Yarn splicing device and yarn splicing method

Abstract

To suppress the generation of a tail part when splicing yarn.SOLUTION: A yarn splicing device 6 includes: interlacing means 61 having a slit 61a; a first clamp cutter 64 for cutting and gripping a yarn Y (Y1); and a second clamp cutter 65 for cutting and gripping a yarn Y (Y2). The first clamp cutter 64 is possible to switch between an opened state in which a first cutting part 64a and a first gripping part 64b are opened so as to sandwich an extended line of the slit 61a in a longitudinal direction of a frame, and a closed state in which the first cutting part 64a and the first gripping part 64b are closed. The second clamp cutter 65 is possible to switch between an opened state in which the second cutting part 65a and the second gripping part 65b are opened so as to sandwich the extended line of the slit 61a in the longitudinal direction of the frame, and a closed state in which the second cutting part 65a and the second gripping part 65b are closed.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a yarn splicing device and a yarn splicing method for splicing two yarns together. [Background technology]

[0002] There is known a yarn splicer for joining ends of yarns of two packages together. For example, Patent Document 1 discloses a yarn splicing device (a joining device in Patent Document 1) having an intertwining means having an air nozzle, a pair of yarn holding means (clampers in Patent Document 1) arranged on both sides of the intertwining means and holding the yarn, and a cutting means arranged between the intertwining means and the yarn holding means.

[0003] The yarn splicing device of Patent Document 1 splices two yarns by spraying compressed air from an air nozzle onto two yarns held by a pair of yarn holding means to entangle the two yarns. The part of the two yarns that protrudes from the entangled part is called the tail part. Such a tail part of the yarn can cause uneven dyeing when the yarn is made into a woven or knitted fabric, for example, and therefore needs to be removed before proceeding to the next process, and is cut by a cutting means. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2000-16704 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in a yarn splicing device such as that in Patent Document 1, the distance between the intertwining means and the cutting means is long, so that even after cutting by the cutting means, the tail portion between the intertwining means and the cutting means may still remain. Conventionally, the remaining tail portion has been dealt with by having an operator manually cut the tail portion. However, cutting the tail portion manually by an operator is time-consuming and may damage parts of the yarn other than the tail portion.

[0006] It is conceivable that the worker may adjust the length of the thread inserted into the intertwining means so as to prevent the tail portion from being formed, but the degree of thread insertion depends on the skill of the worker, and tail portions often remain.

[0007] An object of the present invention is to prevent the formation of tails when splicing yarns. [Means for solving the problem]

[0008] The yarn joining device of the present invention includes an interlacing means having a slit extending in a predetermined direction and interlacing two yarns passing through the slit, a first yarn cutting and holding means arranged on one side of the interlacing means in the predetermined direction and cutting and holding the yarn, and a second yarn cutting and holding means arranged on the other side of the interlacing means in the predetermined direction and cutting and holding the yarn, wherein the first yarn cutting and holding means has a first cutting section having two blades that can be opened and closed relative to each other and cutting the yarn by pinching the yarn with the two blades, and a first holding section arranged between the first cutting section and the interlacing means and having two holding members that can be opened and closed relative to each other and holding the yarn by pinching the yarn with the two holding members, the second cutting portion has two blades that can be opened and closed relative to each other, and cuts the yarn by pinching the yarn between the two blades; and a second gripping portion is disposed between the second cutting portion and the interlacing means, and has two gripping members that can be opened and closed relative to each other, and grips the yarn by pinching the yarn between the two gripping members, and is switchable between an open state in which the second cutting portion and the second gripping portion are open so as to pinch an extension line of the slit in the predetermined direction, and a closed state in which the second cutting portion and the second gripping portion are closed.

[0009] In such a yarn splicing device, one portion of the yarn protruding from one side of the intertwining means is cut and held by the first yarn cutting and holding means, and the other portion of the yarn protruding from the other side of the intertwining means is cut and held by the second yarn cutting and holding means. Then, the two yarns cut by each yarn cutting and holding means are intertwined by the intertwining means. Therefore, the closer the first yarn cutting and holding means and the second yarn cutting and holding means are to the intertwining means, the shorter the distance between the intertwining means and the portions of the two yarns cut by each yarn cutting and holding means, and the tail portion can be reduced. Here, the positional relationship between the first yarn cutting portion holding portion and the second yarn cutting and holding portion and the intertwining means may be any positional relationship as long as the two yarns can be passed through the first yarn cutting and holding means and the second yarn cutting and holding means and the intertwining means. However, when the first cutting part and the first gripping part, and the second cutting part and the second gripping part in the open state are not arranged to sandwich the extension line of the slit, that is, when the first cutting part and the first gripping part, and the second cutting part and the second gripping part in the open state are located in a position that is off the extension line of the slit in a predetermined direction, it is necessary to bend each thread protruding from the slit on both sides and bring it to between each cutting part and each gripping part that is located in a position that is off the extension line of the slit. Therefore, when the distance between the intertwining means and each thread cutting and gripping means becomes short, it becomes necessary to bend the thread significantly on both sides of the slit to pass the thread between each cutting part and each gripping part, making it difficult to insert the thread into the slit. Therefore, there is a limit to how close the intertwining means and each thread cutting and gripping means can be. According to the present invention, the first cutting part and the first gripping part, and the second cutting part and the second gripping part open so as to sandwich the extension line of the slit in a predetermined direction. Therefore, if the yarn to be inserted into the slit is made to run along the extension line of the slit, the yarn can be easily passed through the slit and between the cutting portions and the gripping portions. This allows the yarn cutting and gripping means to be brought closer to the intertwining means without causing any problems in inserting the yarn into the slit and the yarn cutting and gripping means. This makes it possible to bring the yarn cutting and gripping means as close as possible to the intertwining means, thereby preventing the generation of tail portions when the yarns are spliced ​​together.

[0010] In the yarn joining device of the present invention, it is preferable that, when the first yarn cutting and gripping means is in the closed state, the first cutting part and the first gripping part are located at positions deviated from an extension line of the slit in the predetermined direction, and, when the second yarn cutting and gripping means is in the closed state, the second cutting part and the second gripping part are located at positions deviated from an extension line of the slit in the predetermined direction.

[0011] When two threads are spliced ​​together, a procedure may be adopted in which one thread is put into a slit and cut and held by the first thread cutting and holding means, and then the other thread is put into the slit and cut and held by the second thread cutting and holding means. In this case, when putting one thread into the slit, it is necessary to open the first thread cutting and holding means and close the second thread cutting and holding means. This is to make one thread cuttable by the first cutting section and holdable by the first holding section, and not cut by the second cutting section and not held by the second holding section. Conversely, when putting the other thread into the slit, it is necessary to open the second thread cutting and holding means and close the first thread cutting and holding means. This is to make the other thread cuttable by the second cutting section and holdable by the second holding section, and not cut by the first cutting section and not held by the first holding section. According to the present invention, the first cutting portion and the first gripping portion when the first yarn cutting and gripping means is in the closed state, and the second cutting portion and the second gripping portion when the second yarn cutting and gripping means is in the closed state, are located at positions that are off from an extension line of the slit in a predetermined direction. Therefore, when one yarn is inserted into the slit, the second cutting portion and the second gripping portion in the closed state do not interfere with the thread insertion. Similarly, when the other yarn is inserted into the slit, the first cutting portion and the first gripping portion in the closed state do not interfere with the thread insertion. This makes it easy to insert the yarn into the slit.

[0012] It is preferable that the yarn splicing device of the present invention further comprises: first yarn gripping means, which is arranged on one side of the first yarn cutting gripping means in the predetermined direction and grips a yarn; second yarn gripping means, which is arranged on the other side of the second yarn cutting gripping means in the predetermined direction and grips a yarn; a first moving mechanism capable of moving the first yarn gripping means to stretch and relax the yarn gripped by the first yarn gripping means and the second yarn cutting gripping means; and a second moving mechanism capable of moving the second yarn gripping means to stretch and relax the yarn gripped by the second yarn gripping means and the first yarn cutting gripping means.

[0013] According to the present invention, the bulkiness of the yarn can be reduced and the yarn can be appropriately loosened by stretching and relaxing the yarn, which makes it easier for two yarns to be entangled.

[0014] In the yarn joining device of the present invention, it is preferable that the device further comprises a control device which controls the intertwining means, the first moving mechanism, and the second moving mechanism, and the control device controls the first moving mechanism to stretch and relax the yarns held by the first yarn holding means and the second yarn cutting holding means before the two yarns are entangled by the intertwining means, and controls the second moving mechanism to stretch and relax the yarns held by the second yarn holding means and the first yarn cutting holding means before the two yarns are entangled by the intertwining means.

[0015] According to the present invention, the yarn is stretched and relaxed before the two yarns are entangled, thereby reducing the bulkiness of the yarn and appropriately loosening the yarn, which makes it easier to entangle the two yarns more reliably.

[0016] In the yarn joining device of the present invention, it is preferable that a control device is provided which controls the intertwining means and switching of states of the first yarn cutting gripping means and the second yarn cutting gripping means, and the control device controls the intertwining means to entangle the two yarns passing through the slit after the first yarn cutting gripping means has been switched to the open state to release the grip of the yarn and after the second yarn cutting gripping means has been switched to the open state to release the grip of the yarn.

[0017] According to the present invention, when the intertwining means intertwines two yarns, the yarns are released from the gripping means. Therefore, the yarns between the intertwining means and the yarn cutting and gripping means are pulled into the slits by the movement of the yarns when the intertwining is imparted. This further prevents the tail portion from being generated.

[0018] The yarn splicing device of the present invention preferably includes a first robot arm having a first yarn holding unit that holds one of the two yarns, and passing the one yarn held by the first yarn holding unit through the slit; a second robot arm having a second yarn holding unit that holds the other of the two yarns, and passing the other yarn held by the second yarn holding unit through the slit; and a control device that controls switching of states of the first yarn cutting gripping means and the second yarn cutting gripping means and controls the first robot arm and the second robot arm, wherein the control device preferably controls the first robot arm to pass the one yarn through the slit and between the two blades and between the two gripping members of the first yarn cutting gripping means that is in the open state, and controls the second robot arm to pass the other yarn through the slit and between the two blades and between the two gripping members of the second yarn cutting gripping means that is in the open state.

[0019] According to the present invention, in a configuration in which the robot arm passes the thread through the slit, the cutting parts and the gripping parts are open on either side of the extension line of the slit. Therefore, when passing the thread through the slit, the thread held by the robot arm is moved along the extension line of the slit, i.e., along a straight line. Therefore, complicated control of the robot arm is not required when passing the thread through the slit.

