Knot release device for yarn packages, yarn splicing device, and yarn feeding device

Abstract

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

Description

Technical Field

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

Background Art

[0002] In a yarn package used in a textile machine, for example, in order to prevent the yarn portion at the end of winding of a yarn layer formed by winding yarn around a bobbin from unraveling, the yarn portion at the end of winding may be tied to the outer peripheral surface of the yarn layer. At this time, if the yarn is tied with a knot including a slip knot (also referred to as a "pull-apart knot"), the knot can be easily untied by pulling the yarn portion at the end of winding. In this case, a robot can easily untie the knot of the yarn instead of an operator. And in order for the robot to untie the knot of the yarn, a yarn capturing unit that sucks and captures the yarn end of the yarn portion at the end of winding is required for the robot. The yarn capturing unit may be configured to include only a mechanism that sucks and captures the yarn end of the yarn portion at the end of winding, or may be configured to include a mechanism that sucks and captures the yarn end of the yarn portion at the end of winding and a mechanism that sandwiches the yarn end of the yarn portion at the end of winding.

[0003] For example, the yarn handling device described in Patent Document 1 includes a yarn capturing unit (second capturing mechanism) that can suck and capture a yarn (yarn strand) by a negative pressure generated when compressed fluid is supplied. This yarn capturing unit becomes a capturing state in which the yarn can be captured while sandwiching the yarn when the compressed fluid is not supplied, and becomes a release state in which the yarn is not sandwiched from the capturing state when the compressed fluid is supplied. This yarn handling device corresponds to the case where it is configured to include not only a mechanism that sucks and captures the yarn end of the yarn portion at the end of winding but also a mechanism that sandwiches the yarn end of the yarn portion at the end of winding.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] By the way, in the case of a yarn package in which the end of the yarn portion at the end of the winding is tied to the outer surface of the yarn layer of the yarn package with a knot including a slip knot (hereinafter also simply referred to as "knot"), when the end of the yarn portion at the end of the winding is captured, in order to untie the knot, it is necessary to pull the end of the yarn portion at the end of the winding strongly away from the yarn package. In the conventional technology described above, if the system is composed only of a mechanism that sucks and captures the end of the yarn portion at the end of the winding, in order to untie the knot, it is necessary to suck the end of the yarn portion at the end of the winding using the negative pressure generated when a large amount of compressed fluid is supplied, in order to pull the end of the yarn portion at the end of the winding strongly away from the yarn package.

[0006] Furthermore, in the conventional technology described above, if the device includes not only a mechanism for sucking and capturing the end of the thread at the end of the winding but also a mechanism for gripping the end of the thread at the end of the winding, it is possible to pull the end of the thread at the end of the winding strongly away from the thread package by the thread capturing part that grips and captures the thread. However, in this case, a thread gripping mechanism (such as a clamping mechanism and a chuck mechanism) for gripping the thread would be provided in the thread capturing part, which would increase the size of the thread capturing part, potentially preventing it from passing through narrow spaces, making it impractical. Also, in this case, when pulling the end of the thread at the end of the winding strongly away from the thread package, there is a possibility that the thread may become entangled in the thread gripping mechanism, which is also impractical.

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

[0008] A knot-releasing device for a yarn package according to one aspect of the present invention is a device for releasing a knot in a yarn package in which the end portion of the yarn at the end of the yarn winding, formed by winding yarn around a bobbin, is tied to the outer surface of the yarn layer with a knot including a slip knot, by moving the end of the yarn at the end of the winding, and comprises a yarn capturing unit that captures the end of the yarn at the end of the winding by sucking it, a winding unit on which the end portion of the yarn is wound, a yarn capturing unit moving unit that moves the yarn capturing unit, and a unit that allows the end portion of the yarn to be wound multiple times. The device comprises: a winding control unit that moves a thread-catching unit that captures the end of the thread by a thread-catching unit moving unit; a first tension generating unit that generates a predetermined first tension in a first portion between the winding unit and the thread-catching unit in the end of the thread portion that has been wound multiple times around the winding unit; and a second tension generating unit that generates a second tension greater than the first tension in a second portion between the winding unit and the thread layer in the end of the thread portion while the first tension is being generated.

[0009] In this yarn package knot release device, the end portion of the yarn is wrapped around the part to be wound multiple times, and while a first tension is generated in the first portion, a second tension greater than the first tension is generated in the second portion. This second tension strongly pulls the end of the yarn at the end of the yarn, thereby releasing the knot. Therefore, according to one aspect of the present invention, the yarn package knot release device does not require supplying a large amount of compressed fluid to the yarn capture section to generate negative pressure for strongly pulling the yarn, and it is possible to release the knot of the yarn package without providing a yarn clamping mechanism in the yarn capture section for holding the yarn.

[0010] In a knot-releasing device for a thread package according to one aspect of the present invention, if the first tension is T1, the second tension is T2, the coefficient of friction of the wrapped portion is μ, and the number of turns of the thread portion at the end of winding relative to the wrapped portion is θ, the relationship shown in equation (1) below, which corresponds to the capstan equation, may be satisfied. In this case, it becomes possible to untie the knot by utilizing the relationship shown in equation (1) below, which corresponds to the capstan equation. θ = ln(T2 / T1) ÷ μ …(1)

[0011] In a yarn package knot release device according to one aspect of the present invention, the second tension generating unit moves the winding point of the yarn portion at the end of the winding in the winding section from a first position to a second position in a direction away from the yarn package, and the first tension generating unit may move the yarn capturing unit in synchronization with the movement of the winding point. In this case, the second tension can be generated by moving the winding point from the first position to the second position in a direction away from the yarn package. Furthermore, the first tension can be generated and maintained by moving the yarn capturing unit in synchronization with the movement of the winding point.

