Yarn package knot remover, yarn splicing processor and yarn feeder

Abstract

To provide a yarn package knot remover for removing knots, including slipknots, of yarn packages without the need to supply to a yarn capturing part a large amount of compressed fluids that generate negative pressure for strongly pulling the yarn and without the need to install a yarn gripping mechanism for pinching the yarn in the yarn capturing part.SOLUTION: A knot remover 70 is equipped with a suction gun 71, a winding rod 72, a yarn hanging robot 74, a rotary cylinder 73, and a control part 94. In the knot remover 70, the suction gun 71 capturing a first yarn end Y1 is moved by the yarn hanging robot 74 so that the yarn part of the end of a yarn Y wraps around the winding rod 72 multiple times. By maintaining suction by the suction gun 71 about the first yarn end Y1, a first tension is generated in a first portion YQ1. While the first tension is being generated, a second tension greater than the first tension is generated in a second portion YQ2.SELECTED DRAWING: Figure 11

Description

[Technical field]

[0001] One aspect of the present invention relates to a knot releasing device for a yarn package, a yarn splicing device, and a yarn supplying device. [Background technology]

[0002] In a yarn package used in a textile machine, for example, in order to prevent a yarn end portion of a yarn layer formed by winding a yarn around a bobbin from unraveling, the yarn may be tied by tying the yarn end portion on the outer circumferential surface of the yarn layer. In this case, if the yarn is tied with a knot including a slip knot (also called a slip knot), the knot can be easily undone by pulling the yarn end portion of the yarn. In this case, a robot can easily untie the yarn knot instead of an operator. In order for the robot to untie the yarn knot, the robot needs a yarn catching unit that sucks in and catches the yarn end of the yarn end portion. The yarn catching unit may be configured to include only a mechanism that sucks in and catches the yarn end of the yarn end portion, or may be configured to include not only a mechanism that sucks in and catches the yarn end of the yarn end portion, but also a mechanism that clamps the yarn end of the yarn end portion.

[0003] For example, the yarn handling device described in Patent Document 1 includes a yarn capturing section (second capturing mechanism) that can capture the yarn (yarn) by sucking in the yarn using the negative pressure generated when compressed fluid is supplied. This yarn capturing section is in a captured state where it can pinch and capture the yarn when compressed fluid is not supplied, and when compressed fluid is supplied, it switches from the captured state to a released state where it does not pinch the yarn. This yarn handling device corresponds to a case where it is configured to include not only a mechanism that sucks in and captures the yarn end of the yarn portion at the end of winding, but also a mechanism that clamps the yarn end of the yarn portion at the end of winding. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-91987 Summary of the Invention [Problem to be solved by the invention]

[0005] When a yarn end of a yarn package in which the yarn end is knotted and secured on the outer peripheral surface of the yarn layer of the yarn package with a knot including a slip knot (hereinafter also simply referred to as a "knot") is captured, in order to untie the knot, it is necessary to strongly pull the yarn end of the yarn end in a direction away from the yarn package. In the above-mentioned conventional technology, when the device is configured to include only a mechanism for suctioning and capturing the yarn end of the yarn end, in order to untie the knot, it is necessary to suction the yarn end of the yarn end with the negative pressure generated when a large amount of compressed fluid is supplied.

[0006] In addition, in the above-mentioned conventional technology, when the device includes not only a mechanism for suctioning and capturing the yarn end of the yarn end at the end of the winding, but also a mechanism for clamping the yarn end of the yarn end at the end of the winding, it is possible for the yarn capturing part that clamps and captures the yarn to strongly pull the yarn end of the yarn end in a direction away from the yarn package. However, in this case, a yarn clamping mechanism (such as a clamping mechanism or a chuck mechanism) for clamping the yarn is provided in the yarn capturing part, so the size of the yarn capturing part becomes large and there is a risk that the yarn capturing part cannot pass through a narrow space, which is not practical. In addition, in this case, when strongly pulling the yarn end of the yarn end in a direction away from the yarn package, the yarn may become tangled in the yarn clamping mechanism, which is also not practical in this respect.

[0007] Therefore, an object of one aspect of the present invention is to provide a yarn package knot elimination device, a yarn splicing processing device, and a yarn feeding device that are capable of releasing knots, including slip knots, of a yarn package, without the need to supply a large amount of compressed fluid to the yarn catching section to generate negative pressure for pulling the yarn strongly, and without providing the yarn catching section with a yarn clamping mechanism for clamping the yarn. [Means for solving the problem]

[0008] A knot elimination device for a yarn package according to one aspect of the present invention is a device for untying a knot in a yarn package in which a yarn end portion of a yarn layer formed by winding yarn around a bobbin is knotted on the outer peripheral surface of the yarn layer with a knot including a slip knot, by moving the yarn end of the yarn end portion of the yarn package. The device includes a yarn catching section that catches the yarn end of the yarn end portion by suction, a wound section around which the yarn end portion of the yarn is wound, a yarn catching section moving section that moves the yarn catching section, and a moving section that moves the yarn catching section so that the yarn end portion of the yarn is wound around the wound section multiple times. the winding control section moves the thread capturing section capturing the thread end using the thread capturing section moving section; a first tension generating section generates a predetermined first tension in a first portion between the wound portion and the thread capturing section in the thread portion at the end of the winding by maintaining suction by the thread capturing section of the thread end that has been wound multiple times around the wound portion; and a second tension generating section generates a second tension greater than the first tension in a second portion between the wound portion and the thread layer in the thread portion at the end of the winding while the first tension is being generated.

[0009] In this knot elimination device for a yarn package, the yarn end is wound around the wound part multiple times, and while a first tension is being applied to the first part, a second tension greater than the first tension is applied to the second part, so that the yarn end of the yarn end can be pulled strongly with the second tension to untie the knot. Thus, with the knot elimination device for a yarn package according to one aspect of the present invention, it is possible to untie the knot of the yarn package without the need to supply a large amount of compressed fluid to the yarn catching part to generate negative pressure for pulling the yarn strongly, and without providing the yarn catching part with a yarn clamping mechanism for clamping the yarn.

[0010] In the knot undoing device for a yarn package according to one aspect of the present invention, the relationship in the following formula (1) corresponding to the capstan equation may be satisfied, where the first tension is T1, the second tension is T2, the friction coefficient of the wound portion is μ, and the number of turns of the yarn portion at the end of the winding around the wound portion is θ. In this case, it is possible to untie the knot by utilizing the relationship in the following formula (1) corresponding to the capstan equation. θ = ln(T2 / T1) ÷ μ … (1)

[0011] In a knot undoing device for a thread package according to one aspect of the present invention, the second tension generating unit may move a winding point of the thread portion at the end of the winding on the wound part from a first position to a second position in a direction away from the thread package, and the first tension generating unit may move the thread catching unit in synchronization with the movement of the winding point. In this case, the second tension can be generated by moving the winding point from the first position to the second position in a direction away from the thread package. Also, the first tension can be generated and maintained by moving the thread catching unit in synchronization with the movement of the winding point.

[0012] In a knot undoing device for a thread package according to one aspect of the present invention, the wound part is a rod-shaped member configured to be swingable about a swing shaft on the base end side, the first tension generating part and the second tension generating part include a guide part that swings the rod-shaped member to guide the winding point from a first position to a second position, and the thread capturing part may be brought into contact with the rod-shaped member around which the final thread portion is wound and moved by the thread capturing part moving part, thereby swinging the rod-shaped member while being guided by the guide part so that the winding point moves from the first position to the second position. In this case, it is possible to undone the knot by swinging the rod-shaped member around which the final thread portion is wound.

[0013] In the knot releasing device for a thread package according to one aspect of the present invention, the first position may be a position whose distance from the knot is within a range equal to or less than the length from the knot to the end of the thread portion at the end of the winding. In this case, it is possible to reliably wind the thread portion at the end of the winding around the wound part.

