CN113699605A

CN113699605A - Spinning winding device

Info

Publication number: CN113699605A
Application number: CN202111091263.4A
Authority: CN
Inventors: 日置雅明; 辻本明彦
Original assignee: TMT Machinery Inc
Current assignee: TMT Machinery Inc
Priority date: 2015-10-30
Filing date: 2016-10-28
Publication date: 2021-11-26
Anticipated expiration: 2036-10-28
Also published as: CN111876836A; CN113699605B; CN106939441A; EP3162748A1; JP6960501B2; JP2020125581A; CN113789577A; CN106939441B; TW201715105A; CN113789577B; CN111876836B; TWI677604B; JP6763744B2; JP2017082381A; CN113755959A; CN113755959B; EP3162748B1

Abstract

The invention provides a spinning winding device, which makes a yarn hanging robot difficult to interfere with an operator, a device and the like for recovering a package. The plurality of traction units (3) are arranged in a left-right direction. Each drawing unit (3) draws a plurality of yarns (Y) spun from a spinning device, and winds the yarns around a plurality of bobbins (B) to form a package. The yarn hanging robot (4) is disposed above the winding section (14) of the traction unit (3), is suspended from a guide rail (35) extending in the left-right direction across the plurality of traction units (3), and moves in the left-right direction along the guide rail (35). The yarn hanging robot (4) is located above the upper end of the fully wound package (P) mounted on the bobbin holder (24) at least when moving along the guide rail (35).

Description

Spinning winding device

The present application is a divisional application with application number 201610959353.3, application date 2016, 10, and 28, entitled "spin-winding apparatus".

Technical Field

The present invention relates to a spinning winding apparatus for winding a plurality of yarns spun from a spinning device.

Background

In the take-up device described in patent document 1, a plurality of yarns spun from a spinning machine are wound around the 1 st and 2 nd godet rollers. The plurality of yarns are respectively hung on the plurality of traverse fulcrum guides. Each of the yarns is traversed by the traverse guide using the traverse fulcrum guide as a fulcrum, and is wound around a bobbin attached to the bobbin holder. In addition, in patent document 1, in order to thread a plurality of yarns spun from a spinning machine to a take-up winding device, first, the 1 st godet roller and the 2 nd godet roller are brought close to each other by moving the 2 nd godet roller to a thread threading position, and the plurality of traverse fulcrum guides are brought close to each other by moving the plurality of traverse fulcrum guides to the thread threading position. Then, the plurality of yarns spun from the spinning machine are held by the suction member and wound in the order of the 1 st godet roller and the 2 nd godet roller. Then, the plurality of yarns are respectively threaded onto the plurality of traverse fulcrum guides.

In patent document 2, a plurality of spinning machines are connected in parallel in 1 row, and a winder corresponding to the spinning machine (corresponding to the "drawing unit" of the present invention) is disposed below each spinning machine. That is, in patent document 2, a plurality of winders are arranged in 1 row. In patent document 2, a vertical column movable along the row of the winding machine is disposed on the front side of the row of the winding machine, and an elevating table is disposed on the vertical column so as to be able to be elevated. A spindle (corresponding to the "shaft" of the present invention) for inserting the package is provided on the lift table. In patent document 2, the package is received from the winding machine by moving the lifting table to the winding machine that has requested doffing and inserting the spindle into the package.

Patent document 1: japanese patent laid-open publication No. 2015-78455

Patent document 2: japanese laid-open patent publication No. 11-106144

Here, in patent document 1, the operator performs yarn hooking on the yarn guide roller and each traverse fulcrum guide. In contrast, for automation, it is conceivable to provide a common yarn hooking robot for a plurality of winding machines, for example, and the yarn hooking robot is configured to be movable over the plurality of winding machines and to automatically perform yarn hooking to the yarn guiding roller and each traverse fulcrum guide.

On the other hand, in the take-up winding apparatus described in patent document 1, the package needs to be collected from the bobbin holder. It is conceivable that the operator manually collects the package, or collects the package using the device described in patent document 2.

When the yarn winding apparatus described in patent document 1 is provided with the yarn winding robot as described above, when a package is collected in a certain winding machine, the yarn winding robot may be moved to another winding machine to wind yarn on the godet roller and the traverse fulcrum guide. At this time, the package may be collected at a position between the current position of the yarn winding robot and the winding machine on which the yarn is to be wound. In this case, in order to avoid interference between the yarn winding robot and the operator or the apparatus that is collecting the package, the yarn winding robot needs to be moved to the target winding machine after the collection of the package is completed, and the yarn winding completion may be delayed.

Disclosure of Invention

The invention aims to provide a spinning winding device, which is provided with a yarn hanging robot which is difficult to interfere with an operator, a device and the like for recovering a package.

The take-up winding apparatus of claim 1 comprises: a plurality of traction units each having: a drawing unit that draws the plurality of yarns spun from the spinning device; and a winding section disposed below the drawing section, the winding section winding the plurality of yarns drawn by the drawing section around a plurality of bobbins arranged in a horizontal 1 st direction to form a plurality of packages, the plurality of drawing units being arranged in a 2 nd direction which is horizontal and orthogonal to the 1 st direction; a threading robot provided in common to the plurality of traction units, disposed on one side of the winding portion in the 1 st direction, and configured to thread the traction portion of each traction unit; and a control device for controlling the operation of the yarn threading robot, wherein the yarn threading robot is configured to be movable in the 2 nd direction in a state of being suspended from above.

According to the present invention, since the threading robot is configured to be movable in the 2 nd direction in a state of being suspended from above, the threading robot in motion is less likely to come into contact with an operator, other devices, and the like.

The yarn winding apparatus according to claim 2 is the yarn winding apparatus according to claim 1, wherein the yarn hooking robot is configured to be movable in the 2 nd direction above a package discharge space for discharging a plurality of packages from the winding section on the one side of the winding section in the 1 st direction.

According to the present invention, since the yarn winding robot moves above the package discharge space, the yarn winding robot can move and the package can be collected in the package discharge space at the same time.

The take-up apparatus according to claim 3 is the take-up apparatus according to claim 2, wherein the package discharge space is a space between an upper end of the package in a fully wound state of the winding portion and a mounting surface of the plurality of traction means.

According to the present invention, since the yarn threading robot moves above the package in the fully wound state of the winding section, the movement of the yarn threading robot and the collection of the package in the package discharge space can be performed simultaneously.

The spinning and winding machine according to claim 4 is the spinning and winding machine according to

claim

2 or 3, wherein the winding section includes a package discharging device that discharges a plurality of packages to the package discharging space, and the spinning and winding machine further includes a package collecting device that collects the plurality of packages discharged from the winding section in the package discharging space.

According to the present invention, the yarn hanging robot can move and the package can be collected by the package collecting device at the same time.

The take-up and winding machine according to claim 5 is the take-up and winding machine according to claim 4, wherein the package collecting device is configured to be movable in the 2 nd direction on the opposite side of the plurality of drawing units with respect to the yarn hanging robot in the 1 st direction.

