Yarn setting robot and spun yarn winding system

Abstract

To provide a compact yarn setting robot capable of reducing noise in a site environment for manufacturing a yarn.SOLUTION: A yarn setting robot 2 sets a yarn Y continuously spun from a spinning device 3 in a spun yarn take-up device 4. The yarn setting robot 2 includes a winding part 25 and a robot arm 22. The winding part 25 winds and stores the yarn Y continuously spun from the spinning device 3. The robot arm 22 has a hand part 23 that engages with the yarn Y reaching from the spinning device 3 to the winding part 25. The robot arm 22 operates the hand part 23 to set the yarn Y, reaching from the spinning device 3 to the winding part 25, in the spun yarn take-up device 4.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a yarn threading robot and a yarn winding system including the yarn threading robot. [Background technology]

[0002] In a conventional spinning and winding system that produces yarn from molten raw material and winds it up, a configuration has been known in which a yarn threading robot is used to perform a yarn threading operation under a condition in which yarn is continuously supplied from an upstream spinning machine. Patent Document 1 discloses this type of yarn threading robot.

[0003] The threading robot of Patent Document 1 includes a robot arm with a suction mechanism at the tip of the robot arm. This robot performs threading while sucking and holding the yarn supplied from the upstream side by the suction mechanism. The yarn sucked up by the suction mechanism is discarded in a waste box connected to the suction mechanism. This prevents the yarn from becoming loose, allowing the robot to perform the threading operation properly. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2021-123814 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a conventional yarn threading robot as disclosed in Patent Document 1, the robot arm needs to support the weight of the suction injector that holds the yarn group, the compressed air pipeline that supplies compressed air, etc. Therefore, it is necessary to ensure the strength of the robot arm, making it difficult to miniaturize it. In addition, since the conventional yarn threading robot is configured to suck in the yarn by negative pressure, it generates a lot of noise due to airborne sounds, and improvements were desired.

[0006] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a compact threading robot that can reduce noise in the work environment.

[0007] 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.

[0008] According to a first aspect of the present invention, there is provided a yarn threading robot having the following configuration. That is, this yarn threading robot threads the yarn continuously spun from a spinning device onto a yarn processing device. The yarn threading robot includes a winding unit and a robot arm. The winding unit winds and stores the yarn continuously spun from the spinning device. The robot arm has a yarn engaging unit that engages with the yarn reaching from the spinning device to the winding unit. The robot arm operates the yarn engaging unit to thread the yarn reaching from the spinning device to the winding unit onto the yarn processing device.

[0009] This allows the yarn to be stored in the winding section of the yarn threading robot. As a result, it is no longer necessary to suck up the yarn and directly discharge it into a separate waste yarn container or the like. This eliminates the need to mount a heavy suction device such as a suction gun on the tip of the robot arm, making it possible to reduce the size and power of the robot arm. In addition, noise can be reduced compared to a configuration in which the yarn is sucked and held by the suction force of negative pressure.

[0010] In the yarn threading robot, it is preferable that a cross section of the winding section at an axial center portion has a smaller diameter than cross sections of both axial ends.

[0011] This makes it possible to prevent the yarn from falling off from the winding section, and allows the yarn to be stored in an optimal manner.

[0012] The yarn threading robot preferably includes a yarn discharge section that discharges the stored yarn from the winding section.

[0013] This allows the yarn wound around the winding section to be easily discharged.

[0014] In the yarn threading robot, it is preferable that the diameter of the winding portion is variable.

[0015] This allows the diameter of the winding portion to be reduced, so that the yarn wound around the winding portion can be easily discharged in a compact state.

[0016] In the yarn threading robot, it is preferable that the winding section is configured to be changeable between a reduced diameter state and an expanded diameter state. In the expanded diameter state, the cross section of the axial center portion of the winding section has a smaller diameter than the cross sections of both axial ends.

[0017] This makes it possible to prevent the yarn from falling off from the winding section, and allows the yarn to be stored in an optimal manner.

[0018] The yarn threading robot preferably includes a yarn discharge section that discharges the stored yarn from the winding section.

[0019] This allows the yarn wound around the winding section to be easily discharged.

[0020] The yarn threading robot is preferably configured as follows: That is, the winding section is configured to be changeable between a reduced diameter state and an increased diameter state, A through hole is formed in the yarn discharge section, The winding section in the reduced diameter state is inserted through the through hole of the yarn discharge section.

[0021] With this, when the winding section is inserted into the through hole of the yarn discharge section, the yarn discharge section pushes the yarn wound around the winding section, thereby enabling the yarn to be suitably discharged.

[0022] The yarn threading robot preferably has the following configuration: the winding unit includes a plurality of rod members that can rotate together. The rod members are arranged in a line in the circumferential direction about the center of rotation of the winding unit. Each of the rod members is arranged in a twisted position about the center of rotation and is movable toward and away from the center of rotation.

[0023] This makes it possible to easily change the diameter of the winding portion with a simple structure.

[0024] According to a second aspect of the present invention, there is provided a spinning winding system having the following configuration. That is, the spinning winding system includes a spinning device, a yarn processing device, and a yarn hooking robot. The spinning device continuously spins yarn. The yarn processing device takes up or winds the yarn continuously spun from the spinning device. The yarn hooking robot hooks the yarn continuously spun from the spinning device onto the yarn processing device. The yarn hooking robot includes a winding unit and a robot arm. The winding unit winds and stores the yarn continuously spun from the spinning device. The robot arm has a yarn engaging unit that engages with the yarn reaching from the spinning device to the winding unit. The robot arm operates the yarn engaging unit to hook the yarn reaching from the spinning device to the winding unit onto the yarn processing device.

