Spinning takeoff facility and yarn hanging robot

Abstract

To efficiently discharge a liquid in an air separator.SOLUTION: A spinning takeoff facility 1 comprises: a yarn hanging robot 3 that performs operation of hanging a yarn to a spinning takeoff device; a compressed air supply section 5 for supplying compressed air to the yarn hanging robot 3; an air cylinder 124 driven by the compressed air; a branched supply channel 90 for supplying the compressed air from the compressed air supply section 5 to the air cylinder 124; and an air separator 92 disposed in the branched supply channel 90. The air separator 92 includes a separation part 92a that separates liquid contained in the compressed air flowing through the branched supply channel 90 and a storing part 92b that stores the liquid separated by the separation part 92a. The spinning takeoff facility 1 further comprises a robot-side yarn discarding channel 82 capable of suctioning the liquid stored in the storing part 92b.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a spinning take-up facility and a threading robot. [Background technology]

[0002] Patent Document 1 discloses a threading robot that threads a yarn take-off device that winds up multiple spun yarns to form a package. The threading robot threads yarns on rollers of the yarn take-off device by operating while sucking and holding multiple yarns with a suction attached to the tip of the robot. The suction sucks and holds multiple yarns with compressed air supplied from a compressed air supply unit provided outside the threading robot.

[0003] Such a threading robot has a driven part that is driven by compressed air supplied from a compressed air supply part in addition to the suction. For example, the driven part is supplied with compressed air that is a part of the compressed air sent from the compressed air supply part to the suction. For example, an air cylinder for operating the suction during threading work is an example of the driven part.

[0004] If the compressed air supplied to the air cylinder contains liquids such as moisture or oil, the driving parts of the air cylinder will rust. This can cause a problem that the air cylinder cannot operate the suction properly. For this reason, an air separator is generally provided to separate the liquids from the compressed air supplied to the air cylinder. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2018-66087 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the liquid separated from the compressed air by the air separator accumulates inside the air separator. The amount of liquid accumulated inside the air separator continues to increase every time the threading robot performs a threading operation, and eventually the air separator overflows. For this reason, the liquid inside the air separator needs to be periodically drained.

[0007] Conventionally, the task of draining the liquid from the air separator has been performed manually by workers, which is time-consuming. In addition, while the worker is draining the liquid, the operation of the threading robot must be stopped for safety reasons, which results in a loss of time for the threading work itself.

[0008] An object of the present invention is to efficiently discharge liquid from within an air separator. [Means for solving the problem]

[0009] The spinning take-up equipment of the present invention has a spinning take-up device, a threading robot that performs threading work on the spinning take-up device, a compressed air supply unit for supplying compressed air to the threading robot, a driven unit driven by the compressed air, a supply path for supplying the compressed air from the compressed air supply unit to the driven unit, a separation unit for separating liquid contained in the compressed air passing through the supply path, and a storage unit for storing the liquid separated by the separation unit, and is equipped with an air separator arranged on the supply path, and a suction unit capable of sucking up the liquid stored in the storage unit.

[0010] In the present invention, the liquid accumulated in the reservoir of the air separator as compressed air is supplied from the compressed air supply unit to the driven part is sucked up by the suction unit. This eliminates the need for an operator to manually drain the liquid in the reservoir. This allows the liquid in the reservoir of the air separator to be efficiently drained.

[0011] In the spinning take-up equipment of the present invention, the yarn threading robot has a suction that sucks and holds a plurality of yarns, and further includes a compressed air passing section through which compressed air supplied from the compressed air supply section passes in order to generate a negative pressure for sucking the plurality of yarns into the suction, and it is preferable that the suction section is the compressed air passing section.

[0012] According to the present invention, by utilizing the compressed air passage portion through which compressed air passes to generate a negative pressure for sucking the plurality of yarns into the suction as the suction portion, it becomes unnecessary to provide a separate structure for sucking the liquid in the storage portion of the air separator, thereby simplifying the device structure.

[0013] In the spinning take-up equipment of the present invention, it is preferable that the compressed air passing section has a compressed air supply path for supplying compressed air from the compressed air supply section to the suction, and that the supply path is connected to a midpoint of the compressed air supply path.

[0014] According to the present invention, a part of the compressed air supplied to the suction is supplied to the driven part by the supply path connected to the middle part of the compressed air supply path. Therefore, compressed air can be supplied to the driven part and the suction by a single compressed air supply part, and it is not necessary to provide two compressed air supply parts for supplying compressed air to the driven part and the suction. This makes it possible to suppress an increase in the size of the entire device.

[0015] In the spinning take-up facility of the present invention, it is preferable that the suction section is a portion of the compressed air supply path that is downstream of the midway portion to which the supply path is connected.

[0016] According to the present invention, the portion of the compressed air supply path downstream of the intermediate portion to which the supply path is connected is used as the suction portion. Therefore, liquid in the storage portion that has been sucked into the suction portion once does not pass through the intermediate portion again and enter the storage portion. This makes it possible to more efficiently discharge the liquid in the storage portion.