According to the present invention, even when the yarn winding robot winds the yarn, the package collecting device can be moved in the 2 nd direction.

The spinning and winding machine according to claim 6 is the spinning and winding machine according to any one of claims 1 to 5, wherein the drawing unit includes a godet for winding the plurality of yarns spun from the spinning device, the yarn hooking robot is disposed on one side of the drawing units in the 1 st direction and hooks the yarns onto the godet, and the godet is configured to be disposed on an end portion of the drawing unit on the one side in the 1 st direction when the yarn hooking robot hooks the yarns.

According to the present invention, the yarn threading robot suspended from above is disposed on one side in the 1 st direction of the plurality of drawing units, whereas the godet roller is disposed on the end portion on the one side in the 1 st direction of the drawing unit when the yarn threading robot threads yarns. Accordingly, the yarn can be relatively easily threaded onto the godet roller by the yarn threading robot.

The yarn winding device according to claim 7 is the yarn winding device according to claim 6, wherein the winding section includes a plurality of distribution guides arranged in the 1 st direction and configured to distribute the plurality of yarns fed from the godet to the plurality of bobbins, the yarn hanging robot hangs the yarns on the plurality of distribution guides, and the plurality of distribution guides are configured to be close to the one end portion of the drawing unit in the 1 st direction when the yarn hanging robot hangs the yarns.

According to the present invention, the yarn threading robot suspended from above is disposed on one side in the 1 st direction of the plurality of traction units, whereas the plurality of distribution guides are close to the end portion on the one side in the 1 st direction of the traction unit when the yarn threading robot threads yarns. Thus, the thread hanging robot can relatively easily hang threads on the plurality of distribution guides.

The take-up apparatus according to claim 8 is the take-up apparatus according to any one of claims 1 to 7, wherein the yarn winding robot includes: a main body configured to be movable in the 2 nd direction in a suspended state from above; an arm portion attached to the main body portion; and a thread holding unit attached to a tip of the arm, configured to hold a plurality of threads, wherein the arm is positioned above the thread holding unit in a movement posture when the thread holding unit moves in the 2 nd direction compared to a thread hanging posture when the thread is hung.

According to the present invention, in the threading robot, the arm portion can be lowered to thread the thread at the time of threading. On the other hand, when the yarn guide is moved in the 2 nd direction, the arm portion is positioned above the yarn hooking position, so that the arm portion and the yarn holding portion can be prevented from interfering with an operator, other devices, and the like.

The take-up and winding machine according to claim 9 is the take-up and winding machine according to claim 8, wherein the movement posture is a posture in which a projected area of the yarn hanging robot projected in the 2 nd direction is minimized.

According to the present invention, if the projected area projected in the 2 nd direction of the threading robot in the moving posture is minimized, the threading robot moving in the 2 nd direction can be made most difficult to contact with an operator, other devices, and the like.

The take-up device of claim 10 is the take-up device of claim 8 or 9, wherein the main body portion is supported and suspended at two locations separated from each other in the 1 st direction.

According to the present invention, since the main body is suspended by being supported at two locations separated from each other in the 1 st direction, the main body can be suppressed from swinging in the 1 st direction when the arm portion is driven.

The spinning and winding machine according to claim 11 is the spinning and winding machine according to any one of claims 1 to 10, wherein the yarn threading robot is driven by a plurality of motors, and the control device determines whether or not the yarn threading robot is in contact with an obstacle, and restricts torque of the plurality of motors when it is determined that the yarn threading robot is in contact with the obstacle.

According to the present invention, since the torque of the threading robot is limited when the threading robot comes into contact with an operator or the like, it is possible to prevent a serious accident from occurring when the threading robot comes into contact with the operator or the like.

The spinning and winding machine according to claim 12 is the spinning and winding machine according to any one of claims 1 to 11, further comprising an obstacle sensor that detects an obstacle in a space overlapping the yarn threading robot in the 2 nd direction, wherein the control device stops the movement of the yarn threading robot when the obstacle sensor detects the obstacle.

According to the present invention, the yarn threading robot can be prevented from coming into contact with an operator or the like during movement.

The take-up winder of claim 13 is the take-up winder of any one of claims 1 to 12, wherein the height of the lower end of the yarn hooking robot from the installation surface of the plurality of drawing units when moving in the 2 nd direction is 1700mm or more.

According to the present invention, if the space between the drawing unit and the yarn threading robot during movement has a height of 1700mm or more, the operator can relatively easily perform maintenance work of the winding section, work of attaching a plurality of bobbins to the bobbin holder, and the like in the space even during movement of the yarn threading robot.

The spinning and winding machine according to claim 14 is the spinning and winding machine according to any one of claims 1 to 13, wherein the drawing unit includes a 1 st suction and holding unit that sucks and holds the yarn, and the yarn hooking robot includes a 2 nd suction and holding unit that sucks and holds the yarn and a cutter that cuts the yarn.

According to the present invention, the thread sucked and held by the 1 st suction and holding section of the drawing section is cut by the cutter, and the cut thread is sucked and held by the 2 nd suction and holding section, whereby the thread can be delivered to the 2 nd suction and holding section (thread hanging robot).

The spinning and winding machine according to claim 15 is the spinning and winding machine according to claim 14, wherein the control device causes the cutter to cut the yarn held by the 1 st suction-holding portion and causes the 2 nd suction-holding portion to suction-hold the cut yarn, thereby delivering the yarn from the 1 st suction-holding portion to the 2 nd suction-holding portion.

According to the present invention, the thread can be delivered to the threading robot (the 2 nd suction holding unit) by cutting the thread sucked and held by the 1 st suction holding unit of the drawing unit with the cutter, and sucking and holding the cut thread by the 2 nd suction holding unit.

A spinning and winding machine according to claim 16 is the spinning and winding machine according to claim 15, wherein the drawing unit further includes a godet disposed below the 1 st suction and holding unit and configured to wind the plurality of yarns spun from the spinning device, and the control unit is configured to cause the yarn hanging robot to hang the yarns sucked and held by the 2 nd suction and holding unit on the godet.

According to the present invention, the yarn sucked and held by the 2 nd suction holding portion can be threaded onto the guide roller.

A 17 th aspect of the invention is the take-up winding machine according to the 16 th aspect of the invention, further comprising a thread restricting guide disposed between the godet roller and the 1 st suction holding portion, and configured to be movable in an axial direction of the godet roller under control of the control device, wherein the control device is configured to move the thread restricting guide to a position protruding from a tip end portion of the godet roller when the thread hooking robot hooks the thread sucked and held by the 2 nd suction holding portion onto the godet roller, then move the 2 nd suction holding portion to a lower side than the godet roller to hook the thread restricting guide, and then move the 2 nd suction holding portion and the thread restricting guide to a base end side in the axial direction of the godet roller, thereby moving the yarn to a position overlapping the godet roller.