[0012] In a knot-releasing device for a thread package according to one aspect of the present invention, the winding portion is a rod-shaped member configured to swing around a pivot axis on its base end, and the first tension generating portion and the second tension generating portion include a guide portion that swings the rod-shaped member to guide the winding portion from a first position to a second position, and the thread capturing portion may be brought into contact with the rod-shaped member around which the end of the winding portion of the thread is wound, and the thread capturing portion may be moved by the thread capturing portion moving portion, thereby swinging the rod-shaped member while guiding it with the guide portion so that the winding portion moves from the first position to the second position. In this case, the rod-shaped member around which the end of the winding portion of the thread is wound can be swung to release the knot.

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

[0014] In a yarn package knot release device according to one aspect of the present invention, the second position may be a position in the width direction of the yarn package, within the range between one end and the other end of the yarn package. In this case, when the winding point is moved to the second position, it is possible to suppress the movement in the width direction of the yarn package until the end of the yarn wound on the bobbin is detached from the bobbin.

[0015] In a yarn package knot release device according to one aspect of the present invention, the second tension generating unit may include a yarn package moving unit that moves the yarn package away from the winding unit while the positions of the winding unit and the yarn capturing unit are fixed. In this case, the second tension can be generated by the yarn package moving unit.

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

[0017] In a knot-releasing device for a thread package according to one aspect of the present invention, the second tension generating unit may include a pulling unit that pulls the second portion of the thread at the end of winding while the positions of the winding unit and the thread capturing unit are fixed. In this case, the second tension can be generated by the pulling unit.

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

[0019] In a knot-releasing device for a thread package according to one aspect of the present invention, the thread package includes a first thread package and a second thread package, the winding portion includes a first winding portion on which the end of the first thread package's winding is wound and a second winding portion on which the end of the second thread package's winding is wound, the first tension generating portion includes a first tension generating portion for the first thread package that generates a first tension in a first portion of the first thread package and a first tension generating portion for the second thread package that generates a first tension in a first portion of the second thread package, and the second tension generating portion may include a second tension generating portion for the first thread package that generates a second tension in a second portion of the first thread package and a second tension generating portion for the second thread package that generates a second tension in a second portion of the second thread package. With such a configuration, it is possible to release knots corresponding to each of the two thread packages.

[0020] A yarn splicing device according to one aspect of the present invention comprises a knot release device for the yarn package and a yarn splicing section for connecting the yarn end on the outer layer side of the first yarn package with the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package with the yarn end on the outer layer side of the second yarn package. Since this yarn splicing device is equipped with the knot release device, it is not necessary to supply a large amount of compressed fluid to the yarn capture section to generate negative pressure for strongly pulling the yarn, and it is possible to release the knots of the yarn package without providing a yarn clamping mechanism for holding the yarn in the yarn capture section.

[0021] The yarn feeding device according to one aspect of the present invention includes a knot releasing device for the yarn package, a first mounting portion on which the first yarn package is mounted, and a second mounting portion on which the second yarn package is mounted, a yarn feeding stand having the above, and a yarn connecting portion for connecting the yarn end on the outer layer side of the first yarn package and the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package and the yarn end on the outer layer side of the second yarn package. Since this yarn feeding device includes the above knot releasing device, similarly to the above, it is not necessary to supply a large amount of compressed fluid that generates a negative pressure for strongly pulling the yarn to the yarn catching portion, and it is possible to release the knot of the yarn package without providing a yarn clamping mechanism for clamping the yarn to the yarn catching portion.

Effect of the Invention

[0022] According to one aspect of the present invention, it is possible to provide a knot releasing device for a yarn package, a yarn splicing processing device, and a yarn feeding device that can release knots including slip knots of the yarn package without the need to supply a large amount of compressed fluid that generates a negative pressure for strongly pulling the yarn to the yarn catching portion and without providing a yarn clamping mechanism for clamping the yarn to the yarn catching portion.

Brief Description of the Drawings

[0023] [Figure 1] FIG. 1 is a diagram showing the configuration of a yarn feeding device according to the first embodiment. [Figure 2] FIG. 2 is a perspective view showing a yarn feeding package. [Figure 3] FIG. 3 is a perspective view showing the creel stand of FIG. 1. [Figure 4] FIG. 4 is a side view showing the schematic configuration of the package exchanging device of FIG. 1. [Figure 5] FIG. 5 is a plan view showing the schematic configuration of the exchange unit of FIG. 4. [Figure 6] FIG. 6 is a block diagram showing the functional configuration of the package exchanging device of FIG. 4. [Figure 7] FIG. 7 is a plan view showing the knot releasing device of FIG. 6. [Figure 8]Figure 8 is a perspective view showing the suction gun and threading robot from Figure 6. [Figure 9] Figure 9(a) shows the internal structure of the rotary cylinder shown in Figure 6. Figure 9(b) is another diagram showing the internal structure of the rotary cylinder shown in Figure 6. [Figure 10] Figure 10 is a perspective view illustrating the process performed by the knot-releasing device shown in Figure 6. [Figure 11] Figure 11 is a perspective view that continues from Figure 10. [Figure 12] Figure 10 is a schematic diagram illustrating the process performed by the knot-releasing device shown in Figure 6. Figure 12(b) is a schematic diagram showing a continuation of Figure 12(a). [Figure 13] Figure 13(a) is a plan view illustrating the hook member. Figure 13(b) is a side view illustrating the hook member. [Figure 14] Figure 14 shows the internal structure of a standard cylinder. [Figure 15] Figure 15 is a block diagram showing the functional configuration of a package exchange device according to the second embodiment. [Figure 16] Figure 16(a) is a plan view illustrating the process performed by the knot-releasing device shown in Figure 15. Figure 16(b) is a side view illustrating the process performed by the knot-releasing device shown in Figure 15. [Figure 17] Figure 17(a) is a plan view, a continuation of Figure 16(a). Figure 17(b) is a side view, a continuation of Figure 16(b). [Figure 18] Figure 18 is a block diagram showing the functional configuration of a package exchange device according to the third embodiment. [Figure 19] Figure 19(a) is a plan view illustrating the process performed by the knot-releasing device shown in Figure 18. Figure 19(b) is a side view illustrating the process performed by the knot-releasing device shown in Figure 18. [Figure 20] Figure 20(a) is a plan view, a continuation of Figure 19(a). Figure 20(b) is a side view, a continuation of Figure 19(b). [Figure 21]Figure 21 is a block diagram showing the functional configuration of a package exchange device according to the third embodiment. [Figure 22] Figure 22(a) is a plan view illustrating the process performed by the knot-releasing device shown in Figure 21. Figure 22(b) is a side view illustrating the process performed by the knot-releasing device shown in Figure 21. [Figure 23] Figure 23(a) is a plan view, a continuation of Figure 22(a). Figure 23(b) is a side view, a continuation of Figure 22(b). [Modes for carrying out the invention]