[0017] In the spinning take-up equipment of the present invention, it is preferable that the compressed air passing section has a waste yarn section that sucks in the plurality of yarns sucked by the suction, and the suction section is the waste yarn section.

[0018] The waste yarn section is a section that sucks in the yarn sucked by the suction. The compressed air that has passed through the suction passes through this waste yarn section together with the yarn sucked by the suction. Therefore, the liquid sucked into the waste yarn section does not pass through the suction thereafter, and the suction can be prevented from being contaminated by the liquid.

[0019] In the spinning take-up equipment of the present invention, it is preferable that the driven part is an air cylinder for moving the suction.

[0020] The air separator separates liquid contained in the compressed air supplied to the air cylinder for operating the suction, and can efficiently discharge the liquid accumulated in the reservoir.

[0021] In the spinning take-up equipment of the present invention, it is preferable that a plurality of the spinning take-up devices are arranged in a predetermined direction, and the threading robot is movable along the predetermined direction and performs threading work on the plurality of spinning take-up devices.

[0022] In a configuration in which the threading robot moves in a predetermined direction, when an operator tries to drain the liquid in the air separator, the operator must move to the position of the threading robot. This makes the task of draining the liquid even more time-consuming. In such a configuration, the present invention, which provides a suction unit that sucks the liquid in the air separator, is more effective.

[0023] The yarn threading robot of the present invention is a yarn threading robot that performs yarn threading work on a spinning take-up device, and is equipped with a driven part that is driven by compressed air supplied from an external compressed air supply part, a supply path for supplying compressed air from the compressed air supply part to the driven part, a separation part that separates liquid contained in the compressed air passing through the supply path, and a storage part that stores the liquid separated by the separation part, and an air separator arranged on the supply path, and the storage part is connected to a suction part that is capable of sucking up the liquid stored in the storage part.

[0024] In the present invention, the liquid accumulated in the reservoir of the air separator as compressed air is supplied from the compressed air supply unit to the driven parts is sucked up by the suction unit. This eliminates the need for an operator to manually drain the liquid in the air separator. This allows the liquid in the air separator to be efficiently drained. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a schematic configuration diagram of a spinning take-up facility according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a front view of the yarn take-up device and the yarn threading robot. [Diagram 3] FIG. 2 is a side view of the yarn take-up device and the yarn threading robot. [Figure 4] FIG. 2 is a block diagram showing the electrical configuration of the spinning take-up facility. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 4 is a schematic diagram showing a flow of compressed air supplied to the threading robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0027] (Overall configuration of spinning take-off equipment) FIG. 1 is a schematic diagram of a spinning take-off facility 1 according to the present embodiment. The spinning take-off facility 1 includes a plurality of spinning take-off devices 2 arranged in one horizontal direction, a threading robot 3 that performs threading work on the plurality of spinning take-off devices 2, a centralized control device 4 that controls the operation of each spinning take-off device 2 and the threading robot 3, a compressed air supply unit 5 for supplying compressed air to the threading robot 3, and a waste yarn box 6 in which yarn from the threading robot 3 is discarded. In this embodiment, one threading robot 3, one compressed air supply unit 5, and one waste yarn box 6 are provided for all the spinning take-off devices 2 provided in the spinning take-off facility 1. In addition, the spinning take-off facility 1 includes a compressed air supply path 7 for supplying compressed air from the compressed air supply unit 5 to the suction 37 of the threading robot 3, and a waste yarn path 8 for discarding the yarn Y from the suction 37 to the waste yarn box 6. The compressed air supply path 7 is shown by a two-dot chain line in FIG. 1. The waste yarn path 8 is shown by a dashed line in Fig. 1. In Fig. 1, the yarn is not shown to avoid the drawing becoming complicated. In the following description, the direction in which the multiple yarn take-up devices 2 are lined up is defined as the left-right direction, and the direction that is horizontal and perpendicular to the left-right direction is defined as the front-rear direction. The direction in which gravity acts is defined as the up-down direction.

[0028] (Yarn take-off device) The details of the yarn take-off device 2 will be described. Fig. 2 is a front view of the yarn take-off device 2 and the threading robot 3, and Fig. 3 is a side view of the yarn take-off device 2 and the threading robot 3. Fig. 4 is a block diagram showing the electrical configuration of the yarn take-off facility 1.

[0029] The yarn take-off device 2 takes up a plurality of yarns Y spun from a spinning device (not shown) and winds them onto a plurality of bobbins B to form a plurality of packages P. More specifically, the yarn take-off device 2 sends the plurality of yarns Y spun from a spinning device (not shown) to a winding unit 13 by a first godet roller 11 and a second godet roller 12, and the winding unit 13 winds the yarns onto a plurality of bobbins B to form a plurality of packages P.

[0030] The first godet roller 11 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above the front end portion of the winding unit 13. The first godet roller 11 is rotationally driven by a first godet motor 111 (see FIG. 4).

