Yarn processing system and work robot

Abstract

To stably and smoothly unwind yarn from a yarn supply package.SOLUTION: A stretch false twisting machine 1 includes: a peg 12 to which a yarn supply package 5 wrapped with yarn 3, which is POY, can be set; a processing position 35 where the yarn 3 of the yarn supply package 5 set on the peg 12 is processed to form a winding package; and a yarn guide 13 that guides the yarn 3 toward the processing position 35 at a downstream end of a balloon formed by the yarn 3 unwound from the yarn supply package 5 set on the peg 12. A yarn feeding cart 50 is a working robot that performs work to the stretch false twisting machine 1. The yarn feeding cart 50 includes a yarn supply package position adjustment device 57 that moves at least one of the yarn supply package 5 and the yarn guide 13 to reduce a distance between the yarn supply package 5 and the yarn guide 13 during yarn unwinding, as unwinding of the yarn 3 from the yarn supply package 5 progresses.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a yarn processing system and a working robot that performs work on a yarn processing machine. [Background technology]

[0002] Patent Document 1 discloses a draw-twist texturing machine, which is a type of yarn texturing machine.

[0003] The draw twisting machine of Patent Document 1 includes a false twist device and a creel. The creel includes a peg to which a yarn supply package can be attached. A yarn supply cart capable of running along the creel is provided in addition to the draw twisting machine. The yarn supply cart can remove an empty yarn supply package from the peg and insert a new yarn supply package into the peg. In the draw twisting machine, a yarn is unwound from the yarn supply package inserted into the peg, and the yarn is subjected to false twisting by the false twist device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-32377 Summary of the Invention [Problem to be solved by the invention]

[0005] The yarn unwound from the yarn supply package forms a balloon just downstream of the yarn supply package due to its rotation and centrifugal force, between the yarn supply package and a yarn guide just downstream of the yarn supply package.

[0006] As the yarn is unwound, the diameter of the yarn supply package gradually decreases, and the shape of the balloon changes accordingly. If the balloon shape is not stable, the smooth unwinding of the yarn from the yarn supply package may be impaired.

[0007] The present invention has been made in view of the above circumstances, and has an object to smoothly unwind a yarn from a yarn supply package even when the unwinding of the yarn from the yarn supply package progresses.

[0008] The problem to be solved by the present invention has been described above. Next, the means for solving this problem and the effects thereof will be described.

[0009] According to a first aspect of the present invention, there is provided a working robot having the following configuration. That is, the working robot is a working robot that performs an operation on a yarn processing machine. The yarn processing machine includes a yarn supply holding section, a processing position, and a yarn guide. The yarn supply holding section is capable of setting a yarn supply package around which a synthetic fiber yarn is wound. At the processing position, the yarn of the yarn supply package set in the yarn supply holding section is processed to form a winding package. The yarn guide guides the yarn toward the processing position at a downstream end of a balloon formed by the yarn unwound from the yarn supply package set in the yarn supply holding section. The working robot includes a balloon adjustment device that moves at least one of the yarn supply package being unwound and the yarn guide as the unwinding of the yarn from the yarn supply package progresses, thereby decreasing the distance between the yarn supply package being unwound and the yarn guide.

[0010] This makes it possible to control the shape of the balloon that is formed when the yarn is unwound from the yarn supply package, thereby enabling the yarn to be unwound smoothly.

[0011] In the above-described working robot, it is preferable that the balloon adjustment device, under the control of a controller, reduces the distance between the yarn supply package being unwound and the yarn guide as the unwinding of the yarn from the yarn supply package progresses.

[0012] This allows the controller to control the balloon adjustment device, thereby controlling the shape of the balloon.

[0013] The working robot is preferably configured as follows: That is, in the yarn processing machine, a plurality of the processing positions are provided, and a plurality of the yarn supplying and holding parts and the yarn guides are provided corresponding to the plurality of processing positions. The working robot has a traveling device and / or a lifting device that enables the balloon adjustment device to move to the positions of the plurality of yarn supplying and holding parts.

[0014] This allows the working robot to use the balloon adjustment device to work on a plurality of yarn supplying and holding units, thereby reducing costs through commonality of configuration.

[0015] The working robot is preferably configured as follows: That is, the working robot has a package supplying device that sets the yarn supply package in each of the yarn supplying holding parts, and the traveling device and / or the lifting device are capable of moving the package supplying device together with the balloon adjustment device to the positions of the yarn supplying holding parts.

[0016] As a result, the work robot that supplies the yarn package to the yarn processing machine also performs the balloon adjustment work, thereby reducing costs through common configuration.

[0017] According to a second aspect of the present invention, there is provided a yarn processing system having the following configuration. That is, the yarn processing system includes a yarn processing machine and a working robot that operates the yarn processing machine. The yarn processing machine has a yarn supply holding section, a processing position, and a yarn guide. The yarn supply holding section is capable of setting a yarn supply package around which a synthetic fiber yarn is wound. At the processing position, the yarn of the yarn supply package set in the yarn supply holding section is processed to form a winding package. The yarn guide guides the yarn toward the processing position at a downstream end of a balloon formed by the yarn unwound from the yarn supply package set in the yarn supply holding section. The working robot includes a balloon adjustment device. As the unwinding of the yarn from the yarn supply package progresses, the balloon adjustment device moves at least one of the yarn supply package being unwound and the yarn guide to reduce the distance between the yarn supply package being unwound and the yarn guide.

[0018] This makes it possible to control the shape of the balloon that is formed when the yarn is unwound from the yarn supply package, thereby enabling the yarn to be unwound smoothly.

[0019] The yarn processing system is preferably configured as follows: That is, the yarn processing system includes a controller, which controls the balloon adjustment device to reduce a distance between the yarn supply package being unwound and the yarn guide as unwinding of the yarn from the yarn supply package progresses.

[0020] This allows the controller to control the balloon adjustment device, thereby controlling the shape of the balloon.

[0021] The yarn processing system is preferably configured as follows: That is, the yarn processing machine is provided with a plurality of the processing positions, and a plurality of the yarn supplying and holding parts and the yarn guides are provided corresponding to the plurality of processing positions, and the working robot has a traveling device and / or a lifting device that enables the balloon adjustment device to move to the positions of the plurality of the yarn supplying and holding parts.

[0022] This allows the balloon adjustment device to be used to perform work on a plurality of yarn supplying and holding units, thereby reducing costs by standardizing the configuration.

[0023] The yarn processing system is preferably configured as follows: That is, the working robot has a package supplying device that sets the yarn supply package in each of the plurality of yarn supplying holding parts, and the traveling device and / or the lifting device enable the package supplying device to be moved to the positions of the plurality of yarn supplying holding parts together with the balloon adjustment device.