At the time of delivering and receiving the yarn from the 1 st suction-holding portion to the 2 nd suction-holding portion, the 2 nd suction-holding portion is located above the godet roller. In order to thread the godet roller, the 2 nd suction holding portion needs to be moved below the godet roller. Furthermore, it is necessary to thread the thread restricting guide. In the present invention, at the end of the delivery of the yarn, the yarn hooking to the yarn restricting guide is performed by moving the yarn restricting guide to a position protruding beyond the leading end of the godet roller and then moving the 2 nd suction holding portion to a position below the godet roller. Thus, when the 2 nd suction holding portion is moved, the yarn threading robot can be prevented from interfering with the godet roller. After the 2 nd suction holding portion is moved to a position lower than the godet roller, the 2 nd suction holding portion and the yarn restricting guide are moved to the base end side in the axial direction of the godet roller, and the yarn is moved to a position overlapping the godet roller. This makes it possible to form a state in which the yarn can be threaded onto the yarn guide roller.

ADVANTAGEOUS EFFECTS OF INVENTION

Drawings

Fig. 1 is a schematic configuration diagram of a spinning and winding apparatus according to an embodiment of the present invention, showing a state in which an automatic yarn hooking robot is set to a moving posture and an elevating unit is set to a collecting posture.

Fig. 2 is a view of fig. 1 as viewed from the direction of arrow II.

Fig. 3 corresponds to fig. 1, in which the automatic yarn threading robot is set to the yarn threading posture and the lifting unit is set to the conveyance posture.

Fig. 4 corresponds to fig. 2, in which the automatic yarn threading robot is set to the yarn threading posture and the lifting unit is set to the conveyance posture.

Fig. 5 is a view of the periphery of the fulcrum guide as viewed from above, fig. 5A shows a state in which the fulcrum guide is located at the winding position, and fig. 5B shows a state in which the fulcrum guide is located at the yarn hooking position.

Fig. 6A is an enlarged view of an upper end portion of the automatic yarn threading robot of fig. 2, and fig. 6B is a view of fig. 6A as viewed from the direction of arrow B.

Fig. 7 is a block diagram showing an electrical configuration of the take-up winding device.

Fig. 8A is a diagram showing a state in which the thread catcher of the thread hooking unit is brought into contact with the thread, fig. 8B is a diagram showing a state in which the delivery of the thread to the thread catcher of the thread hooking unit is completed, fig. 8C is a diagram showing a state in which the thread hooking unit is moved to a lower side than the 1 st godet, fig. 8D is a diagram of fig. 8C as viewed from a direction of an arrow D, fig. 8E is a diagram showing a state in which the thread hooking unit and the restricting guide are moved to overlap the 1 st godet, and fig. 8F is a diagram showing a state in which the thread hooking to the 1 st and 2 nd godets is completed.

Fig. 9 is a diagram showing a state in which the package discharged from the bobbin holder is held by the lifting section.

Fig. 10 is a diagram showing a state in which the lifting unit holding the package is set to the conveyance posture.

Fig. 11 is a view corresponding to fig. 7 of a modification.

Description of the symbols

1: a spinning winding device; 3: a traction unit; 4: a filament hanging robot; 5: a package recovery device; 11: a silk sucking device; 12: 1 st godet roller; 13: a 2 nd godet roller; 14: a winding section; 19: a wire restraining guide; 21: a fulcrum guide; 26: a push rod; 31: a main body portion; 37: an area sensor; 38: a cutter; 39: a silk sucking device; 32: an arm portion; 100: a control device; 102: a wire hanging control device; 121: a movement motor; 122: an arm motor; r: a package discharge space.

Detailed Description

Preferred embodiments of the present invention will be described below.

(integral constitution of the take-up winding apparatus)

The spinning and winding machine 1 of the present embodiment is for drawing a plurality of yarns Y spun from a spinning device, not shown, and winding the yarns Y around a plurality of bobbins B to form a plurality of packages P. As shown in fig. 1 to 4, the take-up and winding apparatus 1 includes a plurality of drawing units 3, one yarn winding robot 4 provided in common to the plurality of drawing units 3, and one package collecting device 5.

The plurality of traction units 3 are arranged in a horizontal direction. In the following description, the direction in which the plurality of traction units 3 are arranged is referred to as a left-right direction ("2 nd direction" in the present invention), the direction horizontal and orthogonal to the left-right direction is referred to as a front-rear direction ("1 st direction" in the present invention), and the direction in which gravity acts is referred to as a vertical direction. Hereinafter, the right and left sides in the left-right direction are defined as shown in fig. 1, and the front and rear sides in the front-rear direction are defined as shown in fig. 2.

(traction unit)

Each drawing unit 3 includes a thread suction device 11 ("1 st suction holding portion" of the present invention), a 1 st godet roller 12, a thread restricting guide 19, a 2 nd godet roller 13, and a winding portion 14. The thread suckers 11 extend in the left-right direction. The yarn suction device 11 is used to suck and hold a plurality of yarns Y spun from the spinning device in advance before the yarns are wound on the

guide rollers

12 and 13 and the winding part 14.

The 1 st godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed in a portion located below the thread suction device 11 in the vertical direction. The 1 st godet roller 12 is thus located at the front end of the drawing unit 3. The 1 st godet roller 12 is rotationally driven by a 1 st godet motor 111 (see fig. 7).

The yarn restricting guide 19 is disposed between the yarn sucker 11 and the 1 st godet roller 12 in the vertical direction. The thread restricting guide 19 is, for example, a known comb-shaped thread guide, and when a plurality of threads Y are hung, the interval between the adjacent threads Y is defined to be a predetermined value (for example, 4 mm). The yarn restricting guide 19 can be moved in the left-right direction (the axial direction of the 1 st godet roller 12) by an air cylinder 119 (see fig. 7). Thus, the thread restricting guide 19 can move in the left-right direction between a protruding position protruding beyond the tip end portion of the 1 st godet roller 12 and an entering position accommodated within a range where the 1 st godet roller 12 is arranged.

The 2 nd godet roller 13 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed on the rear side of the 1 st godet roller 12. The 2 nd godet roller 13 is rotationally driven by a 2 nd godet motor 112 (see fig. 7). The 2 nd godet roller 13 is movably supported by a guide rail 15. The guide rail 15 extends so as to be positioned on the upper side in the vertical direction as the rear side in the front-rear direction becomes closer. The 2 nd godet roller 13 is connected to an air cylinder 113 (see fig. 7). When the air cylinder 113 is driven, the 2 nd godet roller 13 moves along the guide rail 15. Thereby, the 2 nd godet roller 13 is movable between a winding position at the time of winding the yarn Y shown by a solid line in fig. 2 and a yarn hanging position at the time of yarn hanging arranged close to the 1 st godet roller 12 at the front end portion of the drawing unit 3 shown by a chain line in fig. 2. Here, the 2 nd godet roller 13 is located at the front side end portion of the drawing unit 3 in a state of being located at the above-described yarn hanging position.