[0014] In the knot releasing device for a thread package according to one aspect of the present invention, the second position may be a position in a range between one end and the other end of the thread package in the width direction of the thread package. In this case, when the winding point is moved to the second position, it is possible to prevent the end of the thread wound around the bobbin from moving in the width direction of the thread package until it is removed from the bobbin.

[0015] In the knot undoing device for a thread package according to one aspect of the present invention, the second tension generating section may include a thread package moving section that moves the thread package away from the wound part while the wound part and the thread catching part are in a fixed position. In this case, it is possible to generate the second tension by the thread package moving section.

[0016] In the knot undoing device for a thread package according to one aspect of the present invention, the wound part may be a rod-shaped member extending along an axis, and the second tension generating part may include a rod-shaped member rotating part that rotates the rod-shaped member about the axis in a rotation direction in which the winding end of the thread portion is pulled out from the thread package while the positions of the rod-shaped member and the thread catching part are fixed. In this case, it is possible to generate the second tension by the rod-shaped member rotating part.

[0017] In the knot undoing device for a thread package according to one aspect of the present invention, the second tension generating section may include a pulling section that pulls a second portion of the thread portion at the winding end while the wound part and the thread catching part are in a fixed position. In this case, it is possible to generate the second tension by the pulling section.

[0018] The knot releasing device for a yarn package according to one aspect of the present invention may include a hook member for hooking the second portion of the yarn at the end of the winding. In this case, by using the hook member, the direction of the yarn path can be changed to make it easier to untie the knot.

[0019] In a knot untying device for a yarn package according to one aspect of the present invention, the yarn package includes a first yarn package and a second yarn package, the wound portion includes a first wound portion around which a yarn portion at the end of the winding of the first yarn package is wound and a second wound portion around which a yarn portion at the end of the winding of the second yarn package is wound, the first tension generating portion includes a first tension generating portion for the first yarn package that generates a first tension in a first portion of the first yarn package and a first tension generating portion for the second yarn package that generates the first tension in the first portion of the second yarn package, and the second tension generating portion includes a second tension generating portion for the first yarn package that generates a second tension in a second portion of the first yarn package and a second tension generating portion for the second yarn package that generates the second tension in the second portion of the second yarn package. This configuration makes it possible to untying knots corresponding to the two yarn packages.

[0020] A yarn splicing device according to one aspect of the present invention includes the above-mentioned yarn package knot elimination device, and a yarn splicing unit for connecting a yarn end on an outer layer side of a first yarn package to a yarn end on an inner layer side of a second yarn package, or for connecting a yarn end on the inner layer side of the first yarn package to a yarn end on an outer layer side of the second yarn package. Since this yarn splicing device includes the above-mentioned knot elimination device, it is possible to untie the knot of the yarn package without the need to supply a large amount of compressed fluid to the yarn catching unit to generate negative pressure for strongly pulling the yarn, as in the above-mentioned case, and without providing the yarn clamping mechanism for clamping the yarn in the yarn catching unit.

[0021] A yarn feeding device according to one aspect of the present invention includes the above-mentioned yarn package knot elimination device, a yarn feeding stand having a first installation section to which a first yarn package is attached and a second installation section to which a second yarn package is attached, and a yarn splicing section to connect a yarn end on an outer layer side of the first yarn package to a yarn end on an inner layer side of the second yarn package or to connect a yarn end on the inner layer side of the first yarn package to a yarn end on an outer layer side of the second yarn package. Since this yarn feeding device includes the above-mentioned knot elimination device, it is possible to untie the knot of the yarn package without the need to supply a large amount of compressed fluid to the yarn catching section to generate negative pressure for strongly pulling the yarn, as in the above-mentioned case, and without providing the yarn clamping mechanism for clamping the yarn in the yarn catching section. Effect of the Invention

[0022] According to one aspect of the present invention, it is possible to provide a yarn package knot elimination device, a yarn splicing processing device, and a yarn feeding device that are capable of releasing knots, including slip knots, in a yarn package, without the need to supply a large amount of compressed fluid to the yarn catching section to generate negative pressure for pulling the yarn tightly, and without providing the yarn catching section with a yarn clamping mechanism for clamping the yarn. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing a configuration of a yarn supplying device according to a first embodiment. [Diagram 2] FIG. 2 is a perspective view showing a yarn supply package. [Diagram 3] FIG. 3 is a perspective view showing the creel stand of FIG. [Figure 4] FIG. 4 is a side view showing a schematic configuration of the package exchanging device of FIG. [Diagram 5] FIG. 5 is a plan view showing a schematic configuration of the replacement unit of FIG. [Figure 6] FIG. 6 is a block diagram showing a functional configuration of the package exchange device of FIG. [Figure 7] 7 is a top view of the knot release device of FIG. [Figure 8]FIG. 8 is a perspective view showing the suction gun and the threading robot shown in FIG. [Figure 9] Fig. 9(a) is a diagram showing the internal configuration of the rotary cylinder of Fig. 6. Fig. 9(b) is another diagram showing the internal configuration of the rotary cylinder of Fig. 6. [Figure 10] FIG. 10 is a perspective view for explaining the processing performed by the knot eliminator of FIG. [Figure 11] FIG. 11 is a perspective view showing a continuation of FIG. [Figure 12] Figure 10 is a schematic diagram for explaining the process performed by the knot eliminator of Figure 6. Figure 12(b) is a schematic diagram showing a continuation of Figure 12(a). [Figure 13] Fig. 13(a) is a plan view for explaining the hook member, and Fig. 13(b) is a side view for explaining the hook member. [Figure 14] FIG. 14 is a diagram showing the internal structure of a standard cylinder. [Figure 15] FIG. 15 is a block diagram showing a functional configuration of a package exchange device according to the second embodiment. [Figure 16] Figure 16(a) is a plan view for explaining processing by the knot elimination device of Figure 15. Figure 16(b) is a side view for explaining processing by the knot elimination device of Figure 15. [Figure 17] Figure 17(a) is a plan view showing a continuation of Figure 16(a), and Figure 17(b) is a side view showing a continuation of Figure 16(b). [Figure 18] FIG. 18 is a block diagram showing a functional configuration of a package exchange device according to the third embodiment. [Figure 19] Figure 19(a) is a plan view for explaining processing by the knot elimination device of Figure 18. Figure 19(b) is a side view for explaining processing by the knot elimination device of Figure 18. [Figure 20] Figure 20(a) is a plan view showing a continuation of Figure 19(a), and Figure 20(b) is a side view showing a continuation of Figure 19(b). [Figure 21]FIG. 21 is a block diagram showing a functional configuration of a package exchange device according to the third embodiment. [Figure 22] Figure 22(a) is a plan view for explaining processing by the knot elimination device of Figure 21. Figure 22(b) is a side view for explaining processing by the knot elimination device of Figure 21. [Figure 23] Figure 23(a) is a plan view showing a continuation of Figure 22(a), and Figure 23(b) is a side view showing a continuation of Figure 22(b). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, the embodiments will be described in detail with reference to the drawings. In the description of the drawings, the same or corresponding elements are designated by the same reference numerals, and duplicated explanations will be omitted.

[0025] [First embodiment] 1, the yarn supplying device 100 includes a creel stand (yarn supplying stand) 20 and a yarn splicing device 9A. The creel stand 20 is provided in the false twisting device 1. The yarn splicing device 9A is mounted on the package changing device 9. In the following description, the "Z direction" shown in the figure is the vertical direction (up-down direction), the "X direction" is the horizontal direction, and the "Y direction" is the horizontal direction perpendicular to the "X direction".

[0026] The false twisting device 1 processes yarns (synthetic yarns) supplied from a plurality of yarn supply packages to produce a winding package. The yarns are synthetic yarns made of thermoplastic synthetic fibers such as polyester and polyamide. The yarn supply package is formed by winding a partially oriented yarn (POY: Partially Oriented Yarn) around a yarn supply bobbin. The winding package is formed by winding a draw textured yarn (DTY: Draw Textured Yarn) around a winding bobbin. In other words, the false twisting device 1 processes yarn Y, which is a semi-drawn yarn, to produce a draw textured yarn.