[0024] As a result, the work robot that supplies the yarn package to the yarn processing machine also performs the balloon adjustment work, thereby reducing costs through common configuration.

[0025] The yarn processing system is preferably configured as follows: That is, the balloon adjustment device of the working robot moves at least one of the yarn supply package being unwound and the yarn guide in stages as unwinding of the yarn from the yarn supply package being unwound progresses, thereby gradually reducing the distance between the yarn supply package being unwound and the yarn guide.

[0026] This allows the adjustment of the distance between the yarn supply package and the yarn guide during yarn unwinding to be performed at time intervals, thereby enabling the working robot to perform other tasks between distance adjustment tasks, thereby achieving efficient utilization.

[0027] According to a third aspect of the present invention, there is provided a yarn processing system having the following configuration. That is, the yarn processing system includes a yarn processing machine and a working robot. The working robot operates the yarn processing machine. The yarn processing machine has a yarn supply holding section, a processing position, and a yarn guide. The yarn supply holding section is capable of setting a yarn supply package around which a synthetic fiber yarn is wound. At the processing position, the yarn of the yarn supply package set in the yarn supply holding section is processed to form a winding package. The yarn guide guides the yarn toward the processing position at a downstream end of a balloon formed by the yarn unwound from the yarn supply package set in the yarn supply holding section. A pair of the yarn supply holding sections is provided for the processing position, and one common yarn guide is provided for the pair of yarn supply holding sections. The yarn processing machine is provided with a yarn supply package detection device during yarn unwinding. The yarn supply package detection device during yarn unwinding detects from which of the two yarn supply packages set in each of the pair of yarn supply holding parts the yarn is being unwound. The work robot includes a balloon adjustment device. As unwinding of the yarn progresses from the yarn supply package during yarn unwinding detected as having a yarn unwound by the yarn supply package detection device during yarn unwinding, the balloon adjustment device moves at least one of the yarn supply package during yarn unwinding and the yarn guide to reduce the distance between the yarn supply package and the yarn guide.

[0028] This allows the shape of the balloon formed when the yarn is unwound from the yarn supplying package to be controlled, allowing the yarn to be unwound smoothly. By appropriately switching between the yarn supplying package from which the yarn is unwound and the yarn supplying package on the standby side, the continuity of yarn supply to the yarn processing machine can be ensured. By detecting the yarn supplying package from which the yarn is unwound of the two yarn supplying packages, the shape of the balloon formed in the yarn supplying package can be appropriately controlled.

[0029] The yarn processing system preferably has the following configuration: That is, the yarn processing system includes a controller, which controls the balloon adjustment device based on a detection result of the yarn supply package detection device during yarn unwinding so as to reduce a distance between the yarn supply package being unwinded and the yarn guide as unwinding of the yarn from the yarn supply package progresses.

[0030] This allows the controller to control the balloon adjustment device, thereby controlling the shape of the balloon.

[0031] The yarn processing system is preferably configured as follows: That is, the yarn processing machine is provided with a plurality of the processing positions, and a plurality of the yarn supplying and holding parts and the yarn guides are provided corresponding to the plurality of processing positions, and the working robot has a traveling device and / or a lifting device that enables the balloon adjustment device to move to the positions of the plurality of the yarn supplying and holding parts.

[0032] This allows the balloon adjustment device to be used to perform work on a plurality of yarn supplying and holding units, thereby reducing costs by standardizing the configuration.

[0033] The yarn processing system is preferably configured as follows: That is, the working robot has a package supplying device. The package supplying device performs an operation of setting the yarn supply package in each of the plurality of yarn supplying holding units. The traveling device and / or the lifting device enable the package supplying device to be moved to the positions of the plurality of yarn supplying holding units together with the balloon adjustment device.

[0034] As a result, the work robot that supplies the yarn package to the yarn processing machine also performs the balloon adjustment work, thereby reducing costs through common configuration.

[0035] The yarn processing system is preferably configured as follows: That is, the balloon adjustment device of the working robot moves at least one of the yarn supply package being unwound and the yarn guide in stages as unwinding of the yarn from the yarn supply package being unwound progresses, thereby gradually reducing the distance between the yarn supply package being unwound and the yarn guide.

[0036] This allows the adjustment of the distance between the yarn supply package and the yarn guide during yarn unwinding to be performed at time intervals, thereby enabling the working robot to perform other tasks between distance adjustment tasks, thereby achieving efficient utilization.

[0037] In the yarn processing system, it is preferable that at least a set portion of the yarn supply package of the yarn supply holding portion is configured to be able to approach and move away from the yarn guide.

[0038] This allows the yarn supply package to be moved smoothly, and therefore the distance between the yarn supply package and the yarn guide during yarn unwinding can be easily adjusted. [Brief description of the drawings]

[0039] [Figure 1] 1 is a side view showing an overall configuration of a false twisting system according to an embodiment of the present invention; [Diagram 2] FIG. 13 is a side view showing a state in which the yarn supplying cart takes out a supply yarn package from the stocker. [Diagram 3] FIG. 13 is a side view showing the yarn feeding cart removing the empty bobbin from the peg. [Figure 4] FIG. 13 is a side view showing the yarn supply cart hanging the yarn supply package on the peg. [Diagram 5] 13 is a side view showing the yarn supply cart completing setting of the yarn supply package on the peg. FIG. [Figure 6] 13 is a side view showing a state in which the yarn supply cart pushes the yarn supply package closer to the yarn guide when the diameter of the yarn supply package decreases. FIG. [Figure 7]FIG. [Figure 8] FIG. 2 is a schematic diagram showing a stretch-twist texturing machine laid out along the yarn path. [Figure 9] 13 is a schematic diagram showing a modified configuration for detecting which of two yarn supplying packages a yarn is being unwound from; FIG. [Figure 10] FIG. 4 is an enlarged perspective view showing in detail how the pusher device pushes the yarn supply package; [Figure 11] FIG. 13 is a perspective view showing a modified example of a configuration for moving a supplying yarn package. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a side view showing the overall configuration of a false twisting system 100 according to an embodiment of the present invention.

[0041] The false twisting system (an example of a "yarn processing system") 100 shown in FIG. 1 includes a draw false twisting machine 1, a yarn supplying cart (an example of a "work robot") 50, an output cart 90, and a controller 40. The draw false twisting machine 1 is a type of yarn processing machine. Other examples of yarn processing machines include air processing machines. The draw false twisting machine 1 can produce a draw false twist textured yarn called DTY by drawing and false twisting a semi-drawn yarn (partially oriented yarn) called POY, which is a type of yarn (a type of synthetic fiber yarn). POY is an abbreviation for Partially Oriented Yarn. DTY is an abbreviation for Draw Textured Yarn.