[0025] This makes it possible to simplify the spinning winding system and reduce its output, and also to suppress noise of the spinning winding system caused by negative pressure. [Brief description of the drawings]

[0026] [Figure 1] 1 is a perspective view showing a schematic configuration of a fiber winding system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram showing a configuration of a fiber take-up unit. [Diagram 3] FIG. 2 is a block diagram illustrating a control configuration of the fiber winding system. [Figure 4] FIG. 2 is a schematic diagram showing a configuration of a yarn unloading device. [Diagram 5] FIG. 2 is a perspective view showing a configuration of a threading robot. [Figure 6] FIG. 2 is a side view showing the configuration of the threading robot. [Figure 7] 13 is a perspective view showing a state in which the diameter of the winding portion has been reduced. FIG. [Figure 8] 11 is a perspective view showing how the yarn discharge section discharges the yarn wound in the winding section; FIG. [Figure 9] 13A and 13B are schematic diagrams showing modified examples of the winding section. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Next, an embodiment of the present invention will be described with reference to the drawings.

[0028] The spinning winding system 100 shown in Fig. 1 is a system that winds up a produced synthetic fiber yarn Y to form a package P. In the spinning winding system 100, the synthetic fiber yarn Y is produced by extruding molten synthetic fiber raw material. The spinning winding system 100 is installed in a multi-story building in a plant.

[0029] 1, the yarn take-up winding system 100 includes a plurality of yarn take-up winding units 1. The yarn take-up winding system 100 has a centralized control device 101 that controls the operation of each of the yarn take-up winding units 1 and the threading robot 2. The centralized control device 101 is connected to each of the yarn take-up winding units 1 and the robot control unit 20 of the yarn threading robot 2 so as to be able to communicate with each other wirelessly or via wires.

[0030] 2 is provided so as to be shared by multiple spinning and winding units 1. The threading robot 2 can travel along a rail (not shown) between the multiple spinning and winding units 1 in response to a control command from a robot control unit 20.

[0031] In the following description, "upstream" and "downstream" refer to the upstream and downstream in the running direction of the produced yarn Y when the yarn Y is wound. The left-right direction refers to the direction in which a plurality of spinning winding units 1 are arranged. The direction perpendicular to both the left-right direction and the up-down direction is referred to as the front-rear direction.

[0032] Each of the spinning winding units 1 includes a spinning device 3, a spinning take-up device (yarn processing device) 4, and a spinning winding unit control device 102. The spinning winding unit 1 includes a driving device such as a motor that drives each device. The spinning winding unit control device 102 controls the operation of the driving device in response to a control command from the centralized control device 101. The spinning take-up device 4 is disposed downstream of the spinning device 3. The spinning take-up device 4 mainly includes a yarn unloading device 5, a take-up section 6, and a winding device (yarn winding device) 7.

[0033] The yarn take-up device 4 performs a process of guiding the yarn Y when the yarn Y is wound. The yarn take-up device 4 includes various yarn processing units in addition to the take-up unit 6 and the winding device 7. The yarn processing units include, for example, an oil agent guide 11 and a yarn holding device 14. The oil agent guide 11 and the yarn holding device 14 will be described in detail later.

[0034] The building in which the yarn take-up system 100 is installed is divided into an upper floor and a lower floor by a partition floor 9. The upper floor is equipped with the yarn spinning device 3. The upper floor is equipped with a yarn unloading device 5, which is part of the yarn take-up device 4. The lower floor is equipped with a take-up section 6, a winding device 7, and the like, which are part of the yarn take-up device 4.

[0035] The partition floor 9 is formed with a yarn passing hole 9a. The yarn passing hole 9a is provided for each of the spinning winding units 1. The multiple yarns Y spun by the spinning device 3 can pass through the yarn passing hole 9a. The yarn passing hole 9a forms a passage for sending the multiple yarns Y to the lower level.

[0036] A duct-shaped interfloor tube 8 is fixed to the partition floor 9 so as to connect to the yarn passing hole 9a. The interfloor tube 8 prevents yarn sway caused by external factors such as wind while multiple yarns Y are traveling from an upper story to a lower story.

[0037] In the upper floor, a yarn holding device 14 is provided near the yarn passage hole 9a formed in the partition floor 9. The yarn holding device 14 includes a suction device 14a and a cutter (not shown). When some abnormality occurs in the yarn Y or each device in the downstream spinning take-up device 4 (for example, the take-up section 6 or the winding device 7), the yarn holding device 14 cuts the multiple yarns Y traveling downstream from the spinning device 3 with the cutter. Furthermore, the yarn holding device 14 temporarily holds the multiple yarns Y on the upstream side (spinning device 3 side) that have been cut by sucking them with the suction device 14a. In this way, the multiple yarns Y spun by the spinning device 3 are sucked into the suction device 14a of the yarn holding device 14 and are held without traveling to the take-up section 6 and the winding device 7. The yarn holding device 14 continues to hold the yarn until the abnormality is resolved.

[0038] Although not shown, the spinning device 3 has multiple (e.g., 12) spinnerets. A molten polymer in a high temperature state is supplied to the spinnerets by a polymer supply device (not shown) consisting of a gear pump or the like. The spinning device 3 extrudes the molten polymer from each spinneret. As a result, the yarn Y is spun from each spinneret of the spinning device 3. The number of spinnerets (in other words, the number of yarns Y spun in the spinning device 3) is not limited to 12.

[0039] A cooling device 10 and an oil agent guide 11 are installed on the upper floor of the spinning winding system 100.

[0040] The cooling device 10 is installed immediately below the spinning device 3. The cooling device 10 includes a plurality of cooling cylinders (not shown). Cooling air is supplied to each cooling cylinder through a cooling air pipe (not shown). The yarn Y passing through the cooling cylinder is cooled by the cooling air and solidified.

[0041] The oil guides 11 are disposed below the cooling device 10. The number of oil guides 11 provided is equal to the number of yarns Y spun by the spinning device 3. Each of the multiple oil guides 11 applies oil to each yarn Y that passes through. The multiple yarns Y to which the oil has been applied pass through yarn passing holes 9a formed in the partition floor 9 to reach the lower floor.