[0024] The embodiments will be described in detail below with reference to the drawings. In the description of the drawings, the same or equivalent elements will be denoted by the same reference numeral, and redundant descriptions will be omitted.

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

[0026] The false twisting device 1 processes yarn (synthetic yarn) supplied from multiple yarn supply packages to manufacture winding packages. The yarn is a synthetic yarn made of thermoplastic synthetic fibers such as polyester and polyamide. A yarn supply package is formed by winding partially oriented yarn (POY) onto a yarn supply bobbin. A winding package is formed by winding drawn textured yarn (DTY) onto a winding bobbin. In other words, the false twisting device 1 processes yarn Y, which is partially oriented yarn, to produce drawn textured yarn.

[0027] As shown in Figure 2, an adapter 8 is attached to the yarn supply package P1. The adapter 8 is mounted on the end of the yarn supply bobbin B1 of the yarn supply package P1 so as to be synchronously rotatable. The adapter 8 is formed in a cylindrical shape. The adapter 8 has a holding hole 81 into which the yarn end of the yarn Y on the outer layer side (mouth yarn side) of the yarn supply package P1 (hereinafter, the yarn end of the yarn Y on the outer layer side will also be called the "first yarn end Y1") enters and holds. The first yarn end Y1 is the end of the yarn portion at the end of the winding of the yarn layer YL formed by winding yarn Y onto the yarn supply bobbin B1.

[0028] The retaining hole 81 is provided inside the adapter 8 and is composed of a bent, tubular pipe. The retaining hole 81 opens in the axial direction of the adapter 8. An outlet is formed in the opening of the retaining hole 81, which contacts the suction mouth 712 described later. The outlet is a recess that tapers towards its center. The adapter 8 is attached to the yarn supply package P1, for example, by an operator.

[0029] In the yarn supply package P1, the end portion of the yarn layer YL is secured to the outer surface of the yarn layer YL with a knot KN, which includes a slip knot. In other words, in the yarn supply package P1, the end portion of the yarn layer YL is secured with a knot KN to prevent it from coming undone. A slip knot is also called a slip knot. Such a knot KN fixes the end portion of the yarn layer YL to the outer surface of the yarn layer YL, and the fixation is released by pulling the first yarn end Y1. The method of making the knot KN is not particularly limited, and various known methods can be used.

[0030] As shown in Figure 1, the false twisting device 1 comprises a yarn feeding section 2 and a processing section 3. Multiple components of the yarn feeding section 2 and the processing section 3 are arranged in the Y direction (longitudinal direction of the machine) perpendicular to the running surface of the yarn Y (plane of paper in Figure 1) where the yarn path from the yarn feeding section 2 to the processing section 3 is located.

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

[0032] The first support column 22 extends along the Z direction. The first support columns 22 are arranged at equal intervals in the Y direction. The first support columns 22 are located on one side C1 in the X direction of the creel stand 20. One side C1 in the X direction is the side where the processing unit 3, which will be described in detail later, is located, and is the side from which the yarn Y is fed to the processing unit 3 where false twisting is performed.

[0033] The second support columns 23 extend along the Z direction. The second support columns 23 are arranged in pairs in the Y direction, and multiple pairs of second support columns 23, 23 are arranged in the Y direction. The second support columns 23 are located on the other side C2 in the X direction of the creel stand 20. The other side C2 in the X direction is the side on which the package exchange device 9, which will be described in detail later, travels, and the side on which the worker performing the thread splicing work works. The group of first support columns 22, consisting of multiple first support columns 22, and the group of second support columns 23, consisting of multiple second support columns 23, are arranged opposite each other in the X direction.

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

[0035] The pegs 25 support the yarn supply package P1. The pegs 25 are provided on the second support column 23. Multiple pegs 25 are arranged at predetermined intervals (for example, 4) in the Z direction of the second support column 23. The pegs 25 are positioned between two partition plates 24 in the Z direction. In addition, the pegs 25 are arranged in pairs corresponding to the two second support columns 23, 23, and multiple pairs of pegs 25, 25 are arranged in the Y direction.

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

[0037] The processing unit 3 applies false twisting to the yarn Y supplied from multiple yarn supply packages P1, and winds the processed yarn onto a winding bobbin to form a winding package.

[0038] The package exchange device 9 retrieves the yarn bobbin B1 from the peg 25 and attaches the yarn package P1 to the peg 25. As shown in Figures 4 and 6, the package exchange device 9 comprises a traveling unit 90, a lifting unit 91, a holding unit 92, and an exchange unit 93.

