Yarn-loading robot and spinning and yarn-taking equipment

Abstract

To provide a thread-threading robot capable of improving the efficiency of thread threading. [Solution] The thread-threading robot 4 comprises a suction nozzle 51, a guide unit 42, and a robot arm 32. The suction nozzle 51 has a suction port 62a and is configured to suck and hold multiple threads Y while connected to a suction source via piping. The guide unit 42 is movable relative to the suction nozzle 51 and is capable of manipulating multiple threads Y and guiding them to the suction port 62a in order to thread the multiple threads Y onto the thread-threading target member. The robot arm 32 is capable of independently driving the guide unit 42 to move in any direction relative to the suction nozzle 51.

Description

[Technical Field]

[0001] The present invention relates to a threading robot and a spinning take-up equipment including the threading robot. [Background Art]

[0002] Patent Document 1 discloses a threading robot that performs a threading operation of threading yarn onto a take-up device that takes up the yarn. The threading robot includes a robot arm and a threading unit. The threading unit has a suction member formed with a suction port for sucking the yarn. The robot arm moves the threading unit, so that the yarn sucked and held by the suction member is threaded onto each part of the take-up device. A compressed air hose and a waste yarn hose are connected to the suction member. The suction member generates negative pressure at the suction port by the flow of compressed air supplied through the compressed air hose. The yarn is sucked from the suction port by the negative pressure and discharged to the waste yarn hose. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent No. 6636655 [Summary of the Invention] [Problems to be Solved by the Invention]

[0004] When the above-described threading robot moves a suction (hereinafter referred to as a suction nozzle) during threading, it is necessary to integrally move the plurality of hoses (hereinafter referred to as pipes) with the suction nozzle. For this reason, there is a problem that the operation of the suction nozzle is difficult due to the weight and / or inertial mass of the pipes, which reduces the efficiency of threading.

[0005] An object of the present invention is to provide a threading robot capable of improving threading efficiency. [Means for Solving the Problems]

[0006] The thread-threading robot of the first invention is a thread-threading robot that performs thread-threading by placing at least one thread on a thread-threading target member while it is in motion, and is characterized by comprising: a suction nozzle having a suction port for sucking up the at least one thread and configured to suck up and hold the at least one thread while connected to a suction source via piping; a thread handling unit configured to be movable relative to the suction nozzle and capable of manipulating the at least one thread and guiding it to the suction port in order to place the at least one thread on the thread-threading target member; and a robot arm configured to be able to drive the thread handling unit to move independently of the suction nozzle in any direction.

[0007] To improve the efficiency of threading, it is possible to lighten the piping. However, attempting to lighten the piping generally requires making the pipes thinner or selecting softer materials for the piping. Making the pipes thinner may reduce the amount of air that can pass through them, potentially decreasing the suction force. Using softer materials for the piping may lead to durability issues and specification problems (such as a reduction in the upper limit of suction pressure).

[0008] Therefore, in this invention, after the thread is held by suction from the suction nozzle, the thread handling unit that guides the thread can be moved independently of the suction nozzle in any direction to perform threading on the target member. In this invention, "movable in any direction" means that it can be moved in any direction along the XYZ axis in three-dimensional space. Since the thread handling unit is moved independently of the suction nozzle and piping, even if movement of the suction nozzle and piping is necessary, the distance of that movement is kept to the absolute minimum. The thread handling unit can be made smaller and lighter within the range of having the function of guiding the thread. In other words, threading can be performed mainly by moving a relatively small and light thread handling unit. Therefore, the efficiency of threading can be improved.

[0009] The thread-winding robot of the second invention is characterized in that, in the first invention, the suction nozzle is configured to be movable in a specific direction.

[0010] In this invention, the suction nozzle can be made to follow the movement of the thread handling unit as needed. By moving the suction nozzle only in a specific direction, the movement of the piping connected to the suction nozzle can be minimized.

[0011] The thread-winding robot of the third invention is characterized in that, in the second invention, it comprises a guide rail that guides the suction nozzle along a predetermined trajectory in the specific direction, and a nozzle drive source that drives the suction nozzle to move along the guide rail.

[0012] If the distance between the thread handling unit and the suction nozzle is large, the portion of the thread that travels from the thread handling unit towards the suction nozzle (hereinafter referred to as the partial thread) becomes longer. Since such a partial thread is usually exposed to the outside, there is a risk of it unintentionally getting caught on other components. For this reason, it is preferable that the thread handling unit be moved as close to the suction nozzle as possible. In this invention, by moving the suction nozzle, the suction nozzle can be positioned as close to the thread handling unit as possible. Here, since the suction nozzle is not moved freely but is driven to move along a predetermined trajectory, the influence of the weight and / or inertial mass of the piping can be suppressed as much as possible. As a result, the influence of the piping can be suppressed while moving the suction nozzle to a position as close to the thread handling unit as possible.

[0013] The thread-feeding robot of the fourth invention is characterized in that, in any of the first to third inventions, the thread handling unit has a surrounding portion that surrounds a portion of the at least one thread in the suction direction in which the at least one thread is sucked up, and is capable of operating the at least one thread and guiding it to the suction port.

[0014] In this invention, regardless of how the thread handling unit is moved parallel or rotated, the thread can be reliably guided to the suction port by making contact with some part of the surrounding unit. This reduces the constraints on how the thread handling unit is moved during threading. Therefore, the efficiency of threading can be improved.

[0015] The fifth invention, a thread-winding robot, is characterized in that, in the fourth invention, the surrounding portion has a cylindrical shape extending in a direction perpendicular to the circumferential direction surrounding the at least one thread.

[0016] The surrounding portion may have a ring shape, for example, but in that case, it may be difficult to insert the surrounding portion into a narrow and deep place. Therefore, in a configuration where the member to be threaded is placed in such a place, threading may become difficult. In this regard, the present invention has a cylindrical shape in which the surrounding portion extends in a direction perpendicular to the circumferential direction surrounding the thread. Therefore, for example, by operating the downstream end of the surrounding portion in the suction direction, the upstream end of the surrounding portion in the suction direction can be inserted into a narrow and deep place relatively easily. Thus, the efficiency of threading can be improved.

[0017] The thread-feeding robot of the sixth invention is characterized in that, in the fourth or fifth invention, the thread handling unit is configured to be able to switch between a partially overlapping state in which the space occupied by the thread handling unit partially overlaps with the space occupied by the suction nozzle and a non-overlapping state in which the partially overlapping state is released, and in the non-overlapping state, it is able to move in any direction independently of the suction nozzle and can operate the thread and guide it to the suction port, and the thread handling unit is in the enclosed state when the thread handling unit is in the partially overlapping state and the suction nozzle is holding at least one thread by suction.

[0018] The occupied space in this invention is defined by the external shape of an object. For example, when a cylindrical object is partially contained inside another cylindrical object, the occupied space of one object and the occupied space of the other object are defined as partially overlapping. In this invention, by setting the thread manipulation unit to a partially overlapping state before suctioning and holding the thread, the thread held by the suction nozzle can be surrounded by the thread manipulation unit. Subsequently, by further disabling the overlap of the thread manipulation unit, the thread can be manipulated and guided by the thread manipulation unit while maintaining the surrounding state. As a result, the thread manipulation unit can begin to change the thread path immediately after switching from the partially overlapping state to the disabling state. Therefore, the efficiency of threading can be improved.

[0019] The thread-winding robot of the seventh invention is characterized in that, in the sixth invention, the thread handling unit in the partially overlapping state surrounds the suction nozzle and is held by the robot arm in a non-contact state with the suction nozzle.

[0020] The suction nozzle is prone to vibration because it is connected to the suction source. If the thread handling section surrounds the suction nozzle in contact with its outer surface, vibrations can be transmitted to the robot arm via the thread handling section, potentially shortening the robot arm's lifespan (causing malfunctions, etc.). In this invention, the thread handling section surrounds the suction nozzle without contacting it. Therefore, the transmission of vibrations from the suction nozzle to the robot arm via the thread handling section can be effectively suppressed.

[0021] The thread-winding robot of the eighth invention is characterized in that, in the seventh invention, the suction nozzle extends in the longitudinal direction and protrudes toward the tip in the longitudinal direction from the thread handling section which is in the partially overlapping state.

[0022] In this invention, since the suction nozzle protrudes from the tip side in the longitudinal direction relative to the thread handling section, the thread can be directly sucked and captured by the suction nozzle without contacting the thread handling section. This ensures that the thread can be reliably and smoothly sucked and captured by the suction nozzle.

[0023] A threading robot according to a ninth invention is characterized in that, in any one of the first to fifth inventions, the yarn operating unit is configured to be switchable between a partially overlapping state where the space occupied by the yarn operating unit partially overlaps the space occupied by the suction nozzle and an overlapping released state where the partially overlapping state is released, and in the removed state, the yarn operating unit is movable in any direction independently of the suction nozzle, can operate the yarn and can guide the yarn to the suction port.

[0024] In the present invention, the threading robot can be made compact by keeping the yarn operating unit in the partially overlapping state except during threading.

[0025] A threading robot according to a tenth invention is characterized in that, in the sixth or ninth invention, the yarn operating unit is configured to be detachable from the suction nozzle, the partially overlapping state is an attached state where the yarn operating unit is attached to the suction nozzle, and the overlapping released state is a removed state where the yarn operating unit is removed from the suction nozzle.

[0026] In the present invention, the yarn operating unit can be stably held by attaching the yarn operating unit to the suction nozzle except during threading.

[0027] A threading robot according to an eleventh invention is characterized in that, in the tenth invention, the suction nozzle comprises: a nozzle body extending in a longitudinal direction and allowing the at least one yarn to pass through in the longitudinal direction; and a fitting portion disposed on an upstream side of the nozzle body in a suction direction in which the at least one yarn is sucked, having the suction port, extending in the longitudinal direction and configured to be fitted with the yarn operating unit, wherein the attached state is a state where the yarn operating unit is fitted with the fitting portion, the removed state is a state where fitting of the yarn operating unit with the fitting portion is released, and the yarn operating unit is configured to be switched between the attached state and the removed state by being moved in the longitudinal direction.

[0028] In this invention, the thread handling part can be removed from the suction nozzle by a simple operation of pulling it out from the suction nozzle in the longitudinal direction while it is attached. Furthermore, the thread handling part can be attached to the suction nozzle by a simple operation of fitting the detached thread handling part back into the suction nozzle. Therefore, the efficiency of threading operations can be improved.

[0029] The 12th invention, a thread-winding robot, is characterized in that, in the 10th or 11th invention, the thread handling unit is configured to be attracted to the suction nozzle by magnetic force.

[0030] In this invention, the thread handling unit can be attached to the suction nozzle with strong force using magnetic force. This prevents the thread handling unit from unintentionally detaching from the suction nozzle while attached.

[0031] The thirteenth invention, a thread-winding robot, is characterized in that, in any of the first to twelfth inventions, the thread handling unit is attached to the robot arm.

[0032] The robot arm may be configured to hold the thread handling unit only when it is being driven to move the unit. However, in such a configuration, an action is required to hold the thread handling unit, which may reduce the efficiency of threading. In the present invention, the thread handling unit is always held by the robot arm, so the above action is unnecessary. Therefore, a decrease in threading efficiency can be suppressed.

