the yarn operation unit (42) is detached from the suction nozzle (51).

11. The yarn threading robot (4) according to claim 10, wherein, the suction nozzle (51) includes: a nozzle main body (61) which extends in a lengthwise direction and allows the at least one yarn (Y) to pass through in the lengthwise direction; and a fitting portion (62) which is provided on the upstream side of the nozzle main body (61) in the suction direction in which the at least one yarn (Y) is sucked, which includes the suction port (62a), which extends in the lengthwise direction, and which is arranged to fit with the yarn operation unit (42), the attached state is a state in which the yarn operation unit (42) is fitted with the fitting portion (62), the detached state is a state in which fitting of the yarn operation unit (42) and the fitting portion (62) is canceled, and the yarn operation unit (42) is switchable between the attached state and the detached state by being moved in the lengthwise direction.

12. The yarn threading robot (4) according to claim 10 or 11, wherein the yarn operation unit (42) and the suction nozzle (51) are magnetically attracted to each other.

13. The yarn threading robot (4) according to any one of claims 1 to 12, wherein the yarn operation unit (42) is attached to the robotic arm (32).

14. The yarn threading robot (4) according to any one of claims 1 to 13, wherein, the yarn operation unit (42) is electrically connected to a ground member (51) via a ground wire (78) in order to discharge the electric charge to a ground at least during the yarn threading.

15. The yarn threading robot (4) according to claim 14, wherein, the ground member (51) includes the suction nozzle (51).

16. The yarn threading robot (4) according to any one of claims 1 to 15, further comprising a yarn capturing auxiliary section (53) which is arranged to cause the suction nozzle (51) to take up the at least one yarn (Y) running in a predetermined running direction and which is provided separately from the yarn operation unit (42), and the yarn capturing auxiliary section (53) includes: a yarn drawing section (56) which is configured to gather part of the at least one yarn (Y) toward the suction nozzle (51) side in the running direction; and a cutting unit (57) which is configured to be able to cut the at least one yarn (Y) gathered toward the suction nozzle (51) side by the yarn drawing section (56).

17. The yarn threading robot (4) according to any one of claims 1 to 16, wherein, the at least one yarn (Y) includes yarns (Y), and the yarn operation unit (42) is configured to be able to operate the yarns (Y) and to guide the yarns (Y) to the suction port (62a).

18. A spun yarn take-up system (1) comprising: the yarn threading robot (4) according to any one of claims 1 to 17; and at least one spun yarn take-up machine (3) which includes the yarn threading target member (12, 13, 14, 21) and is configured to take up the at least one yarn (Y) spun out from a spinning apparatus (2).

19. The spun yarn take-up system (1) according to claim 18, wherein, the at least one spun yarn take-up machine (3) is plural spun yarn take-up machines (3) and the spun yarn take-up machines (3) are aligned in an alignment direction, and the yarn threading robot (4) is arranged to be movable along the alignment direction.

Images