CN113753680A

CN113753680A - Yarn hanging mechanical arm

Info

Publication number: CN113753680A
Application number: CN202111159028.6A
Authority: CN
Inventors: 加藤典子; 七山大督; 杉山研志
Original assignee: TMT Machinery Inc
Current assignee: TMT Machinery Inc
Priority date: 2016-10-20
Filing date: 2017-09-05
Publication date: 2021-12-07
Anticipated expiration: 2037-09-05
Also published as: EP3312121A1; JP6829044B2; EP3838824A1; CN113862804B; CN107964691A; EP3659953A1; CN113862804A; CN113753681B; JP2018066088A; CN107964691B; CN113753680B; EP3838824B1; TW201815651A; CN113753681A; EP3663246A1; EP3659953B1; TWI694964B

Abstract

The invention provides a yarn hanging manipulator which can stably carry out yarn hanging operation. The yarn hanging manipulator (3) is a spinning traction device (2) for winding a spun yarn (Y) on a bobbin (B) to form a package (P) while traversing, and performs a yarn hanging operation while sucking and holding the yarn (Y) by a suction and holding member (42), and the yarn hanging manipulator (3) is provided with a control section for controlling the suction force of the suction and holding member (42).

Description

Yarn hanging mechanical arm

The application is a divisional application with the application number of 201710790470.6, the application date of 2017, 9 and 5, and the invention name of "yarn hanging manipulator".

Technical Field

The present invention relates to a yarn hanging manipulator for performing yarn hanging operation on a spinning traction device.

Background

For example, patent document 1 discloses an automatic yarn hooking device for performing a yarn hooking operation with respect to a spinning traction device that winds a spun yarn to form a package. The automatic yarn hooking device is configured to be operated while sucking and holding a yarn by a suction gun, thereby enabling the yarn hooking of each member constituting the spinning draft device.

Patent document 1: japanese laid-open patent publication No. 53-106815

However, when the yarn is hung while being sucked and held by the suction gun, if the suction force of the suction gun is too small, yarn swing or the like occurs, and thus the yarn may not be properly hung on each member. Further, if the suction force of the suction gun is too large, the tension of the yarn may become too large to cause yarn breakage, or propagation of vibration of the yarn due to suction may become too large. That is, if the suction force of the suction gun is not maintained properly, the possibility of the yarn-hanging operation failing becomes high. However, in patent document 1, nothing is mentioned about adjusting the suction force of the suction gun for stably performing the yarn hanging operation.

Disclosure of Invention

The present invention has been made in view of the above problems, and an object thereof is to provide a yarn hanging robot capable of stably performing a yarn hanging operation.

The present invention is a yarn hanging manipulator for performing a yarn hanging operation while sucking and holding a yarn by a suction and holding member in a spinning draft device that winds the spun yarn around a bobbin while traversing the spun yarn to form a package, the yarn hanging manipulator including a control unit that controls a suction force of the suction and holding member.

In the yarn hooking robot according to the present invention, since the suction force of the suction holding member is controlled by the control unit, the yarn hooking operation can be stably performed by increasing or decreasing the suction force as necessary.

In the present invention, the suction holding member may be configured to generate a suction force corresponding to a pressure of the compressed fluid by being supplied with the compressed fluid, and the control unit may control the suction force of the suction holding member by controlling the pressure of the compressed fluid supplied to the suction holding member.

With such a configuration, the suction force of the suction holding member can be easily increased or decreased by simply adjusting the pressure of the compressed fluid.

In the present invention, the suction holding member may further include a pressure adjusting portion provided in a path for supplying the compressed fluid to the suction holding member, the pressure adjusting portion adjusting a pressure of the compressed fluid, and the control portion may control the suction force of the suction holding member by controlling an operation of the pressure control portion.

By providing the yarn hanging robot with the pressure adjusting portion for adjusting the pressure of the compressed fluid, the interval between the pressure adjusting portion and the suction holding member can be shortened, and the response speed of the suction force control can be increased.

In the present invention, the pressure adjustment unit may be an electro-pneumatic pressure adjustment valve.

If an electro-pneumatic pressure regulator is used as the pressure adjustment unit, the pressure of the compressed fluid can be adjusted substantially steplessly, and the suction force of the suction holding member can be controlled more finely.

In the present invention, the control unit may change the suction force of the suction holding member during one yarn hanging operation.

Even during one yarn-hanging operation, the suction force may vary appropriately depending on the process. With the above configuration, even when the appropriate suction force varies during one yarn winding operation, the yarn winding operation can be performed more stably in response to the variation.

In the present invention, the control unit may maximize the suction force of the suction holding member when the yarn is wound on the bobbin during the primary yarn winding operation.

In general, when a yarn is hung on a bobbin, the yarn needs to be hooked to a slit formed in the bobbin. Therefore, if the suction force is insufficient when the yarn is wound on the bobbin, the tension of the yarn is weakened, and the yarn may not be satisfactorily hooked in the slit. Therefore, as described above, by maximizing the suction force when the yarn is wound on the bobbin during one yarn winding operation, the yarn can be easily wound on the slit, and the yarn can be reliably wound on the bobbin.

In the present invention, the control unit may change the suction force of the suction holding member according to the type of the yarn wound by the spinning draft device and/or the production conditions.