[0042] The yarn unloading device 5 is used to unload multiple yarns Y from an upper level to a lower level where the winding device 7 and the like are installed. The yarn threading operation means the operation of setting the yarn Y from the spinning device 3 in the take-up section 6 along a predetermined path and then fixing it to the bobbin B of the winding device 7. This yarn threading operation prepares the winding device 7 to wind the yarn Y to form a package P.

[0043] 4, the yarn let-down device 5 mainly includes a guide member 51, a lifting unit 52, and a yarn suction unit 53. The yarn let-down device 5 may also be configured to include a cart. Each unit of the yarn let-down device 5 is driven by a respective yarn let-down device drive motor 59 that operates in response to a control command from the centralized control device 101.

[0044] Guide member 51 is used to guide lifting unit 52 in the up and down direction when lifting unit 52 moves up and down. Guide member 51 is formed of, for example, a chain-like member in which a number of element parts are arranged in a row and rotatably connected to each other.

[0045] When the thread unloading operation is not performed, the guide member 51 is stored in a wound state. When the thread unloading operation is performed, the guide member 51 passes through the thread passing hole 9a formed in the partition floor 9 and is positioned so as to extend vertically across the upper and lower levels. The guide member 51 is not limited to the above configuration as long as it has the function of guiding the lifting section 52 in the vertical direction. For example, the guide member 51 may be configured as a long and thin member extending in the vertical direction.

[0046] The lifting unit 52 is attached so as to be movable up and down along the guide member 51. As shown in Fig. 4, the lifting unit 52 includes a support unit 54 and a holding unit 55. The support unit 54 is formed in a long and narrow plate shape and is installed so as to extend in the up and down direction. The holding unit 55 is attached to the lower end of the support unit 54.

[0047] The holding unit 55 includes two threading rollers 55a. The two threading rollers 55a are arranged side by side in the left-right direction of the fiber winding system 100. Each threading roller 55a is configured, for example, as a rotatably supported roller. Each threading roller 55a is attached so that its axis extends in the front-rear direction. The two threading rollers 55a are located on both sides of the support unit 54 in the left-right direction, sandwiching the support unit 54 therebetween.

[0048] A ring-shaped groove having a substantially V-shaped cross section is formed on the outer circumferential surface of the yarn threading roller 55a. The two yarn threading rollers 55a move downward from above onto the portion of the yarn Y guided substantially horizontally, thereby causing the yarn Y to enter the groove. The multiple yarns Y threaded on the yarn threading rollers 55a are guided by the V-shaped groove and move to the deepest part of the groove. As a result, the multiple yarns Y are gathered together, making it easier for the robot arm 22, which will be described later, to capture them.

[0049] The yarn suction unit 53 is used to temporarily suck and hold the multiple yarns Y spun from the spinning device 3 during the yarn unloading operation. The yarn suction unit 53 is composed of, for example, a suction gun. The multiple yarns Y sucked by the yarn suction unit 53 are passed through a suction hose (not shown) connected to the yarn suction unit 53 and discarded into a waste yarn container (not shown) or the like.

[0050] With this configuration, with the middle portions of the multiple yarns Y hooked on the two yarn hooking rollers 55a, the lifting section 52 moves from a standby position on the upper level to a delivery position on the lower level, thereby allowing the multiple yarns Y to be lowered downward.

[0051] As shown in Fig. 2, the yarn regulating guide 12 is provided upstream of the take-up unit 6. The yarn regulating guide 12 can be, for example, a comb-like member having 12 guide grooves formed therein corresponding to the number of yarns Y. The yarn regulating guide 12 is located on the lower level near the take-up unit 6. The yarn regulating guide 12 is provided so as to be movable in a direction parallel to the direction in which the multiple spinning winding units 1 are arranged. The yarn regulating guide 12 is driven by a guide drive unit (not shown) consisting of, for example, a cylinder.

[0052] The take-up unit 6 is used to take up multiple yarns Y traveling downward from an upper layer. The take-up unit 6 includes a take-up frame 60 and two godet rollers 61 and 62. In the following description, the godet roller located upstream in the traveling direction of the yarns Y is referred to as the upstream godet roller 61, and the godet roller located downstream is referred to as the downstream godet roller 62.

[0053] When the yarn Y is wound, the yarn regulating guide 12 is substantially located directly above the upstream godet roller 61. In the following description, this position is referred to as the "operating position."

[0054] During threading, the yarn regulating guide 12 is positioned at a position shifted in the left-right direction from directly above the upstream godet roller 61. This allows the yarn threading to be performed easily. In the following description, the position of the yarn regulating guide 12 during threading is referred to as the "preparation position."

[0055] The upstream godet roller 61 is disposed on the take-up frame 60 so as to be located almost directly below the operating position of the yarn regulating guide 12. The upstream godet roller 61 is driven by an upstream godet motor 61a. On the other hand, the downstream godet roller 62 is movable between a yarn hooking position close to the upstream godet roller 61 and a package forming position located directly above the winding device 7, as shown by the dashed arrow in FIG. 2. The downstream godet roller 62 is driven by a downstream godet motor 62a. The upstream godet motor 61a and the downstream godet motor 62a operate in response to control commands from the yarn winding unit control device 102.

[0056] During the yarn threading operation, the downstream godet roller 62 descends to a yarn threading position adjacent to the upstream godet roller 61. When the yarn threading operation is completed, the downstream godet roller 62 ascends to a package forming position.

[0057] The winding device 7 winds the multiple yarns Y traveling from the take-up section 6 to form a package P. The winding device 7 mainly includes a turret 71, two bobbin holders 72, a traverse device 73, and a contact roller 74.

[0058] The turret 71 is rotatably installed. Two bobbin holders 72 are rotatably supported by the turret 71. Each of the bobbin holders 72 is formed to be elongated in the front-rear direction. The two bobbin holders 72 are disposed on opposite sides of the rotation axis of the turret 71. When the turret 71 rotates, the positions of the two bobbin holders 72 are interchanged.