[0031] The second godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and to the rear of the first godet roller 11. The second godet roller 12 is rotationally driven by a second godet motor 112 (see FIG. 4). The second godet roller 12 is supported movably on a guide rail 14. The guide rail 14 extends obliquely so as to be positioned higher toward the rear. The second godet roller 12 is configured to be movable along the guide rail 14 by a cylinder 113 (see FIG. 4). As a result, the second godet roller 12 is movable between a winding position (see solid line in FIG. 3) for winding the yarn Y and a threading position (see dashed line in FIG. 3) for threading, which is disposed close to the first godet roller 11.

[0032] The yarn take-off device 2 further includes an aspirator 15 and a yarn regulating guide 16. The aspirator 15 sucks and holds the multiple yarns Y spun from the spinning device before the yarn threading operation by the yarn threading robot 3. The aspirator 15 extends in the left-right direction, and a suction port 15a for sucking the yarns Y is formed at its right end. The aspirator 15 is disposed slightly above the first godet roller 11 so that the suction port 15a is located near the multiple yarns Y.

[0033] The yarn restriction guide 16 is disposed between the first godet roller 11 and the aspirator 15 in the up-down direction. The yarn restriction guide 16 is, for example, a known comb-shaped yarn guide, and determines the distance between adjacent yarns Y when a plurality of yarns Y are hooked. The yarn restriction guide 16 is configured to be movable in the left-right direction (the axial direction of the first godet roller 11) by a cylinder 114 (see FIG. 4). As a result, the yarn restriction guide 16 is movable in the left-right direction between a protruding position protruding beyond the tip of the first godet roller 11 and a retracted position within the range in which the first godet roller 11 is disposed.

[0034] The winding unit 13 includes a plurality of fulcrum guides 21 , a plurality of traverse guides 22 , a turret 23 , two bobbin holders 24 , and a contact roller 25 .

[0035] The multiple fulcrum guides 21 are provided individually for the multiple yarns Y and are arranged in the front-rear direction. The multiple traverse guides 22 are provided individually for the multiple yarns Y and are arranged in the front-rear direction. The multiple traverse guides 22 are driven by a common traverse motor 116 (see FIG. 4) and reciprocate in the front-rear direction. As a result, the yarn Y hung on the traverse guide 22 traverses around the fulcrum guide 21.

[0036] The turret 23 is a disk-shaped member whose axial direction is approximately parallel to the front-rear direction. The turret 23 is rotated by a turret motor 117 (see FIG. 4). The two bobbin holders 24 each have an axial direction approximately parallel to the front-rear direction, and are rotatably supported at the upper and lower ends of the turret 23. A plurality of bobbins B, which are individually provided for a plurality of yarns Y, are attached to each of the bobbin holders 24 in a line in the front-rear direction. Each of the two bobbin holders 24 is rotated by an individual winding motor 118 (see FIG. 4).

[0037] When the upper bobbin holder 24 is rotated, the yarn Y traversed by the traverse guide 22 is wound onto the bobbin B to form a package P. When the package P is fully wound, the turret 23 is rotated to switch the upper and lower positions of the two bobbin holders 24. As a result, the bobbin holder 24 that was previously located on the lower side moves to the upper side, and the yarn Y is wound onto the bobbin B attached to this bobbin holder 24 to form a package P. The bobbin holder 24 that was previously located on the upper side moves to the lower side, and the package P is collected by a package collection device (not shown).

[0038] The contact roller 25 is a roller whose axial direction is approximately parallel to the front-rear direction, and is disposed immediately above the upper bobbin holder 24. The contact roller 25 comes into contact with the surfaces of the multiple packages P supported by the upper bobbin holder 24, thereby applying contact pressure to the surfaces of the packages P during winding, thereby shaping the packages P.

[0039] The threading robot 3 performs threading work on the multiple yarn take-off devices 2. The detailed configuration of the threading robot 3 will be described later.

[0040] (Centralized control device) The centralized control device 4 is a device for controlling the entire spinning take-up facility 1. FIG. 4 is a diagram showing the electrical configuration of the spinning take-up facility 1. The centralized control device 4 has an operation unit 4a for an operator to perform various settings, and a display unit 4b for displaying a screen for assisting the settings and a screen showing the status of each unit (see FIG. 1). As shown in FIG. 4, each spinning take-up device 2 is provided with a winding control device 101, which controls the operation of each drive unit provided in the spinning take-up device 2. The threading robot 3 is provided with a robot control device 102, which controls the operation of each drive unit provided in the threading robot 3.

[0041] The centralized control device 4 is connected to each winding control device 101 and the robot control device 102 wirelessly or via wired communication. A detection signal from an encoder 123 provided on the yarn threading robot 3 is input to the centralized control device 4. The centralized control device 4 also controls the opening and closing of an on-off valve 75 provided on each sub-hose 71b of the facility-side compressed air supply path 71.

[0042] (Compressed air supply route and waste yarn route) The spinning take-up equipment 1 is provided with a compressed air supply path 7 for supplying compressed air from the compressed air supply unit 5 to the suction 37 of the yarn threading robot 3, and a waste yarn path 8 for disposing of the yarn Y from the suction 37 to the waste yarn box 6. The compressed air supply path 7 is indicated by a two-dot chain line in Fig. 1. The waste yarn path 8 is indicated by a one-dot chain line in Fig. 1.