[0042] The stretch false twisting machine 1 includes a creel 11 and a main body 31. The main body 31 includes a plurality of processing positions (also called "spindles") 35. Each processing position 35 includes a first feed roller 21, a second feed roller 22, a third feed roller 23, a false twist device 25, a first heater 26, a second heater 27, and a winder 28. In the stretch false twisting machine 1, the plurality of processing positions 35 constituting the main body 31 are arranged in parallel except for the location of the winder 28. The winders 28 are arranged in 3 rows×m columns (m is a predetermined integer) for the plurality of processing positions 35.

[0043] The creel 11 includes a plurality of pegs (yarn supply holding portions) 12. When viewed from the yarn supplying cart 50 side, the pegs 12 are arranged in a matrix of 4 rows and n columns (n ​​is a predetermined integer). A yarn supply package 5 can be set in each peg 12. The yarn supply package 5 is formed by winding POY around a core tube. The yarn supply package 5 is formed by producing POY in a spinning machine of a spinning winder (not shown) and winding the POY around a core tube in a winder of the spinning winder. The many pegs 12 of the creel 11 are divided into pairs for each processing position 35.

[0044] FIG. 7 shows two pegs corresponding to one processing position 35. As shown in FIG. 7, the pegs 12 are provided in pairs. Two pegs belonging to the same pair are arranged so as to be adjacent to each other in the horizontal direction. Two pegs that belong to the same pair are provided corresponding to one processing position 35. While the yarn 3 is being unwound from a yarn supply package 5 attached to one peg 12 toward one processing position 35, the yarn supply package 5 attached to the other peg 12 is on standby. The yarn end of the yarn supply package 5 from which the yarn 3 is being unwound is coupled to the yarn start end of the yarn supply package 5 on the standby side. Therefore, when all the yarn 3 is unwound from one of the two yarn supply packages 5, the yarn is automatically unwound from the remaining yarn supply package 5. Of the two yarn supplying packages 5 in the same set, the yarn supplying package 5 on the side where the yarn is being unwound is referred to as a yarn unwinding yarn supplying package 5, and the remaining yarn supplying package 5 is referred to as a standby yarn supplying package 5.

[0045] The yarn supply cart 50 is configured to be movable to the position of each peg 12 of the creel 11, and performs the work of removing a yarn supply package 5 in which all yarns have been unwound and are in a core tube state (this state is called an "empty bobbin") from the peg 12, and setting a new yarn supply package 5 on the peg 12. The empty bobbin is carried out to the outside of the draw twisting machine 1 by the yarn supply cart 50, and the new yarn supply package 5 is carried in from the outside of the draw twisting machine 1 by the yarn supply cart 50.

[0046] A yarn guide 13 is provided downstream of the two pegs 12 in the yarn running direction. One yarn guide 13 is provided for two pegs 12 belonging to the same set. The two pegs 12 are both arranged so that their tips face the yarn guide 13. Therefore, the orientations of the two pegs 12 are not parallel. When the yarn 3 is unwound from either of the two yarn supply packages 5, the yarn 3 passes through the common yarn guide 13.

[0047] The yarn guide 13 is a guide member through which the yarn 3 first passes after being unwound from the yarn supply package 5. Thus, the yarn 3 forms a balloon between the yarn supply package 5 and the yarn guide 13. The yarn guide 13 is located at the downstream end of the balloon.

[0048] Hereinafter, a yarn feeding configuration consisting of one yarn guide 13 and one pair of pegs 12 may be referred to as a yarn feeding position 9. One yarn feeding position 9 corresponds to one processing position 35. The creel 11 has the same number of yarn feeding positions 9 as the processing positions 35.

[0049] As shown in Fig. 8, the yarn guide 13 is provided with a yarn unwinding detection sensor (one example of a "yarn supply package detection device during yarn unwinding") 16. The yarn unwinding detection sensor 16 can detect from which of two yarn supply packages 5, one of which is attached to each of two pegs 12 belonging to the same group, the yarn is being unwound. The yarn unwinding detection sensor 16 is electrically connected to the controller 40 described above. In Fig. 8, the pair of pegs 12 are drawn parallel to each other for the sake of simplicity of the drawing. The same applies to Fig. 9 described below.

[0050] The yarn unwinding detection sensor 16 has a first detection unit 17 and a second detection unit 18. The first detection unit 17 is configured to be able to detect whether or not the yarn 3 is unwound from one of the two yarn supply packages 5 attached to the two pegs 12 belonging to the same group. The second detection unit 18 is configured to be able to detect whether or not the yarn 3 is unwound from the other of the two yarn supply packages 5. The first detection unit 17 and the second detection unit 18 are, for example, optical sensors that optically detect the yarn 3. For more details on the yarn unwinding detection sensor 16, please refer to, for example, Japanese Patent No. 5873105. The first detection unit 17 and the second detection unit 18 may be, for example, contact-type sensors instead of optical sensors. The controller 40 can know that the unwinding of the yarn has been switched from one of the two yarn supply packages 5 to the other based on the detection result of the sensor 16, and can thereby know that one of the packages has become empty. The details of the control performed by the controller 40 will be described later.

[0051] In addition to the above, there is the following method for detecting which of the two yarn supplying packages 5 from which yarn is being unwound, each of which is attached to two pegs 12 belonging to the same group.

[0052] FIG. 9 shows a modified example including a joint detection sensor 19 that detects a joint K between the yarn end and yarn start ends of two yarn supply packages 5 of the same set. The joint detection sensor 19 is electrically connected to the controller 40 described above. The joint detection sensor 19 detects the presence of the joint K, thereby making it possible to detect which yarn supply package 5 the yarn is being unwound from. Specifically, when the unwinding of the yarn 3 is switched from one yarn supply package 5 to the other yarn supply package 5, the joint K is removed from the sensor 19. The controller 40 can determine, based on the joint detection sensor 19, whether the yarn supply package 5 from which the yarn is being unwound has been switched.

[0053] Also, by checking the change in diameter of each yarn supply package 5 using a sensor that directly measures the diameter of each of the two yarn supply packages 5 in the same set, it is possible to detect which yarn supply package 5 the yarn is being unwound from. Alternatively, it is also possible to photograph the two yarn supply packages 5 in the same set with a camera and analyze the image.