[0020] In the yarn joining device of the present invention, the control device includes first robot arm control for controlling the first robot arm to bring the second yarn cutting and gripping means into the closed state and to pass the one yarn through the slit, and between the two blades and between the two gripping members of the first yarn cutting and gripping means that is in the open state; yarn cutting and gripping control for cutting and gripping the one yarn by switching the first yarn cutting and gripping means to the closed state after the first robot arm control; and yarn cutting and gripping control for controlling the second yarn cutting and gripping means to the open state after the yarn cutting and gripping control. and controlling the second robot arm to switch the second yarn cutting and holding means to a closed state and to pass the other yarn between the slit, and between the two blades and the two holding members of the second yarn cutting and holding means in the open state, wherein when the second yarn cutting and holding means is switched from the closed state to the open state, the second cutting unit and the second holding unit push the one yarn held by the first yarn cutting and holding means to a position off an extension of the slit in the predetermined direction.

[0021] When a procedure is adopted in which one thread is fed into a slit and cut and held by the first thread cutting and holding means, and then the other thread is fed into the slit and cut and held by the second thread cutting and holding means, the one thread that was fed into the slit first may get in the way of the other thread being fed into the slit. According to the present invention, by switching the second thread cutting and holding means from a closed state to an open state before the other thread is fed into the slit, the second cutting section and the second holding section push the one thread that was fed into the slit first and held by the first thread cutting and holding means to a position that is off the extension line of the slit in the predetermined direction. Therefore, when the other thread is fed into the slit, the one thread held by the first thread cutting and holding means does not get in the way. This makes it even easier to feed the thread into the slit.

[0022] The yarn splicing method of the present invention includes an interlacing means having a slit extending in a predetermined direction and interlacing two yarns passing through the slit, a first yarn cutting and gripping means arranged on one side of the interlacing means in the predetermined direction and cutting and gripping the yarn, and a second yarn cutting and gripping means arranged on the other side of the interlacing means in the predetermined direction and cutting and gripping the yarn, the first yarn cutting and gripping means having two blades that can be opened and closed relative to each other and cutting the yarn by pinching the yarn between the two blades, and a first cutting section arranged between the first cutting section and the interlacing means and having two blades that can be opened and closed relative to each other. a first gripping section having a gripping member and gripping the yarn by pinching the yarn between the two gripping members, and the second yarn cutting gripping means is switchable between an open state in which the first cutting section and the first gripping section are open so as to pinch an extension line of the slit in the predetermined direction, and a closed state in which the first cutting section and the first gripping section are closed, the second yarn cutting gripping means having two blades that can be opened and closed relative to each other and cutting the yarn by pinching the yarn between the two blades, and a second cutting section being disposed between the second cutting section and the intertwining means and having two gripping members that can be opened and closed relative to each other, and a second gripping portion that grips the yarn by pinching the yarn, and is switchable between an open state in which the second cutting portion and the second gripping portion are open so as to pinch an extension line of the slit in the predetermined direction, and a closed state in which the second cutting portion and the second gripping portion are closed, wherein when the first yarn cutting gripping means is in the closed state, the first cutting portion and the first gripping portion are located at a position deviated from the extension line of the slit in the predetermined direction, and when the second yarn cutting gripping means is in the closed state, the second cutting portion and the second gripping portion are located at a position deviated from the extension line of the slit in the predetermined direction. a second yarn cutting gripping means for connecting the first yarn to the first yarn cutting gripping means, the second yarn cutting unit and the second gripping unit being arranged to push the one yarn held by the first yarn cutting gripping means to a position away from an extension line of the slit in the predetermined direction when the second yarn cutting gripping means is switched from the closed state to the open state,a first yarn inserting step of passing the one yarn between the two blades of the first yarn cutting and holding means and between the two holding members; a first yarn cutting and holding step of switching the first yarn cutting and holding means from the open state to the closed state to cut and hold the one yarn; and a second yarn inserting step of switching the second yarn cutting and holding means from the closed state to the open state to pass the other yarn from the one side to the other side in the predetermined direction through the slit, and between the two blades of the second yarn cutting and holding means and between the two holding members. a second yarn cutting and gripping step of cutting and gripping the other yarn by switching the second yarn cutting and gripping means from the open state to the closed state, and an entanglement step of entangling the two yarns passed through the slit by the entanglement means after the first yarn cutting and gripping means is switched from the closed state to the open state to release the grip of the one yarn and the second yarn cutting and gripping means is switched from the closed state to the open state to release the grip of the other yarn.

[0023] In such a yarn splicing device, one portion of the yarn protruding from one side of the intertwining means is cut and held by the first yarn cutting and holding means, and the other portion of the yarn protruding from the other side of the intertwining means is cut and held by the second yarn cutting and holding means. Then, the two yarns cut by each yarn cutting and holding means are intertwined by the intertwining means. Therefore, the closer the first yarn cutting and holding means and the second yarn cutting and holding means are to the intertwining means, the shorter the distance between the intertwining means and the portions of the two yarns cut by each yarn cutting and holding means, and the tail portion can be reduced. Here, the positional relationship between the first yarn cutting portion holding portion and the second yarn cutting and holding portion and the intertwining means may be any positional relationship as long as the two yarns can be passed through the first yarn cutting and holding means and the second yarn cutting and holding means and the intertwining means. However, when the first cutting part and the first gripping part, and the second cutting part and the second gripping part in the open state are not arranged to sandwich the extension line of the slit, that is, when the first cutting part and the first gripping part, and the second cutting part and the second gripping part in the open state are located in a position that is off the extension line of the slit in a predetermined direction, it is necessary to bend each thread protruding from the slit on both sides and bring it to between each cutting part and each gripping part that is located in a position that is off the extension line of the slit. Therefore, when the distance between the intertwining means and each thread cutting and gripping means becomes short, it becomes necessary to bend the thread significantly on both sides of the slit to pass the thread between each cutting part and each gripping part, making it difficult to insert the thread into the slit. Therefore, there is a limit to how close the intertwining means and each thread cutting and gripping means can be. According to the present invention, the first cutting part and the first gripping part, and the second cutting part and the second gripping part open so as to sandwich the extension line of the slit in a predetermined direction. Therefore, if the yarn to be inserted into the slit is made to run along the extension line of the slit, the yarn can be easily passed through the slit and between the cutting portions and the gripping portions. This allows the yarn cutting and gripping means to be brought closer to the intertwining means without causing any problems in inserting the yarn into the slit and the yarn cutting and gripping means. This makes it possible to bring the yarn cutting and gripping means as close as possible to the intertwining means, thereby preventing the generation of tail portions when the yarns are spliced ​​together.

[0024] In addition, the yarn splicing method of the present invention provides the following effects. Specifically, when splicing two yarns, one yarn may be inserted into a slit and cut and held by the first yarn cutting and holding means, and then the other yarn may be inserted into the slit and cut and held by the second yarn cutting and holding means. In this case, when inserting one yarn into the slit, it is necessary to open the first yarn cutting and holding means and close the second yarn cutting and holding means. This is to ensure that one yarn is cuttable by the first cutting section and can be held by the first holding section, and is not cut by the second cutting section and is not held by the second holding section. Conversely, when inserting the other yarn into the slit, it is necessary to open the second yarn cutting and holding means and close the first yarn cutting and holding means. This is to ensure that the other yarn is cuttable by the second cutting section and can be held by the second holding section, and is not cut by the first cutting section and is not held by the first holding section. According to the yarn joining method of the present invention, the first cutting portion and the first gripping portion when the first yarn cutting and gripping means is in a closed state, and the second cutting portion and the second gripping portion when the second yarn cutting and gripping means is in a closed state, are located at positions that are off from an extension line of the slit in a predetermined direction. Therefore, when one yarn is inserted into the slit, the second cutting portion and the second gripping portion in the closed state do not interfere with the thread insertion. Similarly, when the other yarn is inserted into the slit, the first cutting portion and the first gripping portion in the closed state do not interfere with the thread insertion. This makes it easy to insert the yarn into the slit.

[0025] The yarn joining method of the present invention also provides the following effects. Specifically, when a procedure is adopted in which one yarn is inserted into a slit and cut and held by the first yarn cutting and holding means, and then the other yarn is inserted into the slit and cut and held by the second yarn cutting and holding means, the one yarn that was inserted into the slit first may get in the way of inserting the other yarn into the slit. According to the yarn joining method of the present invention, by switching the second yarn cutting and holding means from a closed state to an open state before inserting the other yarn into the slit, the second cutting section and the second holding section push the one yarn that was inserted into the slit first and held by the first yarn cutting and holding means to a position that is off the extension line of the slit in the predetermined direction. Therefore, when inserting the other yarn into the slit, the one yarn held by the first yarn cutting and holding means does not get in the way. This makes it even easier to insert the yarn into the slit.

[0026] Furthermore, according to the yarn splicing method of the present invention, when the intertwining means intertwines the two yarns, the yarns are released from the gripping means. Therefore, the yarns between the intertwining means and the yarn cutting and gripping means are pulled into the slits by the movement of the yarns when the intertwining is imparted. This further prevents the occurrence of tail portions. [Brief description of the drawings]

[0027] [Figure 1] 1 is a schematic side view of a false twisting machine according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of the creel stand shown in FIG. [Diagram 3] FIG. [Figure 4] FIG. 4 is a top view of the yarn joining device shown in FIG. [Diagram 5] 10A and 10B are diagrams illustrating a procedure of a yarn splicing operation by the yarn splicing device, showing a state in which a yarn of one of the yarn supply packages has been passed through a slit; [Figure 6] FIG. 11 is a diagram showing a procedure of a yarn splicing operation by the yarn splicing device, illustrating a state in which a yarn of one of the supplying yarn packages has been cut and gripped by a first clamp cutter. [Figure 7] FIG. 13 is a diagram showing a procedure of a yarn splicing operation by the yarn splicing device, illustrating a state when the second clamp cutter is switched from a closed state to an open state. [Figure 8] 10A and 10B are diagrams illustrating a procedure of a yarn splicing operation by the yarn splicing device, in which the yarn of the other yarn supply package is passed through a slit; [Figure 9] FIG. 10 is a diagram showing a procedure of a yarn splicing operation by the yarn splicing device, illustrating a state in which the yarn of the other supplying yarn package has been cut and gripped by the second clamp cutter. [Figure 10] FIG. 11 is a diagram showing a procedure of a yarn splicing operation by the yarn splicing device, illustrating a state in which a yarn of one yarn supplying package is gripped by a first clamp cutter and a second clamper, and a yarn of the other yarn supplying package is gripped by a second clamp cutter and a first clamper. [Figure 11] FIG. 2 is a diagram showing a procedure of a yarn joining operation by the yarn joining device, illustrating a state in which entangling means starts to impart entanglement to two yarns. [Figure 12] 10A and 10B are diagrams showing a procedure of a yarn joining operation by the yarn joining device, illustrating a state in which two yarns are being entangled by an entangling means. [Figure 13] FIG. 10 is a diagram showing a procedure of a yarn joining operation according to a modified example, illustrating a state in which two yarns have been passed through a slit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, a yarn splicing device 6 is applied to a false twisting machine 1, and is used to splice together two yarns of two yarn supply packages Ps.