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

[0040] The exchange unit 93 retrieves the yarn bobbin B1 from the peg 25 and attaches the yarn package P1 to the peg 25. As shown in Figures 4, 5, and 6, the exchange unit 93 includes a rotating device 932, a retrieval device 933, a supply device 934, and a turntable 936. The rotating device 932 rotates the peg 25 to change its orientation when attaching the yarn package P1 to the peg 25. The retrieval device 933 retrieves the yarn bobbin B1 from the peg 25. The supply device 934 supplies the yarn package P1 to the peg 25.

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

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

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

[0044] As shown in Figures 6 and 7, the knot release device 70 is a device that releases the knot KN of the yarn supply package P1 by moving the first yarn end Y1, which is the yarn end of the yarn portion at the end of the winding. The knot release device 70 comprises a suction gun (yarn capture unit) 71, a winding rod (wound-on unit) 72, a rotary cylinder (guide unit) 73, a yarn-feeding robot (yarn capture unit moving unit) 74, and a control unit 94.

[0045] As shown in Figures 7 and 8, the suction gun 71 captures the first thread end Y1, which is the end of the thread portion at the end of the winding process, by suction (hereinafter also simply referred to as "suction capture"). The suction gun 71 is installed at the tip of the thread-feeding robot 74. The suction gun 71 has a suction arm 711 and a suction mouth 712.

[0046] A suction hose 713 leading to a negative pressure source is connected to the suction arm 711, which generates a suction flow in the suction gun 71. The base end of the suction arm 711 is connected to the thread-feeding robot 74. A suction mouth 712 is provided at the tip of the suction arm 711. The suction mouth 712 sucks up the thread Y. The tip surface of the suction mouth 712 is formed in a hemispherical shape. The suction mouth 712 is connected to the suction arm 711 via a shaft and is elastically movable relative to the suction arm 711 in its axial direction by a spring or the like. The suction gun 71 is connected to a control unit 94 (see Figure 6), and the execution and stopping of suction capture are controlled by the control unit 94.

[0047] As shown in Figures 7, 9, and 10, the winding rod 72 is a member around which the end portion of the yarn Y is wound. The winding rod 72 is a rod-shaped member extending along an axis. Here, the winding rod 72 has a cylindrical shape. The winding rod 72 is made of, for example, metal. The winding rod 72 is configured to swing around a pivot axis 72X at its base end. The pivot axis 72X is perpendicular to the axis of the winding rod 72. The pivot axis 72X extends along the width direction of the yarn supply package P1, for example, with the end face of the adapter 8 facing the suction gun 71. Such a winding rod 72 has its base end as the support end and is pivotable so that its tip side moves in a direction away from and towards the yarn supply package P1.

[0048] The winding rod 72 includes a first winding rod (first winding portion) 72A on which the last portion of the yarn from the first yarn supply package P11 is wound, and a second winding rod (second winding portion) 72B on which the last portion of the yarn from the second yarn supply package P12 is wound. The first winding rod 72A is located at one end in the Y direction of the exchange unit 93, and the second winding rod 72B is located at the other end in the Y direction of the exchange unit 93.

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

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

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

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

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

[0054] As shown in Figures 7 to 10, the threading robot 74 moves the suction gun 71. The threading robot 74 is connected to the base end of the suction gun 71. The threading robot 74 consists of a linkage mechanism and multiple motors. The threading robot 74 is supported on the frame 93F of the exchange unit 93 via a bracket BR2. The threading robot 74 is located in the central part of the exchange unit 93 in the Y direction. The threading robot 74 is located between the first winding rod 72A and the second winding rod 72B in the Y direction. The threading robot 74 is not particularly limited, and various known robot arms can be used. The threading robot 74 is connected to a control unit 94, and the movement of the suction gun 71 is controlled by the control unit 94.

[0055] As shown in Figures 6 and 10-12, the control unit 94 is an electronic control unit consisting of a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), I / O ports, and communication ports. Each function of the control unit 94 is executed under the control of the CPU by loading predetermined computer software onto the hardware such as the CPU and main memory. The control unit 94 controls at least the suction gun 71, rotary cylinder 73, and thread-feeding robot 74 to perform knot-releasing processing. The control unit 94 controls at least the suction gun 71, thread-feeding robot 74, and thread-splicing device 60 to perform thread-splicing processing.

[0056] In the knot-releasing process, the control unit 94 moves the suction gun 71, which is sucking and capturing the first thread end Y1, using the thread-feeding robot 74 so that the end portion of the thread Y is wrapped around the winding rod 72 multiple times. The control unit 94 maintains suction from the suction gun 71 on the first thread end Y1 during the knot-releasing process. The amount of suction from the suction gun 71 during the knot-releasing process may be constant without change, or it may change within a set tolerance range.

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

[0058] This generates a predetermined first tension in the first portion YQ1 between the winding rod 72 and the suction gun 71 at the end of the yarn Y winding. In addition, while the first tension is being generated, a second tension greater than the first tension is generated in the second portion YQ2 between the winding rod 72 and the yarn layer YL at the end of the yarn Y winding. In this embodiment, if the first tension is T1, the second tension is T2, the friction coefficient of the winding rod 72 is μ, and the number of turns of the end of the yarn Y winding on the winding rod 72 is θ, then the relationship shown in equation (1) below, which corresponds to the capstan equation, is satisfied. The predetermined first tension may remain constant without change, for example, during the execution of the knot release process, or it may change within a set allowable range. θ = ln(T2 / T1) ÷ μ …(1)

[0059] Next, a series of operations including knot release and thread splicing in the thread splicing device 9A will be described in detail.