[0054] A vertically elongated peg shaft 14 is provided on the creel 11 corresponding to each of the pegs 12. Each peg shaft 14 is supported by the creel 11 so as to be rotatable about its vertical axis. As shown in FIG. 1, a rotation input member 15 is provided on the peg shaft 14 at a position above the pegs 12. The rotation input member 15 is configured by radially arranging rod-shaped members. When the rotation input member 15 rotates, the peg 12 turns via the peg shaft 14. This allows the peg 12 to be switched between a position in which its tip faces the yarn guide 13 and a position in which it faces the yarn feeding cart 50.

[0055] As shown in Fig. 1, the yarn 3 sent downstream from the yarn guide 13 passes through a first feed roller 21. Between the first feed roller 21 and the second feed roller 22, an appropriate tension for drawing is applied to the yarn 3. A false twist device 25 is disposed downstream between the first feed roller 21 and the second feed roller 22. The false twist device 25 applies a twist to the yarn 3, so that the yarn 3 between the first feed roller 21 and the false twist device 25 is in a twisted state.

[0056] A first heater 26 for heat setting is provided between the first feed roller 21 and the false twist device 25. The yarn 3 is heated by the first heater 26 to a temperature at which the yarn 3 can be stretched.

[0057] The yarn 3 sent downstream from the false twist device 25 passes through the second feed roller 22. Between the second feed roller 22 and the third feed roller 23, the yarn 3 is relaxed.

[0058] A second heater 27 for heat fixing is provided between the second feed roller 22 and the third feed roller 23. The yarn 3 is heated again by the second heater 27 while being relaxed.

[0059] The yarn 3 that has passed through the third feed roller 23 is sent to the winder 28. The winder 28 winds the supplied yarn 3 around a core tube to form a DTY package (called a "winding package") 6. The fully wound winding package 6 is removed from the winder 28 by a doffing device (not shown) and moved to an output cart 90. The winding package 6 is discharged to the outside of the stretch false twisting machine 1 by the output cart 90. The output cart 90 can be configured as, for example, an overhead traveling cart.

[0060] Next, the yarn supplying cart 50 will be described. The yarn supplying cart 50 corresponds to a work robot outside the draw twisting machine 1. The yarn supplying cart 50 performs operations such as setting the yarn supply package 5 to the creel 11 of the draw twisting machine 1 from outside.

[0061] The yarn supplying trolley 50 includes a running member 51 (part of the "running device"), a lifting member 52 (part of the "lifting device"), a peg turning device 53, a turning head 54, a yarn supplying package setting device 55 (part of the "package supplying device"), an empty bobbin collecting device 56, and a yarn supplying package position adjusting device 57 (an example of the "balloon adjusting device").

[0062] The running member 51 includes a base member 61 and a pillar member 62 .

[0063] The base member 61 is provided so as to be movable along the longitudinal direction of a rail 63 installed on the ground. The longitudinal direction of the rail 63 is oriented parallel to the direction in which a pair of pegs 12 on the creel 11 are horizontally aligned.

[0064] The pillar member 62 is a long and thin member that extends in the vertical direction. The pillar member 62 is disposed so as to protrude upward from the base member 61.

[0065] The lifting member 52 is provided so as to be capable of rising and falling along the longitudinal direction of the pillar member 62. The lifting member 52 has a peg turning device 53 and a turning head 54, which will be described later, disposed thereon.

[0066] The yarn supplying cart 50 is provided with a plurality of actuators (not shown), which allow the traveling member 51 to move horizontally along the rail 63 and the lifting member 52 to move vertically.

[0067] A peg turning device 53 is attached to the upper part of the lifting member 52. The peg turning device 53 has an engaging head 64 that is rotatable while engaging with the rotation input member 15.

[0068] The meshing head 64 includes a rotating disk. A plurality of pins are provided on the lower surface of the rotating disk, which are elongated in the vertical direction. The pins are arranged at equal intervals in the circumferential direction of the rotating disk. In order to rotate the rotating disk, the peg turning device 53 is provided with an actuator (not shown). When the rotating disk is rotated with the pins inserted between the rod-shaped members of the rotating input member 15, the rotating input member 15 can be rotated. As a result, the peg shaft 14 can be rotated to change the orientation of the peg 12.

[0069] The peg rotating device 53 includes an actuator (not shown). This actuator can move the meshing head 64 in a direction toward and away from the peg shaft 14 of the creel 11. Therefore, the meshing head 64 can be meshed with the rotary input member 15 only when necessary.

[0070] A support shaft 65 is provided so as to protrude from the lower surface of the peg turning device 53. The turning head 54 is disposed so as to be suspended from the peg turning device 53 via the support shaft 65.

[0071] The yarn supplying cart 50 includes an actuator (not shown) that can rotate the swivel head 54 around a support shaft 65.

[0072] A yarn supply package setting device 55, an empty bobbin collecting device 56, and a yarn supply package position adjusting device 57 are attached to the swivel head 54.

[0073] The yarn supply package setting device 55 includes a slidable delivery peg 68. The delivery peg 68 can hold a yarn supply package 5 to be set on the peg 12 of the creel 11. An actuator (not shown) is provided in the yarn supply package setting device 55 to move the delivery peg 68 in the longitudinal direction.

[0074] A stocker 66 is provided adjacent to the travel path of the yarn supplying cart 50. The stocker 66 can store a plurality of supply packages 5. The stocker 66 is provided on the opposite side of the travel path of the yarn supplying cart 50 to the creel 11. However, the stocker 66 may be provided on the same side as the creel 11.

[0075] By rotating the swivel head 54, the orientation of the yarn supply package setting device 55 can be changed between a state in which the delivery peg 68 faces the stocker 66 and a state in which the delivery peg 68 faces the creel 11.

[0076] The empty bobbin recovery device 56 includes a slidable retracting member 69. The retracting member 69 is formed in a straight, elongated shape. In a plan view, the longitudinal direction of the retracting member 69 differs by 90° from the longitudinal direction of the delivery peg 68. At the tip of the retracting member 69, a hook portion is formed that is bent so as to face upward.