Depending on the type of yarn and/or the production conditions, the appropriate tension for yarn hanging may vary. Even in such a case, by changing the suction force according to the type of yarn and/or the production conditions as described above, the yarn hanging operation can be performed with a tension suitable for various types of yarns.

Drawings

Fig. 1 is a schematic configuration diagram of a spinning draft device according to the present embodiment.

Fig. 2 is a front view of the spinning draft device and the yarn hanging robot.

Fig. 3 is a side view of the spinning draft gear and the yarn hanging robot.

Fig. 4 is a block diagram showing an electrical configuration of the spinning draft apparatus.

Figure 5 is a top view of the fulcrum guide.

Fig. 6 is a perspective view showing a yarn hanging unit of the yarn hanging robot.

Fig. 7 is a cross-sectional view of the aspirator.

Fig. 8 is a side view showing the operation of the yarn hanging robot in the yarn hanging operation.

Fig. 9 is a plan view showing the operation of the yarn hanging robot during the yarn hanging operation.

Fig. 10 is a plan view showing the operation of the yarn hanging robot during the yarn hanging operation.

Fig. 11 is a plan view showing the yarn hanging from the split yarn guide to the fulcrum guide.

Fig. 12 is a graph showing an example of the suction force control of the suction unit.

Description of the symbols

2: a spinning traction device; 3: a yarn hanging manipulator; 7: a compressed air hose (path); 37: an electro-pneumatic pressure regulating valve (pressure regulating portion); 42: a suction unit (suction holding member); 102: a robot control device (control unit); y: a yarn.

Detailed Description

Preferred embodiments of the present invention will be described below.

(integral construction of spinning draft apparatus)

Fig. 1 is a schematic configuration diagram of a spinning draft device according to the present embodiment. The spinning draft apparatus 1 according to the present embodiment includes: a plurality of spinning draft devices 2 arranged in one horizontal direction; a yarn hanging manipulator 3 for performing yarn hanging operation on the plurality of spinning traction devices 2; a centralized control device 4 for controlling the actions of the spinning traction devices 2 and the yarn hanging manipulator 3; a compressed air supply unit 5 that supplies compressed air (an example of a compressed fluid) to the yarn hanging robot 3; and a waste yarn box 6 for discarding the yarn from the yarn hanging robot 3. In the present embodiment, one yarn hooking robot 3, one compressed air supply unit 5, and one waste yarn box 6 are provided for all the yarn traction devices 2 provided in the yarn traction facility 1. In fig. 1, the yarn is not shown in order to avoid the drawing being complicated. In the following description, a direction in which the plurality of spinning draft devices 2 are arranged is defined as a left-right direction, and a direction horizontal and orthogonal to the left-right direction is defined as a front-rear direction.

(spinning traction device)

The spinning draft device 2 will be described in detail. Fig. 2 is a front view of the spinning draft device 2 and the yarn hanging robot 3, and fig. 3 is a side view of the spinning draft device 2 and the yarn hanging robot 3. Fig. 4 is a block diagram showing an electrical configuration of the spinning and drawing device 1.

The spinning traction device 2 draws a plurality of yarns Y spun from a spinning device not shown, and winds the yarns Y around a plurality of bobbins B to form a plurality of packages P. More specifically, the spinning traction device 2 is configured to feed a plurality of yarns Y spun from a spinning device, not shown, to the winding unit 13 by the first godet roller 11 and the second godet roller 12, and to form a plurality of packages P by winding the yarns Y around the bobbins B in the winding unit 13.

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

The second godet roller 12 is a roller whose axial direction is substantially parallel to the left-right direction, and is disposed above and behind the first godet roller 11. The second godet roller 12 is rotationally driven by a second godet motor 112 (see fig. 4). The second godet roller 12 is movably supported by a guide rail 14. The guide rail 14 extends obliquely so as to be located upward toward the rear. The second godet roller 12 is configured to be movable along the guide rail 14 by an air cylinder 113 (see fig. 4). Thus, the second godet roller 12 is movable between a winding position (a position of a solid line in fig. 3) at the time of winding the yarn Y and a yarn hanging position (a position of a chain line in fig. 3) at the time of yarn hanging, which is disposed close to the first godet roller 11.

The spinning draft device 2 also has a thread suction device 15 and a thread limiting thread guide 16. The yarn suction unit 15 sucks and holds a plurality of yarns Y spun from the spinning device in advance before the yarn hanging operation is performed by the yarn hanging robot 3. The yarn sucker 15 extends in the left-right direction, and has a suction port 15a formed at its right end portion for sucking the yarn Y. The yarn suction device 15 is disposed slightly above the first godet roller 11 so that the suction port 15a is located near the plurality of yarns Y.

The yarn restricting guide 16 is disposed between the first godet roller 11 and the yarn suction device 15 in the vertical direction. The yarn regulating carrier 16 is, for example, a known comb-shaped carrier having a plurality of guide grooves, and defines the interval between adjacent yarns Y when a plurality of yarns Y are hooked. The yarn restricting carrier 16 is configured to be movable in the left-right direction (the axial direction of the first godet roller 11) by an air cylinder 114 (see fig. 4). Thereby, the yarn restricting carrier 16 can move in the left-right direction between a retracted position (position of a solid line in fig. 2) which is within a range where the first godet roller 11 is arranged and a protruding position (position of a chain line in fig. 2) which protrudes to the right side of the front end portion of the first godet roller 11.