[0060] The following description illustrates an example of releasing a knot KN located on the outer surface of the yarn layer YL of the first yarn package P11 when joining the first yarn end Y1 of the first yarn package P11 with the second yarn end of the second yarn package P12. Here, the first yarn package P11 is a newly loaded full package, and the second yarn package P12 is a package in the process of unwinding.

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

[0062] In this initial state, as shown in Figure 7, first, the peg 25 is operated to rotate the first yarn supply package P11 so that the end face of the adapter 8 faces the suction gun 71. The control unit 94 controls the yarn feeding robot 74 to move the suction mouth 712 of the suction gun 71, bringing the suction mouth 712 into contact with the suction port of the holding hole 81 in the adapter 8 where the first yarn end Y1 is held. At the same time, the control unit 94 starts suction of the suction gun 71, and the first yarn end Y1 is sucked and captured by the suction mouth 712.

[0063] Furthermore, the control unit 94 supplies air to the first rotary cylinder 73A, causing the piston rod 731 to retract, the pinion gear 73Z which meshes with the rack gear 73Y to rotate in one direction, and the winding rod 72 to swing so that its tip is tilted toward the yarn supply package P1, as shown in Figures 7 and 9(a).

[0064] Next, as shown in Figure 10, the control unit 94 controls the thread-winding robot 74 to move the suction gun 71 that has captured the first thread end Y1, so that the end portion of the thread Y is wrapped around the tip of the first winding rod 72A three times. For example, the control unit 94 controls the thread-winding robot 74 to make the suction mouth 712 of the suction gun 71 that has captured the first thread end Y1 circle around the tip of the first winding rod 72A about three times. As a result, a winding point Q is formed on the tip side of the first winding rod 72A where the end portion of the thread Y is wrapped around three times, and the position of this winding point Q is the first position. In this embodiment, when winding the thread Y onto the winding rod 72, the thread Y is wound from the base end to the tip end.

[0065] In this case, the end portion of the thread Y is wound around the outer surface of the first winding rod 72A three times. However, the thread portions of each turn may overlap, be close together, be in contact, or be separated from each other, in whole or in part. When the winding point Q is in the first position, the restriction of the air cylinder 73X acts as resistance, preventing the exhaust of air from the air cylinder 73X. This creates a biasing force that maintains the inclination of the first winding rod 72A, and the winding point Q is held in the first position. This biasing force may be realized, for example, by utilizing the elastic force of a spring and the magnetic force of a magnet.

[0066] Next, as shown in Figures 9(b), 11, 12(a), and 12(b), with the first yarn end Y1 being sucked and captured by the suction gun 71, the control unit 94 brings the suction mouth 712 of the suction gun 71 into contact with (hooks) the first yarn supply package P11 side of the winding point Q on the winding rod 72, and moves (lifts) the suction mouth 712 away from the first yarn supply package P11 using the yarn-feeding robot 74. At this time, the suction mouth 712 is pushed away from the first yarn supply package P11 in order to resist the biasing force that maintains the tilt of the first winding rod 72A. As a result, the first winding rod 72A tilts so that its tip moves away from the yarn supply package P11, the pinion gear 73Z rotates in the other direction, and the piston rod 731 moves forward. The winding rod 72 is oscillated while being guided by the first rotary cylinder 73A so that the winding point Q moves from the first position to the second position.

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

[0068] Subsequently, the control unit 94 controls the thread-feeding robot 74 to move the suction mouth 712, which has sucked and captured the first thread end Y1, to the thread splicing device 60. After that, the suction of the suction mouth 712 is stopped to release the suction capture, and the first thread end Y1 is set (guided) into the thread splicing device 60. The control unit 94 also controls the suction gun 71 and the thread-feeding robot 74 to have the suction mouth 712 suck and capture the second thread end of the second yarn supply package P12. After moving the suction mouth 712 to the thread splicing device 60, the suction of the suction mouth 712 is stopped to release the suction capture, and the second thread end of the second yarn supply package P12 is set into the thread splicing device 60. Then, the control unit 94 controls the thread splicing device 60 to splice (connect) the first thread end Y1 of the first yarn supply package P11 and the second thread end of the second yarn supply package P12.

[0069] Incidentally, when joining the first yarn end Y1 of the newly introduced second yarn supply package P12 with the second yarn end of the first yarn supply package P11 that is currently being unwound, the same process as described above is performed when releasing the knot KN provided on the outer surface of the yarn layer YL of the second yarn supply package P12.

[0070] In the knot-releasing device 70, the end portion of the yarn is wound around the winding rod 72 multiple times, and while a first tension T1 is generated in the first portion YQ1, a second tension T2 greater than the first tension T1 is generated in the second portion YQ2. This second tension T2 then strongly pulls the first yarn end Y1, thereby releasing the knot KN. Therefore, with the knot-releasing device 70, it is not necessary to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knot KN, including the slipknot, of the yarn supply package P1 without providing a yarn clamping mechanism in the suction gun 71 for clamping the yarn Y.

[0071] The knot-releasing device 70 can generate, for example, more than 10 times greater tension on the end of the thread compared to pulling the suction gun 71 that has captured the first thread end Y1. Furthermore, the knot-releasing device 70 can generate, for example, more than 10 times greater tension on the end of the thread compared to simply winding the end of the thread onto the winding rod 72 and lifting the winding rod 72.

[0072] The knot-releasing device 70 satisfies the relationship shown in equation (1) above, which corresponds to the capstan equation, with respect to the first tension T1, the second tension T2, the friction coefficient μ of the winding rod 72, and the number of turns θ of the yarn portion at the end of the winding on the winding rod 72. This makes it possible to untie the knot KN by utilizing the relationship shown in equation (1) above, which corresponds to the capstan equation.