[0077] The controller 40 is configured as a known computer equipped with an arithmetic unit, a storage device, and the like. The controller 40 manages and / or controls the draw twisting machine 1, the yarn supplying cart 50, and the discharge cart 90. The controller 40 may be provided separately for the draw twisting machine 1, the yarn supplying cart 50, and the discharge cart 90. A signal from a yarn unwinding detection sensor provided for each yarn supplying position 9 of the draw twisting machine 1 is input to the controller 40. This allows the controller 40 to know which of the two pegs in the same pair at each yarn supplying position 9 is the yarn supplying package 5 attached to the peg 12 that is being unwound, and whether the unwinding of the yarn has been switched from one to the other yarn supplying package 5. Moreover, the controller 40 can grasp that one of the yarn supply packages 5 has become empty (no yarn) by knowing that the yarn unwinding has been switched from one to the other yarn supply package 5. Furthermore, the controller 40 can grasp the diameter of the yarn supply package 5 during yarn unwinding from the fact that the yarn unwinding has been switched, the diameter and total yarn length of the initial full yarn supply package 5, the yarn unwinding speed, and the elapsed time from the yarn unwinding switch. That is, the controller 40 includes a yarn supply package diameter grasping means during yarn unwinding that grasps the diameter of the yarn supply package 5 during yarn unwinding. In this embodiment, the yarn supply package diameter grasping means grasps the diameter of the yarn supply package 5 during yarn unwinding in three stages, large diameter, medium diameter, and small diameter, from the full yarn supply package 5 to the empty yarn supply package 5. The large diameter, medium diameter, and small diameter are set appropriately. The above-mentioned items that the controller 40 can grasp are possible at all of the yarn feeding positions 9 (in other words, the processing positions 35).

[0078] The yarn supplying cart 50 operates according to a command from the controller 40. A yarn supply package position adjustment device 57 provided on the yarn supplying cart 50 also operates according to a command from the controller 40. When the yarn supply package 5 being unwound at a certain yarn supplying position 9 becomes empty, the controller 40 commands the yarn supplying cart 50 to move to the yarn supplying position 9. Also, when the yarn supply package 5 being unwound at a certain yarn supplying position 9 changes from a large diameter to a medium diameter, or from a medium diameter to a small diameter, the controller 40 commands the yarn supplying cart 50 to move to the yarn supplying position 9. At a plurality of yarn supplying positions 9, there are cases where the yarn supply package 5 being unwound becomes empty, or the yarn supply package 5 being unwound changes from a large diameter to a medium diameter, or from a medium diameter to a small diameter, at approximately the same time. In such a case, the yarn supplying cart 50 moves to a yarn supplying position 9 with a higher priority according to a preset priority order.

[0079] When the yarn supplying cart 50 approaches the yarn supplying position 9 where the yarn supplying package 5 being unwound has changed from a large diameter to a medium diameter, or from a medium diameter to a small diameter, the yarn supplying cart 50 moves the yarn supplying package 5 being unwound a predetermined distance closer to the yarn guide 13 at the yarn supplying position 9 by the yarn supplying package position adjustment device 57.

[0080] Next, the operation of the yarn supplying cart 50 when the entire yarn 3 is unwound from the yarn supplying package 5 that is being unwound and that is hung on a peg 12 on the creel 11 will be described.

[0081] As shown in FIG. 2, when the yarn 3 is completely unwound from the yarn supply package 5 being unwound at a certain yarn supply position 9 to become an empty bobbin 5a, the yarn supply cart 50 first travels to the stocker 66 and stops there. As described above, the controller 40 can grasp that the yarn 3 is completely unwound from the yarn supply package 5 being unwound at a certain yarn supply position 9 to become an empty bobbin 5a. In this state, the yarn supply cart 50 rotates the swivel head 54. This allows the transfer peg 68 of the yarn supply package set device 55 to face the stocker 66. In this state, the transfer peg 68 moves closer to the full yarn supply package 5 held in the stocker 66, and takes out the yarn supply package 5 from the stocker 66. This allows the yarn supply package 5 stored in the stocker 66 to be hung on the transfer peg 68. With the yarn supply package 5 hung, the transfer peg 68 moves in a direction away from the stocker 66.

[0082] Next, upon receiving a command from the controller 40, the yarn supplying cart 50 travels along the rail 63 and moves the lifting member 52 up and down as necessary. The yarn supplying cart 50 stops in a state where the lifting member 52 is located near the peg 12 of the yarn supplying position 9 where the empty bobbin has occurred.

[0083] Almost simultaneously with the movement of the lifting member 52, the yarn supplying cart 50 rotates the swivel head 54 to change the orientation of the empty bobbin recovery device 56 so that the retraction member 69 faces the creel 11. After that, the empty bobbin recovery device 56 moves the retraction member 69 closer to the creel 11. As a result, the hooking portion of the retraction member 69 is in a state close to the base portion of the peg 12. In this state, the peg turning device 53 rotates the meshing head 64 by engaging with the rotation input member 15, so that the peg 12 on which the empty bobbin 5a is hung can be turned to face the yarn supplying cart 50 side, as shown in FIG. 3. Accordingly, the empty bobbin 5a held by the peg 12 is located closer to the yarn supplying cart 50 than the hooking portion of the retraction member 69.

[0084] Next, the empty bobbin recovery device 56 moves the retraction member 69 away from the creel 11. As a result, the hook portion of the retraction member 69 pushes the empty bobbin 5a, so that the empty bobbin 5a can be removed from the peg 12. The empty bobbin 5a that has been removed from the peg 12 by retraction falls into a receiving tray 67 attached to the swivel head 54.

[0085] After the operation of the empty bobbin collecting device 56 is completed, the yarn supplying cart 50 rotates the swivel head 54. This allows the yarn supply package setting device 55 to be oriented such that the delivery peg 68 faces the creel 11. As shown in FIG. 4, the yarn supply package setting device 55 moves the delivery peg 68, on which the full yarn supply package 5 is hung, in a direction approaching the creel 11. This allows the yarn supply package 5 to be hung on the peg 12. Thereafter, the yarn supply package setting device 55 moves the delivery peg 68 in a direction away from the creel 11. This causes the yarn supply package 5 to be removed from the delivery peg 68.

[0086] In this state, the peg turning device 53 turns the meshing head 64 into mesh with the rotation input member 15. As a result, as shown in FIG. 5, the peg 12 on which the yarn supply package 5 is hung can be turned to face the yarn guide 13.

[0087] This completes the replacement of the empty bobbin 5a with the full yarn supply package 5. After that, the yarn supply cart 50 retracts the meshing head 64 of the peg turning device 53, and then travels to transport the empty bobbin 5a collected in the receiving tray 67 to another location. The yarn starting end of the full yarn supply package 5 currently set on the peg 12 is coupled in an appropriate manner to the yarn ending end of the yarn supply package 5 from which the yarn 3 is being unwound.

[0088] Next, the yarn package position adjusting device 57 provided in the yarn supplying cart 50 will be described in detail.

[0089] As shown in Fig. 6, the yarn supply package position adjustment device 57 includes a slidable push-out device 70. The push-out device 70 can move the yarn supply package 5, hung on the peg 12, closer to the yarn guide 13 along the longitudinal direction of the peg 12 by pushing the yarn supply package 5 from outside the creel 11.