The plurality of yarns Y spun from the spinning device are sequentially wound around and hung on the

godet rollers

12 and 13 which are driven to rotate. In the present embodiment, the combination of the thread sucker 11, the 1 st godet roller 12, the thread restricting guide 19, and the 2 nd godet roller 13 corresponds to the "drawing section" of the present invention.

The winding section 14 includes a plurality of fulcrum guides 21 (a "distribution guide" of the present invention), a plurality of traverse guides 22, a turn table 23, two bobbin holders 24, a contact roller 25, and a push rod 26. As shown in fig. 2, 4, 5A, and 5B, the plurality of fulcrum guides 21 are provided separately from the plurality of threads Y and are arranged in the front-rear direction. Each of the fulcrum guides 21 has a groove 21a opened rearward, and the yarn Y can be threaded by being inserted into the groove 21a from the rear side.

As shown in fig. 5A and 5B, the plurality of fulcrum guides 21 are attached to the plurality of sliders 27. The plurality of sliders 27 are supported to be movable in the front-rear direction along the guide rail 28. Further, the plurality of sliders 27 are connected to a cylinder 114 (see fig. 7). When the air cylinder 114 is driven, the plurality of sliders 27 move in the front-rear direction along the guide rail 28. Thus, the plurality of fulcrum guides 21 can move between the winding position, which is the position when the yarn Y is wound while being arranged apart from each other in the front-rear direction as shown in fig. 2 and 5A, and the yarn hooking position, which is the position when the yarn is hooked while being arranged close to each other on the front side of the guide rail 28 as shown in fig. 5B. Thereby, the plurality of fulcrum guides 21 are located close to the front end of the drawing unit 3 in the state of being located at the yarn hooking position.

The plurality of traverse guides 22 are provided separately from the plurality of yarns Y and arranged in the front-rear direction. The plurality of traverse guides 22 are driven by a common traverse motor 115 (see fig. 7) and reciprocate in the front-rear direction. Thereby, the yarn Y hooked on the traverse guide 22 traverses around the fulcrum guide 21.

The turntable 23 is a disk-shaped member whose axial direction is parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor 116 (see fig. 7). The two bobbin holders 24 are axially parallel to the front-rear direction and rotatably supported by the upper end portion and the lower end portion of the turn table 23. A plurality of bobbins B provided separately from the plurality of yarns Y are mounted on the bobbin holders 24 in a front-rear direction in a row. Further, the two bobbin holders 24 are each rotationally driven by a separate winding motor 117 (see fig. 7).

When the upper bobbin holder 24 is rotationally driven, the yarn Y traversed by the traverse guide 22 is wound around the bobbin B to form the package P. After the formation of the package P is completed, the vertical positions of the two bobbin holders 24 are replaced by rotating the turn table 23. Thus, the bobbin holder 24 positioned on the lower side up to this point moves to the upper side, and the yarn Y can be wound around the bobbin B mounted on the bobbin holder 24 to form the package P. The bobbin holder 24 located on the upper side up to this point moves to the lower side, and the package P can be collected.

The contact roller 25 is a roller whose axial direction is parallel to the front-rear direction, and is disposed immediately above the bobbin holder 24 on the upper side. The contact roller 25 is in contact with the surface of the package P formed by winding the yarn Y around the bobbin B mounted on the bobbin holder 24 on the upper side, thereby applying a contact pressure to the surface of the package P being wound.

The push rod 26 is configured to be movable along a guide rail 29 extending in the front-rear direction over the entire length of the bobbin holder 24. The push rod 26 is connected to a cylinder 118 (see fig. 7). When the air cylinder 118 is driven, the push rod 26 moves forward along the guide rail 29, and the plurality of packages P in the fully wound state held by the lower bobbin holder 24 are pushed out toward the package discharge space R in front of the winding section 14. Here, the package discharge space R is a space between the upper end of the package P in a fully wound state held by the lower bobbin holder 24 in front of the winding section 14 and the mounting surface G of the drawing unit 3.

(Silk hanging robot)

Next, the yarn threading robot 4 will be explained. The threading robot 4 includes a main body 31, a robot arm 32, and a threading unit 33 ("thread holding portion" in the present invention). The main body 31 is formed in a substantially rectangular parallelepiped shape, and a threading control device 102 (see fig. 7) for controlling the operation of the robot arm 32 and the threading unit 33, and the like are mounted therein. Further, two guide rails 35 are disposed on the front side of the plurality of traction units 3 at intervals in the front-rear direction and extend in the left-right direction across the plurality of traction units 3. The main body 31 is suspended from the two guide rails 35 and is movable in the left-right direction along the two guide rails 35.

To describe in more detail, as shown in fig. 6A and 6B, four wheels 36 are provided at the upper end of the body portion 31. Two of the four wheels 36 are disposed on the upper surface of each guide rail 35. Thus, the main body 31 is suspended from the guide rail 35 in a state of being supported by the guide rail 35 at two positions separated from each other in the front-rear direction. The two wheels 36 disposed on the upper surface of each guide rail 35 are disposed at intervals in the left-right direction. The four wheels 36 are rotationally driven by the movement motor 121 (see fig. 7), and the body portion 31 moves in the left-right direction along the two guide rails 35 by rotationally driving the four wheels 36.

In addition, two area sensors 37 (the "obstacle sensors" of the present invention) are provided in the main body portion 31. The area sensors 37 are provided at both left and right ends of the main body 31. The area sensor 37 detects whether or not there is an obstacle such as an operator or a device in an area overlapping the yarn threading robot 4 in the left-right direction.

The robot arm 32 is mounted on the lower surface of the main body portion 31. The robot arm 32 includes a plurality of arms 32a and a plurality of joints 32b connecting the arms 32a to each other. Each joint portion 32b incorporates an arm motor 122 (see fig. 7), and when the arm motor 122 (see fig. 7) is driven, the arm 32a swings about the joint portion 32 b. Thereby, the robot arm 32 is driven. Here, the maximum output of all the arm motors 122 is 80W or less. The yarn hooking unit 33 is attached to the distal end portion of the robot arm 32. A thread sucking device 39 (the "2 nd sucking and holding portion" of the present invention) for sucking and holding the thread Y and a cutter 38 for cutting the thread Y are provided at the tip of the threading unit 33. The yarn hooking unit 33 includes various devices for distributing and hooking the plurality of yarns Y to the plurality of fulcrum guides 21 as described later, such as a comb-shaped yarn hooking aid disclosed in japanese patent application laid-open No. 2015-164875, in addition to the yarn sucker 39 and the cutter 38, but the configuration of these devices is not described here.