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

Fig. 5 is a plan view of the fulcrum guide 21. The plurality of fulcrum guides 21 are provided separately from the plurality of yarns Y and are arranged in the front-rear direction. Each of the fulcrum guides 21 has a groove 21a opened toward the rear side, and the yarn Y can be hung by inserting the yarn Y into the groove 21a from the rear side. The plurality of fulcrum guides 21 are individually 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. The plurality of sliders 27 are connected to a cylinder 115 (see fig. 4). When the air cylinder 115 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 a winding position (a position shown in fig. 5 a) at which the yarn Y is wound, which is arranged apart from each other in the front-rear direction, and a yarn hanging position (a position shown in fig. 5 b) at which the yarn Y is hung, which is arranged in the vicinity of the front end portions of the guide rails 28. The plurality of fulcrum guides 21 in the yarn hanging position are located in the vicinity of the first godet roller 11 and just below the second godet roller 12 in the yarn hanging 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 116 (see fig. 4) 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 substantially parallel to the front-rear direction. The turntable 23 is rotationally driven by a turntable motor 117 (see fig. 4). The two bobbin holders 24 are axially substantially parallel to the front-rear direction, and are 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 in a row in the front-rear direction on each bobbin holder 24. The two bobbin holders 24 are each rotationally driven by a separate winding motor 118 (see fig. 4).

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 a package P. When the package P is fully wound, the vertical positions of the two bobbin holders 24 are switched by rotating the turn table 23. Accordingly, the bobbin holder 24 positioned on the lower side is moved upward, 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 positioned on the upper side moves downward before that, and the package P can be collected by a package collecting device not shown.

The touch roller 25 is a roller whose axial direction is substantially parallel to the front-rear direction, and is disposed immediately above the upper bobbin 24. The contact roller 25 is brought into contact with the surfaces of the plurality of packages P supported by the upper bobbin holder 24, thereby applying a contact pressure to the surfaces of the packages P being wound, and adjusting the shape of the packages.

(yarn hanging manipulator)

Next, the yarn winding robot 3 will be explained. The yarn hanging robot 3 includes a main body 31, a robot arm 32, and a yarn hanging unit 33.

The main body 31 is formed in a substantially rectangular parallelepiped shape, and a robot control device 102 (see fig. 4) for controlling the operations of the robot arm 32, the yarn threading unit 33, the electro-pneumatic pressure control valve 37, and the like is mounted therein. 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. The two guide rails 35 are disposed at intervals in the front-rear direction in front of the plurality of spinning draft devices 2, and extend in the left-right direction across the plurality of spinning draft devices 2. That is, the yarn hooking robot 3 is configured to be movable in the left-right direction in front of the plurality of spinning draft devices 2.

Four wheels 36 are provided at the upper end of the body 31. Two of the four wheels 36 are disposed on the upper surface of each guide rail 35. The four wheels 36 are rotationally driven by the traveling motor 121 (see fig. 4), and the main body 31 moves in the left-right direction along the two guide rails 35 by rotationally driving the four wheels 36.

The robot arm 32 is attached to the lower surface of the main body 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. 4), and when the arm motor 122 is driven, the arm 32a swings about the joint portion 32 b. This enables the robot arm 32 to operate three-dimensionally.

Fig. 6 is a perspective view showing the yarn hooking unit 33 of the yarn hooking robot 3. The yarn hooking unit 33 is attached to the tip of the robot arm 32. The yarn hooking unit 33 is formed in an elongated shape in one direction (hereinafter, this direction is referred to as a first direction), and an arm 32a is connected to an end portion on one side in the first direction (hereinafter, a base end side in the first direction). In the following, the opposite side to the base end side in the first direction is referred to as a tip end side.

Here, in the present embodiment, when the robot arm 32 is driven, the yarn hooking unit 33 attached to the tip end portion of the robot arm 32 operates three-dimensionally. In this case, the direction of the yarn hooking unit 33 can also be changed. However, as will be described later, the yarn hooking unit 33 is mainly used in an orientation in which the vertical direction in fig. 6 is parallel to the vertical direction, the upper side in fig. 6 is the upper side in the vertical direction, and the lower side in fig. 6 is the lower side in the vertical direction. Therefore, hereinafter, the vertical direction in fig. 6 of the yarn hooking unit 33 is referred to as the second direction, the upper side in fig. 6 is referred to as the upper side in the second direction, and the lower side in fig. 6 is referred to as the lower side in the second direction. In the following description, a direction orthogonal to both the first direction and the second direction is referred to as a third direction, and one side and the other side of the third direction are defined as shown in fig. 6.

The yarn hanging unit 33 includes a frame 41, a suction unit 42, a yarn accumulating carrier 43, a cutter 44, a slide member 45, a pressing roller 46, a yarn dividing carrier 47, and the like. The base end portion of the frame 41 in the first direction is connected to the arm 32 a. The aspirator 42 is mounted to a portion on one side of the frame 41 in the third direction. The suction unit 42 extends in the first direction and can suck and hold the yarn Y at its leading end portion. The yarn collecting carrier 43 is attached to the frame 41 and positioned below the front end of the suction unit 42 in the second direction. When the yarn is hung, the plurality of yarns Y are hung in a gathered state on the yarn gathering carrier 43. The cutter 44 is attached to the frame 41 and is located on the second direction lower side of the yarn accumulating carrier 43. As described later, the cutter 44 is used to cut the yarn Y when the yarn Y is delivered from the yarn sucker 15 to the suction unit 42.