[0029] (False twisting machine 1) First, the schematic configuration of a false twisting machine 1 will be described with reference to Fig. 1. Hereinafter, the up-down direction on the paper surface of Fig. 1 will be referred to as the up-down direction, and the left-right direction on the paper surface will be referred to as the machine base width direction. The up-down direction is the vertical direction in which gravity acts. Also, the direction perpendicular to the paper surface of Fig. 1 will be referred to as the machine base width direction. Below, the above directional terms will be used appropriately in the description.

[0030] The false twisting machine 1 is configured to be capable of false twisting a yarn Y made of a synthetic fiber such as nylon (a polyamide fiber). The false twisting machine 1 includes a yarn supplying section 2 for supplying the yarn Y, a processing section 3 for false twisting the yarn Y supplied from the yarn supplying section 2, and a winding section 4 for winding the yarn Y processed by the processing section 3 onto a winding bobbin Bw. Each of the components of the yarn supplying section 2, the processing section 3, and the winding section 4 is arranged in a plurality of rows in the machine longitudinal direction perpendicular to the yarn running plane (the plane of the paper in FIG. 1 ) on which the yarn path from the yarn supplying section 2 through the processing section 3 to the winding section 4 is arranged.

[0031] The yarn supplying section 2 has a creel stand 5 that holds a plurality of yarn supply packages Ps, and supplies a plurality of yarns Y to the processing section 3. The processing section 3 is configured to include, in order from the upstream side in the yarn running direction, a first feed roller 11, a twist stop guide 12, a first heating device 13, a cooling device 14, a false twist device 15, a second feed roller 16, an intertwining device 17, a third feed roller 18, a second heating device 19, and a fourth feed roller 20. The winding section 4 winds the yarn Y that has been false twisted in the processing section 3 onto a bobbin Bw with a winding device 21 to form a winding package Pw.

[0032] The yarn Y supplied from the yarn supplying section 2 to the processing section 3 is stretched between the first feed roller 11 and the second feed roller 16, and twisted by the twisting device 15. The twist formed by the twisting device 15 is propagated to the twist stop guide 12, but does not propagate upstream of the twist stop guide 12 in the yarn running direction. The yarn Y thus stretched and twisted is heated by the first heating device 13, and then cooled and heat-set by the cooling device 14. The yarn Y that has passed through the twisting device 15 is untwisted before reaching the second feed roller 16. However, since the twist of the yarn Y is heat-set as described above, each filament maintains a wavy false twist state. Thereafter, the yarn Y that has been intertwined by the intertwining device 17 and heat-set by the second heating device 19 is wound by the winding device 21.

[0033] As shown in Fig. 1, the false twisting machine 1 has a main machine base 8 and a winding table 9 arranged at a distance from each other in the width direction of the machine base. The main machine base 8 and the winding table 9 extend to approximately the same length in the longitudinal direction of the machine base and are arranged to face each other. An upper portion of the main machine base 8 and an upper portion of the winding table 9 are connected by a support frame 10. Each device constituting the processing section 3 is mainly attached to the main machine base 8 and the support frame 10. A winding device 21 constituting the winding section 4 is attached to the winding table 9.

[0034] The creel stand 5 is arranged on the opposite side of the main machine base 8 with the winding table 9 in between in the width direction of the machine base. A pair of creel stands 5 are arranged back to back in the width direction of the machine base. Multiple creel stands 5 are arranged in the longitudinal direction of the machine base. The arrangement length of the creel stands 5 in the longitudinal direction of the machine base is approximately the same as the lengths of the main machine base 8 and the winding table 9 in the longitudinal direction of the machine base.

[0035] A rail R extending in the longitudinal direction of the machine frame is laid on the floor surface on both sides in the width direction of the machine frame of a pair of creel stands 5 arranged back to back. A traveling carriage (not shown) supporting a yarn splicing device 6 (see Figs. 3 and 4) described later travels along the rail R.

[0036] The false twisting machine 1 is configured symmetrically in the width direction of the machine frame with a main machine frame 8 at the center. That is, a winding table 9 and a creel stand 5 are disposed on both sides of the main machine frame 8 in the width direction of the machine frame. The winding table 9 and creel stand 5 on the left side are not shown in Fig. 1.

[0037] (creel stand) Here, the configuration of the creel stand 5 will be described with reference to FIG. 2. As shown in FIG. 2, the creel stand 5 mainly includes a creel base 51, posts 52a and 52b, a plurality of partitions 53, and a plurality of pegs 54. The creel base 51 is a frame body. The posts 52a and 52b are vertically erected on the creel base 51. The posts 52a and 52b extend in the up-down direction. The posts 52a and 52b are arranged at a predetermined interval in the longitudinal direction of the machine base. The plurality of partitions 53 are provided on the posts 52a and 52b. The plurality of partitions 53 are arranged at a predetermined interval in the up-down direction of the posts 52a and 52b.

[0038] The pegs 54 support the yarn supply package Ps. The pegs 54 are provided on the pillars 52a and 52b. In the following description, the yarn supply package Ps supported by the pegs 54 provided on the pillar 52a may be referred to as the "yarn supply package Ps1," and the yarn supply package Ps supported by the pegs 54 provided on the pillar 52b may be referred to as the "yarn supply package Ps2."

[0039] A plurality of pegs 54 (e.g., eight pegs) are arranged at predetermined intervals in the up-down direction of the pillars 52a and 52b. The pegs 54 are arranged between a pair of partition plates 53. The pegs 54 provided on the pillar 52a and the pegs 54 provided on the pillar 52b are arranged side by side at the same height. That is, in the creel stand 5, a plurality of yarn supply packages Ps are supported by the pegs 54 in a state of being arranged in a matrix in the up-down direction and the machine longitudinal direction.

[0040] Of the two yarn supply packages Ps supported by two pegs 54 arranged side by side at the same height in the creel stand 5, the inner yarn Y1 of one yarn supply package Ps1 and the outer yarn Y2 of the other yarn supply package Ps2 are joined by a yarn joining device 6, which will be described later. As a result, even if the yarn Y of one yarn supply package Ps runs out, the yarn Y is supplied from the other yarn supply package Ps in the creel stand 5, so that the yarn Y can be supplied continuously.

[0041] (Yarn joining device 6) Next, the yarn splicing device 6 will be described below with reference to Figures 3 and 4. The yarn splicing device 6 is supported on a base 22. The base 22 is provided so as to be able to move up and down along a support 23 that is vertically installed on a traveling carriage (not shown) that runs along a rail R (see Figure 1). The yarn splicing device 6 includes a splicer 60, a robot arm 25, and a control device 69.

[0042] The yarn splicing device 6 can move to a position facing each of the multiple creel stands 5 arranged in the longitudinal direction of the machine frame by the traveling carriage traveling along the rails R. In addition, the yarn splicing device 6 can move to a position facing each of the multiple yarn supply packages Ps supported by the creel stands 5 by the base 22 moving up and down along the supports 23.

[0043] The splicer 60 includes an intertwining means 61, a first clamper 62 (first yarn holding means of the present invention), a second clamper 63 (second yarn holding means of the present invention), a first clamp cutter 64 (first yarn cutting and holding means of the present invention), a second clamp cutter 65 (second yarn cutting and holding means of the present invention), two guides 66, 67, and a main body 68. The intertwining means 61, the first clamper 62, the second clamp cutter 63, the first clamp cutter 64, the second clamp cutter 65, and the two guides 66, 67 are attached to the main body 68. The main body 68 is attached to the base 22.

[0044] As shown in FIG. 3, the intertwining means 61 has a slit 61a, a nozzle (not shown), and a nozzle cover (not shown). The slit 61a penetrates in the longitudinal direction of the machine base, and the yarn Y can run through the slit 61a. The longitudinal direction of the machine base corresponds to the predetermined direction of the present invention. The nozzle is configured to be capable of spraying compressed air in the width direction of the machine base. The nozzle cover is a member that covers the upper surface of the slit 61a and is configured to be openable and closable. Before the yarn Y is passed through the slit 61a, the nozzle cover is in an open state so as to open the upper surface of the slit 61a, and after the yarn Y is passed through the slit 61a, the nozzle cover is in a closed state so as to cover the upper surface of the slit 61a. The intertwining means 61 sprays compressed air from the nozzle to the two yarns Y passing through the slit 61a to impart intertwining and perform yarn splicing.

[0045] The first clamper 62 holds the yarn Y passed through the slit 61a. The first clamper 62 is disposed on one side of the intertwining means 61 in the longitudinal direction of the machine base. The first clamper 62 has a fixed portion 62a and a movable portion 62b. The fixed portion 62a and the movable portion 62b are aligned in a straight line along the width direction of the machine base. The movable portion 62b can be moved along the width direction of the machine base by, for example, an air cylinder (not shown). The movable portion 62b can take a clamping position (see Figs. 10 to 12) where the yarn Y can be clamped between the fixed portion 62a and the movable portion 62b, and a release position (see Figs. 4 to 9) that is farther away from the fixed portion 62a than the clamping position. In addition, a rotation shaft 62c is formed along the vertical direction at the end of the first clamper 62 on the side where the movable portion 62b is provided. The first clamper 62 can rotate around the rotation shaft 62c. When the movable part 62b is in the release position, the first clamper 62 is restricted from rotating about the rotation shaft 62c, and when the movable part 62b is in the clamping position, the first clamper 62 is allowed to rotate about the rotation shaft 62c. The rotation of the first clamper 62 is driven by, for example, a cam mechanism 90. The cam mechanism 90 corresponds to the first moving mechanism of the present invention.