(Package recovering device)

The package collecting device 5 includes an elevating section 41 and a support section 42. The elevating portion 41 has a substantially rectangular parallelepiped shape extending horizontally. A shaft 43 extending in the longitudinal direction of the lifting portion 41 is provided inside the lifting portion 41 over substantially the same length as the bobbin holder 24. When the package P is collected as described later, the shaft 43 is inserted into the package P. The support portion 42 is disposed forward of the wire robot 4 and extends in the vertical direction. The elevating section 41 is supported by the column section 42 so as to be able to ascend and descend. An air cylinder 131 (see fig. 7) is connected to the elevating unit 41, and when the air cylinder 131 is driven, the elevating unit 41 moves up and down along the column part 42. The support portion 42 is supported at both ends in the vertical direction by

guide rails

44 and 45 extending in the left-right direction, respectively, and is movable in the left-right direction along the guide rails 44 and 45. An air cylinder 132 (see fig. 7) is connected to the column part 42, and when the air cylinder 132 is driven, the column part 42 moves in the left-right direction. When the column part 42 moves in the left-right direction, the elevating part 41 attached to the column part 42 also moves in the left-right direction. The support portion 42 is connected to a motor 133 (see fig. 7). When the motor 133 is driven, the column part 42 rotates with the upper and lower ends fixed. When the column part 42 rotates, the elevating part 41 attached to the column part 42 also rotates. Thus, in the package collecting apparatus 5, the lifting unit 41 can take the collecting posture in which the shaft 43 is substantially parallel to the front-rear direction as shown in fig. 1 and 2, and the conveying posture in which the shaft 43 is substantially parallel to the left-right direction as shown in fig. 3 and 4. When the lifting unit 41 is in the collection posture, a part thereof is located within a range in which the yarn threading robot 4 is disposed in the front-rear direction. In a state where the lifting unit 41 is in the conveyance posture, the entire lifting unit is positioned forward of the threading robot 4.

(Electrical constitution of the spinning winding apparatus)

Next, an electrical configuration of the take-up winding device 1 will be described. In the spinning and winding apparatus 1, as shown in fig. 7, a drawing unit control device 101 is provided in each drawing unit 3, and the drawing unit control device 101 controls the operations of the 1 st yarn guiding motor 111, the 2 nd yarn guiding motor 112, the

air cylinders

113, 114, 118, and 119, the traverse motor 115, the turret motor 116, the winding motor 117, and the like. Although each traction unit 3 includes two winding motors 117, only one winding motor 117 is illustrated in fig. 7. Fig. 7 shows only one drawing means control device 101, which is controlled by the 1 st guide wire motor 111, the 2 nd guide wire motor 112, the

air cylinders

113 and 114, the traverse motor 115, the turn table motor 116, the winding motor 117, and the air cylinder 118.

In the spinning and winding apparatus 1, the yarn threading robot 4 is provided with a yarn threading control device 102, and the yarn threading control device 102 controls the operations of the movement motor 121, the arm motor 122, the yarn threading unit 33, and the like. Information on the torques of the

motors

121 and 122 of the threading robot 4, the detection result of the area sensor 37, and the like are input to the threading control device 102. The robot arm 32 has a plurality of joint portions 32b and a plurality of arm motors 122 corresponding to the plurality of joint portions 32b, but only one arm motor 122 is illustrated in fig. 7. Although two area sensors 37 are provided in the main body 31, only one area sensor 37 is illustrated in fig. 7.

In the take-up and winding machine 1, the package collecting device 5 is provided with the collection control device 103, and the collection control device 103 controls the operations of the

cylinders

131 and 132, the motor 133, and the like.

The take-up and winding apparatus 1 further includes a control device 100 for controlling the entire apparatus. The control device 100 is connected to a plurality of drawing unit control devices 101, a yarn hooking control device 102, and a collection control device 103 provided in the plurality of drawing units 3, and controls the operation of the entire spinning and winding facility 1 by controlling the operations of the plurality of drawing unit control devices 101, the yarn hooking control device 102, and the collection control device 103.

(method of hanging silk)

Next, a method of causing the yarn threading robot 4 to thread the

guide rollers

12 and 13 and the plurality of fulcrum guides 21 will be described.

Before the yarn hanging robot 4 is caused to hang the yarns, the yarn sucker 11 is caused to suck and hold the plurality of yarns Y spun from the spinning device in advance. Further, by positioning the 2 nd godet roller 13 of the drawing unit 3 to be subjected to yarn hanging at the yarn hanging position, the 2 nd godet roller 13 is positioned at the end portion on the front side of the drawing unit 3 in advance. Further, the plurality of fulcrum guides 21 are positioned at the above-described threading position, thereby being brought close to the front end of the drawing unit 3.

In order to thread the

godet rollers

12, 13 and the plurality of fulcrum guides 21 by the threading robot 4, first, the threading robot 4 is moved to the front of the drawing unit 3 where threading is to be performed. At this time, as shown in fig. 1 and 2, the robot arm 32 is set to the following posture: the arm 32a closest to the body 31 is substantially parallel to the left-right direction, and the arm 32a on the tip side thereof is substantially parallel to the vertical direction. The posture of the threading robot 4 in this state corresponds to the "movement posture" of the present invention.

When the yarn threading robot 4 is set to the above-described moving posture, most of the robot arm 32 and the yarn threading unit 33 overlap the main body portion 31 in the left-right direction, and the projected area of the yarn threading robot 4 projected in the left-right direction is minimized. The yarn winding robot 4 in the moving posture is located above the package discharge space R. The height H of the lower end of the yarn threading robot 4 from the installation surface G of the traction unit 3 is about 1700 mm.

However, when the area sensor 37 detects an obstacle while the threading robot 4 is moving forward of the traction unit 3, the movement of the threading robot 4 (the driving of the movement motor 121) is stopped, and then, after the obstacle is not detected by the area sensor 37, the movement of the threading robot 4 is restarted.

After the yarn threading robot 4 is moved in front of the drawing unit 3 to thread the yarn, the robot arm 32 is lowered to a lower side than the moving posture, and the yarn threading unit 33 is moved to a position where the tip end portion of the yarn sucker 39 is pressed by the plurality of yarns Y as shown in fig. 8A. At this time, the cutter 38 is positioned below the thread catcher 39, and the plurality of threads Y pass through the cutter 38. Next, the thread is sucked by the thread sucker 39 and then cut by the cutter 38. The plurality of cut yarns Y are thereby sucked and held by the yarn sucker 39, and as shown in fig. 8B, the plurality of yarns Y are transferred from the yarn sucker 11 to the yarn sucker 39.

After the transfer of the plurality of yarns Y from the yarn sucker 11 to the yarn sucker 39 is completed, as shown in fig. 8C and 8D, the yarn hooking unit 33 is moved to the projecting position, and then moved to a position below the 1 st godet roller 12 in the left-right direction where the plurality of yarns Y can be hooked on the yarn restricting guide 19. In the present embodiment, for example, when a signal for driving the cutter 38 is output, it is determined that the transfer of the plurality of yarns Y from the yarn sucker 11 to the yarn sucker 39 is completed, and the above-described operation is performed.