[0027] As shown in FIG. 2, an adapter 8 is attached to the yarn supply package P1. The adapter 8 is synchronously rotatably attached to an end of the yarn supply bobbin B1 of the yarn supply package P1. The adapter 8 is formed in a cylindrical shape. The adapter 8 is formed with a holding hole 81 into which a yarn end of the yarn Y on the outer layer side (mouth yarn side) of the yarn supply package P1 (hereinafter, the yarn end of the yarn Y on the outer layer side is also referred to as the "first yarn end Y1") is inserted and held. The first yarn end Y1 is an end (yarn end) of a yarn portion at the end of a yarn layer YL formed by winding the yarn Y around the yarn supply bobbin B1.

[0028] The holding hole 81 is configured by a thin tube-like pipe provided inside the adapter 8 and extending in a bent manner. The holding hole 81 opens in the axial direction of the adapter 8. An opening of the holding hole 81 is formed with a suction outlet that comes into contact with a suction mouth 712, which will be described later. The suction outlet is formed as a recess that tapers toward the center. The adapter 8 is attached to the yarn supply package P1 by, for example, an operator.

[0029] In the yarn supply package P1, the yarn portion at the end of the winding of the yarn layer YL is knotted and secured on the outer circumferential surface of the yarn layer YL with a knot KN including a slip knot. In other words, in the yarn supply package P1, the yarn portion at the end of the winding of the yarn layer YL is knotted with a knot KN so that it will not come undone. A slip knot is also called a slip-unwind knot. Such a knot KN fixes the yarn portion at the end of the winding of the yarn layer YL on the outer circumferential surface of the yarn layer YL, and is untied by pulling the first yarn end Y1 to release the fixation. There is no particular limitation on the method of making the knot KN, and various known methods can be used.

[0030] As shown in Fig. 1, the false twist processing device 1 includes a yarn supplying unit 2 and a processing unit 3. A plurality of components of the yarn supplying unit 2 and the processing unit 3 are arranged in a Y direction (longitudinal direction of the machine) perpendicular to a running plane of the yarn Y (the plane of the paper in Fig. 1) on which a yarn path from the yarn supplying unit 2 to the processing unit 3 is arranged.

[0031] The yarn supplying section 2 supplies the yarn Y to the processing section 3. The yarn supplying section 2 includes a creel stand 20 that holds a plurality of yarn supply packages P1. As shown in Figs. 1 and 3, the creel stand 20 includes a creel base section 21, a first support pillar 22, a second support pillar 23, a partition plate 24, and a peg 25. The creel base section 21 is installed on a floor surface or the like, and supports the first support pillar 22 and the second support pillar 23. The first support pillar 22 and the second support pillar 23 are erected on the creel base section 21.

[0032] The first support pillars 22 extend along the Z direction. The first support pillars 22 are arranged at equal intervals in the Y direction. The first support pillars 22 are arranged on one side C1 in the X direction of the creel stand 20. The one side C1 in the X direction is the side where the processing unit 3, which will be described in detail later, is arranged, and is the side where the yarn Y is sent out to the processing unit 3 where false twist processing is performed.

[0033] The second support pillars 23 extend along the Z direction. The second support pillars 23 are arranged in pairs in the Y direction, and multiple pairs of the second support pillars 23, 23 are arranged in the Y direction. The second support pillars 23 are arranged on the other side C2 in the X direction of the creel stand 20. The other side C2 in the X direction is the side on which the package changing device 9, which will be described in detail later, travels and on which an operator who performs a yarn splicing operation works. A first support pillar 22 group consisting of multiple first support pillars 22 and a second support pillar 23 group consisting of multiple second support pillars 23 are arranged facing each other in the X direction.

[0034] The partition plate 24 is provided so as to straddle the first support pillar 22 and the second support pillar 23. The partition plate 24 is a plate-shaped member, and is arranged at a predetermined interval in the Z direction. The partition plate 24 prevents the yarn supply package P1 from falling off the peg 25.

[0035] The peg 25 supports the yarn supply package P1. The peg 25 is provided on the second support pillar 23. A plurality of pegs 25 (for example, four pegs) are arranged at predetermined intervals in the Z direction of the second support pillar 23. The pegs 25 are arranged between two partition plates 24 in the Z direction. The pegs 25 are arranged in pairs corresponding to the second support pillars 23, 23 arranged in pairs, and multiple sets (pairs) of pegs 25, 25 are arranged in the Y direction.

[0036] With the pegs 25 of this configuration, it is possible to connect the yarn Y of the yarn supply package P1 supported by one of the pair of pegs 25 to the yarn Y of the yarn supply package P1 supported by the other of the pair of pegs 25. Specifically, it is possible to connect a first yarn end Y1 of the yarn supply package P1 supported by one of the pair of pegs 25 to a yarn end of the yarn Y on the inner layer side (tail yarn side) of the yarn supply package P1 supported by the other of the pair of pegs 25 (hereinafter, the yarn end of the yarn Y on the inner layer side is also referred to as the "second yarn end"), or to connect a second yarn end of the yarn supply package P1 supported by one of the pair of pegs 25 to a first yarn end Y1 of the yarn supply package P1 supported by the other of the pair of pegs 25. As a result, one yarn Y is supplied (continuously supplied) to the processing unit 3 from two yarn supply packages P1, P1 supported by the pair of pegs 25, 25, respectively.

[0037] The processing unit 3 performs false twist processing on the yarn Y supplied from a plurality of yarn supply packages P1, and winds the processed yarn onto a winding bobbin to form a winding package.

[0038] The package changing device 9 collects the yarn supplying bobbin B1 from the peg 25, and attaches the yarn supplying package P1 to the peg 25. As shown in Fig. 4 and Fig. 6, the package changing device 9 includes a traveling unit 90, a lifting unit 91, a holding unit 92, and a changing unit 93.

[0039] The traveling unit 90 is configured to be able to travel along a rail 98 extending in the Y direction. The traveling unit 90 supports a holding unit 92 and a replacement unit 93. The lifting unit 91 lifts and lowers with an operator on board. The holding unit 92 holds a plurality of yarn supply packages P1. The holding unit 92 receives a supply of yarn packages P1 from a package replenishing device (not shown) and temporarily stores the yarn supply packages P1, and also supplies the replacement unit 93 with the yarn supply packages P1.

[0040] The replacement unit 93 retrieves the yarn supplying bobbin B1 from the peg 25 and attaches the yarn supply package P1 to the peg 25. As shown in Figs. 4, 5, and 6, the replacement unit 93 includes a rotation device 932, a recovery device 933, a supply device 934, and a rotating table 936. When attaching the yarn supply package P1 to the peg 25, the rotation device 932 rotates the peg 25 to change the orientation of the peg 25. The recovery device 933 retrieves the yarn supplying bobbin B1 from the peg 25. The supply device 934 supplies the yarn supply package P1 to the peg 25.

[0041] The yarn splicing device 9A performs a process of undoing the knot KN of the yarn supply package P1 (hereinafter also referred to as the "knot elimination process"), and also performs a process of connecting the yarn ends of a pair of yarn supply packages P1, P1 attached to a pair of pegs 25, 25 (hereinafter also referred to as the "yarn splicing process"). The yarn splicing device 9A includes a yarn splicing device (yarn splicing section) 60 and a knot elimination device (yarn package knot elimination device) 70.

[0042] The yarn splicing device 60 splices a first yarn end Y1 of a yarn supply package P1 supported by one peg 25 to a second yarn end of a yarn supply package P1 supported by the other peg 25, or splices a second yarn end of a yarn supply package P1 supported by one peg 25 to a first yarn end Y1 of a yarn supply package P1 supported by the other peg 25. Hereinafter, the yarn supply package P1 supported (attached) to one peg 25 will also be referred to as a first yarn supply package (first yarn package) P11, and the yarn supply package P1 supported (attached) to the other peg 25 will also be referred to as a second yarn supply package (second yarn package) P12.