The slide member 45 is disposed to be shifted from the suction unit 42, the yarn accumulating carrier 43, and the cutter 44 toward the other side in the third direction. The slide member 45 is attached to the frame 41 via an air cylinder 48, and when the air cylinder 48 is driven, the slide member 45 moves in a first direction with respect to the frame 41.

The pressure roller 46 is a free roller rotatably supported by a shaft 46a orthogonal to the second direction, and is attached so as to be movable integrally with the slide member 45 in the first direction in a state of being disposed on the upper side of the slide member 45 in the second direction. Further, one end of the shaft 46a is attached to a cylindrical shaft 49. The shaft 49 extends in the second direction and penetrates the slide member 45. A roller swing device 50 is connected to an end portion of the shaft 49 on the second direction lower side. The pressure roller 46 is configured to be swingable about the axis of the shaft 49 in a plane including the first direction and the third direction by a roller swing device 50. The pressure roller 46 can selectively take any one of a retracted posture (posture shown in fig. 6) in which the axial direction of the pressure roller 46 is substantially parallel to the first direction and the entire pressure roller 46 is positioned on the other side in the third direction than the region in which the suction unit 42, the yarn accumulating carrier 43, and the cutter 44 are arranged, and a pressed posture (posture shown in fig. 9 (a)) in which the axial direction of the pressure roller 46 is substantially parallel to the third direction and the pressure roller 46 is positioned at a position across the region in which the suction unit 42, the yarn accumulating carrier 43, and the cutter 44 are arranged in the third direction by swinging about the axis of the shaft 49.

The split carrier 47 is attached so as to be movable integrally with the slide member 45 in the first direction in a state of being disposed on the upper side of the pressure roller 46 in the second direction. The split yarn carrier 47 has a plurality of grooves 47a arranged along the longitudinal direction thereof. The end portion on one side of the plurality of grooves 47a is open, and the distance between the grooves 47a increases as the distance from the opening portion increases. However, the intervals of the plurality of grooves 47a may be constant regardless of the distance from the opening portion. Further, one end of the split yarn carrier 47 in the longitudinal direction is attached to an unillustrated shaft extending parallel to the second direction. The shaft is inserted through a cylindrical shaft 49, and a carrier swing device 51 is connected to a lower end portion in the second direction. The split yarn carrier 47 is swung about the axial line of a shaft (not shown) by the carrier swing device 51, and thereby can selectively take any one of a retracted posture (a posture shown in fig. 6) in which the longitudinal direction of the split yarn carrier 47 is substantially parallel to the first direction and the entire split yarn carrier 47 is positioned on the other side in the third direction than the region in which the suction unit 42, the yarn aggregation carrier 43, and the cutter 44 are arranged, and a yarn hanging posture (a posture shown in fig. 9 (c)) in which the longitudinal direction of the split yarn carrier 47 is substantially parallel to the third direction and the split yarn carrier 47 is positioned at a position across the region in which the suction unit 42, the yarn aggregation carrier 43, and the cutter 44 are arranged in the third direction.

Fig. 7 is a sectional view of the aspirator 42. The suction unit 42 includes a suction tube 42a extending in the first direction and a compressed air tube 42b integrally connected to a middle portion of the suction tube 42 a. The distal end of the suction tube 42a serves as a suction port 42c for sucking the yarn Y, and a waste yarn hose 8 (see fig. 1) drawn out from the waste yarn box 6 is connected to the proximal end of the suction tube 42 a. The leading end of the compressed air tube 42b is connected to the suction tube 42a via a communication hole 42b, and the compressed air hose 7 (see fig. 1) drawn from the compressed air supply unit 5 is connected to the base end of the compressed air tube 42 b. The communication hole 42d is formed obliquely with respect to the suction tube 42a so as to be located closer to the suction tube 42a than to the base end side of the suction tube 42 a. In addition, both the compressed air hose 7 and the waste yarn hose 8 are partially attached to the main body 31 and the robot arm 32 so as not to interfere with the operation of the robot arm 32.

In the suction unit 42 configured as described above, as shown by arrows in fig. 7, the compressed air flowing from the compressed air tube 42b into the suction tube 42a flows from the distal end side toward the proximal end side of the suction tube 42 a. This flow generates a negative pressure at the suction port 42c, and the yarn Y can be sucked from the suction port 42 c. The yarn Y sucked from the suction port 42c is discharged to the waste yarn hose 8 by the air flow in the suction pipe 42a as it is. The yarn hanging robot 3 performs a yarn hanging operation while sucking and holding the yarn Y by the suction unit 42 a.