[0033] The thread-winding robot of the 14th invention is characterized in that, in any of the 1st to 13th inventions, the thread handling unit is electrically connected via an earth wire to a grounding member for dissipating electric charge to ground, at least during thread winding.

[0034] Static electricity problems can occur due to frictional charging between the thread handling part and the thread. In this invention, the charge that may accumulate in the thread handling part can be discharged to the ground via the earth wire and grounding member. Therefore, the thread handling part can be effectively statically discharged.

[0035] The thread-winding robot of the 15th invention is characterized in that, in the 14th invention, the grounding member includes the suction nozzle.

[0036] If the grounding wire is long, there is a risk that it may interfere with other components. Also, the inertial mass of the grounding wire may hinder the accurate movement of the thread handling unit. Furthermore, to avoid the thread interfering with any component, it is preferable that the thread handling unit be used as close as possible to the suction nozzle even when it is detached. In this invention, the grounding member includes the suction nozzle. Therefore, the length of the grounding wire can be suppressed compared to cases where the grounding member is provided on a component other than the suction nozzle.

[0037] The thread-feeding robot of the 16th invention is characterized in that, in any of the 1st to 15th inventions, it comprises a thread-catching assisting unit configured to cause the suction nozzle to pull in the at least one thread that is traveling in a predetermined direction, and which is provided separately from the thread handling unit, wherein the thread-catching assisting unit comprises a thread-gathering unit configured to bring a portion of the at least one thread in the direction of travel toward the suction nozzle, and a cutting unit configured to cut the at least one thread that has been brought toward the suction nozzle by the thread-gathering unit.

[0038] In this invention, by cutting the thread located near the suction nozzle, the upstream portion of the cut thread in the direction of travel can be sucked and captured by the suction nozzle. The thread gathering section allows the thread to be gathered towards the suction nozzle without moving the suction nozzle. Furthermore, since the thread capturing assist section is provided separately from the thread handling section, an increase in the size and weight of the thread handling section can be avoided. As a result, the thread can be sucked and captured by the suction nozzle while suppressing a deterioration in thread handling efficiency.

[0039] The thread-winding robot of the 17th invention is characterized in that, in any of the 1st to 16th inventions, the thread handling unit is configured to be able to handle multiple threads as at least one thread and to guide them to the suction port.

[0040] In configurations handling multiple threads, a strong suction force is required to hold and retain them. Therefore, to stably generate a strong suction force, it may be necessary to make the piping thicker and more robust. In such configurations, the thread handling unit of the present invention is particularly effective.

[0041] The spinning take-up equipment of the 18th invention is characterized by comprising a yarn-throwing robot according to any of the 1st to 17th inventions, and a spinning take-up machine having the yarn-throwing target member and taking up the at least one yarn spun from the spinning device.

[0042] This invention can improve the efficiency of threading yarn onto the spinning machine.

[0043] The spinning and drawing equipment of the 19th invention is characterized in that, in the 18th invention, a plurality of spinning and drawing machines are arranged in a line in the direction of arrangement, and the yarn-throwing robot is configured to be movable along the direction of arrangement.

[0044] In configurations where a single yarn-loading robot needs to load yarn onto multiple spinning take-up machines, the present invention is particularly effective in improving the efficiency of yarn loading onto each spinning take-up machine. [Brief explanation of the drawing]

[0045] [Figure 1] This is a front view of a spinning and taking-up equipment equipped with a yarn-loading robot according to this embodiment. [Figure 2] This is a side view of the spinning and drawing equipment. [Figure 3] This is a block diagram showing the electrical configuration of a yarn drawing machine. [Figure 4] (a) and (b) are explanatory diagrams showing the movement of the support guide. [Figure 5](a) and (b) are diagrams showing the configuration of the threading unit and its surroundings. [Figure 6] Figures (a) to (c) show the suction unit and the guide unit. [Figure 7] This is a diagram showing a comb tooth guide unit. [Figure 8] This is a diagram showing the comb tooth guide. [Figure 9] (a) and (b) are diagrams showing the lifting drive unit and its surrounding configuration. [Figure 10] Figures (a) through (e) show the steps for threading the string. [Figure 11] (a) and (b) are diagrams showing the procedure for threading the string. [Figure 12] This diagram shows the procedure for threading the string. [Figure 13] (a) and (b) are diagrams showing a modified version of the string-engaging robot. [Figure 14] Figures (a) to (e) show the procedure for threading the modified version described above. [Figure 15] (a) to (c) are diagrams showing a stringing unit relating to another modification. [Modes for carrying out the invention]

[0046] Next, an embodiment of the present invention (hereinafter referred to as "this embodiment") will be described. For the sake of explanation, the directions shown in Figures 1 and 2 will be defined as the vertical direction, the left-right direction, and the front-back direction. The vertical direction is the vertical direction in which gravity acts. The left-right direction is perpendicular to the vertical direction and is the direction in which the spinning drawers 3, which will be described later, are arranged side by side. The left-right direction corresponds to the arrangement direction of the present invention. The front-back direction is perpendicular to both the vertical direction and the left-right direction. In addition, the direction in which the yarn Y travels will be referred to as the yarn travel direction.

[0047] (Spinning and drawing equipment) The configuration of the spinning take-up equipment 1 according to this embodiment will be described with reference to Figure 1. Figure 1 is a front view of the spinning take-up equipment 1. As shown in Figure 1, the spinning take-up equipment 1 comprises a plurality of spinning take-up positions TP, a yarn-loading robot 4, and a central control device 100 (see Figure 3). Each of the plurality of spinning take-up positions TP comprises a spinning device 2, a spinning take-up machine 3, an aspirator 11, and a position control device CP (see Figure 3). The plurality of spinning take-up positions TP are arranged in the left-right direction. Therefore, the plurality of spinning devices 2, the plurality of spinning take-up machines 3, and the plurality of aspirators 11 provided in the spinning take-up equipment 1 are also arranged in the left-right direction. Each spinning device 2 spins a plurality of yarns Y (for example, 12). In the plurality of spinning take-up positions TP, the plurality of spinning take-up machines 3 are provided corresponding to each of the plurality of spinning devices 2. Each spinning take-up machine 3 is located below the corresponding spinning device 2. Each spinning take-up machine 3 takes up multiple threads Y spun from the corresponding spinning device 2 and winds them onto multiple bobbins B (for example, 12) to form multiple packages P. The thread-loading robot 4 moves along rails 5 that extend in the left-right direction and loads the multiple threads Y onto the spinning take-up machine 3.

[0048] The central control unit 100 (see Figure 3) is a general-purpose computer device having, for example, a CPU, ROM, and RAM. The central control unit 100 is electrically connected to multiple position control devices CP and yarn-loading control devices 102 (see Figure 3). Each position control device CP is electrically connected to its corresponding machine stand control device 101 (see Figure 3) and controls the corresponding aspirator 11. The position control devices CP are electrically connected to the central control unit 100 (see Figure 3) and communicate with the central control unit 100. Each machine stand control device 101 is a device that controls its corresponding spinning take-up machine 3. The yarn-loading control device 102 is a device that controls the yarn-loading robot 4. The central control unit 100 works in conjunction with the position control devices CP and yarn-loading control devices 102 to comprehensively control the entire spinning take-up facility 1.

[0049] (Aspirator) As shown in Figure 2, the aspirator 11 is positioned on the front end side of the spinning take-up machine 3. The aspirator 11 is configured to pre-suction and hold multiple yarns Y spun from the spinning device 2 before the yarn is loaded onto the spinning take-up machine 3. The aspirator 11 is positioned between the spinning device 2 and the first godet roller 13 (described later) in the yarn travel direction.

[0050] (Spinning machine) Next, the configuration of the spinning take-up machine 3 will be explained with reference to Figures 2 and 3. Figure 2 is a side view of the spinning take-up equipment 1. Figure 3 is a block diagram showing the electrical configuration of the spinning take-up equipment 1. As shown in Figure 2, the spinning take-up machine 3 includes a regulating guide 12, a first godet roller 13, a second godet roller 14, and a winding section 15. The regulating guide 12, the first godet roller 13, the second godet roller 14, and the winding section 15 (the pivot guide 21, which will be described later) are included in the yarn-hanging target members of the present invention.

[0051] The restricting guide 12 is, for example, a known comb-shaped thread guide. As shown in Figure 2, the restricting guide 12 is positioned below the aspirator 11. The restricting guide 12 is configured to arrange multiple threads Y side by side in the left-right direction. The restricting guide 12 restricts the movement of the multiple threads Y in the left-right direction so that the spacing between the multiple threads Y is defined as a predetermined spacing.

[0052] The first godet roller 13 is a roller whose axial direction is approximately parallel to the left-right direction. As shown in Figure 2, the first godet roller 13 is located below the regulating guide 12. The first godet roller 13 is rotationally driven by a motor (not shown) to feed the yarn Y downstream in the yarn travel direction.

[0053] The second godet roller 14 is a roller whose axial direction is substantially parallel to the left-right direction. As shown in Figure 2, the second godet roller 14 is positioned above and behind the first godet roller 13. The second godet roller 14 is rotationally driven by a motor (not shown) to feed the yarn Y downstream in the yarn travel direction. The second godet roller 14 is movably supported on a guide rail 16. The guide rail 16 extends diagonally upward and backward from the vicinity of the first godet roller 13 and movably supports the second godet roller 14. The second godet roller 14 is driven to move along the guide rail 16 by a moving mechanism including, for example, a roller moving motor 112 (see Figure 3). This allows the second godet roller 14 to move between the production position (see solid line in Figure 2) and the yarn threading position (see dashed line in Figure 2). The production position of the second godet roller 14 is the position for winding the thread Y onto the bobbin B. The thread-winding position of the second godet roller 14 is the position when the thread is wound onto the second godet roller 14.

[0054] The winding unit 15 is configured to wind multiple threads Y onto multiple bobbins B to form multiple packages P. As shown in Figure 2, the winding unit 15 is located below the first godet roller 13, the second godet roller 14, etc. The winding unit 15 comprises a frame 20, multiple pivot guides 21 (included in the thread-winding target members of the present invention), multiple traverse guides 22, a turret 23, two bobbin holders 24, a contact roller 25, and a machine base control device 101.

[0055] The frame 20 is a member installed, for example, on the floor of a factory, to which the components of the winding unit 15 are attached or housed. As shown in Figure 2, the frame 20 has, for example, a base portion 20a, a rear portion 20b, and an upper portion 20c. The base portion 20a is fixed to the floor and extends in the front-rear direction. The rear portion 20b is erected at the rear end of the base portion 20a. The upper portion 20c is a portion that extends forward from the upper part of the rear portion 20b.

[0056] The multiple pivot guides 21 are guides that serve as pivot points when multiple threads Y are traversed by multiple traverse guides 22. The multiple pivot guides 21 are individually provided corresponding to multiple threads Y. As shown in Figure 2, the multiple pivot guides 21 are arranged in the front-rear direction. Each of the multiple pivot guides 21 has a groove 21a that opens to the rear (see Figures 4(a) and (b)). The threads Y are held in place when they are inserted into the groove 21a from the rear of the pivot guide 21. Each pivot guide 21 has a mounting portion 21b. The mounting portion 21b is a cylindrical part that opens in the front-rear direction. The mounting portion 21b is movably mounted on the guide support 26 (see Figures 4(a) and (b)). The guide support 26 is a cylindrical member that extends in the front-rear direction. The guide support 26 is fixed, for example, to the upper part 20c of the frame 20.