[0043] The peg 25 to which the first yarn supply package P11 is attached constitutes a first attachment portion, and the peg 25 to which the second yarn supply package P12 is attached constitutes a second attachment portion. The yarn splicing device 60 constitutes a yarn splicing portion for connecting a first yarn end Y1 of the first yarn supply package P11 to a second yarn end of the second yarn supply package P12, or for connecting the second yarn end of the first yarn supply package P11 to the first yarn end Y1 of the second yarn supply package P12.

[0044] 6 and 7, the knot releasing device 70 is a device that moves a first yarn end Y1, which is the yarn end of the yarn portion at the end of winding, to untie the knot KN of the yarn supply package P1. The knot releasing device 70 includes a suction gun (yarn catching unit) 71, a winding rod (wound portion) 72, a rotary cylinder (guide unit) 73, a yarn threading robot (yarn catching unit moving unit) 74, and a control unit 94.

[0045] 7 and 8, the suction gun 71 captures (hereinafter simply referred to as "suction capture") a first yarn end Y1, which is the yarn end of the yarn portion at the end of winding. The suction gun 71 is provided at the tip of the yarn threading robot 74. The suction gun 71 has a suction arm 711 and a suction mouth 712.

[0046] A suction hose 713 that is connected to a negative pressure source is connected to the suction arm 711, and this generates a suction flow in the suction gun 71. The base end side of the suction arm 711 is connected to the yarn threading robot 74. The suction mouth 712 is provided at the tip of the suction arm 711. The suction mouth 712 sucks the yarn Y. The surface of the tip side of the suction mouth 712 is formed in a semispherical shape. The suction mouth 712 is connected to the suction arm 711 via an axis, and is elastically movable relative to the suction arm 711 in the axial direction by a spring or the like. The suction gun 71 is connected to a control unit 94 (see FIG. 6), and the start and stop of suction capture are controlled by the control unit 94.

[0047] As shown in Figs. 7, 9, and 10, the winding rod 72 is a member around which the end of the yarn Y is wound. The winding rod 72 is a rod-shaped member extending along an axis. The winding rod 72 here has a cylindrical shape. The winding rod 72 is made of, for example, metal. The winding rod 72 is configured to be swingable about a rotation shaft 72X on the base end side. The rotation shaft 72X is perpendicular to the axis of the winding rod 72. The rotation shaft 72X extends, for example, along the width direction of the yarn supplying package P1 in a state in which the end face of the adapter 8 faces the suction gun 71 side. The winding rod 72 is swingable so that the base end side is a support end and the tip side moves in a direction away from and toward the yarn supplying package P1.

[0048] The winding bar 72 includes a first winding bar (first wound portion) 72A around which the yarn end of the first yarn supply package P11 is wound, and a second winding bar (second wound portion) 72B around which the yarn end of the second yarn supply package P12 is wound. The first winding bar 72A is disposed at one end of the replacement unit 93 in the Y direction, and the second winding bar 72B is disposed at the other end of the replacement unit 93 in the Y direction.

[0049] The rotary cylinder 73 swings the winding bar 72 to guide a winding point Q (hereinafter also simply referred to as "winding point Q") around which the end of the yarn Y is wound around the winding bar 72 from a first position to a second position in a direction away from the yarn supply package P1. As shown in FIG. 9(a), for example, the rotary cylinder 73 includes an air cylinder 73X, a rack gear 73Y provided on the tip side of a piston rod 731 of the air cylinder 73X, and a pinion gear 73Z meshing with the rack gear 73Y. The air cylinder 73X has a throttle (not shown) that throttles the exhaust of air. The air cylinder 73X is connected to a control unit 94, and the supply of air to the air cylinder 73X is controlled by the control unit 94. The throttle of the air cylinder 73X can be realized, for example, by providing a throttle valve on the exhaust side. The pinion gear 73Z is provided rotatably around a rotation shaft 72X. A base end of a winding bar 72 is fixed to the pinion gear 73Z for synchronous rotation.

[0050] In the rotary cylinder 73, for example, when the piston rod 731 is retracted (contracted), the winding rod 72 tilts so that its tip approaches the yarn supply package P1, and the winding point Q of the winding rod 72 is located at a first position (see FIG. 9(a)). On the other hand, in the rotary cylinder 73, for example, when the piston rod 731 is advanced (extended), the winding rod 72 tilts so that its tip moves away from the yarn supply package P1, and the winding point Q of the winding rod 72 is located at a second position (see FIG. 9(b)).

[0051] The first position is a position within a range where the distance from the knot KN is equal to or less than the length from the knot KN to the first yarn end Y1. The first position is the position of the winding point Q when the piston rod 731 of the air cylinder 73X is in the most forward state. The second position is a position farther away from the yarn supply package P1 than the first position. For example, the second position is away from the first position by, for example, 100 mm or more. The second position is the position of the winding point Q when the piston rod 731 of the air cylinder 73X is in the most backward state. In addition, the second position is a position within a range H (see FIG. 7) between one end and the other end of the yarn supply package P1 in the width direction of the yarn supply package P1 when the peg 25 is operated and the end face of the adapter 8 faces the suction gun 71 side.

[0052] The rotary cylinder 73 includes a first rotary cylinder 73A that guides the winding position Q of the first winding rod 72A from a first position to a second position in a direction away from the first yarn supply package P11, and a second rotary cylinder 73B that guides the winding position Q of the second winding rod 72B from the first position to the second position in a direction away from the second yarn supply package P12. The first rotary cylinder 73A and the second rotary cylinder 73B are supported by a frame 93F of the replacement unit 93 via a bracket BR1. The first rotary cylinder 73A is disposed at one end of the replacement unit 93 in the Y direction, and the second rotary cylinder 73B is disposed at the other end of the replacement unit 93 in the Y direction.

[0053] The rotary cylinder 73 may be a double-acting type in which the forward and backward movement of the piston rod 731 is achieved by air, or a single-acting type in which either the forward or backward movement of the piston rod 731 is achieved by air (the other of the forward and backward movement is achieved by a spring or the like).

[0054] As shown in Figs. 7 to 10, the threading robot 74 moves the suction gun 71. The threading robot 74 is connected to the base end side of the suction gun 71. The threading robot 74 includes a link mechanism and a plurality of motors. The threading robot 74 is supported on the frame 93F of the replacement unit 93 via a bracket BR2. The threading robot 74 is disposed in the center of the replacement unit 93 in the Y direction. The threading robot 74 is located between the first winding bar 72A and the second winding bar 72B in the Y direction. The threading robot 74 is not particularly limited, and various known robot arms can be used. The threading robot 74 is connected to the control unit 94, and the movement of the suction gun 71 is controlled by the control unit 94.

[0055] As shown in Fig. 6 and Fig. 10 to Fig. 12, the control unit 94 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an I / O port, a communication port, etc. Each function of the control unit 94 is executed under the control of the CPU by loading predetermined computer software onto hardware such as the CPU and the main storage unit. The control unit 94 controls at least the suction gun 71, the rotary cylinder 73, and the threading robot 74 to execute the knot elimination process. The control unit 94 controls at least the suction gun 71, the threading robot 74, and the yarn joining device 60 to execute the yarn joining process.

[0056] In the knot untying process, the control unit 94 controls the threading robot 74 to move the suction gun 71, which is suctioning and capturing the first yarn end Y1, so that the yarn portion at the end of the winding of the yarn Y is wound multiple times around the winding bar 72. In the knot untying process, the control unit 94 controls the suction gun 71 to maintain the suction of the first yarn end Y1. The amount of suction by the suction gun 71 in the knot untying process may be constant or may vary within a set allowable range.

[0057] In the knot releasing process, the control unit 94 moves the suction gun 71 in a direction away from the yarn supply package P1 in synchronization with the movement of the winding point Q from the first position to the second position in the direction away from the yarn supply package P1. In the knot releasing process, the control unit 94 brings the suction gun 71 into contact with the winding rod 72 around which the winding end portion of the yarn Y is wound, and moves the suction gun 71 using the yarn threading robot 74, thereby swinging the winding rod 72 while being guided by the rotary cylinder 73 so that the winding point Q moves from the first position to the second position.