In this manner, in the suction unit 42 of the present embodiment, the suction force (negative pressure) is generated at the suction port 42c by the compressed air supplied from the compressed air supply unit 5, and the suction force of the suction unit 42 can be changed by changing the pressure of the compressed air supplied to the suction unit 42. In the present embodiment, as shown in fig. 1, an electric-air pressure adjusting valve 37 is provided in a portion of the compressed air hose 7 disposed in the yarn hanging robot 3, and the pressure of the compressed air can be adjusted substantially steplessly by the electric-air pressure adjusting valve 37. This enables the pressure of the compressed air supplied to the suction unit 42 to be adjusted, and the suction force of the suction unit 42 to be adjusted.

(Electrical constitution of spinning traction apparatus)

Next, an electrical configuration of the spinning and drawing device 1 will be described. As shown in fig. 1, the spinning and drawing machine 1 has a centralized control device 4 for controlling the entire machine. The central control device 4 includes an operation unit 4a for an operator to perform various settings, and a display unit 4b for displaying a screen for assisting the settings and a screen indicating the state of each unit. As shown in fig. 4, a winding control device 101 is provided in each of the spun yarn drawing devices 2, and the winding control device 101 controls the operation of each of the driving units provided in the spun yarn drawing devices 2. The yarn hanging robot 3 is provided with a robot control device 102, and the robot control device 102 controls the operation of each drive unit provided in the yarn hanging robot 3. The central control device 4 is connected to each of the winding control devices 101 and the robot control device 102 by wireless or wired communication.

(series of procedures for yarn hanging work)

Next, a yarn winding operation performed by the yarn winding robot 3 will be described. Fig. 8 is a side view showing the operation of the yarn hanging robot 3 during the yarn hanging operation, fig. 9 and 10 are plan views showing the operation of the yarn hanging robot 3 during the yarn hanging operation, and fig. 11 is a plan view showing the operation of hanging the yarn Y from the yarn dispensing carrier 47 to the fulcrum carrier 21. More specifically, fig. 8 shows a process of drawing and winding the plurality of yarns Y spun from the spinning device onto the first godet roller 11 and the second godet roller 12 in the yarn winding operation, and fig. 9 and 10 show a process of winding the yarns on the split yarn carrier 47 of the yarn winding robot 3. In fig. 8, the first direction of the yarn hooking unit 33 is substantially parallel to the front-rear direction for simplicity of illustration, but in reality, the yarn hooking unit 33 performs a yarn hooking operation while changing its posture.

As shown in fig. 8 (a), before the yarn hanging robot 3 performs the yarn hanging operation, the yarn sucker 15 is caused to suck and hold the plurality of yarns Y spun from the spinning device in advance. Further, the second godet roller 12 of the spinning draft device 2 performing the yarn hanging operation is positioned at the yarn hanging position. Further, the plurality of fulcrum guides 21 are positioned at the yarn hanging position (the position shown in fig. 5 (b)). The pressing roller 46 and the split yarn carrier 47 provided in the yarn hooking unit 33 are set to the retracted positions (the state shown in fig. 6).

Then, the yarn hooking robot 3 is moved to a position overlapping the spinning draft device 2, which is the target of the yarn hooking operation, in the front-rear direction. Subsequently, the yarn hooking robot 3 drives the robot arm 32, thereby moving the yarn hooking unit 33 to a position slightly above the yarn gripper 15 as shown in fig. 8 (b). At this time, the yarn hooking unit 33 is moved so that the tip end of the suction unit 42 presses the plurality of yarns Y sucked and held by the yarn suction unit 15, and the cutter 44 is positioned at a position where the plurality of yarns Y can be cut. Next, when the cutter 44 cuts the plurality of yarns Y, the plurality of yarns Y are sucked and held by the suction unit 42, and the delivery of the plurality of yarns Y from the yarn suction unit 15 to the suction unit 42 is completed, as shown in fig. 8 (c).

After the delivery of the plurality of yarns Y from the yarn suction device 15 to the suction device 42 is completed, as shown in fig. 8(d), the yarn hooking unit 33 is moved to a position below the first godet roller 11, and the plurality of yarns Y are hooked to the yarn restricting guide 16. When the yarn is hung on the yarn restricting carrier 16, the yarn restricting carrier 16 is temporarily moved to the projecting position (the position of the chain line in fig. 2) to hang the yarn on the yarn restricting carrier 16 at the projecting position in order to avoid interference of the yarn hanging unit 33 with the

godet rollers

11 and 12. Then, if the yarn hanging onto the yarn restricting carrier 16 is completed, the yarn restricting carrier 16 is returned to the retracted position (the position indicated by the solid line in fig. 2). Next, by appropriately moving the yarn hooking unit 33, as shown in fig. 8(e), the plurality of yarns Y held by the suction unit 42 are hooked around the first godet roller 11 from below and then hooked around the second godet roller 12 from above.

Next, the yarn hooking of the plurality of fulcrum guides 21 will be described with reference to fig. 9 and 10. When the yarn hanging operation of the

guide rollers

11 and 12 is completed, the yarn hanging robot 3 swings the pressing roller 46 as shown in fig. 9 (a), thereby switching the pressing roller 46 from the retracted posture to the pressing posture. Then, the pressing roller 46 is pressed against the plurality of yarns Y and rotated by a frictional force with the plurality of yarns Y. Thereby, the interval of the portions of the plurality of yarns Y pressed by the pressing roller 46 is enlarged.