Next, as shown in fig. 8E, the yarn hooking unit 33 of the robot arm 32 is moved toward the axial base end side of the 1 st godet roller 12, and the yarn restricting guide 19 is moved toward the axial base end side of the godet roller 12 by the air cylinder 119, thereby moving the plurality of yarns Y to a position overlapping the outer peripheral surface of the godet roller 12. Then, by moving the yarn hooking unit 33 of the robot arm 32, the plurality of yarns Y are looped around the

godets

12 and 13 as shown in fig. 8F.

Then, the plurality of yarns Y are threaded one at a time to the plurality of fulcrum guides 21. This completes the yarn hooking to the

yarn guide rollers

12 and 13 and the plurality of fulcrum guides 21. After the yarn threading is completed, the 2 nd godet roller 13 and the plurality of fulcrum guides 21 are moved to the winding position. In the present embodiment, the posture of the automatic threading robot in a state where the robot arm 32 is positioned below the movement posture when threading the

guide rollers

12 and 13 and the plurality of fulcrum guides 21 corresponds to the "threading posture" of the present invention. Here, in fig. 3 and 4, the robot arm 32 is located above the package discharging space R, but when the robot arm 32 is driven during yarn hanging, the robot arm 32 may temporarily intrude into the package discharging space R.

When the torque of either one of the travel motor 121 and the arm motor 122 fluctuates by a predetermined amount or more while the threading is performed by the threading robot 4 in this manner, it is determined that the threading robot 4 is in contact with an operator or the like, and the torque of the travel motor 121 and the arm motor 122 is limited.

(method of recovering Package)

Next, a method of collecting the package P by using the package collecting apparatus 5 will be described. In order to recover the package P by using the package recovery apparatus 5, the lifting unit 41 is lowered to the same height as the lower bobbin holder 24 and moved to the front of the drawing unit 3 to recover the package P in the state of the conveyance posture. Next, the elevating unit 41 is rotated by about 90 degrees to be in the recovery posture. In this state, as shown in fig. 9, the plurality of packages P held by the lower bobbin holder 24 are pushed out by the push rod 26. Thus, the shaft 43 is inserted through the plurality of packages P pushed out from the bobbin holder 24, and the plurality of packages P are held by the shaft 43.

After the discharge of the package P by the pusher 26 is completed, the lifting and lowering section 41 is rotated by about 90 degrees to be in the conveyance posture as shown in fig. 10, and is moved in the left-right direction, whereby the collected package P is conveyed. Further, the push rod 26 is moved backward, thereby returning to the position before the package P is ejected. Then, the plurality of bobbins B are mounted on the bobbin holder 24 from which the package P is discharged. Further, for example, the operator manually attaches the plurality of bobbins B to the bobbin holder 24. Alternatively, after the conveyance of the package P is completed, the package collecting device 5 may attach the plurality of bobbins B to the bobbin holder 24.

According to the embodiment described above, the threading robot 4 disposed in front of the traction unit 3 is suspended on the guide rail 35, thereby forming a space below the threading robot 4. This makes it difficult for the running threading robot 4 to interfere with an operator, other devices, and the like.

Here, in the present embodiment, the 1 st godet roller 12 is disposed at the front end portion of the drawing unit 3. Further, as described above, when the yarn is hung, the 2 nd godet roller 13 can be positioned at the front end portion of the drawing unit 3, and the plurality of fulcrum guides 21 can be brought close to the front end portion of the drawing unit 3. Accordingly, the yarn hooking robot 4 disposed in front of the drawing unit 3 can hook the yarn to the

godet rollers

12 and 13 and the plurality of fulcrum guides 21 relatively easily. Further, if a wire-hanging method (wire-hanging using a comb-shaped wire-hanging auxiliary tool) disclosed in, for example, japanese patent application laid-open No. 2015-164875 is used and applied to the wire-hanging of the fulcrum guide 21, the operation program and control of the robot become easy.

The yarn threading robot 4 in the moving posture can move in the left-right direction above the package discharge space R. Thus, when the package P is collected from the bobbin holder 24 of a certain drawing unit 3 by the package collecting device 5, the yarn threading robot 4 can be moved forward of the other drawing unit 3 by moving the yarn threading robot 4 in the left-right direction above the lifting unit 41. Therefore, when the yarn hooking robot 4 is moved to hook the yarn to the

godet rollers

12 and 13 and the plurality of fulcrum guides 21 of the other drawing unit 3, there is no need to wait for the completion of the collection of the package P from the bobbin holder 24. That is, the yarn winding by the yarn winding robot 4 and the collection of the package P by the package collection device 5 can be performed simultaneously. This can prevent delay in the completion of yarn threading.

In addition, the entire lifting unit 41 of the package collecting apparatus 5 is positioned forward of the threading robot 4 in the state of the conveyance posture. Thus, when the yarn threading is performed by the yarn threading robot 4, the yarn threading robot 4 does not interfere with the lifting unit 41 even if the lifting unit 41 is moved in the left-right direction. That is, the elevating unit 41 can be moved in the left-right direction while the yarn threading robot 4 is threading the yarn.

In addition, the yarn threading robot 4 has a minimum projected area projected in the left-right direction in a state of being in the moving posture. As a result, when the threading robot 4 is moved in the left-right direction, the threading robot 4 is most unlikely to interfere with an operator, other devices, and the like.

The main body 31 of the yarn threading robot 4 is supported by and suspended from two guide rails 35 arranged at a distance from each other in the front-rear direction. This can suppress the swing of the threading robot 4 in the front-rear direction when the robot arm 32 is driven and the arm 32a is swung, for example, when threading.

In the present embodiment, the area sensor 37 is provided in the main body 31 of the threading robot 4, and when an obstacle is detected by the area sensor 37, the movement of the threading robot 4 is stopped. This can prevent the wire-threading robot 4 from coming into contact with an operator or the like.

In the present embodiment, since the maximum output of the arm motor 122 of the threading robot 4 is all 80W or less in accordance with international standard ISO10218, it is possible to prevent a serious accident from occurring when the threading robot 4 comes into contact with an operator during threading.

In the present embodiment, it is determined whether or not the threading robot 4 is in contact with the operator or the like based on the change in the torque of the travel motor 121 and the arm motor 122, and when the threading robot 4 is in contact with the operator or the like, the torque of the travel motor 121 and the arm motor 122 is limited. This can prevent a major accident from occurring when the threading robot 4 comes into contact with the operator.

The lower end of the wire hanging robot 4 in the moving posture has a height H of about 1700mm from the installation surface G of the traction unit 3. This forms a space having a height of about 1700mm below the running threading robot 4, and the operator can relatively easily perform work in this space.

In addition, in a state where the plurality of yarns Y are sucked and held by the yarn sucker 11, the plurality of yarns Y can be delivered from the yarn sucker 11 to the yarn sucker 39 by pressing the yarn sucker 39 against the plurality of yarns Y and sucking the yarns Y by the yarn sucker 39 and then cutting the plurality of yarns Y with the cutter 38. After the transfer of the plurality of yarns Y from the yarn sucker 11 to the yarn sucker 39, the yarn hooking unit 33 is moved below the 1 st godet roller 12 after the yarn restricting guide 19 is moved to the projecting position. Accordingly, the yarn hooking unit 33 moves downward at a position on the right side of the godet roller 12, and the yarn hooking unit 33 can be prevented from interfering with the 1 st godet roller 12.