[0059] Specifically, the two bobbin holders 72 are located at an upper winding position and a lower standby position. The bobbin holder 72 at the winding position is close to the contact roller 74, and the bobbin holder 72 at the standby position is separated from the contact roller 74. A plurality of bobbins B are attached to each bobbin holder 72. The plurality of bobbins B are arranged in the longitudinal direction of the bobbin holder 72.

[0060] The traverse device 73 includes a plurality of traverse guides 73a corresponding to a plurality of bobbins B. Each traverse guide 73a is disposed to correspond to each bobbin B. The traverse guides 73a are driven by a traverse motor 73b that operates in response to a control command from the take-up unit control device 102. Each traverse guide 73a reciprocates in a direction parallel to the longitudinal direction of the bobbin holder 72, whereby the yarn Y is traversed and wound around the bobbin B.

[0061] The contact roller 74 comes into contact with the outer peripheral surfaces of the multiple packages P formed on each bobbin B, and applies contact pressure to each of the multiple packages P. The contact roller 74 is driven by a winding motor 70 that operates in response to a control command from the spinning winding unit control device 102.

[0062] The yarn threading robot 2 is located on the lower floor of the building, as shown in Figure 2. The yarn threading robot 2 is capable of moving between the multiple spinning winding units 1 and automatically performs the yarn threading work for each spinning winding unit 1.

[0063] The yarn threading robot 2 includes a robot main body 21, a robot control unit 20, a robot arm 22, a hand unit 23, and a yarn storage unit 24. The operation of each unit of the yarn threading robot 2 is controlled by the robot control unit 20 mounted on the robot main body 21. As shown in Fig. 3, the robot control unit 20 is a known computer including a CPU, ROM, RAM, etc.

[0064] A guide rail (not shown) is provided on the lower level. The guide rail extends in the direction in which the multiple spinning winding units 1 are lined up (left-right direction). The robot body 21 includes a movement motor 21a. By driving the movement motor 21a, the robot body 21 can move along the guide rail.

[0065] The robot arm 22 is configured as an articulated type and is attached to the robot body 21. The robot arm 22 is driven by an arm drive motor 22a and can perform three-dimensional movement. A hand unit (thread engaging unit, guide unit) 23 capable of hooking and guiding the thread Y is attached to the tip of the robot arm 22. A cutter (not shown) may be attached to the hand unit 23. The operations of the movement motor 21a and the arm drive motor 22a are controlled by the robot control unit 20 as shown in FIG. 7. That is, the movement of the robot body 21 and the operation of the robot arm 22 are controlled by the robot control unit 20. The position of the cutter is not limited to the hand unit 23, and it may be attached to the robot body 21.

[0066] The hand unit 23 is an end effector attached to the tip of the robot arm 22, and is formed in a shape capable of guiding a plurality of yarns Y. As an example, the hand unit 23 includes a pair of finger units that can be opened and closed. When the finger units are closed, a hole capable of holding the yarn Y is formed. When the finger units are closed, the yarn Y can run inside the hole. When the finger units are open, the yarn Y can be inserted and removed from the hole. The configuration of the hand unit 23 is not limited to the above, and may be formed in other shapes as long as it can engage with the yarn Y for guiding.

[0067] The yarn storage section 24 is used to wind and store multiple yarns Y spun by the spinning device 3 when the yarn threading robot 2 performs a yarn threading operation. As an example, as shown in Fig. 2, the yarn storage section 24 is disposed on the rear surface of the robot body 21. The rear surface of the robot body 21 can also be referred to as the surface facing the yarn take-up unit 1. The location of the yarn storage section 24 is not limited to the rear surface of the robot body 21, and it may be disposed on the side surface or bottom surface.

[0068] As shown in FIG. 5, the yarn storage section 24 mainly includes a winding section 25 and a waste yarn discharge plate (yarn discharge section) 26.

[0069] The winding section 25 is disposed so as to extend in the front-rear direction from the rear surface of the robot body 21 toward the spinning winding unit 1. The winding section 25 is rotatably attached to the robot body 21. The winding section 25 is composed of a reel that can be changed between a reduced diameter state and an expanded diameter state, and includes a central shaft (center rod) 25a and an expanding / contracting section 25b disposed around the central shaft 25a.

[0070] The central shaft 25a is a rod-shaped member that protrudes in a generally horizontal direction. The central shaft 25a is located at the center of rotation of the winding section 25. The expansion / contraction section 25b is composed of a plurality of first support rods 25c, a plurality of second support rods 25d, a plurality of connecting rods (rod members) 25e, a fixed boss 25f, and a movable sleeve 25g. The number of first support rods 25c, second support rods 25d, and connecting rods 25e that constitute the winding section 25 is equal.

[0071] The first support rod 25c, the second support rod 25d, and the connecting rod 25e are all linear, elongated rod-like members. A fixed boss 25f is fixed to the tip of the central shaft body 25a. A cylindrical movable sleeve 25g is supported at the base of the central shaft body 25a. The movable sleeve 25g is movable along the longitudinal direction of the central shaft body 25a. The fixed boss 25f and the movable sleeve 25g rotate integrally with the central shaft body 25a.

[0072] One end of each of the first support rods 25c (hereinafter referred to as the "moving end") is connected to the moving sleeve 25g via a hinge. The other end of each of the first support rods 25c is connected to the connecting rod 25e via a hinge. One end of each of the second support rods 25d (hereinafter referred to as the "fixed end") is connected to the fixed boss 25f via a hinge. The other end of each of the second support rods 25d is connected to the connecting rod 25e via a hinge. The phase in which the first support rods 25c are attached to the moving sleeve 25g corresponds to the phase in which the second support rods 25d are attached to the fixed boss 25f.

[0073] That is, the ends of the first support rod 25c and the second support rod 25d opposite to the end attached to the movable sleeve 25g or the fixed boss 25f are connected to each other via the connecting rod 25e. The multiple connecting rods 25e arranged in the circumferential direction around the central shaft 25a essentially form an outer circumferential surface around which the thread Y can be wound.

[0074] The robot body 21 includes a motor (not shown). The central shaft 25a can be rotated by driving the motor. The first support rod 25c, the second support rod 25d, and the connecting rod 25e rotate integrally with the central shaft 25a.