[0046] The second clamper 63 holds the yarn Y passed through the slit 61a. The second clamper 63 is disposed on the other side of the intertwining means 61 in the longitudinal direction of the machine base. The second clamper 63 has a fixed part 63a and a movable part 63b. The fixed part 63a and the movable part 63b are aligned in a straight line along the width direction of the machine base. The movable part 63b can be moved along the width direction of the machine base by, for example, an air cylinder (not shown). The movable part 63b can take a clamping position (see Figs. 10 to 12) where the yarn Y can be clamped between the fixed part 63a and the movable part 63b, and a release position (see Figs. 4 to 9) that is farther away from the fixed part 63a than the clamping position. In addition, a rotation shaft 63c is formed along the vertical direction at the end of the second clamper 63 on the side where the movable part 63b is provided. The second clamper 63 can rotate around the rotation shaft 63c. When the movable part 63b is in the release position, the second clamper 63 is restricted from rotating about the rotation shaft 63c, and when the movable part 63b is in the clamping position, the second clamper 63 is allowed to rotate about the rotation shaft 63c. The rotation of the second clamper 63 is driven by, for example, a cam mechanism 90. The cam mechanism 90 corresponds to the second moving mechanism of the present invention. In this embodiment, the first moving mechanism and the second moving mechanism are the same cam mechanism 90.

[0047] The first clamp cutter 64 cuts and holds one of the two yarns Y passing through the slit 61a. The first clamp cutter 64 is disposed on one side of the intertwining means 61 and on the other side of the first clamper 62 in the machine base longitudinal direction. That is, the first clamp cutter 64 is disposed between the intertwining means 61 and the first clamper 62 in the machine base longitudinal direction. As shown in FIG. 4, the first clamp cutter 64 includes a first cutting portion 64a having a fixed blade 64a1 and a movable blade 64a2, and a first holding portion 64b having a fixed holding member 64b1 and a movable holding member 64b2. The fixed blade 64a1 and the movable blade 64a2 correspond to the two blades of the present invention. The fixed holding member 64b1 and the movable holding member 64b2 correspond to the two holding members of the present invention.

[0048] The fixed blade 64a1 and the movable blade 64a2 are aligned in a straight line along the width direction of the machine base. The fixed blade 64a1 and the movable blade 64a2 can be opened and closed relative to each other. Specifically, the movable blade 64a2 can be moved along the width direction of the machine base by, for example, an air cylinder (not shown). As a result, the fixed blade 64a1 and the movable blade 64a2 can be in an open state (see Figs. 4, 5, and 11) and a closed state (see Figs. 6 to 10 and 12). When in an open state, the fixed blade 64a1 and the movable blade 64a2 are located at positions sandwiching an extension line of the slit 61a in the longitudinal direction of the machine base. The extension line of the slit 61a in the longitudinal direction of the machine base referred to here is a straight line extending in the longitudinal direction of the machine base that passes through the center position of the slit 61a in the width direction of the machine base. When closed, the fixed blade 64a1 and the movable blade 64a2 cut the yarn Y between them. When closed, the fixed blade 64a1 and the movable blade 64a2 are located out of alignment with the extension of the slit 61a in the machine longitudinal direction.

[0049] The fixed gripping member 64b1 and the movable gripping member 64b2 are aligned in a straight line along the width direction of the machine base. The fixed gripping member 64b1 and the movable gripping member 64b2 are disposed on the other side of the fixed blade 64a1 and the movable blade 64a2 in the machine base longitudinal direction. In other words, the fixed gripping member 64b1 and the movable gripping member 64b2 are disposed between the intertwining means 61 and the fixed blade 64a1 and the movable blade 64a2 in the machine base longitudinal direction. The fixed gripping member 64b1 and the movable gripping member 64b2 can be opened and closed relative to each other. Specifically, the movable gripping member 64b2 can move integrally with the movable blade 64a2. As a result, the fixed gripping member 64b1 and the movable gripping member 64b2 can be in an open state (see Figs. 4, 5, and 11) and a closed state (see Figs. 6 to 10 and 12). When in an open state, the fixed gripping member 64b1 and the movable gripping member 64b2 are located on either side of an extension of the slit 61a in the longitudinal direction of the machine base. When in a closed state, the fixed gripping member 64b1 and the movable gripping member 64b2 grip the yarn Y located between the fixed gripping member 64b1 and the movable gripping member 64b2. When in a closed state, the fixed gripping member 64b1 and the movable gripping member 64b2 are located off the extension of the slit 61a in the longitudinal direction of the machine base.

[0050] The second clamp cutter 65 cuts and holds the other of the two yarns Y passed through the slit 61a. The second clamp cutter 65 is disposed on the other side of the intertwining means 61 and on one side of the second clamper 63 in the machine base longitudinal direction. That is, the second clamp cutter 65 is disposed between the intertwining means 61 and the second clamper 63 in the machine base longitudinal direction. As shown in FIG. 4, the second clamp cutter 65 includes a second cutting portion 65a having a fixed blade 65a1 and a movable blade 65a2, and a second holding portion 65b having a fixed holding member 65b1 and a movable holding member 65b2. The fixed blade 65a1 and the movable blade 65a2 correspond to the two blades of the present invention. The fixed holding member 65b1 and the movable holding member 65b2 correspond to the two holding members of the present invention.

[0051] The fixed blade 65a1 and the movable blade 65a2 are aligned in a straight line along the width direction of the machine base. The fixed blade 65a1 and the movable blade 65a2 can be opened and closed relative to each other. Specifically, the movable blade 65a2 can be moved along the width direction of the machine base by, for example, an air cylinder (not shown). This allows the fixed blade 65a1 and the movable blade 65a2 to be in an open state (see Figs. 4, 7, 8, and 11) and a closed state (see Figs. 5, 6, 9, 10, and 12). When in an open state, the fixed blade 65a1 and the movable blade 65a2 are located at positions sandwiching an extension line of the slit 61a in the longitudinal direction of the machine base. When in a closed state, the fixed blade 65a1 and the movable blade 65a2 cut the yarn Y between the fixed blade 65a1 and the movable blade 65a2. When closed, the fixed blade 65a1 and the movable blade 65a2 are located at positions that are not on an extension line of the slit 61a in the longitudinal direction of the machine base.

[0052] The fixed gripping member 65b1 and the movable gripping member 65b2 are aligned in a straight line along the width direction of the machine base. The fixed gripping member 65b1 and the movable gripping member 65b2 are disposed on one side of the fixed blade 65a1 and the movable blade 65a2 in the longitudinal direction of the machine base. In other words, the fixed gripping member 65b1 and the movable gripping member 65b2 are disposed between the intertwining means 61 and the fixed blade 65a1 and the movable blade 65a2 in the longitudinal direction of the machine base. The fixed gripping member 65b1 and the movable gripping member 65b2 can be opened and closed relative to each other. Specifically, the movable gripping member 65b2 can move integrally with the movable blade 65a2. As a result, the fixed gripping member 65b1 and the movable gripping member 65b2 can be in an open state (see Figs. 4, 7, 8, and 11) and a closed state (see Figs. 5, 6, 9, 10, and 12). When in the open state, the fixed gripping member 65b1 and the movable gripping member 65b2 are located on either side of an extension of the slit 61a in the longitudinal direction of the machine base. When in the closed state, the fixed gripping member 65b1 and the movable gripping member 65b2 grip the yarn Y located between the fixed gripping member 65b1 and the movable gripping member 65b2. When in the closed state, the fixed gripping member 65b1 and the movable gripping member 65b2 are located off of an extension of the slit 61a in the longitudinal direction of the machine base.

[0053] The two guides 66, 67 are guides for guiding the yarn Y captured by a yarn handling device 70, which will be described later, to the intertwining means 61. As shown in FIG. 3, the guide 67 is configured such that both ends are higher than the approximate center when viewed in the longitudinal direction of the machine base, and is inclined from both ends toward the approximate center. The same is true for the guide 66. As a result, the yarn Y is guided to the approximate center of the guides 66, 67 along the inclination. As shown in FIG. 4, the guide 66 is disposed on one side of the first clamper 62 in the longitudinal direction of the machine base. The guide 67 is disposed on the other side of the second clamper 63 in the longitudinal direction of the machine base.

[0054] The robot arm 25 has a yarn handling device 70 that holds the yarn Y, and passes the yarn Y held by the yarn handling device 70 through the slit 61a. The yarn handling device 70 is a device that can suck and hold the yarn Y. As shown in FIG. 3, the yarn handling device 70 is supported by the base 22 while being attached to the tip of the robot arm 25. In this embodiment, the robot arm 25 corresponds to the first robot arm and the second robot arm of the present invention. Also, the yarn handling device 70 corresponds to the first yarn holding unit and the second yarn holding unit of the present invention. Furthermore, the robot arm 25 has a rotating table 25a, three arms 25b, 25c, and 25d, and two joints 25e and 25f. The rotating table 25a is disposed on the upper surface of the base 22. The rotating table 25a can rotate in a horizontal plane by the driving force of a motor (not shown). The arm 25b is erected on the rotating table 25a. The arm 25c is attached to the tip of the arm 25b via a joint 25e. The arm 25c can swing around the joint 25e by the driving force of a motor (not shown). The arm 25d is attached to the end of the arm 25c opposite to the joint 25e side via a joint 25f. The arm 25d can swing around the joint 25f by the driving force of a motor (not shown). The yarn handling device 70 is attached to the arm 25d opposite to the joint 25f side.

[0055] The control device 69 controls the intertwining means 61, the first clamper 62, the second clamper 63, the first clamp cutter 64, the second clamp cutter 65, the robot arm 25, and the cam mechanism 90. Specifically, the control device 69 controls the intertwining means 61 to inject compressed air into the slit 61a from a nozzle (not shown). The control device 69 also controls the first clamper 62 to switch the movable part 62b between a clamping position and a release position. The control device 69 also controls the second clamper 63 to switch the movable part 63b between a clamping position and a release position. Furthermore, the control device 69 controls switching between an open state in which the first cutting part 64a and the first gripping part 64b of the first clamp cutter 64 are open, and a closed state in which the first cutting part 64a and the first gripping part 64b are closed. The control device 69 also controls switching between an open state in which the second cutting portion 65a and the second gripping portion 65b of the second clamp cutter 65 are open and a closed state in which the second cutting portion 65a and the second gripping portion 65b are closed. Furthermore, the control device 69 controls the operation of the robot arm 25. The control device 69 also controls the cam mechanism 90 to rotate the first clamper 62 about the rotation shaft 62c and to rotate the second clamper 63 about the rotation shaft 63c. The control device 69 is electrically connected to the intertwining means 61, the first clamper 62, the second clamper 63, the first clamp cutter 64, the second clamp cutter 65, the robot arm 25, and the cam mechanism 90.