[0090] As shown in FIG. 7, the push-out device 70 includes a slide base 71, a guide plate 72, a motor 73, a pressing member 74, and a rack and pinion mechanism 75.

[0091] The slide base 71 is a long and narrow plate-like member. The slide base 71 is disposed so as to protrude from the swivel head 54. The direction in which the slide base 71 faces is parallel to the direction in which the delivery peg 68 in the yarn supply package setting device 55 faces.

[0092] A rail 81 is provided on the swivel head 54. The slide base 71 is capable of sliding along the rail 81. The longitudinal direction of the rail 81 is parallel to the longitudinal direction of the slide base 71.

[0093] In order to move the slide base 71, a cylinder 82 serving as an actuator is attached to the swivel head 54. By supplying a working fluid to drive the cylinder 82, the slide base 71 can be moved between a position where its tip is close to the peg shaft 14 and a position where it is retracted from the peg shaft 14. The actuator is not limited to a cylinder, and for example, an electric motor can be used.

[0094] The guide plate 72 is fixed to the tip of the slide base 71. The guide plate 72 moves integrally with the slide base 71. A rail 83 that guides the moving direction of the pressing member 74 is fixed to the guide plate 72.

[0095] The motor 73 can drive the pressing member 74. The housing of the motor 73 is fixed to the guide plate 72. A pinion is fixed to the output shaft of the motor 73.

[0096] The pressing member 74 is an L-shaped member. The pressing member 74 is slidable along the longitudinal direction of the rail 83. The moving direction of the pressing member 74 is inclined with respect to the moving direction of the slide base 71 in a plan view. The moving direction of the pressing member 74 is substantially parallel to the longitudinal direction of the peg 12. The moving direction of the pressing member 74 can also be described as a direction approaching the thread guide 13.

[0097] A rack having teeth arranged in a straight line parallel to the rail 83 is formed at the base of the pressing member 74. This rack, together with a pinion fixed to the output shaft of the motor 73, constitutes a rack and pinion mechanism 75.

[0098] The tip of the pressing member 74 is bent into an L-shape. This bent portion can come into contact with the end face of the core tube of the yarn supply package 5 hung on the peg 12, the end face being farther from the yarn guide 13. The position at which the pressing member 74 comes into contact with the core tube is lower than the peg 12.

[0099] As described above, the controller 40 estimates and measures the cumulative length of the yarn 3 unwound after the new yarn supply package 5 is set based on the diameter and total yarn length of the new yarn supply package 5, the yarn unwinding speed, etc., and estimates the diameter of the yarn supply package 5 being unwound based on this cumulative length. The diameter of the yarn supply package 5 being unwound may be measured by an appropriate sensor, and the measurement result may be sent to the controller 40. When the estimated value of the diameter of the yarn supply package 5 falls below a predetermined value, the controller 40 sends a position adjustment request signal to the yarn supply cart 50.

[0100] The yarn supplying cart 50 that has received the position adjustment request signal operates the push-out device 70 of the yarn supply package position adjustment device 57 at a position of the yarn supplying position 9 specified based on the signal, which corresponds to the yarn supply package 5 being unwound. Specifically, the push-out device 70 drives the cylinder 82 to advance the slide base 71 to the creel 11. As a result, the pressing member 74 disposed at the tip of the slide base 71 approaches the base of the peg 12. Next, the push-out device 70 drives the motor 73, and the rack and pinion mechanism 75 moves the pressing member 74 by a required distance. As a result, the tip of the pressing member 74 presses the core tube, so that the yarn supply package 5 can be moved along the longitudinal direction so as to slide relative to the peg 12. As a result, the distance between the yarn guide 13 and the yarn supply package 5 is reduced, so that a balloon between the yarn guide 13 and the yarn supply package 5 is stably formed.

[0101] When the movement of the yarn supply package 5 is completed, the push-out device 70 drives the motor 73 in the opposite direction to the above. As a result, the pressing member 74 moves in a direction away from the yarn supply package 5. After the pressing member 74 returns to its original position, the push-out device 70 drives the cylinder 82 to retract the slide base 71 with respect to the creel 11.

[0102] Generally, a large number of yarn supply packages 5 are set on the creel 11 of the draw false twisting machine 1, and a large number of yarns 3 are unwound simultaneously in parallel. In this embodiment, one yarn supply cart 50 adjusts the positions of the large number of yarn supply packages 5. When there are a large number of target yarn supply packages 5, it is difficult to move each yarn supply package 5 precisely. However, if the yarn supply packages 5 can be moved even in rough steps, it is expected that the unwinding of the yarn 3 from the yarn supply packages 5 will be smoother, and the tension of the unwound yarn 3 will be stabilized.

[0103] Although not shown, the yarn supply package position adjustment device 57 includes an inversion device that changes the orientation of the extrusion device 70. The inversion device can rotate the extrusion device 70 by 180° around an axis parallel to the longitudinal direction of the slide base 71. As shown in FIG. 10, the orientations of two pegs 12 belonging to the same group are different from each other. In FIG. 10, the inversion of the extrusion device 70 is shown by a chain line. By using the inversion device to invert the orientation of the extrusion device 70 as necessary, the yarn supply package 5 can be moved along the pegs 12 regardless of which of the two yarn supply packages 5 the yarn 3 is unwound from, thereby realizing balloon control.

[0104] As described above, the yarn supplying cart 50 of this embodiment is an external work robot that performs work on the draw twisting machine 1. The draw twisting machine 1 includes a peg 12, a processing position 35, and a yarn guide 13. A yarn supplying package 5 around which a POY yarn 3 is wound can be set on the peg 12. At the processing position 35, the yarn 3 of the yarn supplying package 5 set on the peg 12 is processed to form a winding package 6. The yarn guide 13 guides the yarn 3 at the downstream end of the balloon formed by the yarn 3 unwound from the yarn supplying package 5 set on the peg 12. The yarn supplying cart 50 includes a yarn supplying package position adjustment device 57. As the unwinding of the yarn 3 from the yarn supplying package 5 progresses, the yarn supplying package position adjustment device 57 moves at least one of the yarn supplying package 5 and the yarn guide 13 to reduce the distance between the yarn supplying package 5 and the yarn guide 13 during yarn unwinding.

[0105] This makes it possible to control the shape of the balloon formed when the yarn 3 is unwound from the yarn supply package 5, thereby enabling smooth unwinding of the yarn 3. Since the yarn supply cart 50, which is an external robot, performs the balloon control operation, there is no need to significantly change the configuration of the draw twisting machine 1. Therefore, it is easy to apply this to existing draw twisting machines 1.