[0075] One end of each of the connecting rods 25e in the longitudinal direction is connected to the first support rod 25c, and the other end is connected to the second support rod 25d. The connecting rods 25e connect the second support rods 25d, which are shifted by one or more phases at the connecting points, to the first support rods 25c, instead of the second support rods 25d, which are corresponding in phase at the connecting points. As a result, each of the connecting rods 25e is disposed in a twisted position with respect to the axial direction of the central shaft 25a (in other words, the rotation center of the winding part 25). Therefore, the outer circumferential surface of the winding part 25 is substantially shaped like a hyperboloid of one leaf centered on the central shaft 25a. This outer circumferential surface is recessed so that the cross section of the central part in the axial direction has the smallest diameter in the entire axial direction. The recessed portion (fall-off prevention structure) 25h thus formed can prevent the yarn Y wound by the winding part 25 from coming off in the axial direction.

[0076] A moving sleeve 25g to which the moving end of the first support rod 25c is connected moves along the central shaft body 25a, for example, by being driven by a drive mechanism (not shown).

[0077] When the movable sleeve 25g moves toward the tip side of the central shaft 25a, the multiple connecting rods 25e move in conjunction with this so as to move away from the central shaft 25a in the radial direction. As a result, the winding portion 25 enters an expanded state in which the diameter increases.

[0078] When the movable sleeve 25g moves toward the base side of the central shaft 25a, the multiple connecting rods 25e move in conjunction with this so as to approach the central shaft 25a in the radial direction. As a result, the winding portion 25 enters a reduced diameter state in which the diameter is reduced.

[0079] When the yarn Y is wound, the movable sleeve 25g is controlled to a predetermined position as shown in Fig. 5. As a result, the winding section 25 is in an expanded state in which its diameter is a predetermined size. In this expanded state, the cross section at the axial center has a smaller diameter than the cross sections at both axial ends.

[0080] The waste yarn discharge plate 26 is formed in an annular shape, and is attached movably along the central shaft 25a of the winding section 25 so as to move away from the robot body 21. Specifically, the waste yarn discharge plate 26 is movable between a standby position in the vicinity of the robot body 21 and a residual yarn discharge position away from the robot body 21 (close to the tip of the central shaft 25a).

[0081] 8, an extendable pressing rod 26a is attached to the waste yarn discharge plate 26 and extends in a direction perpendicular to the waste yarn discharge plate 26. A through hole is formed in the center of the waste yarn discharge plate 26. The winding section 25 in a reduced diameter state can pass through the hole in the waste yarn discharge plate 26. The extension and contraction of the pressing rod 26a causes the waste yarn discharge plate 26 to move between the standby position and the remaining yarn discharge position.

[0082] Next, a description will be given of the threading operation performed by the threading robot 2. Figures 5 and 6 are diagrams showing the state of the yarn storage section 24 when the yarn Y is stored during the threading operation performed by the threading robot 2. Figures 7 and 8 are diagrams showing the state of the yarn storage section 24 when the stored yarn Y is discharged after the threading operation.

[0083] In the spinning winding unit 1, for example, in the preparation stage before the start of forming the package P, or when a yarn breakage occurs for some reason, it is necessary to perform a threading operation in which multiple yarns Y spun from the upper spinning device 3 are hooked onto the take-up section 6 or the like before starting (resuming) winding of the yarn Y by the winding device 7.

[0084] In this embodiment, the yarn unloading operation of unloading a plurality of yarns Y from the spinning device 3 from an upper level to a lower level is performed by an operator operating the yarn unloading device 5. The yarn threading operation on the lower level is automatically performed by the yarn threading robot 2.

[0085] Before starting the yarn let-down operation, the operator moves the yarn let-down device 5 to the target spinning winding unit 1. After that, the operator removes the yarn suction part 53 from the yarn let-down device 5 and operates the yarn suction part 53 at the same time as or before that. The operator uses the yarn suction part 53 to suck and hold the multiple yarns Y spun from the spinning device 3 upstream of the oil guide 11.

[0086] Then, the operator hooks the multiple yarns Y sucked and held by the yarn suction section 53 onto the oil guide 11. After hooking the multiple yarns Y onto the oil guide 11 or after moving the yarn let-down device 5 to the target spinning winding unit 1, the operator moves the guide member 51 of the yarn let-down device 5 through the yarn passing hole 9a at an appropriate timing to straddle the two stories.

[0087] Thereafter, the operator takes out, for example, a hook-shaped threading tool (not shown) from an appropriate location, and hooks the yarn Y, which has been sucked and held by the yarn suction unit 53, onto the threading tool between the yarn suction unit 53 and the oil agent guide 11. After the multiple yarns Y have been hooked onto the threading tool, the operator moves the threading tool so that the multiple yarns Y between the yarn suction unit 53 and the threading tool are positioned directly below the two threading rollers 55a provided on the holding unit 55 of the yarn unloading device 5.

[0088] When the operator removes the threading tool in this state, the multiple yarns Y between the oil guide 11 and the yarn suction section 53 (i.e., the middle portions of the yarns Y) are threaded around the two yarn threading rollers 55a. Accordingly, the multiple yarns Y are bundled by the two yarn threading rollers 55a.

[0089] After the yarn unloading preparation work is completed, the operator operates an operation switch (not shown) or the like to start the yarn unloading operation of the yarn unloading device 5. When the yarn unloading operation starts, the lifting section 52 of the yarn unloading device 5 moves along the guide member 51 to a delivery position on the lower level. As a result, the multiple yarns Y hooked on the two yarn hooking rollers 55a move to a lower position. In this way, the intermediate portions of the multiple yarns Y sucked and held by the yarn suction section 53 are transported by the yarn unloading device 5 to the vicinity of the yarn regulation guide 12.