[0043] The compressed air supply path 7 is divided into a facility-side compressed air supply path 71 extending from the compressed air supply unit 5 to the multiple spinning take-off devices 2, and a robot-side compressed air supply path 72 disposed in the threading robot 3. Similarly, the waste yarn path 8 is divided into a facility-side waste yarn path 81 extending from the multiple spinning take-off devices 2 to the waste yarn box 6, and a robot-side waste yarn path 82 disposed in the threading robot 3. The facility-side compressed air supply path 71 and the robot-side compressed air supply path 72, and the facility-side waste yarn path 81 and the robot-side waste yarn path 82 are attached and detached by a coupling device 9 consisting of a facility-side connection unit 40 and a robot-side connection unit 34. The coupling device 9 will be described later.

[0044] 1, the facility-side compressed air supply path 71 is composed of a main hose 71a connected to the compressed air supply unit 5 and a plurality of sub-hoses 71b branching from the main hose 71a toward a plurality of spinning take-off devices 2. A facility-side connection unit 40 is provided at the downstream end of each sub-hose 71b, and a robot-side connection unit 34 is provided at the upstream end of the robot-side compressed air supply path 72. An on-off valve 75 controllable by the centralized control device 4 is provided midway along each sub-hose 71b. The pressure of the compressed air in the main hose 71a is, for example, 1.4 MPa.

[0045] 1, the facility-side waste yarn path 81 is composed of a main hose 81a connected to the waste yarn box 6, and a plurality of sub-hoses 81b branching from the main hose 81a toward the plurality of yarn take-up devices 2. The facility-side connection unit 40 is provided at the upstream end of each sub-hose 81b, and the robot-side waste yarn path 82 is provided at the downstream end thereof with the robot-side connection unit 34. The pressure of the compressed air in the main hose 81a is, for example, 0.6 MPa.

[0046] When the robot-side connection unit 34 provided on the yarn threading robot 3 is connected to any one of the facility-side connection units 40 provided at a position corresponding to each spinning take-up device 2, the facility-side compressed air supply path 71 and the robot-side compressed air supply path 72 are connected, and the facility-side waste yarn path 81 and the robot-side waste yarn path 82 are connected. This makes it possible to supply compressed air from the compressed air supply unit 5 to the suction 37, and to discard the yarn Y from the suction 37 to the waste yarn box 6.

[0047] In this embodiment, when the robot side connection unit 34 is connected to any one of the facility side connection units 40, the compressed air supplied from the compressed air supply unit 5 to the suction 37 passes through the compressed air supply path 7 and the waste yarn path 8 in this order, and is sent to the waste yarn box 6. More specifically, the compressed air supplied from the compressed air supply unit 5 passes through the facility side compressed air supply path 71, the robot side compressed air supply path 72, the robot side waste yarn path 82, and the facility side waste yarn path 81 in this order, and is sent to the waste yarn box 6. Thus, the compressed air supply path 7 and the waste yarn path 8 are portions through which the compressed air supplied from the compressed air supply unit 5 passes in order to generate negative pressure at the suction port 37c of the suction 37. That is, the compressed air supply path 7 and the waste yarn path 8 correspond to the compressed air passing portion of the present invention.

[0048] In this embodiment, the multiple yarns Y sucked by the suction 37 are sent to the waste yarn box 6 through the waste yarn path 8. In other words, the waste yarn path 8 sucks the multiple yarns Y sucked into the suction port 37c of the suction 37. That is, the waste yarn path 8 corresponds to the waste yarn section of the present invention.

[0049] (Coupling device) Next, the coupling device 9 will be described. As shown in FIG. 1, the coupling device 9 is configured to have a facility-side connection unit 40 and a robot-side connection unit 34. A plurality of facility-side connection units 40 are provided corresponding to each of the spinning take-up devices 2. Each facility-side connection unit 40 is disposed near each of the spinning take-up devices 2. More specifically, each facility-side connection unit 40 is fixed to the guide rail 35 in a state in which it is disposed between two guide rails 35 in the front and rear above the winding unit 13 of each of the spinning take-up devices 2. These two guide rails 35 are disposed in front of the plurality of spinning take-up devices 2 with a gap therebetween in the front-rear direction, and extend in the left-right direction across the plurality of spinning take-up devices 2. The robot-side connection unit 34 is attached to the upper surface of the main body 31 (described later) of the threading robot 3 so as to be located below the facility-side connection unit 40 (see FIG. 3).

[0050] 6 is a side view of the coupling device 9. The facility-side connection unit 40 is provided with a facility-side joint 73 to which the facility-side compressed air supply path 71 is connected, and a facility-side joint 83 to which the facility-side waste yarn path 81 is connected. On the other hand, the robot-side connection unit 34 is provided with a robot-side joint 74 to which the robot-side compressed air supply path 72 is connected, and a robot-side joint 84 to which the robot-side waste yarn path 82 is connected. The facility-side joint 73 and the robot-side joint 74 are connected to each other, thereby connecting the facility-side compressed air supply path 71 and the robot-side compressed air supply path 72. The facility-side joint 83 and the robot-side joint 84 are connected to each other, thereby connecting the facility-side waste yarn path 81 and the robot-side waste yarn path 82.