[0056] (Thread splicing work) Next, an example of the procedure of a yarn splicing operation in which a yarn splicing method for splicing two yarns by the yarn splicing device 6 is performed will be described with reference to Figs. 5 to 12. In the yarn splicing operation, a yarn Y1 on the inner layer side of one of two yarn supply packages Ps1 and Ps2 arranged at the same height position on the creel stand 5 is spliced ​​to a yarn Y2 on the outer layer side of the other. As shown in Fig. 4, in this embodiment, the yarn supply package Ps1 is arranged on the other side of the yarn splicing device 6 in the machine frame longitudinal direction, and the yarn supply package Ps2 is arranged on one side of the yarn splicing device 6.

[0057] When starting a yarn splicing operation, as shown in Fig. 5, the movable part 62b of the first clamper 62 is set to the release position, and the movable part 63b of the second clamper 63 is set to the release position. Also, the first clamp cutter 64 is set to an open state in which the fixed blade 64a1 and the movable blade 64a2 of the first cutting part 64a and the fixed gripping member 64b1 and the movable gripping member 64b2 of the first gripping part 64b are open. Furthermore, the second clamp cutter 65 is set to a closed state in which the fixed blade 65a1 and the movable blade 65a2 of the second cutting part 65a and the fixed gripping member 65b1 and the movable gripping member 65b2 of the second gripping part 65b are closed.

[0058] In the yarn splicing operation, first, the control device 69 controls the robot arm 25 to capture the inner layer yarn Y1 of one of the yarn supply packages Ps1 by the yarn handling device 70. After that, a predetermined length of the yarn Y1 is unwound from the yarn supply package Ps1 by a unwinding mechanism (not shown).

[0059] Then, the control device 69 controls the robot arm 25 to hang the yarn Y1 held by the yarn handling device 70 from the guide 67 to the guide 66. At this time, as shown in Fig. 5, the control device 69 executes first robot arm control to control the robot arm 25 to pass the yarn Y1 through the slit 61a, between the fixed part 62a and the movable part 62b of the first clamper 62, between the fixed part 63a and the movable part 63b of the second clamper 63, between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed gripping member 64b1 and the movable gripping member 64b2. In addition, the process of opening the first clamp cutter 64 and closing the second clamp cutter 65, and passing one yarn Y1 from the other side to one side in the longitudinal direction of the machine through the slit 61a, between the fixed blade 64a1 and the movable blade 64a2, and between the fixed gripping member 64b1 and the movable gripping member 64b2 corresponds to the first yarn insertion process of the present invention.

[0060] Next, the control device 69 executes a first yarn cutting and gripping control (corresponding to the yarn cutting and gripping control of the present invention) for cutting and gripping the yarn Y1 by switching the first clamp cutter 64 to a closed state in which the first cutting portion 64a and the first gripping portion 64b are closed. Specifically, as shown in Fig. 6, the movable blade 64a2 and the movable gripping member 64b2 are moved by an air cylinder (not shown) to bring the first clamp cutter 64 into a closed state in which the fixed blade 64a1 and the movable blade 64a2 and the fixed gripping member 64b1 and the movable gripping member 64b2 are closed. As a result, the yarn Y1 is cut by the fixed blade 64a1 and the movable blade 64a2. At this time, a portion of the yarn Y1 on one side of the fixed blade 64a1 and the movable blade 64a2 in the machine longitudinal direction is sucked into the yarn handling device 70, and a portion of the yarn Y1 on the other side of the fixed blade 64a1 and the movable blade 64a2 is gripped by the fixed gripping member 64b1 and the movable gripping member 64b2. In other words, a portion of the yarn Y1 on the other side of the machine longitudinal direction from the portion cut by the fixed blade 64a1 and the movable blade 64a2 is gripped by the fixed gripping member 64b1 and the movable gripping member 64b2. The step of cutting and gripping one of the yarns Y1 by switching the first clamp cutter 64 from the open state to the closed state corresponds to a first yarn cutting and gripping step of the present invention.

[0061] 7, the control device 69 switches the second clamp cutter 65 from the closed state to the open state while the first clamp cutter 64 is gripping the yarn Y1. Specifically, the movable blade 65a2 and the movable gripping member 65b2 are moved by an air cylinder (not shown) to bring the second clamp cutter 65 into an open state in which the fixed blade 65a1 and the movable blade 65a2 are open to the fixed gripping member 65b1 and the movable gripping member 65b2. At this time, the yarn Y1 gripped by the first clamp cutter 64 is pushed in the machine base width direction by the movable blade 65a2 and the movable gripping member 65b2 to a position that is off the extension line of the slit 61a in the machine base longitudinal direction. As a result, the yarn Y1 is not present between the fixed blade 65a1 and the movable blade 65a2 and between the fixed gripping member 65b1 and the movable gripping member 65b2 of the second clamp cutter 65 in the open state.

[0062] Next, the control device 69 controls the robot arm 25 to capture the outer layer yarn Y2 of the other yarn supply package Ps2 by the yarn handling device 70. After that, a predetermined length of the yarn Y2 is unwound from the yarn supply package Ps2 by a unwinding mechanism (not shown).

[0063] Then, the control device 69 controls the robot arm 25 to hang the yarn Y2 held by the yarn handling device 70 from the guide 66 to the guide 67. At this time, as shown in Fig. 8, the control device 69 executes second robot arm control to control the robot arm 25 to pass the yarn Y2 through the slit 61a, between the fixed part 62a and the movable part 62b of the first clamper 62, between the fixed part 63a and the movable part 63b of the second clamper 63, between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed gripping member 65b1 and the movable gripping member 65b2. In addition, the process of switching the second clamp cutter 65 from a closed state to an open state and passing the other yarn Y2 through the slit 61a, the fixed blade 65a1 and the movable blade 65a2, and between the fixed gripping member 65b1 and the movable gripping member 65b2 from one side to the other side in the longitudinal direction of the machine corresponds to the second yarn insertion process of the present invention.

[0064] Next, the control device 69 executes second yarn cutting and gripping control for cutting and gripping the yarn Y2 by switching the second clamp cutter 64 to a closed state in which the second cutting portion 65a and the second gripping portion 65b are closed. Specifically, as shown in Fig. 9, the movable blade 65a2 and the movable gripping member 65b2 are moved by an air cylinder (not shown) to bring the second clamp cutter 65 into a closed state in which the fixed blade 65a1 and the movable blade 65a2 and the fixed gripping member 65b1 and the movable gripping member 65b2 are closed. As a result, the yarn Y2 is cut by the fixed blade 65a1 and the movable blade 65a2. At this time, the portion of the yarn Y2 on the other side of the fixed blade 65a1 and the movable blade 65a2 in the machine longitudinal direction is sucked into the yarn handling device 70, and the portion on one side of the fixed blade 65a1 and the movable blade 65a2 is gripped by the fixed gripping member 65b1 and the movable gripping member 65b2. In other words, the portion of the yarn Y2 on one side of the portion cut by the fixed blade 65a1 and the movable blade 65a2 in the machine longitudinal direction is gripped by the fixed gripping member 65b1 and the movable gripping member 65b2. Note that the step of cutting and gripping the other yarn Y2 by switching the second clamp cutter 65 from the open state to the closed state corresponds to the second yarn cutting and gripping step of the present invention.

[0065] 10, the control device 69 moves the movable part 62b of the first clamper 62 to the clamping position by an air cylinder (not shown), and moves the movable part 63b of the second clamper 63 to the clamping position. As a result, the yarn Y1 is clamped between the fixed part 63a and the movable part 63b of the second clamper 63, and the yarn Y2 is clamped between the fixed part 62a and the movable part 62b of the first clamper 62.

[0066] Next, the control device 69 controls the cam mechanism 90 to rotate the first clamper 62 about the rotation shaft 62c. Specifically, when viewed from the top-bottom direction, the first clamper 62 is rotated clockwise about the rotation shaft 62c. As a result, the yarn Y2 held by the first clamper 62 and the second clamp cutter 65 is stretched between the first clamper 62 and the second clamp cutter 65 in the machine base longitudinal direction. Thereafter, when viewed from the top-bottom direction, the first clamper 62 is rotated counterclockwise about the rotation shaft 62c (see the solid double-headed arrow in FIG. 10). As a result, the yarn Y2 held by the first clamper 62 and the second clamp cutter 65 is relaxed between the first clamper 62 and the second clamp cutter 65 in the machine base longitudinal direction.

[0067] Further, the cam mechanism 90 rotates the second clamper 63 around the rotation shaft 63c. Specifically, when viewed from the top-bottom direction, the second clamper 63 rotates counterclockwise around the rotation shaft 63c. As a result, the yarn Y1 held by the second clamper 63 and the first clamp cutter 64 is stretched between the second clamper 63 and the first clamp cutter 64 in the machine base longitudinal direction. Thereafter, when viewed from the top-bottom direction, the second clamper 63 rotates clockwise around the rotation shaft 63c (see the solid double-headed arrow in FIG. 10). As a result, the yarn Y1 held by the second clamper 63 and the first clamp cutter 64 is relaxed between the second clamper 63 and the first clamp cutter 64 in the machine base longitudinal direction.

[0068] In this embodiment, the rotational movement of the first clamper 62 and the rotational movement of the second clamper 63 are performed in conjunction with each other. Specifically, when viewed from the top-bottom direction, the clockwise rotational movement of the first clamper 62 about the rotation shaft 62c and the counterclockwise rotational movement of the second clamper 63 about the rotation shaft 63c are interlocked. Also, when viewed from the top-bottom direction, the counterclockwise rotational movement of the first clamper 62 about the rotation shaft 62c and the clockwise rotational movement of the second clamper 63 about the rotation shaft 63c are interlocked.

[0069] 11, the control device 69 moves the movable blade 64a2 and the movable gripping member 64b2 by an air cylinder (not shown) to set the first clamp cutter 64 in an open state in which the fixed blade 64a1, the movable blade 64a2, the fixed gripping member 64b1, and the movable gripping member 64b2 are open. This releases the grip of the yarn Y1 by the first clamp cutter 64. At this time, the yarn Y2 gripped by the first clamper 62 is pushed in the machine width direction by the moving movable blade 64a2 and movable gripping member 64b2 and is bent. In addition, the control device 69 moves the movable blade 65a2 and the movable gripping member 65b2 by an air cylinder (not shown) to set the second clamp cutter 65 in an open state in which the fixed blade 65a1, the movable blade 65a2, the fixed gripping member 65b1, and the movable gripping member 65b2 are open. This releases the yarn Y2 from the second clamp cutter 65. At this time, the yarn Y1 held by the second clamper 63 is pushed in the machine width direction by the moving movable blade 65a2 and the movable gripping member 65b2 and is bent. The switching of the first clamp cutter 64 from the closed state to the open state and the switching of the second clamp cutter 65 from the closed state to the open state are linked and performed approximately simultaneously.