[0057] The multiple pivot guides 21 are driven to move in the front-rear direction along the guide support 26 by the guide drive unit 113 (see Figure 3) when threading is performed. The guide drive unit 113 has, for example, a known air cylinder as a drive source, but is not limited to this. The guide drive unit 113 is electrically connected to the machine base control device 101. The multiple pivot guides 21 are driven to move between a distanced position (see Figure 4(a)) and a close position (see Figure 4(b)) by the guide drive unit 113. The distanced position is the position for winding multiple threads Y onto multiple bobbins B, respectively. Each of the multiple pivot guides 21 located in the distanced position is positioned directly above the corresponding bobbin B (see Figure 2). The close position is the position for threading the multiple pivot guides 21. The multiple pivot guides 21 located in the close position are clustered forward and closer to each other compared to when they are located in the distanced position.

[0058] Multiple traverse guides 22 are for traversing multiple threads Y, one for each thread Y. Multiple traverse guides 22 are provided individually, corresponding to multiple threads Y. Multiple traverse guides 22 are arranged in a row in the front-to-back direction. The traverse guides 22 may be, for example, known vane-type guides, but are not limited to these. The traverse guides 22 are driven by, for example, a traverse motor (not shown). The thread Y is traversed in the front-to-back direction by the traverse guides 22, with the pivot guide 21 as the pivot point.

[0059] The turret 23 is a disc-shaped member whose axial direction is approximately parallel to the front-rear direction. The turret 23 is rotationally driven by a turret motor (not shown). The turret 23 rotatably supports two bobbin holders 24.

[0060] Each of the two bobbin holders 24 is configured to rotatably hold multiple bobbins B arranged in the front-to-back direction. Each of the two bobbin holders 24 is rotatably supported by the turret 23. The two bobbin holders 24 are arranged point-symmetrically with respect to the rotation axis center of the turret 23 (see Figure 1). Each bobbin holder 24 extends along the front-to-back direction (see Figure 2). Each bobbin holder 24 supports multiple bobbins B arranged in the front-to-back direction. Each of the two bobbin holders 24 is rotationally driven by an individual winding motor (not shown). Assume a situation where multiple threads Y are wound onto multiple bobbins B held in one of the two bobbin holders 24 (see Figures 1 and 2). In this case, for the sake of explanation, one of the bobbin holders 24 will be referred to as the upper bobbin holder 24.

[0061] The contact roller 25 is a roller positioned directly above the upper bobbin holder 24. The axial direction of the contact roller 25 is approximately parallel to the front-rear direction. The contact roller 25 contacts the surfaces of multiple packages P supported by the upper bobbin holder 24. As a result, the contact roller 25 applies contact pressure to the surfaces of the multiple packages P during winding, thereby shaping each package P.

[0062] The machine base control device 101 (see Figure 3) includes a CPU, ROM, RAM, etc. The machine base control device 101 is configured to control the operation of the roller moving motor 112, etc. The machine base control device 101 is electrically connected to the position control device CP and communicates with the position control device CP.

[0063] In the winding unit 15 having the above configuration, when the upper bobbin holder 24 is rotated, the yarn Y spun by the traverse guide 22 is wound onto the corresponding bobbin B to form a package P. When multiple packages P are fully wound, the turret 23 is rotated, and the upper and lower positions of the two bobbin holders 24 are swapped. As a result, the bobbin holder 24 that was in the lower position moves to the upper position. Multiple yarn Ys are wound onto multiple empty bobbins B mounted on the bobbin holder 24 that has moved to the upper position, thereby forming multiple new packages P. The bobbin holder 24 with the multiple fully wound packages P mounted on it is moved to the lower position. The multiple fully wound packages P are collected, for example, by a package collection device (not shown).

[0064] Furthermore, the winding unit 15 has an internal threading unit 114 (see Figure 3) that performs threading onto multiple bobbins B inside the winding unit 15. The internal threading unit 114 is electrically connected to the machine base control device 101. The structure of the internal threading unit 114 is known. Since there is no direct relationship between the structure of the internal threading unit 114 and the structure of the threading robot 4 of this embodiment, a detailed explanation is omitted.

[0065] Furthermore, the winding section 15 has a thread convergence guide 27 (see Figure 2). The thread convergence guide 27 is for temporarily holding multiple threads Y in one place while the internal thread winding section 114 (see Figure 3) is winding thread onto multiple bobbins B. The thread convergence guide 27 is positioned, for example, in front of the two bobbin holders 24. The thread convergence guide 27 is positioned, for example, between the two bobbin holders 24 in the vertical direction. The arrangement of the thread convergence guide 27 is not limited to these.

[0066] (Outline configuration of a string-driven robot) Next, the general configuration of the thread-winding robot 4 will be described with reference to Figure 2. The thread-winding robot 4 comprises a robot body 31, a robot arm 32, a thread-winding unit 33 (the suction holding part of the present invention), and a thread-winding control device 102 (see Figure 3). The robot body 31 is, for example, a hollow member with a roughly rectangular parallelepiped shape. The robot body 31 is driven to move in the left-right direction by a moving motor 121 (see Figure 3). The robot arm 32 is supported by the robot body 31. The robot arm 32 is configured to be able to move a part of the thread-winding unit 33 (details will be described later) in any direction in the up, down, front, back, left, and right directions, i.e., in any direction in the XYZ axis directions. 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 Figure 3) is built into each joint 32b. When the arm motor 122 is driven, the arms 32a swing around the joints 32b. The yarn threading unit 33 is configured to hold multiple threads Y by suction. Two hoses (not shown in Figure 2) for holding multiple threads Y are connected to the yarn threading unit 33. One of the two hoses (supply hose 54A, described later) is used to supply compressed air. The other of the two hoses (discharge hose 54B, described later) is used for suction holding and disposal of the threads Y. More specifically, supply hose 54A is connected to a compressed air supply source 6 (see Figure 2) that supplies compressed air. Discharge hose 54B is connected to a waste yarn box 7 (see Figure 2) where the threads Y are disposed of. The compressed air supply source 6 and the waste yarn box 7 together constitute the suction source of the present invention.

[0067] In conventional thread-winding robots (not shown), it was necessary to move the hose as a whole when moving the robot arm (not shown). This resulted in a problem of reduced thread-winding efficiency due to the weight and / or inertial mass of the hose. Therefore, in order to improve thread-winding efficiency, the thread-winding robot 4 of the embodiment of the present invention has the following configuration.

[0068] (Detailed configuration of the string-driven robot) The detailed configuration of the thread-feeding robot 4 will be explained with reference to Figures 5(a) to 9(b). Figures 5(a) to 5(c) show the configuration of the thread-feeding unit 33 and its surroundings. Figures 6(a) to 6(c) show the suction unit 41 and guide unit 42, which will be described later. Figure 6(a) is a side view of the suction unit 41 and guide unit 42. Figures 6(b) and 6(c) are cross-sectional views of the suction unit 41 and guide unit 42 parallel to the longitudinal direction, which will be described later. Figure 7 shows the comb-tooth guide unit 43, which will be described later (more specifically, a view from above, for example). Figure 8 shows the comb-tooth guide 75, which will be described later. Figures 9(a) and 9(b) show the lifting drive unit 44 and its surrounding configuration, which will be described later. For the sake of explanation, the direction in which multiple threads Y are sucked up by the suction unit 41 is called the suction direction (see Figures 6(b) and 6(c)).

[0069] As shown in Figures 5(a) to 5(c), the threading unit 33 includes a suction unit 41, a guide unit 42 (thread manipulation section and surrounding section of the present invention), and a comb-tooth guide unit 43 (thread manipulation section of the present invention).

[0070] First, the suction unit 41 and the guide unit 42 are provided separately from each other. More specifically, the guide unit 42 is configured to be detachably attached to the suction unit 41 (details will be described later). The guide unit 42 can switch between a state in which it is attached to the suction unit 41 (see Figure 5(a)) and a state in which it is removed from the suction unit 41 (see Figure 5(b)). The attached state is included in the partially overlapping state of the present invention. The removed state is included in the overlap-free state of the present invention.

[0071] The suction unit 41 is configured to hold multiple threads Y by suction, regardless of whether the guide unit 42 is attached or detached. The suction unit 41 is driven up and down by the lifting drive unit 44 (driven to move in the vertical direction). The guide unit 42 is configured to guide multiple threads Y to the suction unit 41. The guide unit 42 is a unit that assists the suction and holding of the threads Y by the suction unit 41. When the guide unit 42 is attached, it is configured to hold multiple threads Y by suction together with the suction unit 41. The guide unit 42 is attached to and supported by the robot arm 32. The guide unit 42 can be switched between attached and detached states by the robot arm 32. When the guide unit 42 is detached, it can be driven to move in any direction (up, down, forward, backward, left, or right) by the robot arm 32. In other words, the robot arm 32 moves the guide unit 42 independently of the suction unit 41 (including the suction nozzle 51 described later).

[0072] The comb-tooth guide unit 43 is used when threading the string onto the multiple pivot guides 21. The comb-tooth guide unit 43 is supported by the robot arm 32. The comb-tooth guide unit 43 is driven to move in any direction (up, down, forward, backward, left, or right) by the robot arm 32. In other words, both the guide unit 42 and the comb-tooth guide unit 43 are driven to move in any direction (up, down, forward, backward, left, or right) by the robot arm 32.

[0073] (Suction unit) The details of the suction unit 41 will now be described. As shown in Figure 6(a), the suction unit 41 has a suction nozzle 51, a pipe section 52, and a yarn capture assist section 53. The suction nozzle 51 is configured to be able to suck and hold the yarn Y whether the guide unit 42 is attached to the suction unit 41 or the guide unit 42 is removed from the suction unit 41. The suction nozzle 51 extends in a predetermined longitudinal direction (see Figures 6(a) to 6(c)). The suction nozzle 51 uses the negative pressure generated by compressed air supplied from the compressed air supply source 6 to suck and hold multiple yarns Y as they move. Furthermore, the multiple yarns Y sucked up by the suction nozzle 51 are discharged to the waste yarn box 7 together with the compressed air. The internal structure of the suction nozzle 51 for generating negative pressure is known, so a detailed explanation thereof will be omitted. The suction nozzle 51 is connected to the pipe section 52. The suction nozzle 51 is driven to move up and down integrally with the pipe section 52 by the lifting drive section 44.

[0074] In the following explanation, for convenience of explanation, the side corresponding to the upstream side in the suction direction will be referred to as the tip side, and the side corresponding to the downstream side in the suction direction will be referred to as the base side. The detailed configuration of the suction nozzle 51, in particular the detailed configuration of the tip in the longitudinal direction, will be described. As shown in Figures 6(b) and 6(c), the suction nozzle 51 has, for example, a nozzle body 61, a fitting part 62, an O-ring 63, and a magnet 64.