[0051] The equipment side connection unit 40 has two fixing members 41 each fixed to the guide rail 35, a plate-shaped fixed base 42 arranged approximately horizontally between the two fixing members 41 and fixed to the fixing members 41, and equipment side joints 73, 83 attached to the fixed base 42.

[0052] The facility-side joints 73, 83 are fixed in a state where they are inserted into mounting holes (not shown) formed in the fixed base 42 so that their respective axial directions are approximately parallel to the up-down direction. The portions of the facility-side joints 73, 83 protruding downward from the fixed base 42 are inserted into and connected to the robot-side joints 74, 84, respectively. The portions of the facility-side joints 73, 83 protruding upward from the fixed base 42 are connected to the facility-side compressed air supply path 71 (sub-hose 71b) and the facility-side waste yarn path 81 (sub-hose 81b), respectively.

[0053] The robot side connection unit 34 has a plate-shaped base member 51 fixed to the upper surface of the main body 31 of the yarn threading robot 3, two rod-shaped guide members 52 extending upward from the base member 51, two slide members 53 fitted onto the two guide members 52 so as to be movable in the vertical direction, a plate-shaped first support member 54 fixed approximately horizontally to the two slide members 53, two pin members 55 extending upward from the first support member 54, a plate-shaped second support member 56 fixed approximately horizontally to the two pin members 55, and a cylinder 57 attached to the underside of the first support member 54.

[0054] The robot-side joints 74, 84 are fixed in a state where they are inserted into mounting holes (not shown) formed in the second support member 56 so that their axial directions are approximately parallel to the up-down direction. Of the robot-side joints 74, 84, the parts protruding upward from the second support member 56 are the parts into which the facility-side joints 73, 83 are inserted and connected, respectively. Of the robot-side joints 74, 84, the parts protruding downward from the second support member 56 are the parts into which the robot-side compressed air supply path 72 and the robot-side waste yarn path 82 are connected, respectively.

[0055] Then, when the first support member 54 is moved upward by the cylinder 57 in a state in which the equipment-side joint 73 and the robot-side joint 74 face each other and the equipment-side joint 83 and the robot-side joint 84 face each other, the robot-side joints 74, 84 fixed to the second support member 56 move upward integrally with the first support member 54. This causes the equipment-side joints 73, 83 to be inserted relatively into the robot-side joints 74, 84. As a result, the equipment-side joint 73 and the robot-side joint 74 are connected, and the equipment-side joint 83 and the robot-side joint 84 are connected.

[0056] (Threading robot) Next, a description will be given of the threading robot 3. The threading robot 3 has a main body 31, a robot arm 32, and a threading unit 33.

[0057] The main body 31 is configured to have a substantially rectangular parallelepiped shape. Inside the main body 31, a robot control device 102 (see FIG. 4) for controlling the operation of the robot arm 32 and the threading unit 33, and the like are mounted. As shown in FIGS. 2 and 3, the main body 31 is suspended from two guide rails 35 and is movable in the left-right direction along the two guide rails 35. As described above, the two guide rails 35 are arranged in front of the multiple yarn take-up devices 2 with a gap therebetween in the front-rear direction, and extend in the left-right direction across the multiple yarn take-up devices 2. In other words, the threading robot 3 is configured to be movable in the left-right direction in front of the multiple yarn take-up devices 2.

[0058] As shown in Fig. 3, four wheels 36 are provided on the upper end of the main body 31. Two of the four wheels 36 are disposed on the upper surface of each guide rail 35. The four wheels 36 are rotated by a movement motor 121 (see Fig. 4), and the main body 31 moves in the left-right direction along the two guide rails 35 as a result of the four wheels 36 being rotated. Note that, in order to determine the position of the threading robot 3 in the left-right direction, the threading robot 3 is provided with an encoder 123 (see Fig. 4) that detects the left-right position of the threading robot 3.

[0059] The robot arm 32 is attached to the bottom surface of the main body 31. The robot arm 32 has a plurality of arms 32a and a plurality of joints 32b that connect the arms 32a to each other. An arm motor 122 (see FIG. 4) is built into each joint 32b, and when the arm motor 122 is driven, the arm 32a swings about the joint 32b. This allows the robot arm 32 to operate three-dimensionally.

[0060] The threading unit 33 is attached to the tip of the robot arm 32. The threading unit 33 is provided with a suction 37 for sucking and holding the yarn Y, and a cutter 38 for cutting the yarn Y.

[0061] 5 is a cross-sectional view of the suction 37. The suction 37 has a suction tube 37a extending linearly and a compressed air tube 37b integrally connected to a mid-way portion of the suction tube 37a. One end of the suction tube 37a is a suction port 37c for sucking the yarn Y. The other end of the suction tube 37a is connected to a robot-side waste yarn path 82. One end of the compressed air tube 37b is connected to the suction tube 37a via a communication hole 37d. The other end of the compressed air tube 37b is connected to a robot-side compressed air supply path 72. The communication hole 37d is formed obliquely with respect to the suction tube 37a so that the closer it is to the suction tube 37a, the closer it is to the other end of the suction tube 37a.