[0106] The false twisting system 100 of the present embodiment includes a controller 40. In the yarn supplying cart 50, the yarn supply package position adjustment device 57 is controlled by the controller 40 to reduce the distance between the yarn supply package 5 being unwound and the yarn guide 13 as the unwinding of the yarn 3 from the yarn supply package 5 progresses.

[0107] This allows the controller 40 to control the yarn package position adjustment device 57, thereby controlling the shape of the balloon.

[0108] In the draw twist texturing machine 1 of the present embodiment, a plurality of processing positions 35 are provided, and a plurality of pegs 12 and yarn guides 13 are provided corresponding to the plurality of processing positions 35. The yarn supplying cart 50 has a running member 51 and a lifting member 52 that enable the yarn supply package position adjustment device 57 to move to the positions of the plurality of pegs 12.

[0109] This allows the yarn supplying cart 50 to operate on a plurality of pegs 12 using the yarn package position adjusting device 57, thereby reducing costs through common configuration.

[0110] A robot different from the yarn supplying cart 50 may be configured to perform the balloon adjustment work described above. This robot corresponds to a robot external to the draw false twisting machine 1, and performs only the balloon adjustment work. The configuration of the robot is arbitrary, but it may be configured as, for example, a self-propelled arm robot. The robot can move the yarn supply package 5 by pushing the end face of the yarn supply package 5 with the tip of the arm.

[0111] This configuration makes it possible to simplify the control of the robot.

[0112] In this embodiment, the yarn supply cart 50 includes a yarn supply package setting device 55. The yarn supply package setting device 55 performs an operation of setting a yarn supply package 5 for each of the plurality of pegs 12. The traveling member 51 and the lifting member 52, together with the yarn supply package position adjustment device 57, enable the yarn supply package setting device 55 to move to the positions of the plurality of pegs 12.

[0113] As a result, the yarn supplying cart 50 that supplies the yarn supply package 5 to the draw twisting machine 1 also performs the balloon adjustment work, so that costs can be reduced by standardizing the configuration.

[0114] In the draw twist texturing machine 1 of the present embodiment, one yarn guide 13 is shared by two pegs 12. The yarn supplying cart 50 is capable of moving each of the yarn supply packages 5 set on the two pegs 12.

[0115] This ensures continuity of yarn supply to the draw false twisting machine 1 by appropriately switching between the yarn supply package 5 from which the yarn 3 is unwound and the standby yarn supply package 5. Regardless of which of the two yarn supply packages 5 the yarn 3 is unwound from, the balloon shape can be controlled to achieve smooth unwinding of the yarn 3.

[0116] In the yarn supply cart 50 of the present embodiment, the position of the yarn supply package 5 relative to the peg 12 can be changed in the longitudinal direction of the peg 12. In the balloon adjustment operation, the yarn supply cart 50 applies force to the yarn supply package 5 to move the yarn supply package 5 relative to the peg 12.

[0117] This makes it possible to control the shape of the balloon while holding the yarn package 5 with a simple configuration.

[0118] Next, a modified example of the above embodiment will be described. Fig. 11 is a perspective view showing the modified example. In the description of this modified example, the same reference numerals are used in the drawings to designate the same or similar members as those in the above embodiment, and the description thereof may be omitted.

[0119] In the modification shown in FIG. 11, the peg 12x is configured to be slidable relative to the peg shaft 14 in the longitudinal direction of the peg 12x (in other words, in the direction approaching and moving away from the yarn guide 13). Two pegs 12x are arranged in parallel with an appropriate interval to hang one supply yarn package 5. Each peg 12x extends from a portion supporting the supply yarn package 5 to the opposite side across the peg shaft 14. A transmission member 84 is fixed to the end of the peg 12x opposite to the portion supporting the supply yarn package 5. The transmission member 84 is formed in a plate shape. The pressing member 74 of the extrusion device 70 can come into contact with the transmission member 84.

[0120] In this modified example, the pressing member 74 of the extrusion device 70 presses the transmission member 84 instead of directly pressing the yarn supply package 5. As a result, the entire peg 12x, including the portion where the yarn supply package 5 is set, moves. Therefore, the yarn supply package 5 can be slid together with the peg 12x in a direction approaching the yarn guide 13. Only the portion of the peg 12x where the yarn supply package 5 is set may be slid.

[0121] Although the preferred embodiment and modifications of the present invention have been described above, the above configurations can be modified, for example, as follows. Each modification may be made alone, or multiple modifications may be made in any combination.

[0122] The creel 11 is not limited to a configuration in which one thread guide 13 is provided for two pegs 12, 12x, but may be configured to have one thread guide 13 for one peg 12. The same applies to the modified example of FIG.

[0123] The yarn guide 13 may be provided in the creel 11 so that its position can be changed. For example, the yarn supplying cart 50 may apply a force to the yarn guide 13 to move the yarn guide 13 in a direction approaching the yarn supply package 5. For example, instead of the pushing device 70, a device (an example of a "balloon adjustment device") may be provided that uses a member similar to the retracting member 69 to retract the yarn guide 13 toward the yarn supplying cart 50. It is also possible to configure the yarn supplying package 5 and the yarn guide 13 to move together with the reduction in the diameter of the yarn supplying package 5. However, when the position of the yarn guide 13 is changed, it is necessary to return the position of the yarn guide 13 to its initial position (to move the yarn guide 13 in a direction away from the yarn supplying package 5) when the yarn supplying package 5 being unwound is switched from one yarn supplying package 5 to the other yarn supplying package 5.

[0124] The diameter of the yarn supply package 5 may be actually detected using an appropriate sensor instead of being estimated based on the length of the unwound yarn 3.

[0125] A plurality of yarn supplying carts 50 may be provided for the creel 11.

[0126] In the above-described embodiment and modified example, the yarn supply cart 50 is provided with the yarn supply package position adjustment device 57, but the yarn supply package position adjustment device 57 may be configured separately from the yarn supply cart 50. That is, a working robot having the yarn supply package position adjustment device 57 (the "working robot" of the present invention) and a working robot serving as the yarn supply cart 50 without the yarn supply package position adjustment device 57 may be provided. In this case, one or both of the working robots may be provided in plurality.

[0127] The working robot having the yarn package position adjustment device 57, i.e., the working robot having the balloon adjustment device, may be movable like the yarn feeding cart 50, or may be fixed. When fixed, the working robot may be provided for each yarn feeding position 9, or for each of a plurality of yarn feeding positions 9. When provided for each yarn feeding position 9, one working robot may be provided for one set of pegs 12, or one working robot may be provided for each peg 12 of one set of pegs 12. When provided for each of a plurality of yarn feeding positions 9, for example, the balloon adjustment device may be made movable so that it can move to each position of the pegs 12 of the plurality of yarn feeding positions 9 arranged in the vertical direction of the creel 11.