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

[0074] The knot-releasing device 70 includes a rotary cylinder 73 that swings the winding rod 72 to guide the winding point Q from a first position to a second position. By bringing a suction gun 71 into contact with the winding rod 72 around which the end of the winding thread is wound, and moving the suction gun 71 with a thread-feeding robot 74, the winding rod 72 is swung while being guided by the rotary cylinder 73 so that the winding point Q moves from the first position to the second position. This makes it possible to swing the winding rod 72 around which the end of the winding thread is wound and to untie the knot KN. In the knot-releasing device 70, the amount of movement of the suction gun 71 can be reduced by configuring the winding rod 72 to swing. The degree of freedom in arranging each component of the knot-releasing device 70 can be increased.

[0075] In the knot release device 70, the first position is within a range where the distance from the knot KN is less than or equal to the length from the knot KN to the first thread end Y1. In this case, the end portion of the thread can be securely wound onto the winding rod 72.

[0076] In the knot release device 70, the second position is the position H in the width direction of the yarn supply package P1, within the range between one end and the other end of the yarn supply package P1. In this case, when the winding point Q is moved to the second position, it is possible to suppress the movement in the width direction of the yarn supply package P1 until the end of the winding that is wound around the yarn supply bobbin B1 is detached from the yarn supply bobbin B1.

[0077] In the knot-releasing device 70, the yarn supply package P1 includes a first yarn supply package P11 and a second yarn supply package P12, and the winding rod 72 includes a first winding rod 72A and a second winding rod 72B. In the knot-releasing device 70, the control unit 94 and the first rotary cylinder 73A generate a first tension T1 in the first part YQ1 of the first yarn supply package P11 and a second tension T2 in the second part YQ2 of the first yarn supply package P11. The control unit 94 and the second rotary cylinder 73B generate a first tension T1 in the first part YQ1 of the second yarn supply package P12 and a second tension T2 in the second part YQ2 of the second yarn supply package P12. With this configuration, it is possible to release knots KN corresponding to each of the two yarn supply packages P11 and P12.

[0078] In the knot-releasing device 70, the suction gun 71 is located at the tip of the thread-winding robot 74. This makes it easy for the thread-winding robot 74 to operate the suction gun 71. In the knot-releasing device 70, when winding the thread Y onto the tip of the winding rod 72, the thread Y is wound from the base end to the tip end. This suppresses overlapping of the thread Y at the winding point Q compared to winding the thread Y from the tip end to the base end.

[0079] Since the yarn splicing device 9A and the yarn feeding device 100 are equipped with a knot release device 70, similar to the above, it is not necessary to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knot KN, including the slip knot, of the yarn feeding package P1 without providing a yarn clamping mechanism for holding the yarn Y in the suction gun 71.

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

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

[0082] As shown in Figure 13(b), the hook member 78 may hook the second portion YQ2 in a range F3 defined by a knot reference line F2 extending vertically through the knot KN and an auxiliary line extending horizontally from the intersection Pm of the knot reference line F2 with the surface of the yarn supply package P1, in a side view. Alternatively, the hook member 78 may hook the second portion YQ2 in a range F4 defined by an auxiliary line extending horizontally and an auxiliary line extending in a direction inclined 45° upward with respect to the horizontal. The hook member 78 only needs to be positioned within a range of approximately 300 mm from the knot reference line F2 in the horizontal direction.

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

[0084] In the above configuration, at least the control unit 94 constitutes the winding control unit. At least the control unit 94, the suction gun 71, and the winding rod 72 constitute the first tension generating unit. At least the control unit 94, the suction gun 71, and the first winding rod 72A constitute the first tension generating unit for the first yarn package. At least the control unit 94, the suction gun 71, and the second winding rod 72B constitute the first tension generating unit for the second yarn package. At least the control unit 94, the rotary cylinder 73, the suction gun 71, the winding rod 72, and the yarn-winding robot 74 constitute the second tension generating unit. At least the control unit 94, the first rotary cylinder 73A, the suction gun 71, the first winding rod 72A, and the yarn-winding robot 74 constitute the second tension generating unit for the first yarn package. At least the control unit 94, the second rotary cylinder 73B, the suction gun 71, the second winding rod 72B, and the yarn-winding robot 74 constitute the second tension generating unit for the second yarn package. In this embodiment, as an exception, the control unit 94 is included in the first tension generating unit when it is moved (specifically, when the suction gun 71 is moved). However, in all other cases, the control unit 94 is not included in the first tension generating unit as a general rule.

[0085] [Second Embodiment] A second embodiment will now be described. The second embodiment will be described in terms of its differences from the first embodiment.

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

[0087] Figure 16(a) is a plan view illustrating the process performed by the knot-releasing device 270. Figure 16(b) is a side view illustrating the process performed by the knot-releasing device 270. Figure 17(a) is a plan view continuing from Figure 16(a). Figure 17(b) is a side view continuing from Figure 16(b). In Figures 16 and 17, for the sake of explanation, the axial direction of the yarn supply package P1 is defined as the Y direction, and the axial direction of the winding rod 72 is defined as the Z direction (the same applies to Figures 19, 20, 22, and 23 thereafter).

[0088] In the knot release device 270, after winding the end portion of the yarn Y onto the winding rod 72 multiple times, the control unit 94 controls the operation of the package moving device 273 while the positions of the winding rod 72 and the suction gun 71 are fixed, as shown in Figures 16(a) and 16(b), to move the yarn supply package P1 away from the winding rod 72.

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

[0090] As described above, in the knot-releasing device 270, it is not necessary to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knot KN, including the slipknot, of the yarn supply package P1 without providing a yarn clamping mechanism for clamping the yarn Y in the suction gun 71. Furthermore, in the knot-releasing device 270, a second tension T2 can be generated by the package moving device 273. In this embodiment, at least the suction gun 71, winding rod 72, package moving device 273, and control unit 94 constitute the second tension generation unit.