[0090] During or after the yarn unloading operation, the yarn threading robot 2 moves to the target yarn winding unit 1 in response to an operation command from the centralized control device 101. When the yarn threading robot 2 arrives at the target yarn winding unit 1, it operates the hand unit 23 attached to the tip of the robot arm 22. The hand unit 23 moves to a position close to the multiple yarns Y hung on any of the yarn threading rollers 55a of the yarn unloading device 5 and engages with the yarns Y.

[0091] The robot arm 22 guides the captured yarn Y to the winding unit 25. The winding unit 25 starts rotating before or after the robot arm 22 starts the yarn capturing operation. The yarn Y guided to the winding unit 25 is guided by the robot arm 22 to, for example, circle the outer periphery of the winding unit 25, and is wound around the rotating winding unit 25. This essentially fixes the yarn Y to the winding unit 25, and winding of the yarn Y begins. Accordingly, the hand unit 23 is engaged with the yarn Y reaching the winding unit 25 from the spinning device 3.

[0092] After the winding unit 25 starts winding the yarn Y, the yarn threading robot 2 cuts the yarn Y downstream of the winding unit 25 (for example, between the winding unit 25 and the yarn threading roller 55a) with a cutter (not shown) attached to the hand unit 23 or the robot body 21. The yarn Y downstream of the cut point is sucked by the yarn suction unit 53 of the yarn unloading device 5 and discharged to a waste yarn container (not shown). The yarn Y may be cut by a cutter provided separately from the yarn threading robot 2. Also, the yarn Y captured by the hand unit 23 may be cut before the winding unit 25 starts winding the yarn Y.

[0093] Thereafter, the yarn threading robot 2 moves the robot arm 22 so that the multiple yarns Y are stored by the winding section 25 and threaded around the yarn regulating guide 12, the take-up section 6 (the upstream godet roller 61 and the downstream godet roller 62), and the multiple fulcrum guides 13 in that order.

[0094] Thereafter, the threading robot 2 moves the robot arm 22 so that the hand unit 23 is positioned at a predetermined position below the bobbin holder 72 located on the upper side, and brings each of the multiple threads Y into contact with each of the bobbins B.

[0095] The winding operation of the winding device 7 is started simultaneously with or shortly before the robot arm 22 guides the yarn Y to the bobbin B. The yarn Y is wound around the end of the rotating bobbin B, thereby fixing the end of the yarn Y to the bobbin B. When the winding operation is started, the traverse guides 73a reciprocate in a direction parallel to the axial direction of the bobbin B in conjunction with the rotation of the bobbin B. During the reciprocating movement of the traverse guides 73a, the yarn Y is hung on each of the traverse guides 73a. Thereafter, the yarn Y can be wound while traversing the bobbin B by the guidance of the traverse guides 73a. As a result, a package P can be formed.

[0096] After the yarn threading robot 2 fixes the multiple yarns Y to the multiple bobbins B, it cuts the yarn Y between the yarn suction unit 53 and the bobbin B at a position close to the bobbin B using a cutter (not shown). The multiple yarns Y that have been cut between the yarn suction unit 53 and the hand unit 23 of the yarn threading robot 2 are wound by the winding unit 25.

[0097] Thereafter, the threading robot 2 moves to a waste yarn container (not shown). In this embodiment, the waste yarn container is installed, for example, near a standby position where the threading robot 2 waits when threading work is not being performed.

[0098] After arriving at the waste yarn container, the yarn threading robot 2 moves the movable sleeve 25g toward the robot body 21. As a result, the diameter of the winding section 25 is reduced, as shown in Fig. 7. Immediately thereafter, the yarn threading robot 2 advances the pressing rod 26a from the robot body 21 to the axial tip side of the central shaft 25a, as shown in Fig. 8, thereby moving the waste yarn discharge plate 26. This allows the waste yarn discharge plate 26 to discharge the yarn Y wound around the winding section 25 from the tip of the winding section 25.

[0099] During threading, the spinning of the spinning device 3 does not stop, so the yarn Y is continuously supplied from the upstream side. The threading robot 2 of this embodiment winds and stores the yarn Y in the winding section 25, so that it is possible to prevent the yarn Y in the vicinity of the hand section 23 from slackening without providing a suction port for negative pressure in the hand section 23. Therefore, since there is no need to attach a flexible negative pressure pipe to the robot arm 22, the weight that the robot arm 22 must support is reduced. As a result, the configuration of the robot arm 22 can be simplified and the cost can be reduced. In addition, since no air noise is generated in the hand section 23, noise can be effectively reduced.

[0100] As described above, the yarn threading robot 2 of this embodiment threads the yarn Y continuously spun from the spinning device 3 onto the yarn take-up device 4. The yarn threading robot 2 includes a winding unit 25 and a robot arm 22. The winding unit 25 winds and stores the yarn Y continuously spun from the spinning device 3. The robot arm 22 has a hand unit 23 that engages with the yarn Y reaching the winding unit 25 from the spinning device 3. The robot arm 22 operates the hand unit 23 to thread the yarn Y reaching the winding unit 25 from the spinning device 3 onto the yarn take-up device 4.

[0101] This allows the yarn Y to be stored in the winding section 25 in the yarn threading robot 2. As a result, it is no longer necessary to suck up the yarn Y and directly discharge it into a separately provided waste yarn container or the like. This eliminates the need to mount a heavy suction device such as a suction gun on the tip of the robot arm 22, allowing the robot arm 22 to be made smaller and with lower output. Furthermore, noise can be reduced compared to a configuration in which the yarn Y is sucked and held by suction force due to negative pressure.

[0102] In the yarn threading robot 2 of the present embodiment, the cross section of the winding section 25 at the axial center has a smaller diameter than the cross sections at both axial ends.

[0103] This makes it possible to prevent the yarn Y from falling off from the winding section 25, and allows the yarn Y to be suitably stored.

[0104] The yarn threading robot 2 of the present embodiment includes a waste yarn discharge plate 26 that discharges the stored yarn Y from the winding section 25.

[0105] This allows the yarn Y wound around the winding section 25 to be easily discharged.