Next, as shown in fig. 9 (b), the slide member 45 is slid toward the front end side in the first direction. Then, the pressing roller 46 pressed against the plurality of yarns Y slides together with the slide member 45 toward the front end side in the first direction and is separated from the suction unit 42. Thereby, the angle of inclination of the yarn Y from the pressing roller 46 toward the suction unit 42 with respect to the first direction when viewed from the second direction is smaller than that in the state of fig. 9 (a). Here, when the inclination angle of the yarn Y is large, the yarn Y is likely to be deviated at a position separated from the pressing roller 46 toward the suction unit 42, which causes yarn hunting. Therefore, in the present embodiment, as described above, the pressing roller 46 is separated from the suction unit 42, whereby the above-described inclination angle of the yarn Y is reduced to suppress the yarn swing. As a result, the intervals of the plurality of yarns Y are substantially the same as the intervals of the openings of the plurality of grooves 47a of the split yarn carrier 47, and the intervals of the openings of the plurality of grooves 47a of the split yarn carrier 47 are equal to the intervals of the plurality of guide grooves of the yarn restricting carrier 16.

Next, as shown in fig. 9 (c), the yarn dispensing carrier 47 is swung to switch from the retracted position to the yarn hanging position. Thereby, the plurality of grooves 47a of the split carrier 47 face the plurality of yarns Y pressed by the pressing roller 46, respectively. Next, as shown in fig. 10, the pressing roller 46 is swung, thereby returning from the pressing posture to the retracted posture. Then, the pressing roller 46 is separated from the plurality of yarns Y, and the plurality of yarns Y are inserted into the plurality of grooves 47a, respectively. At this time, the distance between the grooves 47a increases as the distance from the openings of the grooves 47a increases, and therefore, the distance between the yarns Y inserted into the grooves 47a further increases. At this time, as shown in fig. 11, the yarn hooking unit 33 is disposed such that straight lines connecting the respective grooves 47a of the split yarn carrier 47 and the openings at the distal ends of the corresponding grooves 21a of the fulcrum carriers 21 are parallel to each other.

From this state, as shown in fig. 11, the plurality of yarns Y inserted into the plurality of grooves 47a are respectively hooked on the corresponding fulcrum guides 21 by moving the split yarn guides 47. When the yarn hooking to the plurality of fulcrum guides 21 is completed, the second godet roller 12 and the plurality of fulcrum guides 21 are moved to the winding positions, the slide member 45 is slid toward the base end side in the first direction, and the split guide 47 is returned to the retracted position.

(suction force control of suction apparatus)

During the series of yarn hanging operations described above, the yarn hanging robot 3 sucks and holds the yarn Y by the suction unit 42, but depending on which member the yarn is hung on, the appropriate suction force may be different, and when the suction force of the suction unit 42 is constant, the yarn hanging may not be performed satisfactorily. Therefore, in the present embodiment, as described above, the electric-pneumatic pressure control valve 37 is provided in the middle of the compressed air hose 7, and the suction force of the aspirator 42 can be adjusted by controlling the electric-pneumatic pressure control valve 37 by the robot control device 102. A specific example of the suction force control of the suction unit 42 will be described below.

Fig. 12 is a graph showing an example of the suction force control of the suction unit 42. In the present embodiment, as shown in fig. 12, the robot control device 102 controls the suction force of the suction unit 42 based on the step of the yarn hooking operation. The manipulator control device 102 stores control data (a function of the process of the yarn hooking operation and the suction force) shown in fig. 12 in advance, and controls the electro-pneumatic pressure regulating valve 37 during a series of yarn hooking operations (1 time of yarn hooking operation) from the delivery of the yarn Y to the aspirator described later to the yarn hooking to the plurality of bobbins B described later based on the control data.

First, the robot control device 102 controls the electro-pneumatic pressure regulating valve 37 to generate a predetermined suction force in the suction unit 42, and in this state, the yarn Y is transferred from the yarn suction unit 15 to the suction unit 42. After that, the yarn is hung on the yarn restricting carrier 16, but when the yarn is hung on the yarn restricting carrier 16, the robot control device 102 makes the suction force of the suction unit 42 larger than the predetermined suction force at the time of passing the yarn Y. This is because, when the yarn Y is hooked in the guide groove of the yarn restricting carrier 16, if the tension of the yarn Y is not increased to a certain extent in advance, the movement of the yarn Y is likely to be unstable due to contact with the yarn restricting carrier 16, and there is a possibility that the yarn Y cannot be hooked satisfactorily.

Subsequently, the yarn is wound on the guide rolls 11 and 12, and at this time, if necessary, the robot control device 102 controls the electro-pneumatic pressure regulating valve 37 to increase or decrease the suction force of the suction unit 42 in accordance with the operation of the yarn winding unit 33. However, it is not essential to increase or decrease the suction force in this manner, and the yarn can be hung on the guide rolls 11 and 12 while maintaining the suction force at the time of hanging the yarn on the yarn regulating carrier 16.

When the yarn hanging on the guide rolls 11 and 12 is completed, the yarn hanging is performed in the order of the pressure roller 46 and the yarn separating guide 47. The robot control device 102 controls the electro-pneumatic pressure regulating valve 37 so that the suction force of the suction unit 42 is reduced before the yarn is hung on the pressing roller 46. This is because, when the suction force of the suction unit 42 is high, the vibration applied to the yarn Y sucked by the suction unit 42 becomes large, and as a result, the pressing roller 46 cannot suppress the propagation of the vibration, and the yarn swing becomes large, and there is a possibility that the yarn is not satisfactorily hung on the split carrier 47.