[0091] [Third Embodiment] Next, we will describe the third embodiment. In describing the third embodiment, we will explain the differences from the first embodiment described above.

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

[0093] In the knot release device 370, after winding the end portion of the yarn Y onto the winding rod 72 multiple times, the first yarn end Y1 is captured by suction using the suction gun 71. As shown in Figures 19(a) and 19(b), the positions of the winding rod 72 and the suction gun 71 are fixed, and the operation of the winding rod rotation drive device 373 is controlled by the control unit 94 to rotate the winding rod 72 and pull out the end portion of the yarn from the yarn supply package P1.

[0094] Here, the end portion of the thread is wound around the winding rod 72 in a counterclockwise direction, and the winding rod 72 is rotated counterclockwise by the winding rod rotation drive device 373. By rotating the winding rod 72, the end portion of the thread that was wound around the winding rod 72 is unwound, a portion of the first section YQ1 between the winding rod 72 and the suction gun 71 is newly sucked into the suction gun 71, and a portion of the second section YQ2 between the winding rod 72 and the thread layer YL is newly wound around the winding rod 72.

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

[0096] As described above, in the knot-releasing device 370, it is not necessary to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knot KN, including the slipknot, of the yarn supply package P1 without providing a yarn clamping mechanism for clamping the yarn Y in the suction gun 71. Furthermore, in the knot-releasing device 370, a second tension T2 can be generated by the winding rod rotation drive device 373. In this embodiment, at least the suction gun 71, winding rod 72, winding rod rotation drive device 373, and control unit 94 constitute the second tension generation unit.

[0097] [Fourth Embodiment] Next, we will describe the fourth embodiment. In describing the fourth embodiment, we will explain the differences from the first embodiment described above.

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

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

[0100] In the knot release device 470, after winding the end portion of the thread Y onto the winding rod 72 multiple times, the first thread end Y1 is captured by suction using the suction gun 71. With the positions of the winding rod 72 and the suction gun 71 fixed, as shown in Figures 22(a) and 22(b), the control unit 94 controls the operation of the tension member drive device 473, moving the tension member 479 downward so as to press it against the second portion YQ2, and the second portion YQ2 is pulled by the tension member 479.

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

[0102] As described above, in the knot release device 470, it is not necessary to supply a large amount of compressed fluid to the suction gun 71 to generate negative pressure for strongly pulling the yarn Y, and it is possible to release the knot KN, including the slip knot, of the yarn supply package P1 without providing a yarn clamping mechanism for clamping the yarn Y in the suction gun 71. Furthermore, in the knot release device 470, it is possible to generate a second tension T2 by the tension member drive device 473 and the tension member 479.

[0103] In this embodiment, the tension member 479 was moved from top to bottom to press down on the first portion YQ1 and untie the knot KN. However, the tension member 479 may also be moved from bottom to top to press down on the first portion YQ1, or moved from one side horizontally to the other to press down on the first portion YQ1. The shape of the tension member 479 is not particularly limited and may be of various shapes. The tension member drive device 473 and the tension member 479 correspond to the tension section. At least the suction gun 71, winding rod 72, tension member drive device 473, tension member 479 and control unit 94 constitute the second tension generating section.

[0104] Although embodiments of one aspect of the present invention have been described above, the present invention is not necessarily limited to the embodiments described above, and various modifications are possible without departing from the spirit of the invention.

[0105] In the above embodiment, the control unit 94 does not have to be located on the package exchange device 9, but may be located at a distance from the package exchange device 9 and be able to communicate by wire or wireless. In the above embodiment and its modifications, a false twist processing device 1 was used as an example of a yarn processing device, but the invention is not limited to this. That is, although a device that performs yarn twisting (false twisting) was used as an example of a processing unit 3, the invention may also be applied to a device that performs untwisted yarn processing (air jet processing).

[0106] In the above embodiment and the above modification, after winding the end portion of the yarn Y onto the winding rod 72 multiple times, the peg 25 is rotated to rotate the yarn supply package P1 while maintaining suction of the first yarn end Y1 by the suction gun 71, thereby moving the yarn supply package P1 away from the winding rod 72, thereby generating a first tension T1 and a second tension T2 in the first part YQ1 and the second part YQ2, respectively, and untangling the knot KN of the yarn supply package P1.

[0107] In the above embodiment and the above modification, after winding the end portion of the yarn Y onto the winding rod 72 multiple times, the yarn supply package P1 may be rotated in the opposite direction to the direction in which the yarn Y is drawn out of the yarn supply package P1 while maintaining suction of the first yarn end Y1 by the suction gun 71, thereby generating a first tension T1 and a second tension T2 in the first part YQ1 and the second part YQ2, respectively, and untangling the knot KN of the yarn supply package P1.

[0108] In the above embodiment and modified example, the end of the thread was wrapped around the winding rod 72 three times, but it may be wrapped twice or four or more times. In the above embodiment and modified example, the winding rod 72 was used as the part to be wrapped, but other members may be used as the part to be wrapped, as long as the end of the thread can be wrapped around them.