[0106] In the yarn threading robot 2 of the present embodiment, the diameter of the winding part 25 is variable.

[0107] This allows the diameter of the winding portion 25 to be reduced, so that the yarn Y wound around the winding portion 25 can be easily discharged in a compact state.

[0108] In the yarn threading robot 2 of this embodiment, the winding unit 25 is configured to be changeable between a reduced diameter state and an expanded diameter state. In the expanded diameter state, the cross section of the axial center portion of the winding unit 25 has a smaller diameter than the cross sections of both axial ends.

[0109] This makes it possible to prevent the yarn Y from falling off from the winding section 25, and allows the yarn Y to be suitably stored.

[0110] The yarn threading robot 2 of the present embodiment includes a waste yarn discharge plate 26 that discharges the stored yarn Y from the winding section 25.

[0111] This allows the yarn Y wound around the winding section 25 to be easily discharged.

[0112] In the yarn threading robot 2 of this embodiment, the winding part 25 is configured to be changeable between a reduced diameter state and an increased diameter state. A through hole is formed in the waste yarn discharge plate 26. The winding part 25 in the reduced diameter state is inserted through the through hole of the waste yarn discharge plate 26.

[0113] As a result, when the winding section 25 is inserted into the through hole of the waste yarn discharge plate 26, the yarn Y wound around the winding section 25 is pushed by the waste yarn discharge plate 26, thereby allowing the yarn Y to be discharged in an appropriate manner.

[0114] In the yarn threading robot 2 of this embodiment, the winding unit 25 includes multiple connecting rods 25e that can rotate together. The multiple connecting rods 25e are arranged side by side in the circumferential direction about a central shaft 25a that is located at the rotation center of the winding unit 25. Each connecting rod 25e is arranged in a twisted position with respect to the central shaft 25a and can move toward and away from the central shaft 25a.

[0115] This makes it possible to easily change the diameter of the winding portion 25 with a simple structure.

[0116] The spinning winding system 100 of this embodiment includes a spinning device 3, a spinning take-up device 4, and a threading robot 2. The spinning device 3 continuously spins the yarn Y. The spinning take-up device 4 takes up or winds up the yarn Y continuously spun from the spinning device 3. The threading robot 2 threads the yarn Y continuously spun from the spinning device 3 on the spinning take-up device 4. The threading robot 2 includes a winding section 25 and a robot arm 22. The winding section 25 winds and stores the yarn Y continuously spun from the spinning device 3. The robot arm 22 has a hand section 23 that engages with the yarn Y reaching the winding section 25 from the spinning device 3. The robot arm 22 operates the hand section 23 to thread the yarn Y reaching the winding section 25 from the spinning device 3 on the spinning take-up device 4.

[0117] This makes it possible to simplify the fiber winding system 100 and reduce the output, and also to suppress noise of the fiber winding system 100 caused by negative pressure.

[0118] Although the preferred embodiment of the present invention has been described above, the above configuration can be modified, for example, as follows. Each modification may be made alone, or multiple modifications may be made in any combination.

[0119] In the yarn unloading operation, instead of the yarn suction section 53, the suction device 14a of the yarn holding device 14 may suck and hold the multiple yarns Y.

[0120] The guide member 51 may be formed of a long and thin rod-shaped member, and may be provided in each take-up unit 1 so as to pass through the yarn passing hole 9a.

[0121] The hand portion 23 of the yarn threading robot 2 may be formed in other shapes, such as a hook shape or a roller shape, as long as it can hook and guide the yarn Y.

[0122] The yarn threading roller 55a may be configured to be removable. In this case, the yarn threading robot 2 grasps the yarn threading roller 55a with the hand unit 23 and guides the yarn Y via the yarn threading roller 55a.

[0123] A through hole for passing the reduced diameter winding part 25 may be formed in the waste yarn discharge plate 26 at a position other than the center. The waste yarn discharge plate 26 may be omitted. In this case, the waste yarn wound around the winding part 25 can be directly pushed out and discharged by the pushing rod 26a.

[0124] The winding unit 25 of this embodiment can be modified, for example, as shown in Fig. 9. The modified winding unit 25 shown in Fig. 9 includes a plurality of support rods 25p and a plurality of yarn contact plates 25q. The plurality of support rods 25p are arranged side by side in the circumferential direction at the tip and base of the central shaft 25a. One end of each of the support rods 25p is connected to the central shaft 25a via a hinge. The end of each of the support rods 25p opposite to the central shaft 25a is connected to the yarn contact plate 25q via a hinge.

[0125] The yarn contact plates 25q are arranged in a line in the circumferential direction of the central shaft 25a. The yarn contact plates 25q are formed in a long and narrow plate shape. The longitudinal direction of the yarn contact plates 25q is parallel to the central shaft 25a.

[0126] Each of the multiple support rods 25p is installed so as to be able to swing around the end connected to the central shaft 25a. In response to the swinging of the support rods 25p, the yarn contact plate 25q approaches the central shaft 25a as shown by the chain line in FIG. 9. This reduces the distance between the yarn contact plate 25q and the central shaft 25a. That is, the diameter of the winding section 25 becomes smaller. This configuration can easily realize the interlocking of the waste yarn discharge plate 26 and the winding section 25. The yarn contact plate 25q can also be formed not in a straight line but in a curved shape in which the longitudinal center portion approaches the central shaft 25a. In this case, the outer peripheral surface of the winding section 25 can be substantially formed in a concave shape similar to the above-mentioned concave portion 25h.

[0127] The orientation of the winding unit 25 may be changed depending on the position of the yarn storage unit 24. For example, the orientation of the winding unit 25 is changed so that the tip of the winding unit 25 faces downward. This allows the yarn Y wound around the winding unit 25 to fall by its own weight and be discharged. Regardless of the position of the yarn storage unit 24, the robot arm 22 may grab the wound yarn Y and move it from the winding unit 25 to be discharged. In this case, the robot arm 22 also serves as the yarn discharge unit.