[0062] In the suction 37 configured in this manner, the compressed air flowing from the compressed air tube 37b into the suction tube 37a flows from one end to the other end of the suction tube 37a, as shown by the arrows in Fig. 5. This flow generates negative pressure at the suction port 37c, making it possible to suck the yarn Y through the suction port 37c. The yarn Y sucked through the suction port 37c is discharged directly to the robot-side waste yarn path 82 by the air flow inside the suction tube 37a. The yarn threading robot 3 performs the threading operation while sucking and holding the yarn Y with the suction 37.

[0063] Furthermore, the yarn threading robot 3 has a robot-side coupling unit 34 which constitutes a part of the coupling device 9 described above.

[0064] As shown in FIG. 7, the threading robot 3 has an air cylinder 124 for moving the suction gun 37, and a branched supply path 90 (supply path of the present invention) for supplying compressed air from the compressed air supply unit 5 to the air cylinder 124. The air cylinder 124 is driven by compressed air and corresponds to the driven part of the present invention. The air cylinder 124 is driven to slide the suction gun 37 along a rail (not shown). This allows the suction gun 37 to extend and retract along the extension direction of the rail (not shown). Note that the spinning take-up device 2 is not shown in FIG. 7. For the sake of explanation, only one sub-hose 71b of the multiple sub-hoses 71b and only one sub-hose 81b of the multiple sub-hoses 81b are shown in FIG. 7. Furthermore, the robot arm 32 is not shown in FIG. 7.

[0065] 7, the branch supply path 90 is connected to a midway portion of the robot side compressed air supply path 72. That is, one end of the branch supply path 90 is connected to a midway portion of the robot side compressed air supply path 72, and the other end of the branch supply path 90 is connected to the air cylinder 124.

[0066] A regulator 91 and an air separator 92 are disposed in the branch supply path 90. The regulator 91 is disposed downstream of the air separator 92. The regulator 91 is for adjusting the pressure of the compressed air passing through the branch supply path 90. Specifically, the regulator 91 is for reducing the pressure of the compressed air to a constant pressure. For example, the pressure of the compressed air passing downstream of the regulator 91 in the branch supply path 90 is adjusted to 0.1 MPa by the regulator 91.

[0067] The air separator 92 has a separation section 92a and a storage section 92b. The separation section 92a is for separating liquid and dust contained in the compressed air passing through the branch supply path 90. The separation section 92a separates liquid and relatively large dust from the air, for example, by using a cyclone effect, and removes fine foreign matter using an internal element, thereby sending clean compressed air downstream. The storage section 92b stores the liquid and dust separated by the separation section 92a. A discharge port 92c is provided at the bottom of the storage section 92b for discharging the liquid in the storage section 92b to the outside. The liquid and dust separated by the separation section 92a include, for example, moisture and oil, and dust in the compressed air.

[0068] The storage section 92b is connected to the middle part of the robot side waste yarn path 82 via the connection path 93. Specifically, one end of the connection path 93 is connected to the discharge port 92c, and the other end of the connection path 93 is connected to the middle part of the robot side waste yarn path 82. Although not shown, it is preferable that one end of the connection path 93 is located higher than the other end. The connection path 93 is, for example, a resin tube. As described above, the waste yarn path 8 sucks in a plurality of yarns Y sucked into the suction port 37c of the suction 37. In other words, the robot side waste yarn path 82, which is the waste yarn path 8, has a suction force that sucks in the compressed air on the upstream side. Therefore, the liquid stored in the storage section 92b connected to the robot side waste yarn path 82 is sucked by the suction force of the robot side waste yarn path 82. That is, the robot side waste yarn path 82 of this embodiment is capable of sucking in the liquid stored in the storage section 92b, and corresponds to the suction section of the present invention. Furthermore, the suction section of this embodiment is capable of sucking up the dust stored in the storage section 92b together with the liquid.

[0069] (effect) The spinning take-off facility 1 of this embodiment includes a spinning take-off device 2, a threading robot 3, a compressed air supply unit 5 for supplying compressed air to the threading robot 3, an air cylinder 124 (driven unit) driven by compressed air, a branch supply path 90 (supply path) for supplying compressed air from the compressed air supply unit 5 to the air cylinder 124, and an air separator 92 arranged in the branch supply path 90. The air separator 92 has a separation unit 92a that separates liquid contained in the compressed air passing through the branch supply path 90, and a storage unit 92b that stores the liquid separated by the separation unit 92a. The spinning take-off facility 1 further includes a robot-side waste yarn path 82 as a suction unit capable of sucking the liquid stored in the storage unit 92b. According to this embodiment, the liquid accumulated in the storage unit 92b of the air separator 92 as the compressed air from the compressed air supply unit 5 is supplied to the air cylinder 124 is sucked by the robot-side waste yarn path 82. This eliminates the need for an operator to manually drain the liquid inside the air separator 92. Therefore, the liquid inside the air separator 92 can be efficiently drained.