Next, a modification example in which various modifications are applied to the present embodiment will be described.

In the above embodiment, the height H of the lower end of the wire suspension robot 4 in the moving posture from the installation surface G of the traction unit 3 is about 1700mm, but the present invention is not limited thereto. The height H may also be higher than 1700 mm. In this case, the operator can relatively easily perform work in the space below the threading robot 4. Further, the height H may be lower than 1700 mm.

In the above embodiment, the projected area of the threading robot 4 projected in the left-right direction is the smallest in the state where the threading robot 4 is in the moving posture, but the present invention is not limited to this. The projected area of the yarn threading robot 4 projected in the left-right direction in the moving posture may be larger than the minimum area in the above embodiment.

In the above embodiment, the arm 32a and the threading unit 33 are located above the threading robot 4 when the threading robot 4 is in the moving posture, compared to when the threading robot 4 is in the threading posture, but the present invention is not limited to this. For example, when the lower end of the threading robot 4 is always located above the package discharge space R during threading, the threading robot 4 may be configured such that the heights of the arm 32a and the threading unit 33 are substantially the same both when the threading robot is in the moving posture and when the threading robot is in the threading posture.

In the above embodiment, the area sensor 37 is provided in the main body 31 of the threading robot 4, but the area sensor 37 may not be provided. In this case, the yarn threading robot 4 may move in the left-right direction and come into contact with the operator. However, for example, also in the movement of the main body portion 31, if the torque limitation of the movement motor 121 and the plurality of arm motors 122 is performed when it is determined that the threading robot 4 is in contact with the operator or the like, as in the above-described embodiment, it is possible to prevent a serious accident from occurring when the threading robot 4 is in contact with the operator.

In the above embodiment, when it is determined that the threading robot 4 is in contact with the operator or the like, the torque of the traveling motor 121 and the arm motors 122 is limited, but the torque may not be limited. If the maximum outputs of the arm motors 122 are all 80W or less, even if the torque limitation is not performed, it is possible to prevent a serious accident from occurring when the threading robot 4 comes into contact with the operator during threading.

In the above embodiment, the maximum output of all the arm motors 122 of the yarn threading robot 4 is 80W or less, but the present invention is not limited to this. The maximum output of at least a portion of the plurality of arm motors 122 may also be greater than 80W. In this case, for example, if the torque of the arm motor 122 is limited when the threading robot 4 is determined to be in contact with the operator or the like, as in the above-described embodiment, it is possible to prevent a serious accident from occurring when the threading robot 4 is in contact with the operator.

In the above embodiment, the movement of the yarn threading robot 4 is stopped when the obstacle is detected by the area sensor 37, but the present invention is not limited to this. For example, when an obstacle is detected by the area sensor 37, the moving speed of the threading robot 4 may be reduced to a safer speed in stage 1, and then the movement of the threading robot 4 may be stopped before the threading robot 4 comes into contact with the obstacle in stage 2.

In the above embodiment, the area sensor 37 is provided as the obstacle sensor, but the present invention is not limited to this. In one modification, as shown in fig. 11, a contact sensor 201 is provided in place of the area sensor 37. The contact sensor 201 detects that the threading robot 4 is in contact with an obstacle such as an operator. The contact sensor 201 may be provided in the same portion of the main body 31 (see fig. 1) as the area sensor 37, but is more preferably provided in each portion of the threading robot 4 that is supposed to come into contact with an obstacle such as an operator, such as the distal end portion of the robot arm 32. In this case, the contact sensor 201 detects that the threading robot 4 is in contact with an obstacle, thereby detecting an obstacle in an area overlapping the threading robot 4 in the left-right direction. In this case, when the threading robot 4 moves in the left-right direction and comes into contact with an operator or the like, the movement of the threading robot 4 can be stopped.

Alternatively, both the area sensor 37 and the contact sensor 201 may be provided as the obstacle sensor. In this case, for example, when the threading robot 4 moves in the left-right direction and the obstacle is detected by the area sensor 37, the moving speed of the threading robot 4 is reduced to a safer speed. After that, when the contact sensor 201 further detects that the threading robot 4 is in contact with an obstacle, the movement of the threading robot 4 is stopped.

In the above embodiment, the main body portion 31 of the threading robot 4 is supported and suspended by the two guide rails 35 arranged at a distance in the front-rear direction, but the invention is not limited thereto. The main body 31 may be supported by and suspended from one rail 35.

In the above embodiment, the lifting unit 41 of the package collecting apparatus 5 is positioned further forward than the threading robot 4 in the state of being in the conveyance posture, but the present invention is not limited to this. The lifting unit 41 may be partially overlapped with the yarn threading robot 4 at a position in the front-rear direction in a state of being in the conveyance posture. In this case, when the lifting unit 41 is moved in the left-right direction while the threading robot 4 is threading, there is a possibility that the lifting unit 41 interferes with the threading robot 4. Therefore, the movement of the elevating unit 41 in the left-right direction may need to be stopped until the yarn threading by the yarn threading robot 4 is completed. However, in this case as well, since the elevating unit 41 can be positioned below the threading robot 4 in the moving posture, the movement of the elevating unit 41 and the movement of the threading robot 4 can be performed simultaneously.

In the above embodiment, the package P is collected from the bobbin holder 24 by the package collection device 5 controlled by the collection control device 103, but the present invention is not limited thereto. For example, the operator may insert the shaft into the package P by moving a carriage having the shaft forward of the drawing unit 3 that collects the package P and moving the push rod 26 forward in this state. Alternatively, the operator may manually collect the package P from the bobbin holder 24.

In the above embodiment, the yarn is threaded onto the

guide rollers

12 and 13 and the plurality of fulcrum guides 21 by the yarn threading robot 4, but the invention is not limited thereto. For example, the yarn threading robot 4 may be caused to thread the yarn onto the

guide rollers

12 and 13, and then the operator may thread the yarn onto the plurality of fulcrum guides 21 by manual operation or by using an automatic yarn threading device that threads the yarn onto the plurality of fulcrum guides provided in the winding section 14. Alternatively, the yarn threading robot 4 may thread yarn onto yarn guides, nozzles, and the like other than the

guide rollers

12 and 13 and the plurality of fulcrum guides 21.

In the above embodiment, the yarn Y sucked by the yarn sucker 11 is cut by the cutter 38, and the cut yarn Y is sucked by the yarn sucker 39, whereby the yarn Y is delivered to the yarn sucker 39. For example, the yarn Y spun from the spinning device may be directly sucked by the yarn sucker 39 without the yarn sucker 11. The yarn hooking unit 33 may not have the cutter 38 at the distal end thereof, and may have a cutter for cutting the yarn Y sucked by the yarn sucker 11 at the upper portion of the yarn sucker 11.