Subsequently, the yarn is hung on the plurality of fulcrum guides 21 at the yarn hanging position. At this time, the robot control device 102 controls the electro-pneumatic pressure regulating valve 37 so as to adjust the suction force of the suction unit 42. As is clear from fig. 11, when the yarn is hung on the fulcrum carrier 21, the yarn Y is inserted into the groove 21a while contacting the fulcrum carrier 21, and therefore, in order to increase the success rate of hanging the yarn, it is necessary to increase the suction force of the suction unit 42 and suppress the yarn swing. However, if the suction force of the suction unit 42 is too large to suppress yarn sway, the resistance between the yarn Y and the split yarn guide 47 increases, and yarn breakage may occur. Therefore, as described above, the suction force when the yarn is hung on the fulcrum guide 21 is adjusted to suppress the yarn breakage and the yarn sway in consideration of the resistance between the yarn Y and the split guide 47. By this adjustment, the yarn is easily successfully hung on the fulcrum guide 21. Fig. 12 shows, as an example, a case where the suction force of the suction unit 42 is slightly increased when the yarn is hung on the fulcrum guide 21.

After the yarn is hung on the plurality of fulcrum guides 21, the plurality of fulcrum guides 21 are moved from the yarn hanging position to the winding position. When the yarn hooking to the plurality of fulcrum guides 21 is completed, the yarn hooking unit 33 moves to the yarn hooking position of the plurality of bobbins B attached to the bobbin holder 24 and hooks the yarn to the plurality of bobbins B, regardless of whether or not the plurality of fulcrum guides 21 move from the yarn hooking position to the winding position. When the yarn is hung on the plurality of bobbins B, the robot control device 102 controls the electro-pneumatic pressure regulating valve 37 so that the suction force of the suction unit 42 becomes maximum during one yarn hanging operation. By increasing the suction force, the tension of the yarn Y can be increased, and a yarn hooking failure to the bobbin B due to a slack of the yarn Y can be suppressed.

However, the appropriate suction force of the suction unit 42 can be changed according to production conditions such as the material and thickness of the yarn Y, the spinning speed of the yarn Y, and the like. Therefore, in the present embodiment, a plurality of pieces of the control data are prepared according to the type of the yarn Y and the production conditions (an example of which is shown by a broken line in fig. 12). For example, when the operator inputs the type and production conditions of the yarn Y via the operation unit 4a of the central control device 4, information on the type and production conditions of the yarn Y is transmitted from the central control device 4 to the robot control device 102. Then, the robot control device 102 selects control data corresponding to the type of the yarn Y and the production conditions, and controls the suction force of the suction unit 42 based on the control data. However, it is not essential to control the suction force of the suction unit 42 differently depending on the type of the yarn Y and the production conditions.

(Effect)

As described above, in the yarn hooking robot 3 according to the present embodiment, since the suction force of the suction unit 42 (suction holding member) is controlled by the robot control device 102 (control unit), the yarn hooking operation can be stably performed by increasing or decreasing the suction force as necessary.

In the present embodiment, the suction unit 42 is configured to generate a suction force corresponding to the pressure of the compressed air by being supplied with the compressed air (compressed fluid), and the robot control device 102 is configured to control the suction force of the suction unit 42 by controlling the pressure of the compressed air supplied to the suction unit 42. With this configuration, the suction force of the suction unit 42 can be easily increased or decreased simply by adjusting the pressure of the compressed air.

In the present embodiment, the suction device further includes an electric-pneumatic control valve 37 (pressure adjustment unit) for adjusting the pressure of the compressed air, the electric-pneumatic control valve 37 being provided in the compressed air hose 7 (passage) for supplying the compressed air to the suction unit 42, and the robot control unit 102 controls the suction force of the suction unit 42 by controlling the operation of the electric-pneumatic control valve 37. By providing the electro-pneumatic pressure control valve 37 for adjusting the pressure of the compressed air in the yarn hanging robot 3 in this manner, the distance between the electro-pneumatic pressure control valve 37 and the suction unit 42 can be shortened, and the response speed of the suction force control can be increased.

In the present embodiment, since the pressure control unit is the electro-pneumatic pressure control valve 37 as described above, the pressure of the compressed air can be adjusted substantially steplessly, and the suction force of the suction unit 42 can be controlled more finely.

In the present embodiment, the robot control device 102 is configured to change the suction force of the suction unit 42 during one yarn hanging operation. Here, even during one yarn winding operation, the appropriate suction force may vary depending on the process (for example, depending on which member the yarn is wound). Therefore, according to the above configuration, even when the appropriate suction force varies during one yarn winding operation, the yarn winding operation can be performed more stably in response to the variation.

In the present embodiment, the robot control device 102 is configured to maximize the suction force of the suction unit 42 when the yarn is wound on the bobbin B during one yarn winding operation. In general, when the yarn is hung on the bobbin B, the yarn Y needs to be hung in a slit formed in the bobbin B. Therefore, if the suction force is insufficient when the yarn is hung on the bobbin B, the tension of the yarn Y is weakened, and the yarn Y may not be satisfactorily hooked in the slit. Therefore, as described above, by maximizing the suction force when the yarn is wound on the bobbin B during one yarn winding operation, the yarn can be easily wound on the slit, and the yarn can be reliably wound on the bobbin B.