[0128] The threading robot 2 of the present application can also be applied in a case where, when the winding operation of the yarn Y is temporarily stopped and multiple yarns Y are sucked and held by an aspirator installed near the yarn control guide 12, the yarn Y is pulled from the aspirator or the yarn control guide 12 to perform the threading operation. [Explanation of symbols]

[0129] 2. Threading robot 3. Spinning equipment 4. Yarn take-off device (yarn processing device) 22 Robot Arm 23 Hand part (thread engagement part) 25 Winding section 25e Connecting rod (rod member) 26 Waste yarn discharge plate (yarn discharge section) 100 Spinning and Winding System Y Thread

Claims

1. A yarn threading robot that threads yarn continuously spun from a spinning device onto a yarn processing device, The robot body, a winding unit disposed on the robot body, which winds and stores the yarn continuously spun from the spinning device; a robot arm attached to the robot body, the robot arm having a yarn engaging part that engages with the yarn extending from the spinning device to the winding unit, and operating the yarn engaging part to hook the yarn extending from the spinning device to the winding unit onto the yarn processing device; Equipped with The robot arm moves the yarn engaging portion relative to the robot body.

2. The threading robot according to claim 1, A yarn threading robot characterized in that the cross section of the axial center portion of the winding section has a smaller diameter than the cross sections of both axial ends.

3. The yarn threading robot according to claim 1 or 2, A yarn threading robot comprising a yarn discharge section that discharges the stored yarn from the winding section.

4. The threading robot according to claim 1, A yarn threading robot characterized in that the diameter of the winding section is configured to be variable.

5. A threading robot according to claim 2, A yarn threading robot characterized in that the diameter of the winding section is configured to be variable.

6. The threading robot according to claim 4, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, The yarn threading robot is characterized in that, in the expanded diameter state, the cross section of the axial center portion of the winding section has a smaller diameter than the cross sections of both axial ends.

7. A threading robot according to claim 5, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, The yarn threading robot is characterized in that, in the expanded diameter state, the cross section of the axial center portion of the winding portion has a smaller diameter than the cross sections of both axial ends.

8. The threading robot according to claim 4, A yarn threading robot comprising a yarn discharge section that discharges the stored yarn from the winding section.

9. A threading robot according to claim 5, A yarn threading robot comprising a yarn discharge section that discharges the stored yarn from the winding section.

10. The threading robot according to claim 8, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A through hole is formed in the yarn discharge section, The yarn threading robot is characterized in that the winding section in the reduced diameter state is inserted through the through-hole of the yarn discharge section.

11. A threading robot according to claim 9, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A through hole is formed in the yarn discharge section, The yarn threading robot is characterized in that the winding section in the reduced diameter state is inserted through the through-hole of the yarn discharge section.

12. The threading robot according to any one of claims 4 to 11, the winding section includes a plurality of rod members that can rotate integrally, The rod members are arranged in a circumferential direction with respect to the rotation center of the winding unit, A threading robot characterized in that each of the rod members is arranged in a twisted position with respect to the center of rotation and is movable in a direction toward and away from the center of rotation.

13. a spinning device that continuously spins yarn; a yarn processing device that takes up or winds the yarn continuously spun from the spinning device; a threading robot that threads the yarn continuously spun from the spinning device onto the yarn processing device; A spinning winding system comprising: The threading robot includes: The robot body, a winding unit disposed on the robot body, which winds and stores the yarn continuously spun from the spinning device; The spinning device has a yarn engaging section that engages with the yarn extending from the spinning device to the winding section, and the yarn engaging section is operated. a robot arm attached to the robot body, which causes the yarn from the spinning device to the winding unit to be wound on the yarn processing device; Equipped with The robot arm moves the yarn engaging portion relative to the robot body.

14. A spinning and winding system as claimed in claim 13, A spinning winding system, characterized in that the cross section of the winding section at its axial center has a smaller diameter than the cross sections of both axial ends.

15. The spinning and winding system according to claim 13, The yarn threading robot is characterized in that it includes a yarn discharge unit that discharges the stored yarn from the winding unit.

16. A spinning and winding system as claimed in claim 14, comprising: The yarn threading robot is characterized in that it includes a yarn discharge unit that discharges the stored yarn from the winding unit.

17. The spinning and winding system according to claim 13, A fiber winding system characterized in that the diameter of the winding section is configured to be variable.

18. A spinning and winding system as claimed in claim 14, comprising: A fiber winding system characterized in that the diameter of the winding section is configured to be variable.

19. The spinning and winding system according to claim 17, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A fiber take-up system, characterized in that, in the expanded diameter state, the cross section of the axial center portion of the winding section has a smaller diameter than the cross sections of both axial end portions.

20. The spinning and winding system according to claim 18, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A fiber take-up system, characterized in that, in the expanded diameter state, the cross section of the axial center portion of the winding section has a smaller diameter than the cross sections of both axial end portions.

21. The spinning and winding system according to claim 17, The yarn threading robot is characterized in that it includes a yarn discharge unit that discharges the stored yarn from the winding unit.

22. A spinning and winding system as claimed in claim 18, comprising: The yarn threading robot is characterized in that it includes a yarn discharge unit that discharges the stored yarn from the winding unit.

23. A spinning and winding system as claimed in claim 21, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A yarn winding system, characterized in that a through hole is formed in the yarn discharge section, and the winding section in the reduced diameter state is inserted through the through hole of the yarn discharge section.

24. The spinning and winding system according to claim 22, The winding portion is configured to be changeable between a diameter-reduced state and a diameter-expanded state, A yarn winding system, characterized in that a through hole is formed in the yarn discharge section, and the winding section in the reduced diameter state is inserted through the through hole of the yarn discharge section.

25. A spinning and winding system according to any one of claims 17 to 24, the winding section includes a plurality of rod members that can rotate integrally, The rod members are arranged in a circumferential direction with respect to the rotation center of the winding unit, A spinning winding system, characterized in that each of the rod members is arranged in a twisted position with respect to the center of rotation and is movable in a direction toward and away from the center of rotation.

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