[0075] The nozzle body portion 61 is a substantially cylindrical portion that extends in the longitudinal direction. The nozzle body portion 61 extends over almost the entire length of the suction nozzle 51 in the longitudinal direction. A space is formed inside the nozzle body portion 61 in the radial direction through which air and thread Y pass. The nozzle body portion 61 is made of a ferromagnetic material such as iron, for example. However, the material of the nozzle body portion 61 is not limited to this. The fitting portion 62 is the portion that fits with the guide unit 42. The fitting portion 62 is a substantially cylindrical portion that extends in the longitudinal direction. The outer diameter of the fitting portion 62 is smaller than, for example, the outer diameter of the nozzle body portion 61. The fitting portion 62 is located at the tip of the suction nozzle 51 in the longitudinal direction. In other words, the fitting portion 62 is located at the tip of the nozzle body portion 61 in the longitudinal direction. A suction port 62a (see Figure 6(c)) for sucking up multiple threads Y is formed at the tip of the fitting portion 62 in the longitudinal direction. The fitting portion 62 is provided integrally with the nozzle body portion 61, for example. For example, the nozzle body portion 61 and the fitting portion 62 may be formed from a single component, but this is not limited to the case. The O-ring 63 is a component that prevents air leakage between the suction unit 41 and the guide unit 42 when the guide unit 42 is attached to the suction unit 41. The O-ring 63 is provided, for example, at the base end of the fitting portion 62 in the longitudinal direction. The O-ring 63 is provided so as to surround the fitting portion 62 when viewed from the longitudinal direction (not shown). The magnet 64 is provided to attract the guide unit 42 towards the base end in the longitudinal direction by magnetic force. The magnet 64 is, for example, a ring-shaped component. The magnet 64 is provided, for example, at the tip of the nozzle body portion 61 in the longitudinal direction. The magnet 64 also functions as a restricting component that restricts the movement of the guide unit 42. More specifically, the magnet 64 restricts the movement of the guide unit 42 toward its base end in the longitudinal direction while it is attached.

[0076] The pipe section 52 (see Figure 6(a)) is a component for supplying compressed air to the suction nozzle 51 and for discharging the thread Y and compressed air from the suction nozzle 51. The pipe section 52 has a supply pipe 52A and a discharge pipe 52B. Each of the supply pipe 52A and the discharge pipe 52B is a hollow component through which compressed air can flow. Each of the supply pipe 52A and the discharge pipe 52B may be formed from a deformation-resistant component, for example, a metal material.

[0077] The supply pipe 52A is located upstream of the suction nozzle 51 in the direction of compressed air flow. The supply pipe 52A is connected to the supply hose 54A (see Figure 6(a)). The supply hose 54A is a flexible hose. The supply hose 54A is located downstream of the compressed air supply source 6 and upstream of the supply pipe 52A in the direction of flow. The supply hose 54A is connected to fixed piping (not shown) connected to the compressed air supply source 6 by a coupling (not shown). At least a portion of the supply hose 54A is housed inside the robot body 31 (see Figures 9(a) and 9(b)). The supply hose 54A is included in the piping of the present invention.

[0078] The discharge pipe 52B is located downstream of the suction nozzle 51 in the flow direction. The discharge pipe 52B is connected to the discharge hose 54B (see Figure 6(a)). The discharge hose 54B is a flexible hose. The discharge hose 54B is located downstream of the discharge pipe 52B and upstream of the waste yarn box 7 (see Figure 1) in the flow direction. The discharge hose 54B is connected to fixed piping (not shown) connected to the waste yarn box 7 by a coupling (not shown). At least a portion of the discharge hose 54B is housed inside the robot body 31 (see Figures 9(a) and 9(b)). The discharge hose 54B, like the supply hose 54A, is included in the piping of the present invention.

[0079] In the above configuration, compressed air is supplied from the compressed air supply source 6. As the compressed air is supplied to the suction nozzle 51 through the supply hose 54A and supply pipe 52A, etc., a negative pressure is generated near the suction port 62a of the suction nozzle 51. Multiple threads Y are sucked into the suction nozzle 51 through the suction port 62a by the negative pressure. The compressed air supplied to the suction nozzle 51 and the multiple threads Y sucked into the suction nozzle 51 are discharged into the waste yarn box 7 through the discharge pipe 52B and discharge hose 54B, etc.

[0080] The thread-catching assist unit 53 (see Figure 6(a)) is configured to assist the thread-hanging unit 33 in sucking and capturing threads Y when the thread-hanging unit 33 takes in multiple threads Y from the aspirator 11. The thread-catching assist unit 53 has a frame 55, a thread-gathering unit 56 for pulling in multiple threads Y, and a cutting unit 57 for cutting multiple threads Y. The frame 55 is a member that supports the thread-gathering unit 56 and the cutting unit 57. The frame 55 is fixed to, for example, the supply pipe 52A. That is, the position of the frame 55 is fixed with respect to the suction nozzle 51. Note that the member to which the frame 55 is fixed is not limited to the supply pipe 52A.

[0081] The thread gathering section 56 is for drawing multiple threads Y, which are held by the aspirator 11, towards the thread handling unit 33 in the longitudinal direction. The thread gathering section 56 has a pulling member 58 (see Figure 6(a)) and a pulling drive unit 59 (see Figure 3). The pulling member 58 is a member that contacts the multiple threads Y and pulls them towards it. The pulling member 58 has an extended portion 58a and a hooking portion 58b. The extended portion 58a is a member that extends in the longitudinal direction. The extended portion 58a is configured to be driven to extend and retract in the longitudinal direction relative to the suction nozzle 51 by the pulling drive unit 59. The hooking portion 58b is a portion that hooks onto the multiple threads Y. The hooking portion 58b is provided at the tip of the extended portion 58a. The hooking portion 58b extends from the tip of the extended portion 58a in a direction that is approximately perpendicular to the longitudinal direction, for example. The pull-in drive unit 59 is configured to drive the pull-in member 58 to move in the longitudinal direction. The pull-in drive unit 59 has, for example, an air cylinder (not shown) as a drive source, but is not limited to this. The pull-in drive unit 59 is electrically connected to the thread-feeding control device 102.

[0082] The cutting section 57 is configured to cut multiple threads Y that have been pulled toward the base end in the longitudinal direction by the thread gathering section 56. The cutting section 57 includes a cutter 57a (see Figure 6(a)) and a cutter drive unit 57b (see Figure 3). The cutter 57a is positioned to contact the multiple threads Y pulled toward by the thread gathering section 56. The cutter 57a is configured to cut the multiple threads Y by being driven by the cutter drive unit 57b. The cutter drive unit 57b causes the cutter 57a to perform the operation of cutting the multiple threads Y. The cutter drive unit 57b has, for example, an air cylinder (not shown) as a drive source and a link mechanism (not shown) as a force transmission mechanism. The drive source and transmission mechanism are not limited to these. In addition, the cutter drive unit 57b may be omitted, and the multiple threads Y may be cut by the cutter 57a by being pulled toward the cutter 57a by the thread gathering section 56.

[0083] It is preferable that the suction nozzle 51 is grounded by some means. That is, it is preferable that the suction nozzle 51 is configured to dissipate the charge generated by the triboelectric charging between the thread Y and the guide unit 42 to the ground, as will be described later. In this case, the suction nozzle 51 corresponds to the grounding member of the present invention. For example, it is preferable that an earth wire (not shown) extends from the suction nozzle 51 (or pipe section 52) along the supply hose 54A or the discharge hose 54B. In this case, it is preferable that the earth wire is configured to be connected to, for example, the fixed piping (not shown) described above. That is, it is preferable that the fixed piping is grounded by some means. However, the grounding means is not limited to this.

[0084] (Information Unit) Details of the guide unit 42 (see Figures 6(b) and 6(c)) will now be described. The guide unit 42 is a unit that can be attached to and detached from the suction unit 41. The guide unit 42 is a unit for guiding multiple threads Y toward the suction port 62a while surrounding them. The guide unit 42 is configured to be driven to move in any direction in the up, down, front, back, left, and right directions, i.e., in any direction in the XYZ axis directions, by the robot arm 32. The guide unit 42 can also have its orientation changed to some extent by the robot arm 32. The guide unit 42 has a substantially cylindrical shape as a whole. That is, the guide unit 42 has a cylindrical shape that extends in a direction substantially perpendicular to the circumferential direction surrounding the multiple threads Y. The guide unit 42 has a guide body portion 71, a fitting portion 72, and a contact member 73 (the contact portion of the present invention).

[0085] The guide body portion 71 is a substantially cylindrical portion. The guide body portion 71 extends in the longitudinal direction when the guide unit 42 is installed. Preferably, the guide body portion 71 is made of a ferromagnetic material such as iron. The inner diameter of the guide body portion 71 is, for example, substantially equal to the inner diameter of the suction nozzle 51, but is not limited to this. The guide body portion 71 has an inner circumferential surface 71a. The inner circumferential surface 71a is provided to surround a portion of the plurality of threads Y in the suction direction (see Figures 6(b) and 6(c)). Preferably, the guide body portion 71 is provided with a handle 74 made of a heat insulating material such as resin. The handle 74 is useful, for example, when an operator needs to handle the guide unit 42 by hand. The handle 74 may be provided to surround the outer circumference of the guide body portion 71, for example. The outer diameter of the upstream end of the guide body portion 71 in the suction direction is slightly larger than the outer diameter of other parts of the guide body portion 71, for example. This is to accommodate the contact member 73 on the radially inner side of the end portion.

[0086] The fitting portion 72 (see Figures 6(b) and 6(c)) is the portion that fits with the fitting portion 62 of the suction nozzle 51. The fitting portion 72 is a substantially cylindrical portion that extends in the longitudinal direction when the guide unit 42 is installed. The inner diameter of the fitting portion 72 is larger than, for example, the inner diameter of the guide body portion 71. The inner diameter of the fitting portion 72 is slightly larger than the outer diameter of the fitting portion 62. When the guide unit 42 is installed, the fitting portion 72 is positioned closer to the suction nozzle 51 than the guide body portion 71 in the longitudinal direction. The fitting portion 72 is provided integrally with, for example, the guide body portion 71. For example, the guide body portion 71 and the fitting portion 72 may be formed from a single component, but are not limited to this.

[0087] Preferably, the fitting portion 72 is made of a ferromagnetic material such as iron. This causes the guide unit 42 to be attracted to the magnet 64 of the suction nozzle 51 in the longitudinal direction by magnetic force.

[0088] Due to the structure of the fitting portions 62 and 72 described above, the guide unit 42 can be switched between an attached state and an detached state by moving it in the longitudinal direction. More specifically, the attached state is a type of state in which the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 partially overlap (hereinafter referred to as the partial overlap state). The occupied space is the space determined by the external shape of the object. For example, as shown in Figure 6(b), when the fitting portion 62 is housed inside the fitting portion 72, it can be said that the space occupied by the guide unit 42 and the space occupied by the suction nozzle 51 partially overlap. By moving the guide unit 42 in this attached state toward the opposite side of the nozzle body portion 61 in the longitudinal direction (i.e., toward the tip side), the guide unit 42 can be pulled out from the suction nozzle 51 and removed (i.e., put into the detached state). In other words, the detached state is a state in which the fitting between the fitting portion 72 of the guide unit 42 and the fitting portion 62 of the suction nozzle 51 is released. The detached state is a type of state in which the partial overlap state is released (hereinafter referred to as the overlap release state). Furthermore, by aligning the fitting portion 72 of the guide unit 42 in the detached state with the fitting portion 62 of the suction nozzle 51, and moving the guide unit 42 toward the nozzle body portion 61 side (i.e., the base end side) in the longitudinal direction, the guide unit 42 can be pushed onto the suction nozzle 51 and attached.