In the above embodiment, the yarn restricting guide 19 is movable in the left-right direction, and after the yarn restricting guide 19 is moved to the protruding position protruding beyond the front end portion of the 1 st godet roller 12 in the left-right direction, the yarn hooking unit 33 that sucks and holds the yarn Y by the yarn suction unit 39 is moved to the lower side of the 1 st godet roller 12, and thereby the yarn is hooked on the yarn restricting guide 19. For example, the thread restricting guide 19 may be movable in the front-rear direction. In this case, for example, after the yarn restricting guide 19 is moved forward from the 1 st godet, the yarn hooking unit 33 that has sucked and held the plurality of yarns Y by the yarn sucker 39 is moved to a position between the yarn restricting guide 19 and the 1 st godet 12, and the yarns are hooked on the yarn restricting guide 19. Then, after the yarn hooking unit 33 is moved below the 1 st godet roller 12, the yarn restricting guide 19 is moved rearward, and the yarn is hooked on the 1 st godet roller 12. In this case, when the yarn hooking unit 33 is moved to the lower side than the 1 st godet roller 12, the yarn hooking unit 33 can be moved to the front side of the 1 st godet roller 12, and therefore the yarn hooking unit 33 can be prevented from interfering with the 1 st godet roller 12.

The thread restricting guide 19 is not limited to be movable. For example, the thread restricting guide 19 may be fixed to the entry position. The yarn hooking unit 33 is freely movable by the robot arm 32 not only in the vertical direction but also in the left-right direction and the front-rear direction. Therefore, in this case, for example, the yarn hooking unit 33 is moved between the yarn restricting guide 19 and the 1 st godet roller 12, whereby the plurality of yarns Y can be hooked to the yarn restricting guide 19. After that, the yarn hooking unit 33 is moved to the right side of the 1 st godet roller 12 and then moved to the lower side of the 1 st godet roller 12. This can prevent the yarn hooking unit 33 from interfering with the 1 st godet roller 12. However, in this case, the control of the robot arm 32 becomes complicated as compared with the case of the above-described embodiment.

In the above embodiment, the 2 nd godet roller 13 is movable between the winding position and the yarn hooking position, but is not limited thereto. The 2 nd godet roller 13 may also be fixed to the front end portion of the drawing unit 3.

In the above embodiment, each of the drawing units 3 includes two

godet rollers

12 and 13, but is not limited thereto. Each drawing unit 3 may include three or more godet rollers.

In the above embodiment, the thread sucker 11 is previously made to suck and hold the plurality of threads Y spun from the spinning device, but the invention is not limited thereto. For example, the plurality of yarns Y spun from the spinning device may be lowered to a position facing the yarn sucker 11 by a yarn lowering device, not shown, and the yarn sucker 11 may suck the plurality of yarns Y from the yarn lowering device.

In the above embodiment, the yarn threading robot 4 is configured to be movable in the left-right direction in a state of being suspended from above, but is not limited thereto. For example, the yarn threading robot 4 may be movable not only in the left-right direction but also in the vertical direction. In this case, when the threading robot 4 is moved in the left-right direction, the threading robot 4 is moved upward, and the height H of the lower end of the threading robot 4 in the moving posture from the installation surface G of the traction unit 3 can be made higher. For example, if the height H is set to 2000mm or more, which is larger than 1700mm of the above embodiment, the operability of the operator in performing the work can be further improved, and the safety can also be improved. Further, since the threading robot 4 can move in the vertical direction, if the threading robot 4 is moved downward at the time of threading, the length of the robot arm 32 can be shortened. The shorter the robot arm 32, the more sensitive the movement, so that the positioning adjustment of the robot arm 32 becomes easy and the positioning accuracy can be improved.

In the above embodiment, the drawing section includes two godet rolls 12 and 13, but is not limited thereto. The drawing section may include a plurality of godet rollers (heating rollers) having heaters therein, as described in japanese patent application laid-open publication No. 2014-5555, for example. In this case, the yarn can be threaded onto the plurality of godet rollers by the yarn threading robot.

Claims

1. A take-up winding apparatus is characterized by comprising:

a plurality of traction units each having: a drawing unit that draws the plurality of yarns spun from the spinning device; and a winding section disposed below the drawing section, the winding section winding the plurality of yarns drawn by the drawing section around a plurality of bobbins arranged in a horizontal 1 st direction to form a plurality of packages, the plurality of drawing units being arranged in a 2 nd direction which is horizontal and orthogonal to the 1 st direction;

a threading robot provided in common to the plurality of traction units, disposed on one side of the winding portion in the 1 st direction, and configured to thread the traction portion of each traction unit; and

a control device for controlling the operation of the filament hanging robot,

the yarn winding robot is configured to be capable of moving in the 2 nd direction above a package discharge space on the one side of the winding section in the 1 st direction in which a plurality of packages are discharged from the winding section in a suspended state from above,

the winding section includes a package discharging device for discharging a plurality of packages to the package discharging space,

the spinning and winding apparatus further includes a package collecting device for collecting the plurality of packages discharged from the winding unit in the package discharge space,

the package collecting device is configured to be movable in the 2 nd direction on the opposite side of the plurality of drawing units with respect to the yarn winding robot in the 1 st direction.

2. The spin-winding apparatus of claim 1,

the silk hanging robot is used for hanging silk,

the drawing part and the winding part of each drawing unit are threaded,

the yarn enters the package discharge space when the winding section is threaded.

3. The spin-winding apparatus of claim 1 or 2,

the above-mentioned package collecting device is constituted so that,

a conveyance attitude in which the entire wire handling robot is positioned on the opposite side of the plurality of traction units with respect to the wire handling robot in the 1 st direction and a collection attitude in which a part thereof is positioned within a range in which the wire handling robot is disposed in the 1 st direction are selectively obtained,

the control device is provided with a control device,

when the package recovery device is moved in the 2 nd direction, the package recovery device is set in the conveyance posture,

when the package collecting device collects the plurality of packages discharged from the winding section, the package collecting device is set to the collecting posture.

4. The spin-winding apparatus of claim 3,

the package recovery device includes:

a support column section that is located on the opposite side of the thread reeling robot from the plurality of traction units in the 1 st direction, is movable in the 2 nd direction, and extends in the 3 rd direction orthogonal to both the 1 st direction and the 2 nd direction; and

a shaft extending in a direction orthogonal to the 3 rd direction, being movable in the 2 nd direction integrally with the column part, being rotatable about the shaft of the column part, and being inserted into the plurality of packages discharged from the winding part,

the carrying posture is a posture in which the axis is parallel to the 2 nd direction,

the recovery posture is a posture in which the axis is parallel to the 1 st direction.

5. The spin-winding apparatus of claim 1 or 2,

the package discharge space is a space between an upper end of the package in a fully wound state of the winding section and the mounting surface of the plurality of traction units.

6. The spin-winding apparatus of claim 3,

7. The spin-winding apparatus of claim 4,