[0058] As a result, a predetermined first tension is generated in a first portion YQ1 between the winding bar 72 and the suction gun 71 in the thread portion at the winding end of the thread Y. In addition, while the first tension is being generated, a second tension greater than the first tension is generated in a second portion YQ2 between the winding bar 72 and the thread layer YL in the thread portion at the winding end of the thread Y. In this embodiment, when the first tension is T1, the second tension is T2, the friction coefficient of the winding bar 72 is μ, and the number of turns of the thread portion at the winding end of the thread Y around the winding bar 72 is θ, the relationship of the following formula (1) corresponding to the capstan equation is satisfied. The predetermined first tension may be constant and not change, for example, during the execution of the knot elimination process, or may change within a set allowable range. θ = ln(T2 / T1) ÷ μ … (1)

[0059] Next, an example of a series of operations including the knot releasing process and the yarn joining process in the yarn joining device 9A will be described in detail.

[0060] In the following, an example will be described in which a knot KN provided on an outer peripheral surface of a yarn layer YL of a first yarn supply package P11 is released when a first yarn end Y1 of a first yarn supply package P11 is spliced ​​to a second yarn end of a second yarn supply package P12. Here, the first yarn supply package P11 is a newly input full package, and the second yarn supply package P12 is a package in which a yarn is being unwound.

[0061] In the initial state, for example, the peg 25 has not been operated by the peg rotation device of the yarn splicing device 60, and the first yarn supply package P11 has not yet rotated. In the initial state, the piston rod 731 of the first rotary cylinder 73A, whose end face of the adapter 8 faces away from the suction gun 71, advances, and the winding rod 72 is held in a state in which its tip side is tilted away from the yarn supply package P1.

[0062] 7, first, the peg 25 is operated to rotate the first yarn supply package P11 so that the end face of the adapter 8 faces the suction gun 71. The control unit 94 controls the yarn threading robot 74 to move the suction mouth 712 of the suction gun 71 and bring the suction mouth 712 into contact with the suction opening of the holding hole 81 in the adapter 8 where the first yarn end Y1 is held. At the same time, the control unit 94 starts suction of the suction gun 71, and the suction mouth 712 sucks and captures the first yarn end Y1.

[0063] In addition, by supplying air to the first rotary cylinder 73A by the control unit 94, the piston rod 731 is retracted, the pinion gear 73Z meshing with the rack gear 73Y is rotated in one direction, and the winding rod 72 is swung so that the tip end thereof is inclined toward the yarn supply package P1, as shown in Figures 7 and 9(a).

[0064] 10, the control unit 94 controls the threading robot 74 to move the suction gun 71 that has suctioned and captured the first yarn end Y1, and the threading robot 74 moves the suction gun 71 that has suctioned and captured the first yarn end Y1 so that the end of the yarn Y is wound around the tip of the first winding bar 72A three times. For example, the control unit 94 controls the threading robot 74 to make the suction mouth 712 of the suction gun 71 that has suctioned and captured the first yarn end Y1 rotate around the tip of the first winding bar 72A about three times. As a result, a winding position Q is formed on the tip side of the first winding bar 72A, where the end of the yarn Y is wound three times, and the position of the winding position Q at this time is the first position. In this embodiment, when the yarn Y is wound around the winding bar 72, the yarn Y is wound from the base end side to the tip side.

[0065] In this embodiment, the end of the yarn Y is wound around the outer circumferential surface of the first winding bar 72A for three turns, and the yarn parts of each turn may overlap each other partially or completely, may be close to each other, may be in contact with each other, or may be separated from each other. When the winding point Q is in the first position, the restriction of the air cylinder 73X creates resistance and prevents the air from being exhausted from the air cylinder 73X. This generates a biasing force that maintains the inclination of the first winding bar 72A, and the winding point Q is held in the first position. The biasing force may be realized by, for example, the elastic force of a spring and the magnetic force of a magnet.

[0066] 9(b), 11, 12(a) and 12(b), in a state where the first yarn end Y1 is suction-caught by the suction gun 71, the control unit 94 causes the suction mouth 712 of the suction gun 71 to come into contact with (hook) the first yarn supply package P11 side of the winding bar 72 at the winding position Q, and the yarn threading robot 74 moves (pulls up) the suction mouth 712 in a direction away from the first yarn supply package P11. At this time, the suction mouth 712 is pushed in a direction away from the first yarn supply package P11 against the biasing force that maintains the inclination of the first winding bar 72A. As a result, the first winding bar 72A is inclined so that the tip side of the first winding bar 72A is moved away from the yarn supply package P1, the pinion gear 73Z rotates in the other direction, and the piston rod 731 moves forward. The winding bar 72 swings while being guided by the first rotary cylinder 73A so that the winding point Q moves from the first position to the second position.

[0067] As a result, a first tension T1 is generated in a first portion YQ1 of the yarn portion at the winding end between the first winding bar 72A and the suction gun 71, and a second tension T2 is generated in a second portion YQ2 of the yarn portion at the winding end between the first winding bar 72A and the yarn layer YL, so as to satisfy the relationship of the above formula (1) corresponding to the capstan equation. In other words, the yarn portion at the winding end of the yarn Y can be strongly pulled in a direction away from the first yarn supply package P11. As a result, the knot KN including the slip knot of the first yarn supply package P11 is undone.

[0068] Thereafter, the control unit 94 controls the yarn threading robot 74 to move the suction mouth 712, which has suctioned and captured the first yarn end Y1, to the yarn joining device 60, and then stops the suction of the suction mouth 712 to release the suction and capture, and sets (guides) the first yarn end Y1 to the yarn joining device 60. The control unit 94 also controls the suction gun 71 and the yarn threading robot 74 to cause the suction mouth 712 to suction and capture the second yarn end of the second yarn supply package P12, and then moves the suction mouth 712 to the yarn joining device 60, and then stops the suction of the suction mouth 712 to release the suction and capture, and sets the second yarn end of the second yarn supply package P12 to the yarn joining device 60. Then, the control unit 94 controls the yarn joining device 60 to splice (connect) the first yarn end Y1 of the first yarn supply package P11 and the second yarn end of the second yarn supply package P12.

[0069] Incidentally, when joining the first yarn end Y1 of the newly input second yarn supply package P12 to the second yarn end of the first yarn supply package P11 being unwound, a process similar to that described above is also performed when releasing the knot KN provided on the outer peripheral surface of the yarn layer YL of the second yarn supply package P12.

[0070] As described above, in the knot undoing device 70, the yarn portion at the winding end is wound multiple times around the winding bar 72, and while a first tension T1 is being applied to the first portion YQ1, a second tension T2 greater than the first tension T1 is applied to the second portion YQ2, whereby the first yarn end Y1 is strongly pulled by the second tension T2, thereby undoing the knot KN. Therefore, the knot undoing device 70 makes it possible to undo the knot KN, including the slip knot, in the yarn supply package P1, without the need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and without providing the suction gun 71 with a yarn clamping mechanism for clamping the yarn Y.

[0071] The knot undoing device 70 can generate tension, for example, 10 times or more, in the thread portion at the winding end compared to pulling the suction gun 71 that has sucked and captured the first thread end Y1. Also, the knot undoing device 70 can generate tension, for example, 10 times or more, in the thread portion at the winding end compared to simply winding the thread portion at the winding end around the winding rod 72 and lifting the winding rod 72.

[0072] In the knot undoing device 70, the first tension T1, the second tension T2, the friction coefficient μ of the winding bar 72, and the number of turns θ of the thread portion at the end of winding around the winding bar 72 satisfy the relationship in the above formula (1) which corresponds to the capstan equation. This makes it possible to untie the knot KN by utilizing the relationship in the above formula (1) which corresponds to the capstan equation.

[0073] In the knot releasing device 70, the winding point Q of the yarn portion at the end of the winding on the winding bar 72 is moved from a first position to a second position in a direction away from the yarn supply package P1, and the suction gun 71 is moved in synchronization with the movement of the winding point Q. In this case, the second tension T2 can be generated. Also, the first tension T1 can be generated and maintained.