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

[0110] 9A...Thread splicing device, 20...Creel stand (thread feeding stand), 25...Peg (first mounting section, second mounting section), 60...Thread splicing device (thread splicing section), 70, 270, 370, 470...Knot release device (knot release device for thread package), 71...Suction gun (thread capture section, first tension generating section, second tension generating section), 72...Winding rod (wound section, rod-shaped member, first tension generating section, second tension generating section), 72A...First winding rod (first 72B...Second winding rod (second winding section, first tension generating section for first thread package, second tension generating section for first thread package), 73...Rotary cylinder (guide section, second tension generating section), 73A...First rotary cylinder (second tension generating section for first thread package), 73B...Second rotary cylinder (second tension generating section for second thread package) 74...Thread-winding robot (thread-catching unit movement unit, second tension-generating unit), 78...Hook member, 94...Control unit (winding control unit, first tension-generating unit, second tension-generating unit), 100...Thread-feeding device, 173...Standard cylinder (guide unit, second tension-generating unit), 273...Package moving device (thread package moving unit, second tension-generating unit), 373...Winding rod rotation drive device (rod-shaped member rotation unit, second tension-generating unit), 473...Tension member drive device (tension 479...Tension member (tension section, second tension generation section), B1...Thread supply bobbin (bobbin), KN...Knot, P1...Thread supply package (thread package), P11...First thread supply package (first thread package), P12...Second thread supply package (second thread package), Q...Winding point, Y...Thread, Y1...First thread end (thread end of the thread portion at the end of winding, thread end on the outer layer side), YL...Thread layer, YQ1...First section, YQ2...Second section.

Claims

1. A device for untying a knot, in which the end portion of a thread layer formed by winding thread onto a bobbin is tied to the outer surface of the thread layer with a knot including a slip knot, in a thread package, by moving the end of the thread portion at the end of the winding, A thread capturing unit that captures the end of the thread portion at the end of the winding by sucking it up, The part to be wound around which the end portion of the winding is wound, A thread-catching unit moving unit for moving the thread-catching unit, A winding control unit moves the thread-catching unit that is capturing the end of the thread so that the end portion of the thread is wrapped around the part to be wound multiple times, A first tension generating unit generates a predetermined first tension in the first portion between the winding portion and the thread capturing unit in the winding portion by maintaining suction of the thread end of the thread portion that has been wound multiple times around the winding portion. A knot release device for a yarn package, comprising: a second tension generating unit that generates a second tension greater than the first tension in a second portion between the wound portion and the yarn layer at the end of the yarn portion, while the first tension is being generated.

2. A knot-releasing device for a yarn package according to claim 1, wherein, when the first tension is T1, the second tension is T2, the coefficient of friction of the wound portion is μ, and the number of turns of the yarn portion at the end of winding relative to the wound portion is θ, the relationship shown in equation (1) below, which corresponds to the capstan equation, is satisfied. θ=ln(T2 / T1)÷μ…(1)

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

4. The wrapped portion is a rod-shaped member configured to pivot around a pivot axis at its base end, The first tension generating unit and the second tension generating unit are The rod-shaped member includes a guide that swings to guide the winding portion from the first position to the second position, The knot-releasing device for a thread package according to claim 3, wherein the thread-catching portion is brought into contact with the rod-shaped member around which the end portion of the winding is wound, and the thread-catching portion is moved by the thread-catching portion moving portion, thereby causing the rod-shaped member to swing while being guided by the guide portion so that the winding portion moves from the first position to the second position.

5. The knot-releasing device for a yarn package according to claim 3, wherein the first position is a position within a range where the distance from the knot is less than or equal to the length from the knot to the end of the yarn portion at the end of the winding.

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

7. The second tension generating unit is, A yarn package knot release device according to claim 1 or 2, comprising a yarn package moving unit that moves the yarn package away from the winding unit while the positions of the winding unit and the yarn capturing unit are fixed.

8. The part to be wrapped is a rod-shaped member that extends along the axis, The second tension generating unit is, A knot-releasing device for a thread package according to claim 1 or 2, comprising a rod-shaped member rotating part that rotates the rod-shaped member around the shaft in a rotational direction that pulls out the end portion of the thread from the thread package, while the positions of the rod-shaped member and the thread-catching part are fixed.

9. The second tension generating unit is, A knot-releasing device for a thread package according to claim 1 or 2, comprising a tensioning part for pulling the second portion of the thread portion at the end of the winding, while the positions of the winding part and the thread-catching part are fixed.

10. The knot release device for a thread package according to claim 1 or 2, further comprising a hook member for hooking the second portion of the end portion of the thread.

11. The knot release device for a thread package according to claim 3, further comprising a hook member for hooking the second portion of the end portion of the thread.

12. The knot release device for a thread package according to claim 8, further comprising a hook member for hooking the second portion of the end portion of the thread.

13. The knot release device for a thread package according to claim 9, further comprising a hook member for hooking the second portion of the end portion of the thread.

14. The aforementioned yarn package includes a first yarn package and a second yarn package, The wrapped portion is, It includes a first winding portion around which the end portion of the first yarn package is wound, and a second winding portion around which the end portion of the second yarn package is wound, The first tension generating unit is, The invention includes a first tension generating unit for a first yarn package that generates the first tension in the first portion of the first yarn package, and a first tension generating unit for a second yarn package that generates the first tension in the first portion of the second yarn package, The second tension generating unit is, A knot release device for a yarn package according to claim 1 or 2, comprising: a second tension generating unit for a first yarn package that generates the second tension in the second portion of the first yarn package; and a second tension generating unit for a second yarn package that generates the second tension in the second portion of the second yarn package.

15. A knot release device for a thread package according to claim 14, A yarn splicing apparatus comprising a yarn splicing section for connecting the yarn end on the outer layer side of the first yarn package to the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package to the yarn end on the outer layer side of the second yarn package.

16. A knot release device for a thread package according to claim 14, A yarn feeding stand having a first mounting section on which the first yarn package is attached, and a second mounting section on which the second yarn package is attached, A yarn feeding device comprising a yarn splice for connecting the yarn end on the outer layer side of the first yarn package with the yarn end on the inner layer side of the second yarn package, or for connecting the yarn end on the inner layer side of the first yarn package with the yarn end on the outer layer side of the second yarn package.

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