[0070] In the spinning take-up equipment 1 of this embodiment, the yarn threading robot 3 has a suction 37 that sucks and holds the multiple yarns Y, and has a compressed air supply path 7 and a waste yarn path 8 (compressed air passage section) through which compressed air supplied from the compressed air supply unit 5 passes in order to generate a negative pressure for sucking the multiple yarns Y into the suction 37. The suction section capable of sucking the liquid stored in the storage section 92b is the robot-side waste yarn path 82. According to this, by using the robot-side waste yarn path 82 through which compressed air passes to generate a negative pressure for sucking the multiple yarns Y into the suction 37 as the suction section, it is not necessary to separately provide a configuration for sucking the liquid in the storage section 92b of the air separator 92. This can simplify the device configuration.

[0071] In the spinning take-up equipment 1 of this embodiment, the suction section is the robot-side waste yarn path 82 of the waste yarn path 8 that sucks in a plurality of yarns Y sucked by the suction 37. The robot-side waste yarn path 82 is a portion that sucks in the yarns Y sucked by the suction 37. In the robot-side waste yarn path 82, the yarns Y sucked by the suction 37 and the compressed air that has passed through the suction 37 pass. Therefore, the liquid sucked into the robot-side waste yarn path 82 does not pass through the suction 37 thereafter, and the suction 37 can be prevented from being contaminated by the liquid.

[0072] In the spinning take-up equipment 1 of the present embodiment, the driven part is the air cylinder 124 for operating the suction 37. With this, the air separator 92, which separates the liquid contained in the compressed air supplied to the air cylinder 124 for operating the suction 37, can efficiently discharge the liquid accumulated in the storage part 92b.

[0073] Furthermore, the spinning take-up equipment 1 of this embodiment has a compressed air supply path 7 for supplying compressed air from the compressed air supply unit 5 to the suction 37. The branch supply path 90 is connected to the middle part of the robot side compressed air supply path 72 of the compressed air supply path 7. According to this embodiment, a part of the compressed air supplied to the suction is supplied to the driven part by the branch supply path 90 connected to the middle part of the robot side compressed air supply path 72 of the compressed air supply path 7. Therefore, compressed air can be supplied to the air cylinder 124 and the suction 37 by a single compressed air supply unit 5, and it is not necessary to provide two compressed air supply units 5 to supply compressed air to the air cylinder 124 and the suction 37. This makes it possible to suppress the size of the entire device from increasing.

[0074] Furthermore, in the yarn take-up equipment 1 of this embodiment, a plurality of the yarn take-up devices 2 are arranged in the left-right direction. The threading robot 3 is movable in the left-right direction and performs threading work on the plurality of the yarn take-up devices 2. In a configuration in which the threading robot 3 moves in the left-right direction, when an operator tries to drain the liquid in the air separator 92, the operator must move to the position of the threading robot 3. This makes the liquid draining work even more troublesome. In such a configuration, this embodiment, which provides a robot-side waste yarn path 82 that sucks the liquid in the air separator 92, is more effective.

[0075] (Modification) Modifications of the above embodiment will be described below, with the same reference numerals being used to designate components similar to those in the above embodiment, and descriptions thereof will be omitted where appropriate.

[0076] In the above embodiment, the storage section 92b is connected to a middle part of the robot side waste yarn path 82. The robot side waste yarn path 82 can suck the liquid stored in the storage section 92b. However, the storage section 92b may be connected to a middle part of the robot side compressed air supply path 72. In this case, the storage section 92b is connected to a part of the robot side compressed air supply path 72 downstream of the connection part with the branch supply path 90. In this case, the robot side compressed air supply path 72 corresponds to the suction section of the present invention. By using the part of the robot side compressed air supply path 72 downstream of the connection part with the branch supply path 90 (the middle part of the present invention) as the suction section, the liquid in the storage section 92b once sucked into the robot side compressed air supply path 72 does not pass through the connection part again and enter the storage section 92b. This makes it possible to more efficiently discharge the liquid in the storage section 92b. The reservoir 92b may be connected to a suction section provided separately from the compressed air supply path 7 and the waste yarn path 8 for sucking the liquid in the reservoir 92b.

[0077] In the above embodiment, the branch supply path 90 is a path for supplying compressed air from the compressed air supply unit 5 to the air cylinder 124 for moving the suction 37. That is, in the above embodiment, the driven part to which compressed air is supplied by the branch supply path 90 is the air cylinder 124. However, the driven part of the present invention is not limited to this. For example, the driven part may be an air-driven actuator attached to the tip of the robot arm 32 for operating a comb guide used when threading on a plurality of fulcrum guides 21. Alternatively, the driven part may be an air-driven actuator attached to the tip of the robot arm 32 for operating a contact roller that temporarily deposits the yarn Y sucked into the suction 37 when threading on a plurality of rollers of the spinning take-off device 2. The air-driven actuator includes an air cylinder. Furthermore, the branch supply path 90 may supply compressed air from the compressed air supply unit 5 to a plurality of driven parts. For example, the branch supply path 90 may supply compressed air to each of the air cylinder 124 for moving the suction gun and the air cylinder for operating the comb guide. In this case, the branched supply path 90 further branches midway, and each branch is connected to a plurality of driven parts.