[0074] The knot undoing device 70 includes a rotary cylinder 73 that swings the winding rod 72 to guide the winding point Q from the first position to the second position. The winding rod 72 is swung while being guided by the rotary cylinder 73 so that the winding point Q moves from the first position to the second position by bringing the suction gun 71 into contact with the winding rod 72 around which the end of the thread is wound and moving the suction gun 71 with the thread threading robot 74. This swings the winding rod 72 around which the end of the thread is wound, and the knot KN can be undone. In the knot undoing device 70, the amount of movement of the suction gun 71 can be reduced by configuring the winding rod 72 to swing. This increases the degree of freedom in the arrangement of the components of the knot undoing device 70.

[0075] In the knot releasing device 70, the first position is a position within a range where the distance from the knot KN is equal to or less than the length from the knot KN to the first yarn end Y1. In this case, it is possible to reliably wind the end of the yarn portion around the winding bar 72.

[0076] In the knot releasing device 70, the second position is a position in a range H between one end and the other end of the yarn supply package P1 in the width direction of the yarn supply package P1. In this case, when the winding point Q is moved to the second position, it is possible to prevent the end of the yarn wound around the yarn supplying bobbin B1 from moving in the width direction of the yarn supply package P1 until it is removed from the yarn supplying bobbin B1.

[0077] In the knot releasing device 70, the yarn supply package P1 includes a first yarn supply package P11 and a second yarn supply package P12, and the winding bar 72 includes a first winding bar 72A and a second winding bar 72B. In the knot releasing device 70, the control unit 94 and the first rotary cylinder 73A generate a first tension T1 on the first portion YQ1 of the first yarn supply package P11 and generate a second tension T2 on the second portion YQ2 of the first yarn supply package P11. The control unit 94 and the second rotary cylinder 73B generate a first tension T1 on the first portion YQ1 of the second yarn supply package P12 and generate a second tension T2 on the second portion YQ2 of the second yarn supply package P12. This configuration makes it possible to release the knots KN corresponding to the two yarn supply packages P11 and P12, respectively.

[0078] In the knot undoing device 70, the suction gun 71 is provided at the tip of the threading robot 74. This allows the threading robot 74 to easily operate the suction gun 71. In the knot undoing device 70, when winding the thread Y around the tip side of the winding rod 72, the thread Y is wound from the base end side to the tip side. This makes it possible to prevent the thread Y from overlapping at the winding point Q, compared to when the thread Y is wound from the tip side to the base end side.

[0079] Since the yarn splicing device 9A and the yarn supplying device 100 are equipped with the knot releasing device 70, as described above, there is no need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knots KN, including the slip knots, of the yarn supplying package P1 without providing the suction gun 71 with a yarn clamping mechanism for clamping the yarn Y.

[0080] As shown in Figures 13(a) and 13(b), the knot releasing device 70 of this embodiment may include a hook member 78 for hooking a second portion YQ2 of the yarn portion at the winding end between the first winding bar 72A and the yarn layer YL. In this case, by using the hook member 78, the direction of the yarn path can be changed to make it easier to untie the knot KN.

[0081] As shown in FIG. 13(a), the hook member 78 is disposed on one side of the axis of the yarn supply package P1 in a direction perpendicular to the axis in a plan view. The hook member 78 is fixed to, for example, a frame 93F (see FIG. 7) of the replacement unit 93. The hook member 78 is an inverted J-shaped member. The shape of the hook member 78 is not particularly limited and may be various shapes. The hook member 78 may hook the second portion YQ2 in a range F1 defined by an auxiliary line extending in a direction inclined at 45° to the one side with respect to the axial direction of the yarn supply package P1 from an intersection Pn between a knot reference line F0 extending in the width direction through the knot KN and both edges in the width direction of the yarn supply package P1 in a plan view. The hook member 78 may hook the second portion YQ2 in a range H in the width direction of the yarn supply package P1 in a plan view.

[0082] 13(b), the hook member 78 may hook the second portion YQ2 in a range F3 defined by a knot reference line F2 that passes through the knot KN and extends in the vertical direction, and an auxiliary line that extends in the horizontal direction from an intersection Pm of the knot reference line F2 with the surface of the yarn supply package P1, in a side view. The hook member 78 may hook the second portion YQ2 in a range F4 defined by an auxiliary line that extends in the horizontal direction and an auxiliary line that extends in a direction inclined 45° upward with respect to the horizontal direction. The hook member 78 may be disposed within a range of about 300 mm from the knot reference line F2 in the horizontal direction.

[0083] The knot releasing device 70 of this embodiment includes a rotary cylinder 73 as a guide unit that swings the winding rod 72 to guide the winding location Q, but the guide unit is not particularly limited. For example, the guide unit may be a device including a linear rail or the like, or may be a standard cylinder 173 as shown in FIG. 14. The standard cylinder 173 has an air cylinder 173X, a connecting part 173Y provided on the tip side of a piston rod 731 of the air cylinder 173X, and a support part 173Z that supports the base end side of the winding rod 72. The connecting part 173Y is slidably connected to the winding rod 72. The support part 173Z allows the winding rod 72 to swing so that the tip side of the winding rod 72 moves in a direction away from and toward the yarn supply package P1.

[0084] In the above, at least the control unit 94 constitutes a winding control unit. At least the control unit 94, the suction gun 71, and the winding bar 72 constitute a first tension generating unit. At least the control unit 94, the suction gun 71, and the first winding bar 72A constitute a first tension generating unit for the first yarn package. At least the control unit 94, the suction gun 71, and the second winding bar 72B constitute a first tension generating unit for the second yarn package. At least the control unit 94, the rotary cylinder 73, the suction gun 71, the winding bar 72, and the threading robot 74 constitute a second tension generating unit. At least the control unit 94, the first rotary cylinder 73A, the suction gun 71, the first winding bar 72A, and the threading robot 74 constitute a second tension generating unit for the first yarn package. At least the control unit 94, the second rotary cylinder 73B, the suction gun 71, the second winding bar 72B, and the threading robot 74 constitute a second tension generating unit for the second yarn package. As an exception, in cases where the first tension generating unit moves (specifically, the suction gun 71 is moved) as in this embodiment, the first tension generating unit includes a control unit 94; however, in other cases, as a general rule, the first tension generating unit does not include a control unit 94.

[0085] [Second embodiment] A second embodiment will be described below, focusing on the differences from the first embodiment.

[0086] As shown in FIG. 15, the knot releasing device 270 of this embodiment is different from the first embodiment in that it includes a package moving device (yarn package moving section) 273 instead of the rotary cylinder 73 (see FIG. 6). The package moving device 273 horizontally moves the yarn supply package P1 away from the winding rod 72 while the winding rod 72 and the suction gun 71 are fixed in position. The package moving device 273 is not particularly limited, and various known devices can be used. The package moving device 273 constitutes a second tension generating section. For example, the package moving device 273 may include an air cylinder or the like that can move the yarn supply package P1 away from the winding rod 72. The package moving device 273 is connected to the control section 94, and the operation of the package moving device 273 is controlled by the control section 94. The winding rod 72 of this embodiment is fixed to, for example, a frame 93F (see FIG. 7) of the replacement unit 93.

[0087] Fig. 16(a) is a plan view illustrating the processing performed by the knot elimination device 270. Fig. 16(b) is a side view illustrating the processing performed by the knot elimination device 270. Fig. 17(a) is a plan view showing a continuation of Fig. 16(a). Fig. 17(b) is a side view showing a continuation of Fig. 16(b). For convenience of explanation, in Figs. 16 and 17, the axial direction of the yarn supply package P1 is defined as the Y direction, and the axial direction of the winding bar 72 is defined as the Z direction (the same applies to the following Figs. 19, 20, 22, and 23).

[0088] In the knot releasing device 270, after the end of the winding of the yarn Y is wound around the winding bar 72 several times, the first yarn end Y1 is suction-captured by the suction gun 71. While fixing the positions of the winding bar 72 and the suction gun 71, as shown in Figures 16(a) and 16(b), the control unit 94 controls the operation of the package moving device 273 to move the yarn supply package P1 in a direction away from the winding bar 72.