[0089] The contact member 73 (see Figures 6(b) and 6(c)) is the part that comes into contact with the multiple threads Y. When installed, the contact member 73 functions as a suction port for attracting the multiple threads Y. The contact member 73 is a substantially ring-shaped member. The contact member 73 is made of, for example, a ceramic material. Since the contact member 73 comes into contact with the threads Y as they move, it is preferable that it is made of a material with high wear resistance. Also, since the contact member 73 comes into contact with the threads Y as they move, frictional heat is easily generated and triboelectric charging is also likely to occur. For this reason, it is preferable that the material of the contact member 73 is a material that does not easily transmit frictional heat to the guide body 71 (i.e., has low thermal conductivity). Also, it is preferable that the material of the contact member 73 is a material that easily dissipates the charge generated by triboelectric charging to the guide body 71. The contact member 73 is located at the tip of the guide body 71 in the longitudinal direction when installed (i.e., the upstream end in the suction direction). The contact member 73 is located on the inside of the guide body 71 in the radial direction. The contact member 73 is fitted into the guide body 71, for example, via a plurality of O-rings 73a. In Figures 6(b) and 6(c), two O-rings 73a are provided. The number of O-rings 73a is not limited to this; there may be one or three or more. A member made of the same or similar material as the contact member 73 may also be provided at the downstream end of the guide body 71 in the suction direction. In this case, it is preferable that the outer diameter of the downstream end of the guide body 71 in the suction direction is slightly larger, similar to the outer diameter of the upstream end.

[0090] As shown in Figures 6(b) and 6(c), it is preferable that the guide unit 42 is connected to the suction nozzle 51 via, for example, an earth wire 78. In other words, it is preferable that the earth wire 78 electrically connects the guide unit 42 to the suction unit 41, which acts as a grounding member, when the guide unit 42 is at least detached. The earth wire 78 is a member that allows the charge generated by triboelectric charging between the multiple threads Y and the contact member 73 to be discharged from the guide unit 42 to the suction unit 41. As described above, because the suction unit 41 is grounded, the charge that has moved from the guide unit 42 to the suction unit 41 via the earth wire 78 can be discharged to the ground. The earth wire 78 may be a simple conductor extending from the guide unit 42 to the suction unit 41, as shown in Figures 6(b) and 6(c).

[0091] Alternatively, the ground wire 78 may have, for example, a tension coil spring (not shown) and be configured to be expandable and contractible. The spring portion of the tension coil spring may be arranged to circle around the circumferential direction of the suction unit 41, for example. When the guide unit 42 is removed, the spring portion of the tension coil spring may, as a whole, be shaped like a pipe and positioned between the guide unit 42 and the suction unit 41. In this case, multiple threads Y can pass through the space formed inside the tension coil spring. This reduces the possibility that multiple threads Y may unintentionally touch members other than the member to which the threads are attached. Alternatively, a known spring cable may be provided instead of the tension coil spring.

[0092] (Comb-tooth guide unit) The comb tooth guide unit 43 (see Figures 5(a) and 5(b)) will now be described. The comb tooth guide unit 43 is for threading string onto multiple pivot guides 21. The comb tooth guide unit 43 is driven to move by the robot arm 32. The comb tooth guide unit 43 may be attached to the guide unit 42, for example. Alternatively, the comb tooth guide unit 43 may be attached to the robot arm 32 independently of the guide unit 42. The comb tooth guide unit 43 has a comb tooth guide 75 (see Figures 7 and 8), a guide support part 76 (see Figure 7), and a comb tooth guide drive part 77 (see Figure 3). The comb tooth guide 75 holds multiple threads Y spaced apart from each other. More specifically, the comb tooth guide 75 has multiple retaining grooves 75a (see Figures 7 and 8). Each of the retaining grooves 75a is provided corresponding to one of the multiple threads Y. Each retaining groove 75a holds the corresponding thread Y. It is preferable that the multiple retaining grooves 75a can hold the multiple threads Y with wider spacing between them. That is, it is preferable that the spacing of the portion of the multiple retaining grooves 75a that holds the multiple threads Y is wider than the spacing at the entrance portion of the multiple retaining grooves 75a. However, the shape of the multiple retaining grooves 75a is not limited to this. The comb tooth guide 75 is pivotably supported on the guide support portion 76 with, for example, the pivot axis 75b as its axis (see Figure 7). As shown in Figure 7, the guide support portion 76 has, for example, a support frame 76a and a projection portion 76b. The support frame 76a is fixed to, for example, the guide body portion 71. The projection portion 76b is provided, for example, in the longitudinal direction of the guide body portion 71 (see Figure 7) so as to extend from the support frame 76a to the side opposite the suction nozzle 51. The projection portion 76b pivotably supports the comb tooth guide 75 within a range that does not interfere with the guide unit 42. The comb tooth guide drive unit 77 is configured to drive the comb tooth guide 75 relative to the guide unit 42, for example, by a oscillating motion. The comb tooth guide drive unit 77 has, for example, a motor or other drive source (not shown). The comb tooth guide 75 is driven by the comb tooth guide drive unit 77 to move between a retracted position and a holding position. The retracted position is the position of the comb tooth guide 75 when it is not in contact with the multiple threads Y being pulled towards the suction unit 41 through the guide unit 42 (see solid line in Figure 7).The holding position is the position of the comb-tooth guide 75 for holding the multiple threads Y being sucked up by the suction unit 41 (see the dashed line in Figure 7). The holding position is upstream of the guide unit 42 in the suction direction. As the comb-tooth guide 75 is moved from the retracted position to the holding position, each of the multiple threads Y is captured and held in the corresponding holding groove 75a (see the dashed line in Figure 7). The comb-tooth guide drive unit 77 is configured to drive the comb-tooth guide 75 to swing, but is not limited to this. Instead of the comb-tooth guide drive unit 77, for example, a drive unit (not shown) configured to move the comb-tooth guide 75 along the longitudinal direction of the guide body 71 may be provided. In this case, the drive unit may be configured to drive the comb-tooth guide 75 to move while maintaining a posture for capturing the multiple threads Y. Furthermore, to assist in capturing multiple threads Y by the comb tooth guide 75, a pressing roller (not shown) that widens the spacing between multiple threads Y to a constant interval (see, for details, Japanese Patent Application Publication No. 2017-82379) may be provided. The pressing roller may be rotatable or non-rotatable.

[0093] (Lifting drive unit) The lifting drive unit 44 (see Figures 9(a) and 9(b)) will now be described. The lifting drive unit 44 is for driving the suction unit 41 to move in the vertical direction (a specific direction in the present invention). The lifting drive unit 44 is electrically connected to the threading control device 102. The lifting drive unit 44 includes, for example, a frame member 81, a drive source 82 (a nozzle drive source in the present invention), a guide fixing part 83, a bar guide 84, a linear bush 85, and a slide member 86. In general terms, the drive source 82, supported by the frame member 81, is configured to move the slide member 86, which supports the suction unit 41, along the bar guide 84. The bar guide 84 is fixed to the frame member 81 by the guide fixing part 83. The linear bush 85 is interposed between the slide member 86 and the bar guide 84.

[0094] The frame member 81 is a member that supports the drive source 82 and the guide fixing part 83. The frame member 81 extends in the vertical direction. The frame member 81 is fixed to the lower end of the robot body 31, for example. The drive source 82 is a drive source for moving the slide member 86 in the vertical direction. The drive source 82 may be, for example, a known air cylinder. The air cylinder may be, for example, a two-stage stroke type or other multi-stage stroke type air cylinder. Alternatively, the drive source 82 may be, for example, a known motor. In this case, a transmission mechanism (not shown) is required to transmit the power of the motor to the slide member 86. The guide fixing part 83 is for fixing the bar guide 84 to the frame member 81. The guide fixing part 83 has a fixing member 83A and a fixing member 83B. The fixing member 83A is fixed to the upper end of the frame member 81, for example. The fixing member 83A supports the upper end of the bar guide 84. The fixing member 83B is fixed to the lower end of the frame member 81, for example. The fixing member 83B supports the lower end of the bar guide 84. The bar guide 84 functions as a guide rail that guides the slide member 86 along a predetermined track. The bar guide 84 extends in the vertical direction. The bar guide 84 is fixed to the frame member 81 by the guide fixing part 83. The bar guide 84 guides the slide member 86 in the vertical direction via the linear bush 85. The linear bush 85 is a known component that moves smoothly along the bar guide 84. The slide member 86 is fixed to the linear bush 85. The slide member 86 is a member that supports the suction unit 41. The slide member 86 is driven to move integrally with the suction unit 41 by the drive source 82. The slide member 86 is guided in the vertical direction along the bar guide 84 via the linear bush 85.

[0095] (How to thread the string) Next, the method of threading using the threading robot 4 having the above configuration will be explained, mainly with reference to Figures 10(a) to 12. Figures 10(a) to 10(e), 11(a), 11(b), and 12 are diagrams showing the threading procedure. Figure 10(d) is a view from arrow D in Figure 10(c). As an overall procedure for threading, multiple threads Y spun from the spinning machine 2 are threaded by the threading robot 4 onto the regulating guide 12, the first godet roller 13, the second godet roller 14, and multiple pivot guides 21 in this order. After that, the multiple threads Y are each threaded onto multiple bobbins B by the internal threading unit 114. For example, the position control device CP, which includes the overall control device 100 and the machine stand control device 101, and the threading control device 102 cooperate with each other to control each part of the spinning take-up machine 3 and each part of the threading robot 4, thereby performing the above threading.

[0096] In the initial state, multiple yarns Y spun from the spinning device 2 are held by the aspirator 11 corresponding to the spinning take-up position TP for which the yarn is to be threaded (see Figure 10(a)). The threading robot 4 is positioned directly in front of the spinning take-up machine 3.

[0097] First, the machine base control device 101 controls each part of the spinning take-up machine 3 and moves each component that is to be threaded. Specifically, the roller moving motor 112 moves the second godet roller 14 to the threading position, and the multiple pivot guides 21 move to a close position. Then, a signal to continue threading is sent, for example, from the machine base control device 101 to the threading control device 102 via the overall control device 100.

[0098] The thread-holding control device 102 positions the thread-holding unit 33 directly above the multiple threads Y that are being held by the aspirator 11 (see Figure 10(a)). The thread-holding control device 102 controls the pull-in drive unit 59 (see Figure 3) to extend the pull-in member 58 backward (see the dashed line in Figure 10(a)). This allows the multiple threads Y to be hooked onto the pull-in part 58b. Next, the thread-holding control device 102 controls the pull-in drive unit 59 to retract the pull-in member 58 forward. This pulls the multiple threads Y towards the vicinity of the cutting part 57 and the guide unit 42. Next, the thread-holding control device 102 controls the cutter drive unit 57b to cause the cutter 57a to cut the multiple threads Y. As a result, the portion of the cut yarn Y opposite to the aspirator 11 in the yarn travel direction, that is, the portion of the yarn Y that is being spun from the spinning device 2, is sucked and captured by the suction unit 41 through the opening of the guide unit 42 (contact member 73; see Figures 6(b) and 6(c)). In this way, the multiple yarns Y spun from the spinning device 2 are transferred from the aspirator 11 to the yarn handling unit 33.