[0070] Next, the control device 69 executes entanglement control to control the entanglement means 61 so as to entangle the two yarns Y1 and Y2 inserted into the slit 61a. Specifically, the entanglement means 61 starts entanglement of the yarns Y1 and Y2 passing through the slit 61a at approximately the same time that the first clamp cutter 64 releases the yarn Y1 and the second clamp cutter 65 releases the yarn Y2. The time from when the first clamp cutter 64 releases the yarn Y1 and when the second clamp cutter 65 releases the yarn Y2 until when the entanglement means 61 starts entanglement of the yarns Y1 and Y2 is, for example, 0.05 to 1.00 seconds. As a result, the yarns Y1 and Y2 are spliced ​​together to form a single yarn. In addition, the process of entangling the two yarns Y1 and Y2 passed through the slit 61a by the entangling means 61 after the first clamp cutter 64 is switched from a closed state to an open state to release the grip of one yarn Y1 and the second clamp cutter 65 is switched from a closed state to an open state to release the grip of the other yarn Y2 corresponds to the entangling process of the present invention.

[0071] As shown in FIG. 12, while the intertwining means 61 is intertwining the yarns Y1 and Y2 passing through the slit 61a, the movable blade 64a2 and the movable gripping member 64b2 are moved by an air cylinder (not shown) to bring the first clamp cutter 64 into a closed state in which the fixed blade 64a1 and the movable blade 64a2 are closed to the fixed gripping member 64b1 and the movable gripping member 64b2. As a result, the yarn Y2, which has been pushed in the width direction of the machine by the first clamp cutter 64 and has been in a bent state, is released from the bent state. In addition, the movable blade 65a2 and the movable gripping member 65b2 are moved by an air cylinder (not shown) to bring the second clamp cutter 65 into a closed state in which the fixed blade 65a1 and the movable blade 65a2 are closed to the fixed gripping member 65b1 and the movable gripping member 65b2. As a result, the yarn Y1, which has been pushed in the width direction of the machine by the second clamp cutter 65 and has been in a bent state, is released from the bent state. The first clamp cutter 64 is switched from the open state to the closed state, and the second clamp cutter 65 is switched from the open state to the closed state. These operations may be performed after the entangling operation by the entangling means 61 is completed.

[0072] Finally, the movable part 62b is moved to the release position by an air cylinder (not shown), and the movable part 63b is moved to the release position. As a result, the single yarn formed by splicing the yarns Y1 and Y2 is released from the grip of the first clamper 62 and the second clamper 63. This completes the yarn splicing operation of the two yarns Y1 and Y2 by the yarn splicing device 6.

[0073] (effect) As described above, the yarn splicing device 6 of the present embodiment includes the intertwining means 61 having the slit 61a, the first clamp cutter 64 that cuts and holds the yarn Y (yarn Y1), and the second clamp cutter 65 that cuts and holds the yarn Y (yarn Y2). The first clamp cutter 64 includes a first cutting portion 64a having a fixed blade 64a1 and a movable blade 64a2, and a first holding portion 64b having a fixed holding member 64b1 and a movable holding member 64b2. The first clamp cutter 64 is switchable between an open state in which the first cutting portion 64a and the first holding portion 64b are open so as to sandwich an extension line of the slit 61a in the machine longitudinal direction, and a closed state in which the first cutting portion 64a and the first holding portion 64b are closed. The second clamp cutter 65 includes a second cutting portion 65a having a fixed blade 65a1 and a movable blade 65a2, and a second gripping portion 65b having a fixed gripping member 65b1 and a movable gripping member 65b2. The second clamp cutter 65 is switchable between an open state in which the second cutting portion 65a and the second gripping portion 65b are open so as to sandwich an extension line of the slit 61a in the machine base longitudinal direction, and a closed state in which the second cutting portion 65a and the second gripping portion 65b are closed.

[0074] In the yarn splicing device 6 of this embodiment, a portion of one yarn Y (yarn Y1) protruding from one side of the entangling means 61 is cut and held by the first clamp cutter 64, and a portion of the other yarn Y (yarn Y2) protruding from the other side of the entangling means 61 is cut and held by the second clamp cutter 65. Then, the two yarns Y (yarn Y1 and yarn Y2) cut by each clamp cutter are entangled by the entangling means 61. Therefore, the closer the first clamp cutter 64 and the second clamp cutter 65 are to the entangling means 61, the shorter the distance between the portions of the two yarns Y (yarn Y1 and yarn Y2) cut by each clamp cutter and the entangling means 61, and the tail portion can be reduced. Here, the positional relationship between the first clamp cutter 64, the second clamp cutter 65, and the intertwining means 61 may be any positional relationship as long as two yarns Y (yarns Y1 and Y2) can be passed through the first clamp cutter 64, the second clamp cutter 65, and the intertwining means 61. However, when the first cutting portion 64a and the first gripping portion 64b and the second cutting portion 65a and the second gripping portion 65b in the open state are not arranged to sandwich the extension line of the slit 61a, that is, when the first cutting portion 64a and the first gripping portion 64b and the second cutting portion 65a and the second gripping portion 65b in the open state are positioned off the extension line of the slit 61a in a predetermined direction, it is necessary to bend each yarn Y protruding from the slit 61a on both sides and bring it between each cutting portion and each gripping portion positioned off the extension line of the slit 61a. Therefore, when the distance between the intertwining means 61 and each clamp cutter becomes short, it becomes necessary to bend the yarn Y largely on both sides of the slit 61a in order to pass the yarn Y between each cutting portion and each gripping portion, and it becomes difficult to insert the yarn into the slit 61a. Therefore, there is a limit to how close the intertwining means 61 and each clamp cutter can be. According to this embodiment, the first cutting portion 64a and the first gripping portion 64b and the second cutting portion 65a and the second gripping portion 65b open so as to sandwich the extension line of the slit 61a in the machine longitudinal direction. Therefore, if the yarn Y to be inserted into the slit 61a is made to follow the extension line of the slit 61a as it is, the yarn Y can be easily passed between the slit 61a and each cutting portion and each gripping portion.This allows the threads to be inserted into the slit 61a and the clamp cutters without being hindered even if the clamp cutters are brought close to the intertwining means 61. This allows the clamp cutters to be brought as close as possible to the intertwining means 61, thereby preventing a tail portion from being generated when two threads Y (the thread Y1 and the thread Y2) are spliced ​​together.

[0075] In this embodiment, when the first clamp cutter 64 is in a closed state, the first cutting portion 64a and the first gripping portion 64b are positioned out of the extension line of the slit 61a in the machine base longitudinal direction, and when the second clamp cutter 65 is in a closed state, the second cutting portion 65a and the second gripping portion 65b are positioned out of the extension line of the slit 61a in the machine base longitudinal direction. When splicing two yarns Y, a procedure may be taken in which one yarn Y (yarn Y1) is inserted into the slit 61a and cut and gripped by the first clamp cutter 64, and then the other yarn Y (yarn Y2) is inserted into the slit 61a and cut and gripped by the second clamp cutter 65. In this case, when one yarn Y (yarn Y1) is inserted into the slit 61a, it is necessary to open the first clamp cutter 64 and close the second clamp cutter 65. This is to allow one yarn Y (yarn Y1) to be cut by the first cutting portion 64a and gripped by the first gripping portion 64b, and to be neither cut by the second cutting portion 65a nor gripped by the second gripping portion 65b. Conversely, when the other yarn Y (yarn Y2) is to be inserted into the slit, it is necessary to open the second clamp cutter 65 and close the first clamp cutter 64. This is to allow the other yarn Y (yarn Y2) to be cut by the second cutting portion 65a and gripped by the second gripping portion 65b, and to be neither cut by the first cutting portion 64a nor gripped by the first gripping portion 64b. According to this embodiment, the first cutting portion 64a and the first gripping portion 64b when the first clamp cutter 64 is in the closed state, and the second cutting portion 65a and the second gripping portion 65b when the second clamp cutter 65 is in the closed state are located at positions that are off the extension line of the slit 61a in the machine frame longitudinal direction. Therefore, when one yarn Y (yarn Y1) is inserted into the slit 61a, the second cutting portion 65a and the second gripping portion 65b in the closed state do not interfere with the thread insertion. Similarly, when the other yarn Y (yarn Y2) is inserted into the slit 61a, the first cutting portion 64a and the first gripping portion 64b in the closed state do not interfere with the thread insertion. This makes it easy to insert the yarn into the slit 61a.

[0076] Furthermore, the yarn joining device 6 of this embodiment includes a first clamper 62, a second clamper 63, and a cam mechanism 90. The cam mechanism 90 moves the first clamper 62 to stretch and relax the yarn Y2 held by the first clamper 62 and the second clamp cutter 65. The cam mechanism 90 also stretches and relaxes the yarn Y1 held by the second clamper 63 and the first clamp cutter 64. According to this embodiment, by stretching and relaxing the yarn Y1 and the yarn Y2, the bulkiness of the yarn Y can be reduced and the yarn Y can be appropriately unraveled. This makes it easier for the two yarns Y (yarn Y1 and yarn Y2) to be entangled.

[0077] The yarn joining device 6 of this embodiment also includes a control device 69 that controls the intertwining means 61 and the cam mechanism 90. The control device 69 controls the cam mechanism 90 to stretch and relax the yarn Y2 held by the first clamper 62 and the second clamp cutter 65 before the intertwining means 61 intertwines the two yarns Y (yarns Y1 and Y2). The control device 69 also controls the cam mechanism 90 to stretch and relax the yarn Y1 held by the second clamper 63 and the first clamp cutter 64 before the intertwining means 61 intertwines the two yarns Y (yarns Y1 and Y2). According to this embodiment, by stretching and relaxing the yarns Y1 and Y2 before the intertwining means 61 intertwines the two yarns Y (yarns Y1 and Y2), the bulkiness of the yarn Y can be reduced and the yarn Y can be appropriately unraveled. This makes it easier for the two yarns Y (the yarn Y1 and the yarn Y2) to be entangled more reliably.