[0089] As a result, a first tension T1 is generated in a first portion YQ1 of the yarn portion at the winding end between the winding bar 72 and the suction gun 71, and a second tension T2 is generated in a second portion YQ2 of the yarn portion at the winding end between the first winding bar 72A and the yarn layer YL, so as to satisfy the relationship of the above formula (1) corresponding to the capstan equation. In other words, the yarn supply package P1 can be strongly pulled in a direction in which the yarn portion at the winding end of the yarn Y and the yarn supply package P1 move away from each other. As a result, the knot KN including the slip knot of the yarn supply package P1 is undone, as shown in Figures 17(a) and 17(b).

[0090] As described above, the knot releasing device 270 also makes it possible to release the knot KN, including the slip knot, of the yarn supply package P1 without the need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and without providing the suction gun 71 with a yarn clamping mechanism for clamping the yarn Y. Furthermore, the knot releasing device 270 makes it possible to generate the second tension T2 by the package moving device 273. In this embodiment, at least the suction gun 71, the winding rod 72, the package moving device 273, and the control unit 94 constitute a second tension generating unit.

[0091] [Third embodiment] A third embodiment will be described below, focusing on the differences from the first embodiment.

[0092] As shown in FIG. 18, the knot releasing device 370 of this embodiment differs from the first embodiment in that it includes a winding bar rotation drive device (rod-shaped member rotating unit) 373 instead of the rotary cylinder 73 (see FIG. 6). With the winding bar 72 and the suction gun 71 in fixed positions, the winding bar rotation drive device 373 rotates the winding bar 72 around the axis of the winding bar 72 in a rotation direction in which the winding end yarn portion is pulled out from the yarn supply package P1. The winding bar rotation drive device 373 is not particularly limited, and various known devices can be used. The winding bar rotation drive device 373 constitutes the second tension generating unit. For example, the winding bar rotation drive device 373 may include a motor that rotates the winding bar 72. The winding bar rotation drive device 373 is connected to the control unit 94, and the operation of the winding bar rotation drive device 373 is controlled by the control unit 94.

[0093] In the knot release device 370, after the end of the winding of the yarn Y is wound around the winding bar 72 several times, the first yarn end Y1 is suction-captured by the suction gun 71. While the positions of the winding bar 72 and the suction gun 71 are fixed, as shown in Figures 19(a) and 19(b), the control unit 94 controls the operation of the winding bar rotation drive device 373 to rotate the winding bar 72 and pull out the end of the winding of the yarn from the yarn supply package P1.

[0094] Here, the final yarn portion is wound counterclockwise around the winding rod 72, and the winding rod rotation drive 373 rotates the winding rod 72 counterclockwise. By rotating the winding rod 72, the final yarn portion wound around the winding rod 72 is unwound, and a portion of the first portion YQ1 between the winding rod 72 and the suction gun 71 is newly sucked into the suction gun 71, and a portion of the second portion YQ2 between the winding rod 72 and the yarn layer YL is newly wound around the winding rod 72.

[0095] As a result, a first tension T1 is generated in a first portion YQ1 of the yarn portion at the winding end between the winding bar 72 and the suction gun 71, and a second tension T2 is generated in a second portion YQ2 of the yarn portion at the winding end between the winding bar 72 and the yarn layer YL, so as to satisfy the relationship of the above formula (1) corresponding to the capstan equation. In other words, the yarn portion at the winding end of the yarn Y can be strongly pulled from the yarn supply package P1. As a result, the knot KN including the slip knot of the yarn supply package P1 is undone, as shown in Figures 20(a) and 20(b).

[0096] As described above, the knot releasing device 370 also makes it possible to release the knot KN, including the slip knot, of the yarn supply package P1 without the need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and without providing the suction gun 71 with a yarn clamping mechanism for clamping the yarn Y. Furthermore, the knot releasing device 370 makes it possible to generate the second tension T2 by the winding bar rotation drive device 373. In this embodiment, at least the suction gun 71, the winding bar 72, the winding bar rotation drive device 373, and the control unit 94 constitute a second tension generating unit.

[0097] [Fourth embodiment] A fourth embodiment will be described below, focusing on the differences from the first embodiment.

[0098] As shown in Fig. 21, the knot release device 470 of this embodiment differs from the first embodiment in that it includes a tension member drive device (tensioning unit) 473 and a tension member (tensioning unit) 479 instead of the rotary cylinder 73 (see Fig. 6). The tension member 479 is disposed between the winding bar 72 and the yarn layer YL. The tension member 479 is a rod-shaped member having an axis perpendicular to the yarn path of the second portion YQ2 between the winding bar 72 and the yarn layer YL at the yarn end. The tension member 479 here has a cylindrical shape.

[0099] The tension member driving device 473 is a driving device that moves the tension member 479 so as to press it against the second part YQ2. The tension member driving device 473 is not particularly limited, and various known devices can be used. For example, the tension member driving device 473 may include an air cylinder or the like that moves the tension member 479 in a direction toward the second part YQ2 (downward in the illustrated example). The tension member driving device 473 is connected to the control unit 94, and the operation of the tension member driving device 473 is controlled by the control unit 94.

[0100] In the knot release device 470, after the end of the winding of the thread Y is wound around the winding bar 72 several times, the first thread end Y1 is sucked and captured by the suction gun 71. As shown in Figures 22(a) and 22(b), while the positions of the winding bar 72 and the suction gun 71 are fixed, the control unit 94 controls the operation of the tensioning member drive device 473 to move the tensioning member 479 downward so as to press it against the second portion YQ2, and the second portion YQ2 is pulled by the tensioning member 479.

[0101] As a result, a first tension T1 is generated in a first portion YQ1 of the yarn portion at the winding end between the winding bar 72 and the suction gun 71, and a second tension T2 is generated in a second portion YQ2 of the yarn portion at the winding end between the winding bar 72 and the yarn layer YL, so as to satisfy the relationship of the above formula (1) corresponding to the capstan equation. In other words, the yarn portion at the winding end of the yarn Y can be strongly pulled from the yarn supply package P1. As a result, the knot KN including the slip knot of the yarn supply package P1 is undone, as shown in Figures 23(a) and 23(b).

[0102] As described above, the knot releasing device 470 also makes it possible to release the knot KN, including the slip knot, of the yarn supply package P1 without the need to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and without providing the suction gun 71 with a yarn clamping mechanism for clamping the yarn Y. Furthermore, the knot releasing device 470 makes it possible to generate the second tension T2 by the tensioning member driving device 473 and the tensioning member 479.

[0103] In this embodiment, the tension member 479 is moved from above to below to press down the first portion YQ1 and untie the knot KN, but the tension member 479 may be moved from below to above to press down the first portion YQ1, or the tension member 479 may be moved from one side to the other side in the horizontal direction to press down the first portion YQ1. The shape of the tension member 479 is not particularly limited and may be various shapes. The tension member driving device 473 and the tension member 479 correspond to the tensioning unit. At least the suction gun 71, the winding rod 72, the tension member driving device 473, the tension member 479, and the control unit 94 constitute a second tension generating unit.

[0104] While an embodiment of one aspect of the present invention has been described above, this aspect of the present invention is not necessarily limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention.

[0105] In the above embodiment, the control unit 94 may not be provided in the package exchanging device 9, but may be provided at a location remote from the package exchanging device 9 so as to be able to communicate with it via wired or wireless communication. In the above embodiment and modified example, the false twist processing device 1 has been described as an example of a yarn processing device, but the present invention is not limited to this. That is, although a device that performs twisting (false twisting) has been described as an example of the processing unit 3, the present invention may also be applied to a device that performs non-twisting (air jet) yarn processing.

[0106] In the above embodiment and modified example, after winding the end of the yarn Y around the winding bar 72 multiple times, the suction gun 71 may maintain suction of the first yarn end Y1 while rotating the peg 25 to rotate the yarn supply package P1 and move the yarn supply package P1 away from the winding bar 72, thereby generating a first tension T1 and a second tension T2 in the first portion YQ1 and the second portion YQ2, respectively, and untying the knot KN of the yarn supply package P1.