[0099] At the stage when multiple threads Y have been transferred from the aspirator 11 to the thread-holding unit 33, the guide unit 42 is in the attached state, and the suction unit 41 (and guide unit 42) are holding the multiple threads Y by suction. At this time, the guide unit 42 surrounds a portion of the multiple threads Y in the suction direction (hereinafter referred to as the "encircled state"), and is able to manipulate the multiple threads Y and guide them downstream in the suction direction.

[0100] Next, the thread-feeding control device 102 controls the arm motor 122 to move the guide unit 42 backward relative to the suction unit 41 (in other words, towards the end in the longitudinal direction). As a result, the guide unit 42 is detached from the suction unit 41 and enters a detached state (see Figure 10(b)).

[0101] In its detached state, the guide unit 42 can be moved independently of the suction unit 41 in any direction (up, down, forward, backward, left, or right) by the robot arm 32 in order to attach multiple threads Y to the thread-attaching member. Furthermore, in its detached state, the guide unit 42 can manipulate multiple threads Y and guide them to the suction port 62a (see Figure 6(c)). More specifically, the guide unit 42 can manipulate multiple threads Y and guide them to the suction port 62a while maintaining the aforementioned encircling state. The manipulation of the multiple threads Y is performed by moving the guide unit 42. Because the guide unit 42 moves independently of the suction unit 41, the path (thread path) along which the threads Y travel can be changed even when the suction unit 41 is not moving.

[0102] Next, the thread-holding control device 102 controls the arm motor 122 (see Figure 3) to move the guide unit 42 downward (see Figure 10(c)). More specifically, the thread-holding control device 102 moves the guide unit 42 below and in front of the restricting guide 12 (see Figures 10(c) and 10(d)). At the same time, the thread-holding control device 102 controls the lifting drive unit 44 (see Figure 3) to move the suction unit 41 downward (see Figure 10(c)). Next, the thread-holding control device 102 moves the guide unit 42 backward and loops multiple threads Y onto the restricting guide 12. After that, the thread-holding control device 102 moves the guide unit 42 to sequentially loop the threads Y onto the first godet roller 13 and the second godet roller 14 (see Figure 10(e)). In this manner, threads are looped onto the restricting guide 12, the first godet roller 13, and the second godet roller 14.

[0103] While the threading process described above is taking place, it is preferable that the threading control device 102 appropriately drives the suction unit 41 up and down in accordance with the vertical movement of the guide unit 42. The same applies in subsequent steps.

[0104] Next, the thread-attaching control device 102 performs the process of attaching threads to the multiple pivot guides 21. More specifically, the thread-attaching control device 102 controls the comb tooth guide drive unit 77 (see Figure 3) to hold the multiple threads Y in the comb tooth guide 75 (see Figure 8) while spaced apart from each other. Next, the thread-attaching control device 102 controls the robot arm 32 to move the comb tooth guide 75 to a predetermined position (see the dashed line in Figure 8). Furthermore, the thread-attaching control device 102 moves the comb tooth guide 75 diagonally forward to the left (see the arrow in Figure 8). As a result, the multiple threads Y are attached to the corresponding pivot guides 21 (see Figures 8 and 11(a)).

[0105] Next, the machine control device 101 moves the second godet roller 14 to the production position and moves the multiple pivot guides 21 to the separated positions (see Figure 11(b)). Next, the thread-holding control device 102 moves the guide unit 42 downward and holds the multiple threads Y in the thread convergence guide 27. This moves the multiple threads Y to a position where they can be captured by the internal thread-holding section 114 (see Figures 3, 11(b) and 12). Subsequently, the machine control device 101 controls the internal thread-holding section 114 to thread the multiple threads Y onto the multiple bobbins B, respectively. When the multiple threads Y are threaded onto the multiple bobbins B, the portion of the multiple threads Y downstream of the multiple bobbins B in the suction direction is separated by the tension applied to the multiple threads Y. The separated portion of the multiple threads Y is sucked into the suction unit 41 via the guide unit 42 and sent to the waste yarn box 7. With the threading process completed as described above, the winding of the multiple threads Y by the spinning take-up machine 3 begins.

[0106] As described above, the thread-threading robot 4 comprises a suction nozzle 51, a guide unit 42, and a robot arm 32. The guide unit 42 is configured to be movable relative to the suction nozzle 51, capable of manipulating multiple threads Y, and capable of guiding them to the suction port 62a in order to thread multiple threads Y onto the thread-threading target member. The robot arm 32 is configured to independently drive the guide unit 42 in any direction relative to the suction nozzle 51. After the threads Y are sucked and held by the suction nozzle 51, threading onto the thread-threading target member can be performed by moving the guide unit 42, which is guiding the threads Y, in any direction independently of the suction nozzle 51. Furthermore, the guide unit 42 is also movable independently of the supply hose 54A and the discharge hose 54B (piping). Therefore, even if it is necessary to move the suction nozzle 51 and the piping, the distance of movement can be kept to the minimum necessary. The guide unit 42 can be made smaller and lighter within the scope of having the function of guiding the threads Y. In other words, threading can be performed mainly by moving the relatively small and light guide unit 42. Therefore, the efficiency of threading can be improved.

[0107] Furthermore, the suction nozzle 51 is configured to be movable in a specific direction (up and down). This allows the suction nozzle 51 to follow the movement of the guide unit 42 as needed. By allowing the suction nozzle 51 to move only in a specific direction, the movement of the piping connected to the suction nozzle 51 can be minimized.

[0108] Furthermore, the thread-guiding robot 4 is equipped with a bar guide 84 and a drive source 82. By moving the suction nozzle 51, the suction nozzle 51 can be positioned as close as possible to the guide unit 42. Here, the suction nozzle 51 is not moved freely but is driven to move along a predetermined trajectory, so the influence of the weight and / or inertial mass of the piping can be suppressed as much as possible. In this way, the influence of the piping can be suppressed while moving the suction nozzle 51 to a position as close as possible to the guide unit 42.

[0109] Furthermore, the guide unit 42 can manipulate multiple threads Y in a surrounded state, enclosing a portion of the threads Y in the suction direction, and guide them to the suction port 62a. Therefore, no matter how the guide unit 42 is moved parallel or rotated, the multiple threads Y can be reliably guided to the suction port 62a by making contact with some part of the guide unit 42. This reduces the constraints on how the guide unit 42 is moved during threading. Consequently, the efficiency of threading can be improved.

[0110] Furthermore, the guide unit 42 has a cylindrical shape that extends in a direction perpendicular to the circumferential direction surrounding the multiple threads Y. Therefore, by operating the downstream end of the guide unit 42 in the suction direction, the upstream end of the guide unit 42 in the suction direction can be relatively easily inserted into narrow and deep places. Thus, the efficiency of threading can be improved.

[0111] Furthermore, the guide unit 42 can switch between a partially overlapping state and a de-overlapped state. In the de-overlapped state, the guide unit 42 can move in any direction independently of the suction nozzle 51, manipulate the thread Y, and guide it to the suction port 62a. When the guide unit 42 is in the partially overlapping state and the thread-holding unit 33 is holding multiple threads Y by suction, the guide unit 42 is in a surrounding state. As a result, the guide unit 42 can maintain the surrounding state even after switching to the de-overlapped state. This allows the guide unit 42 to start changing the thread path immediately after switching from the attached state to the removed state. Therefore, the efficiency of thread-holding can be improved. In addition, by keeping the guide unit 42 in the partially overlapping state when not thread-holding, the thread-holding robot 4 can be made more compact.

[0112] Furthermore, in this embodiment, the partially overlapping state is the attached state, and the unoverlapping state is the removed state. By attaching the guide unit 42 to the suction nozzle 51 when not threading, the guide unit 42 can be held stably.

[0113] Furthermore, the guide unit 42 is configured to switch between an attached state and an detached state by moving it in the longitudinal direction. This allows the guide unit 42 to be removed from the suction nozzle 51 by a simple operation of pulling the guide unit 42 out of the suction nozzle 51 in the longitudinal direction when it is in the attached state. Conversely, the guide unit 42 can be attached to the suction nozzle 51 by a simple operation of fitting the guide unit 42 into the suction nozzle 51 when it is in the detached state. Therefore, the efficiency of the threading work can be improved.

[0114] Furthermore, the guide unit 42 is configured to be attracted to the suction nozzle 51 by magnetic force. As a result, the guide unit 42 can be attached to the suction nozzle 51 with strong force by magnetic force. This prevents the guide unit 42 from unintentionally falling off the suction nozzle 51 while it is attached.

[0115] Furthermore, the guide unit 42 is attached to the robot arm 32. In other words, since the guide unit 42 is always held by the robot arm 32, there is no need for the robot arm 32 to perform an action to hold the guide unit 42. Therefore, a decrease in the efficiency of threading can be suppressed.

[0116] Furthermore, the guide unit 42 is electrically connected to the suction nozzle 51 (grounding member) via an earth wire 78, at least when threading. This allows any charge that may accumulate in the guide unit 42 to be discharged to the ground via the earth wire 78 and the suction nozzle 51. Therefore, the guide unit 42 can be effectively statically discharged. In addition, the length of the earth wire 78 can be kept from becoming excessive compared to the case where the grounding member is provided on a member other than the suction nozzle 51.

[0117] Furthermore, the thread-feeding robot 4 is equipped with a thread-catching assisting unit 53. The thread-catching assisting unit 53 has a thread-gathering unit 56 and a cutting unit 57. By cutting multiple threads Y located near the suction nozzle 51 with the cutting unit 57, the upstream portion of the cut threads Y in the direction of travel can be sucked and captured by the suction nozzle 51. The thread-gathering unit 56 allows the multiple threads Y to be gathered towards the suction nozzle 51 without moving the suction nozzle 51. In addition, since the thread-catching assisting unit 53 is provided separately from the guide unit 42, an increase in the size and weight of the guide unit 42 can be avoided. As a result, multiple threads Y can be sucked and captured by the suction nozzle 51 while suppressing a deterioration in thread-feeding efficiency.

[0118] Furthermore, the guide unit 42 is configured to be able to manipulate multiple threads Y and guide them to the suction port 62a. In a configuration in which multiple threads Y are handled, a strong suction force is required to hold the multiple threads Y in suction. For this reason, it may be necessary to make the piping thicker and more robust in order to stably generate a strong suction force. The present invention is particularly effective in such a configuration.

[0119] Furthermore, the spinning and taking equipment 1 includes a yarn-loading robot 4 and a spinning and taking machine 3. This makes it possible to improve the efficiency of loading yarn onto the spinning and taking machine 3 in this embodiment. More specifically, it makes it possible to improve the efficiency of yarn loading by the yarn-loading robot 4.

[0120] Furthermore, in this embodiment, where one yarn-loading robot 4 needs to load yarn onto multiple spinning take-up machines 3, the present invention is particularly effective in improving the efficiency of yarn loading onto each spinning take-up machine 3.