[0078] In the above embodiment, the branched supply path 90 is connected to the middle part of the robot side compressed air supply path 72. However, the configuration of the supply path of the present invention is not limited to this. For example, the following configuration is conceivable. That is, a second compressed air supply path for supplying compressed air from the compressed air supply unit 5 to the air cylinder 124 is provided separately from the compressed air supply path 7. The second compressed air supply path is divided into an equipment side second compressed air supply path extending from the compressed air supply unit 5 to a plurality of spinning take-up devices 2, and a robot side second compressed air supply path disposed in the threading robot 3. In this case, the supply path of the present invention is the robot side second compressed air supply path. In this case, the attachment and detachment of the equipment side second compressed air supply path and the robot side second compressed air supply path is performed by the coupling device 9 of the above embodiment. In addition, in the case of a configuration in which the supply path for supplying compressed air to the air cylinder 124 is not connected to the middle part of the robot side compressed air supply path 72, the regulator 91 may not be arranged.

[0079] In the above embodiment, one end of the connection path 93 is connected to the storage section 92b, and the other end is connected to the robot-side waste yarn path 82, and the one end is located higher than the other end. However, the one end may be located lower than the other end.

[0080] In the yarn take-up facility 1 of the above embodiment, a plurality of yarn take-up devices 2 are arranged in the left-right direction. However, the yarn take-up facility 1 may be configured such that only one yarn take-up device 2 is arranged. [Explanation of symbols]

[0081] 1. Spinning take-off equipment 2. Spinning take-off device 3. Threading robot 5 Compressed air supply section 7 Compressed air supply route (compressed air passage) 8 Waste yarn path (compressed air passage, waste yarn section) 37 Suction 72 Robot side compressed air supply path (compressed air passage) 82 Robot side waste yarn path (compressed air passage section, waste yarn section) 90 Branch supply route (supply route) 91 Regulator 92 Air Separator 92a Separation part 92b Storage section 93 Connection Path Y Thread

Claims

1. A spinning take-up device; a threading robot that performs threading work on the spinning take-up device; a compressed air supply unit for supplying compressed air to the threading robot; Equipped with The threading robot includes: a driven part driven by the compressed air; a supply path for supplying the compressed air from the compressed air supply unit to the driven unit; an air separator disposed in the supply path, the air separator including a separation unit that separates a liquid contained in the compressed air passing through the supply path and a storage unit that stores the liquid separated by the separation unit; a suction unit capable of sucking the liquid stored in the storage unit; A spinning take-up facility equipped with the above.

2. the yarn threading robot has a suction mechanism for sucking and holding a plurality of yarns; a compressed air passing section through which compressed air supplied from the compressed air supply section passes in order to generate a negative pressure for sucking the plurality of yarns into the suction section, The spinning take-up facility according to claim 1, wherein the suction section is the compressed air passage section.

3. the compressed air passage portion has a compressed air supply path for supplying compressed air from the compressed air supply portion to the suction, 3. The spinning take-up facility according to claim 2, wherein the supply path is connected to an intermediate portion of the compressed air supply path.

4. The spinning take-up facility according to claim 3, wherein the suction section is a portion of the compressed air supply path downstream of the intermediate portion connected to the supply path.

5. the compressed air passage section has a waste yarn section that sucks the plurality of yarns sucked by the suction, The yarn take-up facility according to claim 2, wherein the suction section is the waste yarn section.

6. The compressed air passage section has a waste yarn section that sucks the plurality of yarns sucked by the suction, The spun yarn take-up facility according to claim 3, wherein the suction section is the waste yarn section.

7. The spinning take-up facility according to claim 2, wherein the driven part is an air cylinder for moving the suction.

8. A spinning take-up equipment as described in Claim 3, wherein the driven part is an air cylinder for moving the suction.

9. A spinning take-up equipment as described in Claim 4, wherein the driven part is an air cylinder for moving the suction.

10. A spinning take-up equipment as described in Claim 5, wherein the driven part is an air cylinder for moving the suction.

11. A spinning take-up equipment as described in Claim 6, wherein the driven part is an air cylinder for moving the suction.

12. A plurality of the spinning take-up devices are arranged in a predetermined direction, The yarn take-up facility according to any one of claims 1 to 11, wherein the yarn threading robot is movable along the predetermined direction and performs yarn threading operations on the plurality of yarn take-up devices.

13. A threading robot that performs threading work on a spinning take-up device, a driven part that is driven by compressed air supplied from an external compressed air supply part; a supply path for supplying compressed air from the compressed air supply unit to the driven unit; an air separator disposed in the supply path, the air separator including a separation unit that separates a liquid contained in the compressed air passing through the supply path and a storage unit that stores the liquid separated by the separation unit; a suction unit connected to the reservoir and capable of suctioning the liquid stored in the reservoir; A threading robot equipped with the above.

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