[0078] In this embodiment, the control device 69 controls the switching of the states of the first clamp cutter 64 and the second clamp cutter 65. After the first clamp cutter 64 is switched to the open state to release the grip of the yarn Y1, and after the second clamp cutter 65 is switched to the open state to release the grip of the yarn Y2, the control device 69 controls the entangling means 61 to entangle the two yarns Y (yarn Y1 and yarn Y2) passing through the slit 61a. According to this embodiment, when the entangling means 61 entangles the two yarns Y (yarn Y1 and yarn Y2), the clamp cutters release their grip of the two yarns Y (yarn Y1 and yarn Y2). Therefore, the yarn Y between the entangling means 61 and each clamp cutter is pulled into the slit by the movement of the yarn Y when the entanglement is imparted. This can further suppress the generation of a tail portion.

[0079] The yarn splicing device 6 of this embodiment also includes a robot arm 25 having a yarn handling device 70 that holds the yarn Y. The control device 69 executes first robot arm control to control the robot arm 25 to pass the yarn Y1 between the slit 61a, the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed gripping member 64b1 and the movable gripping member 64b2. The control device 69 also executes second robot arm control to control the robot arm 25 to pass the yarn Y2 between the slit 61a, the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed gripping member 65b1 and the movable gripping member 65b2. According to this embodiment, in the configuration in which the robot arm 25 passes the yarn Y through the slit 61a, the cutting portions and the gripping portions are opened so as to sandwich the extension line of the slit 61a. Therefore, when passing the yarn Y through the slit 61a, the yarn Y held by the robot arm 25 can be moved along an extension line of the slit 61a, that is, along a straight line. Therefore, complicated control of the robot arm 25 is not required when passing the yarn Y through the slit 61a.

[0080] Furthermore, in this embodiment, the control device 69 executes the first robot arm control with the second clamp cutter 65 in the closed state, and then executes the first yarn cutting and gripping control to cut and grip the yarn Y1 by switching the first clamp cutter 64 to a closed state in which the first cutting portion 64a and the first gripping portion 64b are closed. Then, after the first yarn cutting and gripping, the control device 69 switches the second clamp cutter 65 from the closed state to the open state, and executes the second robot arm control. When the second clamp cutter 65 switches from the closed state to the open state, the second cutting portion 65a and the second gripping portion 65b are configured to push the one yarn Y1 gripped by the first clamp cutter 64 to a position that is off the extension line of the slit 61a in the machine longitudinal direction. When a procedure is taken in which one yarn Y1 is inserted into the slit 61a and cut and held by the first clamp cutter 64, and then the other yarn Y2 is inserted into the slit 61a and cut and held by the second clamp cutter 65, the one yarn Y1 previously inserted into the slit 61a may interfere with the threading of the other yarn Y2 into the slit 61a. According to this embodiment, before the other yarn Y2 is inserted into the slit 61a, the second clamp cutter 65 is switched from the closed state to the open state, so that the second cutting portion 65a and the second holding portion 65b push the one yarn Y1 previously inserted into the slit 61a and held by the first clamp cutter 65 to a position that is off the extension line of the slit 61a in the machine longitudinal direction. Therefore, when the other yarn Y2 is inserted into the slit 61a, the one yarn Y1 held by the first clamp cutter 64 does not interfere. This makes it even easier to insert the yarn into the slit 61a.

[0081] In this embodiment, the yarns Y1 and Y2 passed through the slit 61a are arranged on approximately the same yarn path within the slit 61a. Therefore, the overlapping portion of the two yarns Y (the yarns Y1 and Y2) within the slit 61a becomes long, and when the two yarns (the yarns Y1 and Y2) are entangled by the entanglement means 61, the two yarns are neatly entangled.

[0082] (Modification) Modifications of the above embodiment will be described below, with the same reference numerals being used to designate components similar to those in the above embodiment, and descriptions thereof will be omitted where appropriate.

[0083] In the above embodiment, when the first clamp cutter 64 is in the closed state, the first cutting portion 64a and the first gripping portion 64b are located at positions that are off the extension line of the slit 61a in the machine base longitudinal direction, and when the second clamp cutter 65 is in the closed state, the second cutting portion 65a and the second gripping portion 65b are located at positions that are off the extension line of the slit 61a in the machine base longitudinal direction. However, when the first clamp cutter 64 is in the closed state, the first cutting portion 64a and the first gripping portion 64b may be located at positions that are on the extension line of the slit 61a in the machine base longitudinal direction. Also, when the second clamp cutter 65 is in the closed state, the second cutting portion 65a and the second gripping portion 65b may be located at positions that are on the extension line of the slit 61a in the machine base longitudinal direction. For example, when the first clamp cutter 64 is in the closed state, if the first cutting portion 64a and the first holding portion 64b are located on the extension line of the slit 61a in the longitudinal direction of the machine base, the yarn Y2 is inserted into the slit 61a along the extension line of the slit 61a in the longitudinal direction of the machine base without passing between the first cutting portion 64a and the first holding portion 64b of the first clamp cutter 64 in the closed state.

[0084] In the above embodiment, when the second clamp cutter 65 is switched from the closed state to the open state, the movable blade 65a2 and the movable gripping member 65b2 push one of the yarns Y (yarn Y1) gripped by the first clamp cutter 64 to a position that is off the extension of the slit 61a in the machine base longitudinal direction. However, when the second clamp cutter 65 is switched from the closed state to the open state, the movable blade 65a2 and the movable gripping member 65b2 may not push the yarn Y1 to a position that is off the extension of the slit 61a in the machine base longitudinal direction. In this case, the yarn Y2 is inserted into the slit 61a while avoiding the yarn Y1 that was previously inserted into the slit 61a and gripped by the first clamp cutter 64.

[0085] In the above embodiment, the yarn Y1 passed through the slit 61a is cut and held by the first clamp cutter 64, and then the yarn Y2 is passed through the slit 61a, and the yarn Y2 is cut and held by the second clamp cutter 65. However, after both the yarn Y1 and the yarn Y2 are passed through the slit 61a, the yarn Y1 may be cut and held by the first clamp cutter 64, and the yarn Y2 may be cut and held by the second clamp cutter 65. To be more specific, first, when starting the yarn splicing operation, the first clamp cutter 64 is opened, and the second clamp cutter 65 is also opened, as shown in FIG. Then, the thread Y1 is inserted into the slit 61a and passed between the fixed part 62a and the movable part 62b of the first clamper 62, between the fixed part 63a and the movable part 63b of the second clamper 63, between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, and between the fixed gripping member 64b1 and the movable gripping member 64b2. At this time, the thread Y1 is not passed between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed gripping member 65b1 and the movable gripping member 65b2. The thread Y2 is inserted into the slit 61a and passed between the fixed part 62a and the movable part 62b of the first clamper 62, between the fixed part 63a and the movable part 63b of the second clamper 63, between the fixed blade 65a1 and the movable blade 65a2 of the second clamp cutter 65, and between the fixed gripping member 65b1 and the movable gripping member 65b2. At this time, the thread Y2 is not passed between the fixed blade 64a1 and the movable blade 64a2 of the first clamp cutter 64, or between the fixed gripping member 64b1 and the movable gripping member 64b2. As a result, the first clamp cutter 64 can cut only the thread Y1 of the threads Y1 and Y2 passed through the slit 61a, and the second clamp cutter 65 can cut only the thread Y2. The procedure after the yarn Y1 is cut and gripped by the first clamp cutter 64 and the yarn Y2 is cut and gripped by the second clamp cutter 65 is the same as in the above embodiment.

[0086] In the above embodiment, the first clamp cutter 64 releases the yarn Y1, the second clamp cutter 65 releases the yarn Y2, and then the entanglement means 61 entangles the yarns Y1 and Y2. However, the entanglement means 61 may entangle the yarns Y1 and Y2, and then the first clamp cutter 64 may release the yarn Y1 and the second clamp cutter 65 may release the yarn Y2. Furthermore, the entanglement of the yarns Y1 and Y2 by the entanglement means 61, the release of the yarn Y1 by the first clamp cutter 64, and the release of the yarn Y2 by the second clamp cutter 65 may be performed simultaneously.

[0087] In the above embodiment, the first clamper 62 rotates around the rotation shaft 62c, and the second clamper 63 rotates around the rotation shaft 63c. However, the movement method of each clamper is not limited to rotation. For example, the first clamper 62 and the second clamper 63 may stretch and relax the yarns Y1 and Y2 by moving linearly along a rail extending in the longitudinal direction of the machine base.

[0088] In the above embodiment, before the two yarns Y are entangled by the entangling means 61, the first clamper 62 and the second clamper 63 are moved to stretch and relax the two yarns Y held by the first clamper 62 and the second clamper 63. However, the step of moving the first clamper 62 and the second clamper 63 to stretch and relax the two yarns Y does not necessarily have to be performed.

[0089] In the above embodiment, the first clamper 62 and the second clamper 63 are provided, but in the yarn joining device 6 of the present invention, these do not necessarily have to be provided.

[0090] In the above embodiment, the cam mechanism 90 is provided as one moving mechanism common to the first clamper 62 and the second clamper 63. However, a moving mechanism for moving the first clamper 62 and a moving mechanism for moving the second clamper 63 may be provided separately.

[0091] In the above embodiment, the two yarns Y (the yarn Y1 and the yarn Y2) are placed in the slit 61a of the intertwining means 61 by the robot arm 25 having the yarn handling device 70. However, an operator may manually place the two yarns Y (the yarn Y1 and the yarn Y2) in the slit 61a using a suction gun that sucks and holds the yarn Y.

[0092] In the above embodiment, a pair of creel stands 5 capable of supporting a plurality of yarn supply packages Ps in a matrix shape in the vertical direction and the longitudinal direction of the machine base are arranged back to back in the width direction of the machine base. However, the arrangement of the creel stands 5 is not limited to this, and may be arranged in a line along the longitudinal direction of the machine base, for example. The creel stand 5 may be a rotary creel stand capable of holding a plurality of yarn supply packages Ps around an axis parallel to the vertical direction, and each yarn supply package Ps rotates around the axis when the axis rotates. By adopting a rotary creel stand, the height of the creel stand per the same number of yarn supply packages Ps can be reduced compared to the case where the creel stands 5 of the above embodiment are arranged in a line along the longitudinal direction of the machine base. In the above embodiment, a pair of creel stands 5 arranged back to back is arranged with rails R on both sides, but the arrangement of the rails R is appropriately changed according to the arrangement of the creel stands 5.

[0093] In the above embodiment, a description has been given of a case where the yarn handling device 70 is applied to yarn handling during a yarn splicing operation for joining an inner layer yarn Y1 of one of two yarn supply packages Ps1, Ps2 held on the creel stand 5 of the yarn supplying section 2 to an outer layer yarn Y2 of the other of the two yarn supply packages Ps1, Ps2. However, the scope of application of the yarn handling device 70 of the present invention is not limited thereto, and the yarn handling device 70 can be applied to yarn handling in general in textile machines.