[0121] Next, modified examples of the above embodiments will be described. However, components having the same configuration as the above embodiments will be denoted by the same reference numerals and their descriptions will be omitted as appropriate.

[0122] (1) In the above embodiment, the ground wire 78 is connected to the suction nozzle 51. However, it is not limited to this. The ground wire 78 may be connected to another component. The ground wire 78 may be provided so as to be suspended from the robot arm 32, for example, and extend upward while maintaining insulation from the robot body 31. Furthermore, the ground wire 78 may be configured to be in direct contact with the fixed piping mentioned above.

[0123] (2) In the embodiments described above, the thread-winding robot 4 was provided with an earth wire 78. However, it is not limited to this. The thread-winding robot 4 does not have to have an earth wire 78. In this case, the guide unit 42 may be grounded by means other than the earth wire 78. Alternatively, if it is not necessary to consider triboelectric charging between the guide unit 42 and the multiple threads Y, the guide unit 42 does not have to be grounded.

[0124] (3) In the embodiments described above, the suction nozzle 51 was driven up and down by a lifting drive unit 44. However, it is not limited to this. The yarn-winding robot 4 does not have to have a lifting drive unit 44. In this case, the distance between the suction nozzle 51 and the guide unit 42 may be longer. For this reason, the portion of the multiple yarns Y that travels from the guide unit 42 toward the suction nozzle 51 may be longer than in the first embodiment. Since this portion is exposed to the external space, it may unintentionally interfere with various components of the spinning take-up machine 3. Therefore, in order to prevent interference between the multiple yarns Y and various components of the spinning take-up machine 3, it is preferable that the spinning take-up machine 3 has a guide (not shown) for temporarily holding the portion of the multiple yarns Y that travels from the guide unit 42 toward the suction nozzle 51 during yarn winding. Alternatively, such a guide may be provided on the yarn-winding robot 4. In this case, the guide may be moved and driven by a robot arm (not shown) separate from the robot arm 32. Furthermore, in this case, the suction nozzle 51 does not necessarily have to be configured to move vertically (i.e., the vertical position of the suction nozzle 51 may be fixed).

[0125] (4) In the embodiments described above, the suction nozzle 51 has a magnet 64. However, it is not limited to this. A magnet not shown may be provided on the guide unit 42 side instead of the suction nozzle 51. Alternatively, magnets may be provided on both the suction nozzle 51 and the guide unit 42. In these cases as well, the guide unit 42 is attracted to the suction nozzle 51 by magnetic force.

[0126] (5) In the embodiments described above, the guide unit 42 is attracted to the suction nozzle 51 by magnetic force. However, it is not limited to this. The guide unit 42 may be attached to the suction nozzle 51 only by fitting into the fitting portion 62.

[0127] (6) In the embodiments described above, the inner diameter of the fitting portion 72 was larger than the outer diameter of the fitting portion 62. In other words, when the guide unit 42 is installed, the fitting portion 72 is positioned outside the fitting portion 62 in the radial direction of the nozzle body portion 61. However, this is not limited to this. The outer diameter of the fitting portion 72 may be smaller than the inner diameter of the fitting portion 62. That is, when the guide unit 42 is installed, the fitting portion 72 may be positioned inside the fitting portion 62 in the radial direction of the nozzle body portion 61.

[0128] (7) In the embodiments described above, the guide unit 42 was cylindrical in shape. However, it is not limited to this. The guide unit 42 may be, for example, substantially ring-shaped.

[0129] (8) In the embodiments described above, the guide unit 42 was in a surrounding state when the guide unit 42 was mounted and the threading unit 33 was sucking and holding a plurality of threads Y. However, it is not limited to this. Instead of the guide unit 42, a guide unit not shown below may be provided. The guide unit may have two semi-cylindrical members connected so as to be openable and closable by a hinge, for example. In this case, the surrounding state may be achieved by closing the two semi-cylindrical members to form a substantially cylindrical shape. In other words, the guide unit does not have to be in a surrounding state when mounted on the suction nozzle 51. The guide unit may be in a surrounding state only when removed. Alternatively, a guide unit (not shown) may be provided which has three or more elongated members connected to each other and is configured to take on a surrounding state by deforming.

[0130] (9) As a further modification of (8) above, the guide unit does not have to be configured to be attached to the suction nozzle 51. The guide unit may be separated from the suction nozzle 51 at times other than when threading is performed. The guide unit only needs to be surrounded at least when it is removed.

[0131] (10) In the embodiments described above, the guide unit 42 can be switched between the mounted state and the detached state by moving it in the longitudinal direction. However, it is not limited to this. A fitting portion (not shown) into which the guide unit 42 (or the above-mentioned guide unit not shown; hereinafter, guide unit, etc.) is fitted may be provided in a part of the suction nozzle 51 other than the suction port 62a. Alternatively, the guide unit 42, etc. may be configured to be detachably attached to the suction nozzle 51 by means other than the fitting portion.

[0132] (11) In the embodiments described above, the guide unit 42 etc. was configured to surround the threads Y. However, this is not the only configuration. The guide unit 42 etc. does not have to be configured to surround the multiple threads Y. However, in this case, more careful operation is required when moving the guide unit 42 etc. so that the multiple threads Y do not fall out of the guide unit 42 etc.

[0133] (12) In the embodiments described above, the guide unit 42 and the comb tooth guide unit 43 were integrally driven to move by the robot arm 32. However, this is not limited to this. For example, the comb tooth guide unit 43 may be driven to move independently in any direction relative to both the suction unit 41 and the guide unit 42 by a robot arm (not shown) separate from the robot arm 32. When the guide unit 42 and the comb tooth guide unit 43 can move separately in this way, by appropriately changing the thread path, it is possible to effectively avoid multiple threads Y coming into contact with members other than the member to be threaded during threading. In this modified example, instead of the comb tooth guide unit 43, for example, only the above-described comb tooth guide 75 may be provided.

[0134] (13) In the embodiments described above, both the guide unit 42 and the comb tooth guide unit 43 were provided. However, the invention is not limited to this. The invention will be described below with reference to Figures 13(a) to 14(e). Figures 13(a) and 13(b) correspond to Figures 5(a) and 5(b), respectively. Figures 14(a) to 14(e) correspond to Figures 10(a) to 10(b), respectively. As shown in Figures 13(a) and 13(b), a threading robot 4M may be provided instead of the threading robot 4. The threading robot 4M may have a threading unit 33M instead of the threading unit 33. The threading unit 33M may have a suction unit 41M (suction nozzle of the present invention) and a comb tooth guide unit 43M (thread handling part of the present invention). That is, the threading unit 33M does not have to have the guide unit 42, etc. In this case, only the comb tooth guide unit 43M corresponds to the thread handling part of the present invention. The suction unit 41M may have the same function as the suction unit 41 described above, and may have a length equal to the combined length of the suction unit 41 and the guide unit 42 in the longitudinal direction. The suction unit 41M may be driven up and down by the lifting drive unit 44 described above. The comb tooth guide unit 43M may have the same configuration as the comb tooth guide unit 43 described above, that is, it may be provided with the comb tooth guide 75 and a pressing roller (not shown) described above. Alternatively, the comb tooth guide unit 43M may have only the comb tooth guide 75 described above. The comb tooth guide unit 43M may be driven to move in any direction independently of the suction unit 41M by the robot arm 32. The comb tooth guide unit 43M does not have to be configured to be detachable from the suction unit 41M.

[0135] The thread-threading robot 4M described above may be controlled by the thread-threading control device 102 as follows during thread-threading. The thread-threading control device 102 positions the suction unit 41M directly above the multiple threads Y held by the aspirator 11 (see Figure 14(a)). The thread-threading control device 102 extends the pulling member 58 backward (see the dashed line in Figure 14(a)), and then retracts it forward. Next, the thread-threading control device 102 causes the cutting unit 57 to cut the multiple threads Y. As a result, the multiple threads Y are held by the suction unit 41M. Next, the thread-threading control device 102 controls the arm motor 122 (see Figure 3) to move the comb tooth guide unit 43M above the suction unit 41M. As a result, the thread-threading control device 102 causes the comb tooth guide unit 43M to hold the threads Y upstream of the suction unit 41M in the suction direction (see Figure 14(b)). Next, the threading control device 102 moves the comb tooth guide unit 43M downward (see Figure 14(c)). More specifically, the threading control device 102 moves the comb tooth guide unit 43M below and forward of the regulating guide 12 (see Figures 14(c) and 14(d)). At the same time, the threading control device 102 moves the suction unit 41M downward (see Figure 14(c)). Next, the threading control device 102 moves the comb tooth guide unit 43M backward and places multiple threads Y on the regulating guide 12. After that, the threading control device 102 moves the comb tooth guide unit 43M to sequentially place the threads Y on the first godet roller 13 and the second godet roller 14 (see Figure 14(e)). Furthermore, the threading control device 102 may move the comb tooth guide unit 43M as appropriate and continue to thread the threads on multiple pivot guides 21. Threading may be performed in the manner described above.

[0136] (15) In the embodiments described above, the guide unit 42 etc. and the comb tooth guide unit 43 (or comb tooth guide unit 43M; hereinafter referred to as the comb tooth guide unit 43 etc.) were made movable in any direction. However, the invention is not limited to this. One of the guide unit 42 etc. and the comb tooth guide unit 43 etc. may be configured to be movable only on a predetermined virtual plane, for example. Alternatively, the one mentioned above may be configured to be movable only along a predetermined trajectory for threading. The trajectory may be predetermined by, for example, a rail-shaped member not shown. In this case, only the other of the guide unit 42 etc. and the comb tooth guide unit 43 etc. corresponds to the thread handling part of the present invention.

[0137] (16) The configuration of the comb tooth guide unit 43, etc. is not limited to those described above. Instead of the comb tooth guide unit 43, etc., a pressing roller (not shown) described above may be provided. In addition to or instead of the comb tooth guide unit 43, etc., a thread guide (not shown) may be provided. The thread guide may be provided for the purpose of appropriately changing the thread path in order to avoid unintended interference with members other than the member to be threaded.

[0138] (17) The variations of the thread handling section described above will be explained in detail. The thread handling section may have both the guide unit 42, etc. and the comb tooth guide unit 43, etc., or only one of them. If both the guide unit 42, etc. and the comb tooth guide unit 43, etc. are provided, they may be driven to move integrally by the robot arm 32, or they may be driven to move in any direction from each other by separate robot arms (not shown). The guide unit 42, etc. and / or the comb tooth guide unit 43, etc. may have any of the above-described configurations.