[0107] In the above embodiment and modified example, after winding the end of the yarn Y around the winding bar 72 multiple times, the suction gun 71 may maintain suction of the first yarn end Y1 while rotating the yarn supply package P1 in a direction opposite to the direction in which the yarn Y is pulled out from the yarn supply package P1, thereby generating a first tension T1 and a second tension T2 in the first portion YQ1 and the second portion YQ2, respectively, to untie the knot KN of the yarn supply package P1.

[0108] In the above embodiment and modified example, the final thread portion is wound three times around the winding rod 72, but it may be wound two times or four or more times. In the above embodiment and modified example, the winding rod 72 is used as the part to be wound, but other members may be used as the part to be wound as long as the final thread portion can be wound around them.

[0109] Each configuration in the above embodiment or modification can be arbitrarily applied to each configuration in other embodiments or modifications. A part of each configuration in the above embodiment or modification can be omitted as appropriate without departing from the gist of one aspect of the present invention. The present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention. [Explanation of symbols]

[0110] 9A... yarn splicing device, 20... creel stand (yarn supply stand), 25... peg (first mounting part, second mounting part), 60... yarn splicing device (yarn splicing part), 70, 270, 370, 470... knot releasing device (knot releasing device for yarn package), 71... suction gun (yarn capture part, first tension generating part, second tension generating part), 72... winding bar (wound part, rod-shaped member, first tension generating part, second tension generating part), 72A... first winding bar (first wound part, winding section, first tension generating section for first yarn package, second tension generating section for first yarn package), 72B... second winding bar (second wound section, first tension generating section for second yarn package, second tension generating section for second yarn package), 73... rotary cylinder (guide section, second tension generating section), 73A... first rotary cylinder (second tension generating section for first yarn package), 73B... second rotary cylinder (second tension generating section for second yarn package) unit), 74... yarn hooking robot (yarn catcher moving unit, second tension generating unit), 78... hook member, 94... control unit (winding control unit, first tension generating unit, second tension generating unit), 100... yarn feeding device, 173... standard cylinder (guide unit, second tension generating unit), 273... package moving device (yarn package moving unit, second tension generating unit), 373... winding bar rotation driving device (rod-shaped member rotating unit, second tension generating unit), 473... tension member driving device (tension section, second tension generating section), 479...tensile member (tensile section, second tension generating section), B1...yarn supply bobbin (bobbin), KN...knot, P1...yarn supply package (yarn package), P11...first yarn supply package (first yarn package), P12...second yarn supply package (second yarn package), Q...winding point, Y...yarn, Y1...first yarn end (yarn end of the yarn portion at the end of winding, yarn end on the outer layer side), YL...yarn layer, YQ1...first section, YQ2...second section.

Claims

1. An apparatus for releasing a knot that secures a thread portion at the end of winding of a thread layer formed by winding a thread around a bobbin to the outer peripheral surface of a thread package with a knot including a slip knot, by moving the thread end of the thread portion at the end of winding, the apparatus comprising: a thread capturing portion that captures the thread end of the thread portion at the end of winding by suction; a portion to be wound around which the thread portion at the end of winding is wound; a thread capturing portion moving portion that moves the thread capturing portion; a winding control portion that moves the thread capturing portion that has captured the thread end so that the thread portion at the end of winding is wound around the portion to be wound a plurality of times, by the thread capturing portion moving portion; a first tension generating portion that generates a predetermined first tension in a first portion between the portion to be wound and the thread capturing portion in the thread portion at the end of winding, by maintaining suction by the thread capturing portion on the thread end of the thread portion at the end of winding wound around the portion to be wound a plurality of times; a second tension generating portion that generates a second tension greater than the first tension in a second portion between the portion to be wound and the thread layer in the thread portion at the end of winding, in a state where the first tension is being generated, the apparatus for releasing a knot of a thread package, comprising the first tension generating portion and the second tension generating portion.

2. The apparatus for releasing a knot of a thread package according to claim 1, satisfying the relationship of the following formula (1) corresponding to the capstan equation, where the first tension is T1, the second tension is T2, the coefficient of friction of the portion to be wound is μ, and the number of turns of the thread portion at the end of winding around the portion to be wound is θ. θ = ln(T2 / T1) ÷ μ …(1)

3. The second tension generating portion moves a winding location of the thread portion at the end of winding in the portion to be wound from a first position to a second position in a direction away from the thread package, The apparatus for releasing a knot of a thread package according to claim 1 or 2, wherein the first tension generating portion moves the thread capturing portion in synchronization with the movement of the winding location.

4. The portion to be wound is a rod-shaped member configured to be swingable about a swing axis on the proximal end side, The first tension generating portion and the second tension generating portion include a guiding portion that swings the rod-shaped member to guide the winding location from the first position to the second position. By bringing the thread-catching part into contact with the rod-shaped member around which the end part of the thread after winding is wound and moving the thread-catching part by the thread-catching part moving part, the rod-shaped member is swung while being guided by the guide part so that the winding position moves from the first position to the second position. The knot releasing device for a yarn package according to claim 3.

5. The first position is a position within a range where the distance from the knot is equal to or less than the length from the knot to the end of the thread part after winding. The knot releasing device for a yarn package according to claim 3.

6. The second position is a position within the range between one end and the other end of the yarn package in the width direction of the yarn package. The knot releasing device for a yarn package according to claim 3.

7. The second tension generating part In a state where the positions of the part to be wound and the thread-catching part are fixed, the knot releasing device for a yarn package according to claim 1 or 2, including a yarn package moving part that moves the yarn package away from the part to be wound.

8. The part to be wound is a rod-shaped member extending along the axis, The second tension generating part In a state where the positions of the rod-shaped member and the thread-catching part are fixed, the knot releasing device for a yarn package according to claim 1 or 2, including a rod-shaped member rotating part that rotates the rod-shaped member around the axis in the rotation direction in which the end part of the thread after winding is pulled out from the yarn package.

9. The second tension generating part In a state where the positions of the part to be wound and the thread-catching part are fixed, the knot releasing device for a yarn package according to claim 1 or 2, including a tension part that pulls the second part in the end part of the thread after winding.

10. The knot releasing device for a yarn package according to claim 1 or 2, including a hook member that hooks the second part in the end part of the thread after winding.

11. The knot releasing device for a yarn package according to claim 3, including a hook member that hooks the second part in the end part of the thread after winding.

12. The knot releasing device for a yarn package according to claim 8, including a hook member that hooks the second part in the end part of the thread after winding.

13. The knot releasing device for a yarn package according to claim 9, including a hook member that hooks the second part in the end part of the thread after winding.

14. The yarn package includes a first yarn package and a second yarn package, The wound portion is a first wound portion around which the end yarn portion of the first yarn package is wound, and a second wound portion around which the end yarn portion of the second yarn package is wound, The first tension generating portion is a first tension generating portion for the first yarn package that generates the first tension in the first portion of the first yarn package, and a first tension generating portion for the second yarn package that generates the first tension in the first portion of the second yarn package, The second tension generating portion is a second tension generating portion for the first yarn package that generates the second tension in the second portion of the first yarn package, and a second tension generating portion for the second yarn package that generates the second tension in the second portion of the second yarn package, the knot releasing device for a yarn package according to claim 1 or 2.

15. The knot releasing device for a yarn package according to claim 14, and a yarn splicing portion for connecting the yarn end on the outer layer side of the first yarn package and the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package and the yarn end on the outer layer side of the second yarn package, a yarn splicing processing device.

16. The knot releasing device for a yarn package according to claim 14, and a yarn feeding stand having a first mounting portion on which the first yarn package is mounted and a second mounting portion on which the second yarn package is mounted, a yarn splicing portion for connecting the yarn end on the outer layer side of the first yarn package and the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package and the yarn end on the outer layer side of the second yarn package, a yarn feeding device.

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