In the present embodiment, the robot control device 102 changes the suction force of the suction unit 42 according to the type of the yarn Y wound by the spin-draw unit 2 and/or the production conditions. Depending on the type of the yarn Y and the production conditions, the appropriate tension for yarn hanging may vary. In such a case, by changing the suction force according to the type and/or production conditions of the yarn Y, it is possible to perform yarn hanging at a tension suitable for each type of yarn Y.

(other embodiments)

While the embodiments of the present invention have been described above, the modes to which the present invention can be applied are not limited to the above-described embodiments, and modifications can be appropriately made within the scope not departing from the gist of the present invention as exemplified below.

For example, in the above embodiment, the electro-pneumatic pressure regulating valve 37 as the pressure regulating portion is provided in the portion of the compressed air hose 7 disposed in the yarn hanging robot 3. However, the position where the electric/air pressure adjusting valve 37 is provided is not limited to this, and the electric/air pressure adjusting valve 37 may be provided, for example, in a portion of the compressed air hose 7 outside the yarn hanging robot 3. In addition to the electric-air pressure adjustment valve 37, for example, an electric flow rate adjustment valve may be provided as the pressure adjustment portion.

In the above embodiment, the robot control device 102 controls the suction force of the suction unit 42 based on the yarn hooking operation step. However, other than this, for example, various sensors for detecting the position and posture of the robot arm 32 may be provided, and the suction force of the suction unit 42 may be controlled based on output values from these various sensors.

In the above embodiment, the robot control device 102 has control data in which the suction force of the suction unit 42 is predetermined, and performs suction force control based on the control data. However, such control data is not necessarily required, and for example, a sensor for detecting the tension of the yarn Y may be provided, and the suction force of the suction unit 42 may be appropriately controlled based on the output value from the sensor.

In the above embodiment, the yarn hanging robot 3 is suspended from the guide rail 35, but the yarn hanging robot 3 is not limited to the suspended type. For example, the yarn hooking robot 3 may be configured to travel on the floor.

The structure of the yarn hooking unit 33 is not limited to the above embodiment. For example, the pressing roller 46, the split yarn carrier 47, and a driving source for hanging the yarn Y hooked on the split yarn carrier 47 to the fulcrum carrier 21 may be provided only in the winding unit 13, and the yarn hanging unit 33 may include the suction unit 42, the yarn collecting carrier 43, and the cutter 44.

Claims

1. A yarn hanging manipulator for performing a yarn hanging operation while sucking and holding a yarn by a suction and holding member in a spinning traction device for winding the spun yarn around a bobbin while traversing the spun yarn to form a package,

a control unit for controlling the suction force of the suction holding member,

the control unit increases or decreases the suction force of the suction holding member a plurality of times during one yarn hanging operation.

2. The yarn hanging robot as claimed in claim 1,

the spinning draft device includes a fulcrum guide serving as a fulcrum when the yarn is traversed,

the control unit causes the suction force of the suction holding member to be larger when the yarn is hung on the bobbin than when the yarn is hung on the fulcrum guide.

3. The yarn hanging robot as claimed in claim 1 or 2,

the spinning traction device is provided with a godet roller for conveying the yarn to the bobbin,

the control unit makes the suction force of the suction holding member larger when the yarn is hung on the bobbin than when the yarn is hung on the godet roller.

4. The yarn hanging robot as claimed in any one of claims 1 to 3,

the spinning draft device includes a yarn restricting guide configured to wind the plurality of yarns around the plurality of bobbins, respectively, and to define a distance between adjacent ones of the plurality of yarns,

the control unit makes the suction force of the suction holding member when the yarn is hung on the bobbin larger than the suction force of the suction holding member when the yarn is hung on the yarn restricting carrier.

5. The yarn hanging robot as claimed in any one of claims 1 to 4,

the suction holding member is configured to generate a suction force corresponding to a pressure of the compressed fluid by being supplied with the compressed fluid,

the control unit controls the suction force of the suction holding member by controlling the pressure of the compressed fluid supplied to the suction holding member.

6. The yarn hanging robot as claimed in claim 5,

further comprising a pressure adjusting part provided in a path for supplying the compressed fluid to the suction holding member, the pressure adjusting part adjusting a pressure of the compressed fluid,

the control unit controls the suction force of the suction holding member by controlling the operation of the pressure control unit.

7. The yarn hanging robot as claimed in claim 6,

the pressure adjusting part is an electric-gas pressure adjusting valve.

8. The yarn hanging manipulator as claimed in any one of claims 1 to 7,

the control unit maximizes the suction force of the suction holding member when the yarn is wound on the bobbin during the primary yarn winding operation.

9. The yarn hanging robot as claimed in any one of claims 1 to 8,

the control unit changes the suction force of the suction holding member according to the type of the yarn wound by the spinning draft device and/or the production conditions.

10. The yarn hanging manipulator as claimed in any one of claims 1 to 9,

the period of the one yarn winding operation is a period from when the suction holding member starts suction holding of the yarn to when the yarn winding on the bobbin is completed.