[0139] (18) Another modified example of the guide unit 42 described above will be explained with reference to Figures 15(a) to 15(c). Figures 15(a) to 15(c) show the thread-holding unit 95 (suction holding part of the present invention) according to another modified example. Figures 15(a) and 15(b) show the thread-holding unit 95 when the guide unit 97, which will be described later, is in a partially overlapping state. Figure 15(c) shows the thread-holding unit 95 when the guide unit 97 is in a non-overlapping state. In this modified example, the thread-holding unit 95 is provided in place of the thread-holding unit 33. The thread-holding unit 95 has a suction unit 96 and a guide unit 97 (thread manipulation part and surrounding part of the present invention). The suction unit 96 is provided in place of the suction unit 41. The suction unit 96 has a suction nozzle 98. The suction nozzle 98 is a substantially cylindrical member provided in place of the suction nozzle 51. The suction nozzle 98 has a length in the longitudinal direction that is approximately the same as the combined length of the suction nozzle 51 and the guide unit 42. A contact member 98b and a plurality of O-rings 98c may be provided at the tip of the suction nozzle 98 in the longitudinal direction. The contact member 98b has the same function as the contact member 73 described above. The inner circumferential surface of the contact member 98b forms the suction port 98d. The plurality of O-rings 98c have the same function as the plurality of O-rings 73a described above. The guide unit 97 is provided in place of the guide unit 42. The guide unit 97 has a guide body portion 99. The guide body portion 99 is a substantially cylindrical member provided in place of the guide body portion 71. As shown in Figures 15(a) and 15(b), the guide body portion 99 is shorter than the suction nozzle 98 in the longitudinal direction. Also, the inner diameter of the guide body portion 99 is larger than the outer diameter of the suction nozzle 98. As a result, the guide unit 97 is supported by the robot arm 32 with the inner circumferential surface 99a of the guide body 99 separated from the outer circumferential surface 98a of the suction nozzle 98. For example, the contact members 73 and a plurality of O-rings 73a described above may be provided at both ends of the guide body 99 in the longitudinal direction. For example, the handle 74 described above may be provided at the center of the guide body 99 in the longitudinal direction.Although not shown in the diagram, the guide body 99 may be connected to the suction nozzle 98 by, for example, the ground wire 78 described above. The guide unit 97, like the guide unit 42, can be moved in the longitudinal direction to switch between a partially overlapping state (see Figure 15(b)) and a non-overlapping state (see Figure 15(c)). In the non-overlapping state, the guide unit 97 can manipulate multiple threads Y and guide them to the suction port 98d. In addition, in the modified version of (18), for example, the comb-tooth guide unit 43 described above may be provided. In that case, both the guide unit 97 and the comb-tooth guide unit 43 may be attached to the robot arm 32. Alternatively, the guide unit 97 may be attached to the robot arm 32 and the comb-tooth guide unit 43 may be attached to another robot arm (not shown).

[0140] Before the multiple threads Y are transferred from the aspirator 11 to the thread-holding unit 95, the guide unit 97 is in the partially overlapping state described above. In the partially overlapping state, the guide unit 97 is positioned closer to the base end than the tip end of the suction nozzle 98 in the longitudinal direction. In other words, the suction nozzle 98 protrudes further towards the tip in the longitudinal direction than the guide unit 97 in the partially overlapping state. This allows the multiple threads Y to be directly sucked and captured by the suction nozzle 98 without contacting the guide unit 97. Therefore, the threads Y can be reliably and smoothly sucked and captured by the suction nozzle 98. Furthermore, the guide unit 97 in the partially overlapping state surrounds the suction nozzle 98 and is held by the robot arm 32 in a non-contact state with the suction nozzle 98. This effectively suppresses the transmission of vibrations from the suction nozzle 98 to the robot arm 32 via the guide unit 97.

[0141] (19) In the embodiments described above, the thread handling unit was attached to the robot arm 32. However, it is not limited to this. The robot arm 32 may be configured to support the thread handling unit by gripping it, for example, by having a clamping device (not shown).

[0142] (20) In the embodiments described above, the yarn-loading robot 4 (or yarn-loading robot 4M) was made movable in the left-right direction. That is, the yarn-loading robot 4 (or yarn-loading robot 4M) was made a robot common to multiple spinning take-up positions TP. However, it is not limited to this. For example, multiple yarn-loading robots 4 (or yarn-loading robot 4M) may be provided. Multiple spinning take-up positions TP may be divided into multiple groups. Each of the multiple yarn-loading robots 4 (or yarn-loading robot 4M) may load yarn onto one or more spinning take-up machines 3 included in the corresponding group. The number of groups may be equal to the number of spinning take-up positions TP. In this case, the yarn-loading robot 4 (or yarn-loading robot 4M) does not need to be movable in the left-right direction.

[0143] (21) The spinning take-up equipment 1 is provided with multiple spinning take-up positions TP. However, it is not limited to this. The spinning take-up equipment 1 may be provided with only one spinning take-up position TP.

[0144] (22) It is assumed that, in the state before threading begins, multiple threads Y are held by the aspirator 11. However, this is not limited to this. For example, a known thread lowering device (not shown) that holds and lowers multiple threads Y spun from the spinning device 2 may be provided near the spinning device 2. The threading robot 4 may receive multiple threads Y directly from the thread lowering device when threading.

[0145] (23) The spinning take-up machine 3 is configured to take up and wind up multiple threads Y. However, it is not limited to this. The spinning take-up machine 3 may be configured to take up and wind up only one thread Y.

[0146] (24) The yarn-handling robot is not limited to the spinning and taking equipment 1, but may be installed in various equipment that processes at least one yarn Y. [Explanation of symbols]

[0147] 1. Spinning and taking-up equipment 2 Spinning machine 3. Spinning machine 4. String-driven robot 6. Compressed air supply source (suction source) 7. Waste yarn box (suction source) 12. Regulatory Guide (Methods subject to stringing) 13. First Godet Roller (Thread-Wrapped Component) 14. Second Godet Roller (Thread-Wrapped Component) 21. Support point guide (member to which string is attached) 32 Robot Arms 33. Threading unit (suction holding part) 41M Suction Unit (Suction Nozzle) 42 Guide unit (thread manipulation section, surrounding section) 43. Comb tooth guide unit (thread manipulation section) 43M Comb Tooth Guide Unit (Thread Manipulation Section) 51 Suction nozzle (grounding member) 54A Supply hose (piping) 54B Discharge hose (piping) 56 Thread gathering section 57 Cut section 61 Nozzle body 62 Fitting part 62a Suction port 78 Ground wire 82. Drive source (nozzle drive source) 84 Bar guide (guide rail) 95 Threading unit (suction holding part) 97 Guide unit (thread manipulation section, surrounding section) 98 Suction Nozzle 98d Suction port Y thread

Claims

1. A thread-hanging robot that performs thread-hanging by hanging at least one thread on a thread-hanging target member while it is moving, A suction nozzle having a suction port for sucking up at least one thread, and configured to hold the at least one thread in suction while connected to a suction source via piping, A thread handling unit is provided, which is movable relative to the suction nozzle and capable of manipulating the at least one thread and guiding it to the suction port, in order to hang the at least one thread on the thread-hanging target member. A thread-handling robot comprising a robotic arm configured to allow the thread handling unit to move independently in any direction relative to the suction nozzle.

2. The thread-throwing robot according to claim 1, characterized in that the suction nozzle is configured to be movable in a specific direction.

3. A guide rail that guides the suction nozzle along a predetermined trajectory in the specific direction, The thread-winding robot according to claim 2, further comprising a nozzle drive source for driving the suction nozzle to move along the guide rail.

4. The aforementioned thread manipulation unit is The thread-feeding robot according to any one of claims 1 to 3, characterized in that it has a surrounding portion that surrounds a part of the at least one thread in the suction direction in which the at least one thread is sucked up while it is moving, and that the at least one thread can be operated and guided to the suction port.

5. The thread-winding robot according to claim 4, characterized in that the surrounding portion has a cylindrical shape extending in a direction perpendicular to the circumferential direction surrounding the at least one thread.

6. The aforementioned thread manipulation unit is The system is configured to allow switching between a partially overlapping state in which the space occupied by the thread manipulation unit partially overlaps with the space occupied by the suction nozzle, and a state in which the partially overlapping state is released. In the aforementioned duplicate release state, the thread can be moved in any direction independently of the suction nozzle, and can be manipulated and guided to the suction port. The thread handling robot according to claim 4 or 5, characterized in that the thread handling unit is in the partially overlapping state and the suction nozzle is sucking and holding at least one thread, and the thread handling unit is in the surrounding state.

7. The thread handling section in the partially overlapping state is characterized in that it surrounds the suction nozzle and is held by the robot arm in a non-contact state with the suction nozzle, as described in claim 6.

8. The thread-feeding robot according to claim 7, characterized in that the suction nozzle extends in the longitudinal direction and protrudes toward the tip in the longitudinal direction from the thread handling section which is in a partially overlapping state.

9. The aforementioned thread manipulation unit is The system is configured to allow switching between a partially overlapping state in which the space occupied by the thread manipulation unit partially overlaps with the space occupied by the suction nozzle, and a state in which the partially overlapping state is released. The thread-feeding robot according to any one of claims 1 to 5, characterized in that, in the duplicate-removal state, it is capable of moving in any direction independently of the suction nozzle, manipulating the thread, and guiding it to the suction port.

10. The thread handling unit is configured to be detachably attached to the suction nozzle. The aforementioned partial overlapping state is an attached state in which the thread manipulation unit is attached to the suction nozzle. The thread-feeding robot according to claim 6 or 9, characterized in that the duplicate-release state is a detached state in which the thread handling unit is removed from the suction nozzle.

11. The aforementioned suction nozzle is A nozzle body extending in the longitudinal direction and through which at least one thread passes in the longitudinal direction, It has a fitting portion that is positioned upstream of the nozzle body in the suction direction in which at least one thread is sucked, has the suction port, extends in the longitudinal direction, and is configured to fit with the thread handling portion, The aforementioned mounting state is a state in which the thread manipulation part is fitted with the fitting part. The aforementioned detached state is a state in which the engagement between the thread operation part and the fitting part is released. The aforementioned thread manipulation unit is The thread-threading robot according to claim 10, characterized in that it is configured to switch between the attached state and the removed state by moving in the longitudinal direction.

12. The thread handling unit is configured to attract the suction nozzle by magnetic force, as described in claim 10 or 11.

13. The thread handling unit is attached to the robot arm, as described in any one of claims 1 to 12.

14. The thread handling unit is electrically connected to a grounding member via an earth wire for dissipating electric charge to ground, at least when threading, as described in any one of claims 1 to 13, which is the thread-threading robot.

15. The thread-winding robot according to claim 14, characterized in that the grounding member includes the suction nozzle.

16. It is configured to cause at least one thread traveling in a predetermined direction to be drawn in by the suction nozzle, and includes a thread-catching assisting unit provided separately from the thread handling unit, The aforementioned thread-catching auxiliary unit is, A thread-gathering unit configured to be able to move a portion of the at least one thread in the direction of travel toward the suction nozzle, The thread-feeding robot according to any one of claims 1 to 15, further comprising a cutting unit configured to cut at least one thread that has been brought towards the suction nozzle side by the thread-gathering unit.

17. The thread handling unit is configured to be able to handle multiple threads as at least one thread and to guide them to the suction port, as described in any one of claims 1 to 16.

18. A thread-winding robot according to any one of claims 1 to 16, A spinning take-up apparatus characterized by comprising a spinning take-up machine having the aforementioned yarn-holding target member and taking up the at least one yarn spun from a spinning machine.

19. Multiple spinning and drawing machines are arranged in a row in the direction of arrangement. The spinning and taking equipment according to claim 18, characterized in that the yarn-winding robot is configured to be movable along the arrangement direction.

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