[0094] In the above embodiment, the robot arm for passing the yarn Y1 through the slit 61a and the robot arm for passing the yarn Y2 through the slit 61a are the same robot arm 25. However, the robot arm for passing the yarn Y1 through the slit 61a and the robot arm for passing the yarn Y2 through the slit 61a may be provided separately. In this case, each robot arm has a yarn handling device 70.

[0095] In the above embodiment, the control device 69 controls the cam mechanism 90, which corresponds to the first moving mechanism and the second moving mechanism of the present invention, the switching of the states of the first clamp cutter 64 and the second clamp cutter 65, and the robot arm 25. In other words, the control device 69 in the above embodiment corresponds to the control device according to claims 4, 5, and 6 of the present application. However, the control device according to claim 4 of the present application, the control device according to claim 5 of the present application, and the control device according to claim 6 of the present application may be a common control device or may be different control devices. Specifically, for example, the control device that controls the cam mechanism 90 and the control device that controls the switching of the states of the first clamp cutter 64 and the second clamp cutter 65 may be a common control device or may be different control devices. In addition, the control device that controls the cam mechanism 90 and the control device that controls the switching of the states of the first clamp cutter 64 and the second clamp cutter 65 and the robot arm 25 may be a common control device or may be different control devices. [Explanation of symbols]

[0096] 1 False twisting machine 6 Yarn splicing device 25 Robot Arm (First Robot Arm and Second Robot Arm) 60 Splicer 61 Confounding means 61a Slit 62 First clamper (first thread holding means) 63 Second clamper (second thread holding means) 64 First clamp cutter (first thread cutting and holding means) 64a 1st cutting section 64a1 Fixed blade (blade) 64a2 Movable blade (blade) 64b 1st grip part 64b1 Fixed gripping member (gripping member) 64b2 Movable gripping member (gripping member) 65 Second clamp cutter (second thread cutting and holding means) 65a 2nd cutting section 65a1 Fixed blade (blade) 65a2 Movable blade (blade) 65b 2nd grip part 65b1 Fixed gripping member (gripping member) 65b2 Movable gripping member (gripping member) 69 Control device 70 Yarn handling device (first yarn holding unit and second yarn holding unit) 90 Cam mechanism (first moving mechanism and second moving mechanism) Ps Yarn supply package Y Thread Y1 Thread Y2 Yarn

Claims

1. A means for intertwining two threads passing through a slit having a slit extending in a predetermined direction, A first thread cutting and gripping means is positioned on one side of the entanglement means in the predetermined direction and cuts and grips the thread, The system comprises a second thread cutting and gripping means, which is positioned on the other side of the entanglement means in the predetermined direction and cuts and grips the thread, The first thread cutting and gripping means is A first cutting section having two blades that can be opened and closed relative to each other, the two blades cutting the thread by gripping it, The first gripping portion has two gripping members positioned between the first cutting portion and the entanglement means, which are mutually openable and closable, and the two gripping members grip the thread by sandwiching the thread between them, The first cutting portion and the first gripping portion are open, with the extension line of the slit in the predetermined direction being sandwiched between them, and the first cutting portion and the first gripping portion are closed, and the two can be switched between these two states. The second thread cutting and gripping means is A second cutting section having two blades that can be opened and closed relative to each other, the two blades cutting the thread by gripping it, The second gripping portion is positioned between the second cutting portion and the entanglement means and has two gripping members that can open and close relative to each other, and the two gripping members grip the thread by sandwiching the thread between them, The second cutting portion and the second gripping portion are open, with the extension line of the slit in the predetermined direction being sandwiched between them, and the second cutting portion and the second gripping portion are closed, and the two can be switched between these two states. When the first thread cutting and gripping means is in the closed state, the first cutting portion and the first gripping portion are located off the extension line of the slit in the predetermined direction. A thread splicing device in which, when the second thread cutting and gripping means is in the closed state, the second cutting portion and the second gripping portion are located off the extension line of the slit in the predetermined direction.

2. A first thread gripping means is positioned on one side of the first thread cutting and gripping means in the predetermined direction and grips the thread, A second thread gripping means is positioned on the other side of the second thread cutting and gripping means in the predetermined direction and grips the thread, A first moving mechanism that can move the first thread gripping means to stretch and relax the thread gripped by the first thread gripping means and the second thread cutting gripping means, A second moving mechanism that can move the second thread gripping means to stretch and relax the thread gripped by the second thread gripping means and the first thread cutting and gripping means, The thread splicing device according to claim 1, further comprising:

3. The system includes a control device that controls the entanglement means, the first moving mechanism, and the second moving mechanism. The control device is Before the entanglement means imparts entanglement to the two threads, the first moving mechanism is controlled to stretch and relax the threads held by the first thread gripping means and the second thread cutting gripping means. The thread splicing device according to claim 2, wherein the second moving mechanism is controlled to stretch and relax the threads held by the second thread gripping means and the first thread cutting gripping means before the entanglement means imparts entanglement to the two threads.

4. The system includes the entanglement means and a control device for controlling the switching of the states of the first thread cutting and gripping means and the second thread cutting and gripping means. The control device is The thread splicing device according to claim 1, wherein the gripping of the thread is released by switching the first thread cutting and gripping means to the open state, and the gripping of the thread is released by switching the second thread cutting and gripping means to the open state, and the entanglement means is controlled to cause entanglement between the two threads passing through the slit.

5. The entanglement means and a control device for controlling the switching of the states of the first thread cutting and gripping means and the second thread cutting and gripping means, The control device is The thread splicing device according to claim 2, wherein the gripping of the thread is released by switching the first thread cutting and gripping means to the open state, and the gripping of the thread is released by switching the second thread cutting and gripping means to the open state, and the entanglement means is controlled to cause entanglement between the two threads passing through the slit.

6. The entanglement means and a control device for controlling the switching of the states of the first thread cutting and gripping means and the second thread cutting and gripping means, The control device is The thread splicing device according to claim 3, wherein the gripping of the thread is released by switching the first thread cutting and gripping means to the open state, and the gripping of the thread is released by switching the second thread cutting and gripping means to the open state, and the entanglement means is controlled to cause entanglement between the two threads passing through the slit.

7. A first robot arm has a first thread holding part that holds one of the two threads, and passes the one thread held by the first thread holding part through the slit, A second robot arm has a second thread holding portion for holding the other of the two threads, and for passing the other thread held by the second thread holding portion through the slit, A control device that controls the switching of the states of the first thread cutting and gripping means and the second thread cutting and gripping means, and the first robot arm and the second robot arm. Equipped with, The control device is The first robot arm is controlled to pass one of the threads through the slit and between the two blades and the two gripping members of the first thread cutting and gripping means, which is in an open state. The thread splicing device according to any one of claims 1 to 6, wherein the second robot arm is controlled to pass the other thread through the slit and between the two blades and the two gripping members of the second thread cutting and gripping means, which is in an open state.

8. The control device is A first robot arm control system controls the first robot arm to pass the one thread through the slit and between the two blades and the two gripping members of the first thread cutting and gripping means, which is in the open state, with the second thread cutting and gripping means in the closed state. After the control of the first robot arm, the thread cutting and gripping control is performed by switching the first thread cutting and gripping means to the closed state, thereby cutting and gripping one of the threads. After the thread cutting and gripping control, the second robot arm control switches the second thread cutting and gripping means to the open state and controls the second robot arm to pass the other thread through the slit and between the two blades and the two gripping members of the open second thread cutting and gripping means, Execute, The thread splicing device according to claim 7, configured such that when the second thread cutting and gripping means switches from the closed state to the open state, the second cutting portion and the second gripping portion push the one thread gripped by the first thread cutting and gripping means to a position away from the extension line of the slit in the predetermined direction.

9. A means for intertwining two threads passing through a slit having a slit extending in a predetermined direction, A first thread cutting and gripping means is positioned on one side of the entanglement means in the predetermined direction and cuts and grips the thread, The system comprises a second thread cutting and gripping means, which is positioned on the other side of the entanglement means in the predetermined direction and cuts and grips the thread, The first thread cutting and gripping means is A first cutting section having two blades that can be opened and closed relative to each other, the two blades cutting the thread by gripping it, The first gripping portion has two gripping members positioned between the first cutting portion and the entanglement means, which are mutually openable and closable, and the two gripping members grip the thread by sandwiching the thread between them, The first cutting portion and the first gripping portion are open, with the extension line of the slit in the predetermined direction being sandwiched between them, and the first cutting portion and the first gripping portion are closed, and the two can be switched between these two states. The second thread cutting and gripping means is A second cutting section having two blades that can be opened and closed relative to each other, the two blades cutting the thread by gripping it, The second gripping portion is positioned between the second cutting portion and the entanglement means and has two gripping members that can open and close relative to each other, and the two gripping members grip the thread by sandwiching the thread between them, The system is switchable between an open state in which the second cutting portion and the second gripping portion are open, with the extension line of the slit in the predetermined direction being sandwiched between them, and a closed state in which the second cutting portion and the second gripping portion are closed. When the first thread cutting and gripping means is in the closed state, the first cutting portion and the first gripping portion are located off the extension line of the slit in the predetermined direction. When the second thread cutting and gripping means is in the closed state, the second cutting portion and the second gripping portion are located off the extension line of the slit in the predetermined direction. A thread splicing method for joining two threads by a thread splicing device configured such that when the second thread cutting and gripping means switches from the closed state to the open state, the second cutting portion and the second gripping portion push the one thread gripped by the first thread cutting and gripping means to a position away from the extension line of the slit in the predetermined direction, A first thread insertion step involves setting the first thread cutting and gripping means to the open state and the second thread cutting and gripping means to the closed state, and passing one thread through the slit, between the two blades of the first thread cutting and gripping means and between the two gripping members, from the other side in the predetermined direction toward the one side. A first thread cutting and gripping step involves switching the first thread cutting and gripping means from the open state to the closed state to cut and grip one of the threads, A second thread insertion step involves switching the second thread cutting and gripping means from the closed state to the open state, and passing the other thread through the slit, between the two blades of the second thread cutting and gripping means and between the two gripping members, from one side in the predetermined direction to the other side. A second thread cutting and gripping step involves switching the second thread cutting and gripping means from the open state to the closed state to cut and grip the other thread, The process involves a entanglement step in which, after the gripping of one thread is released by switching the first thread cutting and gripping means from the closed state to the open state, and the gripping of the other thread is released by switching the second thread cutting and gripping means from the closed state to the open state, the two threads passed through the slit are entangled by the entanglement means, A method for splicing threads.

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