[0128] The configuration of the false twisting machine is not limited to the stretch false twisting machine 1 of FIG. 1, and can be modified in various ways. [Explanation of symbols]

[0129] 1. Stretching and twisting machine (false twisting machine, yarn processing machine) 3. Thread 5 Yarn supply package 11 Creel 12,12x pegs (yarn feeder and holder) 13 Thread guide 50 Yarn supply trolley (robot)

Claims

1. A robot for working with a yarn processing machine comprising: a yarn supply holding section capable of setting a yarn supply package wound with synthetic fiber yarn; a processing position where the yarn from the yarn supply package set in the yarn supply holding section is processed to form a winding package; and a yarn guide that guides the yarn toward the processing position at the downstream end of a balloon formed by the yarn unwound from the yarn supply package set in the yarn supply holding section, A robotic robot characterized by including a balloon adjustment device that moves at least one of the yarn supply package and the yarn guide during yarn unwinding to reduce the distance between the yarn supply package and the yarn guide during yarn unwinding as the unwinding of yarn progresses.

2. A work robot according to claim 1, The balloon adjustment device is characterized in that, under the control of a controller, it reduces the distance between the yarn supply package and the yarn guide as the yarn unwinding progresses from the yarn supply package.

3. A work robot according to claim 1, In the yarn processing machine, a plurality of processing positions are provided, and a plurality of yarn feeding and holding units and yarn guides are provided corresponding to the plurality of processing positions. A work robot characterized by having a traveling device and / or a lifting device that allows the balloon adjustment device to move to the positions of the plurality of thread-feeding holding units.

4. A work robot according to claim 3, A work robot having a package supply device that performs the task of setting the yarn supply package to each of the plurality of yarn supply holding units, wherein the traveling device and / or the lifting device are capable of moving the package supply device to the position of the plurality of yarn supply holding units together with the balloon adjustment device.

5. A yarn processing system comprising a yarn processing machine and a work robot that performs work on the yarn processing machine, The yarn processing machine includes a yarn supply and holding section capable of setting a yarn supply package on which synthetic fiber yarn is wound, a processing position in which the yarn of the yarn supply package set in the yarn supply and holding section is processed to form a winding package, and a yarn guide that guides the yarn toward the processing position at the downstream end of the balloon formed by the yarn unwound from the yarn supply package set in the yarn supply and holding section. The yarn processing system is characterized in that the work robot includes a balloon adjustment device that moves at least one of the yarn supply package and the yarn guide during yarn unwinding to reduce the distance between the yarn supply package and the yarn guide during yarn unwinding as the unwinding of yarn progresses.

6. A yarn processing system according to claim 5, Equipped with a controller, The yarn processing system is characterized in that the controller controls the balloon adjustment device to reduce the distance between the yarn supply package and the yarn guide during yarn unwinding as the unwinding of yarn from the yarn supply package progresses.

7. A yarn processing system according to claim 5, In the yarn processing machine, a plurality of processing positions are provided, and a plurality of yarn feeding and holding units and yarn guides are provided corresponding to the plurality of processing positions. The yarn processing system is characterized in that the work robot has a traveling device and / or a lifting device that allows the balloon adjustment device to move to the position of the plurality of yarn supply holding units.

8. A yarn processing system according to claim 7, The yarn processing system is characterized in that the work robot has a package supply device that performs the task of setting the yarn supply package to each of the plurality of yarn supply holding units, and the traveling device and / or the lifting device together with the balloon adjustment device are capable of moving the package supply device to the position of the plurality of yarn supply holding units.

9. A yarn processing system according to claim 5, A yarn processing system characterized in that the balloon adjustment device of the work robot moves at least one of the yarn supply package during yarn unwinding and the yarn guide in stages as the unwinding of yarn from the yarn supply package during yarn unwinding progresses, thereby gradually reducing the distance between the yarn supply package during yarn unwinding and the yarn guide.

10. A yarn processing system comprising a yarn processing machine and a work robot that performs work on the yarn processing machine, The yarn processing machine includes a yarn supply holding section capable of setting a yarn supply package wound with synthetic fiber yarn, a processing position in which the yarn from the yarn supply package set in the yarn supply holding section is processed to form a winding package, and a yarn guide that guides the yarn toward the processing position at the downstream end of the balloon formed by the yarn unwound from the yarn supply package set in the yarn supply holding section, wherein a pair of yarn supply holding sections are provided for the processing position, and a single yarn guide common to the pair of yarn supply holding sections is provided, and furthermore, a yarn unwounding yarn supply package detection device is provided to detect which of the two yarn supply packages set in each of the pair of yarn supply holding sections the yarn is being unwound from. The yarn processing system is characterized in that the work robot includes a balloon adjustment device that moves at least one of the yarn supply package during yarn unwinding and the yarn guide to reduce the distance between the yarn supply package and the yarn guide as the unwinding of yarn progresses from the yarn supply package during yarn unwinding, which has been detected by the yarn supply package detection device during yarn unwinding.

11. A yarn processing system according to claim 10, Equipped with a controller, The yarn processing system is characterized in that the controller controls the balloon adjustment device to reduce the distance between the yarn supply package and the yarn guide as the yarn unwinding progresses, based on the detection result of the yarn unwinding yarn supply package detection device.

12. A yarn processing system according to claim 10, In the yarn processing machine, a plurality of processing positions are provided, and a plurality of yarn feeding and holding units and yarn guides are provided corresponding to the plurality of processing positions. The yarn processing system is characterized in that the work robot has a traveling device and / or a lifting device that allows the balloon adjustment device to move to the position of the plurality of yarn supply holding units.

13. A yarn processing system according to claim 12, The yarn processing system is characterized in that the work robot has a package supply device that performs the task of setting the yarn supply package to each of the plurality of yarn supply holding units, and the traveling device and / or the lifting device together with the balloon adjustment device are capable of moving the package supply device to the position of the plurality of yarn supply holding units.

14. A yarn processing system according to claim 11, A yarn processing system characterized in that the balloon adjustment device of the work robot moves at least one of the yarn supply package during yarn unwinding and the yarn guide in stages as the unwinding of yarn from the yarn supply package during yarn unwinding progresses, thereby gradually reducing the distance between the yarn supply package during yarn unwinding and the yarn guide.

15. A yarn processing system according to any one of claims 5 to 14, A yarn processing system characterized in that at least the set portion of the yarn supply package in the yarn supply holding section is configured to be able to move closer to and further away from the yarn guide.

Images